+ python -m lidar_slam --result /working/result.json --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 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 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters Centerline goodness : 0.199365 with order 1 Centerline is valid? [0, False] SLAMing on 0.066559995 meters Centerline goodness : 0.206368 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99990694e-01 -3.43885073e-03 -2.60505865e-03 3.52258143e-02] [ 3.43703329e-03 9.99993847e-01 -7.01816243e-04 2.15684123e-03] [ 2.60745606e-03 6.92856039e-04 9.99996361e-01 -1.45564760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters Centerline goodness : 0.186780 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 0.99998152 -0.00514251 -0.00324299 0.03949569] [ 0.00513787 0.99998577 -0.00143783 0.00310189] [ 0.00325034 0.00142115 0.99999371 -0.00296042] [ 0. 0. 0. 1. ]] SLAMing on 0.186559995 meters Centerline goodness : 0.219841 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.99997607 -0.00678798 -0.00133258 0.10565971] [ 0.00679184 0.99997268 0.00291811 0.00782252] [ 0.00131274 -0.00292709 0.99999485 -0.00532246] [ 0. 0. 0. 1. ]] SLAMing on 0.246559995 meters Centerline goodness : 0.133805 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 0.99986518 -0.01615026 0.00296519 0.15225548] [ 0.01613486 0.99985658 0.00514645 0.00801826] [-0.00304788 -0.00509792 0.99998236 -0.00815758] [ 0. 0. 0. 1. ]] SLAMing on 0.306559995 meters Centerline goodness : 0.136712 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.01 [[ 0.99980575 -0.01966524 0.00131977 0.15977583] [ 0.01965872 0.99979528 0.00478818 0.00780533] [-0.00141366 -0.00476131 0.99998767 -0.00836618] [ 0. 0. 0. 1. ]] SLAMing on 0.36655999499999997 meters Centerline goodness : 0.138031 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.01 [[ 0.99970209 -0.02418646 0.00327966 0.1920012 ] [ 0.02417196 0.99969818 0.00439015 0.00886474] [-0.00338486 -0.00430957 0.99998499 -0.00866203] [ 0. 0. 0. 1. ]] SLAMing on 0.42655999499999997 meters Centerline goodness : 0.248544 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 0.99924684 -0.02471088 0.02991862 0.31494845] [ 0.02458534 0.99968735 0.00455703 0.02089668] [-0.03002187 -0.00381804 0.99954195 -0.03093737] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters Centerline goodness : 0.248544 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 0.99924684 -0.02471088 0.02991862 0.31494845] [ 0.02458534 0.99968735 0.00455703 0.02089668] [-0.03002187 -0.00381804 0.99954195 -0.03093737] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters Centerline goodness : 0.248544 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 0.99924684 -0.02471088 0.02991862 0.31494845] [ 0.02458534 0.99968735 0.00455703 0.02089668] [-0.03002187 -0.00381804 0.99954195 -0.03093737] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters Centerline goodness : 0.248544 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 0.99924684 -0.02471088 0.02991862 0.31494845] [ 0.02458534 0.99968735 0.00455703 0.02089668] [-0.03002187 -0.00381804 0.99954195 -0.03093737] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters Centerline goodness : 0.248544 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.02, Z:-0.03 [[ 0.99924684 -0.02471088 0.02991862 0.31494845] [ 0.02458534 0.99968735 0.00455703 0.02089668] [-0.03002187 -0.00381804 0.99954195 -0.03093737] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters SLAMing on 0.7865599950000001 meters Centerline goodness : 0.844642 with order 3 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.04 [[ 0.99889805 -0.02921717 0.03672931 0.36212537] [ 0.02888037 0.99953613 0.0096674 0.021184 ] [-0.03699473 -0.00859599 0.99927849 -0.03766265] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters Centerline goodness : 0.895634 with order 2 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.04 [[ 0.99859934 -0.02940681 0.04398397 0.41078044] [ 0.02857467 0.99940281 0.01942977 0.02286853] [-0.04452907 -0.01814573 0.99884328 -0.04311802] [ 0. 0. 0. 1. ]] SLAMing on 0.906559995 meters Centerline goodness : 0.926160 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.03, Z:-0.05 [[ 0.9986006 -0.02630871 0.04587704 0.46281395] [ 0.02542757 0.99948282 0.0196856 0.02769855] [-0.04637122 -0.01849151 0.99875311 -0.04879112] [ 0. 0. 0. 1. ]] SLAMing on 0.966559995 meters SLAMing on 1.026559995 meters Centerline goodness : 0.935152 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.03, Z:-0.05 [[ 0.9985854 -0.02443203 0.04722584 0.51596872] [ 0.02352485 0.99952971 0.01967088 0.03329719] [-0.04768423 -0.01853207 0.99869053 -0.05399321] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters Centerline goodness : 0.178019 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.06 [[ 0.99818173 -0.0266156 0.05408176 0.55066816] [ 0.02550784 0.99945253 0.02107108 0.03841066] [-0.05461297 -0.01965326 0.99831417 -0.06147061] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters Centerline goodness : 0.178717 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.04, Z:-0.07 [[ 0.99792406 -0.0287024 0.05765191 0.57136608] [ 0.02812165 0.99954552 0.01085977 0.04466315] [-0.05793741 -0.00921596 0.99827768 -0.06839905] [ 0. 0. 0. 1. ]] SLAMing on 1.2065599949999999 meters Centerline goodness : 0.944708 with order 3 Centerline is valid? [False, False] Translation: X:0.61, Y:0.04, Z:-0.07 [[ 0.99740825 -0.03727259 0.06154304 0.61484384] [ 0.03652608 0.99924537 0.013211 0.04409221] [-0.061989 -0.01092884 0.998017 -0.07448836] [ 0. 0. 0. 1. ]] SLAMing on 1.266559995 meters Centerline goodness : 0.954179 with order 1 Centerline is valid? [False, True] Translation: X:0.65, Y:0.05, Z:-0.08 [[ 0.99694147 -0.04274387 0.06542681 0.64556139] [ 0.04218697 0.99906098 0.00987052 0.04658762] [-0.06578728 -0.00708017 0.99780855 -0.08007877] [ 0. 0. 0. 1. ]] SLAMing on 1.3265599949999998 meters Centerline goodness : 0.155719 with order 1 Centerline is valid? [True, False] Translation: X:0.68, Y:0.05, Z:-0.09 [[ 0.99619674 -0.04986648 0.07145198 0.682808 ] [ 0.04932431 0.9987392 0.00933348 0.04943813] [-0.07182732 -0.00577366 0.99740037 -0.086295 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3865599949999998 meters Centerline goodness : 0.963504 with order 1 Centerline is valid? [False, True] Translation: X:0.71, Y:0.05, Z:-0.09 [[ 0.99552046 -0.05140458 0.07935095 0.71156819] [ 0.05070323 0.99865505 0.01082961 0.05429101] [-0.07980092 -0.00675775 0.99678791 -0.09226568] [ 0. 0. 0. 1. ]] SLAMing on 1.4465599949999999 meters Centerline goodness : 0.965035 with order 1 Centerline is valid? [True, True] Translation: X:0.77, Y:0.06, Z:-0.10 [[ 0.99555266 -0.05019813 0.07971861 0.77214591] [ 0.0499005 0.9987378 0.00572263 0.06405541] [-0.07990525 -0.00171918 0.99680098 -0.09949786] [ 0. 0. 0. 1. ]] SLAMing on 1.506559995 meters Centerline goodness : 0.966253 with order 1 Centerline is valid? [True, True] Translation: X:0.83, Y:0.06, Z:-0.11 [[ 0.99575546 -0.04599796 0.07971986 0.83143473] [ 0.0456883 0.99893945 0.0057051 0.06498765] [-0.07989774 -0.00203862 0.99680098 -0.10855009] [ 0. 0. 0. 1. ]] SLAMing on 1.566559995 meters Centerline goodness : 0.970405 with order 1 Centerline is valid? [True, True] Translation: X:0.89, Y:0.07, Z:-0.11 [[ 0.99537548 -0.05359481 0.07971985 0.89284893] [ 0.05330943 0.99856174 0.00570529 0.06699704] [-0.07991097 -0.00142909 0.99680098 -0.10842694] [ 0. 0. 0. 1. ]] SLAMing on 1.6265599949999998 meters Centerline goodness : 0.973496 with order 1 Centerline is valid? [True, True] Translation: X:0.95, Y:0.08, Z:-0.12 [[ 9.94503661e-01 -6.78762693e-02 7.97200069e-02 9.51807707e-01] [ 6.76368307e-02 9.97693707e-01 5.70309740e-03 8.38890146e-02] [-7.99232542e-02 -2.79742628e-04 9.96800981e-01 -1.22384568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters Centerline goodness : 0.976106 with order 1 Centerline is valid? [True, True] Translation: X:1.01, Y:0.08, Z:-0.12 [[ 9.94919137e-01 -6.14867730e-02 7.97200535e-02 1.01376184e+00] [ 6.12269006e-02 9.98107584e-01 5.70244636e-03 7.96629643e-02] [-7.99198150e-02 -7.92461217e-04 9.96800981e-01 -1.16347898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters Centerline goodness : 0.977530 with order 1 Centerline is valid? [True, True] Translation: X:1.07, Y:0.09, Z:-0.13 [[ 0.99539493 -0.05323187 0.07972008 1.07247973] [ 0.05294559 0.99858112 0.00570202 0.08565695] [-0.0799105 -0.00145493 0.99680098 -0.13284121] [ 0. 0. 0. 1. ]] SLAMing on 1.8065599949999998 meters Centerline goodness : 0.978727 with order 1 Centerline is valid? [True, True] Translation: X:1.13, Y:0.09, Z:-0.15 [[ 0.99536702 -0.05375119 0.07972018 1.13424069] [ 0.05346668 0.99855336 0.0057007 0.09197859] [-0.07991127 -0.00141191 0.99680098 -0.14530232] [ 0. 0. 0. 1. ]] SLAMing on 1.8665599949999998 meters Centerline goodness : 0.982278 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:0.09, Z:-0.15 [[ 9.94846650e-01 -6.26467108e-02 7.97215916e-02 1.19607605e+00] [ 6.23922850e-02 9.98035536e-01 5.68086793e-03 8.74806515e-02] [-7.99208691e-02 -6.77580163e-04 9.96800981e-01 -1.52519783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters Centerline goodness : 0.983749 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:0.09, Z:-0.15 [[ 9.94740534e-01 -6.43091494e-02 7.97220439e-02 1.25570067e+00] [ 6.40605623e-02 9.97929879e-01 5.67451316e-03 9.49539178e-02] [-7.99219328e-02 -5.37629280e-04 9.96800981e-01 -1.54771423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters Centerline goodness : 0.986851 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:0.11, Z:-0.13 [[ 9.93671088e-01 -7.91338018e-02 7.97220813e-02 1.31784386e+00] [ 7.89328383e-02 9.96863789e-01 5.67398835e-03 1.05654732e-01] [-7.99210603e-02 6.54611979e-04 9.96800981e-01 -1.28807642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters Centerline goodness : 0.987783 with order 1 Centerline is valid? [True, True] Translation: X:1.38, Y:0.11, Z:-0.14 [[ 9.93697301e-01 -7.88039188e-02 7.97221158e-02 1.37807410e+00] [ 7.86019343e-02 9.96889937e-01 5.67350400e-03 1.07110376e-01] [-7.99212693e-02 6.28566886e-04 9.96800981e-01 -1.37781923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters Centerline goodness : 0.990774 with order 1 Centerline is valid? [True, True] Translation: X:1.44, Y:0.11, Z:-0.14 [[ 9.93956565e-01 -7.54632416e-02 7.97223088e-02 1.43985869e+00] [ 7.52507441e-02 9.97148518e-01 5.67078959e-03 1.10258549e-01] [-7.99229183e-02 3.62644518e-04 9.96800981e-01 -1.40500179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters Centerline goodness : 0.991888 with order 1 Centerline is valid? [True, True] Translation: X:1.50, Y:0.11, Z:-0.14 [[ 9.94059752e-01 -7.40911832e-02 7.97226870e-02 1.50150962e+00] [ 7.38747067e-02 9.97251438e-01 5.66546870e-03 1.14759812e-01] [-7.99233255e-02 2.57675710e-04 9.96800981e-01 -1.44069919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters Centerline goodness : 0.993923 with order 1 Centerline is valid? [True, True] Translation: X:1.56, Y:0.12, Z:-0.15 [[ 9.94215870e-01 -7.19655247e-02 7.97230613e-02 1.56278120e+00] [ 7.17426470e-02 9.97407116e-01 5.66019621e-03 1.16481930e-01] [-7.99236876e-02 9.20865460e-05 9.96800981e-01 -1.47586856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters Centerline goodness : 0.995245 with order 1 Centerline is valid? [True, True] Translation: X:1.62, Y:0.12, Z:-0.15 [[ 9.94261368e-01 -7.13337594e-02 7.97234453e-02 1.62470265e+00] [ 7.11092880e-02 9.97452501e-01 5.65478320e-03 1.21284237e-01] [-7.99237268e-02 4.67449564e-05 9.96800981e-01 -1.51115614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters Centerline goodness : 0.996247 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:0.13, Z:-0.16 [[ 9.94546212e-01 -6.72454016e-02 7.97238288e-02 1.68661571e+00] [ 6.70082462e-02 9.97736428e-01 5.64937016e-03 1.25697401e-01] [-7.99232624e-02 -2.76405738e-04 9.96800981e-01 -1.57551348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters Centerline goodness : 0.996871 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:0.13, Z:-0.16 [[ 9.94715191e-01 -6.46973125e-02 7.97241855e-02 1.74916527e+00] [ 6.44523888e-02 9.97904821e-01 5.64433230e-03 1.29729280e-01] [-7.99223222e-02 -4.76088880e-04 9.96800981e-01 -1.63033307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters Centerline goodness : 0.997104 with order 1 Centerline is valid? [True, True] Translation: X:1.81, Y:0.13, Z:-0.17 [[ 9.94697352e-01 -6.49703615e-02 7.97247196e-02 1.80947445e+00] [ 6.47269188e-02 9.97887094e-01 5.63677774e-03 1.33719595e-01] [-7.99224923e-02 -4.46552430e-04 9.96800981e-01 -1.72144821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:0.13, Z:-0.17 [[ 9.94699252e-01 -6.49403988e-02 7.97254164e-02 1.87099548e+00] [ 6.46976512e-02 9.97889048e-01 5.62690620e-03 1.34122273e-01] [-7.99225334e-02 -4.39032210e-04 9.96800981e-01 -1.74695281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters Centerline goodness : 0.997948 with order 1 Centerline is valid? [True, True] Translation: X:1.93, Y:0.14, Z:-0.18 [[ 9.94532892e-01 -6.74394433e-02 7.97260821e-02 1.93269734e+00] [ 6.72054684e-02 9.97723343e-01 5.61745801e-03 1.41899382e-01] [-7.99234114e-02 -2.28718062e-04 9.96800981e-01 -1.80833171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters Centerline goodness : 0.998453 with order 1 Centerline is valid? [True, True] Translation: X:1.99, Y:0.15, Z:-0.18 [[ 9.94432665e-01 -6.89011830e-02 7.97264233e-02 1.99368233e+00] [ 6.86722865e-02 9.97623484e-01 5.61261110e-03 1.47655983e-01] [-7.99236677e-02 -1.06368031e-04 9.96800981e-01 -1.83033047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:2.06, Y:0.15, Z:-0.19 [[ 9.94333203e-01 -7.03216788e-02 7.97266744e-02 2.05558957e+00] [ 7.00976268e-02 9.97524366e-01 5.60904178e-03 1.53599057e-01] [-7.99237376e-02 1.13941857e-05 9.96800981e-01 -1.88825567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:2.12, Y:0.15, Z:-0.19 [[ 9.94502976e-01 -6.78780949e-02 7.97270048e-02 2.11781190e+00] [ 6.76465788e-02 9.97693606e-01 5.60434131e-03 1.48145238e-01] [-7.99235350e-02 -1.80274992e-04 9.96800981e-01 -1.88526882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:2.18, Y:0.15, Z:-0.19 [[ 9.94551776e-01 -6.71589925e-02 7.97272495e-02 2.17923979e+00] [ 6.69254486e-02 9.97742259e-01 5.60085903e-03 1.52171094e-01] [-7.99233940e-02 -2.34562365e-04 9.96800981e-01 -1.94122262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:2.24, Y:0.17, Z:-0.20 [[ 9.94282367e-01 -7.10358028e-02 7.97275948e-02 2.23967621e+00] [ 7.08150935e-02 9.97473763e-01 5.59593933e-03 1.66066604e-01] [-7.99236960e-02 8.19732688e-05 9.96800981e-01 -2.03824962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:2.30, Y:0.16, Z:-0.21 [[ 9.94641598e-01 -6.58144891e-02 7.97279378e-02 2.30258754e+00] [ 6.55774188e-02 9.97831821e-01 5.59104834e-03 1.60623695e-01] [-7.99230453e-02 -3.32736891e-04 9.96800981e-01 -2.07934428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:2.36, Y:0.17, Z:-0.21 [[ 9.94972526e-01 -6.06058920e-02 7.97282744e-02 2.36459339e+00] [ 6.03525068e-02 9.98161494e-01 5.58624367e-03 1.66629017e-01] [-7.99202528e-02 -7.46357750e-04 9.96800981e-01 -2.11812697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:2.43, Y:0.17, Z:-0.22 [[ 9.94980204e-01 -6.04786804e-02 7.97290649e-02 2.42538056e+00] [ 6.02257933e-02 9.98169211e-01 5.57493886e-03 1.69766349e-01] [-7.99202627e-02 -7.45207620e-04 9.96800981e-01 -2.17101912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:2.49, Y:0.17, Z:-0.22 [[ 9.94795787e-01 -6.34395707e-02 7.97293115e-02 2.48779204e+00] [ 6.31964583e-02 9.97985555e-01 5.57140954e-03 1.71750914e-01] [-7.99221490e-02 -5.03804621e-04 9.96800981e-01 -2.23293601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:0.18, Z:-0.23 [[ 9.94760444e-01 -6.39907618e-02 7.97298000e-02 2.55044485e+00] [ 6.37499779e-02 9.97950388e-01 5.56441009e-03 1.76265424e-01] [-7.99224557e-02 -4.52482063e-04 9.96800981e-01 -2.25544036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:2.61, Y:0.18, Z:-0.23 [[ 9.94776674e-01 -6.37373369e-02 7.97303041e-02 2.61076468e+00] [ 6.34963200e-02 9.97966600e-01 5.55717756e-03 1.81219614e-01] [-7.99223802e-02 -4.65569703e-04 9.96800981e-01 -2.31231624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:2.67, Y:0.20, Z:-0.23 [[ 9.94566329e-01 -6.69387317e-02 7.97309390e-02 2.67170660e+00] [ 6.67087143e-02 9.97757068e-01 5.54805406e-03 1.99237611e-01] [-7.99234876e-02 -1.99159332e-04 9.96800981e-01 -2.34300906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:2.73, Y:0.21, Z:-0.24 [[ 9.94684498e-01 -6.51588391e-02 7.97312642e-02 2.73263031e+00] [ 6.49234872e-02 9.97874848e-01 5.54337595e-03 2.05599159e-01] [-7.99230231e-02 -3.37478414e-04 9.96800981e-01 -2.42404656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:2.79, Y:0.21, Z:-0.25 [[ 9.94556519e-01 -6.70835734e-02 7.97315819e-02 2.79320064e+00] [ 6.68547623e-02 9.97747344e-01 5.53880351e-03 2.13087144e-01] [-7.99235368e-02 -1.78217188e-04 9.96800981e-01 -2.50582334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:2.85, Y:0.22, Z:-0.25 [[ 9.94261797e-01 -7.13184224e-02 7.97318166e-02 2.85352569e+00] [ 7.11034731e-02 9.97453585e-01 5.53542226e-03 2.19090694e-01] [-7.99235639e-02 1.65550197e-04 9.96800981e-01 -2.54457128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:2.92, Y:0.23, Z:-0.26 [[ 9.94162523e-01 -7.26889100e-02 7.97320468e-02 2.91523625e+00] [ 7.24786267e-02 9.97354623e-01 5.53210527e-03 2.25148128e-01] [-7.99232481e-02 2.79057517e-04 9.96800981e-01 -2.59182609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:2.98, Y:0.23, Z:-0.26 [[ 9.93896544e-01 -7.62391797e-02 7.97323513e-02 2.97637008e+00] [ 7.60406509e-02 9.97089396e-01 5.52771211e-03 2.32177903e-01] [-7.99217103e-02 5.68925935e-04 9.96800981e-01 -2.63641222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:3.04, Y:0.23, Z:-0.27 [[ 9.93398818e-01 -8.24712292e-02 7.97325771e-02 3.03823510e+00] [ 8.22929909e-02 9.96592868e-01 5.52445360e-03 2.33860460e-01] [-7.99165261e-02 1.07344657e-03 9.96800981e-01 -2.66791106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:3.10, Y:0.24, Z:-0.27 [[ 9.92337046e-01 -9.43920100e-02 7.97329028e-02 3.09893570e+00] [ 9.42525100e-02 9.95533021e-01 5.51974912e-03 2.35728464e-01] [-7.98977578e-02 2.03757468e-03 9.96800981e-01 -2.72856255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:3.16, Y:0.24, Z:-0.27 [[ 9.91364956e-01 -1.04106437e-01 7.97331438e-02 3.16103512e+00] [ 1.03998525e-01 9.94562154e-01 5.51626509e-03 2.38168484e-01] [-7.98738459e-02 2.82349746e-03 9.96800981e-01 -2.69868022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:0.24, Z:-0.27 [[ 0.99071285 -0.11013917 0.07973334 3.21986914] [ 0.11005094 0.99391066 0.00551347 0.23835491] [-0.07985506 0.00331246 0.99680098 -0.2723078 ] [ 0. 0. 0. 1. ]] SLAMing on 3.906559995 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:3.28, Y:0.24, Z:-0.28 [[ 9.90865334e-01 -1.08759853e-01 7.97319578e-02 3.27870766e+00] [ 1.08665581e-01 9.94062963e-01 5.53334451e-03 2.41307649e-01] [-7.98603920e-02 3.18132026e-03 9.96800982e-01 -2.77896021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:3.34, Y:0.25, Z:-0.29 [[ 9.90920355e-01 -1.08258413e-01 7.97305910e-02 3.33729940e+00] [ 1.08160946e-01 9.94117888e-01 5.55296940e-03 2.45168955e-01] [-7.98627624e-02 3.12118573e-03 9.96800982e-01 -2.85474335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:3.40, Y:0.24, Z:-0.30 [[ 9.91229137e-01 -1.05394715e-01 7.97292373e-02 3.39699578e+00] [ 1.05286454e-01 9.94426323e-01 5.57233892e-03 2.39789162e-01] [-7.98721474e-02 2.87094396e-03 9.96800982e-01 -2.97375630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:3.46, Y:0.24, Z:-0.30 [[ 9.91561928e-01 -1.02216548e-01 7.97290416e-02 3.45534856e+00] [ 1.02097813e-01 9.94758742e-01 5.57513786e-03 2.43986994e-01] [-7.98810324e-02 2.61206632e-03 9.96800982e-01 -3.00139729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:0.25, Z:-0.30 [[ 9.92014729e-01 -9.77255264e-02 7.97276561e-02 3.51359001e+00] [ 9.75907313e-02 9.95210906e-01 5.59488091e-03 2.46057533e-01] [-7.98925955e-02 2.23047600e-03 9.96800982e-01 -3.04617961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:0.25, Z:-0.31 [[ 9.92641608e-01 -9.11393982e-02 7.97260811e-02 3.57301009e+00] [ 9.09815985e-02 9.95836731e-01 5.61723517e-03 2.51656727e-01] [-7.99061115e-02 1.67770495e-03 9.96800982e-01 -3.09938024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:0.26, Z:-0.32 [[ 9.92944507e-01 -8.77780707e-02 7.97258828e-02 3.63368214e+00] [ 8.76092283e-02 9.96139066e-01 5.62004877e-03 2.57247114e-01] [-7.99113835e-02 1.40432651e-03 9.96800982e-01 -3.16591973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:3.69, Y:0.26, Z:-0.32 [[ 9.92957169e-01 -8.76345390e-02 7.97260806e-02 3.69459427e+00] [ 8.74654601e-02 9.96151715e-01 5.61724225e-03 2.60334323e-01] [-7.99115363e-02 1.39559735e-03 9.96800982e-01 -3.23689799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:0.27, Z:-0.33 [[ 9.93136067e-01 -8.55830441e-02 7.97263735e-02 3.75533575e+00] [ 8.54077000e-02 9.96330276e-01 5.61308152e-03 2.65392183e-01] [-7.99141843e-02 1.23469249e-03 9.96800982e-01 -3.29282449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:0.27, Z:-0.33 [[ 9.93269329e-01 -8.40221072e-02 7.97265668e-02 3.81744322e+00] [ 8.38419637e-02 9.96463270e-01 5.61033502e-03 2.69291498e-01] [-7.99159876e-02 1.11185821e-03 9.96800982e-01 -3.34868520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:0.28, Z:-0.34 [[ 9.93326425e-01 -8.33440240e-02 7.97269557e-02 3.87877981e+00] [ 8.31621440e-02 9.96520268e-01 5.60480296e-03 2.75452667e-01] [-7.99166540e-02 1.06286569e-03 9.96800983e-01 -3.39537459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:0.28, Z:-0.34 [[ 9.93390251e-01 -8.25794098e-02 7.97273449e-02 3.94074355e+00] [ 8.23955163e-02 9.96583979e-01 5.59926072e-03 2.79426785e-01] [-7.99173783e-02 1.00692473e-03 9.96800983e-01 -3.43777390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.28, Z:-0.35 [[ 9.93250512e-01 -8.42431483e-02 7.97277372e-02 4.00189580e+00] [ 8.40650529e-02 9.96444568e-01 5.59366952e-03 2.80320268e-01] [-7.99154990e-02 1.14640133e-03 9.96800983e-01 -3.49546270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.28, Z:-0.35 [[ 9.93099238e-01 -8.60078248e-02 7.97280272e-02 4.06345175e+00] [ 8.58357370e-02 9.96293623e-01 5.58953274e-03 2.83462321e-01] [-7.99132686e-02 1.29255327e-03 9.96800983e-01 -3.53141824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.29, Z:-0.36 [[ 9.93152674e-01 -8.53882075e-02 7.97284120e-02 4.12496036e+00] [ 8.52145676e-02 9.96346976e-01 5.58403909e-03 2.87425383e-01] [-7.99139732e-02 1.24821879e-03 9.96800983e-01 -3.57178549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:0.29, Z:-0.36 [[ 9.93167630e-01 -8.52137162e-02 7.97288016e-02 4.18684932e+00] [ 8.50399621e-02 9.96361925e-01 5.57847012e-03 2.92014491e-01] [-7.99141044e-02 1.23977832e-03 9.96800983e-01 -3.62856928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:0.30, Z:-0.37 [[ 9.93410238e-01 -8.23368495e-02 7.97291852e-02 4.24884943e+00] [ 8.21542848e-02 9.96604041e-01 5.57298305e-03 2.97594902e-01] [-7.99172900e-02 1.01383577e-03 9.96800983e-01 -3.69087626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.30, Z:-0.37 [[ 9.93642783e-01 -7.94809045e-02 7.97295734e-02 4.31013190e+00] [ 7.92896059e-02 9.96836076e-01 5.56742310e-03 3.04450633e-01] [-7.99198189e-02 7.89696669e-04 9.96800983e-01 -3.74055638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:0.31, Z:-0.38 [[ 9.93658174e-01 -7.92878709e-02 7.97299613e-02 4.37084989e+00] [ 7.90963980e-02 9.96851456e-01 5.56186313e-03 3.06851066e-01] [-7.99199163e-02 7.79761987e-04 9.96800983e-01 -3.79293832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:0.31, Z:-0.38 [[ 9.93628261e-01 -7.96612043e-02 7.97306192e-02 4.43315504e+00] [ 7.94716892e-02 9.96821660e-01 5.55241583e-03 3.10246778e-01] [-7.99195203e-02 8.19289706e-04 9.96800983e-01 -3.82996786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:0.32, Z:-0.39 [[ 9.93674312e-01 -7.90843172e-02 7.97310022e-02 4.49488672e+00] [ 7.88933898e-02 9.96867627e-01 5.54690977e-03 3.15271311e-01] [-7.99199285e-02 7.78427288e-04 9.96800983e-01 -3.87838679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:4.56, Y:0.32, Z:-0.40 [[ 9.93438852e-01 -8.19887479e-02 7.97313796e-02 4.55661590e+00] [ 8.18075920e-02 9.96632736e-01 5.54148003e-03 3.18463131e-01] [-7.99172420e-02 1.01751062e-03 9.96800983e-01 -3.95192769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:4.62, Y:0.32, Z:-0.40 [[ 9.93167159e-01 -8.52164430e-02 7.97317573e-02 4.61800513e+00] [ 8.50461029e-02 9.96361637e-01 5.53604104e-03 3.21391748e-01] [-7.99134259e-02 1.28266108e-03 9.96800983e-01 -4.00058578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:4.68, Y:0.32, Z:-0.40 [[ 9.92984222e-01 -8.73217216e-02 7.97323743e-02 4.68002564e+00] [ 8.71588686e-02 9.96179092e-01 5.52713999e-03 3.24229893e-01] [-7.99103636e-02 1.46102073e-03 9.96800983e-01 -4.03257038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:4.74, Y:0.33, Z:-0.41 [[ 9.92812345e-01 -8.92543260e-02 7.97327531e-02 4.74102644e+00] [ 8.90981310e-02 9.96007547e-01 5.52166978e-03 3.28558301e-01] [-7.99072568e-02 1.62205736e-03 9.96800983e-01 -4.07660444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:4.80, Y:0.33, Z:-0.41 [[ 9.92925111e-01 -8.79908024e-02 7.97329418e-02 4.80241586e+00] [ 8.78307602e-02 9.96120123e-01 5.51894341e-03 3.33643848e-01] [-7.99092041e-02 1.52310739e-03 9.96800983e-01 -4.11735089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:4.86, Y:0.34, Z:-0.42 [[ 9.92863551e-01 -8.86825617e-02 7.97331315e-02 4.86398048e+00] [ 8.85249655e-02 9.96058684e-01 5.51620166e-03 3.37299464e-01] [-7.99080689e-02 1.58153715e-03 9.96800983e-01 -4.17327134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:4.92, Y:0.35, Z:-0.42 [[ 9.92987616e-01 -8.72820802e-02 7.97335173e-02 4.92306576e+00] [ 8.71204257e-02 9.96182546e-01 5.51061979e-03 3.45346017e-01] [-7.99101166e-02 1.47444076e-03 9.96800983e-01 -4.24052834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.35, Z:-0.43 [[ 9.92867473e-01 -8.86380242e-02 7.97338177e-02 4.98514728e+00] [ 8.84810820e-02 9.96062638e-01 5.50627012e-03 3.48158389e-01] [-7.99079417e-02 1.58793796e-03 9.96800983e-01 -4.29805535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.35, Z:-0.44 [[ 9.92810225e-01 -8.92766185e-02 7.97341947e-02 5.04521432e+00] [ 8.91221702e-02 9.96005512e-01 5.50080475e-03 3.48696534e-01] [-7.99067907e-02 1.64482927e-03 9.96800983e-01 -4.36008755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.35, Z:-0.44 [[ 9.92890277e-01 -8.83817877e-02 7.97342872e-02 5.10563509e+00] [ 8.82245672e-02 9.96085429e-01 5.49946456e-03 3.54964200e-01] [-7.99082141e-02 1.57415809e-03 9.96800983e-01 -4.40082275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.36, Z:-0.45 [[ 9.92811620e-01 -8.92609377e-02 7.97343817e-02 5.16652937e+00] [ 8.91066565e-02 9.96006915e-01 5.49809386e-03 3.59813810e-01] [-7.99067605e-02 1.64629269e-03 9.96800983e-01 -4.46137533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:0.37, Z:-0.45 [[ 9.92955908e-01 -8.76407188e-02 7.97349958e-02 5.22766492e+00] [ 8.74819397e-02 9.96150982e-01 5.48917355e-03 3.65674937e-01] [-7.99091695e-02 1.52486479e-03 9.96800983e-01 -4.50139449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:0.37, Z:-0.46 [[ 9.93171477e-01 -8.51628895e-02 7.97351845e-02 5.28944858e+00] [ 8.49963590e-02 9.96366157e-01 5.48643035e-03 3.71786508e-01] [-7.99126796e-02 1.32823423e-03 9.96800983e-01 -4.55374049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:0.38, Z:-0.46 [[ 9.93318958e-01 -8.34247370e-02 7.97355664e-02 5.35154761e+00] [ 8.32530619e-02 9.96513366e-01 5.48087568e-03 3.75779243e-01] [-7.99147982e-02 1.19397232e-03 9.96800983e-01 -4.61299162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:0.38, Z:-0.47 [[ 9.93342375e-01 -8.31450784e-02 7.97359478e-02 5.41373258e+00] [ 8.29729498e-02 9.96536758e-01 5.47532098e-03 3.76371304e-01] [-7.99150489e-02 1.17705844e-03 9.96800983e-01 -4.67491872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:5.48, Y:0.38, Z:-0.47 [[ 9.93405482e-01 -8.23872883e-02 7.97363322e-02 5.47588364e+00] [ 8.22131726e-02 9.96599757e-01 5.46971651e-03 3.80660456e-01] [-7.99158445e-02 1.12173048e-03 9.96800983e-01 -4.73804979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:5.54, Y:0.39, Z:-0.48 [[ 9.93596728e-01 -8.00474674e-02 7.97367251e-02 5.53699805e+00] [ 7.98662893e-02 9.96790610e-01 5.46398395e-03 3.86721979e-01] [-7.99181969e-02 9.39279777e-04 9.96800983e-01 -4.78785952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:5.60, Y:0.39, Z:-0.48 [[ 9.93813501e-01 -7.73089736e-02 7.97373629e-02 5.59937634e+00] [ 7.71197423e-02 9.97006917e-01 5.45466019e-03 3.88877556e-01] [-7.99203965e-02 7.28409938e-04 9.96800983e-01 -4.83245568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:5.66, Y:0.39, Z:-0.49 [[ 9.94226780e-01 -7.17983380e-02 7.97377450e-02 5.66151644e+00] [ 7.15918546e-02 9.97419127e-01 5.44906828e-03 3.93296007e-01] [-7.99231860e-02 2.90963433e-04 9.96800983e-01 -4.88368288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:5.72, Y:0.40, Z:-0.49 [[ 9.94548603e-01 -6.71928322e-02 7.97383218e-02 5.72370298e+00] [ 6.69722436e-02 9.97740005e-01 5.44061464e-03 3.99850634e-01] [-7.99236840e-02 -7.07013784e-05 9.96800983e-01 -4.94837742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.79, Y:0.40, Z:-0.50 [[ 9.94823748e-01 -6.29874442e-02 7.97388974e-02 5.78560075e+00] [ 6.27540421e-02 9.98014239e-01 5.43216536e-03 4.04902654e-01] [-7.99227133e-02 -4.00108984e-04 9.96800983e-01 -5.00699417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:5.85, Y:0.41, Z:-0.51 [[ 9.94912151e-01 -6.15747001e-02 7.97393701e-02 5.84816241e+00] [ 6.13373243e-02 9.98102349e-01 5.42521852e-03 4.08929401e-01] [-7.99221088e-02 -5.06616226e-04 9.96800983e-01 -5.06891026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:5.91, Y:0.41, Z:-0.51 [[ 9.94962585e-01 -6.07535604e-02 7.97399511e-02 5.91118854e+00] [ 6.05142373e-02 9.98152637e-01 5.41666463e-03 4.12671656e-01] [-7.99217242e-02 -5.63976314e-04 9.96800983e-01 -5.12646966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.97, Y:0.42, Z:-0.52 [[ 9.95112168e-01 -5.82513612e-02 7.97405310e-02 5.97259173e+00] [ 5.80047020e-02 9.98301661e-01 5.40811423e-03 4.18168077e-01] [-7.99201346e-02 -7.56354535e-04 9.96800983e-01 -5.19332436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:6.04, Y:0.42, Z:-0.53 [[ 9.95331248e-01 -5.43776472e-02 7.97419487e-02 6.03531232e+00] [ 5.41202562e-02 9.98519893e-01 5.38713045e-03 4.23254672e-01] [-7.99168615e-02 -1.04632458e-03 9.96800983e-01 -5.25833687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:6.10, Y:0.43, Z:-0.53 [[ 9.95359787e-01 -5.38518664e-02 7.97425293e-02 6.09824449e+00] [ 5.35934807e-02 9.98548352e-01 5.37852126e-03 4.27158843e-01] [-7.99164146e-02 -1.07988406e-03 9.96800983e-01 -5.31443248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:6.16, Y:0.43, Z:-0.54 [[ 9.95362375e-01 -5.38031634e-02 7.97431033e-02 6.16121681e+00] [ 5.35453043e-02 9.98550982e-01 5.36999830e-03 4.30889140e-01] [-7.99164770e-02 -1.07522553e-03 9.96800983e-01 -5.37080257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:6.22, Y:0.44, Z:-0.54 [[ 9.95362982e-01 -5.37896173e-02 7.97446661e-02 6.22276473e+00] [ 5.35335818e-02 9.98551736e-01 5.34669039e-03 4.35645774e-01] [-7.99167711e-02 -1.05288008e-03 9.96800984e-01 -5.40828986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:0.44, Z:-0.55 [[ 9.95320643e-01 -5.45653496e-02 7.97461039e-02 6.28560909e+00] [ 5.43135243e-02 9.98509731e-01 5.32515897e-03 4.38931950e-01] [-7.99178299e-02 -9.68948704e-04 9.96800984e-01 -5.45073861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:0.44, Z:-0.55 [[ 9.95339718e-01 -5.42140505e-02 7.97476207e-02 6.34843748e+00] [ 5.39629271e-02 9.98528862e-01 5.30234635e-03 4.42272523e-01] [-7.99177626e-02 -9.74220881e-04 9.96800984e-01 -5.49074068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:0.45, Z:-0.56 [[ 9.95324639e-01 -5.44893443e-02 7.97481919e-02 6.40980582e+00] [ 5.42397923e-02 9.98513906e-01 5.29374114e-03 4.45883184e-01] [-7.99181311e-02 -9.43465620e-04 9.96800984e-01 -5.55432079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:6.47, Y:0.45, Z:-0.56 [[ 9.95257292e-01 -5.57039092e-02 7.97495850e-02 6.47205303e+00] [ 5.54599375e-02 9.98446991e-01 5.27267090e-03 4.49274672e-01] [-7.99194416e-02 -8.24757166e-04 9.96800984e-01 -5.61005043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:0.45, Z:-0.57 [[ 9.95172856e-01 -5.71904841e-02 7.97510783e-02 6.53383246e+00] [ 5.69530949e-02 9.98363052e-01 5.24998650e-03 4.53762633e-01] [-7.99207792e-02 -6.82573325e-04 9.96800985e-01 -5.65443479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:6.60, Y:0.46, Z:-0.57 [[ 9.95213980e-01 -5.64683976e-02 7.97524516e-02 6.59588360e+00] [ 5.62303721e-02 9.98404128e-01 5.22904124e-03 4.58889728e-01] [-7.99204525e-02 -7.19504911e-04 9.96800985e-01 -5.71072690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:6.66, Y:0.46, Z:-0.57 [[ 9.95205583e-01 -5.66154221e-02 7.97530031e-02 6.65867637e+00] [ 5.63785430e-02 9.98395816e-01 5.22061658e-03 4.62633311e-01] [-7.99206320e-02 -6.99228659e-04 9.96800985e-01 -5.74905167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:6.72, Y:0.47, Z:-0.58 [[ 9.95157305e-01 -5.74570185e-02 7.97535527e-02 6.72119746e+00] [ 5.72235112e-02 9.98347786e-01 5.21220659e-03 4.67067726e-01] [-7.99212607e-02 -6.23187143e-04 9.96800985e-01 -5.79745705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:6.78, Y:0.47, Z:-0.59 [[ 9.95236455e-01 -5.60685382e-02 7.97541049e-02 6.78355550e+00] [ 5.58312580e-02 9.98426658e-01 5.20374336e-03 4.72870683e-01] [-7.99203907e-02 -7.26183086e-04 9.96800985e-01 -5.85643727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:6.84, Y:0.49, Z:-0.59 [[ 9.94671965e-01 -6.53213412e-02 7.97546516e-02 6.84496704e+00] [ 6.51144115e-02 9.97864280e-01 5.19535134e-03 4.89957562e-01] [-7.99236853e-02 2.55068749e-05 9.96800985e-01 -5.88934494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:6.91, Y:0.48, Z:-0.60 [[ 9.95355621e-01 -5.39089041e-02 7.97559869e-02 6.90650821e+00] [ 5.36670234e-02 9.98545478e-01 5.17477154e-03 4.82298353e-01] [-7.99189463e-02 -8.70471528e-04 9.96800985e-01 -5.96097656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:6.97, Y:0.49, Z:-0.60 [[ 9.95410864e-01 -5.28784914e-02 7.97563568e-02 6.96872425e+00] [ 5.26337660e-02 9.98600504e-01 5.16906341e-03 4.86343679e-01] [-7.99180705e-02 -9.47464454e-04 9.96800985e-01 -6.01202937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:7.03, Y:0.49, Z:-0.61 [[ 9.95451232e-01 -5.21121912e-02 7.97569035e-02 7.03107806e+00] [ 5.18656873e-02 9.98640735e-01 5.16061474e-03 4.91175607e-01] [-7.99174237e-02 -1.00049368e-03 9.96800985e-01 -6.07163444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:7.09, Y:0.50, Z:-0.61 [[ 9.95477138e-01 -5.16127322e-02 7.97583391e-02 7.09359343e+00] [ 5.13664131e-02 9.98666656e-01 5.13833151e-03 4.95996074e-01] [-7.99171971e-02 -1.01819175e-03 9.96800986e-01 -6.12611987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:0.50, Z:-0.62 [[ 9.95529516e-01 -5.05901028e-02 7.97597871e-02 7.15557261e+00] [ 5.03423157e-02 9.98718920e-01 5.11575568e-03 5.01271390e-01] [-7.99164150e-02 -1.07759339e-03 9.96800986e-01 -6.17872318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters Centerline goodness : 0.998408 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:0.51, Z:-0.62 [[ 9.95644347e-01 -4.82752289e-02 7.97611172e-02 7.21796887e+00] [ 4.80216944e-02 9.98833299e-01 5.09493376e-03 5.06258646e-01] [-7.99140189e-02 -1.24247801e-03 9.96800986e-01 -6.23204760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters Centerline goodness : 0.998562 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:0.51, Z:-0.63 [[ 9.95707216e-01 -4.69582325e-02 7.97625554e-02 7.28021962e+00] [ 4.67022912e-02 9.98895974e-01 5.07231855e-03 5.10680666e-01] [-7.99126826e-02 -1.32545009e-03 9.96800986e-01 -6.28252788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:0.54, Z:-0.62 [[ 9.94985202e-01 -6.03502733e-02 7.97639764e-02 7.34067721e+00] [ 6.01390561e-02 9.98177235e-01 5.04987357e-03 5.36150629e-01] [-7.99233467e-02 -2.27619220e-04 9.96800987e-01 -6.23929958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:0.54, Z:-0.63 [[ 9.94937881e-01 -6.11252143e-02 7.97641572e-02 7.40249089e+00] [ 6.09167126e-02 9.98130093e-01 5.04701530e-03 5.40948499e-01] [-7.99235056e-02 -1.62496466e-04 9.96800987e-01 -6.27738272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters Centerline goodness : 0.997353 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:0.53, Z:-0.64 [[ 9.95911350e-01 -4.24052654e-02 7.97645118e-02 7.46274418e+00] [ 4.21372221e-02 9.99099114e-01 5.04140594e-03 5.26565490e-01] [-7.99064352e-02 -1.65973845e-03 9.96800987e-01 -6.43265597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:0.55, Z:-0.64 [[ 9.95022128e-01 -5.97374290e-02 7.97646866e-02 7.52316443e+00] [ 5.95251464e-02 9.98214090e-01 5.03863886e-03 5.54782399e-01] [-7.99232293e-02 -2.65552512e-04 9.96800987e-01 -6.42748090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:7.58, Y:0.56, Z:-0.65 [[ 9.94890715e-01 -6.18871348e-02 7.97649530e-02 7.58437892e+00] [ 6.16820878e-02 9.98083150e-01 5.03441776e-03 5.59218635e-01] [-7.99236212e-02 -8.86266508e-05 9.96800987e-01 -6.48221469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:0.56, Z:-0.65 [[ 9.94797684e-01 -6.33635531e-02 7.97660851e-02 7.64583908e+00] [ 6.31646875e-02 9.97990510e-01 5.01641610e-03 5.63765567e-01] [-7.99236539e-02 4.80807165e-05 9.96800987e-01 -6.54604762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:0.56, Z:-0.66 [[ 9.94375566e-01 -6.96745996e-02 7.97664310e-02 7.70816031e+00] [ 6.94964392e-02 9.97569614e-01 5.01090982e-03 5.58715006e-01] [-7.99217010e-02 5.60756632e-04 9.96800987e-01 -6.57806360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:0.56, Z:-0.66 [[ 9.93839286e-01 -7.69454207e-02 7.97676367e-02 7.76941580e+00] [ 7.67921718e-02 9.97034626e-01 4.99164303e-03 5.61482683e-01] [-7.99151799e-02 1.16463912e-03 9.96800987e-01 -6.63725952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:7.83, Y:0.57, Z:-0.67 [[ 9.93362031e-01 -8.28791748e-02 7.97678946e-02 7.83173573e+00] [ 8.27453420e-02 9.96558244e-01 4.98751838e-03 5.65964188e-01] [-7.99067143e-02 1.64601033e-03 9.96800987e-01 -6.67705017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:7.89, Y:0.57, Z:-0.67 [[ 9.92930563e-01 -8.78972428e-02 7.97682412e-02 7.89301457e+00] [ 8.77800067e-02 9.96127427e-01 4.98196821e-03 5.66260249e-01] [-7.98972341e-02 2.05530825e-03 9.96800987e-01 -6.71221951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:7.96, Y:0.57, Z:-0.67 [[ 9.92332730e-01 -9.44073113e-02 7.97684970e-02 7.95504527e+00] [ 9.43113728e-02 9.95530304e-01 4.97787041e-03 5.69114402e-01] [-7.98819034e-02 2.58337272e-03 9.96800987e-01 -6.73818545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:8.02, Y:0.57, Z:-0.68 [[ 9.91998465e-01 -9.78569263e-02 7.97688425e-02 8.01590412e+00] [ 9.77725510e-02 9.95196365e-01 4.97232755e-03 5.71705092e-01] [-7.98722387e-02 2.86666193e-03 9.96800987e-01 -6.80845597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:8.08, Y:0.57, Z:-0.68 [[ 9.92011808e-01 -9.77213594e-02 7.97690979e-02 8.07714631e+00] [ 9.76368764e-02 9.95209705e-01 4.96822644e-03 5.73748782e-01] [-7.98724822e-02 2.85986626e-03 9.96800987e-01 -6.84289429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:8.14, Y:0.56, Z:-0.69 [[ 9.91816572e-01 -9.96832572e-02 7.97692639e-02 8.13855072e+00] [ 9.96053138e-02 9.95014635e-01 4.96555895e-03 5.60935117e-01] [-7.98665682e-02 3.02051890e-03 9.96800987e-01 -6.85398226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:8.20, Y:0.58, Z:-0.69 [[ 9.90641326e-01 -1.10754811e-01 7.97692639e-02 8.19792085e+00] [ 1.10712592e-01 9.93840060e-01 4.96555895e-03 5.78098298e-01] [-7.98278496e-02 3.91237409e-03 9.96800987e-01 -6.93020796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:8.26, Y:0.58, Z:-0.70 [[ 9.90888733e-01 -1.08519050e-01 7.97692639e-02 8.25679374e+00] [ 1.08469613e-01 9.94087364e-01 4.96555895e-03 5.81481483e-01] [-7.98364750e-02 3.73222476e-03 9.96800987e-01 -6.99066793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:8.32, Y:0.58, Z:-0.70 [[ 9.90554556e-01 -1.11529044e-01 7.97680609e-02 8.31508305e+00] [ 1.11487779e-01 9.93753303e-01 4.98481069e-03 5.83681563e-01] [-7.98257251e-02 3.95543699e-03 9.96800987e-01 -7.03197936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:8.37, Y:0.57, Z:-0.70 [[ 9.89224578e-01 -1.22768112e-01 7.97666864e-02 8.37411502e+00] [ 1.22761407e-01 9.92423584e-01 5.00670875e-03 5.73310664e-01] [-7.97770050e-02 4.83951131e-03 9.96800987e-01 -7.02271213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:8.43, Y:0.58, Z:-0.71 [[ 9.88418969e-01 -1.29094095e-01 7.97662634e-02 8.43145076e+00] [ 1.29107315e-01 9.91617954e-01 5.01344022e-03 5.84071695e-01] [-7.97448644e-02 5.34302869e-03 9.96800987e-01 -7.05914100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:8.49, Y:0.59, Z:-0.71 [[ 9.88182127e-01 -1.30895561e-01 7.97648837e-02 8.48948805e+00] [ 1.30912856e-01 9.91381092e-01 5.03529638e-03 5.86988830e-01] [-7.97364954e-02 5.46645885e-03 9.96800988e-01 -7.11669612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:8.55, Y:0.58, Z:-0.72 [[ 9.88506600e-01 -1.28422478e-01 7.97644551e-02 8.54863032e+00] [ 1.28431224e-01 9.91705601e-01 5.04207665e-03 5.84162661e-01] [-7.97503728e-02 5.26012054e-03 9.96800988e-01 -7.15585735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:8.61, Y:0.59, Z:-0.72 [[ 9.88748207e-01 -1.26549617e-01 7.97632575e-02 8.60707434e+00] [ 1.26550786e-01 9.91947219e-01 5.06095143e-03 5.88976029e-01] [-7.97614029e-02 5.09009629e-03 9.96800988e-01 -7.21040850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:8.67, Y:0.59, Z:-0.73 [[ 9.89063710e-01 -1.24060430e-01 7.97620639e-02 8.66532351e+00] [ 1.24052041e-01 9.92262711e-01 5.07969317e-03 5.92234519e-01] [-7.97751107e-02 4.87050664e-03 9.96800988e-01 -7.26134516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:0.60, Z:-0.73 [[ 9.89439163e-01 -1.21030492e-01 7.97606582e-02 8.72255309e+00] [ 1.21010539e-01 9.92638112e-01 5.10167046e-03 5.96927065e-01] [-7.97909269e-02 4.60408772e-03 9.96800988e-01 -7.31212933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:0.60, Z:-0.74 [[ 9.90491295e-01 -1.12095749e-01 7.97592514e-02 8.78147762e+00] [ 1.12045167e-01 9.93689906e-01 5.12357173e-03 6.02523587e-01] [-7.98302936e-02 3.86178544e-03 9.96800989e-01 -7.36286449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:0.61, Z:-0.74 [[ 9.91173105e-01 -1.05898691e-01 7.97580252e-02 8.83894685e+00] [ 1.05826577e-01 9.94371304e-01 5.14258809e-03 6.06007012e-01] [-7.98536849e-02 3.34332382e-03 9.96800989e-01 -7.41378044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:8.90, Y:0.61, Z:-0.75 [[ 9.91584873e-01 -1.01971398e-01 7.97575933e-02 8.89695877e+00] [ 1.01886078e-01 9.94782746e-01 5.14927848e-03 6.10216019e-01] [-7.98665568e-02 3.02024169e-03 9.96800989e-01 -7.45813741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:0.61, Z:-0.75 [[ 9.91896965e-01 -9.88906557e-02 7.97561823e-02 8.95576259e+00] [ 9.87936539e-02 9.95094505e-01 5.17104190e-03 6.12514947e-01] [-7.98763065e-02 2.75026390e-03 9.96800989e-01 -7.51992626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:9.01, Y:0.62, Z:-0.76 [[ 9.92188620e-01 -9.59212762e-02 7.97549459e-02 9.01396180e+00] [ 9.58131784e-02 9.95385804e-01 5.19004104e-03 6.16000511e-01] [-7.98847763e-02 2.49207520e-03 9.96800989e-01 -7.55921900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:9.07, Y:0.62, Z:-0.76 [[ 9.92504248e-01 -9.25986431e-02 7.97546852e-02 9.07440808e+00] [ 9.24795194e-02 9.95701040e-01 5.19404478e-03 6.20842575e-01] [-7.98927844e-02 2.22056345e-03 9.96800989e-01 -7.60479220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:9.14, Y:0.62, Z:-0.77 [[ 9.92556136e-01 -9.20407896e-02 7.97546852e-02 9.13591228e+00] [ 9.19198691e-02 9.95752861e-01 5.19404478e-03 6.24304877e-01] [-7.98940199e-02 2.17565921e-03 9.96800989e-01 -7.65441861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:0.63, Z:-0.78 [[ 9.92406744e-01 -9.36376869e-02 7.97548624e-02 9.19481829e+00] [ 9.35221287e-02 9.95603667e-01 5.19132230e-03 6.27318496e-01] [-7.98903369e-02 2.30694124e-03 9.96800989e-01 -7.78241123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:0.63, Z:-0.78 [[ 9.92282864e-01 -9.49414522e-02 7.97548624e-02 9.25444554e+00] [ 9.48300943e-02 9.95479936e-01 5.19132230e-03 6.29759927e-01] [-7.98872370e-02 2.41190096e-03 9.96800989e-01 -7.75863350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:9.31, Y:0.63, Z:-0.78 [[ 9.92355808e-01 -9.41761325e-02 7.97546676e-02 9.31474070e+00] [ 9.40620687e-02 9.95552784e-01 5.19431380e-03 6.33743042e-01] [-7.98891617e-02 2.34728155e-03 9.96800989e-01 -7.79980509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:9.37, Y:0.64, Z:-0.79 [[ 9.92546550e-01 -9.21441244e-02 7.97546676e-02 9.37498589e+00] [ 9.20235152e-02 9.95743286e-01 5.19431380e-03 6.38576958e-01] [-7.98938002e-02 2.18370662e-03 9.96800989e-01 -7.85320320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:9.44, Y:0.64, Z:-0.79 [[ 9.92516567e-01 -9.24664459e-02 7.97547559e-02 9.43539980e+00] [ 9.23469838e-02 9.95713346e-01 5.19295642e-03 6.43233846e-01] [-7.98930491e-02 2.21101588e-03 9.96800989e-01 -7.90867096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:9.50, Y:0.65, Z:-0.80 [[ 9.92515697e-01 -9.24756311e-02 7.97549340e-02 9.49553141e+00] [ 9.23564183e-02 9.95712485e-01 5.19021971e-03 6.48163111e-01] [-7.98929524e-02 2.21450551e-03 9.96800989e-01 -7.96975246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:9.56, Y:0.65, Z:-0.80 [[ 9.92051059e-01 -9.73336114e-02 7.97550219e-02 9.55615934e+00] [ 9.72301590e-02 9.95248397e-01 5.18886987e-03 6.50677401e-01] [-7.98811091e-02 2.60696961e-03 9.96800989e-01 -8.01661378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:9.62, Y:0.66, Z:-0.81 [[ 9.91509315e-01 -1.02705343e-01 7.97551971e-02 9.61514327e+00] [ 1.02619426e-01 9.94707171e-01 5.18617565e-03 6.55301050e-01] [-7.98657144e-02 3.04229107e-03 9.96800989e-01 -8.05009405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:9.67, Y:0.66, Z:-0.81 [[ 9.91033516e-01 -1.07199309e-01 7.97551107e-02 9.67331651e+00] [ 1.07127784e-01 9.94231727e-01 5.18750283e-03 6.60307137e-01] [-7.98511582e-02 3.40299911e-03 9.96800989e-01 -8.09922453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:9.73, Y:0.66, Z:-0.81 [[ 9.90941193e-01 -1.08050323e-01 7.97538642e-02 9.72968346e+00] [ 1.07980010e-01 9.94139431e-01 5.20659659e-03 6.64523080e-01] [-7.98490357e-02 3.45239203e-03 9.96800989e-01 -8.14431290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:9.79, Y:0.67, Z:-0.82 [[ 9.90955452e-01 -1.07919932e-01 7.97532509e-02 9.78699947e+00] [ 1.07848446e-01 9.94153663e-01 5.21597495e-03 6.68796899e-01] [-7.98498942e-02 3.43246533e-03 9.96800989e-01 -8.21382829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:0.67, Z:-0.83 [[ 9.91311848e-01 -1.04596703e-01 7.97518024e-02 9.84488982e+00] [ 1.04512722e-01 9.94509756e-01 5.23802886e-03 6.74951323e-01] [-7.98618261e-02 3.14255785e-03 9.96800990e-01 -8.27914361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:0.68, Z:-0.83 [[ 9.91375236e-01 -1.03995295e-01 7.97503634e-02 9.90380254e+00] [ 1.03907621e-01 9.94573044e-01 5.25984737e-03 6.78897343e-01] [-7.98645611e-02 3.07218810e-03 9.96800990e-01 -8.33744993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:0.68, Z:-0.84 [[ 9.91359948e-01 -1.04141906e-01 7.97490896e-02 9.96282589e+00] [ 1.04053159e-01 9.94557726e-01 5.27909034e-03 6.83103545e-01] [-7.98648478e-02 3.06466600e-03 9.96800990e-01 -8.38346102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:0.69, Z:-0.84 [[ 9.91271184e-01 -1.04984414e-01 7.97478072e-02 1.00209785e+01] [ 1.04896835e-01 9.94468995e-01 5.29839207e-03 6.85545679e-01] [-7.98629703e-02 3.11314919e-03 9.96800990e-01 -8.44475799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:0.69, Z:-0.85 [[ 9.91207156e-01 -1.05588190e-01 7.97465202e-02 1.00793059e+01] [ 1.05501008e-01 9.94404978e-01 5.31769349e-03 6.90491607e-01] [-7.98618223e-02 3.14240240e-03 9.96800990e-01 -8.50236325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:0.69, Z:-0.86 [[ 9.90907813e-01 -1.08362407e-01 7.97451895e-02 1.01370207e+01] [ 1.08282580e-01 9.94105826e-01 5.33757478e-03 6.91907425e-01] [-7.98535499e-02 3.34597029e-03 9.96800991e-01 -8.55777247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:10.19, Y:0.70, Z:-0.86 [[ 9.90927672e-01 -1.08181179e-01 7.97444822e-02 1.01949912e+01] [ 1.08099919e-01 9.94125649e-01 5.34812105e-03 6.96496963e-01] [-7.98546011e-02 3.32077094e-03 9.96800991e-01 -8.60295992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:0.70, Z:-0.87 [[ 9.90873161e-01 -1.08680424e-01 7.97429900e-02 1.02528011e+01] [ 1.08598996e-01 9.94071133e-01 5.37027848e-03 6.99555564e-01] [-7.98538486e-02 3.33874385e-03 9.96800991e-01 -8.65021142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:0.70, Z:-0.87 [[ 9.90917187e-01 -1.08279380e-01 7.97414804e-02 1.03104074e+01] [ 1.08194864e-01 9.94115079e-01 5.39260181e-03 7.04703392e-01] [-7.98561157e-02 3.28399683e-03 9.96800991e-01 -8.71032446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:0.71, Z:-0.88 [[ 9.91419643e-01 -1.03579089e-01 7.97399743e-02 1.03681808e+01] [ 1.03477627e-01 9.94617042e-01 5.41478237e-03 7.12666536e-01] [-7.98715956e-02 2.88298173e-03 9.96800991e-01 -8.76972672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:0.72, Z:-0.88 [[ 9.91407985e-01 -1.03691639e-01 7.97386420e-02 1.04277266e+01] [ 1.03588970e-01 9.94605346e-01 5.43433072e-03 7.15123392e-01] [-7.98719743e-02 2.87240494e-03 9.96800992e-01 -8.82661765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:0.72, Z:-0.89 [[ 9.91263823e-01 -1.05060990e-01 7.97384534e-02 1.04877177e+01] [ 1.04962516e-01 9.94461316e-01 5.43709672e-03 7.16714260e-01] [-7.98680341e-02 2.97995139e-03 9.96800992e-01 -8.87684682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:0.72, Z:-0.89 [[ 9.91443472e-01 -1.03352075e-01 7.97382646e-02 1.05461466e+01] [ 1.03247867e-01 9.94640782e-01 5.43986497e-03 7.23762408e-01] [-7.98731512e-02 2.83948712e-03 9.96800992e-01 -8.92700366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:10.61, Y:0.73, Z:-0.90 [[ 9.91519078e-01 -1.02625222e-01 7.97369505e-02 1.06054012e+01] [ 1.02517128e-01 9.94716260e-01 5.45905880e-03 7.27148922e-01] [-7.98758783e-02 2.76164220e-03 9.96800992e-01 -8.97306824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:10.67, Y:0.73, Z:-0.90 [[ 9.91872240e-01 -9.91539569e-02 7.97367633e-02 1.06658831e+01] [ 9.90344529e-02 9.95069016e-01 5.46179198e-03 7.33131883e-01] [-7.98851408e-02 2.47928688e-03 9.96800992e-01 -9.01587783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:10.73, Y:0.74, Z:-0.91 [[ 9.91961020e-01 -9.82618088e-02 7.97367633e-02 1.07263668e+01] [ 9.81394296e-02 9.95157687e-01 5.46179198e-03 7.37651620e-01] [-7.98873385e-02 2.40743572e-03 9.96800992e-01 -9.06450165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:10.79, Y:0.74, Z:-0.91 [[ 9.91824904e-01 -9.96263442e-02 7.97367633e-02 1.07864739e+01] [ 9.95083627e-02 9.95021736e-01 5.46179198e-03 7.41609218e-01] [-7.98839510e-02 2.51733346e-03 9.96800992e-01 -9.12584260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:10.85, Y:0.74, Z:-0.92 [[ 9.91689602e-01 -1.00964185e-01 7.97368570e-02 1.08475714e+01] [ 1.00850626e-01 9.94886594e-01 5.46042427e-03 7.43338194e-01] [-7.98804373e-02 2.62646593e-03 9.96800992e-01 -9.17967734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:10.91, Y:0.75, Z:-0.92 [[ 9.91645024e-01 -1.01400935e-01 7.97370462e-02 1.09074795e+01] [ 1.01289006e-01 9.94842074e-01 5.45765928e-03 7.46766391e-01] [-7.98791801e-02 2.66442546e-03 9.96800992e-01 -9.23300307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:10.97, Y:0.75, Z:-0.93 [[ 9.92054172e-01 -9.73166125e-02 7.97370462e-02 1.09681004e+01] [ 9.71915194e-02 9.95250733e-01 5.45765928e-03 7.51656313e-01] [-7.98894746e-02 2.33547102e-03 9.96800992e-01 -9.27472554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:11.03, Y:0.76, Z:-0.93 [[ 9.92302382e-01 -9.47522404e-02 7.97370462e-02 1.10280522e+01] [ 9.46188860e-02 9.95498609e-01 5.45765928e-03 7.55200253e-01] [-7.98952440e-02 2.12898218e-03 9.96800992e-01 -9.33113626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:0.76, Z:-0.94 [[ 9.92781106e-01 -8.95972373e-02 7.97371403e-02 1.10892261e+01] [ 8.94473948e-02 9.95976602e-01 5.45628438e-03 7.61268611e-01] [-7.99051941e-02 1.71538343e-03 9.96800992e-01 -9.39226304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:0.77, Z:-0.95 [[ 9.93052247e-01 -8.65401237e-02 7.97373324e-02 1.11508660e+01] [ 8.63806688e-02 9.96247278e-01 5.45347486e-03 7.66258871e-01] [-7.99100448e-02 1.47217864e-03 9.96800992e-01 -9.45066057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:0.77, Z:-0.95 [[ 9.92967354e-01 -8.75084670e-02 7.97377127e-02 1.12118126e+01] [ 8.73525745e-02 9.96162561e-01 5.44790981e-03 7.67849920e-01] [-7.99084623e-02 1.55569790e-03 9.96800992e-01 -9.49736298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:0.77, Z:-0.96 [[ 9.93135672e-01 -8.55768046e-02 7.97379936e-02 1.12723936e+01] [ 8.54150275e-02 9.96330587e-01 5.44379419e-03 7.72482745e-01] [-7.99112645e-02 1.40439671e-03 9.96800992e-01 -9.55682447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:0.78, Z:-0.96 [[ 9.93288879e-01 -8.37795360e-02 7.97382693e-02 1.13339166e+01] [ 8.36123022e-02 9.96483513e-01 5.43975269e-03 7.77310120e-01] [-7.99136107e-02 1.26385442e-03 9.96800992e-01 -9.62246453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:11.40, Y:0.78, Z:-0.97 [[ 9.93397210e-01 -8.24847428e-02 7.97386348e-02 1.13960650e+01] [ 8.23137754e-02 9.96591646e-01 5.43438985e-03 7.79526686e-01] [-7.99151116e-02 1.16508036e-03 9.96800992e-01 -9.68553007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:11.46, Y:0.78, Z:-0.97 [[ 9.93684362e-01 -7.89498392e-02 7.97390214e-02 1.14586864e+01] [ 7.87679631e-02 9.96878196e-01 5.42871153e-03 7.84861443e-01] [-7.99186877e-02 8.86454538e-04 9.96800992e-01 -9.73737785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:11.52, Y:0.79, Z:-0.98 [[ 9.93929073e-01 -7.58063019e-02 7.97395948e-02 1.15203337e+01] [ 7.56150009e-02 9.97122356e-01 5.42027604e-03 7.90839672e-01] [-7.99210237e-02 6.42139597e-04 9.96800992e-01 -9.79729973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:11.58, Y:0.79, Z:-0.98 [[ 9.94055966e-01 -7.41233564e-02 7.97399789e-02 1.15816439e+01] [ 7.39271027e-02 9.97248949e-01 5.41462065e-03 7.94698703e-01] [-7.99219599e-02 5.12509641e-04 9.96800992e-01 -9.84928711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:11.64, Y:0.80, Z:-0.99 [[ 9.94133681e-01 -7.30726389e-02 7.97409210e-02 1.16423358e+01] [ 7.28741262e-02 9.97326523e-01 5.40070966e-03 7.98043284e-01] [-7.99223796e-02 4.42022565e-04 9.96800992e-01 -9.90972164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:11.70, Y:0.80, Z:-1.00 [[ 9.94152268e-01 -7.28190179e-02 7.97411990e-02 1.17039609e+01] [ 7.26200201e-02 9.97345080e-01 5.39660300e-03 8.02331489e-01] [-7.99224678e-02 4.25762363e-04 9.96800992e-01 -9.95997716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:11.77, Y:0.81, Z:-1.00 [[ 9.94302057e-01 -7.07439080e-02 7.97415750e-02 1.17658836e+01] [ 7.05386928e-02 9.97494476e-01 5.39104053e-03 8.08498502e-01] [-7.99231639e-02 2.64543780e-04 9.96800992e-01 -1.00092686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:11.83, Y:0.81, Z:-1.01 [[ 9.94439094e-01 -6.87903269e-02 7.97419482e-02 1.18284213e+01] [ 6.85792833e-02 9.97631133e-01 5.38551473e-03 8.12575642e-01] [-7.99235215e-02 1.13079265e-04 9.96800992e-01 -1.00645637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:11.89, Y:0.82, Z:-1.01 [[ 9.94431847e-01 -6.88943694e-02 7.97425051e-02 1.18911944e+01] [ 6.86843220e-02 9.97623952e-01 5.37725634e-03 8.16626864e-01] [-7.99234957e-02 1.29744945e-04 9.96800992e-01 -1.01150873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:11.95, Y:0.82, Z:-1.02 [[ 9.94384144e-01 -6.95788749e-02 7.97430537e-02 1.19532569e+01] [ 6.93716782e-02 9.97576435e-01 5.36910914e-03 8.20896593e-01] [-7.99233677e-02 1.92952458e-04 9.96800992e-01 -1.01779260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:0.83, Z:-1.02 [[ 9.94374216e-01 -6.97201821e-02 7.97434342e-02 1.20153239e+01] [ 6.95138928e-02 9.97566565e-01 5.36345056e-03 8.26518288e-01] [-7.99233245e-02 2.09999589e-04 9.96800992e-01 -1.02354219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:0.83, Z:-1.03 [[ 9.94438974e-01 -6.87899033e-02 7.97438127e-02 1.20783188e+01] [ 6.85810793e-02 9.97631159e-01 5.35781772e-03 8.31450764e-01] [-7.99234761e-02 1.40893982e-04 9.96800992e-01 -1.02839747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:0.84, Z:-1.03 [[ 9.94414033e-01 -6.91488559e-02 7.97443824e-02 1.21413132e+01] [ 6.89418651e-02 9.97606337e-01 5.34932567e-03 8.36191283e-01] [-7.99234009e-02 1.78281939e-04 9.96800992e-01 -1.03341103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:0.84, Z:-1.04 [[ 9.94384577e-01 -6.95705003e-02 7.97449537e-02 1.22020391e+01] [ 6.93655473e-02 9.97577013e-01 5.34079545e-03 8.39859331e-01] [-7.99232945e-02 2.20747726e-04 9.96800992e-01 -1.03942509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:0.84, Z:-1.04 [[ 9.94464403e-01 -6.84185731e-02 7.97461608e-02 1.22631537e+01] [ 6.82113724e-02 9.97656693e-01 5.32271005e-03 8.44650829e-01] [-7.99234633e-02 1.46349393e-04 9.96800992e-01 -1.04463047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.32, Y:0.85, Z:-1.05 [[ 9.94576024e-01 -6.67747353e-02 7.97475207e-02 1.23248772e+01] [ 6.65638983e-02 9.97768076e-01 5.30225697e-03 8.51436290e-01] [-7.99235871e-02 3.48082006e-05 9.96800993e-01 -1.05017567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:12.39, Y:0.86, Z:-1.06 [[ 9.94713685e-01 -6.46906229e-02 7.97484114e-02 1.23868201e+01] [ 6.44741747e-02 9.97905361e-01 5.28882636e-03 8.56676724e-01] [-7.99235047e-02 -1.19154944e-04 9.96800993e-01 -1.05526647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:12.45, Y:0.86, Z:-1.06 [[ 9.94761675e-01 -6.39479294e-02 7.97488064e-02 1.24483567e+01] [ 6.37295763e-02 9.97953222e-01 5.28286444e-03 8.61704575e-01] [-7.99234065e-02 -1.72833446e-04 9.96800993e-01 -1.05959624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:12.51, Y:0.87, Z:-1.06 [[ 9.94846574e-01 -6.26127291e-02 7.97492280e-02 1.25105391e+01] [ 6.23906034e-02 9.98037861e-01 5.27649154e-03 8.67145700e-01] [-7.99231244e-02 -2.73697081e-04 9.96800993e-01 -1.06493049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:12.57, Y:0.87, Z:-1.07 [[ 9.94831883e-01 -6.28451322e-02 7.97496895e-02 1.25727202e+01] [ 6.26243119e-02 9.98023260e-01 5.26950651e-03 8.73594775e-01] [-7.99232080e-02 -2.48003650e-04 9.96800993e-01 -1.07043813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:12.64, Y:0.88, Z:-1.07 [[ 9.94819036e-01 -6.30474770e-02 7.97502488e-02 1.26356599e+01] [ 6.28279855e-02 9.98010504e-01 5.26102878e-03 8.78904210e-01] [-7.99232806e-02 -2.23224102e-04 9.96800993e-01 -1.07499448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:12.70, Y:0.88, Z:-1.08 [[ 9.94819515e-01 -6.30391938e-02 7.97508207e-02 1.26974298e+01] [ 6.28203719e-02 9.98011029e-01 5.25234467e-03 8.82942880e-01] [-7.99233022e-02 -2.15158757e-04 9.96800993e-01 -1.08091920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:12.76, Y:0.89, Z:-1.09 [[ 9.94872095e-01 -6.22033766e-02 7.97511998e-02 1.27583665e+01] [ 6.19823353e-02 9.98063457e-01 5.24658257e-03 8.88773073e-01] [-7.99231133e-02 -2.76512985e-04 9.96800993e-01 -1.08812231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:12.82, Y:0.89, Z:-1.09 [[ 9.94987882e-01 -6.03213870e-02 7.97524036e-02 1.28198254e+01] [ 6.00957812e-02 9.98178923e-01 5.22821985e-03 8.94161297e-01] [-7.99225418e-02 -4.09232400e-04 9.96800993e-01 -1.09330943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:12.88, Y:0.90, Z:-1.10 [[ 9.95136241e-01 -5.78217710e-02 7.97527709e-02 1.28812266e+01] [ 5.75885993e-02 9.98326739e-01 5.22261192e-03 8.99563879e-01] [-7.99213043e-02 -6.04360028e-04 9.96800993e-01 -1.09846477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:12.94, Y:0.90, Z:-1.10 [[ 9.95137634e-01 -5.77960128e-02 7.97540635e-02 1.29436573e+01] [ 5.75643465e-02 9.98328241e-01 5.20279738e-03 9.04849531e-01] [-7.99214349e-02 -5.86508925e-04 9.96800993e-01 -1.10347821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:0.91, Z:-1.11 [[ 9.95115787e-01 -5.81689568e-02 7.97555196e-02 1.30062956e+01] [ 5.79402829e-02 9.98306610e-01 5.18037930e-03 9.09243204e-01] [-7.99217997e-02 -5.34019854e-04 9.96800994e-01 -1.10840267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:13.07, Y:0.91, Z:-1.11 [[ 9.95190865e-01 -5.68679647e-02 7.97569871e-02 1.30684113e+01] [ 5.66369380e-02 9.98381518e-01 5.15768759e-03 9.09485311e-01] [-7.99212090e-02 -6.15692039e-04 9.96800994e-01 -1.10672897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:13.13, Y:0.91, Z:-1.11 [[ 9.94929347e-01 -6.12729428e-02 7.97572678e-02 1.31294451e+01] [ 6.10563911e-02 9.98121015e-01 5.15334253e-03 9.11489330e-01] [-7.99231655e-02 -2.57520777e-04 9.96800994e-01 -1.11423541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:13.19, Y:0.91, Z:-1.12 [[ 9.94738369e-01 -6.42972851e-02 7.97586088e-02 1.31911807e+01] [ 6.40921081e-02 9.97930789e-01 5.13250365e-03 9.13410620e-01] [-7.99235775e-02 6.39906576e-06 9.96800994e-01 -1.12086947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:13.25, Y:0.92, Z:-1.13 [[ 9.94225660e-01 -7.17898537e-02 7.97593557e-02 1.32518012e+01] [ 7.16096675e-02 9.97419587e-01 5.12087074e-03 9.19393655e-01] [-7.99211702e-02 6.20239851e-04 9.96800994e-01 -1.12810985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:13.31, Y:0.92, Z:-1.13 [[ 9.94066059e-01 -7.39661761e-02 7.97601156e-02 1.33136175e+01] [ 7.37939340e-02 9.97260424e-01 5.10900697e-03 9.22116635e-01] [-7.99195005e-02 8.07122284e-04 9.96800994e-01 -1.13319187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:13.38, Y:0.92, Z:-1.13 [[ 9.94044071e-01 -7.42596999e-02 7.97614070e-02 1.33758235e+01] [ 7.40900250e-02 9.97238574e-01 5.08876579e-03 9.18985119e-01] [-7.99190420e-02 8.51067178e-04 9.96800994e-01 -1.12629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:0.93, Z:-1.14 [[ 9.93560350e-01 -8.04731028e-02 7.97615923e-02 1.34341188e+01] [ 8.03236368e-02 9.96755861e-01 5.08586029e-03 9.25579094e-01] [-7.99121096e-02 1.35363204e-03 9.96800994e-01 -1.14247908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:13.50, Y:0.93, Z:-1.15 [[ 9.93372739e-01 -8.27564252e-02 7.97619974e-02 1.34955226e+01] [ 8.26148145e-02 9.96568608e-01 5.07949853e-03 9.28216541e-01] [-7.99086639e-02 1.54368726e-03 9.96800994e-01 -1.14779478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:13.56, Y:0.93, Z:-1.15 [[ 9.93217992e-01 -8.45930225e-02 7.97624080e-02 1.35573766e+01] [ 8.44578394e-02 9.96414140e-01 5.07304311e-03 9.32246934e-01] [-7.99055352e-02 1.69792295e-03 9.96800994e-01 -1.15215284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:13.62, Y:0.93, Z:-1.16 [[ 9.92916300e-01 -8.80631827e-02 7.97627586e-02 1.36186316e+01] [ 8.79396120e-02 9.96112918e-01 5.06752481e-03 9.34387746e-01] [-7.98989766e-02 1.98267806e-03 9.96800994e-01 -1.15912774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:13.68, Y:0.94, Z:-1.16 [[ 9.92311531e-01 -9.46344846e-02 7.97630176e-02 1.36811396e+01] [ 9.45324062e-02 9.95508908e-01 5.06344532e-03 9.35206691e-01] [-7.98839711e-02 2.51567480e-03 9.96800994e-01 -1.16216257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:0.94, Z:-1.17 [[ 9.91959109e-01 -9.82595038e-02 7.97633736e-02 1.37431100e+01] [ 9.81695593e-02 9.95156850e-01 5.05783143e-03 9.37712997e-01] [-7.98740476e-02 2.81317327e-03 9.96800994e-01 -1.16762765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:0.94, Z:-1.17 [[ 9.91546206e-01 -1.02341922e-01 7.97637278e-02 1.38047154e+01] [ 1.02265590e-01 9.94744301e-01 5.05223941e-03 9.39226989e-01] [-7.98615695e-02 3.14755586e-03 9.96800994e-01 -1.17288253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:0.94, Z:-1.18 [[ 9.91436122e-01 -1.03402648e-01 7.97640849e-02 1.38654900e+01] [ 1.03330191e-01 9.94634306e-01 5.04659522e-03 9.42264440e-01] [-7.98579265e-02 3.23866133e-03 9.96800995e-01 -1.17777481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:0.94, Z:-1.18 [[ 9.91016787e-01 -1.07347053e-01 7.97642630e-02 1.39259634e+01] [ 1.07287550e-01 9.94215239e-01 5.04377746e-03 9.43738502e-01] [-7.98442805e-02 3.55924418e-03 9.96800995e-01 -1.18341058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:0.95, Z:-1.19 [[ 9.91035160e-01 -1.07177300e-01 7.97642630e-02 1.39848779e+01] [ 1.07117249e-01 9.94233602e-01 5.04377746e-03 9.48703082e-01] [-7.98448890e-02 3.54556762e-03 9.96800995e-01 -1.18947677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:0.95, Z:-1.20 [[ 9.91104212e-01 -1.06536995e-01 7.97640881e-02 1.40437064e+01] [ 1.06474655e-01 9.94302610e-01 5.04654295e-03 9.51416951e-01] [-7.98472845e-02 3.49120380e-03 9.96800995e-01 -1.19561088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:0.95, Z:-1.20 [[ 9.91037183e-01 -1.07158854e-01 7.97639125e-02 1.41038733e+01] [ 1.07098298e-01 9.94235615e-01 5.04931689e-03 9.53660483e-01] [-7.98452016e-02 3.53851848e-03 9.96800995e-01 -1.20158300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:0.96, Z:-1.21 [[ 9.90986124e-01 -1.07630015e-01 7.97639125e-02 1.41632909e+01] [ 1.07570980e-01 9.94184585e-01 5.04931689e-03 9.57725595e-01] [-7.98435103e-02 3.57647928e-03 9.96800995e-01 -1.20623231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:0.96, Z:-1.21 [[ 9.90995828e-01 -1.07540761e-01 7.97637368e-02 1.42214474e+01] [ 1.07481215e-01 9.94194279e-01 5.05208996e-03 9.60786170e-01] [-7.98439565e-02 3.56650329e-03 9.96800995e-01 -1.21081041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:0.96, Z:-1.22 [[ 9.91288951e-01 -1.04804600e-01 7.97634772e-02 1.42808211e+01] [ 1.04735895e-01 9.94487218e-01 5.05618610e-03 9.64241368e-01] [-7.98536701e-02 3.34195780e-03 9.96800995e-01 -1.21778823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:0.97, Z:-1.22 [[ 9.92062645e-01 -9.72086651e-02 7.97633035e-02 1.43410486e+01] [ 9.71152454e-02 9.95260286e-01 5.05892513e-03 9.69214176e-01] [-7.98770196e-02 2.72746215e-03 9.96800995e-01 -1.22482009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:0.97, Z:-1.23 [[ 9.92477920e-01 -9.28729977e-02 7.97633035e-02 1.44020748e+01] [ 9.27656071e-02 9.95675122e-01 5.05892513e-03 9.73076396e-01] [-7.98881745e-02 2.37841978e-03 9.96800995e-01 -1.22965453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:0.98, Z:-1.23 [[ 9.92800485e-01 -8.93586558e-02 7.97635690e-02 1.44636286e+01] [ 8.92402829e-02 9.95997300e-01 5.05473515e-03 9.75603551e-01] [-7.98959837e-02 2.09977996e-03 9.96800995e-01 -1.23360456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:0.98, Z:-1.24 [[ 9.93036529e-01 -8.66958434e-02 7.97639237e-02 1.45255017e+01] [ 8.65693476e-02 9.96233032e-01 5.04913104e-03 9.78733327e-01] [-7.99011943e-02 1.89113929e-03 9.96800995e-01 -1.23830332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:0.98, Z:-1.24 [[ 9.93414907e-01 -8.22464821e-02 7.97642756e-02 1.45881686e+01] [ 8.21061148e-02 9.96610831e-01 5.04356699e-03 9.83278134e-01] [-7.99087566e-02 1.53878014e-03 9.96800995e-01 -1.24194639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:0.99, Z:-1.25 [[ 9.93670072e-01 -7.91034881e-02 7.97648132e-02 1.46504164e+01] [ 7.89536951e-02 9.96865569e-01 5.03504973e-03 9.87020408e-01] [-7.99130859e-02 1.29454851e-03 9.96800995e-01 -1.24635019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:0.99, Z:-1.24 [[ 9.94060438e-01 -7.40360465e-02 7.97653426e-02 1.47116750e+01] [ 7.38706365e-02 9.97255164e-01 5.02664974e-03 9.88777633e-01] [-7.99185530e-02 8.95522988e-04 9.96800995e-01 -1.23905887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:14.77, Y:0.99, Z:-1.25 [[ 9.94142405e-01 -7.29271458e-02 7.97653426e-02 1.47702080e+01] [ 7.27581722e-02 9.97336945e-01 5.02664974e-03 9.94871187e-01] [-7.99195023e-02 8.06374872e-04 9.96800995e-01 -1.25453221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:14.83, Y:1.00, Z:-1.25 [[ 9.94330424e-01 -7.03166808e-02 7.97657294e-02 1.48322968e+01] [ 7.01398133e-02 9.97524537e-01 5.02050313e-03 9.98426047e-01] [-7.99212974e-02 6.02714361e-04 9.96800995e-01 -1.25008792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:14.89, Y:1.00, Z:-1.26 [[ 9.94402974e-01 -6.92828312e-02 7.97660051e-02 1.48944961e+01] [ 6.91029945e-02 9.97596920e-01 5.01611936e-03 1.00257896e+00] [-7.99218520e-02 5.24025804e-04 9.96800995e-01 -1.25551710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:1.01, Z:-1.26 [[ 9.94303453e-01 -7.06962193e-02 7.97664588e-02 1.49554984e+01] [ 7.05215022e-02 9.97497684e-01 5.00889488e-03 1.00820650e+00] [-7.99209678e-02 6.44889025e-04 9.96800995e-01 -1.26333538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:15.02, Y:1.01, Z:-1.26 [[ 9.94179519e-01 -7.24169175e-02 7.97676315e-02 1.50175764e+01] [ 7.22492327e-02 9.97374126e-01 4.99014940e-03 1.00961459e+00] [-7.99195429e-02 8.02045842e-04 9.96800995e-01 -1.26474693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:1.01, Z:-1.28 [[ 9.94194628e-01 -7.22087911e-02 7.97679930e-02 1.50773576e+01] [ 7.20409017e-02 9.97389224e-01 4.98436402e-03 1.01124464e+00] [-7.99196515e-02 7.91130212e-04 9.96800995e-01 -1.27627170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:1.02, Z:-1.27 [[ 9.93733251e-01 -7.83023410e-02 7.97682248e-02 1.51388974e+01] [ 7.81543372e-02 9.96928830e-01 4.98065112e-03 1.01580136e+00] [-7.99132397e-02 1.28479411e-03 9.96800995e-01 -1.27324953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:1.01, Z:-1.29 [[ 9.93097374e-01 -8.59919053e-02 7.97684021e-02 1.51995186e+01] [ 8.58688691e-02 9.96294012e-01 4.97780939e-03 1.01361079e+00] [-7.99008327e-02 1.90617305e-03 9.96800995e-01 -1.28832412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:15.26, Y:1.01, Z:-1.29 [[ 9.92389843e-01 -9.38049827e-02 7.97685746e-02 1.52613845e+01] [ 9.37073301e-02 9.95587357e-01 4.97504443e-03 1.01461005e+00] [-7.98832683e-02 2.53771660e-03 9.96800995e-01 -1.29252231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:15.32, Y:1.02, Z:-1.30 [[ 9.92123495e-01 -9.65809992e-02 7.97689297e-02 1.53233881e+01] [ 9.64927504e-02 9.95321282e-01 4.96934378e-03 1.01718593e+00] [-7.98756576e-02 2.76692071e-03 9.96800995e-01 -1.29758643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:15.39, Y:1.02, Z:-1.28 [[ 9.91952197e-01 -9.83244664e-02 7.97692833e-02 1.53850616e+01] [ 9.82422941e-02 9.95150146e-01 4.96366094e-03 1.01826183e+00] [-7.98704633e-02 2.91300302e-03 9.96800995e-01 -1.28346813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:15.45, Y:1.02, Z:-1.29 [[ 9.92031537e-01 -9.75207283e-02 7.97692707e-02 1.54454790e+01] [ 9.74359487e-02 9.95229419e-01 4.96386423e-03 1.02029342e+00] [-7.98728046e-02 2.84808470e-03 9.96800995e-01 -1.28864071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:15.50, Y:1.03, Z:-1.31 [[ 9.92066996e-01 -9.71593506e-02 7.97692707e-02 1.55035546e+01] [ 9.70734060e-02 9.95264846e-01 4.96386423e-03 1.02662804e+00] [-7.98738367e-02 2.81898893e-03 9.96800995e-01 -1.30892637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:15.56, Y:1.03, Z:-1.31 [[ 9.92358230e-01 -9.41382515e-02 7.97692469e-02 1.55649336e+01] [ 9.40425398e-02 9.95555803e-01 4.96424662e-03 1.03233710e+00] [-7.98820621e-02 2.57539159e-03 9.96800995e-01 -1.31380670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:15.63, Y:1.04, Z:-1.31 [[ 9.92697576e-01 -9.04895755e-02 7.97694186e-02 1.56265695e+01] [ 9.03823313e-02 9.95894783e-01 4.96148666e-03 1.04093090e+00] [-7.98909106e-02 2.28449024e-03 9.96800995e-01 -1.31208358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:15.69, Y:1.04, Z:-1.32 [[ 9.92848784e-01 -8.88149118e-02 7.97696887e-02 1.56879978e+01] [ 8.87026236e-02 9.96045818e-01 4.95713908e-03 1.04254225e+00] [-7.98945327e-02 2.15409116e-03 9.96800995e-01 -1.32444667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:15.75, Y:1.05, Z:-1.32 [[ 9.92846005e-01 -8.88456530e-02 7.97700420e-02 1.57491681e+01] [ 8.87339207e-02 9.96043059e-01 4.95144847e-03 1.04711106e+00] [-7.98943112e-02 2.16228274e-03 9.96800995e-01 -1.32339212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:15.81, Y:1.05, Z:-1.33 [[ 9.92865684e-01 -8.86253147e-02 7.97702190e-02 1.58087857e+01] [ 8.85131020e-02 9.96062720e-01 4.94859507e-03 1.05084329e+00] [-7.98947121e-02 2.14741930e-03 9.96800995e-01 -1.33416920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:1.05, Z:-1.33 [[ 9.92782594e-01 -8.95512075e-02 7.97703052e-02 1.58707427e+01] [ 8.94420880e-02 9.95979738e-01 4.94720443e-03 1.05278990e+00] [-7.98926358e-02 2.22332422e-03 9.96800995e-01 -1.33342903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:15.93, Y:1.06, Z:-1.34 [[ 9.93077661e-01 -8.62172300e-02 7.97705929e-02 1.59323471e+01] [ 8.60977488e-02 9.96274434e-01 4.94256142e-03 1.05704228e+00] [-7.98995363e-02 1.95972114e-03 9.96800995e-01 -1.33842614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:1.06, Z:-1.35 [[ 9.93421001e-01 -8.21663634e-02 7.97709404e-02 1.59943974e+01] [ 8.20342962e-02 9.96617279e-01 4.93694640e-03 1.06028430e+00] [-7.99067485e-02 1.63948672e-03 9.96800995e-01 -1.34645083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:16.06, Y:1.07, Z:-1.35 [[ 9.93540359e-01 -8.07099614e-02 7.97712831e-02 1.60554909e+01] [ 8.05736536e-02 9.96736458e-01 4.93140336e-03 1.06559005e+00] [-7.99089595e-02 1.52791546e-03 9.96800995e-01 -1.35408962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:16.12, Y:1.07, Z:-1.36 [[ 9.93962367e-01 -7.53346800e-02 7.97715373e-02 1.61162287e+01] [ 7.51814166e-02 9.97157699e-01 4.92728767e-03 1.06648640e+00] [-7.99159982e-02 1.09979866e-03 9.96800995e-01 -1.35978947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:16.18, Y:1.07, Z:-1.36 [[ 9.94316072e-01 -7.05121916e-02 7.97720529e-02 1.61779515e+01] [ 7.03441006e-02 9.97510657e-01 4.91892566e-03 1.06879445e+00] [-7.99203172e-02 7.20526474e-04 9.96800995e-01 -1.36415610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.24, Y:1.07, Z:-1.37 [[ 9.94527405e-01 -6.74656035e-02 7.97723791e-02 1.62395016e+01] [ 6.72881510e-02 9.97721485e-01 4.91362991e-03 1.07176883e+00] [-7.99221175e-02 4.80996285e-04 9.96800995e-01 -1.36804618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.30, Y:1.08, Z:-1.37 [[ 9.94991713e-01 -6.02312692e-02 7.97727052e-02 1.63015794e+01] [ 6.00310177e-02 9.98184444e-01 4.90833002e-03 1.07853875e+00] [-7.99235084e-02 -9.49110125e-05 9.96800995e-01 -1.36928988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:16.36, Y:1.08, Z:-1.37 [[ 9.94989994e-01 -6.02592072e-02 7.97730515e-02 1.63630688e+01] [ 6.00594972e-02 9.98182759e-01 4.90269511e-03 1.08401770e+00] [-7.99235172e-02 -8.70032159e-05 9.96800995e-01 -1.37368931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.42, Y:1.08, Z:-1.38 [[ 9.95163948e-01 -5.73142212e-02 7.97734070e-02 1.64237770e+01] [ 5.71055271e-02 9.98356138e-01 4.89690444e-03 1.08437052e+00] [-7.99229328e-02 -3.17720299e-04 9.96800995e-01 -1.37926414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:16.49, Y:1.09, Z:-1.38 [[ 9.95161762e-01 -5.73505982e-02 7.97745348e-02 1.64853188e+01] [ 5.71434991e-02 9.98354056e-01 4.87846200e-03 1.09106067e+00] [-7.99230131e-02 -2.96262778e-04 9.96800995e-01 -1.38183130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.55, Y:1.09, Z:-1.38 [[ 9.95230939e-01 -5.61355706e-02 7.97757840e-02 1.65471726e+01] [ 5.59262185e-02 9.98423086e-01 4.85794899e-03 1.09444759e+00] [-7.99226881e-02 -3.73223211e-04 9.96800995e-01 -1.38437293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:1.10, Z:-1.39 [[ 9.95169483e-01 -5.72142319e-02 7.97761360e-02 1.66097121e+01] [ 5.70088038e-02 9.98361885e-01 4.85216057e-03 1.09765158e+00] [-7.99230662e-02 -2.80780043e-04 9.96800996e-01 -1.38919340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:1.10, Z:-1.40 [[ 9.95103493e-01 -5.83488114e-02 7.97775308e-02 1.66703710e+01] [ 5.81488703e-02 9.98296243e-01 4.82911980e-03 1.09771881e+00] [-7.99233826e-02 -1.66500690e-04 9.96800996e-01 -1.39766409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:1.10, Z:-1.40 [[ 9.95022879e-01 -5.97062676e-02 7.97786397e-02 1.67318613e+01] [ 5.95121567e-02 9.98215989e-01 4.81073008e-03 1.10132951e+00] [-7.99235444e-02 -3.89875886e-05 9.96800996e-01 -1.40433968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:1.11, Z:-1.41 [[ 9.95086305e-01 -5.86385850e-02 7.97794528e-02 1.67940750e+01] [ 5.84421321e-02 9.98279272e-01 4.79720760e-03 1.10507996e+00] [-7.99234755e-02 -1.11154262e-04 9.96800996e-01 -1.40511190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.86, Y:1.11, Z:-1.41 [[ 9.95082593e-01 -5.87010946e-02 7.97797880e-02 1.68562054e+01] [ 5.85052896e-02 9.98275599e-01 4.79162764e-03 1.10706159e+00] [-7.99234894e-02 -1.00525658e-04 9.96800996e-01 -1.40884738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:16.92, Y:1.11, Z:-1.41 [[ 9.95085935e-01 -5.86427462e-02 7.97810191e-02 1.69168910e+01] [ 5.84484045e-02 9.98279030e-01 4.77104132e-03 1.11051031e+00] [-7.99235053e-02 -8.45228351e-05 9.96800996e-01 -1.41455069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.98, Y:1.12, Z:-1.42 [[ 9.95202786e-01 -5.66236507e-02 7.97820589e-02 1.69785354e+01] [ 5.64242298e-02 9.98395568e-01 4.75358978e-03 1.11631780e+00] [-7.99232196e-02 -2.29144571e-04 9.96800996e-01 -1.41661635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.04, Y:1.12, Z:-1.42 [[ 9.95096137e-01 -5.84674953e-02 7.97823940e-02 1.70408696e+01] [ 5.82744418e-02 9.98289310e-01 4.74795947e-03 1.12017602e+00] [-7.99235123e-02 -7.54016506e-05 9.96800996e-01 -1.41873516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:17.10, Y:1.12, Z:-1.43 [[ 9.95088178e-01 -5.86011698e-02 7.97835934e-02 1.71012569e+01] [ 5.84101682e-02 9.98281474e-01 4.72771819e-03 1.12125336e+00] [-7.99235330e-02 -4.43233653e-05 9.96800997e-01 -1.42625289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:17.16, Y:1.13, Z:-1.43 [[ 9.95054882e-01 -5.91623695e-02 7.97846802e-02 1.71625414e+01] [ 5.89746451e-02 9.98248373e-01 4.70930606e-03 1.12564844e+00] [-7.99235409e-02 1.92552142e-05 9.96800997e-01 -1.42981747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.22, Y:1.13, Z:-1.43 [[ 9.94847904e-01 -6.25450605e-02 7.97857371e-02 1.72247817e+01] [ 6.23696361e-02 9.98042093e-01 4.69133109e-03 1.12854480e+00] [-7.99229437e-02 3.09046492e-04 9.96800997e-01 -1.43153105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.29, Y:1.13, Z:-1.44 [[ 9.94626107e-01 -6.59779667e-02 7.97860638e-02 1.72865557e+01] [ 6.58140130e-02 9.97820905e-01 4.68576779e-03 1.13023382e+00] [-7.99213599e-02 5.90454070e-04 9.96800997e-01 -1.43612370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.35, Y:1.13, Z:-1.44 [[ 9.94369581e-01 -6.97371318e-02 7.97863894e-02 1.73487060e+01] [ 6.95857006e-02 9.97564998e-01 4.68021861e-03 1.13408338e+00] [-7.99184944e-02 8.98124779e-04 9.96800997e-01 -1.44136318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:17.41, Y:1.14, Z:-1.45 [[ 9.94326756e-01 -7.03447424e-02 7.97867184e-02 1.74108413e+01] [ 7.01957144e-02 9.97522285e-01 4.67460308e-03 1.13957191e+00] [-7.99178634e-02 9.52602777e-04 9.96800997e-01 -1.44791204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:1.14, Z:-1.45 [[ 9.94344416e-01 -7.00941096e-02 7.97872107e-02 1.74731131e+01] [ 6.99449515e-02 9.97539939e-01 4.66618515e-03 1.14135393e+00] [-7.99180014e-02 9.40917434e-04 9.96800997e-01 -1.44994752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.53, Y:1.14, Z:-1.46 [[ 9.94280625e-01 -7.09928727e-02 7.97875332e-02 1.75343496e+01] [ 7.08470461e-02 9.97476303e-01 4.66066348e-03 1.14451241e+00] [-7.99170475e-02 1.01870365e-03 9.96800997e-01 -1.45594038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.60, Y:1.15, Z:-1.46 [[ 9.94359026e-01 -6.98859010e-02 7.97877714e-02 1.75965678e+01] [ 6.97368442e-02 9.97554554e-01 4.65658272e-03 1.14922825e+00] [-7.99180842e-02 9.33832319e-04 9.96800997e-01 -1.46064977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.66, Y:1.15, Z:-1.46 [[ 9.94509479e-01 -6.77108276e-02 7.97880881e-02 1.76585878e+01] [ 6.75552177e-02 9.97704695e-01 4.65114911e-03 1.15253663e+00] [-7.99198833e-02 7.64489777e-04 9.96800997e-01 -1.46356095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:17.72, Y:1.16, Z:-1.47 [[ 9.94519088e-01 -6.75691567e-02 7.97884200e-02 1.77200893e+01] [ 6.74135488e-02 9.97714304e-01 4.64544884e-03 1.15573674e+00] [-7.99199370e-02 7.58833003e-04 9.96800997e-01 -1.46960005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.78, Y:1.16, Z:-1.47 [[ 9.94613029e-01 -6.61714834e-02 7.97888301e-02 1.77826295e+01] [ 6.60119513e-02 9.97808051e-01 4.63839473e-03 1.15813137e+00] [-7.99208665e-02 6.53608531e-04 9.96800997e-01 -1.47444282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:17.85, Y:1.16, Z:-1.48 [[ 9.94659920e-01 -6.54622835e-02 7.97893058e-02 1.78455273e+01] [ 6.53011309e-02 9.97854861e-01 4.63019705e-03 1.16153966e+00] [-7.99212499e-02 6.04860476e-04 9.96800997e-01 -1.47976750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.91, Y:1.16, Z:-1.48 [[ 9.94515429e-01 -6.76213831e-02 7.97897897e-02 1.79073319e+01] [ 6.74678368e-02 9.97710744e-01 4.62184255e-03 1.16365212e+00] [-7.99196659e-02 7.86750784e-04 9.96800997e-01 -1.48364948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:17.97, Y:1.17, Z:-1.49 [[ 9.94466507e-01 -6.83367038e-02 7.97901094e-02 1.79692474e+01] [ 6.81858991e-02 9.97661953e-01 4.61631789e-03 1.16690776e+00] [-7.99190203e-02 8.49786820e-04 9.96800997e-01 -1.48884812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:18.03, Y:1.17, Z:-1.49 [[ 9.94560029e-01 -6.69614485e-02 7.97904333e-02 1.80312519e+01] [ 6.68066748e-02 9.97755285e-01 4.61071191e-03 1.17024777e+00] [-7.99200665e-02 7.44903758e-04 9.96800997e-01 -1.49313595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.09, Y:1.17, Z:-1.50 [[ 9.94681344e-01 -6.51341588e-02 7.97907552e-02 1.80943990e+01] [ 6.49739625e-02 9.97876333e-01 4.60513575e-03 1.17415754e+00] [-7.99212578e-02 6.03678911e-04 9.96800997e-01 -1.49755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:1.18, Z:-1.50 [[ 9.94746216e-01 -6.41351965e-02 7.97912403e-02 1.81563090e+01] [ 6.39724670e-02 9.97941077e-01 4.59671395e-03 1.17740497e+00] [-7.99217675e-02 5.31878681e-04 9.96800997e-01 -1.50219702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:1.18, Z:-1.51 [[ 9.94653891e-01 -6.55510746e-02 7.97915651e-02 1.82183556e+01] [ 6.53933458e-02 9.97849003e-01 4.59107015e-03 1.18164216e+00] [-7.99208832e-02 6.51311613e-04 9.96800997e-01 -1.50841568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:1.18, Z:-1.51 [[ 9.94543558e-01 -6.72039109e-02 7.97918888e-02 1.82792426e+01] [ 6.70519438e-02 9.97738949e-01 4.58543624e-03 1.18477038e+00] [-7.99196346e-02 7.89785171e-04 9.96800997e-01 -1.51319408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:18.34, Y:1.19, Z:-1.52 [[ 9.94386455e-01 -6.94895222e-02 7.97921275e-02 1.83409929e+01] [ 6.93452331e-02 9.97582202e-01 4.58127971e-03 1.18729861e+00] [-7.99175572e-02 9.77641186e-04 9.96800997e-01 -1.51690255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:18.40, Y:1.19, Z:-1.52 [[ 9.94341873e-01 -7.01242091e-02 7.97924491e-02 1.84037721e+01] [ 6.99824098e-02 9.97537731e-01 4.57567129e-03 1.19110950e+00] [-7.99168440e-02 1.03428631e-03 9.96800997e-01 -1.51932459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:1.20, Z:-1.52 [[ 9.94413646e-01 -6.90983971e-02 7.97929336e-02 1.84657911e+01] [ 6.89539801e-02 9.97609387e-01 4.56720743e-03 1.19556804e+00] [-7.99177663e-02 9.60346960e-04 9.96800997e-01 -1.52310373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:1.20, Z:-1.53 [[ 9.94875326e-01 -6.20976819e-02 7.97932538e-02 1.85273733e+01] [ 6.19312250e-02 9.98069995e-01 4.56160645e-03 1.20098032e+00] [-7.99225176e-02 4.03464253e-04 9.96800997e-01 -1.52863970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.59, Y:1.21, Z:-1.53 [[ 9.95087925e-01 -5.85918734e-02 7.97935743e-02 1.85886601e+01] [ 5.84146113e-02 9.98282012e-01 4.55599274e-03 1.20640812e+00] [-7.99234341e-02 1.27497268e-04 9.96800997e-01 -1.53435139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:1.21, Z:-1.54 [[ 9.95319578e-01 -5.45148877e-02 7.97938907e-02 1.86508408e+01] [ 5.43249870e-02 9.98512939e-01 4.55044362e-03 1.21251493e+00] [-7.99232993e-02 -1.94343551e-04 9.96800997e-01 -1.53857154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.71, Y:1.21, Z:-1.53 [[ 9.95611199e-01 -4.89000307e-02 7.97942859e-02 1.87129741e+01] [ 4.86926774e-02 9.98803474e-01 4.54350382e-03 1.21320211e+00] [-7.99209874e-02 -6.38165862e-04 9.96800997e-01 -1.53305397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:18.77, Y:1.22, Z:-1.54 [[ 9.95487888e-01 -5.13487505e-02 7.97945476e-02 1.87720239e+01] [ 5.11496186e-02 9.98680687e-01 4.53890218e-03 1.22234329e+00] [-7.99223406e-02 -4.36961473e-04 9.96800997e-01 -1.54261256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:1.23, Z:-1.55 [[ 9.95601517e-01 -4.90963231e-02 7.97945476e-02 1.88337196e+01] [ 4.88899680e-02 9.98793857e-01 4.53890218e-03 1.22764667e+00] [-7.99211474e-02 -6.17785021e-04 9.96800997e-01 -1.54692888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:1.23, Z:-1.55 [[ 9.95732846e-01 -4.63559970e-02 7.97948663e-02 1.88952022e+01] [ 4.61413060e-02 9.98924636e-01 4.53329359e-03 1.23332607e+00] [-7.99192031e-02 -8.32109993e-04 9.96800997e-01 -1.55185000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:1.24, Z:-1.56 [[ 9.95874394e-01 -4.32063728e-02 7.97959894e-02 1.89559500e+01] [ 4.29831782e-02 9.99065601e-01 4.51343735e-03 1.24054325e+00] [-7.99164374e-02 -1.06493145e-03 9.96800998e-01 -1.55815158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:1.25, Z:-1.56 [[ 9.95928383e-01 -4.19415356e-02 7.97970118e-02 1.90171956e+01] [ 4.17157421e-02 9.99119407e-01 4.49528847e-03 1.24723227e+00] [-7.99152824e-02 -1.14819381e-03 9.96800998e-01 -1.56274177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:1.25, Z:-1.56 [[ 9.95889233e-01 -4.28590626e-02 7.97981034e-02 1.90787034e+01] [ 4.26377682e-02 9.99080571e-01 4.47582684e-03 1.25309041e+00] [-7.99165645e-02 -1.05501472e-03 9.96800998e-01 -1.56466816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:1.26, Z:-1.57 [[ 9.95788103e-01 -4.51457557e-02 7.97992133e-02 1.91401902e+01] [ 4.49333825e-02 9.98980048e-01 4.45595182e-03 1.25853085e+00] [-7.99189892e-02 -8.51535236e-04 9.96800998e-01 -1.56899655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:1.26, Z:-1.57 [[ 9.95577905e-01 -4.95635232e-02 7.98003219e-02 1.92022971e+01] [ 4.93669129e-02 9.98770859e-01 4.43600904e-03 1.26206514e+00] [-7.99221003e-02 -4.76897044e-04 9.96800998e-01 -1.57442747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.26, Y:1.27, Z:-1.58 [[ 9.95245262e-01 -5.58453981e-02 7.98007569e-02 1.92635930e+01] [ 5.56695703e-02 9.98439427e-01 4.42816916e-03 1.26691688e+00] [-7.99235149e-02 3.53594714e-05 9.96800998e-01 -1.57573590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:1.27, Z:-1.58 [[ 9.95159401e-01 -5.73535180e-02 7.98018810e-02 1.93246291e+01] [ 5.71841627e-02 9.98353917e-01 4.40781874e-03 1.27172306e+00] [-7.99233243e-02 1.76921482e-04 9.96800999e-01 -1.58342753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:1.28, Z:-1.59 [[ 9.94957815e-01 -6.07499045e-02 7.98022252e-02 1.93859764e+01] [ 6.05919544e-02 9.98152915e-01 4.40157745e-03 1.27800337e+00] [-7.99222191e-02 4.55988904e-04 9.96800999e-01 -1.58598591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:1.28, Z:-1.59 [[ 9.94704874e-01 -6.47592749e-02 7.98025690e-02 1.94479880e+01] [ 6.46147036e-02 9.97900607e-01 4.39533614e-03 1.28299217e+00] [-7.99196708e-02 7.84357062e-04 9.96800999e-01 -1.59177756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:19.51, Y:1.29, Z:-1.60 [[ 9.94450335e-01 -6.85567815e-02 7.98028791e-02 1.95096718e+01] [ 6.84248654e-02 9.97646615e-01 4.38969913e-03 1.28653759e+00] [-7.99160158e-02 1.09516350e-03 9.96800999e-01 -1.59624052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.57, Y:1.29, Z:-1.60 [[ 9.93982751e-01 -7.50316089e-02 7.98031856e-02 1.95713317e+01] [ 7.49209590e-02 9.97179838e-01 4.38411923e-03 1.28916496e+00] [-7.99070752e-02 1.62119230e-03 9.96800999e-01 -1.59813559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:19.63, Y:1.29, Z:-1.60 [[ 9.93633076e-01 -7.95278459e-02 7.98037129e-02 1.96334393e+01] [ 7.94324336e-02 9.96830654e-01 4.37449958e-03 1.29226282e+00] [-7.98986818e-02 1.99235565e-03 9.96800999e-01 -1.60178074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.69, Y:1.30, Z:-1.61 [[ 9.93620899e-01 -7.96795246e-02 7.98040269e-02 1.96938347e+01] [ 7.95850607e-02 9.96818505e-01 4.36876459e-03 1.29600301e+00] [-7.98982318e-02 2.01031252e-03 9.96800999e-01 -1.60711293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:1.30, Z:-1.61 [[ 9.93483410e-01 -8.13756402e-02 7.98042586e-02 1.97551047e+01] [ 8.12869753e-02 9.96681182e-01 4.36452681e-03 1.30094185e+00] [-7.98945690e-02 2.15096183e-03 9.96800999e-01 -1.61448845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:19.82, Y:1.30, Z:-1.62 [[ 9.93350802e-01 -8.29784133e-02 7.98045599e-02 1.98173840e+01] [ 8.28953506e-02 9.96548724e-01 4.35901122e-03 1.30449491e+00] [-7.98908362e-02 2.28539968e-03 9.96800999e-01 -1.61971350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:19.88, Y:1.31, Z:-1.62 [[ 9.93198457e-01 -8.47819818e-02 7.98050205e-02 1.98792507e+01] [ 8.47054042e-02 9.96396541e-01 4.35056188e-03 1.30635560e+00] [-7.98862957e-02 2.43894518e-03 9.96800999e-01 -1.62345001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:19.94, Y:1.31, Z:-1.63 [[ 9.93133378e-01 -8.55406465e-02 7.98053288e-02 1.99401527e+01] [ 8.54669665e-02 9.96331531e-01 4.34489891e-03 1.30905848e+00] [-7.98842309e-02 2.50565524e-03 9.96800999e-01 -1.62870048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:20.00, Y:1.31, Z:-1.63 [[ 9.93276186e-01 -8.38659173e-02 7.98055566e-02 2.00019328e+01] [ 8.37871808e-02 9.96474218e-01 4.34071185e-03 1.31166919e+00] [-7.98882173e-02 2.37515689e-03 9.96800999e-01 -1.63140240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.06, Y:1.31, Z:-1.64 [[ 9.93671507e-01 -7.90440393e-02 7.98058644e-02 2.00636458e+01] [ 7.89502370e-02 9.96869133e-01 4.33504414e-03 1.31355390e+00] [-7.98986623e-02 1.99308207e-03 9.96800999e-01 -1.63502509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:20.12, Y:1.31, Z:-1.64 [[ 9.94267669e-01 -7.11531946e-02 7.98061725e-02 2.01244916e+01] [ 7.10344662e-02 9.97464466e-01 4.32936577e-03 1.30992061e+00] [-7.99118694e-02 1.36444045e-03 9.96800999e-01 -1.63573879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:20.18, Y:1.32, Z:-1.65 [[ 9.94310265e-01 -7.05553551e-02 7.98062549e-02 2.01837587e+01] [ 7.04348265e-02 9.97506995e-01 4.32784640e-03 1.31735857e+00] [-7.99126502e-02 1.31791761e-03 9.96800999e-01 -1.64615235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:1.32, Z:-1.65 [[ 9.94644727e-01 -6.56720232e-02 7.98063373e-02 2.02464836e+01] [ 6.55359208e-02 9.97840832e-01 4.32632578e-03 1.31786642e+00] [-7.99181406e-02 9.27024678e-04 9.96800999e-01 -1.65115862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:20.31, Y:1.32, Z:-1.66 [[ 9.94888963e-01 -6.18613432e-02 7.98067988e-02 2.03085236e+01] [ 6.17136826e-02 9.98084555e-01 4.31779601e-03 1.31699649e+00] [-7.99210379e-02 6.29443853e-04 9.96800999e-01 -1.65610141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:20.37, Y:1.32, Z:-1.66 [[ 9.94921716e-01 -6.13319265e-02 7.98071041e-02 2.03711794e+01] [ 6.11830186e-02 9.98117249e-01 4.31214584e-03 1.31699887e+00] [-7.99213194e-02 5.92592001e-04 9.96800999e-01 -1.66136476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:20.43, Y:1.31, Z:-1.67 [[ 9.94950026e-01 -6.08703403e-02 7.98075678e-02 2.04323802e+01] [ 6.07206397e-02 9.98145522e-01 4.30354599e-03 1.31380076e+00] [-7.99215248e-02 5.64153375e-04 9.96800999e-01 -1.66653940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:20.49, Y:1.31, Z:-1.67 [[ 9.94980158e-01 -6.03755001e-02 7.98077953e-02 2.04945850e+01] [ 6.02245490e-02 9.98175596e-01 4.29932335e-03 1.31223403e+00] [-7.99217674e-02 5.28647052e-04 9.96800999e-01 -1.66967007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:1.31, Z:-1.67 [[ 9.95373242e-01 -5.35049187e-02 7.98080975e-02 2.05564950e+01] [ 5.33323609e-02 9.98567586e-01 4.29370572e-03 1.31310076e+00] [-7.99235137e-02 -1.74855221e-05 9.96800999e-01 -1.67387116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:1.32, Z:-1.68 [[ 9.95881200e-01 -4.30262124e-02 7.98083992e-02 2.06183553e+01] [ 4.28204955e-02 9.99073580e-01 4.28809097e-03 1.31628824e+00] [-7.99189634e-02 -8.52993986e-04 9.96800999e-01 -1.68088707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:20.68, Y:1.32, Z:-1.68 [[ 9.96116142e-01 -3.71914361e-02 7.98087000e-02 2.06808212e+01] [ 3.69674701e-02 9.99307293e-01 4.28248602e-03 1.31803956e+00] [-7.99126878e-02 -1.31552771e-03 9.96800999e-01 -1.68404958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:20.74, Y:1.32, Z:-1.69 [[ 9.96273109e-01 -3.27153627e-02 7.98097534e-02 2.07436975e+01] [ 3.24786398e-02 9.99463339e-01 4.26276425e-03 1.32169580e+00] [-7.99063805e-02 -1.65476516e-03 9.96800999e-01 -1.69161352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:1.33, Z:-1.69 [[ 9.96184163e-01 -3.53187839e-02 7.98103748e-02 2.08053643e+01] [ 3.50913332e-02 9.99375068e-01 4.25109712e-03 1.32996471e+00] [-7.99106423e-02 -1.43422317e-03 9.96800999e-01 -1.69382241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:20.87, Y:1.33, Z:-1.70 [[ 9.96229910e-01 -3.40008905e-02 7.98116941e-02 2.08662188e+01] [ 3.37712139e-02 9.99420654e-01 4.22618326e-03 1.33316095e+00] [-7.99091495e-02 -1.51491237e-03 9.96801000e-01 -1.69749279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:1.34, Z:-1.70 [[ 9.96307801e-01 -3.16339089e-02 7.98126601e-02 2.09281967e+01] [ 3.13981195e-02 9.99498100e-01 4.20785992e-03 1.34013093e+00] [-7.99057132e-02 -1.68635623e-03 9.96801000e-01 -1.70317540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:20.99, Y:1.35, Z:-1.71 [[ 9.96344348e-01 -3.04580138e-02 7.98138416e-02 2.09912140e+01] [ 3.02202631e-02 9.99534501e-01 4.18532950e-03 1.34563539e+00] [-7.99041652e-02 -1.75803410e-03 9.96801000e-01 -1.70804873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:21.05, Y:1.35, Z:-1.71 [[ 9.96394479e-01 -2.87681555e-02 7.98150112e-02 2.10537783e+01] [ 2.85267899e-02 9.99584360e-01 4.16290570e-03 1.34877358e+00] [-7.99015960e-02 -1.87103020e-03 9.96801000e-01 -1.71033934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:1.36, Z:-1.72 [[ 9.96472141e-01 -2.59355165e-02 7.98161717e-02 2.11164311e+01] [ 2.56868743e-02 9.99661463e-01 4.14053591e-03 1.35609563e+00] [-7.98965379e-02 -2.07570072e-03 9.96801001e-01 -1.71614998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:1.36, Z:-1.72 [[ 9.96541110e-01 -2.31302555e-02 7.98173354e-02 2.11788886e+01] [ 2.28744413e-02 9.99729865e-01 4.11797975e-03 1.36321342e+00] [-7.98910239e-02 -2.27795917e-03 9.96801001e-01 -1.72450419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:1.37, Z:-1.73 [[ 9.96581555e-01 -2.13118569e-02 7.98185978e-02 2.12404486e+01] [ 2.10521943e-02 9.99769998e-01 4.09336440e-03 1.36880304e+00] [-7.98874766e-02 -2.39901483e-03 9.96801001e-01 -1.72782700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:1.37, Z:-1.73 [[ 9.96562898e-01 -2.21630896e-02 7.98197187e-02 2.13021378e+01] [ 2.19079090e-02 9.99751703e-01 4.07139044e-03 1.37348934e+00] [-7.98901342e-02 -2.30871352e-03 9.96801001e-01 -1.73344126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:1.38, Z:-1.74 [[ 9.96583081e-01 -2.12321958e-02 7.98207805e-02 2.13641957e+01] [ 2.09757112e-02 9.99771781e-01 4.05046489e-03 1.38016312e+00] [-7.98885641e-02 -2.36232714e-03 9.96801002e-01 -1.73553063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:1.39, Z:-1.74 [[ 9.96616321e-01 -1.96059436e-02 7.98217806e-02 2.14264223e+01] [ 1.93458407e-02 9.99804727e-01 4.03066029e-03 1.38564617e+00] [-7.98852185e-02 -2.47280237e-03 9.96801002e-01 -1.74172826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:1.39, Z:-1.75 [[ 9.96668950e-01 -1.67123626e-02 7.98229315e-02 2.14868061e+01] [ 1.64448376e-02 9.99856742e-01 4.00773822e-03 1.39459868e+00] [-7.98784750e-02 -2.68171310e-03 9.96801002e-01 -1.74979287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:1.40, Z:-1.75 [[ 9.96683355e-01 -1.58254246e-02 7.98238462e-02 2.15491120e+01] [ 1.55565269e-02 9.99871031e-01 3.98943693e-03 1.39856134e+00] [-7.98766859e-02 -2.73442357e-03 9.96801002e-01 -1.75457728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:1.40, Z:-1.76 [[ 9.96693109e-01 -1.51927440e-02 7.98249735e-02 2.16108658e+01] [ 1.49236376e-02 9.99880768e-01 3.96675096e-03 1.40250388e+00] [-7.98757216e-02 -2.76235437e-03 9.96801002e-01 -1.76009503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:21.67, Y:1.41, Z:-1.76 [[ 9.96701548e-01 -1.46229927e-02 7.98260080e-02 2.16734769e+01] [ 1.43537381e-02 9.99889194e-01 3.94582405e-03 1.40613764e+00] [-7.98748625e-02 -2.78700732e-03 9.96801003e-01 -1.76441975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:1.41, Z:-1.77 [[ 9.96703329e-01 -1.44949754e-02 7.98271211e-02 2.17358863e+01] [ 1.42271233e-02 9.99891093e-01 3.92317372e-03 1.41195021e+00] [-7.98752937e-02 -2.77453002e-03 9.96801003e-01 -1.76956840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:1.42, Z:-1.77 [[ 9.96699463e-01 -1.47525011e-02 7.98282142e-02 2.17986701e+01] [ 1.44872620e-02 9.99887445e-01 3.90080603e-03 1.41793603e+00] [-7.98767758e-02 -2.73143902e-03 9.96801003e-01 -1.77460875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:1.42, Z:-1.78 [[ 9.96677732e-01 -1.61486802e-02 7.98293102e-02 2.18604338e+01] [ 1.58897121e-02 9.99866229e-01 3.87824649e-03 1.42458613e+00] [-7.98812599e-02 -2.59689715e-03 9.96801003e-01 -1.77993475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:1.43, Z:-1.78 [[ 9.96660453e-01 -1.71775917e-02 7.98302744e-02 2.19229685e+01] [ 1.69235118e-02 9.99849343e-01 3.85829622e-03 1.43189751e+00] [-7.98845236e-02 -2.49440267e-03 9.96801004e-01 -1.78464081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:21.98, Y:1.44, Z:-1.79 [[ 9.96627712e-01 -1.89778211e-02 7.98313625e-02 2.19846617e+01] [ 1.87313141e-02 9.99817196e-01 3.83565030e-03 1.43762695e+00] [-7.98895613e-02 -2.32736905e-03 9.96801004e-01 -1.79079167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:1.44, Z:-1.79 [[ 9.96539946e-01 -2.31287783e-02 7.98323009e-02 2.20459364e+01] [ 2.28971297e-02 9.99730543e-01 3.81601976e-03 1.44300371e+00] [-7.98990494e-02 -1.97488557e-03 9.96801004e-01 -1.79444435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:1.45, Z:-1.80 [[ 9.96486346e-01 -2.53304103e-02 7.98331546e-02 2.21073079e+01] [ 2.51072484e-02 9.99677548e-01 3.79807414e-03 1.45016811e+00] [-7.99036191e-02 -1.78033818e-03 9.96801004e-01 -1.79943946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:1.46, Z:-1.80 [[ 9.96491261e-01 -2.51332833e-02 7.98341117e-02 2.21702875e+01] [ 2.49111096e-02 9.99682532e-01 3.77784968e-03 1.45777545e+00] [-7.99037167e-02 -1.77583788e-03 9.96801004e-01 -1.80357803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:1.47, Z:-1.81 [[ 9.96483153e-01 -2.54493520e-02 7.98351784e-02 2.22321334e+01] [ 2.52300066e-02 9.99674620e-01 3.75517205e-03 1.46741074e+00] [-7.99047683e-02 -1.72772362e-03 9.96801005e-01 -1.80830971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:22.29, Y:1.47, Z:-1.81 [[ 9.96489454e-01 -2.51984881e-02 7.98361119e-02 2.22942393e+01] [ 2.49799369e-02 9.99680975e-01 3.73522033e-03 1.47394516e+00] [-7.99047640e-02 -1.72780663e-03 9.96801005e-01 -1.81218764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:22.35, Y:1.48, Z:-1.82 [[ 9.96521692e-01 -2.38860323e-02 7.98371716e-02 2.23548170e+01] [ 2.36651028e-02 9.99713049e-01 3.71243018e-03 1.48385763e+00] [-7.99029375e-02 -1.81016233e-03 9.96801005e-01 -1.81887515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:1.49, Z:-1.82 [[ 9.96530941e-01 -2.34941674e-02 7.98380145e-02 2.24173522e+01] [ 2.32734414e-02 9.99722311e-01 3.69421592e-03 1.49137076e+00] [-7.99026369e-02 -1.82329511e-03 9.96801005e-01 -1.82407496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:1.50, Z:-1.83 [[ 9.96506305e-01 -2.45134576e-02 7.98390535e-02 2.24799613e+01] [ 2.42978052e-02 9.99698022e-01 3.67162323e-03 1.49920147e+00] [-7.99049480e-02 -1.71888193e-03 9.96801006e-01 -1.82931472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:1.51, Z:-1.83 [[ 9.96498505e-01 -2.48251616e-02 7.98400989e-02 2.25422299e+01] [ 2.46123397e-02 9.99690412e-01 3.64874731e-03 1.50721675e+00] [-7.99059621e-02 -1.67091960e-03 9.96801006e-01 -1.83351195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:1.51, Z:-1.84 [[ 9.96497446e-01 -2.48642733e-02 7.98411376e-02 2.26048454e+01] [ 2.46534083e-02 9.99689483e-01 3.62587680e-03 1.51448608e+00] [-7.99065003e-02 -1.64482080e-03 9.96801006e-01 -1.83874480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:1.52, Z:-1.84 [[ 9.96506254e-01 -2.45053879e-02 7.98421708e-02 2.26661199e+01] [ 2.42952070e-02 9.99698335e-01 3.60298049e-03 1.52164713e+00] [-7.99063777e-02 -1.65061053e-03 9.96801006e-01 -1.84498730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:1.53, Z:-1.85 [[ 9.96527107e-01 -2.36389733e-02 7.98431191e-02 2.27288290e+01] [ 2.34277100e-02 9.99719117e-01 3.58184231e-03 1.52712702e+00] [-7.99053636e-02 -1.69886152e-03 9.96801007e-01 -1.84961727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:1.53, Z:-1.85 [[ 9.96532336e-01 -2.34139973e-02 7.98441512e-02 2.27915823e+01] [ 2.32038678e-02 9.99724420e-01 3.55868681e-03 1.53456373e+00] [-7.99054708e-02 -1.69365335e-03 9.96801007e-01 -1.85496882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:1.54, Z:-1.86 [[ 9.96517498e-01 -2.40338203e-02 7.98451732e-02 2.28544222e+01] [ 2.38275248e-02 9.99709832e-01 3.53560639e-03 1.53868548e+00] [-7.99069789e-02 -1.62078079e-03 9.96801007e-01 -1.86035780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:22.92, Y:1.54, Z:-1.86 [[ 9.96465691e-01 -2.60904928e-02 7.98461836e-02 2.29163202e+01] [ 2.58926260e-02 9.99658558e-01 3.51264050e-03 1.54195370e+00] [-7.99105673e-02 -1.43279838e-03 9.96801007e-01 -1.86480648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:22.98, Y:1.55, Z:-1.87 [[ 9.96443851e-01 -2.69089168e-02 7.98471102e-02 2.29790021e+01] [ 2.67153701e-02 9.99636984e-01 3.49144928e-03 1.54610274e+00] [-7.99120755e-02 -1.34588807e-03 9.96801008e-01 -1.87029358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:1.55, Z:-1.88 [[ 9.96447054e-01 -2.67871812e-02 7.98480838e-02 2.30415318e+01] [ 2.65950395e-02 9.99640270e-01 3.46904066e-03 1.55113236e+00] [-7.99122859e-02 -1.33315240e-03 9.96801008e-01 -1.87534119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:23.10, Y:1.55, Z:-1.88 [[ 9.96424866e-01 -2.75973163e-02 7.98490723e-02 2.31047168e+01] [ 2.74096059e-02 9.99618346e-01 3.44613665e-03 1.55360933e+00] [-7.99137017e-02 -1.24518465e-03 9.96801008e-01 -1.87966174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:1.56, Z:-1.88 [[ 9.96426912e-01 -2.75205205e-02 7.98500524e-02 2.31665974e+01] [ 2.73343955e-02 9.99620484e-01 3.42327501e-03 1.55669093e+00] [-7.99139584e-02 -1.22839043e-03 9.96801008e-01 -1.88456224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:23.23, Y:1.56, Z:-1.89 [[ 9.96422955e-01 -2.76608258e-02 7.98509506e-02 2.32289971e+01] [ 2.74768393e-02 9.99616651e-01 3.40219638e-03 1.56059089e+00] [-7.99144473e-02 -1.19597483e-03 9.96801009e-01 -1.88965870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:1.56, Z:-1.90 [[ 9.96431896e-01 -2.73339885e-02 7.98519292e-02 2.32907415e+01] [ 2.71508073e-02 9.99625638e-01 3.37907054e-03 1.56300945e+00] [-7.99143991e-02 -1.19896932e-03 9.96801009e-01 -1.89579224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:1.56, Z:-1.90 [[ 9.96425226e-01 -2.75743072e-02 7.98525298e-02 2.33536424e+01] [ 2.73930382e-02 9.99619077e-01 3.36481819e-03 1.56376752e+00] [-7.99148946e-02 -1.16538633e-03 9.96801009e-01 -1.90071103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:23.42, Y:1.56, Z:-1.91 [[ 9.96348197e-01 -3.02272936e-02 7.98534921e-02 2.34158473e+01] [ 3.00563718e-02 9.99542619e-01 3.34182448e-03 1.56435288e+00] [-7.99179829e-02 -9.29514556e-04 9.96801009e-01 -1.90536168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:23.48, Y:1.56, Z:-1.91 [[ 9.96270361e-01 -3.26901567e-02 7.98543747e-02 2.34784468e+01] [ 3.25288332e-02 9.99465281e-01 3.32059773e-03 1.56441490e+00] [-7.99202260e-02 -7.10643468e-04 9.96801009e-01 -1.90935782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:1.56, Z:-1.91 [[ 9.96089119e-01 -3.78100121e-02 7.98553073e-02 2.35417655e+01] [ 3.76669211e-02 9.99284907e-01 3.29801716e-03 1.56200057e+00] [-7.99229015e-02 -2.77215450e-04 9.96801010e-01 -1.91418520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:23.60, Y:1.56, Z:-1.92 [[ 9.95969553e-01 -4.08366548e-02 7.98562218e-02 2.36048026e+01] [ 4.07050629e-02 9.99165836e-01 3.27572536e-03 1.56210557e+00] [-7.99233782e-02 -1.19702004e-05 9.96801010e-01 -1.92009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:1.56, Z:-1.93 [[ 9.95879018e-01 -4.29862780e-02 7.98571336e-02 2.36679066e+01] [ 4.28633799e-02 9.99075646e-01 3.25334410e-03 1.56231489e+00] [-7.99231665e-02 1.83009533e-04 9.96801010e-01 -1.92511773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:1.56, Z:-1.93 [[ 9.95830996e-01 -4.40831183e-02 7.98580377e-02 2.37312069e+01] [ 4.39655330e-02 9.99027824e-01 3.23099785e-03 1.56133060e+00] [-7.99228341e-02 2.93473389e-04 9.96801010e-01 -1.92984310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:23.79, Y:1.56, Z:-1.93 [[ 9.95836826e-01 -4.39495839e-02 7.98589330e-02 2.37943474e+01] [ 4.38333568e-02 9.99033704e-01 3.20871614e-03 1.55811916e+00] [-7.99227874e-02 3.05127406e-04 9.96801011e-01 -1.93433408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:1.56, Z:-1.94 [[ 9.95862412e-01 -4.33642684e-02 7.98598584e-02 2.38551423e+01] [ 4.32480226e-02 9.99059288e-01 3.18551819e-03 1.55779326e+00] [-7.99228709e-02 2.81443126e-04 9.96801011e-01 -1.94039031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:1.56, Z:-1.95 [[ 9.95889910e-01 -4.27267256e-02 7.98605927e-02 2.39170038e+01] [ 4.26099180e-02 9.99086765e-01 3.16700182e-03 1.55588278e+00] [-7.99229769e-02 2.48868145e-04 9.96801011e-01 -1.94570129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:1.55, Z:-1.95 [[ 9.95929695e-01 -4.17875762e-02 7.98613858e-02 2.39803630e+01] [ 4.16693679e-02 9.99126499e-01 3.14687508e-03 1.55407974e+00] [-7.99231271e-02 1.93707123e-04 9.96801011e-01 -1.95023636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:24.04, Y:1.55, Z:-1.95 [[ 9.95971939e-01 -4.07665687e-02 7.98622783e-02 2.40431862e+01] [ 4.06469127e-02 9.99168689e-01 3.12406073e-03 1.55147640e+00] [-7.99232451e-02 1.34678227e-04 9.96801012e-01 -1.95458376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:1.55, Z:-1.96 [[ 9.95994712e-01 -4.02045947e-02 7.98631565e-02 2.41061995e+01] [ 4.00849481e-02 9.99191462e-01 3.10144750e-03 1.55000568e+00] [-7.99232765e-02 1.12285168e-04 9.96801012e-01 -1.95962138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:1.54, Z:-1.96 [[ 9.96178315e-01 -3.53624321e-02 7.98640306e-02 2.41680731e+01] [ 3.52290649e-02 9.99374521e-01 3.07877292e-03 1.53920091e+00] [-7.99229503e-02 -2.53471700e-04 9.96801012e-01 -1.95561231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:1.54, Z:-1.97 [[ 9.96004083e-01 -3.99699259e-02 7.98640875e-02 2.42273677e+01] [ 3.98514627e-02 9.99200876e-01 3.07729609e-03 1.54127505e+00] [-7.99232655e-02 1.17701232e-04 9.96801012e-01 -1.97186463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:1.53, Z:-1.97 [[ 9.96197265e-01 -3.48242417e-02 7.98641435e-02 2.42893719e+01] [ 3.46893827e-02 9.99393409e-01 3.07584189e-03 1.53248899e+00] [-7.99228125e-02 -2.93707441e-04 9.96801012e-01 -1.96872430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:1.54, Z:-1.98 [[ 9.96033323e-01 -3.92342944e-02 7.98642002e-02 2.43499135e+01] [ 3.91137048e-02 9.99230037e-01 3.07436985e-03 1.53578407e+00] [-7.99233284e-02 6.16099313e-05 9.96801012e-01 -1.98147783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:1.53, Z:-1.99 [[ 9.96095580e-01 -3.76202926e-02 7.98643120e-02 2.44113316e+01] [ 3.74947564e-02 9.99292104e-01 3.07146253e-03 1.52962782e+00] [-7.99233257e-02 -6.49773243e-05 9.96801012e-01 -1.98788631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:1.52, Z:-1.99 [[ 9.96275933e-01 -3.24934772e-02 7.98651323e-02 2.44734946e+01] [ 3.23532139e-02 9.99471844e-01 3.04998216e-03 1.52009545e+00] [-7.99220556e-02 -4.54730112e-04 9.96801012e-01 -1.98563352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:24.53, Y:1.52, Z:-2.00 [[ 9.96207721e-01 -3.45212864e-02 7.98652425e-02 2.45332793e+01] [ 3.43877601e-02 9.99403921e-01 3.04709422e-03 1.51934315e+00] [-7.99228261e-02 -2.89151990e-04 9.96801012e-01 -1.99761405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:1.51, Z:-1.99 [[ 9.96419577e-01 -2.77409540e-02 7.98652964e-02 2.45954737e+01] [ 2.75857927e-02 9.99614800e-01 3.04568187e-03 1.50863370e+00] [-7.99190224e-02 -8.31629537e-04 9.96801012e-01 -1.99417920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:24.66, Y:1.50, Z:-2.00 [[ 9.96531668e-01 -2.33698926e-02 7.98654077e-02 2.46572169e+01] [ 2.32009510e-02 9.99726191e-01 3.04276018e-03 1.50213182e+00] [-7.99146488e-02 -1.17925346e-03 9.96801012e-01 -2.00240669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:24.72, Y:1.50, Z:-2.01 [[ 9.96616743e-01 -1.94025344e-02 7.98661901e-02 2.47191179e+01] [ 1.92225332e-02 9.99810663e-01 3.02208412e-03 1.49862363e+00] [-7.99097045e-02 -1.47662914e-03 9.96801013e-01 -2.00792390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:24.78, Y:1.50, Z:-2.01 [[ 9.96719518e-01 -1.30946683e-02 7.98669673e-02 2.47805736e+01] [ 1.28961129e-02 9.99912337e-01 3.00140304e-03 1.49852194e+00] [-7.98992683e-02 -1.96158356e-03 9.96801013e-01 -2.01410824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:24.84, Y:1.50, Z:-2.02 [[ 9.96737318e-01 -1.16560135e-02 7.98677404e-02 2.48417682e+01] [ 1.14545086e-02 9.99929952e-01 2.98068774e-03 1.50421904e+00] [-7.98968888e-02 -2.05611698e-03 9.96801013e-01 -2.01935005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:24.90, Y:1.51, Z:-2.02 [[ 9.96748169e-01 -1.06848167e-02 7.98681598e-02 2.49038689e+01] [ 1.04811043e-02 9.99940663e-01 2.96940835e-03 1.50593245e+00] [-7.98951482e-02 -2.12264583e-03 9.96801013e-01 -2.02134123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:1.51, Z:-2.03 [[ 9.96652786e-01 -1.74406902e-02 7.98689311e-02 2.49640474e+01] [ 1.72602953e-02 9.99846682e-01 2.94851588e-03 1.51337439e+00] [-7.99081099e-02 -1.56008523e-03 9.96801013e-01 -2.03313968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:25.03, Y:1.51, Z:-2.03 [[ 9.96746958e-01 -1.07863221e-02 7.98696290e-02 2.50257639e+01] [ 1.05861313e-02 9.99939674e-01 2.92948854e-03 1.51070553e+00] [-7.98964092e-02 -2.07444841e-03 9.96801013e-01 -2.03309775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:1.52, Z:-2.05 [[ 9.96725151e-01 -1.26407445e-02 7.98697959e-02 2.50854922e+01] [ 1.24468592e-02 9.99918257e-01 2.92492928e-03 1.52231342e+00] [-7.99002404e-02 -1.92122247e-03 9.96801013e-01 -2.04657531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:1.53, Z:-2.05 [[ 9.96711547e-01 -1.36672464e-02 7.98705120e-02 2.51476473e+01] [ 1.34782266e-02 9.99904944e-01 2.90524234e-03 1.52609519e+00] [-7.99026265e-02 -1.81917573e-03 9.96801014e-01 -2.04939276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:1.52, Z:-2.04 [[ 9.96760664e-01 -9.42144507e-03 7.98712445e-02 2.52107211e+01] [ 9.22044777e-03 9.99953329e-01 2.88496476e-03 1.52149691e+00] [-7.98946974e-02 -2.13917075e-03 9.96801014e-01 -2.04440754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:1.53, Z:-2.06 [[ 9.96708911e-01 -1.38496463e-02 7.98719914e-02 2.52702595e+01] [ 1.36645034e-02 9.99902534e-01 2.86413568e-03 1.53120172e+00] [-7.99038739e-02 -1.76329845e-03 9.96801014e-01 -2.05687731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:1.53, Z:-2.06 [[ 9.96733713e-01 -1.19311834e-02 7.98720972e-02 2.53326945e+01] [ 1.17401302e-02 9.99926989e-01 2.86118390e-03 1.53323810e+00] [-7.99004029e-02 -1.91412964e-03 9.96801014e-01 -2.06241015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:1.54, Z:-2.07 [[ 9.96727255e-01 -1.24535780e-02 7.98729439e-02 2.53941157e+01] [ 1.22661076e-02 9.99920743e-01 2.83734716e-03 1.54058291e+00] [-7.99019486e-02 -1.84833113e-03 9.96801014e-01 -2.07023923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:1.54, Z:-2.08 [[ 9.96713763e-01 -1.34871742e-02 7.98734626e-02 2.54554319e+01] [ 1.33041909e-02 9.99907511e-01 2.82267221e-03 1.54321120e+00] [-7.99041450e-02 -1.75074445e-03 9.96801014e-01 -2.07531814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:1.55, Z:-2.08 [[ 9.96750692e-01 -1.04009373e-02 7.98741391e-02 2.55167317e+01] [ 1.02096095e-02 9.99943951e-01 2.80339753e-03 1.54547154e+00] [-7.98988202e-02 -1.97880466e-03 9.96801015e-01 -2.08002057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:1.55, Z:-2.09 [[ 9.96763991e-01 -9.03120855e-03 7.98747999e-02 2.55791326e+01] [ 8.83701094e-03 9.99957076e-01 2.78444014e-03 1.54822408e+00] [-7.98965183e-02 -2.06957518e-03 9.96801015e-01 -2.08528766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:1.55, Z:-2.09 [[ 9.96767089e-01 -8.67550067e-03 7.98755646e-02 2.56417979e+01] [ 8.48193416e-03 9.99960212e-01 2.76232997e-03 1.55250590e+00] [-7.98963511e-02 -2.07590032e-03 9.96801015e-01 -2.09027400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:1.56, Z:-2.10 [[ 9.96771047e-01 -8.20016469e-03 7.98763819e-02 2.57033378e+01] [ 8.00698440e-03 9.99964194e-01 2.73849220e-03 1.55580855e+00] [-7.98959779e-02 -2.09008080e-03 9.96801015e-01 -2.09629439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:1.56, Z:-2.10 [[ 9.96767507e-01 -8.61510461e-03 7.98768901e-02 2.57664216e+01] [ 8.42444723e-03 9.99960805e-01 2.72358722e-03 1.55928365e+00] [-7.98972233e-02 -2.04186459e-03 9.96801016e-01 -2.10164332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:1.56, Z:-2.11 [[ 9.96760722e-01 -9.36087694e-03 7.98776371e-02 2.58292855e+01] [ 9.17437773e-03 9.99954265e-01 2.70150024e-03 1.56135059e+00] [-7.98992723e-02 -1.95992171e-03 9.96801016e-01 -2.10680464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:1.56, Z:-2.11 [[ 9.96770154e-01 -8.28863718e-03 7.98784005e-02 2.58913927e+01] [ 8.10052568e-03 9.99963602e-01 2.67873751e-03 1.56015720e+00] [-7.98976962e-02 -2.02302857e-03 9.96801016e-01 -2.10744248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:1.56, Z:-2.11 [[ 9.96741123e-01 -1.12456503e-02 7.98790918e-02 2.59527668e+01] [ 1.10686777e-02 9.99935208e-01 2.65796064e-03 1.56357311e+00] [-7.99038068e-02 -1.76514275e-03 9.96801016e-01 -2.11213244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:26.01, Y:1.57, Z:-2.12 [[ 9.96593915e-01 -2.04889720e-02 7.98797292e-02 2.60145861e+01] [ 2.03431753e-02 9.99789574e-01 2.63866578e-03 1.56850832e+00] [-7.99169840e-02 -1.00467093e-03 9.96801016e-01 -2.12182591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:26.08, Y:1.57, Z:-2.13 [[ 9.96488104e-01 -2.51113324e-02 7.98804092e-02 2.60771786e+01] [ 2.49820230e-02 9.99684473e-01 2.61791792e-03 1.57017751e+00] [-7.99209442e-02 -6.13149845e-04 9.96801017e-01 -2.12765554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:26.14, Y:1.57, Z:-2.13 [[ 9.96295479e-01 -3.18483351e-02 7.98811797e-02 2.61402727e+01] [ 3.17425424e-02 9.99492712e-01 2.59419500e-03 1.57147738e+00] [-7.99232777e-02 -4.89530192e-05 9.96801017e-01 -2.13386047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:26.20, Y:1.57, Z:-2.13 [[ 9.96258423e-01 -3.29853035e-02 7.98819450e-02 2.62028722e+01] [ 3.28850666e-02 9.99455835e-01 2.57041077e-03 1.57051684e+00] [-7.99232618e-02 6.61297047e-05 9.96801017e-01 -2.13417017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.27, Y:1.57, Z:-2.14 [[ 9.96017995e-01 -3.95843891e-02 7.98826045e-02 2.62650317e+01] [ 3.95069929e-02 9.99216041e-01 2.54974991e-03 1.57419389e+00] [-7.99209101e-02 6.16324696e-04 9.96801017e-01 -2.14089079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.33, Y:1.58, Z:-2.15 [[ 9.95730130e-01 -4.62618389e-02 7.98833507e-02 2.63270376e+01] [ 4.62077801e-02 9.98928656e-01 2.52615365e-03 1.57769205e+00] [-7.99146326e-02 1.17586500e-03 9.96801018e-01 -2.14733747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:1.58, Z:-2.16 [[ 9.95473307e-01 -5.14921566e-02 7.98839945e-02 2.63875110e+01] [ 5.14565482e-02 9.98672091e-01 2.50562725e-03 1.58120020e+00] [-7.99069360e-02 1.61626957e-03 9.96801018e-01 -2.15669882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:1.58, Z:-2.16 [[ 9.95139084e-01 -5.75904354e-02 7.98845780e-02 2.64495923e+01] [ 5.75759301e-02 9.98338033e-01 2.48688408e-03 1.58194426e+00] [-7.98950332e-02 2.12463334e-03 9.96801018e-01 -2.16172281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:1.58, Z:-2.16 [[ 9.95354106e-01 -5.37452760e-02 7.98852185e-02 2.65113926e+01] [ 5.37200756e-02 9.98552989e-01 2.46613974e-03 1.57996185e+00] [-7.99021670e-02 1.83675766e-03 9.96801018e-01 -2.16045439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:26.57, Y:1.59, Z:-2.18 [[ 9.95125768e-01 -5.78189887e-02 7.98853604e-02 2.65698386e+01] [ 5.78072517e-02 9.98324728e-01 2.46153258e-03 1.58841916e+00] [-7.98938540e-02 2.16841864e-03 9.96801018e-01 -2.17605921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:26.63, Y:1.59, Z:-2.18 [[ 9.95220724e-01 -5.61608365e-02 7.98853604e-02 2.66326542e+01] [ 5.61437695e-02 9.98419660e-01 2.46153258e-03 1.59055121e+00] [-7.98973561e-02 2.03529702e-03 9.96801018e-01 -2.18187419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:26.69, Y:1.59, Z:-2.19 [[ 9.95337496e-01 -5.40514284e-02 7.98856211e-02 2.66949502e+01] [ 5.40282624e-02 9.98536394e-01 2.45304493e-03 1.59211251e+00] [-7.99012905e-02 1.87447370e-03 9.96801018e-01 -2.18684511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:1.59, Z:-2.19 [[ 9.95582143e-01 -4.93400697e-02 7.98858794e-02 2.67579142e+01] [ 4.93024413e-02 9.98780904e-01 2.44460278e-03 1.59486469e+00] [-7.99091077e-02 1.50476600e-03 9.96801018e-01 -2.19075446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:1.60, Z:-2.20 [[ 9.95789733e-01 -4.49549391e-02 7.98865550e-02 2.68204662e+01] [ 4.49050105e-02 9.98988324e-01 2.42232127e-03 1.59810453e+00] [-7.99146311e-02 1.17518394e-03 9.96801019e-01 -2.19606039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:1.60, Z:-2.20 [[ 9.96173165e-01 -3.54550271e-02 7.98872163e-02 2.68819677e+01] [ 3.53763573e-02 9.99371178e-01 2.40031324e-03 1.60330606e+00] [-7.99220847e-02 4.34991078e-04 9.96801019e-01 -2.20152341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:1.61, Z:-2.21 [[ 9.96277575e-01 -3.23876709e-02 7.98876219e-02 2.69439412e+01] [ 3.23002435e-02 9.99475361e-01 2.38673737e-03 1.60616041e+00] [-7.99230106e-02 2.02536720e-04 9.96801019e-01 -2.20962601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:27.01, Y:1.61, Z:-2.21 [[ 9.96401043e-01 -2.83340984e-02 7.98882944e-02 2.70057996e+01] [ 2.82354836e-02 9.99598504e-01 2.36401394e-03 1.60826340e+00] [-7.99232017e-02 -9.98213294e-05 9.96801019e-01 -2.21350742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.07, Y:1.61, Z:-2.22 [[ 9.96469900e-01 -2.57984903e-02 7.98885193e-02 2.70682626e+01] [ 2.56923506e-02 9.99667120e-01 2.35638923e-03 1.61047702e+00] [-7.99227172e-02 -2.95547094e-04 9.96801019e-01 -2.21902906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:27.13, Y:1.61, Z:-2.22 [[ 9.96519774e-01 -2.37917877e-02 7.98892441e-02 2.71308627e+01] [ 2.36812008e-02 9.99716842e-01 2.33155338e-03 1.61249983e+00] [-7.99220947e-02 -4.31565818e-04 9.96801020e-01 -2.22453291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:27.19, Y:1.61, Z:-2.23 [[ 9.96587075e-01 -2.07799234e-02 7.98899038e-02 2.71926303e+01] [ 2.06615044e-02 9.99783863e-01 2.30872545e-03 1.61473078e+00] [-7.99206118e-02 -6.50200345e-04 9.96801020e-01 -2.23046646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:27.26, Y:1.62, Z:-2.24 [[ 9.96623716e-01 -1.89395924e-02 7.98903079e-02 2.72553884e+01] [ 1.88163980e-02 9.99820323e-01 2.29465757e-03 1.61646298e+00] [-7.99194133e-02 -7.83662329e-04 9.96801020e-01 -2.23671673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:27.32, Y:1.62, Z:-2.24 [[ 9.96660694e-01 -1.68789272e-02 7.98909471e-02 2.73181232e+01] [ 1.67509251e-02 9.99857112e-01 2.27218238e-03 1.61787296e+00] [-7.99178837e-02 -9.26347594e-04 9.96801020e-01 -2.24169727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:27.38, Y:1.62, Z:-2.25 [[ 9.96690151e-01 -1.50359768e-02 7.98915721e-02 2.73803965e+01] [ 1.49038427e-02 9.99886400e-01 2.24999324e-03 1.61983197e+00] [-7.99163272e-02 -1.05185468e-03 9.96801020e-01 -2.24655008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:27.44, Y:1.62, Z:-2.24 [[ 9.96791272e-01 -4.93902171e-03 7.98922148e-02 2.74423078e+01] [ 4.77636427e-03 9.99986113e-01 2.22693676e-03 1.61636333e+00] [-7.99021042e-02 -1.83819681e-03 9.96801021e-01 -2.23697971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:27.50, Y:1.62, Z:-2.25 [[ 9.96800975e-01 -2.24450906e-03 7.98922978e-02 2.75034893e+01] [ 2.07345476e-03 9.99995377e-01 2.22395610e-03 1.62039359e+00] [-7.98969201e-02 -2.05118854e-03 9.96801021e-01 -2.24707515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:1.63, Z:-2.27 [[ 9.96790801e-01 -5.02687961e-03 7.98926140e-02 2.75620673e+01] [ 4.86565731e-03 9.99985715e-01 2.21253692e-03 1.62806431e+00] [-7.99025949e-02 -1.81670637e-03 9.96801021e-01 -2.26500518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:1.63, Z:-2.27 [[ 9.96803432e-01 2.39221922e-04 7.98928140e-02 2.76248695e+01] [-4.16740491e-04 9.99997482e-01 2.20529261e-03 1.63101853e+00] [-7.98920852e-02 -2.23153781e-03 9.96801021e-01 -2.27032443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:27.69, Y:1.63, Z:-2.28 [[ 9.96797777e-01 3.35094912e-03 7.98934458e-02 2.76869914e+01] [-3.53658545e-03 9.99991365e-01 2.18216058e-03 1.63283763e+00] [-7.98854436e-02 -2.45772282e-03 9.96801021e-01 -2.27634569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:27.75, Y:1.63, Z:-2.28 [[ 9.96783407e-01 6.30992123e-03 7.98938328e-02 2.77497384e+01] [-6.50389524e-03 9.99976500e-01 2.16790086e-03 1.63446564e+00] [-7.98782759e-02 -2.68054873e-03 9.96801021e-01 -2.28119183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:27.81, Y:1.64, Z:-2.28 [[ 9.96777691e-01 7.14952770e-03 7.98944299e-02 2.78123609e+01] [-7.34441133e-03 9.99970727e-01 2.14566830e-03 1.63631183e+00] [-7.98767506e-02 -2.72553185e-03 9.96801021e-01 -2.28027127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:27.87, Y:1.64, Z:-2.29 [[ 9.96768384e-01 8.34148178e-03 7.98949831e-02 2.78729290e+01] [-8.53851834e-03 9.99961289e-01 2.12486762e-03 1.63736606e+00] [-7.98741657e-02 -2.80018564e-03 9.96801022e-01 -2.29062165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:1.64, Z:-2.29 [[ 9.96754400e-01 9.86803975e-03 7.98954822e-02 2.79356096e+01] [-1.00684503e-02 9.99947094e-01 2.10593165e-03 1.63872985e+00] [-7.98704739e-02 -2.90352032e-03 9.96801022e-01 -2.29490553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:1.64, Z:-2.30 [[ 9.96729753e-01 1.21003072e-02 7.98960759e-02 2.79972633e+01] [-1.23060452e-02 9.99922108e-01 2.08316388e-03 1.64054406e+00] [-7.98646457e-02 -3.05955614e-03 9.96801022e-01 -2.30149537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:1.64, Z:-2.31 [[ 9.96707853e-01 1.37837497e-02 7.98965892e-02 2.80599096e+01] [-1.39932883e-02 9.99899960e-01 2.06328706e-03 1.64238067e+00] [-7.98601565e-02 -3.17451043e-03 9.96801022e-01 -2.30826873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:1.64, Z:-2.31 [[ 9.96683045e-01 1.54709763e-02 7.98971642e-02 2.81227431e+01] [-1.56841167e-02 9.99874914e-01 2.04077446e-03 1.64413910e+00] [-7.98555975e-02 -3.28712175e-03 9.96801022e-01 -2.31407035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:28.19, Y:1.65, Z:-2.32 [[ 9.96662213e-01 1.67566594e-02 7.98977304e-02 2.81851841e+01] [-1.69721236e-02 9.99853926e-01 2.01836287e-03 1.64568952e+00] [-7.98522384e-02 -3.36766016e-03 9.96801023e-01 -2.31901262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.25, Y:1.65, Z:-2.32 [[ 9.96623381e-01 1.89235504e-02 7.98982869e-02 2.82475052e+01] [-1.91441713e-02 9.99814741e-01 1.99608892e-03 1.64764394e+00] [-7.98457119e-02 -3.51893538e-03 9.96801023e-01 -2.32411263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.31, Y:1.65, Z:-2.33 [[ 9.96568830e-01 2.16041938e-02 7.98988450e-02 2.83106024e+01] [-2.18315906e-02 9.99759715e-01 1.97349604e-03 1.64969159e+00] [-7.98370107e-02 -3.71104352e-03 9.96801023e-01 -2.32944267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:28.37, Y:1.65, Z:-2.33 [[ 9.96434957e-01 2.70825045e-02 7.98994031e-02 2.83723215e+01] [-2.73256115e-02 9.99624683e-01 1.95063430e-03 1.65300670e+00] [-7.98165874e-02 -4.12698025e-03 9.96801023e-01 -2.33485921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:28.43, Y:1.66, Z:-2.34 [[ 9.96288834e-01 3.20087868e-02 7.98999119e-02 2.84346432e+01] [-3.22659773e-02 9.99477455e-01 1.92956604e-03 1.65814013e+00] [-7.97963976e-02 -4.50045385e-03 9.96801024e-01 -2.34050442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:28.50, Y:1.66, Z:-2.35 [[ 9.96219400e-01 3.41002263e-02 7.99004471e-02 2.84968714e+01] [-3.43623183e-02 9.99407621e-01 1.90714821e-03 1.66065860e+00] [-7.97880816e-02 -4.64550264e-03 9.96801024e-01 -2.34506375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:28.56, Y:1.66, Z:-2.35 [[ 9.96216362e-01 3.41876693e-02 7.99009628e-02 2.85585064e+01] [-3.44482938e-02 9.99404703e-01 1.88528959e-03 1.66314987e+00] [-7.97889444e-02 -4.63060818e-03 9.96801024e-01 -2.35157993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.62, Y:1.66, Z:-2.36 [[ 9.96288284e-01 3.20220527e-02 7.99014654e-02 2.86209178e+01] [-3.22740235e-02 9.99477320e-01 1.86374576e-03 1.66469057e+00] [-7.98000215e-02 -4.43556983e-03 9.96801024e-01 -2.35677563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:1.67, Z:-2.36 [[ 9.96490980e-01 2.49278933e-02 7.99019843e-02 2.86837246e+01] [-2.51553509e-02 9.99681858e-01 1.84122626e-03 1.66514524e+00] [-7.98306663e-02 -3.84472781e-03 9.96801025e-01 -2.36232198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:1.67, Z:-2.37 [[ 9.96594685e-01 2.03623329e-02 7.99025022e-02 2.87467471e+01] [-2.05733488e-02 9.99786692e-01 1.81847362e-03 1.66560135e+00] [-7.98484300e-02 -3.45614319e-03 9.96801025e-01 -2.36751208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:1.67, Z:-2.37 [[ 9.96695490e-01 1.46153092e-02 7.99030214e-02 2.88095141e+01] [-1.48060655e-02 9.99888772e-01 1.79536483e-03 1.66695480e+00] [-7.98678942e-02 -2.97248140e-03 9.96801025e-01 -2.37420235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:28.87, Y:1.67, Z:-2.38 [[ 9.96738789e-01 1.12788754e-02 7.99035268e-02 2.88713173e+01] [-1.14571174e-02 9.99932794e-01 1.77258669e-03 1.66820009e+00] [-7.98781640e-02 -2.68226999e-03 9.96801025e-01 -2.37988660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:28.93, Y:1.67, Z:-2.39 [[ 9.96793509e-01 4.24917006e-03 7.99039727e-02 2.89335514e+01] [-4.40325340e-03 9.99988770e-01 1.75225410e-03 1.66903719e+00] [-7.98956298e-02 -2.09847295e-03 9.96801026e-01 -2.38650244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:29.00, Y:1.67, Z:-2.39 [[ 9.96800295e-01 -2.10894644e-03 7.99044684e-02 2.89965679e+01] [ 1.97708234e-03 9.99996550e-01 1.72935138e-03 1.66981660e+00] [-7.99078398e-02 -1.56584025e-03 9.96801026e-01 -2.39225643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:29.06, Y:1.67, Z:-2.40 [[ 9.96787173e-01 -5.52539469e-03 7.99049543e-02 2.90587316e+01] [ 5.40630979e-03 9.99983930e-01 1.70659804e-03 1.67141337e+00] [-7.99130999e-02 -1.26912410e-03 9.96801026e-01 -2.39705612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:29.12, Y:1.67, Z:-2.40 [[ 9.96777758e-01 -7.01803330e-03 7.99052504e-02 2.91209719e+01] [ 6.90485574e-03 9.99974729e-01 1.69262125e-03 1.67498441e+00] [-7.99151100e-02 -1.13543299e-03 9.96801026e-01 -2.40134666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.18, Y:1.68, Z:-2.41 [[ 9.96779587e-01 -6.74780209e-03 7.99057016e-02 2.91826397e+01] [ 6.63548696e-03 9.99976589e-01 1.67104674e-03 1.67805563e+00] [-7.99151068e-02 -1.13545204e-03 9.96801027e-01 -2.40758690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:29.24, Y:1.68, Z:-2.40 [[ 9.96797015e-01 -3.27420542e-03 7.99061400e-02 2.92445386e+01] [ 3.15245150e-03 9.99993670e-01 1.64981625e-03 1.67712558e+00] [-7.99110360e-02 -1.39263168e-03 9.96801027e-01 -2.40139095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:1.69, Z:-2.42 [[ 9.96790909e-01 -4.78308683e-03 7.99062327e-02 2.93036611e+01] [ 4.66653279e-03 9.99987758e-01 1.64531363e-03 1.68504417e+00] [-7.99131242e-02 -1.26714861e-03 9.96801027e-01 -2.41812422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:29.37, Y:1.69, Z:-2.42 [[ 9.96795769e-01 -3.63102159e-03 7.99062635e-02 2.93650409e+01] [ 3.51089262e-03 9.99992486e-01 1.64381863e-03 1.68843845e+00] [-7.99116318e-02 -1.35800915e-03 9.96801027e-01 -2.42358382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:29.43, Y:1.69, Z:-2.43 [[ 9.96801708e-01 -1.13101394e-03 7.99066720e-02 2.94279814e+01] [ 1.00447902e-03 9.99998177e-01 1.62371261e-03 1.69298748e+00] [-7.99083628e-02 -1.53825493e-03 9.96801027e-01 -2.42867636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:29.49, Y:1.70, Z:-2.43 [[ 9.96801092e-01 1.55981475e-03 7.99071348e-02 2.94891299e+01] [-1.69312671e-03 9.99997286e-01 1.60060847e-03 1.69772276e+00] [-7.99044213e-02 -1.73078117e-03 9.96801027e-01 -2.43448522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:29.55, Y:1.70, Z:-2.44 [[ 9.96800418e-01 1.92607781e-03 7.99075558e-02 2.95516132e+01] [-2.05885762e-03 9.99996633e-01 1.57931009e-03 1.69986947e+00] [-7.99042449e-02 -1.73877524e-03 9.96801027e-01 -2.43962675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.61, Y:1.70, Z:-2.45 [[ 9.96800720e-01 1.74200924e-03 7.99080113e-02 2.96136761e+01] [-1.87232432e-03 9.99997037e-01 1.55591594e-03 1.70276655e+00] [-7.99050641e-02 -1.70055184e-03 9.96801028e-01 -2.44590976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:29.68, Y:1.71, Z:-2.45 [[ 9.96801662e-01 1.04449262e-03 7.99084257e-02 2.96762848e+01] [-1.17084175e-03 9.99998137e-01 1.53433552e-03 1.70558277e+00] [-7.99066743e-02 -1.62298831e-03 9.96801028e-01 -2.45129803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:29.74, Y:1.71, Z:-2.46 [[ 9.96800443e-01 1.85810034e-03 7.99088539e-02 2.97386640e+01] [-1.98524497e-03 9.99996887e-01 1.51170376e-03 1.70841607e+00] [-7.99057962e-02 -1.66550563e-03 9.96801028e-01 -2.45610081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:29.80, Y:1.71, Z:-2.46 [[ 9.96794738e-01 3.84122727e-03 7.99092906e-02 2.98004488e+01] [-3.97285220e-03 9.99991001e-01 1.48825586e-03 1.71306446e+00] [-7.99028548e-02 -1.80095341e-03 9.96801028e-01 -2.46273908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:29.86, Y:1.72, Z:-2.47 [[ 9.96781668e-01 6.38349600e-03 7.99096878e-02 2.98625509e+01] [-6.52153867e-03 9.99977659e-01 1.46661575e-03 1.71632764e+00] [-7.98985404e-02 -1.98302982e-03 9.96801029e-01 -2.46898421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:1.72, Z:-2.47 [[ 9.96769313e-01 8.08167046e-03 7.99100958e-02 2.99252329e+01] [-8.22334913e-03 9.99965145e-01 1.44403894e-03 1.71973942e+00] [-7.98956403e-02 -2.09650232e-03 9.96801029e-01 -2.47482515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:1.72, Z:-2.48 [[ 9.96747661e-01 1.04120802e-02 7.99105011e-02 2.99879938e+01] [-1.05594050e-02 9.99943238e-01 1.42125315e-03 1.72305400e+00] [-7.98911670e-02 -2.26043810e-03 9.96801029e-01 -2.48117387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:1.73, Z:-2.49 [[ 9.96744426e-01 1.07144404e-02 7.99108939e-02 3.00507689e+01] [-1.08609372e-02 9.99940040e-01 1.39881592e-03 1.72549154e+00] [-7.98911149e-02 -2.26216916e-03 9.96801029e-01 -2.48653619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:1.73, Z:-2.49 [[ 9.96746229e-01 1.05424670e-02 7.99112755e-02 3.01131986e+01] [-1.06866376e-02 9.99941949e-01 1.37666132e-03 1.72795139e+00] [-7.98921232e-02 -2.22616482e-03 9.96801030e-01 -2.49162080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:1.73, Z:-2.50 [[ 9.96743583e-01 1.07868600e-02 7.99116622e-02 3.01748587e+01] [-1.09299859e-02 9.99939349e-01 1.35383854e-03 1.72979460e+00] [-7.98922119e-02 -2.22286322e-03 9.96801030e-01 -2.49671174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.24, Y:1.73, Z:-2.50 [[ 9.96722822e-01 1.25573080e-02 7.99120134e-02 3.02372479e+01] [-1.27044233e-02 9.99918407e-01 1.33278188e-03 1.73313116e+00] [-7.98887570e-02 -2.34365017e-03 9.96801030e-01 -2.50179522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:1.73, Z:-2.51 [[ 9.96679270e-01 1.56346178e-02 7.99123982e-02 3.02982199e+01] [-1.57897180e-02 9.99874477e-01 1.30930027e-03 1.73451797e+00] [-7.98818970e-02 -2.56674667e-03 9.96801030e-01 -2.50695048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:1.74, Z:-2.51 [[ 9.96618316e-01 1.91283164e-02 7.99127015e-02 3.03605789e+01] [-1.92931120e-02 9.99813038e-01 1.29051669e-03 1.73838195e+00] [-7.98730755e-02 -2.82791727e-03 9.96801031e-01 -2.51141689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:1.74, Z:-2.52 [[ 9.96552863e-01 2.22776336e-02 7.99130632e-02 3.04219460e+01] [-2.24506986e-02 9.99747148e-01 1.26771882e-03 1.74141922e+00] [-7.98646152e-02 -3.05745292e-03 9.96801031e-01 -2.51670976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:30.48, Y:1.74, Z:-2.50 [[ 9.96350052e-01 3.00073464e-02 7.99132837e-02 3.04836125e+01] [-3.02040599e-02 9.99542967e-01 1.25366575e-03 1.74112060e+00] [-7.98391415e-02 -3.66279554e-03 9.96801031e-01 -2.50366525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:30.54, Y:1.75, Z:-2.53 [[ 9.96388910e-01 2.86881143e-02 7.99132824e-02 3.05414550e+01] [-2.88806067e-02 9.99582082e-01 1.25374974e-03 1.74628011e+00] [-7.98439174e-02 -3.55716642e-03 9.96801031e-01 -2.52619760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:30.60, Y:1.75, Z:-2.53 [[ 9.96323535e-01 3.08749955e-02 7.99133812e-02 3.06024997e+01] [-3.10739895e-02 9.99516309e-01 1.24742094e-03 1.74782842e+00] [-7.98362136e-02 -3.72606241e-03 9.96801031e-01 -2.52973849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:30.67, Y:1.75, Z:-2.53 [[ 9.96297226e-01 3.17121577e-02 7.99135552e-02 3.06656400e+01] [-3.19129342e-02 9.99489888e-01 1.23617121e-03 1.75010286e+00] [-7.98335887e-02 -3.78186997e-03 9.96801031e-01 -2.53493372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:30.73, Y:1.75, Z:-2.54 [[ 9.96253081e-01 3.30691213e-02 7.99139080e-02 3.07263543e+01] [-3.32723859e-02 9.99445585e-01 1.21292542e-03 1.75016605e+00] [-7.98294922e-02 -3.86730707e-03 9.96801031e-01 -2.54008606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:1.75, Z:-2.53 [[ 9.96116451e-01 3.69559048e-02 7.99141852e-02 3.07877841e+01] [-3.71701400e-02 9.99308238e-01 1.19437923e-03 1.74875261e+00] [-7.98147642e-02 -4.16016225e-03 9.96801032e-01 -2.53056892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:30.85, Y:1.75, Z:-2.54 [[ 9.95981827e-01 4.04218217e-02 7.99141890e-02 3.08501630e+01] [-4.06471414e-02 9.99172850e-01 1.19412357e-03 1.75153917e+00] [-7.97998194e-02 -4.43760872e-03 9.96801032e-01 -2.53597487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:30.91, Y:1.76, Z:-2.55 [[ 9.95985242e-01 4.03373650e-02 7.99142982e-02 3.09090092e+01] [-4.05618261e-02 9.99176326e-01 1.18677101e-03 1.75657787e+00] [-7.98006037e-02 -4.42347627e-03 9.96801032e-01 -2.55428469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:30.97, Y:1.76, Z:-2.56 [[ 9.95943551e-01 4.13539091e-02 7.99143096e-02 3.09716254e+01] [-4.15815659e-02 9.99134409e-01 1.18600565e-03 1.75844334e+00] [-7.97960905e-02 -4.50415680e-03 9.96801032e-01 -2.55674656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:31.03, Y:1.76, Z:-2.56 [[ 9.95934131e-01 4.15799577e-02 7.99144171e-02 3.10323798e+01] [-4.18077558e-02 9.99124978e-01 1.17871828e-03 1.76065069e+00] [-7.97954792e-02 -4.51496820e-03 9.96801032e-01 -2.56181866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:31.10, Y:1.76, Z:-2.57 [[ 9.95958241e-01 4.09980756e-02 7.99145823e-02 3.10950727e+01] [-4.12231046e-02 9.99149285e-01 1.16740778e-03 1.76271406e+00] [-7.97987363e-02 -4.45701659e-03 9.96801032e-01 -2.56509732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:31.16, Y:1.76, Z:-2.57 [[ 9.95961228e-01 4.09247913e-02 7.99149167e-02 3.11568517e+01] [-4.11477172e-02 9.99152419e-01 1.14405012e-03 1.76427903e+00] [-7.98003624e-02 -4.42774595e-03 9.96801032e-01 -2.57006842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:31.22, Y:1.77, Z:-2.58 [[ 9.95859792e-01 4.33224198e-02 7.99152196e-02 3.12188389e+01] [-4.35513031e-02 9.99050561e-01 1.12248709e-03 1.76775911e+00] [-7.97907162e-02 -4.59825171e-03 9.96801032e-01 -2.57504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:31.28, Y:1.77, Z:-2.58 [[ 9.95625006e-01 4.84186041e-02 7.99154958e-02 3.12807962e+01] [-4.86622138e-02 9.98814684e-01 1.10246560e-03 1.77319216e+00] [-7.97673909e-02 -4.98650726e-03 9.96801032e-01 -2.58079452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:31.34, Y:1.78, Z:-2.59 [[ 9.95480345e-01 5.13064671e-02 7.99157632e-02 3.13433697e+01] [-5.15577510e-02 9.98669428e-01 1.08273537e-03 1.77640384e+00] [-7.97538781e-02 -5.19811879e-03 9.96801033e-01 -2.58604125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:1.78, Z:-2.58 [[ 9.95325846e-01 5.42206991e-02 7.99160587e-02 3.14048972e+01] [-5.44795389e-02 9.98514324e-01 1.06046729e-03 1.77790463e+00] [-7.97398300e-02 -5.40930053e-03 9.96801033e-01 -2.58123197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:1.78, Z:-2.59 [[ 9.95294563e-01 5.47919012e-02 7.99160781e-02 3.14641747e+01] [-5.50524537e-02 9.98482902e-01 1.05900252e-03 1.78333382e+00] [-7.97368128e-02 -5.45359564e-03 9.96801033e-01 -2.59397360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.53, Y:1.79, Z:-2.60 [[ 9.95228773e-01 5.59740932e-02 7.99161495e-02 3.15259024e+01] [-5.62379999e-02 9.98416835e-01 1.05358736e-03 1.78551202e+00] [-7.97306555e-02 -5.54288486e-03 9.96801033e-01 -2.59814974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:31.59, Y:1.79, Z:-2.60 [[ 9.95171820e-01 5.69773289e-02 7.99164077e-02 3.15878727e+01] [-5.72428541e-02 9.98359748e-01 1.03362457e-03 1.78853163e+00] [-7.97264315e-02 -5.60327731e-03 9.96801033e-01 -2.60224332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:31.65, Y:1.79, Z:-2.61 [[ 9.95092488e-01 5.83461112e-02 7.99166574e-02 3.16498696e+01] [-5.86144484e-02 9.98280180e-01 1.01394260e-03 1.79279747e+00] [-7.97200556e-02 -5.69323745e-03 9.96801033e-01 -2.60593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:31.71, Y:1.80, Z:-2.61 [[ 9.95067587e-01 5.87689235e-02 7.99169010e-02 3.17129154e+01] [-5.90370509e-02 9.98255297e-01 9.94365472e-04 1.79559800e+00] [-7.97190320e-02 -5.70751901e-03 9.96801033e-01 -2.60960346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.78, Y:1.80, Z:-2.61 [[ 9.95095938e-01 5.82865177e-02 7.99171790e-02 3.17759911e+01] [-5.85512725e-02 9.98283930e-01 9.71498645e-04 1.79825087e+00] [-7.97234103e-02 -5.64598688e-03 9.96801034e-01 -2.61384715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.84, Y:1.80, Z:-2.62 [[ 9.95245264e-01 5.56782214e-02 7.99174591e-02 3.18367286e+01] [-5.59327321e-02 9.98434089e-01 9.47883431e-04 1.80076758e+00] [-7.97395391e-02 -5.41337833e-03 9.96801034e-01 -2.61908188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.90, Y:1.80, Z:-2.62 [[ 9.95379300e-01 5.32279474e-02 7.99176783e-02 3.18991596e+01] [-5.34730997e-02 9.98568858e-01 9.29028835e-04 1.80218796e+00] [-7.97538545e-02 -5.19818205e-03 9.96801034e-01 -2.62334402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:31.96, Y:1.80, Z:-2.63 [[ 9.95575830e-01 4.94154804e-02 7.99179388e-02 3.19599358e+01] [-4.96465786e-02 9.98766437e-01 9.06059586e-04 1.80418732e+00] [-7.97745816e-02 -4.86970326e-03 9.96801034e-01 -2.62843202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.02, Y:1.81, Z:-2.63 [[ 9.95618483e-01 4.85481893e-02 7.99181424e-02 3.20230117e+01] [-4.87750419e-02 9.98809395e-01 8.87729053e-04 1.80610144e+00] [-7.97798938e-02 -4.78185020e-03 9.96801035e-01 -2.63411252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.08, Y:1.81, Z:-2.64 [[ 9.95675165e-01 4.73710603e-02 7.99183836e-02 3.20841888e+01] [-4.75923589e-02 9.98866467e-01 8.65460330e-04 1.80787231e+00] [-7.97867957e-02 -4.66522175e-03 9.96801035e-01 -2.63913850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:1.81, Z:-2.64 [[ 9.95722915e-01 4.63562218e-02 7.99185724e-02 3.21467512e+01] [-4.65728439e-02 9.98914537e-01 8.47663192e-04 1.80927354e+00] [-7.97925292e-02 -4.56607286e-03 9.96801035e-01 -2.64203058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:1.81, Z:-2.65 [[ 9.95739692e-01 4.59940250e-02 7.99188052e-02 3.22089146e+01] [-4.62076816e-02 9.98931514e-01 8.25108695e-04 1.81150409e+00] [-7.97954630e-02 -4.51445619e-03 9.96801035e-01 -2.64523873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:1.81, Z:-2.65 [[ 9.95700558e-01 4.68332281e-02 7.99190041e-02 3.22712317e+01] [-4.70479959e-02 9.98892305e-01 8.05373266e-04 1.81296728e+00] [-7.97927600e-02 -4.56193959e-03 9.96801035e-01 -2.64859531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:1.82, Z:-2.65 [[ 9.95582956e-01 4.92696624e-02 7.99192035e-02 3.23341487e+01] [-4.94906167e-02 9.98774280e-01 7.85078860e-04 1.81654620e+00] [-7.97825644e-02 -4.73686180e-03 9.96801036e-01 -2.65317573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:1.82, Z:-2.66 [[ 9.95528746e-01 5.03527614e-02 7.99194266e-02 3.23947389e+01] [-5.05753156e-02 9.98719959e-01 7.61675390e-04 1.81865689e+00] [-7.97787740e-02 -4.80021996e-03 9.96801036e-01 -2.65957521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:1.82, Z:-2.66 [[ 9.95551553e-01 4.98996354e-02 7.99195299e-02 3.24572488e+01] [-5.01198572e-02 9.98742928e-01 7.50676183e-04 1.82101997e+00] [-7.97816068e-02 -4.75289227e-03 9.96801036e-01 -2.66388938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:32.52, Y:1.82, Z:-2.67 [[ 9.95572856e-01 4.94726913e-02 7.99195946e-02 3.25192752e+01] [-4.96909884e-02 9.98764363e-01 7.43725482e-04 1.82237598e+00] [-7.97840489e-02 -4.71171655e-03 9.96801036e-01 -2.66704968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:32.58, Y:1.82, Z:-2.67 [[ 9.95647852e-01 4.79393886e-02 7.99197763e-02 3.25814785e+01] [-4.81511648e-02 9.98839798e-01 7.23657293e-04 1.82392438e+00] [-7.97923615e-02 -4.56873815e-03 9.96801036e-01 -2.67180908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:32.64, Y:1.82, Z:-2.68 [[ 9.95716452e-01 4.64924641e-02 7.99199524e-02 3.26447122e+01] [-4.66980012e-02 9.98908805e-01 7.03657428e-04 1.82464777e+00] [-7.98000294e-02 -4.43274531e-03 9.96801036e-01 -2.67678033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.71, Y:1.83, Z:-2.68 [[ 9.95835826e-01 4.38609024e-02 7.99201458e-02 3.27066315e+01] [-4.40561863e-02 9.99028823e-01 6.80966907e-04 1.82529457e+00] [-7.98126613e-02 -4.19910807e-03 9.96801037e-01 -2.67971410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:32.77, Y:1.83, Z:-2.69 [[ 9.95925051e-01 4.17855906e-02 7.99203119e-02 3.27677615e+01] [-4.19726128e-02 9.99118543e-01 6.60884941e-04 1.82583468e+00] [-7.98222501e-02 -4.01265617e-03 9.96801037e-01 -2.68630570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:32.83, Y:1.83, Z:-2.69 [[ 9.96001763e-01 3.99151264e-02 7.99204036e-02 3.28297719e+01] [-4.00952466e-02 9.99195651e-01 6.49591569e-04 1.82576684e+00] [-7.98301912e-02 -3.85142264e-03 9.96801037e-01 -2.69063440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:32.89, Y:1.83, Z:-2.69 [[ 9.96012123e-01 3.96554578e-02 7.99205573e-02 3.28929619e+01] [-3.98331856e-02 9.99206145e-01 6.30108653e-04 1.82618226e+00] [-7.98321247e-02 -3.81108624e-03 9.96801037e-01 -2.69486954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:32.96, Y:1.83, Z:-2.70 [[ 9.96097797e-01 3.74413674e-02 7.99207271e-02 3.29555300e+01] [-3.76102070e-02 9.99292301e-01 6.07780050e-04 1.82676705e+00] [-7.98414112e-02 -3.61124346e-03 9.96801037e-01 -2.69752491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:33.02, Y:1.83, Z:-2.70 [[ 9.96169723e-01 3.54758688e-02 7.99208729e-02 3.30175382e+01] [-3.56368182e-02 9.99364634e-01 5.87964305e-04 1.82647852e+00] [-7.98492353e-02 -3.43383785e-03 9.96801038e-01 -2.70321552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:33.08, Y:1.83, Z:-2.71 [[ 9.96223078e-01 3.39442136e-02 7.99210212e-02 3.30809981e+01] [-3.40985763e-02 9.99418314e-01 5.67058399e-04 1.82624403e+00] [-7.98552839e-02 -3.29010970e-03 9.96801038e-01 -2.70559907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:33.14, Y:1.83, Z:-2.71 [[ 9.96192226e-01 3.48375590e-02 7.99211743e-02 3.31436994e+01] [-3.49929887e-02 9.99387409e-01 5.44604768e-04 1.82730895e+00] [-7.98532426e-02 -3.33921179e-03 9.96801038e-01 -2.70817860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:1.83, Z:-2.71 [[ 9.96154963e-01 3.58869146e-02 7.99213259e-02 3.32051416e+01] [-3.60438482e-02 9.99350073e-01 5.21356822e-04 1.82782971e+00] [-7.98506731e-02 -3.40002433e-03 9.96801038e-01 -2.71400928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:33.27, Y:1.83, Z:-2.72 [[ 9.96196440e-01 3.47162807e-02 7.99214169e-02 3.32674100e+01] [-3.48683108e-02 9.99391787e-01 5.07014202e-04 1.82691096e+00] [-7.98552060e-02 -3.29181055e-03 9.96801038e-01 -2.71783518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:33.33, Y:1.83, Z:-2.72 [[ 9.96284313e-01 3.20954197e-02 7.99215394e-02 3.33304438e+01] [-3.22374330e-02 9.99480120e-01 4.86913563e-04 1.82513570e+00] [-7.98643621e-02 -3.06156962e-03 9.96801039e-01 -2.72254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.39, Y:1.82, Z:-2.72 [[ 9.96410636e-01 2.78993051e-02 7.99216715e-02 3.33925508e+01] [-2.80260364e-02 9.99607086e-01 4.64174994e-04 1.82156756e+00] [-7.98773190e-02 -2.70239658e-03 9.96801039e-01 -2.72387818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:33.46, Y:1.82, Z:-2.73 [[ 9.96463104e-01 2.59575020e-02 7.99217808e-02 3.34551093e+01] [-2.60764296e-02 9.99659853e-01 4.44526810e-04 1.81970742e+00] [-7.98830569e-02 -2.52702926e-03 9.96801039e-01 -2.72786099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:33.52, Y:1.82, Z:-2.73 [[ 9.96478240e-01 2.53694185e-02 7.99218995e-02 3.35174755e+01] [-2.54846585e-02 9.99675124e-01 4.22049871e-04 1.81896453e+00] [-7.98852277e-02 -2.45734583e-03 9.96801039e-01 -2.73332488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:33.58, Y:1.82, Z:-2.74 [[ 9.96516790e-01 2.38067180e-02 7.99220112e-02 3.35803408e+01] [-2.39151548e-02 9.99713912e-01 3.99715469e-04 1.81554066e+00] [-7.98896306e-02 -2.30967044e-03 9.96801040e-01 -2.73589929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:33.64, Y:1.81, Z:-2.74 [[ 9.96513588e-01 2.39400125e-02 7.99221179e-02 3.36425121e+01] [-2.40470650e-02 9.99710756e-01 3.77104857e-04 1.81384087e+00] [-7.98899731e-02 -2.29768248e-03 9.96801040e-01 -2.74132974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:33.70, Y:1.81, Z:-2.75 [[ 9.96462658e-01 2.59733060e-02 7.99222057e-02 3.37044952e+01] [-2.60853100e-02 9.99659656e-01 3.57487153e-04 1.81237547e+00] [-7.98857196e-02 -2.44101811e-03 9.96801040e-01 -2.74528271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:33.77, Y:1.81, Z:-2.75 [[ 9.96419083e-01 2.75941837e-02 7.99222895e-02 3.37668581e+01] [-2.77097991e-02 9.99615953e-01 3.37657614e-04 1.81119326e+00] [-7.98822782e-02 -2.55107907e-03 9.96801040e-01 -2.74951811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.83, Y:1.81, Z:-2.75 [[ 9.96364960e-01 2.94835754e-02 7.99223692e-02 3.38291808e+01] [-2.96036468e-02 9.99561666e-01 3.17616149e-04 1.80855561e+00] [-7.98779720e-02 -2.68245519e-03 9.96801040e-01 -2.75167928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:33.89, Y:1.81, Z:-2.76 [[ 9.96353233e-01 2.98770581e-02 7.99224430e-02 3.38911106e+01] [-2.99968056e-02 9.99549950e-01 2.97817723e-04 1.80733460e+00] [-7.98775760e-02 -2.69414963e-03 9.96801041e-01 -2.75762459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:33.95, Y:1.81, Z:-2.76 [[ 9.96288182e-01 3.19726446e-02 7.99225154e-02 3.39543635e+01] [-3.20974406e-02 9.99484706e-01 2.76911426e-04 1.80606256e+00] [-7.98724782e-02 -2.84119177e-03 9.96801041e-01 -2.76055659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:34.02, Y:1.81, Z:-2.77 [[ 9.96220619e-01 3.40126285e-02 7.99225897e-02 3.40166942e+01] [-3.41420924e-02 9.99416957e-01 2.53480353e-04 1.80536828e+00] [-7.98673699e-02 -2.98124680e-03 9.96801041e-01 -2.76559597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:34.08, Y:1.80, Z:-2.77 [[ 9.96111202e-01 3.70788561e-02 7.99226566e-02 3.40794353e+01] [-3.72162986e-02 9.99307207e-01 2.30270041e-04 1.80488491e+00] [-7.98587486e-02 -3.20380002e-03 9.96801041e-01 -2.77113648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:34.14, Y:1.80, Z:-2.78 [[ 9.96018729e-01 3.94848064e-02 7.99227162e-02 3.41412917e+01] [-3.96281300e-02 9.99214476e-01 2.07319313e-04 1.80432671e+00] [-7.98517490e-02 -3.37368170e-03 9.96801042e-01 -2.77540644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:34.20, Y:1.80, Z:-2.78 [[ 9.95876521e-01 4.29221066e-02 7.99227630e-02 3.42034487e+01] [-4.30748616e-02 9.99071830e-01 1.87377538e-04 1.80373284e+00] [-7.98405384e-02 -3.62926684e-03 9.96801042e-01 -2.78028556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:34.27, Y:1.80, Z:-2.78 [[ 9.95806351e-01 4.45202906e-02 7.99228068e-02 3.42654783e+01] [-4.46764869e-02 9.99001493e-01 1.66318031e-04 1.80347190e+00] [-7.98355988e-02 -3.73629078e-03 9.96801042e-01 -2.78386496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:34.33, Y:1.80, Z:-2.79 [[ 9.95786744e-01 4.49566364e-02 7.99228420e-02 3.43273740e+01] [-4.51127022e-02 9.98981893e-01 1.47206308e-04 1.80313631e+00] [-7.98348541e-02 -3.75212146e-03 9.96801042e-01 -2.78643154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:34.39, Y:1.80, Z:-2.79 [[ 9.95762761e-01 4.54847065e-02 7.99228739e-02 3.43892421e+01] [-4.56408628e-02 9.98957905e-01 1.27178449e-04 1.80264454e+00] [-7.98338020e-02 -3.77438849e-03 9.96801042e-01 -2.79273502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:34.45, Y:1.80, Z:-2.79 [[ 9.95708428e-01 4.66589520e-02 7.99228939e-02 3.44524765e+01] [-4.68177461e-02 9.98903442e-01 1.13066988e-04 1.80363332e+00] [-7.98299782e-02 -3.85439150e-03 9.96801042e-01 -2.79369193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:34.51, Y:1.80, Z:-2.80 [[ 9.95678520e-01 4.72928252e-02 7.99229203e-02 3.45139168e+01] [-4.74517643e-02 9.98873527e-01 8.94780504e-05 1.80482390e+00] [-7.98286576e-02 -3.88157495e-03 9.96801043e-01 -2.79886990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:1.81, Z:-2.80 [[ 9.95708749e-01 4.66520290e-02 7.99229388e-02 3.45765019e+01] [-4.68071705e-02 9.98903941e-01 6.77342192e-05 1.80500981e+00] [-7.98321786e-02 -3.80841018e-03 9.96801043e-01 -2.80356671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:1.81, Z:-2.81 [[ 9.95754143e-01 4.56728458e-02 7.99229516e-02 3.46396370e+01] [-4.58230228e-02 9.98949573e-01 4.49814076e-05 1.80516997e+00] [-7.98369439e-02 -3.70710166e-03 9.96801043e-01 -2.80779865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:1.81, Z:-2.81 [[ 9.95806668e-01 4.45129289e-02 7.99229579e-02 3.47019815e+01] [-4.46575286e-02 9.99002355e-01 2.18206150e-05 1.80526905e+00] [-7.98422519e-02 -3.59089089e-03 9.96801044e-01 -2.81206365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.76, Y:1.81, Z:-2.81 [[ 9.95856481e-01 4.33842162e-02 7.99229575e-02 3.47641506e+01] [-4.35233358e-02 9.99052411e-01 -1.37216747e-06 1.80539494e+00] [-7.98472829e-02 -3.47714724e-03 9.96801044e-01 -2.81281136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:1.81, Z:-2.82 [[ 9.95904298e-01 4.22723475e-02 7.99229521e-02 3.48267514e+01] [-4.24062747e-02 9.99100449e-01 -2.16488030e-05 1.80705937e+00] [-7.98519725e-02 -3.36767452e-03 9.96801044e-01 -2.81935650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:34.89, Y:1.81, Z:-2.82 [[ 9.95884349e-01 4.27397642e-02 7.99229392e-02 3.48891813e+01] [-4.28733412e-02 9.99080515e-01 -4.47451174e-05 1.80770924e+00] [-7.98513636e-02 -3.38200248e-03 9.96801044e-01 -2.82373256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:34.95, Y:1.81, Z:-2.83 [[ 9.95892928e-01 4.25394227e-02 7.99229197e-02 3.49510376e+01] [-4.26705176e-02 9.99089196e-01 -6.77016518e-05 1.80928541e+00] [-7.98530056e-02 -3.34292876e-03 9.96801045e-01 -2.82929393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:35.01, Y:1.81, Z:-2.83 [[ 9.95901546e-01 4.23372255e-02 7.99228962e-02 3.50140641e+01] [-4.24659745e-02 9.99097910e-01 -8.88844441e-05 1.80972710e+00] [-7.98545616e-02 -3.30548351e-03 9.96801045e-01 -2.83395651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:1.81, Z:-2.84 [[ 9.95881256e-01 4.28118982e-02 7.99228650e-02 3.50761438e+01] [-4.29403727e-02 9.99077631e-01 -1.11325035e-04 1.81131320e+00] [-7.98539126e-02 -3.32105110e-03 9.96801045e-01 -2.83800213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:1.81, Z:-2.84 [[ 9.95748843e-01 4.57884591e-02 7.99228318e-02 3.51374494e+01] [-4.59248701e-02 9.98944888e-01 -1.31513437e-04 1.81348669e+00] [-7.98445260e-02 -3.53949131e-03 9.96801045e-01 -2.84431959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:1.81, Z:-2.85 [[ 9.95595992e-01 4.89996754e-02 7.99227909e-02 3.52000225e+01] [-4.91446837e-02 9.98791658e-01 -1.52858488e-04 1.81452367e+00] [-7.98337069e-02 -3.77559499e-03 9.96801045e-01 -2.84899977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:1.82, Z:-2.85 [[ 9.95382442e-01 5.31615354e-02 7.99227416e-02 3.52634375e+01] [-5.33181016e-02 9.98577563e-01 -1.75348142e-04 1.81511193e+00] [-7.98183783e-02 -4.08679040e-03 9.96801046e-01 -2.85084949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:35.33, Y:1.82, Z:-2.86 [[ 9.95260244e-01 5.54022685e-02 7.99226858e-02 3.53257596e+01] [-5.55642216e-02 9.98455096e-01 -1.97898185e-04 1.81815704e+00] [-7.98101769e-02 -4.24388163e-03 9.96801046e-01 -2.85888688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:1.82, Z:-2.86 [[ 9.95248545e-01 5.56121227e-02 7.99226219e-02 3.53886171e+01] [-5.57728969e-02 9.98443456e-01 -2.21032816e-04 1.81720335e+00] [-7.98105109e-02 -4.23753356e-03 9.96801046e-01 -2.86254428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:1.81, Z:-2.87 [[ 9.95300428e-01 5.46758096e-02 7.99225501e-02 3.54517837e+01] [-5.48316980e-02 9.98495581e-01 -2.44508637e-04 1.81485132e+00] [-7.98156818e-02 -4.13892958e-03 9.96801046e-01 -2.86551203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:35.51, Y:1.81, Z:-2.87 [[ 9.95334798e-01 5.40466348e-02 7.99224718e-02 3.55148655e+01] [-5.41986321e-02 9.98530138e-01 -2.67874466e-04 1.81439602e+00] [-7.98194745e-02 -4.06506387e-03 9.96801047e-01 -2.87160675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:1.81, Z:-2.88 [[ 9.95372710e-01 5.33439809e-02 7.99223869e-02 3.55778281e+01] [-5.34918572e-02 9.98568243e-01 -2.91163584e-04 1.81280480e+00] [-7.98234893e-02 -3.98538062e-03 9.96801047e-01 -2.87517588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:1.81, Z:-2.88 [[ 9.95481997e-01 5.12642239e-02 7.99222962e-02 3.56401661e+01] [-5.14035739e-02 9.98677913e-01 -3.14251981e-04 1.81006090e+00] [-7.98327418e-02 -3.79545947e-03 9.96801047e-01 -2.88150683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:1.81, Z:-2.89 [[ 9.95605326e-01 4.88106327e-02 7.99221969e-02 3.57017546e+01] [-4.89402238e-02 9.98801652e-01 -3.37742493e-04 1.80633091e+00] [-7.98429078e-02 -3.57515198e-03 9.96801048e-01 -2.88742905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:35.76, Y:1.80, Z:-2.89 [[ 9.95599685e-01 4.89257074e-02 7.99220995e-02 3.57645223e+01] [-4.90539320e-02 9.98796067e-01 -3.59410539e-04 1.80310278e+00] [-7.98434630e-02 -3.56266422e-03 9.96801048e-01 -2.88970555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:1.80, Z:-2.89 [[ 9.95554365e-01 4.98395615e-02 7.99219911e-02 3.58272208e+01] [-4.99689032e-02 9.98750701e-01 -3.82087781e-04 1.80072453e+00] [-7.98411877e-02 -3.61322508e-03 9.96801048e-01 -2.89364886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:1.80, Z:-2.90 [[ 9.95417791e-01 5.24968134e-02 7.99218770e-02 3.58902963e+01] [-5.26328803e-02 9.98613847e-01 -4.04637595e-04 1.79766373e+00] [-7.98323352e-02 -3.80373512e-03 9.96801048e-01 -2.89813850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:1.80, Z:-2.90 [[ 9.95259632e-01 5.54146036e-02 7.99217582e-02 3.59531970e+01] [-5.55582571e-02 9.98455356e-01 -4.26883160e-04 1.79588330e+00] [-7.98219631e-02 -4.01545401e-03 9.96801049e-01 -2.90286764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:1.79, Z:-2.91 [[ 9.94899662e-01 6.15401850e-02 7.99216323e-02 3.60156732e+01] [-6.17017148e-02 9.98094533e-01 -4.49277029e-04 1.79406173e+00] [-7.97969928e-02 -4.48431620e-03 9.96801049e-01 -2.90656545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:1.79, Z:-2.91 [[ 9.94651925e-01 6.54224928e-02 7.99214979e-02 3.60776032e+01] [-6.55946674e-02 9.97846239e-01 -4.72040727e-04 1.79251250e+00] [-7.97802482e-02 -4.77290785e-03 9.96801049e-01 -2.91199466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:1.79, Z:-2.91 [[ 9.94314328e-01 7.03675505e-02 7.99213680e-02 3.61405064e+01] [-7.05539220e-02 9.97507845e-01 -4.93086472e-04 1.79075288e+00] [-7.97568889e-02 -5.14848302e-03 9.96801049e-01 -2.91481736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:1.79, Z:-2.92 [[ 9.94095297e-01 7.33971271e-02 7.99212203e-02 3.62037352e+01] [-7.35913973e-02 9.97288343e-01 -5.15974204e-04 1.78973107e+00] [-7.97423724e-02 -5.36858675e-03 9.96801050e-01 -2.91955273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.27, Y:1.79, Z:-2.92 [[ 9.93869506e-01 7.63939008e-02 7.99210632e-02 3.62661089e+01] [-7.65959333e-02 9.97062070e-01 -5.39262937e-04 1.78794501e+00] [-7.97274571e-02 -5.58567144e-03 9.96801050e-01 -2.92495359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.33, Y:1.79, Z:-2.93 [[ 9.93785736e-01 7.74761939e-02 7.99209018e-02 3.63286848e+01] [-7.76798671e-02 9.96978195e-01 -5.62207399e-04 1.78599419e+00] [-7.97229541e-02 -5.64953133e-03 9.96801050e-01 -2.92890970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:36.39, Y:1.79, Z:-2.94 [[ 9.93750147e-01 7.79315224e-02 7.99207327e-02 3.63916029e+01] [-7.81348109e-02 9.96942631e-01 -5.85294588e-04 1.78500769e+00] [-7.97219984e-02 -5.66295475e-03 9.96801050e-01 -2.93699939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.45, Y:1.78, Z:-2.94 [[ 9.93643884e-01 7.92750723e-02 7.99205568e-02 3.64544150e+01] [-7.94808276e-02 9.96836209e-01 -6.08408442e-04 1.78355928e+00] [-7.97159365e-02 -5.74761067e-03 9.96801051e-01 -2.93921174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:36.52, Y:1.78, Z:-2.95 [[ 9.93626607e-01 7.94915074e-02 7.99203757e-02 3.65151847e+01] [-7.96961237e-02 9.96819005e-01 -6.31332905e-04 1.78251769e+00] [-7.97163350e-02 -5.74203498e-03 9.96801051e-01 -2.94872150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:36.58, Y:1.78, Z:-2.95 [[ 9.93576552e-01 8.01148730e-02 7.99202268e-02 3.65756904e+01] [-8.03200262e-02 9.96768916e-01 -6.49652483e-04 1.78111753e+00] [-7.97140447e-02 -5.77371524e-03 9.96801051e-01 -2.95293465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:36.64, Y:1.78, Z:-2.96 [[ 9.93471582e-01 8.14063013e-02 7.99201470e-02 3.66380710e+01] [-8.16148294e-02 9.96663727e-01 -6.59332685e-04 1.78152319e+00] [-7.97071854e-02 -5.86764088e-03 9.96801051e-01 -2.95752064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:36.70, Y:1.78, Z:-2.96 [[ 9.93346291e-01 8.29213437e-02 7.99199464e-02 3.67009415e+01] [-8.31328617e-02 9.96538239e-01 -6.82807742e-04 1.78110342e+00] [-7.96999020e-02 -5.96570932e-03 9.96801051e-01 -2.96144312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.76, Y:1.78, Z:-2.96 [[ 9.93224440e-01 8.43685168e-02 7.99197401e-02 3.67631499e+01] [-8.45828169e-02 9.96416202e-01 -7.06160868e-04 1.78115969e+00] [-7.96929017e-02 -6.05846051e-03 9.96801052e-01 -2.96411885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.83, Y:1.78, Z:-2.97 [[ 9.93169416e-01 8.50139711e-02 7.99195559e-02 3.68257180e+01] [-8.52287236e-02 9.96361148e-01 -7.26432004e-04 1.78194995e+00] [-7.96904973e-02 -6.08997169e-03 9.96801052e-01 -2.97053040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.89, Y:1.78, Z:-2.97 [[ 9.93212702e-01 8.45069697e-02 7.99193411e-02 3.68883221e+01] [-8.47182597e-02 9.96404664e-01 -7.49344709e-04 1.78409393e+00] [-7.96953290e-02 -6.02636881e-03 9.96801052e-01 -2.97404121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:36.95, Y:1.78, Z:-2.98 [[ 9.93105833e-01 8.57538038e-02 7.99192704e-02 3.69492157e+01] [-8.59685043e-02 9.96297568e-01 -7.56802231e-04 1.78234508e+00] [-7.96882734e-02 -6.11895543e-03 9.96801052e-01 -2.98326428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.01, Y:1.78, Z:-2.99 [[ 9.93312848e-01 8.33218405e-02 7.99190708e-02 3.70124674e+01] [-8.35270828e-02 9.96505204e-01 -7.77326111e-04 1.78237300e+00] [-7.97045383e-02 -5.90327884e-03 9.96801052e-01 -2.98784907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.08, Y:1.78, Z:-2.99 [[ 9.93444674e-01 8.17352902e-02 7.99188429e-02 3.70754730e+01] [-8.19336111e-02 9.96637468e-01 -8.00100365e-04 1.78173506e+00] [-7.97155096e-02 -5.75318395e-03 9.96801053e-01 -2.99309840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.14, Y:1.78, Z:-3.00 [[ 9.93465625e-01 8.14804776e-02 7.99186104e-02 3.71380312e+01] [-8.16761725e-02 9.96658580e-01 -8.22679580e-04 1.78190374e+00] [-7.97186012e-02 -5.71014233e-03 9.96801053e-01 -2.99827155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:1.78, Z:-3.00 [[ 9.93381900e-01 8.24951852e-02 7.99183680e-02 3.71995890e+01] [-8.26923072e-02 9.96574768e-01 -8.45597736e-04 1.78293821e+00] [-7.97143867e-02 -5.76863275e-03 9.96801053e-01 -3.00406768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.26, Y:1.79, Z:-3.01 [[ 9.93187511e-01 8.48036475e-02 7.99181389e-02 3.72618783e+01] [-8.50064990e-02 9.96380020e-01 -8.66722416e-04 1.78552571e+00] [-7.97023380e-02 -5.93274331e-03 9.96801053e-01 -3.01064709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.33, Y:1.79, Z:-3.02 [[ 9.92935807e-01 8.77018437e-02 7.99178901e-02 3.73250655e+01] [-8.79122217e-02 9.96127829e-01 -8.89090870e-04 1.78794678e+00] [-7.96864092e-02 -6.14294911e-03 9.96801054e-01 -3.01665610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.39, Y:1.79, Z:-3.02 [[ 9.92685524e-01 9.04910084e-02 7.99176285e-02 3.73878199e+01] [-9.07085193e-02 9.95877067e-01 -9.12014545e-04 1.79248787e+00] [-7.96706626e-02 -6.34386611e-03 9.96801054e-01 -3.01747198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.45, Y:1.79, Z:-3.03 [[ 9.92400844e-01 9.35616100e-02 7.99173921e-02 3.74498582e+01] [-9.37873724e-02 9.95591814e-01 -9.32280496e-04 1.79261656e+00] [-7.96523270e-02 -6.57004626e-03 9.96801054e-01 -3.02703309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.51, Y:1.80, Z:-3.03 [[ 9.92078175e-01 9.69234150e-02 7.99171186e-02 3.75125659e+01] [-9.71581577e-02 9.95268496e-01 -9.55161341e-04 1.79543053e+00] [-7.96315680e-02 -6.81700529e-03 9.96801054e-01 -3.03180001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.58, Y:1.80, Z:-3.03 [[ 9.91727729e-01 1.00446055e-01 7.99168423e-02 3.75755773e+01] [-1.00690320e-01 9.94917335e-01 -9.77751187e-04 1.80207001e+00] [-7.96088630e-02 -7.07718944e-03 9.96801055e-01 -3.03234988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.64, Y:1.80, Z:-3.04 [[ 9.91581622e-01 1.01878391e-01 7.99167054e-02 3.76372221e+01] [-1.02126379e-01 9.94770941e-01 -9.88812786e-04 1.80435723e+00] [-7.95995549e-02 -7.18111516e-03 9.96801055e-01 -3.04201963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.70, Y:1.81, Z:-3.05 [[ 9.91554327e-01 1.02143944e-01 7.99164061e-02 3.76995097e+01] [-1.02390897e-01 9.94743725e-01 -1.01244212e-03 1.80685226e+00] [-7.95997583e-02 -7.17882112e-03 9.96801055e-01 -3.04743778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.76, Y:1.81, Z:-3.05 [[ 9.91637837e-01 1.01330238e-01 7.99161063e-02 3.77625432e+01] [-1.01572724e-01 9.94827578e-01 -1.03557486e-03 1.80868589e+00] [-7.96076815e-02 -7.09038140e-03 9.96801055e-01 -3.05325082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.82, Y:1.81, Z:-3.06 [[ 9.91927850e-01 9.84510336e-02 7.99158016e-02 3.78249728e+01] [-9.86824185e-02 9.95118415e-01 -1.05858073e-03 1.81094211e+00] [-7.96299042e-02 -6.83624887e-03 9.96801055e-01 -3.05869812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:1.81, Z:-3.07 [[ 9.92271351e-01 9.49267024e-02 7.99154949e-02 3.78867188e+01] [-9.51449382e-02 9.95462843e-01 -1.08125052e-03 1.81304259e+00] [-7.96555453e-02 -6.53066091e-03 9.96801056e-01 -3.06571766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:1.81, Z:-3.07 [[ 9.92425856e-01 9.32977854e-02 7.99152265e-02 3.79495332e+01] [-9.35092230e-02 9.95617805e-01 -1.10073642e-03 1.81475633e+00] [-7.96677187e-02 -6.38041145e-03 9.96801056e-01 -3.06994386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:1.82, Z:-3.07 [[ 9.92592648e-01 9.15065193e-02 7.99149043e-02 3.80124111e+01] [-9.17103619e-02 9.95785091e-01 -1.12365359e-03 1.81780048e+00] [-7.96808919e-02 -6.21369451e-03 9.96801056e-01 -3.07471023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:1.82, Z:-3.08 [[ 9.92649158e-01 9.08917546e-02 7.99145682e-02 3.80743391e+01] [-9.10917454e-02 9.95841844e-01 -1.14707632e-03 1.82096283e+00] [-7.96865307e-02 -6.14091315e-03 9.96801056e-01 -3.08140256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.14, Y:1.82, Z:-3.09 [[ 9.92509602e-01 9.24034626e-02 7.99142686e-02 3.81352772e+01] [-9.26066751e-02 9.95702084e-01 -1.16757709e-03 1.82309264e+00] [-7.96786920e-02 -6.24176324e-03 9.96801057e-01 -3.08537563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:38.20, Y:1.83, Z:-3.09 [[ 9.92367520e-01 9.39173016e-02 7.99139906e-02 3.81975107e+01] [-9.41238846e-02 9.95559786e-01 -1.18630939e-03 1.82633050e+00] [-7.96705703e-02 -6.34456033e-03 9.96801057e-01 -3.09246792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:38.26, Y:1.83, Z:-3.10 [[ 9.92243973e-01 9.52139814e-02 7.99136814e-02 3.82597528e+01] [-9.54230975e-02 9.95436073e-01 -1.20678144e-03 1.82914754e+00] [-7.96638637e-02 -6.42818941e-03 9.96801057e-01 -3.09673986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:38.32, Y:1.83, Z:-3.10 [[ 9.92286264e-01 9.47724967e-02 7.99133494e-02 3.83228142e+01] [-9.49784637e-02 9.95478570e-01 -1.22838688e-03 1.83068494e+00] [-7.96684440e-02 -6.37113572e-03 9.96801057e-01 -3.10110926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:38.39, Y:1.83, Z:-3.11 [[ 9.92290128e-01 9.47323402e-02 7.99129828e-02 3.83855519e+01] [-9.49363053e-02 9.95482562e-01 -1.25178846e-03 1.83330565e+00] [-7.96705657e-02 -6.34450600e-03 9.96801057e-01 -3.10567504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:38.45, Y:1.84, Z:-3.11 [[ 9.92251901e-01 9.51322158e-02 7.99126146e-02 3.84470517e+01] [-9.53356204e-02 9.95444370e-01 -1.27486825e-03 1.83506828e+00] [-7.96698434e-02 -6.35352825e-03 9.96801058e-01 -3.11100824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:38.51, Y:1.84, Z:-3.12 [[ 9.92296496e-01 9.46661205e-02 7.99123855e-02 3.85085918e+01] [-9.48668886e-02 9.95489132e-01 -1.28907336e-03 1.83731966e+00] [-7.96739428e-02 -6.30189640e-03 9.96801058e-01 -3.11675067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:38.57, Y:1.84, Z:-3.12 [[ 9.92282257e-01 9.48155290e-02 7.99120577e-02 3.85703906e+01] [-9.50151763e-02 9.95474963e-01 -1.30908494e-03 1.83813500e+00] [-7.96745743e-02 -6.29387649e-03 9.96801058e-01 -3.12196318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:38.63, Y:1.84, Z:-3.13 [[ 9.92275005e-01 9.48916981e-02 7.99117058e-02 3.86336185e+01] [-9.50898984e-02 9.95467800e-01 -1.33022637e-03 1.83862637e+00] [-7.96757574e-02 -6.27884561e-03 9.96801058e-01 -3.12661325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:1.84, Z:-3.13 [[ 9.92415517e-01 9.34110499e-02 7.99113100e-02 3.86960982e+01] [-9.36026155e-02 9.95608717e-01 -1.35359489e-03 1.83928898e+00] [-7.96868375e-02 -6.13657905e-03 9.96801059e-01 -3.13137012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:1.84, Z:-3.14 [[ 9.92817338e-01 8.90392165e-02 7.99109009e-02 3.87579180e+01] [-8.92148156e-02 9.96011456e-01 -1.37733279e-03 1.83847449e+00] [-7.97148093e-02 -5.76179642e-03 9.96801059e-01 -3.13590714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:38.82, Y:1.84, Z:-3.14 [[ 9.93132123e-01 8.54569770e-02 7.99105178e-02 3.88204029e+01] [-8.56193000e-02 9.96326943e-01 -1.39920847e-03 1.83727533e+00] [-7.97365741e-02 -5.45228372e-03 9.96801059e-01 -3.14079995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:38.88, Y:1.83, Z:-3.15 [[ 9.93656418e-01 7.91283589e-02 7.99101112e-02 3.88831517e+01] [-7.92684947e-02 9.96852288e-01 -1.42206187e-03 1.83478038e+00] [-7.97711025e-02 -4.92131332e-03 9.96801059e-01 -3.14591880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:1.83, Z:-3.15 [[ 9.94156160e-01 7.25807787e-02 7.99097020e-02 3.89452260e+01] [-7.26980445e-02 9.97352950e-01 -1.44469386e-03 1.83219982e+00] [-7.98030341e-02 -4.37302777e-03 9.96801060e-01 -3.15272602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:1.83, Z:-3.16 [[ 9.94538596e-01 6.71377431e-02 7.99093459e-02 3.90075026e+01] [-6.72359500e-02 9.97736029e-01 -1.46413104e-03 1.82893719e+00] [-7.98267319e-02 -3.91664596e-03 9.96801060e-01 -3.15775409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:1.82, Z:-3.16 [[ 9.95204484e-01 5.64145065e-02 7.99089334e-02 3.90705343e+01] [-5.64764670e-02 9.98402824e-01 -1.48630889e-03 1.82227974e+00] [-7.98651542e-02 -3.03379297e-03 9.96801060e-01 -3.16084941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:39.13, Y:1.82, Z:-3.16 [[ 9.95532360e-01 5.02986125e-02 7.99085101e-02 3.91337538e+01] [-5.03391226e-02 9.98731043e-01 -1.50872826e-03 1.81668906e+00] [-7.98829966e-02 -2.52053648e-03 9.96801060e-01 -3.16342031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:1.81, Z:-3.17 [[ 9.95646051e-01 4.79962815e-02 7.99080558e-02 3.91941550e+01] [-4.80274947e-02 9.98844839e-01 -1.53241955e-03 1.81337136e+00] [-7.98892996e-02 -2.31203625e-03 9.96801061e-01 -3.16930439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:39.26, Y:1.81, Z:-3.17 [[ 9.95740874e-01 4.59875055e-02 7.99078317e-02 3.92566026e+01] [-4.60113349e-02 9.98939724e-01 -1.54401936e-03 1.80977509e+00] [-7.98941130e-02 -2.13922282e-03 9.96801061e-01 -3.17317031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:1.81, Z:-3.18 [[ 9.95757128e-01 4.56349822e-02 7.99073812e-02 3.93198054e+01] [-4.56558369e-02 9.98956000e-01 -1.56699133e-03 1.80679083e+00] [-7.98954675e-02 -2.08789558e-03 9.96801061e-01 -3.17729396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:39.38, Y:1.80, Z:-3.18 [[ 9.95643862e-01 4.80435595e-02 7.99069209e-02 3.93822380e+01] [-4.80702968e-02 9.98842689e-01 -1.59012726e-03 1.80467593e+00] [-7.98908391e-02 -2.25794896e-03 9.96801061e-01 -3.18056460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.44, Y:1.80, Z:-3.18 [[ 9.95576211e-01 4.94263706e-02 7.99064552e-02 3.94449070e+01] [-4.94557011e-02 9.98775015e-01 -1.61319365e-03 1.80311946e+00] [-7.98883053e-02 -2.34577254e-03 9.96801061e-01 -3.18405981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:1.80, Z:-3.19 [[ 9.95325297e-01 5.42456149e-02 7.99059899e-02 3.95074515e+01] [-5.42886085e-02 9.98523946e-01 -1.63592343e-03 1.80179927e+00] [-7.98767860e-02 -2.70970903e-03 9.96801062e-01 -3.18848589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:1.80, Z:-3.19 [[ 9.95098650e-01 5.82562127e-02 7.99055100e-02 3.95694279e+01] [-5.83102426e-02 9.98297132e-01 -1.65903876e-03 1.80072312e+00] [-7.98660907e-02 -3.00840244e-03 9.96801062e-01 -3.19432299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:39.63, Y:1.80, Z:-3.20 [[ 9.94794386e-01 6.32400673e-02 7.99050920e-02 3.96308233e+01] [-6.33085232e-02 9.97992591e-01 -1.67893108e-03 1.79997361e+00] [-7.98508655e-02 -3.38848216e-03 9.96801062e-01 -3.20080163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:39.69, Y:1.80, Z:-3.20 [[ 9.94831003e-01 6.26619497e-02 7.99046591e-02 3.96914778e+01] [-6.27269148e-02 9.98029281e-01 -1.69928735e-03 1.79704786e+00] [-7.98536702e-02 -3.32166900e-03 9.96801062e-01 -3.20492208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:1.79, Z:-3.21 [[ 9.94877948e-01 6.19126578e-02 7.99042589e-02 3.97546116e+01] [-6.19737214e-02 9.98076303e-01 -1.71790324e-03 1.79356736e+00] [-7.98569073e-02 -3.24286023e-03 9.96801063e-01 -3.20880395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:1.79, Z:-3.21 [[ 9.95108070e-01 5.80974987e-02 7.99037554e-02 3.98174971e+01] [-5.81444452e-02 9.98306662e-01 -1.74101224e-03 1.79092683e+00] [-7.98695998e-02 -2.91346420e-03 9.96801063e-01 -3.21198833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:1.79, Z:-3.22 [[ 9.95412365e-01 5.26279179e-02 7.99032302e-02 3.98791041e+01] [-5.26553786e-02 9.98611184e-01 -1.76479046e-03 1.78718243e+00] [-7.98851366e-02 -2.45064059e-03 9.96801063e-01 -3.21764924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:39.94, Y:1.78, Z:-3.22 [[ 9.95638094e-01 4.81696127e-02 7.99029047e-02 3.99420054e+01] [-4.81815754e-02 9.98837008e-01 -1.77940947e-03 1.78303139e+00] [-7.98956918e-02 -2.07819997e-03 9.96801063e-01 -3.22076064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.00, Y:1.78, Z:-3.23 [[ 9.95769679e-01 4.53691108e-02 7.99023833e-02 4.00033817e+01] [-4.53702224e-02 9.98968615e-01 -1.80252390e-03 1.77913071e+00] [-7.99017521e-02 -1.83029026e-03 9.96801063e-01 -3.22525766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:1.77, Z:-3.23 [[ 9.95674526e-01 4.74122968e-02 7.99018967e-02 4.00663246e+01] [-4.74182631e-02 9.98873456e-01 -1.82383952e-03 1.77477845e+00] [-7.98983562e-02 -1.97285861e-03 9.96801064e-01 -3.22855214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.13, Y:1.77, Z:-3.23 [[ 9.95595125e-01 4.90521789e-02 7.99013853e-02 4.01288250e+01] [-4.90616385e-02 9.98794047e-01 -1.84597821e-03 1.77279966e+00] [-7.98955772e-02 -2.08224597e-03 9.96801064e-01 -3.23237792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.19, Y:1.77, Z:-3.24 [[ 9.95549949e-01 4.99614889e-02 7.99008703e-02 4.01916461e+01] [-4.99721034e-02 9.98748867e-01 -1.86800832e-03 1.77119916e+00] [-7.98942321e-02 -2.13311896e-03 9.96801064e-01 -3.23794313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.25, Y:1.77, Z:-3.24 [[ 9.95536223e-01 5.02350638e-02 7.99003529e-02 4.02548802e+01] [-5.02448031e-02 9.98735144e-01 -1.88988182e-03 1.76962224e+00] [-7.98942288e-02 -2.13313168e-03 9.96801064e-01 -3.24301946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:1.77, Z:-3.25 [[ 9.95362944e-01 5.35595726e-02 7.98998293e-02 4.03174828e+01] [-5.35782399e-02 9.98561825e-01 -1.91176803e-03 1.76610998e+00] [-7.98873128e-02 -2.37798917e-03 9.96801065e-01 -3.24668603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:1.76, Z:-3.25 [[ 9.95314021e-01 5.44619477e-02 7.98992834e-02 4.03789382e+01] [-5.44817067e-02 9.98512895e-01 -1.93431702e-03 1.76284352e+00] [-7.98858114e-02 -2.42779647e-03 9.96801065e-01 -3.25265593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:1.76, Z:-3.26 [[ 9.95310779e-01 5.45219074e-02 7.98987736e-02 4.04417600e+01] [-5.45401880e-02 9.98509662e-01 -1.95515208e-03 1.75945501e+00] [-7.98862960e-02 -2.41171019e-03 9.96801065e-01 -3.25583226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:1.75, Z:-3.26 [[ 9.95326618e-01 5.42328521e-02 7.98981902e-02 4.05031176e+01] [-5.42483146e-02 9.98525515e-01 -1.97870748e-03 1.75420205e+00] [-7.98876925e-02 -2.36488193e-03 9.96801065e-01 -3.26229264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:1.75, Z:-3.27 [[ 9.95366851e-01 5.34901192e-02 7.98976798e-02 4.05660109e+01] [-5.35015583e-02 9.98565765e-01 -1.99910915e-03 1.74776115e+00] [-7.98900203e-02 -2.28480340e-03 9.96801066e-01 -3.26503326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:1.74, Z:-3.27 [[ 9.95482251e-01 5.12985518e-02 7.98970961e-02 4.06289304e+01] [-5.13010983e-02 9.98681184e-01 -2.02217284e-03 1.74165443e+00] [-7.98954611e-02 -2.08577161e-03 9.96801066e-01 -3.27193823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.69, Y:1.73, Z:-3.27 [[ 9.95576728e-01 4.94320308e-02 7.98965144e-02 4.06913451e+01] [-4.94267568e-02 9.98775658e-01 -2.04489861e-03 1.73331544e+00] [-7.98997772e-02 -1.91317212e-03 9.96801066e-01 -3.27408241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:1.73, Z:-3.28 [[ 9.95596500e-01 4.90331750e-02 7.98959147e-02 4.07536635e+01] [-4.90247610e-02 9.98795422e-01 -2.06806913e-03 1.72691715e+00] [-7.99010779e-02 -1.85791574e-03 9.96801066e-01 -3.27802691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:1.72, Z:-3.28 [[ 9.95569877e-01 4.95717625e-02 7.98953109e-02 4.08161437e+01] [-4.95632288e-02 9.98768799e-01 -2.09113811e-03 1.72365958e+00] [-7.99006051e-02 -1.87799546e-03 9.96801067e-01 -3.28371167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:1.72, Z:-3.29 [[ 9.95498190e-01 5.09920481e-02 7.98947102e-02 4.08792370e+01] [-5.09862570e-02 9.98697118e-01 -2.11384389e-03 1.71655251e+00] [-7.98984060e-02 -1.96920445e-03 9.96801067e-01 -3.28778703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:1.71, Z:-3.29 [[ 9.95382381e-01 5.32057188e-02 7.98941030e-02 4.09410139e+01] [-5.32052203e-02 9.98581314e-01 -2.13654950e-03 1.71196167e+00] [-7.98944350e-02 -2.12409962e-03 9.96801067e-01 -3.29327354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.00, Y:1.71, Z:-3.30 [[ 9.95123917e-01 5.78395430e-02 7.98935368e-02 4.10025126e+01] [-5.78522566e-02 9.98322824e-01 -2.15751715e-03 1.70688055e+00] [-7.98843311e-02 -2.47502448e-03 9.96801067e-01 -3.29768028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.07, Y:1.70, Z:-3.30 [[ 9.94882937e-01 6.18470192e-02 7.98929767e-02 4.10650152e+01] [-6.18709688e-02 9.98081780e-01 -2.17806104e-03 1.70290229e+00] [-7.98744310e-02 -2.77614011e-03 9.96801068e-01 -3.30170926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:41.13, Y:1.70, Z:-3.31 [[ 9.94500209e-01 6.77240558e-02 7.98923387e-02 4.11272771e+01] [-6.77650476e-02 9.97698879e-01 -2.20121881e-03 1.69860739e+00] [-7.98575722e-02 -3.22479557e-03 9.96801068e-01 -3.30769575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:1.69, Z:-3.31 [[ 9.94013393e-01 7.45297945e-02 7.98917034e-02 4.11896594e+01] [-7.45908498e-02 9.97211742e-01 -2.22404157e-03 1.69423397e+00] [-7.98347021e-02 -3.74846294e-03 9.96801068e-01 -3.31139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:1.69, Z:-3.32 [[ 9.93641890e-01 7.93297838e-02 7.98910560e-02 4.12525579e+01] [-7.94044401e-02 9.96839950e-01 -2.24705765e-03 1.69069034e+00] [-7.98168549e-02 -4.11093397e-03 9.96801068e-01 -3.31776775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.32, Y:1.69, Z:-3.32 [[ 9.93412240e-01 8.21562183e-02 7.98904076e-02 4.13151811e+01] [-8.22381422e-02 9.96610122e-01 -2.26988004e-03 1.68692673e+00] [-7.98060737e-02 -4.31511209e-03 9.96801069e-01 -3.32147294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.38, Y:1.68, Z:-3.33 [[ 9.93300742e-01 8.34940840e-02 7.98897573e-02 4.13780677e+01] [-8.35784977e-02 9.96498559e-01 -2.29254253e-03 1.68437363e+00] [-7.98014418e-02 -4.39988170e-03 9.96801069e-01 -3.32624429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.44, Y:1.68, Z:-3.33 [[ 9.93096175e-01 8.58936599e-02 7.98890915e-02 4.14409301e+01] [-8.59839573e-02 9.96293831e-01 -2.31551500e-03 1.68136654e+00] [-7.97918971e-02 -4.56965114e-03 9.96801069e-01 -3.33164796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.50, Y:1.68, Z:-3.34 [[ 9.93020255e-01 8.67675901e-02 7.98884170e-02 4.15037975e+01] [-8.68588541e-02 9.96217883e-01 -2.33855612e-03 1.67853168e+00] [-7.97891806e-02 -4.61678276e-03 9.96801069e-01 -3.33667469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:1.68, Z:-3.34 [[ 9.92957487e-01 8.74835910e-02 7.98877323e-02 4.15642132e+01] [-8.75753035e-02 9.96155103e-01 -2.36171841e-03 1.67523923e+00] [-7.97871838e-02 -4.65110642e-03 9.96801070e-01 -3.34160399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.63, Y:1.67, Z:-3.35 [[ 9.92775409e-01 8.95264762e-02 7.98873990e-02 4.16265407e+01] [-8.96238679e-02 9.95972857e-01 -2.37294102e-03 1.67272513e+00] [-7.97781220e-02 -4.80402020e-03 9.96801070e-01 -3.34650438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.69, Y:1.67, Z:-3.35 [[ 9.92562668e-01 9.18556491e-02 7.98867260e-02 4.16892325e+01] [-9.19587436e-02 9.95759937e-01 -2.39538497e-03 1.67120774e+00] [-7.97680309e-02 -4.96871325e-03 9.96801070e-01 -3.35114966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.75, Y:1.67, Z:-3.36 [[ 9.92300709e-01 9.46442000e-02 7.98860360e-02 4.17517203e+01] [-9.47544502e-02 9.95497738e-01 -2.41818080e-03 1.66959828e+00] [-7.97552349e-02 -5.16999491e-03 9.96801070e-01 -3.35585412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.81, Y:1.67, Z:-3.36 [[ 9.92224442e-01 9.54410119e-02 7.98853492e-02 4.18140540e+01] [-9.55520273e-02 9.95421445e-01 -2.44065993e-03 1.66785399e+00] [-7.97525288e-02 -5.21152463e-03 9.96801071e-01 -3.36082588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:1.67, Z:-3.37 [[ 9.92287951e-01 9.47790271e-02 7.98846621e-02 4.18744862e+01] [-9.48861227e-02 9.95485087e-01 -2.46294881e-03 1.66605969e+00] [-7.97574256e-02 -5.13599141e-03 9.96801071e-01 -3.36674676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.94, Y:1.66, Z:-3.37 [[ 9.92329263e-01 9.43457900e-02 7.98843225e-02 4.19369177e+01] [-9.44506106e-02 9.95526475e-01 -2.47391263e-03 1.66285339e+00] [-7.97603612e-02 -5.09018715e-03 9.96801071e-01 -3.36826431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:42.00, Y:1.66, Z:-3.37 [[ 9.92417977e-01 9.34085278e-02 7.98836974e-02 4.19985932e+01] [-9.35087233e-02 9.95615337e-01 -2.49393520e-03 1.66133150e+00] [-7.97663892e-02 -4.99479644e-03 9.96801071e-01 -3.37404465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.06, Y:1.66, Z:-3.38 [[ 9.92344282e-01 9.41887481e-02 7.98830709e-02 4.20613461e+01] [-9.42898611e-02 9.95541613e-01 -2.51384453e-03 1.65907642e+00] [-7.97636971e-02 -5.03756442e-03 9.96801071e-01 -3.37759625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.12, Y:1.66, Z:-3.38 [[ 9.92262870e-01 9.50431973e-02 7.98823313e-02 4.21231768e+01] [-9.51451962e-02 9.95460172e-01 -2.53713380e-03 1.65761265e+00] [-7.97608166e-02 -5.08291641e-03 9.96801071e-01 -3.38424247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:42.18, Y:1.66, Z:-3.39 [[ 9.92001012e-01 9.77390115e-02 7.98816437e-02 4.21849199e+01] [-9.78479766e-02 9.95198084e-01 -2.55859956e-03 1.65727697e+00] [-7.97481338e-02 -5.27812386e-03 9.96801072e-01 -3.38979428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:1.66, Z:-3.39 [[ 9.91674404e-01 1.00999509e-01 7.98810109e-02 4.22473555e+01] [-1.01117412e-01 9.94871158e-01 -2.57820715e-03 1.65605508e+00] [-7.97317115e-02 -5.52061901e-03 9.96801072e-01 -3.39305287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:42.31, Y:1.66, Z:-3.40 [[ 9.91242182e-01 1.05157406e-01 7.98802671e-02 4.23087046e+01] [-1.05286883e-01 9.94438488e-01 -2.60105202e-03 1.65654358e+00] [-7.97095319e-02 -5.83207185e-03 9.96801072e-01 -3.39880125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.37, Y:1.66, Z:-3.40 [[ 9.90996918e-01 1.07444695e-01 7.98795749e-02 4.23711817e+01] [-1.07579858e-01 9.94192989e-01 -2.62213821e-03 1.65507333e+00] [-7.96974481e-02 -5.99490243e-03 9.96801072e-01 -3.40190381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:42.43, Y:1.66, Z:-3.41 [[ 9.90779785e-01 1.09429380e-01 7.98788339e-02 4.24327411e+01] [-1.09569149e-01 9.93975658e-01 -2.64452061e-03 1.65592174e+00] [-7.96870047e-02 -6.13211833e-03 9.96801073e-01 -3.40849269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.50, Y:1.65, Z:-3.41 [[ 9.90586827e-01 1.11162998e-01 7.98781892e-02 4.24955024e+01] [-1.11306811e-01 9.93782520e-01 -2.66385214e-03 1.65495810e+00] [-7.96776700e-02 -6.25220968e-03 9.96801073e-01 -3.41238104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:42.56, Y:1.66, Z:-3.42 [[ 9.90633375e-01 1.10747948e-01 7.98774550e-02 4.25576874e+01] [-1.10888671e-01 9.93829205e-01 -2.68569092e-03 1.65641609e+00] [-7.96819824e-02 -6.19696981e-03 9.96801073e-01 -3.41819677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.62, Y:1.65, Z:-3.42 [[ 9.90954042e-01 1.07841474e-01 7.98767993e-02 4.26205856e+01] [-1.07971270e-01 9.94150334e-01 -2.70505182e-03 1.65477344e+00] [-7.97012636e-02 -5.94381743e-03 9.96801073e-01 -3.42208434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:42.68, Y:1.65, Z:-3.43 [[ 9.91909486e-01 9.86680677e-02 7.98760494e-02 4.26831673e+01] [-9.87665233e-02 9.95106897e-01 -2.72701743e-03 1.65182235e+00] [-7.97542773e-02 -5.18412524e-03 9.96801073e-01 -3.42701291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.75, Y:1.65, Z:-3.43 [[ 9.92982458e-01 8.72111262e-02 7.98752645e-02 4.27456263e+01] [-8.72708361e-02 9.96180827e-01 -2.74981846e-03 1.64737379e+00] [-7.98100218e-02 -4.24025963e-03 9.96801074e-01 -3.43047152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.81, Y:1.64, Z:-3.44 [[ 9.93465552e-01 8.15246402e-02 7.98744676e-02 4.28068085e+01] [-8.15641961e-02 9.96664233e-01 -2.77277521e-03 1.64412054e+00] [-7.98340745e-02 -3.76024009e-03 9.96801074e-01 -3.43707592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.87, Y:1.64, Z:-3.44 [[ 9.93780938e-01 7.75863104e-02 7.98737283e-02 4.28680467e+01] [-7.76114920e-02 9.96979764e-01 -2.79391156e-03 1.64231998e+00] [-7.98492601e-02 -3.42258318e-03 9.96801074e-01 -3.44193927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.93, Y:1.64, Z:-3.44 [[ 9.93822408e-01 7.70539407e-02 7.98730946e-02 4.29312970e+01] [-7.70759645e-02 9.97021258e-01 -2.81191310e-03 1.64090105e+00] [-7.98518422e-02 -3.36175356e-03 9.96801074e-01 -3.44419358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.99, Y:1.64, Z:-3.45 [[ 9.93817329e-01 7.71202620e-02 7.98722870e-02 4.29942960e+01] [-7.71406737e-02 9.97016189e-01 -2.83466843e-03 1.64085393e+00] [-7.98525736e-02 -3.34425942e-03 9.96801075e-01 -3.45003736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:1.64, Z:-3.45 [[ 9.93815864e-01 7.71399881e-02 7.98714698e-02 4.30573539e+01] [-7.71586307e-02 9.97014734e-01 -2.85751078e-03 1.63969927e+00] [-7.98534606e-02 -3.32293370e-03 9.96801075e-01 -3.45434929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:1.64, Z:-3.46 [[ 9.93769117e-01 7.77407371e-02 7.98706440e-02 4.31201137e+01] [-7.77594762e-02 9.96967987e-01 -2.88040952e-03 1.63829804e+00] [-7.98524003e-02 -3.34823741e-03 9.96801075e-01 -3.45864375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:1.64, Z:-3.46 [[ 9.93479032e-01 8.13647674e-02 7.98698203e-02 4.31820612e+01] [-8.13933553e-02 9.96677829e-01 -2.90307196e-03 1.63913701e+00] [-7.98406868e-02 -3.61673154e-03 9.96801075e-01 -3.46431122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:1.64, Z:-3.47 [[ 9.93221785e-01 8.44477324e-02 7.98690544e-02 4.32443882e+01] [-8.44845696e-02 9.96420497e-01 -2.92399206e-03 1.63927646e+00] [-7.98300875e-02 -3.84353008e-03 9.96801076e-01 -3.46907722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:43.31, Y:1.64, Z:-3.48 [[ 9.92957853e-01 8.74972540e-02 7.98682186e-02 4.33050155e+01] [-8.75420958e-02 9.96156463e-01 -2.94664844e-03 1.64056722e+00] [-7.98190658e-02 -4.06593354e-03 9.96801076e-01 -3.47606246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:1.64, Z:-3.48 [[ 9.92713001e-01 9.02332046e-02 7.98678111e-02 4.33682945e+01] [-9.02859778e-02 9.95911489e-01 -2.95765175e-03 1.64161140e+00] [-7.98081491e-02 -4.27484408e-03 9.96801076e-01 -3.47923212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.43, Y:1.64, Z:-3.48 [[ 9.92619331e-01 9.12585647e-02 7.98670014e-02 4.34310035e+01] [-9.13129003e-02 9.95817793e-01 -2.97935915e-03 1.64044793e+00] [-7.98048731e-02 -4.33551805e-03 9.96801076e-01 -3.48394276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:43.49, Y:1.64, Z:-3.49 [[ 9.92475141e-01 9.28142602e-02 7.98661868e-02 4.34933730e+01] [-9.28718698e-02 9.95673546e-01 -3.00103829e-03 1.64135960e+00] [-7.97991885e-02 -4.43886620e-03 9.96801076e-01 -3.48954646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:1.64, Z:-3.49 [[ 9.92525873e-01 9.22708932e-02 7.98653464e-02 4.35560978e+01] [-9.23249707e-02 9.95724339e-01 -3.02323874e-03 1.64136041e+00] [-7.98028262e-02 -4.37292310e-03 9.96801077e-01 -3.49220777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:1.64, Z:-3.50 [[ 9.92539085e-01 9.21294093e-02 7.98644834e-02 4.36186090e+01] [-9.21812153e-02 9.95737589e-01 -3.04586910e-03 1.64038604e+00] [-7.98046822e-02 -4.33886100e-03 9.96801077e-01 -3.49712085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:1.64, Z:-3.50 [[ 9.92527841e-01 9.22512397e-02 7.98635911e-02 4.36804481e+01] [-9.23015755e-02 9.95726368e-01 -3.06908848e-03 1.64021989e+00] [-7.98054107e-02 -4.32537952e-03 9.96801077e-01 -3.50216429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:1.64, Z:-3.50 [[ 9.92405597e-01 9.35578046e-02 7.98628071e-02 4.37428462e+01] [-9.36107252e-02 9.95604082e-01 -3.08935449e-03 1.64170602e+00] [-7.98007700e-02 -4.41012261e-03 9.96801077e-01 -3.50348399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:1.64, Z:-3.51 [[ 9.92305848e-01 9.46106163e-02 7.98619730e-02 4.38057978e+01] [-9.46652121e-02 9.95504305e-01 -3.11077041e-03 1.64209740e+00] [-7.97972498e-02 -4.47331493e-03 9.96801078e-01 -3.50766918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:1.64, Z:-3.51 [[ 9.92305170e-01 9.46184833e-02 7.98610807e-02 4.38682312e+01] [-9.46712799e-02 9.95503656e-01 -3.13351126e-03 1.64034599e+00] [-7.97984859e-02 -4.45115130e-03 9.96801078e-01 -3.51278438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:1.64, Z:-3.52 [[ 9.92341211e-01 9.42405010e-02 7.98601871e-02 4.39303848e+01] [-9.42902651e-02 9.95539745e-01 -3.15612364e-03 1.63923464e+00] [-7.98014250e-02 -4.39808665e-03 9.96801078e-01 -3.52124886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:43.99, Y:1.64, Z:-3.52 [[ 9.92187425e-01 9.58462739e-02 7.98599092e-02 4.39938978e+01] [-9.59006511e-02 9.95385885e-01 -3.16313992e-03 1.63869848e+00] [-7.97946015e-02 -4.52018963e-03 9.96801078e-01 -3.52294516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:1.64, Z:-3.53 [[ 9.92002655e-01 9.77408462e-02 7.98590025e-02 4.40559144e+01] [-9.77995080e-02 9.95201038e-01 -3.18586630e-03 1.63835745e+00] [-7.97871515e-02 -4.64978333e-03 9.96801078e-01 -3.52993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:1.64, Z:-3.53 [[ 9.91895406e-01 9.88239783e-02 7.98581596e-02 4.41190380e+01] [-9.88844483e-02 9.95093755e-01 -3.20685752e-03 1.63823230e+00] [-7.97832704e-02 -4.71586282e-03 9.96801079e-01 -3.53384081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:1.64, Z:-3.54 [[ 9.92177340e-01 9.59528571e-02 7.98572231e-02 4.41817140e+01] [-9.60022126e-02 9.95375880e-01 -3.23001096e-03 1.63550437e+00] [-7.97978825e-02 -4.46172643e-03 9.96801079e-01 -3.53817255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:1.63, Z:-3.54 [[ 9.92435728e-01 9.32432321e-02 7.98562852e-02 4.42440903e+01] [-9.32820057e-02 9.95634413e-01 -3.25303703e-03 1.63277201e+00] [-7.98109893e-02 -4.22072428e-03 9.96801079e-01 -3.54375898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:1.63, Z:-3.55 [[ 9.92672724e-01 9.06861950e-02 7.98553534e-02 4.43064816e+01] [-9.07149053e-02 9.95871516e-01 -3.27575110e-03 1.63029117e+00] [-7.98227373e-02 -3.99232206e-03 9.96801079e-01 -3.54861157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:1.63, Z:-3.55 [[ 9.93016023e-01 8.68472821e-02 7.98544199e-02 4.43691126e+01] [-8.68618101e-02 9.96214910e-01 -3.29835371e-03 1.62731754e+00] [-7.98386168e-02 -3.66098138e-03 9.96801080e-01 -3.54778347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:1.62, Z:-3.56 [[ 9.93176574e-01 8.49923241e-02 7.98536031e-02 4.44304421e+01] [-8.49992995e-02 9.96375486e-01 -3.31801142e-03 1.62450325e+00] [-7.98461781e-02 -3.49212911e-03 9.96801080e-01 -3.55571190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:1.62, Z:-3.56 [[ 9.93516371e-01 8.09243867e-02 7.98527659e-02 4.44912197e+01] [-8.09166547e-02 9.96715282e-01 -3.33803996e-03 1.62322942e+00] [-7.98606008e-02 -3.14502134e-03 9.96801080e-01 -3.56186570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:1.62, Z:-3.57 [[ 9.93839094e-01 7.68603523e-02 7.98519972e-02 4.45542863e+01] [-7.68380698e-02 9.97037936e-01 -3.35632694e-03 1.62087132e+00] [-7.98734390e-02 -2.80002441e-03 9.96801080e-01 -3.56583039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:44.62, Y:1.62, Z:-3.57 [[ 9.94328458e-01 7.02476374e-02 7.98510280e-02 4.46157337e+01] [-7.02022387e-02 9.97527056e-01 -3.37923151e-03 1.61843420e+00] [-7.98909438e-02 -2.24565486e-03 9.96801081e-01 -3.56942351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:1.62, Z:-3.57 [[ 9.94992334e-01 6.01181552e-02 7.98502502e-02 4.46781265e+01] [-6.00387191e-02 9.98190267e-01 -3.39751051e-03 1.61570348e+00] [-7.99099947e-02 -1.41360984e-03 9.96801081e-01 -3.57301355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:1.61, Z:-3.58 [[ 9.95395116e-01 5.30343063e-02 7.98493940e-02 4.47399770e+01] [-5.29305049e-02 9.98592350e-01 -3.41751543e-03 1.61206180e+00] [-7.99182396e-02 -8.24690570e-04 9.96801081e-01 -3.57702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:44.80, Y:1.61, Z:-3.58 [[ 9.95972215e-01 4.07868366e-02 7.98484864e-02 4.48025713e+01] [-4.06420268e-02 9.99167855e-01 -3.43859342e-03 1.60776538e+00] [-7.99222902e-02 1.79539175e-04 9.96801081e-01 -3.58086838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:44.86, Y:1.60, Z:-3.58 [[ 9.96269208e-01 3.27421011e-02 7.98474802e-02 4.48634288e+01] [-3.25696285e-02 9.99463474e-01 -3.46180222e-03 1.60425944e+00] [-7.99179866e-02 8.48284196e-04 9.96801081e-01 -3.58488389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:44.93, Y:1.60, Z:-3.59 [[ 9.96543780e-01 2.29118225e-02 7.98470007e-02 4.49258601e+01] [-2.27069623e-02 9.99736132e-01 -3.47282658e-03 1.59944109e+00] [-7.99055004e-02 1.64774089e-03 9.96801081e-01 -3.59026360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:44.99, Y:1.60, Z:-3.59 [[ 9.96670826e-01 1.64887503e-02 7.98460113e-02 4.49883384e+01] [-1.62615108e-02 9.99861663e-01 -3.49542681e-03 1.59566280e+00] [-7.98926009e-02 2.18537315e-03 9.96801082e-01 -3.59242184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:45.05, Y:1.59, Z:-3.60 [[ 9.96710472e-01 1.38920605e-02 7.98451409e-02 4.50509424e+01] [-1.36549263e-02 9.99900588e-01 -3.51519711e-03 1.59332694e+00] [-7.98860367e-02 2.41335426e-03 9.96801082e-01 -3.59786521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:45.11, Y:1.59, Z:-3.60 [[ 9.96690664e-01 1.52523610e-02 7.98441403e-02 4.51138803e+01] [-1.50177734e-02 9.99880968e-01 -3.53778009e-03 1.59073616e+00] [-7.98885959e-02 2.32699118e-03 9.96801082e-01 -3.60174018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:1.59, Z:-3.61 [[ 9.96606218e-01 2.00280231e-02 7.98431271e-02 4.51762578e+01] [-1.98069058e-02 9.99797484e-01 -3.56050195e-03 1.58875547e+00] [-7.98982674e-02 1.96697308e-03 9.96801082e-01 -3.60507808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:1.59, Z:-3.61 [[ 9.96379465e-01 2.92096382e-02 7.98420901e-02 4.52396484e+01] [-2.90160827e-02 9.99572521e-01 -3.58360744e-03 1.58959556e+00] [-7.99126351e-02 1.25392817e-03 9.96801083e-01 -3.60992528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:1.59, Z:-3.62 [[ 9.96097988e-01 3.76052240e-02 7.98413825e-02 4.53017570e+01] [-3.74373257e-02 9.99292496e-01 -3.59930234e-03 1.58897797e+00] [-7.99202470e-02 5.96209971e-04 9.96801083e-01 -3.61663893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:1.59, Z:-3.62 [[ 9.96002102e-01 4.00664431e-02 7.98404279e-02 4.53643228e+01] [-3.99047514e-02 9.99196929e-01 -3.62035492e-03 1.58618193e+00] [-7.99213652e-02 4.19868679e-04 9.96801083e-01 -3.62155618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:45.43, Y:1.58, Z:-3.62 [[ 9.95851043e-01 4.36619405e-02 7.98394358e-02 4.54269694e+01] [-4.35100402e-02 9.99046351e-01 -3.64210358e-03 1.58345872e+00] [-7.99223183e-02 1.53175592e-04 9.96801083e-01 -3.62392028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:45.49, Y:1.58, Z:-3.63 [[ 9.95711872e-01 4.67300820e-02 7.98383800e-02 4.54882741e+01] [-4.65861833e-02 9.98907551e-01 -3.66510449e-03 1.58096727e+00] [-7.99224312e-02 -6.99773535e-05 9.96801084e-01 -3.63131147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:45.55, Y:1.58, Z:-3.64 [[ 9.95620313e-01 4.86433354e-02 7.98374491e-02 4.55510968e+01] [-4.85039605e-02 9.98816192e-01 -3.68527132e-03 1.57770938e+00] [-7.99222007e-02 -2.03301492e-04 9.96801084e-01 -3.63591837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:45.61, Y:1.57, Z:-3.64 [[ 9.95524913e-01 5.05598713e-02 7.98363822e-02 4.56129897e+01] [-5.04248070e-02 9.98720976e-01 -3.70824015e-03 1.57312444e+00] [-7.99217577e-02 -3.34088709e-04 9.96801084e-01 -3.63959323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:45.68, Y:1.57, Z:-3.65 [[ 9.95465676e-01 5.17145796e-02 7.98353909e-02 4.56759144e+01] [-5.15815207e-02 9.98661824e-01 -3.72946186e-03 1.56941831e+00] [-7.99214246e-02 -4.05479596e-04 9.96801084e-01 -3.64559917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:45.74, Y:1.56, Z:-3.65 [[ 9.95385792e-01 5.32316116e-02 7.98343285e-02 4.57389326e+01] [-5.31016108e-02 9.98582065e-01 -3.75206692e-03 1.56476025e+00] [-7.99208572e-02 -5.04577339e-04 9.96801084e-01 -3.64955795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:45.80, Y:1.56, Z:-3.65 [[ 9.95233689e-01 5.60049982e-02 7.98332273e-02 4.58004344e+01] [-5.58820363e-02 9.98430240e-01 -3.77535372e-03 1.55951479e+00] [-7.99193470e-02 -7.03884095e-04 9.96801085e-01 -3.65399132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:45.86, Y:1.56, Z:-3.66 [[ 9.95024155e-01 5.96132632e-02 7.98322606e-02 4.58624272e+01] [-5.95002614e-02 9.98221074e-01 -3.79568688e-03 1.55611885e+00] [-7.99165181e-02 -9.73240240e-04 9.96801085e-01 -3.65911451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.92, Y:1.55, Z:-3.66 [[ 9.94546368e-01 6.71155458e-02 7.98312337e-02 4.59248068e+01] [-6.70249335e-02 9.97743999e-01 -3.81716326e-03 1.55287412e+00] [-7.99073253e-02 -1.55433727e-03 9.96801085e-01 -3.65958590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:45.99, Y:1.55, Z:-3.67 [[ 9.94260731e-01 7.12230701e-02 7.98302806e-02 4.59860234e+01] [-7.11440756e-02 9.97458670e-01 -3.83699230e-03 1.54917139e+00] [-7.99006879e-02 -1.86448075e-03 9.96801085e-01 -3.66877392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:1.54, Z:-3.67 [[ 9.93737829e-01 7.81818964e-02 7.98293075e-02 4.60486391e+01] [-7.81236753e-02 9.96936214e-01 -3.85713399e-03 1.54433997e+00] [-7.98862856e-02 -2.40357894e-03 9.96801086e-01 -3.67048850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:1.54, Z:-3.68 [[ 9.93354877e-01 8.29068763e-02 7.98281838e-02 4.61110470e+01] [-8.28620107e-02 9.96553476e-01 -3.88025063e-03 1.53936193e+00] [-7.98747536e-02 -2.76025793e-03 9.96801086e-01 -3.67808415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:46.17, Y:1.53, Z:-3.68 [[ 9.93140967e-01 8.54321850e-02 7.98270679e-02 4.61728720e+01] [-8.53936198e-02 9.96339649e-01 -3.90307459e-03 1.53409970e+00] [-7.98683210e-02 -2.94041901e-03 9.96801086e-01 -3.67929293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:46.23, Y:1.53, Z:-3.69 [[ 9.92870761e-01 8.85180875e-02 7.98260597e-02 4.62341545e+01] [-8.84878163e-02 9.96069532e-01 -3.92358610e-03 1.52785220e+00] [-7.98596143e-02 -3.16801979e-03 9.96801086e-01 -3.68574909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.30, Y:1.52, Z:-3.69 [[ 9.92532099e-01 9.22387843e-02 7.98250594e-02 4.62964941e+01] [-9.22188771e-02 9.95730950e-01 -3.94383327e-03 1.52312271e+00] [-7.98480566e-02 -3.44699623e-03 9.96801087e-01 -3.68791254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:46.36, Y:1.52, Z:-3.70 [[ 9.92232632e-01 9.54069074e-02 7.98243481e-02 4.63576754e+01] [-9.53960608e-02 9.95431527e-01 -3.95817808e-03 1.51693422e+00] [-7.98373103e-02 -3.68749492e-03 9.96801087e-01 -3.69716040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:46.42, Y:1.51, Z:-3.70 [[ 9.92104706e-01 9.67289151e-02 7.98233638e-02 4.64205883e+01] [-9.67207452e-02 9.95303609e-01 -3.97792976e-03 1.51067475e+00] [-7.98332629e-02 -3.77405240e-03 9.96801087e-01 -3.70222499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:46.48, Y:1.50, Z:-3.71 [[ 9.92086346e-01 9.69179800e-02 7.98222234e-02 4.64827509e+01] [-9.69085930e-02 9.95285245e-01 -4.00068472e-03 1.50329997e+00] [-7.98336194e-02 -3.76643467e-03 9.96801087e-01 -3.70547914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:46.55, Y:1.50, Z:-3.71 [[ 9.92142326e-01 9.63441765e-02 7.98210785e-02 4.65450650e+01] [-9.63311159e-02 9.95341212e-01 -4.02339807e-03 1.49697188e+00] [-7.98368400e-02 -3.69747005e-03 9.96801087e-01 -3.71030268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:46.61, Y:1.49, Z:-3.72 [[ 9.92209302e-01 9.56529037e-02 7.98199370e-02 4.66077463e+01] [-9.56358064e-02 9.95408169e-01 -4.04591912e-03 1.48885077e+00] [-7.98404213e-02 -3.61924545e-03 9.96801088e-01 -3.71537896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:46.67, Y:1.48, Z:-3.72 [[ 9.92224308e-01 9.54980687e-02 7.98188050e-02 4.66704026e+01] [-9.54786890e-02 9.95423161e-01 -4.06813064e-03 1.48312814e+00] [-7.98419858e-02 -3.58449675e-03 9.96801088e-01 -3.72020653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:46.73, Y:1.48, Z:-3.72 [[ 9.92102650e-01 9.67547490e-02 7.98176082e-02 4.67325748e+01] [-9.67375466e-02 9.95301516e-01 -4.09147771e-03 1.47661973e+00] [-7.98384563e-02 -3.66219371e-03 9.96801088e-01 -3.72472981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:46.79, Y:1.47, Z:-3.73 [[ 9.91813482e-01 9.96762714e-02 7.98163961e-02 4.67943505e+01] [-9.96666029e-02 9.95012379e-01 -4.11498809e-03 1.47018825e+00] [-7.98284689e-02 -3.87372839e-03 9.96801088e-01 -3.72518400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:46.86, Y:1.47, Z:-3.73 [[ 9.91578376e-01 1.01989394e-01 7.98153335e-02 4.68564234e+01] [-1.01985540e-01 9.94777285e-01 -4.13549685e-03 1.46513186e+00] [-7.98202576e-02 -4.03934064e-03 9.96801089e-01 -3.73308849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:46.92, Y:1.46, Z:-3.74 [[ 9.91220143e-01 1.05415059e-01 7.98141129e-02 4.69177951e+01] [-1.05420378e-01 9.94419050e-01 -4.15892282e-03 1.45957484e+00] [-7.98070874e-02 -4.29162584e-03 9.96801089e-01 -3.73665052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:1.45, Z:-3.75 [[ 9.91084308e-01 1.06685441e-01 7.98129795e-02 4.69783941e+01] [-1.06693123e-01 9.94283209e-01 -4.18056128e-03 1.45469186e+00] [-7.98027104e-02 -4.37220734e-03 9.96801089e-01 -3.74548193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:1.45, Z:-3.75 [[ 9.90855198e-01 1.08793463e-01 7.98120183e-02 4.70408485e+01] [-1.08806482e-01 9.94054083e-01 -4.19883152e-03 1.44852541e+00] [-7.97942681e-02 -4.52363092e-03 9.96801089e-01 -3.74927652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:1.44, Z:-3.75 [[ 9.90527944e-01 1.11734624e-01 7.98108123e-02 4.71035228e+01] [-1.11755310e-01 9.93726788e-01 -4.22163117e-03 1.44411578e+00] [-7.97818445e-02 -4.73763839e-03 9.96801090e-01 -3.75348334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:47.17, Y:1.44, Z:-3.76 [[ 9.90288366e-01 1.13839271e-01 7.98095982e-02 4.71659787e+01] [-1.13864921e-01 9.93487174e-01 -4.24446152e-03 1.44000633e+00] [-7.97729985e-02 -4.88427276e-03 9.96801090e-01 -3.75713850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:47.23, Y:1.44, Z:-3.76 [[ 9.89929606e-01 1.16918785e-01 7.98083481e-02 4.72272745e+01] [-1.16952507e-01 9.93128338e-01 -4.26783843e-03 1.43534385e+00] [-7.97589226e-02 -5.10892678e-03 9.96801090e-01 -3.76136844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:47.29, Y:1.43, Z:-3.77 [[ 9.89610370e-01 1.19591508e-01 7.98071884e-02 4.72899405e+01] [-1.19632136e-01 9.92809021e-01 -4.28941592e-03 1.43195335e+00] [-7.97462743e-02 -5.30265391e-03 9.96801090e-01 -3.76777339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:47.35, Y:1.43, Z:-3.77 [[ 9.89423934e-01 1.21125107e-01 7.98059404e-02 4.73524516e+01] [-1.21168838e-01 9.92622544e-01 -4.31251095e-03 1.42882663e+00] [-7.97395290e-02 -5.40309148e-03 9.96801091e-01 -3.77338473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:47.41, Y:1.43, Z:-3.78 [[ 9.89144008e-01 1.23391037e-01 7.98046632e-02 4.74142396e+01] [-1.23440207e-01 9.92342539e-01 -4.33601787e-03 1.42507357e+00] [-7.97285879e-02 -5.56215803e-03 9.96801091e-01 -3.77805514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:47.48, Y:1.42, Z:-3.78 [[ 9.89184260e-01 1.23068701e-01 7.98034777e-02 4.74776403e+01] [-1.23115085e-01 9.92382832e-01 -4.35772920e-03 1.42016047e+00] [-7.97319013e-02 -5.51441477e-03 9.96801091e-01 -3.77871688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:47.54, Y:1.42, Z:-3.79 [[ 9.89343669e-01 1.21781415e-01 7.98022079e-02 4.75404622e+01] [-1.21821780e-01 9.92542323e-01 -4.38086085e-03 1.41608538e+00] [-7.97405762e-02 -5.38747003e-03 9.96801091e-01 -3.78502239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters Centerline goodness : 0.999732 with order 1 Centerline is valid? [True, True] Translation: X:47.60, Y:1.41, Z:-3.79 [[ 9.89403415e-01 1.21295900e-01 7.98009236e-02 4.76034627e+01] [-1.21332826e-01 9.92602110e-01 -4.40413231e-03 1.41180823e+00] [-7.97447683e-02 -5.32500803e-03 9.96801092e-01 -3.79073172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:47.66, Y:1.41, Z:-3.79 [[ 9.89281390e-01 1.22287969e-01 7.97996477e-02 4.76649005e+01] [-1.22326256e-01 9.92480069e-01 -4.42713048e-03 1.40832928e+00] [-7.97409447e-02 -5.38191430e-03 9.96801092e-01 -3.79495855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:1.41, Z:-3.80 [[ 9.89119520e-01 1.23590927e-01 7.97988604e-02 4.77275872e+01] [-1.23632291e-01 9.92318160e-01 -4.44127711e-03 1.40552660e+00] [-7.97347599e-02 -5.47276207e-03 9.96801092e-01 -3.79923599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:1.40, Z:-3.80 [[ 9.89138349e-01 1.23440964e-01 7.97975903e-02 4.77897435e+01] [-1.23480020e-01 9.92337018e-01 -4.46398037e-03 1.40191781e+00] [-7.97371409e-02 -5.43791387e-03 9.96801092e-01 -3.80405733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters Centerline goodness : 0.999690 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:1.40, Z:-3.81 [[ 9.89227194e-01 1.22727789e-01 7.97962995e-02 4.78522359e+01] [-1.22762695e-01 9.92425911e-01 -4.48693767e-03 1.39711494e+00] [-7.97425871e-02 -5.35740804e-03 9.96801092e-01 -3.80880649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:1.39, Z:-3.81 [[ 9.89390750e-01 1.21403081e-01 7.97949584e-02 4.79134405e+01] [-1.21431799e-01 9.92589529e-01 -4.51066238e-03 1.39342834e+00] [-7.97512484e-02 -5.22683769e-03 9.96801093e-01 -3.81387267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:47.98, Y:1.39, Z:-3.82 [[ 9.89541129e-01 1.20172032e-01 7.97937153e-02 4.79756317e+01] [-1.20195013e-01 9.92739953e-01 -4.53254714e-03 1.38906584e+00] [-7.97590946e-02 -5.10566482e-03 9.96801093e-01 -3.81874787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:48.04, Y:1.38, Z:-3.82 [[ 9.90086068e-01 1.15597369e-01 7.97923886e-02 4.80370080e+01] [-1.15603700e-01 9.93284969e-01 -4.55578386e-03 1.38278006e+00] [-7.97832168e-02 -4.71367721e-03 9.96801093e-01 -3.82450677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:48.10, Y:1.38, Z:-3.83 [[ 9.90579947e-01 1.11286746e-01 7.97911586e-02 4.80996932e+01] [-1.11277430e-01 9.93778840e-01 -4.57722530e-03 1.37530622e+00] [-7.98041495e-02 -4.34484750e-03 9.96801094e-01 -3.82625387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:48.16, Y:1.37, Z:-3.83 [[ 9.90536757e-01 1.11671447e-01 7.97898491e-02 4.81620561e+01] [-1.11661550e-01 9.93735648e-01 -4.59994022e-03 1.37036099e+00] [-7.98036994e-02 -4.35304835e-03 9.96801094e-01 -3.82835199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:1.37, Z:-3.84 [[ 9.89882055e-01 1.17334176e-01 7.97885173e-02 4.82232254e+01] [-1.17340726e-01 9.93080955e-01 -4.62292675e-03 1.36704684e+00] [-7.97788842e-02 -4.78629031e-03 9.96801094e-01 -3.83743909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:48.29, Y:1.36, Z:-3.84 [[ 9.89244272e-01 1.22595865e-01 7.97873669e-02 4.82857081e+01] [-1.22617836e-01 9.92443102e-01 -4.64269614e-03 1.36419931e+00] [-7.97535973e-02 -5.19059375e-03 9.96801094e-01 -3.84096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:1.36, Z:-3.85 [[ 9.88163480e-01 1.31023404e-01 7.97859925e-02 4.83471152e+01] [-1.31070753e-01 9.91362035e-01 -4.66619756e-03 1.36214231e+00] [-7.97081850e-02 -5.84664410e-03 9.96801095e-01 -3.84570293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:1.36, Z:-3.85 [[ 9.87530980e-01 1.35709114e-01 7.97847160e-02 4.84096220e+01] [-1.35769889e-01 9.90729307e-01 -4.68792330e-03 1.35950145e+00] [-7.96812503e-02 -6.20289255e-03 9.96801095e-01 -3.84938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:1.36, Z:-3.85 [[ 9.86936230e-01 1.39969628e-01 7.97833421e-02 4.84713915e+01] [-1.40042337e-01 9.90134308e-01 -4.71118963e-03 1.35676981e+00] [-7.96556477e-02 -6.52340199e-03 9.96801095e-01 -3.85416643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:48.53, Y:1.36, Z:-3.86 [[ 9.86168868e-01 1.45278307e-01 7.97820661e-02 4.85339262e+01] [-1.45366497e-01 9.89366557e-01 -4.73270127e-03 1.35580416e+00] [-7.96212668e-02 -6.93039680e-03 9.96801095e-01 -3.85641531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:48.60, Y:1.35, Z:-3.86 [[ 9.85754052e-01 1.48067234e-01 7.97812177e-02 4.85965165e+01] [-1.48163324e-01 9.88951513e-01 -4.74696027e-03 1.35477416e+00] [-7.96026252e-02 -7.14131507e-03 9.96801095e-01 -3.86359836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:48.66, Y:1.35, Z:-3.87 [[ 9.85682071e-01 1.48546379e-01 7.97798713e-02 4.86585593e+01] [-1.48642215e-01 9.88879540e-01 -4.76948110e-03 1.35217947e+00] [-7.96011716e-02 -7.15746478e-03 9.96801096e-01 -3.86661595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:48.72, Y:1.35, Z:-3.87 [[ 9.85812253e-01 1.47680624e-01 7.97786681e-02 4.87208393e+01] [-1.47772042e-01 9.89009850e-01 -4.78952294e-03 1.34994304e+00] [-7.96092084e-02 -7.06748631e-03 9.96801096e-01 -3.86853856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:48.78, Y:1.35, Z:-3.88 [[ 9.86255814e-01 1.44689426e-01 7.97774331e-02 4.87825277e+01] [-1.44769499e-01 9.89453716e-01 -4.81000771e-03 1.35102003e+00] [-7.96320349e-02 -6.80544095e-03 9.96801096e-01 -3.87568757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:48.84, Y:1.35, Z:-3.88 [[ 9.85937102e-01 1.46846183e-01 7.97761242e-02 4.88441764e+01] [-1.46931514e-01 9.89134867e-01 -4.83161904e-03 1.34805498e+00] [-7.96188508e-02 -6.95795427e-03 9.96801096e-01 -3.87783431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:48.91, Y:1.35, Z:-3.88 [[ 9.86010160e-01 1.46355581e-01 7.97747395e-02 4.89070828e+01] [-1.46437494e-01 9.89208014e-01 -4.85437472e-03 1.34780044e+00] [-7.96242765e-02 -6.89555019e-03 9.96801097e-01 -3.88256910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:1.36, Z:-3.89 [[ 9.86284662e-01 1.44494915e-01 7.97733405e-02 4.89698551e+01] [-1.44568957e-01 9.89482708e-01 -4.87725701e-03 1.35523963e+00] [-7.96390799e-02 -6.72238484e-03 9.96801097e-01 -3.88803154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.03, Y:1.35, Z:-3.89 [[ 9.86077581e-01 1.45902125e-01 7.97720191e-02 4.90328839e+01] [-1.45979002e-01 9.89275560e-01 -4.89877624e-03 1.35419034e+00] [-7.96312507e-02 -6.81446628e-03 9.96801097e-01 -3.89165197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.10, Y:1.35, Z:-3.90 [[ 9.86036167e-01 1.46182505e-01 7.97706271e-02 4.90960035e+01] [-1.46258479e-01 9.89234167e-01 -4.92133843e-03 1.35021171e+00] [-7.96312435e-02 -6.81451294e-03 9.96801097e-01 -3.89672845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.16, Y:1.35, Z:-3.90 [[ 9.86120874e-01 1.45610757e-01 7.97692259e-02 4.91583837e+01] [-1.45683061e-01 9.89318959e-01 -4.94394739e-03 1.34755816e+00] [-7.96370995e-02 -6.74569528e-03 9.96801098e-01 -3.90004649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.22, Y:1.35, Z:-3.91 [[ 9.85857181e-01 1.47386270e-01 7.97678269e-02 4.92206765e+01] [-1.47462528e-01 9.89055174e-01 -4.96641803e-03 1.34529420e+00] [-7.96267637e-02 -6.86658653e-03 9.96801098e-01 -3.90605170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.28, Y:1.34, Z:-3.91 [[ 9.86025494e-01 1.46256772e-01 7.97664196e-02 4.92836735e+01] [-1.46327560e-01 9.89223613e-01 -4.98891845e-03 1.34369877e+00] [-7.96364889e-02 -6.75282477e-03 9.96801098e-01 -3.91209745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:1.34, Z:-3.92 [[ 9.86069580e-01 1.45960013e-01 7.97650136e-02 4.93458230e+01] [-1.46028040e-01 9.89267759e-01 -5.01129828e-03 1.34121682e+00] [-7.96404054e-02 -6.70643985e-03 9.96801098e-01 -3.91533541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:49.41, Y:1.34, Z:-3.92 [[ 9.85994171e-01 1.46469266e-01 7.97637095e-02 4.94084752e+01] [-1.46537285e-01 9.89192349e-01 -5.03197086e-03 1.34152739e+00] [-7.96386802e-02 -6.72686346e-03 9.96801098e-01 -3.92033413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.47, Y:1.34, Z:-3.93 [[ 9.85614721e-01 1.49002015e-01 7.97622838e-02 4.94710339e+01] [-1.49076443e-01 9.88812756e-01 -5.05447011e-03 1.34235414e+00] [-7.96230899e-02 -6.90891740e-03 9.96801099e-01 -3.92603597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.53, Y:1.35, Z:-3.93 [[ 9.85235741e-01 1.51487898e-01 7.97618364e-02 4.95342941e+01] [-1.51569827e-01 9.88433593e-01 -5.06151914e-03 1.34565687e+00] [-7.96060375e-02 -7.10269822e-03 9.96801099e-01 -3.92854684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:1.35, Z:-3.93 [[ 9.85298181e-01 1.51082044e-01 7.97603348e-02 4.95960119e+01] [-1.51160764e-01 9.88496113e-01 -5.08507300e-03 1.34679783e+00] [-7.96110441e-02 -7.04632001e-03 9.96801099e-01 -3.93314867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:1.34, Z:-3.94 [[ 9.85425518e-01 1.50249979e-01 7.97589598e-02 4.96580644e+01] [-1.50324274e-01 9.88623556e-01 -5.10654901e-03 1.34459096e+00] [-7.96188454e-02 -6.95758405e-03 9.96801099e-01 -3.94221457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:1.34, Z:-3.94 [[ 9.85638527e-01 1.48847025e-01 7.97574861e-02 4.97199791e+01] [-1.48914927e-01 9.88836707e-01 -5.12946377e-03 1.34336287e+00] [-7.96306354e-02 -6.82128311e-03 9.96801100e-01 -3.94421213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:1.34, Z:-3.95 [[ 9.86044748e-01 1.46132282e-01 7.97565743e-02 4.97823236e+01] [-1.46190240e-01 9.89243123e-01 -5.14360290e-03 1.34251493e+00] [-7.96502891e-02 -6.58781012e-03 9.96801100e-01 -3.95008707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:1.34, Z:-3.95 [[ 9.86467431e-01 1.43252013e-01 7.97550474e-02 4.98455750e+01] [-1.43298737e-01 9.89665990e-01 -5.16717012e-03 1.34256243e+00] [-7.96710655e-02 -6.33155256e-03 9.96801100e-01 -3.95125284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:1.34, Z:-3.96 [[ 9.86778470e-01 1.41094388e-01 7.97535207e-02 4.99084297e+01] [-1.41132232e-01 9.89977146e-01 -5.19062909e-03 1.34177214e+00] [-7.96865314e-02 -6.13379138e-03 9.96801100e-01 -3.95933375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:49.97, Y:1.34, Z:-3.97 [[ 9.87152881e-01 1.38451455e-01 7.97520111e-02 4.99715365e+01] [-1.38478879e-01 9.90351663e-01 -5.21372016e-03 1.34236040e+00] [-7.97043840e-02 -5.89723023e-03 9.96801100e-01 -3.96579700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:50.03, Y:1.34, Z:-3.97 [[ 9.87597952e-01 1.35241052e-01 7.97505102e-02 5.00341064e+01] [-1.35256238e-01 9.90796815e-01 -5.23657875e-03 1.34272593e+00] [-7.97247519e-02 -5.61511954e-03 9.96801101e-01 -3.97134230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:50.10, Y:1.34, Z:-3.97 [[ 9.87934741e-01 1.32759351e-01 7.97489923e-02 5.00972637e+01] [-1.32764651e-01 9.91133636e-01 -5.25959389e-03 1.34297862e+00] [-7.97401690e-02 -5.39171158e-03 9.96801101e-01 -3.97258669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:50.16, Y:1.34, Z:-3.98 [[ 9.88123260e-01 1.31349790e-01 7.97474461e-02 5.01596320e+01] [-1.31348651e-01 9.91322159e-01 -5.28293508e-03 1.34187654e+00] [-7.97493228e-02 -5.25452840e-03 9.96801101e-01 -3.97836150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:50.22, Y:1.34, Z:-3.98 [[ 9.88214180e-01 1.30664937e-01 7.97459009e-02 5.02226794e+01] [-1.30659714e-01 9.91413074e-01 -5.30615826e-03 1.34290962e+00] [-7.97544576e-02 -5.17595580e-03 9.96801102e-01 -3.98441796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:50.28, Y:1.34, Z:-3.99 [[ 9.88109854e-01 1.31452474e-01 7.97443651e-02 5.02842805e+01] [-1.31447954e-01 9.91308749e-01 -5.32914050e-03 1.34274910e+00] [-7.97518155e-02 -5.21645739e-03 9.96801102e-01 -3.98898986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:1.34, Z:-3.99 [[ 9.87903340e-01 1.32996442e-01 7.97429413e-02 5.03475339e+01] [-1.32995216e-01 9.91102238e-01 -5.35036127e-03 1.34410052e+00] [-7.97449866e-02 -5.31978994e-03 9.96801102e-01 -3.99333566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:50.41, Y:1.34, Z:-4.00 [[ 9.87886578e-01 1.33121818e-01 7.97413944e-02 5.04096302e+01] [-1.33119153e-01 9.91085475e-01 -5.37331693e-03 1.34251067e+00] [-7.97458435e-02 -5.30687922e-03 9.96801102e-01 -3.99814932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:50.47, Y:1.34, Z:-4.00 [[ 9.87897914e-01 1.33038483e-01 7.97400321e-02 5.04712818e+01] [-1.33033929e-01 9.91096809e-01 -5.39345916e-03 1.34249036e+00] [-7.97476289e-02 -5.27994272e-03 9.96801102e-01 -4.00321232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:1.34, Z:-4.01 [[ 9.88009296e-01 1.32209593e-01 7.97386646e-02 5.05343579e+01] [-1.32200737e-01 9.91208181e-01 -5.41360104e-03 1.34177854e+00] [-7.97533467e-02 -5.19282205e-03 9.96801103e-01 -4.00692604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:50.60, Y:1.34, Z:-4.01 [[ 9.88365273e-01 1.29522513e-01 7.97371048e-02 5.05967846e+01] [-1.29503120e-01 9.91564111e-01 -5.43647865e-03 1.34004629e+00] [-7.97685979e-02 -4.95297712e-03 9.96801103e-01 -4.01253493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:50.66, Y:1.34, Z:-4.02 [[ 9.88659822e-01 1.27255670e-01 7.97355068e-02 5.06594967e+01] [-1.27227066e-01 9.91858591e-01 -5.45981635e-03 1.33702966e+00] [-7.97811400e-02 -4.74661351e-03 9.96801103e-01 -4.01717140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:50.72, Y:1.33, Z:-4.02 [[ 9.88970540e-01 1.24818980e-01 7.97338963e-02 5.07217372e+01] [-1.24780611e-01 9.92169206e-01 -5.48323676e-03 1.33408021e+00] [-7.97939286e-02 -4.52648470e-03 9.96801103e-01 -4.02080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:1.33, Z:-4.02 [[ 9.89151272e-01 1.23379503e-01 7.97324253e-02 5.07831097e+01] [-1.23334767e-01 9.92349855e-01 -5.50454326e-03 1.33125098e+00] [-7.98016085e-02 -4.38895414e-03 9.96801104e-01 -4.02498968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:50.85, Y:1.33, Z:-4.03 [[ 9.89237533e-01 1.22686843e-01 7.97310571e-02 5.08458704e+01] [-1.22638280e-01 9.92436061e-01 -5.52429020e-03 1.32846778e+00] [-7.98057340e-02 -4.31324450e-03 9.96801104e-01 -4.03040117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:50.91, Y:1.33, Z:-4.04 [[ 9.89299913e-01 1.22183881e-01 7.97294280e-02 5.09076180e+01] [-1.22131811e-01 9.92498385e-01 -5.54770330e-03 1.32513898e+00] [-7.98091685e-02 -4.24915704e-03 9.96801104e-01 -4.03712515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.97, Y:1.32, Z:-4.04 [[ 9.89220349e-01 1.22827358e-01 7.97279195e-02 5.09707384e+01] [-1.22775632e-01 9.92418826e-01 -5.56929937e-03 1.32109095e+00] [-7.98075506e-02 -4.27938147e-03 9.96801104e-01 -4.03704129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:51.03, Y:1.32, Z:-4.05 [[ 9.89046395e-01 1.24221356e-01 7.97262996e-02 5.10316745e+01] [-1.24172282e-01 9.92244914e-01 -5.59239390e-03 1.31756077e+00] [-7.98027100e-02 -4.36865952e-03 9.96801105e-01 -4.04632318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:51.09, Y:1.31, Z:-4.05 [[ 9.88905977e-01 1.25335125e-01 7.97250022e-02 5.10941752e+01] [-1.25288172e-01 9.92104527e-01 -5.61082875e-03 1.31386616e+00] [-7.97987695e-02 -4.44001769e-03 9.96801105e-01 -4.04739174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:51.16, Y:1.31, Z:-4.05 [[ 9.88672203e-01 1.27166902e-01 7.97236130e-02 5.11552508e+01] [-1.27124294e-01 9.91870814e-01 -5.63049841e-03 1.30947048e+00] [-7.97915380e-02 -4.56809073e-03 9.96801105e-01 -4.05409773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.22, Y:1.30, Z:-4.06 [[ 9.88570125e-01 1.27958497e-01 7.97228386e-02 5.12178744e+01] [-1.27917570e-01 9.91768758e-01 -5.64144266e-03 1.30403009e+00] [-7.97884911e-02 -4.62099008e-03 9.96801105e-01 -4.05578077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.28, Y:1.30, Z:-4.06 [[ 9.88519371e-01 1.28350981e-01 7.97212601e-02 5.12807560e+01] [-1.28309538e-01 9.91717997e-01 -5.66366185e-03 1.29918260e+00] [-7.97879449e-02 -4.63035857e-03 9.96801105e-01 -4.06048303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:1.29, Z:-4.07 [[ 9.88450105e-01 1.28884298e-01 7.97196809e-02 5.13415526e+01] [-1.28842801e-01 9.91648730e-01 -5.68580325e-03 1.29452138e+00] [-7.97867311e-02 -4.65117416e-03 9.96801106e-01 -4.07009786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:1.29, Z:-4.07 [[ 9.88467948e-01 1.28747860e-01 7.97189084e-02 5.14031531e+01] [-1.28705052e-01 9.91666556e-01 -5.69661334e-03 1.28740157e+00] [-7.97880021e-02 -4.62930659e-03 9.96801106e-01 -4.06880862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:1.28, Z:-4.07 [[ 9.88444449e-01 1.28928982e-01 7.97175538e-02 5.14643492e+01] [-1.28885242e-01 9.91643044e-01 -5.71550715e-03 1.28003452e+00] [-7.97882523e-02 -4.62495492e-03 9.96801106e-01 -4.07433847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:51.53, Y:1.27, Z:-4.08 [[ 9.88321844e-01 1.29866437e-01 7.97160062e-02 5.15265454e+01] [-1.29824002e-01 9.91520456e-01 -5.73701127e-03 1.27403363e+00] [-7.97850961e-02 -4.67903741e-03 9.96801106e-01 -4.08235838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:51.59, Y:1.27, Z:-4.09 [[ 9.88198346e-01 1.30803862e-01 7.97143545e-02 5.15887086e+01] [-1.30762624e-01 9.91396974e-01 -5.75987092e-03 1.26764819e+00] [-7.97819832e-02 -4.73176322e-03 9.96801106e-01 -4.08680540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:51.65, Y:1.26, Z:-4.09 [[ 9.87963013e-01 1.32570635e-01 7.97126879e-02 5.16510205e+01] [-1.32533269e-01 9.91161688e-01 -5.78284403e-03 1.25905712e+00] [-7.97747976e-02 -4.85134713e-03 9.96801107e-01 -4.09211095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.71, Y:1.25, Z:-4.09 [[ 9.87455984e-01 1.36296865e-01 7.97109990e-02 5.17132959e+01] [-1.36269703e-01 9.90654762e-01 -5.80603080e-03 1.25069131e+00] [-7.97574246e-02 -5.12899430e-03 9.96801107e-01 -4.09357358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:51.78, Y:1.24, Z:-4.10 [[ 9.87068478e-01 1.39076401e-01 7.97093143e-02 5.17755990e+01] [-1.39056393e-01 9.90267308e-01 -5.82906875e-03 1.24416888e+00] [-7.97442140e-02 -5.33039976e-03 9.96801107e-01 -4.09936244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:1.24, Z:-4.11 [[ 9.86624800e-01 1.42190714e-01 7.97076195e-02 5.18378548e+01] [-1.42178945e-01 9.89823671e-01 -5.85215280e-03 1.23585680e+00] [-7.97286103e-02 -5.55886619e-03 9.96801107e-01 -4.10776751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:1.23, Z:-4.11 [[ 9.86199071e-01 1.45115005e-01 7.97058819e-02 5.18992645e+01] [-1.45110825e-01 9.89397961e-01 -5.87572371e-03 1.22746070e+00] [-7.97134927e-02 -5.77155301e-03 9.96801108e-01 -4.11260749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:1.22, Z:-4.11 [[ 9.85972008e-01 1.46650703e-01 7.97042720e-02 5.19621308e+01] [-1.46649755e-01 9.89170900e-01 -5.89748244e-03 1.21939203e+00] [-7.97060164e-02 -5.87385935e-03 9.96801108e-01 -4.11327928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:1.21, Z:-4.12 [[ 9.85832669e-01 1.47585409e-01 7.97025487e-02 5.20229615e+01] [-1.47585629e-01 9.89031561e-01 -5.92068122e-03 1.21230157e+00] [-7.97021423e-02 -5.92614980e-03 9.96801108e-01 -4.11969505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.09, Y:1.20, Z:-4.12 [[ 9.85831094e-01 1.47596791e-01 7.97009519e-02 5.20855431e+01] [-1.47595326e-01 9.89029985e-01 -5.94209842e-03 1.20466303e+00] [-7.97036660e-02 -5.90558258e-03 9.96801108e-01 -4.12385981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:52.15, Y:1.20, Z:-4.13 [[ 9.86118790e-01 1.45663172e-01 7.96992672e-02 5.21468076e+01] [-1.45653623e-01 9.89317667e-01 -5.96461012e-03 1.19592153e+00] [-7.97167171e-02 -5.72667290e-03 9.96801109e-01 -4.13069775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:52.21, Y:1.19, Z:-4.14 [[ 9.86303475e-01 1.44407925e-01 7.96982270e-02 5.22087218e+01] [-1.44393189e-01 9.89502332e-01 -5.97847681e-03 1.18825193e+00] [-7.97249209e-02 -5.61128873e-03 9.96801109e-01 -4.13780629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:1.18, Z:-4.14 [[ 9.86417794e-01 1.43625916e-01 7.96964970e-02 5.22695479e+01] [-1.43606798e-01 9.89616628e-01 -6.00145103e-03 1.17889774e+00] [-7.97309425e-02 -5.52502063e-03 9.96801109e-01 -4.14194192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.33, Y:1.17, Z:-4.14 [[ 9.86315631e-01 1.44326709e-01 7.96948965e-02 5.23316844e+01] [-1.44308160e-01 9.89514468e-01 -6.02263039e-03 1.17117712e+00] [-7.97284795e-02 -5.56040933e-03 9.96801109e-01 -4.14342008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.39, Y:1.16, Z:-4.15 [[ 9.86256173e-01 1.44733359e-01 7.96932589e-02 5.23944137e+01] [-1.44714393e-01 9.89455008e-01 -6.04422227e-03 1.16334393e+00] [-7.97276947e-02 -5.57161005e-03 9.96801109e-01 -4.14870858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.46, Y:1.16, Z:-4.15 [[ 9.86255343e-01 1.44739977e-01 7.96915191e-02 5.24572225e+01] [-1.44719195e-01 9.89454165e-01 -6.06707537e-03 1.15504831e+00] [-7.97292538e-02 -5.54920695e-03 9.96801110e-01 -4.15313539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.52, Y:1.15, Z:-4.16 [[ 9.86183217e-01 1.45231583e-01 7.96897077e-02 5.25187017e+01] [-1.45210489e-01 9.89382038e-01 -6.09077493e-03 1.14912084e+00] [-7.97281383e-02 -5.56516142e-03 9.96801110e-01 -4.15766981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:1.14, Z:-4.16 [[ 9.86000100e-01 1.46470542e-01 7.96880308e-02 5.25808661e+01] [-1.46451709e-01 9.89198935e-01 -6.11263602e-03 1.14176090e+00] [-7.97226363e-02 -5.64338858e-03 9.96801110e-01 -4.16276698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:1.13, Z:-4.17 [[ 9.86045649e-01 1.46164572e-01 7.96862335e-02 5.26431096e+01] [-1.46142870e-01 9.89244465e-01 -6.13597717e-03 1.13308399e+00] [-7.97260279e-02 -5.59522126e-03 9.96801111e-01 -4.16810246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.71, Y:1.12, Z:-4.17 [[ 9.86226705e-01 1.44938863e-01 7.96844572e-02 5.27056316e+01] [-1.44911337e-01 9.89425476e-01 -6.15895946e-03 1.12368617e+00] [-7.97345045e-02 -5.47305091e-03 9.96801111e-01 -4.17237682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.77, Y:1.12, Z:-4.18 [[ 9.86144762e-01 1.45496322e-01 7.96826707e-02 5.27679995e+01] [-1.45468752e-01 9.89343533e-01 -6.18198710e-03 1.11634577e+00] [-7.97329913e-02 -5.49500443e-03 9.96801111e-01 -4.17678818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:52.83, Y:1.11, Z:-4.18 [[ 9.85998911e-01 1.46482428e-01 7.96808995e-02 5.28292976e+01] [-1.46456228e-01 9.89197692e-01 -6.20473264e-03 1.10944550e+00] [-7.97290462e-02 -5.55190432e-03 9.96801111e-01 -4.18360361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:52.89, Y:1.10, Z:-4.19 [[ 9.85899612e-01 1.47150164e-01 7.96792605e-02 5.28920773e+01] [-1.47124443e-01 9.89098397e-01 -6.22570973e-03 1.10208435e+00] [-7.97267430e-02 -5.58484199e-03 9.96801112e-01 -4.18798772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:52.95, Y:1.09, Z:-4.19 [[ 9.85862649e-01 1.47398600e-01 7.96774146e-02 5.29547193e+01] [-1.47371793e-01 9.89061425e-01 -6.24924516e-03 1.09358728e+00] [-7.97269872e-02 -5.58130603e-03 9.96801112e-01 -4.19336259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.02, Y:1.09, Z:-4.20 [[ 9.85839047e-01 1.47557362e-01 7.96755778e-02 5.30158248e+01] [-1.47529193e-01 9.89037811e-01 -6.27257723e-03 1.08647693e+00] [-7.97277240e-02 -5.57072211e-03 9.96801112e-01 -4.19682850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.08, Y:1.08, Z:-4.20 [[ 9.85844510e-01 1.47521776e-01 7.96738776e-02 5.30779930e+01] [-1.47491761e-01 9.89043257e-01 -6.29409946e-03 1.07753517e+00] [-7.97294281e-02 -5.54623707e-03 9.96801112e-01 -4.20158065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:53.14, Y:1.07, Z:-4.21 [[ 9.85927192e-01 1.46969170e-01 7.96720511e-02 5.31400228e+01] [-1.46935508e-01 9.89125902e-01 -6.31713564e-03 1.06963688e+00] [-7.97341135e-02 -5.47841753e-03 9.96801113e-01 -4.20979588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:53.20, Y:1.06, Z:-4.22 [[ 9.86041493e-01 1.46201349e-01 7.96701979e-02 5.32009348e+01] [-1.46163324e-01 9.89240154e-01 -6.34042178e-03 1.06089945e+00] [-7.97399370e-02 -5.39294200e-03 9.96801113e-01 -4.21543766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.26, Y:1.05, Z:-4.22 [[ 9.86003095e-01 1.46460703e-01 7.96690544e-02 5.32630695e+01] [-1.46422367e-01 9.89201753e-01 -6.35475830e-03 1.05390622e+00] [-7.97394906e-02 -5.39952013e-03 9.96801113e-01 -4.21801838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.32, Y:1.04, Z:-4.22 [[ 9.86048127e-01 1.46158214e-01 7.96672300e-02 5.33240897e+01] [-1.46117064e-01 9.89246749e-01 -6.37754792e-03 1.04433411e+00] [-7.97426793e-02 -5.35217253e-03 9.96801113e-01 -4.22402677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:1.04, Z:-4.23 [[ 9.86027381e-01 1.46298421e-01 7.96666596e-02 5.33862436e+01] [-1.46257153e-01 9.89226001e-01 -6.38466518e-03 1.03675893e+00] [-7.97423976e-02 -5.35636411e-03 9.96801113e-01 -4.22632408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:1.03, Z:-4.23 [[ 9.85768528e-01 1.48033596e-01 7.96646968e-02 5.34474284e+01] [-1.47995995e-01 9.88967193e-01 -6.40906359e-03 1.02934156e+00] [-7.97345283e-02 -5.47220286e-03 9.96801114e-01 -4.23156468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:1.02, Z:-4.24 [[ 9.85653223e-01 1.48800341e-01 7.96629285e-02 5.35085839e+01] [-1.48763466e-01 9.88851897e-01 -6.43096814e-03 1.02141188e+00] [-7.97317682e-02 -5.51222890e-03 9.96801114e-01 -4.23694275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:1.01, Z:-4.24 [[ 9.85636501e-01 1.48911685e-01 7.96617703e-02 5.35712432e+01] [-1.48874020e-01 9.88835166e-01 -6.44528373e-03 1.01394243e+00] [-7.97321378e-02 -5.50686105e-03 9.96801114e-01 -4.24191858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.63, Y:1.01, Z:-4.25 [[ 9.85629122e-01 1.48961494e-01 7.96599434e-02 5.36339572e+01] [-1.48922181e-01 9.88827766e-01 -6.46778432e-03 1.00533093e+00] [-7.97334147e-02 -5.48829593e-03 9.96801114e-01 -4.24656035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.70, Y:1.00, Z:-4.25 [[ 9.85729536e-01 1.48296544e-01 7.96581298e-02 5.36964174e+01] [-1.48253282e-01 9.88928129e-01 -6.49004498e-03 9.96443973e-01] [-7.97386164e-02 -5.41215015e-03 9.96801114e-01 -4.25168584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:53.76, Y:0.99, Z:-4.26 [[ 9.85674094e-01 1.48665574e-01 7.96563066e-02 5.37580237e+01] [-1.48621715e-01 9.88872679e-01 -6.51234567e-03 9.89527535e-01] [-7.97381069e-02 -5.41960650e-03 9.96801115e-01 -4.26127028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.82, Y:0.98, Z:-4.26 [[ 9.85465826e-01 1.50040895e-01 7.96544776e-02 5.38209741e+01] [-1.49999706e-01 9.88664446e-01 -6.53464039e-03 9.82954070e-01] [-7.97320133e-02 -5.50848346e-03 9.96801115e-01 -4.26312439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.88, Y:0.98, Z:-4.27 [[ 9.85199358e-01 1.51781687e-01 7.96526541e-02 5.38838162e+01] [-1.51744367e-01 9.88398025e-01 -6.55679246e-03 9.77020641e-01] [-7.97237270e-02 -5.62709389e-03 9.96801115e-01 -4.26830616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.95, Y:0.97, Z:-4.27 [[ 9.84912204e-01 1.53634974e-01 7.96507694e-02 5.39462972e+01] [-1.53601838e-01 9.88110917e-01 -6.57960844e-03 9.70142714e-01] [-7.97146528e-02 -5.75416790e-03 9.96801115e-01 -4.27272002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:54.01, Y:0.96, Z:-4.28 [[ 9.85095408e-01 1.52456882e-01 7.96488326e-02 5.40084958e+01] [-1.52418040e-01 9.88294056e-01 -6.60297120e-03 9.62885122e-01] [-7.97231363e-02 -5.63536233e-03 9.96801116e-01 -4.27876168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.07, Y:0.96, Z:-4.28 [[ 9.85486695e-01 1.49907807e-01 7.96468629e-02 5.40697858e+01] [-1.49858786e-01 9.88685204e-01 -6.62664574e-03 9.55722209e-01] [-7.97390608e-02 -5.40531094e-03 9.96801116e-01 -4.28307733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:54.13, Y:0.95, Z:-4.29 [[ 9.86055611e-01 1.46119813e-01 7.96450395e-02 5.41317632e+01] [-1.46056744e-01 9.89253873e-01 -6.64848972e-03 9.48821757e-01] [-7.97606399e-02 -5.07691452e-03 9.96801116e-01 -4.29149235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.19, Y:0.94, Z:-4.29 [[ 9.86478583e-01 1.43237504e-01 7.96430993e-02 5.41943016e+01] [-1.43163225e-01 9.89676604e-01 -6.67165086e-03 9.40861789e-01] [-7.97765427e-02 -4.82052227e-03 9.96801116e-01 -4.29267498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:54.26, Y:0.93, Z:-4.30 [[ 9.87026481e-01 1.39413098e-01 7.96411632e-02 5.42553832e+01] [-1.39324573e-01 9.90224139e-01 -6.69468391e-03 9.33475138e-01] [-7.97959288e-02 -4.48814072e-03 9.96801117e-01 -4.30061657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:54.32, Y:0.93, Z:-4.31 [[ 9.87324386e-01 1.37288478e-01 7.96393744e-02 5.43165823e+01] [-1.37191364e-01 9.90521795e-01 -6.71589575e-03 9.26957648e-01] [-7.98065512e-02 -4.29506677e-03 9.96801117e-01 -4.30540523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.38, Y:0.92, Z:-4.31 [[ 9.87333936e-01 1.37220802e-01 7.96376126e-02 5.43790626e+01] [-1.37121795e-01 9.90531287e-01 -6.73672268e-03 9.20949786e-01] [-7.98079654e-02 -4.26865744e-03 9.96801117e-01 -4.30757122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:54.44, Y:0.92, Z:-4.32 [[ 9.87429088e-01 1.36535551e-01 7.96356652e-02 5.44407634e+01] [-1.36432479e-01 9.90626310e-01 -6.75966518e-03 9.15638000e-01] [-7.98121198e-02 -4.19020121e-03 9.96801117e-01 -4.31611313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:0.91, Z:-4.32 [[ 9.87477049e-01 1.36189303e-01 7.96338628e-02 5.45029071e+01] [-1.36083407e-01 9.90674178e-01 -6.78083332e-03 9.09839342e-01] [-7.98146885e-02 -4.14093012e-03 9.96801118e-01 -4.32153157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:0.90, Z:-4.32 [[ 9.87290116e-01 1.37539022e-01 7.96319355e-02 5.45651206e+01] [-1.37435682e-01 9.90487328e-01 -6.80339221e-03 9.04142750e-01] [-7.98101549e-02 -4.22734752e-03 9.96801118e-01 -4.32425438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:0.90, Z:-4.33 [[ 9.86996341e-01 1.39632717e-01 7.96299397e-02 5.46275154e+01] [-1.39534287e-01 9.90193708e-01 -6.82667252e-03 8.99669421e-01] [-7.98022921e-02 -4.37320604e-03 9.96801118e-01 -4.33149123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:0.89, Z:-4.34 [[ 9.86718417e-01 1.41584449e-01 7.96279482e-02 5.46886573e+01] [-1.41490480e-01 9.89915918e-01 -6.84982338e-03 8.94543130e-01] [-7.97948019e-02 -4.50774975e-03 9.96801118e-01 -4.33775944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:0.89, Z:-4.34 [[ 9.86469756e-01 1.43307725e-01 7.96261048e-02 5.47515693e+01] [-1.43217622e-01 9.89667368e-01 -6.87118623e-03 8.88381408e-01] [-7.97880516e-02 -4.62564400e-03 9.96801119e-01 -4.33977206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:0.88, Z:-4.35 [[ 9.86530739e-01 1.42888424e-01 7.96241159e-02 5.48127465e+01] [-1.42795114e-01 9.89728259e-01 -6.89415690e-03 8.81811518e-01] [-7.97913328e-02 -4.56863704e-03 9.96801119e-01 -4.34856652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:0.87, Z:-4.36 [[ 9.87170765e-01 1.38398609e-01 7.96222752e-02 5.48726923e+01] [-1.38289048e-01 9.90367769e-01 -6.91535056e-03 8.72172107e-01] [-7.98124099e-02 -4.18425675e-03 9.96801119e-01 -4.35600189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.93, Y:0.86, Z:-4.36 [[ 9.87453999e-01 1.36363644e-01 7.96213260e-02 5.49343418e+01] [-1.36246616e-01 9.90650739e-01 -6.92626267e-03 8.62767602e-01] [-7.98214158e-02 -4.00877048e-03 9.96801119e-01 -4.35762435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:55.00, Y:0.85, Z:-4.37 [[ 9.87576534e-01 1.35474352e-01 7.96196572e-02 5.49951608e+01] [-1.35352907e-01 9.90773108e-01 -6.94539318e-03 8.54689358e-01] [-7.98259379e-02 -3.91764473e-03 9.96801119e-01 -4.36564620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:0.85, Z:-4.37 [[ 9.87421273e-01 1.36602419e-01 7.96178868e-02 5.50573784e+01] [-1.36482998e-01 9.90617924e-01 -6.96562857e-03 8.46947925e-01] [-7.98224275e-02 -3.98847808e-03 9.96801120e-01 -4.37096132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:0.84, Z:-4.37 [[ 9.86697593e-01 1.41736192e-01 7.96160279e-02 5.51193272e+01] [-1.41631694e-01 9.89894766e-01 -6.98681194e-03 8.40440909e-01] [-7.98017734e-02 -4.38228240e-03 9.96801120e-01 -4.37194607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:0.84, Z:-4.38 [[ 9.85810371e-01 1.47781863e-01 7.96142844e-02 5.51810528e+01] [-1.47695372e-01 9.89008081e-01 -7.00662297e-03 8.36179036e-01] [-7.97746224e-02 -4.85145977e-03 9.96801120e-01 -4.37787752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:0.83, Z:-4.38 [[ 9.85466500e-01 1.50058779e-01 7.96124351e-02 5.52432406e+01] [-1.49977990e-01 9.88664359e-01 -7.02757267e-03 8.30902708e-01] [-7.97645262e-02 -5.01467556e-03 9.96801120e-01 -4.38259975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:55.31, Y:0.83, Z:-4.39 [[ 9.84656564e-01 1.55285636e-01 7.96104470e-02 5.53059317e+01] [-1.55220009e-01 9.87854770e-01 -7.05002357e-03 8.25620694e-01] [-7.97383272e-02 -5.41528230e-03 9.96801121e-01 -4.38932359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:55.37, Y:0.82, Z:-4.40 [[ 9.84240873e-01 1.57899979e-01 7.96084159e-02 5.53669748e+01] [-1.57841006e-01 9.87439209e-01 -7.07288404e-03 8.20461162e-01] [-7.97252795e-02 -5.60405087e-03 9.96801121e-01 -4.39667087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:55.43, Y:0.82, Z:-4.40 [[ 9.84161509e-01 1.58394834e-01 7.96065307e-02 5.54291535e+01] [-1.58335766e-01 9.87359843e-01 -7.09403992e-03 8.15216889e-01] [-7.97239509e-02 -5.62288001e-03 9.96801121e-01 -4.40181947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:55.49, Y:0.81, Z:-4.41 [[ 9.84132237e-01 1.58577617e-01 7.96045184e-02 5.54905721e+01] [-1.58517332e-01 9.87330548e-01 -7.11654957e-03 8.09051159e-01] [-7.97244982e-02 -5.61506999e-03 9.96801121e-01 -4.40706158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.55, Y:0.80, Z:-4.41 [[ 9.84038259e-01 1.59160679e-01 7.96026568e-02 5.55534999e+01] [-1.59100617e-01 9.87236574e-01 -7.13731223e-03 8.02767731e-01] [-7.97226336e-02 -5.64144348e-03 9.96801121e-01 -4.40927464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.62, Y:0.80, Z:-4.41 [[ 9.83851992e-01 1.60309048e-01 7.96006698e-02 5.56164488e+01] [-1.60250940e-01 9.87050343e-01 -7.15940452e-03 7.98315288e-01] [-7.97175857e-02 -5.71228778e-03 9.96801122e-01 -4.41453226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:0.79, Z:-4.42 [[ 9.83764257e-01 1.60847592e-01 7.95986068e-02 5.56785018e+01] [-1.60789395e-01 9.86962606e-01 -7.18226790e-03 7.92733394e-01] [-7.97160989e-02 -5.73295340e-03 9.96801122e-01 -4.42013805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:0.79, Z:-4.43 [[ 9.83774672e-01 1.60784908e-01 7.95965326e-02 5.57405724e+01] [-1.60724663e-01 9.86972982e-01 -7.20518186e-03 7.88024919e-01] [-7.97181117e-02 -5.70485047e-03 9.96801122e-01 -4.42842109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:0.78, Z:-4.43 [[ 9.83658362e-01 1.61495973e-01 7.95944508e-02 5.58020825e+01] [-1.61436195e-01 9.86856681e-01 -7.22810673e-03 7.82313373e-01] [-7.97156257e-02 -5.73943765e-03 9.96801123e-01 -4.43148532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.87, Y:0.78, Z:-4.44 [[ 9.83471031e-01 1.62633826e-01 7.95925226e-02 5.58650510e+01] [-1.62576043e-01 9.86669386e-01 -7.24927746e-03 7.77890790e-01] [-7.97104831e-02 -5.81038300e-03 9.96801123e-01 -4.43655016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.93, Y:0.77, Z:-4.44 [[ 9.83368125e-01 1.63255917e-01 7.95904343e-02 5.59268384e+01] [-1.63198318e-01 9.86566483e-01 -7.27213277e-03 7.73376173e-01] [-7.97084736e-02 -5.83784143e-03 9.96801123e-01 -4.44179189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:55.99, Y:0.77, Z:-4.45 [[ 9.83049556e-01 1.65163973e-01 7.95891461e-02 5.59895852e+01] [-1.65111448e-01 9.86248002e-01 -7.28620423e-03 7.71011036e-01] [-7.96980548e-02 -5.97837934e-03 9.96801123e-01 -4.44981543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:56.05, Y:0.77, Z:-4.46 [[ 9.82770235e-01 1.66818973e-01 7.95870259e-02 5.60521528e+01] [-1.66769975e-01 9.85968737e-01 -7.30929100e-03 7.69118988e-01] [-7.96896478e-02 -6.08937268e-03 9.96801123e-01 -4.45679714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:56.11, Y:0.77, Z:-4.46 [[ 9.82767811e-01 1.66834284e-01 7.95848731e-02 5.61146184e+01] [-1.66783455e-01 9.85966283e-01 -7.33265567e-03 7.65110728e-01] [-7.96913399e-02 -6.06714215e-03 9.96801124e-01 -4.46119837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:56.18, Y:0.76, Z:-4.47 [[ 9.83016963e-01 1.65360942e-01 7.95827256e-02 5.61759531e+01] [-1.65303448e-01 9.86215322e-01 -7.35588984e-03 7.61485830e-01] [-7.97020802e-02 -5.92433442e-03 9.96801124e-01 -4.46646300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.24, Y:0.76, Z:-4.47 [[ 9.83311437e-01 1.63601724e-01 7.95807382e-02 5.62393367e+01] [-1.63536781e-01 9.86509653e-01 -7.37732812e-03 7.57588795e-01] [-7.97141101e-02 -5.76016664e-03 9.96801124e-01 -4.46850747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.30, Y:0.75, Z:-4.47 [[ 9.83807557e-01 1.60592445e-01 7.95786243e-02 5.63005419e+01] [-1.60515886e-01 9.87005516e-01 -7.40006144e-03 7.53083652e-01] [-7.97329351e-02 -5.49339704e-03 9.96801124e-01 -4.47415054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:56.36, Y:0.75, Z:-4.48 [[ 9.84222120e-01 1.58032822e-01 7.95766684e-02 5.63630180e+01] [-1.57946257e-01 9.87419824e-01 -7.42103465e-03 7.47539798e-01] [-7.97483469e-02 -5.26489051e-03 9.96801125e-01 -4.48068890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:0.74, Z:-4.48 [[ 9.84620850e-01 1.55530289e-01 7.95745644e-02 5.64257103e+01] [-1.55433785e-01 9.87818269e-01 -7.44352774e-03 7.41752915e-01] [-7.97629025e-02 -5.03952309e-03 9.96801125e-01 -4.48393873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.49, Y:0.74, Z:-4.49 [[ 9.84897252e-01 1.53771335e-01 7.95724766e-02 5.64881692e+01] [-1.53667329e-01 9.88094436e-01 -7.46578073e-03 7.36072618e-01] [-7.97731444e-02 -4.87466302e-03 9.96801125e-01 -4.48846793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:56.55, Y:0.73, Z:-4.49 [[ 9.85169025e-01 1.52021566e-01 7.95703237e-02 5.65501190e+01] [-1.51910040e-01 9.88365954e-01 -7.48865581e-03 7.31088691e-01] [-7.97830361e-02 -4.70993930e-03 9.96801125e-01 -4.49493412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.61, Y:0.73, Z:-4.50 [[ 9.85439037e-01 1.50262469e-01 7.95681716e-02 5.66129341e+01] [-1.50143400e-01 9.88635695e-01 -7.51145382e-03 7.25814391e-01] [-7.97926242e-02 -4.54455599e-03 9.96801126e-01 -4.49836115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:0.72, Z:-4.50 [[ 9.85581253e-01 1.49327976e-01 7.95660115e-02 5.66753601e+01] [-1.49204040e-01 9.88777725e-01 -7.53426522e-03 7.20431585e-01] [-7.97981764e-02 -4.44593984e-03 9.96801126e-01 -4.50401123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.74, Y:0.71, Z:-4.51 [[ 9.85798600e-01 1.47887523e-01 7.95638143e-02 5.67363940e+01] [-1.47757055e-01 9.88994812e-01 -7.55739744e-03 7.14363779e-01] [-7.98058444e-02 -4.30604303e-03 9.96801126e-01 -4.50806891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:56.80, Y:0.71, Z:-4.51 [[ 9.85847243e-01 1.47564005e-01 7.95617843e-02 5.67988213e+01] [-1.47430773e-01 9.89043341e-01 -7.57870893e-03 7.08425896e-01] [-7.98083976e-02 -4.25840602e-03 9.96801126e-01 -4.51494429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.86, Y:0.70, Z:-4.52 [[ 9.85727531e-01 1.48362726e-01 7.95596378e-02 5.68614060e+01] [-1.48230275e-01 9.88923661e-01 -7.60117565e-03 7.02841963e-01] [-7.98061395e-02 -4.30045892e-03 9.96801127e-01 -4.51786657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:56.92, Y:0.70, Z:-4.53 [[ 9.85574781e-01 1.49375265e-01 7.95574113e-02 5.69230714e+01] [-1.49244228e-01 9.88770969e-01 -7.62440835e-03 6.97855839e-01] [-7.98029567e-02 -4.35905989e-03 9.96801127e-01 -4.52569234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.98, Y:0.69, Z:-4.53 [[ 9.85257256e-01 1.51456545e-01 7.95553516e-02 5.69847475e+01] [-1.51330533e-01 9.88453646e-01 -7.64583978e-03 6.92575698e-01] [-7.97947899e-02 -4.50603468e-03 9.96801127e-01 -4.52798304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.05, Y:0.69, Z:-4.53 [[ 9.84991874e-01 1.53174001e-01 7.95533342e-02 5.70475569e+01] [-1.53051878e-01 9.88188415e-01 -7.66677393e-03 6.87607749e-01] [-7.97880336e-02 -4.62407714e-03 9.96801127e-01 -4.53239397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.11, Y:0.68, Z:-4.54 [[ 9.84599331e-01 1.55678435e-01 7.95511266e-02 5.71098906e+01] [-1.55562603e-01 9.87796106e-01 -7.68961223e-03 6.82933341e-01] [-7.97773999e-02 -4.80399326e-03 9.96801128e-01 -4.53676981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.17, Y:0.68, Z:-4.54 [[ 9.83974936e-01 1.59578519e-01 7.95488654e-02 5.71716804e+01] [-1.59473477e-01 9.87172083e-01 -7.71293374e-03 6.79843960e-01] [-7.97592377e-02 -5.09660065e-03 9.96801128e-01 -4.54212171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:57.23, Y:0.67, Z:-4.55 [[ 9.83826090e-01 1.60494659e-01 7.95467732e-02 5.72345777e+01] [-1.60390861e-01 9.87023277e-01 -7.73445115e-03 6.74619665e-01] [-7.97558549e-02 -5.14922060e-03 9.96801128e-01 -4.54924179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.30, Y:0.67, Z:-4.55 [[ 9.83451801e-01 1.62772913e-01 7.95458000e-02 5.72964156e+01] [-1.62675716e-01 9.86649196e-01 -7.74444823e-03 6.70719237e-01] [-7.97443859e-02 -5.32387838e-03 9.96801128e-01 -4.55119111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.36, Y:0.67, Z:-4.56 [[ 9.83244336e-01 1.64022458e-01 7.95437506e-02 5.73591758e+01] [-1.63927633e-01 9.86441802e-01 -7.76544085e-03 6.65616032e-01] [-7.97389874e-02 -5.40409299e-03 9.96801128e-01 -4.55600980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:0.66, Z:-4.56 [[ 9.83011926e-01 1.65410665e-01 7.95415929e-02 5.74216206e+01] [-1.65318580e-01 9.86209472e-01 -7.78747985e-03 6.61534859e-01] [-7.97328045e-02 -5.49451763e-03 9.96801129e-01 -4.56061452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.48, Y:0.66, Z:-4.57 [[ 9.82813941e-01 1.66584040e-01 7.95393958e-02 5.74843282e+01] [-1.66493971e-01 9.86011543e-01 -7.80985615e-03 6.57361071e-01] [-7.97277598e-02 -5.56719434e-03 9.96801129e-01 -4.56590742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.55, Y:0.65, Z:-4.57 [[ 9.82702400e-01 1.67241818e-01 7.95372084e-02 5.75466752e+01] [-1.67152100e-01 9.85900012e-01 -7.83206971e-03 6.53976712e-01] [-7.97255844e-02 -5.59821770e-03 9.96801129e-01 -4.57056278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:57.61, Y:0.65, Z:-4.58 [[ 9.82820845e-01 1.66545471e-01 7.95348540e-02 5.76079575e+01] [-1.66451567e-01 9.86018337e-01 -7.85590713e-03 6.49844276e-01] [-7.97311902e-02 -5.51775178e-03 9.96801129e-01 -4.57913019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:57.67, Y:0.64, Z:-4.58 [[ 9.83263176e-01 1.63914855e-01 7.95326762e-02 5.76706823e+01] [-1.63810624e-01 9.86460348e-01 -7.87789327e-03 6.44877933e-01] [-7.97471352e-02 -5.28225498e-03 9.96801130e-01 -4.58314958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:57.73, Y:0.64, Z:-4.59 [[ 9.84226607e-01 1.58028167e-01 7.95304001e-02 5.77317975e+01] [-1.57902962e-01 9.87423026e-01 -7.90080545e-03 6.37922867e-01] [-7.97786981e-02 -4.78190278e-03 9.96801130e-01 -4.58686811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.79, Y:0.63, Z:-4.59 [[ 9.84359651e-01 1.57198373e-01 7.95282953e-02 5.77940184e+01] [-1.57068772e-01 9.87555894e-01 -7.92193555e-03 6.31270758e-01] [-7.97839521e-02 -4.69337796e-03 9.96801130e-01 -4.58828670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:0.63, Z:-4.60 [[ 9.84661726e-01 1.55296129e-01 7.95260847e-02 5.78557057e+01] [-1.55158571e-01 9.87857636e-01 -7.94406561e-03 6.25403851e-01] [-7.97941327e-02 -4.51693631e-03 9.96801130e-01 -4.59771166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:0.62, Z:-4.60 [[ 9.85030651e-01 1.52939758e-01 7.95238791e-02 5.79177434e+01] [-1.52792782e-01 9.88226142e-01 -7.96608375e-03 6.18629247e-01] [-7.98059071e-02 -4.30383804e-03 9.96801131e-01 -4.60306094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:0.61, Z:-4.61 [[ 9.85410317e-01 1.50475267e-01 7.95217024e-02 5.79798976e+01] [-1.50318554e-01 9.88605345e-01 -7.98775337e-03 6.11677858e-01] [-7.98175394e-02 -4.08237270e-03 9.96801131e-01 -4.60735501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:0.60, Z:-4.61 [[ 9.85480407e-01 1.50016756e-01 7.95194393e-02 5.80418132e+01] [-1.49856748e-01 9.88675271e-01 -8.01021981e-03 6.04996559e-01] [-7.98205704e-02 -4.02260991e-03 9.96801131e-01 -4.61088094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:58.10, Y:0.60, Z:-4.61 [[ 9.85228281e-01 1.51664849e-01 7.95173456e-02 5.81045887e+01] [-1.51508516e-01 9.88423327e-01 -8.03095061e-03 5.98856657e-01] [-7.98148122e-02 -4.13523538e-03 9.96801131e-01 -4.61415108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.17, Y:0.59, Z:-4.62 [[ 9.85005475e-01 1.53106370e-01 7.95151149e-02 5.81659761e+01] [-1.52952939e-01 9.88200662e-01 -8.05297696e-03 5.92751981e-01] [-7.98098512e-02 -4.22984416e-03 9.96801132e-01 -4.61698309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:58.23, Y:0.59, Z:-4.62 [[ 9.84940801e-01 1.53522943e-01 7.95130502e-02 5.82282226e+01] [-1.53369226e-01 9.88135973e-01 -8.07331232e-03 5.86376647e-01] [-7.98091439e-02 -4.24312030e-03 9.96801132e-01 -4.62408377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:58.29, Y:0.58, Z:-4.63 [[ 9.84780248e-01 1.54550702e-01 7.95106530e-02 5.82891278e+01] [-1.54398425e-01 9.87975489e-01 -8.09685256e-03 5.80029304e-01] [-7.98059506e-02 -4.30269911e-03 9.96801132e-01 -4.63065143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:58.35, Y:0.57, Z:-4.63 [[ 9.84385447e-01 1.57046810e-01 7.95084382e-02 5.83512726e+01] [-1.56900888e-01 9.87580984e-01 -8.11854354e-03 5.73759055e-01] [-7.97960130e-02 -4.48316842e-03 9.96801132e-01 -4.63494654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:58.41, Y:0.57, Z:-4.64 [[ 9.84075444e-01 1.58978934e-01 7.95061003e-02 5.84132888e+01] [-1.58837447e-01 9.87271180e-01 -8.14137463e-03 5.66251414e-01] [-7.97883886e-02 -4.61681911e-03 9.96801133e-01 -4.64076407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.48, Y:0.56, Z:-4.64 [[ 9.83676303e-01 1.61431345e-01 7.95037788e-02 5.84762947e+01] [-1.61296004e-01 9.86872306e-01 -8.16398309e-03 5.58123807e-01] [-7.97780003e-02 -4.79292508e-03 9.96801133e-01 -4.64196853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:58.54, Y:0.55, Z:-4.65 [[ 9.83695846e-01 1.61313381e-01 7.95014161e-02 5.85383906e+01] [-1.61175808e-01 9.86891754e-01 -8.18692679e-03 5.51003260e-01] [-7.97799528e-02 -4.76025909e-03 9.96801133e-01 -4.65120966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:58.60, Y:0.54, Z:-4.66 [[ 9.83979508e-01 1.59575169e-01 7.94990170e-02 5.85995596e+01] [-1.59430080e-01 9.87175082e-01 -8.21015698e-03 5.41004819e-01] [-7.97895859e-02 -4.59590841e-03 9.96801133e-01 -4.65645283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:0.53, Z:-4.66 [[ 9.84765063e-01 1.54654553e-01 7.94967976e-02 5.86616308e+01] [-1.54491766e-01 9.87959784e-01 -8.23159170e-03 5.28690833e-01] [-7.98126921e-02 -4.17541674e-03 9.96801134e-01 -4.66046671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:58.72, Y:0.52, Z:-4.67 [[ 9.85689058e-01 1.48652995e-01 7.94944573e-02 5.87237777e+01] [-1.48468936e-01 9.88882624e-01 -8.25413090e-03 5.15320337e-01] [-7.98376888e-02 -3.66645100e-03 9.96801134e-01 -4.66569492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:58.79, Y:0.50, Z:-4.67 [[ 9.86122970e-01 1.45748045e-01 7.94921057e-02 5.87861283e+01] [-1.45552760e-01 9.89315870e-01 -8.27671667e-03 5.00365747e-01] [-7.98491169e-02 -3.40843495e-03 9.96801134e-01 -4.66598889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:58.85, Y:0.49, Z:-4.67 [[ 9.85671137e-01 1.48774320e-01 7.94896981e-02 5.88456079e+01] [-1.48586981e-01 9.88864512e-01 -8.29977521e-03 4.88835217e-01] [-7.98393349e-02 -3.63028542e-03 9.96801134e-01 -4.67388172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:58.91, Y:0.48, Z:-4.68 [[ 9.84843683e-01 1.54157365e-01 7.94885301e-02 5.89073285e+01] [-1.53986577e-01 9.88037986e-01 -8.31094600e-03 4.80667383e-01] [-7.98188808e-02 -4.05518398e-03 9.96801135e-01 -4.68079847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:58.97, Y:0.47, Z:-4.68 [[ 9.83408834e-01 1.63061385e-01 7.94861586e-02 5.89700659e+01] [-1.62917683e-01 9.86604470e-01 -8.33356627e-03 4.72000744e-01] [-7.97802822e-02 -4.75439808e-03 9.96801135e-01 -4.68401468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:0.46, Z:-4.69 [[ 9.81881918e-01 1.72018140e-01 7.94836948e-02 5.90315044e+01] [-1.71901683e-01 9.85078663e-01 -8.35699947e-03 4.64261703e-01] [-7.97352473e-02 -5.45779424e-03 9.96801135e-01 -4.68927719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:0.46, Z:-4.69 [[ 9.80927460e-01 1.77381009e-01 7.94814164e-02 5.90925800e+01] [-1.77280281e-01 9.84124739e-01 -8.37861274e-03 4.57122386e-01] [-7.97058349e-02 -5.87167650e-03 9.96801135e-01 -4.69442998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:59.15, Y:0.45, Z:-4.70 [[ 9.79842309e-01 1.83281507e-01 7.94791690e-02 5.91537818e+01] [-1.83198309e-01 9.83040092e-01 -8.39987823e-03 4.48364572e-01] [-7.96707519e-02 -6.32989325e-03 9.96801136e-01 -4.70017264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:59.22, Y:0.44, Z:-4.71 [[ 9.79784394e-01 1.83591816e-01 7.94769580e-02 5.92161209e+01] [-1.83507949e-01 9.82982158e-01 -8.42074627e-03 4.40638824e-01] [-7.96704118e-02 -6.33413779e-03 9.96801136e-01 -4.70593257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:59.28, Y:0.43, Z:-4.71 [[ 9.80128894e-01 1.81744702e-01 7.94746193e-02 5.92786621e+01] [-1.81653033e-01 9.83326444e-01 -8.44276140e-03 4.31399416e-01] [-7.96839219e-02 -6.16181126e-03 9.96801136e-01 -4.71067110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.34, Y:0.42, Z:-4.71 [[ 9.81635195e-01 1.73425799e-01 7.94722303e-02 5.93403144e+01] [-1.73305208e-01 9.84831785e-01 -8.46518986e-03 4.19398196e-01] [-7.97348607e-02 -5.46322310e-03 9.96801136e-01 -4.71230546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:59.40, Y:0.41, Z:-4.72 [[ 9.83544151e-01 1.62251047e-01 7.94701222e-02 5.94013433e+01] [-1.62092521e-01 9.86739084e-01 -8.48493386e-03 4.05271820e-01] [-7.97929651e-02 -4.53620538e-03 9.96801136e-01 -4.71929958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:59.46, Y:0.39, Z:-4.72 [[ 9.84598476e-01 1.55726437e-01 7.94677116e-02 5.94625008e+01] [-1.55544918e-01 9.87792185e-01 -8.50745180e-03 3.90785605e-01] [-7.98224197e-02 -3.98437462e-03 9.96801137e-01 -4.72237715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.52, Y:0.38, Z:-4.73 [[ 9.83833619e-01 1.60488771e-01 7.94654877e-02 5.95238941e+01] [-1.60321039e-01 9.87028082e-01 -8.52817388e-03 3.80411224e-01] [-7.98033441e-02 -4.34968541e-03 9.96801137e-01 -4.72714758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:59.59, Y:0.37, Z:-4.73 [[ 9.79237976e-01 1.86490127e-01 7.94633165e-02 5.95853599e+01] [-1.86405435e-01 9.82435718e-01 -8.54835714e-03 3.73421759e-01] [-7.96617846e-02 -6.44151813e-03 9.96801137e-01 -4.73429510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:0.37, Z:-4.74 [[ 9.78917720e-01 1.88164940e-01 7.94610179e-02 5.96479798e+01] [-1.88084000e-01 9.82115558e-01 -8.56967061e-03 3.66734623e-01] [-7.96524135e-02 -6.55634371e-03 9.96801137e-01 -4.73903261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:0.36, Z:-4.75 [[ 9.78728071e-01 1.89149921e-01 7.94586035e-02 5.97100968e+01] [-1.89070399e-01 9.81925945e-01 -8.59199976e-03 3.60306541e-01] [-7.96476404e-02 -6.61403847e-03 9.96801138e-01 -4.74526361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:59.77, Y:0.35, Z:-4.75 [[ 9.78621767e-01 1.89700151e-01 7.94562147e-02 5.97729735e+01] [-1.89620650e-01 9.81819641e-01 -8.61403352e-03 3.53617023e-01] [-7.96457557e-02 -6.63665840e-03 9.96801138e-01 -4.74946728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:59.84, Y:0.35, Z:-4.75 [[ 9.78566624e-01 1.89985449e-01 7.94537071e-02 5.98358167e+01] [-1.89905020e-01 9.81764475e-01 -8.63710180e-03 3.46713704e-01] [-7.96457507e-02 -6.63667832e-03 9.96801138e-01 -4.75454375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:59.90, Y:0.34, Z:-4.76 [[ 9.78838784e-01 1.88579276e-01 7.94511906e-02 5.98976540e+01] [-1.88492392e-01 9.82036465e-01 -8.66018957e-03 3.39896985e-01] [-7.96570986e-02 -6.49901552e-03 9.96801138e-01 -4.76047188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:59.96, Y:0.33, Z:-4.77 [[ 9.79345221e-01 1.85932377e-01 7.94486647e-02 5.99595934e+01] [-1.85834985e-01 9.82542599e-01 -8.68330003e-03 3.32093489e-01] [-7.96762041e-02 -6.26039301e-03 9.96801139e-01 -4.76683301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:60.02, Y:0.32, Z:-4.77 [[ 9.80309759e-01 1.80779121e-01 7.94461258e-02 6.00206738e+01] [-1.80663046e-01 9.83506513e-01 -8.70646802e-03 3.24294532e-01] [-7.97097298e-02 -5.81794355e-03 9.96801139e-01 -4.77150099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:0.31, Z:-4.77 [[ 9.81043663e-01 1.76753766e-01 7.94445586e-02 6.00817188e+01] [-1.76623421e-01 9.84239867e-01 -8.72074457e-03 3.11699289e-01] [-7.97339263e-02 -5.47633851e-03 9.96801139e-01 -4.77024717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:0.31, Z:-4.78 [[ 9.83008383e-01 1.65479453e-01 7.94422389e-02 6.01416398e+01] [-1.65310724e-01 9.86202791e-01 -8.74182540e-03 3.09311787e-01] [-7.97927502e-02 -4.53936641e-03 9.96801139e-01 -4.78440338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:0.31, Z:-4.79 [[ 9.83377314e-01 1.63273780e-01 7.94401097e-02 6.02036759e+01] [-1.63096331e-01 9.86571249e-01 -8.76113179e-03 3.06901499e-01] [-7.98037914e-02 -4.34089214e-03 9.96801139e-01 -4.79075738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:60.27, Y:0.30, Z:-4.79 [[ 9.83416557e-01 1.63038356e-01 7.94378313e-02 6.02665495e+01] [-1.62858482e-01 9.86610357e-01 -8.78174229e-03 3.04174815e-01] [-7.98059479e-02 -4.30101384e-03 9.96801140e-01 -4.79324975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:60.33, Y:0.30, Z:-4.80 [[ 9.83411379e-01 1.63070786e-01 7.94353704e-02 6.03292301e+01] [-1.62889229e-01 9.86605083e-01 -8.80394611e-03 2.97913154e-01] [-7.98070066e-02 -4.28126548e-03 9.96801140e-01 -4.79846860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:60.39, Y:0.29, Z:-4.81 [[ 9.83340848e-01 1.63496749e-01 7.94329282e-02 6.03913542e+01] [-1.63314806e-01 9.86534529e-01 -8.82592602e-03 2.91664585e-01] [-7.98063366e-02 -4.29367965e-03 9.96801140e-01 -4.80541671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:60.45, Y:0.28, Z:-4.81 [[ 9.83295380e-01 1.63771172e-01 7.94304687e-02 6.04541831e+01] [-1.63588341e-01 9.86489010e-01 -8.84800559e-03 2.84583260e-01] [-7.98063327e-02 -4.29369558e-03 9.96801140e-01 -4.81049315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:60.52, Y:0.28, Z:-4.82 [[ 9.83359543e-01 1.63386661e-01 7.94280013e-02 6.05160541e+01] [-1.63200801e-01 9.86552999e-01 -8.87010053e-03 2.78347753e-01] [-7.98091890e-02 -4.24021545e-03 9.96801141e-01 -4.81616032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:60.58, Y:0.27, Z:-4.82 [[ 9.83487206e-01 1.62617669e-01 7.94254935e-02 6.05784724e+01] [-1.62427509e-01 9.86680408e-01 -8.89249927e-03 2.72559340e-01] [-7.98136559e-02 -4.15522578e-03 9.96801141e-01 -4.82080545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:60.64, Y:0.27, Z:-4.83 [[ 9.84646248e-01 1.55446952e-01 7.94229963e-02 6.06411685e+01] [-1.55231737e-01 9.87837859e-01 -8.91474799e-03 2.66215842e-01] [-7.98428130e-02 -3.55109654e-03 9.96801141e-01 -4.82749191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.70, Y:0.26, Z:-4.83 [[ 9.85386005e-01 1.50687808e-01 7.94204361e-02 6.07038698e+01] [-1.50455346e-01 9.88576406e-01 -8.93749799e-03 2.58462608e-01] [-7.98599413e-02 -3.14234373e-03 9.96801141e-01 -4.82982948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:60.77, Y:0.25, Z:-4.84 [[ 9.86559748e-01 1.42802892e-01 7.94178724e-02 6.07654161e+01] [-1.42543096e-01 9.89748039e-01 -8.96022195e-03 2.49416320e-01] [-7.98832290e-02 -2.48067506e-03 9.96801142e-01 -4.83769924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:60.83, Y:0.24, Z:-4.84 [[ 9.87225247e-01 1.38128632e-01 7.94153201e-02 6.08272955e+01] [-1.37851924e-01 9.90412115e-01 -8.98278590e-03 2.39483488e-01] [-7.98946751e-02 -2.07952161e-03 9.96801142e-01 -4.84314925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:60.89, Y:0.23, Z:-4.85 [[ 9.86830302e-01 1.40923980e-01 7.94127609e-02 6.08899406e+01] [-1.40654484e-01 9.90017788e-01 -9.00535472e-03 2.33247801e-01] [-7.98891163e-02 -2.28300397e-03 9.96801142e-01 -4.84848715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:60.95, Y:0.23, Z:-4.85 [[ 9.86351020e-01 1.44241777e-01 7.94101697e-02 6.09524872e+01] [-1.43981169e-01 9.89539244e-01 -9.02814685e-03 2.27227952e-01] [-7.98817152e-02 -2.52864717e-03 9.96801142e-01 -4.85447260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:61.01, Y:0.22, Z:-4.86 [[ 9.85649274e-01 1.48962886e-01 7.94076079e-02 6.10145683e+01] [-1.48715738e-01 9.88838569e-01 -9.05062299e-03 2.21613795e-01] [-7.98695123e-02 -2.88842100e-03 9.96801143e-01 -4.85976017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:61.08, Y:0.22, Z:-4.86 [[ 9.84523269e-01 1.56233063e-01 7.94050570e-02 6.10767768e+01] [-1.56007662e-01 9.87714175e-01 -9.07294803e-03 2.17094882e-01] [-7.98469949e-02 -3.45526883e-03 9.96801143e-01 -4.86321641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:61.14, Y:0.21, Z:-4.87 [[ 9.84189529e-01 1.58323034e-01 7.94026920e-02 6.11394840e+01] [-1.58102745e-01 9.87380792e-01 -9.09359905e-03 2.10964397e-01] [-7.98404191e-02 -3.60395863e-03 9.96801143e-01 -4.86888708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:61.20, Y:0.21, Z:-4.87 [[ 9.83226572e-01 1.64198457e-01 7.94000913e-02 6.12017052e+01] [-1.63995408e-01 9.86418978e-01 -9.11625057e-03 2.06715238e-01] [-7.98186312e-02 -4.05791054e-03 9.96801143e-01 -4.87395154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:61.26, Y:0.20, Z:-4.88 [[ 9.82695612e-01 1.67348066e-01 7.93974728e-02 6.12645735e+01] [-1.67153415e-01 9.85888541e-01 -9.13899968e-03 2.02016860e-01] [-7.98064525e-02 -4.29070381e-03 9.96801144e-01 -4.87905037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:61.33, Y:0.20, Z:-4.89 [[ 9.82386192e-01 1.69156223e-01 7.93948468e-02 6.13265958e+01] [-1.68965614e-01 9.85579364e-01 -9.16175632e-03 1.98507181e-01] [-7.97996908e-02 -4.41461613e-03 9.96801144e-01 -4.88678334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:61.39, Y:0.19, Z:-4.89 [[ 9.82836800e-01 1.66519369e-01 7.93922225e-02 6.13888606e+01] [-1.66318364e-01 9.86029334e-01 -9.18444205e-03 1.93130719e-01] [-7.98124477e-02 -4.17757695e-03 9.96801144e-01 -4.89214781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:61.45, Y:0.19, Z:-4.90 [[ 9.83379063e-01 1.63287816e-01 7.93895959e-02 6.14507677e+01] [-1.63074494e-01 9.86570798e-01 -9.20709058e-03 1.86716242e-01] [-7.98268626e-02 -3.89235810e-03 9.96801144e-01 -4.89724378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:61.51, Y:0.18, Z:-4.90 [[ 9.84309036e-01 1.57586275e-01 7.93869533e-02 6.15128926e+01] [-1.57352631e-01 9.87499347e-01 -9.22981963e-03 1.80054881e-01] [-7.98490574e-02 -3.40675109e-03 9.96801145e-01 -4.90165654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:61.58, Y:0.18, Z:-4.91 [[ 9.84870717e-01 1.54038298e-01 7.93843358e-02 6.15754370e+01] [-1.53791352e-01 9.88060026e-01 -9.25227810e-03 1.76209790e-01] [-7.98616941e-02 -3.09632653e-03 9.96801145e-01 -4.90952917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:61.64, Y:0.17, Z:-4.92 [[ 9.85538833e-01 1.49705604e-01 7.93816095e-02 6.16367368e+01] [-1.49442757e-01 9.88726871e-01 -9.27560972e-03 1.71587505e-01] [-7.98753412e-02 -2.72153300e-03 9.96801145e-01 -4.91580288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:61.70, Y:0.16, Z:-4.92 [[ 9.86467553e-01 1.43459842e-01 7.93790925e-02 6.16985468e+01] [-1.43175078e-01 9.89653708e-01 -9.29710097e-03 1.64599132e-01] [-7.98915738e-02 -2.19381930e-03 9.96801145e-01 -4.92181200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:61.76, Y:0.16, Z:-4.93 [[ 9.86529641e-01 1.43033747e-01 7.93764125e-02 6.17596033e+01] [-1.42745772e-01 9.89715506e-01 -9.31992602e-03 1.57144906e-01] [-7.98931302e-02 -2.13626398e-03 9.96801146e-01 -4.92701552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:61.82, Y:0.15, Z:-4.93 [[ 9.86534902e-01 1.42998833e-01 7.93739362e-02 6.18209868e+01] [-1.42709053e-01 9.89720603e-01 -9.34096827e-03 1.49876789e-01] [-7.98937676e-02 -2.11218807e-03 9.96801146e-01 -4.93191088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:61.88, Y:0.14, Z:-4.94 [[ 9.86561517e-01 1.42816446e-01 7.93715052e-02 6.18828299e+01] [-1.42524420e-01 9.89747013e-01 -9.36157920e-03 1.42838218e-01] [-7.98946977e-02 -2.07660395e-03 9.96801146e-01 -4.93721321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:61.95, Y:0.14, Z:-4.94 [[ 9.86565728e-01 1.42788798e-01 7.93689087e-02 6.19454481e+01] [-1.42494917e-01 9.89751053e-01 -9.38354140e-03 1.36044643e-01] [-7.98953256e-02 -2.05218574e-03 9.96801146e-01 -4.94326203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:0.13, Z:-4.95 [[ 9.86314989e-01 1.44512102e-01 7.93662120e-02 6.20078438e+01] [-1.44221957e-01 9.89500656e-01 -9.40629553e-03 1.28430372e-01] [-7.98922424e-02 -2.16878015e-03 9.96801147e-01 -4.94960127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:62.07, Y:0.12, Z:-4.96 [[ 9.85939797e-01 1.47051516e-01 7.93635257e-02 6.20701317e+01] [-1.46767757e-01 9.89126039e-01 -9.42890591e-03 1.21135970e-01] [-7.98870648e-02 -2.35167306e-03 9.96801147e-01 -4.95537643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:62.13, Y:0.11, Z:-4.96 [[ 9.85280003e-01 1.51410628e-01 7.93608079e-02 6.21318676e+01] [-1.51139127e-01 9.88467313e-01 -9.45172648e-03 1.13810098e-01] [-7.98766564e-02 -2.68192616e-03 9.96801147e-01 -4.96184601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:62.19, Y:0.10, Z:-4.96 [[ 9.84471275e-01 1.56584178e-01 7.93580783e-02 6.21938084e+01] [-1.56327584e-01 9.87659819e-01 -9.47458901e-03 1.01461311e-01] [-7.98623560e-02 -3.07839590e-03 9.96801147e-01 -4.96225619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:62.25, Y:0.09, Z:-4.97 [[ 9.84614405e-01 1.55683072e-01 7.93552437e-02 6.22549800e+01] [-1.55421654e-01 9.87802557e-01 -9.49827125e-03 9.49921585e-02] [-7.98660328e-02 -2.98138853e-03 9.96801148e-01 -4.97191198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:62.32, Y:0.08, Z:-4.97 [[ 9.84119453e-01 1.58783075e-01 7.93526194e-02 6.23170645e+01] [-1.58529937e-01 9.87308273e-01 -9.52014621e-03 8.29631167e-02] [-7.98571357e-02 -3.21080471e-03 9.96801148e-01 -4.97325767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:62.38, Y:0.07, Z:-4.98 [[ 9.84182106e-01 1.58395746e-01 7.93496672e-02 6.23781746e+01] [-1.58139377e-01 9.87370668e-01 -9.54468900e-03 7.44418951e-02] [-7.98593721e-02 -3.15459484e-03 9.96801148e-01 -4.98253629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:62.44, Y:0.06, Z:-4.99 [[ 9.83508892e-01 1.62524841e-01 7.93469321e-02 6.24399147e+01] [-1.62280030e-01 9.86698362e-01 -9.56737273e-03 6.39276493e-02] [-7.98464237e-02 -3.46682641e-03 9.96801149e-01 -4.98818067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:0.06, Z:-4.99 [[ 9.83309134e-01 1.63730400e-01 7.93442007e-02 6.25017413e+01] [-1.63487680e-01 9.86498764e-01 -9.58997200e-03 5.59313136e-02] [-7.98431258e-02 -3.54189221e-03 9.96801149e-01 -4.99338356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:0.05, Z:-5.00 [[ 9.82931733e-01 1.65982343e-01 7.93414725e-02 6.25642315e+01] [-1.65745115e-01 9.86121776e-01 -9.61249010e-03 4.71811760e-02] [-7.98358574e-02 -3.70203995e-03 9.96801149e-01 -4.99861048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:0.03, Z:-5.00 [[ 9.82119976e-01 1.70721180e-01 7.93387088e-02 6.26249440e+01] [-1.70497507e-01 9.85310998e-01 -9.63524771e-03 3.36256041e-02] [-7.98182432e-02 -4.06408284e-03 9.96801149e-01 -5.00112418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:62.69, Y:0.02, Z:-5.01 [[ 9.81999963e-01 1.71411366e-01 7.93361011e-02 6.26873292e+01] [-1.71188209e-01 9.85191020e-01 -9.65667147e-03 2.35535036e-02] [-7.98164776e-02 -4.09855408e-03 9.96801150e-01 -5.00662154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:0.02, Z:-5.02 [[ 9.81909232e-01 1.71931726e-01 7.93331012e-02 6.27470387e+01] [-1.71708280e-01 9.85100269e-01 -9.68125501e-03 1.63150563e-02] [-7.98155742e-02 -4.11603670e-03 9.96801150e-01 -5.01549437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:0.01, Z:-5.02 [[ 9.80870788e-01 1.77761463e-01 7.93307026e-02 6.28089433e+01] [-1.77555395e-01 9.84062993e-01 -9.70086992e-03 7.16865960e-03] [-7.97908495e-02 -4.57029433e-03 9.96801150e-01 -5.02077156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:-0.00, Z:-5.03 [[ 9.80191048e-01 1.81473420e-01 7.93278503e-02 6.28700205e+01] [-1.81277562e-01 9.83383896e-01 -9.72413853e-03 -1.15128928e-03] [-7.97744032e-02 -4.84884576e-03 9.96801150e-01 -5.02633488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:62.93, Y:-0.01, Z:-5.03 [[ 9.79430454e-01 1.85535700e-01 7.93252105e-02 6.29327181e+01] [-1.85351348e-01 9.82623987e-01 -9.74562552e-03 -9.10979981e-03] [-7.97550161e-02 -5.15787230e-03 9.96801151e-01 -5.03041905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:62.99, Y:-0.02, Z:-5.04 [[ 9.78471228e-01 1.90530852e-01 7.93224420e-02 6.29949462e+01] [-1.90360985e-01 9.81665564e-01 -9.76810784e-03 -1.87021207e-02] [-7.97292356e-02 -5.54208568e-03 9.96801151e-01 -5.03806969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.03, Z:-5.04 [[ 9.77595194e-01 1.94977104e-01 7.93193939e-02 6.30557262e+01] [-1.94819768e-01 9.80790171e-01 -9.79279638e-03 -2.60250678e-02] [-7.97050530e-02 -5.87959523e-03 9.96801151e-01 -5.04434135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.03, Z:-5.05 [[ 9.77073681e-01 1.97575062e-01 7.93165605e-02 6.31178881e+01] [-1.97424371e-01 9.80268978e-01 -9.81569242e-03 -3.19626674e-02] [-7.96908997e-02 -6.06836737e-03 9.96801151e-01 -5.04618915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:63.18, Y:-0.04, Z:-5.05 [[ 9.76696905e-01 1.99430361e-01 7.93138562e-02 6.31796042e+01] [-1.99283979e-01 9.79892402e-01 -9.83749567e-03 -3.89568795e-02] [-7.96809404e-02 -6.19772928e-03 9.96801152e-01 -5.05407904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:63.24, Y:-0.05, Z:-5.06 [[ 9.76594717e-01 1.99931319e-01 7.93109442e-02 6.32411328e+01] [-1.99784686e-01 9.79790203e-01 -9.86091682e-03 -4.87785941e-02] [-7.96795922e-02 -6.21499284e-03 9.96801152e-01 -5.06102787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:63.30, Y:-0.06, Z:-5.07 [[ 9.76789707e-01 1.98977708e-01 7.93078793e-02 6.33028161e+01] [-1.98825971e-01 9.79984954e-01 -9.88550583e-03 -5.59945857e-02] [-7.96875237e-02 -6.11240573e-03 9.96801152e-01 -5.06529479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:63.36, Y:-0.06, Z:-5.07 [[ 9.77174521e-01 1.97080356e-01 7.93050358e-02 6.33649377e+01] [-1.96920577e-01 9.80369376e-01 -9.90826513e-03 -6.42252486e-02] [-7.97009528e-02 -5.93468917e-03 9.96801152e-01 -5.06953337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:-0.07, Z:-5.07 [[ 9.77328861e-01 1.96314691e-01 7.93022009e-02 6.34268132e+01] [-1.96150582e-01 9.80523496e-01 -9.93090257e-03 -7.48480724e-02] [-7.97072534e-02 -5.84941518e-03 9.96801153e-01 -5.07454274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:-0.08, Z:-5.08 [[ 9.77969056e-01 1.93100810e-01 7.93007093e-02 6.34883216e+01] [-1.92925240e-01 9.81163082e-01 -9.94279950e-03 -8.08827153e-02] [-7.97268910e-02 -5.57535810e-03 9.96801153e-01 -5.08082714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-0.09, Z:-5.09 [[ 9.78209467e-01 1.91880545e-01 7.92975142e-02 6.35501548e+01] [-1.91698940e-01 9.81403154e-01 -9.96821653e-03 -8.92529241e-02] [-7.97355374e-02 -5.45024565e-03 9.96801153e-01 -5.08567736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-0.10, Z:-5.09 [[ 9.78142392e-01 1.92223351e-01 7.92946655e-02 6.36125801e+01] [-1.92041040e-01 9.81336039e-01 -9.99082673e-03 -9.72794109e-02] [-7.97351831e-02 -5.45537890e-03 9.96801153e-01 -5.09334821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.10, Z:-5.10 [[ 9.78114346e-01 1.92367179e-01 7.92918295e-02 6.36743928e+01] [-1.92183526e-01 9.81307916e-01 -1.00132837e-02 -1.04912135e-01] [-7.97359272e-02 -5.44444690e-03 9.96801154e-01 -5.10022514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:-0.11, Z:-5.11 [[ 9.77810413e-01 1.93907332e-01 7.92889851e-02 6.37366424e+01] [-1.93726896e-01 9.81004166e-01 -1.00357566e-02 -1.13103877e-01] [-7.97288315e-02 -5.54734167e-03 9.96801154e-01 -5.10541044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:-0.12, Z:-5.11 [[ 9.77311587e-01 1.96407149e-01 7.92861518e-02 6.37989287e+01] [-1.96233078e-01 9.80505693e-01 -1.00580915e-02 -1.23046975e-01] [-7.97160043e-02 -5.72867621e-03 9.96801154e-01 -5.10850853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:63.86, Y:-0.13, Z:-5.12 [[ 9.77450873e-01 1.95714052e-01 7.92830378e-02 6.38606253e+01] [-1.95535739e-01 9.80644745e-01 -1.00825777e-02 -1.28718026e-01] [-7.97217966e-02 -5.64744309e-03 9.96801154e-01 -5.11651638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.92, Y:-0.14, Z:-5.12 [[ 9.76706012e-01 1.99399153e-01 7.92801595e-02 6.39229525e+01] [-1.99231065e-01 9.79900438e-01 -1.01051596e-02 -1.37318836e-01] [-7.97016233e-02 -5.92530054e-03 9.96801155e-01 -5.11773991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.14, Z:-5.12 [[ 9.76757918e-01 1.99145990e-01 7.92770151e-02 6.39854664e+01] [-1.98975087e-01 9.79952194e-01 -1.01297687e-02 -1.43672143e-01] [-7.97049877e-02 -5.87981925e-03 9.96801155e-01 -5.12358721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.05, Y:-0.15, Z:-5.13 [[ 9.77006031e-01 1.97926412e-01 7.92738982e-02 6.40462534e+01] [-1.97749557e-01 9.80199983e-01 -1.01541023e-02 -1.50936128e-01] [-7.97140388e-02 -5.75575905e-03 9.96801155e-01 -5.13174663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:-0.16, Z:-5.14 [[ 9.78128069e-01 1.92305968e-01 7.92710280e-02 6.41082639e+01] [-1.92108950e-01 9.81320840e-01 -1.01764610e-02 -1.61106618e-01] [-7.97473059e-02 -5.27479182e-03 9.96801156e-01 -5.13878701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:-0.17, Z:-5.14 [[ 9.79904183e-01 1.83041955e-01 7.92681176e-02 6.41701998e+01] [-1.82812910e-01 9.83094817e-01 -1.01990805e-02 -1.72252835e-01] [-7.97949352e-02 -4.49711368e-03 9.96801156e-01 -5.14454989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:-0.18, Z:-5.15 [[ 9.81764666e-01 1.72786502e-01 7.92651573e-02 6.42315771e+01] [-1.72522260e-01 9.84952577e-01 -1.02220364e-02 -1.83703611e-01] [-7.98386509e-02 -3.63936996e-03 9.96801156e-01 -5.14910380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.19, Z:-5.15 [[ 9.82958166e-01 1.65863629e-01 7.92622281e-02 6.42921989e+01] [-1.65575104e-01 9.86143971e-01 -1.02446988e-02 -1.94226819e-01] [-7.98631913e-02 -3.05374129e-03 9.96801156e-01 -5.15477516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.21, Z:-5.16 [[ 9.84608508e-01 1.55769105e-01 7.92595256e-02 6.43540328e+01] [-1.55446228e-01 9.87791015e-01 -1.02655654e-02 -2.06106214e-01] [-7.98909051e-02 -2.21303124e-03 9.96801157e-01 -5.16082529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:-0.22, Z:-5.17 [[ 9.85883973e-01 1.47482854e-01 7.92565418e-02 6.44156055e+01] [-1.47131376e-01 9.89063448e-01 -1.02885505e-02 -2.17611021e-01] [-7.99071333e-02 -1.51780699e-03 9.96801157e-01 -5.16603078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:-0.23, Z:-5.17 [[ 9.86369098e-01 1.44204301e-01 7.92535355e-02 6.44768748e+01] [-1.43840398e-01 9.89547174e-01 -1.03116565e-02 -2.30228978e-01] [-7.99120973e-02 -1.22876080e-03 9.96801157e-01 -5.16755504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:-0.24, Z:-5.18 [[ 9.87119071e-01 1.38978337e-01 7.92525211e-02 6.45376987e+01] [-1.38596982e-01 9.90295100e-01 -1.03194470e-02 -2.42252327e-01] [-7.99175629e-02 -7.97637357e-04 9.96801157e-01 -5.17532035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.26, Z:-5.18 [[ 9.86122918e-01 1.45880473e-01 7.92494692e-02 6.45987653e+01] [-1.45519466e-01 9.89301325e-01 -1.03428317e-02 -2.55812069e-01] [-7.99104220e-02 -1.33303707e-03 9.96801157e-01 -5.18196261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.26, Z:-5.19 [[ 9.85573279e-01 1.49549248e-01 7.92485644e-02 6.46604121e+01] [-1.49199516e-01 9.88752945e-01 -1.03497601e-02 -2.64643833e-01] [-7.99050503e-02 -1.62340049e-03 9.96801157e-01 -5.18767944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:64.72, Y:-0.27, Z:-5.19 [[ 9.85041323e-01 1.53015453e-01 7.92455851e-02 6.47223717e+01] [-1.52675078e-01 9.88222005e-01 -1.03725220e-02 -2.73512496e-01] [-7.98993871e-02 -1.88146303e-03 9.96801158e-01 -5.19357630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.78, Y:-0.28, Z:-5.20 [[ 9.83852630e-01 1.60482447e-01 7.92425809e-02 6.47840524e+01] [-1.60164365e-01 9.87035618e-01 -1.03954225e-02 -2.83824946e-01] [-7.98835327e-02 -2.46427386e-03 9.96801158e-01 -5.19861806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.84, Y:-0.29, Z:-5.20 [[ 9.82612823e-01 1.67908087e-01 7.92396063e-02 6.48449610e+01] [-1.67612231e-01 9.85797953e-01 -1.04180477e-02 -2.94485072e-01] [-7.98635161e-02 -3.04461990e-03 9.96801158e-01 -5.20206517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.91, Y:-0.30, Z:-5.21 [[ 9.81905253e-01 1.71998824e-01 7.92368537e-02 6.49074266e+01] [-1.71714551e-01 9.85091438e-01 -1.04389411e-02 -3.04670773e-01] [-7.98510318e-02 -3.35606964e-03 9.96801158e-01 -5.20551861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.97, Y:-0.32, Z:-5.21 [[ 9.80809543e-01 1.78142176e-01 7.92338659e-02 6.49680703e+01] [-1.77876031e-01 9.83997293e-01 -1.04615703e-02 -3.19242839e-01] [-7.98295565e-02 -3.83299758e-03 9.96801159e-01 -5.20596241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.03, Y:-0.33, Z:-5.21 [[ 9.80295565e-01 1.80949878e-01 7.92322296e-02 6.50304349e+01] [-1.80691864e-01 9.83483984e-01 -1.04739489e-02 -3.28721494e-01] [-7.98188886e-02 -4.04905358e-03 9.96801159e-01 -5.21063401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:65.09, Y:-0.33, Z:-5.22 [[ 9.80474214e-01 1.79980913e-01 7.92286998e-02 6.50915931e+01] [-1.79717600e-01 9.83662199e-01 -1.05005820e-02 -3.33732359e-01] [-7.98241814e-02 -3.94324193e-03 9.96801159e-01 -5.21937154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.15, Y:-0.34, Z:-5.22 [[ 9.80332334e-01 1.80753469e-01 7.92256197e-02 6.51539708e+01] [-1.80490800e-01 9.83520372e-01 -1.05237695e-02 -3.43689075e-01] [-7.98222188e-02 -3.98270395e-03 9.96801159e-01 -5.22416344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.21, Y:-0.36, Z:-5.23 [[ 9.80191584e-01 1.81516506e-01 7.92225787e-02 6.52136957e+01] [-1.81254476e-01 9.83379674e-01 -1.05466128e-02 -3.55443422e-01] [-7.98202579e-02 -4.02174586e-03 9.96801160e-01 -5.22920656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.28, Y:-0.37, Z:-5.23 [[ 9.80900986e-01 1.77644094e-01 7.92201472e-02 6.52756550e+01] [-1.77368007e-01 9.84087889e-01 -1.05648454e-02 -3.66295190e-01] [-7.98363698e-02 -3.68805237e-03 9.96801160e-01 -5.23473802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.38, Z:-5.24 [[ 9.81952632e-01 1.71737206e-01 7.92171761e-02 6.53369288e+01] [-1.71440153e-01 9.85137649e-01 -1.05870770e-02 -3.78835929e-01] [-7.98580176e-02 -3.18499667e-03 9.96801160e-01 -5.23779997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:65.40, Y:-0.39, Z:-5.24 [[ 9.82940434e-01 1.65991628e-01 7.92141549e-02 6.53972222e+01] [-1.65674137e-01 9.86123479e-01 -1.06096336e-02 -3.90981584e-01] [-7.98760484e-02 -2.69509892e-03 9.96801160e-01 -5.24232433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:65.46, Y:-0.40, Z:-5.25 [[ 9.83680335e-01 1.61550484e-01 7.92113613e-02 6.54580110e+01] [-1.61216946e-01 9.86861738e-01 -1.06304499e-02 -4.04769904e-01] [-7.98880160e-02 -2.31324919e-03 9.96801161e-01 -5.24776094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.52, Y:-0.42, Z:-5.25 [[ 9.83429027e-01 1.63074627e-01 7.92086784e-02 6.55187307e+01] [-1.62744414e-01 9.86610777e-01 -1.06504031e-02 -4.17122889e-01] [-7.98849463e-02 -2.41685435e-03 9.96801161e-01 -5.25422325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:65.58, Y:-0.42, Z:-5.26 [[ 9.83640869e-01 1.61792452e-01 7.92075952e-02 6.55806515e+01] [-1.61457443e-01 9.86822117e-01 -1.06584534e-02 -4.22701550e-01] [-7.98882641e-02 -2.30456542e-03 9.96801161e-01 -5.25789591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:65.64, Y:-0.44, Z:-5.27 [[ 9.83339788e-01 1.63613980e-01 7.92043379e-02 6.56410206e+01] [-1.63282920e-01 9.86521449e-01 -1.06826036e-02 -4.35139076e-01] [-7.98846016e-02 -2.42808645e-03 9.96801161e-01 -5.26501287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:65.70, Y:-0.44, Z:-5.27 [[ 9.83537524e-01 1.62422503e-01 7.92014461e-02 6.57033801e+01] [-1.62085867e-01 9.86718600e-01 -1.07040014e-02 -4.40081551e-01] [-7.98881107e-02 -2.30964800e-03 9.96801161e-01 -5.26818404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.76, Y:-0.45, Z:-5.27 [[ 9.83143132e-01 1.64794360e-01 7.91984844e-02 6.57638875e+01] [-1.64463638e-01 9.86324829e-01 -1.07258698e-02 -4.52387313e-01] [-7.98829944e-02 -2.48020563e-03 9.96801162e-01 -5.27289451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:65.83, Y:-0.46, Z:-5.28 [[ 9.83322472e-01 1.63721343e-01 7.91974572e-02 6.58270006e+01] [-1.63386539e-01 9.86503741e-01 -1.07334498e-02 -4.55095654e-01] [-7.98858826e-02 -2.38535605e-03 9.96801162e-01 -5.27874231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:65.89, Y:-0.46, Z:-5.28 [[ 9.83191602e-01 1.64507044e-01 7.91941050e-02 6.58882463e+01] [-1.64172796e-01 9.86372929e-01 -1.07581261e-02 -4.62027353e-01] [-7.98847089e-02 -2.42421843e-03 9.96801162e-01 -5.28443246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:65.95, Y:-0.47, Z:-5.29 [[ 9.82582050e-01 1.68110842e-01 7.91912824e-02 6.59499306e+01] [-1.67786592e-01 9.85764412e-01 -1.07788638e-02 -4.72117567e-01] [-7.98759918e-02 -2.69611725e-03 9.96801162e-01 -5.28662973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:66.01, Y:-0.48, Z:-5.29 [[ 9.82617945e-01 1.67902248e-01 7.91884371e-02 6.60123745e+01] [-1.67575642e-01 9.85800066e-01 -1.07997267e-02 -4.78748822e-01] [-7.98772649e-02 -2.65804794e-03 9.96801162e-01 -5.29483525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.07, Y:-0.49, Z:-5.30 [[ 9.82380756e-01 1.69285263e-01 7.91867991e-02 6.60748678e+01] [-1.68962172e-01 9.85563235e-01 -1.08117240e-02 -4.87673501e-01] [-7.98738635e-02 -2.75834391e-03 9.96801162e-01 -5.29575089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.49, Z:-5.30 [[ 9.82608810e-01 1.67958283e-01 7.91829586e-02 6.61351352e+01] [-1.67628635e-01 9.85790617e-01 -1.08397781e-02 -4.91708710e-01] [-7.98784482e-02 -2.62206978e-03 9.96801163e-01 -5.30325159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.50, Z:-5.31 [[ 9.82164200e-01 1.70539640e-01 7.91815401e-02 6.61967381e+01] [-1.70217520e-01 9.85346777e-01 -1.08501306e-02 -5.02274349e-01] [-7.98716526e-02 -2.82147560e-03 9.96801163e-01 -5.30735901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.51, Z:-5.32 [[ 9.82572083e-01 1.68174159e-01 7.91805148e-02 6.62569884e+01] [-1.67843775e-01 9.85753813e-01 -1.08576074e-02 -5.06029326e-01] [-7.98784634e-02 -2.62157459e-03 9.96801163e-01 -5.31740282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:66.32, Y:-0.52, Z:-5.32 [[ 9.82247108e-01 1.70063170e-01 7.91778784e-02 6.63178442e+01] [-1.69737359e-01 9.85429310e-01 -1.08767997e-02 -5.18323666e-01] [-7.98739450e-02 -2.75573895e-03 9.96801163e-01 -5.31754392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters Centerline goodness : 0.998256 with order 1 Centerline is valid? [True, True] Translation: X:66.38, Y:-0.52, Z:-5.33 [[ 9.82857247e-01 1.66501505e-01 7.91762612e-02 6.63786136e+01] [-1.66163215e-01 9.86038146e-01 -1.08885590e-02 -5.22439676e-01] [-7.98837752e-02 -2.45428303e-03 9.96801163e-01 -5.32603452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters Centerline goodness : 0.997584 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:-0.53, Z:-5.33 [[ 9.82424989e-01 1.69034049e-01 7.91746875e-02 6.64397985e+01] [-1.68703038e-01 9.85606653e-01 -1.08999896e-02 -5.34646243e-01] [-7.98775682e-02 -2.64858812e-03 9.96801163e-01 -5.32894186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters Centerline goodness : 0.997238 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:-0.54, Z:-5.34 [[ 9.82884547e-01 1.66341539e-01 7.91735991e-02 6.65002884e+01] [-1.66001176e-01 9.86065225e-01 -1.09078897e-02 -5.38494486e-01] [-7.98847680e-02 -2.42171427e-03 9.96801163e-01 -5.33671023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:-0.55, Z:-5.34 [[ 9.82811761e-01 1.66772395e-01 7.91707693e-02 6.65627430e+01] [-1.66431776e-01 9.85992411e-01 -1.09283902e-02 -5.47411176e-01] [-7.98843315e-02 -2.43598131e-03 9.96801164e-01 -5.34235173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters Centerline goodness : 0.996931 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:-0.56, Z:-5.35 [[ 9.82973009e-01 1.65820825e-01 7.91676518e-02 6.66242024e+01] [-1.65475313e-01 9.86153131e-01 -1.09509280e-02 -5.56414245e-01] [-7.98873196e-02 -2.33582532e-03 9.96801164e-01 -5.34849543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters Centerline goodness : 0.996931 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:-0.57, Z:-5.35 [[ 9.83229064e-01 1.64297128e-01 7.91647685e-02 6.66847686e+01] [-1.63945014e-01 9.86408462e-01 -1.09717321e-02 -5.66111494e-01] [-7.98914216e-02 -2.19094319e-03 9.96801164e-01 -5.35408195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters Centerline goodness : 0.996883 with order 1 Centerline is valid? [True, True] Translation: X:66.75, Y:-0.58, Z:-5.36 [[ 9.83603552e-01 1.62041432e-01 7.91620280e-02 6.67453593e+01] [-1.61680438e-01 9.86781953e-01 -1.09914696e-02 -5.76231804e-01] [-7.98967341e-02 -1.98770283e-03 9.96801164e-01 -5.35995483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters Centerline goodness : 0.996874 with order 1 Centerline is valid? [True, True] Translation: X:66.81, Y:-0.59, Z:-5.37 [[ 9.84176417e-01 1.58526267e-01 7.91593522e-02 6.68067839e+01] [-1.58152374e-01 9.87353326e-01 -1.10107066e-02 -5.88277386e-01] [-7.99037360e-02 -1.68276165e-03 9.96801164e-01 -5.36503406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters Centerline goodness : 0.996969 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-0.60, Z:-5.37 [[ 9.84721739e-01 1.55104366e-01 7.91563786e-02 6.68677679e+01] [-1.54717717e-01 9.87897121e-01 -1.10320429e-02 -6.00138095e-01] [-7.99094766e-02 -1.38340178e-03 9.96801165e-01 -5.36943101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters Centerline goodness : 0.997127 with order 1 Centerline is valid? [True, True] Translation: X:66.93, Y:-0.61, Z:-5.37 [[ 9.85048551e-01 1.53016420e-01 7.91538167e-02 6.69290622e+01] [-1.52621567e-01 9.88222923e-01 -1.10503938e-02 -6.12502956e-01] [-7.99125079e-02 -1.19540507e-03 9.96801165e-01 -5.37220237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters Centerline goodness : 0.997127 with order 1 Centerline is valid? [True, True] Translation: X:66.99, Y:-0.62, Z:-5.38 [[ 9.85005290e-01 1.53296073e-01 7.91510745e-02 6.69916482e+01] [-1.52900546e-01 9.88179578e-01 -1.10700012e-02 -6.21325337e-01] [-7.99124631e-02 -1.19823277e-03 9.96801165e-01 -5.37727769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters Centerline goodness : 0.997427 with order 1 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.63, Z:-5.38 [[ 9.85314545e-01 1.51297233e-01 7.91479329e-02 6.70531943e+01] [-1.50893466e-01 9.88487795e-01 -1.10924174e-02 -6.34297692e-01] [-7.99150177e-02 -1.01338569e-03 9.96801165e-01 -5.38282867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters Centerline goodness : 0.997449 with order 1 Centerline is valid? [True, True] Translation: X:67.11, Y:-0.64, Z:-5.39 [[ 9.85049502e-01 1.53014980e-01 7.91447698e-02 6.71143780e+01] [-1.52614937e-01 9.88223223e-01 -1.11149406e-02 -6.42404223e-01] [-7.99134520e-02 -1.12990740e-03 9.96801165e-01 -5.39091164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:67.18, Y:-0.65, Z:-5.40 [[ 9.84895510e-01 1.54004464e-01 7.91420258e-02 6.71763138e+01] [-1.53606042e-01 9.88069435e-01 -1.11344449e-02 -6.50304109e-01] [-7.99125709e-02 -1.19042859e-03 9.96801166e-01 -5.39759787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters Centerline goodness : 0.997633 with order 1 Centerline is valid? [True, True] Translation: X:67.24, Y:-0.66, Z:-5.40 [[ 9.84683884e-01 1.55353402e-01 7.91389223e-02 6.72389150e+01] [-1.54957560e-01 9.87858132e-01 -1.11564594e-02 -6.57604258e-01] [-7.99112219e-02 -1.27758848e-03 9.96801166e-01 -5.40192293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:67.30, Y:-0.66, Z:-5.41 [[ 9.84717432e-01 1.55142191e-01 7.91358333e-02 6.73009766e+01] [-1.54743910e-01 9.87891374e-01 -1.11783283e-02 -6.64245949e-01] [-7.99118374e-02 -1.23829353e-03 9.96801166e-01 -5.40775759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters Centerline goodness : 0.998075 with order 1 Centerline is valid? [True, True] Translation: X:67.36, Y:-0.67, Z:-5.41 [[ 9.85007186e-01 1.53293379e-01 7.91326949e-02 6.73627827e+01] [-1.52887360e-01 9.88180148e-01 -1.12005011e-02 -6.70941384e-01] [-7.99143208e-02 -1.06581471e-03 9.96801166e-01 -5.41028533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:67.42, Y:-0.68, Z:-5.42 [[ 9.85008694e-01 1.53285135e-01 7.91298985e-02 6.74239705e+01] [-1.52877505e-01 9.88181448e-01 -1.12202227e-02 -6.78043838e-01] [-7.99145911e-02 -1.04516454e-03 9.96801167e-01 -5.41506335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters Centerline goodness : 0.996470 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:-0.69, Z:-5.42 [[ 9.85025491e-01 1.53178683e-01 7.91269391e-02 6.74867392e+01] [-1.52769037e-01 9.88197986e-01 -1.12410544e-02 -6.85270072e-01] [-7.99149718e-02 -1.01542113e-03 9.96801167e-01 -5.41993787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters Centerline goodness : 0.990160 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:-0.69, Z:-5.43 [[ 9.84959168e-01 1.53606216e-01 7.91237534e-02 6.75477556e+01] [-1.53196149e-01 9.88131608e-01 -1.12634336e-02 -6.91977630e-01] [-7.99148151e-02 -1.02743213e-03 9.96801167e-01 -5.42638713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters Centerline goodness : 0.986560 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:-0.70, Z:-5.43 [[ 9.84879693e-01 1.54116384e-01 7.91209876e-02 6.76101529e+01] [-1.53706403e-01 9.88052144e-01 -1.12828288e-02 -6.99629629e-01] [-7.99145303e-02 -1.04917345e-03 9.96801167e-01 -5.43314475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters Centerline goodness : 0.981393 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:-0.71, Z:-5.44 [[ 9.84837691e-01 1.54386234e-01 7.91177204e-02 6.76708164e+01] [-1.53975286e-01 9.88010016e-01 -1.13056932e-02 -7.07169889e-01] [-7.99145436e-02 -1.04790090e-03 9.96801168e-01 -5.43951805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters Centerline goodness : 0.974453 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:-0.72, Z:-5.45 [[ 9.84737402e-01 1.55025961e-01 7.91151072e-02 6.77324513e+01] [-1.54615607e-01 9.87909805e-01 -1.13239508e-02 -7.15015464e-01] [-7.99140964e-02 -1.08131245e-03 9.96801168e-01 -5.44755161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters Centerline goodness : 0.967810 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:-0.72, Z:-5.46 [[ 9.84618096e-01 1.55782688e-01 7.91135787e-02 6.77938942e+01] [-1.55373915e-01 9.87790703e-01 -1.13346193e-02 -7.22721407e-01] [-7.99133950e-02 -1.13191519e-03 9.96801168e-01 -5.45732357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters Centerline goodness : 0.960782 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:-0.73, Z:-5.47 [[ 9.83595791e-01 1.62113753e-01 7.91103744e-02 6.78543666e+01] [-1.61723604e-01 9.86770741e-01 -1.13569401e-02 -7.28528648e-01] [-7.99049189e-02 -1.62337635e-03 9.96801168e-01 -5.46763167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters Centerline goodness : 0.960474 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:-0.74, Z:-5.47 [[ 9.83409239e-01 1.63242835e-01 7.91078073e-02 6.79168979e+01] [-1.62854896e-01 9.86584460e-01 -1.13747932e-02 -7.37077731e-01] [-7.99033869e-02 -1.69701698e-03 9.96801168e-01 -5.47374378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters Centerline goodness : 0.960074 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:-0.75, Z:-5.48 [[ 9.83259880e-01 1.64141636e-01 7.91045567e-02 6.79787599e+01] [-1.63754785e-01 9.86435234e-01 -1.13973548e-02 -7.46087518e-01] [-7.99023023e-02 -1.74718790e-03 9.96801168e-01 -5.47933040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters Centerline goodness : 0.960074 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.76, Z:-5.48 [[ 9.83213463e-01 1.64421006e-01 7.91013232e-02 6.80413105e+01] [-1.64033257e-01 9.86388706e-01 -1.14197523e-02 -7.55186697e-01] [-7.99022990e-02 -1.74719340e-03 9.96801169e-01 -5.48440677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters Centerline goodness : 0.959719 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.76, Z:-5.49 [[ 9.83083636e-01 1.65197031e-01 7.90980826e-02 6.81030476e+01] [-1.64809986e-01 9.86258965e-01 -1.14421545e-02 -7.64230189e-01] [-7.99014030e-02 -1.78755904e-03 9.96801169e-01 -5.48945971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters Centerline goodness : 0.959781 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:-0.77, Z:-5.49 [[ 9.82832522e-01 1.66686052e-01 7.90948419e-02 6.81647445e+01] [-1.66302020e-01 9.86008217e-01 -1.14645120e-02 -7.73566654e-01] [-7.98991383e-02 -1.88593674e-03 9.96801169e-01 -5.49494038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters Centerline goodness : 0.959688 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.79, Z:-5.49 [[ 9.82029435e-01 1.71355486e-01 7.90916254e-02 6.82259349e+01] [-1.70984769e-01 9.85206712e-01 -1.14866600e-02 -7.89794223e-01] [-7.98899024e-02 -2.24322512e-03 9.96801169e-01 -5.48868423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters Centerline goodness : 0.964097 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.79, Z:-5.50 [[ 9.82866747e-01 1.66487058e-01 7.90886728e-02 6.82859809e+01] [-1.66098969e-01 9.86041948e-01 -1.15069536e-02 -7.94702687e-01] [-7.99005078e-02 -1.82674489e-03 9.96801170e-01 -5.49962094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters Centerline goodness : 0.965306 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:-0.81, Z:-5.50 [[ 9.83133889e-01 1.64903502e-01 7.90859754e-02 6.83480856e+01] [-1.64508810e-01 9.86308276e-01 -1.15254625e-02 -8.05712763e-01] [-7.99037412e-02 -1.67926694e-03 9.96801170e-01 -5.50356092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters Centerline goodness : 0.966942 with order 1 Centerline is valid? [True, True] Translation: X:68.41, Y:-0.82, Z:-5.50 [[ 9.83250111e-01 1.64210654e-01 7.90827461e-02 6.84088491e+01] [-1.63811947e-01 9.86423996e-01 -1.15475785e-02 -8.18204605e-01] [-7.99053538e-02 -1.60054073e-03 9.96801170e-01 -5.50499770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters Centerline goodness : 0.969171 with order 1 Centerline is valid? [True, True] Translation: X:68.47, Y:-0.83, Z:-5.51 [[ 9.83136222e-01 1.64892588e-01 7.90797300e-02 6.84697653e+01] [-1.64494425e-01 9.86310175e-01 -1.15681962e-02 -8.26779158e-01] [-7.99046522e-02 -1.63506210e-03 9.96801170e-01 -5.51282327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters Centerline goodness : 0.971123 with order 1 Centerline is valid? [True, True] Translation: X:68.53, Y:-0.84, Z:-5.52 [[ 9.82478885e-01 1.68766028e-01 7.90776050e-02 6.85299347e+01] [-1.68379210e-01 9.85654241e-01 -1.15827046e-02 -8.35895991e-01] [-7.98979437e-02 -1.93526197e-03 9.96801170e-01 -5.51879730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters Centerline goodness : 0.972369 with order 1 Centerline is valid? [True, True] Translation: X:68.59, Y:-0.85, Z:-5.52 [[ 9.81931087e-01 1.71925837e-01 7.90749458e-02 6.85910016e+01] [-1.71547778e-01 9.85107497e-01 -1.16008304e-02 -8.45478153e-01] [-7.98918044e-02 -2.17391524e-03 9.96801171e-01 -5.52487628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters Centerline goodness : 0.974989 with order 1 Centerline is valid? [True, True] Translation: X:68.65, Y:-0.86, Z:-5.53 [[ 9.81796024e-01 1.72696758e-01 7.90720961e-02 6.86519140e+01] [-1.72319632e-01 9.84972545e-01 -1.16202221e-02 -8.55598862e-01] [-7.98906184e-02 -2.21698661e-03 9.96801171e-01 -5.53135537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters Centerline goodness : 0.976923 with order 1 Centerline is valid? [True, True] Translation: X:68.71, Y:-0.87, Z:-5.54 [[ 9.82123241e-01 1.70827362e-01 7.90692878e-02 6.87120221e+01] [-1.70442655e-01 9.85298852e-01 -1.16392993e-02 -8.65509641e-01] [-7.98951894e-02 -2.04555292e-03 9.96801171e-01 -5.53712881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters Centerline goodness : 0.978401 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.87, Z:-5.54 [[ 9.82619307e-01 1.67951165e-01 7.90677131e-02 6.87726853e+01] [-1.67556302e-01 9.85793672e-01 -1.16499870e-02 -8.73974919e-01] [-7.99010801e-02 -1.80079151e-03 9.96801171e-01 -5.54414542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters Centerline goodness : 0.979321 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.88, Z:-5.55 [[ 9.82832288e-01 1.66701515e-01 7.90651539e-02 6.88341768e+01] [-1.66301222e-01 9.86005972e-01 -1.16673296e-02 -8.84826982e-01] [-7.99036755e-02 -1.68160350e-03 9.96801171e-01 -5.54530069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters Centerline goodness : 0.980885 with order 1 Centerline is valid? [True, True] Translation: X:68.90, Y:-0.90, Z:-5.55 [[ 9.83428702e-01 1.63147555e-01 7.90624025e-02 6.88951331e+01] [-1.62734295e-01 9.86600724e-01 -1.16859450e-02 -8.95640029e-01] [-7.99095568e-02 -1.37387069e-03 9.96801171e-01 -5.54930517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters Centerline goodness : 0.981135 with order 1 Centerline is valid? [True, True] Translation: X:68.96, Y:-0.91, Z:-5.55 [[ 9.83622536e-01 1.61976230e-01 7.90595181e-02 6.89574902e+01] [-1.61557627e-01 9.86793857e-01 -1.17054263e-02 -9.05946738e-01] [-7.99114476e-02 -1.25894703e-03 9.96801172e-01 -5.55407522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters Centerline goodness : 0.982336 with order 1 Centerline is valid? [True, True] Translation: X:69.02, Y:-0.91, Z:-5.56 [[ 9.83898747e-01 1.60291407e-01 7.90564347e-02 6.90182802e+01] [-1.59865704e-01 9.87069123e-01 -1.17262142e-02 -9.14308405e-01] [-7.99137770e-02 -1.10100507e-03 9.96801172e-01 -5.55845879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters Centerline goodness : 0.983202 with order 1 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.92, Z:-5.56 [[ 9.83837399e-01 1.60668737e-01 7.90539673e-02 6.90797482e+01] [-1.60242915e-01 9.87007758e-01 -1.17428254e-02 -9.23775129e-01] [-7.99135839e-02 -1.11480741e-03 9.96801172e-01 -5.56487441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters Centerline goodness : 0.983714 with order 1 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.93, Z:-5.57 [[ 9.83544889e-01 1.62451035e-01 7.90513289e-02 6.91414152e+01] [-1.62029533e-01 9.86715825e-01 -1.17605598e-02 -9.33185258e-01] [-7.99117124e-02 -1.24161137e-03 9.96801172e-01 -5.57085774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters Centerline goodness : 0.983898 with order 1 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.94, Z:-5.58 [[ 9.83059228e-01 1.65366016e-01 7.90483041e-02 6.92027253e+01] [-1.64952285e-01 9.86231187e-01 -1.17808562e-02 -9.42678697e-01] [-7.99080561e-02 -1.45791902e-03 9.96801172e-01 -5.57782145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters Centerline goodness : 0.984614 with order 1 Centerline is valid? [True, True] Translation: X:69.26, Y:-0.95, Z:-5.58 [[ 9.82239010e-01 1.70171414e-01 7.90456706e-02 6.92641769e+01] [-1.69771780e-01 9.85412776e-01 -1.17984997e-02 -9.53725838e-01] [-7.99003810e-02 -1.83077753e-03 9.96801172e-01 -5.58079853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters Centerline goodness : 0.985235 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:-0.96, Z:-5.59 [[ 9.81303353e-01 1.75487756e-01 7.90428781e-02 6.93249871e+01] [-1.75103811e-01 9.84479055e-01 -1.18171783e-02 -9.62916833e-01] [-7.98898280e-02 -2.24447250e-03 9.96801173e-01 -5.58865191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters Centerline goodness : 0.986236 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.97, Z:-5.60 [[ 9.80567443e-01 1.79555427e-01 7.90401056e-02 6.93855072e+01] [-1.79183162e-01 9.83744535e-01 -1.18356936e-02 -9.70940795e-01] [-7.98804350e-02 -2.55696028e-03 9.96801173e-01 -5.59626395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters Centerline goodness : 0.987573 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:-0.98, Z:-5.60 [[ 9.79876823e-01 1.83287961e-01 7.90375596e-02 6.94456207e+01] [-1.82926430e-01 9.83055154e-01 -1.18526710e-02 -9.80058861e-01] [-7.98707322e-02 -2.84390104e-03 9.96801173e-01 -5.60051821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters Centerline goodness : 0.989320 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:-0.99, Z:-5.60 [[ 9.79857222e-01 1.83393797e-01 7.90350502e-02 6.95066481e+01] [-1.83031262e-01 9.83035439e-01 -1.18693810e-02 -9.90168839e-01] [-7.98710261e-02 -2.83558634e-03 9.96801173e-01 -5.60140430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters Centerline goodness : 0.990969 with order 1 Centerline is valid? [True, True] Translation: X:69.57, Y:-1.00, Z:-5.60 [[ 9.79949764e-01 1.82899724e-01 7.90325959e-02 6.95677678e+01] [-1.82534272e-01 9.83127647e-01 -1.18857001e-02 -9.97373479e-01] [-7.98730213e-02 -2.77876833e-03 9.96801173e-01 -5.60192139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters Centerline goodness : 0.992438 with order 1 Centerline is valid? [True, True] Translation: X:69.63, Y:-1.00, Z:-5.60 [[ 9.80408030e-01 1.80428178e-01 7.90301697e-02 6.96282227e+01] [-1.80053418e-01 9.83584828e-01 -1.19018105e-02 -1.00382158e+00] [-7.98802979e-02 -2.56102158e-03 9.96801173e-01 -5.60213611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters Centerline goodness : 0.993529 with order 1 Centerline is valid? [True, True] Translation: X:69.69, Y:-1.01, Z:-5.60 [[ 9.80969468e-01 1.77350479e-01 7.90298025e-02 6.96901616e+01] [-1.76965554e-01 9.84145051e-01 -1.19042485e-02 -1.01140728e+00] [-7.98880132e-02 -2.30784848e-03 9.96801173e-01 -5.60492375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters Centerline goodness : 0.994641 with order 1 Centerline is valid? [True, True] Translation: X:69.75, Y:-1.02, Z:-5.61 [[ 9.82062578e-01 1.71195465e-01 7.90266119e-02 6.97521704e+01] [-1.70788934e-01 9.85235467e-01 -1.19253922e-02 -1.02060188e+00] [-7.99013939e-02 -1.78538943e-03 9.96801174e-01 -5.61183282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters Centerline goodness : 0.995813 with order 1 Centerline is valid? [True, True] Translation: X:69.81, Y:-1.03, Z:-5.62 [[ 9.83243679e-01 1.64277798e-01 7.90232400e-02 6.98135267e+01] [-1.63847148e-01 9.86413384e-01 -1.19476939e-02 -1.03014971e+00] [-7.99123225e-02 -1.20023802e-03 9.96801174e-01 -5.61866252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters Centerline goodness : 0.996830 with order 1 Centerline is valid? [True, True] Translation: X:69.87, Y:-1.04, Z:-5.63 [[ 9.85734411e-01 1.48604601e-01 7.90211616e-02 6.98743015e+01] [-1.48122446e-01 9.88896691e-01 -1.19614246e-02 -1.04141656e+00] [-7.99212880e-02 8.59800676e-05 9.96801174e-01 -5.62557271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.04, Z:-5.64 [[ 9.84662059e-01 1.55552591e-01 7.90191214e-02 6.99342542e+01] [-1.55091670e-01 9.87827503e-01 -1.19748877e-02 -1.04466418e+00] [-7.99199862e-02 -4.63989853e-04 9.96801174e-01 -5.64461142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:70.00, Y:-1.05, Z:-5.65 [[ 9.84623346e-01 1.55798252e-01 7.90175373e-02 6.99967380e+01] [-1.55337282e-01 9.87788783e-01 -1.19853312e-02 -1.05425651e+00] [-7.99199307e-02 -4.73332603e-04 9.96801174e-01 -5.64968392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.06, Y:-1.06, Z:-5.66 [[ 9.84361346e-01 1.57446634e-01 7.90145428e-02 7.00590973e+01] [-1.56989383e-01 9.87527322e-01 -1.20050407e-02 -1.06384311e+00] [-7.99191731e-02 -5.87146268e-04 9.96801174e-01 -5.65543644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.12, Y:-1.07, Z:-5.66 [[ 9.84322421e-01 1.57691295e-01 7.90115636e-02 7.01215772e+01] [-1.57233260e-01 9.87488284e-01 -1.20246163e-02 -1.07346418e+00] [-7.99191707e-02 -5.87146250e-04 9.96801174e-01 -5.66051249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.18, Y:-1.08, Z:-5.67 [[ 9.84120404e-01 1.58948653e-01 7.90085796e-02 7.01833228e+01] [-1.58493090e-01 9.87286624e-01 -1.20441912e-02 -1.08352815e+00] [-7.99185218e-02 -6.69379643e-04 9.96801175e-01 -5.66569263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.25, Y:-1.09, Z:-5.67 [[ 9.84081245e-01 1.59192391e-01 7.90056035e-02 7.02457979e+01] [-1.58736048e-01 9.87247352e-01 -1.20636818e-02 -1.09318189e+00] [-7.99185193e-02 -6.69394251e-04 9.96801175e-01 -5.67076867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.31, Y:-1.10, Z:-5.68 [[ 9.83937700e-01 1.60078697e-01 7.90026204e-02 7.03075326e+01] [-1.59623640e-01 9.87103992e-01 -1.20831862e-02 -1.10370438e+00] [-7.99180627e-02 -7.21583436e-04 9.96801175e-01 -5.67528148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.37, Y:-1.11, Z:-5.68 [[ 9.83898558e-01 1.60320558e-01 7.89996535e-02 7.03700031e+01] [-1.59864725e-01 9.87064738e-01 -1.21025533e-02 -1.11339077e+00] [-7.99180604e-02 -7.21573162e-04 9.96801175e-01 -5.68035752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:70.43, Y:-1.12, Z:-5.68 [[ 9.83722849e-01 1.61396655e-01 7.89966833e-02 7.04299783e+01] [-1.60942731e-01 9.86889303e-01 -1.21219095e-02 -1.12472658e+00] [-7.99174174e-02 -7.89342650e-04 9.96801175e-01 -5.68284578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:-1.13, Z:-5.68 [[ 9.83392778e-01 1.63396894e-01 7.89943029e-02 7.04913093e+01] [-1.62948166e-01 9.86559972e-01 -1.21374020e-02 -1.13408793e+00] [-7.99158311e-02 -9.36143351e-04 9.96801176e-01 -5.68279798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:-1.14, Z:-5.69 [[ 9.82394413e-01 1.69297313e-01 7.89913686e-02 7.05539229e+01] [-1.68866074e-01 9.85564036e-01 -1.21564687e-02 -1.14321514e+00] [-7.99091096e-02 -1.39651533e-03 9.96801176e-01 -5.68635427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:70.62, Y:-1.15, Z:-5.70 [[ 9.81567720e-01 1.74027928e-01 7.89879202e-02 7.06151709e+01] [-1.73610164e-01 9.84739147e-01 -1.21788341e-02 -1.15097489e+00] [-7.99019544e-02 -1.75875534e-03 9.96801176e-01 -5.69570599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.68, Y:-1.16, Z:-5.70 [[ 9.80122542e-01 1.81992278e-01 7.89848889e-02 7.06758481e+01] [-1.81598698e-01 9.83297061e-01 -1.21984619e-02 -1.16011457e+00] [-7.98856350e-02 -2.38756547e-03 9.96801176e-01 -5.70155137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:70.74, Y:-1.17, Z:-5.71 [[ 9.79615428e-01 1.84703755e-01 7.89818745e-02 7.07368214e+01] [-1.84317392e-01 9.82790833e-01 -1.22179486e-02 -1.17008592e+00] [-7.98793631e-02 -2.58884218e-03 9.96801176e-01 -5.71013924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-1.19, Z:-5.72 [[ 9.79841858e-01 1.83500065e-01 7.89788579e-02 7.07977280e+01] [-1.83108233e-01 9.83016592e-01 -1.22374170e-02 -1.18618893e+00] [-7.98830946e-02 -2.47094567e-03 9.96801177e-01 -5.71585474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.86, Y:-1.20, Z:-5.72 [[ 9.80635272e-01 1.79213175e-01 7.89753246e-02 7.08586060e+01] [-1.78805632e-01 9.83808027e-01 -1.22601776e-02 -1.19624330e+00] [-7.98937436e-02 -2.09847015e-03 9.96801177e-01 -5.71910631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.92, Y:-1.21, Z:-5.72 [[ 9.81122731e-01 1.76526012e-01 7.89731188e-02 7.09196512e+01] [-1.76108636e-01 9.84294208e-01 -1.22743695e-02 -1.20895602e+00] [-7.98995289e-02 -1.86518534e-03 9.96801177e-01 -5.72116341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.98, Y:-1.22, Z:-5.72 [[ 9.81777753e-01 1.72847224e-01 7.89701219e-02 7.09797749e+01] [-1.72416416e-01 9.84947433e-01 -1.22936207e-02 -1.22092773e+00] [-7.99063371e-02 -1.54614205e-03 9.96801177e-01 -5.72475611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:71.04, Y:-1.23, Z:-5.73 [[ 9.82436069e-01 1.69066625e-01 7.89673737e-02 7.10417746e+01] [-1.68622202e-01 9.85603869e-01 -1.23112484e-02 -1.23186204e+00] [-7.99119703e-02 -1.22063788e-03 9.96801177e-01 -5.72724382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.10, Y:-1.24, Z:-5.73 [[ 9.82471742e-01 1.68860827e-01 7.89639032e-02 7.11034890e+01] [-1.68413955e-01 9.85639196e-01 -1.23334683e-02 -1.24060858e+00] [-7.99125577e-02 -1.18133915e-03 9.96801178e-01 -5.72977377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.17, Y:-1.25, Z:-5.73 [[ 9.82094410e-01 1.71043134e-01 7.89608527e-02 7.11664627e+01] [-1.70601732e-01 9.85262632e-01 -1.23529671e-02 -1.24719509e+00] [-7.99100678e-02 -1.33907829e-03 9.96801178e-01 -5.73383705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.23, Y:-1.25, Z:-5.74 [[ 9.81011880e-01 1.77148050e-01 7.89573249e-02 7.12281371e+01] [-1.76724551e-01 9.84182544e-01 -1.23754755e-02 -1.25201555e+00] [-7.99007122e-02 -1.81320930e-03 9.96801178e-01 -5.74187526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:71.29, Y:-1.26, Z:-5.75 [[ 9.80215220e-01 1.81505783e-01 7.89542523e-02 7.12883222e+01] [-1.81094803e-01 9.83387530e-01 -1.23950472e-02 -1.25744800e+00] [-7.98924000e-02 -2.14839084e-03 9.96801178e-01 -5.75112676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:71.35, Y:-1.27, Z:-5.76 [[ 9.79993041e-01 1.82702328e-01 7.89525119e-02 7.13502499e+01] [-1.82294329e-01 9.83165737e-01 -1.24061230e-02 -1.26629492e+00] [-7.98900321e-02 -2.23468094e-03 9.96801178e-01 -5.75580682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.41, Y:-1.27, Z:-5.76 [[ 9.79741488e-01 1.84048030e-01 7.89489711e-02 7.14122216e+01] [-1.83642578e-01 9.82914510e-01 -1.24286153e-02 -1.27432659e+00] [-7.98875514e-02 -2.32156249e-03 9.96801179e-01 -5.75888810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:71.47, Y:-1.28, Z:-5.76 [[ 9.80229587e-01 1.81432001e-01 7.89454611e-02 7.14735166e+01] [-1.81016289e-01 9.83401281e-01 -1.24508707e-02 -1.28330451e+00] [-7.98940539e-02 -2.08570252e-03 9.96801179e-01 -5.76239571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:-1.29, Z:-5.77 [[ 9.80448781e-01 1.80245121e-01 7.89422884e-02 7.15357835e+01] [-1.79823953e-01 9.83619754e-01 -1.24709540e-02 -1.29247022e+00] [-7.98970230e-02 -1.96858277e-03 9.96801179e-01 -5.76651472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:71.60, Y:-1.30, Z:-5.77 [[ 9.80690523e-01 1.78926761e-01 7.89386592e-02 7.15975316e+01] [-1.78499486e-01 9.83860679e-01 -1.24938843e-02 -1.29979242e+00] [-7.99001331e-02 -1.83787609e-03 9.96801179e-01 -5.77038250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.66, Y:-1.31, Z:-5.77 [[ 9.80928141e-01 1.77620909e-01 7.89353802e-02 7.16589695e+01] [-1.77187750e-01 9.84097499e-01 -1.25145669e-02 -1.30789469e+00] [-7.99029589e-02 -1.71049151e-03 9.96801179e-01 -5.77392292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:71.72, Y:-1.32, Z:-5.78 [[ 9.81028283e-01 1.77067515e-01 7.89341657e-02 7.17201200e+01] [-1.76631952e-01 9.84197311e-01 -1.25222221e-02 -1.31581875e+00] [-7.99040724e-02 -1.65764174e-03 9.96801179e-01 -5.78075253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.78, Y:-1.32, Z:-5.78 [[ 9.81116918e-01 1.76577366e-01 7.89305158e-02 7.17820058e+01] [-1.76138373e-01 9.84285473e-01 -1.25451867e-02 -1.32344698e+00] [-7.99053561e-02 -1.59439769e-03 9.96801180e-01 -5.78445574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.33, Z:-5.79 [[ 9.81152005e-01 1.76383805e-01 7.89271581e-02 7.18445060e+01] [-1.75942492e-01 9.84320237e-01 -1.25662759e-02 -1.33177066e+00] [-7.99060865e-02 -1.55721410e-03 9.96801180e-01 -5.78939179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-1.34, Z:-5.80 [[ 9.81241885e-01 1.75884750e-01 7.89234878e-02 7.19054675e+01] [-1.75439975e-01 9.84409633e-01 -1.25892856e-02 -1.34054856e+00] [-7.99073050e-02 -1.49320040e-03 9.96801180e-01 -5.79533264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.97, Y:-1.35, Z:-5.80 [[ 9.81203981e-01 1.76097602e-01 7.89200961e-02 7.19671013e+01] [-1.75651807e-01 9.84371585e-01 -1.26105118e-02 -1.35144320e+00] [-7.99073810e-02 -1.48897312e-03 9.96801180e-01 -5.79841698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:72.03, Y:-1.36, Z:-5.81 [[ 9.81485535e-01 1.74522501e-01 7.89179436e-02 7.20276443e+01] [-1.74070541e-01 9.84652265e-01 -1.26239683e-02 -1.35684959e+00] [-7.99098984e-02 -1.34704679e-03 9.96801181e-01 -5.80585211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:72.09, Y:-1.36, Z:-5.81 [[ 9.81277514e-01 1.75689777e-01 7.89147800e-02 7.20900822e+01] [-1.75239996e-01 9.84444554e-01 -1.26437136e-02 -1.36331224e+00] [-7.99085966e-02 -1.42203385e-03 9.96801181e-01 -5.81266831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:72.15, Y:-1.37, Z:-5.82 [[ 9.81148856e-01 1.76408507e-01 7.89110913e-02 7.21511468e+01] [-1.75959199e-01 9.84315963e-01 -1.26666937e-02 -1.37115079e+00] [-7.99079593e-02 -1.45722035e-03 9.96801181e-01 -5.81822906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.21, Y:-1.38, Z:-5.82 [[ 9.80995938e-01 1.77258417e-01 7.89076935e-02 7.22135890e+01] [-1.76810154e-01 9.84163192e-01 -1.26878250e-02 -1.37896741e+00] [-7.99070713e-02 -1.50497668e-03 9.96801181e-01 -5.82115796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:-1.39, Z:-5.83 [[ 9.80901741e-01 1.77780582e-01 7.89039911e-02 7.22746269e+01] [-1.77332157e-01 9.84068972e-01 -1.27108088e-02 -1.38692509e+00] [-7.99067043e-02 -1.52416042e-03 9.96801182e-01 -5.82773844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.34, Y:-1.40, Z:-5.83 [[ 9.80986607e-01 1.77313217e-01 7.89005706e-02 7.23362487e+01] [-1.76861578e-01 9.84153381e-01 -1.27320059e-02 -1.39596249e+00] [-7.99078162e-02 -1.46455221e-03 9.96801182e-01 -5.83337933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.40, Y:-1.41, Z:-5.84 [[ 9.81060889e-01 1.76903374e-01 7.88969494e-02 7.23978090e+01] [-1.76448611e-01 9.84227216e-01 -1.27544059e-02 -1.40626674e+00] [-7.99088223e-02 -1.40840836e-03 9.96801182e-01 -5.83751005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.46, Y:-1.42, Z:-5.84 [[ 9.81280584e-01 1.75682050e-01 7.88938042e-02 7.24576475e+01] [-1.75221785e-01 9.84446116e-01 -1.27738316e-02 -1.41755221e+00] [-7.99108320e-02 -1.28920020e-03 9.96801182e-01 -5.84081524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.52, Y:-1.43, Z:-5.84 [[ 9.81230681e-01 1.75961849e-01 7.88909256e-02 7.25196979e+01] [-1.75501060e-01 9.84396136e-01 -1.27915852e-02 -1.42996925e+00] [-7.99107533e-02 -1.29394520e-03 9.96801182e-01 -5.84374723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.58, Y:-1.44, Z:-5.85 [[ 9.80304623e-01 1.81051497e-01 7.88872690e-02 7.25801471e+01] [-1.80605330e-01 9.83472172e-01 -1.28140960e-02 -1.44068716e+00] [-7.99034451e-02 -1.68574371e-03 9.96801183e-01 -5.84984174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.64, Y:-1.45, Z:-5.86 [[ 9.79490087e-01 1.85408919e-01 7.88841027e-02 7.26406119e+01] [-1.84975275e-01 9.82659375e-01 -1.28335586e-02 -1.45249573e+00] [-7.98956593e-02 -2.02126523e-03 9.96801183e-01 -5.85674513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.70, Y:-1.46, Z:-5.86 [[ 9.78295726e-01 1.91611504e-01 7.88828462e-02 7.27019258e+01] [-1.91197329e-01 9.81467617e-01 -1.28412772e-02 -1.46080967e+00] [-7.98814955e-02 -2.51962294e-03 9.96801183e-01 -5.86124656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:72.76, Y:-1.47, Z:-5.87 [[ 9.77782696e-01 1.94213964e-01 7.88792439e-02 7.27632375e+01] [-1.93806450e-01 9.80955449e-01 -1.28633671e-02 -1.46750406e+00] [-7.98752696e-02 -2.70972855e-03 9.96801183e-01 -5.86930749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.83, Y:-1.48, Z:-5.87 [[ 9.77203144e-01 1.97110794e-01 7.88755331e-02 7.28253894e+01] [-1.96710854e-01 9.80376861e-01 -1.28860809e-02 -1.47676854e+00] [-7.98677331e-02 -2.92335472e-03 9.96801183e-01 -5.87209859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.89, Y:-1.49, Z:-5.88 [[ 9.76805002e-01 1.99075903e-01 7.88718772e-02 7.28872617e+01] [-1.98680546e-01 9.79979292e-01 -1.29084189e-02 -1.48617395e+00] [-7.98625616e-02 -3.06129949e-03 9.96801184e-01 -5.87739235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.95, Y:-1.50, Z:-5.88 [[ 9.77087141e-01 1.97687931e-01 7.88682502e-02 7.29496175e+01] [-1.97286281e-01 9.80260641e-01 -1.29305417e-02 -1.49652132e+00] [-7.98676535e-02 -2.92535775e-03 9.96801184e-01 -5.88208740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:-1.51, Z:-5.89 [[ 9.77647172e-01 1.94900942e-01 7.88646266e-02 7.30110879e+01] [-1.94488467e-01 9.80819283e-01 -1.29526046e-02 -1.50809476e+00] [-7.98764214e-02 -2.67518303e-03 9.96801184e-01 -5.88532865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.07, Y:-1.52, Z:-5.89 [[ 9.77982842e-01 1.93211036e-01 7.88609951e-02 7.30728263e+01] [-1.92791302e-01 9.81154000e-01 -1.29746772e-02 -1.51870043e+00] [-7.98816316e-02 -2.51470219e-03 9.96801184e-01 -5.88928451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.13, Y:-1.53, Z:-5.90 [[ 9.78432293e-01 1.90923529e-01 7.88571772e-02 7.31340250e+01] [-1.90494514e-01 9.81602209e-01 -1.29978401e-02 -1.52921625e+00] [-7.98879729e-02 -2.30435316e-03 9.96801185e-01 -5.89510050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:-1.54, Z:-5.90 [[ 9.78872642e-01 1.88654326e-01 7.88536361e-02 7.31952102e+01] [-1.88216237e-01 9.82041316e-01 -1.30192879e-02 -1.54034989e+00] [-7.98936735e-02 -2.09730991e-03 9.96801185e-01 -5.90050016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:-1.55, Z:-5.91 [[ 9.79251172e-01 1.86680908e-01 7.88503746e-02 7.32552731e+01] [-1.86234845e-01 9.82418733e-01 -1.30390112e-02 -1.55104878e+00] [-7.98982195e-02 -1.91622031e-03 9.96801185e-01 -5.90558671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:-1.56, Z:-5.91 [[ 9.79308544e-01 1.86380966e-01 7.88473890e-02 7.33169354e+01] [-1.85932482e-01 9.82475763e-01 -1.30570402e-02 -1.56053007e+00] [-7.98992325e-02 -1.87341976e-03 9.96801185e-01 -5.90967873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:-1.57, Z:-5.91 [[ 9.79196956e-01 1.86967875e-01 7.88437350e-02 7.33788470e+01] [-1.86519517e-01 9.82364193e-01 -1.30790679e-02 -1.57027099e+00] [-7.98986276e-02 -1.89891193e-03 9.96801186e-01 -5.91482876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:-1.58, Z:-5.92 [[ 9.78781879e-01 1.89130353e-01 7.88399788e-02 7.34395053e+01] [-1.88687172e-01 9.81949845e-01 -1.31016711e-02 -1.57914196e+00] [-7.98948286e-02 -2.05241439e-03 9.96801186e-01 -5.92115598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:-1.59, Z:-5.93 [[ 9.76899802e-01 1.98624223e-01 7.88365071e-02 7.35019601e+01] [-1.98210139e-01 9.80071701e-01 -1.31225281e-02 -1.58644812e+00] [-7.98718816e-02 -2.80679995e-03 9.96801186e-01 -5.92893389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.56, Y:-1.60, Z:-5.93 [[ 9.76521794e-01 2.00475870e-01 7.88328001e-02 7.35641388e+01] [-2.00066008e-01 9.79694242e-01 -1.31447597e-02 -1.59643135e+00] [-7.98672475e-02 -2.93561933e-03 9.96801186e-01 -5.93491452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.63, Y:-1.61, Z:-5.94 [[ 9.76199395e-01 2.02041358e-01 7.88291216e-02 7.36253236e+01] [-2.01634808e-01 9.79372268e-01 -1.31667833e-02 -1.60605364e+00] [-7.98632904e-02 -3.04128885e-03 9.96801187e-01 -5.94060893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.69, Y:-1.62, Z:-5.95 [[ 9.75830404e-01 2.03817388e-01 7.88257188e-02 7.36876143e+01] [-2.03414972e-01 9.79003804e-01 -1.31871231e-02 -1.61546331e+00] [-7.98584436e-02 -3.16593566e-03 9.96801187e-01 -5.94720667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.75, Y:-1.63, Z:-5.95 [[ 9.75908726e-01 2.03443445e-01 7.88221029e-02 7.37493361e+01] [-2.03038072e-01 9.79081749e-01 -1.32087015e-02 -1.62604696e+00] [-7.98605061e-02 -3.11340078e-03 9.96801187e-01 -5.95163306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.81, Y:-1.64, Z:-5.95 [[ 9.76357550e-01 2.01279895e-01 7.88183879e-02 7.38114409e+01] [-2.00865706e-01 9.79529435e-01 -1.32308319e-02 -1.63690056e+00] [-7.98680314e-02 -2.91388850e-03 9.96801187e-01 -5.95496541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:-1.65, Z:-5.96 [[ 9.76913951e-01 1.98563328e-01 7.88145697e-02 7.38720579e+01] [-1.98138489e-01 9.80084426e-01 -1.32535379e-02 -1.64729520e+00] [-7.98765990e-02 -2.66863367e-03 9.96801187e-01 -5.95839387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:-1.66, Z:-5.96 [[ 9.77176559e-01 1.97268326e-01 7.88110411e-02 7.39335912e+01] [-1.96837597e-01 9.80346239e-01 -1.32744873e-02 -1.65738573e+00] [-7.98807437e-02 -2.54145811e-03 9.96801188e-01 -5.96425813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:-1.67, Z:-5.97 [[ 9.77159010e-01 1.97356702e-01 7.88073677e-02 7.39956182e+01] [-1.96924505e-01 9.80328490e-01 -1.32962602e-02 -1.66594719e+00] [-7.98812138e-02 -2.52654145e-03 9.96801188e-01 -5.97172745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.06, Y:-1.68, Z:-5.98 [[ 9.77224499e-01 1.97033683e-01 7.88035877e-02 7.40569452e+01] [-1.96598636e-01 9.80393590e-01 -1.33186256e-02 -1.67589249e+00] [-7.98827501e-02 -2.47739063e-03 9.96801188e-01 -5.97828700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.12, Y:-1.69, Z:-5.98 [[ 9.77234968e-01 1.96983298e-01 7.87997375e-02 7.41181993e+01] [-1.96546256e-01 9.80403783e-01 -1.33413668e-02 -1.68595442e+00] [-7.98835871e-02 -2.45014320e-03 9.96801188e-01 -5.98443590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.18, Y:-1.70, Z:-5.99 [[ 9.77371819e-01 1.96304581e-01 7.87961833e-02 7.41803338e+01] [-1.95863651e-01 9.80540095e-01 -1.33623257e-02 -1.69671195e+00] [-7.98859028e-02 -2.37334751e-03 9.96801189e-01 -5.99056924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.24, Y:-1.71, Z:-6.00 [[ 9.77658485e-01 1.94873415e-01 7.87923832e-02 7.42417364e+01] [-1.94426045e-01 9.80825858e-01 -1.33846961e-02 -1.70840507e+00] [-7.98899282e-02 -2.23362973e-03 9.96801189e-01 -5.99525760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.30, Y:-1.72, Z:-6.00 [[ 9.77396545e-01 1.96184485e-01 7.87885884e-02 7.43033107e+01] [-1.95739567e-01 9.80564263e-01 -1.34069970e-02 -1.71964329e+00] [-7.98875189e-02 -2.31809163e-03 9.96801189e-01 -5.99986800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:-1.73, Z:-6.00 [[ 9.77093403e-01 1.97690243e-01 7.87848338e-02 7.43650393e+01] [-1.97248432e-01 9.80261556e-01 -1.34290243e-02 -1.72971075e+00] [-7.98845308e-02 -2.41877384e-03 9.96801189e-01 -6.00387750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:-1.74, Z:-6.01 [[ 9.76267266e-01 2.01731957e-01 7.87809796e-02 7.44265186e+01] [-2.01301441e-01 9.79436973e-01 -1.34515968e-02 -1.73878453e+00] [-7.98746212e-02 -2.72637104e-03 9.96801190e-01 -6.00757053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.49, Y:-1.75, Z:-6.01 [[ 9.75415044e-01 2.05814053e-01 7.87786021e-02 7.44889800e+01] [-2.05395678e-01 9.78586376e-01 -1.34655062e-02 -1.74848694e+00] [-7.98630572e-02 -3.04632709e-03 9.96801190e-01 -6.01196377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-1.76, Z:-6.02 [[ 9.74461564e-01 2.10283590e-01 7.87748220e-02 7.45501336e+01] [-2.09877977e-01 9.77634553e-01 -1.34875842e-02 -1.75666029e+00] [-7.98492056e-02 -3.38996796e-03 9.96801190e-01 -6.01772494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-1.77, Z:-6.02 [[ 9.74002585e-01 2.12400665e-01 7.87713282e-02 7.46117890e+01] [-2.12000303e-01 9.77176241e-01 -1.35079587e-02 -1.76609362e+00] [-7.98425698e-02 -3.54275879e-03 9.96801190e-01 -6.02268642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.67, Y:-1.78, Z:-6.03 [[ 9.74212759e-01 2.11435974e-01 7.87675672e-02 7.46739544e+01] [-2.11030703e-01 9.77385792e-01 -1.35298540e-02 -1.77569900e+00] [-7.98469989e-02 -3.44141871e-03 9.96801191e-01 -6.02728050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.74, Y:-1.79, Z:-6.03 [[ 9.75531810e-01 2.05265544e-01 7.87638543e-02 7.47356266e+01] [-2.04838458e-01 9.78701980e-01 -1.35514342e-02 -1.78698894e+00] [-7.98679827e-02 -2.91401137e-03 9.96801191e-01 -6.03151672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.80, Y:-1.80, Z:-6.04 [[ 9.76084074e-01 2.02624574e-01 7.87601522e-02 7.47969811e+01] [-2.02187178e-01 9.79252838e-01 -1.35729167e-02 -1.79830649e+00] [-7.98763091e-02 -2.67598510e-03 9.96801191e-01 -6.03603420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.86, Y:-1.81, Z:-6.04 [[ 9.77873317e-01 1.93807116e-01 7.87564469e-02 7.48586479e+01] [-1.93339411e-01 9.81037749e-01 -1.35943829e-02 -1.81077580e+00] [-7.98977355e-02 -1.93314083e-03 9.96801191e-01 -6.04036927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.92, Y:-1.82, Z:-6.05 [[ 9.79759936e-01 1.84033901e-01 7.87527203e-02 7.49198277e+01] [-1.83532892e-01 9.82919266e-01 -1.36159370e-02 -1.82223605e+00] [-7.99133601e-02 -1.11336490e-03 9.96801191e-01 -6.04538763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.98, Y:-1.83, Z:-6.05 [[ 9.80889829e-01 1.77915029e-01 7.87488724e-02 7.49809562e+01] [-1.77392527e-01 9.84045676e-01 -1.36381559e-02 -1.83465328e+00] [-7.99189202e-02 -5.91933076e-04 9.96801192e-01 -6.05037553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.04, Y:-1.85, Z:-6.06 [[ 9.82336583e-01 1.69747026e-01 7.87450560e-02 7.50408636e+01] [-1.69196519e-01 9.85487665e-01 -1.36601560e-02 -1.84813366e+00] [-7.99210522e-02 9.54816217e-05 9.96801192e-01 -6.05546757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.10, Y:-1.86, Z:-6.06 [[ 9.83321091e-01 1.63949163e-01 7.87420048e-02 7.51004240e+01] [-1.63378671e-01 9.86468616e-01 -1.36777212e-02 -1.86095386e+00] [-7.99189675e-02 5.84827648e-04 9.96801192e-01 -6.06222941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.16, Y:-1.87, Z:-6.07 [[ 9.83930028e-01 1.60255619e-01 7.87390359e-02 7.51610281e+01] [-1.59671946e-01 9.87075135e-01 -1.36947914e-02 -1.87452083e+00] [-7.99160118e-02 9.02301478e-04 9.96801192e-01 -6.06579518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.22, Y:-1.89, Z:-6.07 [[ 9.84560430e-01 1.56337611e-01 7.87356987e-02 7.52217283e+01] [-1.55739890e-01 9.87702898e-01 -1.37139515e-02 -1.88857932e+00] [-7.99114841e-02 1.23992495e-03 9.96801192e-01 -6.06752715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.28, Y:-1.90, Z:-6.07 [[ 9.84714432e-01 1.55366369e-01 7.87323232e-02 7.52821767e+01] [-1.54764003e-01 9.87856012e-01 -1.37333030e-02 -1.90046134e+00] [-7.99098922e-02 1.33845222e-03 9.96801193e-01 -6.07149477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-1.91, Z:-6.08 [[ 9.84726575e-01 1.55291093e-01 7.87289602e-02 7.53436523e+01] [-1.54686948e-01 9.87867813e-01 -1.37525550e-02 -1.91217295e+00] [-7.99094550e-02 1.36416378e-03 9.96801193e-01 -6.07618570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.41, Y:-1.92, Z:-6.08 [[ 9.84626867e-01 1.55923966e-01 7.87251565e-02 7.54053919e+01] [-1.55320102e-01 9.87768158e-01 -1.37742947e-02 -1.92410148e+00] [-7.99099455e-02 1.33494129e-03 9.96801193e-01 -6.08057869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:-1.93, Z:-6.09 [[ 9.84149032e-01 1.58913894e-01 7.87213838e-02 7.54672586e+01] [-1.58317852e-01 9.87291817e-01 -1.37958225e-02 -1.93469222e+00] [-7.99133260e-02 1.11414494e-03 9.96801193e-01 -6.08571185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.53, Y:-1.94, Z:-6.09 [[ 9.83840954e-01 1.60812038e-01 7.87176345e-02 7.55277692e+01] [-1.60220351e-01 9.86984562e-01 -1.38171825e-02 -1.94471753e+00] [-7.99150593e-02 9.81743019e-04 9.96801194e-01 -6.09163103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.59, Y:-1.96, Z:-6.10 [[ 9.83651323e-01 1.61969613e-01 7.87141605e-02 7.55896771e+01] [-1.61380045e-01 9.86795328e-01 -1.38369453e-02 -1.95616612e+00] [-7.99159306e-02 9.07834842e-04 9.96801194e-01 -6.09648474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:-1.97, Z:-6.10 [[ 9.83552426e-01 1.62570906e-01 7.87103970e-02 7.56514247e+01] [-1.61981548e-01 9.86696471e-01 -1.38583209e-02 -1.96707296e+00] [-7.99162307e-02 8.80753104e-04 9.96801194e-01 -6.10166551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.98, Z:-6.11 [[ 9.83470108e-01 1.63070017e-01 7.87065191e-02 7.57131935e+01] [-1.62480496e-01 9.86614122e-01 -1.38803102e-02 -1.97752938e+00] [-7.99164256e-02 8.62595945e-04 9.96801194e-01 -6.10772831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.99, Z:-6.11 [[ 9.83373307e-01 1.63654630e-01 7.87026123e-02 7.57749707e+01] [-1.63065208e-01 9.86517339e-01 -1.39024269e-02 -1.98833739e+00] [-7.99166882e-02 8.37617666e-04 9.96801194e-01 -6.11379614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.84, Y:-2.00, Z:-6.12 [[ 9.83158333e-01 1.64943012e-01 7.86987571e-02 7.58361576e+01] [-1.64355966e-01 9.86302810e-01 -1.39242166e-02 -2.00010931e+00] [-7.99175074e-02 7.55099346e-04 9.96801195e-01 -6.11849808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:-2.01, Z:-6.12 [[ 9.82877429e-01 1.66610527e-01 7.86949284e-02 7.58980802e+01] [-1.66027086e-01 9.86022576e-01 -1.39458216e-02 -2.01145047e+00] [-7.99184967e-02 6.41543615e-04 9.96801195e-01 -6.12184803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.96, Y:-2.02, Z:-6.13 [[ 9.82528764e-01 1.68656329e-01 7.86909801e-02 7.59597806e+01] [-1.68077655e-01 9.85674792e-01 -1.39680649e-02 -2.02320230e+00] [-7.99195180e-02 4.97830128e-04 9.96801195e-01 -6.12682776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.02, Y:-2.04, Z:-6.13 [[ 9.82218564e-01 1.70455399e-01 7.86870371e-02 7.60213950e+01] [-1.69880712e-01 9.85365322e-01 -1.39902420e-02 -2.03587893e+00] [-7.99201899e-02 3.74065543e-04 9.96801195e-01 -6.13113423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.08, Y:-2.05, Z:-6.14 [[ 9.81872721e-01 1.72438193e-01 7.86830898e-02 7.60826335e+01] [-1.71868084e-01 9.85020312e-01 -1.40124071e-02 -2.04811165e+00] [-7.99207158e-02 2.35288359e-04 9.96801196e-01 -6.13562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.14, Y:-2.06, Z:-6.14 [[ 9.81348058e-01 1.75401180e-01 7.86791929e-02 7.61442933e+01] [-1.74838823e-01 9.84497042e-01 -1.40342542e-02 -2.05968578e+00] [-7.99210574e-02 1.63106019e-05 9.96801196e-01 -6.14152942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.20, Y:-2.07, Z:-6.15 [[ 9.80947263e-01 1.77630696e-01 7.86753021e-02 7.62049508e+01] [-1.77073749e-01 9.84097208e-01 -1.40560321e-02 -2.07136175e+00] [-7.99209279e-02 -1.43104460e-04 9.96801196e-01 -6.14780722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.26, Y:-2.09, Z:-6.15 [[ 9.80944778e-01 1.77645958e-01 7.86718310e-02 7.62647380e+01] [-1.77087504e-01 9.84094456e-01 -1.40754335e-02 -2.08565712e+00] [-7.99209566e-02 -1.24575176e-04 9.96801196e-01 -6.15331660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:-2.10, Z:-6.16 [[ 9.81525185e-01 1.74411698e-01 7.86693796e-02 7.63260627e+01] [-1.73841768e-01 9.84672807e-01 -1.40891212e-02 -2.09987230e+00] [-7.99209064e-02 1.52803223e-04 9.96801197e-01 -6.15731333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.39, Y:-2.11, Z:-6.16 [[ 9.81914502e-01 1.72208190e-01 7.86654362e-02 7.63863291e+01] [-1.71629436e-01 9.85060513e-01 -1.41111044e-02 -2.11193562e+00] [-7.99202627e-02 3.54593660e-04 9.96801197e-01 -6.16188671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:-2.12, Z:-6.17 [[ 9.81987591e-01 1.71791795e-01 7.86635291e-02 7.64482977e+01] [-1.71210856e-01 9.85133199e-01 -1.41217282e-02 -2.12458814e+00] [-7.99200511e-02 3.99311792e-04 9.96801197e-01 -6.16646193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.51, Y:-2.14, Z:-6.17 [[ 9.81572476e-01 1.74149758e-01 7.86596267e-02 7.65097674e+01] [-1.73574636e-01 9.84719152e-01 -1.41434318e-02 -2.13606108e+00] [-7.99207161e-02 2.29487285e-04 9.96801197e-01 -6.17181507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:-2.15, Z:-6.18 [[ 9.80529067e-01 1.79933388e-01 7.86557346e-02 7.65719955e+01] [-1.79375092e-01 9.83678773e-01 -1.41650439e-02 -2.14679394e+00] [-7.99207408e-02 -2.19642398e-04 9.96801197e-01 -6.17672993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.63, Y:-2.16, Z:-6.18 [[ 9.79596563e-01 1.84944525e-01 7.86517414e-02 7.66336514e+01] [-1.84400565e-01 9.82748775e-01 -1.41871813e-02 -2.15674999e+00] [-7.99187441e-02 -6.05711492e-04 9.96801198e-01 -6.18075085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.70, Y:-2.17, Z:-6.19 [[ 9.78203524e-01 1.92178033e-01 7.86477591e-02 7.66957739e+01] [-1.91655608e-01 9.81359377e-01 -1.42092236e-02 -2.16558987e+00] [-7.99124165e-02 -1.17377146e-03 9.96801198e-01 -6.18609159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:-2.18, Z:-6.19 [[ 9.77488649e-01 1.95783302e-01 7.86437491e-02 7.67577133e+01] [-1.95270734e-01 9.80646118e-01 -1.42313831e-02 -2.17553863e+00] [-7.99079545e-02 -1.44580718e-03 9.96801198e-01 -6.19218983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:-2.19, Z:-6.20 [[ 9.77238830e-01 1.97028065e-01 7.86397578e-02 7.68191346e+01] [-1.96517747e-01 9.80396662e-01 -1.42534045e-02 -2.18675242e+00] [-7.99064768e-02 -1.52512766e-03 9.96801198e-01 -6.19732004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.88, Y:-2.20, Z:-6.20 [[ 9.77603809e-01 1.95209584e-01 7.86384787e-02 7.68785695e+01] [-1.94692825e-01 9.80760594e-01 -1.42604580e-02 -2.19831773e+00] [-7.99092992e-02 -1.36926952e-03 9.96801198e-01 -6.20334208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.94, Y:-2.21, Z:-6.21 [[ 9.78126118e-01 1.92576736e-01 7.86352169e-02 7.69390253e+01] [-1.92050035e-01 9.81281260e-01 -1.42784218e-02 -2.21056081e+00] [-7.99129566e-02 -1.13579882e-03 9.96801199e-01 -6.20871592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.00, Y:-2.22, Z:-6.21 [[ 9.79271609e-01 1.86666003e-01 7.86315418e-02 7.70002373e+01] [-1.86118634e-01 9.82423230e-01 -1.42986321e-02 -2.22354181e+00] [-7.99185218e-02 -6.32550635e-04 9.96801199e-01 -6.21279643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.06, Y:-2.24, Z:-6.22 [[ 9.80292786e-01 1.81228467e-01 7.86275769e-02 7.70618759e+01] [-1.80661869e-01 9.83441007e-01 -1.43204021e-02 -2.23642910e+00] [-7.99208479e-02 -1.66818133e-04 9.96801199e-01 -6.21848614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.12, Y:-2.25, Z:-6.22 [[ 9.81528074e-01 1.74416068e-01 7.86236267e-02 7.71238109e+01] [-1.73825885e-01 9.84671959e-01 -1.43420568e-02 -2.24838091e+00] [-7.99199657e-02 4.10309908e-04 9.96801199e-01 -6.22240884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:-2.26, Z:-6.23 [[ 9.81857534e-01 1.72553585e-01 7.86196098e-02 7.71857685e+01] [-1.71955679e-01 9.84999959e-01 -1.43640434e-02 -2.26014441e+00] [-7.99188796e-02 5.84355815e-04 9.96801199e-01 -6.22637980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:-2.27, Z:-6.23 [[ 9.81485914e-01 1.74656805e-01 7.86155333e-02 7.72473083e+01] [-1.74063848e-01 9.84629276e-01 -1.43863198e-02 -2.26967172e+00] [-7.99198242e-02 4.35847995e-04 9.96801200e-01 -6.23120895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:-2.28, Z:-6.24 [[ 9.80961481e-01 1.77580428e-01 7.86114734e-02 7.73097031e+01] [-1.76995065e-01 9.84106266e-01 -1.44084702e-02 -2.27822933e+00] [-7.99207059e-02 2.20311409e-04 9.96801200e-01 -6.23701253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:-2.29, Z:-6.24 [[ 9.80342354e-01 1.80968918e-01 7.86073708e-02 7.73719562e+01] [-1.80392633e-01 9.83488815e-01 -1.44308182e-02 -2.28718077e+00] [-7.99209995e-02 -3.30483218e-05 9.96801200e-01 -6.24133395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.43, Y:-2.30, Z:-6.25 [[ 9.79826726e-01 1.83741966e-01 7.86032919e-02 7.74341907e+01] [-1.83172805e-01 9.82974483e-01 -1.44530014e-02 -2.29748396e+00] [-7.99206531e-02 -2.36548462e-04 9.96801200e-01 -6.24619276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:-2.31, Z:-6.25 [[ 9.79199787e-01 1.87055988e-01 7.85992023e-02 7.74965019e+01] [-1.86495698e-01 9.82349135e-01 -1.44752078e-02 -2.30732956e+00] [-7.99195327e-02 -4.84292680e-04 9.96801201e-01 -6.25188644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:-2.32, Z:-6.26 [[ 9.78025883e-01 1.93101458e-01 7.85951574e-02 7.75592975e+01] [-1.92558872e-01 9.81178329e-01 -1.44971369e-02 -2.31518554e+00] [-7.99152835e-02 -9.55619700e-04 9.96801201e-01 -6.25719321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:-2.33, Z:-6.26 [[ 9.77721413e-01 1.94638826e-01 7.85911303e-02 7.76212022e+01] [-1.94099445e-01 9.80874409e-01 -1.45189361e-02 -2.32589787e+00] [-7.99139771e-02 -1.05902005e-03 9.96801201e-01 -6.26219110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:-2.33, Z:-6.27 [[ 9.77517445e-01 1.95662241e-01 7.85870980e-02 7.76820830e+01] [-1.95124409e-01 9.80670705e-01 -1.45407288e-02 -2.33438767e+00] [-7.99131364e-02 -1.12044496e-03 9.96801201e-01 -6.26815912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:-2.34, Z:-6.27 [[ 9.77969348e-01 1.93392277e-01 7.85835929e-02 7.77441948e+01] [-1.92845606e-01 9.81121088e-01 -1.45596474e-02 -2.34475014e+00] [-7.99157435e-02 -9.15611678e-04 9.96801202e-01 -6.27288124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:77.81, Y:-2.36, Z:-6.28 [[ 9.78599781e-01 1.90178161e-01 7.85794807e-02 7.78057256e+01] [-1.89619359e-01 9.81749392e-01 -1.45818076e-02 -2.35600128e+00] [-7.99184988e-02 -6.30437081e-04 9.96801202e-01 -6.27657271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.87, Y:-2.37, Z:-6.28 [[ 9.79619000e-01 1.84858135e-01 7.85753472e-02 7.78668699e+01] [-1.84280444e-01 9.82765201e-01 -1.46040474e-02 -2.36732253e+00] [-7.99207938e-02 -1.73497511e-04 9.96801202e-01 -6.28060732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.93, Y:-2.38, Z:-6.28 [[ 9.79905221e-01 1.83336501e-01 7.85715277e-02 7.79291499e+01] [-1.82752279e-01 9.83050216e-01 -1.46245683e-02 -2.37853929e+00] [-7.99209744e-02 -2.84348702e-05 9.96801202e-01 -6.28431647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.39, Z:-6.29 [[ 9.79609754e-01 1.84910482e-01 7.85674455e-02 7.79910129e+01] [-1.84329557e-01 9.82755359e-01 -1.46464659e-02 -2.38737201e+00] [-7.99208632e-02 -1.34481516e-04 9.96801203e-01 -6.28862651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.40, Z:-6.29 [[ 9.79145712e-01 1.87353878e-01 7.85633420e-02 7.80527833e+01] [-1.86779039e-01 9.82292435e-01 -1.46684445e-02 -2.39637566e+00] [-7.99203664e-02 -3.11440936e-04 9.96801203e-01 -6.29375756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.41, Z:-6.30 [[ 9.78510299e-01 1.90646391e-01 7.85592037e-02 7.81139635e+01] [-1.90080363e-01 9.81658618e-01 -1.46905747e-02 -2.40534483e+00] [-7.99190244e-02 -5.57683283e-04 9.96801203e-01 -6.29983255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:-2.41, Z:-6.31 [[ 9.78236411e-01 1.92048317e-01 7.85555048e-02 7.81739925e+01] [-1.91485215e-01 9.81385255e-01 -1.47103273e-02 -2.41467125e+00] [-7.99183077e-02 -6.52039920e-04 9.96801203e-01 -6.30708358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.24, Y:-2.42, Z:-6.31 [[ 9.78401718e-01 1.91205761e-01 7.85521182e-02 7.82357843e+01] [-1.90638497e-01 9.81549814e-01 -1.47283893e-02 -2.42457318e+00] [-7.99189699e-02 -5.64776408e-04 9.96801203e-01 -6.31156846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.30, Y:-2.44, Z:-6.32 [[ 9.78525708e-01 1.90571915e-01 7.85479752e-02 7.82966008e+01] [-1.90000841e-01 9.81673115e-01 -1.47504517e-02 -2.43530591e+00] [-7.99194573e-02 -4.90485126e-04 9.96801204e-01 -6.31568194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:-2.45, Z:-6.32 [[ 9.78490855e-01 1.90752274e-01 7.85443603e-02 7.83584788e+01] [-1.90180237e-01 9.81638087e-01 -1.47696756e-02 -2.44713307e+00] [-7.99194848e-02 -4.85592480e-04 9.96801204e-01 -6.32027635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:-2.46, Z:-6.32 [[ 9.78088103e-01 1.92808440e-01 7.85402292e-02 7.84202170e+01] [-1.92241258e-01 9.81236214e-01 -1.47916107e-02 -2.45741664e+00] [-7.99184645e-02 -6.31173944e-04 9.96801204e-01 -6.32453964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.48, Y:-2.47, Z:-6.33 [[ 9.77223214e-01 1.97146871e-01 7.85359831e-02 7.84807002e+01] [-1.96591855e-01 9.80373492e-01 -1.48141212e-02 -2.46704014e+00] [-7.99151537e-02 -9.62831477e-04 9.96801204e-01 -6.33125886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.54, Y:-2.48, Z:-6.34 [[ 9.76371661e-01 2.01322850e-01 7.85333650e-02 7.85428616e+01] [-2.00780192e-01 9.79524091e-01 -1.48279873e-02 -2.47772234e+00] [-7.99105357e-02 -1.29031749e-03 9.96801205e-01 -6.33590011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:-2.49, Z:-6.34 [[ 9.75532398e-01 2.05352646e-01 7.85291751e-02 7.86046210e+01] [-2.04821227e-01 9.78686742e-01 -1.48501442e-02 -2.48814875e+00] [-7.99049789e-02 -1.59764518e-03 9.96801205e-01 -6.34235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.50, Z:-6.35 [[ 9.75320313e-01 2.06359178e-01 7.85250059e-02 7.86648627e+01] [-2.05829242e-01 9.78474906e-01 -1.48721575e-02 -2.49852616e+00] [-7.99037540e-02 -1.65762516e-03 9.96801205e-01 -6.34726303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.73, Y:-2.51, Z:-6.35 [[ 9.75384305e-01 2.06057771e-01 7.85216714e-02 7.87267460e+01] [-2.05525446e-01 9.78538495e-01 -1.48897424e-02 -2.51064671e+00] [-7.99046253e-02 -1.61498045e-03 9.96801205e-01 -6.35127547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.79, Y:-2.52, Z:-6.36 [[ 9.75720781e-01 2.04460190e-01 7.85174319e-02 7.87887753e+01] [-2.03920905e-01 9.78873789e-01 -1.49120649e-02 -2.52282932e+00] [-7.99075797e-02 -1.46133416e-03 9.96801205e-01 -6.35519154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.85, Y:-2.54, Z:-6.36 [[ 9.76380406e-01 2.01288290e-01 7.85132352e-02 7.88501032e+01] [-2.00736986e-01 9.79531334e-01 -1.49341283e-02 -2.53533750e+00] [-7.99122392e-02 -1.17911994e-03 9.96801206e-01 -6.36024091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.91, Y:-2.55, Z:-6.37 [[ 9.76731068e-01 1.99581454e-01 7.85090029e-02 7.89111940e+01] [-1.99022859e-01 9.79880712e-01 -1.49563447e-02 -2.54731657e+00] [-7.99144667e-02 -1.01675971e-03 9.96801206e-01 -6.36690045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.97, Y:-2.56, Z:-6.37 [[ 9.77446348e-01 1.96050069e-01 7.85048263e-02 7.89711751e+01] [-1.95478336e-01 9.80593633e-01 -1.49782355e-02 -2.55962106e+00] [-7.99178169e-02 -7.05571261e-04 9.96801206e-01 -6.37426042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.03, Y:-2.57, Z:-6.38 [[ 9.78233459e-01 1.92085580e-01 7.85011483e-02 7.90316558e+01] [-1.91499546e-01 9.81378112e-01 -1.49974872e-02 -2.57494751e+00] [-7.99201098e-02 -3.61890555e-04 9.96801206e-01 -6.37934546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.09, Y:-2.59, Z:-6.38 [[ 9.78737675e-01 1.89501427e-01 7.84969537e-02 7.90927047e+01] [-1.88905333e-01 9.81880437e-01 -1.50194102e-02 -2.58876063e+00] [-7.99208228e-02 -1.28430521e-04 9.96801207e-01 -6.38435946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.15, Y:-2.60, Z:-6.39 [[ 9.79629710e-01 1.84836467e-01 7.84927447e-02 7.91528429e+01] [-1.84223647e-01 9.82769253e-01 -1.50413744e-02 -2.60285651e+00] [-7.99204506e-02 2.74757584e-04 9.96801207e-01 -6.38856100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.21, Y:-2.62, Z:-6.39 [[ 9.80263582e-01 1.81446364e-01 7.84890273e-02 7.92134523e+01] [-1.80821135e-01 9.83400677e-01 -1.50607481e-02 -2.61683023e+00] [-7.99188805e-02 5.71027825e-04 9.96801207e-01 -6.39289797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:-2.63, Z:-6.40 [[ 9.80765468e-01 1.78715375e-01 7.84851001e-02 7.92739645e+01] [-1.78079776e-01 9.83900478e-01 -1.50811861e-02 -2.63257402e+00] [-7.99167673e-02 8.14497477e-04 9.96801207e-01 -6.39618239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:-2.65, Z:-6.40 [[ 9.80278061e-01 1.81371641e-01 7.84808897e-02 7.93353541e+01] [-1.80742785e-01 9.83414431e-01 -1.51030649e-02 -2.64509888e+00] [-7.99185071e-02 6.20348559e-04 9.96801208e-01 -6.40118880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.40, Y:-2.66, Z:-6.41 [[ 9.79320588e-01 1.86474111e-01 7.84766944e-02 7.93970146e+01] [-1.85859852e-01 9.82459849e-01 -1.51248323e-02 -2.65631389e+00] [-7.99205910e-02 2.26392788e-04 9.96801208e-01 -6.40730128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.46, Y:-2.67, Z:-6.41 [[ 9.77308030e-01 1.96751326e-01 7.84724841e-02 7.94587749e+01] [-1.96168327e-01 9.80453245e-01 -1.51466455e-02 -2.66789499e+00] [-7.99187243e-02 -5.90877648e-04 9.96801208e-01 -6.41362463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:-2.68, Z:-6.42 [[ 9.76099062e-01 2.02665608e-01 7.84682954e-02 7.95208442e+01] [-2.02099923e-01 9.79247437e-01 -1.51683143e-02 -2.67923500e+00] [-7.99139728e-02 -1.05265913e-03 9.96801208e-01 -6.41914942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:-2.69, Z:-6.42 [[ 9.74986494e-01 2.07953680e-01 7.84640278e-02 7.95830186e+01] [-2.07403296e-01 9.78137580e-01 -1.51903585e-02 -2.69035902e+00] [-7.99075052e-02 -1.46330358e-03 9.96801209e-01 -6.42429126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:-2.70, Z:-6.43 [[ 9.74650796e-01 2.09523058e-01 7.84596363e-02 7.96445381e+01] [-2.08975925e-01 9.77802448e-01 -1.52130073e-02 -2.70322533e+00] [-7.99055002e-02 -1.56880544e-03 9.96801209e-01 -6.42900931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.70, Y:-2.72, Z:-6.43 [[ 9.74746971e-01 2.09076806e-01 7.84552802e-02 7.97049400e+01] [-2.08526426e-01 9.77898058e-01 -1.52354390e-02 -2.71674898e+00] [-7.99066431e-02 -1.50930112e-03 9.96801209e-01 -6.43452616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.77, Y:-2.73, Z:-6.44 [[ 9.75274855e-01 2.06601931e-01 7.84512540e-02 7.97662683e+01] [-2.06041889e-01 9.78424238e-01 -1.52561433e-02 -2.73010672e+00] [-7.99105571e-02 -1.28531156e-03 9.96801209e-01 -6.44024454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.83, Y:-2.74, Z:-6.45 [[ 9.75730876e-01 2.04439068e-01 7.84469606e-02 7.98272084e+01] [-2.03870272e-01 9.78878690e-01 -1.52781882e-02 -2.74385344e+00] [-7.99135165e-02 -1.08560326e-03 9.96801210e-01 -6.44522786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.89, Y:-2.76, Z:-6.45 [[ 9.76415121e-01 2.01147398e-01 7.84425690e-02 7.98877393e+01] [-2.00566181e-01 9.79560665e-01 -1.53007026e-02 -2.76097583e+00] [-7.99169515e-02 -7.93089141e-04 9.96801210e-01 -6.44985905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.95, Y:-2.78, Z:-6.46 [[ 9.76684812e-01 1.99835488e-01 7.84382245e-02 7.99477498e+01] [-1.99248261e-01 9.79829239e-01 -1.53229423e-02 -2.77542035e+00] [-7.99181335e-02 -6.62994750e-04 9.96801210e-01 -6.45756276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:-2.79, Z:-6.46 [[ 9.76781877e-01 1.99361991e-01 7.84344358e-02 8.00086367e+01] [-1.98771684e-01 9.79925727e-01 -1.53423111e-02 -2.79168848e+00] [-7.99185953e-02 -6.04453383e-04 9.96801210e-01 -6.46328710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:-2.80, Z:-6.47 [[ 9.76264346e-01 2.01882796e-01 7.84299910e-02 8.00696306e+01] [-2.01298783e-01 9.79409371e-01 -1.53649996e-02 -2.80405119e+00] [-7.99169973e-02 -7.87560450e-04 9.96801211e-01 -6.46756228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.13, Y:-2.82, Z:-6.47 [[ 9.75353105e-01 2.06241852e-01 7.84258875e-02 8.01314578e+01] [-2.05670213e-01 9.78500402e-01 -1.53859165e-02 -2.81796654e+00] [-7.99129823e-02 -1.12316754e-03 9.96801211e-01 -6.46998774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.19, Y:-2.83, Z:-6.47 [[ 9.74349677e-01 2.10933110e-01 7.84214869e-02 8.01932662e+01] [-2.10374822e-01 9.77499370e-01 -1.54083137e-02 -2.82929677e+00] [-7.99070775e-02 -1.48482080e-03 9.96801211e-01 -6.47491337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.25, Y:-2.84, Z:-6.48 [[ 9.74112500e-01 2.12027365e-01 7.84170535e-02 8.02549096e+01] [-2.11470802e-01 9.77262498e-01 -1.54308434e-02 -2.84179879e+00] [-7.99058066e-02 -1.55153977e-03 9.96801211e-01 -6.47956223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-2.85, Z:-6.48 [[ 9.73529892e-01 2.14688149e-01 7.84126721e-02 8.03168958e+01] [-2.14138405e-01 9.76681087e-01 -1.54530759e-02 -2.85360985e+00] [-7.99017661e-02 -1.74713323e-03 9.96801212e-01 -6.48453066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-2.86, Z:-6.49 [[ 9.73652481e-01 2.14133123e-01 7.84082414e-02 8.03761681e+01] [-2.13579775e-01 9.76803045e-01 -1.54755247e-02 -2.86448238e+00] [-7.99032313e-02 -1.67863151e-03 9.96801212e-01 -6.49170049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.44, Y:-2.88, Z:-6.50 [[ 9.73762617e-01 2.13633026e-01 7.84046980e-02 8.04375236e+01] [-2.13076616e-01 9.76912641e-01 -1.54934562e-02 -2.87726795e+00] [-7.99044545e-02 -1.61925932e-03 9.96801212e-01 -6.49642447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:80.50, Y:-2.89, Z:-6.50 [[ 9.74616939e-01 2.09702655e-01 7.84003727e-02 8.04991029e+01] [-2.09131784e-01 9.77764375e-01 -1.55153125e-02 -2.89075218e+00] [-7.99106936e-02 -1.27452334e-03 9.96801212e-01 -6.49989657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.56, Y:-2.90, Z:-6.50 [[ 9.75738796e-01 2.04420793e-01 7.83960605e-02 8.05603062e+01] [-2.03831135e-01 9.78882765e-01 -1.55370705e-02 -2.90399844e+00] [-7.99166528e-02 -8.19435512e-04 9.96801212e-01 -6.50411048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-2.92, Z:-6.51 [[ 9.77114248e-01 1.97743516e-01 7.83916326e-02 8.06200607e+01] [-1.97130582e-01 9.80253763e-01 -1.55593793e-02 -2.91752817e+00] [-7.99204592e-02 -2.50097000e-04 9.96801213e-01 -6.50880846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.68, Y:-2.93, Z:-6.51 [[ 9.78335941e-01 1.91609337e-01 7.83878133e-02 8.06817797e+01] [-1.90975178e-01 9.81471237e-01 -1.55785972e-02 -2.93142594e+00] [-7.99203888e-02 2.70974882e-04 9.96801213e-01 -6.51235132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.74, Y:-2.94, Z:-6.52 [[ 9.79552825e-01 1.85289765e-01 7.83834527e-02 8.07435885e+01] [-1.84633627e-01 9.82683595e-01 -1.56005070e-02 -2.94210785e+00] [-7.99167474e-02 8.09299517e-04 9.96801213e-01 -6.51728087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:-2.95, Z:-6.53 [[ 9.79651852e-01 1.84767333e-01 7.83790838e-02 8.08047418e+01] [-1.84107772e-01 9.82781903e-01 -1.56224262e-02 -2.95155829e+00] [-7.99160591e-02 8.74340296e-04 9.96801213e-01 -6.52575679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.87, Y:-2.96, Z:-6.53 [[ 9.80056578e-01 1.82610025e-01 7.83752640e-02 8.08654395e+01] [-1.81942043e-01 9.83184842e-01 -1.56415662e-02 -2.95956737e+00] [-7.99136784e-02 1.06986418e-03 9.96801214e-01 -6.53198825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.93, Y:-2.97, Z:-6.54 [[ 9.80006894e-01 1.82877975e-01 7.83717625e-02 8.09274121e+01] [-1.82209448e-01 9.83135042e-01 -1.56590910e-02 -2.97202739e+00] [-7.99137288e-02 1.06594162e-03 9.96801214e-01 -6.53706305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.99, Y:-2.98, Z:-6.54 [[ 9.80126406e-01 1.82238212e-01 7.83674840e-02 8.09897013e+01] [-1.81565934e-01 9.83253749e-01 -1.56804739e-02 -2.98226867e+00] [-7.99127040e-02 1.13998105e-03 9.96801214e-01 -6.54099490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.05, Y:-2.99, Z:-6.54 [[ 9.79896597e-01 1.83471734e-01 7.83631459e-02 8.10511039e+01] [-1.82801661e-01 9.83024413e-01 -1.57021240e-02 -2.98966876e+00] [-7.99137813e-02 1.06154464e-03 9.96801214e-01 -6.54299807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.11, Y:-3.00, Z:-6.55 [[ 9.79411592e-01 1.86044900e-01 7.83596083e-02 8.11128991e+01] [-1.85381634e-01 9.82540859e-01 -1.57197580e-02 -2.99838466e+00] [-7.99160976e-02 8.69680986e-04 9.96801214e-01 -6.54884289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.17, Y:-3.01, Z:-6.55 [[ 9.79263623e-01 1.86824021e-01 7.83552247e-02 8.11743436e+01] [-1.86161500e-01 9.82393047e-01 -1.57415781e-02 -3.00913552e+00] [-7.99165328e-02 8.28428698e-04 9.96801215e-01 -6.55436858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.24, Y:-3.02, Z:-6.56 [[ 9.79085656e-01 1.87756317e-01 7.83507770e-02 8.12350221e+01] [-1.87095007e-01 9.82215335e-01 -1.57636847e-02 -3.02012774e+00] [-7.99170661e-02 7.74958395e-04 9.96801215e-01 -6.56040801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.30, Y:-3.03, Z:-6.57 [[ 9.78727236e-01 1.89617504e-01 7.83466674e-02 8.12967136e+01] [-1.88960512e-01 9.81857825e-01 -1.57840833e-02 -3.03004417e+00] [-7.99182269e-02 6.43885808e-04 9.96801215e-01 -6.56641975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.36, Y:-3.04, Z:-6.57 [[ 9.78522819e-01 1.90671370e-01 7.83423369e-02 8.13581092e+01] [-1.90016031e-01 9.81653754e-01 -1.58055480e-02 -3.04093878e+00] [-7.99187146e-02 5.79789403e-04 9.96801215e-01 -6.57208244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.42, Y:-3.05, Z:-6.58 [[ 9.78424211e-01 1.91178516e-01 7.83379767e-02 8.14201182e+01] [-1.90523073e-01 9.81555124e-01 -1.58271292e-02 -3.05242481e+00] [-7.99188495e-02 5.60454376e-04 9.96801216e-01 -6.57735003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.48, Y:-3.06, Z:-6.58 [[ 9.78424903e-01 1.91176810e-01 7.83334978e-02 8.14821694e+01] [-1.90519589e-01 9.81555443e-01 -1.58492660e-02 -3.06407455e+00] [-7.99186832e-02 5.83250781e-04 9.96801216e-01 -6.58288894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.54, Y:-3.08, Z:-6.59 [[ 9.78428981e-01 1.91157754e-01 7.83290637e-02 8.15425269e+01] [-1.90498720e-01 9.81559139e-01 -1.58711500e-02 -3.07643245e+00] [-7.99185017e-02 6.07206697e-04 9.96801216e-01 -6.58846918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:-3.09, Z:-6.59 [[ 9.78357791e-01 1.91523452e-01 7.83249641e-02 8.16037864e+01] [-1.90863970e-01 9.81487855e-01 -1.58913559e-02 -3.08884230e+00] [-7.99185684e-02 5.98018319e-04 9.96801216e-01 -6.59370944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:-3.10, Z:-6.60 [[ 9.78317090e-01 1.91733060e-01 7.83205257e-02 8.16656341e+01] [-1.91072500e-01 9.81446927e-01 -1.59132007e-02 -3.10084605e+00] [-7.99185259e-02 6.03257487e-04 9.96801217e-01 -6.59907317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:-3.11, Z:-6.60 [[ 9.78813134e-01 1.89186251e-01 7.83160989e-02 8.17275957e+01] [-1.88515806e-01 9.81940868e-01 -1.59349575e-02 -3.11356443e+00] [-7.99164529e-02 8.33523151e-04 9.96801217e-01 -6.60398131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:-3.13, Z:-6.60 [[ 9.79289007e-01 1.86708629e-01 7.83130169e-02 8.17881441e+01] [-1.86029062e-01 9.82414771e-01 -1.59500898e-02 -3.13120135e+00] [-7.99138839e-02 1.05125053e-03 9.96801217e-01 -6.60426541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:-3.14, Z:-6.61 [[ 9.80658895e-01 1.79375764e-01 7.83100734e-02 8.18482978e+01] [-1.78671675e-01 9.83779226e-01 -1.59645282e-02 -3.14025321e+00] [-7.99034729e-02 1.66396463e-03 9.96801217e-01 -6.61251111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:-3.15, Z:-6.62 [[ 9.81280213e-01 1.75946096e-01 7.83078247e-02 8.19092539e+01] [-1.75230223e-01 9.84397862e-01 -1.59755510e-02 -3.15313245e+00] [-7.98968910e-02 1.95459456e-03 9.96801217e-01 -6.61738181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.97, Y:-3.17, Z:-6.62 [[ 9.81815772e-01 1.72934597e-01 7.83033482e-02 8.19692700e+01] [-1.72207415e-01 9.84930803e-01 -1.59974622e-02 -3.16573421e+00] [-7.98898943e-02 2.22214355e-03 9.96801217e-01 -6.62365156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.03, Y:-3.18, Z:-6.63 [[ 9.81794546e-01 1.73056314e-01 7.83005881e-02 8.20308443e+01] [-1.72328443e-01 9.84909416e-01 -1.60109606e-02 -3.17811342e+00] [-7.98897842e-02 2.22605529e-03 9.96801217e-01 -6.62941192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.09, Y:-3.19, Z:-6.63 [[ 9.81338892e-01 1.75623643e-01 7.82963269e-02 8.20923412e+01] [-1.74902262e-01 9.84455271e-01 -1.60317713e-02 -3.18922871e+00] [-7.98947898e-02 2.03839597e-03 9.96801218e-01 -6.63404883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.15, Y:-3.20, Z:-6.64 [[ 9.80764882e-01 1.78803371e-01 7.82917690e-02 8.21532104e+01] [-1.78090321e-01 9.83883177e-01 -1.60539995e-02 -3.20062554e+00] [-7.99004636e-02 1.80219265e-03 9.96801218e-01 -6.63948029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:-3.21, Z:-6.64 [[ 9.80104096e-01 1.82392491e-01 7.82875530e-02 8.22144665e+01] [-1.81689221e-01 9.83224611e-01 -1.60745326e-02 -3.21239285e+00] [-7.99061229e-02 1.53071072e-03 9.96801218e-01 -6.64385538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.27, Y:-3.22, Z:-6.65 [[ 9.78877293e-01 1.88867711e-01 7.82830307e-02 8.22749301e+01] [-1.88183327e-01 9.82002005e-01 -1.60965260e-02 -3.22481980e+00] [-7.99142071e-02 1.02496267e-03 9.96801218e-01 -6.64922318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:-3.23, Z:-6.66 [[ 9.78176343e-01 1.92465726e-01 7.82814517e-02 8.23365011e+01] [-1.91792223e-01 9.81303418e-01 -1.61042016e-02 -3.23352239e+00] [-7.99173630e-02 7.38975442e-04 9.96801218e-01 -6.65656648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:-3.25, Z:-6.66 [[ 9.77636741e-01 1.95190215e-01 7.82763174e-02 8.23977996e+01] [-1.94523431e-01 9.80765255e-01 -1.61291192e-02 -3.24662878e+00] [-7.99189386e-02 5.41841726e-04 9.96801219e-01 -6.66190976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.46, Y:-3.26, Z:-6.67 [[ 9.77927982e-01 1.93726689e-01 7.82740857e-02 8.24590669e+01] [-1.93054356e-01 9.81055308e-01 -1.61399421e-02 -3.25653779e+00] [-7.99179448e-02 6.72547807e-04 9.96801219e-01 -6.66812620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.52, Y:-3.27, Z:-6.67 [[ 9.78310067e-01 1.91789801e-01 7.82693126e-02 8.25201395e+01] [-1.91109428e-01 9.81435654e-01 -1.61630558e-02 -3.27087626e+00] [-7.99162032e-02 8.54476677e-04 9.96801219e-01 -6.67077064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.58, Y:-3.28, Z:-6.68 [[ 9.79101556e-01 1.87709362e-01 7.82645395e-02 8.25814137e+01] [-1.87014119e-01 9.82223869e-01 -1.61861355e-02 -3.28277837e+00] [-7.99115879e-02 1.21129656e-03 9.96801219e-01 -6.67802705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.64, Y:-3.30, Z:-6.68 [[ 9.79612670e-01 1.85025476e-01 7.82597662e-02 8.26414344e+01] [-1.84319838e-01 9.82732649e-01 -1.62091815e-02 -3.29643507e+00] [-7.99075389e-02 1.45389207e-03 9.96801220e-01 -6.68042897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.70, Y:-3.31, Z:-6.69 [[ 9.80399151e-01 1.80813727e-01 7.82553567e-02 8.27023809e+01] [-1.80092992e-01 9.83515677e-01 -1.62304423e-02 -3.30915557e+00] [-7.99000568e-02 1.81907048e-03 9.96801220e-01 -6.68513584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:-3.32, Z:-6.69 [[ 9.81452264e-01 1.75009319e-01 7.82508259e-02 8.27640245e+01] [-1.74268417e-01 9.84564057e-01 -1.62522569e-02 -3.32194542e+00] [-7.98872470e-02 2.31416678e-03 9.96801220e-01 -6.69134097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-3.33, Z:-6.69 [[ 9.81767149e-01 1.73235084e-01 7.82487717e-02 8.28246936e+01] [-1.72487772e-01 9.84877409e-01 -1.62621409e-02 -3.33377604e+00] [-7.98826209e-02 2.46867940e-03 9.96801220e-01 -6.69486773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:-3.34, Z:-6.70 [[ 9.81986864e-01 1.71987281e-01 7.82443245e-02 8.28858524e+01] [-1.71234316e-01 9.85095760e-01 -1.62835106e-02 -3.34401929e+00] [-7.98787090e-02 2.59208006e-03 9.96801220e-01 -6.70262545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:-3.35, Z:-6.71 [[ 9.82184557e-01 1.70856779e-01 7.82397452e-02 8.29479716e+01] [-1.70098488e-01 9.85292158e-01 -1.63054839e-02 -3.35404097e+00] [-7.98749098e-02 2.70653215e-03 9.96801221e-01 -6.70813292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:-3.37, Z:-6.71 [[ 9.81762484e-01 1.73267695e-01 7.82351032e-02 8.30102775e+01] [-1.72515265e-01 9.84871509e-01 -1.63277261e-02 -3.36512295e+00] [-7.98805916e-02 2.53319932e-03 9.96801221e-01 -6.71145869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:-3.38, Z:-6.72 [[ 9.81370873e-01 1.75474240e-01 7.82304273e-02 8.30721164e+01] [-1.74727019e-01 9.84481154e-01 -1.63500991e-02 -3.37511048e+00] [-7.98854026e-02 2.37654166e-03 9.96801221e-01 -6.71664437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:-3.38, Z:-6.72 [[ 9.80294672e-01 1.81392062e-01 7.82258040e-02 8.31343733e+01] [-1.80661859e-01 9.83408991e-01 -1.63721892e-02 -3.38454451e+00] [-7.98977442e-02 1.91715065e-03 9.96801221e-01 -6.72300161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.20, Y:-3.39, Z:-6.73 [[ 9.78906256e-01 1.88743162e-01 7.82212326e-02 8.31961330e+01] [-1.88034607e-01 9.82025572e-01 -1.63940009e-02 -3.39339487e+00] [-7.99095063e-02 1.33989132e-03 9.96801222e-01 -6.72953001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.26, Y:-3.40, Z:-6.74 [[ 9.77956426e-01 1.93606257e-01 7.82166646e-02 8.32582786e+01] [-1.92911474e-01 9.81078838e-01 -1.64157666e-02 -3.40400940e+00] [-7.99149095e-02 9.65012378e-04 9.96801222e-01 -6.73561478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.32, Y:-3.41, Z:-6.74 [[ 9.77026985e-01 1.98245179e-01 7.82120119e-02 8.33194683e+01] [-1.97563450e-01 9.80152273e-01 -1.64379043e-02 -3.41421721e+00] [-7.99184165e-02 6.08441213e-04 9.96801222e-01 -6.74118923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.38, Y:-3.43, Z:-6.75 [[ 9.76803731e-01 1.99343984e-01 7.82077144e-02 8.33808151e+01] [-1.98664135e-01 9.79929429e-01 -1.64583254e-02 -3.42642311e+00] [-7.99189090e-02 5.39485752e-04 9.96801222e-01 -6.74587980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.44, Y:-3.44, Z:-6.75 [[ 9.77297000e-01 1.96913192e-01 7.82033813e-02 8.34420504e+01] [-1.96223924e-01 9.80420633e-01 -1.64788890e-02 -3.43853724e+00] [-7.99171192e-02 7.59394486e-04 9.96801223e-01 -6.75081160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.50, Y:-3.45, Z:-6.76 [[ 9.77945255e-01 1.93669902e-01 7.81987651e-02 8.35032819e+01] [-1.92968525e-01 9.81066192e-01 -1.65007656e-02 -3.45149821e+00] [-7.99138664e-02 1.04694506e-03 9.96801223e-01 -6.75546096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:-3.46, Z:-6.76 [[ 9.79067203e-01 1.87917775e-01 7.81941321e-02 8.35641636e+01] [-1.87196314e-01 9.82183558e-01 -1.65226915e-02 -3.46415881e+00] [-7.99058983e-02 1.53917207e-03 9.96801223e-01 -6.75559285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.62, Y:-3.48, Z:-6.77 [[ 9.79461474e-01 1.85853607e-01 7.81898765e-02 8.36231959e+01] [-1.85123974e-01 9.82575926e-01 -1.65428061e-02 -3.47615381e+00] [-7.99020304e-02 1.72822060e-03 9.96801223e-01 -6.76548648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.68, Y:-3.49, Z:-6.77 [[ 9.79653519e-01 1.84840294e-01 7.81859891e-02 8.36839855e+01] [-1.84105975e-01 9.82766869e-01 -1.65611585e-02 -3.48734902e+00] [-7.98997691e-02 1.82968942e-03 9.96801223e-01 -6.77202567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.75, Y:-3.50, Z:-6.78 [[ 9.79562387e-01 1.85324474e-01 7.81816459e-02 8.37456566e+01] [-1.84590061e-01 9.82675714e-01 -1.65816366e-02 -3.49902638e+00] [-7.99001878e-02 1.81119279e-03 9.96801224e-01 -6.77710122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.81, Y:-3.51, Z:-6.78 [[ 9.79437088e-01 1.85987521e-01 7.81769255e-02 8.38063254e+01] [-1.85253442e-01 9.82550494e-01 -1.66038623e-02 -3.51140404e+00] [-7.99008879e-02 1.77989395e-03 9.96801224e-01 -6.78230292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.87, Y:-3.52, Z:-6.79 [[ 9.79074806e-01 1.87886530e-01 7.81740149e-02 8.38673829e+01] [-1.87157397e-01 9.82189374e-01 -1.66175545e-02 -3.52425048e+00] [-7.99039014e-02 1.63898377e-03 9.96801224e-01 -6.78567641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.93, Y:-3.54, Z:-6.79 [[ 9.78531329e-01 1.90698700e-01 7.81693287e-02 8.39285587e+01] [-1.89976760e-01 9.81647572e-01 -1.66395694e-02 -3.53677601e+00] [-7.99078759e-02 1.43198417e-03 9.96801224e-01 -6.79025197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.99, Y:-3.55, Z:-6.80 [[ 9.77318645e-01 1.96821114e-01 7.81646726e-02 8.39903510e+01] [-1.96116951e-01 9.80438952e-01 -1.66614127e-02 -3.54835917e+00] [-7.99150075e-02 9.54091989e-04 9.96801225e-01 -6.79547758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:-3.56, Z:-6.80 [[ 9.75766649e-01 2.04378205e-01 7.81600657e-02 8.40517921e+01] [-2.03696481e-01 9.78891935e-01 -1.66829964e-02 -3.55915081e+00] [-7.99198988e-02 3.57781084e-04 9.96801225e-01 -6.80032170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.11, Y:-3.57, Z:-6.81 [[ 9.74741801e-01 2.09213210e-01 7.81553193e-02 8.41123575e+01] [-2.08545208e-01 9.77870049e-01 -1.67052023e-02 -3.57108475e+00] [-7.99206949e-02 -1.56583403e-05 9.96801225e-01 -6.80602786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.17, Y:-3.58, Z:-6.81 [[ 9.73773838e-01 2.13674858e-01 7.81509267e-02 8.41739086e+01] [-2.13019541e-01 9.76904768e-01 -1.67257270e-02 -3.58370623e+00] [-7.99198802e-02 -3.60599207e-04 9.96801225e-01 -6.81153806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.23, Y:-3.60, Z:-6.82 [[ 9.73695412e-01 2.14033706e-01 7.81461346e-02 8.42339453e+01] [-2.13377748e-01 9.76826207e-01 -1.67480870e-02 -3.59715762e+00] [-7.99198473e-02 -3.67110745e-04 9.96801226e-01 -6.81708912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.29, Y:-3.61, Z:-6.82 [[ 9.74324274e-01 2.11154169e-01 7.81417042e-02 8.42945101e+01] [-2.10487303e-01 9.77452764e-01 -1.67687325e-02 -3.61285890e+00] [-7.99206125e-02 -1.09653480e-04 9.96801226e-01 -6.82101489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.36, Y:-3.63, Z:-6.83 [[ 9.74882406e-01 2.08563939e-01 7.81369152e-02 8.43551367e+01] [-2.07886975e-01 9.78008726e-01 -1.67910181e-02 -3.62824874e+00] [-7.99205858e-02 1.25621203e-04 9.96801226e-01 -6.82582548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.42, Y:-3.65, Z:-6.82 [[ 9.75279423e-01 2.06701250e-01 7.81321928e-02 8.44155130e+01] [-2.06016556e-01 9.78404059e-01 -1.68129637e-02 -3.64681525e+00] [-7.99201152e-02 3.00812281e-04 9.96801226e-01 -6.82496906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.47, Y:-3.66, Z:-6.84 [[ 9.75902468e-01 2.03739971e-01 7.81306438e-02 8.44742101e+01] [-2.03045220e-01 9.79024883e-01 -1.68201592e-02 -3.65903616e+00] [-7.99187831e-02 5.50781048e-04 9.96801226e-01 -6.83662005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.54, Y:-3.67, Z:-6.84 [[ 9.75880813e-01 2.03844483e-01 7.81285155e-02 8.45357090e+01] [-2.03149276e-01 9.79003126e-01 -1.68300390e-02 -3.67344762e+00] [-7.99187716e-02 5.52360749e-04 9.96801226e-01 -6.84182352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.60, Y:-3.69, Z:-6.85 [[ 9.75669015e-01 2.04857647e-01 7.81237362e-02 8.45954356e+01] [-2.04163908e-01 9.78791654e-01 -1.68521950e-02 -3.68935846e+00] [-7.99191620e-02 4.92117208e-04 9.96801227e-01 -6.84651478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.65, Y:-3.70, Z:-6.85 [[ 9.75075934e-01 2.07663821e-01 7.81195285e-02 8.46546969e+01] [-2.06977508e-01 9.78200214e-01 -1.68716781e-02 -3.70420146e+00] [-7.99201766e-02 2.82181961e-04 9.96801227e-01 -6.85271420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.72, Y:-3.72, Z:-6.86 [[ 9.74603704e-01 2.09870341e-01 7.81156804e-02 8.47157032e+01] [-2.09189675e-01 9.77729219e-01 -1.68894756e-02 -3.71876186e+00] [-7.99205832e-02 1.19551693e-04 9.96801227e-01 -6.85788589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.78, Y:-3.74, Z:-6.86 [[ 9.73496418e-01 2.14949799e-01 7.81108725e-02 8.47759188e+01] [-2.14283659e-01 9.76625060e-01 -1.69116825e-02 -3.73547820e+00] [-7.99201983e-02 -2.74421253e-04 9.96801227e-01 -6.86195218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-3.75, Z:-6.87 [[ 9.73282367e-01 2.15918676e-01 7.81060777e-02 8.48368101e+01] [-2.15253875e-01 9.76411294e-01 -1.69337982e-02 -3.74939953e+00] [-7.99199797e-02 -3.31268742e-04 9.96801227e-01 -6.86614786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:-3.77, Z:-6.87 [[ 9.72508285e-01 2.19379408e-01 7.81044932e-02 8.48960633e+01] [-2.18725154e-01 9.75639434e-01 -1.69411031e-02 -3.76523945e+00] [-7.99183528e-02 -6.08054218e-04 9.96801228e-01 -6.87094608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.96, Y:-3.78, Z:-6.88 [[ 9.71953351e-01 2.21826540e-01 7.81003764e-02 8.49565011e+01] [-2.21178647e-01 9.75085823e-01 -1.69600611e-02 -3.78238749e+00] [-7.99167615e-02 -7.89747380e-04 9.96801228e-01 -6.87536865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.02, Y:-3.80, Z:-6.88 [[ 9.71555713e-01 2.23563413e-01 7.80954333e-02 8.50157125e+01] [-2.22919293e-01 9.74688962e-01 -1.69827921e-02 -3.79800718e+00] [-7.99154878e-02 -9.09250101e-04 9.96801228e-01 -6.88125945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:-3.81, Z:-6.89 [[ 9.70790785e-01 2.26863547e-01 7.80908673e-02 8.50758854e+01] [-2.26228391e-01 9.73925863e-01 -1.70037616e-02 -3.81440685e+00] [-7.99122491e-02 -1.15927619e-03 9.96801228e-01 -6.88800984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:-3.83, Z:-6.89 [[ 9.70180337e-01 2.29460599e-01 7.80893573e-02 8.51367359e+01] [-2.28833277e-01 9.73316992e-01 -1.70106937e-02 -3.83013735e+00] [-7.99089823e-02 -1.36600299e-03 9.96801228e-01 -6.89366315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.20, Y:-3.85, Z:-6.90 [[ 9.69558484e-01 2.32075742e-01 7.80845439e-02 8.51967320e+01] [-2.31455103e-01 9.72696469e-01 -1.70327602e-02 -3.84763084e+00] [-7.99054506e-02 -1.55880902e-03 9.96801228e-01 -6.89883582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.26, Y:-3.86, Z:-6.90 [[ 9.69335161e-01 2.33008397e-01 7.80796542e-02 8.52572333e+01] [-2.32388975e-01 9.72473386e-01 -1.70551455e-02 -3.86453019e+00] [-7.99043778e-02 -1.61269863e-03 9.96801229e-01 -6.90423198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:-3.88, Z:-6.91 [[ 9.69108890e-01 2.33949316e-01 7.80748164e-02 8.53171279e+01] [-2.33331160e-01 9.72247364e-01 -1.70772632e-02 -3.88296143e+00] [-7.99032485e-02 -1.66755987e-03 9.96801229e-01 -6.90909750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.38, Y:-3.90, Z:-6.91 [[ 9.69028784e-01 2.34282518e-01 7.80699581e-02 8.53773514e+01] [-2.33663655e-01 9.72167118e-01 -1.70994449e-02 -3.89936471e+00] [-7.99031472e-02 -1.67225744e-03 9.96801229e-01 -6.91373478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.44, Y:-3.92, Z:-6.92 [[ 9.69234737e-01 2.33430646e-01 7.80650922e-02 8.54377633e+01] [-2.32807238e-01 9.72372171e-01 -1.71216308e-02 -3.91714835e+00] [-7.99050365e-02 -1.57923925e-03 9.96801230e-01 -6.91795045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.50, Y:-3.93, Z:-6.92 [[ 9.69640349e-01 2.31741672e-01 7.80601771e-02 8.54972712e+01] [-2.31110999e-01 9.72776331e-01 -1.71440104e-02 -3.93489238e+00] [-7.99080743e-02 -1.41704121e-03 9.96801230e-01 -6.92213848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.56, Y:-3.95, Z:-6.93 [[ 9.69859323e-01 2.30825069e-01 7.80556328e-02 8.55579088e+01] [-2.30189768e-01 9.72994370e-01 -1.71646754e-02 -3.94914366e+00] [-7.99097286e-02 -1.32028756e-03 9.96801230e-01 -6.92689912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.62, Y:-3.96, Z:-6.93 [[ 9.69880171e-01 2.30739072e-01 7.80508480e-02 8.56193353e+01] [-2.30101745e-01 9.73014807e-01 -1.71864055e-02 -3.96008644e+00] [-7.99102060e-02 -1.29088244e-03 9.96801230e-01 -6.93231967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.68, Y:-3.97, Z:-6.94 [[ 9.70032453e-01 2.30099677e-01 7.80459992e-02 8.56804820e+01] [-2.29458515e-01 9.73166307e-01 -1.72083965e-02 -3.97205632e+00] [-7.99113833e-02 -1.21561605e-03 9.96801230e-01 -6.93747016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.74, Y:-3.99, Z:-6.94 [[ 9.70578785e-01 2.27785884e-01 7.80411035e-02 8.57410352e+01] [-2.27135468e-01 9.73710730e-01 -1.72305700e-02 -3.98546025e+00] [-7.99143405e-02 -1.00227691e-03 9.96801231e-01 -6.94242432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.80, Y:-4.00, Z:-6.95 [[ 9.71881207e-01 2.22164829e-01 7.80365800e-02 8.58017169e+01] [-2.21494655e-01 9.75008984e-01 -1.72510326e-02 -4.00006523e+00] [-7.99189393e-02 -5.18731052e-04 9.96801231e-01 -6.94679590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.86, Y:-4.01, Z:-6.95 [[ 9.73360772e-01 2.15591864e-01 7.80317607e-02 8.58630891e+01] [-2.14898823e-01 9.76483562e-01 -1.72728045e-02 -4.01325014e+00] [-7.99206077e-02 4.37367774e-05 9.96801231e-01 -6.95301289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:-4.03, Z:-6.96 [[ 9.74381060e-01 2.10934458e-01 7.80269446e-02 8.59235139e+01] [-2.10224750e-01 9.77500104e-01 -1.72945332e-02 -4.02645243e+00] [-7.99193594e-02 4.48270602e-04 9.96801231e-01 -6.95903342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:-4.04, Z:-6.96 [[ 9.75974481e-01 2.03436133e-01 7.80227619e-02 8.59842519e+01] [-2.02700957e-01 9.79087621e-01 -1.73133826e-02 -4.04091301e+00] [-7.99132879e-02 1.08213109e-03 9.96801232e-01 -6.96207413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.05, Y:-4.05, Z:-6.97 [[ 9.76703531e-01 1.99908536e-01 7.80178773e-02 8.60453136e+01] [-1.99160362e-01 9.79813572e-01 -1.73353657e-02 -4.05458902e+00] [-7.99084626e-02 1.39344422e-03 9.96801232e-01 -6.96541736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-4.07, Z:-6.97 [[ 9.77278576e-01 1.97080064e-01 7.80130268e-02 8.61072937e+01] [-1.96321150e-01 9.80386013e-01 -1.73571666e-02 -4.06725141e+00] [-7.99036319e-02 1.64717998e-03 9.96801232e-01 -6.96875658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.17, Y:-4.08, Z:-6.97 [[ 9.77420071e-01 1.96379075e-01 7.80080944e-02 8.61676260e+01] [-1.95616165e-01 9.80526530e-01 -1.73793063e-02 -4.07955555e+00] [-7.99019382e-02 1.72723850e-03 9.96801232e-01 -6.97367927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.23, Y:-4.09, Z:-6.98 [[ 9.77212688e-01 1.97410259e-01 7.80035390e-02 8.62295309e+01] [-1.96648998e-01 9.80319550e-01 -1.73997283e-02 -4.09099157e+00] [-7.99032792e-02 1.66391741e-03 9.96801233e-01 -6.97917546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.29, Y:-4.10, Z:-6.98 [[ 9.76853089e-01 1.99183954e-01 7.79986888e-02 8.62912967e+01] [-1.98426601e-01 9.79960906e-01 -1.74214438e-02 -4.10370617e+00] [-7.99057378e-02 1.54117649e-03 9.96801233e-01 -6.98363913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:-4.12, Z:-6.99 [[ 9.76158957e-01 2.02560246e-01 7.79938272e-02 8.63520152e+01] [-2.01811906e-01 9.79268957e-01 -1.74431816e-02 -4.11586383e+00] [-7.99102289e-02 1.28723498e-03 9.96801233e-01 -6.98834473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.41, Y:-4.13, Z:-6.99 [[ 9.75473868e-01 2.05835852e-01 7.79893308e-02 8.64138909e+01] [-2.05096352e-01 9.78585980e-01 -1.74632622e-02 -4.12846024e+00] [-7.99138312e-02 1.03962867e-03 9.96801233e-01 -6.99367169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.48, Y:-4.14, Z:-7.00 [[ 9.74776637e-01 2.09114638e-01 7.79844640e-02 8.64752326e+01] [-2.08383869e-01 9.77890811e-01 -1.74849685e-02 -4.14106385e+00] [-7.99166536e-02 7.93234411e-04 9.96801234e-01 -6.99960339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.53, Y:-4.15, Z:-7.01 [[ 9.74008125e-01 2.12667279e-01 7.79794923e-02 8.65346928e+01] [-2.11946097e-01 9.77124533e-01 -1.75071135e-02 -4.15393615e+00] [-7.99188652e-02 5.24621806e-04 9.96801234e-01 -7.00544226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.60, Y:-4.17, Z:-7.01 [[ 9.72746724e-01 2.18365262e-01 7.79770707e-02 8.65955288e+01] [-2.17661471e-01 9.75867106e-01 -1.75178924e-02 -4.16669615e+00] [-7.99205575e-02 6.78685214e-05 9.96801234e-01 -7.01134946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.66, Y:-4.18, Z:-7.02 [[ 9.71923927e-01 2.22000495e-01 7.79721799e-02 8.66566058e+01] [-2.21306630e-01 9.75046530e-01 -1.75396346e-02 -4.18096443e+00] [-7.99203111e-02 -2.08569830e-04 9.96801234e-01 -7.01687024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.72, Y:-4.20, Z:-7.02 [[ 9.71048326e-01 2.25801339e-01 7.79673305e-02 8.67168318e+01] [-2.25117968e-01 9.74173242e-01 -1.75611651e-02 -4.19504697e+00] [-7.99190217e-02 -4.99107048e-04 9.96801234e-01 -7.02359505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.78, Y:-4.21, Z:-7.03 [[ 9.70716933e-01 2.27223304e-01 7.79628478e-02 8.67779311e+01] [-2.26542914e-01 9.73842500e-01 -1.75810433e-02 -4.20982827e+00] [-7.99183574e-02 -5.95714269e-04 9.96801235e-01 -7.02765128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.84, Y:-4.23, Z:-7.03 [[ 9.70948487e-01 2.26233503e-01 7.79579197e-02 8.68379630e+01] [-2.25548174e-01 9.74072975e-01 -1.76028685e-02 -4.22515860e+00] [-7.99190614e-02 -4.91787892e-04 9.96801235e-01 -7.03293784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.90, Y:-4.24, Z:-7.04 [[ 9.72311230e-01 2.20304126e-01 7.79548788e-02 8.68986501e+01] [-2.19598664e-01 9.75431234e-01 -1.76163249e-02 -4.24319195e+00] [-7.99205727e-02 9.76329503e-06 9.96801235e-01 -7.03600957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.96, Y:-4.26, Z:-7.04 [[ 9.73682191e-01 2.14165381e-01 7.79498643e-02 8.69583646e+01] [-2.13438474e-01 9.76797267e-01 -1.76384860e-02 -4.25988035e+00] [-7.99187675e-02 5.36779565e-04 9.96801235e-01 -7.04097018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:-4.27, Z:-7.05 [[ 9.74447318e-01 2.10658302e-01 7.79455271e-02 8.70198946e+01] [-2.09918653e-01 9.77559393e-01 -1.76576312e-02 -4.27208131e+00] [-7.99161088e-02 8.44211298e-04 9.96801235e-01 -7.04583916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.08, Y:-4.29, Z:-7.05 [[ 9.75187315e-01 2.07207533e-01 7.79406169e-02 8.70814665e+01] [-2.06455142e-01 9.78296334e-01 -1.76792785e-02 -4.28588597e+00] [-7.99122995e-02 1.14936694e-03 9.96801236e-01 -7.05086989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:-4.30, Z:-7.06 [[ 9.75801366e-01 2.04298120e-01 7.79356912e-02 8.71428003e+01] [-2.03534729e-01 9.78907702e-01 -1.77009660e-02 -4.30108129e+00] [-7.99081225e-02 1.41000699e-03 9.96801236e-01 -7.05585856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.20, Y:-4.31, Z:-7.06 [[ 9.76460117e-01 2.01127934e-01 7.79306987e-02 8.72036530e+01] [-2.00352707e-01 9.79563521e-01 -1.77229191e-02 -4.31379369e+00] [-7.99026437e-02 1.69209721e-03 9.96801236e-01 -7.06154518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.26, Y:-4.33, Z:-7.07 [[ 9.77065121e-01 1.98169931e-01 7.79257821e-02 8.72649035e+01] [-1.97383589e-01 9.80165726e-01 -1.77445104e-02 -4.32529463e+00] [-7.98966093e-02 1.95627169e-03 9.96801236e-01 -7.06623148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.33, Y:-4.34, Z:-7.07 [[ 9.77378002e-01 1.96622958e-01 7.79208173e-02 8.73257813e+01] [-1.95829973e-01 9.80476915e-01 -1.77662856e-02 -4.33916725e+00] [-7.98928222e-02 2.10514514e-03 9.96801237e-01 -7.07000986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.39, Y:-4.35, Z:-7.07 [[ 9.77678818e-01 1.95123683e-01 7.79158319e-02 8.73866894e+01] [-1.94324207e-01 9.80776063e-01 -1.77881228e-02 -4.35389957e+00] [-7.98888669e-02 2.25013859e-03 9.96801237e-01 -7.07308498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.45, Y:-4.37, Z:-7.08 [[ 9.77763073e-01 1.94703051e-01 7.79108081e-02 8.74481838e+01] [-1.93900493e-01 9.80859521e-01 -1.78100997e-02 -4.36604299e+00] [-7.98872386e-02 2.30711374e-03 9.96801237e-01 -7.07827800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.51, Y:-4.38, Z:-7.08 [[ 9.77702962e-01 1.95006675e-01 7.79058104e-02 8.75085010e+01] [-1.94203340e-01 9.80799207e-01 -1.78319341e-02 -4.37830757e+00] [-7.98873033e-02 2.30476620e-03 9.96801237e-01 -7.08242999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.57, Y:-4.39, Z:-7.09 [[ 9.77533957e-01 1.95853859e-01 7.79014091e-02 8.75701922e+01] [-1.95051678e-01 9.80630501e-01 -1.78511412e-02 -4.39231607e+00] [-7.98887128e-02 2.25529617e-03 9.96801238e-01 -7.08650707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.63, Y:-4.41, Z:-7.09 [[ 9.77098088e-01 1.98018892e-01 7.78963743e-02 8.76319701e+01] [-1.97221825e-01 9.80195952e-01 -1.78730847e-02 -4.40546260e+00] [-7.98929192e-02 2.10089178e-03 9.96801238e-01 -7.09178091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-4.42, Z:-7.10 [[ 9.76809531e-01 1.99439384e-01 7.78914108e-02 8.76935230e+01] [-1.98645101e-01 9.79908110e-01 -1.78946898e-02 -4.41869429e+00] [-7.98953310e-02 2.00695637e-03 9.96801238e-01 -7.09725113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-4.43, Z:-7.10 [[ 9.76699505e-01 1.99979453e-01 7.78864203e-02 8.77549170e+01] [-1.99185154e-01 9.79798080e-01 -1.79163846e-02 -4.43201010e+00] [-7.98958739e-02 1.98510536e-03 9.96801238e-01 -7.10261784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.82, Y:-4.45, Z:-7.11 [[ 9.77007309e-01 1.98472152e-01 7.78814644e-02 8.78156236e+01] [-1.97671359e-01 9.80104212e-01 -1.79379017e-02 -4.44563090e+00] [-7.98921252e-02 2.13052616e-03 9.96801239e-01 -7.10808916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.88, Y:-4.46, Z:-7.11 [[ 9.78049106e-01 1.93274657e-01 7.78771659e-02 8.78764235e+01] [-1.92455926e-01 9.81141315e-01 -1.79565444e-02 -4.45951591e+00] [-7.98790499e-02 2.57446017e-03 9.96801239e-01 -7.11260916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.94, Y:-4.47, Z:-7.12 [[ 9.78918664e-01 1.88823149e-01 7.78721259e-02 8.79380114e+01] [-1.87988625e-01 9.82006647e-01 -1.79783747e-02 -4.47368851e+00] [-7.98656786e-02 2.96029268e-03 9.96801239e-01 -7.11636728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:-4.49, Z:-7.12 [[ 9.79243666e-01 1.87132516e-01 7.78669626e-02 8.79983686e+01] [-1.86290888e-01 9.82329720e-01 -1.80007102e-02 -4.48618296e+00] [-7.98595498e-02 3.12117584e-03 9.96801239e-01 -7.12203279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:-4.50, Z:-7.13 [[ 9.79210179e-01 1.87309646e-01 7.78621949e-02 8.80599170e+01] [-1.86466940e-01 9.82295940e-01 -1.80213094e-02 -4.49894159e+00] [-7.98592830e-02 3.12792438e-03 9.96801239e-01 -7.12672435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:-4.51, Z:-7.13 [[ 9.78817883e-01 1.89351067e-01 7.78570778e-02 8.81215119e+01] [-1.88513043e-01 9.81904918e-01 -1.80433898e-02 -4.51135932e+00] [-7.98647827e-02 2.98411794e-03 9.96801240e-01 -7.13233008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.18, Y:-4.52, Z:-7.14 [[ 9.78045886e-01 1.93301084e-01 7.78520105e-02 8.81837200e+01] [-1.92473794e-01 9.81135814e-01 -1.80652275e-02 -4.52226870e+00] [-7.98754238e-02 2.68414965e-03 9.96801240e-01 -7.13746884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.25, Y:-4.53, Z:-7.14 [[ 9.77121785e-01 1.97921350e-01 7.78470123e-02 8.82460425e+01] [-1.97106960e-01 9.80215138e-01 -1.80867403e-02 -4.53209723e+00] [-7.98865719e-02 2.32875999e-03 9.96801240e-01 -7.14144154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:-4.54, Z:-7.14 [[ 9.76549348e-01 2.00728654e-01 7.78420130e-02 8.83082152e+01] [-1.99921446e-01 9.79644582e-01 -1.81082309e-02 -4.54384580e+00] [-7.98923471e-02 2.12129335e-03 9.96801240e-01 -7.14497022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.37, Y:-4.55, Z:-7.15 [[ 9.75852645e-01 2.04090735e-01 7.78369225e-02 8.83705871e+01] [-2.03292450e-01 9.78950193e-01 -1.81300858e-02 -4.55349034e+00] [-7.98986528e-02 1.86863358e-03 9.96801241e-01 -7.15005651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.43, Y:-4.57, Z:-7.16 [[ 9.75645770e-01 2.05079342e-01 7.78318364e-02 8.84322865e+01] [-2.04282456e-01 9.78743678e-01 -1.81518941e-02 -4.56626093e+00] [-7.98999963e-02 1.81014004e-03 9.96801241e-01 -7.15534158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.49, Y:-4.58, Z:-7.16 [[ 9.75411241e-01 2.06193845e-01 7.78267876e-02 8.84938844e+01] [-2.05398774e-01 9.78509615e-01 -1.81735150e-02 -4.57726507e+00] [-7.99015270e-02 1.74112409e-03 9.96801241e-01 -7.16172427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.55, Y:-4.59, Z:-7.17 [[ 9.75734951e-01 2.04658446e-01 7.78217607e-02 8.85544816e+01] [-2.03856787e-01 9.78831626e-01 -1.81950156e-02 -4.58807595e+00] [-7.98981642e-02 1.88901861e-03 9.96801241e-01 -7.16752441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.61, Y:-4.60, Z:-7.17 [[ 9.76457626e-01 2.01183955e-01 7.78172232e-02 8.86140179e+01] [-2.00369734e-01 9.79551022e-01 -1.82144014e-02 -4.59959889e+00] [-7.98903858e-02 2.19337484e-03 9.96801242e-01 -7.17314474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.68, Y:-4.61, Z:-7.18 [[ 9.78052819e-01 1.93281681e-01 7.78130748e-02 8.86753484e+01] [-1.92441066e-01 9.81139147e-01 -1.82321063e-02 -4.61157515e+00] [-7.98693860e-02 2.85753190e-03 9.96801242e-01 -7.17730209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.74, Y:-4.62, Z:-7.18 [[ 9.79395465e-01 1.86361055e-01 7.78079657e-02 8.87363963e+01] [-1.85496911e-01 9.82475288e-01 -1.82538842e-02 -4.62341667e+00] [-7.98462167e-02 3.44463415e-03 9.96801242e-01 -7.18177287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.80, Y:-4.64, Z:-7.19 [[ 9.80373086e-01 1.81149808e-01 7.78033392e-02 8.87965902e+01] [-1.80267738e-01 9.83447822e-01 -1.82735824e-02 -4.63730030e+00] [-7.98257805e-02 3.88949643e-03 9.96801242e-01 -7.18565705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.86, Y:-4.65, Z:-7.19 [[ 9.80290351e-01 1.81598389e-01 7.78000797e-02 8.88586810e+01] [-1.80716628e-01 9.83365176e-01 -1.82874496e-02 -4.64850441e+00] [-7.98268604e-02 3.86724231e-03 9.96801242e-01 -7.19038242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.92, Y:-4.66, Z:-7.20 [[ 9.79569270e-01 1.85450825e-01 7.77948362e-02 8.89198079e+01] [-1.84579393e-01 9.82647038e-01 -1.83097284e-02 -4.65966032e+00] [-7.98404196e-02 3.57632357e-03 9.96801243e-01 -7.19589330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.98, Y:-4.67, Z:-7.20 [[ 9.78437915e-01 1.91332078e-01 7.77899910e-02 8.89804943e+01] [-1.90477519e-01 9.81520410e-01 -1.83302905e-02 -4.67033853e+00] [-7.98596364e-02 3.11780675e-03 9.96801243e-01 -7.20096316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:-4.68, Z:-7.21 [[ 9.76333374e-01 2.01798409e-01 7.77852435e-02 8.90431170e+01] [-2.00975305e-01 9.79424417e-01 -1.83504146e-02 -4.67904351e+00] [-7.98878512e-02 2.28320916e-03 9.96801243e-01 -7.20589160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-4.69, Z:-7.21 [[ 9.74865366e-01 2.08776824e-01 7.77801811e-02 8.91030725e+01] [-2.07974142e-01 9.77961774e-01 -1.83718473e-02 -4.68922874e+00] [-7.99016598e-02 1.73381124e-03 9.96801243e-01 -7.21197923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.17, Y:-4.70, Z:-7.21 [[ 9.72905979e-01 2.17726505e-01 7.77761239e-02 8.91655379e+01] [-2.16950939e-01 9.76009290e-01 -1.83890072e-02 -4.70005733e+00] [-7.99139937e-02 1.01717190e-03 9.96801243e-01 -7.21494129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.23, Y:-4.71, Z:-7.22 [[ 9.71255480e-01 2.24976589e-01 7.77709957e-02 8.92269223e+01] [-2.24222455e-01 9.74364068e-01 -1.84106699e-02 -4.71148834e+00] [-7.99192335e-02 4.43460375e-04 9.96801244e-01 -7.21736260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.29, Y:-4.73, Z:-7.22 [[ 9.70347019e-01 2.28864714e-01 7.77663541e-02 8.92885798e+01] [-2.28121466e-01 9.73458228e-01 -1.84302553e-02 -4.72509317e+00] [-7.99203324e-02 1.43568530e-04 9.96801244e-01 -7.22243596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.35, Y:-4.74, Z:-7.23 [[ 9.69471853e-01 2.32545776e-01 7.77610939e-02 8.93498870e+01] [-2.31812564e-01 9.72585443e-01 -1.84524227e-02 -4.74002229e+00] [-7.99203408e-02 -1.36894134e-04 9.96801244e-01 -7.22785613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.41, Y:-4.75, Z:-7.23 [[ 9.69151998e-01 2.33876952e-01 7.77558801e-02 8.94103228e+01] [-2.33146256e-01 9.72266178e-01 -1.84743667e-02 -4.75471636e+00] [-7.99201409e-02 -2.24022906e-04 9.96801244e-01 -7.23351828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.47, Y:-4.77, Z:-7.24 [[ 9.69141733e-01 2.33921224e-01 7.77506473e-02 8.94696135e+01] [-2.33188906e-01 9.72255532e-01 -1.84963630e-02 -4.77061194e+00] [-7.99201888e-02 -2.04991057e-04 9.96801245e-01 -7.23970558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:-4.79, Z:-7.25 [[ 9.69933426e-01 2.30618165e-01 7.77458071e-02 8.95297431e+01] [-2.29873614e-01 9.73044323e-01 -1.85166858e-02 -4.78865323e+00] [-7.99204003e-02 8.82428443e-05 9.96801245e-01 -7.24556169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:-4.81, Z:-7.25 [[ 9.70891300e-01 2.26553466e-01 7.77406663e-02 8.95899957e+01] [-2.25794165e-01 9.73998629e-01 -1.85382438e-02 -4.80653468e+00] [-7.99192058e-02 4.45230820e-04 9.96801245e-01 -7.25032495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.65, Y:-4.82, Z:-7.26 [[ 9.72005205e-01 2.21727483e-01 7.77354741e-02 8.96505172e+01] [-2.20951015e-01 9.75108289e-01 -1.85599908e-02 -4.82440931e+00] [-7.99157652e-02 8.64675744e-04 9.96801245e-01 -7.25588074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.71, Y:-4.84, Z:-7.26 [[ 9.73934474e-01 2.13095383e-01 7.77302952e-02 8.97103871e+01] [-2.12289688e-01 9.77030097e-01 -1.85816551e-02 -4.84412737e+00] [-7.99045028e-02 1.59597436e-03 9.96801246e-01 -7.26166620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.77, Y:-4.86, Z:-7.27 [[ 9.75173423e-01 2.07353851e-01 7.77249977e-02 8.97702807e+01] [-2.06528169e-01 9.78263775e-01 -1.86037877e-02 -4.86279594e+00] [-7.98931167e-02 2.08951784e-03 9.96801246e-01 -7.26722172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.83, Y:-4.88, Z:-7.27 [[ 9.76647289e-01 2.00299079e-01 7.77196984e-02 8.98285595e+01] [-1.99449321e-01 9.79731108e-01 -1.86258998e-02 -4.88302680e+00] [-7.98751568e-02 2.68979340e-03 9.96801246e-01 -7.27256522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.89, Y:-4.90, Z:-7.28 [[ 9.77300905e-01 1.97086522e-01 7.77164381e-02 8.98883439e+01] [-1.96225549e-01 9.80381611e-01 -1.86394937e-02 -4.90264456e+00] [-7.98653597e-02 2.96644332e-03 9.96801246e-01 -7.27708259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.95, Y:-4.92, Z:-7.28 [[ 9.77241813e-01 1.97381294e-01 7.77114111e-02 8.99477098e+01] [-1.96519588e-01 9.80322314e-01 -1.86604285e-02 -4.92068180e+00] [-7.98654499e-02 2.96393650e-03 9.96801246e-01 -7.27991088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.01, Y:-4.94, Z:-7.28 [[ 9.76212325e-01 2.02413285e-01 7.77068786e-02 9.00074477e+01] [-2.01565961e-01 9.79296813e-01 -1.86792842e-02 -4.93907351e+00] [-7.98790338e-02 2.57188580e-03 9.96801247e-01 -7.28375196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.07, Y:-4.96, Z:-7.29 [[ 9.74145353e-01 2.12139741e-01 7.77017445e-02 9.00677755e+01] [-2.11321523e-01 9.77237689e-01 -1.87006165e-02 -4.95552941e+00] [-7.99002172e-02 1.79706769e-03 9.96801247e-01 -7.28938231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.13, Y:-4.97, Z:-7.30 [[ 9.72432301e-01 2.19860544e-01 7.76965936e-02 9.01281557e+01] [-2.19065175e-01 9.75530592e-01 -1.87219930e-02 -4.97083514e+00] [-7.99116315e-02 1.18525292e-03 9.96801247e-01 -7.29514349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:-4.99, Z:-7.30 [[ 9.70021099e-01 2.30267455e-01 7.76914795e-02 9.01875123e+01] [-2.29503631e-01 9.73127318e-01 -1.87431914e-02 -4.98714602e+00] [-7.99196480e-02 3.50814536e-04 9.96801247e-01 -7.30044554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:-5.00, Z:-7.31 [[ 9.68670628e-01 2.35885534e-01 7.76867424e-02 9.02486482e+01] [-2.35138152e-01 9.71780843e-01 -1.87628050e-02 -5.00287410e+00] [-7.99203623e-02 -9.21389351e-05 9.96801248e-01 -7.30526154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:-5.02, Z:-7.31 [[ 9.68059258e-01 2.38383878e-01 7.76813920e-02 9.03084313e+01] [-2.37642748e-01 9.71170969e-01 -1.87849307e-02 -5.01806458e+00] [-7.99199374e-02 -2.75493409e-04 9.96801248e-01 -7.31147870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:-5.04, Z:-7.32 [[ 9.66972715e-01 2.42755305e-01 7.76764423e-02 9.03686396e+01] [-2.42026599e-01 9.70087358e-01 -1.88053757e-02 -5.03593836e+00] [-7.99180395e-02 -6.15479980e-04 9.96801248e-01 -7.31667865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.43, Y:-5.05, Z:-7.32 [[ 9.66846463e-01 2.43259344e-01 7.76711587e-02 9.04286254e+01] [-2.42530511e-01 9.69961076e-01 -1.88271734e-02 -5.05431478e+00] [-7.99178865e-02 -6.34639763e-04 9.96801248e-01 -7.32188789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.07, Z:-7.33 [[ 9.67203521e-01 2.41837494e-01 7.76657899e-02 9.04873778e+01] [-2.41102306e-01 9.70316640e-01 -1.88492946e-02 -5.07481552e+00] [-7.99188745e-02 -4.94296912e-04 9.96801249e-01 -7.32753448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.10, Z:-7.33 [[ 9.67801608e-01 2.39434419e-01 7.76608377e-02 9.05466032e+01] [-2.38689866e-01 9.70912500e-01 -1.88696763e-02 -5.09574422e+00] [-7.99199281e-02 -2.74751841e-04 9.96801249e-01 -7.33310134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.61, Y:-5.12, Z:-7.34 [[ 9.68297017e-01 2.37424708e-01 7.76556210e-02 9.06059506e+01] [-2.36671977e-01 9.71405940e-01 -1.88911206e-02 -5.11558483e+00] [-7.99203503e-02 -8.66936040e-05 9.96801249e-01 -7.33797901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.66, Y:-5.14, Z:-7.35 [[ 9.69258456e-01 2.33470517e-01 7.76502658e-02 9.06627154e+01] [-2.32703342e-01 9.72363846e-01 -1.89131073e-02 -5.13743197e+00] [-7.99199640e-02 2.62212829e-04 9.96801249e-01 -7.34534660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.72, Y:-5.15, Z:-7.35 [[ 9.69582329e-01 2.32123261e-01 7.76459887e-02 9.07226576e+01] [-2.31350366e-01 9.72686300e-01 -1.89306501e-02 -5.15493396e+00] [-7.99194337e-02 3.91395863e-04 9.96801249e-01 -7.34867424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.78, Y:-5.17, Z:-7.35 [[ 9.69449010e-01 2.32680547e-01 7.76426484e-02 9.07828692e+01] [-2.31908340e-01 9.72553152e-01 -1.89443405e-02 -5.17198791e+00] [-7.99195819e-02 3.59594469e-04 9.96801250e-01 -7.35190645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.84, Y:-5.19, Z:-7.36 [[ 9.69611705e-01 2.32003409e-01 7.76373566e-02 9.08434351e+01] [-2.31227299e-01 9.72714874e-01 -1.89660024e-02 -5.18804588e+00] [-7.99191888e-02 4.37781612e-04 9.96801250e-01 -7.35593693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.20, Z:-7.36 [[ 9.69968098e-01 2.30510614e-01 7.76321120e-02 9.09044708e+01] [-2.29728013e-01 9.73069636e-01 -1.89874454e-02 -5.20301975e+00] [-7.99182587e-02 5.82945481e-04 9.96801250e-01 -7.35983862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.97, Y:-5.22, Z:-7.37 [[ 9.70337973e-01 2.28950428e-01 7.76267941e-02 9.09661246e+01] [-2.28161103e-01 9.73437806e-01 -1.90091620e-02 -5.21651722e+00] [-7.99170120e-02 7.33896732e-04 9.96801250e-01 -7.36613825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:-5.23, Z:-7.37 [[ 9.71124146e-01 2.25594309e-01 7.76215181e-02 9.10266681e+01] [-2.24792552e-01 9.74220787e-01 -1.90306818e-02 -5.23011367e+00] [-7.99137099e-02 1.03241545e-03 9.96801251e-01 -7.37279650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.24, Z:-7.38 [[ 9.71942746e-01 2.22042579e-01 7.76169490e-02 9.10881853e+01] [-2.21228021e-01 9.75036044e-01 -1.90492986e-02 -5.24319116e+00] [-7.99090783e-02 1.34378356e-03 9.96801251e-01 -7.37798366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:91.15, Y:-5.26, Z:-7.38 [[ 9.72624029e-01 2.19040947e-01 7.76116054e-02 9.11487519e+01] [-2.18215108e-01 9.75714334e-01 -1.90710452e-02 -5.25821149e+00] [-7.99040957e-02 1.61293197e-03 9.96801251e-01 -7.38249619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:-5.27, Z:-7.39 [[ 9.73594256e-01 2.14689263e-01 7.76063400e-02 9.12096870e+01] [-2.13847908e-01 9.76680373e-01 -1.90924478e-02 -5.27283676e+00] [-7.98955327e-02 1.99234406e-03 9.96801251e-01 -7.38683299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.27, Y:-5.29, Z:-7.39 [[ 9.73916393e-01 2.13225083e-01 7.76010492e-02 9.12699508e+01] [-2.12377378e-01 9.77000771e-01 -1.91139283e-02 -5.28808509e+00] [-7.98918538e-02 2.13466081e-03 9.96801251e-01 -7.39171323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.33, Y:-5.30, Z:-7.40 [[ 9.73640803e-01 2.14481165e-01 7.75977861e-02 9.13308029e+01] [-2.13636385e-01 9.76725983e-01 -1.91271665e-02 -5.30150294e+00] [-7.98941909e-02 2.04527926e-03 9.96801252e-01 -7.39692977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.39, Y:-5.32, Z:-7.40 [[ 9.72918897e-01 2.17734343e-01 7.75923687e-02 9.13904296e+01] [-2.16898130e-01 9.76006410e-01 -1.91491180e-02 -5.31513976e+00] [-7.99000698e-02 1.80089909e-03 9.96801252e-01 -7.40373911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.33, Z:-7.41 [[ 9.71328763e-01 2.24723464e-01 7.75873610e-02 9.14513392e+01] [-2.23907851e-01 9.74421782e-01 -1.91693865e-02 -5.32893789e+00] [-7.99106255e-02 1.24735721e-03 9.96801252e-01 -7.40853347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.34, Z:-7.42 [[ 9.69472562e-01 2.32601420e-01 7.75856346e-02 9.15120014e+01] [-2.31810384e-01 9.72571958e-01 -1.91763712e-02 -5.34222621e+00] [-7.99180637e-02 6.05809980e-04 9.96801252e-01 -7.41512617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.57, Y:-5.36, Z:-7.42 [[ 9.68429772e-01 2.36907237e-01 7.75805284e-02 9.15733207e+01] [-2.36128330e-01 9.71532237e-01 -1.91970068e-02 -5.35620764e+00] [-7.99198941e-02 2.71992312e-04 9.96801252e-01 -7.42120036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:-5.37, Z:-7.43 [[ 9.67340712e-01 2.41317278e-01 7.75752466e-02 9.16344911e+01] [-2.40550804e-01 9.70446272e-01 -1.92183271e-02 -5.37122202e+00] [-7.99203232e-02 -7.01176974e-05 9.96801253e-01 -7.42687629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-5.39, Z:-7.43 [[ 9.66994853e-01 2.42701181e-01 7.75699170e-02 9.16949291e+01] [-2.41937428e-01 9.70101083e-01 -1.92398146e-02 -5.38748172e+00] [-7.99201862e-02 -1.62264478e-04 9.96801253e-01 -7.43204937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.76, Y:-5.41, Z:-7.44 [[ 9.66962961e-01 2.42829921e-01 7.75645674e-02 9.17550193e+01] [-2.42064854e-01 9.70068867e-01 -1.92613575e-02 -5.40536633e+00] [-7.99202059e-02 -1.50636414e-04 9.96801253e-01 -7.43762675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.82, Y:-5.42, Z:-7.44 [[ 9.66909814e-01 2.43043140e-01 7.75592899e-02 9.18150279e+01] [-2.42277055e-01 9.70015469e-01 -1.92825850e-02 -5.42203734e+00] [-7.99202110e-02 -1.46315651e-04 9.96801253e-01 -7.44267517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.44, Z:-7.45 [[ 9.66838522e-01 2.43328321e-01 7.75538564e-02 9.18756078e+01] [-2.42561401e-01 9.69943971e-01 -1.93044134e-02 -5.43976945e+00] [-7.99202060e-02 -1.47321525e-04 9.96801254e-01 -7.44725577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.93, Y:-5.46, Z:-7.45 [[ 9.66903287e-01 2.43072590e-01 7.75483741e-02 9.19349846e+01] [-2.42303084e-01 9.70008095e-01 -1.93264117e-02 -5.45796971e+00] [-7.99202716e-02 -1.03439198e-04 9.96801254e-01 -7.45275248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.47, Z:-7.46 [[ 9.66204509e-01 2.45837105e-01 7.75433102e-02 9.19954887e+01] [-2.45074853e-01 9.69311106e-01 -1.93467085e-02 -5.47345658e+00] [-7.99197306e-02 -3.11038393e-04 9.96801254e-01 -7.45831197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.49, Z:-7.46 [[ 9.65651013e-01 2.48003905e-01 7.75382795e-02 9.20559304e+01] [-2.47247007e-01 9.68758919e-01 -1.93668497e-02 -5.48853336e+00] [-7.99189542e-02 -4.69489476e-04 9.96801254e-01 -7.46300353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.12, Y:-5.50, Z:-7.47 [[ 9.65204726e-01 2.49736833e-01 7.75329088e-02 9.21165514e+01] [-2.48983789e-01 9.68313568e-01 -1.93883270e-02 -5.50394107e+00] [-7.99181469e-02 -5.90732573e-04 9.96801254e-01 -7.46893444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.18, Y:-5.52, Z:-7.47 [[ 9.65439848e-01 2.48828002e-01 7.75275712e-02 9.21776379e+01] [-2.48070320e-01 9.68547563e-01 -1.94096468e-02 -5.51945997e+00] [-7.99188038e-02 -4.93442967e-04 9.96801255e-01 -7.47408483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.24, Y:-5.53, Z:-7.48 [[ 9.66245186e-01 2.45683847e-01 7.75221757e-02 9.22384311e+01] [-2.44914325e-01 9.69349990e-01 -1.94311726e-02 -5.53466189e+00] [-7.99200455e-02 -2.11014325e-04 9.96801255e-01 -7.47872861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:-5.55, Z:-7.48 [[ 9.67404470e-01 2.41080362e-01 7.75167684e-02 9.22996088e+01] [-2.40294340e-01 9.70505138e-01 -1.94527202e-02 -5.54980965e+00] [-7.99200908e-02 1.91807860e-04 9.96801255e-01 -7.48292036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.36, Y:-5.57, Z:-7.49 [[ 9.69376031e-01 2.33028144e-01 7.75112589e-02 9.23599542e+01] [-2.32214614e-01 9.72469594e-01 -1.94746488e-02 -5.56514267e+00] [-7.99154837e-02 8.79010725e-04 9.96801255e-01 -7.48858017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.42, Y:-5.58, Z:-7.49 [[ 9.70474481e-01 2.28412186e-01 7.75058382e-02 9.24205501e+01] [-2.27582221e-01 9.73563676e-01 -1.94961986e-02 -5.58051580e+00] [-7.99100380e-02 1.28161239e-03 9.96801256e-01 -7.49364429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.48, Y:-5.60, Z:-7.50 [[ 9.71575219e-01 2.23685672e-01 7.75004088e-02 9.24817657e+01] [-2.22838962e-01 9.74659866e-01 -1.95177573e-02 -5.59512521e+00] [-7.99023807e-02 1.69285872e-03 9.96801256e-01 -7.49829472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.54, Y:-5.61, Z:-7.50 [[ 9.71935146e-01 2.22118411e-01 7.74950529e-02 9.25433007e+01] [-2.21265034e-01 9.75017955e-01 -1.95390000e-02 -5.60956924e+00] [-7.98990396e-02 1.84369540e-03 9.96801256e-01 -7.50331924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.60, Y:-5.62, Z:-7.51 [[ 9.71769747e-01 2.22842785e-01 7.74896866e-02 9.26045864e+01] [-2.21990011e-01 9.74852723e-01 -1.95602589e-02 -5.62260177e+00] [-7.98998946e-02 1.80613140e-03 9.96801256e-01 -7.50796695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.63, Z:-7.51 [[ 9.71086961e-01 2.25801500e-01 7.74841690e-02 9.26650235e+01] [-2.24956379e-01 9.74172043e-01 -1.95820916e-02 -5.63426377e+00] [-7.99045769e-02 1.58535569e-03 9.96801257e-01 -7.51297159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.73, Y:-5.65, Z:-7.52 [[ 9.70510921e-01 2.28266393e-01 7.74790685e-02 9.27268780e+01] [-2.27427499e-01 9.73597701e-01 -1.96022516e-02 -5.64742031e+00] [-7.99079783e-02 1.40332845e-03 9.96801257e-01 -7.51819082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.79, Y:-5.66, Z:-7.52 [[ 9.69916943e-01 2.30779005e-01 7.74736990e-02 9.27883643e+01] [-2.29946415e-01 9.73005430e-01 -1.96234507e-02 -5.66064774e+00] [-7.99110102e-02 1.21831793e-03 9.96801257e-01 -7.52362897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.85, Y:-5.67, Z:-7.53 [[ 9.69341009e-01 2.33188112e-01 7.74681351e-02 9.28491240e+01] [-2.32361444e-01 9.72431086e-01 -1.96453912e-02 -5.67271628e+00] [-7.99134944e-02 1.04247555e-03 9.96801257e-01 -7.52849945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.91, Y:-5.68, Z:-7.53 [[ 9.68855758e-01 2.35197798e-01 7.74629945e-02 9.29108728e+01] [-2.34375922e-01 9.71947113e-01 -1.96656400e-02 -5.68493731e+00] [-7.99152491e-02 8.97707762e-04 9.96801258e-01 -7.53378267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.97, Y:-5.70, Z:-7.54 [[ 9.68471602e-01 2.36776461e-01 7.74574915e-02 9.29723576e+01] [-2.35957892e-01 9.71563834e-01 -1.96872909e-02 -5.69843627e+00] [-7.99163845e-02 7.89875771e-04 9.96801258e-01 -7.53888005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.03, Y:-5.71, Z:-7.54 [[ 9.68149998e-01 2.38089838e-01 7.74519838e-02 9.30331443e+01] [-2.37273732e-01 9.71242881e-01 -1.97089351e-02 -5.71119643e+00] [-7.99171850e-02 7.03884196e-04 9.96801258e-01 -7.54442243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.72, Z:-7.55 [[ 9.68040647e-01 2.38535712e-01 7.74468840e-02 9.30939340e+01] [-2.37719430e-01 9.71133483e-01 -1.97289545e-02 -5.72498933e+00] [-7.99173224e-02 6.87800791e-04 9.96801258e-01 -7.55019729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.16, Y:-5.74, Z:-7.56 [[ 9.68172588e-01 2.38001449e-01 7.74412647e-02 9.31553661e+01] [-2.37181698e-01 9.71264506e-01 -1.97509874e-02 -5.73873872e+00] [-7.99167153e-02 7.54713959e-04 9.96801259e-01 -7.55555986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.75, Z:-7.56 [[ 9.68651077e-01 2.36048297e-01 7.74357278e-02 9.32166304e+01] [-2.35220579e-01 9.71740871e-01 -1.97726717e-02 -5.75349886e+00] [-7.99147671e-02 9.38343040e-04 9.96801259e-01 -7.55941821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.77, Z:-7.56 [[ 9.68842039e-01 2.35265085e-01 7.74302519e-02 9.32776954e+01] [-2.34433156e-01 9.71930702e-01 -1.97940923e-02 -5.76913034e+00] [-7.99136979e-02 1.02513035e-03 9.96801259e-01 -7.55817898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.78, Z:-7.57 [[ 9.69571278e-01 2.32242051e-01 7.74284595e-02 9.33364103e+01] [-2.31399933e-01 9.72657179e-01 -1.98011013e-02 -5.78204239e+00] [-7.99099953e-02 1.28163872e-03 9.96801259e-01 -7.56977553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.80, Z:-7.58 [[ 9.70080534e-01 2.30107147e-01 7.74238953e-02 9.33973656e+01] [-2.29256816e-01 9.73164181e-01 -1.98189316e-02 -5.79675668e+00] [-7.99066394e-02 1.47600404e-03 9.96801259e-01 -7.57555443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.81, Z:-7.58 [[ 9.71142755e-01 2.25584016e-01 7.74183481e-02 9.34575496e+01] [-2.24717600e-01 9.74221921e-01 -1.98405769e-02 -5.81217597e+00] [-7.98983688e-02 1.87076712e-03 9.96801259e-01 -7.58088283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-5.83, Z:-7.58 [[ 9.71749486e-01 2.22957611e-01 7.74134340e-02 9.35178835e+01] [-2.22081348e-01 9.74825864e-01 -1.98597322e-02 -5.82849952e+00] [-7.98924961e-02 2.10660482e-03 9.96801260e-01 -7.58459630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.58, Y:-5.84, Z:-7.59 [[ 9.72340657e-01 2.20367140e-01 7.74078183e-02 9.35777054e+01] [-2.19480943e-01 9.75414188e-01 -1.98815967e-02 -5.84395520e+00] [-7.98859348e-02 2.34214385e-03 9.96801260e-01 -7.58893119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.64, Y:-5.86, Z:-7.59 [[ 9.72192546e-01 2.21021462e-01 7.74026297e-02 9.36389864e+01] [-2.20135728e-01 9.75266210e-01 -1.99017762e-02 -5.85906037e+00] [-7.98868890e-02 2.30927418e-03 9.96801260e-01 -7.59392704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.88, Z:-7.60 [[ 9.72150493e-01 2.21208308e-01 7.73970561e-02 9.36989225e+01] [-2.20321442e-01 9.75223830e-01 -1.99234285e-02 -5.87539388e+00] [-7.98866814e-02 2.31633981e-03 9.96801260e-01 -7.59765135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:-5.89, Z:-7.60 [[ 9.71788280e-01 2.22795943e-01 7.73919040e-02 9.37583829e+01] [-2.21912507e-01 9.74862605e-01 -1.99434217e-02 -5.89048850e+00] [-7.98897865e-02 2.20655203e-03 9.96801261e-01 -7.60457376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:-5.91, Z:-7.61 [[ 9.71503855e-01 2.24034190e-01 7.73882525e-02 9.38194380e+01] [-2.23153547e-01 9.74578981e-01 -1.99575806e-02 -5.90663223e+00] [-7.98921447e-02 2.11940349e-03 9.96801261e-01 -7.60965160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:-5.92, Z:-7.62 [[ 9.71041476e-01 2.26031808e-01 7.73826469e-02 9.38788544e+01] [-2.25155761e-01 9.74117914e-01 -1.99792920e-02 -5.92243707e+00] [-7.98957781e-02 1.97757245e-03 9.96801261e-01 -7.61517137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:-5.94, Z:-7.62 [[ 9.70784363e-01 2.27135307e-01 7.73774705e-02 9.39397289e+01] [-2.26261162e-01 9.73861342e-01 -1.99993198e-02 -5.93799479e+00] [-7.98974789e-02 1.90751057e-03 9.96801261e-01 -7.61993243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:-5.95, Z:-7.62 [[ 9.70708748e-01 2.27460172e-01 7.73718112e-02 9.40001758e+01] [-2.26585315e-01 9.73785524e-01 -2.00211903e-02 -5.95337739e+00] [-7.98975731e-02 1.90342834e-03 9.96801261e-01 -7.62489992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.06, Y:-5.97, Z:-7.63 [[ 9.71015515e-01 2.26148938e-01 7.73661938e-02 9.40611686e+01] [-2.25268200e-01 9.74090613e-01 -2.00428734e-02 -5.96993217e+00] [-7.98943577e-02 2.03379781e-03 9.96801262e-01 -7.62878609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:-5.99, Z:-7.63 [[ 9.71853166e-01 2.22523626e-01 7.73605854e-02 9.41216521e+01] [-2.21629698e-01 9.74924455e-01 -2.00644973e-02 -5.98649204e+00] [-7.98855513e-02 2.35434202e-03 9.96801262e-01 -7.63275107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.18, Y:-6.00, Z:-7.64 [[ 9.72148952e-01 2.21229792e-01 7.73549919e-02 9.41818592e+01] [-2.20330064e-01 9.75218547e-01 -2.00860389e-02 -6.00225963e+00] [-7.98816530e-02 2.48299125e-03 9.96801262e-01 -7.63784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.02, Z:-7.64 [[ 9.72758309e-01 2.18536802e-01 7.73494539e-02 9.42429928e+01] [-2.17626885e-01 9.75824899e-01 -2.01073426e-02 -6.01790955e+00] [-7.98737175e-02 2.72626388e-03 9.96801262e-01 -7.64260729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-6.03, Z:-7.65 [[ 9.73529003e-01 2.15079568e-01 7.73437746e-02 9.43026930e+01] [-2.14157031e-01 9.76591820e-01 -2.01291651e-02 -6.03325952e+00] [-7.98626697e-02 3.03261285e-03 9.96801263e-01 -7.64828892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.36, Y:-6.05, Z:-7.65 [[ 9.74076524e-01 2.12587932e-01 7.73388466e-02 9.43639482e+01] [-2.11656062e-01 9.77136514e-01 -2.01480813e-02 -6.04882138e+00] [-7.98538498e-02 3.25653720e-03 9.96801263e-01 -7.65301639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.06, Z:-7.66 [[ 9.74186868e-01 2.12083763e-01 7.73331999e-02 9.44252691e+01] [-2.11148594e-01 9.77245851e-01 -2.01697316e-02 -6.06402004e+00] [-7.98512213e-02 3.32029119e-03 9.96801263e-01 -7.65709475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:-6.08, Z:-7.66 [[ 9.73696486e-01 2.14325962e-01 7.73274580e-02 9.44854540e+01] [-2.13396094e-01 9.76757084e-01 -2.01917211e-02 -6.07819191e+00] [-7.98577524e-02 3.15923042e-03 9.96801263e-01 -7.66268190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.09, Z:-7.67 [[ 9.72629257e-01 2.19120086e-01 7.73221535e-02 9.45469683e+01] [-2.18203696e-01 9.75693918e-01 -2.02120139e-02 -6.09268392e+00] [-7.98716131e-02 2.78681643e-03 9.96801264e-01 -7.66772735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.11, Z:-7.67 [[ 9.70457302e-01 2.28549340e-01 7.73163932e-02 9.46087061e+01] [-2.27660983e-01 9.73530205e-01 -2.02340247e-02 -6.10637608e+00] [-7.98943171e-02 2.03433091e-03 9.96801264e-01 -7.67285421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.12, Z:-7.68 [[ 9.68112993e-01 2.38286181e-01 7.73106002e-02 9.46692547e+01] [-2.37426972e-01 9.71194173e-01 -2.02561347e-02 -6.11972400e+00] [-7.99103614e-02 1.25460548e-03 9.96801264e-01 -7.67833806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.14, Z:-7.68 [[ 9.66620377e-01 2.44272280e-01 7.73052345e-02 9.47296781e+01] [-2.43430518e-01 9.69706369e-01 -2.02765913e-02 -6.13529816e+00] [-7.99163875e-02 7.81313061e-04 9.96801264e-01 -7.68334733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.15, Z:-7.69 [[ 9.65309984e-01 2.49402102e-01 7.72995861e-02 9.47904544e+01] [-2.48575017e-01 9.68399942e-01 -2.02981018e-02 -6.15108935e+00] [-7.99193040e-02 3.79214401e-04 9.96801265e-01 -7.68832230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.17, Z:-7.69 [[ 9.63677275e-01 2.55639892e-01 7.72939514e-02 9.48507706e+01] [-2.54831089e-01 9.66772069e-01 -2.03195360e-02 -6.16719507e+00] [-7.99201172e-02 -1.15426754e-04 9.96801265e-01 -7.69337717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:-6.18, Z:-7.70 [[ 9.62515232e-01 2.59982610e-01 7.72882338e-02 9.49100118e+01] [-2.59186026e-01 9.65613192e-01 -2.03412605e-02 -6.18470017e+00] [-7.99189122e-02 -4.53257065e-04 9.96801265e-01 -7.69987787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:-6.20, Z:-7.70 [[ 9.61957083e-01 2.62041824e-01 7.72829440e-02 9.49699082e+01] [-2.61250259e-01 9.65056329e-01 -2.03613384e-02 -6.20297431e+00] [-7.99179165e-02 -6.03455476e-04 9.96801265e-01 -7.70477489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:-6.22, Z:-7.71 [[ 9.61480401e-01 2.63787129e-01 7.72773449e-02 9.50298173e+01] [-2.62999483e-01 9.64580646e-01 -2.03825666e-02 -6.22303235e+00] [-7.99168900e-02 -7.26463423e-04 9.96801266e-01 -7.71105368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:-6.24, Z:-7.72 [[ 9.61373222e-01 2.64179103e-01 7.72717941e-02 9.50896368e+01] [-2.63391032e-01 9.64473358e-01 -2.04035886e-02 -6.24247993e+00] [-7.99167884e-02 -7.37233839e-04 9.96801266e-01 -7.71729641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:-6.27, Z:-7.72 [[ 9.61938086e-01 2.62116459e-01 7.72662997e-02 9.51472624e+01] [-2.61320071e-01 9.65036095e-01 -2.04243741e-02 -6.26524236e+00] [-7.99183328e-02 -5.44251642e-04 9.96801266e-01 -7.72297598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:-6.29, Z:-7.73 [[ 9.62626254e-01 2.59578772e-01 7.72629100e-02 9.52070191e+01] [-2.58773188e-01 9.65721885e-01 -2.04371888e-02 -6.28630243e+00] [-7.99195435e-02 -3.20195042e-04 9.96801266e-01 -7.72771749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.31, Z:-7.73 [[ 9.64032266e-01 2.54308989e-01 7.72575405e-02 9.52654025e+01] [-2.53484857e-01 9.67123011e-01 -2.04574669e-02 -6.30944205e+00] [-7.99200629e-02 1.38041520e-04 9.96801266e-01 -7.73177158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.32, Y:-6.33, Z:-7.74 [[ 9.64830064e-01 2.51266980e-01 7.72518793e-02 9.53239503e+01] [-2.50431394e-01 9.67917731e-01 -2.04788226e-02 -6.33009033e+00] [-7.99191157e-02 4.12287940e-04 9.96801267e-01 -7.73618764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.38, Y:-6.35, Z:-7.74 [[ 9.64370599e-01 2.53026289e-01 7.72466516e-02 9.53835778e+01] [-2.52194758e-01 9.67459361e-01 -2.04985227e-02 -6.34706070e+00] [-7.99196613e-02 2.86972015e-04 9.96801267e-01 -7.74171024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.44, Y:-6.36, Z:-7.74 [[ 9.64233473e-01 2.53549276e-01 7.72435960e-02 9.54428558e+01] [-2.52718499e-01 9.67322438e-01 -2.05100306e-02 -6.36330495e+00] [-7.99197670e-02 2.55572407e-04 9.96801267e-01 -7.74402762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.50, Y:-6.38, Z:-7.75 [[ 9.64540145e-01 2.52381126e-01 7.72403768e-02 9.55035731e+01] [-2.51545637e-01 9.67627839e-01 -2.05221467e-02 -6.37972463e+00] [-7.99193414e-02 3.64954601e-04 9.96801267e-01 -7.74959067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.56, Y:-6.39, Z:-7.76 [[ 9.65011527e-01 2.50574486e-01 7.72345819e-02 9.55630104e+01] [-2.49731473e-01 9.68097174e-01 -2.05439329e-02 -6.39447705e+00] [-7.99183659e-02 5.37226230e-04 9.96801267e-01 -7.75527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.62, Y:-6.41, Z:-7.76 [[ 9.66425196e-01 2.45067310e-01 7.72292311e-02 9.56240681e+01] [-2.44205109e-01 9.69505537e-01 -2.05640280e-02 -6.41018514e+00] [-7.99137382e-02 1.01382198e-03 9.96801267e-01 -7.75980137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:-6.43, Z:-7.76 [[ 9.67260037e-01 2.41753048e-01 7.72236071e-02 9.56849526e+01] [-2.40878608e-01 9.70336925e-01 -2.05851261e-02 -6.42569917e+00] [-7.99094345e-02 1.30965483e-03 9.96801268e-01 -7.76388205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.75, Y:-6.44, Z:-7.77 [[ 9.68188964e-01 2.38007436e-01 7.72178149e-02 9.57455363e+01] [-2.37119364e-01 9.71261945e-01 -2.06068309e-02 -6.44013872e+00] [-7.99033040e-02 1.64146710e-03 9.96801268e-01 -7.76885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.81, Y:-6.46, Z:-7.78 [[ 9.68337862e-01 2.37402776e-01 7.72120945e-02 9.58058613e+01] [-2.36511079e-01 9.71409793e-01 -2.06282423e-02 -6.45511608e+00] [-7.99017867e-02 1.71359229e-03 9.96801268e-01 -7.77536878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:-6.47, Z:-7.78 [[ 9.68276427e-01 2.37655051e-01 7.72064590e-02 9.58671293e+01] [-2.36762474e-01 9.71348103e-01 -2.06493134e-02 -6.47000446e+00] [-7.99017611e-02 1.71465115e-03 9.96801268e-01 -7.78224077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:-6.49, Z:-7.79 [[ 9.67823528e-01 2.39494571e-01 7.72008396e-02 9.59277540e+01] [-2.38606159e-01 9.70896410e-01 -2.06703011e-02 -6.48513942e+00] [-7.99044429e-02 1.58460794e-03 9.96801269e-01 -7.78752076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:-6.50, Z:-7.79 [[ 9.67423223e-01 2.41108346e-01 7.71950312e-02 9.59874463e+01] [-2.40223332e-01 9.70497086e-01 -2.06919705e-02 -6.50009768e+00] [-7.99065596e-02 1.47384518e-03 9.96801269e-01 -7.79348709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-6.52, Z:-7.80 [[ 9.67000782e-01 2.42798205e-01 7.71914524e-02 9.60479420e+01] [-2.41917497e-01 9.70075881e-01 -2.07053126e-02 -6.51541317e+00] [-7.99087789e-02 1.34809051e-03 9.96801269e-01 -7.79755060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.11, Y:-6.53, Z:-7.80 [[ 9.66708694e-01 2.43960390e-01 7.71856805e-02 9.61085148e+01] [-2.43081664e-01 9.69784360e-01 -2.07268070e-02 -6.53136238e+00] [-7.99099856e-02 1.27436097e-03 9.96801269e-01 -7.80208152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.17, Y:-6.55, Z:-7.81 [[ 9.66884797e-01 2.43263326e-01 7.71799420e-02 9.61690961e+01] [-2.42380680e-01 9.69959339e-01 -2.07481532e-02 -6.54842109e+00] [-7.99086704e-02 1.35414712e-03 9.96801269e-01 -7.80687097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.23, Y:-6.57, Z:-7.81 [[ 9.67252268e-01 2.41799946e-01 7.71740675e-02 9.62283055e+01] [-2.40910907e-01 9.70324968e-01 -2.07699810e-02 -6.56556203e+00] [-7.99061048e-02 1.49773665e-03 9.96801270e-01 -7.81261824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-6.58, Z:-7.82 [[ 9.68272154e-01 2.37684744e-01 7.71686402e-02 9.62881424e+01] [-2.36781043e-01 9.71340573e-01 -2.07901262e-02 -6.58261654e+00] [-7.98985270e-02 1.85842915e-03 9.96801270e-01 -7.81943752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.35, Y:-6.60, Z:-7.82 [[ 9.68166670e-01 2.38115684e-01 7.71635920e-02 9.63468042e+01] [-2.37211857e-01 9.71235052e-01 -2.08088459e-02 -6.60017345e+00] [-7.98988979e-02 1.84231213e-03 9.96801270e-01 -7.82463634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.41, Y:-6.62, Z:-7.83 [[ 9.68088905e-01 2.38433161e-01 7.71589290e-02 9.64068103e+01] [-2.37528964e-01 9.71157178e-01 -2.08261221e-02 -6.61618575e+00] [-7.98990858e-02 1.83405730e-03 9.96801270e-01 -7.83059761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.47, Y:-6.63, Z:-7.84 [[ 9.67962438e-01 2.38947638e-01 7.71540274e-02 9.64679759e+01] [-2.38043627e-01 9.71030766e-01 -2.08442650e-02 -6.63208581e+00] [-7.98996222e-02 1.81044106e-03 9.96801270e-01 -7.83557311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.53, Y:-6.65, Z:-7.84 [[ 9.68074201e-01 2.38496281e-01 7.71483302e-02 9.65287594e+01] [-2.37589161e-01 9.71141611e-01 -2.08653302e-02 -6.64807374e+00] [-7.98982573e-02 1.86958085e-03 9.96801271e-01 -7.83996869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:-6.66, Z:-7.84 [[ 9.68723557e-01 2.35846743e-01 7.71426225e-02 9.65889991e+01] [-2.34929556e-01 9.71787972e-01 -2.08864112e-02 -6.66486799e+00] [-7.98922647e-02 2.11007651e-03 9.96801271e-01 -7.84044711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.65, Y:-6.68, Z:-7.84 [[ 9.69211943e-01 2.33833284e-01 7.71375721e-02 9.66497521e+01] [-2.32908250e-01 9.72273997e-01 -2.09050468e-02 -6.67904088e+00] [-7.98871513e-02 2.29544409e-03 9.96801271e-01 -7.84420575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.71, Y:-6.69, Z:-7.85 [[ 9.69243071e-01 2.33705971e-01 7.71322769e-02 9.67083275e+01] [-2.32778982e-01 9.72304535e-01 -2.09245660e-02 -6.69354320e+00] [-7.98862586e-02 2.32621772e-03 9.96801271e-01 -7.85205848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.77, Y:-6.71, Z:-7.86 [[ 9.69426071e-01 2.32947324e-01 7.71274080e-02 9.67699380e+01] [-2.32016514e-01 9.72486375e-01 -2.09424974e-02 -6.70779676e+00] [-7.98838521e-02 2.40737062e-03 9.96801271e-01 -7.85723744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.83, Y:-6.72, Z:-7.86 [[ 9.68988259e-01 2.34763833e-01 7.71213127e-02 9.68298478e+01] [-2.33836978e-01 9.72049762e-01 -2.09649195e-02 -6.72403780e+00] [-7.98875586e-02 2.28094612e-03 9.96801272e-01 -7.86354860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:-6.74, Z:-7.87 [[ 9.69206917e-01 2.33860720e-01 7.71175479e-02 9.68912666e+01] [-2.32929912e-01 9.72267220e-01 -2.09787589e-02 -6.73861932e+00] [-7.98849716e-02 2.36977464e-03 9.96801272e-01 -7.86866770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.95, Y:-6.75, Z:-7.87 [[ 9.69647317e-01 2.32029886e-01 7.71116907e-02 9.69519529e+01] [-2.31091591e-01 9.72705333e-01 -2.10002665e-02 -6.75427956e+00] [-7.98796422e-02 2.54298874e-03 9.96801272e-01 -7.87377731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.01, Y:-6.77, Z:-7.88 [[ 9.70220998e-01 2.29621219e-01 7.71058395e-02 9.70121544e+01] [-2.28673630e-01 9.73276147e-01 -2.10217283e-02 -6.76973042e+00] [-7.98723092e-02 2.76365001e-03 9.96801272e-01 -7.87919673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.07, Y:-6.79, Z:-7.88 [[ 9.70991889e-01 2.26340444e-01 7.71022322e-02 9.70721983e+01] [-2.25381485e-01 9.74043488e-01 -2.10349506e-02 -6.78527172e+00] [-7.98619872e-02 3.04735080e-03 9.96801272e-01 -7.88238134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:-6.80, Z:-7.89 [[ 9.71174033e-01 2.25559347e-01 7.70971977e-02 9.71333817e+01] [-2.24596473e-01 9.74224399e-01 -2.10533866e-02 -6.80098637e+00] [-7.98587593e-02 3.13074369e-03 9.96801273e-01 -7.88571632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.82, Z:-7.89 [[ 9.70873260e-01 2.26852479e-01 7.70912862e-02 9.71938885e+01] [-2.25891953e-01 9.73924365e-01 -2.10750110e-02 -6.81615213e+00] [-7.98620004e-02 3.04686342e-03 9.96801273e-01 -7.89152547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.25, Y:-6.83, Z:-7.90 [[ 9.70379967e-01 2.28955354e-01 7.70854374e-02 9.72541007e+01] [-2.27999745e-01 9.73432616e-01 -2.10963821e-02 -6.83164269e+00] [-7.98676087e-02 2.89604650e-03 9.96801273e-01 -7.89734554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.31, Y:-6.85, Z:-7.90 [[ 9.69231034e-01 2.33773028e-01 7.70803082e-02 9.73139507e+01] [-2.32831108e-01 9.72287934e-01 -2.11151064e-02 -6.84678159e+00] [-7.98803960e-02 2.51872282e-03 9.96801273e-01 -7.90252061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.37, Y:-6.86, Z:-7.91 [[ 9.68180094e-01 2.38089832e-01 7.70748818e-02 9.73744709e+01] [-2.37159970e-01 9.71240683e-01 -2.11348953e-02 -6.86217493e+00] [-7.98902646e-02 2.18330826e-03 9.96801273e-01 -7.90540536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:-6.88, Z:-7.91 [[ 9.66465052e-01 2.44959879e-01 7.70711377e-02 9.74332088e+01] [-2.44050689e-01 9.69531846e-01 -2.11485399e-02 -6.87680858e+00] [-7.99034662e-02 1.63006046e-03 9.96801274e-01 -7.90947662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.49, Y:-6.89, Z:-7.91 [[ 9.65163919e-01 2.50037799e-01 7.70695029e-02 9.74928871e+01] [-2.49144270e-01 9.68235312e-01 -2.11544960e-02 -6.89312920e+00] [-7.99108378e-02 1.21613126e-03 9.96801274e-01 -7.91391968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.55, Y:-6.91, Z:-7.92 [[ 9.62809607e-01 2.58957124e-01 7.70640593e-02 9.75540618e+01] [-2.58090465e-01 9.65888689e-01 -2.11743079e-02 -6.90849052e+00] [-7.99185411e-02 4.97328157e-04 9.96801274e-01 -7.91772620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.61, Y:-6.92, Z:-7.92 [[ 9.59906909e-01 2.69519536e-01 7.70580643e-02 9.76134102e+01] [-2.68685008e-01 9.62994855e-01 -2.11961029e-02 -6.92279813e+00] [-7.99192833e-02 -3.58061019e-04 9.96801274e-01 -7.92365335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.67, Y:-6.94, Z:-7.93 [[ 9.57830246e-01 2.76810431e-01 7.70532651e-02 9.76729684e+01] [-2.75998005e-01 9.60924080e-01 -2.12135348e-02 -6.93817014e+00] [-7.99144656e-02 -9.47582143e-04 9.96801274e-01 -7.92922182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.73, Y:-6.95, Z:-7.94 [[ 9.56196300e-01 2.82404404e-01 7.70479576e-02 9.77330559e+01] [-2.81608525e-01 9.59294432e-01 -2.12327941e-02 -6.95448163e+00] [-7.99079113e-02 -1.39464248e-03 9.96801274e-01 -7.93507940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.79, Y:-6.97, Z:-7.94 [[ 9.54999240e-01 2.86427798e-01 7.70426321e-02 9.77921294e+01] [-2.85643413e-01 9.58100302e-01 -2.12521002e-02 -6.97213240e+00] [-7.99017614e-02 -1.71098080e-03 9.96801275e-01 -7.94108580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.85, Y:-6.99, Z:-7.95 [[ 9.55092707e-01 2.86117497e-01 7.70370003e-02 9.78524088e+01] [-2.85330460e-01 9.58193096e-01 -2.12724955e-02 -6.99138246e+00] [-7.99027550e-02 -1.66379745e-03 9.96801275e-01 -7.94518239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.91, Y:-7.01, Z:-7.95 [[ 9.56180712e-01 2.82461788e-01 7.70310655e-02 9.79118246e+01] [-2.81661167e-01 9.59277621e-01 -2.12939649e-02 -7.01272328e+00] [-7.99089086e-02 -1.33578128e-03 9.96801275e-01 -7.94919063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:-7.03, Z:-7.95 [[ 9.56545880e-01 2.81224315e-01 7.70250914e-02 9.79720487e+01] [-2.80417950e-01 9.59641298e-01 -2.13155524e-02 -7.03144416e+00] [-7.99109104e-02 -1.20991437e-03 9.96801275e-01 -7.95369124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.03, Y:-7.05, Z:-7.96 [[ 9.57299887e-01 2.78648509e-01 7.70190535e-02 9.80315099e+01] [-2.77832061e-01 9.60392661e-01 -2.13373471e-02 -7.05217882e+00] [-7.99141537e-02 -9.72122347e-04 9.96801276e-01 -7.95832219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.09, Y:-7.07, Z:-7.96 [[ 9.58058911e-01 2.76029179e-01 7.70130883e-02 9.80901262e+01] [-2.75202546e-01 9.61148978e-01 -2.13588557e-02 -7.07384772e+00] [-7.99167185e-02 -7.31155924e-04 9.96801276e-01 -7.96427921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:-7.10, Z:-7.97 [[ 9.58246782e-01 2.75377912e-01 7.70072089e-02 9.81489015e+01] [-2.74547478e-01 9.61335829e-01 -2.13800324e-02 -7.09575000e+00] [-7.99173777e-02 -6.54787705e-04 9.96801276e-01 -7.96896111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.21, Y:-7.12, Z:-7.97 [[ 9.58083534e-01 2.75947003e-01 7.70012520e-02 9.82080583e+01] [-2.75116681e-01 9.61172611e-01 -2.14014651e-02 -7.11516855e+00] [-7.99171646e-02 -6.79937572e-04 9.96801276e-01 -7.97426693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.27, Y:-7.14, Z:-7.98 [[ 9.57674088e-01 2.77366101e-01 7.69960267e-02 9.82660480e+01] [-2.76538846e-01 9.60763987e-01 -2.14202475e-02 -7.13509877e+00] [-7.99162602e-02 -7.78776461e-04 9.96801277e-01 -7.98112118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.33, Y:-7.15, Z:-7.98 [[ 9.57450256e-01 2.78138577e-01 7.69931114e-02 9.83260145e+01] [-2.77312973e-01 9.60540597e-01 -2.14307212e-02 -7.15382348e+00] [-7.99157195e-02 -8.32339190e-04 9.96801277e-01 -7.98483528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.39, Y:-7.17, Z:-7.99 [[ 9.57418563e-01 2.78249324e-01 7.69870719e-02 9.83861584e+01] [-2.77422334e-01 9.60508534e-01 -2.14523954e-02 -7.17232275e+00] [-7.99158541e-02 -8.19011647e-04 9.96801277e-01 -7.98957992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-7.19, Z:-7.99 [[ 9.57646754e-01 2.77464615e-01 7.69810470e-02 9.84459798e+01] [-2.76633358e-01 9.60735579e-01 -2.14739941e-02 -7.18980231e+00] [-7.99167042e-02 -7.31024729e-04 9.96801277e-01 -7.99386312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.51, Y:-7.21, Z:-8.00 [[ 9.58486029e-01 2.74553044e-01 7.69750545e-02 9.85054827e+01] [-2.73710680e-01 9.61571843e-01 -2.14954531e-02 -7.20685695e+00] [-7.99186871e-02 -4.65802988e-04 9.96801277e-01 -7.99735916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.57, Y:-7.22, Z:-8.00 [[ 9.59562784e-01 2.70767277e-01 7.69697701e-02 9.85659178e+01] [-2.69911221e-01 9.62644828e-01 -2.15143587e-02 -7.22454227e+00] [-7.99199354e-02 -1.30626746e-04 9.96801278e-01 -8.00177993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.63, Y:-7.24, Z:-8.01 [[ 9.60997853e-01 2.65630803e-01 7.69636474e-02 9.86254299e+01] [-2.64756522e-01 9.64074776e-01 -2.15362394e-02 -7.24131478e+00] [-7.99193997e-02 3.19652219e-04 9.96801278e-01 -8.00714637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.69, Y:-7.26, Z:-8.01 [[ 9.63590676e-01 2.56067326e-01 7.69580025e-02 9.86859274e+01] [-2.55160900e-01 9.66658283e-01 -2.15563923e-02 -7.25676025e+00] [-7.99119783e-02 1.13486542e-03 9.96801278e-01 -8.01192319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.75, Y:-7.27, Z:-8.02 [[ 9.66572578e-01 2.44572770e-01 7.69520138e-02 9.87465828e+01] [-2.43628175e-01 9.69628647e-01 -2.15777495e-02 -7.27364717e+00] [-7.98922070e-02 2.10878228e-03 9.96801278e-01 -8.01740269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.81, Y:-7.29, Z:-8.02 [[ 9.68416174e-01 2.37169635e-01 7.69459426e-02 9.88073047e+01] [-2.36199967e-01 9.71464380e-01 -2.15993778e-02 -7.28991796e+00] [-7.98729590e-02 2.74255775e-03 9.96801278e-01 -8.02238763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.87, Y:-7.30, Z:-8.03 [[ 9.70031544e-01 2.30475709e-01 7.69399166e-02 9.88682728e+01] [-2.29483314e-01 9.73072427e-01 -2.16208218e-02 -7.30367607e+00] [-7.98511857e-02 3.31645211e-03 9.96801279e-01 -8.02693315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.93, Y:-7.32, Z:-8.03 [[ 9.70449354e-01 2.28712115e-01 7.69338723e-02 9.89294035e+01] [-2.27712494e-01 9.73487869e-01 -2.16423083e-02 -7.31865197e+00] [-7.98440495e-02 3.48396021e-03 9.96801279e-01 -8.03156423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:98.99, Y:-7.33, Z:-8.04 [[ 9.69406844e-01 2.33093299e-01 7.69277895e-02 9.89912201e+01] [-2.32105702e-01 9.72449288e-01 -2.16639080e-02 -7.33086163e+00] [-7.98580860e-02 3.14576206e-03 9.96801279e-01 -8.03684076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.05, Y:-7.34, Z:-8.04 [[ 9.67617014e-01 2.40417046e-01 7.69217732e-02 9.90529084e+01] [-2.39450789e-01 9.70666302e-01 -2.16852492e-02 -7.34353853e+00] [-7.98788767e-02 2.56403683e-03 9.96801279e-01 -8.04239637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:-7.35, Z:-8.05 [[ 9.64181434e-01 2.53846661e-01 7.69157618e-02 9.91149543e+01] [-2.52921193e-01 9.67243349e-01 -2.17065504e-02 -7.35336725e+00] [-7.99063943e-02 1.47542665e-03 9.96801280e-01 -8.04829295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.18, Y:-7.37, Z:-8.05 [[ 9.61690420e-01 2.63128180e-01 7.69096625e-02 9.91767020e+01] [-2.62230541e-01 9.64760608e-01 -2.17281397e-02 -7.36690972e+00] [-7.99166986e-02 7.27681323e-04 9.96801280e-01 -8.05341848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.24, Y:-7.38, Z:-8.06 [[ 9.58174248e-01 2.75659114e-01 7.69036021e-02 9.92378430e+01] [-2.74799908e-01 9.61255412e-01 -2.17495683e-02 -7.37793984e+00] [-7.99194705e-02 -2.93226516e-04 9.96801280e-01 -8.06010935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.30, Y:-7.39, Z:-8.07 [[ 9.55985719e-01 2.83157208e-01 7.68979922e-02 9.92990046e+01] [-2.82320573e-01 9.59073088e-01 -2.17693848e-02 -7.39184583e+00] [-7.99149531e-02 -8.98664288e-04 9.96801280e-01 -8.06531976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.36, Y:-7.41, Z:-8.07 [[ 9.53763795e-01 2.90555112e-01 7.68918107e-02 9.93599073e+01] [-2.89740664e-01 9.56857090e-01 -2.17911968e-02 -7.40593967e+00] [-7.99060179e-02 -1.49502969e-03 9.96801281e-01 -8.07120236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:-7.42, Z:-8.08 [[ 9.52856653e-01 2.93517948e-01 7.68857136e-02 9.94203533e+01] [-2.92711383e-01 9.55952014e-01 -2.18126880e-02 -7.42222701e+00] [-7.99014682e-02 -1.72095876e-03 9.96801281e-01 -8.07645932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.48, Y:-7.44, Z:-8.08 [[ 9.52503533e-01 2.94663460e-01 7.68795501e-02 9.94793002e+01] [-2.93858867e-01 9.55599406e-01 -2.18343901e-02 -7.43840817e+00] [-7.98998493e-02 -1.79440383e-03 9.96801281e-01 -8.08309171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.54, Y:-7.46, Z:-8.09 [[ 9.52721119e-01 2.93960678e-01 7.68738561e-02 9.95398824e+01] [-2.93152187e-01 9.55815976e-01 -2.18544191e-02 -7.45527241e+00] [-7.99015996e-02 -1.71457241e-03 9.96801281e-01 -8.08935530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:-7.47, Z:-8.10 [[ 9.53607621e-01 2.91073611e-01 7.68678029e-02 9.95992903e+01] [-2.90254035e-01 9.56699561e-01 -2.18756892e-02 -7.47395694e+00] [-7.99068291e-02 -1.45036597e-03 9.96801282e-01 -8.09518892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:-7.49, Z:-8.10 [[ 9.54456379e-01 2.88279712e-01 7.68623997e-02 9.96585192e+01] [-2.87449558e-01 9.57545495e-01 -2.18946572e-02 -7.49314016e+00] [-7.99110301e-02 -1.19656764e-03 9.96801282e-01 -8.10073529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:-7.51, Z:-8.11 [[ 9.56248177e-01 2.82280961e-01 7.68562477e-02 9.97168719e+01] [-2.81429692e-01 9.59331542e-01 -2.19162314e-02 -7.51410371e+00] [-7.99171575e-02 -6.72273771e-04 9.96801282e-01 -8.10547687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.78, Y:-7.53, Z:-8.11 [[ 9.57475165e-01 2.78092249e-01 7.68505699e-02 9.97761724e+01] [-2.77225894e-01 9.60554324e-01 -2.19361228e-02 -7.53452013e+00] [-7.99194130e-02 -3.01675136e-04 9.96801282e-01 -8.10858346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.83, Y:-7.56, Z:-8.11 [[ 9.59130933e-01 2.72328463e-01 7.68443964e-02 9.98345140e+01] [-2.71441873e-01 9.62204327e-01 -2.19577279e-02 -7.55727927e+00] [-7.99197251e-02 2.01549152e-04 9.96801283e-01 -8.11091497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.89, Y:-7.58, Z:-8.12 [[ 9.59503241e-01 2.71015380e-01 7.68387611e-02 9.98922344e+01] [-2.70123007e-01 9.62574960e-01 -2.19774306e-02 -7.57524785e+00] [-7.99192891e-02 3.31498716e-04 9.96801283e-01 -8.11732916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:99.95, Y:-7.59, Z:-8.12 [[ 9.60253070e-01 2.68347370e-01 7.68357403e-02 9.99516609e+01] [-2.67445618e-01 9.63322049e-01 -2.19879865e-02 -7.59467895e+00] [-7.99179812e-02 5.64649509e-04 9.96801283e-01 -8.12271527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.01, Y:-7.62, Z:-8.13 [[ 9.61036537e-01 2.65529632e-01 7.68296098e-02 1.00010925e+02] [-2.64617171e-01 9.64102349e-01 -2.20093870e-02 -7.61512117e+00] [-7.99157517e-02 8.21391074e-04 9.96801283e-01 -8.12651789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.63, Z:-8.13 [[ 9.61382916e-01 2.64274555e-01 7.68234843e-02 1.00070620e+02] [-2.63356384e-01 9.64447023e-01 -2.20307470e-02 -7.63438761e+00] [-7.99143467e-02 9.48028776e-04 9.96801283e-01 -8.13021096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.65, Z:-8.13 [[ 9.62163497e-01 2.61420174e-01 7.68173008e-02 1.00129736e+02] [-2.60491195e-01 9.65224344e-01 -2.20522869e-02 -7.65456571e+00] [-7.99108415e-02 1.20767500e-03 9.96801284e-01 -8.13496461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.67, Z:-8.14 [[ 9.62769614e-01 2.59180857e-01 7.68111583e-02 1.00189730e+02] [-2.58243054e-01 9.65827769e-01 -2.20736614e-02 -7.67311102e+00] [-7.99074201e-02 1.41590243e-03 9.96801284e-01 -8.13988393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.25, Y:-7.69, Z:-8.14 [[ 9.64064748e-01 2.54322921e-01 7.68050408e-02 1.00249162e+02] [-2.53368016e-01 9.67117605e-01 -2.20949268e-02 -7.69233870e+00] [-7.98987535e-02 1.84099920e-03 9.96801284e-01 -8.14429490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.31, Y:-7.71, Z:-8.15 [[ 9.65217850e-01 2.49912836e-01 7.67989401e-02 1.00308875e+02] [-2.48942300e-01 9.68265774e-01 -2.21161118e-02 -7.71138403e+00] [-7.98888854e-02 2.22836109e-03 9.96801284e-01 -8.15018453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.37, Y:-7.73, Z:-8.16 [[ 9.65788027e-01 2.47702133e-01 7.67928335e-02 1.00368921e+02] [-2.46722938e-01 9.68833181e-01 -2.21372952e-02 -7.72953134e+00] [-7.98829004e-02 2.43338112e-03 9.96801285e-01 -8.15595760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.43, Y:-7.75, Z:-8.16 [[ 9.66277901e-01 2.45786116e-01 7.67867422e-02 1.00428013e+02] [-2.44799208e-01 9.69320563e-01 -2.21584039e-02 -7.74671499e+00] [-7.98771962e-02 2.61384233e-03 9.96801285e-01 -8.16166562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.49, Y:-7.76, Z:-8.17 [[ 9.66352726e-01 2.45493521e-01 7.67811128e-02 1.00488304e+02] [-2.44504145e-01 9.69394586e-01 -2.21778931e-02 -7.76393453e+00] [-7.98757242e-02 2.65836715e-03 9.96801285e-01 -8.16641155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.78, Z:-8.17 [[ 9.66172763e-01 2.46202699e-01 7.67751474e-02 1.00549064e+02] [-2.45213918e-01 9.69214816e-01 -2.21985249e-02 -7.78099142e+00] [-7.98769472e-02 2.62127537e-03 9.96801285e-01 -8.16969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.80, Z:-8.17 [[ 9.65444329e-01 2.49045726e-01 7.67689642e-02 1.00609574e+02] [-2.48064207e-01 9.68488733e-01 -2.22198877e-02 -7.79711799e+00] [-7.98836450e-02 2.40843235e-03 9.96801285e-01 -8.17470020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.67, Y:-7.81, Z:-8.18 [[ 9.63662592e-01 2.55855225e-01 7.67627087e-02 1.00670478e+02] [-2.54893504e-01 9.66713307e-01 -2.22414775e-02 -7.81135173e+00] [-7.98981303e-02 1.86696412e-03 9.96801286e-01 -8.18057620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:100.73, Y:-7.83, Z:-8.19 [[ 9.62109166e-01 2.61637914e-01 7.67564624e-02 1.00730338e+02] [-2.60692814e-01 9.65165071e-01 -2.22630133e-02 -7.82653554e+00] [-7.99075048e-02 1.40959094e-03 9.96801286e-01 -8.18692933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.79, Y:-7.84, Z:-8.19 [[ 9.60656217e-01 2.66925016e-01 7.67506899e-02 1.00790611e+02] [-2.65995148e-01 9.63716791e-01 -2.22828958e-02 -7.84225794e+00] [-7.99137910e-02 9.90891260e-04 9.96801286e-01 -8.19233214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.85, Y:-7.86, Z:-8.20 [[ 9.58652107e-01 2.74037275e-01 7.67444418e-02 1.00850190e+02] [-2.73128394e-01 9.61718979e-01 -2.23043942e-02 -7.85740822e+00] [-7.99188217e-02 4.21068343e-04 9.96801286e-01 -8.19869214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.91, Y:-7.88, Z:-8.20 [[ 9.57096445e-01 2.79423555e-01 7.67389879e-02 1.00909662e+02] [-2.78530430e-01 9.60167942e-01 -2.23231428e-02 -7.87516930e+00] [-7.99199280e-02 -8.74270147e-06 9.96801287e-01 -8.20195370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.89, Z:-8.21 [[ 9.56455676e-01 2.81609631e-01 7.67369201e-02 1.00968769e+02] [-2.80722956e-01 9.59529042e-01 -2.23302490e-02 -7.88996490e+00] [-7.99197165e-02 -1.83921602e-04 9.96801287e-01 -8.20956895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:-7.91, Z:-8.21 [[ 9.55587967e-01 2.84541571e-01 7.67315486e-02 1.01029470e+02] [-2.83662845e-01 9.58663615e-01 -2.23486912e-02 -7.90777054e+00] [-7.99188755e-02 -4.09749053e-04 9.96801287e-01 -8.21397972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.93, Z:-8.22 [[ 9.55153066e-01 2.85999739e-01 7.67252874e-02 1.01089460e+02] [-2.85123983e-01 9.58229560e-01 -2.23701660e-02 -7.92533514e+00] [-7.99183001e-02 -5.09286909e-04 9.96801287e-01 -8.21839718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:-7.94, Z:-8.22 [[ 9.54541253e-01 2.88036787e-01 7.67190087e-02 1.01150148e+02] [-2.87165867e-01 9.57619119e-01 -2.23916783e-02 -7.94277818e+00] [-7.99172166e-02 -6.57300030e-04 9.96801287e-01 -8.22285914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:-7.96, Z:-8.23 [[ 9.54226770e-01 2.89078620e-01 7.67125987e-02 1.01209121e+02] [-2.88209297e-01 9.57305088e-01 -2.24136172e-02 -7.96042888e+00] [-7.99166586e-02 -7.21610590e-04 9.96801288e-01 -8.22805806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:-7.98, Z:-8.23 [[ 9.54305425e-01 2.88819907e-01 7.67086442e-02 1.01268288e+02] [-2.87948663e-01 9.57383200e-01 -2.24271430e-02 -7.97852219e+00] [-7.99169726e-02 -6.85807307e-04 9.96801288e-01 -8.23406870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:-8.00, Z:-8.24 [[ 9.54480801e-01 2.88241343e-01 7.67028584e-02 1.01328377e+02] [-2.87366644e-01 9.57557595e-01 -2.24469137e-02 -7.99736256e+00] [-7.99175332e-02 -6.16694851e-04 9.96801288e-01 -8.23885508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.39, Y:-8.02, Z:-8.24 [[ 9.55093501e-01 2.86206319e-01 7.66964619e-02 1.01386903e+02] [-2.85323311e-01 9.58167920e-01 -2.24687480e-02 -8.01655531e+00] [-7.99187871e-02 -4.23533349e-04 9.96801288e-01 -8.24418203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.45, Y:-8.04, Z:-8.25 [[ 9.55787172e-01 2.83882687e-01 7.66909495e-02 1.01446580e+02] [-2.82990696e-01 9.58858997e-01 -2.24875474e-02 -8.03621640e+00] [-7.99196323e-02 -2.09515845e-04 9.96801288e-01 -8.24914472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:-8.06, Z:-8.25 [[ 9.57588213e-01 2.77748569e-01 7.66847189e-02 1.01504802e+02] [-2.76835201e-01 9.60653750e-01 -2.25087743e-02 -8.05749669e+00] [-7.99192426e-02 3.25107409e-04 9.96801289e-01 -8.25029024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:-8.08, Z:-8.26 [[ 9.59261709e-01 2.71914163e-01 7.66789544e-02 1.01562596e+02] [-2.70980582e-01 9.62321150e-01 -2.25283949e-02 -8.07673999e+00] [-7.99155692e-02 8.32118946e-04 9.96801289e-01 -8.25681401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:-8.10, Z:-8.26 [[ 9.62105085e-01 2.61677185e-01 7.66736944e-02 1.01621779e+02] [-2.60709632e-01 9.65153953e-01 -2.25462826e-02 -8.09806620e+00] [-7.99017670e-02 1.70232245e-03 9.96801289e-01 -8.25871260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:-8.12, Z:-8.26 [[ 9.63855016e-01 2.55158026e-01 7.66673988e-02 1.01680894e+02] [-2.54168155e-01 9.66896711e-01 -2.25676703e-02 -8.11814342e+00] [-7.98877779e-02 2.26555091e-03 9.96801289e-01 -8.26315509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:-8.14, Z:-8.27 [[ 9.66129387e-01 2.46408402e-01 7.66609924e-02 1.01739407e+02] [-2.45389271e-01 9.69161402e-01 -2.25894115e-02 -8.13769977e+00] [-7.98630957e-02 3.01250921e-03 9.96801289e-01 -8.26927098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.80, Y:-8.16, Z:-8.27 [[ 9.66817512e-01 2.43696196e-01 7.66554847e-02 1.01799546e+02] [-2.42667082e-01 9.69846154e-01 -2.26080860e-02 -8.15626809e+00] [-7.98535316e-02 3.25613066e-03 9.96801290e-01 -8.27369490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.86, Y:-8.17, Z:-8.28 [[ 9.67510830e-01 2.40930903e-01 7.66491662e-02 1.01860042e+02] [-2.39891442e-01 9.70535936e-01 -2.26294878e-02 -8.17265368e+00] [-7.98429132e-02 3.50679548e-03 9.96801290e-01 -8.27767336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.92, Y:-8.19, Z:-8.28 [[ 9.67877605e-01 2.39455227e-01 7.66429068e-02 1.01920832e+02] [-2.38409481e-01 9.70900544e-01 -2.26506678e-02 -8.18848008e+00] [-7.98364607e-02 3.65067848e-03 9.96801290e-01 -8.28176977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.98, Y:-8.20, Z:-8.29 [[ 9.67612823e-01 2.40524949e-01 7.66366348e-02 1.01980353e+02] [-2.39480869e-01 9.70636338e-01 -2.26718688e-02 -8.20381198e+00] [-7.98394526e-02 3.58458309e-03 9.96801290e-01 -8.28739911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:-8.22, Z:-8.29 [[ 9.66003912e-01 2.46908609e-01 7.66327698e-02 1.02042053e+02] [-2.45883481e-01 9.69033904e-01 -2.26849253e-02 -8.21590183e+00] [-7.98608555e-02 3.07099443e-03 9.96801291e-01 -8.29155173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:-8.23, Z:-8.30 [[ 9.62966339e-01 2.58503832e-01 7.66263632e-02 1.02104087e+02] [-2.57513485e-01 9.66007877e-01 -2.27065453e-02 -8.22564909e+00] [-7.98913994e-02 2.13331700e-03 9.96801291e-01 -8.29518050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.17, Y:-8.24, Z:-8.30 [[ 9.60674266e-01 2.66897369e-01 7.66208135e-02 1.02165284e+02] [-2.65932110e-01 9.63723859e-01 -2.27252569e-02 -8.23851838e+00] [-7.99066173e-02 1.45563487e-03 9.96801291e-01 -8.29969543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.23, Y:-8.25, Z:-8.30 [[ 9.56856914e-01 2.80276609e-01 7.66150656e-02 1.02226222e+02] [-2.79352448e-01 9.59919211e-01 -2.27446186e-02 -8.24920946e+00] [-7.99190580e-02 3.60739417e-04 9.96801291e-01 -8.30408969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.29, Y:-8.26, Z:-8.31 [[ 9.54473390e-01 2.88290844e-01 7.66089858e-02 1.02288273e+02] [-2.87390753e-01 9.57542848e-01 -2.27650786e-02 -8.26135948e+00] [-7.99193502e-02 -2.88052382e-04 9.96801291e-01 -8.30969412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.35, Y:-8.27, Z:-8.32 [[ 9.52353260e-01 2.95220802e-01 7.66025163e-02 1.02349868e+02] [-2.94341296e-01 9.55428680e-01 -2.27868272e-02 -8.27434114e+00] [-7.99153864e-02 -8.46174737e-04 9.96801292e-01 -8.31642120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.41, Y:-8.29, Z:-8.32 [[ 9.50255581e-01 3.01906313e-01 7.65957554e-02 1.02409050e+02] [-3.01046612e-01 9.53336595e-01 -2.28095306e-02 -8.28767542e+00] [-7.99078779e-02 -1.38400891e-03 9.96801292e-01 -8.32111132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.47, Y:-8.30, Z:-8.33 [[ 9.49538661e-01 3.04154446e-01 7.65924577e-02 1.02468336e+02] [-3.03301147e-01 9.52621454e-01 -2.28205986e-02 -8.30327605e+00] [-7.99046050e-02 -1.56153962e-03 9.96801292e-01 -8.32650831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.53, Y:-8.32, Z:-8.33 [[ 9.48961010e-01 3.05952938e-01 7.65885214e-02 1.02529043e+02] [-3.05104416e-01 9.52045121e-01 -2.28338018e-02 -8.31866723e+00] [-7.99017969e-02 -1.69910849e-03 9.96801292e-01 -8.33248025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.59, Y:-8.34, Z:-8.34 [[ 9.49692629e-01 3.03675960e-01 7.65821213e-02 1.02588243e+02] [-3.02818315e-01 9.52774216e-01 -2.28552471e-02 -8.33646901e+00] [-7.99060596e-02 -1.48500924e-03 9.96801292e-01 -8.33909456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.65, Y:-8.36, Z:-8.35 [[ 9.51384312e-01 2.98335281e-01 7.65764383e-02 1.02646571e+02] [-2.97458804e-01 9.54460595e-01 -2.28742721e-02 -8.35651174e+00] [-7.99133953e-02 -1.01611209e-03 9.96801293e-01 -8.34531384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.70, Y:-8.38, Z:-8.35 [[ 9.52053203e-01 2.96195239e-01 7.65707493e-02 1.02704979e+02] [-2.95310316e-01 9.55127067e-01 -2.28933001e-02 -8.37602604e+00] [-7.99156816e-02 -8.16492539e-04 9.96801293e-01 -8.35053618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.76, Y:-8.40, Z:-8.36 [[ 9.52114390e-01 2.95999968e-01 7.65650504e-02 1.02764379e+02] [-2.95112884e-01 9.55187631e-01 -2.29123438e-02 -8.39504160e+00] [-7.99160421e-02 -7.80160611e-04 9.96801293e-01 -8.35550787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.82, Y:-8.41, Z:-8.36 [[ 9.52146637e-01 2.95897905e-01 7.65585447e-02 1.02822698e+02] [-2.95008746e-01 9.55219278e-01 -2.29340613e-02 -8.41426294e+00] [-7.99163385e-02 -7.48850886e-04 9.96801293e-01 -8.36004056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.88, Y:-8.43, Z:-8.36 [[ 9.51984638e-01 2.96420241e-01 7.65525351e-02 1.02882742e+02] [-2.95531156e-01 9.55057299e-01 -2.29541034e-02 -8.43316575e+00] [-7.99161183e-02 -7.71705392e-04 9.96801293e-01 -8.36360130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.94, Y:-8.45, Z:-8.37 [[ 9.51919522e-01 2.96630965e-01 7.65460247e-02 1.02940931e+02] [-2.95740815e-01 9.54991876e-01 -2.29757934e-02 -8.45340085e+00] [-7.99161635e-02 -7.66677466e-04 9.96801294e-01 -8.36805054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.00, Y:-8.47, Z:-8.37 [[ 9.52514618e-01 2.94715933e-01 7.65403208e-02 1.03000138e+02] [-2.93818082e-01 9.55584729e-01 -2.29947796e-02 -8.47397281e+00] [-7.99176897e-02 -5.86066489e-04 9.96801294e-01 -8.37303125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.06, Y:-8.50, Z:-8.38 [[ 9.53604448e-01 2.91171978e-01 7.65338873e-02 1.03058976e+02] [-2.90260999e-01 9.56670689e-01 -2.30161724e-02 -8.49587958e+00] [-7.99193912e-02 -2.66478230e-04 9.96801294e-01 -8.37734517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.12, Y:-8.52, Z:-8.38 [[ 9.54240574e-01 2.89082130e-01 7.65274424e-02 1.03118837e+02] [-2.88162719e-01 9.57304297e-01 -2.30375814e-02 -8.51622402e+00] [-7.99198026e-02 -6.89609647e-05 9.96801294e-01 -8.38119667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.18, Y:-8.54, Z:-8.39 [[ 9.55116680e-01 2.86175989e-01 7.65207875e-02 1.03177787e+02] [-2.85245487e-01 9.58177053e-01 -2.30596650e-02 -8.53765682e+00] [-7.99195851e-02 1.97461335e-04 9.96801295e-01 -8.38636676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.24, Y:-8.56, Z:-8.39 [[ 9.55721071e-01 2.84152793e-01 7.65142190e-02 1.03236348e+02] [-2.83214068e-01 9.58778931e-01 -2.30814395e-02 -8.55753570e+00] [-7.99188766e-02 3.89514800e-04 9.96801295e-01 -8.39212847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.30, Y:-8.58, Z:-8.40 [[ 9.56608305e-01 2.81153076e-01 7.65081533e-02 1.03295264e+02] [-2.80203157e-01 9.59662707e-01 -2.31015280e-02 -8.57899087e+00] [-7.99170872e-02 6.61287468e-04 9.96801295e-01 -8.39613970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.36, Y:-8.60, Z:-8.40 [[ 9.57120651e-01 2.79405716e-01 7.65016625e-02 1.03355057e+02] [-2.78448504e-01 9.60172775e-01 -2.31230027e-02 -8.59935619e+00] [-7.99155127e-02 8.29729936e-04 9.96801295e-01 -8.40119767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.41, Y:-8.62, Z:-8.40 [[ 9.57375531e-01 2.78532893e-01 7.64952306e-02 1.03412715e+02] [-2.77571200e-01 9.60426245e-01 -2.31442612e-02 -8.62143628e+00] [-7.99144651e-02 9.24876424e-04 9.96801296e-01 -8.40458073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.47, Y:-8.64, Z:-8.41 [[ 9.57222000e-01 2.79061698e-01 7.64892860e-02 1.03471016e+02] [-2.78100122e-01 9.60272751e-01 -2.31638908e-02 -8.64191772e+00] [-7.99147318e-02 9.01306096e-04 9.96801296e-01 -8.41016273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.53, Y:-8.66, Z:-8.41 [[ 9.56777683e-01 2.80582339e-01 7.64853978e-02 1.03531008e+02] [-2.79624586e-01 9.59829636e-01 -2.31767224e-02 -8.66173165e+00] [-7.99159305e-02 7.87773113e-04 9.96801296e-01 -8.41357552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.59, Y:-8.68, Z:-8.42 [[ 9.56299570e-01 2.82209317e-01 7.64789787e-02 1.03590733e+02] [-2.81255064e-01 9.59352619e-01 -2.31978850e-02 -8.68119550e+00] [-7.99169678e-02 6.74027335e-04 9.96801296e-01 -8.41787728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.65, Y:-8.70, Z:-8.42 [[ 9.55964914e-01 2.83342615e-01 7.64725197e-02 1.03649095e+02] [-2.82390279e-01 9.59018561e-01 -2.32191578e-02 -8.70063115e+00] [-7.99175427e-02 6.01603957e-04 9.96801296e-01 -8.42253528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.71, Y:-8.72, Z:-8.43 [[ 9.55490050e-01 2.84941452e-01 7.64665532e-02 1.03708647e+02] [-2.83992655e-01 9.58544798e-01 -2.32387905e-02 -8.72007048e+00] [-7.99183115e-02 4.88493580e-04 9.96801297e-01 -8.42605198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.77, Y:-8.74, Z:-8.43 [[ 9.54332316e-01 2.88796994e-01 7.64599654e-02 1.03767394e+02] [-2.87858804e-01 9.57390339e-01 -2.32604454e-02 -8.73880707e+00] [-7.99195789e-02 1.88520600e-04 9.96801297e-01 -8.43173544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.83, Y:-8.76, Z:-8.44 [[ 9.53399962e-01 2.91861723e-01 7.64542180e-02 1.03825526e+02] [-2.90931850e-01 9.56460523e-01 -2.32793211e-02 -8.75646004e+00] [-7.99197841e-02 -4.84632576e-05 9.96801297e-01 -8.43813019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.88, Y:-8.77, Z:-8.44 [[ 9.52036780e-01 2.96278946e-01 7.64510006e-02 1.03883065e+02] [-2.95362424e-01 9.55101366e-01 -2.32898825e-02 -8.77493718e+00] [-7.99187570e-02 -4.07928152e-04 9.96801297e-01 -8.44457242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:103.94, Y:-8.79, Z:-8.45 [[ 9.51468054e-01 2.98101627e-01 7.64458161e-02 1.03942343e+02] [-2.97189610e-01 9.54533983e-01 -2.33068875e-02 -8.79437881e+00] [-7.99179504e-02 -5.43143401e-04 9.96801297e-01 -8.44874065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.00, Y:-8.81, Z:-8.45 [[ 9.51199600e-01 2.98958736e-01 7.64394892e-02 1.04001173e+02] [-2.98047815e-01 9.54265855e-01 -2.33276195e-02 -8.81464670e+00] [-7.99175902e-02 -5.93400370e-04 9.96801297e-01 -8.45391620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.06, Y:-8.83, Z:-8.46 [[ 9.51071922e-01 2.99365664e-01 7.64355835e-02 1.04060972e+02] [-2.98455027e-01 9.54138262e-01 -2.33404101e-02 -8.83418756e+00] [-7.99174321e-02 -6.14175400e-04 9.96801298e-01 -8.45932389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.12, Y:-8.85, Z:-8.47 [[ 9.51558168e-01 2.97818066e-01 7.64293964e-02 1.04120421e+02] [-2.96900816e-01 9.54622535e-01 -2.33606525e-02 -8.85218215e+00] [-7.99184485e-02 -4.62930532e-04 9.96801298e-01 -8.46607760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.18, Y:-8.87, Z:-8.47 [[ 9.51440024e-01 2.98196822e-01 7.64234027e-02 1.04178338e+02] [-2.97279218e-01 9.54504285e-01 -2.33802441e-02 -8.87337514e+00] [-7.99183799e-02 -4.74189381e-04 9.96801298e-01 -8.46809679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.24, Y:-8.89, Z:-8.47 [[ 9.52453600e-01 2.94944921e-01 7.64174988e-02 1.04237009e+02] [-2.94015308e-01 9.55514239e-01 -2.33995250e-02 -8.89418437e+00] [-7.99195793e-02 -1.80952710e-04 9.96801298e-01 -8.47258762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.30, Y:-8.91, Z:-8.48 [[ 9.53613140e-01 2.91175593e-01 7.64117352e-02 1.04295725e+02] [-2.90232376e-01 9.56669614e-01 -2.34183312e-02 -8.91170164e+00] [-7.99196317e-02 1.54868921e-04 9.96801298e-01 -8.48025351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.35, Y:-8.93, Z:-8.48 [[ 9.53569870e-01 2.91318796e-01 7.64059057e-02 1.04353373e+02] [-2.90374515e-01 9.56626015e-01 -2.34373353e-02 -8.93142628e+00] [-7.99196135e-02 1.62808990e-04 9.96801299e-01 -8.48215443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.41, Y:-8.95, Z:-8.49 [[ 9.53925410e-01 2.90153860e-01 7.64005914e-02 1.04412527e+02] [-2.89204460e-01 9.56979968e-01 -2.34546461e-02 -8.94861586e+00] [-7.99192917e-02 2.78591102e-04 9.96801299e-01 -8.48781489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.47, Y:-8.97, Z:-8.49 [[ 9.54938667e-01 2.86803073e-01 7.63946344e-02 1.04472899e+02] [-2.85841404e-01 9.57989385e-01 -2.34740329e-02 -8.96693419e+00] [-7.99176736e-02 5.79512159e-04 9.96801299e-01 -8.49129904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.53, Y:-8.98, Z:-8.50 [[ 9.56189401e-01 2.82606947e-01 7.63881072e-02 1.04532264e+02] [-2.81630196e-01 9.59235324e-01 -2.34952542e-02 -8.98426397e+00] [-7.99140928e-02 9.52715412e-04 9.96801299e-01 -8.49663721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.59, Y:-9.00, Z:-8.50 [[ 9.57032917e-01 2.79738214e-01 7.63840811e-02 1.04593247e+02] [-2.78751289e-01 9.60075558e-01 -2.35083362e-02 -9.00112738e+00] [-7.99106692e-02 1.20609054e-03 9.96801299e-01 -8.50096835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.65, Y:-9.02, Z:-8.51 [[ 9.58317553e-01 2.75307001e-01 7.63775040e-02 1.04653663e+02] [-2.74304307e-01 9.61355034e-01 -2.35296853e-02 -9.01676345e+00] [-7.99037851e-02 1.59823210e-03 9.96801300e-01 -8.50581956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.71, Y:-9.03, Z:-8.51 [[ 9.58943282e-01 2.73121119e-01 7.63717045e-02 1.04714579e+02] [-2.72110004e-01 9.61977970e-01 -2.35484942e-02 -9.03313382e+00] [-7.98994883e-02 1.80016547e-03 9.96801300e-01 -8.51078968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:-9.05, Z:-8.52 [[ 9.59606034e-01 2.70785199e-01 7.63651528e-02 1.04774828e+02] [-2.69765010e-01 9.62637683e-01 -2.35697217e-02 -9.04920706e+00] [-7.98943055e-02 2.01700099e-03 9.96801300e-01 -8.51506853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.84, Y:-9.06, Z:-8.52 [[ 9.60250218e-01 2.68493749e-01 7.63585305e-02 1.04835907e+02] [-2.67464622e-01 9.63278845e-01 -2.35911563e-02 -9.06401611e+00] [-7.98886351e-02 2.23020742e-03 9.96801300e-01 -8.51990178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.90, Y:-9.08, Z:-8.53 [[ 9.60168588e-01 2.68787417e-01 7.63518560e-02 1.04896536e+02] [-2.67757503e-01 9.63196947e-01 -2.36127384e-02 -9.07984929e+00] [-7.98886816e-02 2.22842741e-03 9.96801300e-01 -8.52513493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.96, Y:-9.09, Z:-8.53 [[ 9.59209568e-01 2.72191855e-01 7.63452554e-02 1.04958184e+02] [-2.71170994e-01 9.62240990e-01 -2.36340605e-02 -9.09435167e+00] [-7.98955329e-02 1.96739820e-03 9.96801301e-01 -8.52993535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.02, Y:-9.11, Z:-8.53 [[ 9.57973286e-01 2.76513255e-01 7.63387418e-02 1.05019055e+02] [-2.75504395e-01 9.61008723e-01 -2.36550809e-02 -9.10977503e+00] [-7.99031402e-02 1.62927666e-03 9.96801301e-01 -8.53473553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.08, Y:-9.12, Z:-8.54 [[ 9.55789993e-01 2.83969851e-01 7.63322565e-02 1.05080733e+02] [-2.82983006e-01 9.58832658e-01 -2.36759899e-02 -9.12354574e+00] [-7.99131277e-02 1.02854274e-03 9.96801301e-01 -8.54076817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.14, Y:-9.14, Z:-8.55 [[ 9.54310611e-01 2.88904174e-01 7.63258573e-02 1.05141448e+02] [-2.87931414e-01 9.57357808e-01 -2.36966015e-02 -9.13922341e+00] [-7.99172025e-02 6.37306183e-04 9.96801301e-01 -8.54620043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:-9.15, Z:-8.55 [[ 9.52443614e-01 2.95002610e-01 7.63192172e-02 1.05202495e+02] [-2.94047649e-01 9.55496435e-01 -2.37179679e-02 -9.15375942e+00] [-7.99196024e-02 1.48540633e-04 9.96801302e-01 -8.55227071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:-9.17, Z:-8.56 [[ 9.51304454e-01 2.98657358e-01 7.63126310e-02 1.05263025e+02] [-2.97712427e-01 9.54360395e-01 -2.37391402e-02 -9.16959392e+00] [-7.99196216e-02 -1.36068818e-04 9.96801302e-01 -8.55605511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:-9.19, Z:-8.56 [[ 9.50821529e-01 3.00192959e-01 7.63060143e-02 1.05323260e+02] [-2.99251258e-01 9.53878466e-01 -2.37603896e-02 -9.18666114e+00] [-7.99193656e-02 -2.42780833e-04 9.96801302e-01 -8.56043734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:-9.20, Z:-8.57 [[ 9.50512084e-01 3.01173011e-01 7.62993861e-02 1.05383514e+02] [-3.00232755e-01 9.53569466e-01 -2.37816551e-02 -9.20363755e+00] [-7.99191575e-02 -3.02824326e-04 9.96801302e-01 -8.56536762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:-9.22, Z:-8.57 [[ 9.50371769e-01 3.01617171e-01 7.62927432e-02 1.05443545e+02] [-3.00676635e-01 9.53429064e-01 -2.38029470e-02 -9.22100861e+00] [-7.99190963e-02 -3.17796460e-04 9.96801303e-01 -8.57136333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:-9.24, Z:-8.58 [[ 9.50376121e-01 3.01605138e-01 7.62861015e-02 1.05503765e+02] [-3.00662856e-01 9.53432879e-01 -2.38242139e-02 -9.23886402e+00] [-7.99191827e-02 -2.94433109e-04 9.96801303e-01 -8.57695021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:-9.26, Z:-8.58 [[ 9.50338245e-01 3.01726163e-01 7.62793768e-02 1.05562883e+02] [-3.00782544e-01 9.53394589e-01 -2.38457254e-02 -9.25697483e+00] [-7.99192244e-02 -2.82000140e-04 9.96801303e-01 -8.58318521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:-9.28, Z:-8.59 [[ 9.50407378e-01 3.01509376e-01 7.62752366e-02 1.05622611e+02] [-3.00563997e-01 9.53463179e-01 -2.38589615e-02 -9.27538775e+00] [-7.99193302e-02 -2.49856972e-04 9.96801303e-01 -8.58630296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:-9.29, Z:-8.59 [[ 9.50689979e-01 3.00618809e-01 7.62685809e-02 1.05681618e+02] [-2.99668862e-01 9.53744362e-01 -2.38802184e-02 -9.29368776e+00] [-7.99195719e-02 -1.52634526e-04 9.96801304e-01 -8.59097515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:-9.31, Z:-8.60 [[ 9.51594407e-01 2.97745070e-01 7.62624287e-02 1.05741193e+02] [-2.96784325e-01 9.54645411e-01 -2.38998499e-02 -9.31280019e+00] [-7.99196400e-02 1.09469997e-04 9.96801304e-01 -8.59507068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.80, Y:-9.33, Z:-8.60 [[ 9.52437672e-01 2.95038195e-01 7.62557832e-02 1.05800523e+02] [-2.94067084e-01 9.55485392e-01 -2.39210343e-02 -9.33219200e+00] [-7.99189057e-02 3.58978433e-04 9.96801304e-01 -8.59963556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.86, Y:-9.35, Z:-8.60 [[ 9.53478381e-01 2.91659168e-01 7.62489764e-02 1.05859848e+02] [-2.90675523e-01 9.56522079e-01 -2.39427118e-02 -9.35170562e+00] [-7.99169408e-02 6.65147057e-04 9.96801304e-01 -8.60426296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.92, Y:-9.37, Z:-8.61 [[ 9.55335863e-01 2.85517982e-01 7.62421859e-02 1.05919462e+02] [-2.84513048e-01 9.58372598e-01 -2.39643158e-02 -9.37080089e+00] [-7.99106648e-02 1.20207361e-03 9.96801305e-01 -8.60907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.98, Y:-9.39, Z:-8.61 [[ 9.57073136e-01 2.79641144e-01 7.62354381e-02 1.05979621e+02] [-2.78615858e-01 9.60103060e-01 -2.39857626e-02 -9.38946092e+00] [-7.99012836e-02 1.71572700e-03 9.96801305e-01 -8.61405928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.04, Y:-9.41, Z:-8.62 [[ 9.58044936e-01 2.76295271e-01 7.62287616e-02 1.06038702e+02] [-2.75257718e-01 9.61070681e-01 -2.40069624e-02 -9.40840720e+00] [-7.98942380e-02 2.01719381e-03 9.96801305e-01 -8.61665379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.10, Y:-9.43, Z:-8.62 [[ 9.59159985e-01 2.72400822e-01 7.62227979e-02 1.06098849e+02] [-2.71349483e-01 9.62180968e-01 -2.40258826e-02 -9.42574373e+00] [-7.98847956e-02 2.36164835e-03 9.96801305e-01 -8.62081507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.16, Y:-9.44, Z:-8.63 [[ 9.59512373e-01 2.71158962e-01 7.62156339e-02 1.06156808e+02] [-2.70101912e-01 9.62531362e-01 -2.40485870e-02 -9.44204411e+00] [-7.98809278e-02 2.48892831e-03 9.96801305e-01 -8.62958041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.22, Y:-9.46, Z:-8.63 [[ 9.59163678e-01 2.72391396e-01 7.62100194e-02 1.06217093e+02] [-2.71336814e-01 9.62183529e-01 -2.40663665e-02 -9.45863190e+00] [-7.98834965e-02 2.40500071e-03 9.96801306e-01 -8.63196571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.28, Y:-9.47, Z:-8.64 [[ 9.58285360e-01 2.75467122e-01 7.62038989e-02 1.06276480e+02] [-2.74420695e-01 9.61308046e-01 -2.40857307e-02 -9.47343663e+00] [-7.98902481e-02 2.16907624e-03 9.96801306e-01 -8.63867548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.34, Y:-9.49, Z:-8.64 [[ 9.56170652e-01 2.82720975e-01 7.62006201e-02 1.06337527e+02] [-2.81696657e-01 9.59200902e-01 -2.40960996e-02 -9.48728076e+00] [-7.99041763e-02 1.57452331e-03 9.96801306e-01 -8.64335693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.40, Y:-9.50, Z:-8.65 [[ 9.54331645e-01 2.88869507e-01 7.61939531e-02 1.06398920e+02] [-2.87863034e-01 9.57367869e-01 -2.41171629e-02 -9.50250927e+00] [-7.99123554e-02 1.08234929e-03 9.96801306e-01 -8.64832591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.46, Y:-9.52, Z:-8.65 [[ 9.51498542e-01 2.98070542e-01 7.61871182e-02 1.06460496e+02] [-2.97091704e-01 9.54543787e-01 -2.41387353e-02 -9.51616210e+00] [-7.99189862e-02 3.33410637e-04 9.96801306e-01 -8.65372245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.52, Y:-9.53, Z:-8.66 [[ 9.49841363e-01 3.03311648e-01 7.61802426e-02 1.06521537e+02] [-3.02347874e-01 9.52891409e-01 -2.41604147e-02 -9.53249247e+00] [-7.99196339e-02 -8.43731496e-05 9.96801307e-01 -8.65850112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.58, Y:-9.55, Z:-8.66 [[ 9.47548621e-01 3.10401717e-01 7.61733863e-02 1.06582432e+02] [-3.09459029e-01 9.50605249e-01 -2.41820123e-02 -9.54786686e+00] [-7.99169590e-02 -6.58909719e-04 9.96801307e-01 -8.66338578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.64, Y:-9.56, Z:-8.67 [[ 9.46131130e-01 3.14697532e-01 7.61665831e-02 1.06641867e+02] [-3.13766998e-01 9.49191480e-01 -2.42034216e-02 -9.56437180e+00] [-7.99134288e-02 -9.98949474e-04 9.96801307e-01 -8.66945273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.70, Y:-9.58, Z:-8.68 [[ 9.44345972e-01 3.20016087e-01 7.61602885e-02 1.06701768e+02] [-3.19101192e-01 9.47411033e-01 -2.42232124e-02 -9.58168411e+00] [-7.99069153e-02 -1.42774582e-03 9.96801307e-01 -8.67509034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.76, Y:-9.60, Z:-8.68 [[ 9.43410502e-01 3.22765065e-01 7.61533847e-02 1.06760171e+02] [-3.21857350e-01 9.46477697e-01 -2.42448974e-02 -9.60050279e+00] [-7.99028861e-02 -1.63763576e-03 9.96801308e-01 -8.68149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.82, Y:-9.62, Z:-8.69 [[ 9.42629931e-01 3.25039149e-01 7.61469965e-02 1.06818905e+02] [-3.24137215e-01 9.45698831e-01 -2.42649446e-02 -9.62092750e+00] [-7.98991825e-02 -1.80921236e-03 9.96801308e-01 -8.68703473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.88, Y:-9.64, Z:-8.69 [[ 9.42301194e-01 3.25992359e-01 7.61409291e-02 1.06878132e+02] [-3.25091993e-01 9.45370554e-01 -2.42839686e-02 -9.64250950e+00] [-7.98977806e-02 -1.86999380e-03 9.96801308e-01 -8.69032800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.94, Y:-9.66, Z:-8.69 [[ 9.41795929e-01 3.27450785e-01 7.61341713e-02 1.06936473e+02] [-3.26553462e-01 9.44866179e-01 -2.43051370e-02 -9.66471572e+00] [-7.98953398e-02 -1.97139818e-03 9.96801308e-01 -8.69459429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.99, Y:-9.69, Z:-8.70 [[ 9.41360808e-01 3.28701173e-01 7.61273202e-02 1.06994723e+02] [-3.27806195e-01 9.44431742e-01 -2.43265768e-02 -9.68802864e+00] [-7.98932320e-02 -2.05492118e-03 9.96801309e-01 -8.69888917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.05, Y:-9.71, Z:-8.70 [[ 9.41005713e-01 3.29717971e-01 7.61203509e-02 1.07053391e+02] [-3.28824550e-01 9.44077101e-01 -2.43483652e-02 -9.71004919e+00] [-7.98915737e-02 -2.11828937e-03 9.96801309e-01 -8.70330298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.11, Y:-9.73, Z:-8.71 [[ 9.40524638e-01 3.31089361e-01 7.61133353e-02 1.07110473e+02] [-3.30198647e-01 9.43596812e-01 -2.43702764e-02 -9.73336599e+00] [-7.98890398e-02 -2.21167488e-03 9.96801309e-01 -8.70783452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.17, Y:-9.76, Z:-8.71 [[ 9.40259667e-01 3.31842593e-01 7.61068431e-02 1.07169225e+02] [-3.30952701e-01 9.43332079e-01 -2.43905343e-02 -9.75552594e+00] [-7.98878447e-02 -2.25432957e-03 9.96801309e-01 -8.71326971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.23, Y:-9.78, Z:-8.72 [[ 9.40415570e-01 3.31402081e-01 7.61000409e-02 1.07226894e+02] [-3.30509035e-01 9.43487067e-01 -2.44117391e-02 -9.78034823e+00] [-7.98895055e-02 -2.19457154e-03 9.96801310e-01 -8.71830836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.28, Y:-9.80, Z:-8.72 [[ 9.41128073e-01 3.29374812e-01 7.60932566e-02 1.07284136e+02] [-3.28473442e-01 9.44197137e-01 -2.44328682e-02 -9.80252195e+00] [-7.98946063e-02 -2.00015578e-03 9.96801310e-01 -8.72369820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.34, Y:-9.83, Z:-8.73 [[ 9.43183300e-01 3.23443527e-01 7.60890753e-02 1.07341529e+02] [-3.22521805e-01 9.46246313e-01 -2.44458828e-02 -9.82730331e+00] [-7.99058695e-02 -1.48343754e-03 9.96801310e-01 -8.72878459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.40, Y:-9.85, Z:-8.73 [[ 9.45111356e-01 3.17767237e-01 7.60822420e-02 1.07399339e+02] [-3.16825406e-01 9.48168245e-01 -2.44671314e-02 -9.85105300e+00] [-7.99136186e-02 -9.80623481e-04 9.96801310e-01 -8.73355397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.46, Y:-9.87, Z:-8.74 [[ 9.47342432e-01 3.11054478e-01 7.60751453e-02 1.07456848e+02] [-3.10089214e-01 9.50392003e-01 -2.44891771e-02 -9.87474654e+00] [-7.99186779e-02 -3.90445393e-04 9.96801310e-01 -8.73847674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:-9.90, Z:-8.74 [[ 9.49813780e-01 3.03426023e-01 7.60685980e-02 1.07514751e+02] [-3.02434639e-01 9.52854959e-01 -2.45094977e-02 -9.89876299e+00] [-7.99191603e-02 2.73679620e-04 9.96801311e-01 -8.74267696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:-9.92, Z:-8.75 [[ 9.53594514e-01 2.91328181e-01 7.60617808e-02 1.07571837e+02] [-2.90296534e-01 9.56622271e-01 -2.45306357e-02 -9.92435700e+00] [-7.99088590e-02 1.31180824e-03 9.96801311e-01 -8.74821840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.63, Y:-9.95, Z:-8.75 [[ 9.55751702e-01 2.84173072e-01 7.60549089e-02 1.07629578e+02] [-2.83117069e-01 9.58771051e-01 -2.45519229e-02 -9.94792210e+00] [-7.98962403e-02 1.93309926e-03 9.96801311e-01 -8.75366362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.69, Y:-9.97, Z:-8.76 [[ 9.58500056e-01 2.74762309e-01 7.60481143e-02 1.07687139e+02] [-2.73675004e-01 9.61508275e-01 -2.45729510e-02 -9.97269285e+00] [-7.98726119e-02 2.74070692e-03 9.96801311e-01 -8.75939354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.75, Y:-10.00, Z:-8.76 [[ 9.59807561e-01 2.70161363e-01 7.60413333e-02 1.07745864e+02] [-2.69057982e-01 9.62809920e-01 -2.45939170e-02 -9.99542424e+00] [-7.98576761e-02 3.14589974e-03 9.96801312e-01 -8.76457299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:-10.02, Z:-8.77 [[ 9.60782542e-01 2.66675177e-01 7.60345732e-02 1.07803996e+02] [-2.65559255e-01 9.63780262e-01 -2.46147989e-02 -1.00182487e+01] [-7.98447767e-02 3.45778442e-03 9.96801312e-01 -8.76857064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:-10.04, Z:-8.77 [[ 9.60781915e-01 2.66679374e-01 7.60277758e-02 1.07863813e+02] [-2.65561809e-01 9.63779023e-01 -2.46357762e-02 -1.00384524e+01] [-7.98438288e-02 3.47953459e-03 9.96801312e-01 -8.77369491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:-10.06, Z:-8.78 [[ 9.60009228e-01 2.69449636e-01 7.60208837e-02 1.07923803e+02] [-2.68339041e-01 9.63008925e-01 -2.46570256e-02 -1.00573833e+01] [-7.98526161e-02 3.27160110e-03 9.96801312e-01 -8.77915569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:-10.08, Z:-8.78 [[ 9.58678110e-01 2.74149883e-01 7.60139689e-02 1.07982484e+02] [-2.73052311e-01 9.61682596e-01 -2.46783246e-02 -1.00783946e+01] [-7.98668707e-02 2.90277963e-03 9.96801313e-01 -8.78415208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:-10.09, Z:-8.79 [[ 9.57243465e-01 2.79119857e-01 7.60069398e-02 1.08042424e+02] [-2.78036172e-01 9.60252987e-01 -2.46999547e-02 -1.00938072e+01] [-7.98801388e-02 2.51119164e-03 9.96801313e-01 -8.79020698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.10, Y:-10.11, Z:-8.80 [[ 9.55479364e-01 2.85101369e-01 7.60025938e-02 1.08102208e+02] [-2.84035465e-01 9.58495230e-01 -2.47133201e-02 -1.01135557e+01] [-7.98939251e-02 2.02563523e-03 9.96801313e-01 -8.79640040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.16, Y:-10.13, Z:-8.80 [[ 9.52789446e-01 2.93967647e-01 7.59953522e-02 1.08162250e+02] [-2.92928039e-01 9.55814478e-01 -2.47355687e-02 -1.01291656e+01] [-7.99089148e-02 1.30661935e-03 9.96801313e-01 -8.80095982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.22, Y:-10.15, Z:-8.81 [[ 9.50984451e-01 2.99757065e-01 7.59886541e-02 1.08221938e+02] [-2.98734232e-01 9.54015195e-01 -2.47561286e-02 -1.01471408e+01] [-7.99151551e-02 8.42281147e-04 9.96801313e-01 -8.80674126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.28, Y:-10.17, Z:-8.81 [[ 9.49318940e-01 3.04992333e-01 7.59817542e-02 1.08281230e+02] [-3.03984522e-01 9.52354712e-01 -2.47772878e-02 -1.01666723e+01] [-7.99184644e-02 4.24271373e-04 9.96801314e-01 -8.81179441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.34, Y:-10.19, Z:-8.82 [[ 9.48743148e-01 3.06780501e-01 7.59747573e-02 1.08340110e+02] [-3.05776695e-01 9.51780246e-01 -2.47987239e-02 -1.01869870e+01] [-7.99190381e-02 2.96309238e-04 9.96801314e-01 -8.81693433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.40, Y:-10.21, Z:-8.82 [[ 9.48071748e-01 3.08850854e-01 7.59678305e-02 1.08398285e+02] [-3.07851981e-01 9.51110472e-01 -2.48199251e-02 -1.02069367e+01] [-7.99194542e-02 1.44222709e-04 9.96801314e-01 -8.82263519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.46, Y:-10.23, Z:-8.83 [[ 9.47653462e-01 3.10133482e-01 7.59614309e-02 1.08457406e+02] [-3.09137153e-01 9.50693021e-01 -2.48394957e-02 -1.02276567e+01] [-7.99195616e-02 5.67336807e-05 9.96801314e-01 -8.82783178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.52, Y:-10.25, Z:-8.83 [[ 9.47478354e-01 3.10669720e-01 7.59545494e-02 1.08516470e+02] [-3.09673426e-01 9.50517924e-01 -2.48605205e-02 -1.02494647e+01] [-7.99195715e-02 3.36995801e-05 9.96801315e-01 -8.83298602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.58, Y:-10.27, Z:-8.84 [[ 9.47721361e-01 3.09929335e-01 7.59475419e-02 1.08575096e+02] [-3.08928952e-01 9.50759587e-01 -2.48819098e-02 -1.02705377e+01] [-7.99194873e-02 1.18722865e-04 9.96801315e-01 -8.83819971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.63, Y:-10.29, Z:-8.84 [[ 9.48502005e-01 3.07533700e-01 7.59405658e-02 1.08632828e+02] [-3.06523940e-01 9.51537128e-01 -2.49031830e-02 -1.02933923e+01] [-7.99188358e-02 3.43117563e-04 9.96801315e-01 -8.84296173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.69, Y:-10.32, Z:-8.85 [[ 9.49241632e-01 3.05244713e-01 7.59341179e-02 1.08691963e+02] [-3.04226063e-01 9.52273782e-01 -2.49228281e-02 -1.03156441e+01] [-7.99176311e-02 5.56648314e-04 9.96801315e-01 -8.84686723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.75, Y:-10.34, Z:-8.85 [[ 9.49939031e-01 3.03069151e-01 7.59271210e-02 1.08751385e+02] [-3.02041854e-01 9.52968262e-01 -2.49441259e-02 -1.03368367e+01] [-7.99159316e-02 7.62230394e-04 9.96801316e-01 -8.85099352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.81, Y:-10.36, Z:-8.86 [[ 9.50122168e-01 3.02496253e-01 7.59202344e-02 1.08810660e+02] [-3.01465457e-01 9.53150210e-01 -2.49650686e-02 -1.03564935e+01] [-7.99152271e-02 8.32536910e-04 9.96801316e-01 -8.85581713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.87, Y:-10.38, Z:-8.86 [[ 9.50428607e-01 3.01533829e-01 7.59132000e-02 1.08869559e+02] [-3.00498259e-01 9.53455019e-01 -2.49864405e-02 -1.03752306e+01] [-7.99140786e-02 9.36043324e-04 9.96801316e-01 -8.86102755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.93, Y:-10.40, Z:-8.87 [[ 9.51082118e-01 2.99467824e-01 7.59066964e-02 1.08928737e+02] [-2.98424105e-01 9.54105730e-01 -2.50061822e-02 -1.03953437e+01] [-7.99115610e-02 1.13054484e-03 9.96801316e-01 -8.86511050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.99, Y:-10.41, Z:-8.87 [[ 9.52315810e-01 2.95522976e-01 7.58997227e-02 1.08987270e+02] [-2.94465049e-01 9.55334480e-01 -2.50273312e-02 -1.04146546e+01] [-7.99057735e-02 1.48410763e-03 9.96801317e-01 -8.86746289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.05, Y:-10.43, Z:-8.87 [[ 9.53692885e-01 2.91049953e-01 7.58933859e-02 1.09046364e+02] [-2.89976341e-01 9.56706012e-01 -2.50465325e-02 -1.04295395e+01] [-7.98974506e-02 1.87941350e-03 9.96801317e-01 -8.87318703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.11, Y:-10.45, Z:-8.88 [[ 9.54058395e-01 2.89851081e-01 7.58876138e-02 1.09106643e+02] [-2.88772294e-01 9.57069672e-01 -2.50640090e-02 -1.04480603e+01] [-7.98945638e-02 1.99828794e-03 9.96801317e-01 -8.87758045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.17, Y:-10.46, Z:-8.88 [[ 9.54114708e-01 2.89667509e-01 7.58805567e-02 1.09165950e+02] [-2.88586446e-01 9.57125169e-01 -2.50853560e-02 -1.04644721e+01] [-7.98936032e-02 2.03620695e-03 9.96801317e-01 -8.88181902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.23, Y:-10.48, Z:-8.89 [[ 9.53727993e-01 2.90939936e-01 7.58740375e-02 1.09226745e+02] [-2.89861323e-01 9.56739332e-01 -2.51050587e-02 -1.04815942e+01] [-7.98957402e-02 1.95044835e-03 9.96801317e-01 -8.88666326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.29, Y:-10.50, Z:-8.89 [[ 9.52934751e-01 2.93529478e-01 7.58670253e-02 1.09288034e+02] [-2.92457364e-01 9.55948410e-01 -2.51262318e-02 -1.04972780e+01] [-7.99002519e-02 1.75578920e-03 9.96801318e-01 -8.89138942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.35, Y:-10.52, Z:-8.90 [[ 9.52496893e-01 2.94949014e-01 7.58600518e-02 1.09347587e+02] [-2.93879717e-01 9.55511552e-01 -2.51472683e-02 -1.05154128e+01] [-7.99023179e-02 1.65896441e-03 9.96801318e-01 -8.89649978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.41, Y:-10.53, Z:-8.90 [[ 9.50693120e-01 3.00714011e-01 7.58529790e-02 1.09407451e+02] [-2.99661296e-01 9.53713610e-01 -2.51685842e-02 -1.05303011e+01] [-7.99105644e-02 1.19739786e-03 9.96801318e-01 -8.90198264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.47, Y:-10.55, Z:-8.91 [[ 9.49206730e-01 3.05374914e-01 7.58468512e-02 1.09467432e+02] [-3.04335558e-01 9.52231842e-01 -2.51870373e-02 -1.05458397e+01] [-7.99152762e-02 8.24811547e-04 9.96801318e-01 -8.90786549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.53, Y:-10.56, Z:-8.91 [[ 9.47659423e-01 3.10144821e-01 7.58406725e-02 1.09526773e+02] [-3.09119204e-01 9.50689221e-01 -2.52056283e-02 -1.05602883e+01] [-7.99183049e-02 4.42542875e-04 9.96801319e-01 -8.91454049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.59, Y:-10.58, Z:-8.92 [[ 9.47199490e-01 3.11547500e-01 7.58372015e-02 1.09586812e+02] [-3.10525534e-01 9.50230521e-01 -2.52160673e-02 -1.05768954e+01] [-7.99188262e-02 3.35258629e-04 9.96801319e-01 -8.91987983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.65, Y:-10.59, Z:-8.92 [[ 9.47234141e-01 3.11443607e-01 7.58311371e-02 1.09647730e+02] [-3.10419849e-01 9.50264567e-01 -2.52342915e-02 -1.05931196e+01] [-7.99187014e-02 3.63292271e-04 9.96801319e-01 -8.92446555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.71, Y:-10.61, Z:-8.92 [[ 9.47532452e-01 3.10536539e-01 7.58242126e-02 1.09706093e+02] [-3.09508216e-01 9.50561331e-01 -2.52550812e-02 -1.06140236e+01] [-7.99181900e-02 4.61792179e-04 9.96801319e-01 -8.92328035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.77, Y:-10.63, Z:-8.93 [[ 9.49530552e-01 3.04372623e-01 7.58224032e-02 1.09765350e+02] [-3.03324206e-01 9.52552535e-01 -2.52605122e-02 -1.06291709e+01] [-7.99134308e-02 9.86857795e-04 9.96801319e-01 -8.93262092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.82, Y:-10.65, Z:-8.93 [[ 9.51335439e-01 2.98685005e-01 7.58165606e-02 1.09824021e+02] [-2.97617126e-01 9.54350600e-01 -2.52780359e-02 -1.06497999e+01] [-7.99057504e-02 1.48358448e-03 9.96801319e-01 -8.93469989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.88, Y:-10.67, Z:-8.94 [[ 9.52989775e-01 2.93365502e-01 7.58101025e-02 1.09882370e+02] [-2.92279257e-01 9.55998367e-01 -2.52973894e-02 -1.06668964e+01] [-7.98957156e-02 1.95043294e-03 9.96801319e-01 -8.94178034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.94, Y:-10.69, Z:-8.95 [[ 9.54177820e-01 2.89479557e-01 7.58041886e-02 1.09940330e+02] [-2.88379655e-01 9.57181446e-01 -2.53150984e-02 -1.06860414e+01] [-7.98865663e-02 2.29471966e-03 9.96801320e-01 -8.94742326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.00, Y:-10.71, Z:-8.95 [[ 9.55468053e-01 2.85193621e-01 7.57984027e-02 1.10000319e+02] [-2.84078876e-01 9.58466202e-01 -2.53324106e-02 -1.07052356e+01] [-7.98748491e-02 2.67158400e-03 9.96801320e-01 -8.95070386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.06, Y:-10.72, Z:-8.95 [[ 9.56137530e-01 2.82942918e-01 7.57913477e-02 1.10060390e+02] [-2.81819447e-01 9.59132420e-01 -2.53535007e-02 -1.07239255e+01] [-7.98675322e-02 2.88195785e-03 9.96801320e-01 -8.95376870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.12, Y:-10.74, Z:-8.96 [[ 9.56607617e-01 2.81351482e-01 7.57839739e-02 1.10119218e+02] [-2.80221287e-01 9.59599976e-01 -2.53755228e-02 -1.07422668e+01] [-7.98617404e-02 3.03813568e-03 9.96801320e-01 -8.95939031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.18, Y:-10.76, Z:-8.96 [[ 9.56453009e-01 2.81878452e-01 7.57771713e-02 1.10177855e+02] [-2.80748299e-01 9.59445384e-01 -2.53958205e-02 -1.07599216e+01] [-7.98625918e-02 3.01559697e-03 9.96801321e-01 -8.96480867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.24, Y:-10.78, Z:-8.97 [[ 9.55701905e-01 2.84416387e-01 7.57706274e-02 1.10238063e+02] [-2.83292637e-01 9.58696690e-01 -2.54153299e-02 -1.07781561e+01] [-7.98695860e-02 2.82421829e-03 9.96801321e-01 -8.96869483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.30, Y:-10.79, Z:-8.97 [[ 9.54101846e-01 2.89740507e-01 7.57634872e-02 1.10297413e+02] [-2.88631785e-01 9.57102227e-01 -2.54365974e-02 -1.07944583e+01] [-7.98834149e-02 2.40135400e-03 9.96801321e-01 -8.97428469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.36, Y:-10.81, Z:-8.98 [[ 9.52952130e-01 2.93500933e-01 7.57590883e-02 1.10356501e+02] [-2.92403012e-01 9.55956480e-01 -2.54496919e-02 -1.08123344e+01] [-7.98918997e-02 2.10015251e-03 9.96801321e-01 -8.98031303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.42, Y:-10.83, Z:-8.98 [[ 9.51798712e-01 2.97221726e-01 7.57526083e-02 1.10416534e+02] [-2.96134018e-01 9.54806774e-01 -2.54689655e-02 -1.08296061e+01] [-7.98990335e-02 1.80840422e-03 9.96801321e-01 -8.98498132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:-10.85, Z:-8.99 [[ 9.51420302e-01 2.98432641e-01 7.57454145e-02 1.10476350e+02] [-2.97347060e-01 9.54429132e-01 -2.54903422e-02 -1.08484812e+01] [-7.99007804e-02 1.72935270e-03 9.96801322e-01 -8.99001546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:-10.87, Z:-8.99 [[ 9.51433675e-01 2.98391814e-01 7.57382836e-02 1.10535978e+02] [-2.97304420e-01 9.54441850e-01 -2.55115126e-02 -1.08671517e+01] [-7.99002140e-02 1.75518571e-03 9.96801322e-01 -8.99477143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:-10.89, Z:-9.00 [[ 9.51563125e-01 2.97980543e-01 7.57312067e-02 1.10595760e+02] [-2.96890179e-01 9.54570224e-01 -2.55325032e-02 -1.08870631e+01] [-7.98989441e-02 1.81193707e-03 9.96801322e-01 -8.99929789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.66, Y:-10.91, Z:-9.00 [[ 9.51930893e-01 2.96805388e-01 7.57240794e-02 1.10655314e+02] [-2.95709633e-01 9.54936032e-01 -2.55536238e-02 -1.09063451e+01] [-7.98961051e-02 1.93294417e-03 9.96801322e-01 -9.00441777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:-10.93, Z:-9.01 [[ 9.52181806e-01 2.96001287e-01 7.57168829e-02 1.10714993e+02] [-2.94901301e-01 9.55185399e-01 -2.55749299e-02 -1.09255844e+01] [-7.98938731e-02 2.02297569e-03 9.96801323e-01 -9.01056334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:-10.95, Z:-9.02 [[ 9.52458222e-01 2.95112471e-01 7.57097395e-02 1.10774301e+02] [-2.94008004e-01 9.55460169e-01 -2.55960591e-02 -1.09458593e+01] [-7.98913568e-02 2.11990754e-03 9.96801323e-01 -9.01523403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:-10.97, Z:-9.02 [[ 9.52490686e-01 2.95009496e-01 7.57026417e-02 1.10833281e+02] [-2.93903038e-01 9.55491900e-01 -2.56170344e-02 -1.09664163e+01] [-7.98905294e-02 2.15075030e-03 9.96801323e-01 -9.01989087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:-10.99, Z:-9.03 [[ 9.52372189e-01 2.95393614e-01 7.56956231e-02 1.10892965e+02] [-2.94286721e-01 9.55373242e-01 -2.56377568e-02 -1.09870417e+01] [-7.98908025e-02 2.14046987e-03 9.96801323e-01 -9.02515754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:-11.01, Z:-9.03 [[ 9.51961020e-01 2.96717777e-01 7.56886820e-02 1.10952434e+02] [-2.95613432e-01 9.54963012e-01 -2.56582323e-02 -1.10069805e+01] [-7.98931454e-02 2.05104598e-03 9.96801324e-01 -9.02924159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.01, Y:-11.03, Z:-9.03 [[ 9.51648189e-01 2.97721373e-01 7.56816204e-02 1.11012102e+02] [-2.96618540e-01 9.54650736e-01 -2.56790445e-02 -1.10266342e+01] [-7.98947150e-02 1.98884446e-03 9.96801324e-01 -9.03333966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.07, Y:-11.05, Z:-9.04 [[ 9.51473299e-01 2.98281659e-01 7.56743850e-02 1.11071454e+02] [-2.97178901e-01 9.54475873e-01 -2.57003491e-02 -1.10460119e+01] [-7.98953175e-02 1.96436545e-03 9.96801324e-01 -9.03763322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.13, Y:-11.07, Z:-9.04 [[ 9.51074053e-01 2.99554066e-01 7.56670884e-02 1.11131295e+02] [-2.98453618e-01 9.54077474e-01 -2.57218138e-02 -1.10654640e+01] [-7.98973385e-02 1.88023341e-03 9.96801324e-01 -9.04308727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.19, Y:-11.08, Z:-9.05 [[ 9.50556016e-01 3.01195709e-01 7.56597974e-02 1.11189814e+02] [-3.00098743e-01 9.53560711e-01 -2.57432421e-02 -1.10844519e+01] [-7.98999643e-02 1.76498355e-03 9.96801325e-01 -9.04892667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.25, Y:-11.10, Z:-9.05 [[ 9.50202645e-01 3.02310350e-01 7.56530630e-02 1.11249291e+02] [-3.01215336e-01 9.53208051e-01 -2.57630178e-02 -1.11040120e+01] [-7.99015357e-02 1.69222489e-03 9.96801325e-01 -9.05282478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.31, Y:-11.12, Z:-9.06 [[ 9.49499808e-01 3.04512452e-01 7.56457684e-02 1.11307715e+02] [-3.03422703e-01 9.52507127e-01 -2.57844186e-02 -1.11227795e+01] [-7.99048101e-02 1.52965698e-03 9.96801325e-01 -9.05792757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.37, Y:-11.14, Z:-9.06 [[ 9.49340636e-01 3.05009991e-01 7.56390290e-02 1.11366802e+02] [-3.03920246e-01 9.52347956e-01 -2.58041736e-02 -1.11428404e+01] [-7.99052055e-02 1.50871829e-03 9.96801325e-01 -9.06166483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.42, Y:-11.16, Z:-9.07 [[ 9.49354807e-01 3.04967665e-01 7.56318261e-02 1.11424967e+02] [-3.03876105e-01 9.52361469e-01 -2.58252682e-02 -1.11635867e+01] [-7.99047088e-02 1.53463774e-03 9.96801325e-01 -9.06833853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.48, Y:-11.18, Z:-9.07 [[ 9.49741950e-01 3.03761524e-01 7.56251588e-02 1.11482828e+02] [-3.02664594e-01 9.52746656e-01 -2.58447777e-02 -1.11843486e+01] [-7.99022662e-02 1.65681158e-03 9.96801326e-01 -9.07305850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.54, Y:-11.21, Z:-9.08 [[ 9.49808474e-01 3.03555048e-01 7.56187461e-02 1.11539586e+02] [-3.02455972e-01 9.52812396e-01 -2.58635267e-02 -1.12087516e+01] [-7.99014828e-02 1.69405547e-03 9.96801326e-01 -9.07996569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.60, Y:-11.23, Z:-9.08 [[ 9.51528102e-01 2.98121513e-01 7.56163636e-02 1.11599888e+02] [-2.97004733e-01 9.54525487e-01 -2.58704906e-02 -1.12277801e+01] [-7.98902961e-02 2.15808091e-03 9.96801326e-01 -9.08313077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:-11.25, Z:-9.09 [[ 9.52416856e-01 2.95271851e-01 7.56086412e-02 1.11657670e+02] [-2.94144315e-01 9.55410212e-01 -2.58930403e-02 -1.12499442e+01] [-7.98827538e-02 2.42111606e-03 9.96801326e-01 -9.08861451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:-11.27, Z:-9.10 [[ 9.54383224e-01 2.88854061e-01 7.56041870e-02 1.11716847e+02] [-2.87705373e-01 9.57368526e-01 -2.59060397e-02 -1.12704755e+01] [-7.98641338e-02 2.97255881e-03 9.96801326e-01 -9.10026449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.77, Y:-11.29, Z:-9.10 [[ 9.54400483e-01 2.88799058e-01 7.55964380e-02 1.11774538e+02] [-2.87648412e-01 9.57385031e-01 -2.59286322e-02 -1.12933588e+01] [-7.98630627e-02 3.00110382e-03 9.96801327e-01 -9.09916421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.83, Y:-11.32, Z:-9.11 [[ 9.54689526e-01 2.87844013e-01 7.55892408e-02 1.11833426e+02] [-2.86688724e-01 9.57672279e-01 -2.59495974e-02 -1.13152454e+01] [-7.98591567e-02 3.10322587e-03 9.96801327e-01 -9.10502672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.89, Y:-11.34, Z:-9.11 [[ 9.54169174e-01 2.89566131e-01 7.55820277e-02 1.11892259e+02] [-2.88414565e-01 9.57153367e-01 -2.59705896e-02 -1.13354490e+01] [-7.98637954e-02 2.98137842e-03 9.96801327e-01 -9.11030812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:111.95, Y:-11.35, Z:-9.12 [[ 9.52707397e-01 2.94341603e-01 7.55753650e-02 1.11951847e+02] [-2.93203463e-01 9.55696736e-01 -2.59899638e-02 -1.13547916e+01] [-7.98770573e-02 2.60187207e-03 9.96801327e-01 -9.11667936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.01, Y:-11.37, Z:-9.12 [[ 9.50856971e-01 3.00267344e-01 7.55681268e-02 1.12011585e+02] [-2.99146168e-01 9.53852713e-01 -2.60109925e-02 -1.13733188e+01] [-7.98911145e-02 2.12681798e-03 9.96801327e-01 -9.12250168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:-11.39, Z:-9.13 [[ 9.49582047e-01 3.04277032e-01 7.55607322e-02 1.12071165e+02] [-3.03166799e-01 9.52581862e-01 -2.60324559e-02 -1.13924570e+01] [-7.98988614e-02 1.81244743e-03 9.96801328e-01 -9.12745381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:-11.41, Z:-9.13 [[ 9.47855224e-01 3.09616179e-01 7.55532607e-02 1.12129223e+02] [-3.08521120e-01 9.50860611e-01 -2.60541223e-02 -1.14098181e+01] [-7.99073974e-02 1.38575936e-03 9.96801328e-01 -9.13216405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:-11.43, Z:-9.14 [[ 9.46737303e-01 3.13018746e-01 7.55496133e-02 1.12189485e+02] [-3.11933646e-01 9.49746299e-01 -2.60646945e-02 -1.14287571e+01] [-7.99117036e-02 1.10995230e-03 9.96801328e-01 -9.13812673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:-11.45, Z:-9.15 [[ 9.44830092e-01 3.18731018e-01 7.55422765e-02 1.12249116e+02] [-3.17662412e-01 9.47844985e-01 -2.60859411e-02 -1.14470884e+01] [-7.99167665e-02 6.49840401e-04 9.96801328e-01 -9.14500204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:-11.47, Z:-9.15 [[ 9.43594801e-01 3.22371390e-01 7.55350116e-02 1.12309344e+02] [-3.21312732e-01 9.46613202e-01 -2.61069606e-02 -1.14657761e+01] [-7.99185764e-02 3.64031320e-04 9.96801329e-01 -9.15153667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.37, Y:-11.49, Z:-9.16 [[ 9.43593696e-01 3.22376364e-01 7.55275860e-02 1.12368984e+02] [-3.21316004e-01 9.46611499e-01 -2.61284253e-02 -1.14859657e+01] [-7.99184682e-02 3.86395207e-04 9.96801329e-01 -9.15784740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.43, Y:-11.51, Z:-9.16 [[ 9.44489536e-01 3.19743985e-01 7.55202062e-02 1.12427788e+02] [-3.18673510e-01 9.47503765e-01 -2.61497384e-02 -1.15072023e+01] [-7.99169012e-02 6.31865071e-04 9.96801329e-01 -9.16415267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.49, Y:-11.53, Z:-9.17 [[ 9.46015409e-01 3.15202548e-01 7.55129139e-02 1.12486480e+02] [-3.14115925e-01 9.49023854e-01 -2.61707796e-02 -1.15287696e+01] [-7.99126530e-02 1.03815192e-03 9.96801329e-01 -9.17009336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.54, Y:-11.55, Z:-9.18 [[ 9.48856129e-01 3.06546823e-01 7.55055714e-02 1.12544777e+02] [-3.05431078e-01 9.51853896e-01 -2.61919464e-02 -1.15515496e+01] [-7.98993302e-02 1.79064083e-03 9.96801330e-01 -9.17597938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:-11.57, Z:-9.18 [[ 9.50590142e-01 3.01128515e-01 7.54983346e-02 1.12602884e+02] [-2.99994031e-01 9.53580868e-01 -2.62127900e-02 -1.15741301e+01] [-7.98871859e-02 2.26857004e-03 9.96801330e-01 -9.18160438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:-11.60, Z:-9.19 [[ 9.52473076e-01 2.95120583e-01 7.54909327e-02 1.12661043e+02] [-2.93965553e-01 9.55455926e-01 -2.62340896e-02 -1.15967354e+01] [-7.98704788e-02 2.79553028e-03 9.96801330e-01 -9.18711875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:-11.62, Z:-9.19 [[ 9.53177866e-01 2.92838160e-01 7.54835644e-02 1.12719832e+02] [-2.91674313e-01 9.56157286e-01 -2.62552734e-02 -1.16182289e+01] [-7.98627060e-02 3.00932866e-03 9.96801330e-01 -9.19240650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.78, Y:-11.64, Z:-9.20 [[ 9.53133343e-01 2.92984945e-01 7.54761740e-02 1.12778292e+02] [-2.91819878e-01 9.56112286e-01 -2.62765014e-02 -1.16383931e+01] [-7.98623166e-02 3.01956168e-03 9.96801331e-01 -9.19745889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.84, Y:-11.66, Z:-9.20 [[ 9.52333130e-01 2.95577380e-01 7.54693456e-02 1.12837384e+02] [-2.94418872e-01 9.55314630e-01 -2.62960990e-02 -1.16579950e+01] [-7.98695020e-02 2.82304669e-03 9.96801331e-01 -9.20249055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.90, Y:-11.68, Z:-9.21 [[ 9.50506561e-01 3.01401294e-01 7.54621581e-02 1.12896270e+02] [-3.00259423e-01 9.53494473e-01 -2.63167088e-02 -1.16759068e+01] [-7.98846408e-02 2.35598025e-03 9.96801331e-01 -9.20690557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:112.96, Y:-11.70, Z:-9.21 [[ 9.48838198e-01 3.06614643e-01 7.54555106e-02 1.12955784e+02] [-3.05487678e-01 9.51831764e-01 -2.63357548e-02 -1.16958734e+01] [-7.98958798e-02 1.93764137e-03 9.96801331e-01 -9.20570608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:-11.71, Z:-9.22 [[ 9.47310799e-01 3.11303288e-01 7.54487481e-02 1.13014242e+02] [-3.10189600e-01 9.50309329e-01 -2.63551145e-02 -1.17122304e+01] [-7.99040829e-02 1.56306754e-03 9.96801331e-01 -9.21626305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:-11.73, Z:-9.22 [[ 9.46673934e-01 3.13236147e-01 7.54425492e-02 1.13074048e+02] [-3.12127170e-01 9.49674209e-01 -2.63728473e-02 -1.17317650e+01] [-7.99067723e-02 1.41881781e-03 9.96801332e-01 -9.22077193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:-11.75, Z:-9.22 [[ 9.45730722e-01 3.16074298e-01 7.54350091e-02 1.13134517e+02] [-3.14972606e-01 9.48733679e-01 -2.63943969e-02 -1.17505915e+01] [-7.99103241e-02 1.20203068e-03 9.96801332e-01 -9.22477907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:-11.77, Z:-9.23 [[ 9.45205395e-01 3.17643574e-01 7.54275877e-02 1.13194272e+02] [-3.16545177e-01 9.48209559e-01 -2.64155881e-02 -1.17687510e+01] [-7.99119015e-02 1.09191732e-03 9.96801332e-01 -9.22999231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.25, Y:-11.79, Z:-9.24 [[ 9.45512393e-01 3.16730333e-01 7.54202293e-02 1.13253566e+02] [-3.15627360e-01 9.48514880e-01 -2.64365807e-02 -1.17885061e+01] [-7.99104767e-02 1.19142683e-03 9.96801332e-01 -9.23522324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.31, Y:-11.81, Z:-9.24 [[ 9.46796816e-01 3.12871717e-01 7.54127156e-02 1.13312954e+02] [-3.11754803e-01 9.49794145e-01 -2.64579968e-02 -1.18076292e+01] [-7.99045146e-02 1.54007082e-03 9.96801333e-01 -9.24098318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.37, Y:-11.83, Z:-9.25 [[ 9.48230917e-01 3.08499873e-01 7.54052827e-02 1.13371906e+02] [-3.07367460e-01 9.51222423e-01 -2.64791638e-02 -1.18272996e+01] [-7.98960144e-02 1.93123156e-03 9.96801333e-01 -9.24667845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.43, Y:-11.85, Z:-9.25 [[ 9.48932832e-01 3.06335135e-01 7.54007037e-02 1.13430896e+02] [-3.05194863e-01 9.51921351e-01 -2.64921964e-02 -1.18481290e+01] [-7.98910303e-02 2.12740755e-03 9.96801333e-01 -9.25175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.49, Y:-11.87, Z:-9.26 [[ 9.49609516e-01 3.04232782e-01 7.53935112e-02 1.13490177e+02] [-3.03084272e-01 9.52594879e-01 -2.65126496e-02 -1.18680565e+01] [-7.98854898e-02 2.32607689e-03 9.96801333e-01 -9.25784119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:-11.89, Z:-9.26 [[ 9.49944433e-01 3.03187184e-01 7.53863811e-02 1.13548811e+02] [-3.02033781e-01 9.52927909e-01 -2.65329081e-02 -1.18873859e+01] [-7.98822241e-02 2.43555459e-03 9.96801333e-01 -9.26231712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.61, Y:-11.91, Z:-9.27 [[ 9.49590067e-01 3.04295837e-01 7.53840038e-02 1.13608047e+02] [-3.03145382e-01 9.52574681e-01 -2.65396604e-02 -1.19077029e+01] [-7.98848016e-02 2.34948525e-03 9.96801333e-01 -9.26781895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.67, Y:-11.93, Z:-9.27 [[ 9.48371351e-01 3.08074972e-01 7.53763412e-02 1.13665713e+02] [-3.06934685e-01 9.51359864e-01 -2.65614057e-02 -1.19271259e+01] [-7.98929300e-02 2.05446263e-03 9.96801334e-01 -9.27308485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.73, Y:-11.95, Z:-9.28 [[ 9.46911664e-01 3.12534172e-01 7.53703667e-02 1.13725467e+02] [-3.11406612e-01 9.49905002e-01 -2.65783481e-02 -1.19467314e+01] [-7.99013303e-02 1.69651728e-03 9.96801334e-01 -9.27779941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.78, Y:-11.97, Z:-9.28 [[ 9.44849991e-01 3.18714469e-01 7.53630003e-02 1.13784373e+02] [-3.17604827e-01 9.47850017e-01 -2.65992192e-02 -1.19654480e+01] [-7.99103772e-02 1.19661938e-03 9.96801334e-01 -9.28254673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.84, Y:-11.99, Z:-9.29 [[ 9.43962492e-01 3.21335118e-01 7.53561853e-02 1.13842729e+02] [-3.20232266e-01 9.46965021e-01 -2.66185121e-02 -1.19862208e+01] [-7.99131344e-02 9.95395089e-04 9.96801334e-01 -9.28624829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.90, Y:-12.01, Z:-9.29 [[ 9.42926530e-01 3.24363895e-01 7.53499997e-02 1.13900799e+02] [-3.23269289e-01 9.45932075e-01 -2.66360106e-02 -1.20084783e+01] [-7.99157417e-02 7.57460232e-04 9.96801335e-01 -9.29281349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.96, Y:-12.03, Z:-9.30 [[ 9.42153147e-01 3.26604893e-01 7.53438256e-02 1.13959829e+02] [-3.25516040e-01 9.45160780e-01 -2.66534636e-02 -1.20305365e+01] [-7.99171806e-02 5.86020844e-04 9.96801335e-01 -9.29720787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.02, Y:-12.05, Z:-9.30 [[ 9.40615947e-01 3.31007668e-01 7.53363360e-02 1.14018357e+02] [-3.29931199e-01 9.43628035e-01 -2.66746164e-02 -1.20536551e+01] [-7.99189812e-02 2.34761874e-04 9.96801335e-01 -9.30313026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.07, Y:-12.08, Z:-9.31 [[ 9.39162718e-01 3.35110354e-01 7.53288758e-02 1.14074908e+02] [-3.34045355e-01 9.42178880e-01 -2.66956672e-02 -1.20774522e+01] [-7.99192704e-02 -9.16856774e-05 9.96801335e-01 -9.30906412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.13, Y:-12.10, Z:-9.31 [[ 9.38386768e-01 3.37278627e-01 7.53219808e-02 1.14133329e+02] [-3.36219037e-01 9.41404834e-01 -2.67151074e-02 -1.21013372e+01] [-7.99189116e-02 -2.55580552e-04 9.96801335e-01 -9.31290329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.19, Y:-12.13, Z:-9.32 [[ 9.37784426e-01 3.38951496e-01 7.53143618e-02 1.14190287e+02] [-3.37895565e-01 9.40803775e-01 -2.67365695e-02 -1.21258276e+01] [-7.99184361e-02 -3.75250322e-04 9.96801336e-01 -9.31871873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.25, Y:-12.15, Z:-9.32 [[ 9.37745035e-01 3.39062026e-01 7.53073193e-02 1.14247829e+02] [-3.38004860e-01 9.40763950e-01 -2.67563910e-02 -1.21511129e+01] [-7.99184874e-02 -3.63567112e-04 9.96801336e-01 -9.32255077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.30, Y:-12.18, Z:-9.33 [[ 9.38451756e-01 3.37102702e-01 7.52998643e-02 1.14304506e+02] [-3.36037550e-01 9.41467864e-01 -2.67773552e-02 -1.21776292e+01] [-7.99191211e-02 -1.74325916e-04 9.96801336e-01 -9.32739412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.36, Y:-12.20, Z:-9.33 [[ 9.39326398e-01 3.34659464e-01 7.52925010e-02 1.14362049e+02] [-3.33584809e-01 9.42339132e-01 -2.67980432e-02 -1.22017437e+01] [-7.99192889e-02 5.56747935e-05 9.96801336e-01 -9.33256031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.42, Y:-12.23, Z:-9.34 [[ 9.41739921e-01 3.27807955e-01 7.52852333e-02 1.14418284e+02] [-3.26709751e-01 9.44744150e-01 -2.68184454e-02 -1.22288740e+01] [-7.99165835e-02 6.59580873e-04 9.96801337e-01 -9.33742579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.48, Y:-12.25, Z:-9.34 [[ 9.43780032e-01 3.21888795e-01 7.52785194e-02 1.14475543e+02] [-3.20770249e-01 9.46776747e-01 -2.68372779e-02 -1.22548895e+01] [-7.99105707e-02 1.18137754e-03 9.96801337e-01 -9.34051515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.53, Y:-12.28, Z:-9.34 [[ 9.46681339e-01 3.13255020e-01 7.52710715e-02 1.14532772e+02] [-3.12107490e-01 9.49667075e-01 -2.68581510e-02 -1.22822099e+01] [-7.98959090e-02 1.93344519e-03 9.96801337e-01 -9.34387008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.59, Y:-12.31, Z:-9.35 [[ 9.47937812e-01 3.09433931e-01 7.52631840e-02 1.14590004e+02] [-3.08272616e-01 9.50918213e-01 -2.68802356e-02 -1.23061505e+01] [-7.98867894e-02 2.27921316e-03 9.96801337e-01 -9.34926292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.65, Y:-12.33, Z:-9.35 [[ 9.48678121e-01 3.07158543e-01 7.52559156e-02 1.14647560e+02] [-3.05988468e-01 9.51655093e-01 -2.69005693e-02 -1.23299886e+01] [-7.98804151e-02 2.49253919e-03 9.96801338e-01 -9.35462972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:-12.35, Z:-9.36 [[ 9.48663723e-01 3.07204885e-01 7.52482457e-02 1.14704720e+02] [-3.06033257e-01 9.51640085e-01 -2.69220073e-02 -1.23538656e+01] [-7.98798191e-02 2.51146599e-03 9.96801338e-01 -9.36033476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:-12.38, Z:-9.37 [[ 9.47426797e-01 3.11000260e-01 7.52416240e-02 1.14763639e+02] [-3.09839089e-01 9.50407254e-01 -2.69405008e-02 -1.23765640e+01] [-7.98886880e-02 2.21135610e-03 9.96801338e-01 -9.36524058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:-12.40, Z:-9.37 [[ 9.46050061e-01 3.15165209e-01 7.52341177e-02 1.14822748e+02] [-3.14015497e-01 9.49034956e-01 -2.69614467e-02 -1.23984597e+01] [-7.98971176e-02 1.88219942e-03 9.96801338e-01 -9.36921391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:-12.42, Z:-9.37 [[ 9.43620490e-01 3.22368298e-01 7.52266685e-02 1.14881962e+02] [-3.21239719e-01 9.46613439e-01 -2.69822153e-02 -1.24201230e+01] [-7.99087862e-02 1.29517737e-03 9.96801338e-01 -9.37279409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:-12.44, Z:-9.38 [[ 9.42364525e-01 3.26023263e-01 7.52192400e-02 1.14939348e+02] [-3.24904642e-01 9.45361210e-01 -2.70029082e-02 -1.24432955e+01] [-7.99129280e-02 1.00750256e-03 9.96801339e-01 -9.37768671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:-12.46, Z:-9.38 [[ 9.40853381e-01 3.30359470e-01 7.52165955e-02 1.14998857e+02] [-3.29254071e-01 9.43854969e-01 -2.70102723e-02 -1.24606358e+01] [-7.99166567e-02 6.47335729e-04 9.96801339e-01 -9.38336712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:-12.48, Z:-9.39 [[ 9.39673103e-01 3.33703638e-01 7.52086525e-02 1.15058239e+02] [-3.32607153e-01 9.42677958e-01 -2.70323712e-02 -1.24815772e+01] [-7.99183396e-02 3.86656331e-04 9.96801339e-01 -9.38824463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.12, Y:-12.50, Z:-9.39 [[ 9.38919240e-01 3.35820578e-01 7.52010722e-02 1.15116615e+02] [-3.34729180e-01 9.41925946e-01 -2.70534424e-02 -1.25027969e+01] [-7.99189437e-02 2.29004283e-04 9.96801339e-01 -9.39442734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.17, Y:-12.52, Z:-9.40 [[ 9.39506339e-01 3.34176073e-01 7.51943629e-02 1.15174237e+02] [-3.33077921e-01 9.42510584e-01 -2.70720779e-02 -1.25243067e+01] [-7.99183236e-02 3.88806687e-04 9.96801339e-01 -9.40010679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.23, Y:-12.55, Z:-9.40 [[ 9.41348379e-01 3.28952938e-01 7.51877207e-02 1.15230452e+02] [-3.27836645e-01 9.44345931e-01 -2.70905129e-02 -1.25517632e+01] [-7.99147220e-02 8.52320293e-04 9.96801340e-01 -9.40286543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.29, Y:-12.58, Z:-9.41 [[ 9.45725923e-01 3.16148183e-01 7.51851333e-02 1.15288141e+02] [-3.14990745e-01 9.48707830e-01 -2.70976919e-02 -1.25750088e+01] [-7.98956107e-02 1.94436859e-03 9.96801340e-01 -9.40732526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.35, Y:-12.60, Z:-9.41 [[ 9.47691546e-01 3.10208111e-01 7.51775272e-02 1.15345654e+02] [-3.09030315e-01 9.50665470e-01 -2.71187773e-02 -1.25999213e+01] [-7.98811439e-02 2.46810105e-03 9.96801340e-01 -9.41113614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.40, Y:-12.62, Z:-9.42 [[ 9.49665572e-01 3.04112018e-01 7.51743427e-02 1.15404597e+02] [-3.02914439e-01 9.52631585e-01 -2.71276021e-02 -1.26176054e+01] [-7.98632830e-02 2.99075601e-03 9.96801340e-01 -9.41779865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.46, Y:-12.64, Z:-9.43 [[ 9.49705048e-01 3.03990577e-01 7.51668219e-02 1.15463251e+02] [-3.02790973e-01 9.52670242e-01 -2.71484251e-02 -1.26355282e+01] [-7.98620598e-02 3.02316120e-03 9.96801340e-01 -9.42597380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.52, Y:-12.66, Z:-9.43 [[ 9.48434729e-01 3.07932848e-01 7.51593373e-02 1.15520345e+02] [-3.06743932e-01 9.51404224e-01 -2.71691303e-02 -1.26552695e+01] [-7.98731787e-02 2.71347607e-03 9.96801340e-01 -9.43147554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.58, Y:-12.67, Z:-9.44 [[ 9.47371371e-01 3.11190370e-01 7.51534385e-02 1.15580343e+02] [-3.10010374e-01 9.50344422e-01 -2.71854375e-02 -1.26743177e+01] [-7.98814974e-02 2.45635965e-03 9.96801341e-01 -9.43517551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.64, Y:-12.69, Z:-9.44 [[ 9.46148271e-01 3.14891318e-01 7.51459039e-02 1.15640193e+02] [-3.13721302e-01 9.49125263e-01 -2.72062485e-02 -1.26908580e+01] [-7.98898873e-02 2.16627423e-03 9.96801341e-01 -9.43957040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.70, Y:-12.72, Z:-9.44 [[ 9.44975236e-01 3.18395789e-01 7.51393755e-02 1.15697139e+02] [-3.17235382e-01 9.47955986e-01 -2.72242672e-02 -1.27151723e+01] [-7.98969128e-02 1.88938983e-03 9.96801341e-01 -9.44404152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.76, Y:-12.73, Z:-9.45 [[ 9.46077154e-01 3.15107139e-01 7.51366104e-02 1.15756957e+02] [-3.13935767e-01 9.49053612e-01 -2.72318965e-02 -1.27298348e+01] [-7.98896365e-02 2.17540571e-03 9.96801341e-01 -9.44684381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.82, Y:-12.75, Z:-9.45 [[ 9.46539785e-01 3.13716439e-01 7.51294265e-02 1.15817169e+02] [-3.12539123e-01 9.49513898e-01 -2.72517017e-02 -1.27486067e+01] [-7.98857414e-02 2.31393484e-03 9.96801341e-01 -9.45241042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.88, Y:-12.77, Z:-9.46 [[ 9.47142392e-01 3.11894213e-01 7.51218299e-02 1.15876478e+02] [-3.10709517e-01 9.50113572e-01 -2.72726265e-02 -1.27670546e+01] [-7.98804445e-02 2.48999320e-03 9.96801342e-01 -9.45889725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.94, Y:-12.79, Z:-9.46 [[ 9.47721588e-01 3.10131514e-01 7.51148136e-02 1.15935889e+02] [-3.08939763e-01 9.50689946e-01 -2.72919373e-02 -1.27861560e+01] [-7.98749878e-02 2.65920543e-03 9.96801342e-01 -9.46452219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.00, Y:-12.81, Z:-9.47 [[ 9.48070469e-01 3.09065185e-01 7.51072396e-02 1.15995231e+02] [-3.07868449e-01 9.51036819e-01 -2.73127650e-02 -1.28051233e+01] [-7.98711750e-02 2.77127663e-03 9.96801342e-01 -9.47093425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:-12.82, Z:-9.48 [[ 9.48469509e-01 3.07840263e-01 7.50996834e-02 1.16054955e+02] [-3.06638054e-01 9.51433646e-01 -2.73335259e-02 -1.28242517e+01] [-7.98667254e-02 2.89659506e-03 9.96801342e-01 -9.47652532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:-12.84, Z:-9.48 [[ 9.48156210e-01 3.08805713e-01 7.50921656e-02 1.16113540e+02] [-3.07604890e-01 9.51120908e-01 -2.73541638e-02 -1.28444231e+01] [-7.98688507e-02 2.83730290e-03 9.96801342e-01 -9.48193651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.17, Y:-12.86, Z:-9.49 [[ 9.46933571e-01 3.12535879e-01 7.50875329e-02 1.16172946e+02] [-3.11345729e-01 9.49902569e-01 -2.73668746e-02 -1.28639206e+01] [-7.98789706e-02 2.53642955e-03 9.96801343e-01 -9.48713368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:-12.88, Z:-9.49 [[ 9.44905333e-01 3.18617169e-01 7.50800256e-02 1.16232987e+02] [-3.17444498e-01 9.47881279e-01 -2.73874553e-02 -1.28836120e+01] [-7.98930641e-02 2.04481155e-03 9.96801343e-01 -9.49254022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:-12.90, Z:-9.50 [[ 9.43187431e-01 3.23668925e-01 7.50726094e-02 1.16291607e+02] [-3.22510578e-01 9.46168981e-01 -2.74077689e-02 -1.29039708e+01] [-7.99024175e-02 1.63895249e-03 9.96801343e-01 -9.49596281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.35, Y:-12.92, Z:-9.50 [[ 9.41019311e-01 3.29920872e-01 7.50658001e-02 1.16350696e+02] [-3.28780850e-01 9.44007916e-01 -2.74264060e-02 -1.29238521e+01] [-7.99112532e-02 1.12858013e-03 9.96801343e-01 -9.50028841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.41, Y:-12.95, Z:-9.50 [[ 9.40168642e-01 3.32338995e-01 7.50580972e-02 1.16409913e+02] [-3.31204979e-01 9.43159530e-01 -2.74474704e-02 -1.29451500e+01] [-7.99136244e-02 9.45635434e-04 9.96801344e-01 -9.50445473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.47, Y:-12.97, Z:-9.51 [[ 9.39884860e-01 3.33142459e-01 7.50503300e-02 1.16468368e+02] [-3.32009306e-01 9.42876075e-01 -2.74686922e-02 -1.29679752e+01] [-7.99141482e-02 9.00000018e-04 9.96801344e-01 -9.50934336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.53, Y:-12.99, Z:-9.51 [[ 9.40699854e-01 3.30835891e-01 7.50426479e-02 1.16526462e+02] [-3.29693731e-01 9.43687640e-01 -2.74896631e-02 -1.29913242e+01] [-7.99113865e-02 1.11843151e-03 9.96801344e-01 -9.51448199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.58, Y:-13.01, Z:-9.52 [[ 9.41665935e-01 3.28077789e-01 7.50348715e-02 1.16584765e+02] [-3.26925188e-01 9.44649709e-01 -2.75108730e-02 -1.30148643e+01] [-7.99073760e-02 1.37526243e-03 9.96801344e-01 -9.51939632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.64, Y:-13.04, Z:-9.52 [[ 9.43496181e-01 3.22778390e-01 7.50271073e-02 1.16642408e+02] [-3.21607351e-01 9.46472767e-01 -2.75320313e-02 -1.30396149e+01] [-7.98978586e-02 1.84709718e-03 9.96801345e-01 -9.52370861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.70, Y:-13.06, Z:-9.53 [[ 9.44654857e-01 3.19373271e-01 7.50194363e-02 1.16700172e+02] [-3.18189846e-01 9.47626540e-01 -2.75529174e-02 -1.30631146e+01] [-7.98900742e-02 2.15757438e-03 9.96801345e-01 -9.52876536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.76, Y:-13.09, Z:-9.53 [[ 9.46116059e-01 3.15020054e-01 7.50117881e-02 1.16757668e+02] [-3.13821310e-01 9.49081595e-01 -2.75737238e-02 -1.30864338e+01] [-7.98785835e-02 2.54764522e-03 9.96801345e-01 -9.53449885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.82, Y:-13.11, Z:-9.54 [[ 9.46364842e-01 3.14273510e-01 7.50049789e-02 1.16815968e+02] [-3.13070962e-01 9.49328838e-01 -2.75922333e-02 -1.31087410e+01] [-7.98758975e-02 2.63043867e-03 9.96801345e-01 -9.53975269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.87, Y:-13.13, Z:-9.55 [[ 9.46187248e-01 3.14808370e-01 7.50025477e-02 1.16872987e+02] [-3.13606974e-01 9.49151711e-01 -2.75988406e-02 -1.31301248e+01] [-7.98771424e-02 2.59234898e-03 9.96801345e-01 -9.54537575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.93, Y:-13.15, Z:-9.55 [[ 9.45250109e-01 3.17612629e-01 7.49963318e-02 1.16932199e+02] [-3.16418690e-01 9.48217583e-01 -2.76157211e-02 -1.31523354e+01] [-7.98839422e-02 2.37352235e-03 9.96801345e-01 -9.54997778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.99, Y:-13.17, Z:-9.55 [[ 9.42977986e-01 3.24298016e-01 7.49887697e-02 1.16991144e+02] [-3.23123489e-01 9.45953196e-01 -2.76362402e-02 -1.31730256e+01] [-7.98982443e-02 1.82973321e-03 9.96801346e-01 -9.55387615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.05, Y:-13.20, Z:-9.56 [[ 9.40276532e-01 3.32050786e-01 7.49821281e-02 1.17048747e+02] [-3.30899359e-01 9.43260758e-01 -2.76542486e-02 -1.31957146e+01] [-7.99103139e-02 1.19110281e-03 9.96801346e-01 -9.55743380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.11, Y:-13.21, Z:-9.56 [[ 9.36622305e-01 3.42223529e-01 7.49780917e-02 1.17107556e+02] [-3.41103641e-01 9.39618509e-01 -2.76651881e-02 -1.32126814e+01] [-7.99184810e-02 3.36532159e-04 9.96801346e-01 -9.56296779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.17, Y:-13.23, Z:-9.57 [[ 9.33462275e-01 3.50752156e-01 7.49740454e-02 1.17165417e+02] [-3.49658763e-01 9.36468249e-01 -2.76761494e-02 -1.32328081e+01] [-7.99182820e-02 -3.80690563e-04 9.96801346e-01 -9.56872549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:-13.25, Z:-9.57 [[ 9.28914723e-01 3.62625713e-01 7.49668630e-02 1.17224755e+02] [-3.61569168e-01 9.31933845e-01 -2.76955909e-02 -1.32526823e+01] [-7.99072902e-02 -1.37886407e-03 9.96801346e-01 -9.57407265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.28, Y:-13.27, Z:-9.58 [[ 9.26148645e-01 3.69634633e-01 7.49594946e-02 1.17284427e+02] [-3.68599320e-01 9.29175113e-01 -2.77155193e-02 -1.32734292e+01] [-7.98951127e-02 -1.96132809e-03 9.96801346e-01 -9.57875415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.34, Y:-13.29, Z:-9.58 [[ 9.23120268e-01 3.77135574e-01 7.49515227e-02 1.17342201e+02] [-3.76123099e-01 9.26154453e-01 -2.77370612e-02 -1.32946110e+01] [-7.98773190e-02 -2.58635565e-03 9.96801347e-01 -9.58428681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.40, Y:-13.32, Z:-9.59 [[ 9.22006087e-01 3.79852799e-01 7.49441544e-02 1.17400672e+02] [-3.78847650e-01 9.25042707e-01 -2.77569559e-02 -1.33176780e+01] [-7.98701008e-02 -2.80033454e-03 9.96801347e-01 -9.58917128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.46, Y:-13.34, Z:-9.59 [[ 9.21627027e-01 3.80773145e-01 7.49362013e-02 1.17457633e+02] [-3.79769287e-01 9.24664073e-01 -2.77784106e-02 -1.33420226e+01] [-7.98680859e-02 -2.85713369e-03 9.96801347e-01 -9.59433339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.51, Y:-13.37, Z:-9.60 [[ 9.21791368e-01 3.80376578e-01 7.49288534e-02 1.17514288e+02] [-3.79369806e-01 9.24827449e-01 -2.77982165e-02 -1.33672293e+01] [-7.98700508e-02 -2.80158854e-03 9.96801347e-01 -9.60026671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:-13.39, Z:-9.61 [[ 9.22047711e-01 3.79756120e-01 7.49220073e-02 1.17571208e+02] [-3.78745808e-01 9.25082616e-01 -2.78166561e-02 -1.33919874e+01] [-7.98725919e-02 -2.72811210e-03 9.96801348e-01 -9.60635490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.63, Y:-13.42, Z:-9.61 [[ 9.23003923e-01 3.77427432e-01 7.49152352e-02 1.17627619e+02] [-3.76407984e-01 9.26035771e-01 -2.78348825e-02 -1.34190158e+01] [-7.98798358e-02 -2.50698692e-03 9.96801348e-01 -9.61221489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.68, Y:-13.45, Z:-9.62 [[ 9.23912552e-01 3.75199044e-01 7.49084362e-02 1.17684612e+02] [-3.74170802e-01 9.26941429e-01 -2.78531678e-02 -1.34453842e+01] [-7.98862148e-02 -2.29465828e-03 9.96801348e-01 -9.61628113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:-13.47, Z:-9.62 [[ 9.25479930e-01 3.71317662e-01 7.49005571e-02 1.17741167e+02] [-3.70275003e-01 9.28503874e-01 -2.78743397e-02 -1.34737139e+01] [-7.98956921e-02 -1.93666203e-03 9.96801348e-01 -9.62025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:-13.50, Z:-9.62 [[ 9.26626178e-01 3.68449467e-01 7.48926970e-02 1.17798378e+02] [-3.67395743e-01 9.29646284e-01 -2.78954422e-02 -1.34998865e+01] [-7.99017783e-02 -1.66661100e-03 9.96801348e-01 -9.62396679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:-13.53, Z:-9.63 [[ 9.28625496e-01 3.63382633e-01 7.48849165e-02 1.17854391e+02] [-3.62310745e-01 9.31639202e-01 -2.79163135e-02 -1.35266339e+01] [-7.99100273e-02 -1.20780944e-03 9.96801349e-01 -9.62965210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:-13.55, Z:-9.63 [[ 9.31048464e-01 3.57129845e-01 7.48801206e-02 1.17911595e+02] [-3.56036682e-01 9.34054518e-01 -2.79291715e-02 -1.35540265e+01] [-7.99164557e-02 -6.56657436e-04 9.96801349e-01 -9.63220338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:-13.58, Z:-9.64 [[ 9.32592380e-01 3.53080122e-01 7.48724245e-02 1.17970682e+02] [-3.51972249e-01 9.35593045e-01 -2.79497881e-02 -1.35762282e+01] [-7.99186342e-02 -2.87256182e-04 9.96801349e-01 -9.63527516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:-13.60, Z:-9.64 [[ 9.33234961e-01 3.51379873e-01 7.48644967e-02 1.18030014e+02] [-3.50264831e-01 9.36232968e-01 -2.79710069e-02 -1.35970796e+01] [-7.99190588e-02 -1.18878731e-04 9.96801349e-01 -9.63940386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.09, Y:-13.62, Z:-9.64 [[ 9.35380176e-01 3.45630480e-01 7.48565169e-02 1.18088176e+02] [-3.44495303e-01 9.38370617e-01 -2.79923463e-02 -1.36179651e+01] [-7.99181641e-02 3.95767349e-04 9.96801350e-01 -9.64379166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.15, Y:-13.64, Z:-9.65 [[ 9.37354332e-01 3.40241680e-01 7.48495577e-02 1.18147273e+02] [-3.39087827e-01 9.40337616e-01 -2.80109424e-02 -1.36399807e+01] [-7.99143448e-02 8.75604307e-04 9.96801350e-01 -9.64867300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:-13.66, Z:-9.65 [[ 9.41250216e-01 3.29312541e-01 7.48417137e-02 1.18206104e+02] [-3.28122391e-01 9.44219206e-01 -2.80318849e-02 -1.36600312e+01] [-7.98982348e-02 1.82777568e-03 9.96801350e-01 -9.65394981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.26, Y:-13.68, Z:-9.66 [[ 9.43547410e-01 3.22673239e-01 7.48349238e-02 1.18264903e+02] [-3.21460767e-01 9.46507355e-01 -2.80499999e-02 -1.36801459e+01] [-7.98827901e-02 2.41001269e-03 9.96801350e-01 -9.65910610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.32, Y:-13.70, Z:-9.66 [[ 9.46103393e-01 3.15101850e-01 7.48277578e-02 1.18323558e+02] [-3.13864189e-01 9.49052894e-01 -2.80691035e-02 -1.36995872e+01] [-7.98601265e-02 3.07052053e-03 9.96801350e-01 -9.66179061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.38, Y:-13.72, Z:-9.67 [[ 9.46914625e-01 3.12657166e-01 7.48210530e-02 1.18382900e+02] [-3.11410483e-01 9.49860323e-01 -2.80869643e-02 -1.37172864e+01] [-7.98511403e-02 3.29589705e-03 9.96801351e-01 -9.66508528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.44, Y:-13.73, Z:-9.67 [[ 9.46223999e-01 3.14742713e-01 7.48142318e-02 1.18442958e+02] [-3.13501090e-01 9.49171833e-01 -2.81051221e-02 -1.37347585e+01] [-7.98574439e-02 3.13939778e-03 9.96801351e-01 -9.67015688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.50, Y:-13.75, Z:-9.68 [[ 9.43277075e-01 3.23469064e-01 7.48072556e-02 1.18503091e+02] [-3.22253251e-01 9.46235648e-01 -2.81236784e-02 -1.37495744e+01] [-7.98824319e-02 2.42153975e-03 9.96801351e-01 -9.67789148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.56, Y:-13.76, Z:-9.68 [[ 9.38443568e-01 3.37236782e-01 7.47998777e-02 1.18564925e+02] [-3.36062828e-01 9.41418999e-01 -2.81432876e-02 -1.37647249e+01] [-7.99089777e-02 1.27342889e-03 9.96801351e-01 -9.68291041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.62, Y:-13.78, Z:-9.70 [[ 9.37456390e-01 3.39973060e-01 7.47919418e-02 1.18623722e+02] [-3.38806110e-01 9.40434574e-01 -2.81643618e-02 -1.37810276e+01] [-7.99120522e-02 1.06289405e-03 9.96801351e-01 -9.69614778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.68, Y:-13.80, Z:-9.70 [[ 9.30812852e-01 3.57762691e-01 7.47883142e-02 1.18683060e+02] [-3.56651890e-01 9.33812430e-01 -2.81739913e-02 -1.37980506e+01] [-7.99178604e-02 -4.48680415e-04 9.96801351e-01 -9.69588404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:-13.82, Z:-9.70 [[ 9.27613345e-01 3.65979717e-01 7.47818754e-02 1.18742036e+02] [-3.64894108e-01 9.30622133e-01 -2.81910714e-02 -1.38157718e+01] [-7.99110287e-02 -1.13705167e-03 9.96801352e-01 -9.70109843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:-13.83, Z:-9.71 [[ 9.24757973e-01 3.73137239e-01 7.47749373e-02 1.18800779e+02] [-3.72073427e-01 9.27774537e-01 -2.82094624e-02 -1.38343648e+01] [-7.99002837e-02 -1.73484189e-03 9.96801352e-01 -9.70658009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:-13.86, Z:-9.71 [[ 9.23808121e-01 3.75484101e-01 7.47679400e-02 1.18858868e+02] [-3.74426453e-01 9.26826851e-01 -2.82279964e-02 -1.38551298e+01] [-7.98960982e-02 -1.91784223e-03 9.96801352e-01 -9.71144549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.92, Y:-13.88, Z:-9.72 [[ 9.23779465e-01 3.75555581e-01 7.47629935e-02 1.18917101e+02] [-3.74497108e-01 9.26797905e-01 -2.82410912e-02 -1.38778817e+01] [-7.98962852e-02 -1.90998476e-03 9.96801352e-01 -9.71525938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.97, Y:-13.90, Z:-9.72 [[ 9.24292349e-01 3.74293124e-01 7.47550126e-02 1.18973774e+02] [-3.73228821e-01 9.27308738e-01 -2.82622011e-02 -1.39015363e+01] [-7.98993240e-02 -1.77818897e-03 9.96801352e-01 -9.72311595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.03, Y:-13.93, Z:-9.73 [[ 9.24530111e-01 3.73705971e-01 7.47523971e-02 1.19031307e+02] [-3.72639194e-01 9.27545626e-01 -2.82691175e-02 -1.39252770e+01] [-7.99005970e-02 -1.72002260e-03 9.96801352e-01 -9.72726004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:-13.95, Z:-9.73 [[ 9.24181050e-01 3.74569942e-01 7.47445416e-02 1.19086442e+02] [-3.73504305e-01 9.27196968e-01 -2.82898725e-02 -1.39502283e+01] [-7.98994482e-02 -1.77244399e-03 9.96801353e-01 -9.73359237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.14, Y:-13.98, Z:-9.74 [[ 9.23580399e-01 3.76049286e-01 7.47407604e-02 1.19144494e+02] [-3.74987672e-01 9.26597736e-01 -2.82998588e-02 -1.39753497e+01] [-7.98967610e-02 -1.88966890e-03 9.96801353e-01 -9.73860928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.20, Y:-14.00, Z:-9.74 [[ 9.22936349e-01 3.77628729e-01 7.47331153e-02 1.19200806e+02] [-3.76570646e-01 9.25954926e-01 -2.83200334e-02 -1.40021545e+01] [-7.98939544e-02 -2.00470930e-03 9.96801353e-01 -9.74215380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.26, Y:-14.03, Z:-9.75 [[ 9.23084446e-01 3.77267971e-01 7.47260620e-02 1.19256808e+02] [-3.76207204e-01 9.26102080e-01 -2.83386322e-02 -1.40278659e+01] [-7.98952197e-02 -1.95353224e-03 9.96801353e-01 -9.74636289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.31, Y:-14.06, Z:-9.75 [[ 9.24414966e-01 3.73997267e-01 7.47195769e-02 1.19312636e+02] [-3.72924441e-01 9.27428334e-01 -2.83557209e-02 -1.40564116e+01] [-7.99020148e-02 -1.65230372e-03 9.96801353e-01 -9.75153850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.37, Y:-14.09, Z:-9.76 [[ 9.26663389e-01 3.68392438e-01 7.47126169e-02 1.19368405e+02] [-3.67299907e-01 9.29669668e-01 -2.83740475e-02 -1.40864531e+01] [-7.99108383e-02 -1.14874621e-03 9.96801353e-01 -9.75626110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.42, Y:-14.12, Z:-9.76 [[ 9.28849167e-01 3.62847679e-01 7.47046694e-02 1.19423766e+02] [-3.61735519e-01 9.31848239e-01 -2.83949568e-02 -1.41160850e+01] [-7.99164588e-02 -6.48700336e-04 9.96801354e-01 -9.76130645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.48, Y:-14.14, Z:-9.77 [[ 9.30083939e-01 3.59672456e-01 7.46966558e-02 1.19480649e+02] [-3.58548364e-01 9.33078560e-01 -2.84160220e-02 -1.41429939e+01] [-7.99183085e-02 -3.53078088e-04 9.96801354e-01 -9.76557986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.54, Y:-14.17, Z:-9.77 [[ 9.31766820e-01 3.55291724e-01 7.46885801e-02 1.19535732e+02] [-3.54151853e-01 9.34755470e-01 -2.84372325e-02 -1.41713310e+01] [-7.99190721e-02 4.57706101e-05 9.96801354e-01 -9.76955035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.59, Y:-14.19, Z:-9.77 [[ 9.31789276e-01 3.55233873e-01 7.46836037e-02 1.19593512e+02] [-3.54092769e-01 9.34777455e-01 -2.84502959e-02 -1.41942169e+01] [-7.99190578e-02 6.47565626e-05 9.96801354e-01 -9.77335098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.65, Y:-14.22, Z:-9.78 [[ 9.31272878e-01 3.56586912e-01 7.46766359e-02 1.19652131e+02] [-3.55448684e-01 9.34262154e-01 -2.84685732e-02 -1.42176380e+01] [-7.99190754e-02 -3.17019239e-05 9.96801355e-01 -9.77699176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.71, Y:-14.24, Z:-9.78 [[ 9.31464217e-01 3.56088460e-01 7.46687395e-02 1.19710370e+02] [-3.54946973e-01 9.34452250e-01 -2.84892693e-02 -1.42416858e+01] [-7.99190717e-02 3.32918842e-05 9.96801355e-01 -9.78131359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:-14.26, Z:-9.79 [[ 9.31660751e-01 3.55575613e-01 7.46607530e-02 1.19768833e+02] [-3.54430806e-01 9.34647513e-01 -2.85101840e-02 -1.42638764e+01] [-7.99190132e-02 9.97485908e-05 9.96801355e-01 -9.78625973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:-14.28, Z:-9.79 [[ 9.31706296e-01 3.55457934e-01 7.46527654e-02 1.19826943e+02] [-3.54311074e-01 9.34692270e-01 -2.85310839e-02 -1.42833527e+01] [-7.99189629e-02 1.32288983e-04 9.96801355e-01 -9.79321628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:-14.30, Z:-9.80 [[ 9.31926722e-01 3.54881180e-01 7.46453854e-02 1.19886225e+02] [-3.53730927e-01 9.34911390e-01 -2.85503791e-02 -1.43040993e+01] [-7.99188132e-02 2.02479913e-04 9.96801355e-01 -9.79880264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.94, Y:-14.33, Z:-9.80 [[ 9.32184613e-01 3.54204929e-01 7.46372323e-02 1.19943967e+02] [-3.53050806e-01 9.35167786e-01 -2.85716772e-02 -1.43254060e+01] [-7.99185642e-02 2.83342845e-04 9.96801356e-01 -9.80368041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.00, Y:-14.35, Z:-9.81 [[ 9.33146629e-01 3.51663762e-01 7.46322123e-02 1.20003710e+02] [-3.50500466e-01 9.36126238e-01 -2.85847840e-02 -1.43458401e+01] [-7.99174048e-02 5.15169662e-04 9.96801356e-01 -9.80850772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.06, Y:-14.37, Z:-9.81 [[ 9.34595836e-01 3.47795707e-01 7.46241864e-02 1.20063146e+02] [-3.46618409e-01 9.37569940e-01 -2.86057215e-02 -1.43671968e+01] [-7.99143410e-02 8.68671476e-04 9.96801356e-01 -9.81387575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.12, Y:-14.39, Z:-9.82 [[ 9.36221606e-01 3.43397038e-01 7.46162079e-02 1.20121759e+02] [-3.42204110e-01 9.39189475e-01 -2.86265178e-02 -1.43879506e+01] [-7.99090185e-02 1.26679154e-03 9.96801356e-01 -9.82079153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.18, Y:-14.41, Z:-9.82 [[ 9.37505783e-01 3.39877240e-01 7.46081032e-02 1.20179369e+02] [-3.38671491e-01 9.40468465e-01 -2.86476251e-02 -1.44124057e+01] [-7.99032441e-02 1.58967659e-03 9.96801357e-01 -9.82468475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.24, Y:-14.43, Z:-9.83 [[ 9.38801853e-01 3.36281261e-01 7.46055912e-02 1.20238204e+02] [-3.35063646e-01 9.41759679e-01 -2.86541656e-02 -1.44345073e+01] [-7.98963965e-02 1.90296238e-03 9.96801357e-01 -9.83083407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.30, Y:-14.46, Z:-9.84 [[ 9.39765112e-01 3.33581705e-01 7.45974568e-02 1.20296418e+02] [-3.32353915e-01 9.42718728e-01 -2.86753268e-02 -1.44567736e+01] [-7.98899840e-02 2.15531489e-03 9.96801357e-01 -9.83614377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.35, Y:-14.48, Z:-9.84 [[ 9.40104504e-01 3.32625622e-01 7.45903296e-02 1.20353794e+02] [-3.31393360e-01 9.43056257e-01 -2.86938543e-02 -1.44782803e+01] [-7.98871882e-02 2.25648173e-03 9.96801357e-01 -9.84237462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.41, Y:-14.50, Z:-9.85 [[ 9.40244462e-01 3.32231365e-01 7.45833163e-02 1.20411593e+02] [-3.30996421e-01 9.43195094e-01 -2.87120723e-02 -1.44992584e+01] [-7.98856690e-02 2.30955617e-03 9.96801357e-01 -9.84700964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.47, Y:-14.52, Z:-9.85 [[ 9.40212206e-01 3.32324219e-01 7.45762783e-02 1.20470306e+02] [-3.31088119e-01 9.43162353e-01 -2.87303411e-02 -1.45210625e+01] [-7.98853263e-02 2.32129769e-03 9.96801357e-01 -9.85199746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.53, Y:-14.54, Z:-9.86 [[ 9.39828042e-01 3.33410892e-01 7.45682824e-02 1.20529452e+02] [-3.32176559e-01 9.42778929e-01 -2.87510792e-02 -1.45415162e+01] [-7.98873284e-02 2.25123497e-03 9.96801358e-01 -9.85545126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.59, Y:-14.56, Z:-9.86 [[ 9.39160430e-01 3.35288629e-01 7.45601862e-02 1.20588160e+02] [-3.34058532e-01 9.42113085e-01 -2.87720599e-02 -1.45626286e+01] [-7.98910715e-02 2.11411379e-03 9.96801358e-01 -9.85997926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.65, Y:-14.58, Z:-9.86 [[ 9.38566457e-01 3.36949541e-01 7.45520840e-02 1.20646796e+02] [-3.35723004e-01 9.41520592e-01 -2.87930382e-02 -1.45842367e+01] [-7.98941233e-02 1.99533029e-03 9.96801358e-01 -9.86464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.71, Y:-14.60, Z:-9.87 [[ 9.37900700e-01 3.38800029e-01 7.45440688e-02 1.20705098e+02] [-3.37577674e-01 9.40856568e-01 -2.88137746e-02 -1.46048846e+01] [-7.98973843e-02 1.86004604e-03 9.96801358e-01 -9.86955969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.76, Y:-14.63, Z:-9.87 [[ 9.37000749e-01 3.41282702e-01 7.45366597e-02 1.20764676e+02] [-3.40066656e-01 9.39959218e-01 -2.88329280e-02 -1.46259126e+01] [-7.99015999e-02 1.66904257e-03 9.96801359e-01 -9.87418089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.82, Y:-14.65, Z:-9.88 [[ 9.36567973e-01 3.42470332e-01 7.45285384e-02 1.20822464e+02] [-3.41256369e-01 9.39527297e-01 -2.88539050e-02 -1.46471262e+01] [-7.99032027e-02 1.59030486e-03 9.96801359e-01 -9.87889122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.88, Y:-14.67, Z:-9.88 [[ 9.36636061e-01 3.42285706e-01 7.45210373e-02 1.20881456e+02] [-3.41069620e-01 9.39594513e-01 -2.88732653e-02 -1.46690784e+01] [-7.99024637e-02 1.62687957e-03 9.96801359e-01 -9.88336018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:120.94, Y:-14.69, Z:-9.89 [[ 9.37685280e-01 3.39402584e-01 7.45130963e-02 1.20940353e+02] [-3.38175776e-01 9.40639302e-01 -2.88937440e-02 -1.46906501e+01] [-7.98965583e-02 1.89471425e-03 9.96801359e-01 -9.88795785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.00, Y:-14.71, Z:-9.89 [[ 9.39618592e-01 3.34014818e-01 7.45050463e-02 1.20998392e+02] [-3.32769432e-01 9.42564829e-01 -2.89144869e-02 -1.47125545e+01] [-7.98837033e-02 2.37558758e-03 9.96801360e-01 -9.89155191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.06, Y:-14.74, Z:-9.90 [[ 9.41171024e-01 3.29616699e-01 7.44978839e-02 1.21055594e+02] [-3.28356089e-01 9.44110780e-01 -2.89329291e-02 -1.47350126e+01] [-7.98710318e-02 2.76900067e-03 9.96801360e-01 -9.89728786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.11, Y:-14.76, Z:-9.90 [[ 9.43265718e-01 3.23575305e-01 7.44903157e-02 1.21113943e+02] [-3.22294337e-01 9.46196660e-01 -2.89524008e-02 -1.47574991e+01] [-7.98507698e-02 3.30200026e-03 9.96801360e-01 -9.90154442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.17, Y:-14.78, Z:-9.91 [[ 9.44380474e-01 3.20309124e-01 7.44821119e-02 1.21171978e+02] [-3.19016362e-01 9.47306232e-01 -2.89734904e-02 -1.47776268e+01] [-7.98378422e-02 3.60098628e-03 9.96801360e-01 -9.90714332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.23, Y:-14.80, Z:-9.91 [[ 9.44561113e-01 3.19777807e-01 7.44745415e-02 1.21230878e+02] [-3.18481870e-01 9.47485466e-01 -2.89929368e-02 -1.47988433e+01] [-7.98348434e-02 3.66680943e-03 9.96801361e-01 -9.91247155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.29, Y:-14.82, Z:-9.92 [[ 9.44143247e-01 3.21011324e-01 7.44664939e-02 1.21290708e+02] [-3.19717582e-01 9.47068572e-01 -2.90135918e-02 -1.48184396e+01] [-7.98385675e-02 3.58473947e-03 9.96801361e-01 -9.91755205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.35, Y:-14.84, Z:-9.92 [[ 9.42863411e-01 3.24753006e-01 7.44585333e-02 1.21350668e+02] [-3.23469266e-01 9.45793138e-01 -2.90340071e-02 -1.48351663e+01] [-7.98512509e-02 3.29005585e-03 9.96801361e-01 -9.92131229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.41, Y:-14.85, Z:-9.93 [[ 9.41537587e-01 3.28578681e-01 7.44514822e-02 1.21410131e+02] [-3.27305420e-01 9.44471883e-01 -2.90520768e-02 -1.48535624e+01] [-7.98632247e-02 2.98524857e-03 9.96801361e-01 -9.92539554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.47, Y:-14.87, Z:-9.93 [[ 9.39252103e-01 3.35057570e-01 7.44440217e-02 1.21471579e+02] [-3.33803043e-01 9.42194457e-01 -2.90711815e-02 -1.48697411e+01] [-7.98812640e-02 2.45552740e-03 9.96801361e-01 -9.92910923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.53, Y:-14.88, Z:-9.93 [[ 9.36951492e-01 3.41439864e-01 7.44360197e-02 1.21533204e+02] [-3.40203758e-01 9.39901632e-01 -2.90916560e-02 -1.48836914e+01] [-7.98955875e-02 1.93405687e-03 9.96801362e-01 -9.93487563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.59, Y:-14.90, Z:-9.94 [[ 9.35394470e-01 3.45684338e-01 7.44279804e-02 1.21593492e+02] [-3.44459986e-01 9.38349507e-01 -2.91122091e-02 -1.49010382e+01] [-7.99030935e-02 1.59393828e-03 9.96801362e-01 -9.94014867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.65, Y:-14.92, Z:-9.95 [[ 9.33920592e-01 3.49648399e-01 7.44199230e-02 1.21654650e+02] [-3.48434951e-01 9.36880123e-01 -2.91327919e-02 -1.49170590e+01] [-7.99087807e-02 1.27721204e-03 9.96801362e-01 -9.94615421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.71, Y:-14.94, Z:-9.95 [[ 9.33762475e-01 3.50072231e-01 7.44115071e-02 1.21714388e+02] [-3.48858415e-01 9.36721856e-01 -2.91542721e-02 -1.49351986e+01] [-7.99089861e-02 1.26408484e-03 9.96801362e-01 -9.95312542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.77, Y:-14.96, Z:-9.96 [[ 9.34467946e-01 3.48186499e-01 7.44030966e-02 1.21773163e+02] [-3.46965003e-01 9.37424164e-01 -2.91757203e-02 -1.49554400e+01] [-7.99058526e-02 1.44850480e-03 9.96801363e-01 -9.95902649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.83, Y:-14.98, Z:-9.96 [[ 9.35963496e-01 3.44147185e-01 7.43979151e-02 1.21830700e+02] [-3.42911883e-01 9.38913972e-01 -2.91889273e-02 -1.49752720e+01] [-7.98985291e-02 1.80784130e-03 9.96801363e-01 -9.96495812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.89, Y:-15.00, Z:-9.97 [[ 9.37066644e-01 3.41133457e-01 7.43913266e-02 1.21889679e+02] [-3.39887336e-01 9.40012567e-01 -2.92057091e-02 -1.49966741e+01] [-7.98918264e-02 2.08302604e-03 9.96801363e-01 -9.96923776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.95, Y:-15.02, Z:-9.97 [[ 9.38922021e-01 3.35994956e-01 7.43829836e-02 1.21948325e+02] [-3.34731035e-01 9.41860351e-01 -2.92269424e-02 -1.50174359e+01] [-7.98784882e-02 2.54352667e-03 9.96801363e-01 -9.97374014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.01, Y:-15.04, Z:-9.98 [[ 9.40435525e-01 3.31736854e-01 7.43752857e-02 1.22006852e+02] [-3.30458085e-01 9.43367423e-01 -2.92465185e-02 -1.50380215e+01] [-7.98653697e-02 2.92655048e-03 9.96801363e-01 -9.97883983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.07, Y:-15.06, Z:-9.98 [[ 9.40772371e-01 3.30782084e-01 7.43677260e-02 1.22065487e+02] [-3.29498824e-01 9.43702306e-01 -2.92657288e-02 -1.50593917e+01] [-7.98615732e-02 3.02831077e-03 9.96801364e-01 -9.98391910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.13, Y:-15.08, Z:-9.99 [[ 9.40614391e-01 3.31232874e-01 7.43596047e-02 1.22125469e+02] [-3.29949390e-01 9.43544228e-01 -2.92863492e-02 -1.50793528e+01] [-7.98621774e-02 3.01225527e-03 9.96801364e-01 -9.98888209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.18, Y:-15.10, Z:-10.00 [[ 9.39813536e-01 3.33500226e-01 7.43513002e-02 1.22184580e+02] [-3.32222147e-01 9.42745735e-01 -2.93074173e-02 -1.50993639e+01] [-7.98684014e-02 2.84235895e-03 9.96801364e-01 -9.99503186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.24, Y:-15.12, Z:-10.00 [[ 9.39421783e-01 3.34603024e-01 7.43473521e-02 1.22243833e+02] [-3.33327597e-01 9.42355136e-01 -2.93174294e-02 -1.51213691e+01] [-7.98713096e-02 2.75940764e-03 9.96801364e-01 -1.00004188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.30, Y:-15.14, Z:-10.00 [[ 9.38863279e-01 3.36168777e-01 7.43390673e-02 1.22303174e+02] [-3.34896581e-01 9.41798034e-01 -2.93384219e-02 -1.51425008e+01] [-7.98750488e-02 2.64886752e-03 9.96801364e-01 -1.00047982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.36, Y:-15.16, Z:-10.01 [[ 9.38642487e-01 3.36786605e-01 7.43307704e-02 1.22361894e+02] [-3.35514680e-01 9.41577359e-01 -2.93594276e-02 -1.51648450e+01] [-7.98760325e-02 2.61894151e-03 9.96801365e-01 -1.00097639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.42, Y:-15.19, Z:-10.01 [[ 9.37968184e-01 3.38661875e-01 7.43224093e-02 1.22420285e+02] [-3.37394144e-01 9.40904869e-01 -2.93805784e-02 -1.51868632e+01] [-7.98803986e-02 2.48210207e-03 9.96801365e-01 -1.00143229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.48, Y:-15.21, Z:-10.02 [[ 9.36321657e-01 3.43189719e-01 7.43140049e-02 1.22478976e+02] [-3.41934506e-01 9.39263715e-01 -2.94018207e-02 -1.52081810e+01] [-7.98908509e-02 2.11903895e-03 9.96801365e-01 -1.00186929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.54, Y:-15.23, Z:-10.02 [[ 9.34583101e-01 3.47898106e-01 7.43056830e-02 1.22537445e+02] [-3.46656047e-01 9.37530736e-01 -2.94228372e-02 -1.52293427e+01] [-7.99000111e-02 1.73957210e-03 9.96801365e-01 -1.00237938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.60, Y:-15.25, Z:-10.03 [[ 9.30370684e-01 3.59012812e-01 7.42979868e-02 1.22597242e+02] [-3.57804423e-01 9.33332282e-01 -2.94422587e-02 -1.52497121e+01] [-7.99148577e-02 8.08066057e-04 9.96801366e-01 -1.00295946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.66, Y:-15.27, Z:-10.04 [[ 9.28471641e-01 3.63897540e-01 7.42899192e-02 1.22655507e+02] [-3.62703106e-01 9.31438893e-01 -2.94626012e-02 -1.52718389e+01] [-7.99178883e-02 4.10005225e-04 9.96801366e-01 -1.00352836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.71, Y:-15.29, Z:-10.04 [[ 9.26951999e-01 3.67752898e-01 7.42818795e-02 1.22713412e+02] [-3.66569182e-01 9.29923543e-01 -2.94828574e-02 -1.52945509e+01] [-7.99188748e-02 9.97458194e-05 9.96801366e-01 -1.00412290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.77, Y:-15.32, Z:-10.05 [[ 9.25727461e-01 3.70826255e-01 7.42735193e-02 1.22770246e+02] [-3.69650716e-01 9.28702249e-01 -2.95039035e-02 -1.53180589e+01] [-7.99188065e-02 -1.42685881e-04 9.96801366e-01 -1.00473171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.83, Y:-15.34, Z:-10.05 [[ 9.25712992e-01 3.70863922e-01 7.42657916e-02 1.22827137e+02] [-3.69686944e-01 9.28687211e-01 -2.95233424e-02 -1.53418857e+01] [-7.99188334e-02 -1.24951977e-04 9.96801367e-01 -1.00526850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.88, Y:-15.37, Z:-10.06 [[ 9.26795032e-01 3.68153072e-01 7.42582264e-02 1.22884196e+02] [-3.66965870e-01 9.29765185e-01 -2.95423585e-02 -1.53683937e+01] [-7.99188236e-02 1.29476395e-04 9.96801367e-01 -1.00578772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:-15.40, Z:-10.06 [[ 9.28620631e-01 3.63525317e-01 7.42500353e-02 1.22941371e+02] [-3.62321669e-01 9.31584157e-01 -2.95629313e-02 -1.53953549e+01] [-7.99170305e-02 5.50351214e-04 9.96801367e-01 -1.00631939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:-15.42, Z:-10.07 [[ 9.29705519e-01 3.60743416e-01 7.42417419e-02 1.22998038e+02] [-3.59529240e-01 9.32664746e-01 -2.95837439e-02 -1.54206481e+01] [-7.99147962e-02 8.12092929e-04 9.96801367e-01 -1.00682689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.05, Y:-15.45, Z:-10.07 [[ 9.31117254e-01 3.57085367e-01 7.42340916e-02 1.23054788e+02] [-3.55858035e-01 9.34071049e-01 -2.96029284e-02 -1.54477062e+01] [-7.99106884e-02 1.14699944e-03 9.96801368e-01 -1.00734599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.11, Y:-15.48, Z:-10.08 [[ 9.32570219e-01 3.53275147e-01 7.42257220e-02 1.23110705e+02] [-3.52034080e-01 9.35518269e-01 -2.96238993e-02 -1.54751488e+01] [-7.99049064e-02 1.49638245e-03 9.96801368e-01 -1.00784441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.17, Y:-15.50, Z:-10.08 [[ 9.33555681e-01 3.50664341e-01 7.42179987e-02 1.23167443e+02] [-3.49413493e-01 9.36499594e-01 -2.96432363e-02 -1.55025700e+01] [-7.98999516e-02 1.74084148e-03 9.96801368e-01 -1.00825899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.22, Y:-15.53, Z:-10.09 [[ 9.33599057e-01 3.50550624e-01 7.42095766e-02 1.23224525e+02] [-3.49297744e-01 9.36542105e-01 -2.96643055e-02 -1.55283697e+01] [-7.98992339e-02 1.77332996e-03 9.96801368e-01 -1.00877409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.28, Y:-15.56, Z:-10.09 [[ 9.33154596e-01 3.51733823e-01 7.42011918e-02 1.23281242e+02] [-3.50483009e-01 9.36098523e-01 -2.96852642e-02 -1.55559924e+01] [-7.99009375e-02 1.69468383e-03 9.96801368e-01 -1.00927967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.34, Y:-15.58, Z:-10.10 [[ 9.32528132e-01 3.53393143e-01 7.41927897e-02 1.23338782e+02] [-3.52145898e-01 9.35473573e-01 -2.97062488e-02 -1.55822122e+01] [-7.99033787e-02 1.57522617e-03 9.96801369e-01 -1.00980125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.40, Y:-15.61, Z:-10.10 [[ 9.31373686e-01 3.56426329e-01 7.41844339e-02 1.23395522e+02] [-3.55187016e-01 9.34322473e-01 -2.97271009e-02 -1.56101915e+01] [-7.99077052e-02 1.33769183e-03 9.96801369e-01 -1.01022946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.45, Y:-15.64, Z:-10.11 [[ 9.30158529e-01 3.59587307e-01 7.41759973e-02 1.23451268e+02] [-3.58356339e-01 9.33110809e-01 -2.97481374e-02 -1.56370502e+01] [-7.99114775e-02 1.08904489e-03 9.96801369e-01 -1.01077643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.51, Y:-15.66, Z:-10.11 [[ 9.29064093e-01 3.62406684e-01 7.41707916e-02 1.23508746e+02] [-3.61183640e-01 9.32019664e-01 -2.97611111e-02 -1.56632078e+01] [-7.99142619e-02 8.60703239e-04 9.96801369e-01 -1.01118539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.56, Y:-15.69, Z:-10.12 [[ 9.26951753e-01 3.67777648e-01 7.41623131e-02 1.23564944e+02] [-3.66570041e-01 9.29913665e-01 -2.97822240e-02 -1.56897526e+01] [-7.99177846e-02 4.21002610e-04 9.96801370e-01 -1.01178230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.62, Y:-15.72, Z:-10.12 [[ 9.25622395e-01 3.71112240e-01 7.41544758e-02 1.23621481e+02] [-3.69913741e-01 9.28588004e-01 -2.98017250e-02 -1.57163789e+01] [-7.99187417e-02 1.54384548e-04 9.96801370e-01 -1.01224414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.68, Y:-15.74, Z:-10.13 [[ 9.25307070e-01 3.71899450e-01 7.41459773e-02 1.23677825e+02] [-3.70701780e-01 9.28273013e-01 -2.98228542e-02 -1.57426999e+01] [-7.99188129e-02 1.09252063e-04 9.96801370e-01 -1.01282659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:-15.77, Z:-10.13 [[ 9.26051434e-01 3.70043620e-01 7.41381226e-02 1.23733508e+02] [-3.68838445e-01 9.29014335e-01 -2.98423679e-02 -1.57724275e+01] [-7.99183566e-02 2.90577746e-04 9.96801370e-01 -1.01332161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:-15.80, Z:-10.14 [[ 9.27115818e-01 3.67370421e-01 7.41298434e-02 1.23790296e+02] [-3.66155060e-01 9.30074555e-01 -2.98629197e-02 -1.58006002e+01] [-7.99170346e-02 5.43367981e-04 9.96801371e-01 -1.01379002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.84, Y:-15.83, Z:-10.14 [[ 9.29481817e-01 3.61344138e-01 7.41212896e-02 1.23844653e+02] [-3.60107904e-01 9.32431894e-01 -2.98841359e-02 -1.58310899e+01] [-7.99115117e-02 1.08509870e-03 9.96801371e-01 -1.01427876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.90, Y:-15.86, Z:-10.15 [[ 9.31717528e-01 3.55541352e-01 7.41133939e-02 1.23900012e+02] [-3.54285191e-01 9.34659174e-01 -2.99037045e-02 -1.58625122e+01] [-7.99027671e-02 1.60452774e-03 9.96801371e-01 -1.01473015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.95, Y:-15.89, Z:-10.15 [[ 9.32672180e-01 3.53031223e-01 7.41050668e-02 1.23954937e+02] [-3.51765507e-01 9.35609728e-01 -2.99243260e-02 -1.58902093e+01] [-7.98976428e-02 1.84198000e-03 9.96801371e-01 -1.01539709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.01, Y:-15.92, Z:-10.16 [[ 9.33345113e-01 3.51249786e-01 7.40978299e-02 1.24010778e+02] [-3.49977043e-01 9.36279623e-01 -2.99422351e-02 -1.59204855e+01] [-7.98934919e-02 2.01389939e-03 9.96801371e-01 -1.01587490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:-15.95, Z:-10.16 [[ 9.33168806e-01 3.51719710e-01 7.40893050e-02 1.24067194e+02] [-3.50446772e-01 9.36103231e-01 -2.99633143e-02 -1.59493030e+01] [-7.98939261e-02 1.99647239e-03 9.96801372e-01 -1.01639130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.12, Y:-15.97, Z:-10.17 [[ 9.32368713e-01 3.53836971e-01 7.40809036e-02 1.24124637e+02] [-3.52569049e-01 9.35305309e-01 -2.99840716e-02 -1.59707984e+01] [-7.98977355e-02 1.83757650e-03 9.96801372e-01 -1.01736805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.18, Y:-16.00, Z:-10.18 [[ 9.31485425e-01 3.56157373e-01 7.40731363e-02 1.24182623e+02] [-3.54895242e-01 9.34424514e-01 -3.00032479e-02 -1.59952716e+01] [-7.99016323e-02 1.65938450e-03 9.96801372e-01 -1.01773260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.24, Y:-16.02, Z:-10.18 [[ 9.28706655e-01 3.63343437e-01 7.40641350e-02 1.24237652e+02] [-3.62102281e-01 9.31654662e-01 -3.00254515e-02 -1.60228393e+01] [-7.99117474e-02 1.06604436e-03 9.96801372e-01 -1.01761467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.30, Y:-16.05, Z:-10.18 [[ 9.27215708e-01 3.67132384e-01 7.40597353e-02 1.24296500e+02] [-3.65902409e-01 9.30168398e-01 -3.00362997e-02 -1.60455649e+01] [-7.99153236e-02 7.51493358e-04 9.96801373e-01 -1.01805536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:-16.07, Z:-10.19 [[ 9.25598921e-01 3.71191385e-01 7.40512816e-02 1.24355143e+02] [-3.69972693e-01 9.28556286e-01 -3.00571270e-02 -1.60680494e+01] [-7.99177296e-02 4.23892226e-04 9.96801373e-01 -1.01854537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.41, Y:-16.09, Z:-10.19 [[ 9.24701050e-01 3.73424182e-01 7.40428784e-02 1.24413937e+02] [-3.72210974e-01 9.27660669e-01 -3.00778134e-02 -1.60910892e+01] [-7.99184489e-02 2.53413781e-04 9.96801373e-01 -1.01904256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.47, Y:-16.11, Z:-10.20 [[ 9.23995193e-01 3.75169038e-01 7.40342895e-02 1.24471891e+02] [-3.73959726e-01 9.26956405e-01 -3.00989394e-02 -1.61137468e+01] [-7.99187490e-02 1.25432693e-04 9.96801373e-01 -1.01961127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.53, Y:-16.14, Z:-10.20 [[ 9.24050825e-01 3.75033467e-01 7.40268339e-02 1.24528541e+02] [-3.73822252e-01 9.27011259e-01 -3.01172649e-02 -1.61368479e+01] [-7.99186908e-02 1.57005735e-04 9.96801374e-01 -1.02018643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.59, Y:-16.16, Z:-10.21 [[ 9.24446835e-01 3.74057075e-01 7.40226610e-02 1.24585997e+02] [-3.72841913e-01 9.27405651e-01 -3.01275178e-02 -1.61612300e+01] [-7.99184453e-02 2.52537989e-04 9.96801374e-01 -1.02064491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.64, Y:-16.19, Z:-10.21 [[ 9.24991948e-01 3.72708691e-01 7.40143733e-02 1.24643570e+02] [-3.71487588e-01 9.27948317e-01 -3.01478644e-02 -1.61851611e+01] [-7.99178842e-02 3.91110811e-04 9.96801374e-01 -1.02104264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.70, Y:-16.21, Z:-10.22 [[ 9.25432696e-01 3.71614656e-01 7.40058934e-02 1.24701520e+02] [-3.70388394e-01 9.28386929e-01 -3.01686663e-02 -1.62096509e+01] [-7.99172226e-02 5.08146255e-04 9.96801374e-01 -1.02156214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.76, Y:-16.24, Z:-10.22 [[ 9.27060603e-01 3.67536435e-01 7.39973452e-02 1.24757638e+02] [-3.66295505e-01 9.30008704e-01 -3.01896187e-02 -1.62355012e+01] [-7.99139600e-02 8.82711119e-04 9.96801374e-01 -1.02208965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.82, Y:-16.26, Z:-10.22 [[ 9.28782934e-01 3.63163635e-01 7.39894345e-02 1.24815490e+02] [-3.61907283e-01 9.31724495e-01 -3.02089942e-02 -1.62592156e+01] [-7.99085766e-02 1.28028304e-03 9.96801375e-01 -1.02249851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.87, Y:-16.28, Z:-10.23 [[ 9.28682121e-01 3.63421891e-01 7.39868010e-02 1.24873976e+02] [-3.62165844e-01 9.31623813e-01 -3.02154427e-02 -1.62831798e+01] [-7.99088189e-02 1.26504925e-03 9.96801375e-01 -1.02300552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.93, Y:-16.30, Z:-10.24 [[ 9.29576318e-01 3.61130264e-01 7.39783830e-02 1.24932039e+02] [-3.59865327e-01 9.32514198e-01 -3.02360390e-02 -1.63030016e+01] [-7.99050412e-02 1.48445083e-03 9.96801375e-01 -1.02380466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.99, Y:-16.33, Z:-10.24 [[ 9.29582956e-01 3.61114003e-01 7.39743486e-02 1.24988677e+02] [-3.59848229e-01 9.32520475e-01 -3.02459062e-02 -1.63281367e+01] [-7.99048150e-02 1.49654058e-03 9.96801375e-01 -1.02446115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:125.05, Y:-16.35, Z:-10.25 [[ 9.31362831e-01 3.56498960e-01 7.39714086e-02 1.25047582e+02] [-3.55218062e-01 9.34293786e-01 -3.02530948e-02 -1.63471563e+01] [-7.98962242e-02 1.90062763e-03 9.96801375e-01 -1.02516591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:-16.37, Z:-10.25 [[ 9.30945456e-01 3.57589212e-01 7.39629261e-02 1.25103753e+02] [-3.56310100e-01 9.33877191e-01 -3.02738185e-02 -1.63713515e+01] [-7.98978806e-02 1.82953618e-03 9.96801375e-01 -1.02527950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.16, Y:-16.39, Z:-10.26 [[ 9.31099712e-01 3.57188859e-01 7.39557013e-02 1.25160052e+02] [-3.55907087e-01 9.34030285e-01 -3.02914578e-02 -1.63939253e+01] [-7.98966360e-02 1.88300945e-03 9.96801375e-01 -1.02567743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.22, Y:-16.42, Z:-10.26 [[ 9.30321177e-01 3.59212531e-01 7.39517739e-02 1.25218596e+02] [-3.57936372e-01 9.33254199e-01 -3.03010429e-02 -1.64174360e+01] [-7.99003178e-02 1.71967218e-03 9.96801375e-01 -1.02601113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:-16.44, Z:-10.27 [[ 9.27878944e-01 3.65476481e-01 7.39432686e-02 1.25275684e+02] [-3.64218473e-01 9.30819796e-01 -3.03217842e-02 -1.64402698e+01] [-7.99097572e-02 1.20344076e-03 9.96801376e-01 -1.02676948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.33, Y:-16.46, Z:-10.27 [[ 9.25985508e-01 3.70248100e-01 7.39404018e-02 1.25333709e+02] [-3.69004689e-01 9.28932562e-01 -3.03287732e-02 -1.64614775e+01] [-7.99148176e-02 7.99649477e-04 9.96801376e-01 -1.02709912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.39, Y:-16.49, Z:-10.27 [[ 9.25029745e-01 3.72631266e-01 7.39317923e-02 1.25391783e+02] [-3.71393772e-01 9.27979288e-01 -3.03497460e-02 -1.64862134e+01] [-7.99164363e-02 6.16610640e-04 9.96801376e-01 -1.02747991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.45, Y:-16.51, Z:-10.28 [[ 9.23682652e-01 3.75959744e-01 7.39231259e-02 1.25447151e+02] [-3.74731190e-01 9.26635930e-01 -3.03708403e-02 -1.65106629e+01] [-7.99180379e-02 3.51717365e-04 9.96801376e-01 -1.02800344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.50, Y:-16.54, Z:-10.29 [[ 9.22263750e-01 3.79428480e-01 7.39161961e-02 1.25504162e+02] [-3.78209683e-01 9.25221067e-01 -3.03876966e-02 -1.65367454e+01] [-7.99187794e-02 6.96499126e-05 9.96801376e-01 -1.02854981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.56, Y:-16.56, Z:-10.29 [[ 9.21429427e-01 3.81451773e-01 7.39077546e-02 1.25560995e+02] [-3.80237824e-01 9.24388738e-01 -3.04082138e-02 -1.65622086e+01] [-7.99187631e-02 -8.35007029e-05 9.96801377e-01 -1.02909563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.62, Y:-16.59, Z:-10.30 [[ 9.20521803e-01 3.83638530e-01 7.38991849e-02 1.25617386e+02] [-3.82429939e-01 9.23483306e-01 -3.04290262e-02 -1.65889328e+01] [-7.99184104e-02 -2.50678769e-04 9.96801377e-01 -1.02963751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.67, Y:-16.61, Z:-10.30 [[ 9.19296228e-01 3.86567757e-01 7.38905587e-02 1.25673828e+02] [-3.85366921e-01 9.22260883e-01 -3.04499586e-02 -1.66140226e+01] [-7.99173441e-02 -4.82445031e-04 9.96801377e-01 -1.03014018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.73, Y:-16.64, Z:-10.31 [[ 9.18279920e-01 3.88977314e-01 7.38825885e-02 1.25732209e+02] [-3.87782702e-01 9.21247089e-01 -3.04692850e-02 -1.66376264e+01] [-7.99159802e-02 -6.71057238e-04 9.96801377e-01 -1.03061930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.79, Y:-16.66, Z:-10.31 [[ 9.18238463e-01 3.89076819e-01 7.38739137e-02 1.25790500e+02] [-3.87880837e-01 9.21205079e-01 -3.04903029e-02 -1.66615531e+01] [-7.99160946e-02 -6.56906672e-04 9.96801378e-01 -1.03121799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.85, Y:-16.68, Z:-10.32 [[ 9.20157828e-01 3.84517227e-01 7.38652469e-02 1.25847795e+02] [-3.83304860e-01 9.23117785e-01 -3.05112847e-02 -1.66839197e+01] [-7.99184377e-02 -2.37710661e-04 9.96801378e-01 -1.03220468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.91, Y:-16.71, Z:-10.32 [[ 9.22374986e-01 3.79168469e-01 7.38624247e-02 1.25905655e+02] [-3.77938391e-01 9.25327627e-01 -3.05181151e-02 -1.67097735e+01] [-7.99184492e-02 2.33700017e-04 9.96801378e-01 -1.03209253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:-16.73, Z:-10.33 [[ 9.23304651e-01 3.76900782e-01 7.38533783e-02 1.25963445e+02] [-3.75661702e-01 9.26253526e-01 -3.05399917e-02 -1.67331887e+01] [-7.99174988e-02 4.53830582e-04 9.96801378e-01 -1.03259800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:-16.76, Z:-10.33 [[ 9.26515246e-01 3.68939593e-01 7.38449371e-02 1.26021187e+02] [-3.67673552e-01 9.29452647e-01 -3.05603886e-02 -1.67561890e+01] [-7.99103096e-02 1.16383570e-03 9.96801378e-01 -1.03311503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:-16.78, Z:-10.34 [[ 9.28358256e-01 3.64278775e-01 7.38371403e-02 1.26079147e+02] [-3.62996491e-01 9.31288602e-01 -3.05792149e-02 -1.67793398e+01] [-7.99030461e-02 1.58584382e-03 9.96801379e-01 -1.03366322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:-16.80, Z:-10.34 [[ 9.29851710e-01 3.60451237e-01 7.38288752e-02 1.26138047e+02] [-3.59155309e-01 9.32776048e-01 -3.05991570e-02 -1.68015566e+01] [-7.98953104e-02 1.93664591e-03 9.96801379e-01 -1.03417370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:-16.82, Z:-10.35 [[ 9.30232095e-01 3.59470138e-01 7.38205167e-02 1.26197530e+02] [-3.58169528e-01 9.33154353e-01 -3.06193087e-02 -1.68217564e+01] [-7.98926636e-02 2.04280406e-03 9.96801379e-01 -1.03466656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.26, Y:-16.84, Z:-10.35 [[ 9.30229062e-01 3.59479734e-01 7.38120068e-02 1.26255886e+02] [-3.58177529e-01 9.33150609e-01 -3.06398093e-02 -1.68437555e+01] [-7.98921096e-02 2.06423891e-03 9.96801379e-01 -1.03525532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.31, Y:-16.87, Z:-10.36 [[ 9.29989620e-01 3.60100484e-01 7.38034407e-02 1.26314289e+02] [-3.58798594e-01 9.32911307e-01 -3.06604288e-02 -1.68659039e+01] [-7.98928996e-02 2.03330981e-03 9.96801380e-01 -1.03580728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.37, Y:-16.88, Z:-10.37 [[ 9.30527408e-01 3.58710284e-01 7.37948231e-02 1.26373730e+02] [-3.57402387e-01 9.33446410e-01 -3.06811562e-02 -1.68845991e+01] [-7.98891589e-02 2.17521087e-03 9.96801380e-01 -1.03677406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.43, Y:-16.91, Z:-10.37 [[ 9.28327841e-01 3.64366701e-01 7.37856767e-02 1.26430383e+02] [-3.63074846e-01 9.31253979e-01 -3.07031367e-02 -1.69086718e+01] [-7.99004057e-02 1.71285341e-03 9.96801380e-01 -1.03696482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.49, Y:-16.93, Z:-10.37 [[ 9.26912857e-01 3.67952856e-01 7.37783871e-02 1.26488519e+02] [-3.66670930e-01 9.29843358e-01 -3.07206435e-02 -1.69327045e+01] [-7.99060917e-02 1.42296956e-03 9.96801380e-01 -1.03744314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.55, Y:-16.96, Z:-10.38 [[ 9.26156652e-01 3.69853849e-01 7.37698264e-02 1.26546980e+02] [-3.68576302e-01 9.29089064e-01 -3.07411867e-02 -1.69550627e+01] [-7.99084852e-02 1.28134464e-03 9.96801380e-01 -1.03805709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.60, Y:-16.98, Z:-10.38 [[ 9.23523470e-01 3.76382444e-01 7.37607997e-02 1.26604770e+02] [-3.75123901e-01 9.26464088e-01 -3.07628304e-02 -1.69779640e+01] [-7.99153213e-02 7.40756962e-04 9.96801381e-01 -1.03847521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.66, Y:-17.00, Z:-10.39 [[ 9.21674211e-01 3.80890039e-01 7.37524788e-02 1.26662849e+02] [-3.79644282e-01 9.24620268e-01 -3.07827663e-02 -1.70025659e+01] [-7.99178858e-02 3.71974932e-04 9.96801381e-01 -1.03897581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.72, Y:-17.03, Z:-10.39 [[ 9.21181652e-01 3.82081420e-01 7.37438342e-02 1.26720686e+02] [-3.80837817e-01 9.24128619e-01 -3.08034618e-02 -1.70274818e+01] [-7.99182180e-02 2.91143036e-04 9.96801381e-01 -1.03942776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.78, Y:-17.05, Z:-10.40 [[ 9.21161224e-01 3.82132355e-01 7.37350827e-02 1.26776910e+02] [-3.80887240e-01 9.24107552e-01 -3.08243963e-02 -1.70517727e+01] [-7.99181459e-02 3.09486543e-04 9.96801382e-01 -1.03991589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:-17.08, Z:-10.40 [[ 9.21884714e-01 3.80385208e-01 7.37269879e-02 1.26834427e+02] [-3.79132961e-01 9.24828017e-01 -3.08437456e-02 -1.70774360e+01] [-7.99172886e-02 4.82046356e-04 9.96801382e-01 -1.04038206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.89, Y:-17.10, Z:-10.41 [[ 9.23628535e-01 3.76132901e-01 7.37181773e-02 1.26890334e+02] [-3.74865424e-01 9.26565313e-01 -3.08647890e-02 -1.71032546e+01] [-7.99139687e-02 8.73204068e-04 9.96801382e-01 -1.04081987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:-17.13, Z:-10.42 [[ 9.25558671e-01 3.71359580e-01 7.37103041e-02 1.26946702e+02] [-3.70075463e-01 9.28488210e-01 -3.08835803e-02 -1.71274146e+01] [-7.99080617e-02 1.30619068e-03 9.96801382e-01 -1.04157217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:-17.16, Z:-10.42 [[ 9.28134184e-01 3.64876641e-01 7.37019216e-02 1.27001733e+02] [-3.63570478e-01 9.31053960e-01 -3.09035716e-02 -1.71558906e+01] [-7.98964574e-02 1.88681832e-03 9.96801382e-01 -1.04178119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:-17.18, Z:-10.42 [[ 9.32245937e-01 3.54239959e-01 7.36991489e-02 1.27057114e+02] [-3.52899973e-01 9.35150346e-01 -3.09101827e-02 -1.71798399e+01] [-7.98694064e-02 2.80746462e-03 9.96801382e-01 -1.04245787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.11, Y:-17.20, Z:-10.43 [[ 9.33608289e-01 3.50634500e-01 7.36953894e-02 1.27114699e+02] [-3.49282594e-01 9.36507168e-01 -3.09191434e-02 -1.72042062e+01] [-7.98575788e-02 3.12585180e-03 9.96801383e-01 -1.04294080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:-17.23, Z:-10.43 [[ 9.33918660e-01 3.49808787e-01 7.36868343e-02 1.27171406e+02] [-3.48452713e-01 9.36815592e-01 -3.09395186e-02 -1.72308761e+01] [-7.98538908e-02 3.21861638e-03 9.96801383e-01 -1.04313642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:-17.25, Z:-10.44 [[ 9.33810770e-01 3.50097400e-01 7.36834889e-02 1.27229136e+02] [-3.48741594e-01 9.36707827e-01 -3.09474837e-02 -1.72535203e+01] [-7.98545344e-02 3.20259615e-03 9.96801383e-01 -1.04382589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:-17.27, Z:-10.45 [[ 9.33226236e-01 3.51654333e-01 7.36751123e-02 1.27287880e+02] [-3.50301790e-01 9.36124818e-01 -3.09674128e-02 -1.72730216e+01] [-7.98589260e-02 3.09107839e-03 9.96801383e-01 -1.04456560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:-17.30, Z:-10.45 [[ 9.29870607e-01 3.60435532e-01 7.36673739e-02 1.27345014e+02] [-3.59108915e-01 9.32781146e-01 -3.09858105e-02 -1.72951541e+01] [-7.98839245e-02 2.35818365e-03 9.96801383e-01 -1.04508102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.40, Y:-17.32, Z:-10.46 [[ 9.27768219e-01 3.65814941e-01 7.36584078e-02 1.27404336e+02] [-3.64503513e-01 9.30685633e-01 -3.10071099e-02 -1.73155230e+01] [-7.98956859e-02 1.91866269e-03 9.96801383e-01 -1.04561566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:-17.33, Z:-10.46 [[ 9.24880603e-01 3.73057274e-01 7.36487612e-02 1.27465442e+02] [-3.71766873e-01 9.27807378e-01 -3.10300057e-02 -1.73328159e+01] [-7.99078334e-02 1.31888070e-03 9.96801384e-01 -1.04607408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:-17.35, Z:-10.47 [[ 9.22686034e-01 3.78454345e-01 7.36395985e-02 1.27524534e+02] [-3.77179331e-01 9.25619545e-01 -3.10517353e-02 -1.73526131e+01] [-7.99139158e-02 8.75667960e-04 9.96801384e-01 -1.04662433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:-17.37, Z:-10.47 [[ 9.21909726e-01 3.80342532e-01 7.36343400e-02 1.27583324e+02] [-3.79072531e-01 9.24845410e-01 -3.10642001e-02 -1.73749737e+01] [-7.99154178e-02 7.25632581e-04 9.96801384e-01 -1.04713624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.64, Y:-17.40, Z:-10.48 [[ 9.22274297e-01 3.79459351e-01 7.36255576e-02 1.27641340e+02] [-3.78184878e-01 9.25208042e-01 -3.10850013e-02 -1.73985374e+01] [-7.99144524e-02 8.24825192e-04 9.96801384e-01 -1.04773930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.70, Y:-17.42, Z:-10.48 [[ 9.23379309e-01 3.76764177e-01 7.36166152e-02 1.27697288e+02] [-3.75479454e-01 9.26308580e-01 -3.11061648e-02 -1.74218449e+01] [-7.99113909e-02 1.08126248e-03 9.96801385e-01 -1.04848205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:-17.45, Z:-10.49 [[ 9.24183746e-01 3.74788007e-01 7.36094700e-02 1.27753631e+02] [-3.73495675e-01 9.27109668e-01 -3.11230640e-02 -1.74475964e+01] [-7.99086024e-02 1.27061122e-03 9.96801385e-01 -1.04907314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:-17.47, Z:-10.50 [[ 9.25593278e-01 3.71294822e-01 7.36018969e-02 1.27809830e+02] [-3.69990026e-01 9.28513662e-01 -3.11409631e-02 -1.74745700e+01] [-7.99028452e-02 1.59189828e-03 9.96801385e-01 -1.04971496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:-17.50, Z:-10.51 [[ 9.26841641e-01 3.68168084e-01 7.35991419e-02 1.27864901e+02] [-3.66852921e-01 9.29757371e-01 -3.11474728e-02 -1.75000245e+01] [-7.98968502e-02 1.86871466e-03 9.96801385e-01 -1.05081755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:-17.53, Z:-10.51 [[ 9.28451913e-01 3.64089801e-01 7.35911893e-02 1.27921539e+02] [-3.62760344e-01 9.31361153e-01 -3.11662510e-02 -1.75268988e+01] [-7.98872891e-02 2.24040025e-03 9.96801385e-01 -1.05092648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.98, Y:-17.55, Z:-10.51 [[ 9.30316926e-01 3.59299491e-01 7.35818769e-02 1.27978192e+02] [-3.57953321e-01 9.33218471e-01 -3.11882218e-02 -1.75531147e+01] [-7.98738788e-02 2.67605337e-03 9.96801386e-01 -1.05106202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:-17.58, Z:-10.51 [[ 9.30420609e-01 3.59032448e-01 7.35743936e-02 1.28034920e+02] [-3.57684052e-01 9.33321120e-01 -3.12058651e-02 -1.75773807e+01] [-7.98724536e-02 2.71819279e-03 9.96801386e-01 -1.05133874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.09, Y:-17.60, Z:-10.51 [[ 9.29495013e-01 3.61423459e-01 7.35670042e-02 1.28093014e+02] [-3.60081149e-01 9.32398345e-01 -3.12232758e-02 -1.76006796e+01] [-7.98785773e-02 2.53178772e-03 9.96801386e-01 -1.05136050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.15, Y:-17.62, Z:-10.52 [[ 9.26815244e-01 3.68242438e-01 7.35595692e-02 1.28151684e+02] [-3.66920105e-01 9.29727729e-01 -3.12407823e-02 -1.76223491e+01] [-7.98945530e-02 1.96394846e-03 9.96801386e-01 -1.05154031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.21, Y:-17.64, Z:-10.52 [[ 9.24438530e-01 3.74170466e-01 7.35517908e-02 1.28210385e+02] [-3.72865358e-01 9.27358773e-01 -3.12590848e-02 -1.76447698e+01] [-7.99051248e-02 1.47218763e-03 9.96801386e-01 -1.05204378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.27, Y:-17.67, Z:-10.53 [[ 9.21586824e-01 3.81141954e-01 7.35427612e-02 1.28267784e+02] [-3.79857245e-01 9.24516098e-01 -3.12803142e-02 -1.76659234e+01] [-7.99137067e-02 8.91774774e-04 9.96801387e-01 -1.05270508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.33, Y:-17.69, Z:-10.53 [[ 9.20683366e-01 3.83320576e-01 7.35355439e-02 1.28325220e+02] [-3.82041444e-01 9.23615080e-01 -3.12972719e-02 -1.76877687e+01] [-7.99154255e-02 7.21252289e-04 9.96801387e-01 -1.05333838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.38, Y:-17.71, Z:-10.54 [[ 9.22380646e-01 3.79219827e-01 7.35273231e-02 1.28384231e+02] [-3.77926123e-01 9.25305959e-01 -3.13165733e-02 -1.77092904e+01] [-7.99111357e-02 1.09790490e-03 9.96801387e-01 -1.05401427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.44, Y:-17.73, Z:-10.55 [[ 9.22270882e-01 3.79488408e-01 7.35184835e-02 1.28441489e+02] [-3.78193904e-01 9.25195841e-01 -3.13373113e-02 -1.77298250e+01] [-7.99111416e-02 1.09724742e-03 9.96801387e-01 -1.05546732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.50, Y:-17.76, Z:-10.56 [[ 9.23341707e-01 3.76876960e-01 7.35108852e-02 1.28498858e+02] [-3.75572765e-01 9.26262357e-01 -3.13551253e-02 -1.77558894e+01] [-7.99073901e-02 1.34280846e-03 9.96801387e-01 -1.05588917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.56, Y:-17.78, Z:-10.56 [[ 9.23235677e-01 3.77138353e-01 7.35020282e-02 1.28556975e+02] [-3.75833334e-01 9.26155959e-01 -3.13758740e-02 -1.77807633e+01] [-7.99073868e-02 1.34281394e-03 9.96801388e-01 -1.05639676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.61, Y:-17.81, Z:-10.57 [[ 9.24866025e-01 3.73124094e-01 7.34931676e-02 1.28614309e+02] [-3.71804754e-01 9.27779865e-01 -3.13966150e-02 -1.78062611e+01] [-7.99003146e-02 1.71255349e-03 9.96801388e-01 -1.05678816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.67, Y:-17.83, Z:-10.57 [[ 9.24760776e-01 3.73386623e-01 7.34842597e-02 1.28672413e+02] [-3.72066455e-01 9.27674241e-01 -3.14174502e-02 -1.78311647e+01] [-7.99003105e-02 1.71259754e-03 9.96801388e-01 -1.05729575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.73, Y:-17.86, Z:-10.58 [[ 9.26021935e-01 3.70249574e-01 7.34753634e-02 1.28727134e+02] [-3.68917888e-01 9.28930153e-01 -3.14382421e-02 -1.78575138e+01] [-7.98934763e-02 2.00612583e-03 9.96801388e-01 -1.05777721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.78, Y:-17.88, Z:-10.58 [[ 9.27654326e-01 3.66141866e-01 7.34682553e-02 1.28784112e+02] [-3.64795991e-01 9.30556004e-01 -3.14548444e-02 -1.78838324e+01] [-7.98832615e-02 2.37829744e-03 9.96801389e-01 -1.05821739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.84, Y:-17.91, Z:-10.59 [[ 9.29436423e-01 3.61595972e-01 7.34594360e-02 1.28841340e+02] [-3.60234283e-01 9.32330713e-01 -3.14754275e-02 -1.79097304e+01] [-7.98698762e-02 2.79180150e-03 9.96801389e-01 -1.05854682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.90, Y:-17.94, Z:-10.59 [[ 9.33072369e-01 3.52109374e-01 7.34502707e-02 1.28895150e+02] [-3.50716594e-01 9.35951827e-01 -3.14968011e-02 -1.79376669e+01] [-7.98362339e-02 3.62856601e-03 9.96801389e-01 -1.05912763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.95, Y:-17.96, Z:-10.59 [[ 9.33671915e-01 3.50518027e-01 7.34429586e-02 1.28952285e+02] [-3.49119003e-01 9.36548343e-01 -3.15138418e-02 -1.79642726e+01] [-7.98290509e-02 3.78325659e-03 9.96801389e-01 -1.05948172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.01, Y:-17.99, Z:-10.60 [[ 9.31214893e-01 3.56996133e-01 7.34342213e-02 1.29010009e+02] [-3.55615524e-01 9.34100205e-01 -3.15341887e-02 -1.79879556e+01] [-7.98525046e-02 3.25075700e-03 9.96801389e-01 -1.06004061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:-18.01, Z:-10.61 [[ 9.28656190e-01 3.63601928e-01 7.34255984e-02 1.29068821e+02] [-3.62240266e-01 9.31550492e-01 -3.15542539e-02 -1.80108990e+01] [-7.98728398e-02 2.70534495e-03 9.96801390e-01 -1.06065455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:-18.03, Z:-10.61 [[ 9.24971470e-01 3.72877641e-01 7.34169248e-02 1.29125953e+02] [-3.71543413e-01 9.27878520e-01 -3.15744217e-02 -1.80338235e+01] [-7.98953834e-02 1.92786441e-03 9.96801390e-01 -1.06102355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.18, Y:-18.06, Z:-10.61 [[ 9.23021952e-01 3.77679239e-01 7.34089114e-02 1.29182669e+02] [-3.76358655e-01 9.25935226e-01 -3.15930415e-02 -1.80590612e+01] [-7.99039328e-02 1.53299160e-03 9.96801390e-01 -1.06133736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.24, Y:-18.08, Z:-10.62 [[ 9.21538243e-01 3.81286722e-01 7.34009737e-02 1.29239707e+02] [-3.79976075e-01 9.24456001e-01 -3.16114728e-02 -1.80842392e+01] [-7.99090054e-02 1.24056716e-03 9.96801390e-01 -1.06157408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.30, Y:-18.11, Z:-10.62 [[ 9.21943558e-01 3.80307187e-01 7.33929157e-02 1.29295949e+02] [-3.78991952e-01 9.24859250e-01 -3.16301701e-02 -1.81063910e+01] [-7.99072980e-02 1.34590717e-03 9.96801391e-01 -1.06246357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:-18.13, Z:-10.63 [[ 9.22255766e-01 3.79550868e-01 7.33855611e-02 1.29352821e+02] [-3.78231886e-01 9.25169765e-01 -3.16472243e-02 -1.81318872e+01] [-7.99058338e-02 1.43007590e-03 9.96801391e-01 -1.06294583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.41, Y:-18.16, Z:-10.63 [[ 9.22945335e-01 3.77872702e-01 7.33766261e-02 1.29409854e+02] [-3.76546776e-01 9.25856181e-01 -3.16679274e-02 -1.81576665e+01] [-7.99026481e-02 1.59803389e-03 9.96801391e-01 -1.06344291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.47, Y:-18.18, Z:-10.64 [[ 9.24756140e-01 3.73421023e-01 7.33677114e-02 1.29467022e+02] [-3.72079450e-01 9.27659807e-01 -3.16885675e-02 -1.81837553e+01] [-7.98934543e-02 2.00557964e-03 9.96801391e-01 -1.06395930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:-18.21, Z:-10.64 [[ 9.26803248e-01 3.68312664e-01 7.33588524e-02 1.29524440e+02] [-3.66953469e-01 9.29698708e-01 -3.17090628e-02 -1.82100115e+01] [-7.98804796e-02 2.46877703e-03 9.96801392e-01 -1.06437919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.58, Y:-18.24, Z:-10.65 [[ 9.28337348e-01 3.64430455e-01 7.33499239e-02 1.29581610e+02] [-3.63057525e-01 9.31226320e-01 -3.17297029e-02 -1.82355101e+01] [-7.98686498e-02 2.82562644e-03 9.96801392e-01 -1.06493765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:-18.26, Z:-10.66 [[ 9.29062937e-01 3.62578492e-01 7.33409634e-02 1.29638064e+02] [-3.61198173e-01 9.31948385e-01 -3.17504010e-02 -1.82592218e+01] [-7.98620049e-02 3.00749884e-03 9.96801392e-01 -1.06580717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.69, Y:-18.29, Z:-10.66 [[ 9.28852261e-01 3.63119436e-01 7.33331569e-02 1.29694513e+02] [-3.61739377e-01 9.31737834e-01 -3.17684215e-02 -1.82852064e+01] [-7.98630080e-02 2.98067962e-03 9.96801392e-01 -1.06609425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.75, Y:-18.31, Z:-10.67 [[ 9.28323633e-01 3.64470319e-01 7.33254286e-02 1.29752085e+02] [-3.63093053e-01 9.31210540e-01 -3.17862493e-02 -1.83095985e+01] [-7.98665564e-02 2.88397279e-03 9.96801392e-01 -1.06652935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.81, Y:-18.34, Z:-10.67 [[ 9.26766417e-01 3.68413777e-01 7.33164202e-02 1.29808483e+02] [-3.67047156e-01 9.29658378e-01 -3.18070140e-02 -1.83361833e+01] [-7.98773664e-02 2.56708884e-03 9.96801393e-01 -1.06716927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.87, Y:-18.36, Z:-10.67 [[ 9.26043643e-01 3.70227657e-01 7.33120249e-02 1.29865913e+02] [-3.68865900e-01 9.28937897e-01 -3.18171415e-02 -1.83587908e+01] [-7.98819040e-02 2.42175554e-03 9.96801393e-01 -1.06739293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.92, Y:-18.38, Z:-10.68 [[ 9.23905718e-01 3.75532887e-01 7.33026276e-02 1.29923947e+02] [-3.74186037e-01 9.26806939e-01 -3.18387771e-02 -1.83815324e+01] [-7.98938918e-02 1.98720854e-03 9.96801393e-01 -1.06774556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.98, Y:-18.40, Z:-10.68 [[ 9.21386977e-01 3.81672503e-01 7.32948771e-02 1.29981606e+02] [-3.80343571e-01 9.24296448e-01 -3.18566093e-02 -1.84032563e+01] [-7.99049864e-02 1.47502969e-03 9.96801393e-01 -1.06811037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.04, Y:-18.43, Z:-10.69 [[ 9.19498553e-01 3.86201142e-01 7.32877138e-02 1.30040137e+02] [-3.84885228e-01 9.22413935e-01 -3.18730802e-02 -1.84267616e+01] [-7.99110285e-02 1.09989274e-03 9.96801393e-01 -1.06880893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.10, Y:-18.45, Z:-10.69 [[ 9.18510625e-01 3.88545691e-01 7.32835515e-02 1.30096968e+02] [-3.87236455e-01 9.21429012e-01 -3.18826475e-02 -1.84496006e+01] [-7.99134558e-02 9.06487728e-04 9.96801393e-01 -1.06926769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.16, Y:-18.47, Z:-10.70 [[ 9.18507367e-01 3.88554842e-01 7.32758536e-02 1.30155124e+02] [-3.87244225e-01 9.21425135e-01 -3.19003299e-02 -1.84734330e+01] [-7.99132409e-02 9.25036893e-04 9.96801394e-01 -1.06974888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.21, Y:-18.50, Z:-10.70 [[ 9.19463273e-01 3.86289076e-01 7.32669029e-02 1.30212318e+02] [-3.84969633e-01 9.22377059e-01 -3.19208742e-02 -1.84981789e+01] [-7.99103954e-02 1.14453876e-03 9.96801394e-01 -1.07026007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.27, Y:-18.52, Z:-10.71 [[ 9.22001557e-01 3.80192585e-01 7.32579464e-02 1.30268809e+02] [-3.78852246e-01 9.24905791e-01 -3.19414160e-02 -1.85246895e+01] [-7.99005884e-02 1.69609768e-03 9.96801394e-01 -1.07069113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.33, Y:-18.55, Z:-10.71 [[ 9.24169515e-01 3.74893714e-01 7.32489602e-02 1.30325501e+02] [-3.73535095e-01 9.27065242e-01 -3.19620102e-02 -1.85506196e+01] [-7.98889217e-02 2.17725813e-03 9.96801394e-01 -1.07112631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:-18.58, Z:-10.72 [[ 9.26545042e-01 3.68985382e-01 7.32398282e-02 1.30381553e+02] [-3.67606651e-01 9.29431247e-01 -3.19829223e-02 -1.85762594e+01] [-7.98726156e-02 2.71017015e-03 9.96801395e-01 -1.07158465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:-18.60, Z:-10.72 [[ 9.27345966e-01 3.66968950e-01 7.32342091e-02 1.30439075e+02] [-3.65582929e-01 9.30228677e-01 -3.19957836e-02 -1.86014478e+01] [-7.98660206e-02 2.89798416e-03 9.96801395e-01 -1.07194690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:-18.63, Z:-10.72 [[ 9.26821559e-01 3.68293145e-01 7.32253891e-02 1.30496465e+02] [-3.66909652e-01 9.29705483e-01 -3.20159564e-02 -1.86259209e+01] [-7.98693030e-02 2.80597655e-03 9.96801395e-01 -1.07235819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:-18.65, Z:-10.73 [[ 9.24718160e-01 3.73544757e-01 7.32163886e-02 1.30554962e+02] [-3.72176019e-01 9.27609116e-01 -3.20365263e-02 -1.86479347e+01] [-7.98832659e-02 2.37537364e-03 9.96801395e-01 -1.07296446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:-18.67, Z:-10.74 [[ 9.22411151e-01 3.79207499e-01 7.32075181e-02 1.30613500e+02] [-3.77854905e-01 9.25309696e-01 -3.20567836e-02 -1.86708789e+01] [-7.98957991e-02 1.90771481e-03 9.96801395e-01 -1.07354117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:-18.69, Z:-10.74 [[ 9.18420417e-01 3.88774869e-01 7.31986304e-02 1.30672163e+02] [-3.87450860e-01 9.21332129e-01 -3.20770651e-02 -1.86934360e+01] [-7.99110068e-02 1.09935919e-03 9.96801396e-01 -1.07401944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:-18.72, Z:-10.74 [[ 9.16011624e-01 3.94418533e-01 7.31896563e-02 1.30730530e+02] [-3.93110831e-01 9.18930696e-01 -3.20975281e-02 -1.87172366e+01] [-7.99160818e-02 6.30062269e-04 9.96801396e-01 -1.07449345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.79, Y:-18.74, Z:-10.75 [[ 9.13412870e-01 4.00401711e-01 7.31805843e-02 1.30788128e+02] [-3.99111474e-01 9.16339704e-01 -3.21181986e-02 -1.87406785e+01] [-7.99184566e-02 1.29965112e-04 9.96801396e-01 -1.07493646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.85, Y:-18.77, Z:-10.75 [[ 9.12370453e-01 4.02772872e-01 7.31721947e-02 1.30845623e+02] [-4.01488709e-01 9.15299957e-01 -3.21373004e-02 -1.87662160e+01] [-7.99185395e-02 -5.66866381e-05 9.96801396e-01 -1.07536153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:-18.79, Z:-10.76 [[ 9.12482894e-01 4.02519752e-01 7.31629475e-02 1.30902001e+02] [-4.01233089e-01 9.15411301e-01 -3.21583388e-02 -1.87920926e+01] [-7.99185555e-02 -1.14614288e-05 9.96801397e-01 -1.07591531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.96, Y:-18.82, Z:-10.76 [[ 9.13364447e-01 4.00516940e-01 7.31544056e-02 1.30959001e+02] [-3.99222301e-01 9.16289336e-01 -3.21777583e-02 -1.88185293e+01] [-7.99183390e-02 1.85150341e-04 9.96801397e-01 -1.07636889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.02, Y:-18.85, Z:-10.77 [[ 9.15088709e-01 3.96563252e-01 7.31453497e-02 1.31015418e+02] [-3.95254331e-01 9.18007234e-01 -3.21983308e-02 -1.88460615e+01] [-7.99166349e-02 5.53312661e-04 9.96801397e-01 -1.07697977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:-18.87, Z:-10.78 [[ 9.16398318e-01 3.93529179e-01 7.31362347e-02 1.31071300e+02] [-3.92208944e-01 9.19311742e-01 -3.22190216e-02 -1.88728757e+01] [-7.99141244e-02 8.40771812e-04 9.96801397e-01 -1.07756001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:-18.90, Z:-10.78 [[ 9.18354172e-01 3.88944556e-01 7.31282953e-02 1.31126512e+02] [-3.87608344e-01 9.21260303e-01 -3.22370317e-02 -1.88997313e+01] [-7.99086135e-02 1.25987510e-03 9.96801398e-01 -1.07819695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.18, Y:-18.93, Z:-10.79 [[ 9.19710182e-01 3.85728663e-01 7.31203105e-02 1.31182689e+02] [-3.84380852e-01 9.22610951e-01 -3.22551329e-02 -1.89265098e+01] [-7.99033285e-02 1.55932691e-03 9.96801398e-01 -1.07879221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.24, Y:-18.96, Z:-10.79 [[ 9.22153607e-01 3.79851903e-01 7.31112648e-02 1.31238700e+02] [-3.78483986e-01 9.25044948e-01 -3.22756235e-02 -1.89557574e+01] [-7.98911632e-02 2.09163972e-03 9.96801398e-01 -1.07928261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.30, Y:-18.98, Z:-10.80 [[ 9.23484853e-01 3.76605623e-01 7.31021935e-02 1.31295040e+02] [-3.75225919e-01 9.26370589e-01 -3.22961563e-02 -1.89832802e+01] [-7.98826361e-02 2.39517342e-03 9.96801398e-01 -1.07976153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.35, Y:-19.01, Z:-10.80 [[ 9.24695968e-01 3.73623800e-01 7.30932512e-02 1.31350944e+02] [-3.72233195e-01 9.27576466e-01 -3.23163820e-02 -1.90122141e+01] [-7.98737491e-02 2.67509369e-03 9.96801399e-01 -1.08015319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.41, Y:-19.04, Z:-10.81 [[ 9.23933099e-01 3.75508070e-01 7.30843238e-02 1.31406822e+02] [-3.74121746e-01 9.26815659e-01 -3.23365591e-02 -1.90410152e+01] [-7.98783346e-02 2.53438246e-03 9.96801399e-01 -1.08051313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.46, Y:-19.07, Z:-10.81 [[ 9.23137596e-01 3.77461214e-01 7.30753790e-02 1.31463801e+02] [-3.76079391e-01 9.26022317e-01 -3.23567603e-02 -1.90669079e+01] [-7.98828538e-02 2.38759790e-03 9.96801399e-01 -1.08097697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.52, Y:-19.09, Z:-10.81 [[ 9.20422536e-01 3.84036002e-01 7.30664435e-02 1.31521354e+02] [-3.82673190e-01 9.23316286e-01 -3.23769255e-02 -1.90929143e+01] [-7.98973423e-02 1.83988278e-03 9.96801399e-01 -1.08141743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.58, Y:-19.12, Z:-10.82 [[ 9.18463681e-01 3.88699198e-01 7.30575142e-02 1.31577079e+02] [-3.87349479e-01 9.21363561e-01 -3.23970617e-02 -1.91182593e+01] [-7.99052433e-02 1.45673444e-03 9.96801399e-01 -1.08208787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.63, Y:-19.15, Z:-10.82 [[ 9.16585325e-01 3.93109382e-01 7.30503707e-02 1.31632861e+02] [-3.91772334e-01 9.19491069e-01 -3.24131613e-02 -1.91468111e+01] [-7.99110812e-02 1.09031377e-03 9.96801400e-01 -1.08247125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.69, Y:-19.17, Z:-10.83 [[ 9.16281943e-01 3.93817681e-01 7.30413289e-02 1.31688614e+02] [-3.92481257e-01 9.19187973e-01 -3.24335237e-02 -1.91737889e+01] [-7.99116061e-02 1.05089952e-03 9.96801400e-01 -1.08298927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.75, Y:-19.20, Z:-10.83 [[ 9.17168138e-01 3.91750931e-01 7.30329660e-02 1.31745106e+02] [-3.90406460e-01 9.20070454e-01 -3.24523441e-02 -1.92015641e+01] [-7.99087103e-02 1.25171427e-03 9.96801400e-01 -1.08335388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.80, Y:-19.23, Z:-10.84 [[ 9.17354576e-01 3.91315869e-01 7.30237792e-02 1.31802062e+02] [-3.89968377e-01 9.20255491e-01 -3.24730031e-02 -1.92267204e+01] [-7.99077352e-02 1.31229332e-03 9.96801400e-01 -1.08369780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.86, Y:-19.25, Z:-10.84 [[ 9.17827429e-01 3.90206999e-01 7.30158058e-02 1.31858789e+02] [-3.88854578e-01 9.20726049e-01 -3.24909216e-02 -1.92531331e+01] [-7.99057393e-02 1.42852870e-03 9.96801401e-01 -1.08418952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.92, Y:-19.28, Z:-10.85 [[ 9.18224198e-01 3.89274155e-01 7.30065433e-02 1.31915355e+02] [-3.87917136e-01 9.21120667e-01 -3.25117209e-02 -1.92783161e+01] [-7.99038085e-02 1.53255962e-03 9.96801401e-01 -1.08476778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:131.97, Y:-19.30, Z:-10.85 [[ 9.18636371e-01 3.88302089e-01 7.29979884e-02 1.31973043e+02] [-3.86940480e-01 9.21530685e-01 -3.25309178e-02 -1.93020860e+01] [-7.99017096e-02 1.63820760e-03 9.96801401e-01 -1.08535185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.03, Y:-19.32, Z:-10.86 [[ 9.19146274e-01 3.87094083e-01 7.29951846e-02 1.32030869e+02] [-3.85728172e-01 9.22038561e-01 -3.25372080e-02 -1.93246204e+01] [-7.98993356e-02 1.75015440e-03 9.96801401e-01 -1.08586403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.09, Y:-19.35, Z:-10.86 [[ 9.19519686e-01 3.86207725e-01 7.29872642e-02 1.32088316e+02] [-3.84837617e-01 9.22409986e-01 -3.25549653e-02 -1.93488545e+01] [-7.98971604e-02 1.84668668e-03 9.96801401e-01 -1.08636453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.15, Y:-19.37, Z:-10.87 [[ 9.19743096e-01 3.85677110e-01 7.29781144e-02 1.32146182e+02] [-3.84303709e-01 9.22631833e-01 -3.25754633e-02 -1.93728888e+01] [-7.98955420e-02 1.91529740e-03 9.96801401e-01 -1.08689091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.20, Y:-19.40, Z:-10.87 [[ 9.19988957e-01 3.85091986e-01 7.29690395e-02 1.32204750e+02] [-3.83715137e-01 9.22876053e-01 -3.25957786e-02 -1.93967575e+01] [-7.98937522e-02 1.98843131e-03 9.96801402e-01 -1.08728350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.26, Y:-19.42, Z:-10.88 [[ 9.20311659e-01 3.84321900e-01 7.29597598e-02 1.32262146e+02] [-3.82940992e-01 9.23196815e-01 -3.26165364e-02 -1.94213416e+01] [-7.98914671e-02 2.07809597e-03 9.96801402e-01 -1.08776836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.32, Y:-19.45, Z:-10.88 [[ 9.21395724e-01 3.81717343e-01 7.29505983e-02 1.32319865e+02] [-3.80326659e-01 9.24276180e-01 -3.26370143e-02 -1.94467389e+01] [-7.98846147e-02 2.32654810e-03 9.96801402e-01 -1.08827107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.38, Y:-19.47, Z:-10.89 [[ 9.22422039e-01 3.79232292e-01 7.29414165e-02 1.32377295e+02] [-3.77832230e-01 9.25297948e-01 -3.26575221e-02 -1.94722557e+01] [-7.98773300e-02 2.56440008e-03 9.96801402e-01 -1.08868475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:-19.50, Z:-10.89 [[ 9.22566689e-01 3.78882026e-01 7.29322680e-02 1.32434242e+02] [-3.77479259e-01 9.25441279e-01 -3.26779403e-02 -1.94967378e+01] [-7.98756156e-02 2.61716068e-03 9.96801403e-01 -1.08927038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:-19.52, Z:-10.90 [[ 9.21721250e-01 3.80935760e-01 7.29238219e-02 1.32490624e+02] [-3.79537911e-01 9.24598234e-01 -3.26967776e-02 -1.95214822e+01] [-7.98806088e-02 2.45995967e-03 9.96801403e-01 -1.08992818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:-19.55, Z:-10.90 [[ 9.21308949e-01 3.81933351e-01 7.29159564e-02 1.32547909e+02] [-3.80537231e-01 9.24186772e-01 -3.27143088e-02 -1.95472015e+01] [-7.98826480e-02 2.39274925e-03 9.96801403e-01 -1.09044152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:-19.57, Z:-10.91 [[ 9.20991052e-01 3.82701019e-01 7.29068714e-02 1.32604711e+02] [-3.81305697e-01 9.23869263e-01 -3.27345433e-02 -1.95728594e+01] [-7.98839606e-02 2.34841602e-03 9.96801403e-01 -1.09093805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:-19.60, Z:-10.91 [[ 9.21164745e-01 3.82284491e-01 7.28977400e-02 1.32661765e+02] [-3.80886261e-01 9.24041544e-01 -3.27548656e-02 -1.95987754e+01] [-7.98822174e-02 2.40687978e-03 9.96801404e-01 -1.09141766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:-19.62, Z:-10.92 [[ 9.22184393e-01 3.79819967e-01 7.28885319e-02 1.32717630e+02] [-3.78412433e-01 9.25056651e-01 -3.27753434e-02 -1.96246044e+01] [-7.98747511e-02 2.64298351e-03 9.96801404e-01 -1.09188509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.77, Y:-19.65, Z:-10.92 [[ 9.23151983e-01 3.77463249e-01 7.28828572e-02 1.32774693e+02] [-3.76047389e-01 9.26020146e-01 -3.27879575e-02 -1.96501650e+01] [-7.98672430e-02 2.86085980e-03 9.96801404e-01 -1.09237260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.83, Y:-19.67, Z:-10.93 [[ 9.24028074e-01 3.75315244e-01 7.28737691e-02 1.32831210e+02] [-3.73891128e-01 9.26892146e-01 -3.28081441e-02 -1.96749893e+01] [-7.98595208e-02 3.06879052e-03 9.96801404e-01 -1.09290897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:-19.70, Z:-10.93 [[ 9.24003259e-01 3.75377962e-01 7.28653775e-02 1.32887697e+02] [-3.73952574e-01 9.26866698e-01 -3.28267709e-02 -1.96995450e+01] [-7.98589382e-02 3.08384780e-03 9.96801404e-01 -1.09340565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:-19.72, Z:-10.94 [[ 9.23529981e-01 3.76542443e-01 7.28571398e-02 1.32945558e+02] [-3.75119227e-01 9.26394500e-01 -3.28450439e-02 -1.97247770e+01] [-7.98620066e-02 3.00326886e-03 9.96801405e-01 -1.09385817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.00, Y:-19.75, Z:-10.94 [[ 9.22278742e-01 3.79598602e-01 7.28479455e-02 1.33003159e+02] [-3.78183272e-01 9.25147165e-01 -3.28654236e-02 -1.97488008e+01] [-7.98707391e-02 2.76120717e-03 9.96801405e-01 -1.09437666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.06, Y:-19.77, Z:-10.95 [[ 9.20939178e-01 3.82838800e-01 7.28387488e-02 1.33060468e+02] [-3.81431954e-01 9.23811771e-01 -3.28857935e-02 -1.97736994e+01] [-7.98792513e-02 2.50278934e-03 9.96801405e-01 -1.09488107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.12, Y:-19.80, Z:-10.96 [[ 9.19016680e-01 3.87432849e-01 7.28294598e-02 1.33117288e+02] [-3.86038737e-01 9.21895474e-01 -3.29063523e-02 -1.97962373e+01] [-7.98901512e-02 2.12649396e-03 9.96801405e-01 -1.09586549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:-19.82, Z:-10.96 [[ 9.16755725e-01 3.92754401e-01 7.28211639e-02 1.33173199e+02] [-3.91375546e-01 9.19641858e-01 -3.29247006e-02 -1.98208664e+01] [-7.99007115e-02 1.68348497e-03 9.96801406e-01 -1.09586686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.23, Y:-19.85, Z:-10.96 [[ 9.14901144e-01 3.97056794e-01 7.28134528e-02 1.33231106e+02] [-3.95690156e-01 9.17793082e-01 -3.29417451e-02 -1.98451958e+01] [-7.99074270e-02 1.32687372e-03 9.96801406e-01 -1.09638379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:-19.87, Z:-10.97 [[ 9.13259522e-01 4.00819911e-01 7.28041480e-02 1.33288574e+02] [-3.99463553e-01 9.16156295e-01 -3.29622967e-02 -1.98697725e+01] [-7.99119234e-02 1.02052777e-03 9.96801406e-01 -1.09697269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:-19.89, Z:-10.98 [[ 9.11427560e-01 4.04969998e-01 7.27949432e-02 1.33345798e+02] [-4.03625207e-01 9.14329721e-01 -3.29826124e-02 -1.98935809e+01] [-7.99155486e-02 6.79387962e-04 9.96801406e-01 -1.09779469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:-19.92, Z:-10.98 [[ 9.09890065e-01 4.08413290e-01 7.27918622e-02 1.33400974e+02] [-4.07078938e-01 9.12797040e-01 -3.29894108e-02 -1.99188235e+01] [-7.99175101e-02 3.84703192e-04 9.96801406e-01 -1.09800517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.46, Y:-19.94, Z:-10.99 [[ 9.08921576e-01 4.10565559e-01 7.27838615e-02 1.33457998e+02] [-4.09236679e-01 9.11831056e-01 -3.30070532e-02 -1.99437148e+01] [-7.99181445e-02 2.14997072e-04 9.96801406e-01 -1.09865395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.51, Y:-19.97, Z:-10.99 [[ 9.08848155e-01 4.10729696e-01 7.27746397e-02 1.33513367e+02] [-4.09399713e-01 9.11757132e-01 -3.30273731e-02 -1.99700670e+01] [-7.99181197e-02 2.22950504e-04 9.96801407e-01 -1.09923989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:-20.00, Z:-11.00 [[ 9.09603064e-01 4.09056165e-01 7.27689514e-02 1.33569386e+02] [-4.07719828e-01 9.12509127e-01 -3.30399014e-02 -1.99978958e+01] [-7.99175076e-02 3.83851168e-04 9.96801407e-01 -1.09974488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:-20.03, Z:-11.00 [[ 9.10769228e-01 4.06454680e-01 7.27599223e-02 1.33625786e+02] [-4.05108456e-01 9.13670723e-01 -3.30597731e-02 -2.00262208e+01] [-7.99159104e-02 6.34164259e-04 9.96801407e-01 -1.10017175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.68, Y:-20.05, Z:-11.01 [[ 9.11347152e-01 4.05158893e-01 7.27505303e-02 1.33681831e+02] [-4.03806895e-01 9.14245961e-01 -3.30804281e-02 -2.00538967e+01] [-7.99147081e-02 7.70588178e-04 9.96801407e-01 -1.10070974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.74, Y:-20.08, Z:-11.01 [[ 9.11779165e-01 4.04187409e-01 7.27412757e-02 1.33736403e+02] [-4.02830699e-01 9.14675772e-01 -3.31007657e-02 -2.00822504e+01] [-7.99135952e-02 8.78169581e-04 9.96801408e-01 -1.10122753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:-20.11, Z:-11.02 [[ 9.11999936e-01 4.03690487e-01 7.27331265e-02 1.33792187e+02] [-4.02330772e-01 9.14895133e-01 -3.31186626e-02 -2.01101913e+01] [-7.99128725e-02 9.41443259e-04 9.96801408e-01 -1.10175349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.85, Y:-20.14, Z:-11.02 [[ 9.12904710e-01 4.01641929e-01 7.27238014e-02 1.33847774e+02] [-4.00274087e-01 9.15796076e-01 -3.31391265e-02 -2.01392880e+01] [-7.99102347e-02 1.14341145e-03 9.96801408e-01 -1.10226118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.90, Y:-20.17, Z:-11.03 [[ 9.13738369e-01 3.99743392e-01 7.27146084e-02 1.33903583e+02] [-3.98367939e-01 9.16626122e-01 -3.31592859e-02 -2.01675648e+01] [-7.99073149e-02 1.33174315e-03 9.96801408e-01 -1.10274365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:-20.20, Z:-11.03 [[ 9.14576208e-01 3.97824422e-01 7.27054961e-02 1.33958687e+02] [-3.96441323e-01 9.17460307e-01 -3.31792535e-02 -2.01969950e+01] [-7.99039241e-02 1.52149280e-03 9.96801408e-01 -1.10318366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.01, Y:-20.22, Z:-11.04 [[ 9.14756860e-01 3.97410548e-01 7.26962431e-02 1.34014097e+02] [-3.96024535e-01 9.17639559e-01 -3.31995148e-02 -2.02246682e+01] [-7.99027858e-02 1.57998799e-03 9.96801409e-01 -1.10361104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.07, Y:-20.25, Z:-11.04 [[ 9.14396608e-01 3.98240308e-01 7.26876940e-02 1.34070423e+02] [-3.96855424e-01 9.17279849e-01 -3.32182218e-02 -2.02527935e+01] [-7.99037919e-02 1.52812364e-03 9.96801409e-01 -1.10404481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.13, Y:-20.28, Z:-11.05 [[ 9.13454296e-01 4.00398658e-01 7.26784989e-02 1.34127568e+02] [-3.99018988e-01 9.16340036e-01 -3.32383278e-02 -2.02798053e+01] [-7.99068001e-02 1.36159226e-03 9.96801409e-01 -1.10452721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.18, Y:-20.31, Z:-11.05 [[ 9.11173275e-01 4.05564365e-01 7.26691697e-02 1.34184577e+02] [-4.04199431e-01 9.14066014e-01 -3.32587117e-02 -2.03055062e+01] [-7.99129666e-02 9.31612263e-04 9.96801409e-01 -1.10507169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.24, Y:-20.33, Z:-11.06 [[ 9.08379644e-01 4.11785084e-01 7.26599435e-02 1.34241765e+02] [-4.10438350e-01 9.11280900e-01 -3.32788560e-02 -2.03301453e+01] [-7.99173552e-02 4.07407971e-04 9.96801410e-01 -1.10564785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.30, Y:-20.36, Z:-11.06 [[ 9.06963538e-01 4.14896406e-01 7.26506211e-02 1.34298824e+02] [-4.13557995e-01 9.09868643e-01 -3.32991953e-02 -2.03555077e+01] [-7.99182385e-02 1.55910817e-04 9.96801410e-01 -1.10620050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.35, Y:-20.38, Z:-11.06 [[ 9.05604337e-01 4.17856472e-01 7.26412702e-02 1.34354534e+02] [-4.16525922e-01 9.08513050e-01 -3.33195814e-02 -2.03827657e+01] [-7.99183447e-02 -8.26145912e-05 9.96801410e-01 -1.10645513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.41, Y:-20.41, Z:-11.07 [[ 9.06187772e-01 4.16590227e-01 7.26381767e-02 1.34410190e+02] [-4.15255072e-01 9.09094374e-01 -3.33263241e-02 -2.04064875e+01] [-7.99183787e-02 3.65361151e-05 9.96801410e-01 -1.10719716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.47, Y:-20.43, Z:-11.08 [[ 9.06790215e-01 4.15278664e-01 7.26301418e-02 1.34465550e+02] [-4.13937903e-01 9.09694235e-01 -3.33438260e-02 -2.04329740e+01] [-7.99182008e-02 1.71486584e-04 9.96801410e-01 -1.10775066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:-20.46, Z:-11.08 [[ 9.07553106e-01 4.13610307e-01 7.26214378e-02 1.34522660e+02] [-4.12262691e-01 9.10453952e-01 -3.33627722e-02 -2.04598473e+01] [-7.99176615e-02 3.39378128e-04 9.96801411e-01 -1.10827826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.58, Y:-20.49, Z:-11.09 [[ 9.09206922e-01 4.09963713e-01 7.26121728e-02 1.34579323e+02] [-4.08602854e-01 9.12101578e-01 -3.33829249e-02 -2.04873879e+01] [-7.99154652e-02 6.82445347e-04 9.96801411e-01 -1.10876458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.63, Y:-20.51, Z:-11.09 [[ 9.10338352e-01 4.07446844e-01 7.26027123e-02 1.34634738e+02] [-4.06076342e-01 9.13228455e-01 -3.34034874e-02 -2.05142101e+01] [-7.99130083e-02 9.26231802e-04 9.96801411e-01 -1.10922734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.69, Y:-20.54, Z:-11.10 [[ 9.11998736e-01 4.03718241e-01 7.25939927e-02 1.34691100e+02] [-4.02334417e-01 9.14882483e-01 -3.34224264e-02 -2.05421334e+01] [-7.99082155e-02 1.27414887e-03 9.96801411e-01 -1.10967683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.75, Y:-20.57, Z:-11.10 [[ 9.12553970e-01 4.02463315e-01 7.25846573e-02 1.34747751e+02] [-4.01073914e-01 9.15435034e-01 -3.34426883e-02 -2.05691815e+01] [-7.99059934e-02 1.40644541e-03 9.96801412e-01 -1.11019429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.80, Y:-20.60, Z:-11.11 [[ 9.12621472e-01 4.02311916e-01 7.25752787e-02 1.34803720e+02] [-4.00920420e-01 9.15501525e-01 -3.34630287e-02 -2.05954069e+01] [-7.99053535e-02 1.44216729e-03 9.96801412e-01 -1.11054520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.86, Y:-20.62, Z:-11.11 [[ 9.12336545e-01 4.02959127e-01 7.25669997e-02 1.34861292e+02] [-4.01568248e-01 9.15216896e-01 -3.34809727e-02 -2.06209296e+01] [-7.99060078e-02 1.40531206e-03 9.96801412e-01 -1.11102823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.92, Y:-20.65, Z:-11.12 [[ 9.11566582e-01 4.04699597e-01 7.25575853e-02 1.34918659e+02] [-4.03312595e-01 9.14448801e-01 -3.35013626e-02 -2.06468930e+01] [-7.99081848e-02 1.27533452e-03 9.96801412e-01 -1.11156439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:134.98, Y:-20.67, Z:-11.12 [[ 9.11184103e-01 4.05561678e-01 7.25482974e-02 1.34975957e+02] [-4.04175803e-01 9.14066864e-01 -3.35214639e-02 -2.06725959e+01] [-7.99090158e-02 1.22195871e-03 9.96801413e-01 -1.11216540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.03, Y:-20.70, Z:-11.13 [[ 9.10816240e-01 4.06388822e-01 7.25389715e-02 1.35032126e+02] [-4.05003958e-01 9.13699487e-01 -3.35416327e-02 -2.06966873e+01] [-7.99097656e-02 1.17169324e-03 9.96801413e-01 -1.11285541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.09, Y:-20.72, Z:-11.13 [[ 9.10791166e-01 4.06446553e-01 7.25303530e-02 1.35089607e+02] [-4.05060389e-01 9.13673788e-01 -3.35602590e-02 -2.07227758e+01] [-7.99095339e-02 1.18721447e-03 9.96801413e-01 -1.11336810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.15, Y:-20.75, Z:-11.14 [[ 9.11187264e-01 4.05559440e-01 7.25210998e-02 1.35146200e+02] [-4.04168880e-01 9.14067768e-01 -3.35802426e-02 -2.07492923e+01] [-7.99079842e-02 1.28711769e-03 9.96801413e-01 -1.11381141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:-20.78, Z:-11.14 [[ 9.11953670e-01 4.03834825e-01 7.25116368e-02 1.35202596e+02] [-4.02437194e-01 9.14830749e-01 -3.36006642e-02 -2.07764447e+01] [-7.99049933e-02 1.46086934e-03 9.96801413e-01 -1.11422059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:-20.80, Z:-11.15 [[ 9.11789631e-01 4.04206732e-01 7.25023180e-02 1.35259188e+02] [-4.02808677e-01 9.14666504e-01 -3.36207598e-02 -2.08024316e+01] [-7.99051793e-02 1.45049738e-03 9.96801414e-01 -1.11470944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:-20.83, Z:-11.15 [[ 9.10810194e-01 4.06410584e-01 7.24929420e-02 1.35316499e+02] [-4.05017883e-01 9.13689663e-01 -3.36409644e-02 -2.08282665e+01] [-7.99080957e-02 1.27959542e-03 9.96801414e-01 -1.11527413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:-20.85, Z:-11.16 [[ 9.09457927e-01 4.09429410e-01 7.24833591e-02 1.35373619e+02] [-4.08044623e-01 9.12341209e-01 -3.36615993e-02 -2.08547119e+01] [-7.99116042e-02 1.03736338e-03 9.96801414e-01 -1.11582463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.43, Y:-20.88, Z:-11.16 [[ 9.08748539e-01 4.11003226e-01 7.24737215e-02 1.35429411e+02] [-4.09621779e-01 9.11633423e-01 -3.36823363e-02 -2.08805535e+01] [-7.99130157e-02 9.21959177e-04 9.96801414e-01 -1.11643085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.49, Y:-20.91, Z:-11.17 [[ 9.08613018e-01 4.11304309e-01 7.24648153e-02 1.35486056e+02] [-4.09922291e-01 9.11497628e-01 -3.37014864e-02 -2.09062927e+01] [-7.99130738e-02 9.16666103e-04 9.96801415e-01 -1.11708038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.54, Y:-20.93, Z:-11.18 [[ 9.09687629e-01 4.08923751e-01 7.24553848e-02 1.35542567e+02] [-4.07532571e-01 9.12567831e-01 -3.37217490e-02 -2.09339762e+01] [-7.99100775e-02 1.14832862e-03 9.96801415e-01 -1.11772671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.60, Y:-20.96, Z:-11.18 [[ 9.12066163e-01 4.03592464e-01 7.24461060e-02 1.35597817e+02] [-4.02182868e-01 9.14937397e-01 -3.37416714e-02 -2.09623499e+01] [-7.99015359e-02 1.63805407e-03 9.96801415e-01 -1.11836060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.65, Y:-20.99, Z:-11.19 [[ 9.13540426e-01 4.00245793e-01 7.24375315e-02 1.35654057e+02] [-3.98824223e-01 9.16405749e-01 -3.37600694e-02 -2.09892458e+01] [-7.98944961e-02 1.95134600e-03 9.96801415e-01 -1.11888433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.71, Y:-21.02, Z:-11.19 [[ 9.14341471e-01 3.98414149e-01 7.24281663e-02 1.35711538e+02] [-3.96985250e-01 9.17203147e-01 -3.37801494e-02 -2.10151015e+01] [-7.98898316e-02 2.13367782e-03 9.96801416e-01 -1.11936198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.77, Y:-21.04, Z:-11.20 [[ 9.14518132e-01 3.98010189e-01 7.24187537e-02 1.35767975e+02] [-3.96578430e-01 9.17378378e-01 -3.38003164e-02 -2.10422889e+01] [-7.98882691e-02 2.19128653e-03 9.96801416e-01 -1.11983865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.83, Y:-21.07, Z:-11.21 [[ 9.14256673e-01 3.98612134e-01 7.24092750e-02 1.35825055e+02] [-3.97180652e-01 9.17117057e-01 -3.38206102e-02 -2.10668715e+01] [-7.98890868e-02 2.16115554e-03 9.96801416e-01 -1.12051899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.88, Y:-21.09, Z:-11.21 [[ 9.12314644e-01 4.03038770e-01 7.23998659e-02 1.35883058e+02] [-4.01619572e-01 9.15181142e-01 -3.38407404e-02 -2.10906143e+01] [-7.98981224e-02 1.79619982e-03 9.96801416e-01 -1.12114358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.94, Y:-21.11, Z:-11.22 [[ 9.10414181e-01 4.07314801e-01 7.23924897e-02 1.35939926e+02] [-4.05907814e-01 9.13286693e-01 -3.38565122e-02 -2.11149881e+01] [-7.99053560e-02 1.43877157e-03 9.96801417e-01 -1.12166770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.00, Y:-21.14, Z:-11.22 [[ 9.07829710e-01 4.13044204e-01 7.23857986e-02 1.35996641e+02] [-4.11654208e-01 9.10710482e-01 -3.38708119e-02 -2.11390501e+01] [-7.99126481e-02 9.51010715e-04 9.96801417e-01 -1.12210591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.05, Y:-21.16, Z:-11.23 [[ 9.06517960e-01 4.15916240e-01 7.23800332e-02 1.36053871e+02] [-4.14534388e-01 9.09402647e-01 -3.38831279e-02 -2.11646808e+01] [-7.99151369e-02 7.11651165e-04 9.96801417e-01 -1.12265507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.11, Y:-21.19, Z:-11.23 [[ 9.05137709e-01 4.18913161e-01 7.23705185e-02 1.36110775e+02] [-4.17539236e-01 9.08026180e-01 -3.39034380e-02 -2.11903582e+01] [-7.99169218e-02 4.69749143e-04 9.96801417e-01 -1.12331897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.17, Y:-21.22, Z:-11.24 [[ 9.04476868e-01 4.20339724e-01 7.23609807e-02 1.36166849e+02] [-4.18968727e-01 9.07366730e-01 -3.39237825e-02 -2.12172897e+01] [-7.99174598e-02 3.66288595e-04 9.96801417e-01 -1.12388418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.22, Y:-21.24, Z:-11.24 [[ 9.03866281e-01 4.21652742e-01 7.23513101e-02 1.36222780e+02] [-4.20284294e-01 9.06757349e-01 -3.39443952e-02 -2.12447195e+01] [-7.99178295e-02 2.73074947e-04 9.96801418e-01 -1.12441000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.28, Y:-21.27, Z:-11.25 [[ 9.02589751e-01 4.24380041e-01 7.23417012e-02 1.36277423e+02] [-4.23018688e-01 9.05484168e-01 -3.39648612e-02 -2.12730427e+01] [-7.99182743e-02 5.44441577e-05 9.96801418e-01 -1.12481486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.33, Y:-21.30, Z:-11.25 [[ 9.01599221e-01 4.26481897e-01 7.23328235e-02 1.36332397e+02] [-4.25125775e-01 9.04496091e-01 -3.39837571e-02 -2.13018089e+01] [-7.99182133e-02 -1.10818740e-04 9.96801418e-01 -1.12537559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.39, Y:-21.33, Z:-11.26 [[ 9.01107486e-01 4.27521357e-01 7.23241836e-02 1.36388817e+02] [-4.26167102e-01 9.04005230e-01 -3.40021346e-02 -2.13300624e+01] [-7.99180789e-02 -1.82609695e-04 9.96801418e-01 -1.12589606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.44, Y:-21.36, Z:-11.27 [[ 9.01326518e-01 4.27061014e-01 7.23145760e-02 1.36443227e+02] [-4.25703640e-01 9.04222802e-01 -3.40225554e-02 -2.13569737e+01] [-7.99181956e-02 -1.19146853e-04 9.96801418e-01 -1.12659140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.50, Y:-21.39, Z:-11.27 [[ 9.03537674e-01 4.22363528e-01 7.23098963e-02 1.36498071e+02] [-4.20990301e-01 9.06426475e-01 -3.40324986e-02 -2.13867436e+01] [-7.99176906e-02 3.07879554e-04 9.96801419e-01 -1.12715220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.55, Y:-21.41, Z:-11.27 [[ 9.06391082e-01 4.16206280e-01 7.23017186e-02 1.36554184e+02] [-4.14812045e-01 9.09269803e-01 -3.40498631e-02 -2.14144804e+01] [-7.99135363e-02 8.70868472e-04 9.96801419e-01 -1.12742150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.61, Y:-21.44, Z:-11.28 [[ 9.08997731e-01 4.10483824e-01 7.22921491e-02 1.36611469e+02] [-4.09069854e-01 9.11866809e-01 -3.40701684e-02 -2.14394299e+01] [-7.99060644e-02 1.39716689e-03 9.96801419e-01 -1.12785753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:-21.47, Z:-11.28 [[ 9.10652164e-01 4.06802014e-01 7.22824892e-02 1.36668186e+02] [-4.05374820e-01 9.13514687e-01 -3.40906504e-02 -2.14660830e+01] [-7.98992607e-02 1.74322342e-03 9.96801419e-01 -1.12829927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.72, Y:-21.49, Z:-11.29 [[ 9.12104704e-01 4.03536470e-01 7.22725879e-02 1.36723019e+02] [-4.02097367e-01 9.14961258e-01 -3.41116284e-02 -2.14934840e+01] [-7.98919040e-02 2.05275938e-03 9.96801419e-01 -1.12881541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.78, Y:-21.52, Z:-11.29 [[ 9.14780560e-01 3.97434926e-01 7.22634558e-02 1.36781904e+02] [-3.95975250e-01 9.17626655e-01 -3.41309632e-02 -2.15161867e+01] [-7.98757101e-02 2.60780168e-03 9.96801420e-01 -1.12933438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.84, Y:-21.54, Z:-11.30 [[ 9.16308888e-01 3.93900297e-01 7.22535701e-02 1.36839239e+02] [-3.92427997e-01 9.19148473e-01 -3.41518780e-02 -2.15407948e+01] [-7.98641936e-02 2.93934548e-03 9.96801420e-01 -1.12981272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.90, Y:-21.57, Z:-11.30 [[ 9.16074352e-01 3.94447252e-01 7.22436673e-02 1.36895112e+02] [-3.92975000e-01 9.18913961e-01 -3.41728134e-02 -2.15682498e+01] [-7.98650868e-02 2.91488275e-03 9.96801420e-01 -1.13014711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.95, Y:-21.59, Z:-11.31 [[ 9.16679509e-01 3.93040520e-01 7.22345334e-02 1.36954011e+02] [-3.91562392e-01 9.19516065e-01 -3.41921097e-02 -2.15887558e+01] [-7.98596984e-02 3.05887967e-03 9.96801420e-01 -1.13061968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.01, Y:-21.61, Z:-11.31 [[ 9.15282097e-01 3.96285327e-01 7.22261865e-02 1.37012337e+02] [-3.94815868e-01 9.18123153e-01 -3.42097324e-02 -2.16127033e+01] [-7.98693491e-02 2.79551108e-03 9.96801421e-01 -1.13103240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.07, Y:-21.63, Z:-11.32 [[ 9.13149786e-01 4.01176073e-01 7.22165203e-02 1.37072844e+02] [-3.99720223e-01 9.15997840e-01 -3.42301255e-02 -2.16313795e+01] [-7.98824839e-02 2.39082822e-03 9.96801421e-01 -1.13165806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.13, Y:-21.66, Z:-11.32 [[ 9.10474918e-01 4.07212024e-01 7.22065810e-02 1.37128771e+02] [-4.05773398e-01 9.13331710e-01 -3.42510791e-02 -2.16553506e+01] [-7.98960114e-02 1.88523872e-03 9.96801421e-01 -1.13207341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.19, Y:-21.68, Z:-11.33 [[ 9.09068023e-01 4.10344594e-01 7.21986358e-02 1.37187963e+02] [-4.08914484e-01 9.11929088e-01 -3.42678190e-02 -2.16775705e+01] [-7.99016503e-02 1.62871053e-03 9.96801421e-01 -1.13251628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.25, Y:-21.70, Z:-11.33 [[ 9.09429693e-01 4.09544130e-01 7.21889116e-02 1.37246123e+02] [-4.08109877e-01 9.12288683e-01 -3.42882919e-02 -2.16995262e+01] [-7.98996957e-02 1.72178293e-03 9.96801422e-01 -1.13280291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.30, Y:-21.72, Z:-11.34 [[ 9.10235916e-01 4.07750657e-01 7.21801858e-02 1.37302534e+02] [-4.06309316e-01 9.13091339e-01 -3.43066506e-02 -2.17218671e+01] [-7.98956618e-02 1.89966361e-03 9.96801422e-01 -1.13370133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.36, Y:-21.75, Z:-11.33 [[ 9.11335262e-01 4.05289044e-01 7.21722327e-02 1.37358901e+02] [-4.03838668e-01 9.14186106e-01 -3.43233738e-02 -2.17477899e+01] [-7.98897397e-02 2.13416259e-03 9.96801422e-01 -1.13334380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.42, Y:-21.77, Z:-11.35 [[ 9.13658693e-01 4.00024027e-01 7.21704234e-02 1.37415008e+02] [-3.98556926e-01 9.16500967e-01 -3.43271777e-02 -2.17701796e+01] [-7.98759586e-02 2.59930224e-03 9.96801422e-01 -1.13476446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.47, Y:-21.80, Z:-11.35 [[ 9.14793564e-01 3.97422284e-01 7.21683005e-02 1.37472766e+02] [-3.95946749e-01 9.17631467e-01 -3.43316403e-02 -2.17956957e+01] [-7.98680624e-02 2.83155955e-03 9.96801422e-01 -1.13534252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.53, Y:-21.82, Z:-11.36 [[ 9.15127750e-01 3.96653867e-01 7.21589309e-02 1.37529085e+02] [-3.95174400e-01 9.17963605e-01 -3.43513222e-02 -2.18196051e+01] [-7.98648571e-02 2.92048599e-03 9.96801422e-01 -1.13597843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.59, Y:-21.84, Z:-11.36 [[ 9.14017230e-01 3.99207557e-01 7.21514356e-02 1.37585555e+02] [-3.97734774e-01 9.16856562e-01 -3.43670581e-02 -2.18445251e+01] [-7.98721065e-02 2.71494831e-03 9.96801422e-01 -1.13649201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:-21.87, Z:-11.36 [[ 9.09796861e-01 4.08735843e-01 7.21434909e-02 1.37641605e+02] [-4.07291485e-01 9.12650758e-01 -3.43837277e-02 -2.18713890e+01] [-7.98956735e-02 1.89877797e-03 9.96801423e-01 -1.13589934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:-21.89, Z:-11.38 [[ 9.08817533e-01 4.10908999e-01 7.21421312e-02 1.37698236e+02] [-4.09471240e-01 9.11674759e-01 -3.43865803e-02 -2.18904974e+01] [-7.98999154e-02 1.71099923e-03 9.96801423e-01 -1.13762749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:-21.92, Z:-11.38 [[ 9.06051172e-01 4.16973453e-01 7.21416167e-02 1.37755466e+02] [-4.15554735e-01 9.08917901e-01 -3.43876596e-02 -2.19157174e+01] [-7.99095480e-02 1.17818896e-03 9.96801423e-01 -1.13791875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:-21.94, Z:-11.38 [[ 9.04676349e-01 4.19949578e-01 7.21322041e-02 1.37811660e+02] [-4.18538718e-01 9.07546954e-01 -3.44073924e-02 -2.19419239e+01] [-7.99127320e-02 9.37433969e-04 9.96801423e-01 -1.13843691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:-21.97, Z:-11.38 [[ 9.01138117e-01 4.27490696e-01 7.21234995e-02 1.37866046e+02] [-4.26102400e-01 9.04019701e-01 -3.44256289e-02 -2.19725756e+01] [-7.99177006e-02 2.90250163e-04 9.96801423e-01 -1.13782944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:137.92, Y:-22.00, Z:-11.38 [[ 8.99497602e-01 4.30932197e-01 7.21214706e-02 1.37921608e+02] [-4.29554585e-01 9.02384309e-01 -3.44298789e-02 -2.20001950e+01] [-7.99182268e-02 -1.05149214e-05 9.96801423e-01 -1.13815044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:137.98, Y:-22.03, Z:-11.39 [[ 8.98280486e-01 4.33465110e-01 7.21121840e-02 1.37978095e+02] [-4.32094078e-01 9.01170324e-01 -3.44493186e-02 -2.20252352e+01] [-7.99179379e-02 -2.14096932e-04 9.96801423e-01 -1.13919578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.03, Y:-22.05, Z:-11.40 [[ 9.00240216e-01 4.29381889e-01 7.21023383e-02 1.38033774e+02] [-4.27996099e-01 9.03123006e-01 -3.44699133e-02 -2.20454886e+01] [-7.99180370e-02 1.71682684e-04 9.96801424e-01 -1.14028454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.09, Y:-22.07, Z:-11.41 [[ 9.01962023e-01 4.25753169e-01 7.21023383e-02 1.38088534e+02] [-4.24355782e-01 9.04839210e-01 -3.44699133e-02 -2.20730598e+01] [-7.99166976e-02 4.93508622e-04 9.96801424e-01 -1.14092840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.14, Y:-22.10, Z:-11.41 [[ 9.04898494e-01 4.19477231e-01 7.20941571e-02 1.38143433e+02] [-4.18058528e-01 9.07765230e-01 -3.44870159e-02 -2.21022658e+01] [-7.99110870e-02 1.06767150e-03 9.96801424e-01 -1.14133020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.20, Y:-22.13, Z:-11.42 [[ 9.07125594e-01 4.14640506e-01 7.20861156e-02 1.38198369e+02] [-4.13205185e-01 9.09984045e-01 -3.45038165e-02 -2.21300530e+01] [-7.99038949e-02 1.51293832e-03 9.96801424e-01 -1.14184147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.25, Y:-22.16, Z:-11.42 [[ 9.09104130e-01 4.10285872e-01 7.20776215e-02 1.38254542e+02] [-4.08835455e-01 9.11954951e-01 -3.45215514e-02 -2.21586973e+01] [-7.98952486e-02 1.91579780e-03 9.96801424e-01 -1.14201389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.31, Y:-22.19, Z:-11.43 [[ 9.11330503e-01 4.05318294e-01 7.20679873e-02 1.38307960e+02] [-4.03850752e-01 9.14172546e-01 -3.45416522e-02 -2.21872216e+01] [-7.98829390e-02 2.37415040e-03 9.96801424e-01 -1.14254261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.36, Y:-22.22, Z:-11.43 [[ 9.12041297e-01 4.03717706e-01 7.20602932e-02 1.38363117e+02] [-4.02243911e-01 9.14880102e-01 -3.45576961e-02 -2.22153597e+01] [-7.98780822e-02 2.53223185e-03 9.96801424e-01 -1.14279049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.42, Y:-22.24, Z:-11.43 [[ 9.11372366e-01 4.05227025e-01 7.20518421e-02 1.38419855e+02] [-4.03756541e-01 9.14212888e-01 -3.45753075e-02 -2.22422879e+01] [-7.98815716e-02 2.41957731e-03 9.96801425e-01 -1.14320756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:138.48, Y:-22.27, Z:-11.44 [[ 9.09169236e-01 4.10147822e-01 7.20421048e-02 1.38476058e+02] [-4.08691109e-01 9.12016844e-01 -3.45955846e-02 -2.22690664e+01] [-7.98929167e-02 2.01027355e-03 9.96801425e-01 -1.14373592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.53, Y:-22.30, Z:-11.44 [[ 9.07087708e-01 4.14732491e-01 7.20336780e-02 1.38532664e+02] [-4.13288781e-01 9.09941930e-01 -3.46131216e-02 -2.22954046e+01] [-7.99016502e-02 1.62642618e-03 9.96801425e-01 -1.14417163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.59, Y:-22.32, Z:-11.45 [[ 9.03883023e-01 4.21672913e-01 7.20238535e-02 1.38587824e+02] [-4.20249494e-01 9.06747418e-01 -3.46335528e-02 -2.23205627e+01] [-7.99114743e-02 1.03669235e-03 9.96801425e-01 -1.14463389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.64, Y:-22.35, Z:-11.45 [[ 9.02814401e-01 4.23957372e-01 7.20159937e-02 1.38644757e+02] [-4.22539898e-01 9.05681743e-01 -3.46498884e-02 -2.23478772e+01] [-7.99136464e-02 8.52787586e-04 9.96801426e-01 -1.14516244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.70, Y:-22.37, Z:-11.46 [[ 9.00794068e-01 4.28234909e-01 7.20063180e-02 1.38700524e+02] [-4.26829446e-01 9.03667315e-01 -3.46699840e-02 -2.23745931e+01] [-7.99166535e-02 4.96099159e-04 9.96801426e-01 -1.14574807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.76, Y:-22.40, Z:-11.46 [[ 8.98935821e-01 4.32123557e-01 7.19973672e-02 1.38756770e+02] [-4.30729035e-01 9.01814394e-01 -3.46885619e-02 -2.24020720e+01] [-7.99180068e-02 1.71434360e-04 9.96801426e-01 -1.14634110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.81, Y:-22.43, Z:-11.47 [[ 8.96937252e-01 4.36258295e-01 7.19879581e-02 1.38813175e+02] [-4.34875477e-01 8.99821465e-01 -3.47080773e-02 -2.24295018e+01] [-7.99179966e-02 -1.74830067e-04 9.96801426e-01 -1.14674924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.87, Y:-22.46, Z:-11.47 [[ 8.97359714e-01 4.35390261e-01 7.19782143e-02 1.38868838e+02] [-4.34003033e-01 9.00241809e-01 -3.47282724e-02 -2.24579417e+01] [-7.99181495e-02 -7.50106796e-05 9.96801426e-01 -1.14720998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.92, Y:-22.49, Z:-11.48 [[ 8.99206900e-01 4.31563997e-01 7.19685249e-02 1.38922912e+02] [-4.30162898e-01 9.02082277e-01 -3.47483406e-02 -2.24860957e+01] [-7.99176635e-02 2.87758371e-04 9.96801427e-01 -1.14781762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:-22.52, Z:-11.48 [[ 9.03524985e-01 4.22450289e-01 7.19607832e-02 1.38976781e+02] [-4.21018913e-01 9.06385411e-01 -3.47643656e-02 -2.25167946e+01] [-7.99104203e-02 1.11362217e-03 9.96801427e-01 -1.14826861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:-22.55, Z:-11.49 [[ 9.06604140e-01 4.15802620e-01 7.19521728e-02 1.39030794e+02] [-4.14348861e-01 9.09453254e-01 -3.47821776e-02 -2.25463510e+01] [-7.98996582e-02 1.72036533e-03 9.96801427e-01 -1.14894071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.09, Y:-22.58, Z:-11.49 [[ 9.10548776e-01 4.07092966e-01 7.19461108e-02 1.39085265e+02] [-4.05610974e-01 9.13383307e-01 -3.47947121e-02 -2.25771025e+01] [-7.98790592e-02 2.50015045e-03 9.96801427e-01 -1.14918919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:-22.61, Z:-11.50 [[ 9.12077244e-01 4.03658355e-01 7.19377024e-02 1.39140386e+02] [-4.02164321e-01 9.14905447e-01 -3.48120876e-02 -2.26063967e+01] [-7.98683858e-02 2.82053568e-03 9.96801427e-01 -1.14956920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:-22.64, Z:-11.50 [[ 9.12407437e-01 4.02913199e-01 7.19279009e-02 1.39196532e+02] [-4.01415263e-01 9.15233574e-01 -3.48323276e-02 -2.26350644e+01] [-7.98652344e-02 2.90831753e-03 9.96801428e-01 -1.15009294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.25, Y:-22.66, Z:-11.51 [[ 9.11063658e-01 4.05944314e-01 7.19181801e-02 1.39252115e+02] [-4.04454200e-01 9.13893928e-01 -3.48523866e-02 -2.26632855e+01] [-7.98737163e-02 2.66513287e-03 9.96801428e-01 -1.15055691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.31, Y:-22.69, Z:-11.51 [[ 9.07756562e-01 4.13288077e-01 7.19095961e-02 1.39307373e+02] [-4.11819465e-01 9.10598048e-01 -3.48700888e-02 -2.26912364e+01] [-7.98921297e-02 2.03978048e-03 9.96801428e-01 -1.15115345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.36, Y:-22.72, Z:-11.52 [[ 9.04700790e-01 4.19936656e-01 7.19005201e-02 1.39363000e+02] [-4.18487445e-01 9.07552219e-01 -3.48887929e-02 -2.27189009e+01] [-7.99045597e-02 1.47445359e-03 9.96801428e-01 -1.15157048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.42, Y:-22.75, Z:-11.52 [[ 9.00135652e-01 4.29636289e-01 7.18920538e-02 1.39418490e+02] [-4.28216416e-01 9.03001803e-01 -3.49062300e-02 -2.27463114e+01] [-7.99156373e-02 6.34984450e-04 9.96801428e-01 -1.15192707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:-22.77, Z:-11.52 [[ 8.97705270e-01 4.34693009e-01 7.18834910e-02 1.39473333e+02] [-4.33287870e-01 9.00578673e-01 -3.49238549e-02 -2.27737418e+01] [-7.99178945e-02 2.05083929e-04 9.96801429e-01 -1.15242246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.53, Y:-22.80, Z:-11.53 [[ 8.96266461e-01 4.37653198e-01 7.18756456e-02 1.39528267e+02] [-4.36256256e-01 8.99143857e-01 -3.49399938e-02 -2.28012403e+01] [-7.99181453e-02 -4.06554067e-05 9.96801429e-01 -1.15297332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.58, Y:-22.83, Z:-11.53 [[ 8.95787385e-01 4.38634394e-01 7.18667460e-02 1.39584028e+02] [-4.37239135e-01 8.98665598e-01 -3.49582894e-02 -2.28309855e+01] [-7.99180804e-02 -1.07759229e-04 9.96801429e-01 -1.15332581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.64, Y:-22.86, Z:-11.54 [[ 8.96884704e-01 4.36387911e-01 7.18569345e-02 1.39639101e+02] [-4.34983828e-01 8.99758622e-01 -3.49784455e-02 -2.28603286e+01] [-7.99180671e-02 1.15028289e-04 9.96801429e-01 -1.15387699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.69, Y:-22.89, Z:-11.54 [[ 9.00235315e-01 4.29434933e-01 7.18471647e-02 1.39693488e+02] [-4.28007054e-01 9.03097485e-01 -3.49985016e-02 -2.28925432e+01] [-7.99145729e-02 7.55793812e-04 9.96801429e-01 -1.15444650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.75, Y:-22.92, Z:-11.55 [[ 9.03058282e-01 4.23467995e-01 7.18372867e-02 1.39747859e+02] [-4.22019594e-01 9.05910121e-01 -3.50187653e-02 -2.29230544e+01] [-7.99074515e-02 1.30724351e-03 9.96801430e-01 -1.15500297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.80, Y:-22.96, Z:-11.56 [[ 9.07127600e-01 4.14680991e-01 7.18275268e-02 1.39801577e+02] [-4.13203389e-01 9.09964419e-01 -3.50387725e-02 -2.29556954e+01] [-7.98904066e-02 2.10526009e-03 9.96801430e-01 -1.15551970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.85, Y:-22.99, Z:-11.56 [[ 9.09813157e-01 4.08756913e-01 7.18178686e-02 1.39853879e+02] [-4.07259284e-01 9.12639454e-01 -3.50585575e-02 -2.29866390e+01] [-7.98742482e-02 2.64824314e-03 9.96801430e-01 -1.15607022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.91, Y:-23.02, Z:-11.57 [[ 9.10429057e-01 4.07384094e-01 7.18131771e-02 1.39909013e+02] [-4.05881447e-01 9.13252689e-01 -3.50681649e-02 -2.30163055e+01] [-7.98697897e-02 2.77944005e-03 9.96801430e-01 -1.15653501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:-23.04, Z:-11.57 [[ 9.09772623e-01 4.08849705e-01 7.18031508e-02 1.39964707e+02] [-4.07349990e-01 9.12597814e-01 -3.50886821e-02 -2.30435537e+01] [-7.98733958e-02 2.67370959e-03 9.96801431e-01 -1.15704380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.02, Y:-23.07, Z:-11.58 [[ 9.07459427e-01 4.13960174e-01 7.17938877e-02 1.40019924e+02] [-4.12474875e-01 9.10292223e-01 -3.51076250e-02 -2.30709002e+01] [-7.98865762e-02 2.24557042e-03 9.96801431e-01 -1.15758253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.08, Y:-23.10, Z:-11.58 [[ 9.04462117e-01 4.20470237e-01 7.17848021e-02 1.40076771e+02] [-4.19003860e-01 9.07304754e-01 -3.51261924e-02 -2.30980341e+01] [-7.99002107e-02 1.69220116e-03 9.96801431e-01 -1.15800382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.13, Y:-23.12, Z:-11.58 [[ 9.01978986e-01 4.25772537e-01 7.17750383e-02 1.40133264e+02] [-4.24321286e-01 9.04829374e-01 -3.51461321e-02 -2.31241207e+01] [-7.99084208e-02 1.24539604e-03 9.96801431e-01 -1.15840878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:-23.15, Z:-11.59 [[ 8.99527333e-01 4.30929414e-01 7.17664032e-02 1.40190696e+02] [-4.29493099e-01 9.02385277e-01 -3.51637557e-02 -2.31495127e+01] [-7.99140422e-02 8.07584446e-04 9.96801431e-01 -1.15882927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.25, Y:-23.18, Z:-11.59 [[ 8.96560665e-01 4.37069760e-01 7.17565184e-02 1.40248350e+02] [-4.35651406e-01 8.99427565e-01 -3.51839155e-02 -2.31754559e+01] [-7.99176161e-02 2.83686499e-04 9.96801432e-01 -1.15929552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:-23.20, Z:-11.60 [[ 8.94835475e-01 4.40592656e-01 7.17466602e-02 1.40305266e+02] [-4.39183978e-01 8.97707141e-01 -3.52040067e-02 -2.32014580e+01] [-7.99181161e-02 -8.18963707e-06 9.96801432e-01 -1.15994995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.36, Y:-23.23, Z:-11.61 [[ 8.94470681e-01 4.41334384e-01 7.17367505e-02 1.40361918e+02] [-4.39926469e-01 8.97342721e-01 -3.52241886e-02 -2.32285971e+01] [-7.99180965e-02 -5.18913405e-05 9.96801432e-01 -1.16050716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.42, Y:-23.25, Z:-11.61 [[ 8.94405096e-01 4.41468922e-01 7.17266760e-02 1.40418683e+02] [-4.40059794e-01 8.97276540e-01 -3.52446914e-02 -2.32549469e+01] [-7.99180996e-02 -4.09946393e-05 9.96801432e-01 -1.16114843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.47, Y:-23.28, Z:-11.62 [[ 8.96125738e-01 4.37967326e-01 7.17166883e-02 1.40473388e+02] [-4.36545353e-01 8.98990842e-01 -3.52650030e-02 -2.32812903e+01] [-7.99175651e-02 2.94289861e-04 9.96801433e-01 -1.16171116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.53, Y:-23.31, Z:-11.62 [[ 8.98090110e-01 4.33926278e-01 7.17087082e-02 1.40528835e+02] [-4.32490118e-01 9.00948130e-01 -3.52812225e-02 -2.33096665e+01] [-7.99152761e-02 6.72409358e-04 9.96801433e-01 -1.16215797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.58, Y:-23.34, Z:-11.63 [[ 9.01455988e-01 4.26891511e-01 7.16989494e-02 1.40584143e+02] [-4.25431474e-01 9.04301884e-01 -3.53010432e-02 -2.33384717e+01] [-7.99072107e-02 1.31934702e-03 9.96801433e-01 -1.16251184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.64, Y:-23.37, Z:-11.63 [[ 9.02984585e-01 4.23650161e-01 7.16894757e-02 1.40639302e+02] [-4.22178383e-01 9.05824426e-01 -3.53202722e-02 -2.33664019e+01] [-7.99015171e-02 1.62791440e-03 9.96801433e-01 -1.16313120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.69, Y:-23.40, Z:-11.64 [[ 9.03917785e-01 4.21656434e-01 7.16832539e-02 1.40694838e+02] [-4.20177393e-01 9.06753850e-01 -3.53328949e-02 -2.33951820e+01] [-7.98974089e-02 1.81834934e-03 9.96801433e-01 -1.16370040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.75, Y:-23.43, Z:-11.64 [[ 9.04636465e-01 4.20114046e-01 7.16732498e-02 1.40750104e+02] [-4.18628564e-01 9.07469161e-01 -3.53531768e-02 -2.34251372e+01] [-7.98936300e-02 1.97730330e-03 9.96801434e-01 -1.16425902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.81, Y:-23.45, Z:-11.65 [[ 9.03872305e-01 4.21757310e-01 7.16632911e-02 1.40805951e+02] [-4.20275379e-01 9.06706861e-01 -3.53733522e-02 -2.34542199e+01] [-7.98965676e-02 1.85467658e-03 9.96801434e-01 -1.16469527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.86, Y:-23.48, Z:-11.65 [[ 9.02455220e-01 4.24782731e-01 7.16533850e-02 1.40860875e+02] [-4.23308712e-01 9.05293897e-01 -3.53934071e-02 -2.34822661e+01] [-7.99018803e-02 1.60946282e-03 9.96801434e-01 -1.16522810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.92, Y:-23.51, Z:-11.66 [[ 8.99507046e-01 4.30992086e-01 7.16442313e-02 1.40916352e+02] [-4.29536191e-01 9.02355061e-01 -3.54119266e-02 -2.35108401e+01] [-7.99107948e-02 1.07948727e-03 9.96801434e-01 -1.16562211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:-23.54, Z:-11.66 [[ 8.97036998e-01 4.36111392e-01 7.16343405e-02 1.40972882e+02] [-4.34670154e-01 8.99892458e-01 -3.54319232e-02 -2.35386371e+01] [-7.99154681e-02 6.46436235e-04 9.96801435e-01 -1.16618601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:-23.57, Z:-11.67 [[ 8.94060773e-01 4.42182389e-01 7.16244989e-02 1.41028410e+02] [-4.40758949e-01 8.96925147e-01 -3.54518066e-02 -2.35662572e+01] [-7.99179787e-02 1.26930812e-04 9.96801435e-01 -1.16675828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:-23.59, Z:-11.67 [[ 8.92629121e-01 4.45066834e-01 7.16154018e-02 1.41084032e+02] [-4.43651176e-01 8.95497349e-01 -3.54701740e-02 -2.35948009e+01] [-7.99180004e-02 -1.10546889e-04 9.96801435e-01 -1.16716343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:-23.62, Z:-11.68 [[ 8.91890983e-01 4.46545805e-01 7.16052931e-02 1.41138606e+02] [-4.45133265e-01 8.94760748e-01 -3.54905691e-02 -2.36231139e+01] [-7.99177704e-02 -2.20179387e-04 9.96801435e-01 -1.16766652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.20, Y:-23.65, Z:-11.68 [[ 8.92075067e-01 4.46178944e-01 7.15990498e-02 1.41195245e+02] [-4.44764214e-01 8.94943752e-01 -3.55031601e-02 -2.36512014e+01] [-7.99178847e-02 -1.73211185e-04 9.96801435e-01 -1.16814272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.25, Y:-23.68, Z:-11.69 [[ 8.94069101e-01 4.42171288e-01 7.15890672e-02 1.41251842e+02] [-4.40742088e-01 8.96930604e-01 -3.55232777e-02 -2.36766185e+01] [-7.99177988e-02 2.07950031e-04 9.96801436e-01 -1.16887548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.31, Y:-23.71, Z:-11.70 [[ 8.96990624e-01 4.36215665e-01 7.15801223e-02 1.41306740e+02] [-4.34766029e-01 8.99841829e-01 -3.55412927e-02 -2.37063021e+01] [-7.99144568e-02 7.59600829e-04 9.96801436e-01 -1.16950887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.36, Y:-23.74, Z:-11.70 [[ 8.99320198e-01 4.31394199e-01 7.15697308e-02 1.41358299e+02] [-4.29927614e-01 9.02162721e-01 -3.55622059e-02 -2.37392140e+01] [-7.99088725e-02 1.21200645e-03 9.96801436e-01 -1.16974026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.41, Y:-23.77, Z:-11.70 [[ 9.02011832e-01 4.25738904e-01 7.15614400e-02 1.41412736e+02] [-4.24253178e-01 9.04844398e-01 -3.55788817e-02 -2.37657576e+01] [-7.98992822e-02 1.73240387e-03 9.96801436e-01 -1.17028048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.47, Y:-23.79, Z:-11.71 [[ 9.03871654e-01 4.21777371e-01 7.15533534e-02 1.41468127e+02] [-4.20277946e-01 9.06696991e-01 -3.55951373e-02 -2.37945026e+01] [-7.98904337e-02 2.10113923e-03 9.96801437e-01 -1.17061288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.52, Y:-23.82, Z:-11.71 [[ 9.04099503e-01 4.21290279e-01 7.15443162e-02 1.41524119e+02] [-4.19787896e-01 9.06923269e-01 -3.56132924e-02 -2.38218525e+01] [-7.98887390e-02 2.16452199e-03 9.96801437e-01 -1.17100635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.58, Y:-23.85, Z:-11.72 [[ 9.03171027e-01 4.23278904e-01 7.15336706e-02 1.41579185e+02] [-4.21781048e-01 9.05997196e-01 -3.56346627e-02 -2.38478850e+01] [-7.98927059e-02 2.01264837e-03 9.96801437e-01 -1.17166276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.64, Y:-23.87, Z:-11.72 [[ 9.02500858e-01 4.24706779e-01 7.15286825e-02 1.41635973e+02] [-4.23212601e-01 9.05328974e-01 -3.56446724e-02 -2.38739650e+01] [-7.98955227e-02 1.89750761e-03 9.96801437e-01 -1.17211954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.69, Y:-23.90, Z:-11.72 [[ 9.01312514e-01 4.27224566e-01 7.15186820e-02 1.41693216e+02] [-4.25736699e-01 9.04143954e-01 -3.56647264e-02 -2.38987154e+01] [-7.99000313e-02 1.69693664e-03 9.96801437e-01 -1.17227395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.75, Y:-23.92, Z:-11.73 [[ 9.00679239e-01 4.28559547e-01 7.15096021e-02 1.41750911e+02] [-4.27074432e-01 9.03512124e-01 -3.56829230e-02 -2.39207508e+01] [-7.99020497e-02 1.59894523e-03 9.96801438e-01 -1.17317087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.81, Y:-23.95, Z:-11.74 [[ 8.99684674e-01 4.30645049e-01 7.15005488e-02 1.41807960e+02] [-4.29165061e-01 9.02520241e-01 -3.57010545e-02 -2.39459868e+01] [-7.99051749e-02 1.43415421e-03 9.96801438e-01 -1.17371190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.86, Y:-23.97, Z:-11.74 [[ 8.98942324e-01 4.32194230e-01 7.14901748e-02 1.41863645e+02] [-4.30717478e-01 9.01779577e-01 -3.57218160e-02 -2.39715654e+01] [-7.99071424e-02 1.31978446e-03 9.96801438e-01 -1.17423905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.92, Y:-24.00, Z:-11.75 [[ 8.97968626e-01 4.34215237e-01 7.14805882e-02 1.41920029e+02] [-4.32743346e-01 9.00808403e-01 -3.57409889e-02 -2.39979450e+01] [-7.99095965e-02 1.16153780e-03 9.96801438e-01 -1.17464398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.98, Y:-24.02, Z:-11.75 [[ 8.97751457e-01 4.34665523e-01 7.14717021e-02 1.41976704e+02] [-4.33193642e-01 9.00591239e-01 -3.57587497e-02 -2.40243208e+01] [-7.99098844e-02 1.14138268e-03 9.96801438e-01 -1.17508833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:-24.05, Z:-11.76 [[ 8.97631411e-01 4.34915071e-01 7.14613970e-02 1.42032788e+02] [-4.33442341e-01 9.00470753e-01 -3.57793321e-02 -2.40512854e+01] [-7.99098687e-02 1.14225712e-03 9.96801439e-01 -1.17556737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.09, Y:-24.08, Z:-11.76 [[ 8.97864315e-01 4.34435611e-01 7.14518811e-02 1.42088569e+02] [-4.32959854e-01 9.00702085e-01 -3.57983253e-02 -2.40770172e+01] [-7.99089256e-02 1.20624284e-03 9.96801439e-01 -1.17615568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:-24.10, Z:-11.77 [[ 8.98584017e-01 4.32946474e-01 7.14430898e-02 1.42144227e+02] [-4.31464620e-01 9.01418607e-01 -3.58158617e-02 -2.41034630e+01] [-7.99064815e-02 1.35839530e-03 9.96801439e-01 -1.17676475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:-24.13, Z:-11.77 [[ 8.99372424e-01 4.31307749e-01 7.14343660e-02 1.42200984e+02] [-4.29819350e-01 9.02203582e-01 -3.58332528e-02 -2.41305713e+01] [-7.99035005e-02 1.52356666e-03 9.96801439e-01 -1.17727389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:-24.16, Z:-11.78 [[ 9.01443638e-01 4.26963710e-01 7.14237901e-02 1.42255805e+02] [-4.25460001e-01 9.04266695e-01 -3.58543206e-02 -2.41594291e+01] [-7.98946484e-02 1.93268339e-03 9.96801440e-01 -1.17777995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:-24.19, Z:-11.78 [[ 9.03409582e-01 4.22789738e-01 7.14140438e-02 1.42311123e+02] [-4.21271456e-01 9.06224827e-01 -3.58737227e-02 -2.41871503e+01] [-7.98842213e-02 2.32396669e-03 9.96801440e-01 -1.17824429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:-24.21, Z:-11.79 [[ 9.06493296e-01 4.16138538e-01 7.14046322e-02 1.42367407e+02] [-4.14598133e-01 9.09296498e-01 -3.58924463e-02 -2.42147488e+01] [-7.98642121e-02 2.93203480e-03 9.96801440e-01 -1.17870942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:-24.24, Z:-11.79 [[ 9.09210095e-01 4.10170479e-01 7.13945451e-02 1.42423385e+02] [-4.08610109e-01 9.12002232e-01 -3.59124995e-02 -2.42424236e+01] [-7.98422316e-02 3.47947419e-03 9.96801440e-01 -1.17918721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:-24.27, Z:-11.80 [[ 9.10047229e-01 4.08311568e-01 7.13841957e-02 1.42479092e+02] [-4.06743887e-01 9.12835268e-01 -3.59330596e-02 -2.42688363e+01] [-7.98338953e-02 3.66569615e-03 9.96801441e-01 -1.17963646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.53, Y:-24.29, Z:-11.80 [[ 9.10373357e-01 4.07585031e-01 7.13778233e-02 1.42534884e+02] [-4.06014135e-01 9.13159585e-01 -3.59457134e-02 -2.42945971e+01] [-7.98302782e-02 3.74361459e-03 9.96801441e-01 -1.18001746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:-24.32, Z:-11.80 [[ 9.09967511e-01 4.08491916e-01 7.13686494e-02 1.42591870e+02] [-4.06922372e-01 9.12754501e-01 -3.59639185e-02 -2.43214805e+01] [-7.98330260e-02 3.68449731e-03 9.96801441e-01 -1.18043463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:-24.35, Z:-11.81 [[ 9.09103720e-01 4.10412371e-01 7.13590367e-02 1.42649501e+02] [-4.08847223e-01 9.11893181e-01 -3.59829818e-02 -2.43463054e+01] [-7.98396799e-02 3.53731863e-03 9.96801441e-01 -1.18060716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.71, Y:-24.37, Z:-11.81 [[ 9.07935301e-01 4.12992544e-01 7.13487834e-02 1.42707980e+02] [-4.11433731e-01 9.10728306e-01 -3.60033011e-02 -2.43696658e+01] [-7.98484516e-02 3.33337185e-03 9.96801441e-01 -1.18101015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:-24.39, Z:-11.82 [[ 9.07373301e-01 4.14227594e-01 7.13385759e-02 1.42765427e+02] [-4.12670997e-01 9.10167542e-01 -3.60235156e-02 -2.43940379e+01] [-7.98519904e-02 3.24741504e-03 9.96801442e-01 -1.18151978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.82, Y:-24.42, Z:-11.82 [[ 9.07068487e-01 4.14896387e-01 7.13284520e-02 1.42823223e+02] [-4.13340278e-01 9.09862999e-01 -3.60435502e-02 -2.44167802e+01] [-7.98534580e-02 3.21104636e-03 9.96801442e-01 -1.18202207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.88, Y:-24.44, Z:-11.83 [[ 9.06929264e-01 4.15202235e-01 7.13190999e-02 1.42881604e+02] [-4.13645617e-01 9.09723492e-01 -3.60620457e-02 -2.44388221e+01] [-7.98537026e-02 3.20489153e-03 9.96801442e-01 -1.18253343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.94, Y:-24.46, Z:-11.83 [[ 9.06569865e-01 4.15987863e-01 7.13104367e-02 1.42940179e+02] [-4.14432322e-01 9.09364693e-01 -3.60791685e-02 -2.44624919e+01] [-7.98556896e-02 3.15493703e-03 9.96801442e-01 -1.18304399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.00, Y:-24.48, Z:-11.83 [[ 9.06284293e-01 4.16611354e-01 7.13004967e-02 1.42999500e+02] [-4.15056193e-01 9.09079333e-01 -3.60988016e-02 -2.44840027e+01] [-7.98569785e-02 3.12206409e-03 9.96801442e-01 -1.18345363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.06, Y:-24.51, Z:-11.84 [[ 9.05985631e-01 4.17262192e-01 7.12902457e-02 1.43057774e+02] [-4.15707451e-01 9.08780904e-01 -3.61190346e-02 -2.45087864e+01] [-7.98583215e-02 3.08744009e-03 9.96801443e-01 -1.18399588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:-24.53, Z:-11.85 [[ 9.05240557e-01 4.18877875e-01 7.12801551e-02 1.43116127e+02] [-4.17326559e-01 9.08037731e-01 -3.61389373e-02 -2.45301823e+01] [-7.98628715e-02 2.96732985e-03 9.96801443e-01 -1.18451260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:-24.55, Z:-11.85 [[ 9.03936660e-01 4.21685821e-01 7.12711863e-02 1.43173419e+02] [-4.20141803e-01 9.06737870e-01 -3.61566164e-02 -2.45531892e+01] [-7.98710161e-02 2.73928637e-03 9.96801443e-01 -1.18507028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:-24.57, Z:-11.85 [[ 9.01336460e-01 4.27216987e-01 7.12617109e-02 1.43232335e+02] [-4.25688689e-01 9.04146276e-01 -3.61752820e-02 -2.45745473e+01] [-7.98857056e-02 2.27079633e-03 9.96801443e-01 -1.18541351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.29, Y:-24.60, Z:-11.86 [[ 8.99235254e-01 4.31623644e-01 7.12529845e-02 1.43290318e+02] [-4.30107756e-01 9.02051786e-01 -3.61924620e-02 -2.45989992e+01] [-7.98954042e-02 1.89907651e-03 9.96801444e-01 -1.18585134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:-24.62, Z:-11.86 [[ 8.95758249e-01 4.38795623e-01 7.12429607e-02 1.43348462e+02] [-4.37300723e-01 8.98585976e-01 -3.62121826e-02 -2.46198319e+01] [-7.99076726e-02 1.28276309e-03 9.96801444e-01 -1.18647145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.41, Y:-24.64, Z:-11.87 [[ 8.91856365e-01 4.46674364e-01 7.12336807e-02 1.43407761e+02] [-4.45202990e-01 8.94696403e-01 -3.62304284e-02 -2.46419288e+01] [-7.99157214e-02 5.98890529e-04 9.96801444e-01 -1.18703227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.47, Y:-24.67, Z:-11.88 [[ 8.89506514e-01 4.51337281e-01 7.12237310e-02 1.43465126e+02] [-4.49879229e-01 8.92353415e-01 -3.62499775e-02 -2.46670167e+01] [-7.99177059e-02 2.02513949e-04 9.96801444e-01 -1.18759643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:-24.69, Z:-11.88 [[ 8.87777466e-01 4.54730429e-01 7.12138124e-02 1.43522848e+02] [-4.53281697e-01 8.90629121e-01 -3.62694523e-02 -2.46926891e+01] [-7.99179187e-02 -8.07152711e-05 9.96801445e-01 -1.18810574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:-24.72, Z:-11.89 [[ 8.86657172e-01 4.56912545e-01 7.12038366e-02 1.43580073e+02] [-4.55469258e-01 8.89511586e-01 -3.62890262e-02 -2.47185922e+01] [-7.99175489e-02 -2.55233309e-04 9.96801445e-01 -1.18861217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.64, Y:-24.75, Z:-11.89 [[ 8.87505514e-01 4.55264098e-01 7.11938447e-02 1.43635370e+02] [-4.53813938e-01 8.90356442e-01 -3.63086183e-02 -2.47462778e+01] [-7.99179086e-02 -8.46600539e-05 9.96801445e-01 -1.18900748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.69, Y:-24.78, Z:-11.89 [[ 8.89011030e-01 4.52318567e-01 7.11849892e-02 1.43690149e+02] [-4.50857571e-01 8.91856420e-01 -3.63259717e-02 -2.47761275e+01] [-7.99177011e-02 1.99898180e-04 9.96801445e-01 -1.18924961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.74, Y:-24.81, Z:-11.90 [[ 8.92584318e-01 4.45227202e-01 7.11756591e-02 1.43743443e+02] [-4.43742145e-01 8.95417224e-01 -3.63442435e-02 -2.48054171e+01] [-7.99133570e-02 8.56662204e-04 9.96801445e-01 -1.19004154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.80, Y:-24.84, Z:-11.90 [[ 8.94587947e-01 4.41188921e-01 7.11669950e-02 1.43798373e+02] [-4.39689728e-01 8.97413398e-01 -3.63612013e-02 -2.48358361e+01] [-7.99083739e-02 1.23689577e-03 9.96801446e-01 -1.19047414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.85, Y:-24.87, Z:-11.91 [[ 8.96749456e-01 4.36780427e-01 7.11566772e-02 1.43853339e+02] [-4.35265745e-01 8.99566633e-01 -3.63813815e-02 -2.48671651e+01] [-7.99008478e-02 1.65291996e-03 9.96801446e-01 -1.19095470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.91, Y:-24.90, Z:-11.91 [[ 8.98157065e-01 4.33880236e-01 7.11465243e-02 1.43907461e+02] [-4.32354886e-01 9.00968481e-01 -3.64012253e-02 -2.48970309e+01] [-7.98945481e-02 1.93347020e-03 9.96801446e-01 -1.19136422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.96, Y:-24.93, Z:-11.92 [[ 8.98474847e-01 4.33223271e-01 7.11375229e-02 1.43962527e+02] [-4.31694475e-01 9.01284390e-01 -3.64188080e-02 -2.49261091e+01] [-7.98926140e-02 2.01170731e-03 9.96801446e-01 -1.19185192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.02, Y:-24.96, Z:-11.92 [[ 8.98870432e-01 4.32403576e-01 7.11273079e-02 1.44017125e+02] [-4.30870642e-01 9.01677718e-01 -3.64387474e-02 -2.49566176e+01] [-7.98901534e-02 2.10704384e-03 9.96801447e-01 -1.19228493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.07, Y:-24.99, Z:-11.93 [[ 8.98729373e-01 4.32698373e-01 7.11170299e-02 1.44072748e+02] [-4.31164774e-01 9.01536296e-01 -3.64587959e-02 -2.49868499e+01] [-7.98902454e-02 2.10343265e-03 9.96801447e-01 -1.19271326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:-25.02, Z:-11.93 [[ 8.97401723e-01 4.35446874e-01 7.11067324e-02 1.44128089e+02] [-4.33920283e-01 9.00212464e-01 -3.64788684e-02 -2.50162056e+01] [-7.98957760e-02 1.88154594e-03 9.96801447e-01 -1.19312113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:-25.05, Z:-11.94 [[ 8.95839030e-01 4.38654498e-01 7.10961592e-02 1.44182857e+02] [-4.37136339e-01 8.98654333e-01 -3.64994637e-02 -2.50457448e+01] [-7.99015254e-02 1.61892941e-03 9.96801447e-01 -1.19364669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.24, Y:-25.08, Z:-11.94 [[ 8.92924041e-01 4.44559761e-01 7.10863906e-02 1.44237912e+02] [-4.43058710e-01 8.95748503e-01 -3.65184791e-02 -2.50753240e+01] [-7.99101743e-02 1.11278346e-03 9.96801448e-01 -1.19419378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.29, Y:-25.10, Z:-11.95 [[ 8.91225847e-01 4.47956101e-01 7.10761688e-02 1.44293173e+02] [-4.46464228e-01 8.94055167e-01 -3.65383631e-02 -2.51042138e+01] [-7.99135986e-02 8.30966799e-04 9.96801448e-01 -1.19465831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.35, Y:-25.13, Z:-11.95 [[ 8.89717847e-01 4.50945465e-01 7.10657508e-02 1.44346677e+02] [-4.49461481e-01 8.92551312e-01 -3.65586145e-02 -2.51341213e+01] [-7.99157706e-02 5.85534223e-04 9.96801448e-01 -1.19518673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.40, Y:-25.17, Z:-11.96 [[ 8.90187849e-01 4.50018466e-01 7.10561256e-02 1.44401514e+02] [-4.48530039e-01 8.93018983e-01 -3.65773127e-02 -2.51658493e+01] [-7.99149352e-02 6.89872498e-04 9.96801448e-01 -1.19564069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.46, Y:-25.20, Z:-11.96 [[ 8.91228487e-01 4.47955640e-01 7.10459587e-02 1.44455980e+02] [-4.46459087e-01 8.94055334e-01 -3.65970498e-02 -2.51963535e+01] [-7.99128732e-02 8.97219470e-04 9.96801448e-01 -1.19609750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.51, Y:-25.23, Z:-11.97 [[ 8.92398389e-01 4.45622067e-01 7.10358290e-02 1.44510745e+02] [-4.44116558e-01 8.95220476e-01 -3.66167014e-02 -2.52277450e+01] [-7.99099388e-02 1.12849753e-03 9.96801449e-01 -1.19653103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.56, Y:-25.26, Z:-11.97 [[ 8.93968946e-01 4.42464610e-01 7.10252964e-02 1.44563612e+02] [-4.40947512e-01 8.96784820e-01 -3.66371200e-02 -2.52601574e+01] [-7.99050366e-02 1.43401972e-03 9.96801449e-01 -1.19713034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.62, Y:-25.29, Z:-11.98 [[ 8.94528513e-01 4.41333806e-01 7.10155704e-02 1.44617148e+02] [-4.39811653e-01 8.97341657e-01 -3.66559629e-02 -2.52911227e+01] [-7.99027452e-02 1.55632855e-03 9.96801449e-01 -1.19785822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:-25.32, Z:-11.98 [[ 8.94644371e-01 4.41100361e-01 7.10064897e-02 1.44670610e+02] [-4.39576080e-01 8.97456362e-01 -3.66735447e-02 -2.53210102e+01] [-7.99019397e-02 1.59702586e-03 9.96801449e-01 -1.19845250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.72, Y:-25.35, Z:-11.99 [[ 8.95656468e-01 4.39042990e-01 7.09981986e-02 1.44724157e+02] [-4.37510979e-01 8.98464255e-01 -3.66895888e-02 -2.53534429e+01] [-7.98976504e-02 1.79877607e-03 9.96801450e-01 -1.19876210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.78, Y:-25.38, Z:-11.99 [[ 8.97049610e-01 4.36191151e-01 7.09878638e-02 1.44778807e+02] [-4.34648634e-01 8.99851639e-01 -3.67095740e-02 -2.53847410e+01] [-7.98909369e-02 2.07553107e-03 9.96801450e-01 -1.19925019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.83, Y:-25.42, Z:-12.00 [[ 8.99399509e-01 4.31326675e-01 7.09776244e-02 1.44831160e+02] [-4.29767446e-01 9.02192272e-01 -3.67293611e-02 -2.54158488e+01] [-7.98778175e-02 2.53049695e-03 9.96801450e-01 -1.19966844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.89, Y:-25.45, Z:-12.00 [[ 8.99829213e-01 4.30430860e-01 7.09694433e-02 1.44886138e+02] [-4.28867607e-01 9.02619725e-01 -3.67451621e-02 -2.54462001e+01] [-7.98746712e-02 2.62787502e-03 9.96801450e-01 -1.19994112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.94, Y:-25.48, Z:-12.00 [[ 8.98289140e-01 4.33637463e-01 7.09589431e-02 1.44941052e+02] [-4.32082573e-01 9.01084321e-01 -3.67654280e-02 -2.54761587e+01] [-7.98828580e-02 2.36586201e-03 9.96801450e-01 -1.20031771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.00, Y:-25.50, Z:-12.01 [[ 8.96125271e-01 4.38093380e-01 7.09485029e-02 1.44997301e+02] [-4.36550798e-01 8.98927263e-01 -3.67855641e-02 -2.55046103e+01] [-7.98930556e-02 1.99184803e-03 9.96801451e-01 -1.20081835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:-25.53, Z:-12.01 [[ 8.93000480e-01 4.44429886e-01 7.09381436e-02 1.45053286e+02] [-4.42905604e-01 8.95812468e-01 -3.68055305e-02 -2.55320045e+01] [-7.99047512e-02 1.44845498e-03 9.96801451e-01 -1.20133591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:-25.56, Z:-12.02 [[ 8.91728279e-01 4.46978471e-01 7.09289971e-02 1.45108616e+02] [-4.45460825e-01 8.94543855e-01 -3.68231485e-02 -2.55604587e+01] [-7.99082531e-02 1.24015326e-03 9.96801451e-01 -1.20192233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:-25.59, Z:-12.02 [[ 8.91882697e-01 4.46671728e-01 7.09198298e-02 1.45164442e+02] [-4.45151712e-01 8.94696993e-01 -3.68407960e-02 -2.55898369e+01] [-7.99075005e-02 1.28758489e-03 9.96801451e-01 -1.20236045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:-25.62, Z:-12.03 [[ 8.92843111e-01 4.44750546e-01 7.09093113e-02 1.45218738e+02] [-4.43222868e-01 8.95653255e-01 -3.68610303e-02 -2.56192260e+01] [-7.99041189e-02 1.48248865e-03 9.96801452e-01 -1.20275232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:-25.65, Z:-12.03 [[ 8.93359621e-01 4.43713585e-01 7.09002228e-02 1.45274167e+02] [-4.42181259e-01 8.96167233e-01 -3.68785035e-02 -2.56492577e+01] [-7.99019495e-02 1.59501611e-03 9.96801452e-01 -1.20321700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:-25.68, Z:-12.04 [[ 8.93077791e-01 4.44282202e-01 7.08899388e-02 1.45329763e+02] [-4.42750096e-01 8.95885523e-01 -3.68982613e-02 -2.56792873e+01] [-7.99025107e-02 1.56649044e-03 9.96801452e-01 -1.20374717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.38, Y:-25.71, Z:-12.04 [[ 8.92034521e-01 4.46374821e-01 7.08797037e-02 1.45384210e+02] [-4.44847741e-01 8.94844989e-01 -3.69179120e-02 -2.57068283e+01] [-7.99055741e-02 1.40137579e-03 9.96801452e-01 -1.20439840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:-25.74, Z:-12.05 [[ 8.89940171e-01 4.50536641e-01 7.08747255e-02 1.45440445e+02] [-4.49021944e-01 8.92757333e-01 -3.69274668e-02 -2.57350694e+01] [-7.99111077e-02 1.03892905e-03 9.96801452e-01 -1.20490294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.50, Y:-25.76, Z:-12.05 [[ 8.89405745e-01 4.51592381e-01 7.08642471e-02 1.45496016e+02] [-4.50079427e-01 8.92223843e-01 -3.69475640e-02 -2.57642375e+01] [-7.99120093e-02 9.66835959e-04 9.96801453e-01 -1.20547961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.55, Y:-25.79, Z:-12.06 [[ 8.90608749e-01 4.49216864e-01 7.08538359e-02 1.45551350e+02] [-4.47694807e-01 8.93421940e-01 -3.69675187e-02 -2.57943829e+01] [-7.99088043e-02 1.20270116e-03 9.96801453e-01 -1.20599702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.60, Y:-25.83, Z:-12.06 [[ 8.94219613e-01 4.41986983e-01 7.08434254e-02 1.45604779e+02] [-4.40440606e-01 8.97019509e-01 -3.69874584e-02 -2.58263716e+01] [-7.98959098e-02 1.87258946e-03 9.96801453e-01 -1.20637592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.66, Y:-25.86, Z:-12.07 [[ 8.96740735e-01 4.36850715e-01 7.08343604e-02 1.45658383e+02] [-4.35286935e-01 8.99530949e-01 -3.70048105e-02 -2.58567470e+01] [-7.98832773e-02 2.35044943e-03 9.96801453e-01 -1.20676882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.71, Y:-25.89, Z:-12.07 [[ 8.98652998e-01 4.32904814e-01 7.08252139e-02 1.45711930e+02] [-4.31327408e-01 9.01435531e-01 -3.70223082e-02 -2.58866691e+01] [-7.98714997e-02 2.72135240e-03 9.96801454e-01 -1.20727185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.77, Y:-25.92, Z:-12.08 [[ 8.99551534e-01 4.31036188e-01 7.08155503e-02 1.45766450e+02] [-4.29451550e-01 9.02329955e-01 -3.70407832e-02 -2.59166899e+01] [-7.98649103e-02 2.90824556e-03 9.96801454e-01 -1.20779782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.82, Y:-25.95, Z:-12.08 [[ 8.99069472e-01 4.32042456e-01 7.08053723e-02 1.45820708e+02] [-4.30459398e-01 9.01848793e-01 -3.70602290e-02 -2.59458626e+01] [-7.98673319e-02 2.84088260e-03 9.96801454e-01 -1.20838267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.88, Y:-25.97, Z:-12.09 [[ 8.98061223e-01 4.34135821e-01 7.07963853e-02 1.45877123e+02] [-4.32557892e-01 9.00843459e-01 -3.70773890e-02 -2.59734861e+01] [-7.98730833e-02 2.67423011e-03 9.96801454e-01 -1.20888359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.93, Y:-26.00, Z:-12.09 [[ 8.94733184e-01 4.40955747e-01 7.07853052e-02 1.45931381e+02] [-4.39397359e-01 8.97526412e-01 -3.70985301e-02 -2.60021070e+01] [-7.98904911e-02 2.09040980e-03 9.96801454e-01 -1.20935380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:145.99, Y:-26.03, Z:-12.10 [[ 8.93295054e-01 4.43863546e-01 7.07749838e-02 1.45986879e+02] [-4.42312694e-01 8.96092472e-01 -3.71182106e-02 -2.60312946e+01] [-7.98963508e-02 1.85284023e-03 9.96801455e-01 -1.20982101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:-26.06, Z:-12.10 [[ 8.92361886e-01 4.45738347e-01 7.07643336e-02 1.46041938e+02] [-4.44191763e-01 8.95161666e-01 -3.71385037e-02 -2.60602608e+01] [-7.98995740e-02 1.70805105e-03 9.96801455e-01 -1.21015764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.10, Y:-26.09, Z:-12.11 [[ 8.91877931e-01 4.46707381e-01 7.07550141e-02 1.46097295e+02] [-4.45162432e-01 8.94678614e-01 -3.71562503e-02 -2.60890101e+01] [-7.99009692e-02 1.64136549e-03 9.96801455e-01 -1.21061468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:-26.12, Z:-12.11 [[ 8.91091918e-01 4.48274943e-01 7.07443966e-02 1.46152741e+02] [-4.46733318e-01 8.93894431e-01 -3.71764549e-02 -2.61182057e+01] [-7.99032953e-02 1.52375952e-03 9.96801455e-01 -1.21115485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:-26.15, Z:-12.12 [[ 8.89995033e-01 4.50450391e-01 7.07339158e-02 1.46208494e+02] [-4.48914033e-01 8.92800437e-01 -3.71963856e-02 -2.61475948e+01] [-7.99063973e-02 1.35115102e-03 9.96801456e-01 -1.21174327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.26, Y:-26.18, Z:-12.12 [[ 8.87924845e-01 4.54519162e-01 7.07234127e-02 1.46263446e+02] [-4.52994071e-01 8.90736390e-01 -3.72163450e-02 -2.61758615e+01] [-7.99114592e-02 1.00803079e-03 9.96801456e-01 -1.21238123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.32, Y:-26.20, Z:-12.13 [[ 8.87101567e-01 4.56125350e-01 7.07140353e-02 1.46316456e+02] [-4.54603931e-01 8.89915099e-01 -3.72341543e-02 -2.62046372e+01] [-7.99129294e-02 8.83598208e-04 9.96801456e-01 -1.21304696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.37, Y:-26.24, Z:-12.14 [[ 8.87187278e-01 4.55959948e-01 7.07054451e-02 1.46371297e+02] [-4.54436705e-01 8.89999823e-01 -3.72504594e-02 -2.62350457e+01] [-7.99125512e-02 9.16984155e-04 9.96801456e-01 -1.21350555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.42, Y:-26.27, Z:-12.14 [[ 8.88592581e-01 4.53216771e-01 7.06950047e-02 1.46424612e+02] [-4.51683270e-01 8.91399546e-01 -3.72702631e-02 -2.62662946e+01] [-7.99090034e-02 1.18632838e-03 9.96801457e-01 -1.21383646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.48, Y:-26.30, Z:-12.14 [[ 8.89510159e-01 4.51414637e-01 7.06859449e-02 1.46479108e+02] [-4.49874085e-01 8.92313260e-01 -3.72874378e-02 -2.62968542e+01] [-7.99061012e-02 1.36777995e-03 9.96801457e-01 -1.21425924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.53, Y:-26.33, Z:-12.15 [[ 8.89816837e-01 4.50811494e-01 7.06752727e-02 1.46533229e+02] [-4.49267437e-01 8.92618008e-01 -3.73076552e-02 -2.63277872e+01] [-7.99047409e-02 1.44488115e-03 9.96801457e-01 -1.21479676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.59, Y:-26.36, Z:-12.15 [[ 8.88914452e-01 4.52589871e-01 7.06647382e-02 1.46588104e+02] [-4.51049833e-01 8.91717836e-01 -3.73275981e-02 -2.63572889e+01] [-7.99071002e-02 1.30772300e-03 9.96801457e-01 -1.21531196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.64, Y:-26.39, Z:-12.16 [[ 8.86610051e-01 4.57089259e-01 7.06542824e-02 1.46642217e+02] [-4.55561873e-01 8.89420347e-01 -3.73473785e-02 -2.63865133e+01] [-7.99124419e-02 9.25163964e-04 9.96801458e-01 -1.21589351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.70, Y:-26.42, Z:-12.16 [[ 8.84603279e-01 4.60962410e-01 7.06448548e-02 1.46696606e+02] [-4.59445906e-01 8.87419462e-01 -3.73652029e-02 -2.64170059e+01] [-7.99155730e-02 5.95891669e-04 9.96801458e-01 -1.21645706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.75, Y:-26.45, Z:-12.17 [[ 8.84008223e-01 4.62104186e-01 7.06341458e-02 1.46750761e+02] [-4.60589702e-01 8.86825493e-01 -3.73854361e-02 -2.64470345e+01] [-7.99161276e-02 5.15672756e-04 9.96801458e-01 -1.21693523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:-26.48, Z:-12.17 [[ 8.84689994e-01 4.60799119e-01 7.06242565e-02 1.46804835e+02] [-4.59278989e-01 8.87504221e-01 -3.74041085e-02 -2.64801687e+01] [-7.99151060e-02 6.54803393e-04 9.96801458e-01 -1.21734063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.86, Y:-26.51, Z:-12.18 [[ 8.85760315e-01 4.58739974e-01 7.06137487e-02 1.46858477e+02] [-4.57211721e-01 8.88570139e-01 -3.74239353e-02 -2.65122342e+01] [-7.99131235e-02 8.63203122e-04 9.96801458e-01 -1.21778705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.91, Y:-26.55, Z:-12.18 [[ 8.87553726e-01 4.55262093e-01 7.06031814e-02 1.46911074e+02] [-4.53721246e-01 8.90356663e-01 -3.74438607e-02 -2.65452841e+01] [-7.99087834e-02 1.19927469e-03 9.96801459e-01 -1.21837313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.97, Y:-26.58, Z:-12.19 [[ 8.88259918e-01 4.53884143e-01 7.05939306e-02 1.46965629e+02] [-4.52337562e-01 8.91059696e-01 -3.74612934e-02 -2.65771349e+01] [-7.99064933e-02 1.34307893e-03 9.96801459e-01 -1.21892913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.02, Y:-26.61, Z:-12.19 [[ 8.89261481e-01 4.51920361e-01 7.05833242e-02 1.47018090e+02] [-4.50366014e-01 8.92056954e-01 -3.74812669e-02 -2.66102123e+01] [-7.99028929e-02 1.54231657e-03 9.96801459e-01 -1.21937610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.07, Y:-26.64, Z:-12.20 [[ 8.90919081e-01 4.48645176e-01 7.05740518e-02 1.47071284e+02] [-4.47079171e-01 8.93708040e-01 -3.74987181e-02 -2.66431138e+01] [-7.98962165e-02 1.85613492e-03 9.96801459e-01 -1.21985494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.13, Y:-26.67, Z:-12.20 [[ 8.92402265e-01 4.45689368e-01 7.05633364e-02 1.47125184e+02] [-4.44112534e-01 8.95185116e-01 -3.75188710e-02 -2.66747245e+01] [-7.98890104e-02 2.14386336e-03 9.96801460e-01 -1.22026152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:-26.71, Z:-12.21 [[ 8.93705906e-01 4.43071188e-01 7.05526417e-02 1.47178978e+02] [-4.41484618e-01 8.96483217e-01 -3.75389712e-02 -2.67065701e+01] [-7.98816958e-02 2.40089422e-03 9.96801460e-01 -1.22068027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.23, Y:-26.74, Z:-12.21 [[ 8.94479823e-01 4.41508398e-01 7.05420498e-02 1.47232715e+02] [-4.39915409e-01 8.97253456e-01 -3.75588647e-02 -2.67396709e+01] [-7.98766522e-02 2.56311205e-03 9.96801460e-01 -1.22105757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.29, Y:-26.77, Z:-12.22 [[ 8.92895219e-01 4.44706009e-01 7.05315011e-02 1.47287053e+02] [-4.43121392e-01 8.95673644e-01 -3.75786636e-02 -2.67702969e+01] [-7.98846641e-02 2.29979216e-03 9.96801460e-01 -1.22166125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.34, Y:-26.80, Z:-12.22 [[ 8.90834498e-01 4.48820305e-01 7.05282266e-02 1.47341169e+02] [-4.47248035e-01 8.93619929e-01 -3.75848082e-02 -2.67998371e+01] [-7.98942539e-02 1.93823296e-03 9.96801460e-01 -1.22215776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.39, Y:-26.83, Z:-12.23 [[ 8.88490887e-01 4.53443520e-01 7.05189243e-02 1.47394536e+02] [-4.51884362e-01 8.91283678e-01 -3.76022536e-02 -2.68287465e+01] [-7.99028645e-02 1.54286056e-03 9.96801461e-01 -1.22275238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.45, Y:-26.86, Z:-12.23 [[ 8.86466346e-01 4.57390094e-01 7.05104157e-02 1.47449855e+02] [-4.55842103e-01 8.89265342e-01 -3.76182021e-02 -2.68588932e+01] [-7.99086619e-02 1.20565402e-03 9.96801461e-01 -1.22324266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.50, Y:-26.89, Z:-12.24 [[ 8.84980479e-01 4.60260035e-01 7.05000060e-02 1.47504293e+02] [-4.58719568e-01 8.87783623e-01 -3.76377008e-02 -2.68888780e+01] [-7.99118802e-02 9.68898180e-04 9.96801461e-01 -1.22369166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.56, Y:-26.92, Z:-12.24 [[ 8.83643815e-01 4.62822460e-01 7.04909881e-02 1.47557924e+02] [-4.61288775e-01 8.86450675e-01 -3.76545827e-02 -2.69196502e+01] [-7.99141705e-02 7.56537574e-04 9.96801461e-01 -1.22397138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.61, Y:-26.95, Z:-12.24 [[ 8.82967743e-01 4.64112367e-01 7.04817391e-02 1.47611759e+02] [-4.62581402e-01 8.85776087e-01 -3.76718870e-02 -2.69510063e+01] [-7.99150277e-02 6.59519356e-04 9.96801461e-01 -1.22447579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.67, Y:-26.98, Z:-12.25 [[ 8.82800649e-01 4.64431712e-01 7.04712593e-02 1.47666554e+02] [-4.62900199e-01 8.85608694e-01 -3.76914809e-02 -2.69822377e+01] [-7.99150789e-02 6.52903838e-04 9.96801462e-01 -1.22502255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:-27.01, Z:-12.25 [[ 8.82449144e-01 4.65100823e-01 7.04608618e-02 1.47720773e+02] [-4.63569887e-01 8.85257503e-01 -3.77109082e-02 -2.70140535e+01] [-7.99153810e-02 6.14424879e-04 9.96801462e-01 -1.22548169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:-27.04, Z:-12.26 [[ 8.82511623e-01 4.64983872e-01 7.04502278e-02 1.47774490e+02] [-4.63450979e-01 8.85318914e-01 -3.77307638e-02 -2.70446170e+01] [-7.99151158e-02 6.47610574e-04 9.96801462e-01 -1.22611675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.83, Y:-27.08, Z:-12.27 [[ 8.83968958e-01 4.62208798e-01 7.04408134e-02 1.47826110e+02] [-4.60665693e-01 8.86770649e-01 -3.77483318e-02 -2.70773243e+01] [-7.99124568e-02 9.18687469e-04 9.96801462e-01 -1.22675228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.88, Y:-27.11, Z:-12.27 [[ 8.86579881e-01 4.57182039e-01 7.04322129e-02 1.47878857e+02] [-4.55621777e-01 8.89372053e-01 -3.77643722e-02 -2.71109857e+01] [-7.99056344e-02 1.39068263e-03 9.96801462e-01 -1.22721656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.93, Y:-27.14, Z:-12.28 [[ 8.88693966e-01 4.53060519e-01 7.04215897e-02 1.47932586e+02] [-4.51485741e-01 8.91477976e-01 -3.77841715e-02 -2.71437023e+01] [-7.98978126e-02 1.78422161e-03 9.96801463e-01 -1.22769490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.99, Y:-27.18, Z:-12.28 [[ 8.92085990e-01 4.46346123e-01 7.04111229e-02 1.47985908e+02] [-4.44748858e-01 8.94857160e-01 -3.78036665e-02 -2.71779018e+01] [-7.98814174e-02 2.40885477e-03 9.96801463e-01 -1.22810736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:-27.21, Z:-12.29 [[ 8.93538877e-01 4.43432155e-01 7.04002734e-02 1.48038856e+02] [-4.41824266e-01 8.96303896e-01 -3.78238602e-02 -2.72097236e+01] [-7.98723552e-02 2.69254046e-03 9.96801463e-01 -1.22856618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:-27.24, Z:-12.29 [[ 8.93960853e-01 4.42582336e-01 7.03908273e-02 1.48091900e+02] [-4.40970437e-01 8.96723536e-01 -3.78414316e-02 -2.72404871e+01] [-7.98690607e-02 2.78848460e-03 9.96801463e-01 -1.22909618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:-27.27, Z:-12.30 [[ 8.92521487e-01 4.45479442e-01 7.03808379e-02 1.48146726e+02] [-4.43875049e-01 8.95288535e-01 -3.78600016e-02 -2.72710017e+01] [-7.98770097e-02 2.55056707e-03 9.96801464e-01 -1.22970498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.20, Y:-27.30, Z:-12.30 [[ 8.90860347e-01 4.48793775e-01 7.03703751e-02 1.48201205e+02] [-4.47198144e-01 8.93632457e-01 -3.78794388e-02 -2.73011012e+01] [-7.98853076e-02 2.27578890e-03 9.96801464e-01 -1.23019674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.26, Y:-27.33, Z:-12.31 [[ 8.89217034e-01 4.52042684e-01 7.03596413e-02 1.48255609e+02] [-4.50455606e-01 8.91994050e-01 -3.78993661e-02 -2.73301547e+01] [-7.98925125e-02 2.00686699e-03 9.96801464e-01 -1.23073263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.31, Y:-27.36, Z:-12.31 [[ 8.86871940e-01 4.56627944e-01 7.03497164e-02 1.48310798e+02] [-4.55053767e-01 8.89656288e-01 -3.79177799e-02 -2.73589583e+01] [-7.99013855e-02 1.61531158e-03 9.96801464e-01 -1.23114946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.37, Y:-27.39, Z:-12.32 [[ 8.85403420e-01 4.59470360e-01 7.03404049e-02 1.48365187e+02] [-4.57903751e-01 8.88192033e-01 -3.79350457e-02 -2.73876908e+01] [-7.99058163e-02 1.37868394e-03 9.96801465e-01 -1.23154510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.42, Y:-27.42, Z:-12.32 [[ 8.83867350e-01 4.62419677e-01 7.03317155e-02 1.48419884e+02] [-4.60861092e-01 8.86660456e-01 -3.79511491e-02 -2.74166828e+01] [-7.99097090e-02 1.13063030e-03 9.96801465e-01 -1.23185278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.48, Y:-27.44, Z:-12.33 [[ 8.85068818e-01 4.60117303e-01 7.03225005e-02 1.48478181e+02] [-4.58550097e-01 8.87857096e-01 -3.79682167e-02 -2.74404137e+01] [-7.99061645e-02 1.35809522e-03 9.96801465e-01 -1.23312035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.53, Y:-27.48, Z:-12.33 [[ 8.82295749e-01 4.65414252e-01 7.03120577e-02 1.48531327e+02] [-4.63862247e-01 8.85092516e-01 -3.79875454e-02 -2.74750682e+01] [-7.99126211e-02 9.01140794e-04 9.96801465e-01 -1.23286924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.59, Y:-27.50, Z:-12.33 [[ 8.81867606e-01 4.66226541e-01 7.03017628e-02 1.48586903e+02] [-4.64675594e-01 8.84664960e-01 -3.80065882e-02 -2.75045854e+01] [-7.99131863e-02 8.49265541e-04 9.96801465e-01 -1.23339023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:-27.53, Z:-12.34 [[ 8.81974293e-01 4.66026319e-01 7.02909439e-02 1.48643275e+02] [-4.64473143e-01 8.84770410e-01 -3.80265867e-02 -2.75320248e+01] [-7.99127374e-02 8.90216285e-04 9.96801466e-01 -1.23435307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:-27.56, Z:-12.35 [[ 8.80667203e-01 4.68493374e-01 7.02797011e-02 1.48696921e+02] [-4.66946374e-01 8.83466741e-01 -3.80473540e-02 -2.75639940e+01] [-7.99147117e-02 6.90205236e-04 9.96801466e-01 -1.23462916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.75, Y:-27.59, Z:-12.35 [[ 8.80955076e-01 4.67953491e-01 7.02686515e-02 1.48751504e+02] [-4.66403149e-01 8.83752764e-01 -3.80677504e-02 -2.75945067e+01] [-7.99140517e-02 7.62457615e-04 9.96801466e-01 -1.23510324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.81, Y:-27.63, Z:-12.35 [[ 8.81823196e-01 4.66317143e-01 7.02579052e-02 1.48806284e+02] [-4.64760030e-01 8.84617121e-01 -3.80875735e-02 -2.76256465e+01] [-7.99122343e-02 9.33439733e-04 9.96801466e-01 -1.23547909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:-27.66, Z:-12.36 [[ 8.82516167e-01 4.65005992e-01 7.02470041e-02 1.48860229e+02] [-4.63443129e-01 8.85306880e-01 -3.81076684e-02 -2.76557553e+01] [-7.99104502e-02 1.07514208e-03 9.96801467e-01 -1.23589985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.92, Y:-27.69, Z:-12.36 [[ 8.83403111e-01 4.63319810e-01 7.02402825e-02 1.48915262e+02] [-4.61750636e-01 8.86190279e-01 -3.81200536e-02 -2.76867191e+01] [-7.99080316e-02 1.24187879e-03 9.96801467e-01 -1.23638861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.97, Y:-27.72, Z:-12.36 [[ 8.81909286e-01 4.66158562e-01 7.02296730e-02 1.48966950e+02] [-4.64596805e-01 8.84700616e-01 -3.81395898e-02 -2.77223569e+01] [-7.99113314e-02 1.00717673e-03 9.96801467e-01 -1.23630544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.02, Y:-27.75, Z:-12.37 [[ 8.82768990e-01 4.64529013e-01 7.02261049e-02 1.49020588e+02] [-4.62961581e-01 8.85557138e-01 -3.81461586e-02 -2.77530101e+01] [-7.99092259e-02 1.16225738e-03 9.96801467e-01 -1.23671801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.07, Y:-27.78, Z:-12.38 [[ 8.83516571e-01 4.63107194e-01 7.02153566e-02 1.49074397e+02] [-4.61533704e-01 8.86301304e-01 -3.81659328e-02 -2.77833751e+01] [-7.99068802e-02 1.31348043e-03 9.96801467e-01 -1.23757267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.13, Y:-27.81, Z:-12.39 [[ 8.85816672e-01 4.58692880e-01 7.02115724e-02 1.49129931e+02] [-4.57104963e-01 8.88593204e-01 -3.81728930e-02 -2.78073964e+01] [-7.98991604e-02 1.72012683e-03 9.96801467e-01 -1.23870761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.18, Y:-27.84, Z:-12.39 [[ 8.85444533e-01 4.59412335e-01 7.02017452e-02 1.49184211e+02] [-4.57825243e-01 8.88221536e-01 -3.81909572e-02 -2.78385899e+01] [-7.99000988e-02 1.67584323e-03 9.96801468e-01 -1.23922180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.24, Y:-27.87, Z:-12.40 [[ 8.83748683e-01 4.62667782e-01 7.01910878e-02 1.49238484e+02] [-4.61089366e-01 8.86530627e-01 -3.82105345e-02 -2.78699710e+01] [-7.99053323e-02 1.40414544e-03 9.96801468e-01 -1.23973107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.29, Y:-27.90, Z:-12.40 [[ 8.81013277e-01 4.67857156e-01 7.01803848e-02 1.49292121e+02] [-4.66293563e-01 8.83803579e-01 -3.82301823e-02 -2.78998001e+01] [-7.99119397e-02 9.56636522e-04 9.96801468e-01 -1.24014748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.35, Y:-27.93, Z:-12.41 [[ 8.79094697e-01 4.71453724e-01 7.01705047e-02 1.49347496e+02] [-4.69900101e-01 8.81890561e-01 -3.82483084e-02 -2.79299840e+01] [-7.99150133e-02 6.50757819e-04 9.96801468e-01 -1.24058902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.40, Y:-27.96, Z:-12.41 [[ 8.76413836e-01 4.76420383e-01 7.01598699e-02 1.49402583e+02] [-4.74881043e-01 8.79217590e-01 -3.82678063e-02 -2.79596106e+01] [-7.99173546e-02 2.20842655e-04 9.96801469e-01 -1.24100035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:149.46, Y:-27.99, Z:-12.42 [[ 8.74698478e-01 4.79564054e-01 7.01490672e-02 1.49456876e+02] [-4.78033203e-01 8.77506875e-01 -3.82875987e-02 -2.79893123e+01] [-7.99176448e-02 -4.34789872e-05 9.96801469e-01 -1.24187434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.51, Y:-28.02, Z:-12.42 [[ 8.74258723e-01 4.80366899e-01 7.01379173e-02 1.49510790e+02] [-4.78836990e-01 8.77067633e-01 -3.83080129e-02 -2.80176052e+01] [-7.99175985e-02 -9.35147259e-05 9.96801469e-01 -1.24207209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:-28.05, Z:-12.43 [[ 8.75758287e-01 4.77629091e-01 7.01275553e-02 1.49564967e+02] [-4.76088882e-01 8.78561563e-01 -3.83269726e-02 -2.80465465e+01] [-7.99174516e-02 1.78214444e-04 9.96801469e-01 -1.24319047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:-28.08, Z:-12.44 [[ 8.76121006e-01 4.76963969e-01 7.01238574e-02 1.49617295e+02] [-4.75421090e-01 8.78922813e-01 -3.83337372e-02 -2.80783514e+01] [-7.99172694e-02 2.46631667e-04 9.96801469e-01 -1.24368571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.67, Y:-28.11, Z:-12.44 [[ 8.77977663e-01 4.73539201e-01 7.01131166e-02 1.49672132e+02] [-4.71983825e-01 8.80772552e-01 -3.83533721e-02 -2.81060003e+01] [-7.99155338e-02 5.81147051e-04 9.96801470e-01 -1.24365562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:-28.13, Z:-12.44 [[ 8.80799162e-01 4.68271679e-01 7.01032897e-02 1.49727007e+02] [-4.66698162e-01 8.83583877e-01 -3.83713256e-02 -2.81349702e+01] [-7.99103416e-02 1.08035500e-03 9.96801470e-01 -1.24413731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.78, Y:-28.17, Z:-12.45 [[ 8.83204676e-01 4.63720176e-01 7.00935016e-02 1.49781605e+02] [-4.62130892e-01 8.85980422e-01 -3.83891974e-02 -2.81656512e+01] [-7.99033156e-02 1.51314623e-03 9.96801470e-01 -1.24457899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.84, Y:-28.19, Z:-12.45 [[ 8.86417973e-01 4.57549480e-01 7.00831695e-02 1.49836774e+02] [-4.55939387e-01 8.89181701e-01 -3.84080505e-02 -2.81947015e+01] [-7.98902554e-02 2.09190893e-03 9.96801470e-01 -1.24493838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.89, Y:-28.22, Z:-12.46 [[ 8.88536428e-01 4.53423528e-01 7.00722484e-02 1.49892525e+02] [-4.51799034e-01 8.91291717e-01 -3.84279648e-02 -2.82206959e+01] [-7.98789579e-02 2.48607241e-03 9.96801470e-01 -1.24563057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.95, Y:-28.25, Z:-12.46 [[ 8.89284325e-01 4.51956502e-01 7.00621836e-02 1.49948189e+02] [-4.50326021e-01 8.92036073e-01 -3.84463063e-02 -2.82477739e+01] [-7.98740533e-02 2.63887320e-03 9.96801471e-01 -1.24614705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.00, Y:-28.28, Z:-12.47 [[ 8.89050861e-01 4.52417080e-01 7.00524974e-02 1.50004003e+02] [-4.50786637e-01 8.91802631e-01 -3.84639473e-02 -2.82769749e+01] [-7.98747483e-02 2.61767576e-03 9.96801471e-01 -1.24653101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.06, Y:-28.30, Z:-12.47 [[ 8.87814799e-01 4.54839558e-01 7.00418373e-02 1.50060110e+02] [-4.53215094e-01 8.90570104e-01 -3.84833495e-02 -2.83033002e+01] [-7.98809160e-02 2.42206933e-03 9.96801471e-01 -1.24682507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.12, Y:-28.33, Z:-12.47 [[ 8.85335531e-01 4.59648206e-01 7.00323042e-02 1.50116518e+02] [-4.58037340e-01 8.88098808e-01 -3.85006900e-02 -2.83293213e+01] [-7.98923790e-02 2.00861858e-03 9.96801471e-01 -1.24721964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.17, Y:-28.36, Z:-12.48 [[ 8.82907825e-01 4.64295777e-01 7.00228832e-02 1.50173210e+02] [-4.62698101e-01 8.85678748e-01 -3.85178168e-02 -2.83572197e+01] [-7.99014392e-02 1.60822678e-03 9.96801472e-01 -1.24765667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.23, Y:-28.38, Z:-12.48 [[ 8.78860356e-01 4.71913968e-01 7.00120099e-02 1.50231333e+02] [-4.70338742e-01 8.81644102e-01 -3.85375706e-02 -2.83824460e+01] [-7.99120935e-02 9.39782327e-04 9.96801472e-01 -1.24824753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:-28.41, Z:-12.49 [[ 8.76200582e-01 4.76835806e-01 7.00010990e-02 1.50287767e+02] [-4.75274635e-01 8.78992235e-01 -3.85573794e-02 -2.84097696e+01] [-7.99159616e-02 5.14251476e-04 9.96801472e-01 -1.24882511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.34, Y:-28.44, Z:-12.49 [[ 8.73317191e-01 4.82097976e-01 6.99901759e-02 1.50343971e+02] [-4.80552039e-01 8.76117308e-01 -3.85771971e-02 -2.84363190e+01] [-7.99175932e-02 5.62076351e-05 9.96801472e-01 -1.24949259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.40, Y:-28.46, Z:-12.50 [[ 8.72213321e-01 4.84093700e-01 6.99800848e-02 1.50399961e+02] [-4.82552701e-01 8.75016159e-01 -3.85954941e-02 -2.84648828e+01] [-7.99175405e-02 -1.05574876e-04 9.96801473e-01 -1.25006208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.45, Y:-28.49, Z:-12.51 [[ 8.72197449e-01 4.84123877e-01 6.99691455e-02 1.50454745e+02] [-4.82581385e-01 8.74999466e-01 -3.86153156e-02 -2.84926077e+01] [-7.99175612e-02 -8.56273078e-05 9.96801473e-01 -1.25069553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.51, Y:-28.52, Z:-12.51 [[ 8.73580411e-01 4.81625372e-01 6.99590332e-02 1.50509459e+02] [-4.80073399e-01 8.76377187e-01 -3.86336272e-02 -2.85233240e+01] [-7.99174359e-02 1.64109085e-04 9.96801473e-01 -1.25112151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.56, Y:-28.55, Z:-12.52 [[ 8.75445424e-01 4.78228577e-01 6.99481072e-02 1.50564072e+02] [-4.76664173e-01 8.78235265e-01 -3.86533992e-02 -2.85544846e+01] [-7.99160546e-02 4.97184817e-04 9.96801473e-01 -1.25161268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.62, Y:-28.58, Z:-12.52 [[ 8.76204154e-01 4.76838640e-01 6.99370649e-02 1.50618976e+02] [-4.75268216e-01 8.78990610e-01 -3.86733683e-02 -2.85849910e+01] [-7.99149797e-02 6.46901856e-04 9.96801473e-01 -1.25211546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:-28.62, Z:-12.53 [[ 8.76923107e-01 4.75516777e-01 6.99261062e-02 1.50672984e+02] [-4.73940574e-01 8.79706298e-01 -3.86931727e-02 -2.86154411e+01] [-7.99136888e-02 7.90118312e-04 9.96801474e-01 -1.25268943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:-28.65, Z:-12.53 [[ 8.77332101e-01 4.74763246e-01 6.99159824e-02 1.50727321e+02] [-4.73183195e-01 8.80113110e-01 -3.87114573e-02 -2.86457438e+01] [-7.99127498e-02 8.79736184e-04 9.96801474e-01 -1.25326102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.78, Y:-28.68, Z:-12.54 [[ 8.78077480e-01 4.73384844e-01 6.99051419e-02 1.50782220e+02] [-4.71798871e-01 8.80855115e-01 -3.87310232e-02 -2.86766709e+01] [-7.99109812e-02 1.02767224e-03 9.96801474e-01 -1.25384919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.84, Y:-28.71, Z:-12.54 [[ 8.79024669e-01 4.71625298e-01 6.98942696e-02 1.50836635e+02] [-4.70032207e-01 8.81798227e-01 -3.87506336e-02 -2.87084684e+01] [-7.99084221e-02 1.21020513e-03 9.96801474e-01 -1.25433363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.89, Y:-28.74, Z:-12.55 [[ 8.79634936e-01 4.70487715e-01 6.98834036e-02 1.50891082e+02] [-4.68889481e-01 8.82405533e-01 -3.87702196e-02 -2.87394049e+01] [-7.99064140e-02 1.33604677e-03 9.96801475e-01 -1.25484548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.94, Y:-28.77, Z:-12.55 [[ 8.82325605e-01 4.65423845e-01 6.98725375e-02 1.50944262e+02] [-4.63808163e-01 8.85086064e-01 -3.87897929e-02 -2.87719482e+01] [-7.98969037e-02 1.81777426e-03 9.96801475e-01 -1.25531772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.00, Y:-28.80, Z:-12.56 [[ 8.85002779e-01 4.60314481e-01 6.98617235e-02 1.50997006e+02] [-4.58681329e-01 8.87752938e-01 -3.88092594e-02 -2.88048918e+01] [-7.98844144e-02 2.30203420e-03 9.96801475e-01 -1.25563076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:-28.84, Z:-12.56 [[ 8.86283412e-01 4.57845371e-01 6.98521953e-02 1.51050645e+02] [-4.56203209e-01 8.89028201e-01 -3.88264015e-02 -2.88370527e+01] [-7.98770598e-02 2.54439994e-03 9.96801475e-01 -1.25601794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.10, Y:-28.87, Z:-12.57 [[ 8.86382128e-01 4.57655898e-01 6.98412697e-02 1.51103990e+02] [-4.56011604e-01 8.89125639e-01 -3.88460447e-02 -2.88685864e+01] [-7.98757851e-02 2.58401033e-03 9.96801476e-01 -1.25669092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.16, Y:-28.90, Z:-12.57 [[ 8.84356029e-01 4.61559909e-01 6.98345445e-02 1.51157907e+02] [-4.59926775e-01 8.87106199e-01 -3.88581312e-02 -2.88999019e+01] [-7.98860127e-02 2.24564578e-03 9.96801476e-01 -1.25705711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.21, Y:-28.93, Z:-12.58 [[ 8.83130125e-01 4.63902811e-01 6.98238060e-02 1.51212802e+02] [-4.62275449e-01 8.85883714e-01 -3.88774174e-02 -2.89304230e+01] [-7.98911158e-02 2.05598721e-03 9.96801476e-01 -1.25755088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.27, Y:-28.96, Z:-12.58 [[ 8.78552689e-01 4.72515921e-01 6.98131577e-02 1.51267944e+02] [-4.70914044e-01 8.81321180e-01 -3.88965295e-02 -2.89593237e+01] [-7.99070440e-02 1.29665411e-03 9.96801476e-01 -1.25829759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.32, Y:-28.99, Z:-12.59 [[ 8.73320716e-01 4.82117749e-01 6.98097626e-02 1.51322809e+02] [-4.80545828e-01 8.76106325e-01 -3.89026220e-02 -2.89896046e+01] [-7.99164191e-02 4.27675518e-04 9.96801476e-01 -1.25890337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:-29.02, Z:-12.59 [[ 8.69484166e-01 4.89004499e-01 6.97988922e-02 1.51377603e+02] [-4.87453077e-01 8.72281243e-01 -3.89221158e-02 -2.90193600e+01] [-7.99173542e-02 -1.81521408e-04 9.96801477e-01 -1.25937725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:-29.05, Z:-12.60 [[ 8.67998357e-01 4.91638569e-01 6.97880270e-02 1.51431388e+02] [-4.90094069e-01 8.70799263e-01 -3.89415876e-02 -2.90499599e+01] [-7.99165489e-02 -4.01464114e-04 9.96801477e-01 -1.25990967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.48, Y:-29.08, Z:-12.60 [[ 8.66859424e-01 4.93644920e-01 6.97813206e-02 1.51484984e+02] [-4.92105935e-01 8.69663363e-01 -3.89536015e-02 -2.90827568e+01] [-7.99155054e-02 -5.72505507e-04 9.96801477e-01 -1.26021174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.54, Y:-29.11, Z:-12.61 [[ 8.66025788e-01 4.95107514e-01 6.97702200e-02 1.51538276e+02] [-4.93571664e-01 8.68831446e-01 -3.89734738e-02 -2.91145302e+01] [-7.99146208e-02 -6.84570151e-04 9.96801477e-01 -1.26076143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:-29.15, Z:-12.61 [[ 8.65290703e-01 4.96392532e-01 6.97599660e-02 1.51592416e+02] [-4.94859369e-01 8.68097830e-01 -3.89918193e-02 -2.91459896e+01] [-7.99137230e-02 -7.82114049e-04 9.96801477e-01 -1.26135949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:-29.18, Z:-12.62 [[ 8.63666432e-01 4.99214759e-01 6.97489764e-02 1.51645634e+02] [-4.97689182e-01 8.66477688e-01 -3.90114676e-02 -2.91795602e+01] [-7.99110322e-02 -1.02041603e-03 9.96801478e-01 -1.26202893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.70, Y:-29.21, Z:-12.63 [[ 8.62684205e-01 5.00911728e-01 6.97380981e-02 1.51697819e+02] [-4.99390111e-01 8.65497606e-01 -3.90309044e-02 -2.92127052e+01] [-7.99091947e-02 -1.15517181e-03 9.96801478e-01 -1.26264276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.75, Y:-29.25, Z:-12.63 [[ 8.62906287e-01 5.00530411e-01 6.97283836e-02 1.51749491e+02] [-4.99006148e-01 8.65718255e-01 -3.90482515e-02 -2.92467276e+01] [-7.99099720e-02 -1.09991042e-03 9.96801478e-01 -1.26331961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.80, Y:-29.28, Z:-12.64 [[ 8.64255535e-01 4.98198412e-01 6.97188160e-02 1.51802609e+02] [-4.96665184e-01 8.67062625e-01 -3.90653267e-02 -2.92806553e+01] [-7.99128633e-02 -8.64483780e-04 9.96801478e-01 -1.26375135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.85, Y:-29.31, Z:-12.64 [[ 8.67667412e-01 4.92233797e-01 6.97076172e-02 1.51853348e+02] [-4.90679666e-01 8.70462983e-01 -3.90852994e-02 -2.93141154e+01] [-7.99170057e-02 -2.91069800e-04 9.96801478e-01 -1.26410079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.91, Y:-29.34, Z:-12.64 [[ 8.70014867e-01 4.88073999e-01 6.96986645e-02 1.51909092e+02] [-4.86505223e-01 8.72802245e-01 -3.91012578e-02 -2.93439912e+01] [-7.99174581e-02 1.09911329e-04 9.96801479e-01 -1.26449032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:151.96, Y:-29.37, Z:-12.65 [[ 8.72048223e-01 4.84433201e-01 6.96876655e-02 1.51963676e+02] [-4.82851222e-01 8.74828130e-01 -3.91208508e-02 -2.93745537e+01] [-7.99161691e-02 4.66493986e-04 9.96801479e-01 -1.26503880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:-29.40, Z:-12.66 [[ 8.73353656e-01 4.82077333e-01 6.96766517e-02 1.52018608e+02] [-4.80486292e-01 8.76128386e-01 -3.91404573e-02 -2.94043114e+01] [-7.99144196e-02 7.04785492e-04 9.96801479e-01 -1.26557335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.07, Y:-29.43, Z:-12.66 [[ 8.75663642e-01 4.77870129e-01 6.96658094e-02 1.52074062e+02] [-4.76264223e-01 8.78429795e-01 -3.91597460e-02 -2.94330312e+01] [-7.99097955e-02 1.11143322e-03 9.96801479e-01 -1.26611298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.13, Y:-29.46, Z:-12.67 [[ 8.77908249e-01 4.73734372e-01 6.96624080e-02 1.52129670e+02] [-4.72114956e-01 8.80666514e-01 -3.91657960e-02 -2.94630075e+01] [-7.99035337e-02 1.49531068e-03 9.96801479e-01 -1.26663224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.19, Y:-29.49, Z:-12.67 [[ 8.81213645e-01 4.67558757e-01 6.96514283e-02 1.52185746e+02] [-4.65918473e-01 8.83959551e-01 -3.91853121e-02 -2.94904831e+01] [-7.98904812e-02 2.07874460e-03 9.96801480e-01 -1.26725640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:-29.52, Z:-12.68 [[ 8.84375548e-01 4.61550701e-01 6.96479773e-02 1.52241279e+02] [-4.59891285e-01 8.87109935e-01 -3.91914451e-02 -2.95197301e+01] [-7.98742515e-02 2.62945800e-03 9.96801480e-01 -1.26773851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:-29.55, Z:-12.68 [[ 8.85900887e-01 4.58617846e-01 6.96368419e-02 1.52295784e+02] [-4.56947827e-01 8.88628811e-01 -3.92112210e-02 -2.95488565e+01] [-7.98642697e-02 2.91685187e-03 9.96801480e-01 -1.26822762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.35, Y:-29.58, Z:-12.69 [[ 8.86613809e-01 4.57239647e-01 6.96265665e-02 1.52351878e+02] [-4.55563958e-01 8.89338254e-01 -3.92294582e-02 -2.95759339e+01] [-7.98588327e-02 3.06202516e-03 9.96801480e-01 -1.26877689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.41, Y:-29.60, Z:-12.69 [[ 8.85891437e-01 4.58639181e-01 6.96165444e-02 1.52408045e+02] [-4.56966402e-01 8.88617669e-01 -3.92472355e-02 -2.96047102e+01] [-7.98628113e-02 2.95636797e-03 9.96801480e-01 -1.26930648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.46, Y:-29.63, Z:-12.70 [[ 8.83725110e-01 4.62801141e-01 6.96062744e-02 1.52464362e+02] [-4.61139772e-01 8.86458310e-01 -3.92654412e-02 -2.96329890e+01] [-7.98751514e-02 2.60163482e-03 9.96801481e-01 -1.26974932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.52, Y:-29.66, Z:-12.70 [[ 8.81915652e-01 4.66241626e-01 6.95954662e-02 1.52520148e+02] [-4.64589413e-01 8.84654395e-01 -3.92845889e-02 -2.96621777e+01] [-7.98840456e-02 2.31237706e-03 9.96801481e-01 -1.27024855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.58, Y:-29.69, Z:-12.71 [[ 8.79315370e-01 4.71128934e-01 6.95845381e-02 1.52575474e+02] [-4.69490416e-01 8.82062328e-01 -3.93039362e-02 -2.96892854e+01] [-7.98951212e-02 1.89128150e-03 9.96801481e-01 -1.27066908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.63, Y:-29.72, Z:-12.71 [[ 8.78368558e-01 4.72893229e-01 6.95749249e-02 1.52630276e+02] [-4.71258881e-01 8.81118000e-01 -3.93209460e-02 -2.97194454e+01] [-7.98983278e-02 1.75048133e-03 9.96801481e-01 -1.27120199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.69, Y:-29.75, Z:-12.72 [[ 8.76496635e-01 4.76355425e-01 6.95640613e-02 1.52685539e+02] [-4.74730415e-01 8.79251605e-01 -3.93401558e-02 -2.97490777e+01] [-7.99042092e-02 1.45733856e-03 9.96801482e-01 -1.27176429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.74, Y:-29.78, Z:-12.72 [[ 8.75416313e-01 4.78339442e-01 6.95532748e-02 1.52740418e+02] [-4.76719162e-01 8.78174068e-01 -3.93592170e-02 -2.97790841e+01] [-7.99069482e-02 1.29832177e-03 9.96801482e-01 -1.27234866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.80, Y:-29.81, Z:-12.73 [[ 8.74660871e-01 4.79720957e-01 6.95425392e-02 1.52795185e+02] [-4.78103526e-01 8.77420297e-01 -3.93781763e-02 -2.98092101e+01] [-7.99085718e-02 1.19401682e-03 9.96801482e-01 -1.27282737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.85, Y:-29.84, Z:-12.73 [[ 8.75304024e-01 4.78548071e-01 6.95313576e-02 1.52848207e+02] [-4.76925375e-01 8.78060357e-01 -3.93979102e-02 -2.98387840e+01] [-7.99065226e-02 1.32388050e-03 9.96801482e-01 -1.27346686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:-29.87, Z:-12.74 [[ 8.76323108e-01 4.76680652e-01 6.95224191e-02 1.52902746e+02] [-4.75050833e-01 8.79075235e-01 -3.94136770e-02 -2.98703524e+01] [-7.99031742e-02 1.51243283e-03 9.96801482e-01 -1.27394350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:152.96, Y:-29.90, Z:-12.74 [[ 8.79390153e-01 4.71000133e-01 6.95113875e-02 1.52957385e+02] [-4.69351003e-01 8.82130753e-01 -3.94331232e-02 -2.99020952e+01] [-7.98911388e-02 2.05186085e-03 9.96801483e-01 -1.27436230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.01, Y:-29.93, Z:-12.75 [[ 8.83098043e-01 4.64012459e-01 6.95002505e-02 1.53010808e+02] [-4.62340108e-01 8.85824534e-01 -3.94527423e-02 -2.99340364e+01] [-7.98715910e-02 2.70788617e-03 9.96801483e-01 -1.27474088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.06, Y:-29.96, Z:-12.75 [[ 8.86708217e-01 4.57077260e-01 6.94904066e-02 1.53064033e+02] [-4.55382237e-01 8.89420672e-01 -3.94700732e-02 -2.99638443e+01] [-7.98470771e-02 3.35374140e-03 9.96801483e-01 -1.27526505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.12, Y:-29.99, Z:-12.76 [[ 8.88095878e-01 4.54375981e-01 6.94850947e-02 1.53118306e+02] [-4.52671981e-01 8.90802702e-01 -3.94794225e-02 -2.99935842e+01] [-7.98360114e-02 3.60755695e-03 9.96801483e-01 -1.27573324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:-30.02, Z:-12.76 [[ 8.88174932e-01 4.54222476e-01 6.94782867e-02 1.53174479e+02] [-4.52517073e-01 8.90880872e-01 -3.94913999e-02 -3.00222758e+01] [-7.98347581e-02 3.63516049e-03 9.96801483e-01 -1.27604020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.23, Y:-30.05, Z:-12.77 [[ 8.87189961e-01 4.56145085e-01 6.94667833e-02 1.53230639e+02] [-4.54443967e-01 8.89898597e-01 -3.95116245e-02 -3.00504937e+01] [-7.98414263e-02 3.48555607e-03 9.96801484e-01 -1.27651670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.29, Y:-30.08, Z:-12.77 [[ 8.85063474e-01 4.60259349e-01 6.94548639e-02 1.53286841e+02] [-4.58569185e-01 8.87778958e-01 -3.95325659e-02 -3.00751666e+01] [-7.98557997e-02 3.13896973e-03 9.96801484e-01 -1.27717049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.34, Y:-30.10, Z:-12.78 [[ 8.83748774e-01 4.62780130e-01 6.94453450e-02 1.53343583e+02] [-4.61096401e-01 8.86468253e-01 -3.95492803e-02 -3.01026656e+01] [-7.98637147e-02 2.93062935e-03 9.96801484e-01 -1.27765097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.40, Y:-30.13, Z:-12.78 [[ 8.82022415e-01 4.66063658e-01 6.94343287e-02 1.53399936e+02] [-4.64388535e-01 8.84747203e-01 -3.95686115e-02 -3.01292372e+01] [-7.98733199e-02 2.65589608e-03 9.96801484e-01 -1.27784505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.46, Y:-30.15, Z:-12.79 [[ 8.82262101e-01 4.65611304e-01 6.94240490e-02 1.53455884e+02] [-4.63933368e-01 8.84985157e-01 -3.95866392e-02 -3.01534447e+01] [-7.98712396e-02 2.71765862e-03 9.96801484e-01 -1.27875049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.51, Y:-30.18, Z:-12.79 [[ 8.82099356e-01 4.65920369e-01 6.94185573e-02 1.53511693e+02] [-4.64242631e-01 8.84822533e-01 -3.95962672e-02 -3.01811928e+01] [-7.98718111e-02 2.70078807e-03 9.96801485e-01 -1.27902035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.57, Y:-30.21, Z:-12.80 [[ 8.81610463e-01 4.66846298e-01 6.94083973e-02 1.53568231e+02] [-4.65170020e-01 8.84334540e-01 -3.96140687e-02 -3.02065773e+01] [-7.98739244e-02 2.63747189e-03 9.96801485e-01 -1.28003285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:-30.24, Z:-12.81 [[ 8.81069341e-01 4.67868336e-01 6.93976766e-02 1.53624393e+02] [-4.66193741e-01 8.83794452e-01 -3.96328408e-02 -3.02351860e+01] [-7.98762328e-02 2.56651838e-03 9.96801485e-01 -1.28051534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.68, Y:-30.26, Z:-12.80 [[ 8.79504584e-01 4.70804857e-01 6.93864034e-02 1.53680166e+02] [-4.69137808e-01 8.82234318e-01 -3.96525673e-02 -3.02627857e+01] [-7.98836876e-02 2.32282947e-03 9.96801485e-01 -1.28042069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.74, Y:-30.29, Z:-12.82 [[ 8.78893660e-01 4.71945834e-01 6.93762479e-02 1.53735869e+02] [-4.70280928e-01 8.81624701e-01 -3.96703276e-02 -3.02880318e+01] [-7.98860596e-02 2.23967316e-03 9.96801485e-01 -1.28153401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.79, Y:-30.32, Z:-12.81 [[ 8.76899739e-01 4.75641181e-01 6.93708551e-02 1.53789592e+02] [-4.73987041e-01 8.79637313e-01 -3.96797556e-02 -3.03189161e+01] [-7.98945184e-02 1.91428099e-03 9.96801485e-01 -1.28123334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.84, Y:-30.34, Z:-12.83 [[ 8.78361159e-01 4.72937267e-01 6.93686884e-02 1.53844956e+02] [-4.71274402e-01 8.81093443e-01 -3.96835431e-02 -3.03427969e+01] [-7.98881229e-02 2.16479585e-03 9.96801485e-01 -1.28271622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.90, Y:-30.37, Z:-12.83 [[ 8.78864216e-01 4.72003149e-01 6.93593311e-02 1.53901076e+02] [-4.70336090e-01 8.81593943e-01 -3.96998912e-02 -3.03714027e+01] [-7.98852398e-02 2.26861713e-03 9.96801486e-01 -1.28333352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:153.96, Y:-30.40, Z:-12.84 [[ 8.79294551e-01 4.71202643e-01 6.93481216e-02 1.53956564e+02] [-4.69531557e-01 8.82021814e-01 -3.97194624e-02 -3.04010646e+01] [-7.98824717e-02 2.36397535e-03 9.96801486e-01 -1.28388996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.01, Y:-30.43, Z:-12.84 [[ 8.80188388e-01 4.69532508e-01 6.93370487e-02 1.54012605e+02] [-4.67854727e-01 8.82911538e-01 -3.97387827e-02 -3.04305330e+01] [-7.98771306e-02 2.53794909e-03 9.96801486e-01 -1.28425312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.07, Y:-30.46, Z:-12.85 [[ 8.81220802e-01 4.67593718e-01 6.93254117e-02 1.54067867e+02] [-4.65908354e-01 8.83939264e-01 -3.97590735e-02 -3.04580736e+01] [-7.98705464e-02 2.73723425e-03 9.96801486e-01 -1.28497255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.12, Y:-30.49, Z:-12.86 [[ 8.83030380e-01 4.64168429e-01 6.93182351e-02 1.54123587e+02] [-4.62471541e-01 8.85741664e-01 -3.97715817e-02 -3.04879719e+01] [-7.98587614e-02 3.06180385e-03 9.96801487e-01 -1.28550796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.18, Y:-30.52, Z:-12.86 [[ 8.84042929e-01 4.62238747e-01 6.93068552e-02 1.54177496e+02] [-4.60534391e-01 8.86749525e-01 -3.97914027e-02 -3.05177835e+01] [-7.98509490e-02 3.25911785e-03 9.96801487e-01 -1.28604475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:-30.55, Z:-12.86 [[ 8.85347237e-01 4.59736665e-01 6.92998462e-02 1.54233604e+02] [-4.58023708e-01 8.88048397e-01 -3.98036057e-02 -3.05456971e+01] [-7.98407942e-02 3.49903976e-03 9.96801487e-01 -1.28636692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:-30.58, Z:-12.87 [[ 8.84876825e-01 4.60643093e-01 6.92888637e-02 1.54288385e+02] [-4.58931410e-01 8.87578792e-01 -3.98227144e-02 -3.05755151e+01] [-7.98433843e-02 3.43936114e-03 9.96801487e-01 -1.28676631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.34, Y:-30.60, Z:-12.87 [[ 8.83693545e-01 4.62910680e-01 6.92778497e-02 1.54344136e+02] [-4.61204434e-01 8.86398949e-01 -3.98418658e-02 -3.06046961e+01] [-7.98510384e-02 3.25674825e-03 9.96801487e-01 -1.28725380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.40, Y:-30.63, Z:-12.88 [[ 8.82970675e-01 4.64289729e-01 6.92664030e-02 1.54399408e+02] [-4.62586152e-01 8.85677759e-01 -3.98617565e-02 -3.06348678e+01] [-7.98551167e-02 3.15508325e-03 9.96801488e-01 -1.28771597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.46, Y:-30.66, Z:-12.88 [[ 8.79293548e-01 4.71218197e-01 6.92550898e-02 1.54457024e+02] [-4.69534413e-01 8.82012987e-01 -3.98814022e-02 -3.06601612e+01] [-7.98767311e-02 2.54981174e-03 9.96801488e-01 -1.28845002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.51, Y:-30.69, Z:-12.89 [[ 8.77597824e-01 4.74370474e-01 6.92438620e-02 1.54512309e+02] [-4.72694923e-01 8.80322344e-01 -3.99008869e-02 -3.06896080e+01] [-7.98847215e-02 2.28570953e-03 9.96801488e-01 -1.28902017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.57, Y:-30.72, Z:-12.90 [[ 8.76075177e-01 4.77178330e-01 6.92324040e-02 1.54568460e+02] [-4.75509943e-01 8.78804089e-01 -3.99207579e-02 -3.07183678e+01] [-7.98910403e-02 2.05288853e-03 9.96801488e-01 -1.28959397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.62, Y:-30.75, Z:-12.90 [[ 8.75551992e-01 4.78139257e-01 6.92210990e-02 1.54623788e+02] [-4.76472318e-01 8.78281788e-01 -3.99403507e-02 -3.07481070e+01] [-7.98926803e-02 1.98791615e-03 9.96801489e-01 -1.29012691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.68, Y:-30.78, Z:-12.91 [[ 8.76022181e-01 4.77278875e-01 6.92099295e-02 1.54678238e+02] [-4.75607727e-01 8.78749402e-01 -3.99596963e-02 -3.07784866e+01] [-7.98901031e-02 2.08880304e-03 9.96801489e-01 -1.29054113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.73, Y:-30.81, Z:-12.91 [[ 8.76905117e-01 4.75656368e-01 6.91985212e-02 1.54732366e+02] [-4.73978618e-01 8.79628282e-01 -3.99794424e-02 -3.08094673e+01] [-7.98854527e-02 2.25955819e-03 9.96801489e-01 -1.29097234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.79, Y:-30.84, Z:-12.91 [[ 8.77997840e-01 4.73637975e-01 6.91871411e-02 1.54786876e+02] [-4.71952416e-01 8.80716178e-01 -3.99991269e-02 -3.08396593e+01] [-7.98793400e-02 2.46610864e-03 9.96801489e-01 -1.29149533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.84, Y:-30.87, Z:-12.92 [[ 8.78078753e-01 4.73489616e-01 6.91757707e-02 1.54841481e+02] [-4.71802051e-01 8.80795846e-01 -4.00187815e-02 -3.08686045e+01] [-7.98782090e-02 2.50237127e-03 9.96801490e-01 -1.29206255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.90, Y:-30.90, Z:-12.93 [[ 8.77457938e-01 4.74640635e-01 6.91652724e-02 1.54896335e+02] [-4.72955207e-01 8.80176356e-01 -4.00369179e-02 -3.08990806e+01] [-7.98807855e-02 2.41863573e-03 9.96801490e-01 -1.29256556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:154.95, Y:-30.93, Z:-12.92 [[ 8.75614666e-01 4.78034175e-01 6.91540609e-02 1.54949930e+02] [-4.76357756e-01 8.78338649e-01 -4.00562736e-02 -3.09302566e+01] [-7.98889522e-02 2.13178737e-03 9.96801490e-01 -1.29183683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.00, Y:-30.96, Z:-12.94 [[ 8.76782606e-01 4.75888826e-01 6.91526407e-02 1.55003925e+02] [-4.74205549e-01 8.79502357e-01 -4.00587253e-02 -3.09553630e+01] [-7.98834102e-02 2.33022760e-03 9.96801490e-01 -1.29363587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.06, Y:-30.99, Z:-12.94 [[ 8.76741239e-01 4.75965644e-01 6.91484279e-02 1.55058766e+02] [-4.74282033e-01 8.79460783e-01 -4.00659961e-02 -3.09858798e+01] [-7.98833682e-02 2.33165406e-03 9.96801490e-01 -1.29417181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:-31.01, Z:-12.95 [[ 8.75346500e-01 4.78527490e-01 6.91371577e-02 1.55113083e+02] [-4.76850305e-01 8.78070011e-01 -4.00854342e-02 -3.10145621e+01] [-7.98892471e-02 2.12056977e-03 9.96801490e-01 -1.29466194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.17, Y:-31.04, Z:-12.95 [[ 8.72854636e-01 4.83058794e-01 6.91302088e-02 1.55168438e+02] [-4.81394801e-01 8.75586228e-01 -4.00974146e-02 -3.10446849e+01] [-7.98988675e-02 1.72029108e-03 9.96801491e-01 -1.29526227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:-31.07, Z:-12.96 [[ 8.66846985e-01 4.93759895e-01 6.91192435e-02 1.55223731e+02] [-4.92128126e-01 8.69597947e-01 -4.01163075e-02 -3.10745611e+01] [-7.99137761e-02 7.59176457e-04 9.96801491e-01 -1.29562067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:-31.11, Z:-12.96 [[ 8.63202731e-01 5.00105127e-01 6.91079373e-02 1.55277586e+02] [-4.98492022e-01 8.65964678e-01 -4.01357753e-02 -3.11054440e+01] [-7.99171396e-02 1.95555438e-04 9.96801491e-01 -1.29609774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:-31.14, Z:-12.97 [[ 8.61363433e-01 5.03267897e-01 6.90974689e-02 1.55330555e+02] [-5.01663488e-01 8.64130441e-01 -4.01537895e-02 -3.11378133e+01] [-7.99173394e-02 -7.66712083e-05 9.96801491e-01 -1.29659725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:155.38, Y:-31.17, Z:-12.96 [[ 8.59412474e-01 5.06593645e-01 6.90874679e-02 1.55382282e+02] [-5.04998561e-01 8.62184867e-01 -4.01709896e-02 -3.11715825e+01] [-7.99165374e-02 -3.65622337e-04 9.96801491e-01 -1.29615034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.43, Y:-31.20, Z:-12.98 [[ 8.58636172e-01 5.07908507e-01 6.90859781e-02 1.55433794e+02] [-5.06317462e-01 8.61410885e-01 -4.01735515e-02 -3.12022527e+01] [-7.99159022e-02 -4.84972614e-04 9.96801491e-01 -1.29755668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.49, Y:-31.24, Z:-12.98 [[ 8.58056114e-01 5.08889121e-01 6.90765355e-02 1.55486396e+02] [-5.07299941e-01 8.60831895e-01 -4.01897811e-02 -3.12375419e+01] [-7.99154274e-02 -5.57434994e-04 9.96801492e-01 -1.29802038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.54, Y:-31.27, Z:-12.99 [[ 8.58434972e-01 5.08251261e-01 6.90655735e-02 1.55537269e+02] [-5.06658504e-01 8.61208702e-01 -4.02086104e-02 -3.12725691e+01] [-7.99159499e-02 -4.76182759e-04 9.96801492e-01 -1.29857684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.59, Y:-31.31, Z:-12.99 [[ 8.60253976e-01 5.05167702e-01 6.90556976e-02 1.55586933e+02] [-5.03563641e-01 8.63021184e-01 -4.02255646e-02 -3.13076500e+01] [-7.99171859e-02 -1.69736609e-04 9.96801492e-01 -1.29920581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.64, Y:-31.34, Z:-13.00 [[ 8.63393099e-01 4.99784378e-01 6.90502211e-02 1.55637943e+02] [-4.98162311e-01 8.66149791e-01 -4.02349632e-02 -3.13449289e+01] [-7.99166406e-02 3.40371830e-04 9.96801492e-01 -1.29961722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:-31.38, Z:-13.00 [[ 8.66351014e-01 4.94640820e-01 6.90389665e-02 1.55688937e+02] [-4.93000849e-01 8.69097093e-01 -4.02542657e-02 -3.13799277e+01] [-7.99129680e-02 8.38054815e-04 9.96801492e-01 -1.30020174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.74, Y:-31.42, Z:-13.00 [[ 8.70761048e-01 4.86836498e-01 6.90320341e-02 1.55739213e+02] [-4.85170977e-01 8.73491706e-01 -4.02661506e-02 -3.14180841e+01] [-7.99019409e-02 1.56985604e-03 9.96801492e-01 -1.30009626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.79, Y:-31.45, Z:-13.01 [[ 8.74080150e-01 4.80853293e-01 6.90217573e-02 1.55788694e+02] [-4.79167695e-01 8.76798460e-01 -4.02837588e-02 -3.14529496e+01] [-7.98887485e-02 2.13823754e-03 9.96801493e-01 -1.30089773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.84, Y:-31.49, Z:-13.01 [[ 8.74992180e-01 4.79191906e-01 6.90203046e-02 1.55841801e+02] [-4.77500951e-01 8.77707161e-01 -4.02862475e-02 -3.14868272e+01] [-7.98844593e-02 2.29289047e-03 9.96801493e-01 -1.30127915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.89, Y:-31.52, Z:-13.02 [[ 8.74614113e-01 4.79883264e-01 6.90087461e-02 1.55894411e+02] [-4.78192895e-01 8.77329458e-01 -4.03060371e-02 -3.15200973e+01] [-7.98855985e-02 2.25273681e-03 9.96801493e-01 -1.30168155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.95, Y:-31.55, Z:-13.02 [[ 8.73726636e-01 4.81498733e-01 6.89980847e-02 1.55948547e+02] [-4.79811946e-01 8.76444208e-01 -4.03242796e-02 -3.15518875e+01] [-7.98890612e-02 2.12629187e-03 9.96801493e-01 -1.30220754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.00, Y:-31.58, Z:-13.03 [[ 8.73187615e-01 4.82477185e-01 6.89866305e-02 1.56001468e+02] [-4.80791897e-01 8.75906116e-01 -4.03438659e-02 -3.15823614e+01] [-7.98908065e-02 2.05955115e-03 9.96801493e-01 -1.30289607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.06, Y:-31.61, Z:-13.03 [[ 8.72875637e-01 4.83042680e-01 6.89774738e-02 1.56055669e+02] [-4.81357917e-01 8.75594464e-01 -4.03595156e-02 -3.16143217e+01] [-7.98916627e-02 2.02598478e-03 9.96801494e-01 -1.30335085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.11, Y:-31.65, Z:-13.03 [[ 8.71731902e-01 4.85105337e-01 6.89659600e-02 1.56109033e+02] [-4.83425454e-01 8.74453745e-01 -4.03791806e-02 -3.16460861e+01] [-7.98956981e-02 1.85991943e-03 9.96801494e-01 -1.30349062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:-31.67, Z:-13.04 [[ 8.70279471e-01 4.87707658e-01 6.89556568e-02 1.56162095e+02] [-4.86034521e-01 8.73005467e-01 -4.03967679e-02 -3.16743760e+01] [-7.99004784e-02 1.64164822e-03 9.96801494e-01 -1.30435466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.22, Y:-31.71, Z:-13.05 [[ 8.68782162e-01 4.90371063e-01 6.89476327e-02 1.56215920e+02] [-4.88705197e-01 8.71512607e-01 -4.04104585e-02 -3.17058983e+01] [-7.99048506e-02 1.41281907e-03 9.96801494e-01 -1.30487275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:-31.74, Z:-13.05 [[ 8.68553488e-01 4.90777599e-01 6.89361143e-02 1.56269060e+02] [-4.89111453e-01 8.71283762e-01 -4.04300981e-02 -3.17369324e+01] [-7.99051035e-02 1.39825971e-03 9.96801494e-01 -1.30544013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:-31.77, Z:-13.06 [[ 8.70183097e-01 4.87883357e-01 6.89290119e-02 1.56322960e+02] [-4.86207173e-01 8.72907219e-01 -4.04422034e-02 -3.17689276e+01] [-7.98997100e-02 1.67834179e-03 9.96801495e-01 -1.30589572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:-31.80, Z:-13.06 [[ 8.72316316e-01 4.84060495e-01 6.89179288e-02 1.56376903e+02] [-4.82370884e-01 8.75032131e-01 -4.04610814e-02 -3.18013013e+01] [-7.98910132e-02 2.05085923e-03 9.96801495e-01 -1.30646105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.43, Y:-31.83, Z:-13.07 [[ 8.73748298e-01 4.81472502e-01 6.89067597e-02 1.56430854e+02] [-4.79773350e-01 8.76458153e-01 -4.04800940e-02 -3.18331433e+01] [-7.98839435e-02 2.30978629e-03 9.96801495e-01 -1.30692160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.48, Y:-31.86, Z:-13.07 [[ 8.75370866e-01 4.78517797e-01 6.88953231e-02 1.56484090e+02] [-4.76807970e-01 8.78073998e-01 -4.04995492e-02 -3.18640110e+01] [-7.98749469e-02 2.60228632e-03 9.96801495e-01 -1.30748388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.54, Y:-31.89, Z:-13.08 [[ 8.75458147e-01 4.78359615e-01 6.88847690e-02 1.56537977e+02] [-4.76647890e-01 8.78160077e-01 -4.05174926e-02 -3.18944661e+01] [-7.98737862e-02 2.63758918e-03 9.96801495e-01 -1.30822796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.59, Y:-31.93, Z:-13.09 [[ 8.74997429e-01 4.79203218e-01 6.88750720e-02 1.56592477e+02] [-4.77492803e-01 8.77700188e-01 -4.05339696e-02 -3.19255941e+01] [-7.98756724e-02 2.57976794e-03 9.96801496e-01 -1.30867847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.65, Y:-31.96, Z:-13.09 [[ 8.73606540e-01 4.81735760e-01 6.88641439e-02 1.56647822e+02] [-4.80031719e-01 8.76313324e-01 -4.05525272e-02 -3.19557968e+01] [-7.98821693e-02 2.36997964e-03 9.96801496e-01 -1.30901579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.70, Y:-31.99, Z:-13.10 [[ 8.71557911e-01 4.85433986e-01 6.88523967e-02 1.56702340e+02] [-4.83739859e-01 8.74270910e-01 -4.05724625e-02 -3.19861516e+01] [-7.98908997e-02 2.05460195e-03 9.96801496e-01 -1.30952892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.76, Y:-32.02, Z:-13.10 [[ 8.69003573e-01 4.89993605e-01 6.88408136e-02 1.56756520e+02] [-4.88312160e-01 8.71724449e-01 -4.05921065e-02 -3.20155111e+01] [-7.99000929e-02 1.65887920e-03 9.96801496e-01 -1.30985407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.81, Y:-32.05, Z:-13.10 [[ 8.68795200e-01 4.90363750e-01 6.88352620e-02 1.56810838e+02] [-4.88682719e-01 8.71516332e-01 -4.06015186e-02 -3.20478025e+01] [-7.99005680e-02 1.63580151e-03 9.96801496e-01 -1.31027949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:-32.08, Z:-13.11 [[ 8.68957864e-01 4.90077061e-01 6.88237234e-02 1.56864976e+02] [-4.88393585e-01 8.71677483e-01 -4.06210684e-02 -3.20800517e+01] [-7.98995438e-02 1.68493187e-03 9.96801497e-01 -1.31073746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:-32.11, Z:-13.11 [[ 8.69421245e-01 4.89256160e-01 6.88121222e-02 1.56918035e+02] [-4.87568562e-01 8.72138309e-01 -4.06407114e-02 -3.21116247e+01] [-7.98974062e-02 1.78327045e-03 9.96801497e-01 -1.31130031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.97, Y:-32.14, Z:-13.12 [[ 8.70002612e-01 4.88223128e-01 6.88014011e-02 1.56972272e+02] [-4.86530871e-01 8.72716775e-01 -4.06588531e-02 -3.21440693e+01] [-7.98947294e-02 1.89930283e-03 9.96801497e-01 -1.31179890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.03, Y:-32.18, Z:-13.12 [[ 8.70354843e-01 4.87596544e-01 6.87899524e-02 1.57026190e+02] [-4.85900803e-01 8.73066831e-01 -4.06782138e-02 -3.21768161e+01] [-7.98927823e-02 1.97938726e-03 9.96801497e-01 -1.31232580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.08, Y:-32.21, Z:-13.13 [[ 8.71465331e-01 4.85610645e-01 6.87784753e-02 1.57079245e+02] [-4.83907196e-01 8.74172483e-01 -4.06976100e-02 -3.22097962e+01] [-7.98874432e-02 2.18415705e-03 9.96801498e-01 -1.31289757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.13, Y:-32.24, Z:-13.13 [[ 8.71766145e-01 4.85072053e-01 6.87669349e-02 1.57132890e+02] [-4.83365395e-01 8.74471276e-01 -4.07171006e-02 -3.22420657e+01] [-7.98854369e-02 2.25623320e-03 9.96801498e-01 -1.31336272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.18, Y:-32.28, Z:-13.13 [[ 8.69587094e-01 4.88969321e-01 6.87552905e-02 1.57184290e+02] [-4.87273235e-01 8.72298866e-01 -4.07367540e-02 -3.22774535e+01] [-7.98941849e-02 1.92154270e-03 9.96801498e-01 -1.31294590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.24, Y:-32.30, Z:-13.14 [[ 8.69889481e-01 4.88431583e-01 6.87523107e-02 1.57237468e+02] [-4.86733424e-01 8.72599955e-01 -4.07417825e-02 -3.23039829e+01] [-7.98928365e-02 1.97680042e-03 9.96801498e-01 -1.31424776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:-32.34, Z:-13.14 [[ 8.67003643e-01 4.93536021e-01 6.87523107e-02 1.57288569e+02] [-4.91853822e-01 8.69724051e-01 -4.07417825e-02 -3.23384854e+01] [-7.99030754e-02 1.50718700e-03 9.96801498e-01 -1.31396534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.34, Y:-32.37, Z:-13.15 [[ 8.62366604e-01 5.01594732e-01 6.87500148e-02 1.57342083e+02] [-4.99937651e-01 8.65102385e-01 -4.07456564e-02 -3.23666408e+01] [-7.99136084e-02 7.66972468e-04 9.96801498e-01 -1.31532673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.40, Y:-32.40, Z:-13.16 [[ 8.59116251e-01 5.07143043e-01 6.87400963e-02 1.57395766e+02] [-5.05502292e-01 8.61861857e-01 -4.07623825e-02 -3.23990393e+01] [-7.99168258e-02 2.71349006e-04 9.96801498e-01 -1.31584285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:-32.43, Z:-13.16 [[ 8.56558602e-01 5.11452602e-01 6.87284331e-02 1.57448691e+02] [-5.09824088e-01 8.59311483e-01 -4.07820381e-02 -3.24321715e+01] [-7.99172113e-02 -1.07205220e-04 9.96801499e-01 -1.31618440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.50, Y:-32.47, Z:-13.17 [[ 8.54185289e-01 5.15407936e-01 6.87179128e-02 1.57499711e+02] [-5.13790743e-01 8.56944836e-01 -4.07997573e-02 -3.24669186e+01] [-7.99159792e-02 -4.56074968e-04 9.96801499e-01 -1.31661033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.55, Y:-32.50, Z:-13.17 [[ 8.52640240e-01 5.17961316e-01 6.87073234e-02 1.57549437e+02] [-5.16350951e-01 8.55403776e-01 -4.08175821e-02 -3.25041358e+01] [-7.99144325e-02 -6.74378769e-04 9.96801499e-01 -1.31717741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:-32.54, Z:-13.18 [[ 8.53323635e-01 5.16835673e-01 6.86997902e-02 1.57601645e+02] [-5.15220642e-01 8.56084447e-01 -4.08302574e-02 -3.25379124e+01] [-7.99153554e-02 -5.54126389e-04 9.96801499e-01 -1.31787309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.65, Y:-32.58, Z:-13.18 [[ 8.52159981e-01 5.18752832e-01 6.86940046e-02 1.57649236e+02] [-5.17143228e-01 8.54923960e-01 -4.08399889e-02 -3.25779491e+01] [-7.99140103e-02 -7.22435181e-04 9.96801499e-01 -1.31832916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.70, Y:-32.62, Z:-13.19 [[ 8.52692571e-01 5.17877737e-01 6.86879126e-02 1.57699173e+02] [-5.16264471e-01 8.55454414e-01 -4.08502324e-02 -3.26168109e+01] [-7.99148039e-02 -6.28439215e-04 9.96801499e-01 -1.31884019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.75, Y:-32.65, Z:-13.19 [[ 8.53692029e-01 5.16230047e-01 6.86764791e-02 1.57749022e+02] [-5.14609905e-01 8.56449844e-01 -4.08694451e-02 -3.26533705e+01] [-7.99159953e-02 -4.51676897e-04 9.96801500e-01 -1.31938901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.80, Y:-32.69, Z:-13.20 [[ 8.55523840e-01 5.13189930e-01 6.86662589e-02 1.57799449e+02] [-5.11558609e-01 8.58275058e-01 -4.08866092e-02 -3.26906566e+01] [-7.99171334e-02 -1.47346993e-04 9.96801500e-01 -1.31993621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.85, Y:-32.73, Z:-13.20 [[ 8.57853178e-01 5.09287116e-01 6.86626435e-02 1.57849950e+02] [-5.07642793e-01 8.60596644e-01 -4.08926799e-02 -3.27287562e+01] [-7.99169555e-02 2.23819245e-04 9.96801500e-01 -1.32038998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:-32.77, Z:-13.21 [[ 8.61828525e-01 5.02532233e-01 6.86509111e-02 1.57897973e+02] [-5.00864841e-01 8.64558031e-01 -4.09123668e-02 -3.27679780e+01] [-7.99124796e-02 8.74617116e-04 9.96801500e-01 -1.32083812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.95, Y:-32.81, Z:-13.21 [[ 8.64604313e-01 4.97742826e-01 6.86400800e-02 1.57947592e+02] [-4.96058873e-01 8.67323634e-01 -4.09305305e-02 -3.28070740e+01] [-7.99060415e-02 1.33919249e-03 9.96801500e-01 -1.32112424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.00, Y:-32.84, Z:-13.22 [[ 8.64796645e-01 4.97410214e-01 6.86282855e-02 1.57998288e+02] [-4.95723647e-01 8.67514345e-01 -4.09502969e-02 -3.28427854e+01] [-7.99051181e-02 1.39301543e-03 9.96801501e-01 -1.32162361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.05, Y:-32.88, Z:-13.22 [[ 8.63068756e-01 5.00403811e-01 6.86174030e-02 1.58049775e+02] [-4.98725222e-01 8.65791391e-01 -4.09685238e-02 -3.28786919e+01] [-7.99091622e-02 1.13742328e-03 9.96801501e-01 -1.32207588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.10, Y:-32.91, Z:-13.23 [[ 8.60835732e-01 5.04237126e-01 6.86058567e-02 1.58101737e+02] [-5.02569122e-01 8.63564863e-01 -4.09878501e-02 -3.29141755e+01] [-7.99132030e-02 8.04620703e-04 9.96801501e-01 -1.32261229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:-32.95, Z:-13.23 [[ 8.59412957e-01 5.06659849e-01 6.85942184e-02 1.58154177e+02] [-5.04997986e-01 8.62145831e-01 -4.10073180e-02 -3.29494925e+01] [-7.99149810e-02 6.02278272e-04 9.96801501e-01 -1.32313030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:-32.99, Z:-13.24 [[ 8.57457454e-01 5.09963850e-01 6.85826990e-02 1.58206002e+02] [-5.08310977e-01 8.60195775e-01 -4.10265745e-02 -3.29850963e+01] [-7.99166178e-02 3.17203383e-04 9.96801502e-01 -1.32361711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.26, Y:-33.02, Z:-13.24 [[ 8.55873948e-01 5.12618543e-01 6.85712440e-02 1.58257125e+02] [-5.10972630e-01 8.58616458e-01 -4.10457114e-02 -3.30195306e+01] [-7.99171914e-02 9.19262352e-05 9.96801502e-01 -1.32424747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.31, Y:-33.05, Z:-13.25 [[ 8.54934390e-01 5.14185319e-01 6.85612648e-02 1.58309635e+02] [-5.12543096e-01 8.57679110e-01 -4.10623736e-02 -3.30544923e+01] [-7.99172342e-02 -3.49676384e-05 9.96801502e-01 -1.32471615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.36, Y:-33.09, Z:-13.25 [[ 8.54432354e-01 5.15020676e-01 6.85496638e-02 1.58362869e+02] [-5.13379583e-01 8.57177750e-01 -4.10817312e-02 -3.30872089e+01] [-7.99171876e-02 -9.04375322e-05 9.96801502e-01 -1.32513841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.42, Y:-33.12, Z:-13.26 [[ 8.55000570e-01 5.14078370e-01 6.85379830e-02 1.58416123e+02] [-5.12432690e-01 8.57743219e-01 -4.11012095e-02 -3.31190093e+01] [-7.99172329e-02 2.04545177e-05 9.96801503e-01 -1.32574279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.47, Y:-33.15, Z:-13.26 [[ 8.56847405e-01 5.10995561e-01 6.85278109e-02 1.58469734e+02] [-5.09338657e-01 8.59583288e-01 -4.11181624e-02 -3.31506785e+01] [-7.99165595e-02 3.28127561e-04 9.96801503e-01 -1.32623866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.52, Y:-33.18, Z:-13.27 [[ 8.59216673e-01 5.07003178e-01 6.85163303e-02 1.58523314e+02] [-5.05332037e-01 8.61943882e-01 -4.11372840e-02 -3.31826050e+01] [-7.99139654e-02 7.22343489e-04 9.96801503e-01 -1.32667883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.58, Y:-33.21, Z:-13.27 [[ 8.62884683e-01 5.00736589e-01 6.85046868e-02 1.58577109e+02] [-4.99044107e-01 8.65598700e-01 -4.11566645e-02 -3.32127140e+01] [-7.99062156e-02 1.32659521e-03 9.96801503e-01 -1.32723241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:-33.24, Z:-13.28 [[ 8.66248149e-01 4.94896681e-01 6.84939448e-02 1.58631802e+02] [-4.93184493e-01 8.68949776e-01 -4.11745338e-02 -3.32427370e+01] [-7.98949381e-02 1.88721229e-03 9.96801503e-01 -1.32787612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.69, Y:-33.27, Z:-13.28 [[ 8.68239195e-01 4.91395732e-01 6.84904009e-02 1.58686037e+02] [-4.89672187e-01 8.70933592e-01 -4.11804281e-02 -3.32741932e+01] [-7.98864774e-02 2.21661734e-03 9.96801503e-01 -1.32830998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.74, Y:-33.31, Z:-13.29 [[ 8.69989120e-01 4.88292495e-01 6.84789855e-02 1.58739992e+02] [-4.86557849e-01 8.72676383e-01 -4.11994019e-02 -3.33058850e+01] [-7.98773521e-02 2.52404347e-03 9.96801504e-01 -1.32880637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:-33.34, Z:-13.30 [[ 8.71174784e-01 4.86175553e-01 6.84677044e-02 1.58793332e+02] [-4.84432908e-01 8.73856866e-01 -4.12181411e-02 -3.33368618e+01] [-7.98702262e-02 2.74019609e-03 9.96801504e-01 -1.32960600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.85, Y:-33.37, Z:-13.30 [[ 8.70667775e-01 4.87084604e-01 6.84559287e-02 1.58848048e+02] [-4.85343224e-01 8.73350679e-01 -4.12376893e-02 -3.33665843e+01] [-7.98722753e-02 2.67970606e-03 9.96801504e-01 -1.32955430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.90, Y:-33.40, Z:-13.30 [[ 8.69287088e-01 4.89546194e-01 6.84432770e-02 1.58902619e+02] [-4.87810762e-01 8.71973842e-01 -4.12586769e-02 -3.33978702e+01] [-7.98787755e-02 2.47826796e-03 9.96801505e-01 -1.32994585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:-33.43, Z:-13.30 [[ 8.67422703e-01 4.92843724e-01 6.84318428e-02 1.58957645e+02] [-4.91117013e-01 8.70115071e-01 -4.12776331e-02 -3.34285560e+01] [-7.98870001e-02 2.19711383e-03 9.96801505e-01 -1.33038336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.01, Y:-33.46, Z:-13.31 [[ 8.66050765e-01 4.95252202e-01 6.84202406e-02 1.59010479e+02] [-4.93531462e-01 8.68746951e-01 -4.12968556e-02 -3.34596664e+01] [-7.98922341e-02 1.99763195e-03 9.96801505e-01 -1.33090410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.06, Y:-33.49, Z:-13.31 [[ 8.65318682e-01 4.96531687e-01 6.84095189e-02 1.59064059e+02] [-4.94813532e-01 8.68016516e-01 -4.13146088e-02 -3.34901632e+01] [-7.98946047e-02 1.90034720e-03 9.96801505e-01 -1.33143966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.12, Y:-33.52, Z:-13.32 [[ 8.65873479e-01 4.95564107e-01 6.84056576e-02 1.59117458e+02] [-4.93842432e-01 8.68569069e-01 -4.13210010e-02 -3.35195401e+01] [-7.98922433e-02 1.99714258e-03 9.96801505e-01 -1.33193072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.17, Y:-33.55, Z:-13.33 [[ 8.67051555e-01 4.93501407e-01 6.83956278e-02 1.59171346e+02] [-4.91772012e-01 8.69742198e-01 -4.13375960e-02 -3.35521178e+01] [-7.98867255e-02 2.20677141e-03 9.96801505e-01 -1.33250631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.22, Y:-33.59, Z:-13.33 [[ 8.69558873e-01 4.89071555e-01 6.83840649e-02 1.59224386e+02] [-4.87326954e-01 8.72239682e-01 -4.13567154e-02 -3.35861183e+01] [-7.98736881e-02 2.63670080e-03 9.96801506e-01 -1.33291076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.28, Y:-33.62, Z:-13.33 [[ 8.71438330e-01 4.85716389e-01 6.83726990e-02 1.59278589e+02] [-4.83959998e-01 8.74111428e-01 -4.13754976e-02 -3.36183618e+01] [-7.98621149e-02 2.96654326e-03 9.96801506e-01 -1.33344590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:-33.65, Z:-13.34 [[ 8.71742588e-01 4.85171730e-01 6.83611897e-02 1.59332246e+02] [-4.83412180e-01 8.74413609e-01 -4.13945048e-02 -3.36512765e+01] [-7.98593980e-02 3.03872099e-03 9.96801506e-01 -1.33386876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:-33.68, Z:-13.34 [[ 8.70546310e-01 4.87316644e-01 6.83491822e-02 1.59385017e+02] [-4.85562123e-01 8.73220636e-01 -4.14143216e-02 -3.36828153e+01] [-7.98658046e-02 2.86531087e-03 9.96801506e-01 -1.33438162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.44, Y:-33.72, Z:-13.35 [[ 8.69959545e-01 4.88364920e-01 6.83380965e-02 1.59438817e+02] [-4.86612187e-01 8.72635043e-01 -4.14326062e-02 -3.37150092e+01] [-7.98684492e-02 2.79054063e-03 9.96801507e-01 -1.33489205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:-33.75, Z:-13.35 [[ 8.67872187e-01 4.92066426e-01 6.83264166e-02 1.59493525e+02] [-4.90323594e-01 8.70554144e-01 -4.14518585e-02 -3.37457609e+01] [-7.98789130e-02 2.47286096e-03 9.96801507e-01 -1.33548139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.55, Y:-33.78, Z:-13.36 [[ 8.66924315e-01 4.93736076e-01 6.83148526e-02 1.59547065e+02] [-4.91996909e-01 8.69608651e-01 -4.14709079e-02 -3.37776301e+01] [-7.98828701e-02 2.34144210e-03 9.96801507e-01 -1.33598567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:-33.81, Z:-13.36 [[ 8.64426414e-01 4.98098009e-01 6.83033569e-02 1.59600258e+02] [-4.96370896e-01 8.67118520e-01 -4.14898331e-02 -3.38083461e+01] [-7.98931089e-02 1.96110917e-03 9.96801507e-01 -1.33640530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.65, Y:-33.84, Z:-13.37 [[ 8.61796612e-01 5.02635561e-01 6.82941639e-02 1.59654878e+02] [-5.00921427e-01 8.64497000e-01 -4.15049596e-02 -3.38395643e+01] [-7.99019685e-02 1.55882351e-03 9.96801508e-01 -1.33687563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.71, Y:-33.87, Z:-13.37 [[ 8.59273589e-01 5.06938236e-01 6.82826849e-02 1.59708287e+02] [-5.05236125e-01 8.61981571e-01 -4.15238359e-02 -3.38708414e+01] [-7.99084362e-02 1.18145633e-03 9.96801508e-01 -1.33749782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.76, Y:-33.90, Z:-13.38 [[ 8.57979499e-01 5.09126735e-01 6.82725984e-02 1.59761000e+02] [-5.07430213e-01 8.60690986e-01 -4.15404133e-02 -3.39028109e+01] [-7.99109451e-02 9.97243853e-04 9.96801508e-01 -1.33803137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.81, Y:-33.94, Z:-13.39 [[ 8.57031644e-01 5.10722059e-01 6.82622853e-02 1.59813254e+02] [-5.09029235e-01 8.59745441e-01 -4.15573537e-02 -3.39350293e+01] [-7.99124459e-02 8.68468237e-04 9.96801508e-01 -1.33865232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.87, Y:-33.97, Z:-13.39 [[ 8.57155075e-01 5.10516264e-01 6.82519002e-02 1.59865727e+02] [-5.08821431e-01 8.59867618e-01 -4.15744027e-02 -3.39682958e+01] [-7.99120076e-02 9.07680752e-04 9.96801508e-01 -1.33929146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.92, Y:-34.00, Z:-13.40 [[ 8.57998877e-01 5.09098422e-01 6.82401933e-02 1.59918248e+02] [-5.07397580e-01 8.60707655e-01 -4.15936097e-02 -3.40025187e+01] [-7.99100978e-02 1.06236151e-03 9.96801509e-01 -1.33961354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.97, Y:-34.04, Z:-13.40 [[ 8.60237555e-01 5.05308081e-01 6.82282332e-02 1.59969355e+02] [-5.03593749e-01 8.62937817e-01 -4.16132192e-02 -3.40377454e+01] [-7.99042186e-02 1.43794223e-03 9.96801509e-01 -1.34002793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.02, Y:-34.07, Z:-13.41 [[ 8.63490551e-01 4.99730309e-01 6.82179322e-02 1.60020728e+02] [-4.97997206e-01 8.66178803e-01 -4.16300992e-02 -3.40726148e+01] [-7.98927492e-02 1.97485773e-03 9.96801509e-01 -1.34084545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:-34.11, Z:-13.41 [[ 8.65270860e-01 4.96642161e-01 6.82121917e-02 1.60070465e+02] [-4.94898723e-01 8.67952421e-01 -4.16395030e-02 -3.41090587e+01] [-7.98848697e-02 2.27132198e-03 9.96801509e-01 -1.34114412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.12, Y:-34.14, Z:-13.42 [[ 8.66162026e-01 4.95087140e-01 6.82060760e-02 1.60122689e+02] [-4.93338102e-01 8.68839936e-01 -4.16495183e-02 -3.41445841e+01] [-7.98803036e-02 2.42657508e-03 9.96801509e-01 -1.34168193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.17, Y:-34.18, Z:-13.42 [[ 8.66718038e-01 4.94114685e-01 6.81947308e-02 1.60174015e+02] [-4.92361183e-01 8.69393027e-01 -4.16680861e-02 -3.41807579e+01] [-7.98768367e-02 2.53804346e-03 9.96801509e-01 -1.34210783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.23, Y:-34.22, Z:-13.43 [[ 8.66343531e-01 4.94772616e-01 6.81831735e-02 1.60225695e+02] [-4.93019659e-01 8.69018878e-01 -4.16869892e-02 -3.42156666e+01] [-7.98780456e-02 2.49960838e-03 9.96801510e-01 -1.34254787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.28, Y:-34.25, Z:-13.43 [[ 8.65759960e-01 4.95794632e-01 6.81716483e-02 1.60277435e+02] [-4.94043352e-01 8.68436405e-01 -4.17058281e-02 -3.42514830e+01] [-7.98802669e-02 2.42748646e-03 9.96801510e-01 -1.34300268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.33, Y:-34.29, Z:-13.43 [[ 8.65010905e-01 4.97101941e-01 6.81600597e-02 1.60330052e+02] [-4.95353216e-01 8.67689020e-01 -4.17247590e-02 -3.42864697e+01] [-7.98831940e-02 2.32906678e-03 9.96801510e-01 -1.34346933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.38, Y:-34.32, Z:-13.44 [[ 8.62672182e-01 5.01151155e-01 6.81485570e-02 1.60382031e+02] [-4.99413521e-01 8.65357505e-01 -4.17435377e-02 -3.43210303e+01] [-7.98926874e-02 1.97667790e-03 9.96801510e-01 -1.34392363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.44, Y:-34.35, Z:-13.44 [[ 8.58676644e-01 5.07968274e-01 6.81370190e-02 1.60435552e+02] [-5.06250470e-01 8.61374696e-01 -4.17623625e-02 -3.43539458e+01] [-7.99054592e-02 1.36596742e-03 9.96801511e-01 -1.34437997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.49, Y:-34.39, Z:-13.45 [[ 8.54828689e-01 5.14418944e-01 6.81253459e-02 1.60488626e+02] [-5.12719986e-01 8.57538647e-01 -4.17813957e-02 -3.43857075e+01] [-7.99132584e-02 7.86709272e-04 9.96801511e-01 -1.34507764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.54, Y:-34.42, Z:-13.46 [[ 8.52582826e-01 5.18133997e-01 6.81152480e-02 1.60541948e+02] [-5.16445532e-01 8.55299335e-01 -4.17978516e-02 -3.44179600e+01] [-7.99158142e-02 4.58314890e-04 9.96801511e-01 -1.34563575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:-34.45, Z:-13.46 [[ 8.50462281e-01 5.21608862e-01 6.81036269e-02 1.60596483e+02] [-5.19929982e-01 8.53184723e-01 -4.18167780e-02 -3.44493909e+01] [-7.99169760e-02 1.54474897e-04 9.96801511e-01 -1.34615418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:-34.48, Z:-13.47 [[ 8.49941671e-01 5.22458279e-01 6.80918732e-02 1.60650458e+02] [-5.20780586e-01 8.52664845e-01 -4.18359082e-02 -3.44822685e+01] [-7.99170631e-02 9.71560815e-05 9.96801512e-01 -1.34662049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:-34.52, Z:-13.47 [[ 8.51142603e-01 5.20501065e-01 6.80801838e-02 1.60703975e+02] [-5.18815589e-01 8.53860966e-01 -4.18549220e-02 -3.45160115e+01] [-7.99165430e-02 3.03446592e-04 9.96801512e-01 -1.34699919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:-34.55, Z:-13.48 [[ 8.52610267e-01 5.18094996e-01 6.80684066e-02 1.60757529e+02] [-5.16400321e-01 8.55322904e-01 -4.18740666e-02 -3.45491517e+01] [-7.99152115e-02 5.51712061e-04 9.96801512e-01 -1.34755031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.81, Y:-34.58, Z:-13.48 [[ 8.54917969e-01 5.14279627e-01 6.80568228e-02 1.60811317e+02] [-5.12571349e-01 8.57622061e-01 -4.18928850e-02 -3.45810999e+01] [-7.99116898e-02 9.31002707e-04 9.96801512e-01 -1.34817805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.86, Y:-34.61, Z:-13.49 [[ 8.56655684e-01 5.11381380e-01 6.80450132e-02 1.60864083e+02] [-5.09662432e-01 8.59353004e-01 -4.19120580e-02 -3.46131671e+01] [-7.99077326e-02 1.22421578e-03 9.96801513e-01 -1.34876552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.92, Y:-34.65, Z:-13.49 [[ 8.57066017e-01 5.10694738e-01 6.80347511e-02 1.60915378e+02] [-5.08972307e-01 8.59761115e-01 -4.19287097e-02 -3.46474154e+01] [-7.99064048e-02 1.30786795e-03 9.96801513e-01 -1.34949749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:-34.68, Z:-13.50 [[ 8.59364813e-01 5.06818451e-01 6.80233541e-02 1.60969689e+02] [-5.05082402e-01 8.62051159e-01 -4.19471916e-02 -3.46787119e+01] [-7.98992219e-02 1.69054140e-03 9.96801513e-01 -1.34986050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.02, Y:-34.71, Z:-13.50 [[ 8.60116618e-01 5.05543298e-01 6.80101236e-02 1.61023463e+02] [-5.03801573e-01 8.62799287e-01 -4.19686317e-02 -3.47115594e+01] [-7.98960466e-02 1.83431029e-03 9.96801513e-01 -1.35031690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.08, Y:-34.74, Z:-13.51 [[ 8.61407581e-01 5.03342025e-01 6.79984212e-02 1.61077293e+02] [-5.01591950e-01 8.64084810e-01 -4.19875836e-02 -3.47431144e+01] [-7.98905182e-02 2.06096213e-03 9.96801514e-01 -1.35079093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.13, Y:-34.78, Z:-13.51 [[ 8.60839149e-01 5.04314088e-01 6.79945630e-02 1.61129218e+02] [-5.02566543e-01 8.63518030e-01 -4.19938307e-02 -3.47760826e+01] [-7.98926115e-02 1.97814103e-03 9.96801514e-01 -1.35099757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.18, Y:-34.81, Z:-13.51 [[ 8.60459421e-01 5.04963055e-01 6.79845409e-02 1.61181901e+02] [-5.03216251e-01 8.63138784e-01 -4.20100493e-02 -3.48076327e+01] [-7.98936168e-02 1.93701687e-03 9.96801514e-01 -1.35142135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.24, Y:-34.84, Z:-13.52 [[ 8.58846667e-01 5.07702657e-01 6.79736392e-02 1.61235821e+02] [-5.05963005e-01 8.61530679e-01 -4.20276813e-02 -3.48392657e+01] [-7.98989410e-02 1.70318721e-03 9.96801514e-01 -1.35175246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.29, Y:-34.87, Z:-13.52 [[ 8.57191539e-01 5.10493724e-01 6.79619331e-02 1.61289923e+02] [-5.08761312e-01 8.59880230e-01 -4.20466025e-02 -3.48705844e+01] [-7.99036493e-02 1.46558965e-03 9.96801514e-01 -1.35221760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.34, Y:-34.90, Z:-13.53 [[ 8.55347227e-01 5.13579487e-01 6.79502160e-02 1.61344760e+02] [-5.11855273e-01 8.58041182e-01 -4.20655297e-02 -3.49009110e+01] [-7.99080768e-02 1.19995781e-03 9.96801515e-01 -1.35272144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.40, Y:-34.93, Z:-13.53 [[ 8.54853320e-01 5.14402717e-01 6.79385429e-02 1.61399201e+02] [-5.12679601e-01 8.57547977e-01 -4.20843741e-02 -3.49321609e+01] [-7.99088764e-02 1.14526188e-03 9.96801515e-01 -1.35320833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.45, Y:-34.96, Z:-13.54 [[ 8.55926484e-01 5.12616613e-01 6.79268953e-02 1.61454666e+02] [-5.10886382e-01 8.58616578e-01 -4.21031656e-02 -3.49610988e+01] [-7.99059406e-02 1.33428870e-03 9.96801515e-01 -1.35400643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.51, Y:-34.99, Z:-13.54 [[ 8.56892273e-01 5.11002154e-01 6.79148815e-02 1.61506987e+02] [-5.09265320e-01 8.59578109e-01 -4.21225358e-02 -3.49935592e+01] [-7.99028519e-02 1.50778157e-03 9.96801515e-01 -1.35427782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:-35.03, Z:-13.55 [[ 8.58939726e-01 5.07554455e-01 6.79045034e-02 1.61561221e+02] [-5.05805521e-01 8.61617698e-01 -4.21392594e-02 -3.50257860e+01] [-7.98956907e-02 1.84861123e-03 9.96801515e-01 -1.35470030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.61, Y:-35.06, Z:-13.55 [[ 8.62305981e-01 5.01815676e-01 6.78927321e-02 1.61614887e+02] [-5.00047433e-01 8.64971242e-01 -4.21582162e-02 -3.50568286e+01] [-7.98809146e-02 2.40369556e-03 9.96801516e-01 -1.35510790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.67, Y:-35.09, Z:-13.56 [[ 8.65165978e-01 4.96870086e-01 6.78818660e-02 1.61669768e+02] [-4.95085241e-01 8.67820151e-01 -4.21757052e-02 -3.50877464e+01] [-7.98650975e-02 2.88167525e-03 9.96801516e-01 -1.35575746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.72, Y:-35.12, Z:-13.56 [[ 8.66208981e-01 4.95051146e-01 6.78702017e-02 1.61724551e+02] [-4.93259262e-01 8.68858405e-01 -4.21944675e-02 -3.51188399e+01] [-7.98580146e-02 3.07162112e-03 9.96801516e-01 -1.35633731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.78, Y:-35.15, Z:-13.57 [[ 8.67240576e-01 4.93243328e-01 6.78586959e-02 1.61781148e+02] [-4.91444477e-01 8.69885275e-01 -4.22129633e-02 -3.51465403e+01] [-7.98505429e-02 3.26001335e-03 9.96801516e-01 -1.35695125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.84, Y:-35.18, Z:-13.57 [[ 8.65702657e-01 4.95938370e-01 6.78530963e-02 1.61835872e+02] [-4.94147050e-01 8.68352462e-01 -4.22219622e-02 -3.51760734e+01] [-7.98598944e-02 3.02225748e-03 9.96801516e-01 -1.35717285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.89, Y:-35.21, Z:-13.58 [[ 8.64173326e-01 4.98600085e-01 6.78411277e-02 1.61891939e+02] [-4.96815421e-01 8.66827618e-01 -4.22411844e-02 -3.52055824e+01] [-7.98680213e-02 2.79918635e-03 9.96801517e-01 -1.35767110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.95, Y:-35.23, Z:-13.58 [[ 8.62278766e-01 5.01871005e-01 6.78293777e-02 1.61947969e+02] [-5.00094930e-01 8.64938813e-01 -4.22600437e-02 -3.52347463e+01] [-7.98773521e-02 2.51881045e-03 9.96801517e-01 -1.35813673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.00, Y:-35.26, Z:-13.59 [[ 8.59730394e-01 5.06225702e-01 6.78173161e-02 1.62003366e+02] [-5.04461578e-01 8.62398382e-01 -4.22793909e-02 -3.52616036e+01] [-7.98884580e-02 2.13764703e-03 9.96801517e-01 -1.35869766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.06, Y:-35.29, Z:-13.59 [[ 8.58919306e-01 5.07602158e-01 6.78061631e-02 1.62059202e+02] [-5.05840899e-01 8.61589186e-01 -4.22972702e-02 -3.52904531e+01] [-7.98912425e-02 2.03081146e-03 9.96801517e-01 -1.35926880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.11, Y:-35.32, Z:-13.60 [[ 8.59349597e-01 5.06874916e-01 6.77944692e-02 1.62113544e+02] [-5.05109922e-01 8.62017008e-01 -4.23160050e-02 -3.53210309e+01] [-7.98889070e-02 2.12058278e-03 9.96801518e-01 -1.35985747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.17, Y:-35.35, Z:-13.60 [[ 8.61333842e-01 5.03497297e-01 6.77826258e-02 1.62166970e+02] [-5.01720354e-01 8.63993309e-01 -4.23349676e-02 -3.53511596e+01] [-7.98792768e-02 2.45661733e-03 9.96801518e-01 -1.36045728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.22, Y:-35.38, Z:-13.61 [[ 8.62927704e-01 5.00762193e-01 6.77716999e-02 1.62221216e+02] [-4.98975451e-01 8.65580597e-01 -4.23524511e-02 -3.53824368e+01] [-7.98703747e-02 2.73068891e-03 9.96801518e-01 -1.36098560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.28, Y:-35.41, Z:-13.61 [[ 8.64374472e-01 4.98262347e-01 6.77599189e-02 1.62276054e+02] [-4.96466459e-01 8.67021181e-01 -4.23712911e-02 -3.54129323e+01] [-7.98613039e-02 2.98413534e-03 9.96801518e-01 -1.36141977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.33, Y:-35.44, Z:-13.62 [[ 8.64141414e-01 4.98668031e-01 6.77481512e-02 1.62330805e+02] [-4.96871914e-01 8.66787968e-01 -4.23900984e-02 -3.54438883e+01] [-7.98618692e-02 2.96888603e-03 9.96801519e-01 -1.36203323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.38, Y:-35.48, Z:-13.63 [[ 8.62870474e-01 5.00865615e-01 6.77361046e-02 1.62383525e+02] [-4.99074732e-01 8.65520572e-01 -4.24093392e-02 -3.54752225e+01] [-7.98683718e-02 2.78838844e-03 9.96801519e-01 -1.36263205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.44, Y:-35.51, Z:-13.63 [[ 8.59023362e-01 5.07436388e-01 6.77286844e-02 1.62439173e+02] [-5.05664849e-01 8.61686430e-01 -4.24211862e-02 -3.55051521e+01] [-7.98869418e-02 2.19277499e-03 9.96801519e-01 -1.36323245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.49, Y:-35.54, Z:-13.64 [[ 8.54626520e-01 5.14808664e-01 6.77166968e-02 1.62493551e+02] [-5.13058589e-01 8.57303741e-01 -4.24403133e-02 -3.55361403e+01] [-7.99024185e-02 1.52798431e-03 9.96801519e-01 -1.36372029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.55, Y:-35.57, Z:-13.64 [[ 8.50129437e-01 5.22203044e-01 6.77046583e-02 1.62546115e+02] [-5.20474730e-01 8.52820758e-01 -4.24595097e-02 -3.55679357e+01] [-7.99124232e-02 8.57515365e-04 9.96801520e-01 -1.36416400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.60, Y:-35.60, Z:-13.65 [[ 8.46962540e-01 5.27324892e-01 6.76972293e-02 1.62600032e+02] [-5.25611907e-01 8.49663644e-01 -4.24713511e-02 -3.56008648e+01] [-7.99160751e-02 3.89173578e-04 9.96801520e-01 -1.36466628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:-35.63, Z:-13.65 [[ 8.43926672e-01 5.32171453e-01 6.76854309e-02 1.62652907e+02] [-5.30472473e-01 8.46636606e-01 -4.24901456e-02 -3.56342123e+01] [-7.99170060e-02 -4.66908262e-05 9.96801520e-01 -1.36520214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:-35.67, Z:-13.66 [[ 8.39394044e-01 5.39293922e-01 6.76735113e-02 1.62705157e+02] [-5.37616406e-01 8.42117317e-01 -4.25091214e-02 -3.56686041e+01] [-7.99139465e-02 -7.00486510e-04 9.96801520e-01 -1.36569244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.76, Y:-35.70, Z:-13.66 [[ 8.37668340e-01 5.41972048e-01 6.76613018e-02 1.62756253e+02] [-5.40301669e-01 8.40395996e-01 -4.25285463e-02 -3.57027486e+01] [-7.99115704e-02 -9.32697492e-04 9.96801520e-01 -1.36617173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.81, Y:-35.74, Z:-13.66 [[ 8.36289795e-01 5.44098202e-01 6.76500279e-02 1.62806611e+02] [-5.42433307e-01 8.39020801e-01 -4.25464721e-02 -3.57390091e+01] [-7.99092396e-02 -1.11444802e-03 9.96801521e-01 -1.36637651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.86, Y:-35.77, Z:-13.67 [[ 8.37281301e-01 5.42571690e-01 6.76460190e-02 1.62856701e+02] [-5.40901302e-01 8.40008951e-01 -4.25528449e-02 -3.57727652e+01] [-7.99112305e-02 -9.61118379e-04 9.96801521e-01 -1.36727589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.91, Y:-35.81, Z:-13.68 [[ 8.38588997e-01 5.40549646e-01 6.76356038e-02 1.62907242e+02] [-5.38871345e-01 8.41311785e-01 -4.25693930e-02 -3.58099680e+01] [-7.99135009e-02 -7.48664257e-04 9.96801521e-01 -1.36785922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.96, Y:-35.85, Z:-13.68 [[ 8.42149983e-01 5.34986390e-01 6.76237212e-02 1.62956224e+02] [-5.33288587e-01 8.44860653e-01 -4.25882609e-02 -3.58492980e+01] [-7.99167612e-02 -1.97255474e-04 9.96801521e-01 -1.36835424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:-35.89, Z:-13.69 [[ 8.45643085e-01 5.29448146e-01 6.76197729e-02 1.63003963e+02] [-5.27732089e-01 8.48342235e-01 -4.25945289e-02 -3.58889801e+01] [-7.99163037e-02 3.34644816e-04 9.96801521e-01 -1.36892679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:-35.93, Z:-13.69 [[ 8.49192171e-01 5.23738318e-01 6.76079204e-02 1.63052766e+02] [-5.22002616e-01 8.51878731e-01 -4.26133334e-02 -3.59293357e+01] [-7.99119850e-02 8.95397720e-04 9.96801521e-01 -1.36944751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.10, Y:-35.97, Z:-13.70 [[ 8.49977787e-01 5.22463929e-01 6.75958948e-02 1.63104675e+02] [-5.20722683e-01 8.52660756e-01 -4.26324007e-02 -3.59650799e+01] [-7.99102584e-02 1.03787789e-03 9.96801522e-01 -1.36998370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.15, Y:-36.00, Z:-13.71 [[ 8.52432258e-01 5.18451207e-01 6.75839512e-02 1.63154098e+02] [-5.16695833e-01 8.55106005e-01 -4.26513262e-02 -3.60028253e+01] [-7.99040741e-02 1.43702041e-03 9.96801522e-01 -1.37054325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.20, Y:-36.04, Z:-13.71 [[ 8.54244289e-01 5.15461536e-01 6.75729241e-02 1.63203444e+02] [-5.13695424e-01 8.56910956e-01 -4.26687893e-02 -3.60406988e+01] [-7.98980987e-02 1.73766769e-03 9.96801522e-01 -1.37080935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:-36.08, Z:-13.71 [[ 8.55184735e-01 5.13901099e-01 6.75627852e-02 1.63253492e+02] [-5.12128855e-01 8.57847329e-01 -4.26848376e-02 -3.60784631e+01] [-7.98943398e-02 1.90256970e-03 9.96801522e-01 -1.37114719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:-36.11, Z:-13.72 [[ 8.54628263e-01 5.14827582e-01 6.75506743e-02 1.63305298e+02] [-5.13056711e-01 8.57291771e-01 -4.27039951e-02 -3.61127248e+01] [-7.98958317e-02 1.83871436e-03 9.96801522e-01 -1.37174341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.36, Y:-36.15, Z:-13.72 [[ 8.53213351e-01 5.17170567e-01 6.75394894e-02 1.63357708e+02] [-5.15405612e-01 8.55880782e-01 -4.27216775e-02 -3.61467339e+01] [-7.99001452e-02 1.64047375e-03 9.96801523e-01 -1.37229480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.41, Y:-36.18, Z:-13.73 [[ 8.49955234e-01 5.22509438e-01 6.75276783e-02 1.63408869e+02] [-5.20759758e-01 8.52632710e-01 -4.27403385e-02 -3.61805693e+01] [-7.99085376e-02 1.16167698e-03 9.96801523e-01 -1.37275049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.46, Y:-36.21, Z:-13.73 [[ 8.47702808e-01 5.26157235e-01 6.75167573e-02 1.63461308e+02] [-5.24417705e-01 8.50386889e-01 -4.27575834e-02 -3.62146713e+01] [-7.99125771e-02 8.38740672e-04 9.96801523e-01 -1.37328202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.51, Y:-36.25, Z:-13.74 [[ 8.45927519e-01 5.29008261e-01 6.75047554e-02 1.63514047e+02] [-5.27276266e-01 8.48616467e-01 -4.27765234e-02 -3.62482186e+01] [-7.99147813e-02 5.92182940e-04 9.96801523e-01 -1.37387236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.57, Y:-36.28, Z:-13.74 [[ 8.46764199e-01 5.27669520e-01 6.74927322e-02 1.63565022e+02] [-5.25931761e-01 8.49449427e-01 -4.27954853e-02 -3.62821058e+01] [-7.99135358e-02 7.41113316e-04 9.96801524e-01 -1.37441726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:-36.32, Z:-13.75 [[ 8.48205972e-01 5.25350132e-01 6.74823585e-02 1.63617163e+02] [-5.23603730e-01 8.50885586e-01 -4.28118369e-02 -3.63165785e+01] [-7.99109703e-02 9.79241072e-04 9.96801524e-01 -1.37492352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.67, Y:-36.35, Z:-13.76 [[ 8.50422974e-01 5.21755213e-01 6.74704598e-02 1.63669466e+02] [-5.19995999e-01 8.53094193e-01 -4.28305807e-02 -3.63518996e+01] [-7.99057363e-02 1.33974065e-03 9.96801524e-01 -1.37556563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.72, Y:-36.39, Z:-13.76 [[ 8.51760525e-01 5.19570346e-01 6.74586059e-02 1.63721623e+02] [-5.17802803e-01 8.54426240e-01 -4.28492427e-02 -3.63867486e+01] [-7.99015989e-02 1.56703826e-03 9.96801524e-01 -1.37611303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.77, Y:-36.42, Z:-13.77 [[ 8.53351240e-01 5.16955165e-01 6.74464185e-02 1.63773005e+02] [-5.15177938e-01 8.56010509e-01 -4.28684177e-02 -3.64223485e+01] [-7.98958929e-02 1.83491057e-03 9.96801525e-01 -1.37667411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:-36.46, Z:-13.77 [[ 8.54215177e-01 5.15527956e-01 6.74341024e-02 1.63824219e+02] [-5.13744759e-01 8.56870446e-01 -4.28877827e-02 -3.64575528e+01] [-7.98921403e-02 1.99147818e-03 9.96801525e-01 -1.37730116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:-36.49, Z:-13.78 [[ 8.54426818e-01 5.15178694e-01 6.74219934e-02 1.63876015e+02] [-5.13392911e-01 8.57080349e-01 -4.29068104e-02 -3.64922806e+01] [-7.98907401e-02 2.04675600e-03 9.96801525e-01 -1.37788035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.93, Y:-36.53, Z:-13.78 [[ 8.54481758e-01 5.15089133e-01 6.74100107e-02 1.63927966e+02] [-5.13301589e-01 8.57134102e-01 -4.29256278e-02 -3.65280951e+01] [-7.98899435e-02 2.07750030e-03 9.96801525e-01 -1.37844022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.98, Y:-36.56, Z:-13.79 [[ 8.54155561e-01 5.15631437e-01 6.73980576e-02 1.63978925e+02] [-5.13844098e-01 8.56808043e-01 -4.29443875e-02 -3.65622877e+01] [-7.98906740e-02 2.04909334e-03 9.96801526e-01 -1.37888494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.03, Y:-36.60, Z:-13.79 [[ 8.53566828e-01 5.16606873e-01 6.73870153e-02 1.64031402e+02] [-5.14821199e-01 8.56220430e-01 -4.29617077e-02 -3.65972935e+01] [-7.98924527e-02 1.97842451e-03 9.96801526e-01 -1.37915108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.08, Y:-36.63, Z:-13.80 [[ 8.53266306e-01 5.17104666e-01 6.73748914e-02 1.64082535e+02] [-5.15319041e-01 8.55919940e-01 -4.29807127e-02 -3.66315252e+01] [-7.98930401e-02 1.95442953e-03 9.96801526e-01 -1.37961769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.13, Y:-36.67, Z:-13.80 [[ 8.53226723e-01 5.17171435e-01 6.73636911e-02 1.64134405e+02] [-5.15384633e-01 8.55879565e-01 -4.29982599e-02 -3.66659426e+01] [-7.98926784e-02 1.96905315e-03 9.96801526e-01 -1.38016057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.19, Y:-36.70, Z:-13.81 [[ 8.53156295e-01 5.17289185e-01 6.73515834e-02 1.64186444e+02] [-5.15501254e-01 8.55808376e-01 -4.30172167e-02 -3.66996548e+01] [-7.98923902e-02 1.98058358e-03 9.96801527e-01 -1.38080659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.24, Y:-36.73, Z:-13.81 [[ 8.52757392e-01 5.17947883e-01 6.73410742e-02 1.64239278e+02] [-5.16160703e-01 8.55409979e-01 -4.30336621e-02 -3.67341707e+01] [-7.98934211e-02 1.93845727e-03 9.96801527e-01 -1.38134959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.29, Y:-36.77, Z:-13.82 [[ 8.51892845e-01 5.19370163e-01 6.73291512e-02 1.64291121e+02] [-5.17585939e-01 8.54547421e-01 -4.30523083e-02 -3.67676577e+01] [-7.98960369e-02 1.82733144e-03 9.96801527e-01 -1.38195404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:-36.80, Z:-13.82 [[ 8.51378718e-01 5.20213862e-01 6.73187691e-02 1.64342600e+02] [-5.18430987e-01 8.54034199e-01 -4.30685362e-02 -3.68011435e+01] [-7.98973807e-02 1.76749925e-03 9.96801527e-01 -1.38247186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:-36.83, Z:-13.83 [[ 8.51522059e-01 5.19980146e-01 6.73114388e-02 1.64395438e+02] [-5.18195637e-01 8.54176443e-01 -4.30799898e-02 -3.68348094e+01] [-7.98965847e-02 1.80306770e-03 9.96801527e-01 -1.38285855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.45, Y:-36.87, Z:-13.83 [[ 8.51556923e-01 5.19924630e-01 6.72992232e-02 1.64447245e+02] [-5.18138441e-01 8.54210177e-01 -4.30990643e-02 -3.68681380e+01] [-7.98959465e-02 1.83099201e-03 9.96801527e-01 -1.38337448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.50, Y:-36.90, Z:-13.84 [[ 8.51254468e-01 5.20421138e-01 6.72879597e-02 1.64500485e+02] [-5.18635108e-01 8.53907829e-01 -4.31166423e-02 -3.69020766e+01] [-7.98965276e-02 1.80533617e-03 9.96801528e-01 -1.38379841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.55, Y:-36.94, Z:-13.84 [[ 8.50476136e-01 5.21693677e-01 6.72759214e-02 1.64553867e+02] [-5.19910133e-01 8.53131168e-01 -4.31354178e-02 -3.69351164e+01] [-7.98986601e-02 1.70821022e-03 9.96801528e-01 -1.38421517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.61, Y:-36.97, Z:-13.85 [[ 8.49152834e-01 5.23846384e-01 6.72638910e-02 1.64607423e+02] [-5.22068086e-01 8.51811382e-01 -4.31541695e-02 -3.69678029e+01] [-7.99023036e-02 1.52815451e-03 9.96801528e-01 -1.38471560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.66, Y:-37.00, Z:-13.85 [[ 8.46689958e-01 5.27819370e-01 6.72519719e-02 1.64660592e+02] [-5.26052074e-01 8.49355833e-01 -4.31727365e-02 -3.69998024e+01] [-7.99082611e-02 1.17588315e-03 9.96801528e-01 -1.38534173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.71, Y:-37.03, Z:-13.86 [[ 8.44374467e-01 5.31517010e-01 6.72415539e-02 1.64714719e+02] [-5.29760098e-01 8.47047196e-01 -4.31889564e-02 -3.70322540e+01] [-7.99124347e-02 8.45759924e-04 9.96801529e-01 -1.38582482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.77, Y:-37.06, Z:-13.86 [[ 8.44236699e-01 5.31737349e-01 6.72293732e-02 1.64768242e+02] [-5.29979625e-01 8.46908893e-01 -4.32079090e-02 -3.70647392e+01] [-7.99124130e-02 8.47504414e-04 9.96801529e-01 -1.38631347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.82, Y:-37.10, Z:-13.87 [[ 8.45123476e-01 5.30328355e-01 6.72171574e-02 1.64819675e+02] [-5.28564666e-01 8.47791737e-01 -4.32269043e-02 -3.70985360e+01] [-7.99106037e-02 1.00345732e-03 9.96801529e-01 -1.38685619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:-37.13, Z:-13.87 [[ 8.47347090e-01 5.26769186e-01 6.72096244e-02 1.64871832e+02] [-5.24993361e-01 8.50007290e-01 -4.32386137e-02 -3.71325684e+01] [-7.99054400e-02 1.35350688e-03 9.96801529e-01 -1.38733667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.92, Y:-37.17, Z:-13.88 [[ 8.50422784e-01 5.21790733e-01 6.71976159e-02 1.64924322e+02] [-5.19997865e-01 8.53071526e-01 -4.32572681e-02 -3.71664924e+01] [-7.98956144e-02 1.84434960e-03 9.96801529e-01 -1.38786202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:-37.20, Z:-13.88 [[ 8.53487624e-01 5.16763958e-01 6.71854739e-02 1.64976102e+02] [-5.14954010e-01 8.56124725e-01 -4.32761185e-02 -3.72011219e+01] [-7.98826836e-02 2.33820234e-03 9.96801530e-01 -1.38831820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.03, Y:-37.24, Z:-13.89 [[ 8.55099957e-01 5.14093166e-01 6.71735124e-02 1.65028589e+02] [-5.12273527e-01 8.57730380e-01 -4.32946772e-02 -3.72354489e+01] [-7.98742600e-02 2.61006445e-03 9.96801530e-01 -1.38870884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.08, Y:-37.27, Z:-13.89 [[ 8.56088962e-01 5.12446103e-01 6.71616057e-02 1.65081587e+02] [-5.10619957e-01 8.58714872e-01 -4.33131399e-02 -3.72694213e+01] [-7.98683194e-02 2.78584476e-03 9.96801530e-01 -1.38919728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.13, Y:-37.30, Z:-13.90 [[ 8.56627896e-01 5.11546268e-01 6.71495635e-02 1.65133942e+02] [-5.09715904e-01 8.59250867e-01 -4.33318012e-02 -3.73024109e+01] [-7.98645418e-02 2.89202918e-03 9.96801530e-01 -1.38988793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.19, Y:-37.34, Z:-13.90 [[ 8.57517002e-01 5.10055820e-01 6.71390451e-02 1.65187538e+02] [-5.08219625e-01 8.60135894e-01 -4.33480926e-02 -3.73359661e+01] [-7.98586495e-02 3.05034609e-03 9.96801531e-01 -1.39031189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.24, Y:-37.37, Z:-13.91 [[ 8.59046607e-01 5.07476967e-01 6.71271506e-02 1.65240573e+02] [-5.05631476e-01 8.61658956e-01 -4.33665041e-02 -3.73680030e+01] [-7.98482125e-02 3.31224796e-03 9.96801531e-01 -1.39060920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.29, Y:-37.40, Z:-13.91 [[ 8.59578755e-01 5.06576532e-01 6.71161819e-02 1.65294085e+02] [-5.04726983e-01 8.62188232e-01 -4.33834731e-02 -3.73994931e+01] [-7.98438316e-02 3.41616379e-03 9.96801531e-01 -1.39128524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.34, Y:-37.43, Z:-13.91 [[ 8.57777934e-01 5.09621339e-01 6.71051914e-02 1.65344678e+02] [-5.07779728e-01 8.60393019e-01 -4.34004667e-02 -3.74332449e+01] [-7.98546421e-02 3.15330680e-03 9.96801531e-01 -1.39137215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.40, Y:-37.47, Z:-13.92 [[ 8.56288672e-01 5.12121033e-01 6.70951408e-02 1.65398931e+02] [-5.10285842e-01 8.58908267e-01 -4.34159989e-02 -3.74655176e+01] [-7.98628172e-02 2.93892763e-03 9.96801531e-01 -1.39184209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.45, Y:-37.50, Z:-13.92 [[ 8.53735373e-01 5.16367866e-01 6.70830743e-02 1.65453947e+02] [-5.14544247e-01 8.56363036e-01 -4.34346351e-02 -3.74962098e+01] [-7.98757150e-02 2.56447445e-03 9.96801532e-01 -1.39227057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.51, Y:-37.53, Z:-13.93 [[ 8.52364146e-01 5.18629786e-01 6.70709180e-02 1.65508355e+02] [-5.16811666e-01 8.54995616e-01 -4.34533986e-02 -3.75280916e+01] [-7.98815677e-02 2.37508612e-03 9.96801532e-01 -1.39270314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.56, Y:-37.56, Z:-13.94 [[ 8.52117302e-01 5.19036839e-01 6.70586584e-02 1.65563152e+02] [-5.17218490e-01 8.54748614e-01 -4.34723098e-02 -3.75565896e+01] [-7.98820255e-02 2.35952934e-03 9.96801532e-01 -1.39377974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.62, Y:-37.59, Z:-13.94 [[ 8.50540110e-01 5.21617872e-01 6.70545821e-02 1.65615945e+02] [-5.19807014e-01 8.53176582e-01 -4.34785964e-02 -3.75888710e+01] [-7.98886121e-02 2.12484811e-03 9.96801532e-01 -1.39374656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.67, Y:-37.62, Z:-13.94 [[ 8.50174719e-01 5.22214667e-01 6.70431880e-02 1.65669739e+02] [-5.20404276e-01 8.52811511e-01 -4.34961589e-02 -3.76213810e+01] [-7.98895346e-02 2.08977296e-03 9.96801532e-01 -1.39421612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.72, Y:-37.65, Z:-13.95 [[ 8.50532167e-01 5.21633853e-01 6.70310115e-02 1.65724189e+02] [-5.19820184e-01 8.53166706e-01 -4.35149158e-02 -3.76512332e+01] [-7.98874804e-02 2.16676290e-03 9.96801533e-01 -1.39504058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.78, Y:-37.68, Z:-13.95 [[ 8.50241093e-01 5.22108685e-01 6.70268881e-02 1.65778491e+02] [-5.20295987e-01 8.52876301e-01 -4.35212661e-02 -3.76834590e+01] [-7.98884755e-02 2.12974793e-03 9.96801533e-01 -1.39549539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.83, Y:-37.72, Z:-13.96 [[ 8.47997753e-01 5.25746152e-01 6.70133918e-02 1.65830762e+02] [-5.23943119e-01 8.50639582e-01 -4.35420376e-02 -3.77154030e+01] [-7.98963024e-02 1.81234455e-03 9.96801533e-01 -1.39575774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.89, Y:-37.75, Z:-13.96 [[ 8.45158579e-01 5.30299514e-01 6.70029960e-02 1.65885031e+02] [-5.28509449e-01 8.47809212e-01 -4.35580290e-02 -3.77467568e+01] [-7.99045589e-02 1.40172537e-03 9.96801533e-01 -1.39632250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.94, Y:-37.78, Z:-13.97 [[ 8.41646632e-01 5.35857433e-01 6.69907338e-02 1.65940061e+02] [-5.34083374e-01 8.44308004e-01 -4.35768797e-02 -3.77773105e+01] [-7.99118077e-02 8.97696875e-04 9.96801533e-01 -1.39688720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.99, Y:-37.81, Z:-13.97 [[ 8.41041841e-01 5.36807686e-01 6.69785863e-02 1.65992783e+02] [-5.35035147e-01 8.43704225e-01 -4.35955428e-02 -3.78107576e+01] [-7.99125387e-02 8.29777826e-04 9.96801534e-01 -1.39740294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:-37.84, Z:-13.98 [[ 8.39855271e-01 5.38663747e-01 6.69663463e-02 1.66045898e+02] [-5.36895594e-01 8.42520570e-01 -4.36143363e-02 -3.78436991e+01] [-7.99139861e-02 6.75793989e-04 9.96801534e-01 -1.39789251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.10, Y:-37.88, Z:-13.98 [[ 8.39460055e-01 5.39280993e-01 6.69539184e-02 1.66098949e+02] [-5.37513279e-01 8.42125644e-01 -4.36334065e-02 -3.78765611e+01] [-7.99142785e-02 6.39881573e-04 9.96801534e-01 -1.39843167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.15, Y:-37.91, Z:-13.99 [[ 8.39999679e-01 5.38441624e-01 6.69414451e-02 1.66151356e+02] [-5.36669722e-01 8.42662486e-01 -4.36525345e-02 -3.79103774e+01] [-7.99133861e-02 7.42668285e-04 9.96801534e-01 -1.39895628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:-37.95, Z:-13.99 [[ 8.43571458e-01 5.32829886e-01 6.69291233e-02 1.66202477e+02] [-5.31038774e-01 8.46221382e-01 -4.36714184e-02 -3.79456476e+01] [-7.99062921e-02 1.29800259e-03 9.96801535e-01 -1.39939963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.25, Y:-37.98, Z:-14.00 [[ 8.46487498e-01 5.28186456e-01 6.69177404e-02 1.66254104e+02] [-5.26379432e-01 8.49126597e-01 -4.36888535e-02 -3.79806271e+01] [-7.98974939e-02 1.75794604e-03 9.96801535e-01 -1.39984546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:-38.02, Z:-14.00 [[ 8.50285233e-01 5.22052397e-01 6.69052851e-02 1.66306247e+02] [-5.20224841e-01 8.52910155e-01 -4.37079193e-02 -3.80152776e+01] [-7.98820211e-02 2.35840702e-03 9.96801535e-01 -1.40045283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:-38.05, Z:-14.01 [[ 8.51599099e-01 5.19907971e-01 6.68930167e-02 1.66358848e+02] [-5.18072333e-01 8.54218376e-01 -4.37266876e-02 -3.80494508e+01] [-7.98750975e-02 2.58218654e-03 9.96801535e-01 -1.40102235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.41, Y:-38.08, Z:-14.02 [[ 8.51957038e-01 5.19322782e-01 6.68808989e-02 1.66412187e+02] [-5.17483893e-01 8.54574032e-01 -4.37452142e-02 -3.80829791e+01] [-7.98725658e-02 2.65925514e-03 9.96801536e-01 -1.40156714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.47, Y:-38.12, Z:-14.02 [[ 8.51180659e-01 5.20595851e-01 6.68688641e-02 1.66465569e+02] [-5.18759434e-01 8.53799389e-01 -4.37636028e-02 -3.81154894e+01] [-7.98757454e-02 2.56187824e-03 9.96801536e-01 -1.40203667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.52, Y:-38.15, Z:-14.03 [[ 8.48777272e-01 5.24506744e-01 6.68566938e-02 1.66519913e+02] [-5.22680934e-01 8.51403407e-01 -4.37821872e-02 -3.81466100e+01] [-7.98860694e-02 2.21660630e-03 9.96801536e-01 -1.40254291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.57, Y:-38.18, Z:-14.03 [[ 8.45022588e-01 5.30536184e-01 6.68444728e-02 1.66574658e+02] [-5.28727641e-01 8.47660644e-01 -4.38008377e-02 -3.81770935e+01] [-7.98993582e-02 1.67017678e-03 9.96801536e-01 -1.40311349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.63, Y:-38.21, Z:-14.04 [[ 8.42800459e-01 5.34060692e-01 6.68323564e-02 1.66629057e+02] [-5.32261717e-01 8.45445050e-01 -4.38193176e-02 -3.82090539e+01] [-7.99052599e-02 1.35863619e-03 9.96801537e-01 -1.40362023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.68, Y:-38.24, Z:-14.04 [[ 8.42166658e-01 5.35061088e-01 6.68202954e-02 1.66683349e+02] [-5.33263797e-01 8.44812393e-01 -4.38377017e-02 -3.82407836e+01] [-7.99064620e-02 1.28580634e-03 9.96801537e-01 -1.40417284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.74, Y:-38.27, Z:-14.05 [[ 8.44444571e-01 5.31460272e-01 6.68082795e-02 1.66736384e+02] [-5.29650253e-01 8.47081614e-01 -4.38560062e-02 -3.82738428e+01] [-7.98997902e-02 1.64894423e-03 9.96801537e-01 -1.40464112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.79, Y:-38.31, Z:-14.05 [[ 8.46621679e-01 5.27986774e-01 6.67959500e-02 1.66789703e+02] [-5.26164457e-01 8.49250239e-01 -4.38747770e-02 -3.83075803e+01] [-7.98917784e-02 1.99968261e-03 9.96801537e-01 -1.40513683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:-38.34, Z:-14.06 [[ 8.49643304e-01 5.23112025e-01 6.67837238e-02 1.66842775e+02] [-5.21273170e-01 8.52260320e-01 -4.38933792e-02 -3.83397754e+01] [-7.98782723e-02 2.48115231e-03 9.96801538e-01 -1.40567676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.89, Y:-38.37, Z:-14.06 [[ 8.51255029e-01 5.20486547e-01 6.67729744e-02 1.66894766e+02] [-5.18638342e-01 8.53865450e-01 -4.39097257e-02 -3.83721908e+01] [-7.98695573e-02 2.74735007e-03 9.96801538e-01 -1.40617750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.95, Y:-38.40, Z:-14.07 [[ 8.52412501e-01 5.18590217e-01 6.67616275e-02 1.66949107e+02] [-5.16734857e-01 8.55017841e-01 -4.39269712e-02 -3.84043115e+01] [-7.98624801e-02 2.94583932e-03 9.96801538e-01 -1.40665355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.00, Y:-38.44, Z:-14.07 [[ 8.51672895e-01 5.19805507e-01 6.67496439e-02 1.67002562e+02] [-5.17952441e-01 8.54279867e-01 -4.39451734e-02 -3.84362845e+01] [-7.98658200e-02 2.85377208e-03 9.96801538e-01 -1.40709023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.06, Y:-38.47, Z:-14.08 [[ 8.49513929e-01 5.23327820e-01 6.67388699e-02 1.67056448e+02] [-5.21484282e-01 8.52127647e-01 -4.39615297e-02 -3.84678238e+01] [-7.98763277e-02 2.54266014e-03 9.96801539e-01 -1.40755373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.11, Y:-38.50, Z:-14.08 [[ 8.44839523e-01 5.30842308e-01 6.67279830e-02 1.67111526e+02] [-5.29020722e-01 8.47468587e-01 -4.39780484e-02 -3.84972889e+01] [-7.98952782e-02 1.85390764e-03 9.96801539e-01 -1.40804791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.17, Y:-38.53, Z:-14.08 [[ 8.39215456e-01 5.39690862e-01 6.67172582e-02 1.67167581e+02] [-5.37895711e-01 8.41862640e-01 -4.39943126e-02 -3.85271817e+01] [-7.99100956e-02 1.03378009e-03 9.96801539e-01 -1.40848977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:-38.56, Z:-14.09 [[ 8.35709266e-01 5.45105906e-01 6.67051303e-02 1.67221250e+02] [-5.43326442e-01 8.38367020e-01 -4.40126935e-02 -3.85589758e+01] [-7.99149605e-02 5.39154739e-04 9.96801539e-01 -1.40888492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.27, Y:-38.59, Z:-14.09 [[ 8.31161795e-01 5.52016213e-01 6.66946110e-02 1.67274937e+02] [-5.50257567e-01 8.33833370e-01 -4.40286282e-02 -3.85911586e+01] [-7.99167089e-02 -1.04300791e-04 9.96801539e-01 -1.40934618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.33, Y:-38.62, Z:-14.10 [[ 8.27877749e-01 5.56930757e-01 6.66825742e-02 1.67327652e+02] [-5.55186502e-01 8.30558742e-01 -4.40468507e-02 -3.86243663e+01] [-7.99148408e-02 -5.55857462e-04 9.96801540e-01 -1.40980790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:-38.66, Z:-14.10 [[ 8.22773225e-01 5.64446017e-01 6.66701911e-02 1.67380663e+02] [-5.62724729e-01 8.25469021e-01 -4.40655861e-02 -3.86578720e+01] [-7.99068219e-02 -1.26098078e-03 9.96801540e-01 -1.41024967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:-38.69, Z:-14.11 [[ 8.18722348e-01 5.70307368e-01 6.66575033e-02 1.67431652e+02] [-5.68603814e-01 8.21429386e-01 -4.40847704e-02 -3.86917893e+01] [-7.98963014e-02 -1.80852384e-03 9.96801540e-01 -1.41080547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.48, Y:-38.73, Z:-14.11 [[ 8.17194576e-01 5.72495736e-01 6.66457642e-02 1.67483190e+02] [-5.70797985e-01 8.19905256e-01 -4.41025100e-02 -3.87272431e+01] [-7.98917113e-02 -2.00093599e-03 9.96801540e-01 -1.41126623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.53, Y:-38.76, Z:-14.12 [[ 8.17067899e-01 5.72677982e-01 6.66331523e-02 1.67533353e+02] [-5.70979284e-01 8.19777985e-01 -4.41215569e-02 -3.87645074e+01] [-7.98918355e-02 -1.99584182e-03 9.96801541e-01 -1.41193739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.58, Y:-38.80, Z:-14.13 [[ 8.18583828e-01 5.70510503e-01 6.66204422e-02 1.67580845e+02] [-5.68803068e-01 8.21288418e-01 -4.41407400e-02 -3.88035871e+01] [-7.98973533e-02 -1.76101600e-03 9.96801541e-01 -1.41258869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.63, Y:-38.84, Z:-14.13 [[ 8.19932168e-01 5.68572167e-01 6.66102870e-02 1.67629646e+02] [-5.66857094e-01 8.22631921e-01 -4.41560593e-02 -3.88421786e+01] [-7.99016546e-02 -1.55354026e-03 9.96801541e-01 -1.41312825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.68, Y:-38.88, Z:-14.14 [[ 8.22111196e-01 5.65418158e-01 6.65994541e-02 1.67677054e+02] [-5.63691404e-01 8.24803492e-01 -4.41723922e-02 -3.88826383e+01] [-7.99073350e-02 -1.22692157e-03 9.96801541e-01 -1.41372436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:-38.92, Z:-14.14 [[ 8.24366697e-01 5.62125878e-01 6.65886341e-02 1.67723727e+02] [-5.60387054e-01 8.27051213e-01 -4.41886971e-02 -3.89249848e+01] [-7.99118208e-02 -8.87718202e-04 9.96801541e-01 -1.41424518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:-38.96, Z:-14.15 [[ 8.25173222e-01 5.60942576e-01 6.65776217e-02 1.67774269e+02] [-5.59198563e-01 8.27854371e-01 -4.42052829e-02 -3.89624691e+01] [-7.99132004e-02 -7.53094711e-04 9.96801542e-01 -1.41476947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.82, Y:-39.00, Z:-14.15 [[ 8.27135172e-01 5.58047037e-01 6.65650966e-02 1.67821015e+02] [-5.56292121e-01 8.29809196e-01 -4.42241354e-02 -3.90017107e+01] [-7.99154770e-02 -4.50300932e-04 9.96801542e-01 -1.41538688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.87, Y:-39.04, Z:-14.16 [[ 8.30249859e-01 5.53403169e-01 6.65590287e-02 1.67867321e+02] [-5.51632564e-01 8.32913520e-01 -4.42332659e-02 -3.90449750e+01] [-7.99167445e-02 8.53506099e-06 9.96801542e-01 -1.41566431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.92, Y:-39.09, Z:-14.16 [[ 8.31771390e-01 5.51114944e-01 6.65482750e-02 1.67915168e+02] [-5.49335718e-01 8.34429300e-01 -4.42494388e-02 -3.90850442e+01] [-7.99163575e-02 2.48072820e-04 9.96801542e-01 -1.41592631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:-39.13, Z:-14.16 [[ 8.33233597e-01 5.48903055e-01 6.65372700e-02 1.67960645e+02] [-5.47115452e-01 8.35885880e-01 -4.42659808e-02 -3.91278372e+01] [-7.99152966e-02 4.80333915e-04 9.96801542e-01 -1.41634375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:-39.17, Z:-14.17 [[ 8.32756288e-01 5.49628332e-01 6.65256453e-02 1.68008010e+02] [-5.47841644e-01 8.35409187e-01 -4.42834442e-02 -3.91696025e+01] [-7.99155709e-02 4.31797738e-04 9.96801542e-01 -1.41681605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.06, Y:-39.21, Z:-14.17 [[ 8.31869806e-01 5.50970649e-01 6.65129375e-02 1.68057341e+02] [-5.49186715e-01 8.34524558e-01 -4.43025229e-02 -3.92087400e+01] [-7.99160696e-02 3.25909394e-04 9.96801543e-01 -1.41740354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.11, Y:-39.25, Z:-14.18 [[ 8.31015518e-01 5.52259816e-01 6.65004094e-02 1.68106705e+02] [-5.50478497e-01 8.33672025e-01 -4.43213203e-02 -3.92474816e+01] [-7.99164152e-02 2.24659536e-04 9.96801543e-01 -1.41787253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.16, Y:-39.29, Z:-14.18 [[ 8.30293945e-01 5.53345588e-01 6.64877833e-02 1.68155041e+02] [-5.51566226e-01 8.32951763e-01 -4.43402531e-02 -3.92881416e+01] [-7.99165997e-02 1.43027932e-04 9.96801543e-01 -1.41842672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:-39.33, Z:-14.19 [[ 8.29243851e-01 5.54919533e-01 6.64751595e-02 1.68203956e+02] [-5.53143699e-01 8.31904028e-01 -4.43591707e-02 -3.93269363e+01] [-7.99167232e-02 1.42538533e-05 9.96801544e-01 -1.41890498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.26, Y:-39.36, Z:-14.19 [[ 8.26212895e-01 5.59423596e-01 6.64642160e-02 1.68255964e+02] [-5.57660945e-01 8.28881825e-01 -4.43755615e-02 -3.93597963e+01] [-7.99157169e-02 -4.00836373e-04 9.96801544e-01 -1.41935810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:-39.39, Z:-14.20 [[ 8.25482999e-01 5.60501374e-01 6.64532119e-02 1.68308575e+02] [-5.58740881e-01 8.28153352e-01 -4.43920344e-02 -3.93945857e+01] [-7.99152464e-02 -4.85256520e-04 9.96801544e-01 -1.41989403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.36, Y:-39.43, Z:-14.20 [[ 8.25538008e-01 5.60421863e-01 6.64404477e-02 1.68359722e+02] [-5.58659577e-01 8.28207178e-01 -4.44111300e-02 -3.94294909e+01] [-7.99154239e-02 -4.54516531e-04 9.96801544e-01 -1.42043143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.41, Y:-39.46, Z:-14.21 [[ 8.25470535e-01 5.60522174e-01 6.64325831e-02 1.68412602e+02] [-5.58759266e-01 8.28139294e-01 -4.44228912e-02 -3.94624675e+01] [-7.99154480e-02 -4.50033540e-04 9.96801544e-01 -1.42098837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.46, Y:-39.50, Z:-14.22 [[ 8.26496383e-01 5.59009921e-01 6.64201547e-02 1.68464181e+02] [-5.57240637e-01 8.29160918e-01 -4.44414661e-02 -3.94961173e+01] [-7.99162170e-02 -2.81298353e-04 9.96801545e-01 -1.42157004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.52, Y:-39.53, Z:-14.22 [[ 8.28014446e-01 5.56760173e-01 6.64092397e-02 1.68516713e+02] [-5.54982341e-01 8.30673286e-01 -4.44577705e-02 -3.95300163e+01] [-7.99166974e-02 -4.42791228e-05 9.96801545e-01 -1.42211296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:-39.56, Z:-14.23 [[ 8.31831309e-01 5.51042783e-01 6.63967213e-02 1.68569525e+02] [-5.49245185e-01 8.34476825e-01 -4.44764586e-02 -3.95624511e+01] [-7.99149568e-02 5.28831300e-04 9.96801545e-01 -1.42265613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.62, Y:-39.59, Z:-14.24 [[ 8.40250820e-01 5.38118489e-01 6.63856298e-02 1.68623105e+02] [-5.36278904e-01 8.42867314e-01 -4.44930077e-02 -3.95919037e+01] [-7.98967876e-02 1.78407337e-03 9.96801545e-01 -1.42379565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.67, Y:-39.63, Z:-14.24 [[ 8.45744447e-01 5.29443146e-01 6.63798612e-02 1.68674045e+02] [-5.27576059e-01 8.48341387e-01 -4.45016124e-02 -3.96273448e+01] [-7.98738572e-02 2.61656595e-03 9.96801545e-01 -1.42437191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:-39.67, Z:-14.24 [[ 8.46163825e-01 5.28774124e-01 6.63679658e-02 1.68723075e+02] [-5.26903595e-01 8.48758287e-01 -4.45193457e-02 -3.96660343e+01] [-7.98710390e-02 2.70114013e-03 9.96801545e-01 -1.42406487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.78, Y:-39.70, Z:-14.25 [[ 8.47972426e-01 5.25870186e-01 6.63574552e-02 1.68775365e+02] [-5.23989551e-01 8.50559571e-01 -4.45350065e-02 -3.97008047e+01] [-7.98606008e-02 2.99384436e-03 9.96801546e-01 -1.42452958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:-39.73, Z:-14.25 [[ 8.48538595e-01 5.24957679e-01 6.63452134e-02 1.68828123e+02] [-5.23072839e-01 8.51122679e-01 -4.45532361e-02 -3.97347365e+01] [-7.98564792e-02 3.10176121e-03 9.96801546e-01 -1.42510195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.88, Y:-39.77, Z:-14.25 [[ 8.47637354e-01 5.26412806e-01 6.63360681e-02 1.68881800e+02] [-5.24531339e-01 8.50223894e-01 -4.45668485e-02 -3.97682507e+01] [-7.98610700e-02 2.98117888e-03 9.96801546e-01 -1.42543406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.93, Y:-39.80, Z:-14.26 [[ 8.47156848e-01 5.27187419e-01 6.63226981e-02 1.68934246e+02] [-5.25306763e-01 8.49743978e-01 -4.45867365e-02 -3.98014822e+01] [-7.98628798e-02 2.93219733e-03 9.96801546e-01 -1.42585464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:-39.84, Z:-14.26 [[ 8.46851839e-01 5.27678631e-01 6.63115791e-02 1.68987224e+02] [-5.25798184e-01 8.49439120e-01 -4.46032671e-02 -3.98350277e+01] [-7.98638403e-02 2.90585094e-03 9.96801546e-01 -1.42640359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.04, Y:-39.87, Z:-14.26 [[ 8.46552571e-01 5.28160177e-01 6.62991033e-02 1.69039038e+02] [-5.26279753e-01 8.49139869e-01 -4.46218036e-02 -3.98698612e+01] [-7.98646716e-02 2.88282690e-03 9.96801547e-01 -1.42599916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.09, Y:-39.90, Z:-14.27 [[ 8.47951090e-01 5.25912260e-01 6.62966400e-02 1.69089608e+02] [-5.24024692e-01 8.50533180e-01 -4.46254632e-02 -3.99010848e+01] [-7.98565702e-02 3.09913376e-03 9.96801547e-01 -1.42745247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.14, Y:-39.94, Z:-14.28 [[ 8.48786545e-01 5.24563765e-01 6.62891939e-02 1.69141993e+02] [-5.22671233e-01 8.51365000e-01 -4.46365214e-02 -3.99353682e+01] [-7.98510012e-02 3.23942409e-03 9.96801547e-01 -1.42802717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:-39.97, Z:-14.28 [[ 8.49097191e-01 5.24062315e-01 6.62770698e-02 1.69193737e+02] [-5.22166860e-01 8.51673497e-01 -4.46545161e-02 -3.99705372e+01] [-7.98481729e-02 3.30833479e-03 9.96801547e-01 -1.42844615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:-40.00, Z:-14.29 [[ 8.47713549e-01 5.26299112e-01 6.62644961e-02 1.69245239e+02] [-5.24409001e-01 8.50293777e-01 -4.46731670e-02 -4.00046280e+01] [-7.98557368e-02 3.12035077e-03 9.96801547e-01 -1.42891178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:-40.04, Z:-14.29 [[ 8.45226047e-01 5.30285747e-01 6.62567420e-02 1.69298358e+02] [-5.28406909e-01 8.47814496e-01 -4.46846646e-02 -4.00382249e+01] [-7.98690670e-02 2.75812221e-03 9.96801547e-01 -1.42941371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.35, Y:-40.07, Z:-14.30 [[ 8.40421331e-01 5.37869584e-01 6.62442299e-02 1.69351528e+02] [-5.36012652e-01 8.43025539e-01 -4.47032059e-02 -4.00715346e+01] [-7.98900723e-02 2.06178240e-03 9.96801548e-01 -1.43004312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.40, Y:-40.11, Z:-14.31 [[ 8.38856331e-01 5.40308627e-01 6.62317398e-02 1.69403341e+02] [-5.38457808e-01 8.41464888e-01 -4.47217034e-02 -4.01061312e+01] [-7.98952057e-02 1.85208661e-03 9.96801548e-01 -1.43057903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.46, Y:-40.14, Z:-14.31 [[ 8.36615558e-01 5.43773319e-01 6.62192234e-02 1.69455089e+02] [-5.41931840e-01 8.39230715e-01 -4.47402287e-02 -4.01404702e+01] [-7.99017489e-02 1.54406580e-03 9.96801548e-01 -1.43116844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.51, Y:-40.17, Z:-14.32 [[ 8.35712334e-01 5.45161381e-01 6.62115087e-02 1.69507640e+02] [-5.43323341e-01 8.38329910e-01 -4.47516429e-02 -4.01749378e+01] [-7.99039555e-02 1.42524184e-03 9.96801548e-01 -1.43162994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.56, Y:-40.21, Z:-14.32 [[ 8.36973684e-01 5.43224410e-01 6.61988799e-02 1.69559072e+02] [-5.41378837e-01 8.39585954e-01 -4.47703163e-02 -4.02104320e+01] [-7.98999784e-02 1.63290392e-03 9.96801549e-01 -1.43216126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.61, Y:-40.25, Z:-14.33 [[ 8.42085726e-01 5.35266761e-01 6.61900658e-02 1.69609753e+02] [-5.33395488e-01 8.44679647e-01 -4.47833435e-02 -4.02473254e+01] [-7.98804367e-02 2.40593190e-03 9.96801549e-01 -1.43250990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:-40.28, Z:-14.33 [[ 8.47275414e-01 5.27015136e-01 6.61771827e-02 1.69660842e+02] [-5.25117130e-01 8.49849838e-01 -4.48023731e-02 -4.02838388e+01] [-7.98521968e-02 3.20917692e-03 9.96801549e-01 -1.43297748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.71, Y:-40.32, Z:-14.33 [[ 8.49645402e-01 5.23187241e-01 6.61649605e-02 1.69712308e+02] [-5.21276238e-01 8.52210193e-01 -4.48204159e-02 -4.03195160e+01] [-7.98359235e-02 3.59123854e-03 9.96801549e-01 -1.43346137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.76, Y:-40.35, Z:-14.34 [[ 8.50688359e-01 5.21491252e-01 6.61527708e-02 1.69763701e+02] [-5.19573743e-01 8.53248290e-01 -4.48384001e-02 -4.03546677e+01] [-7.98275720e-02 3.77226230e-03 9.96801549e-01 -1.43397103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.81, Y:-40.39, Z:-14.34 [[ 8.49295772e-01 5.23757683e-01 6.61406148e-02 1.69813725e+02] [-5.21845614e-01 8.51859769e-01 -4.48563242e-02 -4.03904342e+01] [-7.98363732e-02 3.58109673e-03 9.96801550e-01 -1.43394506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:-40.42, Z:-14.35 [[ 8.48007347e-01 5.25842435e-01 6.61307228e-02 1.69864927e+02] [-5.23935537e-01 8.50575191e-01 -4.48709030e-02 -4.04222544e+01] [-7.98441771e-02 3.40261964e-03 9.96801550e-01 -1.43480346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:-40.45, Z:-14.36 [[ 8.48155180e-01 5.25605284e-01 6.61201577e-02 1.69918110e+02] [-5.23696457e-01 8.50721591e-01 -4.48864660e-02 -4.04535648e+01] [-7.98424095e-02 3.44379635e-03 9.96801550e-01 -1.43595737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:169.97, Y:-40.49, Z:-14.36 [[ 8.46529737e-01 5.28219612e-01 6.61169143e-02 1.69967985e+02] [-5.26318341e-01 8.49101749e-01 -4.48912430e-02 -4.04892908e+01] [-7.98524225e-02 3.20322755e-03 9.96801550e-01 -1.43601799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.02, Y:-40.52, Z:-14.36 [[ 8.45646235e-01 5.29634184e-01 6.61065511e-02 1.70020015e+02] [-5.27736025e-01 8.48220546e-01 -4.49064986e-02 -4.05234873e+01] [-7.98569516e-02 3.08820303e-03 9.96801550e-01 -1.43636872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:-40.56, Z:-14.37 [[ 8.45064795e-01 5.30562780e-01 6.60956096e-02 1.70072172e+02] [-5.28666193e-01 8.47640264e-01 -4.49225970e-02 -4.05583413e+01] [-7.98595579e-02 3.01999092e-03 9.96801550e-01 -1.43684721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:-40.59, Z:-14.37 [[ 8.43406570e-01 5.33196362e-01 6.60832554e-02 1.70124269e+02] [-5.31306398e-01 8.45986903e-01 -4.49407633e-02 -4.05928464e+01] [-7.98678201e-02 2.79287868e-03 9.96801551e-01 -1.43730367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:-40.63, Z:-14.38 [[ 8.41390135e-01 5.36373147e-01 6.60794079e-02 1.70178425e+02] [-5.34492483e-01 8.43977254e-01 -4.49464198e-02 -4.06255199e+01] [-7.98775699e-02 2.49852743e-03 9.96801551e-01 -1.43784226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.23, Y:-40.66, Z:-14.38 [[ 8.39634851e-01 5.39118210e-01 6.60671811e-02 1.70231013e+02] [-5.37244594e-01 8.42227078e-01 -4.49643850e-02 -4.06593704e+01] [-7.98846877e-02 2.25942886e-03 9.96801551e-01 -1.43825220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.28, Y:-40.69, Z:-14.39 [[ 8.38034760e-01 5.41603731e-01 6.60540664e-02 1.70283910e+02] [-5.39736287e-01 8.40631437e-01 -4.49836428e-02 -4.06929515e+01] [-7.98904335e-02 2.04607974e-03 9.96801551e-01 -1.43875062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:-40.73, Z:-14.39 [[ 8.38141568e-01 5.41440029e-01 6.60409527e-02 1.70337720e+02] [-5.39570563e-01 8.40736789e-01 -4.50028869e-02 -4.07260620e+01] [-7.98894229e-02 2.08503611e-03 9.96801551e-01 -1.43932652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.39, Y:-40.76, Z:-14.40 [[ 8.38360496e-01 5.41102581e-01 6.60278383e-02 1.70389126e+02] [-5.39230558e-01 8.40953872e-01 -4.50221200e-02 -4.07603697e+01] [-7.98879516e-02 2.14053882e-03 9.96801552e-01 -1.43980612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.44, Y:-40.79, Z:-14.40 [[ 8.41618553e-01 5.36022510e-01 6.60157517e-02 1.70442165e+02] [-5.34133449e-01 8.44199545e-01 -4.50398356e-02 -4.07938855e+01] [-7.98728333e-02 2.64514009e-03 9.96801552e-01 -1.44023680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.49, Y:-40.83, Z:-14.41 [[ 8.42487638e-01 5.34657089e-01 6.60028655e-02 1.70492933e+02] [-5.32762369e-01 8.45064478e-01 -4.50587117e-02 -4.08289556e+01] [-7.98676366e-02 2.79756462e-03 9.96801552e-01 -1.44072827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.55, Y:-40.86, Z:-14.41 [[ 8.44604525e-01 5.31308183e-01 6.59909956e-02 1.70546334e+02] [-5.29401893e-01 8.47172817e-01 -4.50760891e-02 -4.08612074e+01] [-7.98550726e-02 3.13571083e-03 9.96801552e-01 -1.44126113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.60, Y:-40.89, Z:-14.42 [[ 8.44229294e-01 5.31905833e-01 6.59779028e-02 1.70599663e+02] [-5.29999867e-01 8.46797827e-01 -4.50952449e-02 -4.08924257e+01] [-7.98563685e-02 3.10244705e-03 9.96801553e-01 -1.44187461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.65, Y:-40.93, Z:-14.42 [[ 8.43149102e-01 5.33617854e-01 6.59664971e-02 1.70652743e+02] [-5.31715802e-01 8.45720533e-01 -4.51119233e-02 -4.09254031e+01] [-7.98617488e-02 2.96064867e-03 9.96801553e-01 -1.44243987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:-40.96, Z:-14.43 [[ 8.41008798e-01 5.36986334e-01 6.59536046e-02 1.70704240e+02] [-5.35093108e-01 8.43586735e-01 -4.51307643e-02 -4.09597637e+01] [-7.98721897e-02 2.66405057e-03 9.96801553e-01 -1.44307154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.76, Y:-40.99, Z:-14.43 [[ 8.39532668e-01 5.39292680e-01 6.59416735e-02 1.70758464e+02] [-5.37405170e-01 8.42114793e-01 -4.51481905e-02 -4.09925288e+01] [-7.98785473e-02 2.46598462e-03 9.96801553e-01 -1.44343768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:-41.03, Z:-14.44 [[ 8.38436172e-01 5.40997351e-01 6.59291455e-02 1.70812560e+02] [-5.39113655e-01 8.41021079e-01 -4.51664776e-02 -4.10251977e+01] [-7.98827458e-02 2.32590594e-03 9.96801554e-01 -1.44389573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:-41.06, Z:-14.44 [[ 8.38351138e-01 5.41130651e-01 6.59165260e-02 1.70865987e+02] [-5.39245920e-01 8.40935291e-01 -4.51848871e-02 -4.10587900e+01] [-7.98824604e-02 2.33558378e-03 9.96801554e-01 -1.44436068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:-41.09, Z:-14.45 [[ 8.38877596e-01 5.40315688e-01 6.59039939e-02 1.70919285e+02] [-5.38427013e-01 8.41458868e-01 -4.52031583e-02 -4.10912684e+01] [-7.98794757e-02 2.43542620e-03 9.96801554e-01 -1.44489159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.97, Y:-41.12, Z:-14.45 [[ 8.40917987e-01 5.37136153e-01 6.58915226e-02 1.70974281e+02] [-5.35236298e-01 8.43491041e-01 -4.52213301e-02 -4.11229812e+01] [-7.98689203e-02 2.75989525e-03 9.96801554e-01 -1.44527908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.03, Y:-41.16, Z:-14.46 [[ 8.42195820e-01 5.35131984e-01 6.58783811e-02 1.71026538e+02] [-5.33224513e-01 8.44763232e-01 -4.52404667e-02 -4.11565424e+01] [-7.98612548e-02 2.97336428e-03 9.96801555e-01 -1.44589312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.08, Y:-41.19, Z:-14.46 [[ 8.42871887e-01 5.34067991e-01 6.58662553e-02 1.71079240e+02] [-5.32155903e-01 8.45435863e-01 -4.52581139e-02 -4.11910661e+01] [-7.98566043e-02 3.09567524e-03 9.96801555e-01 -1.44641926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.13, Y:-41.22, Z:-14.47 [[ 8.44231619e-01 5.31917518e-01 6.58538311e-02 1.71131860e+02] [-5.29997494e-01 8.46789657e-01 -4.52761848e-02 -4.12248610e+01] [-7.98475389e-02 3.32122136e-03 9.96801555e-01 -1.44691888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.18, Y:-41.26, Z:-14.47 [[ 8.44950392e-01 5.30776601e-01 6.58409886e-02 1.71183727e+02] [-5.28851672e-01 8.47504741e-01 -4.52948528e-02 -4.12591630e+01] [-7.98419980e-02 3.45178672e-03 9.96801555e-01 -1.44671065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.24, Y:-41.29, Z:-14.48 [[ 8.46335762e-01 5.28565101e-01 6.58385219e-02 1.71235743e+02] [-5.26633221e-01 8.48884858e-01 -4.52984381e-02 -4.12886318e+01] [-7.98324978e-02 3.66493528e-03 9.96801555e-01 -1.44784193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:-41.32, Z:-14.48 [[ 8.45861756e-01 5.29323698e-01 6.58354982e-02 1.71290280e+02] [-5.27393763e-01 8.48412325e-01 -4.53028322e-02 -4.13201590e+01] [-7.98355107e-02 3.59870211e-03 9.96801555e-01 -1.44826181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.34, Y:-41.35, Z:-14.49 [[ 8.43746098e-01 5.32691181e-01 6.58226968e-02 1.71343688e+02] [-5.30769982e-01 8.46303253e-01 -4.53214244e-02 -4.13507264e+01] [-7.98482855e-02 3.30306341e-03 9.96801556e-01 -1.44879045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.40, Y:-41.38, Z:-14.49 [[ 8.41352074e-01 5.36465859e-01 6.58108685e-02 1.71397522e+02] [-5.34554794e-01 8.43916811e-01 -4.53385937e-02 -4.13824984e+01] [-7.98615059e-02 2.96620461e-03 9.96801556e-01 -1.44932929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:-41.41, Z:-14.50 [[ 8.38984807e-01 5.40162115e-01 6.57980538e-02 1.71450965e+02] [-5.38260896e-01 8.41556851e-01 -4.53571835e-02 -4.14138019e+01] [-7.98730351e-02 2.63746841e-03 9.96801556e-01 -1.44987709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:-41.44, Z:-14.50 [[ 8.36232582e-01 5.44414587e-01 6.57862162e-02 1.71505984e+02] [-5.42525102e-01 8.38813258e-01 -4.53743464e-02 -4.14438344e+01] [-7.98848064e-02 2.25283316e-03 9.96801556e-01 -1.45028973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.56, Y:-41.48, Z:-14.51 [[ 8.35598750e-01 5.45388475e-01 6.57733978e-02 1.71559786e+02] [-5.43500538e-01 8.38180558e-01 -4.53929200e-02 -4.14770820e+01] [-7.98867587e-02 2.18239022e-03 9.96801556e-01 -1.45078560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.61, Y:-41.51, Z:-14.51 [[ 8.36330428e-01 5.44267378e-01 6.57604490e-02 1.71614063e+02] [-5.42374507e-01 8.38908621e-01 -4.54116711e-02 -4.15084941e+01] [-7.98830988e-02 2.31237117e-03 9.96801557e-01 -1.45131036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.67, Y:-41.54, Z:-14.52 [[ 8.38224111e-01 5.41347931e-01 6.57476825e-02 1.71667889e+02] [-5.39444635e-01 8.40794617e-01 -4.54301472e-02 -4.15407034e+01] [-7.98738137e-02 2.61341022e-03 9.96801557e-01 -1.45175462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.72, Y:-41.57, Z:-14.52 [[ 8.39256382e-01 5.39747775e-01 6.57348010e-02 1.71720773e+02] [-5.37838121e-01 8.41822169e-01 -4.54487784e-02 -4.15747932e+01] [-7.98678897e-02 2.78849551e-03 9.96801557e-01 -1.45222089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.77, Y:-41.61, Z:-14.53 [[ 8.40128459e-01 5.38390942e-01 6.57218889e-02 1.71773780e+02] [-5.36475687e-01 8.42690067e-01 -4.54674425e-02 -4.16072998e+01] [-7.98624421e-02 2.94029684e-03 9.96801557e-01 -1.45275671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.83, Y:-41.64, Z:-14.53 [[ 8.40035761e-01 5.38537017e-01 6.57099807e-02 1.71826462e+02] [-5.36620865e-01 8.42596697e-01 -4.54846459e-02 -4.16411318e+01] [-7.98621782e-02 2.94738245e-03 9.96801558e-01 -1.45327700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.88, Y:-41.67, Z:-14.54 [[ 8.39395333e-01 5.39536219e-01 6.56973594e-02 1.71880534e+02] [-5.37621692e-01 8.41957484e-01 -4.55028686e-02 -4.16731996e+01] [-7.98648291e-02 2.87457008e-03 9.96801558e-01 -1.45380508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.93, Y:-41.71, Z:-14.54 [[ 8.38728138e-01 5.40574329e-01 6.56848903e-02 1.71933758e+02] [-5.38661567e-01 8.41291607e-01 -4.55208611e-02 -4.17066005e+01] [-7.98675558e-02 2.79770115e-03 9.96801558e-01 -1.45423310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.99, Y:-41.74, Z:-14.55 [[ 8.37818597e-01 5.41984461e-01 6.56722392e-02 1.71987952e+02] [-5.40074585e-01 8.40384217e-01 -4.55391053e-02 -4.17385315e+01] [-7.98714008e-02 2.68560198e-03 9.96801558e-01 -1.45470989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.04, Y:-41.77, Z:-14.55 [[ 8.36998303e-01 5.43251945e-01 6.56594602e-02 1.72040559e+02] [-5.41344513e-01 8.39565739e-01 -4.55575230e-02 -4.17716432e+01] [-7.98746462e-02 2.58718101e-03 9.96801559e-01 -1.45526093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:-41.80, Z:-14.56 [[ 8.35761776e-01 5.45153684e-01 6.56484139e-02 1.72094766e+02] [-5.43250846e-01 8.38332619e-01 -4.55734352e-02 -4.18031619e+01] [-7.98797329e-02 2.42497879e-03 9.96801559e-01 -1.45562397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.15, Y:-41.84, Z:-14.56 [[ 8.35229955e-01 5.45969678e-01 6.56356050e-02 1.72147291e+02] [-5.44067904e-01 8.37801586e-01 -4.55918753e-02 -4.18369433e+01] [-7.98813954e-02 2.36947396e-03 9.96801559e-01 -1.45600314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.20, Y:-41.87, Z:-14.56 [[ 8.34828125e-01 5.46585240e-01 6.56245114e-02 1.72199927e+02] [-5.44684109e-01 8.37400231e-01 -4.56078379e-02 -4.18704610e+01] [-7.98825520e-02 2.33007728e-03 9.96801559e-01 -1.45643355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.25, Y:-41.90, Z:-14.57 [[ 8.34184483e-01 5.47568565e-01 6.56118529e-02 1.72252492e+02] [-5.45669036e-01 8.36757771e-01 -4.56260413e-02 -4.19048310e+01] [-7.98846137e-02 2.25817918e-03 9.96801560e-01 -1.45694738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.30, Y:-41.94, Z:-14.58 [[ 8.33104758e-01 5.49211465e-01 6.55990035e-02 1.72304653e+02] [-5.47315558e-01 8.35680716e-01 -4.56445080e-02 -4.19378560e+01] [-7.98883093e-02 2.12330156e-03 9.96801560e-01 -1.45751378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.36, Y:-41.97, Z:-14.58 [[ 8.32695153e-01 5.49833712e-01 6.55871307e-02 1.72357187e+02] [-5.47938389e-01 8.35271539e-01 -4.56615620e-02 -4.19726646e+01] [-7.98893297e-02 2.08445460e-03 9.96801560e-01 -1.45806399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.41, Y:-42.01, Z:-14.59 [[ 8.32492784e-01 5.50141549e-01 6.55746933e-02 1.72409116e+02] [-5.48245773e-01 8.35068838e-01 -4.56794164e-02 -4.20067001e+01] [-7.98895278e-02 2.07673613e-03 9.96801560e-01 -1.45869921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.46, Y:-42.04, Z:-14.59 [[ 8.33039593e-01 5.49314484e-01 6.55639756e-02 1.72460612e+02] [-5.47414942e-01 8.35612869e-01 -4.56947944e-02 -4.20409621e+01] [-7.98869142e-02 2.17487309e-03 9.96801560e-01 -1.45927430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.51, Y:-42.08, Z:-14.60 [[ 8.33222205e-01 5.49038803e-01 6.55526433e-02 1.72511526e+02] [-5.47137132e-01 8.35793910e-01 -4.57110456e-02 -4.20760999e+01] [-7.98856378e-02 2.22117300e-03 9.96801561e-01 -1.45968857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:-42.11, Z:-14.60 [[ 8.32576168e-01 5.50019230e-01 6.55421350e-02 1.72563035e+02] [-5.48119403e-01 8.35149234e-01 -4.57261079e-02 -4.21115310e+01] [-7.98877025e-02 2.14555183e-03 9.96801561e-01 -1.46002876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:-42.15, Z:-14.61 [[ 8.31046317e-01 5.52329532e-01 6.55294300e-02 1.72614249e+02] [-5.50435425e-01 8.33623597e-01 -4.57443081e-02 -4.21456362e+01] [-7.98928114e-02 1.94591917e-03 9.96801561e-01 -1.46072520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.67, Y:-42.18, Z:-14.61 [[ 8.26780854e-01 5.58695671e-01 6.55176835e-02 1.72666905e+02] [-5.56820081e-01 8.29371640e-01 -4.57611259e-02 -4.21809035e+01] [-7.99050515e-02 1.35286087e-03 9.96801561e-01 -1.46093612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.72, Y:-42.22, Z:-14.61 [[ 8.23111353e-01 5.64089388e-01 6.55046828e-02 1.72718300e+02] [-5.62229296e-01 8.25713289e-01 -4.57797282e-02 -4.22161321e+01] [-7.99119459e-02 8.53162320e-04 9.96801562e-01 -1.46140163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.77, Y:-42.25, Z:-14.62 [[ 8.21259293e-01 5.66783353e-01 6.54966086e-02 1.72769470e+02] [-5.64930876e-01 8.23866655e-01 -4.57912770e-02 -4.22522090e+01] [-7.99142053e-02 6.05455305e-04 9.96801562e-01 -1.46188395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.82, Y:-42.29, Z:-14.62 [[ 8.16975987e-01 5.72941630e-01 6.54837806e-02 1.72820666e+02] [-5.71107338e-01 8.19596174e-01 -4.58096144e-02 -4.22885261e+01] [-7.99164911e-02 2.70873396e-05 9.96801562e-01 -1.46223393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.87, Y:-42.33, Z:-14.63 [[ 8.14596943e-01 5.76320598e-01 6.54705116e-02 1.72870206e+02] [-5.74495651e-01 8.17223647e-01 -4.58285705e-02 -4.23255785e+01] [-7.99159994e-02 -2.80710728e-04 9.96801562e-01 -1.46276445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:-42.36, Z:-14.63 [[ 8.14060342e-01 5.77079696e-01 6.54582587e-02 1.72920542e+02] [-5.75255792e-01 8.16687769e-01 -4.58460649e-02 -4.23634216e+01] [-7.99157925e-02 -3.33779170e-04 9.96801562e-01 -1.46322912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.97, Y:-42.40, Z:-14.64 [[ 8.14219481e-01 5.76856626e-01 6.54451743e-02 1.72970450e+02] [-5.75030500e-01 8.16845365e-01 -4.58647353e-02 -4.24023039e+01] [-7.99159637e-02 -2.89010351e-04 9.96801563e-01 -1.46372936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.02, Y:-42.44, Z:-14.64 [[ 8.15056044e-01 5.75675497e-01 6.54321521e-02 1.73018636e+02] [-5.73844075e-01 8.17678237e-01 -4.58833058e-02 -4.24426632e+01] [-7.99163416e-02 -1.50387096e-04 9.96801563e-01 -1.46432767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.07, Y:-42.48, Z:-14.65 [[ 8.16314134e-01 5.73891592e-01 6.54192325e-02 1.73067099e+02] [-5.72052964e-01 8.18931278e-01 -4.59017188e-02 -4.24830396e+01] [-7.99164662e-02 4.69559458e-05 9.96801563e-01 -1.46478111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:-42.53, Z:-14.65 [[ 8.19219379e-01 5.69738247e-01 6.54059552e-02 1.73112994e+02] [-5.67884841e-01 8.21826078e-01 -4.59206301e-02 -4.25251251e+01] [-7.99150590e-02 4.76019579e-04 9.96801563e-01 -1.46546021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.16, Y:-42.57, Z:-14.66 [[ 8.22522489e-01 5.64960545e-01 6.53937110e-02 1.73159587e+02] [-5.63090613e-01 8.25117359e-01 -4.59380600e-02 -4.25678662e+01] [-7.99106775e-02 9.62502652e-04 9.96801564e-01 -1.46581306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.21, Y:-42.61, Z:-14.66 [[ 8.24606865e-01 5.61915319e-01 6.53811271e-02 1.73207679e+02] [-5.60034386e-01 8.27193772e-01 -4.59559630e-02 -4.26083689e+01] [-7.99062207e-02 1.27992322e-03 9.96801564e-01 -1.46620624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.25, Y:-42.65, Z:-14.66 [[ 8.26109774e-01 5.59704966e-01 6.53681317e-02 1.73252023e+02] [-5.57815650e-01 8.28690564e-01 -4.59744404e-02 -4.26531621e+01] [-7.99020765e-02 1.51656766e-03 9.96801564e-01 -1.46593049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:-42.69, Z:-14.67 [[ 8.28394092e-01 5.56318763e-01 6.53656002e-02 1.73299863e+02] [-5.54418616e-01 8.30966918e-01 -4.59780393e-02 -4.26881352e+01] [-7.98950973e-02 1.84803054e-03 9.96801564e-01 -1.46716716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:-42.73, Z:-14.68 [[ 8.28668196e-01 5.55910387e-01 6.53656002e-02 1.73347578e+02] [-5.54008972e-01 8.31240085e-01 -4.59780393e-02 -4.27283519e+01] [-7.98941767e-02 1.88740992e-03 9.96801564e-01 -1.46763043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.40, Y:-42.77, Z:-14.68 [[ 8.28515920e-01 5.56138652e-01 6.53541809e-02 1.73397558e+02] [-5.54236667e-01 8.31087387e-01 -4.59942652e-02 -4.27670796e+01] [-7.98942241e-02 1.88529763e-03 9.96801564e-01 -1.46800963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.45, Y:-42.81, Z:-14.68 [[ 8.28572581e-01 5.56055784e-01 6.53409744e-02 1.73445762e+02] [-5.54152064e-01 8.31142763e-01 -4.60130193e-02 -4.28051399e+01] [-7.98934835e-02 1.91629033e-03 9.96801565e-01 -1.46843573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.50, Y:-42.84, Z:-14.69 [[ 8.28336586e-01 5.56408709e-01 6.53287803e-02 1.73496388e+02] [-5.54504719e-01 8.30906569e-01 -4.60303259e-02 -4.28426567e+01] [-7.98937868e-02 1.90348606e-03 9.96801565e-01 -1.46888493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.55, Y:-42.88, Z:-14.69 [[ 8.27683680e-01 5.57380985e-01 6.53158775e-02 1.73546225e+02] [-5.55478571e-01 8.30254829e-01 -4.60486273e-02 -4.28801581e+01] [-7.98954520e-02 1.83212696e-03 9.96801565e-01 -1.46939479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:-42.92, Z:-14.70 [[ 8.27303448e-01 5.57946495e-01 6.53047781e-02 1.73596096e+02] [-5.56044598e-01 8.29874979e-01 -4.60643628e-02 -4.29169464e+01] [-7.98962511e-02 1.79683712e-03 9.96801565e-01 -1.46980419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:-42.95, Z:-14.70 [[ 8.27218453e-01 5.58073418e-01 6.52969482e-02 1.73646756e+02] [-5.56171039e-01 8.29789628e-01 -4.60754592e-02 -4.29531818e+01] [-7.98962193e-02 1.79819853e-03 9.96801565e-01 -1.47032399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:-42.99, Z:-14.71 [[ 8.26820363e-01 5.58664487e-01 6.52845904e-02 1.73697342e+02] [-5.56762566e-01 8.29391876e-01 -4.60929624e-02 -4.29883735e+01] [-7.98970101e-02 1.76258388e-03 9.96801566e-01 -1.47078561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.75, Y:-43.02, Z:-14.71 [[ 8.26374265e-01 5.59325459e-01 6.52733127e-02 1.73749052e+02] [-5.57424335e-01 8.28946366e-01 -4.61089275e-02 -4.30246076e+01] [-7.98979724e-02 1.71829815e-03 9.96801566e-01 -1.47124231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.80, Y:-43.06, Z:-14.72 [[ 8.26608632e-01 5.58980578e-01 6.52601207e-02 1.73800059e+02] [-5.57076908e-01 8.29178849e-01 -4.61275912e-02 -4.30596643e+01] [-7.98967394e-02 1.77455877e-03 9.96801566e-01 -1.47187074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:-43.09, Z:-14.72 [[ 8.27831541e-01 5.57169316e-01 6.52479397e-02 1.73849805e+02] [-5.55258666e-01 8.30396574e-01 -4.61448150e-02 -4.30939541e+01] [-7.98921406e-02 1.97064934e-03 9.96801566e-01 -1.47248440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.90, Y:-43.13, Z:-14.73 [[ 8.28650114e-01 5.55952379e-01 6.52375678e-02 1.73901655e+02] [-5.54036810e-01 8.31211475e-01 -4.61594737e-02 -4.31297815e+01] [-7.98886842e-02 2.10603921e-03 9.96801566e-01 -1.47272419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.95, Y:-43.16, Z:-14.73 [[ 8.29726173e-01 5.54346632e-01 6.52249189e-02 1.73954349e+02] [-5.52424703e-01 8.32282765e-01 -4.61773401e-02 -4.31645371e+01] [-7.98838288e-02 2.28269129e-03 9.96801567e-01 -1.47311449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.01, Y:-43.20, Z:-14.73 [[ 8.30381417e-01 5.53366131e-01 6.52121759e-02 1.74006908e+02] [-5.51439773e-01 8.32934673e-01 -4.61953290e-02 -4.31993332e+01] [-7.98804129e-02 2.39915524e-03 9.96801567e-01 -1.47349887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.06, Y:-43.23, Z:-14.74 [[ 8.30376738e-01 5.53374716e-01 6.51989017e-02 1.74058248e+02] [-5.51446915e-01 8.32928905e-01 -4.62140563e-02 -4.32342078e+01] [-7.98797401e-02 2.42134408e-03 9.96801567e-01 -1.47398106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.11, Y:-43.27, Z:-14.74 [[ 8.30334919e-01 5.53438906e-01 6.51866486e-02 1.74110926e+02] [-5.51509948e-01 8.32886211e-01 -4.62313334e-02 -4.32681292e+01] [-7.98792793e-02 2.43640527e-03 9.96801567e-01 -1.47446038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:-43.30, Z:-14.75 [[ 8.30587133e-01 5.53061871e-01 6.51734722e-02 1.74163023e+02] [-5.51130299e-01 8.33136447e-01 -4.62499011e-02 -4.33027534e+01] [-7.98774518e-02 2.49549751e-03 9.96801568e-01 -1.47499082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:-43.34, Z:-14.76 [[ 8.31095726e-01 5.52298851e-01 6.51603681e-02 1.74215283e+02] [-5.50363494e-01 8.33642168e-01 -4.62683557e-02 -4.33363046e+01] [-7.98743902e-02 2.59154487e-03 9.96801568e-01 -1.47552781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.27, Y:-43.37, Z:-14.76 [[ 8.32032976e-01 5.50887312e-01 6.51482691e-02 1.74268385e+02] [-5.48946305e-01 8.34575112e-01 -4.62853855e-02 -4.33684356e+01] [-7.98691556e-02 2.74806543e-03 9.96801568e-01 -1.47594141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.32, Y:-43.40, Z:-14.76 [[ 8.32580312e-01 5.50061078e-01 6.51370365e-02 1.74320397e+02] [-5.48116315e-01 8.35119576e-01 -4.63011876e-02 -4.34029732e+01] [-7.98656955e-02 2.84678487e-03 9.96801568e-01 -1.47641503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.37, Y:-43.44, Z:-14.77 [[ 8.33796684e-01 5.48217049e-01 6.51241610e-02 1.74373806e+02] [-5.46265259e-01 8.36330551e-01 -4.63192904e-02 -4.34366396e+01] [-7.98583502e-02 3.04580408e-03 9.96801569e-01 -1.47688488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.43, Y:-43.47, Z:-14.77 [[ 8.34684123e-01 5.46866488e-01 6.51111330e-02 1.74428699e+02] [-5.44909174e-01 8.37213724e-01 -4.63375967e-02 -4.34684925e+01] [-7.98524129e-02 3.19760252e-03 9.96801569e-01 -1.47745574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.48, Y:-43.50, Z:-14.78 [[ 8.34187506e-01 5.47625260e-01 6.50982335e-02 1.74484282e+02] [-5.45668836e-01 8.36717795e-01 -4.63557118e-02 -4.34983980e+01] [-7.98544091e-02 3.14727834e-03 9.96801569e-01 -1.47798945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.54, Y:-43.53, Z:-14.79 [[ 8.33894830e-01 5.48072379e-01 6.50851778e-02 1.74536932e+02] [-5.46115885e-01 8.36425065e-01 -4.63740353e-02 -4.35303629e+01] [-7.98552019e-02 3.12701883e-03 9.96801569e-01 -1.47853879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.59, Y:-43.56, Z:-14.79 [[ 8.34351389e-01 5.47378523e-01 6.50731256e-02 1.74591468e+02] [-5.45418609e-01 8.36878976e-01 -4.63909411e-02 -4.35627526e+01] [-7.98517355e-02 3.21425250e-03 9.96801569e-01 -1.47905025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:-43.59, Z:-14.80 [[ 8.34930372e-01 5.46496506e-01 6.50603007e-02 1.74645196e+02] [-5.44532525e-01 8.37454800e-01 -4.64089203e-02 -4.35939160e+01] [-7.98473738e-02 3.32076731e-03 9.96801570e-01 -1.47970674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.70, Y:-43.63, Z:-14.80 [[ 8.34539436e-01 5.47094716e-01 6.50484555e-02 1.74698709e+02] [-5.45131254e-01 8.37064267e-01 -4.64255170e-02 -4.36267276e+01] [-7.98488928e-02 3.28397862e-03 9.96801570e-01 -1.48026866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.75, Y:-43.66, Z:-14.81 [[ 8.32996250e-01 5.49443013e-01 6.50355594e-02 1.74752164e+02] [-5.47485263e-01 8.35525512e-01 -4.64435757e-02 -4.36599612e+01] [-7.98569672e-02 3.08131401e-03 9.96801570e-01 -1.48075396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.81, Y:-43.69, Z:-14.81 [[ 8.28963267e-01 5.55510571e-01 6.50223681e-02 1.74807018e+02] [-5.53569895e-01 8.31505653e-01 -4.64620365e-02 -4.36918749e+01] [-7.98766191e-02 2.52089607e-03 9.96801570e-01 -1.48120097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:-43.72, Z:-14.82 [[ 8.26140931e-01 5.59700779e-01 6.50092329e-02 1.74859844e+02] [-5.57771557e-01 8.28692019e-01 -4.64804079e-02 -4.37236980e+01] [-7.98877530e-02 2.13906640e-03 9.96801571e-01 -1.48173344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.91, Y:-43.75, Z:-14.82 [[ 8.23505128e-01 5.63573139e-01 6.49970785e-02 1.74914755e+02] [-5.61654575e-01 8.26064241e-01 -4.64973981e-02 -4.37549866e+01] [-7.98964470e-02 1.78493932e-03 9.96801571e-01 -1.48220002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:-43.79, Z:-14.83 [[ 8.23288797e-01 5.63890621e-01 6.49840308e-02 1.74967245e+02] [-5.61971605e-01 8.25847572e-01 -4.65156264e-02 -4.37893002e+01] [-7.98966294e-02 1.77661403e-03 9.96801571e-01 -1.48267440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:-43.82, Z:-14.83 [[ 8.25570050e-01 5.60546936e-01 6.49709572e-02 1.75019864e+02] [-5.58616123e-01 8.28119934e-01 -4.65338798e-02 -4.38242199e+01] [-7.98881685e-02 2.12315320e-03 9.96801571e-01 -1.48328493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.07, Y:-43.86, Z:-14.84 [[ 8.28423203e-01 5.56323174e-01 6.49578546e-02 1.75071727e+02] [-5.54377932e-01 8.30962096e-01 -4.65521629e-02 -4.38596336e+01] [-7.98755620e-02 2.55369081e-03 9.96801572e-01 -1.48389081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.12, Y:-43.90, Z:-14.84 [[ 8.29895925e-01 5.54125370e-01 6.49448057e-02 1.75122517e+02] [-5.52171984e-01 8.32428557e-01 -4.65703603e-02 -4.38950003e+01] [-7.98677290e-02 2.78785008e-03 9.96801572e-01 -1.48445850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.17, Y:-43.93, Z:-14.85 [[ 8.31260152e-01 5.52078162e-01 6.49327558e-02 1.75174500e+02] [-5.50117230e-01 8.33786945e-01 -4.65871554e-02 -4.39306596e+01] [-7.98598352e-02 3.00541816e-03 9.96801572e-01 -1.48500325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.23, Y:-43.97, Z:-14.86 [[ 8.31971930e-01 5.51006490e-01 6.49196062e-02 1.75225268e+02] [-5.49040877e-01 8.34495084e-01 -4.66054724e-02 -4.39662175e+01] [-7.98550099e-02 3.13092734e-03 9.96801572e-01 -1.48550859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.28, Y:-44.00, Z:-14.86 [[ 8.31724855e-01 5.51380798e-01 6.49074806e-02 1.75277442e+02] [-5.49415006e-01 8.34247869e-01 -4.66223535e-02 -4.40013640e+01] [-7.98555979e-02 3.11582636e-03 9.96801573e-01 -1.48593285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:-44.04, Z:-14.86 [[ 8.30329489e-01 5.53481397e-01 6.48944025e-02 1.75328520e+02] [-5.51520569e-01 8.32856363e-01 -4.66405501e-02 -4.40354274e+01] [-7.98623928e-02 2.93642633e-03 9.96801573e-01 -1.48643405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:-44.07, Z:-14.87 [[ 8.27288480e-01 5.58017972e-01 6.48823130e-02 1.75380944e+02] [-5.56069688e-01 8.29825038e-01 -4.66573620e-02 -4.40690782e+01] [-7.98766143e-02 2.52001052e-03 9.96801573e-01 -1.48696622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.43, Y:-44.10, Z:-14.87 [[ 8.25281166e-01 5.60983344e-01 6.48743720e-02 1.75432382e+02] [-5.59043309e-01 8.27824039e-01 -4.66684008e-02 -4.41043889e+01] [-7.98847602e-02 2.24696864e-03 9.96801573e-01 -1.48743331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.48, Y:-44.14, Z:-14.88 [[ 8.23763375e-01 5.63211242e-01 6.48613773e-02 1.75484566e+02] [-5.61276665e-01 8.26310402e-01 -4.66864544e-02 -4.41399744e+01] [-7.98899667e-02 2.05341377e-03 9.96801573e-01 -1.48797813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:175.54, Y:-44.18, Z:-14.88 [[ 8.23459489e-01 5.63656953e-01 6.48483571e-02 1.75536270e+02] [-5.61722332e-01 8.26006482e-01 -4.67045328e-02 -4.41761332e+01] [-7.98904979e-02 2.03252038e-03 9.96801574e-01 -1.48849671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.59, Y:-44.21, Z:-14.89 [[ 8.23817653e-01 5.63134837e-01 6.48354006e-02 1.75587056e+02] [-5.61197188e-01 8.26362343e-01 -4.67225121e-02 -4.42127308e+01] [-7.98886078e-02 2.10538575e-03 9.96801574e-01 -1.48890894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:-44.25, Z:-14.89 [[ 8.25163348e-01 5.61162641e-01 6.48223735e-02 1.75636572e+02] [-5.59217493e-01 8.27702310e-01 -4.67405788e-02 -4.42494804e+01] [-7.98826949e-02 2.31880729e-03 9.96801574e-01 -1.48942304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.69, Y:-44.29, Z:-14.90 [[ 8.25818882e-01 5.60198890e-01 6.48103188e-02 1.75688277e+02] [-5.58249470e-01 8.28354565e-01 -4.67572879e-02 -4.42856391e+01] [-7.98793042e-02 2.43272519e-03 9.96801574e-01 -1.48998307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.74, Y:-44.32, Z:-14.90 [[ 8.26043414e-01 5.59869278e-01 6.47971453e-02 1.75739654e+02] [-5.57917416e-01 8.28577218e-01 -4.67755368e-02 -4.43220121e+01] [-7.98776244e-02 2.48716826e-03 9.96801575e-01 -1.49042447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.79, Y:-44.36, Z:-14.91 [[ 8.26538277e-01 5.59139960e-01 6.47841207e-02 1.75790321e+02] [-5.57184452e-01 8.29069266e-01 -4.67935690e-02 -4.43579792e+01] [-7.98746778e-02 2.57997106e-03 9.96801575e-01 -1.49117070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:-44.39, Z:-14.92 [[ 8.26849240e-01 5.58681555e-01 6.47707809e-02 1.75840467e+02] [-5.56723199e-01 8.29378028e-01 -4.68120265e-02 -4.43936623e+01] [-7.98724783e-02 2.64709223e-03 9.96801575e-01 -1.49178221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:-44.43, Z:-14.92 [[ 8.28521389e-01 5.56200190e-01 6.47584551e-02 1.75891104e+02] [-5.54232932e-01 8.31043257e-01 -4.68290715e-02 -4.44304093e+01] [-7.98634159e-02 2.90761882e-03 9.96801575e-01 -1.49212303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.94, Y:-44.47, Z:-14.93 [[ 8.30018891e-01 5.53964455e-01 6.47458411e-02 1.75941738e+02] [-5.51989049e-01 8.32534381e-01 -4.68465051e-02 -4.44671761e+01] [-7.98544374e-02 3.14448893e-03 9.96801576e-01 -1.49264311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:175.99, Y:-44.50, Z:-14.93 [[ 8.33236097e-01 5.49114927e-01 6.47333217e-02 1.75992991e+02] [-5.47123547e-01 8.35738960e-01 -4.68637984e-02 -4.45038621e+01] [-7.98337701e-02 3.63148393e-03 9.96801576e-01 -1.49319371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.04, Y:-44.54, Z:-14.94 [[ 8.34421190e-01 5.47313975e-01 6.47200907e-02 1.76042708e+02] [-5.45315781e-01 8.36918617e-01 -4.68820635e-02 -4.45402284e+01] [-7.98246573e-02 3.82650039e-03 9.96801576e-01 -1.49366216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.09, Y:-44.58, Z:-14.94 [[ 8.38611728e-01 5.40872196e-01 6.47119533e-02 1.76093710e+02] [-5.38853967e-01 8.41092992e-01 -4.68932930e-02 -4.45769243e+01] [-7.97920488e-02 4.45497270e-03 9.96801576e-01 -1.49408791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.15, Y:-44.61, Z:-14.95 [[ 8.40743601e-01 5.37553949e-01 6.46989133e-02 1.76145182e+02] [-5.35524554e-01 8.43215740e-01 -4.69112776e-02 -4.46129195e+01] [-7.97724845e-02 4.79249973e-03 9.96801576e-01 -1.49456608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.20, Y:-44.65, Z:-14.95 [[ 8.41322069e-01 5.36649709e-01 6.46859104e-02 1.76198096e+02] [-5.34616287e-01 8.43790896e-01 -4.69292004e-02 -4.46473074e+01] [-7.97659240e-02 4.90043078e-03 9.96801577e-01 -1.49497694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:-44.68, Z:-14.96 [[ 8.39870287e-01 5.38920495e-01 6.46730308e-02 1.76250776e+02] [-5.36892391e-01 8.42343484e-01 -4.69469431e-02 -4.46819481e+01] [-7.97775759e-02 4.70688443e-03 9.96801577e-01 -1.49552412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.30, Y:-44.71, Z:-14.96 [[ 8.35944199e-01 5.44992125e-01 6.46597261e-02 1.76304515e+02] [-5.42980584e-01 8.38430886e-01 -4.69652605e-02 -4.47121596e+01] [-7.98084085e-02 4.15136126e-03 9.96801577e-01 -1.49614768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:-44.74, Z:-14.97 [[ 8.31923098e-01 5.51111733e-01 6.46514981e-02 1.76357638e+02] [-5.49117616e-01 8.34423780e-01 -4.69765843e-02 -4.47439774e+01] [-7.98360942e-02 3.57962898e-03 9.96801577e-01 -1.49671163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.41, Y:-44.77, Z:-14.97 [[ 8.25428170e-01 5.60793680e-01 6.46435235e-02 1.76413787e+02] [-5.58828057e-01 8.27951310e-01 -4.69875554e-02 -4.47734551e+01] [-7.98720141e-02 2.66023719e-03 9.96801577e-01 -1.49734096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:176.47, Y:-44.81, Z:-14.98 [[ 8.22311812e-01 5.65354917e-01 6.46305089e-02 1.76467606e+02] [-5.63401889e-01 8.24844712e-01 -4.70054499e-02 -4.48066072e+01] [-7.98848958e-02 2.24018590e-03 9.96801578e-01 -1.49786613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.52, Y:-44.84, Z:-14.98 [[ 8.21561781e-01 5.66445770e-01 6.46175653e-02 1.76521537e+02] [-5.64494708e-01 8.24096196e-01 -4.70232366e-02 -4.48398529e+01] [-7.98872032e-02 2.15622032e-03 9.96801578e-01 -1.49841180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.57, Y:-44.87, Z:-14.99 [[ 8.25342306e-01 5.60924538e-01 6.46044969e-02 1.76574501e+02] [-5.58955124e-01 8.27862487e-01 -4.70411842e-02 -4.48722567e+01] [-7.98701940e-02 2.71406488e-03 9.96801578e-01 -1.49904792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.63, Y:-44.90, Z:-15.00 [[ 8.31498699e-01 5.51758293e-01 6.45964384e-02 1.76628134e+02] [-5.49760259e-01 8.33996249e-01 -4.70522474e-02 -4.49049605e+01] [-7.98346551e-02 3.61132780e-03 9.96801578e-01 -1.49955381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:-44.94, Z:-15.00 [[ 8.31346889e-01 5.51988525e-01 6.45834168e-02 1.76679240e+02] [-5.49989798e-01 8.33843886e-01 -4.70701140e-02 -4.49422851e+01] [-7.98346501e-02 3.61137250e-03 9.96801578e-01 -1.50006143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.73, Y:-44.98, Z:-15.01 [[ 8.32112705e-01 5.50834918e-01 6.45704168e-02 1.76730801e+02] [-5.48831351e-01 8.34605819e-01 -4.70879407e-02 -4.49785300e+01] [-7.98285276e-02 3.74420458e-03 9.96801579e-01 -1.50058651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.78, Y:-45.01, Z:-15.01 [[ 8.33519582e-01 5.48705283e-01 6.45570934e-02 1.76784716e+02] [-5.46693938e-01 8.36006426e-01 -4.71061999e-02 -4.50117107e+01] [-7.98175656e-02 3.97096840e-03 9.96801579e-01 -1.50108504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.84, Y:-45.05, Z:-15.02 [[ 8.34174869e-01 5.47710141e-01 6.45436959e-02 1.76837386e+02] [-5.45694416e-01 8.36658163e-01 -4.71245496e-02 -4.50461739e+01] [-7.98116038e-02 4.08898054e-03 9.96801579e-01 -1.50162584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:-45.08, Z:-15.02 [[ 8.35236310e-01 5.46091674e-01 6.45305297e-02 1.76889929e+02] [-5.44069751e-01 8.37714560e-01 -4.71425720e-02 -4.50810096e+01] [-7.98023304e-02 4.26607864e-03 9.96801579e-01 -1.50219639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.94, Y:-45.12, Z:-15.03 [[ 8.37773145e-01 5.42193372e-01 6.45174800e-02 1.76941694e+02] [-5.40158553e-01 8.40240818e-01 -4.71604247e-02 -4.51157734e+01] [-7.97802898e-02 4.66006864e-03 9.96801580e-01 -1.50281873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:-45.15, Z:-15.03 [[ 8.39815448e-01 5.39026142e-01 6.45045062e-02 1.76993659e+02] [-5.36980666e-01 8.42274294e-01 -4.71781632e-02 -4.51511509e+01] [-7.97607506e-02 4.98327757e-03 9.96801580e-01 -1.50333255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.05, Y:-45.18, Z:-15.04 [[ 8.41896592e-01 5.35771380e-01 6.44915244e-02 1.77047064e+02] [-5.33715052e-01 8.44346368e-01 -4.71959023e-02 -4.51842904e+01] [-7.97393982e-02 5.31397199e-03 9.96801580e-01 -1.50383262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.10, Y:-45.22, Z:-15.04 [[ 8.42012067e-01 5.35591501e-01 6.44780799e-02 1.77099918e+02] [-5.33533253e-01 8.44460231e-01 -4.72142628e-02 -4.52192618e+01] [-7.97367321e-02 5.35377929e-03 9.96801580e-01 -1.50427428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.15, Y:-45.25, Z:-15.05 [[ 8.40399602e-01 5.38119716e-01 6.44645686e-02 1.77152436e+02] [-5.36067430e-01 8.42852764e-01 -4.72327035e-02 -4.52521721e+01] [-7.97509888e-02 5.13698965e-03 9.96801581e-01 -1.50474307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.21, Y:-45.29, Z:-15.05 [[ 8.38406723e-01 5.41220930e-01 6.44520850e-02 1.77205249e+02] [-5.39176419e-01 8.40866370e-01 -4.72497321e-02 -4.52869378e+01] [-7.97681347e-02 4.86344870e-03 9.96801581e-01 -1.50533347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.26, Y:-45.32, Z:-15.06 [[ 8.36398270e-01 5.44321211e-01 6.44387517e-02 1.77258365e+02] [-5.42284427e-01 8.38864319e-01 -4.72679089e-02 -4.53169669e+01] [-7.97842950e-02 4.59066571e-03 9.96801581e-01 -1.50592761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.31, Y:-45.35, Z:-15.06 [[ 8.35500744e-01 5.45697860e-01 6.44387517e-02 1.77309040e+02] [-5.43665140e-01 8.37970143e-01 -4.72679089e-02 -4.53470888e+01] [-7.97917467e-02 4.45927009e-03 9.96801581e-01 -1.50637111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.36, Y:-45.38, Z:-15.07 [[ 8.35148640e-01 5.46236190e-01 6.44420235e-02 1.77358939e+02] [-5.44205405e-01 8.37619630e-01 -4.72634479e-02 -4.53788777e+01] [-7.97949096e-02 4.40230675e-03 9.96801581e-01 -1.50682128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.41, Y:-45.41, Z:-15.07 [[ 8.34735735e-01 5.46866769e-01 6.44436916e-02 1.77408553e+02] [-5.44838025e-01 8.37208402e-01 -4.72611734e-02 -4.54072968e+01] [-7.97983653e-02 4.33921672e-03 9.96801581e-01 -1.50731702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:-45.44, Z:-15.08 [[ 8.34208632e-01 5.47669816e-01 6.44494441e-02 1.77457181e+02] [-5.45644056e-01 8.36683744e-01 -4.72533275e-02 -4.54381591e+01] [-7.98030234e-02 4.25267758e-03 9.96801581e-01 -1.50786981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.51, Y:-45.47, Z:-15.08 [[ 8.32735020e-01 5.49907298e-01 6.44542428e-02 1.77506695e+02] [-5.47888694e-01 8.35215972e-01 -4.72467811e-02 -4.54674449e+01] [-7.98145628e-02 4.03029835e-03 9.96801581e-01 -1.50847273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.56, Y:-45.50, Z:-15.09 [[ 8.30929985e-01 5.52630406e-01 6.44592518e-02 1.77555737e+02] [-5.50620463e-01 8.33417958e-01 -4.72399462e-02 -4.54978952e+01] [-7.98277287e-02 3.76050469e-03 9.96801581e-01 -1.50893030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.60, Y:-45.53, Z:-15.09 [[ 8.28765461e-01 5.55870633e-01 6.44643280e-02 1.77604672e+02] [-5.53870957e-01 8.31261694e-01 -4.72330182e-02 -4.55286258e+01] [-7.98421743e-02 3.44017508e-03 9.96801581e-01 -1.50940526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.65, Y:-45.56, Z:-15.10 [[ 8.26708867e-01 5.58924103e-01 6.44693470e-02 1.77654380e+02] [-5.56934182e-01 8.29212883e-01 -4.72261667e-02 -4.55605683e+01] [-7.98546560e-02 3.13710763e-03 9.96801581e-01 -1.50986965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:-45.59, Z:-15.10 [[ 8.25620059e-01 5.60530812e-01 6.44726802e-02 1.77702229e+02] [-5.58546120e-01 8.28128221e-01 -4.72216159e-02 -4.55915383e+01] [-7.98608166e-02 2.97614796e-03 9.96801581e-01 -1.51025973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.75, Y:-45.62, Z:-15.11 [[ 8.26225530e-01 5.59637292e-01 6.44784822e-02 1.77750555e+02] [-5.57650504e-01 8.28732033e-01 -4.72136922e-02 -4.56228969e+01] [-7.98579265e-02 3.05269977e-03 9.96801581e-01 -1.51065361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:-45.66, Z:-15.11 [[ 8.27102847e-01 5.58338357e-01 6.44915442e-02 1.77798416e+02] [-5.56349021e-01 8.29607328e-01 -4.71958434e-02 -4.56559369e+01] [-7.98539073e-02 3.15600890e-03 9.96801582e-01 -1.51112709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.85, Y:-45.69, Z:-15.12 [[ 8.28231113e-01 5.56661783e-01 6.45049069e-02 1.77847169e+02] [-5.54668797e-01 8.30732690e-01 -4.71775729e-02 -4.56880569e+01] [-7.98482867e-02 3.29507454e-03 9.96801582e-01 -1.51156437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.89, Y:-45.72, Z:-15.12 [[ 8.28694352e-01 5.55970369e-01 6.45183666e-02 1.77894556e+02] [-5.53976726e-01 8.31195405e-01 -4.71591587e-02 -4.57204261e+01] [-7.98464647e-02 3.33885494e-03 9.96801582e-01 -1.51200904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.94, Y:-45.75, Z:-15.13 [[ 8.28690808e-01 5.55974084e-01 6.45318761e-02 1.77942258e+02] [-5.53981888e-01 8.31193013e-01 -4.71406653e-02 -4.57528396e+01] [-7.98474328e-02 3.31554544e-03 9.96801582e-01 -1.51253076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.99, Y:-45.79, Z:-15.13 [[ 8.28089070e-01 5.56868395e-01 6.45452052e-02 1.77990739e+02] [-5.54880321e-01 8.30594551e-01 -4.71224080e-02 -4.57851149e+01] [-7.98518755e-02 3.20668685e-03 9.96801583e-01 -1.51297633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.04, Y:-45.82, Z:-15.13 [[ 8.27215610e-01 5.58163515e-01 6.45586925e-02 1.78038346e+02] [-5.56180803e-01 8.29725337e-01 -4.71039229e-02 -4.58171825e+01] [-7.98576741e-02 3.05879491e-03 9.96801583e-01 -1.51345378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:-45.85, Z:-15.14 [[ 8.25147172e-01 5.61215288e-01 6.45720193e-02 1.78086079e+02] [-5.59243288e-01 8.27665323e-01 -4.70856470e-02 -4.58504050e+01] [-7.98692061e-02 2.74112011e-03 9.96801583e-01 -1.51394252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:-45.88, Z:-15.14 [[ 8.22937509e-01 5.64448901e-01 6.45855513e-02 1.78133880e+02] [-5.62488253e-01 8.25464509e-01 -4.70670783e-02 -4.58835273e+01] [-7.98800410e-02 2.40465026e-03 9.96801583e-01 -1.51439032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.18, Y:-45.92, Z:-15.15 [[ 8.22285339e-01 5.65397013e-01 6.45990679e-02 1.78182872e+02] [-5.63440734e-01 8.24815722e-01 -4.70485197e-02 -4.59161877e+01] [-7.98834193e-02 2.28956171e-03 9.96801584e-01 -1.51478793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.23, Y:-45.95, Z:-15.15 [[ 8.21322961e-01 5.66792715e-01 6.46112334e-02 1.78228249e+02] [-5.64842050e-01 8.23857674e-01 -4.70318070e-02 -4.59512066e+01] [-7.98877461e-02 2.13316144e-03 9.96801584e-01 -1.51529459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.28, Y:-45.99, Z:-15.16 [[ 8.23367533e-01 5.63818010e-01 6.46154647e-02 1.78275615e+02] [-5.61858644e-01 8.25895526e-01 -4.70259931e-02 -4.59853995e+01] [-7.98797250e-02 2.41491857e-03 9.96801584e-01 -1.51562906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:-46.02, Z:-15.16 [[ 8.23193455e-01 5.64070741e-01 6.46276702e-02 1.78320451e+02] [-5.62113466e-01 8.25723068e-01 -4.70092132e-02 -4.60206956e+01] [-7.98810798e-02 2.36959291e-03 9.96801584e-01 -1.51590362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:-46.05, Z:-15.16 [[ 8.21845309e-01 5.66032488e-01 6.46336566e-02 1.78366717e+02] [-5.64081900e-01 8.24380081e-01 -4.70009809e-02 -4.60545964e+01] [-7.98867812e-02 2.16885984e-03 9.96801584e-01 -1.51630356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.41, Y:-46.09, Z:-15.17 [[ 8.19802026e-01 5.68987133e-01 6.46396198e-02 1.78412764e+02] [-5.67046327e-01 8.22344296e-01 -4.69927784e-02 -4.60889591e+01] [-7.98943089e-02 1.87111590e-03 9.96801584e-01 -1.51677655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.46, Y:-46.12, Z:-15.17 [[ 8.14722559e-01 5.76235305e-01 6.46531067e-02 1.78457407e+02] [-5.74318595e-01 8.17283044e-01 -4.69742157e-02 -4.61236980e+01] [-7.99080894e-02 1.13947178e-03 9.96801585e-01 -1.51725590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:-46.16, Z:-15.18 [[ 8.10573240e-01 5.82056913e-01 6.46588933e-02 1.78503736e+02] [-5.80159230e-01 8.13147858e-01 -4.69662493e-02 -4.61587465e+01] [-7.99142707e-02 5.57131123e-04 9.96801585e-01 -1.51763502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:-46.19, Z:-15.18 [[ 8.04154257e-01 5.90892069e-01 6.46722023e-02 1.78549712e+02] [-5.89024147e-01 8.06750549e-01 -4.69479157e-02 -4.61946698e+01] [-7.99154857e-02 -3.40122450e-04 9.96801585e-01 -1.51806098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.59, Y:-46.23, Z:-15.19 [[ 8.00780100e-01 5.95455294e-01 6.46855849e-02 1.78594646e+02] [-5.93603656e-01 8.03388029e-01 -4.69294697e-02 -4.62314002e+01] [-7.99120257e-02 -8.17414208e-04 9.96801585e-01 -1.51857725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.64, Y:-46.27, Z:-15.19 [[ 7.98252657e-01 5.98837832e-01 6.46988948e-02 1.78639357e+02] [-5.96998731e-01 8.00869442e-01 -4.69111129e-02 -4.62682146e+01] [-7.99075170e-02 -1.17823759e-03 9.96801585e-01 -1.51916841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:-46.31, Z:-15.20 [[ 7.96373572e-01 6.01333080e-01 6.47121412e-02 1.78682095e+02] [-5.99503662e-01 7.98997135e-01 -4.68928330e-02 -4.63081857e+01] [-7.99030271e-02 -1.45095263e-03 9.96801586e-01 -1.51970134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.72, Y:-46.35, Z:-15.20 [[ 7.97859537e-01 5.99358647e-01 6.47253581e-02 1.78723392e+02] [-5.97524215e-01 8.00479597e-01 -4.68745829e-02 -4.63502543e+01] [-7.99060151e-02 -1.27563573e-03 9.96801586e-01 -1.52009908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.77, Y:-46.39, Z:-15.21 [[ 8.00050896e-01 5.96428927e-01 6.47386983e-02 1.78765382e+02] [-5.94586391e-01 8.02665263e-01 -4.68561514e-02 -4.63901368e+01] [-7.99098684e-02 -1.00544312e-03 9.96801586e-01 -1.52055434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:178.80, Y:-46.44, Z:-15.21 [[ 8.03443756e-01 5.91850067e-01 6.47427904e-02 1.78804914e+02] [-5.89993086e-01 8.06047883e-01 -4.68504965e-02 -4.64354989e+01] [-7.99142587e-02 -5.56059829e-04 9.96801586e-01 -1.52097891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.85, Y:-46.48, Z:-15.21 [[ 8.04755029e-01 5.90065502e-01 6.47460180e-02 1.78847295e+02] [-5.88203106e-01 8.07355284e-01 -4.68460358e-02 -4.64765672e+01] [-7.99152694e-02 -3.84225997e-04 9.96801586e-01 -1.52140664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.89, Y:-46.52, Z:-15.22 [[ 8.05010400e-01 5.89716693e-01 6.47493438e-02 1.78889672e+02] [-5.87853540e-01 8.07610113e-01 -4.68414384e-02 -4.65178225e+01] [-7.99154031e-02 -3.55285948e-04 9.96801586e-01 -1.52188409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:-46.56, Z:-15.22 [[ 8.03947973e-01 5.91163895e-01 6.47526573e-02 1.78928773e+02] [-5.89305790e-01 8.06551297e-01 -4.68368574e-02 -4.65626271e+01] [-7.99145988e-02 -5.04719300e-04 9.96801586e-01 -1.52249082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.97, Y:-46.60, Z:-15.23 [[ 8.02842993e-01 5.92663222e-01 6.47567369e-02 1.78970524e+02] [-5.90810433e-01 8.05450103e-01 -4.68312163e-02 -4.66042381e+01] [-7.99134600e-02 -6.60841910e-04 9.96801586e-01 -1.52290766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:-46.65, Z:-15.23 [[ 8.02089576e-01 5.93682116e-01 6.47599970e-02 1.79013444e+02] [-5.91833003e-01 8.04699295e-01 -4.68267077e-02 -4.66515461e+01] [-7.99125028e-02 -7.67889361e-04 9.96801586e-01 -1.52326606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.06, Y:-46.70, Z:-15.24 [[ 8.01992232e-01 5.93815081e-01 6.47465046e-02 1.79055174e+02] [-5.91964896e-01 8.04601190e-01 -4.68453561e-02 -4.66986317e+01] [-7.99125935e-02 -7.58046153e-04 9.96801586e-01 -1.52375653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:179.10, Y:-46.74, Z:-15.24 [[ 8.02121704e-01 5.93641539e-01 6.47340367e-02 1.79103465e+02] [-5.91789399e-01 8.04729275e-01 -4.68625787e-02 -4.67393305e+01] [-7.99129477e-02 -7.19425252e-04 9.96801587e-01 -1.52430898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.15, Y:-46.78, Z:-15.25 [[ 8.02453172e-01 5.93194847e-01 6.47207949e-02 1.79148921e+02] [-5.91339781e-01 8.05058662e-01 -4.68808596e-02 -4.67837431e+01] [-7.99135208e-02 -6.52286163e-04 9.96801587e-01 -1.52496530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.19, Y:-46.83, Z:-15.26 [[ 8.03046850e-01 5.92392330e-01 6.47076857e-02 1.79191631e+02] [-5.90533203e-01 8.05649443e-01 -4.68989467e-02 -4.68315396e+01] [-7.99142872e-02 -5.49985470e-04 9.96801587e-01 -1.52565114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.24, Y:-46.88, Z:-15.26 [[ 8.02507800e-01 5.93123806e-01 6.46945253e-02 1.79236488e+02] [-5.91265588e-01 8.05111042e-01 -4.69170938e-02 -4.68759921e+01] [-7.99139219e-02 -6.00312822e-04 9.96801587e-01 -1.52614659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.28, Y:-46.92, Z:-15.27 [[ 8.01088388e-01 5.95040933e-01 6.46813917e-02 1.79279481e+02] [-5.93187483e-01 8.03695028e-01 -4.69351932e-02 -4.69237759e+01] [-7.99124740e-02 -7.68953649e-04 9.96801588e-01 -1.52658860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.33, Y:-46.97, Z:-15.27 [[ 7.99917590e-01 5.96615331e-01 6.46683604e-02 1.79325320e+02] [-5.94765561e-01 8.02526841e-01 -4.69531412e-02 -4.69679959e+01] [-7.99110588e-02 -9.03870079e-04 9.96801588e-01 -1.52706029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.37, Y:-47.02, Z:-15.28 [[ 7.98625499e-01 5.98345204e-01 6.46554650e-02 1.79368017e+02] [-5.96499649e-01 8.01237733e-01 -4.69708918e-02 -4.70162724e+01] [-7.99092060e-02 -1.05481024e-03 9.96801588e-01 -1.52761672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:-47.06, Z:-15.28 [[ 7.99023286e-01 5.97815316e-01 6.46423828e-02 1.79413695e+02] [-5.95966572e-01 8.01633264e-01 -4.69888888e-02 -4.70609448e+01] [-7.99101617e-02 -9.79482981e-04 9.96801588e-01 -1.52812690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.46, Y:-47.11, Z:-15.29 [[ 8.00806814e-01 5.95425520e-01 6.46289209e-02 1.79455858e+02] [-5.93567494e-01 8.03410191e-01 -4.70073972e-02 -4.71075587e+01] [-7.99129376e-02 -7.17782681e-04 9.96801589e-01 -1.52861061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.50, Y:-47.15, Z:-15.29 [[ 8.01709224e-01 5.94211265e-01 6.46165077e-02 1.79501701e+02] [-5.92347920e-01 8.04308798e-01 -4.70244543e-02 -4.71516927e+01] [-7.99140861e-02 -5.75515189e-04 9.96801589e-01 -1.52902444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:-47.20, Z:-15.29 [[ 8.05405429e-01 5.89193113e-01 6.46031777e-02 1.79545168e+02] [-5.87312102e-01 8.07992248e-01 -4.70427602e-02 -4.71995835e+01] [-7.99161371e-02 -5.37336296e-05 9.96801589e-01 -1.52940245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.59, Y:-47.24, Z:-15.30 [[ 8.10378430e-01 5.82335776e-01 6.45898245e-02 1.79591404e+02] [-5.80431416e-01 8.12948107e-01 -4.70610871e-02 -4.72430689e+01] [-7.99135303e-02 6.47326546e-04 9.96801589e-01 -1.53002596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.64, Y:-47.29, Z:-15.31 [[ 8.16606399e-01 5.73571129e-01 6.45766824e-02 1.79636393e+02] [-5.71637770e-01 8.19154330e-01 -4.70791136e-02 -4.72860378e+01] [-7.99014894e-02 1.53063470e-03 9.96801590e-01 -1.53065057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.68, Y:-47.33, Z:-15.31 [[ 8.25036191e-01 5.61378820e-01 6.45685964e-02 1.79680169e+02] [-5.59406964e-01 8.27554446e-01 -4.70902010e-02 -4.73334713e+01] [-7.98694705e-02 2.73099760e-03 9.96801590e-01 -1.53092009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.73, Y:-47.38, Z:-15.31 [[ 8.28601881e-01 5.56103894e-01 6.45552657e-02 1.79727168e+02] [-5.54114592e-01 8.31106377e-01 -4.71084687e-02 -4.73750945e+01] [-7.98494960e-02 3.26315101e-03 9.96801590e-01 -1.53119429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.77, Y:-47.42, Z:-15.32 [[ 8.30734936e-01 5.52913920e-01 6.45419446e-02 1.79774244e+02] [-5.50913590e-01 8.33230634e-01 -4.71267126e-02 -4.74163073e+01] [-7.98353408e-02 3.59277214e-03 9.96801590e-01 -1.53153252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.82, Y:-47.45, Z:-15.32 [[ 8.29867054e-01 5.54217104e-01 6.45296376e-02 1.79823932e+02] [-5.52219388e-01 8.32364844e-01 -4.71435583e-02 -4.74547940e+01] [-7.98399681e-02 3.48836884e-03 9.96801590e-01 -1.53204466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.87, Y:-47.49, Z:-15.33 [[ 8.24692248e-01 5.61889950e-01 6.45165106e-02 1.79874699e+02] [-5.59914083e-01 8.27207357e-01 -4.71615159e-02 -4.74907540e+01] [-7.98681141e-02 2.77003369e-03 9.96801591e-01 -1.53271336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.93, Y:-47.53, Z:-15.33 [[ 8.16579308e-01 5.73617932e-01 6.45035025e-02 1.79926734e+02] [-5.71676805e-01 8.19121324e-01 -4.71793007e-02 -4.75251241e+01] [-7.98990873e-02 1.65048447e-03 9.96801591e-01 -1.53340074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.98, Y:-47.56, Z:-15.34 [[ 8.11390925e-01 5.80934465e-01 6.44973963e-02 1.79977558e+02] [-5.79015602e-01 8.13949789e-01 -4.71876468e-02 -4.75609841e+01] [-7.99105725e-02 9.42629639e-04 9.96801591e-01 -1.53405601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.03, Y:-47.60, Z:-15.35 [[ 8.08112567e-01 5.85487735e-01 6.44840381e-02 1.80028332e+02] [-5.83581835e-01 8.10681100e-01 -4.72058943e-02 -4.75969237e+01] [-7.99144631e-02 5.15963146e-04 9.96801591e-01 -1.53468725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.08, Y:-47.63, Z:-15.35 [[ 8.06450442e-01 5.87776310e-01 6.44724316e-02 1.80078210e+02] [-5.85876432e-01 8.09023432e-01 -4.72217409e-02 -4.76323288e+01] [-7.99155285e-02 3.09115638e-04 9.96801591e-01 -1.53532434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.13, Y:-47.67, Z:-15.36 [[ 8.06882094e-01 5.87184318e-01 6.44659755e-02 1.80128061e+02] [-5.85281848e-01 8.09453169e-01 -4.72305530e-02 -4.76709606e+01] [-7.99152282e-02 3.78722226e-04 9.96801592e-01 -1.53587432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:-47.71, Z:-15.37 [[ 8.08940497e-01 5.84346732e-01 6.44528417e-02 1.80175212e+02] [-5.82433816e-01 8.11503809e-01 -4.72484692e-02 -4.77117417e+01] [-7.99132151e-02 6.81685581e-04 9.96801592e-01 -1.53651880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.22, Y:-47.75, Z:-15.37 [[ 8.10361681e-01 5.82375515e-01 6.44414904e-02 1.80223140e+02] [-5.80455133e-01 8.12919404e-01 -4.72639459e-02 -4.77513900e+01] [-7.99111029e-02 8.95496757e-04 9.96801592e-01 -1.53708644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.27, Y:-47.79, Z:-15.38 [[ 8.10780620e-01 5.81793408e-01 6.44299392e-02 1.80270910e+02] [-5.79869939e-01 8.13336022e-01 -4.72796873e-02 -4.77927605e+01] [-7.99102008e-02 9.72469278e-04 9.96801592e-01 -1.53753632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:-47.83, Z:-15.38 [[ 8.09523981e-01 5.83542126e-01 6.44167009e-02 1.80318080e+02] [-5.81622743e-01 8.12082453e-01 -4.72977171e-02 -4.78338362e+01] [-7.99118829e-02 8.22417961e-04 9.96801592e-01 -1.53795160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.36, Y:-47.87, Z:-15.38 [[ 8.08931411e-01 5.84364745e-01 6.44035421e-02 1.80364919e+02] [-5.82446538e-01 8.11490765e-01 -4.73156283e-02 -4.78734951e+01] [-7.99124647e-02 7.63477814e-04 9.96801593e-01 -1.53835125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:-47.91, Z:-15.39 [[ 8.08159571e-01 5.85432882e-01 6.43929211e-02 1.80412277e+02] [-5.83516907e-01 8.10720595e-01 -4.73300782e-02 -4.79139436e+01] [-7.99132514e-02 6.75897517e-04 9.96801593e-01 -1.53861917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.46, Y:-47.96, Z:-15.39 [[ 8.06490378e-01 5.87731501e-01 6.43813151e-02 1.80457665e+02] [-5.85821565e-01 8.09055909e-01 -4.73458601e-02 -4.79552701e+01] [-7.99147368e-02 4.68017833e-04 9.96801593e-01 -1.53903844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.51, Y:-47.99, Z:-15.40 [[ 8.05250464e-01 5.89430322e-01 6.43706949e-02 1.80505537e+02] [-5.87524644e-01 8.07819160e-01 -4.73602949e-02 -4.79946374e+01] [-7.99154745e-02 3.17529820e-04 9.96801593e-01 -1.53963582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:-48.03, Z:-15.40 [[ 8.03755855e-01 5.91468102e-01 6.43584442e-02 1.80553800e+02] [-5.89567605e-01 8.06328386e-01 -4.73769367e-02 -4.80333372e+01] [-7.99159872e-02 1.35836476e-04 9.96801593e-01 -1.53980815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.60, Y:-48.07, Z:-15.40 [[ 7.99522606e-01 5.97179431e-01 6.43453909e-02 1.80600636e+02] [-5.95295883e-01 8.02107573e-01 -4.73946585e-02 -4.80742747e+01] [-7.99150405e-02 -4.11445397e-04 9.96801594e-01 -1.54026979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:-48.11, Z:-15.41 [[ 7.96988131e-01 6.00559057e-01 6.43330246e-02 1.80648036e+02] [-5.98685116e-01 7.99580069e-01 -4.74114384e-02 -4.81134663e+01] [-7.99127731e-02 -7.28870652e-04 9.96801594e-01 -1.54097187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.69, Y:-48.16, Z:-15.42 [[ 7.95115468e-01 6.03037496e-01 6.43208504e-02 1.80693769e+02] [-6.01170298e-01 7.97712268e-01 -4.74279489e-02 -4.81552825e+01] [-7.99103630e-02 -9.57088984e-04 9.96801594e-01 -1.54179981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.74, Y:-48.20, Z:-15.43 [[ 7.96734015e-01 6.00898707e-01 6.43090472e-02 1.80739226e+02] [-5.99023246e-01 7.99324854e-01 -4.74439479e-02 -4.81979906e+01] [-7.99128267e-02 -7.22407152e-04 9.96801594e-01 -1.54250624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.78, Y:-48.24, Z:-15.43 [[ 7.98219040e-01 5.98925935e-01 6.42968748e-02 1.80784090e+02] [-5.97042743e-01 8.00804265e-01 -4.74604384e-02 -4.82393523e+01] [-7.99144990e-02 -5.04156860e-04 9.96801594e-01 -1.54293077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:-48.28, Z:-15.43 [[ 8.00320290e-01 5.96115925e-01 6.42902571e-02 1.80827707e+02] [-5.94222935e-01 8.02898349e-01 -4.74694011e-02 -4.82828955e+01] [-7.99158072e-02 -2.12020386e-04 9.96801595e-01 -1.54315257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.87, Y:-48.32, Z:-15.43 [[ 8.00483494e-01 5.95897907e-01 6.42795431e-02 1.80874521e+02] [-5.94003051e-01 8.03060181e-01 -4.74839048e-02 -4.83244158e+01] [-7.99159010e-02 -1.72162655e-04 9.96801595e-01 -1.54336576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.92, Y:-48.36, Z:-15.44 [[ 7.98008154e-01 5.99210012e-01 6.42677764e-02 1.80923854e+02] [-5.97324567e-01 8.00591736e-01 -4.74998252e-02 -4.83625311e+01] [-7.99146216e-02 -4.83473874e-04 9.96801595e-01 -1.54372454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:180.98, Y:-48.40, Z:-15.44 [[ 7.92308560e-01 6.06727527e-01 6.42561573e-02 1.80975100e+02] [-6.04865317e-01 7.94908939e-01 -4.75155381e-02 -4.83983146e+01] [-7.99067787e-02 -1.21935336e-03 9.96801595e-01 -1.54428502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.03, Y:-48.43, Z:-15.45 [[ 7.89791132e-01 6.10002349e-01 6.42425294e-02 1.81025341e+02] [-6.08149423e-01 7.92398134e-01 -4.75339563e-02 -4.84339282e+01] [-7.99014854e-02 -1.52716007e-03 9.96801595e-01 -1.54498461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.07, Y:-48.47, Z:-15.46 [[ 7.89102232e-01 6.10894495e-01 6.42307132e-02 1.81074926e+02] [-6.09043218e-01 7.91710404e-01 -4.75499177e-02 -4.84688919e+01] [-7.99001069e-02 -1.59753408e-03 9.96801596e-01 -1.54575142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.13, Y:-48.50, Z:-15.46 [[ 7.89612142e-01 6.10236408e-01 6.42198763e-02 1.81126915e+02] [-6.08381767e-01 7.92217924e-01 -4.75645493e-02 -4.85037362e+01] [-7.99017568e-02 -1.51265623e-03 9.96801596e-01 -1.54621895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:-48.54, Z:-15.47 [[ 7.90226982e-01 6.09441437e-01 6.42063235e-02 1.81177575e+02] [-6.07582690e-01 7.92829836e-01 -4.75828369e-02 -4.85402992e+01] [-7.99036414e-02 -1.40940917e-03 9.96801596e-01 -1.54661695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:-48.58, Z:-15.47 [[ 7.91801197e-01 6.07396185e-01 6.41929761e-02 1.81227582e+02] [-6.05529255e-01 7.94398188e-01 -4.76008368e-02 -4.85776156e+01] [-7.99073506e-02 -1.18032544e-03 9.96801596e-01 -1.54703239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.28, Y:-48.62, Z:-15.48 [[ 7.96266647e-01 6.01531745e-01 6.41793356e-02 1.81275823e+02] [-5.99644204e-01 7.98848695e-01 -4.76192210e-02 -4.86153844e+01] [-7.99140516e-02 -5.67169219e-04 9.96801596e-01 -1.54766601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.33, Y:-48.65, Z:-15.48 [[ 7.98644997e-01 5.98371789e-01 6.41667470e-02 1.81325172e+02] [-5.96472669e-01 8.01218540e-01 -4.76361782e-02 -4.86540123e+01] [-7.99157325e-02 -2.29315490e-04 9.96801597e-01 -1.54824240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.37, Y:-48.69, Z:-15.49 [[ 7.98525214e-01 5.98533046e-01 6.41535290e-02 1.81374221e+02] [-5.96633017e-01 8.01098085e-01 -4.76539727e-02 -4.86914236e+01] [-7.99157467e-02 -2.23214805e-04 9.96801597e-01 -1.54875040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.42, Y:-48.73, Z:-15.49 [[ 7.96428482e-01 6.01321444e-01 6.41419797e-02 1.81424497e+02] [-5.99429170e-01 7.99007063e-01 -4.76695129e-02 -4.87281585e+01] [-7.99145952e-02 -4.83215869e-04 9.96801597e-01 -1.54930041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:-48.76, Z:-15.50 [[ 7.93013991e-01 6.05818740e-01 6.41285034e-02 1.81474618e+02] [-6.03939623e-01 7.95602175e-01 -4.76876355e-02 -4.87645696e+01] [-7.99108400e-02 -9.12782034e-04 9.96801597e-01 -1.55004163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.52, Y:-48.80, Z:-15.50 [[ 7.91836232e-01 6.07358199e-01 6.41201932e-02 1.81524266e+02] [-6.05483209e-01 7.94427408e-01 -4.76988065e-02 -4.88020441e+01] [-7.99091002e-02 -1.05405713e-03 9.96801597e-01 -1.55044972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:-48.84, Z:-15.51 [[ 7.92204972e-01 6.06878311e-01 6.41092714e-02 1.81573774e+02] [-6.05000564e-01 7.94794150e-01 -4.77134815e-02 -4.88403419e+01] [-7.99099509e-02 -9.87288160e-04 9.96801598e-01 -1.55067946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.62, Y:-48.88, Z:-15.51 [[ 7.93182388e-01 6.05601536e-01 6.40974213e-02 1.81623405e+02] [-6.03718335e-01 7.95767602e-01 -4.77293954e-02 -4.88783770e+01] [-7.99116464e-02 -8.38672700e-04 9.96801598e-01 -1.55121312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.67, Y:-48.92, Z:-15.52 [[ 7.94394414e-01 6.04012238e-01 6.40837880e-02 1.81671156e+02] [-6.02122389e-01 7.96974772e-01 -4.77476931e-02 -4.89163161e+01] [-7.99133533e-02 -6.55782780e-04 9.96801598e-01 -1.55169630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.72, Y:-48.95, Z:-15.52 [[ 7.94438387e-01 6.03955554e-01 6.40729106e-02 1.81720958e+02] [-6.02064345e-01 7.97017747e-01 -4.77622852e-02 -4.89542221e+01] [-7.99135443e-02 -6.31822076e-04 9.96801598e-01 -1.55217225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.77, Y:-48.99, Z:-15.53 [[ 7.94316549e-01 6.04117188e-01 6.40596847e-02 1.81771565e+02] [-6.02225073e-01 7.96895245e-01 -4.77800174e-02 -4.89898076e+01] [-7.99135879e-02 -6.25889779e-04 9.96801598e-01 -1.55276828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.82, Y:-49.03, Z:-15.53 [[ 7.94166396e-01 6.04315859e-01 6.40474664e-02 1.81823031e+02] [-6.02423069e-01 7.96744596e-01 -4.77963900e-02 -4.90254539e+01] [-7.99135893e-02 -6.25384455e-04 9.96801599e-01 -1.55337233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:-49.06, Z:-15.54 [[ 7.95097051e-01 6.03092333e-01 6.40337240e-02 1.81871833e+02] [-6.01194092e-01 7.97671241e-01 -4.78147940e-02 -4.90613377e+01] [-7.99145957e-02 -4.79294845e-04 9.96801599e-01 -1.55401855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:-49.10, Z:-15.54 [[ 7.96215750e-01 6.01615341e-01 6.40270364e-02 1.81921145e+02] [-5.99711606e-01 7.98785878e-01 -4.78237474e-02 -4.90997568e+01] [-7.99153926e-02 -3.19735979e-04 9.96801599e-01 -1.55441752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.97, Y:-49.14, Z:-15.55 [[ 7.98675820e-01 5.98347069e-01 6.40134283e-02 1.81971559e+02] [-5.96431357e-01 8.01237033e-01 -4.78419553e-02 -4.91369010e+01] [-7.99160232e-02 3.05970254e-05 9.96801599e-01 -1.55481693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.02, Y:-49.17, Z:-15.55 [[ 8.00869308e-01 5.95409397e-01 6.40000115e-02 1.82023081e+02] [-5.93482856e-01 8.03422385e-01 -4.78598968e-02 -4.91734121e+01] [-7.99152742e-02 3.46612759e-04 9.96801600e-01 -1.55529782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.07, Y:-49.21, Z:-15.55 [[ 8.03693162e-01 5.91593624e-01 6.39865996e-02 1.82071541e+02] [-5.89653535e-01 8.06235960e-01 -4.78778213e-02 -4.92129244e+01] [-7.99125113e-02 7.49152961e-04 9.96801600e-01 -1.55511687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.12, Y:-49.25, Z:-15.56 [[ 8.06662006e-01 5.87540298e-01 6.39750418e-02 1.82121363e+02] [-5.85586209e-01 8.09194061e-01 -4.78932601e-02 -4.92484340e+01] [-7.99074441e-02 1.17077110e-03 9.96801600e-01 -1.55603177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:-49.29, Z:-15.56 [[ 8.06540969e-01 5.87707095e-01 6.39690206e-02 1.82168753e+02] [-5.85752892e-01 8.09072936e-01 -4.79013009e-02 -4.92870138e+01] [-7.99075377e-02 1.16432285e-03 9.96801600e-01 -1.55613270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:-49.32, Z:-15.57 [[ 8.06282000e-01 5.88063577e-01 6.39575276e-02 1.82220868e+02] [-5.86109277e-01 8.08813891e-01 -4.79166414e-02 -4.93206631e+01] [-7.99077683e-02 1.14822515e-03 9.96801600e-01 -1.55710680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:-49.36, Z:-15.58 [[ 8.03184943e-01 5.92287877e-01 6.39454393e-02 1.82272539e+02] [-5.90345610e-01 8.05726076e-01 -4.79327681e-02 -4.93560691e+01] [-7.99125053e-02 7.48968236e-04 9.96801600e-01 -1.55774135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.32, Y:-49.39, Z:-15.58 [[ 7.97533310e-01 5.99877739e-01 6.39321423e-02 1.82324213e+02] [-5.97958235e-01 8.00091681e-01 -4.79504969e-02 -4.93906771e+01] [-7.99160109e-02 1.33675201e-05 9.96801601e-01 -1.55836099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.37, Y:-49.43, Z:-15.59 [[ 7.93975129e-01 6.04580576e-01 6.39204259e-02 1.82374329e+02] [-6.02674969e-01 7.96543868e-01 -4.79661103e-02 -4.94260788e+01] [-7.99148019e-02 -4.39342059e-04 9.96801601e-01 -1.55897258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.43, Y:-49.46, Z:-15.59 [[ 7.90332972e-01 6.09335342e-01 6.39080122e-02 1.82425865e+02] [-6.07443851e-01 7.92912123e-01 -4.79826442e-02 -4.94624671e+01] [-7.99109585e-02 -8.98263205e-04 9.96801601e-01 -1.55946700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.48, Y:-49.50, Z:-15.60 [[ 7.88815662e-01 6.11299668e-01 6.38949661e-02 1.82476137e+02] [-6.09413193e-01 7.91398483e-01 -4.80000105e-02 -4.94997600e+01] [-7.99087697e-02 -1.07527520e-03 9.96801601e-01 -1.55976665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.53, Y:-49.54, Z:-15.60 [[ 7.88130843e-01 6.12183765e-01 6.38812413e-02 1.82525956e+02] [-6.10298707e-01 7.90714698e-01 -4.80182693e-02 -4.95382250e+01] [-7.99078413e-02 -1.14195994e-03 9.96801602e-01 -1.56012923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.57, Y:-49.58, Z:-15.61 [[ 7.88058939e-01 6.12277738e-01 6.38676698e-02 1.82574851e+02] [-6.10391527e-01 7.90641952e-01 -4.80363137e-02 -4.95750747e+01] [-7.99080246e-02 -1.12883805e-03 9.96801602e-01 -1.56074446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.62, Y:-49.61, Z:-15.61 [[ 7.88382546e-01 6.11862307e-01 6.38551333e-02 1.82624665e+02] [-6.09973386e-01 7.90963577e-01 -4.80529728e-02 -4.96136360e+01] [-7.99088875e-02 -1.06580683e-03 9.96801602e-01 -1.56125567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.67, Y:-49.65, Z:-15.62 [[ 7.89246533e-01 6.10748891e-01 6.38412306e-02 1.82672742e+02] [-6.08854834e-01 7.91823799e-01 -4.80714363e-02 -4.96526338e+01] [-7.99105821e-02 -9.29827383e-04 9.96801602e-01 -1.56176488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:-49.69, Z:-15.62 [[ 7.91577659e-01 6.07725799e-01 6.38291721e-02 1.82719628e+02] [-6.05820609e-01 7.94146704e-01 -4.80874422e-02 -4.96915475e+01] [-7.99137059e-02 -6.04082957e-04 9.96801602e-01 -1.56247875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:-49.73, Z:-15.63 [[ 7.92243797e-01 6.06857868e-01 6.38223704e-02 1.82769161e+02] [-6.04949136e-01 7.94810212e-01 -4.80964678e-02 -4.97278105e+01] [-7.99143917e-02 -5.05159514e-04 9.96801603e-01 -1.56307727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.82, Y:-49.76, Z:-15.64 [[ 7.92445262e-01 6.06596021e-01 6.38104494e-02 1.82820399e+02] [-6.04685168e-01 7.95010099e-01 -4.81122785e-02 -4.97636015e+01] [-7.99146684e-02 -4.58885083e-04 9.96801603e-01 -1.56355488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.87, Y:-49.80, Z:-15.64 [[ 7.92559743e-01 6.06446883e-01 6.38062105e-02 1.82869922e+02] [-6.04535094e-01 7.95123882e-01 -4.81178994e-02 -4.98000345e+01] [-7.99147919e-02 -4.36783491e-04 9.96801603e-01 -1.56391786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.92, Y:-49.84, Z:-15.64 [[ 7.94759508e-01 6.03562502e-01 6.37936586e-02 1.82919980e+02] [-6.01640072e-01 7.97315678e-01 -4.81345348e-02 -4.98369392e+01] [-7.99158844e-02 -1.25442144e-04 9.96801603e-01 -1.56418600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:182.97, Y:-49.87, Z:-15.65 [[ 7.96844870e-01 6.00807875e-01 6.37820516e-02 1.82970409e+02] [-5.98875378e-01 7.99393437e-01 -4.81499101e-02 -4.98744831e+01] [-7.99157986e-02 1.70508639e-04 9.96801603e-01 -1.56463191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.02, Y:-49.91, Z:-15.65 [[ 8.00710013e-01 5.95648418e-01 6.37686202e-02 1.83019627e+02] [-5.93698083e-01 8.03244956e-01 -4.81676918e-02 -4.99114061e+01] [-7.99128319e-02 7.09045568e-04 9.96801603e-01 -1.56517069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.07, Y:-49.95, Z:-15.66 [[ 8.03018599e-01 5.92533762e-01 6.37563450e-02 1.83069370e+02] [-5.90572306e-01 8.05544946e-01 -4.81839342e-02 -4.99480230e+01] [-7.99092093e-02 1.03986361e-03 9.96801604e-01 -1.56569839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:-49.98, Z:-15.66 [[ 8.04008349e-01 5.91191398e-01 6.37440629e-02 1.83119436e+02] [-5.89224437e-01 8.06530413e-01 -4.82001771e-02 -4.99824715e+01] [-7.99070554e-02 1.19378534e-03 9.96801604e-01 -1.56601280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.17, Y:-50.02, Z:-15.67 [[ 8.04178875e-01 5.90960626e-01 6.37328428e-02 1.83168824e+02] [-5.88991766e-01 8.06699456e-01 -4.82150083e-02 -5.00192507e+01] [-7.99064211e-02 1.23537153e-03 9.96801604e-01 -1.56664478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.22, Y:-50.06, Z:-15.67 [[ 8.04803509e-01 5.90111029e-01 6.37203676e-02 1.83218875e+02] [-5.88138204e-01 8.07320987e-01 -4.82314899e-02 -5.00567715e+01] [-7.99047242e-02 1.34048974e-03 9.96801604e-01 -1.56688258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.27, Y:-50.09, Z:-15.67 [[ 8.05528522e-01 5.89122426e-01 6.37068826e-02 1.83269262e+02] [-5.87145104e-01 8.08042469e-01 -4.82492951e-02 -5.00925623e+01] [-7.99026085e-02 1.46099917e-03 9.96801604e-01 -1.56728353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:-50.13, Z:-15.68 [[ 8.06669208e-01 5.87560845e-01 6.36949183e-02 1.83320939e+02] [-5.85577410e-01 8.09178335e-01 -4.82650842e-02 -5.01270892e+01] [-7.98992216e-02 1.63565196e-03 9.96801605e-01 -1.56761865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.37, Y:-50.16, Z:-15.68 [[ 8.07275397e-01 5.86729008e-01 6.36828415e-02 1.83370123e+02] [-5.84741732e-01 8.09781483e-01 -4.82810136e-02 -5.01634173e+01] [-7.98970571e-02 1.73805931e-03 9.96801605e-01 -1.56800438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.42, Y:-50.20, Z:-15.68 [[ 8.08482138e-01 5.85066265e-01 6.36717984e-02 1.83420024e+02] [-5.83072689e-01 8.10983216e-01 -4.82955726e-02 -5.01992081e+01] [-7.98928701e-02 1.92082101e-03 9.96801605e-01 -1.56849462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:-50.23, Z:-15.69 [[ 8.10152031e-01 5.82752648e-01 6.36634708e-02 1.83471022e+02] [-5.80751070e-01 8.12646708e-01 -4.83065476e-02 -5.02337830e+01] [-7.98866785e-02 2.16301881e-03 9.96801605e-01 -1.56918963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:-50.27, Z:-15.70 [[ 8.10978411e-01 5.81603344e-01 6.36519258e-02 1.83520605e+02] [-5.79597038e-01 8.13469288e-01 -4.83217552e-02 -5.02699671e+01] [-7.98829812e-02 2.29543262e-03 9.96801605e-01 -1.56976846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.57, Y:-50.31, Z:-15.70 [[ 8.11711413e-01 5.80581170e-01 6.36402890e-02 1.83570773e+02] [-5.78570528e-01 8.14198791e-01 -4.83370763e-02 -5.03068573e+01] [-7.98794426e-02 2.41536092e-03 9.96801605e-01 -1.57035640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.62, Y:-50.34, Z:-15.71 [[ 8.11537119e-01 5.80826041e-01 6.36287266e-02 1.83621302e+02] [-5.78814958e-01 8.14024140e-01 -4.83522917e-02 -5.03437524e+01] [-7.98795896e-02 2.41042072e-03 9.96801606e-01 -1.57097307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.67, Y:-50.38, Z:-15.72 [[ 8.09559882e-01 5.83580294e-01 6.36147566e-02 1.83669921e+02] [-5.81576232e-01 8.12052563e-01 -4.83706644e-02 -5.03810512e+01] [-7.98866927e-02 2.16211898e-03 9.96801606e-01 -1.57174107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.72, Y:-50.41, Z:-15.72 [[ 8.08464291e-01 5.85097659e-01 6.36099022e-02 1.83721568e+02] [-5.83097773e-01 8.10960325e-01 -4.83770474e-02 -5.04143886e+01] [-7.98904041e-02 2.02032301e-03 9.96801606e-01 -1.57198015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.77, Y:-50.45, Z:-15.73 [[ 8.05970151e-01 5.88529948e-01 6.35972977e-02 1.83771820e+02] [-5.86539388e-01 8.08473626e-01 -4.83936119e-02 -5.04509761e+01] [-7.98978278e-02 1.70148661e-03 9.96801606e-01 -1.57252670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.82, Y:-50.49, Z:-15.73 [[ 8.02501694e-01 5.93252078e-01 6.35846066e-02 1.83822563e+02] [-5.91274931e-01 8.05015777e-01 -4.84102810e-02 -5.04871334e+01] [-7.99061113e-02 1.25334863e-03 9.96801606e-01 -1.57280174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:-50.52, Z:-15.73 [[ 8.00529741e-01 5.95911620e-01 6.35725998e-02 1.83871602e+02] [-5.93941574e-01 8.03049392e-01 -4.84260433e-02 -5.05232297e+01] [-7.99095795e-02 1.00807797e-03 9.96801607e-01 -1.57321413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:-50.56, Z:-15.74 [[ 7.97943984e-01 5.99370770e-01 6.35616073e-02 1.83921668e+02] [-5.97410499e-01 8.00471247e-01 -4.84404672e-02 -5.05600789e+01] [-7.99130392e-02 6.80407826e-04 9.96801607e-01 -1.57364886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.97, Y:-50.60, Z:-15.74 [[ 7.95807412e-01 6.02205915e-01 6.35499698e-02 1.83971589e+02] [-6.00253428e-01 7.98340694e-01 -4.84557298e-02 -5.05985500e+01] [-7.99148541e-02 4.15341710e-04 9.96801607e-01 -1.57412826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.02, Y:-50.64, Z:-15.75 [[ 7.92652200e-01 6.06354383e-01 6.35362226e-02 1.84020213e+02] [-6.04413711e-01 7.95194543e-01 -4.84737488e-02 -5.06361225e+01] [-7.99159276e-02 2.06596024e-05 9.96801607e-01 -1.57478018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.07, Y:-50.68, Z:-15.75 [[ 7.90926940e-01 6.08604418e-01 6.35235216e-02 1.84069232e+02] [-6.06669642e-01 7.93473773e-01 -4.84903875e-02 -5.06751844e+01] [-7.99157124e-02 -1.85438238e-04 9.96801607e-01 -1.57535878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:-50.71, Z:-15.76 [[ 7.89367206e-01 6.10627445e-01 6.35101406e-02 1.84117272e+02] [-6.08697786e-01 7.91917918e-01 -4.85079069e-02 -5.07147441e+01] [-7.99150775e-02 -3.67931087e-04 9.96801608e-01 -1.57600625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.17, Y:-50.75, Z:-15.76 [[ 7.88794145e-01 6.11368757e-01 6.34983483e-02 1.84165506e+02] [-6.09440253e-01 7.91345729e-01 -4.85233386e-02 -5.07544430e+01] [-7.99147999e-02 -4.23524091e-04 9.96801608e-01 -1.57648226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.21, Y:-50.80, Z:-15.77 [[ 7.89525175e-01 6.10425821e-01 6.34847686e-02 1.84213659e+02] [-6.08492841e-01 7.92073370e-01 -4.85410988e-02 -5.07953128e+01] [-7.99153347e-02 -3.05607670e-04 9.96801608e-01 -1.57704799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:-50.84, Z:-15.78 [[ 7.91174738e-01 6.08287711e-01 6.34712102e-02 1.84261672e+02] [-6.06346423e-01 7.93716610e-01 -4.85588211e-02 -5.08361482e+01] [-7.99158879e-02 -6.70286797e-05 9.96801608e-01 -1.57752465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:-50.88, Z:-15.78 [[ 7.94549239e-01 6.03874691e-01 6.34575776e-02 1.84307316e+02] [-6.01917863e-01 7.97079166e-01 -4.85766299e-02 -5.08781493e+01] [-7.99149104e-02 4.00274803e-04 9.96801609e-01 -1.57782040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.35, Y:-50.92, Z:-15.78 [[ 7.96552235e-01 6.01231382e-01 6.34457450e-02 1.84354729e+02] [-5.99264928e-01 7.99074687e-01 -4.85920795e-02 -5.09195869e+01] [-7.99129720e-02 6.85319705e-04 9.96801609e-01 -1.57819533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.40, Y:-50.96, Z:-15.79 [[ 7.98163417e-01 5.99092257e-01 6.34320782e-02 1.84398506e+02] [-5.97117625e-01 8.00679472e-01 -4.86099137e-02 -5.09640054e+01] [-7.99105858e-02 9.22242884e-04 9.96801609e-01 -1.57855378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.44, Y:-51.01, Z:-15.79 [[ 7.98913143e-01 5.98092583e-01 6.34275312e-02 1.84444446e+02] [-5.96114333e-01 8.01426354e-01 -4.86158459e-02 -5.10052080e+01] [-7.99092720e-02 1.02977776e-03 9.96801609e-01 -1.57921881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:-51.04, Z:-15.80 [[ 8.00884912e-01 5.95450173e-01 6.34227829e-02 1.84491575e+02] [-5.93463141e-01 8.03391186e-01 -4.86220397e-02 -5.10435690e+01] [-7.99053067e-02 1.30157400e-03 9.96801609e-01 -1.57970443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.54, Y:-51.08, Z:-15.80 [[ 8.00035973e-01 5.96591615e-01 6.34104533e-02 1.84541389e+02] [-5.94606886e-01 8.02544071e-01 -4.86381140e-02 -5.10808923e+01] [-7.99067743e-02 1.20794877e-03 9.96801609e-01 -1.58008855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.59, Y:-51.12, Z:-15.80 [[ 7.99376108e-01 5.97476728e-01 6.33987223e-02 1.84589835e+02] [-5.95493563e-01 8.01885442e-01 -4.86534003e-02 -5.11196035e+01] [-7.99077869e-02 1.13883467e-03 9.96801609e-01 -1.58041946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.64, Y:-51.16, Z:-15.81 [[ 7.98611393e-01 5.98499742e-01 6.33869180e-02 1.84639672e+02] [-5.96518572e-01 8.01122303e-01 -4.86687745e-02 -5.11584688e+01] [-7.99089227e-02 1.05596404e-03 9.96801610e-01 -1.58082169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.69, Y:-51.20, Z:-15.81 [[ 7.97280373e-01 6.00273111e-01 6.33734814e-02 1.84688566e+02] [-5.98296136e-01 7.99794587e-01 -4.86862645e-02 -5.11961473e+01] [-7.99108229e-02 9.00494104e-04 9.96801610e-01 -1.58140167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:-51.23, Z:-15.82 [[ 7.97630609e-01 5.99808151e-01 6.33687191e-02 1.84740048e+02] [-5.97829218e-01 8.00143281e-01 -4.86924622e-02 -5.12297497e+01] [-7.99101905e-02 9.54926543e-04 9.96801610e-01 -1.58191667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.79, Y:-51.26, Z:-15.82 [[ 7.97048994e-01 6.00582112e-01 6.33563533e-02 1.84790866e+02] [-5.98604341e-01 7.99562581e-01 -4.87085468e-02 -5.12646546e+01] [-7.99108512e-02 8.97710158e-04 9.96801610e-01 -1.58246822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.84, Y:-51.30, Z:-15.83 [[ 7.96906433e-01 6.00772522e-01 6.33444041e-02 1.84841037e+02] [-5.98794116e-01 7.99419521e-01 -4.87240814e-02 -5.13001912e+01] [-7.99108425e-02 8.98277458e-04 9.96801610e-01 -1.58296498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.89, Y:-51.34, Z:-15.84 [[ 7.97628626e-01 5.99814615e-01 6.33324724e-02 1.84892042e+02] [-5.97831961e-01 8.00138363e-01 -4.87395856e-02 -5.13373456e+01] [-7.99094566e-02 1.01391257e-03 9.96801611e-01 -1.58357507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.94, Y:-51.37, Z:-15.84 [[ 8.00369793e-01 5.96153426e-01 6.33189306e-02 1.84942865e+02] [-5.94157902e-01 8.02869308e-01 -4.87571719e-02 -5.13743300e+01] [-7.99035810e-02 1.40232460e-03 9.96801611e-01 -1.58404624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:-51.41, Z:-15.84 [[ 8.02659417e-01 5.93068529e-01 6.33054584e-02 1.84992965e+02] [-5.91062021e-01 8.05150123e-01 -4.87746577e-02 -5.14123415e+01] [-7.98971121e-02 1.73198613e-03 9.96801611e-01 -1.58447546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:-51.45, Z:-15.85 [[ 8.06725703e-01 5.87526799e-01 6.32921854e-02 1.85042932e+02] [-5.85501837e-01 8.09201429e-01 -4.87918752e-02 -5.14497765e+01] [-7.98826611e-02 2.30396898e-03 9.96801611e-01 -1.58479191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.09, Y:-51.49, Z:-15.85 [[ 8.09144978e-01 5.84191745e-01 6.32804071e-02 1.85093692e+02] [-5.82155388e-01 8.11611340e-01 -4.88071463e-02 -5.14872388e+01] [-7.98718279e-02 2.65302738e-03 9.96801611e-01 -1.58524685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.14, Y:-51.52, Z:-15.86 [[ 8.11738813e-01 5.80583704e-01 6.32666009e-02 1.85144499e+02] [-5.78534996e-01 8.14194924e-01 -4.88250361e-02 -5.15233929e+01] [-7.98583657e-02 3.03123416e-03 9.96801612e-01 -1.58576608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.19, Y:-51.56, Z:-15.86 [[ 8.12610182e-01 5.79364965e-01 6.32529053e-02 1.85194291e+02] [-5.77311197e-01 8.15062063e-01 -4.88427725e-02 -5.15591564e+01] [-7.98528346e-02 3.17352375e-03 9.96801612e-01 -1.58634605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.25, Y:-51.60, Z:-15.87 [[ 8.12957752e-01 5.78878353e-01 6.32419682e-02 1.85245320e+02] [-5.76822018e-01 8.15407481e-01 -4.88569297e-02 -5.15950395e+01] [-7.98501930e-02 3.23925999e-03 9.96801612e-01 -1.58686012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.30, Y:-51.63, Z:-15.87 [[ 8.12548631e-01 5.79453764e-01 6.32302051e-02 1.85296005e+02] [-5.77397982e-01 8.14998824e-01 -4.88721488e-02 -5.16328444e+01] [-7.98516933e-02 3.20200472e-03 9.96801612e-01 -1.58730521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:-51.67, Z:-15.88 [[ 8.11148164e-01 5.81414089e-01 6.32163957e-02 1.85346964e+02] [-5.79362842e-01 8.13602154e-01 -4.88900048e-02 -5.16692286e+01] [-7.98583333e-02 3.03180690e-03 9.96801613e-01 -1.58778781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.40, Y:-51.70, Z:-15.88 [[ 8.08154839e-01 5.85569098e-01 6.32027432e-02 1.85398350e+02] [-5.83529094e-01 8.10618183e-01 -4.89076478e-02 -5.17030616e+01] [-7.98721001e-02 2.64431275e-03 9.96801613e-01 -1.58829995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.45, Y:-51.74, Z:-15.89 [[ 8.05169832e-01 5.89667987e-01 6.31918302e-02 1.85449529e+02] [-5.87639420e-01 8.07642603e-01 -4.89217441e-02 -5.17373844e+01] [-7.98840006e-02 2.25630200e-03 9.96801613e-01 -1.58877290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:-51.77, Z:-15.89 [[ 8.03800093e-01 5.91535092e-01 6.31794618e-02 1.85500637e+02] [-5.89511017e-01 8.06276542e-01 -4.89377119e-02 -5.17728381e+01] [-7.98884919e-02 2.09114867e-03 9.96801613e-01 -1.58908106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.55, Y:-51.81, Z:-15.89 [[ 8.02989172e-01 5.92636707e-01 6.31674162e-02 1.85552523e+02] [-5.90614808e-01 8.05467397e-01 -4.89532551e-02 -5.18066049e+01] [-7.98907902e-02 2.00132236e-03 9.96801613e-01 -1.58946381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.60, Y:-51.84, Z:-15.90 [[ 8.03155999e-01 5.92411883e-01 6.31553750e-02 1.85603097e+02] [-5.90388070e-01 8.05632661e-01 -4.89687848e-02 -5.18422900e+01] [-7.98897228e-02 2.04339335e-03 9.96801614e-01 -1.58995234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.66, Y:-51.88, Z:-15.90 [[ 8.04162100e-01 5.91046804e-01 6.31426349e-02 1.85655412e+02] [-5.89017499e-01 8.06634264e-01 -4.89852069e-02 -5.18776276e+01] [-7.98855628e-02 2.19992998e-03 9.96801614e-01 -1.59048898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:-51.91, Z:-15.91 [[ 8.05447347e-01 5.89295578e-01 6.31291850e-02 1.85705694e+02] [-5.87259541e-01 8.07913970e-01 -4.90025343e-02 -5.19132018e+01] [-7.98799272e-02 2.39574501e-03 9.96801614e-01 -1.59103178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.76, Y:-51.95, Z:-15.92 [[ 8.07880325e-01 5.85957040e-01 6.31167747e-02 1.85756836e+02] [-5.83909566e-01 8.10337463e-01 -4.90185140e-02 -5.19477356e+01] [-7.98686304e-02 2.74660449e-03 9.96801614e-01 -1.59172443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.81, Y:-51.98, Z:-15.92 [[ 8.10840090e-01 5.81855698e-01 6.31054284e-02 1.85808119e+02] [-5.79794666e-01 8.13285865e-01 -4.90331166e-02 -5.19835841e+01] [-7.98529512e-02 3.16982589e-03 9.96801614e-01 -1.59219637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.86, Y:-52.02, Z:-15.93 [[ 8.12851742e-01 5.79043552e-01 6.30920732e-02 1.85858722e+02] [-5.76972731e-01 8.15289234e-01 -4.90502951e-02 -5.20203329e+01] [-7.98405452e-02 3.46821200e-03 9.96801615e-01 -1.59261698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.91, Y:-52.06, Z:-15.93 [[ 8.14056640e-01 5.77349910e-01 6.30782692e-02 1.85910015e+02] [-5.75272648e-01 8.16488646e-01 -4.90680405e-02 -5.20569234e+01] [-7.98321194e-02 3.65696123e-03 9.96801615e-01 -1.59312012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:-52.09, Z:-15.94 [[ 8.13856789e-01 5.77633087e-01 6.30645967e-02 1.85961897e+02] [-5.75555315e-01 8.16288358e-01 -4.90856068e-02 -5.20926933e+01] [-7.98323667e-02 3.65149051e-03 9.96801615e-01 -1.59351393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.01, Y:-52.13, Z:-15.94 [[ 8.12185357e-01 5.79982354e-01 6.30508963e-02 1.86012180e+02] [-5.77910254e-01 8.14621761e-01 -4.91031988e-02 -5.21271324e+01] [-7.98416210e-02 3.44313954e-03 9.96801615e-01 -1.59391455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:-52.16, Z:-15.94 [[ 8.07955627e-01 5.85861477e-01 6.30399441e-02 1.86065106e+02] [-5.83806019e-01 8.10406088e-01 -4.91172556e-02 -5.21602518e+01] [-7.98638623e-02 2.88146425e-03 9.96801616e-01 -1.59426356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.12, Y:-52.20, Z:-15.95 [[ 8.04173474e-01 5.91043570e-01 6.30279428e-02 1.86117106e+02] [-5.89002703e-01 8.06636100e-01 -4.91326510e-02 -5.21952402e+01] [-7.98801514e-02 2.38754597e-03 9.96801616e-01 -1.59470533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.17, Y:-52.23, Z:-15.95 [[ 7.98362628e-01 5.98870858e-01 6.30143523e-02 1.86171070e+02] [-5.96852770e-01 8.00843955e-01 -4.91500751e-02 -5.22285446e+01] [-7.98992108e-02 1.62929241e-03 9.96801616e-01 -1.59510390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.22, Y:-52.26, Z:-15.96 [[ 7.95203614e-01 6.03060679e-01 6.30002296e-02 1.86222221e+02] [-6.01054234e-01 7.97694365e-01 -4.91681709e-02 -5.22628067e+01] [-7.99063186e-02 1.23215250e-03 9.96801616e-01 -1.59562510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:-52.30, Z:-15.96 [[ 7.92980500e-01 6.05982295e-01 6.29871791e-02 1.86273992e+02] [-6.03983700e-01 7.95477553e-01 -4.91848836e-02 -5.22983707e+01] [-7.99100558e-02 9.59424074e-04 9.96801616e-01 -1.59611003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.32, Y:-52.34, Z:-15.97 [[ 7.93466919e-01 6.05346701e-01 6.29731770e-02 1.86324392e+02] [-6.03344683e-01 7.95961228e-01 -4.92028046e-02 -5.23350075e+01] [-7.99089627e-02 1.04626623e-03 9.96801617e-01 -1.59658410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.37, Y:-52.37, Z:-15.97 [[ 7.96862187e-01 6.00871697e-01 6.29591801e-02 1.86374310e+02] [-5.98854260e-01 7.99344042e-01 -4.92207083e-02 -5.23721581e+01] [-7.99013760e-02 1.51874801e-03 9.96801617e-01 -1.59701083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:-52.41, Z:-15.97 [[ 8.02729216e-01 5.93012287e-01 6.29462723e-02 1.86423933e+02] [-5.90969267e-01 8.05190054e-01 -4.92372100e-02 -5.24111010e+01] [-7.98819829e-02 2.32483466e-03 9.96801617e-01 -1.59738905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:-52.45, Z:-15.98 [[ 8.06386309e-01 5.88031182e-01 6.29321052e-02 1.86471978e+02] [-5.85971556e-01 8.08833264e-01 -4.92553110e-02 -5.24494066e+01] [-7.98652388e-02 2.84238480e-03 9.96801617e-01 -1.59794566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.52, Y:-52.49, Z:-15.99 [[ 8.10073876e-01 5.82942115e-01 6.29190492e-02 1.86520948e+02] [-5.80865831e-01 8.12506713e-01 -4.92719832e-02 -5.24876098e+01] [-7.98448639e-02 3.36642057e-03 9.96801618e-01 -1.59850743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.57, Y:-52.53, Z:-15.99 [[ 8.10742506e-01 5.82013175e-01 6.29067038e-02 1.86570442e+02] [-5.79932885e-01 8.13171917e-01 -4.92877398e-02 -5.25250082e+01] [-7.98400789e-02 3.47799945e-03 9.96801618e-01 -1.59910666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.62, Y:-52.56, Z:-16.00 [[ 8.09588935e-01 5.83618147e-01 6.28936857e-02 1.86619882e+02] [-5.81541387e-01 8.12021365e-01 -4.93043461e-02 -5.25631243e+01] [-7.98459275e-02 3.34097181e-03 9.96801618e-01 -1.59955996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.67, Y:-52.60, Z:-16.00 [[ 8.07858727e-01 5.86012293e-01 6.28798068e-02 1.86669268e+02] [-5.83941369e-01 8.10296127e-01 -4.93220400e-02 -5.26011499e+01] [-7.98545857e-02 3.12711989e-03 9.96801618e-01 -1.60007675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.72, Y:-52.64, Z:-16.01 [[ 8.04674159e-01 5.90378996e-01 6.28660453e-02 1.86719000e+02] [-5.88319936e-01 8.07121589e-01 -4.93395742e-02 -5.26387376e+01] [-7.98695907e-02 2.71693261e-03 9.96801619e-01 -1.60068024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.77, Y:-52.68, Z:-16.01 [[ 8.01193834e-01 5.95094995e-01 6.28521124e-02 1.86769104e+02] [-5.93048955e-01 8.03652159e-01 -4.93573166e-02 -5.26770667e+01] [-7.98835279e-02 2.27039809e-03 9.96801619e-01 -1.60121183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.82, Y:-52.71, Z:-16.02 [[ 7.98469206e-01 5.98747306e-01 6.28378040e-02 1.86818228e+02] [-5.96711081e-01 8.00935667e-01 -4.93755263e-02 -5.27149885e+01] [-7.98925018e-02 1.92882330e-03 9.96801619e-01 -1.60169941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:-52.75, Z:-16.02 [[ 7.97066810e-01 6.00614330e-01 6.28245769e-02 1.86867164e+02] [-5.98582558e-01 7.99536939e-01 -4.93923505e-02 -5.27534090e+01] [-7.98963234e-02 1.76330731e-03 9.96801619e-01 -1.60215088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.92, Y:-52.79, Z:-16.03 [[ 7.94657005e-01 6.03800402e-01 6.28117774e-02 1.86916514e+02] [-6.01777249e-01 7.97134198e-01 -4.94086221e-02 -5.27916829e+01] [-7.99023617e-02 1.46420902e-03 9.96801620e-01 -1.60259194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:186.96, Y:-52.83, Z:-16.03 [[ 7.90955178e-01 6.08643040e-01 6.27977496e-02 1.86964153e+02] [-6.06633641e-01 7.93443541e-01 -4.94264449e-02 -5.28313857e+01] [-7.99095305e-02 9.98875029e-04 9.96801620e-01 -1.60263283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.01, Y:-52.87, Z:-16.04 [[ 7.91003060e-01 6.08582086e-01 6.27853740e-02 1.87012934e+02] [-6.06571248e-01 7.93490261e-01 -4.94421604e-02 -5.28666678e+01] [-7.99091959e-02 1.02509752e-03 9.96801620e-01 -1.60388546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:-52.91, Z:-16.05 [[ 7.91231054e-01 6.08286311e-01 6.27788439e-02 1.87060230e+02] [-6.06273885e-01 7.93716970e-01 -4.94504505e-02 -5.29062987e+01] [-7.99086659e-02 1.06555848e-03 9.96801620e-01 -1.60459358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.11, Y:-52.95, Z:-16.05 [[ 7.92363525e-01 6.06811719e-01 6.27660906e-02 1.87108419e+02] [-6.04793386e-01 7.94844647e-01 -4.94666326e-02 -5.29469511e+01] [-7.99062235e-02 1.23503893e-03 9.96801620e-01 -1.60506106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.16, Y:-52.99, Z:-16.05 [[ 7.94286042e-01 6.04294502e-01 6.27522000e-02 1.87155301e+02] [-6.02266916e-01 7.96759607e-01 -4.94842478e-02 -5.29888026e+01] [-7.99014771e-02 1.51107337e-03 9.96801621e-01 -1.60514578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.20, Y:-53.03, Z:-16.06 [[ 7.97170024e-01 6.00485361e-01 6.27477851e-02 1.87202472e+02] [-5.98445517e-01 7.99633490e-01 -4.94898453e-02 -5.30278977e+01] [-7.98931581e-02 1.90069044e-03 9.96801621e-01 -1.60613214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.25, Y:-53.07, Z:-16.07 [[ 7.98966881e-01 5.98093790e-01 6.27354857e-02 1.87250466e+02] [-5.96045350e-01 8.01423204e-01 -4.95054317e-02 -5.30685041e+01] [-7.98865653e-02 2.16000574e-03 9.96801621e-01 -1.60663745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:-53.11, Z:-16.07 [[ 8.01636546e-01 5.94512312e-01 6.27212875e-02 1.87296330e+02] [-5.92451495e-01 8.04082494e-01 -4.95234137e-02 -5.31115599e+01] [-7.98753685e-02 2.54045775e-03 9.96801621e-01 -1.60657635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.34, Y:-53.15, Z:-16.08 [[ 8.03934421e-01 5.91402637e-01 6.27085967e-02 1.87343581e+02] [-5.89331110e-01 8.06371306e-01 -4.95394782e-02 -5.31498600e+01] [-7.98641910e-02 2.87036485e-03 9.96801621e-01 -1.60766212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.39, Y:-53.19, Z:-16.07 [[ 8.03265849e-01 5.92311627e-01 6.26969968e-02 1.87389909e+02] [-5.90241715e-01 8.05704104e-01 -4.95541546e-02 -5.31919855e+01] [-7.98667296e-02 2.79877714e-03 9.96801621e-01 -1.60737519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.44, Y:-53.23, Z:-16.09 [[ 8.04137632e-01 5.91128873e-01 6.26843245e-02 1.87438872e+02] [-5.89054129e-01 8.06571776e-01 -4.95701795e-02 -5.32278793e+01] [-7.98617713e-02 2.93678653e-03 9.96801622e-01 -1.60866870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:-53.27, Z:-16.09 [[ 8.01070601e-01 5.95279234e-01 6.26779552e-02 1.87485748e+02] [-5.93216475e-01 8.03514911e-01 -4.95782317e-02 -5.32695958e+01] [-7.98755634e-02 2.53406824e-03 9.96801622e-01 -1.60851909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.53, Y:-53.31, Z:-16.10 [[ 8.00049463e-01 5.96652260e-01 6.26652856e-02 1.87533640e+02] [-5.94592444e-01 8.02496253e-01 -4.95942405e-02 -5.33062363e+01] [-7.98791726e-02 2.41754014e-03 9.96801622e-01 -1.60980596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.58, Y:-53.35, Z:-16.10 [[ 7.95344977e-01 6.02910341e-01 6.26537206e-02 1.87581719e+02] [-6.00868635e-01 7.97806898e-01 -4.96088467e-02 -5.33464333e+01] [-7.98952571e-02 1.80949147e-03 9.96801622e-01 -1.60966554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.63, Y:-53.38, Z:-16.11 [[ 7.93135679e-01 6.05815068e-01 6.26410285e-02 1.87629294e+02] [-6.03781114e-01 7.95604009e-01 -4.96248679e-02 -5.33837531e+01] [-7.99009461e-02 1.53778329e-03 9.96801622e-01 -1.61068253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.68, Y:-53.42, Z:-16.11 [[ 7.89261655e-01 6.10854807e-01 6.26294270e-02 1.87677792e+02] [-6.08835455e-01 7.91741945e-01 -4.96395052e-02 -5.34232789e+01] [-7.99088748e-02 1.04754234e-03 9.96801622e-01 -1.61110057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.73, Y:-53.46, Z:-16.12 [[ 7.86909449e-01 6.13883395e-01 6.26154658e-02 1.87726851e+02] [-6.11872190e-01 7.89396349e-01 -4.96571098e-02 -5.34622368e+01] [-7.99120952e-02 7.62986781e-04 9.96801623e-01 -1.61157957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.78, Y:-53.50, Z:-16.12 [[ 7.84384287e-01 6.17108031e-01 6.26016658e-02 1.87775724e+02] [-6.15105661e-01 7.86878307e-01 -4.96745011e-02 -5.35011359e+01] [-7.99144263e-02 4.57259063e-04 9.96801623e-01 -1.61209003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.82, Y:-53.54, Z:-16.13 [[ 7.84135057e-01 6.17426145e-01 6.25872780e-02 1.87822459e+02] [-6.15423341e-01 7.86628727e-01 -4.96926223e-02 -5.35413385e+01] [-7.99144751e-02 4.48055466e-04 9.96801623e-01 -1.61268888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.87, Y:-53.58, Z:-16.13 [[ 7.85558349e-01 6.15615608e-01 6.25739778e-02 1.87870696e+02] [-6.13605723e-01 7.88046316e-01 -4.97093647e-02 -5.35820006e+01] [-7.99130534e-02 6.53855549e-04 9.96801623e-01 -1.61323113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:-53.62, Z:-16.14 [[ 7.90355455e-01 6.09446076e-01 6.25598561e-02 1.87917936e+02] [-6.07415367e-01 7.92826453e-01 -4.97271307e-02 -5.36238756e+01] [-7.99051135e-02 1.30229112e-03 9.96801624e-01 -1.61378415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.96, Y:-53.66, Z:-16.14 [[ 7.94548040e-01 6.03971417e-01 6.25455088e-02 1.87964195e+02] [-6.01922266e-01 7.97003766e-01 -4.97451699e-02 -5.36642961e+01] [-7.98936668e-02 1.87739283e-03 9.96801624e-01 -1.61431430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.01, Y:-53.71, Z:-16.15 [[ 8.00264889e-01 5.96377248e-01 6.25322727e-02 1.88010637e+02] [-5.94303506e-01 8.02699885e-01 -4.97618028e-02 -5.37061980e+01] [-7.98714551e-02 2.65947467e-03 9.96801624e-01 -1.61479394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.06, Y:-53.75, Z:-16.15 [[ 8.03098341e-01 5.92557639e-01 6.25179938e-02 1.88058936e+02] [-5.90470927e-01 8.05522230e-01 -4.97797355e-02 -5.37462811e+01] [-7.98569964e-02 3.06296523e-03 9.96801624e-01 -1.61532146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:-53.78, Z:-16.16 [[ 8.04616924e-01 5.90495478e-01 6.25035683e-02 1.88107188e+02] [-5.88401152e-01 8.07034237e-01 -4.97978417e-02 -5.37849122e+01] [-7.98479199e-02 3.29101465e-03 9.96801625e-01 -1.61585249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.16, Y:-53.82, Z:-16.16 [[ 8.03135575e-01 5.92510095e-01 6.24902760e-02 1.88155429e+02] [-5.90420539e-01 8.05557013e-01 -4.98145163e-02 -5.38245571e+01] [-7.98550839e-02 3.11226777e-03 9.96801625e-01 -1.61589178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.20, Y:-53.86, Z:-16.16 [[ 7.98831448e-01 5.98301629e-01 6.24778203e-02 1.88204306e+02] [-5.96228416e-01 8.01266893e-01 -4.98301336e-02 -5.38629952e+01] [-7.98748590e-02 2.55482592e-03 9.96801625e-01 -1.61580074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.25, Y:-53.90, Z:-16.17 [[ 7.97170905e-01 6.00512626e-01 6.24750777e-02 1.88254674e+02] [-5.98445899e-01 7.99611856e-01 -4.98335719e-02 -5.38981107e+01] [-7.98815020e-02 2.33791951e-03 9.96801625e-01 -1.61669512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.30, Y:-53.93, Z:-16.18 [[ 7.94165847e-01 6.04482468e-01 6.24624197e-02 1.88304208e+02] [-6.02426699e-01 7.96616034e-01 -4.98494327e-02 -5.39323905e+01] [-7.98916731e-02 1.95968761e-03 9.96801625e-01 -1.61775998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:-53.97, Z:-16.18 [[ 7.92064671e-01 6.07233462e-01 6.24586260e-02 1.88353483e+02] [-6.05185830e-01 7.94521662e-01 -4.98541855e-02 -5.39691854e+01] [-7.98978610e-02 1.68866366e-03 9.96801625e-01 -1.61828042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:-54.01, Z:-16.19 [[ 7.90967444e-01 6.08663346e-01 6.24454499e-02 1.88402299e+02] [-6.06618854e-01 7.93427048e-01 -4.98706839e-02 -5.40070716e+01] [-7.99003664e-02 1.56550013e-03 9.96801626e-01 -1.61881446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:-54.04, Z:-16.19 [[ 7.89511674e-01 6.10551790e-01 6.24325884e-02 1.88452652e+02] [-6.08511910e-01 7.91975104e-01 -4.98867800e-02 -5.40446803e+01] [-7.99035185e-02 1.39522166e-03 9.96801626e-01 -1.61926154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.50, Y:-54.08, Z:-16.20 [[ 7.89552172e-01 6.10500866e-01 6.24184319e-02 1.88501648e+02] [-6.08459428e-01 7.92014310e-01 -4.99044864e-02 -5.40836375e+01] [-7.99030234e-02 1.42311227e-03 9.96801626e-01 -1.61973625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.55, Y:-54.12, Z:-16.20 [[ 7.91097538e-01 6.08498474e-01 6.24042704e-02 1.88550559e+02] [-6.06449408e-01 7.93553332e-01 -4.99221888e-02 -5.41223406e+01] [-7.98986923e-02 1.64828778e-03 9.96801626e-01 -1.62029673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:-54.16, Z:-16.21 [[ 7.93218202e-01 6.05732949e-01 6.23897233e-02 1.88599052e+02] [-6.03673894e-01 7.95665627e-01 -4.99403622e-02 -5.41609115e+01] [-7.98918812e-02 1.95055705e-03 9.96801627e-01 -1.62101175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.65, Y:-54.20, Z:-16.22 [[ 7.94331059e-01 6.04274157e-01 6.23771763e-02 1.88647154e+02] [-6.02209379e-01 7.96773656e-01 -4.99560289e-02 -5.42005425e+01] [-7.98876281e-02 2.11750473e-03 9.96801627e-01 -1.62152741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.70, Y:-54.24, Z:-16.22 [[ 7.95441834e-01 6.02812693e-01 6.23630193e-02 1.88695057e+02] [-6.00742043e-01 7.97879456e-01 -4.99736957e-02 -5.42402833e+01] [-7.98829500e-02 2.28708049e-03 9.96801627e-01 -1.62202616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:-54.28, Z:-16.23 [[ 7.96100555e-01 6.01943843e-01 6.23499520e-02 1.88743862e+02] [-5.99869259e-01 7.98534829e-01 -4.99899940e-02 -5.42799871e+01] [-7.98797773e-02 2.39524246e-03 9.96801627e-01 -1.62250100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.79, Y:-54.32, Z:-16.23 [[ 7.96935981e-01 6.00838840e-01 6.23356344e-02 1.88791390e+02] [-5.98759487e-01 7.99366182e-01 -5.00078411e-02 -5.43206292e+01] [-7.98756513e-02 2.52899544e-03 9.96801627e-01 -1.62294572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.84, Y:-54.36, Z:-16.23 [[ 7.96348346e-01 6.01618931e-01 6.23215268e-02 1.88840178e+02] [-5.99540586e-01 7.98779409e-01 -5.00254164e-02 -5.43607586e+01] [-7.98773899e-02 2.47337293e-03 9.96801628e-01 -1.62338400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.89, Y:-54.40, Z:-16.24 [[ 7.92857677e-01 6.06213224e-01 6.23075506e-02 1.88889564e+02] [-6.04147603e-01 7.95299560e-01 -5.00428179e-02 -5.43995397e+01] [-7.98897856e-02 2.03387507e-03 9.96801628e-01 -1.62387722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.94, Y:-54.44, Z:-16.24 [[ 7.89077311e-01 6.11127228e-01 6.22937382e-02 1.88938988e+02] [-6.09075460e-01 7.91530845e-01 -5.00600058e-02 -5.44383132e+01] [-7.99004479e-02 1.55962749e-03 9.96801628e-01 -1.62436235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.99, Y:-54.48, Z:-16.25 [[ 7.83659026e-01 6.18061268e-01 6.22800145e-02 1.88987776e+02] [-6.16029858e-01 7.86129443e-01 -5.00770738e-02 -5.44766549e+01] [-7.99108528e-02 8.77002334e-04 9.96801628e-01 -1.62484151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.04, Y:-54.51, Z:-16.25 [[ 7.81393524e-01 6.20924263e-01 6.22673216e-02 1.89036106e+02] [-6.18900649e-01 7.83870329e-01 -5.00928516e-02 -5.45148308e+01] [-7.99133729e-02 6.04944085e-04 9.96801629e-01 -1.62537684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:-54.55, Z:-16.26 [[ 7.81879002e-01 6.20314087e-01 6.22547888e-02 1.89084660e+02] [-6.18287300e-01 7.84353212e-01 -5.01084224e-02 -5.45541069e+01] [-7.99127038e-02 6.87378006e-04 9.96801629e-01 -1.62593443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.13, Y:-54.60, Z:-16.26 [[ 7.86125077e-01 6.14925476e-01 6.22416414e-02 1.89132342e+02] [-6.12880439e-01 7.88584223e-01 -5.01247480e-02 -5.45959037e+01] [-7.99057610e-02 1.25763685e-03 9.96801629e-01 -1.62626479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.18, Y:-54.64, Z:-16.27 [[ 7.89327288e-01 6.10811089e-01 6.22273754e-02 1.89179395e+02] [-6.08751841e-01 7.91774545e-01 -5.01424523e-02 -5.46366655e+01] [-7.98976178e-02 1.69777655e-03 9.96801629e-01 -1.62673298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.23, Y:-54.68, Z:-16.27 [[ 7.93236809e-01 6.05726634e-01 6.22142229e-02 1.89226855e+02] [-6.03650425e-01 7.95669694e-01 -5.01587660e-02 -5.46775199e+01] [-7.98844722e-02 2.23213733e-03 9.96801630e-01 -1.62717676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.27, Y:-54.72, Z:-16.28 [[ 7.94756406e-01 6.03732881e-01 6.22001858e-02 1.89274628e+02] [-6.01649210e-01 7.97182903e-01 -5.01761669e-02 -5.47188596e+01] [-7.98779265e-02 2.45513743e-03 9.96801630e-01 -1.62767302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.32, Y:-54.76, Z:-16.28 [[ 7.96374133e-01 6.01598825e-01 6.21859700e-02 1.89320084e+02] [-5.99507279e-01 7.98793845e-01 -5.01937792e-02 -5.47588261e+01] [-7.98702886e-02 2.69208569e-03 9.96801630e-01 -1.62820037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.37, Y:-54.80, Z:-16.29 [[ 7.96493391e-01 6.01441642e-01 6.21790141e-02 1.89369133e+02] [-5.99348947e-01 7.98912110e-01 -5.02023946e-02 -5.47986957e+01] [-7.98693779e-02 2.71894885e-03 9.96801630e-01 -1.62859048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.42, Y:-54.84, Z:-16.29 [[ 7.95366177e-01 6.02932978e-01 6.21648516e-02 1.89417912e+02] [-6.00843451e-01 7.97787632e-01 -5.02199256e-02 -5.48373848e+01] [-7.98735991e-02 2.59188628e-03 9.96801630e-01 -1.62902642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:-54.88, Z:-16.29 [[ 7.94106981e-01 6.04591812e-01 6.21517802e-02 1.89466966e+02] [-6.02506080e-01 7.96531705e-01 -5.02360975e-02 -5.48771767e+01] [-7.98781967e-02 2.44601025e-03 9.96801631e-01 -1.62940259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.52, Y:-54.91, Z:-16.30 [[ 7.92180329e-01 6.07115516e-01 6.21375560e-02 1.89515598e+02] [-6.05036132e-01 7.94610500e-01 -5.02536854e-02 -5.49146093e+01] [-7.98849466e-02 2.21451451e-03 9.96801631e-01 -1.62995903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.57, Y:-54.95, Z:-16.30 [[ 7.90844745e-01 6.08855604e-01 6.21244155e-02 1.89565195e+02] [-6.06780293e-01 7.93278394e-01 -5.02699247e-02 -5.49525845e+01] [-7.98890820e-02 2.05983475e-03 9.96801631e-01 -1.63039109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.62, Y:-54.99, Z:-16.31 [[ 7.89243288e-01 6.10931529e-01 6.21103710e-02 1.89615763e+02] [-6.08861256e-01 7.91681224e-01 -5.02872712e-02 -5.49904875e+01] [-7.98936941e-02 1.87229278e-03 9.96801631e-01 -1.63082636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:-55.03, Z:-16.31 [[ 7.87831084e-01 6.12753028e-01 6.20959720e-02 1.89664310e+02] [-6.10686992e-01 7.90272611e-01 -5.03050453e-02 -5.50285636e+01] [-7.98973148e-02 1.71067604e-03 9.96801632e-01 -1.63135200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.72, Y:-55.07, Z:-16.32 [[ 7.86505755e-01 6.14454587e-01 6.20826706e-02 1.89715027e+02] [-6.12392539e-01 7.88950651e-01 -5.03214556e-02 -5.50660962e+01] [-7.99004126e-02 1.55915019e-03 9.96801632e-01 -1.63187867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.76, Y:-55.10, Z:-16.33 [[ 7.86341246e-01 6.14666514e-01 6.20686861e-02 1.89763318e+02] [-6.12603765e-01 7.88785549e-01 -5.03386988e-02 -5.51036749e+01] [-7.99003952e-02 1.55988432e-03 9.96801632e-01 -1.63255616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.81, Y:-55.14, Z:-16.33 [[ 7.88292146e-01 6.12163847e-01 6.20557635e-02 1.89812242e+02] [-6.10092085e-01 7.90728816e-01 -5.03546242e-02 -5.51430580e+01] [-7.98945609e-02 1.83442465e-03 9.96801632e-01 -1.63285234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.86, Y:-55.18, Z:-16.33 [[ 7.92002082e-01 6.07357830e-01 6.20416682e-02 1.89860291e+02] [-6.05269928e-01 7.94424935e-01 -5.03719850e-02 -5.51822065e+01] [-7.98812678e-02 2.34276096e-03 9.96801632e-01 -1.63329955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.91, Y:-55.22, Z:-16.34 [[ 7.94423392e-01 6.04188647e-01 6.20286433e-02 1.89909502e+02] [-6.02089832e-01 7.96836798e-01 -5.03880190e-02 -5.52208344e+01] [-7.98705745e-02 2.68260555e-03 9.96801633e-01 -1.63373252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:189.96, Y:-55.26, Z:-16.34 [[ 7.95291022e-01 6.03047559e-01 6.20147788e-02 1.89958512e+02] [-6.00943953e-01 7.97700253e-01 -5.04050769e-02 -5.52592730e+01] [-7.98658633e-02 2.81929876e-03 9.96801633e-01 -1.63422062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:-55.30, Z:-16.35 [[ 7.96538873e-01 6.01399786e-01 6.20009753e-02 1.90008385e+02] [-5.99289879e-01 7.98942588e-01 -5.04220503e-02 -5.52972531e+01] [-7.98590299e-02 3.00656615e-03 9.96801633e-01 -1.63474907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:-55.33, Z:-16.35 [[ 7.96395498e-01 6.01591043e-01 6.19873273e-02 1.90057660e+02] [-5.99480410e-01 7.98798575e-01 -5.04388232e-02 -5.53337406e+01] [-7.98589329e-02 3.00906334e-03 9.96801633e-01 -1.63535607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.11, Y:-55.37, Z:-16.36 [[ 7.95236495e-01 6.03123578e-01 6.19747239e-02 1.90107459e+02] [-6.01016373e-01 7.97642578e-01 -5.04543043e-02 -5.53712826e+01] [-7.98638591e-02 2.87528032e-03 9.96801634e-01 -1.63595907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.16, Y:-55.41, Z:-16.36 [[ 7.91853392e-01 6.07559825e-01 6.19617998e-02 1.90158665e+02] [-6.05464864e-01 7.94270143e-01 -5.04701712e-02 -5.54083966e+01] [-7.98780560e-02 2.44928363e-03 9.96801634e-01 -1.63642452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.21, Y:-55.45, Z:-16.37 [[ 7.89271473e-01 6.10911653e-01 6.19475094e-02 1.90208141e+02] [-6.08825583e-01 7.91695902e-01 -5.04877053e-02 -5.54467312e+01] [-7.98871168e-02 2.13327702e-03 9.96801634e-01 -1.63689661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.26, Y:-55.48, Z:-16.37 [[ 7.86336527e-01 6.14686208e-01 6.19332907e-02 1.90257666e+02] [-6.12610405e-01 7.88769752e-01 -5.05051414e-02 -5.54849840e+01] [-7.98959202e-02 1.77305922e-03 9.96801634e-01 -1.63732141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.31, Y:-55.52, Z:-16.38 [[ 7.83937452e-01 6.17744351e-01 6.19192061e-02 1.90307052e+02] [-6.15676679e-01 7.86377590e-01 -5.05224032e-02 -5.55236635e+01] [-7.99018053e-02 1.48419282e-03 9.96801635e-01 -1.63784912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.36, Y:-55.56, Z:-16.38 [[ 7.79572855e-01 6.23244692e-01 6.19049150e-02 1.90356881e+02] [-6.21192849e-01 7.82026318e-01 -5.05399080e-02 -5.55624603e+01] [-7.99100021e-02 9.44649783e-04 9.96801635e-01 -1.63838815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.41, Y:-55.60, Z:-16.39 [[ 7.74608463e-01 6.29405519e-01 6.18904041e-02 1.90406609e+02] [-6.27371772e-01 7.77076947e-01 -5.05576716e-02 -5.56009057e+01] [-7.99148838e-02 3.34107764e-04 9.96801635e-01 -1.63899928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.46, Y:-55.64, Z:-16.40 [[ 7.71646158e-01 6.33035203e-01 6.18759866e-02 1.90455884e+02] [-6.31011654e-01 7.74123008e-01 -5.05753106e-02 -5.56400901e+01] [-7.99155769e-02 -1.82244733e-05 9.96801635e-01 -1.63954380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:-55.68, Z:-16.40 [[ 7.68858708e-01 6.36419223e-01 6.18616190e-02 1.90503565e+02] [-6.34405161e-01 7.71343278e-01 -5.05928784e-02 -5.56792932e+01] [-7.99148244e-02 -3.46555199e-04 9.96801636e-01 -1.64015095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:-55.72, Z:-16.41 [[ 7.69209964e-01 6.35995922e-01 6.18483484e-02 1.90551300e+02] [-6.33979188e-01 7.71692366e-01 -5.06090962e-02 -5.57201713e+01] [-7.99150771e-02 -2.81544677e-04 9.96801636e-01 -1.64078086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.60, Y:-55.76, Z:-16.41 [[ 7.73566670e-01 6.30691061e-01 6.18335959e-02 1.90595923e+02] [-6.28655863e-01 7.76033956e-01 -5.06271143e-02 -5.57627355e+01] [-7.99150384e-02 2.91395592e-04 9.96801636e-01 -1.64141218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.64, Y:-55.81, Z:-16.42 [[ 7.78222905e-01 6.24937916e-01 6.18199902e-02 1.90641066e+02] [-6.22883161e-01 7.80673928e-01 -5.06437225e-02 -5.58063100e+01] [-7.99104370e-02 9.05473967e-04 9.96801636e-01 -1.64193878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:-55.85, Z:-16.42 [[ 7.85587822e-01 6.15655595e-01 6.18058363e-02 1.90684712e+02] [-6.13570532e-01 7.88013113e-01 -5.06609901e-02 -5.58523064e+01] [-7.98935316e-02 1.87641705e-03 9.96801637e-01 -1.64245429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.73, Y:-55.90, Z:-16.42 [[ 7.88295107e-01 6.12186792e-01 6.17912308e-02 1.90728788e+02] [-6.10089664e-01 7.90709973e-01 -5.06787983e-02 -5.58970223e+01] [-7.98838334e-02 2.25165750e-03 9.96801637e-01 -1.64245045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.77, Y:-55.94, Z:-16.43 [[ 7.91174149e-01 6.08462774e-01 6.17779824e-02 1.90773089e+02] [-6.06353023e-01 7.93577995e-01 -5.06949431e-02 -5.59379786e+01] [-7.98716331e-02 2.64926204e-03 9.96801637e-01 -1.64341701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.82, Y:-55.98, Z:-16.44 [[ 7.88953112e-01 6.11341126e-01 6.17657998e-02 1.90818418e+02] [-6.09238987e-01 7.91363617e-01 -5.07097818e-02 -5.59809712e+01] [-7.98801819e-02 2.37750688e-03 9.96801637e-01 -1.64399202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.87, Y:-56.02, Z:-16.45 [[ 7.85098814e-01 6.16284508e-01 6.17515862e-02 1.90865373e+02] [-6.14196190e-01 7.87521303e-01 -5.07270845e-02 -5.60224981e+01] [-7.98930059e-02 1.89818485e-03 9.96801637e-01 -1.64458258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.91, Y:-56.06, Z:-16.45 [[ 7.76907392e-01 6.26580728e-01 6.17373036e-02 1.90912166e+02] [-6.24523147e-01 7.79356041e-01 -5.07444612e-02 -5.60627493e+01] [-7.99108420e-02 8.67371857e-04 9.96801638e-01 -1.64514105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.96, Y:-56.10, Z:-16.46 [[ 7.71647990e-01 6.33047798e-01 6.17240988e-02 1.90960009e+02] [-6.31009456e-01 7.74112677e-01 -5.07605180e-02 -5.61037093e+01] [-7.99152416e-02 2.20761734e-04 9.96801638e-01 -1.64561502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:-56.14, Z:-16.46 [[ 7.66928871e-01 6.38758175e-01 6.17098138e-02 1.91006790e+02] [-6.36736787e-01 7.69407481e-01 -5.07778785e-02 -5.61444341e+01] [-7.99147774e-02 -3.49887598e-04 9.96801638e-01 -1.64612816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.05, Y:-56.19, Z:-16.47 [[ 7.61062632e-01 6.45737717e-01 6.16966034e-02 1.91053312e+02] [-6.43737755e-01 7.63558563e-01 -5.07939245e-02 -5.61862857e+01] [-7.99085227e-02 -1.05907508e-03 9.96801638e-01 -1.64659935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:-56.23, Z:-16.47 [[ 7.57436192e-01 6.49989018e-01 6.16821773e-02 1.91099086e+02] [-6.48001638e-01 7.59942152e-01 -5.08114370e-02 -5.62294426e+01] [-7.99017626e-02 -1.48373059e-03 9.96801639e-01 -1.64712039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.14, Y:-56.27, Z:-16.48 [[ 7.56822474e-01 6.50704892e-01 6.16675448e-02 1.91144748e+02] [-6.48718437e-01 7.59329167e-01 -5.08291896e-02 -5.62717926e+01] [-7.99007678e-02 -1.53620020e-03 9.96801639e-01 -1.64762098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.19, Y:-56.32, Z:-16.48 [[ 7.58898786e-01 6.48283436e-01 6.16540323e-02 1.91188862e+02] [-6.46287651e-01 7.61398056e-01 -5.08455745e-02 -5.63165313e+01] [-7.99056041e-02 -1.25959492e-03 9.96801639e-01 -1.64818147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:-56.36, Z:-16.49 [[ 7.61109966e-01 6.45686622e-01 6.16474373e-02 1.91234280e+02] [-6.43681661e-01 7.63601881e-01 -5.08535693e-02 -5.63601109e+01] [-7.99095685e-02 -9.76166465e-04 9.96801639e-01 -1.64864058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:-56.41, Z:-16.49 [[ 7.66231734e-01 6.39601744e-01 6.16322867e-02 1.91276751e+02] [-6.37575515e-01 7.68706387e-01 -5.08719247e-02 -5.64065523e+01] [-7.99149042e-02 -3.15553874e-04 9.96801640e-01 -1.64929477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.32, Y:-56.45, Z:-16.50 [[ 7.69231310e-01 6.35991509e-01 6.16278564e-02 1.91320888e+02] [-6.33953236e-01 7.71696052e-01 -5.08772911e-02 -5.64508114e+01] [-7.99154986e-02 6.72262361e-05 9.96801640e-01 -1.64992778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.36, Y:-56.50, Z:-16.51 [[ 7.72868850e-01 6.31567480e-01 6.16137920e-02 1.91363482e+02] [-6.29513741e-01 7.75320720e-01 -5.08943178e-02 -5.64962550e+01] [-7.99136456e-02 5.47904195e-04 9.96801640e-01 -1.65073719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.41, Y:-56.54, Z:-16.51 [[ 7.74529738e-01 6.29530716e-01 6.16016446e-02 1.91407286e+02] [-6.27469361e-01 7.76975208e-01 -5.09090165e-02 -5.65401304e+01] [-7.99117403e-02 7.77402645e-04 9.96801640e-01 -1.65130870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.45, Y:-56.58, Z:-16.52 [[ 7.76053966e-01 6.27651937e-01 6.15896750e-02 1.91450751e+02] [-6.25583513e-01 7.78493459e-01 -5.09234932e-02 -5.65840523e+01] [-7.99093884e-02 9.89893596e-04 9.96801640e-01 -1.65174876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.50, Y:-56.63, Z:-16.52 [[ 7.77319397e-01 6.26085273e-01 6.15774758e-02 1.91495576e+02] [-6.24010765e-01 7.79753718e-01 -5.09382405e-02 -5.66280636e+01] [-7.99069479e-02 1.17027457e-03 9.96801640e-01 -1.65219045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.54, Y:-56.67, Z:-16.53 [[ 7.78638378e-01 6.24445532e-01 6.15634165e-02 1.91538882e+02] [-6.22364554e-01 7.81067171e-01 -5.09552269e-02 -5.66728081e+01] [-7.99039273e-02 1.36080694e-03 9.96801641e-01 -1.65253241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.59, Y:-56.71, Z:-16.53 [[ 7.77836862e-01 6.25444844e-01 6.15513018e-02 1.91585998e+02] [-6.23365830e-01 7.80267336e-01 -5.09698566e-02 -5.67136465e+01] [-7.99053043e-02 1.27725497e-03 9.96801641e-01 -1.65276969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:-56.75, Z:-16.53 [[ 7.76191715e-01 6.27485989e-01 6.15447450e-02 1.91633011e+02] [-6.25412739e-01 7.78627108e-01 -5.09777725e-02 -5.67549777e+01] [-7.99082448e-02 1.07765710e-03 9.96801641e-01 -1.65313780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.68, Y:-56.80, Z:-16.54 [[ 7.75123566e-01 6.28806394e-01 6.15302863e-02 1.91680524e+02] [-6.26735908e-01 7.77561309e-01 -5.09952183e-02 -5.67952851e+01] [-7.99096892e-02 9.64355588e-04 9.96801641e-01 -1.65363049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.73, Y:-56.83, Z:-16.54 [[ 7.73235303e-01 6.31128324e-01 6.15158967e-02 1.91727876e+02] [-6.29063778e-01 7.75678078e-01 -5.10125706e-02 -5.68333678e+01] [-7.99120107e-02 7.47298048e-04 9.96801641e-01 -1.65430976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:-56.87, Z:-16.55 [[ 7.72070367e-01 6.32553994e-01 6.15044114e-02 1.91775879e+02] [-6.30492857e-01 7.74516018e-01 -5.10264144e-02 -5.68699005e+01] [-7.99131141e-02 6.17890396e-04 9.96801641e-01 -1.65499030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.83, Y:-56.91, Z:-16.55 [[ 7.71239477e-01 6.33567879e-01 6.14931795e-02 1.91825440e+02] [-6.31508878e-01 7.73686927e-01 -5.10399467e-02 -5.69080516e+01] [-7.99137399e-02 5.30533068e-04 9.96801642e-01 -1.65549870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.88, Y:-56.95, Z:-16.56 [[ 7.71500826e-01 6.33250977e-01 6.14790701e-02 1.91875068e+02] [-6.31189616e-01 7.73946288e-01 -5.10569362e-02 -5.69472970e+01] [-7.99133529e-02 5.85517799e-04 9.96801642e-01 -1.65583539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.92, Y:-56.99, Z:-16.56 [[ 7.71834847e-01 6.32845222e-01 6.14645817e-02 1.91923168e+02] [-6.30781187e-01 7.74278053e-01 -5.10743720e-02 -5.69856491e+01] [-7.99128489e-02 6.50278280e-04 9.96801642e-01 -1.65638736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:-57.02, Z:-16.57 [[ 7.71901370e-01 6.32765378e-01 6.14512059e-02 1.91971606e+02] [-6.30699810e-01 7.74343279e-01 -5.10904605e-02 -5.70233401e+01] [-7.99126028e-02 6.79532550e-04 9.96801642e-01 -1.65703417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:-57.06, Z:-16.58 [[ 7.71711616e-01 6.32997990e-01 6.14388051e-02 1.92020183e+02] [-6.30931971e-01 7.74153144e-01 -5.11053687e-02 -5.70630760e+01] [-7.99126397e-02 6.74900271e-04 9.96801643e-01 -1.65758478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.07, Y:-57.10, Z:-16.58 [[ 7.71987946e-01 6.32662383e-01 6.14241045e-02 1.92067483e+02] [-6.30593897e-01 7.74427384e-01 -5.11230315e-02 -5.71027872e+01] [-7.99121274e-02 7.32698655e-04 9.96801643e-01 -1.65818034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.12, Y:-57.14, Z:-16.59 [[ 7.72331975e-01 6.32243676e-01 6.14105322e-02 1.92115682e+02] [-6.30172572e-01 7.74769190e-01 -5.11393297e-02 -5.71434300e+01] [-7.99115061e-02 7.97306425e-04 9.96801643e-01 -1.65865260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.16, Y:-57.18, Z:-16.59 [[ 7.73720928e-01 6.30544573e-01 6.13959812e-02 1.92163286e+02] [-6.28466732e-01 7.76152401e-01 -5.11567931e-02 -5.71848059e+01] [-7.99092765e-02 9.95749791e-04 9.96801643e-01 -1.65910383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.21, Y:-57.22, Z:-16.60 [[ 7.75074522e-01 6.28881404e-01 6.13813023e-02 1.92210483e+02] [-6.26796952e-01 7.77500329e-01 -5.11743998e-02 -5.72245197e+01] [-7.99066112e-02 1.19036032e-03 9.96801644e-01 -1.65959057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:-57.27, Z:-16.60 [[ 7.77118378e-01 6.26355351e-01 6.13677530e-02 1.92258501e+02] [-6.24261731e-01 7.79536278e-01 -5.11906429e-02 -5.72656573e+01] [-7.99019228e-02 1.47164968e-03 9.96801644e-01 -1.66003038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.31, Y:-57.30, Z:-16.61 [[ 7.79978197e-01 6.22791938e-01 6.13531874e-02 1.92305894e+02] [-6.20685902e-01 7.82385290e-01 -5.12080942e-02 -5.73048487e+01] [-7.98938195e-02 1.86013855e-03 9.96801644e-01 -1.66055480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:-57.34, Z:-16.61 [[ 7.81002995e-01 6.21507649e-01 6.13397524e-02 1.92355193e+02] [-6.19396392e-01 7.83405509e-01 -5.12241823e-02 -5.73430380e+01] [-7.98901211e-02 2.01261846e-03 9.96801644e-01 -1.66099942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.40, Y:-57.38, Z:-16.62 [[ 7.81239160e-01 6.21212195e-01 6.13252238e-02 1.92403039e+02] [-6.19098667e-01 7.83639676e-01 -5.12415700e-02 -5.73822440e+01] [-7.98887667e-02 2.06555678e-03 9.96801644e-01 -1.66155249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.45, Y:-57.42, Z:-16.62 [[ 7.81426512e-01 6.20977834e-01 6.13117979e-02 1.92451997e+02] [-6.18862327e-01 7.83825284e-01 -5.12576294e-02 -5.74218798e+01] [-7.98875891e-02 2.11050856e-03 9.96801645e-01 -1.66201281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:-57.46, Z:-16.63 [[ 7.80976325e-01 6.21545337e-01 6.12974273e-02 1.92501702e+02] [-6.19430226e-01 7.83375446e-01 -5.12748090e-02 -5.74602262e+01] [-7.98885179e-02 2.07493258e-03 9.96801645e-01 -1.66258022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.55, Y:-57.50, Z:-16.63 [[ 7.79522253e-01 6.23369429e-01 6.12830484e-02 1.92552168e+02] [-6.21258583e-01 7.81925127e-01 -5.12919888e-02 -5.74976372e+01] [-7.98926132e-02 1.91062680e-03 9.96801645e-01 -1.66313629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.60, Y:-57.54, Z:-16.64 [[ 7.78411356e-01 6.24757461e-01 6.12688762e-02 1.92601311e+02] [-6.22649569e-01 7.80816822e-01 -5.13089120e-02 -5.75375411e+01] [-7.98953948e-02 1.79040039e-03 9.96801645e-01 -1.66351897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.65, Y:-57.58, Z:-16.63 [[ 7.77440596e-01 6.25966440e-01 6.12546807e-02 1.92648882e+02] [-6.23860955e-01 7.79848168e-01 -5.13258537e-02 -5.75778993e+01] [-7.98976124e-02 1.68839861e-03 9.96801646e-01 -1.66347702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:-57.61, Z:-16.64 [[ 7.78531056e-01 6.24610393e-01 6.12474550e-02 1.92697556e+02] [-6.22500038e-01 7.80934360e-01 -5.13344748e-02 -5.76135425e+01] [-7.98942885e-02 1.83893983e-03 9.96801646e-01 -1.66430236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:-57.65, Z:-16.65 [[ 7.78272553e-01 6.24933118e-01 6.12407598e-02 1.92746686e+02] [-6.22823131e-01 7.80676181e-01 -5.13424607e-02 -5.76528732e+01] [-7.98948065e-02 1.81626621e-03 9.96801646e-01 -1.66483236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:-57.69, Z:-16.65 [[ 7.78250218e-01 6.24962355e-01 6.12262493e-02 1.92795019e+02] [-6.22851098e-01 7.80652730e-01 -5.13597588e-02 -5.76907133e+01] [-7.98943544e-02 1.83590688e-03 9.96801646e-01 -1.66535137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.84, Y:-57.73, Z:-16.66 [[ 7.78123818e-01 6.25120601e-01 6.12173113e-02 1.92843906e+02] [-6.23008995e-01 7.80526023e-01 -5.13704100e-02 -5.77294924e+01] [-7.98944061e-02 1.83360391e-03 9.96801646e-01 -1.66587748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.89, Y:-57.77, Z:-16.66 [[ 7.78234218e-01 6.24984535e-01 6.12032068e-02 1.92893221e+02] [-6.22871190e-01 7.80634893e-01 -5.13872088e-02 -5.77683003e+01] [-7.98935696e-02 1.86957000e-03 9.96801646e-01 -1.66642751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.94, Y:-57.81, Z:-16.67 [[ 7.78395354e-01 6.24785216e-01 6.11891011e-02 1.92941245e+02] [-6.22669937e-01 7.80794325e-01 -5.14039996e-02 -5.78082249e+01] [-7.98925619e-02 1.91202074e-03 9.96801647e-01 -1.66701729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:-57.85, Z:-16.68 [[ 7.80572319e-01 6.22064668e-01 6.11751842e-02 1.92988208e+02] [-6.19939733e-01 7.82962741e-01 -5.14205567e-02 -5.78487258e+01] [-7.98848014e-02 2.21253591e-03 9.96801647e-01 -1.66761656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.03, Y:-57.89, Z:-16.68 [[ 7.83017918e-01 6.18984712e-01 6.11626287e-02 1.93034690e+02] [-6.16849212e-01 7.85398905e-01 -5.14354867e-02 -5.78887847e+01] [-7.98748415e-02 2.54678838e-03 9.96801647e-01 -1.66817527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:-57.93, Z:-16.69 [[ 7.86396060e-01 6.14688531e-01 6.11493728e-02 1.93081723e+02] [-6.12538806e-01 7.88764212e-01 -5.14512411e-02 -5.79287638e+01] [-7.98589247e-02 3.00468953e-03 9.96801647e-01 -1.66852149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:-57.97, Z:-16.69 [[ 7.88317577e-01 6.12223581e-01 6.11366122e-02 1.93129628e+02] [-6.10065280e-01 7.90677914e-01 -5.14663995e-02 -5.79691467e+01] [-7.98483124e-02 3.27454290e-03 9.96801647e-01 -1.66897717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:-58.01, Z:-16.69 [[ 7.89558604e-01 6.10623704e-01 6.11220435e-02 1.93175396e+02] [-6.08459285e-01 7.91913333e-01 -5.14836957e-02 -5.80114200e+01] [-7.98405261e-02 3.45911997e-03 9.96801648e-01 -1.66877805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.22, Y:-58.05, Z:-16.70 [[ 7.91237781e-01 6.08447589e-01 6.11089599e-02 1.93223637e+02] [-6.06275502e-01 7.93585437e-01 -5.14992206e-02 -5.80470391e+01] [-7.98297573e-02 3.69926367e-03 9.96801648e-01 -1.66991176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.27, Y:-58.09, Z:-16.70 [[ 7.88517982e-01 6.11968889e-01 6.11021312e-02 1.93270089e+02] [-6.09806663e-01 7.90874724e-01 -5.15073214e-02 -5.80864216e+01] [-7.98450094e-02 3.35396243e-03 9.96801648e-01 -1.66984657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.32, Y:-58.12, Z:-16.71 [[ 7.87325787e-01 6.13502863e-01 6.10929036e-02 1.93322468e+02] [-6.11344382e-01 7.89685960e-01 -5.15182640e-02 -5.81194982e+01] [-7.98508106e-02 3.21285436e-03 9.96801648e-01 -1.67107674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.37, Y:-58.16, Z:-16.72 [[ 7.85041470e-01 6.16424440e-01 6.10802851e-02 1.93370967e+02] [-6.14273584e-01 7.87408593e-01 -5.15332201e-02 -5.81570060e+01] [-7.98614777e-02 2.93570921e-03 9.96801648e-01 -1.67166949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:-58.19, Z:-16.72 [[ 7.81080456e-01 6.21436986e-01 6.10687587e-02 1.93422010e+02] [-6.19300260e-01 7.83460342e-01 -5.15468758e-02 -5.81943082e+01] [-7.98780857e-02 2.44235910e-03 9.96801648e-01 -1.67223976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:-58.23, Z:-16.73 [[ 7.78304792e-01 6.24911254e-01 6.10538662e-02 1.93471702e+02] [-6.22783773e-01 7.80692945e-01 -5.15645089e-02 -5.82323774e+01] [-7.98875646e-02 2.10954724e-03 9.96801649e-01 -1.67265882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.52, Y:-58.27, Z:-16.73 [[ 7.73342765e-01 6.31043013e-01 6.10383762e-02 1.93519280e+02] [-6.28933027e-01 7.75746388e-01 -5.15828385e-02 -5.82696424e+01] [-7.99012897e-02 1.50216426e-03 9.96801649e-01 -1.67319257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.57, Y:-58.31, Z:-16.73 [[ 7.67622570e-01 6.37990283e-01 6.10244900e-02 1.93566772e+02] [-6.35900749e-01 7.70043995e-01 -5.15992612e-02 -5.83087042e+01] [-7.99113693e-02 8.03238584e-04 9.96801649e-01 -1.67309007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.62, Y:-58.34, Z:-16.74 [[ 7.67491395e-01 6.38148270e-01 6.10224850e-02 1.93617402e+02] [-6.36059046e-01 7.69913087e-01 -5.16016322e-02 -5.83426043e+01] [-7.99115021e-02 7.89905134e-04 9.96801649e-01 -1.67422787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:-58.38, Z:-16.75 [[ 7.65163164e-01 6.40939223e-01 6.10102083e-02 1.93666889e+02] [-6.38857675e-01 7.67591457e-01 -5.16161433e-02 -5.83813829e+01] [-7.99137254e-02 5.17931696e-04 9.96801649e-01 -1.67472999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.71, Y:-58.42, Z:-16.75 [[ 7.64701994e-01 6.41490710e-01 6.09961382e-02 1.93714440e+02] [-6.39409588e-01 7.67130652e-01 -5.16327649e-02 -5.84220957e+01] [-7.99139463e-02 4.82162737e-04 9.96801650e-01 -1.67510834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:-58.46, Z:-16.76 [[ 7.64941550e-01 6.41206427e-01 6.09815027e-02 1.93762143e+02] [-6.39123024e-01 7.67368251e-01 -5.16500446e-02 -5.84634312e+01] [-7.99136096e-02 5.34582781e-04 9.96801650e-01 -1.67560714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.81, Y:-58.50, Z:-16.76 [[ 7.65152767e-01 6.40955750e-01 6.09669516e-02 1.93809785e+02] [-6.38870185e-01 7.67577609e-01 -5.16672149e-02 -5.85048731e+01] [-7.99132654e-02 5.83344778e-04 9.96801650e-01 -1.67611740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.86, Y:-58.55, Z:-16.77 [[ 7.65217898e-01 6.40879361e-01 6.09525502e-02 1.93856822e+02] [-6.38792201e-01 7.67641367e-01 -5.16841989e-02 -5.85461784e+01] [-7.99130353e-02 6.13660342e-04 9.96801650e-01 -1.67669409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.90, Y:-58.59, Z:-16.77 [[ 7.66460724e-01 6.39393847e-01 6.09382166e-02 1.93902722e+02] [-6.37300647e-01 7.68878978e-01 -5.17010934e-02 -5.85884636e+01] [-7.99114747e-02 7.90892626e-04 9.96801651e-01 -1.67731202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.95, Y:-58.63, Z:-16.78 [[ 7.67561912e-01 6.38072153e-01 6.09314294e-02 1.93949619e+02] [-6.35974153e-01 7.69976004e-01 -5.17090910e-02 -5.86306394e+01] [-7.99098696e-02 9.39114542e-04 9.96801651e-01 -1.67779692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.99, Y:-58.67, Z:-16.78 [[ 7.68577063e-01 6.36850387e-01 6.09170163e-02 1.93994633e+02] [-6.34747205e-01 7.70986640e-01 -5.17260652e-02 -5.86735983e+01] [-7.99079704e-02 1.08856134e-03 9.96801651e-01 -1.67807875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:-58.72, Z:-16.79 [[ 7.68468782e-01 6.36982269e-01 6.09041904e-02 1.94040507e+02] [-6.34878304e-01 7.70877676e-01 -5.17411625e-02 -5.87153433e+01] [-7.99078838e-02 1.09471898e-03 9.96801651e-01 -1.67853567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:-58.76, Z:-16.79 [[ 7.66637977e-01 6.39185843e-01 6.08906369e-02 1.94086708e+02] [-6.37087537e-01 7.69051801e-01 -5.17571079e-02 -5.87579304e+01] [-7.99104646e-02 8.86298611e-04 9.96801651e-01 -1.67903374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.13, Y:-58.80, Z:-16.80 [[ 7.61973364e-01 6.44740772e-01 6.08763550e-02 1.94132713e+02] [-6.42658722e-01 7.64401223e-01 -5.17739006e-02 -5.88013423e+01] [-7.99147049e-02 3.27612683e-04 9.96801652e-01 -1.67951405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.18, Y:-58.84, Z:-16.80 [[ 7.56980590e-01 6.50596825e-01 6.08617886e-02 1.94178685e+02] [-6.48532181e-01 7.59423268e-01 -5.17910183e-02 -5.88448771e+01] [-7.99149305e-02 -2.66032906e-04 9.96801652e-01 -1.67987245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.22, Y:-58.89, Z:-16.80 [[ 7.49827792e-01 6.58829248e-01 6.08465611e-02 1.94224448e+02] [-6.56789967e-01 7.52291684e-01 -5.18089021e-02 -5.88880857e+01] [-7.99075819e-02 -1.11565613e-03 9.96801652e-01 -1.68041478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:-58.93, Z:-16.81 [[ 7.46867715e-01 6.62184393e-01 6.08312991e-02 1.94270371e+02] [-6.60154720e-01 7.49339527e-01 -5.18268158e-02 -5.89297103e+01] [-7.99022054e-02 -1.45029380e-03 9.96801652e-01 -1.68107382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.31, Y:-58.98, Z:-16.82 [[ 7.44633549e-01 6.64697033e-01 6.08172015e-02 1.94314175e+02] [-6.62674350e-01 7.47111084e-01 -5.18433537e-02 -5.89754410e+01] [-7.98973287e-02 -1.69769902e-03 9.96801653e-01 -1.68151761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.36, Y:-59.02, Z:-16.82 [[ 7.44006741e-01 6.65399537e-01 6.08064494e-02 1.94358265e+02] [-6.63378164e-01 7.46485345e-01 -5.18559616e-02 -5.90183191e+01] [-7.98960562e-02 -1.75648574e-03 9.96801653e-01 -1.68200206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:-59.06, Z:-16.83 [[ 7.44737711e-01 6.64582202e-01 6.07967017e-02 1.94401283e+02] [-6.62557176e-01 7.47213331e-01 -5.18673875e-02 -5.90645483e+01] [-7.98982486e-02 -1.65369161e-03 9.96801653e-01 -1.68258218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.45, Y:-59.11, Z:-16.83 [[ 7.45223487e-01 6.64038811e-01 6.07816716e-02 1.94446351e+02] [-6.62010545e-01 7.47696453e-01 -5.18849948e-02 -5.91066529e+01] [-7.98998905e-02 -1.57219079e-03 9.96801653e-01 -1.68318057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:194.49, Y:-59.15, Z:-16.84 [[ 7.46176966e-01 6.62968481e-01 6.07678258e-02 1.94489930e+02] [-6.60935348e-01 7.48645932e-01 -5.19012060e-02 -5.91531354e+01] [-7.99024493e-02 -1.43611964e-03 9.96801653e-01 -1.68359800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.54, Y:-59.19, Z:-16.84 [[ 7.43968747e-01 6.65446136e-01 6.07613673e-02 1.94538714e+02] [-6.63420608e-01 7.46443955e-01 -5.19087659e-02 -5.91931604e+01] [-7.98974430e-02 -1.69184369e-03 9.96801653e-01 -1.68407236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:-59.23, Z:-16.85 [[ 7.43198263e-01 6.66307877e-01 6.07466500e-02 1.94587932e+02] [-6.64283812e-01 7.45674668e-01 -5.19259833e-02 -5.92313444e+01] [-7.98959297e-02 -1.76171558e-03 9.96801654e-01 -1.68484570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.64, Y:-59.27, Z:-16.85 [[ 7.47354875e-01 6.61642722e-01 6.07420671e-02 1.94635322e+02] [-6.59602760e-01 7.49818201e-01 -5.19313437e-02 -5.92714138e+01] [-7.99055031e-02 -1.25449225e-03 9.96801654e-01 -1.68544905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.68, Y:-59.31, Z:-16.86 [[ 7.50794618e-01 6.57738110e-01 6.07290764e-02 1.94680915e+02] [-6.55684107e-01 7.53246248e-01 -5.19465308e-02 -5.93129366e+01] [-7.99111619e-02 -8.17914488e-04 9.96801654e-01 -1.68592050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.73, Y:-59.36, Z:-16.86 [[ 7.55875763e-01 6.51893760e-01 6.07153661e-02 1.94726042e+02] [-6.49819513e-01 7.58310289e-01 -5.19625506e-02 -5.93563618e+01] [-7.99151493e-02 -1.76797012e-04 9.96801654e-01 -1.68626778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:-59.40, Z:-16.87 [[ 7.59309324e-01 6.47892554e-01 6.07008209e-02 1.94774307e+02] [-6.45804119e-01 7.61731690e-01 -5.19795362e-02 -5.93955527e+01] [-7.99148933e-02 2.67706266e-04 9.96801654e-01 -1.68686997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.82, Y:-59.44, Z:-16.87 [[ 7.60724987e-01 6.46231126e-01 6.06862939e-02 1.94822475e+02] [-6.44136049e-01 7.63141609e-01 -5.19964910e-02 -5.94357006e+01] [-7.99139869e-02 4.64800330e-04 9.96801655e-01 -1.68732265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:-59.48, Z:-16.88 [[ 7.61432611e-01 6.45398571e-01 6.06717709e-02 1.94870447e+02] [-6.43299502e-01 7.63845766e-01 -5.20134316e-02 -5.94762292e+01] [-7.99132698e-02 5.74603006e-04 9.96801655e-01 -1.68772162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:-59.52, Z:-16.88 [[ 7.61078709e-01 6.45817221e-01 6.06573686e-02 1.94918194e+02] [-6.43718141e-01 7.63491854e-01 -5.20302220e-02 -5.95168803e+01] [-7.99134202e-02 5.52845674e-04 9.96801655e-01 -1.68816663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.97, Y:-59.55, Z:-16.89 [[ 7.59464024e-01 6.47716661e-01 6.06425879e-02 1.94965842e+02] [-6.45622241e-01 7.61881215e-01 -5.20474436e-02 -5.95545516e+01] [-7.99144450e-02 3.75957499e-04 9.96801655e-01 -1.68890292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:-59.60, Z:-16.89 [[ 7.57420488e-01 6.50106232e-01 6.06307787e-02 1.95014090e+02] [-6.48018336e-01 7.59843318e-01 -5.20611967e-02 -5.95954917e+01] [-7.99152004e-02 1.42360717e-04 9.96801656e-01 -1.68932086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.06, Y:-59.64, Z:-16.90 [[ 7.54568473e-01 6.53415713e-01 6.06162182e-02 1.95062327e+02] [-6.51337083e-01 7.56999255e-01 -5.20781443e-02 -5.96354578e+01] [-7.99151099e-02 -1.85064926e-04 9.96801656e-01 -1.68971380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.11, Y:-59.68, Z:-16.90 [[ 7.53235853e-01 6.54952821e-01 6.06015823e-02 1.95109430e+02] [-6.52877781e-01 7.55669700e-01 -5.20951702e-02 -5.96754660e+01] [-7.99146582e-02 -3.25476624e-04 9.96801656e-01 -1.69019449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.16, Y:-59.72, Z:-16.91 [[ 7.52310153e-01 6.56017165e-01 6.05880619e-02 1.95156565e+02] [-6.53944302e-01 7.54745855e-01 -5.21108900e-02 -5.97155257e+01] [-7.99142269e-02 -4.17666205e-04 9.96801656e-01 -1.69050710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:-59.76, Z:-16.91 [[ 7.52071326e-01 6.56292103e-01 6.05755458e-02 1.95203995e+02] [-6.54218959e-01 7.54506788e-01 -5.21254352e-02 -5.97570213e+01] [-7.99141719e-02 -4.27625306e-04 9.96801656e-01 -1.69088211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.25, Y:-59.80, Z:-16.91 [[ 7.51246056e-01 6.57237964e-01 6.05608965e-02 1.95251104e+02] [-6.55166515e-01 7.53682959e-01 -5.21424496e-02 -5.97981831e+01] [-7.99137131e-02 -5.05661909e-04 9.96801657e-01 -1.69127049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:-59.84, Z:-16.92 [[ 7.49635281e-01 6.59075948e-01 6.05461798e-02 1.95298909e+02] [-6.57009093e-01 7.52076083e-01 -5.21595326e-02 -5.98375624e+01] [-7.99124271e-02 -6.78764803e-04 9.96801657e-01 -1.69194838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.35, Y:-59.88, Z:-16.93 [[ 7.48042501e-01 6.60884343e-01 6.05334777e-02 1.95345882e+02] [-6.58822197e-01 7.50487281e-01 -5.21742698e-02 -5.98772827e+01] [-7.99107631e-02 -8.52227477e-04 9.96801657e-01 -1.69270244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.39, Y:-59.92, Z:-16.94 [[ 7.46327731e-01 6.62821376e-01 6.05205929e-02 1.95390858e+02] [-6.60764363e-01 7.48776831e-01 -5.21892116e-02 -5.99178867e+01] [-7.99085428e-02 -1.03959511e-03 9.96801657e-01 -1.69355692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.44, Y:-59.96, Z:-16.94 [[ 7.46108982e-01 6.63068677e-01 6.05088141e-02 1.95436687e+02] [-6.61011369e-01 7.48557834e-01 -5.22028645e-02 -5.99602077e+01] [-7.99084311e-02 -1.04798799e-03 9.96801657e-01 -1.69395845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:-60.00, Z:-16.94 [[ 7.47548001e-01 6.61447247e-01 6.04940134e-02 1.95480578e+02] [-6.59383239e-01 7.49991209e-01 -5.22200103e-02 -6.00034108e+01] [-7.99107603e-02 -8.51774223e-04 9.96801658e-01 -1.69431905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.52, Y:-60.05, Z:-16.95 [[ 7.50352831e-01 6.58264790e-01 6.04821917e-02 1.95523983e+02] [-6.56189316e-01 7.52786305e-01 -5.22336989e-02 -6.00466788e+01] [-7.99137705e-02 -4.94064140e-04 9.96801658e-01 -1.69452323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.57, Y:-60.09, Z:-16.95 [[ 7.52100556e-01 6.56268271e-01 6.04707361e-02 1.95570004e+02] [-6.54185271e-01 7.54527592e-01 -5.22469577e-02 -6.00885786e+01] [-7.99148594e-02 -2.64098917e-04 9.96801658e-01 -1.69467598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:195.62, Y:-60.13, Z:-16.95 [[ 7.52638412e-01 6.55652551e-01 6.04578592e-02 1.95616915e+02] [-6.53566369e-01 7.55062713e-01 -5.22618540e-02 -6.01289488e+01] [-7.99150931e-02 -1.78944627e-04 9.96801658e-01 -1.69519795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.66, Y:-60.17, Z:-16.96 [[ 7.52774137e-01 6.55497973e-01 6.04442417e-02 1.95663759e+02] [-6.53410028e-01 7.55196920e-01 -5.22775988e-02 -6.01697400e+01] [-7.99151652e-02 -1.41649380e-04 9.96801658e-01 -1.69573219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.71, Y:-60.21, Z:-16.96 [[ 7.52187992e-01 6.56171668e-01 6.04315025e-02 1.95711059e+02] [-6.54084711e-01 7.54611625e-01 -5.22923209e-02 -6.02099390e+01] [-7.99150537e-02 -1.93665987e-04 9.96801659e-01 -1.69635604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.76, Y:-60.25, Z:-16.97 [[ 7.51378970e-01 6.57099102e-01 6.04186575e-02 1.95758896e+02] [-6.55013943e-01 7.53804150e-01 -5.23071578e-02 -6.02487585e+01] [-7.99148212e-02 -2.72564756e-04 9.96801659e-01 -1.69696797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.81, Y:-60.29, Z:-16.98 [[ 7.49361831e-01 6.59399709e-01 6.04058828e-02 1.95807885e+02] [-6.57320806e-01 7.51792376e-01 -5.23219063e-02 -6.02868501e+01] [-7.99137319e-02 -4.98004105e-04 9.96801659e-01 -1.69773459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.85, Y:-60.33, Z:-16.98 [[ 7.48111287e-01 6.60819309e-01 6.03932362e-02 1.95854996e+02] [-6.58743840e-01 7.50544765e-01 -5.23364998e-02 -6.03262841e+01] [-7.99127968e-02 -6.30146087e-04 9.96801659e-01 -1.69828550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.90, Y:-60.37, Z:-16.99 [[ 7.47378516e-01 6.61649112e-01 6.03805219e-02 1.95901518e+02] [-6.59575160e-01 7.49813286e-01 -5.23511641e-02 -6.03670730e+01] [-7.99122188e-02 -6.99357029e-04 9.96801659e-01 -1.69875119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.95, Y:-60.41, Z:-16.99 [[ 7.46992450e-01 6.62086100e-01 6.03678320e-02 1.95948585e+02] [-6.60012391e-01 7.49427427e-01 -5.23657932e-02 -6.04081345e+01] [-7.99119728e-02 -7.26664954e-04 9.96801660e-01 -1.69915991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.99, Y:-60.45, Z:-16.99 [[ 7.46544137e-01 6.62592890e-01 6.03532411e-02 1.95994233e+02] [-6.60519474e-01 7.48979363e-01 -5.23826043e-02 -6.04496654e+01] [-7.99116733e-02 -7.58565036e-04 9.96801660e-01 -1.69924420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:-60.49, Z:-17.00 [[ 7.45728205e-01 6.63512179e-01 6.03409591e-02 1.96039544e+02] [-6.61440621e-01 7.48165012e-01 -5.23967485e-02 -6.04911145e+01] [-7.99108752e-02 -8.38228219e-04 9.96801660e-01 -1.69954978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:-60.53, Z:-17.00 [[ 7.45220980e-01 6.64082917e-01 6.03288591e-02 1.96086182e+02] [-6.62012098e-01 7.47658414e-01 -5.24106766e-02 -6.05326454e+01] [-7.99104141e-02 -8.80898772e-04 9.96801660e-01 -1.69996901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.13, Y:-60.57, Z:-17.01 [[ 7.44417271e-01 6.64985075e-01 6.03139794e-02 1.96132418e+02] [-6.62915823e-01 7.46856036e-01 -5.24277945e-02 -6.05725900e+01] [-7.99095604e-02 -9.54935603e-04 9.96801660e-01 -1.70067457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.18, Y:-60.61, Z:-17.01 [[ 7.42550986e-01 6.67069236e-01 6.03047948e-02 1.96178222e+02] [-6.65005970e-01 7.44994817e-01 -5.24383569e-02 -6.06135382e+01] [-7.99067743e-02 -1.16489501e-03 9.96801661e-01 -1.70122931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:-60.65, Z:-17.02 [[ 7.41556321e-01 6.68175929e-01 6.02922165e-02 1.96224188e+02] [-6.66115135e-01 7.44002237e-01 -5.24528151e-02 -6.06542864e+01] [-7.99052524e-02 -1.26484138e-03 9.96801661e-01 -1.70178536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.27, Y:-60.69, Z:-17.02 [[ 7.40513370e-01 6.69332769e-01 6.02793034e-02 1.96271480e+02] [-6.67274589e-01 7.42961485e-01 -5.24676509e-02 -6.06936449e+01] [-7.99035188e-02 -1.36985043e-03 9.96801661e-01 -1.70240046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.32, Y:-60.73, Z:-17.03 [[ 7.40935557e-01 6.68866541e-01 6.02665037e-02 1.96318321e+02] [-6.66805625e-01 7.43381370e-01 -5.24823490e-02 -6.07322953e+01] [-7.99046833e-02 -1.30000518e-03 9.96801661e-01 -1.70283851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.36, Y:-60.77, Z:-17.03 [[ 7.44632739e-01 6.64749160e-01 6.02547780e-02 1.96364740e+02] [-6.62673630e-01 7.47066162e-01 -5.24958078e-02 -6.07734625e+01] [-7.99108499e-02 -8.39155382e-04 9.96801661e-01 -1.70298657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:-60.82, Z:-17.03 [[ 7.48595041e-01 6.60285090e-01 6.02417114e-02 1.96411434e+02] [-6.58193841e-01 7.51014969e-01 -5.25107982e-02 -6.08161173e+01] [-7.99145241e-02 -3.41400299e-04 9.96801661e-01 -1.70339061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.46, Y:-60.86, Z:-17.04 [[ 7.55377784e-01 6.52516020e-01 6.02266311e-02 1.96457054e+02] [-6.50398503e-01 7.57774760e-01 -5.25280886e-02 -6.08578268e+01] [-7.99136403e-02 5.07240441e-04 9.96801662e-01 -1.70392844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.50, Y:-60.90, Z:-17.04 [[ 7.59928888e-01 6.47211336e-01 6.02127236e-02 1.96504540e+02] [-6.45075827e-01 7.62309847e-01 -5.25440260e-02 -6.08968381e+01] [-7.99078414e-02 1.08795076e-03 9.96801662e-01 -1.70447485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.55, Y:-60.94, Z:-17.05 [[ 7.63020838e-01 6.43564417e-01 6.02000065e-02 1.96551353e+02] [-6.41416381e-01 7.65390502e-01 -5.25585920e-02 -6.09356182e+01] [-7.99013528e-02 1.49003057e-03 9.96801662e-01 -1.70507536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.60, Y:-60.98, Z:-17.05 [[ 7.63997368e-01 6.42405509e-01 6.01928828e-02 1.96599193e+02] [-6.40253236e-01 7.66363184e-01 -5.25667492e-02 -6.09768218e+01] [-7.98987786e-02 1.62217011e-03 9.96801662e-01 -1.70542807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.65, Y:-61.02, Z:-17.06 [[ 7.64229091e-01 6.42131213e-01 6.01780861e-02 1.96647450e+02] [-6.39976758e-01 7.66592920e-01 -5.25836829e-02 -6.10167437e+01] [-7.98977189e-02 1.67340370e-03 9.96801662e-01 -1.70575181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.70, Y:-61.06, Z:-17.06 [[ 7.63237245e-01 6.43311226e-01 6.01629058e-02 1.96695833e+02] [-6.41159058e-01 7.65603156e-01 -5.26010456e-02 -6.10551093e+01] [-7.98997536e-02 1.57308512e-03 9.96801663e-01 -1.70624247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.74, Y:-61.10, Z:-17.07 [[ 7.61556303e-01 6.45301565e-01 6.01488847e-02 1.96743858e+02] [-6.43154316e-01 7.63926678e-01 -5.26170738e-02 -6.10957749e+01] [-7.99032177e-02 1.38584940e-03 9.96801663e-01 -1.70670516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.79, Y:-61.13, Z:-17.07 [[ 7.58138414e-01 6.49315038e-01 6.01342432e-02 1.96792943e+02] [-6.47179012e-01 7.60518908e-01 -5.26338017e-02 -6.11344077e+01] [-7.99091479e-02 9.86086782e-04 9.96801663e-01 -1.70712646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:-61.17, Z:-17.08 [[ 7.55813086e-01 6.52021624e-01 6.01197266e-02 1.96842041e+02] [-6.49892805e-01 7.58200027e-01 -5.26503777e-02 -6.11740104e+01] [-7.99119631e-02 7.22466730e-04 9.96801663e-01 -1.70754104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.89, Y:-61.21, Z:-17.08 [[ 7.53541084e-01 6.54647402e-01 6.01050123e-02 1.96890462e+02] [-6.52525562e-01 7.55934230e-01 -5.26671701e-02 -6.12117189e+01] [-7.99138623e-02 4.66819632e-04 9.96801664e-01 -1.70806127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.94, Y:-61.25, Z:-17.08 [[ 7.52645290e-01 6.55678343e-01 6.00914120e-02 1.96936195e+02] [-6.53558542e-01 7.55040242e-01 -5.26826830e-02 -6.12528941e+01] [-7.99143286e-02 3.78117558e-04 9.96801664e-01 -1.70780102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.98, Y:-61.29, Z:-17.09 [[ 7.56322538e-01 6.51434150e-01 6.00813349e-02 1.96984235e+02] [-6.49299998e-01 7.58704710e-01 -5.26941729e-02 -6.12887369e+01] [-7.99107755e-02 8.42979946e-04 9.96801664e-01 -1.70898321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.03, Y:-61.33, Z:-17.10 [[ 7.59489153e-01 6.47740030e-01 6.00756231e-02 1.97032948e+02] [-6.45593777e-01 7.61860429e-01 -5.27006840e-02 -6.13288465e+01] [-7.99055826e-02 1.24114949e-03 9.96801664e-01 -1.70950157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:-61.37, Z:-17.10 [[ 7.61152661e-01 6.45785820e-01 6.00608159e-02 1.97079362e+02] [-6.43632149e-01 7.63517201e-01 -5.27175538e-02 -6.13681016e+01] [-7.99017147e-02 1.46903434e-03 9.96801664e-01 -1.71015717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.13, Y:-61.41, Z:-17.11 [[ 7.62333675e-01 6.44392338e-01 6.00489985e-02 1.97126791e+02] [-6.42233285e-01 7.64693303e-01 -5.27310112e-02 -6.14080998e+01] [-7.98985266e-02 1.63316004e-03 9.96801664e-01 -1.71074540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.17, Y:-61.45, Z:-17.11 [[ 7.61057155e-01 6.45900628e-01 6.00365369e-02 1.97174240e+02] [-6.43745134e-01 7.63420033e-01 -5.27451954e-02 -6.14474232e+01] [-7.99012499e-02 1.49387987e-03 9.96801665e-01 -1.71118709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.22, Y:-61.49, Z:-17.12 [[ 7.58955280e-01 6.48370303e-01 6.00235981e-02 1.97221959e+02] [-6.46221335e-01 7.61324095e-01 -5.27599157e-02 -6.14877637e+01] [-7.99053740e-02 1.25388694e-03 9.96801665e-01 -1.71169372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.27, Y:-61.53, Z:-17.12 [[ 7.55042871e-01 6.52923588e-01 6.00087670e-02 1.97270514e+02] [-6.50787566e-01 7.57423366e-01 -5.27767791e-02 -6.15273006e+01] [-7.99112462e-02 7.95771391e-04 9.96801665e-01 -1.71218986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:-61.57, Z:-17.13 [[ 7.49375234e-01 6.59422092e-01 5.99938677e-02 1.97318509e+02] [-6.57305359e-01 7.51772897e-01 -5.27937104e-02 -6.15670894e+01] [-7.99151027e-02 1.28008350e-04 9.96801665e-01 -1.71255165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:-61.61, Z:-17.13 [[ 7.45311604e-01 6.64012734e-01 5.99808503e-02 1.97365723e+02] [-6.61909579e-01 7.47721186e-01 -5.28084958e-02 -6.16080147e+01] [-7.99144662e-02 -3.43114668e-04 9.96801666e-01 -1.71291040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.41, Y:-61.65, Z:-17.13 [[ 7.40213461e-01 6.69692395e-01 5.99677295e-02 1.97413349e+02] [-6.67606520e-01 7.42638016e-01 -5.28233912e-02 -6.16483765e+01] [-7.99097391e-02 -9.34262010e-04 9.96801666e-01 -1.71344644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.46, Y:-61.69, Z:-17.14 [[ 7.38775230e-01 6.71279985e-01 5.99528334e-02 1.97460314e+02] [-6.69197949e-01 7.41203082e-01 -5.28402924e-02 -6.16894399e+01] [-7.99078556e-02 -1.08321397e-03 9.96801666e-01 -1.71394300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.51, Y:-61.73, Z:-17.15 [[ 7.35865157e-01 6.74470124e-01 5.99376472e-02 1.97507182e+02] [-6.72397210e-01 7.38300802e-01 -5.28575128e-02 -6.17314171e+01] [-7.99028263e-02 -1.40590477e-03 9.96801666e-01 -1.71451648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.55, Y:-61.77, Z:-17.15 [[ 7.34262607e-01 6.76215754e-01 5.99222667e-02 1.97552226e+02] [-6.74147209e-01 7.36701962e-01 -5.28749433e-02 -6.17734781e+01] [-7.98997211e-02 -1.57233508e-03 9.96801667e-01 -1.71514646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.60, Y:-61.82, Z:-17.16 [[ 7.33764657e-01 6.76757307e-01 5.99080606e-02 1.97598333e+02] [-6.74689249e-01 7.36204425e-01 -5.28910341e-02 -6.18164628e+01] [-7.98989732e-02 -1.60975295e-03 9.96801667e-01 -1.71573959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.64, Y:-61.86, Z:-17.16 [[ 7.34479273e-01 6.75983005e-01 5.98930281e-02 1.97641640e+02] [-6.73910988e-01 7.36915679e-01 -5.29080513e-02 -6.18606311e+01] [-7.99010550e-02 -1.50270270e-03 9.96801667e-01 -1.71637744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:-61.91, Z:-17.17 [[ 7.36228090e-01 6.74078731e-01 5.98837594e-02 1.97684047e+02] [-6.71999558e-01 7.38658393e-01 -5.29185400e-02 -6.19071019e+01] [-7.99049037e-02 -1.28174428e-03 9.96801667e-01 -1.71673046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.73, Y:-61.95, Z:-17.17 [[ 7.37292010e-01 6.72916188e-01 5.98689862e-02 1.97728576e+02] [-6.70831827e-01 7.39717865e-01 -5.29352483e-02 -6.19518408e+01] [-7.99071441e-02 -1.13328579e-03 9.96801667e-01 -1.71714712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.77, Y:-62.00, Z:-17.18 [[ 7.37938815e-01 6.72208164e-01 5.98538965e-02 1.97770351e+02] [-6.70120092e-01 7.40361476e-01 -5.29523047e-02 -6.19968056e+01] [-7.99084907e-02 -1.03373772e-03 9.96801668e-01 -1.71757213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:-62.04, Z:-17.18 [[ 7.37849285e-01 6.72307509e-01 5.98418476e-02 1.97812883e+02] [-6.70218659e-01 7.40271275e-01 -5.29659178e-02 -6.20427445e+01] [-7.99085851e-02 -1.02625827e-03 9.96801668e-01 -1.71804546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:-62.09, Z:-17.19 [[ 7.37609684e-01 6.72571696e-01 5.98269785e-02 1.97857057e+02] [-6.70482352e-01 7.40031248e-01 -5.29827077e-02 -6.20874623e+01] [-7.99085031e-02 -1.03237500e-03 9.96801668e-01 -1.71858598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.90, Y:-62.13, Z:-17.19 [[ 7.36729145e-01 6.73537449e-01 5.98119680e-02 1.97898686e+02] [-6.71449905e-01 7.39152259e-01 -5.29996476e-02 -6.21344385e+01] [-7.99073988e-02 -1.11435517e-03 9.96801668e-01 -1.71907155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.94, Y:-62.18, Z:-17.20 [[ 7.35829363e-01 6.74521645e-01 5.97971416e-02 1.97944080e+02] [-6.72435983e-01 7.38254098e-01 -5.30163703e-02 -6.21778910e+01] [-7.99061742e-02 -1.19874771e-03 9.96801669e-01 -1.71953673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:-62.22, Z:-17.20 [[ 7.34994829e-01 6.75432199e-01 5.97824898e-02 1.97989223e+02] [-6.73348197e-01 7.37420991e-01 -5.30328870e-02 -6.22211144e+01] [-7.99049823e-02 -1.27553398e-03 9.96801669e-01 -1.71997467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.03, Y:-62.26, Z:-17.21 [[ 7.35273522e-01 6.75130105e-01 5.97677946e-02 1.98033608e+02] [-6.73043761e-01 7.37697670e-01 -5.30494432e-02 -6.22646356e+01] [-7.99058390e-02 -1.22049035e-03 9.96801669e-01 -1.72050139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:-62.31, Z:-17.21 [[ 7.37468555e-01 6.72732906e-01 5.97542234e-02 1.98078972e+02] [-6.70637444e-01 7.39884825e-01 -5.30647252e-02 -6.23064639e+01] [-7.99096299e-02 -9.39853412e-04 9.96801669e-01 -1.72108948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.13, Y:-62.35, Z:-17.22 [[ 7.38385414e-01 6.71727604e-01 5.97411546e-02 1.98127001e+02] [-6.69627662e-01 7.40797791e-01 -5.30794343e-02 -6.23470845e+01] [-7.99110366e-02 -8.11249536e-04 9.96801669e-01 -1.72162813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:-62.39, Z:-17.22 [[ 7.38148490e-01 6.71989264e-01 5.97263365e-02 1.98176509e+02] [-6.69888829e-01 7.40560437e-01 -5.30961028e-02 -6.23852833e+01] [-7.99109729e-02 -8.17197405e-04 9.96801670e-01 -1.72221847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.22, Y:-62.43, Z:-17.23 [[ 7.37622186e-01 6.72568276e-01 5.97111842e-02 1.98223752e+02] [-6.70468355e-01 7.40034580e-01 -5.31131375e-02 -6.24255092e+01] [-7.99105524e-02 -8.57030864e-04 9.96801670e-01 -1.72284970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.27, Y:-62.47, Z:-17.23 [[ 7.38476452e-01 6.71631015e-01 5.97018422e-02 1.98270445e+02] [-6.69527184e-01 7.40885436e-01 -5.31236363e-02 -6.24675422e+01] [-7.99117072e-02 -7.41451843e-04 9.96801670e-01 -1.72331394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.32, Y:-62.51, Z:-17.24 [[ 7.41399436e-01 6.68404256e-01 5.96877457e-02 1.98316474e+02] [-6.66288664e-01 7.43798099e-01 -5.31394699e-02 -6.25108408e+01] [-7.99142796e-02 -3.71695356e-04 9.96801670e-01 -1.72384582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:-62.55, Z:-17.24 [[ 7.43765134e-01 6.65772151e-01 5.96730123e-02 1.98362638e+02] [-6.63646744e-01 7.46155103e-01 -5.31560096e-02 -6.25536954e+01] [-7.99151135e-02 -6.62136979e-05 9.96801670e-01 -1.72426443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.41, Y:-62.60, Z:-17.25 [[ 7.44406637e-01 6.65056136e-01 5.96581531e-02 1.98409459e+02] [-6.62927093e-01 7.46793369e-01 -5.31726812e-02 -6.25961906e+01] [-7.99151310e-02 3.30908274e-05 9.96801671e-01 -1.72463091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.46, Y:-62.64, Z:-17.25 [[ 7.44382949e-01 6.65084010e-01 5.96429752e-02 1.98456256e+02] [-6.62953693e-01 7.46768543e-01 -5.31897006e-02 -6.26381211e+01] [-7.99151171e-02 5.29755377e-05 9.96801671e-01 -1.72519517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.50, Y:-62.68, Z:-17.26 [[ 7.44360326e-01 6.65110692e-01 5.96277832e-02 1.98502507e+02] [-6.62979096e-01 7.46744777e-01 -5.32067261e-02 -6.26792493e+01] [-7.99150981e-02 7.30022255e-05 9.96801671e-01 -1.72582065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.55, Y:-62.72, Z:-17.27 [[ 7.44996769e-01 6.64398914e-01 5.96145725e-02 1.98548558e+02] [-6.62263856e-01 7.47378120e-01 -5.32215237e-02 -6.27198489e+01] [-7.99149497e-02 1.69286602e-04 9.96801671e-01 -1.72650179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.60, Y:-62.76, Z:-17.27 [[ 7.45269802e-01 6.64093813e-01 5.96014173e-02 1.98596511e+02] [-6.61956603e-01 7.47649221e-01 -5.32362518e-02 -6.27606506e+01] [-7.99148187e-02 2.21819148e-04 9.96801672e-01 -1.72687441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:-62.80, Z:-17.27 [[ 7.47194549e-01 6.61928847e-01 5.95861327e-02 1.98643194e+02] [-6.59783378e-01 7.49566524e-01 -5.32533541e-02 -6.28018757e+01] [-7.99137016e-02 4.76676006e-04 9.96801672e-01 -1.72727685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.69, Y:-62.84, Z:-17.28 [[ 7.49179064e-01 6.59683185e-01 5.95720109e-02 1.98689913e+02] [-6.57529351e-01 7.51543446e-01 -5.32691468e-02 -6.28433320e+01] [-7.99117148e-02 7.37783883e-04 9.96801672e-01 -1.72779151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.74, Y:-62.88, Z:-17.28 [[ 7.50610103e-01 6.58055789e-01 5.95571362e-02 1.98737824e+02] [-6.55895509e-01 7.52968597e-01 -5.32857721e-02 -6.28829003e+01] [-7.99096641e-02 9.33580701e-04 9.96801672e-01 -1.72835623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.79, Y:-62.92, Z:-17.29 [[ 7.49618826e-01 6.59185957e-01 5.95440210e-02 1.98786140e+02] [-6.57028070e-01 7.51979508e-01 -5.33004237e-02 -6.29221020e+01] [-7.99107744e-02 8.32907812e-04 9.96801673e-01 -1.72891971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:-62.96, Z:-17.29 [[ 7.49379188e-01 6.59459552e-01 5.95309343e-02 1.98832886e+02] [-6.57301366e-01 7.51739597e-01 -5.33150361e-02 -6.29622306e+01] [-7.99108704e-02 8.23414022e-04 9.96801673e-01 -1.72945886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.88, Y:-63.00, Z:-17.30 [[ 7.49362301e-01 6.59479910e-01 5.95179796e-02 1.98878473e+02] [-6.57320640e-01 7.51721718e-01 -5.33294942e-02 -6.30019791e+01] [-7.99106879e-02 8.40716031e-04 9.96801673e-01 -1.73001066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.93, Y:-63.04, Z:-17.30 [[ 7.48915153e-01 6.59988723e-01 5.95061316e-02 1.98925535e+02] [-6.57830006e-01 7.51275075e-01 -5.33427112e-02 -6.30431316e+01] [-7.99110613e-02 8.04245806e-04 9.96801673e-01 -1.73038053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:198.97, Y:-63.08, Z:-17.31 [[ 7.46664356e-01 6.62535389e-01 5.94911531e-02 1.98972075e+02] [-6.60383391e-01 7.49030407e-01 -5.33594109e-02 -6.30826013e+01] [-7.99131807e-02 5.54600772e-04 9.96801673e-01 -1.73073395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.02, Y:-63.12, Z:-17.31 [[ 7.44394347e-01 6.65085922e-01 5.94791846e-02 1.99018805e+02] [-6.62940964e-01 7.46766783e-01 -5.33727488e-02 -6.31240983e+01] [-7.99145431e-02 2.99184439e-04 9.96801674e-01 -1.73109774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.06, Y:-63.16, Z:-17.31 [[ 7.40394873e-01 6.69536700e-01 5.94646069e-02 1.99064409e+02] [-6.67404700e-01 7.42778960e-01 -5.33889855e-02 -6.31646716e+01] [-7.99149439e-02 -1.58026964e-04 9.96801674e-01 -1.73142206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.11, Y:-63.21, Z:-17.32 [[ 7.35713988e-01 6.74677904e-01 5.94529533e-02 1.99112009e+02] [-6.72561515e-01 7.38111943e-01 -5.34019595e-02 -6.32062399e+01] [-7.99120570e-02 -6.97199700e-04 9.96801674e-01 -1.73182157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:-63.25, Z:-17.32 [[ 7.32807119e-01 6.77835411e-01 5.94380541e-02 1.99158143e+02] [-6.75728008e-01 7.35212975e-01 -5.34185377e-02 -6.32475921e+01] [-7.99086050e-02 -1.01847326e-03 9.96801674e-01 -1.73233827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.20, Y:-63.29, Z:-17.33 [[ 7.30070944e-01 6.80782731e-01 5.94246643e-02 1.99203693e+02] [-6.78683828e-01 7.32484218e-01 -5.34334289e-02 -6.32890827e+01] [-7.99041844e-02 -1.32036480e-03 9.96801674e-01 -1.73294146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.25, Y:-63.33, Z:-17.34 [[ 7.28681393e-01 6.82270992e-01 5.94114508e-02 1.99248848e+02] [-6.80175821e-01 7.31097908e-01 -5.34481166e-02 -6.33309429e+01] [-7.99016870e-02 -1.46358434e-03 9.96801675e-01 -1.73353171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.29, Y:-63.37, Z:-17.34 [[ 7.28543087e-01 6.82419839e-01 5.93980990e-02 1.99293535e+02] [-6.80323953e-01 7.30958981e-01 -5.34629506e-02 -6.33731604e+01] [-7.99017521e-02 -1.45988645e-03 9.96801675e-01 -1.73407410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:199.34, Y:-63.42, Z:-17.35 [[ 7.29308939e-01 6.81602460e-01 5.93848248e-02 1.99337654e+02] [-6.79502666e-01 7.31721438e-01 -5.34776912e-02 -6.34176837e+01] [-7.99036753e-02 -1.35038850e-03 9.96801675e-01 -1.73453411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.38, Y:-63.46, Z:-17.35 [[ 7.31265717e-01 6.79503998e-01 5.93697554e-02 1.99381671e+02] [-6.77395923e-01 7.33670983e-01 -5.34944157e-02 -6.34620094e+01] [-7.99075361e-02 -1.09819796e-03 9.96801675e-01 -1.73485191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.43, Y:-63.50, Z:-17.35 [[ 7.32622012e-01 6.78042702e-01 5.93555573e-02 1.99427161e+02] [-6.75928553e-01 7.35021940e-01 -5.35101648e-02 -6.35031845e+01] [-7.99098136e-02 -9.17391364e-04 9.96801675e-01 -1.73539089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.48, Y:-63.54, Z:-17.36 [[ 7.34331901e-01 6.76191715e-01 5.93415778e-02 1.99475184e+02] [-6.74070265e-01 7.36725377e-01 -5.35256633e-02 -6.35439074e+01] [-7.99120564e-02 -6.94790914e-04 9.96801676e-01 -1.73583831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.52, Y:-63.58, Z:-17.36 [[ 7.35204942e-01 6.75243714e-01 5.93263818e-02 1.99522398e+02] [-6.73117818e-01 7.37594471e-01 -5.35425009e-02 -6.35847100e+01] [-7.99130483e-02 -5.68933383e-04 9.96801676e-01 -1.73638724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.57, Y:-63.63, Z:-17.37 [[ 7.36769900e-01 6.73537140e-01 5.93113509e-02 1.99568956e+02] [-6.71404369e-01 7.39153294e-01 -5.35591461e-02 -6.36271407e+01] [-7.99142544e-02 -3.61133429e-04 9.96801676e-01 -1.73686129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:-63.67, Z:-17.37 [[ 7.38101776e-01 6.72078652e-01 5.92963318e-02 1.99614419e+02] [-6.69939836e-01 7.40479746e-01 -5.35757689e-02 -6.36705930e+01] [-7.99148632e-02 -1.80604607e-04 9.96801676e-01 -1.73733073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.66, Y:-63.71, Z:-17.38 [[ 7.37658892e-01 6.72566050e-01 5.92812587e-02 1.99661471e+02] [-6.70427465e-01 7.40037070e-01 -5.35924420e-02 -6.37109724e+01] [-7.99147860e-02 -2.10842551e-04 9.96801677e-01 -1.73804347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.71, Y:-63.75, Z:-17.38 [[ 7.36669955e-01 6.73650242e-01 5.92682852e-02 1.99709300e+02] [-6.71514003e-01 7.39050240e-01 -5.36067857e-02 -6.37518133e+01] [-7.99144645e-02 -3.08975024e-04 9.96801677e-01 -1.73846624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.76, Y:-63.79, Z:-17.39 [[ 7.36453137e-01 6.73888564e-01 5.92535197e-02 1.99755891e+02] [-6.71751783e-01 7.38832934e-01 -5.36231016e-02 -6.37925941e+01] [-7.99144468e-02 -3.12756189e-04 9.96801677e-01 -1.73877978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.80, Y:-63.83, Z:-17.39 [[ 7.36548123e-01 6.73785874e-01 5.92406825e-02 1.99801319e+02] [-6.71647620e-01 7.38926598e-01 -5.36372799e-02 -6.38332638e+01] [-7.99145575e-02 -2.82425518e-04 9.96801677e-01 -1.73908121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.85, Y:-63.88, Z:-17.39 [[ 7.36175241e-01 6.74194295e-01 5.92289366e-02 1.99845046e+02] [-6.72056317e-01 7.38553964e-01 -5.36502471e-02 -6.38765352e+01] [-7.99144565e-02 -3.09197394e-04 9.96801677e-01 -1.73936767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.89, Y:-63.92, Z:-17.40 [[ 7.37876723e-01 6.72332682e-01 5.92174464e-02 1.99891603e+02] [-6.70187686e-01 7.40249118e-01 -5.36629267e-02 -6.39152528e+01] [-7.99150019e-02 -9.01788994e-05 9.96801678e-01 -1.74024867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:-63.96, Z:-17.41 [[ 7.39161148e-01 6.70921328e-01 5.92061680e-02 1.99938190e+02] [-6.68770805e-01 7.41528533e-01 -5.36753673e-02 -6.39571031e+01] [-7.99150116e-02 7.93895076e-05 9.96801678e-01 -1.74066570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.98, Y:-64.00, Z:-17.41 [[ 7.40947010e-01 6.68949890e-01 5.91909948e-02 1.99984231e+02] [-6.66791731e-01 7.43307437e-01 -5.36920945e-02 -6.39992794e+01] [-7.99144273e-02 3.14931000e-04 9.96801678e-01 -1.74120696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.03, Y:-64.04, Z:-17.42 [[ 7.42860284e-01 6.66825944e-01 5.91756555e-02 2.00029123e+02] [-6.64659691e-01 7.45213284e-01 -5.37089951e-02 -6.40416083e+01] [-7.99130360e-02 5.66606488e-04 9.96801678e-01 -1.74174039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.08, Y:-64.08, Z:-17.42 [[ 7.43585982e-01 6.66017872e-01 5.91614802e-02 2.00075419e+02] [-6.63847820e-01 7.45935479e-01 -5.37246049e-02 -6.40838891e+01] [-7.99121942e-02 6.74643443e-04 9.96801678e-01 -1.74227122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.12, Y:-64.13, Z:-17.43 [[ 7.43704058e-01 6.65887372e-01 5.91462839e-02 2.00121778e+02] [-6.63715577e-01 7.46051943e-01 -5.37413296e-02 -6.41265336e+01] [-7.99118728e-02 7.11334956e-04 9.96801679e-01 -1.74283843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.17, Y:-64.17, Z:-17.43 [[ 7.43211457e-01 6.66438466e-01 5.91312174e-02 2.00168131e+02] [-6.64267094e-01 7.45559733e-01 -5.37579021e-02 -6.41686216e+01] [-7.99121885e-02 6.74566817e-04 9.96801679e-01 -1.74338164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:-64.21, Z:-17.44 [[ 7.42221683e-01 6.67541981e-01 5.91157964e-02 2.00213111e+02] [-6.65372750e-01 7.44571937e-01 -5.37748547e-02 -6.42094061e+01] [-7.99129361e-02 5.78823157e-04 9.96801679e-01 -1.74406803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.26, Y:-64.25, Z:-17.45 [[ 7.42019270e-01 6.67768063e-01 5.91034452e-02 2.00258829e+02] [-6.65598467e-01 7.44369186e-01 -5.37884265e-02 -6.42514677e+01] [-7.99129768e-02 5.72886458e-04 9.96801679e-01 -1.74456873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.30, Y:-64.29, Z:-17.45 [[ 7.43728081e-01 6.65865522e-01 5.90901707e-02 2.00303816e+02] [-6.63688756e-01 7.46071358e-01 -5.38030054e-02 -6.42923523e+01] [-7.99110502e-02 7.97324062e-04 9.96801680e-01 -1.74511515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:-64.33, Z:-17.46 [[ 7.44185063e-01 6.65355404e-01 5.90828082e-02 2.00349897e+02] [-6.63176391e-01 7.46526250e-01 -5.38110892e-02 -6.43343284e+01] [-7.99103662e-02 8.63085306e-04 9.96801680e-01 -1.74556055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.40, Y:-64.38, Z:-17.46 [[ 7.46655324e-01 6.62583443e-01 5.90678258e-02 2.00395708e+02] [-6.60394438e-01 7.48987171e-01 -5.38275303e-02 -6.43758550e+01] [-7.99062741e-02 1.18254842e-03 9.96801680e-01 -1.74595203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:-64.42, Z:-17.46 [[ 7.48419915e-01 6.60590788e-01 5.90545595e-02 2.00442024e+02] [-6.58394428e-01 7.50744835e-01 -5.38420809e-02 -6.44184151e+01] [-7.99024882e-02 1.41529265e-03 9.96801680e-01 -1.74646068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.49, Y:-64.46, Z:-17.47 [[ 7.49816012e-01 6.59007059e-01 5.90393467e-02 2.00488421e+02] [-6.56804476e-01 7.52135037e-01 -5.38587570e-02 -6.44605765e+01] [-7.98988623e-02 1.60685117e-03 9.96801680e-01 -1.74698872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.54, Y:-64.50, Z:-17.47 [[ 7.48819372e-01 6.60140653e-01 5.90242802e-02 2.00536032e+02] [-6.57940281e-01 7.51140495e-01 -5.38752635e-02 -6.45007842e+01] [-7.99007787e-02 1.50838955e-03 9.96801681e-01 -1.74742552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.58, Y:-64.54, Z:-17.48 [[ 7.46625781e-01 6.62621869e-01 5.90101899e-02 2.00583681e+02] [-6.60427992e-01 7.48953043e-01 -5.38906924e-02 -6.45411036e+01] [-7.99050126e-02 1.26419908e-03 9.96801681e-01 -1.74793585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.63, Y:-64.58, Z:-17.48 [[ 7.41911177e-01 6.67897727e-01 5.89951817e-02 2.00631736e+02] [-6.65719097e-01 7.44252717e-01 -5.39071172e-02 -6.45807907e+01] [-7.99117653e-02 7.20073718e-04 9.96801681e-01 -1.74846861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.68, Y:-64.62, Z:-17.49 [[ 7.38583363e-01 6.71577230e-01 5.89799913e-02 2.00679516e+02] [-6.69408938e-01 7.40934480e-01 -5.39237319e-02 -6.46218700e+01] [-7.99142598e-02 3.45437868e-04 9.96801681e-01 -1.74899754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.73, Y:-64.66, Z:-17.49 [[ 7.33106734e-01 6.77552711e-01 5.89647350e-02 2.00727340e+02] [-6.75402241e-01 7.35474163e-01 -5.39404094e-02 -6.46615331e+01] [-7.99145097e-02 -2.80836758e-04 9.96801682e-01 -1.74948575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:-64.70, Z:-17.50 [[ 7.27527818e-01 6.83540852e-01 5.89506277e-02 2.00774725e+02] [-6.81408617e-01 7.29911683e-01 -5.39558227e-02 -6.47014694e+01] [-7.99097609e-02 -9.15103722e-04 9.96801682e-01 -1.75004556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.82, Y:-64.74, Z:-17.51 [[ 7.24813788e-01 6.86418881e-01 5.89414331e-02 2.00820806e+02] [-6.84295294e-01 7.27205360e-01 -5.39658650e-02 -6.47427212e+01] [-7.99057147e-02 -1.21814226e-03 9.96801682e-01 -1.75056963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.87, Y:-64.79, Z:-17.51 [[ 7.23129813e-01 6.88193840e-01 5.89280340e-02 2.00867207e+02] [-6.86074931e-01 7.25525531e-01 -5.39804922e-02 -6.47850465e+01] [-7.99028353e-02 -1.39414365e-03 9.96801682e-01 -1.75109114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:-64.83, Z:-17.52 [[ 7.23128130e-01 6.88196923e-01 5.89126674e-02 2.00913323e+02] [-6.86076659e-01 7.25522649e-01 -5.39972576e-02 -6.48276293e+01] [-7.99032210e-02 -1.37167008e-03 9.96801682e-01 -1.75151366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.96, Y:-64.87, Z:-17.52 [[ 7.24032175e-01 6.87247070e-01 5.88971527e-02 2.00957662e+02] [-6.85122289e-01 7.26422685e-01 -5.40141749e-02 -6.48709743e+01] [-7.99053113e-02 -1.24375162e-03 9.96801683e-01 -1.75207800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.00, Y:-64.91, Z:-17.53 [[ 7.25999746e-01 6.85169378e-01 5.88837144e-02 2.01001476e+02] [-6.83036568e-01 7.28383095e-01 -5.40288208e-02 -6.49146698e+01] [-7.99087957e-02 -9.94820035e-04 9.96801683e-01 -1.75281629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.05, Y:-64.96, Z:-17.53 [[ 7.28457898e-01 6.82556506e-01 5.88702542e-02 2.01045740e+02] [-6.80413962e-01 7.30832500e-01 -5.40434832e-02 -6.49582265e+01] [-7.99120261e-02 -6.87740719e-04 9.96801683e-01 -1.75338214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:-65.00, Z:-17.54 [[ 7.35388948e-01 6.75084442e-01 5.88565268e-02 2.01087568e+02] [-6.72916572e-01 7.37740451e-01 -5.40584290e-02 -6.50041605e+01] [-7.99148450e-02 1.48439000e-04 9.96801683e-01 -1.75388824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.13, Y:-65.05, Z:-17.54 [[ 7.41204247e-01 6.68695568e-01 5.88430165e-02 2.01130915e+02] [-6.66506263e-01 7.43535808e-01 -5.40731311e-02 -6.50488540e+01] [-7.99103529e-02 8.59995348e-04 9.96801683e-01 -1.75423690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.18, Y:-65.09, Z:-17.54 [[ 7.46795311e-01 6.62446848e-01 5.88297314e-02 2.01177457e+02] [-6.60236900e-01 7.49107315e-01 -5.40875810e-02 -6.50893497e+01] [-7.98999296e-02 1.55079238e-03 9.96801684e-01 -1.75445546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:-65.13, Z:-17.55 [[ 7.51895283e-01 6.56653161e-01 5.88226887e-02 2.01223054e+02] [-6.54424806e-01 7.54189551e-01 -5.40952392e-02 -6.51302460e+01] [-7.98852670e-02 2.17892860e-03 9.96801684e-01 -1.75492002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:-65.17, Z:-17.56 [[ 7.57528483e-01 6.50147597e-01 5.88107018e-02 2.01269004e+02] [-6.47898540e-01 7.59802460e-01 -5.41082678e-02 -6.51714728e+01] [-7.98628762e-02 2.88518625e-03 9.96801684e-01 -1.75568264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:-65.21, Z:-17.56 [[ 7.59904617e-01 6.47369165e-01 5.88059259e-02 2.01316479e+02] [-6.45111395e-01 7.62169943e-01 -5.41134579e-02 -6.52104519e+01] [-7.98514932e-02 3.18469363e-03 9.96801684e-01 -1.75602163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.37, Y:-65.25, Z:-17.56 [[ 7.59683272e-01 6.47630024e-01 5.87935188e-02 2.01366768e+02] [-6.45371992e-01 7.61948336e-01 -5.41269347e-02 -6.52473475e+01] [-7.98518518e-02 3.17563658e-03 9.96801684e-01 -1.75617725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.42, Y:-65.29, Z:-17.56 [[ 7.54503234e-01 6.53658732e-01 5.87803726e-02 2.01416359e+02] [-6.51417697e-01 7.56785117e-01 -5.41412073e-02 -6.52857274e+01] [-7.98739841e-02 2.55914104e-03 9.96801684e-01 -1.75647170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.47, Y:-65.32, Z:-17.57 [[ 7.49429889e-01 6.59470421e-01 5.87673860e-02 2.01465214e+02] [-6.57245985e-01 7.51727955e-01 -5.41552999e-02 -6.53248990e+01] [-7.98909054e-02 1.96097186e-03 9.96801684e-01 -1.75698062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.52, Y:-65.36, Z:-17.57 [[ 7.40971206e-01 6.68961736e-01 5.87525945e-02 2.01517110e+02] [-6.66765477e-01 7.43296215e-01 -5.41713424e-02 -6.53599431e+01] [-7.99091364e-02 9.65203181e-04 9.96801685e-01 -1.75744549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.57, Y:-65.40, Z:-17.58 [[ 7.31694953e-01 6.79096609e-01 5.87391867e-02 2.01567332e+02] [-6.76931391e-01 7.34048896e-01 -5.41858770e-02 -6.53975136e+01] [-7.99148804e-02 -1.14866664e-04 9.96801685e-01 -1.75789282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.62, Y:-65.44, Z:-17.58 [[ 7.22813627e-01 6.88543372e-01 5.87238109e-02 2.01617064e+02] [-6.86407559e-01 7.25194283e-01 -5.42025353e-02 -6.54356734e+01] [-7.99069684e-02 -1.13013665e-03 9.96801685e-01 -1.75835485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.67, Y:-65.47, Z:-17.59 [[ 7.18088405e-01 6.93471238e-01 5.87084757e-02 2.01665941e+02] [-6.91350402e-01 7.20482412e-01 -5.42191403e-02 -6.54735753e+01] [-7.98978385e-02 -1.65399235e-03 9.96801685e-01 -1.75890567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.71, Y:-65.51, Z:-17.59 [[ 7.15694799e-01 6.95942481e-01 5.86942800e-02 2.01714766e+02] [-6.93828651e-01 7.18094995e-01 -5.42345033e-02 -6.55127423e+01] [-7.98921635e-02 -1.90842115e-03 9.96801685e-01 -1.75938256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:-65.55, Z:-17.60 [[ 7.17304108e-01 6.94284952e-01 5.86789769e-02 2.01761818e+02] [-6.92164223e-01 7.19698209e-01 -5.42510554e-02 -6.55538160e+01] [-7.98968460e-02 -1.70098356e-03 9.96801686e-01 -1.76003113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:-65.60, Z:-17.61 [[ 7.19245661e-01 6.92274690e-01 5.86637194e-02 2.01808587e+02] [-6.90145924e-01 7.21632619e-01 -5.42675490e-02 -6.55955019e+01] [-7.99017042e-02 -1.45482770e-03 9.96801686e-01 -1.76069070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.86, Y:-65.64, Z:-17.61 [[ 7.20424088e-01 6.91049555e-01 5.86484926e-02 2.01855144e+02] [-6.88915391e-01 7.22806220e-01 -5.42840001e-02 -6.56374970e+01] [-7.99044294e-02 -1.29634794e-03 9.96801686e-01 -1.76129120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.90, Y:-65.68, Z:-17.62 [[ 7.25207856e-01 6.86028949e-01 5.86331588e-02 2.01900508e+02] [-6.83876952e-01 7.27573889e-01 -5.43005574e-02 -6.56798277e+01] [-7.99117097e-02 -7.18675096e-04 9.96801686e-01 -1.76213481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.94, Y:-65.72, Z:-17.63 [[ 7.33495451e-01 6.77162005e-01 5.86177675e-02 2.01944738e+02] [-6.74980076e-01 7.35833910e-01 -5.43171673e-02 -6.57243678e+01] [-7.99144630e-02 2.75569946e-04 9.96801687e-01 -1.76281440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:-65.77, Z:-17.63 [[ 7.43566136e-01 6.66089465e-01 5.86022709e-02 2.01987862e+02] [-6.63871406e-01 7.45870354e-01 -5.43338814e-02 -6.57698288e+01] [-7.99009225e-02 1.49646232e-03 9.96801687e-01 -1.76334846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.03, Y:-65.81, Z:-17.64 [[ 7.49899638e-01 6.58952277e-01 5.85869398e-02 2.02031859e+02] [-6.56711007e-01 7.52181285e-01 -5.43504076e-02 -6.58149635e+01] [-7.98823245e-02 2.28266271e-03 9.96801687e-01 -1.76377890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.07, Y:-65.86, Z:-17.64 [[ 7.57189245e-01 6.50564228e-01 5.85716003e-02 2.02074684e+02] [-6.48296425e-01 7.59444522e-01 -5.43669334e-02 -6.58599249e+01] [-7.98510630e-02 3.19429823e-03 9.96801688e-01 -1.76415365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:-65.90, Z:-17.65 [[ 7.59916603e-01 6.47377192e-01 5.85621642e-02 2.02120397e+02] [-6.45099153e-01 7.62161540e-01 -5.43770957e-02 -6.59032906e+01] [-7.98363208e-02 3.54365534e-03 9.96801688e-01 -1.76459897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.17, Y:-65.94, Z:-17.65 [[ 7.56883463e-01 6.50922173e-01 5.85469730e-02 2.02167693e+02] [-6.48653392e-01 7.59137754e-01 -5.43934470e-02 -6.59440475e+01] [-7.98511183e-02 3.19280795e-03 9.96801688e-01 -1.76515775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.22, Y:-65.98, Z:-17.66 [[ 7.52396049e-01 6.56105362e-01 5.85315307e-02 2.02215127e+02] [-6.53850827e-01 7.54664589e-01 -5.44100590e-02 -6.59846139e+01] [-7.98704050e-02 2.66702364e-03 9.96801688e-01 -1.76571409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.26, Y:-66.02, Z:-17.66 [[ 7.44338555e-01 6.65233764e-01 5.85162806e-02 2.02264984e+02] [-6.63005779e-01 7.46633175e-01 -5.44264552e-02 -6.60235051e+01] [-7.98965120e-02 1.71507676e-03 9.96801688e-01 -1.76634374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.31, Y:-66.06, Z:-17.67 [[ 7.37072534e-01 6.73276873e-01 5.85007066e-02 2.02313314e+02] [-6.71072607e-01 7.39389948e-01 -5.44431899e-02 -6.60622858e+01] [-7.99101750e-02 8.70358232e-04 9.96801689e-01 -1.76673412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.36, Y:-66.10, Z:-17.67 [[ 7.30738379e-01 6.80147611e-01 5.84863082e-02 2.02362417e+02] [-6.77963899e-01 7.33075171e-01 -5.44586531e-02 -6.61019661e+01] [-7.99147833e-02 1.43422383e-04 9.96801689e-01 -1.76725362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.41, Y:-66.14, Z:-17.68 [[ 7.27401205e-01 6.83716776e-01 5.84709924e-02 2.02410025e+02] [-6.81543208e-01 7.29747435e-01 -5.44750925e-02 -6.61433509e+01] [-7.99145913e-02 -2.25259801e-04 9.96801689e-01 -1.76779253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.46, Y:-66.18, Z:-17.68 [[ 7.24613329e-01 6.86672038e-01 5.84554218e-02 2.02457766e+02] [-6.84506691e-01 7.26967148e-01 -5.44917957e-02 -6.61840487e+01] [-7.99131636e-02 -5.27645864e-04 9.96801689e-01 -1.76840795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.50, Y:-66.23, Z:-17.69 [[ 7.22526608e-01 6.88868700e-01 5.84398408e-02 2.02503855e+02] [-6.86709158e-01 7.24885754e-01 -5.45085005e-02 -6.62253588e+01] [-7.99114079e-02 -7.47331829e-04 9.96801690e-01 -1.76899037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.55, Y:-66.27, Z:-17.70 [[ 7.21573116e-01 6.89868614e-01 5.84254478e-02 2.02549130e+02] [-6.87711093e-01 7.23934109e-01 -5.45239233e-02 -6.62686935e+01] [-7.99105180e-02 -8.36831320e-04 9.96801690e-01 -1.76953030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.59, Y:-66.31, Z:-17.69 [[ 7.19720155e-01 6.91802844e-01 5.84099686e-02 2.02592546e+02] [-6.89650322e-01 7.22085707e-01 -5.45405008e-02 -6.63133849e+01] [-7.99082770e-02 -1.02855593e-03 9.96801690e-01 -1.76942601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.64, Y:-66.36, Z:-17.71 [[ 7.20811619e-01 6.90665977e-01 5.84047754e-02 2.02635712e+02] [-6.88509274e-01 7.23173359e-01 -5.45460614e-02 -6.63550584e+01] [-7.99098864e-02 -8.94794650e-04 9.96801690e-01 -1.77072252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.68, Y:-66.40, Z:-17.71 [[ 7.20134580e-01 6.91373014e-01 5.83912881e-02 2.02679461e+02] [-6.89217458e-01 7.22497368e-01 -5.45604957e-02 -6.63988547e+01] [-7.99092063e-02 -9.53395501e-04 9.96801690e-01 -1.77136240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.72, Y:-66.45, Z:-17.71 [[ 7.16599462e-01 6.95037665e-01 5.83768301e-02 2.02718392e+02] [-6.92892933e-01 7.18972078e-01 -5.45759606e-02 -6.64470137e+01] [-7.99036591e-02 -1.33978894e-03 9.96801691e-01 -1.77145225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.76, Y:-66.49, Z:-17.73 [[ 7.17678165e-01 6.93924047e-01 5.83735294e-02 2.02761164e+02] [-6.91775345e-01 7.20047187e-01 -5.45794907e-02 -6.64896316e+01] [-7.99057167e-02 -1.21085970e-03 9.96801691e-01 -1.77253667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:-66.54, Z:-17.73 [[ 7.17892120e-01 6.93703896e-01 5.83593066e-02 2.02802695e+02] [-6.91553232e-01 7.20259360e-01 -5.45946943e-02 -6.65379288e+01] [-7.99063890e-02 -1.16546634e-03 9.96801691e-01 -1.77284481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:-66.59, Z:-17.72 [[ 7.13828292e-01 6.97886185e-01 5.83441753e-02 2.02838117e+02] [-6.95748067e-01 7.16206870e-01 -5.46108600e-02 -6.65909556e+01] [-7.98986640e-02 -1.61007032e-03 9.96801691e-01 -1.77180490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.88, Y:-66.63, Z:-17.73 [[ 7.22726963e-01 6.88666865e-01 5.83411231e-02 2.02882265e+02] [-6.86498132e-01 7.25077660e-01 -5.46141206e-02 -6.66306721e+01] [-7.99127802e-02 -5.79974546e-04 9.96801691e-01 -1.77346730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:-66.68, Z:-17.74 [[ 7.25725955e-01 6.85506414e-01 5.83334718e-02 2.02922170e+02] [-6.83326787e-01 7.28066555e-01 -5.46222917e-02 -6.66782334e+01] [-7.99145812e-02 -2.20008962e-04 9.96801691e-01 -1.77398488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.96, Y:-66.73, Z:-17.74 [[ 7.27919241e-01 6.83178192e-01 5.83192551e-02 2.02962550e+02] [-6.80989863e-01 7.30251706e-01 -5.46374664e-02 -6.67264564e+01] [-7.99148611e-02 5.68415570e-05 9.96801691e-01 -1.77448275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.01, Y:-66.77, Z:-17.75 [[ 7.29035427e-01 6.81987370e-01 5.83144325e-02 2.03005243e+02] [-6.79794819e-01 7.31363924e-01 -5.46426131e-02 -6.67721462e+01] [-7.99146442e-02 1.94551660e-04 9.96801691e-01 -1.77501198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.05, Y:-66.82, Z:-17.76 [[ 7.31238937e-01 6.79624609e-01 5.83095834e-02 2.03045411e+02] [-6.77424122e-01 7.33559936e-01 -5.46477871e-02 -6.68176751e+01] [-7.99135552e-02 4.60271466e-04 9.96801691e-01 -1.77556201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.09, Y:-66.86, Z:-17.76 [[ 7.33100312e-01 6.77617007e-01 5.83020030e-02 2.03087711e+02] [-6.75409521e-01 7.35414655e-01 -5.46558732e-02 -6.68636611e+01] [-7.99118967e-02 6.90509795e-04 9.96801691e-01 -1.77595168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.13, Y:-66.91, Z:-17.76 [[ 7.35616983e-01 6.74885421e-01 5.82865604e-02 2.03128814e+02] [-6.72668037e-01 7.37921844e-01 -5.46723367e-02 -6.69103054e+01] [-7.99084891e-02 1.01039325e-03 9.96801692e-01 -1.77633217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:-66.96, Z:-17.77 [[ 7.35466728e-01 6.75050332e-01 5.82729860e-02 2.03171879e+02] [-6.72832319e-01 7.37770984e-01 -5.46868013e-02 -6.69557041e+01] [-7.99084616e-02 1.01237455e-03 9.96801692e-01 -1.77680169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.22, Y:-67.00, Z:-17.77 [[ 7.31972225e-01 6.78839241e-01 5.82575892e-02 2.03215939e+02] [-6.76631852e-01 7.34286659e-01 -5.47031986e-02 -6.69997138e+01] [-7.99124483e-02 6.22281566e-04 9.96801692e-01 -1.77734027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.26, Y:-67.04, Z:-17.78 [[ 7.30204469e-01 6.80741709e-01 5.82422532e-02 2.03261259e+02] [-6.78539047e-01 7.32523403e-01 -5.47195219e-02 -6.70418672e+01] [-7.99136743e-02 4.36796492e-04 9.96801692e-01 -1.77788663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.31, Y:-67.09, Z:-17.78 [[ 7.25233476e-01 6.86036367e-01 5.82280707e-02 2.03306673e+02] [-6.83849424e-01 7.27567239e-01 -5.47346096e-02 -6.70852509e+01] [-7.99147694e-02 -1.23861425e-04 9.96801693e-01 -1.77841497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.35, Y:-67.13, Z:-17.79 [[ 7.22311816e-01 6.89113117e-01 5.82129948e-02 2.03352282e+02] [-6.86934823e-01 7.24653653e-01 -5.47506389e-02 -6.71285870e+01] [-7.99136428e-02 -4.41499859e-04 9.96801693e-01 -1.77892340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:-67.17, Z:-17.79 [[ 7.21624304e-01 6.89834309e-01 5.81978513e-02 2.03397857e+02] [-6.87657057e-01 7.23967110e-01 -5.47667312e-02 -6.71718091e+01] [-7.99133004e-02 -4.99158838e-04 9.96801693e-01 -1.77933291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.44, Y:-67.21, Z:-17.80 [[ 7.21245134e-01 6.90232036e-01 5.81824189e-02 2.03443464e+02] [-6.88054754e-01 7.23587912e-01 -5.47831213e-02 -6.72133254e+01] [-7.99131603e-02 -5.20630239e-04 9.96801693e-01 -1.77975096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.49, Y:-67.26, Z:-17.80 [[ 7.21417105e-01 6.90053432e-01 5.81689052e-02 2.03488809e+02] [-6.87874413e-01 7.23758268e-01 -5.47974664e-02 -6.72553275e+01] [-7.99134058e-02 -4.81071891e-04 9.96801694e-01 -1.78032004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.53, Y:-67.30, Z:-17.81 [[ 7.22200151e-01 6.89235070e-01 5.81546241e-02 2.03533115e+02] [-6.87052178e-01 7.24537702e-01 -5.48126182e-02 -6.72962786e+01] [-7.99139965e-02 -3.69580024e-04 9.96801694e-01 -1.78104091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:-67.34, Z:-17.82 [[ 7.23661337e-01 6.87701373e-01 5.81471531e-02 2.03577895e+02] [-6.85512890e-01 7.25993654e-01 -5.48205426e-02 -6.73388187e+01] [-7.99146266e-02 -1.89115869e-04 9.96801694e-01 -1.78165300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.62, Y:-67.38, Z:-17.82 [[ 7.24433636e-01 6.86888868e-01 5.81342313e-02 2.03622774e+02] [-6.84696670e-01 7.26762462e-01 -5.48342421e-02 -6.73819376e+01] [-7.99148075e-02 -8.05451292e-05 9.96801694e-01 -1.78219519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:-67.42, Z:-17.83 [[ 7.25070632e-01 6.86217513e-01 5.81214591e-02 2.03667694e+02] [-6.84022073e-01 7.27396401e-01 -5.48477767e-02 -6.74247950e+01] [-7.99148451e-02 1.21511517e-05 9.96801694e-01 -1.78269745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.71, Y:-67.47, Z:-17.83 [[ 7.25534575e-01 6.85728040e-01 5.81088172e-02 2.03711428e+02] [-6.83529959e-01 7.27857848e-01 -5.48611669e-02 -6.74676195e+01] [-7.99147991e-02 8.45560575e-05 9.96801694e-01 -1.78306412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.76, Y:-67.51, Z:-17.83 [[ 7.25814136e-01 6.85433111e-01 5.80972486e-02 2.03756065e+02] [-6.83233105e-01 7.28135587e-01 -5.48734151e-02 -6.75105814e+01] [-7.99147299e-02 1.33936855e-04 9.96801694e-01 -1.78311730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.80, Y:-67.55, Z:-17.84 [[ 7.25538871e-01 6.85725613e-01 5.80838208e-02 2.03800740e+02] [-6.83525405e-01 7.27860130e-01 -5.48876249e-02 -6.75529318e+01] [-7.99147476e-02 1.21338263e-04 9.96801695e-01 -1.78390322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.85, Y:-67.60, Z:-17.84 [[ 7.24467750e-01 6.86858354e-01 5.80696201e-02 2.03847353e+02] [-6.84660572e-01 7.26791305e-01 -5.49026448e-02 -6.75954563e+01] [-7.99148352e-02 1.72163132e-05 9.96801695e-01 -1.78417343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:-67.64, Z:-17.85 [[ 7.22839015e-01 6.88573462e-01 5.80546742e-02 2.03893910e+02] [-6.86379924e-01 7.25166577e-01 -5.49184442e-02 -6.76374568e+01] [-7.99146927e-02 -1.50368748e-04 9.96801695e-01 -1.78462109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:-67.68, Z:-17.85 [[ 7.21524378e-01 6.89952170e-01 5.80394241e-02 2.03940464e+02] [-6.87761783e-01 7.23854905e-01 -5.49345563e-02 -6.76800740e+01] [-7.99143382e-02 -2.80676231e-04 9.96801695e-01 -1.78509600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:-67.72, Z:-17.86 [[ 7.20628034e-01 6.90889621e-01 5.80238609e-02 2.03986283e+02] [-6.88700943e-01 7.22960165e-01 -5.49509898e-02 -6.77222808e+01] [-7.99140086e-02 -3.61863949e-04 9.96801696e-01 -1.78566766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.03, Y:-67.77, Z:-17.86 [[ 7.20806782e-01 6.90704263e-01 5.80103842e-02 2.04031985e+02] [-6.88513840e-01 7.23137275e-01 -5.49652132e-02 -6.77652499e+01] [-7.99141782e-02 -3.21653887e-04 9.96801696e-01 -1.78610201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.08, Y:-67.81, Z:-17.87 [[ 7.22534300e-01 6.88898247e-01 5.79947491e-02 2.04077167e+02] [-6.86700674e-01 7.24858052e-01 -5.49817052e-02 -6.78082787e+01] [-7.99147611e-02 -9.88654625e-05 9.96801696e-01 -1.78654481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.12, Y:-67.85, Z:-17.87 [[ 7.25776278e-01 6.85483031e-01 5.79811071e-02 2.04121624e+02] [-6.83273375e-01 7.28088542e-01 -5.49960876e-02 -6.78519247e+01] [-7.99142646e-02 2.97909047e-04 9.96801696e-01 -1.78702553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.17, Y:-67.90, Z:-17.87 [[ 7.28599549e-01 6.82482576e-01 5.79674982e-02 2.04166163e+02] [-6.80262257e-01 7.30901576e-01 -5.50104281e-02 -6.78959956e+01] [-7.99121945e-02 6.47471895e-04 9.96801696e-01 -1.78747332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:-67.94, Z:-17.88 [[ 7.33404366e-01 6.77317934e-01 5.79521543e-02 2.04210129e+02] [-6.75080130e-01 7.35689400e-01 -5.50265878e-02 -6.79389934e+01] [-7.99052803e-02 1.23439192e-03 9.96801697e-01 -1.78790240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.26, Y:-67.98, Z:-17.88 [[ 7.35636519e-01 6.74893991e-01 5.79397329e-02 2.04255398e+02] [-6.72647629e-01 7.37913140e-01 -5.50396637e-02 -6.79827347e+01] [-7.99004285e-02 1.51616267e-03 9.96801697e-01 -1.78839217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.30, Y:-68.03, Z:-17.89 [[ 7.37159361e-01 6.73231624e-01 5.79245892e-02 2.04300222e+02] [-6.70978877e-01 7.39429664e-01 -5.50555966e-02 -6.80252879e+01] [-7.98963282e-02 1.71857251e-03 9.96801697e-01 -1.78891270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.35, Y:-68.07, Z:-17.90 [[ 7.34892689e-01 6.75706371e-01 5.79105928e-02 2.04346088e+02] [-6.73460111e-01 7.37169410e-01 -5.50703149e-02 -6.80661733e+01] [-7.99012801e-02 1.47029754e-03 9.96801697e-01 -1.78951738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.39, Y:-68.11, Z:-17.90 [[ 7.31476324e-01 6.79404407e-01 5.78968092e-02 2.04392838e+02] [-6.77168513e-01 7.33763225e-01 -5.50848022e-02 -6.81075762e+01] [-7.99074067e-02 1.08733242e-03 9.96801697e-01 -1.78996624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:-68.15, Z:-17.91 [[ 7.25167293e-01 6.86135671e-01 5.78812339e-02 2.04439640e+02] [-6.83919702e-01 7.27473507e-01 -5.51011633e-02 -6.81486189e+01] [-7.99139378e-02 3.71445171e-04 9.96801698e-01 -1.79054461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.49, Y:-68.19, Z:-17.91 [[ 7.18744516e-01 6.92861926e-01 5.78677144e-02 2.04486239e+02] [-6.90666396e-01 7.21070196e-01 -5.51153580e-02 -6.81888067e+01] [-7.99140172e-02 -3.53424432e-04 9.96801698e-01 -1.79101695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.53, Y:-68.23, Z:-17.91 [[ 7.15379459e-01 6.96336934e-01 5.78541642e-02 2.04532870e+02] [-6.94151551e-01 7.17714675e-01 -5.51295778e-02 -6.82293534e+01] [-7.99115438e-02 -7.20990243e-04 9.96801698e-01 -1.79126373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.58, Y:-68.27, Z:-17.92 [[ 7.12003028e-01 6.99790125e-01 5.78400276e-02 2.04579269e+02] [-6.97614862e-01 7.14347674e-01 -5.51444055e-02 -6.82695041e+01] [-7.99073996e-02 -1.08707914e-03 9.96801698e-01 -1.79193253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.62, Y:-68.31, Z:-17.92 [[ 7.09647318e-01 7.02179980e-01 5.78269728e-02 2.04623094e+02] [-7.00011498e-01 7.11998236e-01 -5.51580920e-02 -6.83130431e+01] [-7.99036106e-02 -1.33675371e-03 9.96801698e-01 -1.79232327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:-68.36, Z:-17.93 [[ 7.08976103e-01 7.02858909e-01 5.78120963e-02 2.04668690e+02] [-7.00691407e-01 7.11327925e-01 -5.51736799e-02 -6.83551590e+01] [-7.99026710e-02 -1.39161851e-03 9.96801699e-01 -1.79297480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.71, Y:-68.40, Z:-17.93 [[ 7.09106774e-01 7.02728253e-01 5.77977962e-02 2.04714877e+02] [-7.00559098e-01 7.11457070e-01 -5.51886561e-02 -6.83973236e+01] [-7.99032787e-02 -1.35612212e-03 9.96801699e-01 -1.79348861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.76, Y:-68.44, Z:-17.94 [[ 7.09938189e-01 7.01889555e-01 5.77825242e-02 2.04760639e+02] [-6.99716322e-01 7.12284715e-01 -5.52046412e-02 -6.84407954e+01] [-7.99051699e-02 -1.23949234e-03 9.96801699e-01 -1.79402963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.80, Y:-68.48, Z:-17.94 [[ 7.12437929e-01 6.99353372e-01 5.77672716e-02 2.04804352e+02] [-6.97170492e-01 7.14775483e-01 -5.52205973e-02 -6.84841207e+01] [-7.99093404e-02 -9.32389134e-04 9.96801699e-01 -1.79449590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.85, Y:-68.53, Z:-17.95 [[ 7.15925548e-01 6.95783798e-01 5.77539276e-02 2.04848522e+02] [-6.93588136e-01 7.18251100e-01 -5.52345501e-02 -6.85272707e+01] [-7.99131270e-02 -5.13613438e-04 9.96801700e-01 -1.79498164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:-68.57, Z:-17.96 [[ 7.18569001e-01 6.93054604e-01 5.77399845e-02 2.04892773e+02] [-6.90848938e-01 7.20885067e-01 -5.52491217e-02 -6.85711284e+01] [-7.99145508e-02 -1.89300755e-04 9.96801700e-01 -1.79553021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.94, Y:-68.62, Z:-17.96 [[ 7.23896399e-01 6.87489405e-01 5.77262577e-02 2.04936694e+02] [-6.85264790e-01 7.26194270e-01 -5.52634603e-02 -6.86164738e+01] [-7.99135210e-02 4.47248120e-04 9.96801700e-01 -1.79592875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:204.98, Y:-68.66, Z:-17.97 [[ 7.30060811e-01 6.80941038e-01 5.77106109e-02 2.04982698e+02] [-6.78694524e-01 7.32337277e-01 -5.52797952e-02 -6.86579283e+01] [-7.99059127e-02 1.18973652e-03 9.96801700e-01 -1.79664619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.03, Y:-68.70, Z:-17.97 [[ 7.34093476e-01 6.76591994e-01 5.77065255e-02 2.05027104e+02] [-6.74331661e-01 7.36356221e-01 -5.52840596e-02 -6.87023050e+01] [-7.98973111e-02 1.67033027e-03 9.96801700e-01 -1.79680607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.07, Y:-68.75, Z:-17.97 [[ 7.33423412e-01 6.77319662e-01 5.76903396e-02 2.05069554e+02] [-6.75060246e-01 7.35687073e-01 -5.53009449e-02 -6.87465912e+01] [-7.98984543e-02 1.61455284e-03 9.96801701e-01 -1.79690451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.11, Y:-68.79, Z:-17.97 [[ 7.34947866e-01 6.75666299e-01 5.76774350e-02 2.05114185e+02] [-6.73400737e-01 7.37205375e-01 -5.53144008e-02 -6.87888394e+01] [-7.98941915e-02 1.81317365e-03 9.96801701e-01 -1.79739660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.16, Y:-68.83, Z:-17.98 [[ 7.35869806e-01 6.74663335e-01 5.76629266e-02 2.05158949e+02] [-6.72393512e-01 7.38123031e-01 -5.53295210e-02 -6.88310915e+01] [-7.98911333e-02 1.94314615e-03 9.96801701e-01 -1.79829374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:-68.87, Z:-17.99 [[ 7.37941794e-01 6.72397545e-01 5.76493752e-02 2.05204608e+02] [-6.70119703e-01 7.40186912e-01 -5.53436371e-02 -6.88734255e+01] [-7.98842387e-02 2.20840065e-03 9.96801701e-01 -1.79882168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.25, Y:-68.91, Z:-17.99 [[ 7.39396473e-01 6.70798737e-01 5.76360102e-02 2.05252323e+02] [-6.68514959e-01 7.41635552e-01 -5.53575521e-02 -6.89132481e+01] [-7.98786903e-02 2.40064382e-03 9.96801701e-01 -1.79915196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.30, Y:-68.95, Z:-17.99 [[ 7.37848201e-01 6.72502597e-01 5.76219428e-02 2.05297991e+02] [-6.70222849e-01 7.40091382e-01 -5.53721911e-02 -6.89539162e+01] [-7.98834456e-02 2.23672901e-03 9.96801702e-01 -1.79928141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.35, Y:-68.99, Z:-17.99 [[ 7.36071002e-01 6.74448426e-01 5.76090338e-02 2.05345785e+02] [-6.72173558e-01 7.38319132e-01 -5.53856184e-02 -6.89943199e+01] [-7.98885950e-02 2.04447849e-03 9.96801702e-01 -1.79937918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:-69.03, Z:-18.00 [[ 7.32902882e-01 6.77890945e-01 5.75954172e-02 2.05393686e+02] [-6.75625528e-01 7.35160534e-01 -5.53997747e-02 -6.90333439e+01] [-7.98968833e-02 1.68972044e-03 9.96801702e-01 -1.79976111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:-69.07, Z:-18.00 [[ 7.26204780e-01 6.85062749e-01 5.75816653e-02 2.05445442e+02] [-6.82818501e-01 7.28483477e-01 -5.54140645e-02 -6.90693291e+01] [-7.99094031e-02 9.24132136e-04 9.96801702e-01 -1.80035732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:-69.11, Z:-18.01 [[ 7.17180169e-01 6.94506180e-01 5.75653607e-02 2.05494907e+02] [-6.92290581e-01 7.19486731e-01 -5.54309970e-02 -6.91053141e+01] [-7.99146831e-02 -9.79451648e-05 9.96801702e-01 -1.80086185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.54, Y:-69.14, Z:-18.02 [[ 7.12136734e-01 6.99677785e-01 5.75523132e-02 2.05542401e+02] [-6.97477841e-01 7.14458232e-01 -5.54445405e-02 -6.91430839e+01] [-7.99120372e-02 -6.57369162e-04 9.96801703e-01 -1.80153661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.59, Y:-69.18, Z:-18.02 [[ 7.07423014e-01 7.04444383e-01 5.75394629e-02 2.05591791e+02] [-7.02258994e-01 7.09758219e-01 -5.54578731e-02 -6.91822849e+01] [-7.99060939e-02 -1.17542961e-03 9.96801703e-01 -1.80203466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.64, Y:-69.22, Z:-18.02 [[ 7.05437312e-01 7.06434145e-01 5.75238985e-02 2.05637855e+02] [-7.04254026e-01 7.07777437e-01 -5.54740127e-02 -6.92239267e+01] [-7.99028542e-02 -1.37799875e-03 9.96801703e-01 -1.80220588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:-69.26, Z:-18.03 [[ 7.03859035e-01 7.08007821e-01 5.75098597e-02 2.05685549e+02] [-7.05831746e-01 7.06202921e-01 -5.54885629e-02 -6.92643746e+01] [-7.98999674e-02 -1.53615832e-03 9.96801703e-01 -1.80274908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.73, Y:-69.30, Z:-18.04 [[ 6.98146237e-01 7.13642081e-01 5.75048885e-02 2.05732209e+02] [-7.11484491e-01 7.00507150e-01 -5.54937143e-02 -6.93036565e+01] [-7.98852353e-02 -2.17110847e-03 9.96801703e-01 -1.80364054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.78, Y:-69.35, Z:-18.04 [[ 6.97948358e-01 7.13836243e-01 5.74970290e-02 2.05777643e+02] [-7.11678640e-01 7.00309258e-01 -5.55018564e-02 -6.93476235e+01] [-7.98849383e-02 -2.18197788e-03 9.96801703e-01 -1.80414776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.82, Y:-69.39, Z:-18.04 [[ 6.97957817e-01 7.13828237e-01 5.74815890e-02 2.05822100e+02] [-7.11669293e-01 7.00317490e-01 -5.55178425e-02 -6.93919489e+01] [-7.98855658e-02 -2.15876964e-03 9.96801704e-01 -1.80449655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:-69.44, Z:-18.05 [[ 6.97752864e-01 7.14029862e-01 5.74656119e-02 2.05867519e+02] [-7.11870239e-01 7.00111917e-01 -5.55343753e-02 -6.94359268e+01] [-7.98855620e-02 -2.15878945e-03 9.96801704e-01 -1.80500409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.91, Y:-69.48, Z:-18.05 [[ 6.98022775e-01 7.13767292e-01 5.74496161e-02 2.05910839e+02] [-7.11605422e-01 7.00379768e-01 -5.55509178e-02 -6.94796373e+01] [-7.98869769e-02 -2.10565245e-03 9.96801704e-01 -1.80548592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.95, Y:-69.53, Z:-18.06 [[ 6.98985515e-01 7.12825707e-01 5.74348526e-02 2.05953686e+02] [-7.10659409e-01 7.01338438e-01 -5.55661778e-02 -6.95251980e+01] [-7.98902698e-02 -1.97666493e-03 9.96801704e-01 -1.80586329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.00, Y:-69.57, Z:-18.06 [[ 6.99828367e-01 7.11999531e-01 5.74188557e-02 2.05996836e+02] [-7.09829100e-01 7.02177479e-01 -5.55827032e-02 -6.95690077e+01] [-7.98930859e-02 -1.85922223e-03 9.96801705e-01 -1.80644866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:-69.61, Z:-18.07 [[ 7.00277547e-01 7.11558941e-01 5.74040967e-02 2.06039304e+02] [-7.09385784e-01 7.02624137e-01 -5.55979417e-02 -6.96146463e+01] [-7.98947164e-02 -1.78765987e-03 9.96801705e-01 -1.80693604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.08, Y:-69.66, Z:-18.07 [[ 7.00108320e-01 7.11726690e-01 5.73886671e-02 2.06081017e+02] [-7.09552791e-01 7.02454222e-01 -5.56138637e-02 -6.96612418e+01] [-7.98947826e-02 -1.78456024e-03 9.96801705e-01 -1.80733141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.12, Y:-69.71, Z:-18.08 [[ 6.99354642e-01 7.12468360e-01 5.73752721e-02 2.06124795e+02] [-7.10295817e-01 7.01701799e-01 -5.56276795e-02 -6.97065266e+01] [-7.98932932e-02 -1.84993990e-03 9.96801705e-01 -1.80774387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.17, Y:-69.75, Z:-18.08 [[ 6.98250243e-01 7.13551987e-01 5.73599155e-02 2.06169158e+02] [-7.11381787e-01 7.00599567e-01 -5.56435099e-02 -6.97512699e+01] [-7.98908690e-02 -1.95170484e-03 9.96801705e-01 -1.80807964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.21, Y:-69.80, Z:-18.09 [[ 6.97249992e-01 7.14530705e-01 5.73438743e-02 2.06211536e+02] [-7.12362445e-01 6.99601106e-01 -5.56600363e-02 -6.97957501e+01] [-7.98886429e-02 -2.04066263e-03 9.96801706e-01 -1.80855908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.25, Y:-69.84, Z:-18.09 [[ 6.96369129e-01 7.15390394e-01 5.73290584e-02 2.06254681e+02] [-7.13223782e-01 6.98721761e-01 -5.56752924e-02 -6.98405102e+01] [-7.98866300e-02 -2.11789292e-03 9.96801706e-01 -1.80910296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.30, Y:-69.89, Z:-18.10 [[ 6.94084188e-01 7.17608656e-01 5.73145395e-02 2.06297124e+02] [-7.15448330e-01 6.96442593e-01 -5.56902348e-02 -6.98862142e+01] [-7.98800811e-02 -2.35188015e-03 9.96801706e-01 -1.80952485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.34, Y:-69.93, Z:-18.10 [[ 6.92345496e-01 7.19287384e-01 5.73007280e-02 2.06339044e+02] [-7.17131601e-01 6.94708055e-01 -5.57044421e-02 -6.99317026e+01] [-7.98747797e-02 -2.52544327e-03 9.96801706e-01 -1.81001868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:-69.98, Z:-18.11 [[ 6.92646753e-01 7.18998453e-01 5.72861242e-02 2.06379997e+02] [-7.16840445e-01 6.95007280e-01 -5.57194565e-02 -6.99765148e+01] [-7.98764764e-02 -2.47111014e-03 9.96801707e-01 -1.81052632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.42, Y:-70.02, Z:-18.11 [[ 6.94707950e-01 7.17008081e-01 5.72736945e-02 2.06421716e+02] [-7.14842257e-01 6.97061307e-01 -5.57322301e-02 -7.00219655e+01] [-7.98837357e-02 -2.22403370e-03 9.96801707e-01 -1.81087406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.46, Y:-70.07, Z:-18.11 [[ 7.01169621e-01 7.10691547e-01 5.72598258e-02 2.06462203e+02] [-7.08503351e-01 7.03502191e-01 -5.57464753e-02 -7.00697056e+01] [-7.99009616e-02 -1.48104347e-03 9.96801707e-01 -1.81128976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.50, Y:-70.12, Z:-18.12 [[ 7.06697709e-01 7.05195881e-01 5.72461144e-02 2.06503889e+02] [-7.02988402e-01 7.09012036e-01 -5.57605519e-02 -7.01163390e+01] [-7.99102957e-02 -8.37500196e-04 9.96801707e-01 -1.81175403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:-70.16, Z:-18.12 [[ 7.14155706e-01 6.97643385e-01 5.72305407e-02 2.06544792e+02] [-6.95410147e-01 7.16445187e-01 -5.57765317e-02 -7.01639485e+01] [-7.99146738e-02 3.44296313e-05 9.96801707e-01 -1.81231250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:-70.21, Z:-18.13 [[ 7.17790157e-01 6.93904716e-01 5.72148278e-02 2.06587705e+02] [-6.91658268e-01 7.20066678e-01 -5.57926452e-02 -7.02099657e+01] [-7.99132706e-02 4.74302842e-04 9.96801708e-01 -1.81293814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.63, Y:-70.26, Z:-18.14 [[ 7.22573255e-01 6.88923894e-01 5.71992902e-02 2.06629616e+02] [-6.86660496e-01 7.24832924e-01 -5.58085700e-02 -7.02560667e+01] [-7.99077861e-02 1.04928717e-03 9.96801708e-01 -1.81362247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.67, Y:-70.30, Z:-18.14 [[ 7.25315376e-01 6.86037695e-01 5.71829196e-02 2.06670773e+02] [-6.83763985e-01 7.27564667e-01 -5.58253387e-02 -7.03018732e+01] [-7.99025586e-02 1.39135559e-03 9.96801708e-01 -1.81397133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:-70.35, Z:-18.15 [[ 7.26722949e-01 6.84547311e-01 5.71728443e-02 2.06713696e+02] [-6.82268177e-01 7.28966745e-01 -5.58356553e-02 -7.03455513e+01] [-7.98992499e-02 1.56983988e-03 9.96801708e-01 -1.81466500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:-70.39, Z:-18.15 [[ 7.25208231e-01 6.86152865e-01 5.71600253e-02 2.06756957e+02] [-6.83877665e-01 7.27456015e-01 -5.58487753e-02 -7.03914390e+01] [-7.99022014e-02 1.41152695e-03 9.96801708e-01 -1.81498698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.80, Y:-70.44, Z:-18.16 [[ 7.23001215e-01 6.88479322e-01 5.71442592e-02 2.06801976e+02] [-6.86210082e-01 7.25255015e-01 -5.58649025e-02 -7.04353783e+01] [-7.99059908e-02 1.17742555e-03 9.96801709e-01 -1.81585666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.85, Y:-70.48, Z:-18.16 [[ 7.16547920e-01 6.95194510e-01 5.71285596e-02 2.06846987e+02] [-6.92945114e-01 7.18821527e-01 -5.58809526e-02 -7.04783623e+01] [-7.99133699e-02 4.54424032e-04 9.96801709e-01 -1.81623034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.89, Y:-70.52, Z:-18.17 [[ 7.12420395e-01 6.99424803e-01 5.71150176e-02 2.06892260e+02] [-6.97187800e-01 7.14706195e-01 -5.58947903e-02 -7.05214656e+01] [-7.99146596e-02 6.95196908e-07 9.96801709e-01 -1.81669963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.94, Y:-70.57, Z:-18.17 [[ 7.07979747e-01 7.03920706e-01 5.70991921e-02 2.06937368e+02] [-7.01696914e-01 7.10278401e-01 -5.59109521e-02 -7.05653554e+01] [-7.99131998e-02 -4.82505133e-04 9.96801709e-01 -1.81712090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:206.98, Y:-70.61, Z:-18.18 [[ 7.06144673e-01 7.05762844e-01 5.70833496e-02 2.06981217e+02] [-7.03543740e-01 7.08447854e-01 -5.59271222e-02 -7.06094498e+01] [-7.99118613e-02 -6.67993857e-04 9.96801710e-01 -1.81782018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:-70.65, Z:-18.18 [[ 7.03937880e-01 7.07964594e-01 5.70753474e-02 2.07026290e+02] [-7.05752032e-01 7.06247345e-01 -5.59352875e-02 -7.06537346e+01] [-7.99095157e-02 -9.06074778e-04 9.96801710e-01 -1.81799280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.07, Y:-70.70, Z:-18.19 [[ 7.03250646e-01 7.08648645e-01 5.70581014e-02 2.07069301e+02] [-7.06436903e-01 7.05560896e-01 -5.59528742e-02 -7.06969257e+01] [-7.99088936e-02 -9.59053459e-04 9.96801710e-01 -1.81871286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.11, Y:-70.74, Z:-18.19 [[ 7.04277176e-01 7.07629502e-01 5.70451306e-02 2.07112137e+02] [-7.05413346e-01 7.06583192e-01 -5.59660951e-02 -7.07409059e+01] [-7.99103905e-02 -8.24753064e-04 9.96801710e-01 -1.81931223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:-70.79, Z:-18.20 [[ 7.08338307e-01 7.03565408e-01 5.70312132e-02 2.07154208e+02] [-7.01334879e-01 7.10630422e-01 -5.59802738e-02 -7.07869151e+01] [-7.99138993e-02 -3.45006695e-04 9.96801710e-01 -1.81992328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:-70.83, Z:-18.20 [[ 7.11856442e-01 7.00006733e-01 5.70173672e-02 2.07197146e+02] [-6.97763614e-01 7.14136240e-01 -5.59943727e-02 -7.08332733e+01] [-7.99146061e-02 7.53107021e-05 9.96801711e-01 -1.82040454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.24, Y:-70.88, Z:-18.21 [[ 7.17498915e-01 6.94223407e-01 5.70014826e-02 2.07239058e+02] [-6.91960629e-01 7.19759201e-01 -5.60105385e-02 -7.08802397e+01] [-7.99111684e-02 7.44718816e-04 9.96801711e-01 -1.82083796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.28, Y:-70.93, Z:-18.21 [[ 7.21185689e-01 6.90393955e-01 5.69858636e-02 2.07281214e+02] [-6.88117922e-01 7.23432627e-01 -5.60264249e-02 -7.09276763e+01] [-7.99057381e-02 1.19246183e-03 9.96801711e-01 -1.82113353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.32, Y:-70.97, Z:-18.21 [[ 7.22245100e-01 6.89286885e-01 5.69702119e-02 2.07324335e+02] [-6.87006154e-01 7.24487268e-01 -5.60423358e-02 -7.09728631e+01] [-7.99034402e-02 1.33741634e-03 9.96801711e-01 -1.82146270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.37, Y:-71.02, Z:-18.22 [[ 7.21048663e-01 6.90539677e-01 5.69542015e-02 2.07368059e+02] [-6.88261557e-01 7.23293483e-01 -5.60586020e-02 -7.10167644e+01] [-7.99052917e-02 1.22159258e-03 9.96801712e-01 -1.82195747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:-71.06, Z:-18.22 [[ 7.17118287e-01 6.94621267e-01 5.69443417e-02 2.07412671e+02] [-6.92355130e-01 7.19375204e-01 -5.60686159e-02 -7.10601557e+01] [-7.99108004e-02 7.82122670e-04 9.96801712e-01 -1.82244956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.46, Y:-71.10, Z:-18.23 [[ 7.11847447e-01 7.00023102e-01 5.69286269e-02 2.07458642e+02] [-6.97772818e-01 7.14120169e-01 -5.60845672e-02 -7.11022612e+01] [-7.99143734e-02 2.00407524e-04 9.96801712e-01 -1.82303041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:-71.15, Z:-18.24 [[ 7.09743976e-01 7.02156953e-01 5.69131184e-02 2.07503481e+02] [-6.99912239e-01 7.12022200e-01 -5.61003004e-02 -7.11451611e+01] [-7.99146197e-02 -1.73378750e-05 9.96801712e-01 -1.82354141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.55, Y:-71.19, Z:-18.23 [[ 7.04569382e-01 7.07350295e-01 5.68994360e-02 2.07546765e+02] [-7.05121253e-01 7.06862941e-01 -5.61141743e-02 -7.11891062e+01] [-7.99124804e-02 -5.84672458e-04 9.96801712e-01 -1.82334087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.59, Y:-71.23, Z:-18.25 [[ 7.02832283e-01 7.09077320e-01 5.68870527e-02 2.07592674e+02] [-7.06852898e-01 7.05130323e-01 -5.61267253e-02 -7.12282549e+01] [-7.99109738e-02 -7.63103615e-04 9.96801712e-01 -1.82456767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.64, Y:-71.27, Z:-18.25 [[ 7.00645086e-01 7.11239011e-01 5.68817341e-02 2.07638295e+02] [-7.09021241e-01 7.02949547e-01 -5.61321150e-02 -7.12707694e+01] [-7.99083392e-02 -1.00166716e-03 9.96801712e-01 -1.82494746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:-71.31, Z:-18.25 [[ 6.99658346e-01 7.12210976e-01 5.68658454e-02 2.07683576e+02] [-7.09995099e-01 7.01964627e-01 -5.61482067e-02 -7.13139163e+01] [-7.99071811e-02 -1.08991010e-03 9.96801713e-01 -1.82537918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:-71.36, Z:-18.26 [[ 6.97839285e-01 7.13994697e-01 5.68498404e-02 2.07728472e+02] [-7.11783396e-01 7.00149953e-01 -5.61644071e-02 -7.13565849e+01] [-7.99045020e-02 -1.27104281e-03 9.96801713e-01 -1.82585208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.77, Y:-71.40, Z:-18.26 [[ 6.96046880e-01 7.15743273e-01 5.68358073e-02 2.07773702e+02] [-7.13536617e-01 6.98361984e-01 -5.61786044e-02 -7.13991034e+01] [-7.99014253e-02 -1.45148732e-03 9.96801713e-01 -1.82646937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.82, Y:-71.44, Z:-18.27 [[ 6.94670782e-01 7.17080039e-01 5.68218433e-02 2.07818697e+02] [-7.14876684e-01 6.96989028e-01 -5.61927247e-02 -7.14415699e+01] [-7.98988826e-02 -1.58516686e-03 9.96801713e-01 -1.82698106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:-71.49, Z:-18.28 [[ 6.94861637e-01 7.16896211e-01 5.68078158e-02 2.07862134e+02] [-7.14691084e-01 6.97178197e-01 -5.62069022e-02 -7.14851758e+01] [-7.98996859e-02 -1.54401941e-03 9.96801714e-01 -1.82752979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.91, Y:-71.53, Z:-18.28 [[ 6.96288127e-01 7.15511983e-01 5.67930109e-02 2.07905204e+02] [-7.13301031e-01 6.98599128e-01 -5.62218576e-02 -7.15305604e+01] [-7.99029607e-02 -1.36390132e-03 9.96801714e-01 -1.82788315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.95, Y:-71.57, Z:-18.28 [[ 6.97413633e-01 7.14416242e-01 5.67772627e-02 2.07948210e+02] [-7.12200365e-01 6.99719912e-01 -5.62377569e-02 -7.15747902e+01] [-7.99053482e-02 -1.21580889e-03 9.96801714e-01 -1.82836513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:-71.62, Z:-18.29 [[ 7.00125685e-01 7.11759417e-01 5.67675789e-02 2.07991251e+02] [-7.09533995e-01 7.02422754e-01 -5.62475303e-02 -7.16190599e+01] [-7.99095485e-02 -8.98186355e-04 9.96801714e-01 -1.82870796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.03, Y:-71.66, Z:-18.29 [[ 7.03118115e-01 7.08804571e-01 5.67538150e-02 2.08032956e+02] [-7.06568374e-01 7.05404696e-01 -5.62614147e-02 -7.16628465e+01] [-7.99127555e-02 -5.42030905e-04 9.96801714e-01 -1.82911734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.08, Y:-71.71, Z:-18.30 [[ 7.04519602e-01 7.07412432e-01 5.67431224e-02 2.08076828e+02] [-7.05170848e-01 7.06800902e-01 -5.62721968e-02 -7.17072199e+01] [-7.99137416e-02 -3.68730048e-04 9.96801714e-01 -1.82952092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.12, Y:-71.75, Z:-18.30 [[ 7.04967833e-01 7.06967024e-01 5.67272543e-02 2.08121359e+02] [-7.04722712e-01 7.07246449e-01 -5.62881886e-02 -7.17501666e+01] [-7.99140424e-02 -2.95622078e-04 9.96801715e-01 -1.83020648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:-71.79, Z:-18.31 [[ 7.05551196e-01 7.06385941e-01 5.67134313e-02 2.08166367e+02] [-7.04138632e-01 7.07826857e-01 -5.63021126e-02 -7.17929777e+01] [-7.99143106e-02 -2.10095091e-04 9.96801715e-01 -1.83094070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:-71.84, Z:-18.32 [[ 7.07118161e-01 7.04818466e-01 5.66995307e-02 2.08210994e+02] [-7.02564990e-01 7.09387715e-01 -5.63161079e-02 -7.18369187e+01] [-7.99145833e-02 -1.29625527e-05 9.96801715e-01 -1.83151117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.26, Y:-71.88, Z:-18.32 [[ 7.10203989e-01 7.01710220e-01 5.66838719e-02 2.08255102e+02] [-6.99445554e-01 7.12462376e-01 -5.63318645e-02 -7.18809281e+01] [-7.99137712e-02 3.59832687e-04 9.96801715e-01 -1.83182941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:-71.92, Z:-18.32 [[ 7.13349290e-01 6.98513634e-01 5.66700352e-02 2.08298636e+02] [-6.96237743e-01 7.15596365e-01 -5.63457809e-02 -7.19243440e+01] [-7.99111674e-02 7.38405415e-04 9.96801716e-01 -1.83225365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.34, Y:-71.97, Z:-18.33 [[ 7.15589917e-01 6.96218660e-01 5.66625815e-02 2.08342682e+02] [-6.93934970e-01 7.17829064e-01 -5.63532755e-02 -7.19680459e+01] [-7.99082499e-02 1.00568888e-03 9.96801716e-01 -1.83257909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.38, Y:-72.01, Z:-18.32 [[ 7.14294857e-01 6.97548418e-01 5.66485774e-02 2.08383813e+02] [-6.95267781e-01 7.16537114e-01 -5.63673496e-02 -7.20146353e+01] [-7.99097637e-02 8.76977278e-04 9.96801716e-01 -1.83213263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters Centerline goodness : 0.997823 with order 1 Centerline is valid? [True, True] Translation: X:209.00, Y:-71.55, Z:-17.38 [[ 7.50065565e-01 6.58933983e-01 5.66361606e-02 2.08998189e+02] [-6.56537408e-01 7.52183453e-01 -5.63798228e-02 -7.15501230e+01] [-7.97513641e-02 5.10480552e-03 9.96801716e-01 -1.73842026e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:-71.59, Z:-17.38 [[ 7.49462535e-01 6.59385979e-01 5.92961995e-02 2.09042381e+02] [-6.57218688e-01 7.51803818e-01 -5.34285958e-02 -7.15937789e+01] [-7.98091761e-02 1.07216039e-03 9.96809584e-01 -1.73848145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:209.63, Y:-71.11, Z:-16.45 [[ 7.82286424e-01 6.20091839e-01 5.92795211e-02 2.09631005e+02] [-6.17805964e-01 7.84512077e-01 -5.34470942e-02 -7.11057036e+01] [-7.96476072e-02 5.18769457e-03 9.96809584e-01 -1.64462382e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:-71.14, Z:-16.44 [[ 7.80317556e-01 6.22312626e-01 6.18991696e-02 2.09679716e+02] [-6.20283529e-01 7.82768401e-01 -5.02192660e-02 -7.11443901e+01] [-7.97047973e-02 7.91939564e-04 9.96818197e-01 -1.64424494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:209.73, Y:-71.18, Z:-16.45 [[ 7.78276081e-01 6.24865330e-01 6.18842525e-02 2.09728193e+02] [-6.22842811e-01 7.80732356e-01 -5.02376414e-02 -7.11817881e+01] [-7.97067986e-02 5.54592832e-04 9.96818197e-01 -1.64548555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:209.78, Y:-71.22, Z:-16.46 [[ 7.75016998e-01 6.28903744e-01 6.18767552e-02 2.09778809e+02] [-6.26893288e-01 7.77483156e-01 -5.02468740e-02 -7.12173970e+01] [-7.97085821e-02 1.52058929e-04 9.96818197e-01 -1.64577246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:209.83, Y:-71.25, Z:-16.47 [[ 7.73315509e-01 6.30996240e-01 6.18616921e-02 2.09829635e+02] [-6.28990974e-01 7.75785888e-01 -5.02654122e-02 -7.12529564e+01] [-7.97087138e-02 -3.94231282e-05 9.96818198e-01 -1.64665778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.37, Y:-70.76, Z:-15.52 [[ 8.20590682e-01 5.68160099e-01 6.18468652e-02 2.10371258e+02] [-5.65965219e-01 8.22894237e-01 -5.02836487e-02 -7.07598504e+01] [-7.94625918e-02 6.25911900e-03 9.96818198e-01 -1.55227964e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:-70.80, Z:-15.52 [[ 8.19431493e-01 5.69430313e-01 6.54304737e-02 2.10421925e+02] [-5.67642665e-01 8.22039585e-01 -4.50857449e-02 -7.07975422e+01] [-7.94596293e-02 -1.96449221e-04 9.96838065e-01 -1.55225731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:-70.83, Z:-15.53 [[ 8.17180533e-01 5.72657477e-01 6.54170515e-02 2.10474722e+02] [-5.70878570e-01 8.19794595e-01 -4.51052115e-02 -7.08321989e+01] [-7.94583818e-02 -4.86092040e-04 9.96838066e-01 -1.55276218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:-70.86, Z:-15.54 [[ 8.15171033e-01 5.75515903e-01 6.54036044e-02 2.10526671e+02] [-5.73744599e-01 8.17790252e-01 -4.51247017e-02 -7.08636576e+01] [-7.94564136e-02 -7.40615013e-04 9.96838066e-01 -1.55351994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:-70.90, Z:-15.54 [[ 8.13964700e-01 5.77221505e-01 6.53972625e-02 2.10578735e+02] [-5.75454950e-01 8.16587125e-01 -4.51338909e-02 -7.08988725e+01] [-7.94548149e-02 -8.95784507e-04 9.96838066e-01 -1.55402503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.63, Y:-70.93, Z:-15.55 [[ 8.10742302e-01 5.81740356e-01 6.53840739e-02 2.10630579e+02] [-5.79986877e-01 8.13373487e-01 -4.51529888e-02 -7.09333160e+01] [-7.94489880e-02 -1.31446673e-03 9.96838066e-01 -1.55492097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.68, Y:-70.97, Z:-15.56 [[ 8.09438104e-01 5.83555178e-01 6.53705601e-02 2.10682759e+02] [-5.81806019e-01 8.12072163e-01 -4.51725449e-02 -7.09677230e+01] [-7.94462847e-02 -1.46860620e-03 9.96838067e-01 -1.55572537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.73, Y:-71.00, Z:-15.56 [[ 8.08098675e-01 5.85410107e-01 6.53570055e-02 2.10732440e+02] [-5.83665409e-01 8.10735691e-01 -4.51921478e-02 -7.10028107e+01] [-7.94431970e-02 -1.62690862e-03 9.96838067e-01 -1.55597501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:-71.04, Z:-15.57 [[ 8.08138080e-01 5.85356918e-01 6.53461709e-02 2.10783648e+02] [-5.83610781e-01 8.10774143e-01 -4.52078088e-02 -7.10392671e+01] [-7.94436893e-02 -1.60257797e-03 9.96838067e-01 -1.55651633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.83, Y:-71.08, Z:-15.57 [[ 8.09699930e-01 5.83196000e-01 6.53333624e-02 2.10832301e+02] [-5.81441335e-01 8.12330324e-01 -4.52263118e-02 -7.10772051e+01] [-7.94480756e-02 -1.36777593e-03 9.96838067e-01 -1.55705037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.88, Y:-71.12, Z:-15.57 [[ 8.11685699e-01 5.80430380e-01 6.53215122e-02 2.10882009e+02] [-5.78665375e-01 8.14309165e-01 -4.52434208e-02 -7.11159817e+01] [-7.94525621e-02 -1.07585968e-03 9.96838068e-01 -1.55746268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.93, Y:-71.16, Z:-15.58 [[ 8.15425618e-01 5.75165951e-01 6.53084224e-02 2.10930581e+02] [-5.73382495e-01 8.18036575e-01 -4.52623080e-02 -7.11567731e+01] [-7.94580167e-02 -5.38660686e-04 9.96838068e-01 -1.55795868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:210.98, Y:-71.20, Z:-15.59 [[ 8.17926035e-01 5.71606077e-01 6.52954409e-02 2.10978541e+02] [-5.69809762e-01 8.20528162e-01 -4.52810274e-02 -7.11951283e+01] [-7.94596586e-02 -1.69448428e-04 9.96838068e-01 -1.55884674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.03, Y:-71.23, Z:-15.59 [[ 8.19868033e-01 5.68817630e-01 6.52909832e-02 2.11027481e+02] [-5.67011953e-01 8.22463672e-01 -4.52874541e-02 -7.12340192e+01] [-7.94597641e-02 1.08968020e-04 9.96838068e-01 -1.55892679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:-71.27, Z:-15.60 [[ 8.22080407e-01 5.65617043e-01 6.52776042e-02 2.11077138e+02] [-5.63799729e-01 8.24667912e-01 -4.53067305e-02 -7.12723740e+01] [-7.94586045e-02 4.42279891e-04 9.96838068e-01 -1.55980141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:-71.31, Z:-15.60 [[ 8.22202259e-01 5.65441439e-01 6.52642605e-02 2.11126507e+02] [-5.63622048e-01 8.24788304e-01 -4.53259439e-02 -7.13100755e+01] [-7.94583657e-02 4.82717321e-04 9.96838069e-01 -1.56008132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:-71.35, Z:-15.61 [[ 8.23375813e-01 5.63732607e-01 6.52519618e-02 2.11175727e+02] [-5.61906447e-01 8.25957081e-01 -4.53436426e-02 -7.13484195e+01] [-7.94570097e-02 6.69360569e-04 9.96838069e-01 -1.56069383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:-71.39, Z:-15.61 [[ 8.23519388e-01 5.63524356e-01 6.52389247e-02 2.11225899e+02] [-5.61696057e-01 8.26099142e-01 -4.53623922e-02 -7.13862123e+01] [-7.94566326e-02 7.12362742e-04 9.96838069e-01 -1.56126352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.28, Y:-71.42, Z:-15.62 [[ 8.21694657e-01 5.66183299e-01 6.52254738e-02 2.11275307e+02] [-5.64361814e-01 8.24279226e-01 -4.53817247e-02 -7.14238061e+01] [-7.94583777e-02 4.79154000e-04 9.96838069e-01 -1.56175495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.32, Y:-71.46, Z:-15.62 [[ 8.18576188e-01 5.70683574e-01 6.52172035e-02 2.11324261e+02] [-5.68875351e-01 8.21170053e-01 -4.53936067e-02 -7.14629049e+01] [-7.94598001e-02 5.76659999e-05 9.96838070e-01 -1.56205925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:-71.50, Z:-15.63 [[ 8.15822209e-01 5.74614156e-01 6.52126825e-02 2.11374324e+02] [-5.72817912e-01 8.18424383e-01 -4.54001006e-02 -7.14967846e+01] [-7.94591900e-02 -3.16582221e-04 9.96838070e-01 -1.56269368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.42, Y:-71.54, Z:-15.63 [[ 8.11373647e-01 5.80880058e-01 6.52009433e-02 2.11423107e+02] [-5.79102553e-01 8.13988657e-01 -4.54169536e-02 -7.15360780e+01] [-7.94546309e-02 -9.07913423e-04 9.96838070e-01 -1.56283018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.47, Y:-71.57, Z:-15.64 [[ 8.10507064e-01 5.82089885e-01 6.51894621e-02 2.11473438e+02] [-5.80314958e-01 8.13123824e-01 -4.54334273e-02 -7.15689772e+01] [-7.94534431e-02 -1.00630617e-03 9.96838070e-01 -1.56366957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.52, Y:-71.61, Z:-15.64 [[ 8.08188330e-01 5.85305643e-01 6.51838029e-02 2.11524779e+02] [-5.83540472e-01 8.10811682e-01 -4.54415451e-02 -7.16053275e+01] [-7.94489816e-02 -1.31206063e-03 9.96838070e-01 -1.56412243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.58, Y:-71.64, Z:-15.65 [[ 8.07555717e-01 5.86179598e-01 6.51708695e-02 2.11576299e+02] [-5.84415771e-01 8.10179972e-01 -4.54600863e-02 -7.16413622e+01] [-7.94479083e-02 -1.37533138e-03 9.96838070e-01 -1.56461253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.63, Y:-71.68, Z:-15.65 [[ 8.07712458e-01 5.85965025e-01 6.51580790e-02 2.11627617e+02] [-5.84199023e-01 8.10335249e-01 -4.54784116e-02 -7.16768436e+01] [-7.94486467e-02 -1.33180643e-03 9.96838071e-01 -1.56515377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.68, Y:-71.71, Z:-15.66 [[ 8.08123677e-01 5.85399202e-01 6.51452080e-02 2.11679313e+02] [-5.83629878e-01 8.10744228e-01 -4.54968410e-02 -7.17116685e+01] [-7.94499158e-02 -1.25361535e-03 9.96838071e-01 -1.56572520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:-71.75, Z:-15.66 [[ 8.08183576e-01 5.85317945e-01 6.51322557e-02 2.11729607e+02] [-5.83546865e-01 8.10802940e-01 -4.55153758e-02 -7.17481000e+01] [-7.94503906e-02 -1.22294445e-03 9.96838071e-01 -1.56638036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.78, Y:-71.78, Z:-15.67 [[ 8.09020991e-01 5.84160483e-01 6.51273100e-02 2.11781424e+02] [-5.82385085e-01 8.11637431e-01 -4.55224514e-02 -7.17823373e+01] [-7.94521798e-02 -1.10055519e-03 9.96838071e-01 -1.56699164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.83, Y:-71.82, Z:-15.68 [[ 8.09675994e-01 5.83253935e-01 6.51124625e-02 2.11833029e+02] [-5.81473901e-01 8.12289281e-01 -4.55436785e-02 -7.18181353e+01] [-7.94536850e-02 -9.85574398e-04 9.96838071e-01 -1.56755744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.88, Y:-71.85, Z:-15.68 [[ 8.09832316e-01 5.83038262e-01 6.50999708e-02 2.11883397e+02] [-5.81256097e-01 8.12444150e-01 -4.55615271e-02 -7.18549786e+01] [-7.94542040e-02 -9.42557911e-04 9.96838072e-01 -1.56797627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.94, Y:-71.89, Z:-15.68 [[ 8.12067265e-01 5.79921830e-01 6.50955295e-02 2.11936168e+02] [-5.78129132e-01 8.14671882e-01 -4.55678717e-02 -7.18889542e+01] [-7.94573011e-02 -6.29445039e-04 9.96838072e-01 -1.56839624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.99, Y:-71.93, Z:-15.69 [[ 8.13791515e-01 5.77501338e-01 6.50812984e-02 2.11987314e+02] [-5.75699268e-01 8.16389655e-01 -4.55881880e-02 -7.19258810e+01] [-7.94589383e-02 -3.67975276e-04 9.96838072e-01 -1.56881842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:-71.96, Z:-15.69 [[ 8.14801306e-01 5.76077183e-01 6.50685138e-02 2.12038691e+02] [-5.74269115e-01 8.17395276e-01 -4.56064283e-02 -7.19620427e+01] [-7.94595185e-02 -2.06660493e-04 9.96838072e-01 -1.56923498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:-72.00, Z:-15.70 [[ 8.15932539e-01 5.74475304e-01 6.50554870e-02 2.12089585e+02] [-5.72660663e-01 8.18521915e-01 -4.56250029e-02 -7.19970200e+01] [-7.94597792e-02 -2.77938482e-05 9.96838072e-01 -1.56980779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.14, Y:-72.03, Z:-15.70 [[ 8.15950446e-01 5.74451233e-01 6.50434447e-02 2.12140842e+02] [-5.72635148e-01 8.18538808e-01 -4.56421640e-02 -7.20332302e+01] [-7.94597812e-02 -4.41847266e-06 9.96838073e-01 -1.57031700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.19, Y:-72.07, Z:-15.71 [[ 8.16167714e-01 5.74143942e-01 6.50307299e-02 2.12191582e+02] [-5.72325439e-01 8.18754378e-01 -4.56602729e-02 -7.20696345e+01] [-7.94597639e-02 4.76995299e-05 9.96838073e-01 -1.57090898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.24, Y:-72.11, Z:-15.71 [[ 8.15539812e-01 5.75036174e-01 6.50247168e-02 2.12241514e+02] [-5.73219818e-01 8.18127984e-01 -4.56688346e-02 -7.21051050e+01] [-7.94597723e-02 -2.87035519e-05 9.96838073e-01 -1.57138881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:-72.14, Z:-15.72 [[ 8.14356480e-01 5.76712216e-01 6.50118647e-02 2.12293482e+02] [-5.74899727e-01 8.16947361e-01 -4.56871229e-02 -7.21398800e+01] [-7.94595932e-02 -1.69698641e-04 9.96838073e-01 -1.57205206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.34, Y:-72.18, Z:-15.73 [[ 8.13630719e-01 5.77737107e-01 6.49991435e-02 2.12344784e+02] [-5.75926436e-01 8.16222870e-01 -4.57052142e-02 -7.21758950e+01] [-7.94593857e-02 -2.47558735e-04 9.96838073e-01 -1.57267781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.39, Y:-72.21, Z:-15.73 [[ 8.14461175e-01 5.76567238e-01 6.49862714e-02 2.12394564e+02] [-5.74751383e-01 8.17049698e-01 -4.57235092e-02 -7.22115455e+01] [-7.94596908e-02 -1.10926391e-04 9.96838074e-01 -1.57333372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.45, Y:-72.25, Z:-15.74 [[ 8.16179012e-01 5.74134080e-01 6.49759883e-02 2.12445286e+02] [-5.72309346e-01 8.18761282e-01 -4.57381175e-02 -7.22479927e+01] [-7.94596355e-02 1.44126187e-04 9.96838074e-01 -1.57373649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.50, Y:-72.28, Z:-15.74 [[ 8.19626773e-01 5.69202721e-01 6.49631819e-02 2.12495675e+02] [-5.67361010e-01 8.22196963e-01 -4.57562996e-02 -7.22838181e+01] [-7.94571411e-02 6.45511687e-04 9.96838074e-01 -1.57402573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.55, Y:-72.32, Z:-15.74 [[ 8.21691452e-01 5.66219397e-01 6.49519195e-02 2.12546663e+02] [-5.64367092e-01 8.24254017e-01 -4.57722812e-02 -7.23204247e+01] [-7.94540340e-02 9.53966333e-04 9.96838074e-01 -1.57440994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.60, Y:-72.36, Z:-15.75 [[ 8.25248680e-01 5.61023658e-01 6.49389829e-02 2.12597039e+02] [-5.59153778e-01 8.27798449e-01 -4.57906276e-02 -7.23559330e+01] [-7.94460147e-02 1.47777741e-03 9.96838075e-01 -1.57490427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:-72.39, Z:-15.76 [[ 8.28123788e-01 5.56771908e-01 6.49310035e-02 2.12647349e+02] [-5.54888052e-01 8.30663248e-01 -4.58019395e-02 -7.23900297e+01] [-7.94370316e-02 1.90023757e-03 9.96838075e-01 -1.57555633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.70, Y:-72.43, Z:-15.76 [[ 8.30191003e-01 5.53685997e-01 6.49208388e-02 2.12698840e+02] [-5.51791578e-01 8.32722593e-01 -4.58163428e-02 -7.24250825e+01] [-7.94289167e-02 2.21354356e-03 9.96838075e-01 -1.57614774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.75, Y:-72.46, Z:-15.77 [[ 8.33837822e-01 5.48180055e-01 6.49085137e-02 2.12750250e+02] [-5.46267568e-01 8.36355790e-01 -4.58337973e-02 -7.24591379e+01] [-7.94117847e-02 2.76053777e-03 9.96838075e-01 -1.57665090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.80, Y:-72.49, Z:-15.77 [[ 8.36480670e-01 5.44140103e-01 6.48971281e-02 2.12803232e+02] [-5.42214212e-01 8.38988399e-01 -4.58499128e-02 -7.24931627e+01] [-7.93967139e-02 3.16442059e-03 9.96838075e-01 -1.57708069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.85, Y:-72.53, Z:-15.77 [[ 8.35774897e-01 5.45225030e-01 6.48844197e-02 2.12854039e+02] [-5.43301001e-01 8.38284056e-01 -4.58678900e-02 -7.25291421e+01] [-7.93998963e-02 3.08346084e-03 9.96838075e-01 -1.57696335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.91, Y:-72.56, Z:-15.78 [[ 8.36158246e-01 5.44638314e-01 6.48729038e-02 2.12906286e+02] [-5.42711265e-01 8.38665086e-01 -4.58841717e-02 -7.25600235e+01] [-7.93969174e-02 3.15917294e-03 9.96838076e-01 -1.57811218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.96, Y:-72.59, Z:-15.79 [[ 8.33794583e-01 5.48250715e-01 6.48671468e-02 2.12960066e+02] [-5.46333897e-01 8.36309255e-01 -4.58923091e-02 -7.25917987e+01] [-7.94094864e-02 2.82563767e-03 9.96838076e-01 -1.57862052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.01, Y:-72.62, Z:-15.79 [[ 8.30227469e-01 5.53639109e-01 6.48543453e-02 2.13012921e+02] [-5.51737206e-01 8.32753440e-01 -4.59103928e-02 -7.26231381e+01] [-7.94254681e-02 2.33351402e-03 9.96838076e-01 -1.57916756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.07, Y:-72.66, Z:-15.80 [[ 8.27023265e-01 5.58415589e-01 6.48424949e-02 2.13066507e+02] [-5.56526967e-01 8.29559181e-01 -4.59271239e-02 -7.26568294e+01] [-7.94371089e-02 1.89620289e-03 9.96838076e-01 -1.57968574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.12, Y:-72.69, Z:-15.80 [[ 8.21420172e-01 5.66626846e-01 6.48299265e-02 2.13120048e+02] [-5.64762181e-01 8.23973755e-01 -4.59448584e-02 -7.26894499e+01] [-7.94517482e-02 1.12654271e-03 9.96838076e-01 -1.57954267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:213.17, Y:-72.72, Z:-15.81 [[ 8.18973472e-01 5.70158803e-01 6.48181500e-02 2.13172658e+02] [-5.68303837e-01 8.21534109e-01 -4.59614665e-02 -7.27184685e+01] [-7.94556558e-02 8.04818431e-04 9.96838077e-01 -1.58080696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.23, Y:-72.75, Z:-15.81 [[ 8.16786642e-01 5.73287925e-01 6.48115463e-02 2.13225273e+02] [-5.71442031e-01 8.19353826e-01 -4.59707768e-02 -7.27535691e+01] [-7.94580796e-02 5.12274754e-04 9.96838077e-01 -1.58117318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.28, Y:-72.79, Z:-15.82 [[ 8.11742257e-01 5.80409920e-01 6.47984057e-02 2.13278349e+02] [-5.78585072e-01 8.14324443e-01 -4.59892917e-02 -7.27867358e+01] [-7.94595668e-02 -1.59938769e-04 9.96838077e-01 -1.58164640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.33, Y:-72.82, Z:-15.82 [[ 8.07055527e-01 5.86910748e-01 6.47854188e-02 2.13330366e+02] [-5.85105230e-01 8.09651266e-01 -4.60075792e-02 -7.28200659e+01] [-7.94559391e-02 -7.75616314e-04 9.96838077e-01 -1.58226822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.38, Y:-72.85, Z:-15.83 [[ 8.00381072e-01 5.95982002e-01 6.47734044e-02 2.13382292e+02] [-5.94204527e-01 8.02996094e-01 -4.60244879e-02 -7.28519410e+01] [-7.94425571e-02 -1.65152124e-03 9.96838077e-01 -1.58294305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:-72.89, Z:-15.83 [[ 7.97163954e-01 6.00279359e-01 6.47635860e-02 2.13433629e+02] [-5.98514858e-01 7.99787747e-01 -4.60382998e-02 -7.28870695e+01] [-7.94329636e-02 -2.06189544e-03 9.96838078e-01 -1.58339307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.49, Y:-72.92, Z:-15.84 [[ 7.95025270e-01 6.03110217e-01 6.47524992e-02 2.13485786e+02] [-6.01353789e-01 7.97654474e-01 -4.60538880e-02 -7.29222901e+01] [-7.94256911e-02 -2.32515601e-03 9.96838078e-01 -1.58389319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.54, Y:-72.96, Z:-15.84 [[ 7.94825954e-01 6.03374232e-01 6.47397710e-02 2.13537433e+02] [-6.01617223e-01 7.97454769e-01 -4.60717737e-02 -7.29581212e+01] [-7.94255602e-02 -2.32951975e-03 9.96838078e-01 -1.58434304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:-73.00, Z:-15.85 [[ 7.96829491e-01 6.00727218e-01 6.47269056e-02 2.13588054e+02] [-5.98960008e-01 7.99451459e-01 -4.60898415e-02 -7.29957443e+01] [-7.94334413e-02 -2.04308296e-03 9.96838078e-01 -1.58470934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.64, Y:-73.03, Z:-15.85 [[ 7.99535744e-01 5.97122002e-01 6.47140503e-02 2.13637820e+02] [-5.95341508e-01 8.02148709e-01 -4.61078843e-02 -7.30335580e+01] [-7.94423241e-02 -1.66205866e-03 9.96838078e-01 -1.58508168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.69, Y:-73.07, Z:-15.86 [[ 8.04793843e-01 5.90017491e-01 6.47010776e-02 2.13686911e+02] [-5.88212462e-01 8.07389921e-01 -4.61260811e-02 -7.30723489e+01] [-7.94541926e-02 -9.35994072e-04 9.96838079e-01 -1.58553930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:-73.11, Z:-15.86 [[ 8.08854951e-01 5.84439141e-01 6.46881658e-02 2.13735700e+02] [-5.82614759e-01 8.11437464e-01 -4.61441818e-02 -7.31097821e+01] [-7.94588672e-02 -3.64330214e-04 9.96838079e-01 -1.58605353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.78, Y:-73.15, Z:-15.87 [[ 8.15604906e-01 5.74983147e-01 6.46762579e-02 2.13783925e+02] [-5.73127501e-01 8.18165046e-01 -4.61608661e-02 -7.31492173e+01] [-7.94575736e-02 5.81286847e-04 9.96838079e-01 -1.58652709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.83, Y:-73.19, Z:-15.87 [[ 8.17939835e-01 5.71658016e-01 6.46648168e-02 2.13834070e+02] [-5.69790696e-01 8.20491473e-01 -4.61768879e-02 -7.31868607e+01] [-7.94543190e-02 9.24505138e-04 9.96838079e-01 -1.58698104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.88, Y:-73.22, Z:-15.88 [[ 8.25369960e-01 5.60878435e-01 6.46514488e-02 2.13881081e+02] [-5.58976337e-01 8.27895779e-01 -4.61955967e-02 -7.32249371e+01] [-7.94347756e-02 1.98982778e-03 9.96838080e-01 -1.58757253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.93, Y:-73.26, Z:-15.88 [[ 8.30151654e-01 5.53777755e-01 6.46407806e-02 2.13930913e+02] [-5.51852900e-01 8.32660174e-01 -4.62105198e-02 -7.32632878e+01] [-7.94141615e-02 2.68953717e-03 9.96838080e-01 -1.58800861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:-73.30, Z:-15.88 [[ 8.36363508e-01 5.44352177e-01 6.46280956e-02 2.13979173e+02] [-5.42397704e-01 8.38849021e-01 -4.62282537e-02 -7.33017491e+01] [-7.93776652e-02 3.60949371e-03 9.96838080e-01 -1.58819849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:-73.34, Z:-15.89 [[ 8.38974007e-01 5.40321386e-01 6.46174487e-02 2.14029438e+02] [-5.38353834e-01 8.41449180e-01 -4.62431311e-02 -7.33396354e+01] [-7.93584519e-02 4.00973371e-03 9.96838080e-01 -1.58856115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.08, Y:-73.37, Z:-15.89 [[ 8.40606649e-01 5.37779449e-01 6.46043823e-02 2.14080494e+02] [-5.35803018e-01 8.43074736e-01 -4.62613784e-02 -7.33748085e+01] [-7.93447412e-02 4.27239926e-03 9.96838080e-01 -1.58892491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.13, Y:-73.41, Z:-15.90 [[ 8.39828691e-01 5.38994893e-01 6.45931411e-02 2.14132045e+02] [-5.37020833e-01 8.42298675e-01 -4.62770687e-02 -7.34088446e+01] [-7.93498209e-02 4.17694764e-03 9.96838081e-01 -1.58957613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.19, Y:-73.44, Z:-15.90 [[ 8.36834001e-01 5.43634089e-01 6.45819822e-02 2.14186068e+02] [-5.41672530e-01 8.39313924e-01 -4.62926363e-02 -7.34410631e+01] [-7.93708121e-02 3.75696638e-03 9.96838081e-01 -1.59025148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.24, Y:-73.47, Z:-15.91 [[ 8.34724440e-01 5.46869196e-01 6.45692852e-02 2.14239492e+02] [-5.44915885e-01 8.37210864e-01 -4.63103395e-02 -7.34744308e+01] [-7.93838052e-02 3.47154295e-03 9.96838081e-01 -1.59068453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.29, Y:-73.50, Z:-15.91 [[ 8.32887463e-01 5.49664398e-01 6.45563564e-02 2.14292662e+02] [-5.47718040e-01 8.35379334e-01 -4.63283553e-02 -7.35040599e+01] [-7.93940935e-02 3.22762528e-03 9.96838081e-01 -1.59117728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.35, Y:-73.54, Z:-15.92 [[ 8.32086555e-01 5.50876787e-01 6.45502169e-02 2.14347166e+02] [-5.48933398e-01 8.34580742e-01 -4.63369079e-02 -7.35351801e+01] [-7.93982949e-02 3.12254817e-03 9.96838081e-01 -1.59161318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:-73.57, Z:-15.92 [[ 8.31953840e-01 5.51078671e-01 6.45376348e-02 2.14401264e+02] [-5.49134532e-01 8.34447442e-01 -4.63544256e-02 -7.35674183e+01] [-7.93981995e-02 3.12489847e-03 9.96838082e-01 -1.59197729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.46, Y:-73.60, Z:-15.92 [[ 8.31489237e-01 5.51780964e-01 6.45245514e-02 2.14457042e+02] [-5.49837521e-01 8.33983381e-01 -4.63726304e-02 -7.35966407e+01] [-7.93999382e-02 3.08032369e-03 9.96838082e-01 -1.59247074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:-73.63, Z:-15.93 [[ 8.29559815e-01 5.54679011e-01 6.45113092e-02 2.14511715e+02] [-5.52742853e-01 8.32059619e-01 -4.63910450e-02 -7.36257067e+01] [-7.94093943e-02 2.82598157e-03 9.96838082e-01 -1.59302736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.57, Y:-73.66, Z:-15.94 [[ 8.26922415e-01 5.58604680e-01 6.44990812e-02 2.14565596e+02] [-5.56679069e-01 8.29430352e-01 -4.64080397e-02 -7.36574423e+01] [-7.94212438e-02 2.47055984e-03 9.96838082e-01 -1.59359167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.62, Y:-73.69, Z:-15.94 [[ 8.21783493e-01 5.66139061e-01 6.44860764e-02 2.14620987e+02] [-5.64235035e-01 8.24307856e-01 -4.64261035e-02 -7.36876831e+01] [-7.94400101e-02 1.76690197e-03 9.96838083e-01 -1.59422429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.67, Y:-73.72, Z:-15.95 [[ 8.18313825e-01 5.71144206e-01 6.44730917e-02 2.14673886e+02] [-5.69254204e-01 8.20848704e-01 -4.64441288e-02 -7.37206625e+01] [-7.94489488e-02 1.30429424e-03 9.96838083e-01 -1.59477442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.73, Y:-73.75, Z:-15.95 [[ 8.13995762e-01 5.77283094e-01 6.44602863e-02 2.14727997e+02] [-5.75410805e-01 8.16543751e-01 -4.64618948e-02 -7.37525297e+01] [-7.94563104e-02 7.28640271e-04 9.96838083e-01 -1.59522728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.78, Y:-73.78, Z:-15.96 [[ 8.12777579e-01 5.78998410e-01 6.44472568e-02 2.14780943e+02] [-5.77130065e-01 8.15328462e-01 -4.64799610e-02 -7.37847468e+01] [-7.94575063e-02 5.83420608e-04 9.96838083e-01 -1.59587058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:-73.82, Z:-15.96 [[ 8.09093675e-01 5.84136561e-01 6.44352651e-02 2.14832678e+02] [-5.82283092e-01 8.11655388e-01 -4.64965791e-02 -7.38195579e+01] [-7.94595819e-02 1.00522655e-04 9.96838084e-01 -1.59607573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.89, Y:-73.85, Z:-15.97 [[ 8.05816479e-01 5.88650604e-01 6.44225851e-02 2.14885270e+02] [-5.86810081e-01 8.08387508e-01 -4.65141411e-02 -7.38532579e+01] [-7.94589903e-02 -3.21961037e-04 9.96838084e-01 -1.59666504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.94, Y:-73.89, Z:-15.97 [[ 8.01470975e-01 5.94555030e-01 6.44095680e-02 2.14937200e+02] [-5.92731999e-01 8.04054436e-01 -4.65321594e-02 -7.38883203e+01] [-7.94547283e-02 -8.83436757e-04 9.96838084e-01 -1.59728590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:214.99, Y:-73.93, Z:-15.98 [[ 7.98291132e-01 5.98819121e-01 6.43966567e-02 2.14987670e+02] [-5.97008447e-01 8.00883268e-01 -4.65500207e-02 -7.39253051e+01] [-7.94492474e-02 -1.28487930e-03 9.96838084e-01 -1.59792321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:-73.96, Z:-15.98 [[ 7.97569956e-01 5.99780723e-01 6.43836025e-02 2.15038215e+02] [-5.97971719e-01 8.00163258e-01 -4.65680690e-02 -7.39630165e+01] [-7.94480233e-02 -1.35828066e-03 9.96838084e-01 -1.59845195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:-74.00, Z:-15.99 [[ 7.96819330e-01 6.00778977e-01 6.43706095e-02 2.15087288e+02] [-5.98971771e-01 7.99413885e-01 -4.65860223e-02 -7.40028533e+01] [-7.94466619e-02 -1.43553493e-03 9.96838085e-01 -1.59904633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.14, Y:-74.04, Z:-15.99 [[ 7.96859588e-01 6.00726960e-01 6.43577205e-02 2.15135713e+02] [-5.98918148e-01 7.99453023e-01 -4.66038215e-02 -7.40428866e+01] [-7.94471462e-02 -1.40830475e-03 9.96838085e-01 -1.59946583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.18, Y:-74.08, Z:-16.00 [[ 7.96875457e-01 6.00707362e-01 6.43441729e-02 2.15182305e+02] [-5.98896976e-01 7.99467793e-01 -4.66225186e-02 -7.40846164e+01] [-7.94475841e-02 -1.38318982e-03 9.96838085e-01 -1.59988222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.23, Y:-74.13, Z:-16.00 [[ 7.96516559e-01 6.01184058e-01 6.43358272e-02 2.15230590e+02] [-5.99374295e-01 7.99109330e-01 -4.66340324e-02 -7.41250887e+01] [-7.94469966e-02 -1.41646206e-03 9.96838085e-01 -1.60022108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.28, Y:-74.17, Z:-16.01 [[ 7.95570919e-01 6.02436346e-01 6.43223269e-02 2.15276851e+02] [-6.00629160e-01 7.98165486e-01 -4.66526459e-02 -7.41668655e+01] [-7.94451108e-02 -1.51837679e-03 9.96838086e-01 -1.60056720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.32, Y:-74.21, Z:-16.01 [[ 7.94536005e-01 6.03801935e-01 6.43098742e-02 2.15324580e+02] [-6.01997819e-01 7.97132709e-01 -4.66698054e-02 -7.42072000e+01] [-7.94428230e-02 -1.63356323e-03 9.96838086e-01 -1.60100312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:-74.25, Z:-16.02 [[ 7.92711960e-01 6.06196074e-01 6.42967162e-02 2.15371686e+02] [-6.04398332e-01 7.95313079e-01 -4.66879261e-02 -7.42488262e+01] [-7.94380569e-02 -1.85075061e-03 9.96838086e-01 -1.60156516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:-74.29, Z:-16.02 [[ 7.92155205e-01 6.06924834e-01 6.42835628e-02 2.15421460e+02] [-6.05128016e-01 7.94756963e-01 -4.67060297e-02 -7.42873849e+01] [-7.94368585e-02 -1.90136029e-03 9.96838086e-01 -1.60212646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.47, Y:-74.33, Z:-16.03 [[ 7.91707360e-01 6.07510288e-01 6.42705785e-02 2.15468255e+02] [-6.05713945e-01 7.94309445e-01 -4.67238903e-02 -7.43293727e+01] [-7.94359715e-02 -1.93793785e-03 9.96838087e-01 -1.60272962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:-74.37, Z:-16.03 [[ 7.94141053e-01 6.04326904e-01 6.42571530e-02 2.15513910e+02] [-6.02518636e-01 7.96734865e-01 -4.67423464e-02 -7.43727298e+01] [-7.94435716e-02 -1.59611606e-03 9.96838087e-01 -1.60330454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.56, Y:-74.41, Z:-16.04 [[ 7.96948944e-01 6.00620598e-01 6.42438922e-02 2.15560272e+02] [-5.98798798e-01 7.99533270e-01 -4.67605654e-02 -7.44140484e+01] [-7.94504879e-02 -1.20338214e-03 9.96838087e-01 -1.60389584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.61, Y:-74.46, Z:-16.04 [[ 8.02018745e-01 5.93834745e-01 6.42357222e-02 2.15605757e+02] [-5.91990177e-01 8.04586870e-01 -4.67717860e-02 -7.44582636e+01] [-7.94579302e-02 -5.15067414e-04 9.96838087e-01 -1.60427376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.65, Y:-74.50, Z:-16.05 [[ 8.05884062e-01 5.88579919e-01 6.42227195e-02 2.15651791e+02] [-5.86717182e-01 8.08439038e-01 -4.67896332e-02 -7.45016776e+01] [-7.94595921e-02 2.64466472e-05 9.96838087e-01 -1.60471174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.70, Y:-74.54, Z:-16.05 [[ 8.06950773e-01 5.87118019e-01 6.42096774e-02 2.15699734e+02] [-5.85249229e-01 8.09501325e-01 -4.68075241e-02 -7.45421705e+01] [-7.94593598e-02 1.92703548e-04 9.96838088e-01 -1.60520565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:-74.58, Z:-16.06 [[ 8.06389907e-01 5.87889558e-01 6.41964549e-02 2.15747124e+02] [-5.86021766e-01 8.08941189e-01 -4.68256518e-02 -7.45836089e+01] [-7.94594684e-02 1.39213152e-04 9.96838088e-01 -1.60572919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.80, Y:-74.62, Z:-16.06 [[ 8.04709739e-01 5.90188723e-01 6.41833823e-02 2.15795663e+02] [-5.88326792e-01 8.07265301e-01 -4.68435636e-02 -7.46230010e+01] [-7.94595604e-02 -6.53315613e-05 9.96838088e-01 -1.60628727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:-74.66, Z:-16.07 [[ 8.02042326e-01 5.93809967e-01 6.41703220e-02 2.15844176e+02] [-5.91958142e-01 8.04605221e-01 -4.68614479e-02 -7.46633235e+01] [-7.94585709e-02 -4.01279913e-04 9.96838088e-01 -1.60696164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:-74.70, Z:-16.08 [[ 8.00679695e-01 5.95647419e-01 6.41574553e-02 2.15893589e+02] [-5.93800065e-01 8.03245814e-01 -4.68790569e-02 -7.47023350e+01] [-7.94575966e-02 -5.61592197e-04 9.96838089e-01 -1.60755743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.94, Y:-74.74, Z:-16.08 [[ 7.99722816e-01 5.96932887e-01 6.41447200e-02 2.15941225e+02] [-5.95088261e-01 8.02290896e-01 -4.68964761e-02 -7.47430864e+01] [-7.94567738e-02 -6.67587925e-04 9.96838089e-01 -1.60793419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:-74.78, Z:-16.08 [[ 7.99786973e-01 5.96848367e-01 6.41313068e-02 2.15989126e+02] [-5.95001999e-01 8.02353801e-01 -4.69148117e-02 -7.47818316e+01] [-7.94570265e-02 -6.36400502e-04 9.96838089e-01 -1.60843136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.04, Y:-74.82, Z:-16.09 [[ 8.00040115e-01 5.96509892e-01 6.41230328e-02 2.16037741e+02] [-5.94661532e-01 8.02605508e-01 -4.69261179e-02 -7.48213365e+01] [-7.94573928e-02 -5.88724174e-04 9.96838089e-01 -1.60879761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.09, Y:-74.86, Z:-16.09 [[ 8.00389907e-01 5.96041884e-01 6.41098203e-02 2.16085993e+02] [-5.94190579e-01 8.02953175e-01 -4.69441617e-02 -7.48591230e+01] [-7.94578704e-02 -5.19818064e-04 9.96838089e-01 -1.60931930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.13, Y:-74.90, Z:-16.10 [[ 8.00803152e-01 5.95487875e-01 6.40976016e-02 2.16134685e+02] [-5.93633461e-01 8.03364172e-01 -4.69608392e-02 -7.48979245e+01] [-7.94583270e-02 -4.44092992e-04 9.96838090e-01 -1.60991886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.18, Y:-74.94, Z:-16.11 [[ 8.00966701e-01 5.95269121e-01 6.40860222e-02 2.16183840e+02] [-5.93412743e-01 8.03526298e-01 -4.69766360e-02 -7.49353630e+01] [-7.94585450e-02 -4.02741111e-04 9.96838090e-01 -1.61055704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.23, Y:-74.97, Z:-16.11 [[ 8.01395778e-01 5.94692656e-01 6.40737978e-02 2.16233391e+02] [-5.92833105e-01 8.03953070e-01 -4.69933035e-02 -7.49720246e+01] [-7.94588990e-02 -3.24833460e-04 9.96838090e-01 -1.61112894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:-75.01, Z:-16.12 [[ 8.01498959e-01 5.94554829e-01 6.40622697e-02 2.16284126e+02] [-5.92693583e-01 8.04055017e-01 -4.70090137e-02 -7.50085402e+01] [-7.94590255e-02 -2.91620677e-04 9.96838090e-01 -1.61164323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.34, Y:-75.04, Z:-16.12 [[ 8.02705370e-01 5.92926469e-01 6.40491317e-02 2.16336213e+02] [-5.91058609e-01 8.05256599e-01 -4.70269073e-02 -7.50437386e+01] [-7.94594841e-02 -1.08039601e-04 9.96838091e-01 -1.61208480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.39, Y:-75.08, Z:-16.12 [[ 8.06209484e-01 5.88154460e-01 6.40359262e-02 2.16386839e+02] [-5.86270071e-01 8.08748529e-01 -4.70448822e-02 -7.50802978e+01] [-7.94586184e-02 3.85683108e-04 9.96838091e-01 -1.61244397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.44, Y:-75.12, Z:-16.13 [[ 8.08943984e-01 5.84389189e-01 6.40227100e-02 2.16437901e+02] [-5.82491560e-01 8.11473148e-01 -4.70628611e-02 -7.51168350e+01] [-7.94557372e-02 7.78530193e-04 9.96838091e-01 -1.61289303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.49, Y:-75.15, Z:-16.13 [[ 8.11123687e-01 5.81361448e-01 6.40096265e-02 2.16489801e+02] [-5.79452975e-01 8.13644678e-01 -4.70806492e-02 -7.51520370e+01] [-7.94519663e-02 1.09766123e-03 9.96838091e-01 -1.61347441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.54, Y:-75.19, Z:-16.14 [[ 8.14994420e-01 5.75924053e-01 6.39967196e-02 2.16540565e+02] [-5.73997388e-01 8.17501535e-01 -4.70981869e-02 -7.51865344e+01] [-7.94423952e-02 1.65080965e-03 9.96838092e-01 -1.61409508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.59, Y:-75.22, Z:-16.15 [[ 8.17787960e-01 5.71951711e-01 6.39851038e-02 2.16592739e+02] [-5.70011636e-01 8.20284712e-01 -4.71139623e-02 -7.52215743e+01] [-7.94329138e-02 2.05697741e-03 9.96838092e-01 -1.61456907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.64, Y:-75.26, Z:-16.15 [[ 8.18468786e-01 5.70978517e-01 6.39717014e-02 2.16644611e+02] [-5.69034054e-01 8.20962122e-01 -4.71321532e-02 -7.52570684e+01] [-7.94297907e-02 2.17411972e-03 9.96838092e-01 -1.61498882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.70, Y:-75.29, Z:-16.15 [[ 8.18078597e-01 5.71538938e-01 6.39581956e-02 2.16696699e+02] [-5.69594752e-01 8.20572149e-01 -4.71504734e-02 -7.52928972e+01] [-7.94306455e-02 2.14254059e-03 9.96838092e-01 -1.61548960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.75, Y:-75.33, Z:-16.16 [[ 8.16362988e-01 5.73988262e-01 6.39448763e-02 2.16747193e+02] [-5.72050144e-01 8.18861259e-01 -4.71685300e-02 -7.53284664e+01] [-7.94361645e-02 1.92696642e-03 9.96838092e-01 -1.61613758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.80, Y:-75.36, Z:-16.17 [[ 8.12198980e-01 5.79866665e-01 6.39333129e-02 2.16797916e+02] [-5.77945400e-01 8.14710234e-01 -4.71841982e-02 -7.53629925e+01] [-7.94476680e-02 1.37299349e-03 9.96838093e-01 -1.61655652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.85, Y:-75.40, Z:-16.17 [[ 8.08510253e-01 5.85000047e-01 6.39227315e-02 2.16849775e+02] [-5.83093596e-01 8.11032772e-01 -4.71985290e-02 -7.53990135e+01] [-7.94545718e-02 8.87559324e-04 9.96838093e-01 -1.61688133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:-75.43, Z:-16.17 [[ 8.01700243e-01 5.94299828e-01 6.39095801e-02 2.16901930e+02] [-5.92421222e-01 8.04243567e-01 -4.72163300e-02 -7.54340378e+01] [-7.94595255e-02 -8.04824846e-06 9.96838093e-01 -1.61739981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:-75.47, Z:-16.18 [[ 7.94304436e-01 6.04150405e-01 6.38964127e-02 2.16953911e+02] [-6.02301903e-01 7.96869722e-01 -4.72341423e-02 -7.54695266e+01] [-7.94536429e-02 -9.66642201e-04 9.96838093e-01 -1.61793821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.00, Y:-75.51, Z:-16.18 [[ 7.91891894e-01 6.07310632e-01 6.38828928e-02 2.17004945e+02] [-6.05470892e-01 7.94463472e-01 -4.72524206e-02 -7.55057654e+01] [-7.94495222e-02 -1.26042326e-03 9.96838094e-01 -1.61849773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:-75.54, Z:-16.19 [[ 7.88308610e-01 6.11956062e-01 6.38695136e-02 2.17055547e+02] [-6.10130009e-01 7.90889924e-01 -4.72704981e-02 -7.55411196e+01] [-7.94412225e-02 -1.70496631e-03 9.96838094e-01 -1.61909558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:-75.58, Z:-16.20 [[ 7.85532245e-01 6.15516720e-01 6.38612545e-02 2.17106291e+02] [-6.13701460e-01 7.88121160e-01 -4.72816532e-02 -7.55772384e+01] [-7.94330541e-02 -2.05048194e-03 9.96838094e-01 -1.61953003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:-75.62, Z:-16.20 [[ 7.84760133e-01 6.16502125e-01 6.38487526e-02 2.17156321e+02] [-6.14688744e-01 7.87350365e-01 -4.72985297e-02 -7.56150936e+01] [-7.94309827e-02 -2.12910909e-03 9.96838094e-01 -1.62002933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.20, Y:-75.65, Z:-16.21 [[ 7.85003704e-01 6.16193338e-01 6.38353783e-02 2.17204932e+02] [-6.14377473e-01 7.87592193e-01 -4.73165732e-02 -7.56533362e+01] [-7.94324028e-02 -2.07533321e-03 9.96838094e-01 -1.62064966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.25, Y:-75.69, Z:-16.21 [[ 7.86782297e-01 6.13921973e-01 6.38234089e-02 2.17251796e+02] [-6.12097326e-01 7.89364604e-01 -4.73327128e-02 -7.56924570e+01] [-7.94385323e-02 -1.82559737e-03 9.96838095e-01 -1.62131658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.30, Y:-75.73, Z:-16.22 [[ 7.88460669e-01 6.11766083e-01 6.38124759e-02 2.17299003e+02] [-6.09933183e-01 7.91037124e-01 -4.73474477e-02 -7.57323321e+01] [-7.94436000e-02 -1.58974623e-03 9.96838095e-01 -1.62163106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.35, Y:-75.77, Z:-16.22 [[ 7.91114301e-01 6.08331849e-01 6.38006612e-02 2.17345272e+02] [-6.06486479e-01 7.93681840e-01 -4.73633626e-02 -7.57737676e+01] [-7.94500681e-02 -1.22440491e-03 9.96838095e-01 -1.62189655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.39, Y:-75.81, Z:-16.22 [[ 7.92334830e-01 6.06742529e-01 6.37888746e-02 2.17393629e+02] [-6.04890732e-01 7.94897736e-01 -4.73792315e-02 -7.58137206e+01] [-7.94526268e-02 -1.04508367e-03 9.96838095e-01 -1.62231990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:-75.85, Z:-16.23 [[ 7.91410352e-01 6.07949333e-01 6.37750948e-02 2.17441188e+02] [-6.06099950e-01 7.93975001e-01 -4.73977727e-02 -7.58536502e+01] [-7.94512752e-02 -1.14299378e-03 9.96838095e-01 -1.62283034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.49, Y:-75.89, Z:-16.23 [[ 7.88999190e-01 6.11076622e-01 6.37623713e-02 2.17490028e+02] [-6.09236021e-01 7.91570148e-01 -4.74148829e-02 -7.58915522e+01] [-7.94465162e-02 -1.43602917e-03 9.96838096e-01 -1.62341478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.54, Y:-75.93, Z:-16.24 [[ 7.86151285e-01 6.14737358e-01 6.37505958e-02 2.17540412e+02] [-6.12907444e-01 7.88729861e-01 -4.74307101e-02 -7.59268196e+01] [-7.94394280e-02 -1.78550101e-03 9.96838096e-01 -1.62398607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:-75.96, Z:-16.24 [[ 7.84964193e-01 6.16253658e-01 6.37388823e-02 2.17591666e+02] [-6.14427448e-01 7.87545393e-01 -4.74464459e-02 -7.59629727e+01] [-7.94363090e-02 -1.91915770e-03 9.96838096e-01 -1.62449183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.64, Y:-76.00, Z:-16.25 [[ 7.84580195e-01 6.16743840e-01 6.37256091e-02 2.17642189e+02] [-6.14917797e-01 7.87161513e-01 -4.74642666e-02 -7.59986070e+01] [-7.94356409e-02 -1.94648762e-03 9.96838096e-01 -1.62499522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.69, Y:-76.04, Z:-16.25 [[ 7.84278787e-01 6.17128343e-01 6.37133607e-02 2.17692856e+02] [-6.15302231e-01 7.86860056e-01 -4.74807025e-02 -7.60356361e+01] [-7.94351858e-02 -1.96486519e-03 9.96838096e-01 -1.62536361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.74, Y:-76.07, Z:-16.26 [[ 7.83301256e-01 6.18369993e-01 6.37000344e-02 2.17743420e+02] [-6.16546520e-01 7.85884390e-01 -4.74985743e-02 -7.60717413e+01] [-7.94325557e-02 -2.06834168e-03 9.96838097e-01 -1.62592010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.79, Y:-76.11, Z:-16.26 [[ 7.82840800e-01 6.18954081e-01 6.36877365e-02 2.17794061e+02] [-6.17131196e-01 7.85424348e-01 -4.75150581e-02 -7.61084822e+01] [-7.94315380e-02 -2.10696291e-03 9.96838097e-01 -1.62638855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:-76.14, Z:-16.27 [[ 7.83134061e-01 6.18584279e-01 6.36752142e-02 2.17844679e+02] [-6.16758811e-01 7.85715785e-01 -4.75318335e-02 -7.61448684e+01] [-7.94330658e-02 -2.04845162e-03 9.96838097e-01 -1.62692174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.90, Y:-76.18, Z:-16.27 [[ 7.84326298e-01 6.17073174e-01 6.36628273e-02 2.17895195e+02] [-6.15241387e-01 7.86903542e-01 -4.75484184e-02 -7.61827049e+01] [-7.94373577e-02 -1.87453122e-03 9.96838097e-01 -1.62718706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:217.95, Y:-76.22, Z:-16.28 [[ 7.87451990e-01 6.13080856e-01 6.36492579e-02 2.17945523e+02] [-6.11234533e-01 7.90018840e-01 -4.75665758e-02 -7.62196019e+01] [-7.94462698e-02 -1.44822967e-03 9.96838098e-01 -1.62773013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:-76.26, Z:-16.28 [[ 7.92603838e-01 6.06407148e-01 6.36358929e-02 2.17995435e+02] [-6.04537773e-01 7.95153948e-01 -4.75844491e-02 -7.62568753e+01] [-7.94558816e-02 -7.54684073e-04 9.96838098e-01 -1.62813688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.04, Y:-76.30, Z:-16.28 [[ 7.96583112e-01 6.01171594e-01 6.36243635e-02 2.18043894e+02] [-5.99284226e-01 7.99119934e-01 -4.75998599e-02 -7.62964541e+01] [-7.94591809e-02 -2.11832849e-04 9.96838098e-01 -1.62833545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:-76.33, Z:-16.29 [[ 8.06039234e-01 5.88433687e-01 6.36124966e-02 2.18092273e+02] [-5.86504983e-01 8.08544772e-01 -4.76157136e-02 -7.63321077e+01] [-7.94522415e-02 1.07108705e-03 9.96838098e-01 -1.62936368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.14, Y:-76.37, Z:-16.30 [[ 8.11157829e-01 5.81358090e-01 6.36061871e-02 2.18141889e+02] [-5.79406875e-01 8.13645878e-01 -4.76241405e-02 -7.63688784e+01] [-7.94395913e-02 1.77683230e-03 9.96838098e-01 -1.62987695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.19, Y:-76.40, Z:-16.30 [[ 8.18049662e-01 5.71620915e-01 6.35946557e-02 2.18190843e+02] [-5.69638906e-01 8.20513249e-01 -4.76395340e-02 -7.64043759e+01] [-7.94120115e-02 2.74551463e-03 9.96838098e-01 -1.63046703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.24, Y:-76.44, Z:-16.31 [[ 8.22203071e-01 5.65631637e-01 6.35842876e-02 2.18241145e+02] [-5.63630622e-01 8.24651246e-01 -4.76533682e-02 -7.64412085e+01] [-7.93891147e-02 3.34269416e-03 9.96838099e-01 -1.63083139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.29, Y:-76.48, Z:-16.31 [[ 8.27309599e-01 5.58137470e-01 6.35719390e-02 2.18291970e+02] [-5.56113033e-01 8.29738442e-01 -4.76698362e-02 -7.64769056e+01] [-7.93544033e-02 4.08452927e-03 9.96838099e-01 -1.63120890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:-76.51, Z:-16.32 [[ 8.29177424e-01 5.55360131e-01 6.35604066e-02 2.18344551e+02] [-5.53326388e-01 8.31598478e-01 -4.76852080e-02 -7.65107128e+01] [-7.93392007e-02 4.36984770e-03 9.96838099e-01 -1.63161236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.40, Y:-76.55, Z:-16.32 [[ 8.26890778e-01 5.58760377e-01 6.35490572e-02 2.18396887e+02] [-5.56735435e-01 8.29319199e-01 -4.77003283e-02 -7.65459880e+01] [-7.93555066e-02 4.06294957e-03 9.96838099e-01 -1.63186107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.45, Y:-76.58, Z:-16.33 [[ 8.23995039e-01 5.63023497e-01 6.35351718e-02 2.18451695e+02] [-5.61009704e-01 8.26432712e-01 -4.77188159e-02 -7.65755018e+01] [-7.93743590e-02 3.67621963e-03 9.96838099e-01 -1.63271723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.51, Y:-76.61, Z:-16.33 [[ 8.14189104e-01 5.77114323e-01 6.35229180e-02 2.18506470e+02] [-5.75141488e-01 8.16660043e-01 -4.77351226e-02 -7.66055374e+01] [-7.94252519e-02 2.33075110e-03 9.96838100e-01 -1.63284889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.56, Y:-76.64, Z:-16.33 [[ 8.06854367e-01 5.87326510e-01 6.35106343e-02 2.18559828e+02] [-5.85383679e-01 8.09348965e-01 -4.77514603e-02 -7.66384583e+01] [-7.94479646e-02 1.35038550e-03 9.96838100e-01 -1.63305600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.62, Y:-76.66, Z:-16.34 [[ 8.03267310e-01 5.92223436e-01 6.35061422e-02 2.18616096e+02] [-5.90295342e-01 8.05773316e-01 -4.77574337e-02 -7.66649377e+01] [-7.94546263e-02 8.74605311e-04 9.96838100e-01 -1.63399315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.67, Y:-76.69, Z:-16.35 [[ 7.96617212e-01 6.01140141e-01 6.34944800e-02 2.18672827e+02] [-5.99238864e-01 7.99143623e-01 -4.77729338e-02 -7.66939107e+01] [-7.94594370e-02 8.38129778e-06 9.96838100e-01 -1.63455716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.73, Y:-76.73, Z:-16.35 [[ 7.94068750e-01 6.04503928e-01 6.34808718e-02 2.18726339e+02] [-6.02611908e-01 7.96602101e-01 -4.77910097e-02 -7.67271653e+01] [-7.94588489e-02 -3.04981928e-04 9.96838100e-01 -1.63511017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.78, Y:-76.76, Z:-16.36 [[ 7.93002046e-01 6.05904015e-01 6.34671552e-02 2.18780166e+02] [-6.04015010e-01 7.95537646e-01 -4.78092186e-02 -7.67585247e+01] [-7.94583088e-02 -4.22306262e-04 9.96838101e-01 -1.63583738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.83, Y:-76.79, Z:-16.36 [[ 7.93996770e-01 6.04601239e-01 6.34544799e-02 2.18832357e+02] [-6.02706729e-01 7.96528260e-01 -4.78260360e-02 -7.67931437e+01] [-7.94589670e-02 -2.70723930e-04 9.96838101e-01 -1.63646651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.88, Y:-76.83, Z:-16.37 [[ 7.97547449e-01 5.99911072e-01 6.34410958e-02 2.18884529e+02] [-5.98000264e-01 8.00066658e-01 -4.78437834e-02 -7.68283636e+01] [-7.94591209e-02 2.19895338e-04 9.96838101e-01 -1.63703121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.94, Y:-76.87, Z:-16.37 [[ 8.00204859e-01 5.96363278e-01 6.34273110e-02 2.18935356e+02] [-5.94439853e-01 8.02714448e-01 -4.78620511e-02 -7.68657458e+01] [-7.94571887e-02 5.95724414e-04 9.96838101e-01 -1.63748061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:218.99, Y:-76.90, Z:-16.38 [[ 8.02486660e-01 5.93290733e-01 6.34134606e-02 2.18985077e+02] [-5.91356250e-01 8.04987735e-01 -4.78803949e-02 -7.69027731e+01] [-7.94540526e-02 9.23431886e-04 9.96838102e-01 -1.63803282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.04, Y:-76.94, Z:-16.39 [[ 8.03987414e-01 5.91256788e-01 6.34006946e-02 2.19035854e+02] [-5.89314646e-01 8.06482546e-01 -4.78972929e-02 -7.69399793e+01] [-7.94511532e-02 1.14586280e-03 9.96838102e-01 -1.63873891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.09, Y:-76.98, Z:-16.39 [[ 8.03619423e-01 5.91758279e-01 6.33874048e-02 2.19086423e+02] [-5.89816307e-01 8.06114687e-01 -4.79148743e-02 -7.69777002e+01] [-7.94515415e-02 1.11839862e-03 9.96838102e-01 -1.63924042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.14, Y:-77.01, Z:-16.40 [[ 8.01553746e-01 5.94554763e-01 6.33737088e-02 2.19136884e+02] [-5.92620066e-01 8.04054654e-01 -4.79329822e-02 -7.70148904e+01] [-7.94547084e-02 8.64329926e-04 9.96838102e-01 -1.63970357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:-77.06, Z:-16.39 [[ 7.97025380e-01 6.00613075e-01 6.33599053e-02 2.19184298e+02] [-5.98695939e-01 7.99539776e-01 -4.79512214e-02 -7.70557423e+01] [-7.94588950e-02 2.85022435e-04 9.96838103e-01 -1.63891934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:-77.09, Z:-16.41 [[ 7.93817043e-01 6.04847363e-01 6.33574696e-02 2.19234479e+02] [-6.02943382e-01 7.96341415e-01 -4.79544394e-02 -7.70877389e+01] [-7.94592933e-02 -1.33915699e-04 9.96838103e-01 -1.64062361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.28, Y:-77.12, Z:-16.41 [[ 7.87833009e-01 6.12621480e-01 6.33566984e-02 2.19284404e+02] [-6.10742324e-01 7.90375915e-01 -4.79554583e-02 -7.71247028e+01] [-7.94541523e-02 -9.13724188e-04 9.96838103e-01 -1.64117646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.33, Y:-77.16, Z:-16.41 [[ 7.82767624e-01 6.19081880e-01 6.33440832e-02 2.19332993e+02] [-6.17222359e-01 7.85324923e-01 -4.79721159e-02 -7.71644333e+01] [-7.94443550e-02 -1.54636531e-03 9.96838103e-01 -1.64085981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.38, Y:-77.20, Z:-16.42 [[ 7.78281780e-01 6.24713211e-01 6.33314768e-02 2.19380896e+02] [-6.22870836e-01 7.80851459e-01 -4.79887528e-02 -7.72017597e+01] [-7.94316839e-02 -2.09855795e-03 9.96838103e-01 -1.64207879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.43, Y:-77.24, Z:-16.43 [[ 7.75789520e-01 6.27806659e-01 6.33199745e-02 2.19428828e+02] [-6.25973293e-01 7.78365634e-01 -4.80039250e-02 -7.72408796e+01] [-7.94232759e-02 -2.39567104e-03 9.96838103e-01 -1.64256605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.48, Y:-77.28, Z:-16.43 [[ 7.74100809e-01 6.29888556e-01 6.33114972e-02 2.19476793e+02] [-6.28061204e-01 7.76681192e-01 -4.80151031e-02 -7.72811485e+01] [-7.94170130e-02 -2.59496504e-03 9.96838103e-01 -1.64275583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:-77.32, Z:-16.44 [[ 7.73881908e-01 6.30158741e-01 6.32989213e-02 2.19522054e+02] [-6.28330937e-01 7.76461970e-01 -4.80316762e-02 -7.73223919e+01] [-7.94167858e-02 -2.60182530e-03 9.96838104e-01 -1.64362535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.57, Y:-77.36, Z:-16.44 [[ 7.74572596e-01 6.29310260e-01 6.32921037e-02 2.19569563e+02] [-6.27478897e-01 7.77150133e-01 -4.80406583e-02 -7.73636392e+01] [-7.94199460e-02 -2.50348201e-03 9.96838104e-01 -1.64422033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.61, Y:-77.41, Z:-16.45 [[ 7.76535466e-01 6.26887889e-01 6.32791096e-02 2.19613125e+02] [-6.25047091e-01 7.79106273e-01 -4.80577680e-02 -7.74061129e+01] [-7.94279840e-02 -2.23386213e-03 9.96838104e-01 -1.64489601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:-77.45, Z:-16.45 [[ 7.77895599e-01 6.25200372e-01 6.32687320e-02 2.19659045e+02] [-6.23352887e-01 7.80461605e-01 -4.80714265e-02 -7.74474259e+01] [-7.94330898e-02 -2.04419562e-03 9.96838104e-01 -1.64542451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.70, Y:-77.49, Z:-16.46 [[ 7.79889733e-01 6.22712246e-01 6.32571279e-02 2.19704057e+02] [-6.20855336e-01 7.82448926e-01 -4.80866914e-02 -7.74920530e+01] [-7.94396434e-02 -1.77120849e-03 9.96838104e-01 -1.64590292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.75, Y:-77.54, Z:-16.46 [[ 7.81272794e-01 6.20977500e-01 6.32437067e-02 2.19749693e+02] [-6.19113480e-01 7.83826813e-01 -4.81043366e-02 -7.75363029e+01] [-7.94438237e-02 -1.57242184e-03 9.96838104e-01 -1.64626051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.80, Y:-77.58, Z:-16.47 [[ 7.81609328e-01 6.20555238e-01 6.32301726e-02 2.19796440e+02] [-6.18688400e-01 7.84161288e-01 -4.81221197e-02 -7.75778130e+01] [-7.94450871e-02 -1.50707671e-03 9.96838105e-01 -1.64666982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.84, Y:-77.62, Z:-16.47 [[ 7.80398552e-01 6.22078576e-01 6.32166631e-02 2.19842695e+02] [-6.20215283e-01 7.82953100e-01 -4.81398602e-02 -7.76207079e+01] [-7.94424581e-02 -1.63966338e-03 9.96838105e-01 -1.64718229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:-77.66, Z:-16.48 [[ 7.78519103e-01 6.24430435e-01 6.32031454e-02 2.19890072e+02] [-6.22573419e-01 7.81078218e-01 -4.81576013e-02 -7.76615210e+01] [-7.94376721e-02 -1.85698573e-03 9.96838105e-01 -1.64768304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.94, Y:-77.70, Z:-16.48 [[ 7.74473520e-01 6.29442499e-01 6.31894546e-02 2.19936033e+02] [-6.27600576e-01 7.77043520e-01 -4.81755589e-02 -7.77012965e+01] [-7.94247004e-02 -2.34704343e-03 9.96838105e-01 -1.64822238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:-77.74, Z:-16.49 [[ 7.71353366e-01 6.33262913e-01 6.31828190e-02 2.19984433e+02] [-6.31433005e-01 7.73931934e-01 -4.81842600e-02 -7.77409191e+01] [-7.94125061e-02 -2.72862612e-03 9.96838105e-01 -1.64880898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.03, Y:-77.78, Z:-16.49 [[ 7.68408603e-01 6.36834224e-01 6.31695230e-02 2.20030899e+02] [-6.35014868e-01 7.70994627e-01 -4.82016847e-02 -7.77812824e+01] [-7.93998453e-02 -3.07499711e-03 9.96838106e-01 -1.64934884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.08, Y:-77.82, Z:-16.50 [[ 7.67943073e-01 6.37396685e-01 6.31577588e-02 2.20078395e+02] [-6.35577958e-01 7.70529539e-01 -4.82170942e-02 -7.78220909e+01] [-7.93983348e-02 -3.11369590e-03 9.96838106e-01 -1.64986408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.13, Y:-77.86, Z:-16.50 [[ 7.68978478e-01 6.36148480e-01 6.31443691e-02 2.20125780e+02] [-6.34324119e-01 7.71560972e-01 -4.82346228e-02 -7.78626796e+01] [-7.94041128e-02 -2.96260945e-03 9.96838106e-01 -1.65029380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.17, Y:-77.90, Z:-16.51 [[ 7.71132849e-01 6.33536610e-01 6.31307586e-02 2.20172637e+02] [-6.31702044e-01 7.73708104e-01 -4.82524300e-02 -7.79024475e+01] [-7.94144605e-02 -2.67079545e-03 9.96838106e-01 -1.65079482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.22, Y:-77.94, Z:-16.51 [[ 7.74861266e-01 6.28971848e-01 6.31223616e-02 2.20218054e+02] [-6.27121213e-01 7.77424998e-01 -4.82634123e-02 -7.79432825e+01] [-7.94292295e-02 -2.18792326e-03 9.96838106e-01 -1.65124167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.27, Y:-77.98, Z:-16.52 [[ 7.77790341e-01 6.25346729e-01 6.31161990e-02 2.20265404e+02] [-6.23483489e-01 7.80344926e-01 -4.82714700e-02 -7.79835510e+01] [-7.94388116e-02 -1.80682488e-03 9.96838107e-01 -1.65188280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.31, Y:-78.02, Z:-16.52 [[ 7.80266461e-01 6.22255137e-01 6.31093782e-02 2.20311416e+02] [-6.20381054e-01 7.82813102e-01 -4.82803859e-02 -7.80245334e+01] [-7.94455662e-02 -1.48029671e-03 9.96838107e-01 -1.65233053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.36, Y:-78.06, Z:-16.53 [[ 7.81669073e-01 6.20493563e-01 6.30967390e-02 2.20360735e+02] [-6.18612407e-01 7.84210494e-01 -4.82968982e-02 -7.80640256e+01] [-7.94490393e-02 -1.28023395e-03 9.96838107e-01 -1.65280750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:220.41, Y:-78.10, Z:-16.53 [[ 7.81427730e-01 6.20798845e-01 6.30832558e-02 2.20410808e+02] [-6.18917262e-01 7.83968834e-01 -4.83145029e-02 -7.81019650e+01] [-7.94488941e-02 -1.28902366e-03 9.96838107e-01 -1.65328459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:-78.14, Z:-16.54 [[ 7.79177755e-01 6.23621860e-01 6.30698213e-02 2.20459826e+02] [-6.21748064e-01 7.81724606e-01 -4.83320340e-02 -7.81391781e+01] [-7.94441442e-02 -1.55429355e-03 9.96838107e-01 -1.65419044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.01, Y:-77.61, Z:-15.55 [[ 8.50508580e-01 5.22167740e-01 6.30555761e-02 2.21007318e+02] [-5.19991180e-01 8.52802082e-01 -4.83506117e-02 -7.76088030e+01] [-7.90210562e-02 8.33426673e-03 9.96838108e-01 -1.55469429e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:-77.64, Z:-15.55 [[ 8.47646102e-01 5.26149116e-01 6.82875786e-02 2.21060417e+02] [-5.24688639e-01 8.50388496e-01 -3.92586079e-02 -7.76433665e+01] [-7.87268531e-02 -2.55231071e-03 9.96892957e-01 -1.55464462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:-77.67, Z:-15.55 [[ 8.45297809e-01 5.29914999e-01 6.82767047e-02 2.21114950e+02] [-5.28465213e-01 8.48045869e-01 -3.92775103e-02 -7.76739271e+01] [-7.87155191e-02 -2.88066992e-03 9.96892958e-01 -1.55477492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.17, Y:-77.70, Z:-15.55 [[ 8.44914815e-01 5.30526683e-01 6.82670840e-02 2.21169086e+02] [-5.29077539e-01 8.47663213e-01 -3.92942246e-02 -7.77034611e+01] [-7.87141304e-02 -2.91830821e-03 9.96892958e-01 -1.55509687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.22, Y:-77.73, Z:-15.55 [[ 8.45472705e-01 5.29638397e-01 6.82574076e-02 2.21223844e+02] [-5.28185011e-01 8.48218862e-01 -3.93110262e-02 -7.77318690e+01] [-7.87178495e-02 -2.81613997e-03 9.96892958e-01 -1.55534911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.28, Y:-77.76, Z:-15.56 [[ 8.45506961e-01 5.29584378e-01 6.82522246e-02 2.21278116e+02] [-5.28130091e-01 8.48252641e-01 -3.93200229e-02 -7.77610995e+01] [-7.87183996e-02 -2.80070058e-03 9.96892958e-01 -1.55562295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.33, Y:-77.79, Z:-15.56 [[ 8.46172923e-01 5.28520882e-01 6.82426720e-02 2.21332811e+02] [-5.27061810e-01 8.48916062e-01 -3.93365951e-02 -7.77898367e+01] [-7.87225124e-02 -2.68254453e-03 9.96892958e-01 -1.55594123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.39, Y:-77.82, Z:-15.56 [[ 8.46671845e-01 5.27722480e-01 6.82332030e-02 2.21386961e+02] [-5.26259500e-01 8.49412903e-01 -3.93530133e-02 -7.78187185e+01] [-7.87256328e-02 -2.58928284e-03 9.96892958e-01 -1.55642334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.44, Y:-77.85, Z:-15.57 [[ 8.48154036e-01 5.25338298e-01 6.82231977e-02 2.21441770e+02] [-5.23866218e-01 8.50890217e-01 -3.93703511e-02 -7.78484658e+01] [-7.87332047e-02 -2.34770638e-03 9.96892959e-01 -1.55692004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.50, Y:-77.88, Z:-15.58 [[ 8.50593796e-01 5.21379227e-01 6.82194723e-02 2.21495913e+02] [-5.19893892e-01 8.53322804e-01 -3.93768052e-02 -7.78781288e+01] [-7.87434797e-02 -1.97322078e-03 9.96892959e-01 -1.55755302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.55, Y:-77.91, Z:-15.58 [[ 8.53000201e-01 5.17434331e-01 6.82082843e-02 2.21550349e+02] [-5.15934825e-01 8.55721449e-01 -3.93961756e-02 -7.79097543e+01] [-7.87522256e-02 -1.58608348e-03 9.96892959e-01 -1.55803862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.60, Y:-77.94, Z:-15.59 [[ 8.55453986e-01 5.13368913e-01 6.81970379e-02 2.21604172e+02] [-5.11854923e-01 8.58167202e-01 -3.94156341e-02 -7.79417625e+01] [-7.87592224e-02 -1.18872822e-03 9.96892959e-01 -1.55862582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.66, Y:-77.97, Z:-15.59 [[ 8.54188220e-01 5.15473735e-01 6.81858770e-02 2.21656860e+02] [-5.13964890e-01 8.56904299e-01 -3.94349322e-02 -7.79749530e+01] [-7.87564429e-02 -1.36029221e-03 9.96892959e-01 -1.55916358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.71, Y:-78.01, Z:-15.60 [[ 8.54021383e-01 5.15750617e-01 6.81819477e-02 2.21711508e+02] [-5.14242111e-01 8.56737651e-01 -3.94417246e-02 -7.80067063e+01] [-7.87561355e-02 -1.37795252e-03 9.96892959e-01 -1.55966324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:-78.04, Z:-15.60 [[ 8.53813371e-01 5.16096595e-01 6.81691393e-02 2.21765880e+02] [-5.14587423e-01 8.56529269e-01 -3.94638496e-02 -7.80365243e+01] [-7.87560215e-02 -1.38421927e-03 9.96892960e-01 -1.56013131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.82, Y:-78.07, Z:-15.61 [[ 8.53669477e-01 5.16336132e-01 6.81573388e-02 2.21820548e+02] [-5.14826097e-01 8.56384894e-01 -3.94842196e-02 -7.80682752e+01] [-7.87560446e-02 -1.38270360e-03 9.96892960e-01 -1.56063166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.87, Y:-78.10, Z:-15.61 [[ 8.52864548e-01 5.17666055e-01 6.81462952e-02 2.21874016e+02] [-5.16158732e-01 8.55581472e-01 -3.95032708e-02 -7.81002347e+01] [-7.87542099e-02 -1.48336610e-03 9.96892960e-01 -1.56109552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.93, Y:-78.13, Z:-15.62 [[ 8.52133193e-01 5.18870518e-01 6.81352101e-02 2.21927626e+02] [-5.17365507e-01 8.54851398e-01 -3.95223812e-02 -7.81322156e+01] [-7.87524780e-02 -1.57247461e-03 9.96892960e-01 -1.56156324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:221.98, Y:-78.16, Z:-15.62 [[ 8.50891469e-01 5.20905782e-01 6.81239583e-02 2.21980359e+02] [-5.19405722e-01 8.53612409e-01 -3.95417662e-02 -7.81641530e+01] [-7.87489908e-02 -1.73822216e-03 9.96892961e-01 -1.56214841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.03, Y:-78.20, Z:-15.63 [[ 8.49460543e-01 5.23237354e-01 6.81135632e-02 2.22033905e+02] [-5.21743328e-01 8.52184800e-01 -3.95596645e-02 -7.81965405e+01] [-7.87444374e-02 -1.93342305e-03 9.96892961e-01 -1.56255220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.09, Y:-78.23, Z:-15.63 [[ 8.48161213e-01 5.25342403e-01 6.81022548e-02 2.22087360e+02] [-5.23853576e-01 8.50888315e-01 -3.95791224e-02 -7.82294074e+01] [-7.87400041e-02 -2.10613324e-03 9.96892961e-01 -1.56303077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:-78.26, Z:-15.63 [[ 8.47568635e-01 5.26299353e-01 6.80911132e-02 2.22141549e+02] [-5.24812067e-01 8.50296578e-01 -3.95982810e-02 -7.82617149e+01] [-7.87381902e-02 -2.17277692e-03 9.96892961e-01 -1.56349383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.20, Y:-78.29, Z:-15.64 [[ 8.46994738e-01 5.27223901e-01 6.80798938e-02 2.22196071e+02] [-5.25738045e-01 8.49723459e-01 -3.96175608e-02 -7.82934255e+01] [-7.87364078e-02 -2.23632470e-03 9.96892962e-01 -1.56401396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.25, Y:-78.32, Z:-15.65 [[ 8.46329917e-01 5.28291921e-01 6.80684814e-02 2.22249297e+02] [-5.26807934e-01 8.49059654e-01 -3.96371592e-02 -7.83247147e+01] [-7.87341922e-02 -2.31290237e-03 9.96892962e-01 -1.56465553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.30, Y:-78.36, Z:-15.65 [[ 8.45597258e-01 5.29465104e-01 6.80586548e-02 2.22301375e+02] [-5.27983548e-01 8.48328316e-01 -3.96540247e-02 -7.83573647e+01] [-7.87315063e-02 -2.40251542e-03 9.96892962e-01 -1.56530054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.35, Y:-78.39, Z:-15.66 [[ 8.46318659e-01 5.28312697e-01 6.80472022e-02 2.22354827e+02] [-5.26825844e-01 8.49046837e-01 -3.96736679e-02 -7.83873323e+01] [-7.87353642e-02 -2.27245924e-03 9.96892962e-01 -1.56574192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.41, Y:-78.42, Z:-15.66 [[ 8.47549972e-01 5.26336572e-01 6.80357091e-02 2.22408224e+02] [-5.24841778e-01 8.50273806e-01 -3.96933675e-02 -7.84195402e+01] [-7.87410523e-02 -2.06587003e-03 9.96892963e-01 -1.56617025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:-78.45, Z:-15.67 [[ 8.50648067e-01 5.21316168e-01 6.80243990e-02 2.22460775e+02] [-5.19803746e-01 8.53362153e-01 -3.97127408e-02 -7.84521201e+01] [-7.87523414e-02 -1.57777119e-03 9.96892963e-01 -1.56667087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:-78.49, Z:-15.67 [[ 8.53863633e-01 5.16033911e-01 6.80139565e-02 2.22513154e+02] [-5.14503273e-01 8.56567487e-01 -3.97306171e-02 -7.84852751e+01] [-7.87608895e-02 -1.06887419e-03 9.96892963e-01 -1.56706410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:-78.52, Z:-15.67 [[ 8.57830579e-01 5.09413504e-01 6.80042679e-02 2.22565232e+02] [-5.07860682e-01 8.60521753e-01 -3.97471935e-02 -7.85193926e+01] [-7.87669090e-02 -4.40335847e-04 9.96892963e-01 -1.56729929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.62, Y:-78.55, Z:-15.68 [[ 8.62152640e-01 5.02065324e-01 6.79943829e-02 2.22617379e+02] [-5.00488232e-01 8.64829663e-01 -3.97640962e-02 -7.85524991e+01] [-7.87677332e-02 2.52332031e-04 9.96892963e-01 -1.56781567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.67, Y:-78.58, Z:-15.68 [[ 8.64790677e-01 4.97508589e-01 6.79874168e-02 2.22670274e+02] [-4.95916455e-01 8.67458783e-01 -3.97760032e-02 -7.85840399e+01] [-7.87651850e-02 6.81838000e-04 9.96892964e-01 -1.56845141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.72, Y:-78.62, Z:-15.69 [[ 8.67148248e-01 4.93389241e-01 6.79777386e-02 2.22721909e+02] [-4.91783137e-01 8.69807967e-01 -3.97925366e-02 -7.86164837e+01] [-7.87607880e-02 1.07572287e-03 9.96892964e-01 -1.56910277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.78, Y:-78.65, Z:-15.69 [[ 8.67936105e-01 4.92003198e-01 6.79688959e-02 2.22775358e+02] [-4.90391665e-01 8.70592538e-01 -3.98076349e-02 -7.86488591e+01] [-7.87586972e-02 1.21910357e-03 9.96892964e-01 -1.56946213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:-78.68, Z:-15.70 [[ 8.68782342e-01 4.90508928e-01 6.79575964e-02 2.22829717e+02] [-4.88891318e-01 8.71435078e-01 -3.98269156e-02 -7.86809180e+01] [-7.87560910e-02 1.37704210e-03 9.96892964e-01 -1.56994672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.88, Y:-78.71, Z:-15.70 [[ 8.67716726e-01 4.92393114e-01 6.79463370e-02 2.22882944e+02] [-4.90779762e-01 8.70372054e-01 -3.98461153e-02 -7.87121186e+01] [-7.87585457e-02 1.22845357e-03 9.96892964e-01 -1.57045264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.94, Y:-78.74, Z:-15.71 [[ 8.65689400e-01 4.95950170e-01 6.79359428e-02 2.22937016e+02] [-4.94346339e-01 8.68350489e-01 -3.98638292e-02 -7.87437170e+01] [-7.87626820e-02 9.25809743e-04 9.96892965e-01 -1.57086075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:222.99, Y:-78.77, Z:-15.71 [[ 8.63139247e-01 5.00376758e-01 6.79245221e-02 2.22991050e+02] [-4.98785045e-01 8.65807601e-01 -3.98832795e-02 -7.87741040e+01] [-7.87662337e-02 5.45088020e-04 9.96892965e-01 -1.57136274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.05, Y:-78.80, Z:-15.72 [[ 8.59627836e-01 5.06386883e-01 6.79139785e-02 2.23046837e+02] [-5.04812408e-01 8.62306399e-01 -3.99012253e-02 -7.88012268e+01] [-7.87681153e-02 1.63849325e-05 9.96892965e-01 -1.57219033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.10, Y:-78.83, Z:-15.72 [[ 8.54993624e-01 5.14174021e-01 6.79041964e-02 2.23099481e+02] [-5.12622619e-01 8.57685615e-01 -3.99178656e-02 -7.88337348e+01] [-7.87651820e-02 -6.79706455e-04 9.96892965e-01 -1.57232593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.15, Y:-78.86, Z:-15.73 [[ 8.50214015e-01 5.22040693e-01 6.78943534e-02 2.23154328e+02] [-5.20512860e-01 8.52919452e-01 -3.99346002e-02 -7.88643500e+01] [-7.87559010e-02 -1.38692727e-03 9.96892965e-01 -1.57286895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.21, Y:-78.89, Z:-15.73 [[ 8.46671078e-01 5.27768881e-01 6.78829379e-02 2.23208271e+02] [-5.26257793e-01 8.49385904e-01 -3.99539954e-02 -7.88949125e+01] [-7.87452860e-02 -1.89603271e-03 9.96892966e-01 -1.57334381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.26, Y:-78.93, Z:-15.74 [[ 8.45422043e-01 5.29768732e-01 6.78723732e-02 2.23262821e+02] [-5.28262627e-01 8.48139636e-01 -3.99719344e-02 -7.89267523e+01] [-7.87411309e-02 -2.06128365e-03 9.96892966e-01 -1.57381616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.32, Y:-78.96, Z:-15.74 [[ 8.44741042e-01 5.30855382e-01 6.78611389e-02 2.23315506e+02] [-5.29351243e-01 8.47459723e-01 -3.99909981e-02 -7.89584930e+01] [-7.87390185e-02 -2.14034078e-03 9.96892966e-01 -1.57436013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.37, Y:-78.99, Z:-15.75 [[ 8.44511321e-01 5.31222085e-01 6.78507618e-02 2.23369436e+02] [-5.29717713e-01 8.47229872e-01 -4.00085966e-02 -7.89906780e+01] [-7.87386424e-02 -2.15403762e-03 9.96892966e-01 -1.57492863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.42, Y:-79.02, Z:-15.76 [[ 8.46795825e-01 5.27574259e-01 6.78397502e-02 2.23422713e+02] [-5.26056680e-01 8.49507026e-01 -4.00272595e-02 -7.90204909e+01] [-7.87476962e-02 -1.79263756e-03 9.96892967e-01 -1.57586883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.47, Y:-79.06, Z:-15.76 [[ 8.48652616e-01 5.24583432e-01 6.78303776e-02 2.23474886e+02] [-5.23055029e-01 8.51357730e-01 -4.00431361e-02 -7.90556885e+01] [-7.87538820e-02 -1.49630795e-03 9.96892967e-01 -1.57612786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:-79.09, Z:-15.76 [[ 8.48729047e-01 5.24460476e-01 6.78248732e-02 2.23526236e+02] [-5.22930937e-01 8.51433518e-01 -4.00524572e-02 -7.90893438e+01] [-7.87543012e-02 -1.47404061e-03 9.96892967e-01 -1.57618706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:-79.12, Z:-15.77 [[ 8.51092254e-01 5.20618038e-01 6.78146992e-02 2.23578216e+02] [-5.19074916e-01 8.53788998e-01 -4.00696760e-02 -7.91227170e+01] [-7.87604402e-02 -1.09791838e-03 9.96892967e-01 -1.57659499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:223.63, Y:-79.16, Z:-15.77 [[ 8.55979108e-01 5.12544995e-01 6.78040946e-02 2.23630430e+02] [-5.10975014e-01 8.58660304e-01 -4.00876126e-02 -7.91573117e+01] [-7.87673897e-02 -3.32039338e-04 9.96892967e-01 -1.57702688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.68, Y:-79.19, Z:-15.78 [[ 8.59515718e-01 5.06593393e-01 6.77928072e-02 2.23683676e+02] [-5.05003342e-01 8.62185060e-01 -4.01066919e-02 -7.91907940e+01] [-7.87677307e-02 2.36737932e-04 9.96892967e-01 -1.57752368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:-79.23, Z:-15.78 [[ 8.65471465e-01 4.96351507e-01 6.77814466e-02 2.23735235e+02] [-4.94728368e-01 8.68120818e-01 -4.01258825e-02 -7.92250532e+01] [-7.87590271e-02 1.19440181e-03 9.96892968e-01 -1.57808635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.79, Y:-79.26, Z:-15.78 [[ 8.69109500e-01 4.89954865e-01 6.77709957e-02 2.23787915e+02] [-4.88310856e-01 8.71745952e-01 -4.01435259e-02 -7.92587357e+01] [-7.87476070e-02 1.79580680e-03 9.96892968e-01 -1.57849760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:-79.29, Z:-15.79 [[ 8.72180767e-01 4.84468117e-01 6.77595262e-02 2.23841818e+02] [-4.82806024e-01 8.74805856e-01 -4.01628763e-02 -7.92905345e+01] [-7.87340634e-02 2.31458078e-03 9.96892968e-01 -1.57889441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:-79.32, Z:-15.79 [[ 8.72685904e-01 4.83559194e-01 6.77481997e-02 2.23896443e+02] [-4.81892886e-01 8.75308320e-01 -4.01819733e-02 -7.93208921e+01] [-7.87309255e-02 2.41886625e-03 9.96892968e-01 -1.57937951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:223.95, Y:-79.35, Z:-15.80 [[ 8.72249416e-01 4.84347681e-01 6.77368456e-02 2.23951279e+02] [-4.82682260e-01 8.74872395e-01 -4.02011044e-02 -7.93499040e+01] [-7.87324080e-02 2.37001606e-03 9.96892969e-01 -1.57986744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.01, Y:-79.38, Z:-15.80 [[ 8.71695088e-01 4.85346074e-01 6.77263678e-02 2.24006043e+02] [-4.83682289e-01 8.74319104e-01 -4.02187484e-02 -7.93809706e+01] [-7.87344689e-02 2.30044089e-03 9.96892969e-01 -1.58032191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.06, Y:-79.41, Z:-15.81 [[ 8.69266401e-01 4.89684176e-01 6.77150710e-02 2.24062609e+02] [-4.88032008e-01 8.71897747e-01 -4.02377596e-02 -7.94082550e+01] [-7.87444120e-02 1.93021042e-03 9.96892969e-01 -1.58080847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.12, Y:-79.44, Z:-15.81 [[ 8.66639980e-01 4.94319067e-01 6.77038045e-02 2.24119299e+02] [-4.92679494e-01 8.69279192e-01 -4.02567077e-02 -7.94360779e+01] [-7.87531667e-02 1.53179617e-03 9.96892969e-01 -1.58133849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:-79.46, Z:-15.82 [[ 8.61464597e-01 5.03285698e-01 6.76923523e-02 2.24176763e+02] [-5.01672089e-01 8.64119762e-01 -4.02759556e-02 -7.94621129e+01] [-7.87646118e-02 7.36946072e-04 9.96892970e-01 -1.58187703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.23, Y:-79.49, Z:-15.82 [[ 8.57461871e-01 5.10076883e-01 6.76809717e-02 2.24232853e+02] [-5.08482794e-01 8.60128801e-01 -4.02950709e-02 -7.94898236e+01] [-7.87679372e-02 1.36877224e-04 9.96892970e-01 -1.58237880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.29, Y:-79.52, Z:-15.83 [[ 8.53469348e-01 5.16730960e-01 6.76696919e-02 2.24289413e+02] [-5.15156162e-01 8.56147715e-01 -4.03140048e-02 -7.95177335e+01] [-7.87667465e-02 -4.53691409e-04 9.96892970e-01 -1.58294459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.35, Y:-79.55, Z:-15.84 [[ 8.48676116e-01 5.24567619e-01 6.76584313e-02 2.24345788e+02] [-5.23016044e-01 8.51368002e-01 -4.03328944e-02 -7.95450721e+01] [-7.87595539e-02 -1.15688093e-03 9.96892970e-01 -1.58350686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.40, Y:-79.57, Z:-15.84 [[ 8.46656173e-01 5.27823044e-01 6.76473106e-02 2.24400875e+02] [-5.26280330e-01 8.49353146e-01 -4.03515378e-02 -7.95749879e+01] [-7.87549276e-02 -1.43757044e-03 9.96892971e-01 -1.58392831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.46, Y:-79.60, Z:-15.84 [[ 8.45739938e-01 5.29291372e-01 6.76358003e-02 2.24456050e+02] [-5.27751799e-01 8.48438705e-01 -4.03708218e-02 -7.96044352e+01] [-7.87527585e-02 -1.55169898e-03 9.96892971e-01 -1.58434418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:-79.63, Z:-15.85 [[ 8.46140473e-01 5.28652294e-01 6.76243495e-02 2.24509684e+02] [-5.27109150e-01 8.48837200e-01 -4.03899937e-02 -7.96341093e+01] [-7.87543263e-02 -1.46980511e-03 9.96892971e-01 -1.58499961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.56, Y:-79.67, Z:-15.86 [[ 8.46745760e-01 5.27682971e-01 6.76187823e-02 2.24562366e+02] [-5.26135996e-01 8.49440292e-01 -4.03993120e-02 -7.96656102e+01] [-7.87561471e-02 -1.36872926e-03 9.96892971e-01 -1.58565911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.62, Y:-79.70, Z:-15.86 [[ 8.47782775e-01 5.26016565e-01 6.76087284e-02 2.24615464e+02] [-5.24462953e-01 8.50473484e-01 -4.04161302e-02 -7.96982608e+01] [-7.87589848e-02 -1.19417432e-03 9.96892971e-01 -1.58631690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.67, Y:-79.73, Z:-15.87 [[ 8.49746758e-01 5.22838396e-01 6.76051678e-02 2.24667820e+02] [-5.21274246e-01 8.52431355e-01 -4.04220852e-02 -7.97326543e+01] [-7.87629830e-02 -8.92297035e-04 9.96892971e-01 -1.58677988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.72, Y:-79.77, Z:-15.87 [[ 8.50923294e-01 5.20922851e-01 6.75938676e-02 2.24719520e+02] [-5.19351157e-01 8.53603481e-01 -4.04409728e-02 -7.97662532e+01] [-7.87649875e-02 -6.92787541e-04 9.96892972e-01 -1.58704148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.77, Y:-79.80, Z:-15.87 [[ 8.52269900e-01 5.18718000e-01 6.75844261e-02 2.24770823e+02] [-5.17138122e-01 8.54945270e-01 -4.04567452e-02 -7.98010858e+01] [-7.87666273e-02 -4.70416989e-04 9.96892972e-01 -1.58733980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.82, Y:-79.84, Z:-15.88 [[ 8.52146505e-01 5.18921994e-01 6.75743873e-02 2.24822552e+02] [-5.17341427e-01 8.54821469e-01 -4.04735058e-02 -7.98369981e+01] [-7.87666294e-02 -4.69673462e-04 9.96892972e-01 -1.58801595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.87, Y:-79.87, Z:-15.88 [[ 8.52077110e-01 5.19036699e-01 6.75685129e-02 2.24873942e+02] [-5.17455714e-01 8.54751827e-01 -4.04833105e-02 -7.98695176e+01] [-7.87666337e-02 -4.68810826e-04 9.96892972e-01 -1.58843082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:-79.90, Z:-15.89 [[ 8.49761672e-01 5.22820299e-01 6.75576526e-02 2.24925346e+02] [-5.21249782e-01 8.52442549e-01 -4.05014258e-02 -7.99042623e+01] [-7.87639851e-02 -7.97852426e-04 9.96892972e-01 -1.58896956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.98, Y:-79.94, Z:-15.90 [[ 8.47286307e-01 5.26823816e-01 6.75468829e-02 2.24977251e+02] [-5.25264535e-01 8.49973734e-01 -4.05193794e-02 -7.99368420e+01] [-7.87596503e-02 -1.14846675e-03 9.96892972e-01 -1.58957695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:-79.97, Z:-15.90 [[ 8.43402652e-01 5.33020264e-01 6.75378805e-02 2.25030454e+02] [-5.31479523e-01 8.46100751e-01 -4.05343789e-02 -7.99705880e+01] [-7.87494968e-02 -1.70819788e-03 9.96892973e-01 -1.59010883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.08, Y:-80.00, Z:-15.91 [[ 8.41197810e-01 5.36494566e-01 6.75264827e-02 2.25082316e+02] [-5.34963445e-01 8.43901379e-01 -4.05533578e-02 -8.00032611e+01] [-7.87423480e-02 -2.01080400e-03 9.96892973e-01 -1.59062888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:-80.04, Z:-15.91 [[ 8.39825431e-01 5.38641665e-01 6.75159435e-02 2.25133012e+02] [-5.37116047e-01 8.42532109e-01 -4.05708966e-02 -8.00370719e+01] [-7.87375256e-02 -2.19142590e-03 9.96892973e-01 -1.59098547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.19, Y:-80.07, Z:-15.91 [[ 8.39444518e-01 5.39235770e-01 6.75106340e-02 2.25185569e+02] [-5.37711358e-01 8.42151875e-01 -4.05797297e-02 -8.00711282e+01] [-7.87362489e-02 -2.23680303e-03 9.96892973e-01 -1.59136466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:-80.11, Z:-15.92 [[ 8.38427355e-01 5.40817301e-01 6.74997644e-02 2.25237966e+02] [-5.39296542e-01 8.41136766e-01 -4.05978021e-02 -8.01050243e+01] [-7.87325273e-02 -2.36408166e-03 9.96892973e-01 -1.59179353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.29, Y:-80.14, Z:-15.92 [[ 8.37482299e-01 5.42280951e-01 6.74890268e-02 2.25290821e+02] [-5.40763491e-01 8.40193559e-01 -4.06156443e-02 -8.01380749e+01] [-7.87289358e-02 -2.48071858e-03 9.96892974e-01 -1.59237654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.34, Y:-80.17, Z:-15.93 [[ 8.37463134e-01 5.42311958e-01 6.74776876e-02 2.25344364e+02] [-5.40793083e-01 8.40173601e-01 -4.06344743e-02 -8.01711362e+01] [-7.87295331e-02 -2.46159253e-03 9.96892974e-01 -1.59299079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.40, Y:-80.21, Z:-15.93 [[ 8.38193639e-01 5.41183650e-01 6.74661436e-02 2.25396460e+02] [-5.39659586e-01 8.40901192e-01 -4.06536319e-02 -8.02051838e+01] [-7.87334415e-02 -2.33313542e-03 9.96892974e-01 -1.59349091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.45, Y:-80.24, Z:-15.94 [[ 8.38818359e-01 5.40216174e-01 6.74555107e-02 2.25449490e+02] [-5.38687570e-01 8.41523351e-01 -4.06712673e-02 -8.02386111e+01] [-7.87366638e-02 -2.22163946e-03 9.96892974e-01 -1.59388981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.50, Y:-80.27, Z:-15.94 [[ 8.39563237e-01 5.39059254e-01 6.74439846e-02 2.25502021e+02] [-5.37525390e-01 8.42265249e-01 -4.06903717e-02 -8.02716233e+01] [-7.87402459e-02 -2.09071393e-03 9.96892975e-01 -1.59435472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.56, Y:-80.30, Z:-15.95 [[ 8.40145982e-01 5.38151905e-01 6.74333421e-02 2.25555017e+02] [-5.36613709e-01 8.42845529e-01 -4.07080012e-02 -8.03046418e+01] [-7.87429793e-02 -1.98499210e-03 9.96892975e-01 -1.59482603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.61, Y:-80.34, Z:-15.95 [[ 8.40445391e-01 5.37685612e-01 6.74220072e-02 2.25608946e+02] [-5.36144413e-01 8.43143226e-01 -4.07267659e-02 -8.03372151e+01] [-7.87446046e-02 -1.91930978e-03 9.96892975e-01 -1.59535897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.66, Y:-80.37, Z:-15.96 [[ 8.40721628e-01 5.37255043e-01 6.74104127e-02 2.25662735e+02] [-5.35710925e-01 8.43417792e-01 -4.07459478e-02 -8.03696111e+01] [-7.87461074e-02 -1.85649495e-03 9.96892975e-01 -1.59592758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.72, Y:-80.40, Z:-15.97 [[ 8.41573847e-01 5.35920576e-01 6.73987871e-02 2.25716333e+02] [-5.34370645e-01 8.44266673e-01 -4.07651691e-02 -8.04022455e+01] [-7.87494426e-02 -1.70903318e-03 9.96892975e-01 -1.59659726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.77, Y:-80.44, Z:-15.97 [[ 8.44523062e-01 5.31262406e-01 6.73873369e-02 2.25767837e+02] [-5.29696110e-01 8.47206403e-01 -4.07840882e-02 -8.04358965e+01] [-7.87580361e-02 -1.25170713e-03 9.96892976e-01 -1.59711858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.82, Y:-80.47, Z:-15.97 [[ 8.48418878e-01 5.25019794e-01 6.73767237e-02 2.25819136e+02] [-5.23432360e-01 8.51089768e-01 -4.08016140e-02 -8.04724112e+01] [-7.87652951e-02 -6.50297951e-04 9.96892976e-01 -1.59740085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.87, Y:-80.50, Z:-15.98 [[ 8.52427100e-01 5.18487403e-01 6.73710039e-02 2.25871627e+02] [-5.16878753e-01 8.55085266e-01 -4.08110563e-02 -8.05042620e+01] [-7.87679714e-02 -3.41901302e-05 9.96892976e-01 -1.59780928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:-80.54, Z:-15.98 [[ 8.55869346e-01 5.12786952e-01 6.73587827e-02 2.25925331e+02] [-5.11159011e-01 8.58515741e-01 -4.08312175e-02 -8.05372094e+01] [-7.87662908e-02 5.15138570e-04 9.96892976e-01 -1.59831843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:225.98, Y:-80.57, Z:-15.99 [[ 8.59565685e-01 5.06568054e-01 6.73471586e-02 2.25979286e+02] [-5.04919467e-01 8.62199268e-01 -4.08503814e-02 -8.05684927e+01] [-7.87601690e-02 1.10869467e-03 9.96892976e-01 -1.59867190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:-80.60, Z:-15.99 [[ 8.63512926e-01 4.99811298e-01 6.73356775e-02 2.26031026e+02] [-4.98140634e-01 8.66132558e-01 -4.08692975e-02 -8.06000660e+01] [-7.87485593e-02 1.74852950e-03 9.96892977e-01 -1.59935054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.08, Y:-80.63, Z:-16.00 [[ 8.66194272e-01 4.95151114e-01 6.73265020e-02 2.26084936e+02] [-4.93465185e-01 8.68804107e-01 -4.08844074e-02 -8.06314404e+01] [-7.87375013e-02 2.19055468e-03 9.96892977e-01 -1.59988146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.14, Y:-80.66, Z:-16.00 [[ 8.69728364e-01 4.88918451e-01 6.73150877e-02 2.26140699e+02] [-4.87212374e-01 8.72325072e-01 -4.09031920e-02 -8.06611368e+01] [-7.87189640e-02 2.77792255e-03 9.96892977e-01 -1.60038912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.19, Y:-80.69, Z:-16.01 [[ 8.70968485e-01 4.86707431e-01 6.73036100e-02 2.26194739e+02] [-4.84993307e-01 8.73559887e-01 -4.09220692e-02 -8.06907385e+01] [-7.87108091e-02 3.00003221e-03 9.96892977e-01 -1.60074500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.25, Y:-80.72, Z:-16.01 [[ 8.70919483e-01 4.86796556e-01 6.72931403e-02 2.26248273e+02] [-4.85081370e-01 8.73510183e-01 -4.09392786e-02 -8.07195115e+01] [-7.87103431e-02 3.01216666e-03 9.96892978e-01 -1.60137440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.31, Y:-80.75, Z:-16.02 [[ 8.68158448e-01 4.91705019e-01 6.72835976e-02 2.26305415e+02] [-4.90003272e-01 8.70757995e-01 -4.09549560e-02 -8.07465514e+01] [-7.87254880e-02 2.58620813e-03 9.96892978e-01 -1.60183439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.36, Y:-80.77, Z:-16.02 [[ 8.64477116e-01 4.98150355e-01 6.72721332e-02 2.26361280e+02] [-4.96466531e-01 8.67088308e-01 -4.09737787e-02 -8.07746968e+01] [-7.87419825e-02 2.02253148e-03 9.96892978e-01 -1.60236015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.42, Y:-80.80, Z:-16.03 [[ 8.57288011e-01 5.10424602e-01 6.72606273e-02 2.26418859e+02] [-5.08776696e-01 8.59922017e-01 -4.09926577e-02 -8.07995976e+01] [-7.87625553e-02 9.21874219e-04 9.96892978e-01 -1.60286944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:-80.83, Z:-16.03 [[ 8.52050425e-01 5.19121866e-01 6.72499929e-02 2.26475973e+02] [-5.17499472e-01 8.54700221e-01 -4.10100963e-02 -8.08269891e+01] [-7.87678216e-02 1.40834160e-04 9.96892978e-01 -1.60333126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.53, Y:-80.85, Z:-16.04 [[ 8.45196290e-01 5.30209613e-01 6.72383680e-02 2.26533427e+02] [-5.28620462e-01 8.47866155e-01 -4.10291472e-02 -8.08506178e+01] [-7.87631848e-02 -8.65894166e-04 9.96892979e-01 -1.60394697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.59, Y:-80.88, Z:-16.04 [[ 8.41808564e-01 5.35573328e-01 6.72276108e-02 2.26588993e+02] [-5.33999779e-01 8.44487655e-01 -4.10467657e-02 -8.08794578e+01] [-7.87564403e-02 -1.34601048e-03 9.96892979e-01 -1.60445870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.64, Y:-80.91, Z:-16.05 [[ 8.39584680e-01 5.39054372e-01 6.72156950e-02 2.26644101e+02] [-5.37490369e-01 8.42269354e-01 -4.10662692e-02 -8.09085030e+01] [-7.87506719e-02 -1.64917825e-03 9.96892979e-01 -1.60492897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.70, Y:-80.94, Z:-16.05 [[ 8.40011954e-01 5.38389680e-01 6.72046859e-02 2.26698625e+02] [-5.36822113e-01 8.42694548e-01 -4.10842776e-02 -8.09388601e+01] [-7.87523734e-02 -1.56567719e-03 9.96892979e-01 -1.60529241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.75, Y:-80.97, Z:-16.06 [[ 8.40645574e-01 5.37401313e-01 6.71926134e-02 2.26752184e+02] [-5.35829015e-01 8.43325398e-01 -4.11040124e-02 -8.09697723e+01] [-7.87545877e-02 -1.44984579e-03 9.96892980e-01 -1.60607290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:-81.00, Z:-16.07 [[ 8.42560367e-01 5.34395618e-01 6.71814783e-02 2.26804697e+02] [-5.32812309e-01 8.45233700e-01 -4.11222039e-02 -8.10020859e+01] [-7.87595751e-02 -1.14717935e-03 9.96892980e-01 -1.60671372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:-81.04, Z:-16.07 [[ 8.47226983e-01 5.26967234e-01 6.71712285e-02 2.26855497e+02] [-5.25359155e-01 8.49885490e-01 -4.11389398e-02 -8.10365639e+01] [-7.87667257e-02 -4.35000033e-04 9.96892980e-01 -1.60733447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.91, Y:-81.07, Z:-16.08 [[ 8.52088572e-01 5.19070751e-01 6.71611521e-02 2.26906670e+02] [-5.17436739e-01 8.54731218e-01 -4.11553834e-02 -8.10729827e+01] [-7.87672891e-02 3.16384308e-04 9.96892980e-01 -1.60781124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.96, Y:-81.11, Z:-16.08 [[ 8.51946934e-01 5.19304648e-01 6.71498640e-02 2.26960535e+02] [-5.17669910e-01 8.54589131e-01 -4.11737930e-02 -8.11060977e+01] [-7.87672860e-02 3.16422617e-04 9.96892980e-01 -1.60831153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.01, Y:-81.14, Z:-16.08 [[ 8.56981320e-01 5.10955407e-01 6.71385910e-02 2.27010652e+02] [-5.09293491e-01 8.59606506e-01 -4.11921668e-02 -8.11436317e+01] [-7.87601300e-02 1.10767005e-03 9.96892981e-01 -1.60826000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.06, Y:-81.18, Z:-16.09 [[ 8.60211684e-01 5.05499443e-01 6.71280204e-02 2.27061086e+02] [-5.03819536e-01 8.62825395e-01 -4.12093859e-02 -8.11780097e+01] [-7.87510823e-02 1.62838714e-03 9.96892981e-01 -1.60916396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.11, Y:-81.21, Z:-16.10 [[ 8.65064946e-01 4.97149637e-01 6.71183864e-02 2.27112229e+02] [-4.95443295e-01 8.67661475e-01 -4.12250709e-02 -8.12146102e+01] [-7.87310672e-02 2.40900928e-03 9.96892981e-01 -1.60950620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.16, Y:-81.25, Z:-16.10 [[ 8.69302162e-01 4.89704458e-01 6.71066023e-02 2.27163005e+02] [-4.87974409e-01 8.71882956e-01 -4.12442444e-02 -8.12514562e+01] [-7.87065930e-02 3.10740620e-03 9.96892981e-01 -1.60983178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.21, Y:-81.29, Z:-16.10 [[ 8.71148657e-01 4.86413723e-01 6.70947703e-02 2.27214837e+02] [-4.84672450e-01 8.73721890e-01 -4.12634834e-02 -8.12855959e+01] [-7.86932940e-02 3.42764141e-03 9.96892982e-01 -1.61029432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.27, Y:-81.32, Z:-16.11 [[ 8.71713338e-01 4.85402026e-01 6.70874832e-02 2.27266695e+02] [-4.83656857e-01 8.74283931e-01 -4.12753275e-02 -8.13182065e+01] [-7.86886361e-02 3.53293217e-03 9.96892982e-01 -1.61077456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.32, Y:-81.35, Z:-16.11 [[ 8.69781049e-01 4.88857475e-01 6.70767897e-02 2.27320547e+02] [-4.87121185e-01 8.72357647e-01 -4.12926983e-02 -8.13500352e+01] [-7.87011947e-02 3.24108121e-03 9.96892982e-01 -1.61127633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.37, Y:-81.38, Z:-16.11 [[ 8.68241997e-01 4.91587279e-01 6.70654961e-02 2.27373455e+02] [-4.89857678e-01 8.70823090e-01 -4.13110326e-02 -8.13830885e+01] [-7.87101607e-02 3.01542526e-03 9.96892982e-01 -1.61125872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.43, Y:-81.41, Z:-16.12 [[ 8.62185586e-01 5.02135049e-01 6.70552640e-02 2.27427795e+02] [-5.00435751e-01 8.64786729e-01 -4.13276345e-02 -8.14136053e+01] [-7.87405562e-02 2.07523939e-03 9.96892982e-01 -1.61162676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.48, Y:-81.44, Z:-16.13 [[ 8.58377562e-01 5.08618644e-01 6.70450347e-02 2.27481792e+02] [-5.06937702e-01 8.60990605e-01 -4.13442228e-02 -8.14401973e+01] [-7.87535875e-02 1.50129733e-03 9.96892983e-01 -1.61280221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.54, Y:-81.47, Z:-16.13 [[ 8.53408193e-01 5.16914013e-01 6.70399798e-02 2.27536593e+02] [-5.15257832e-01 8.56037000e-01 -4.13524177e-02 -8.14704757e+01] [-7.87643473e-02 7.47617501e-04 9.96892983e-01 -1.61328747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:-81.50, Z:-16.14 [[ 8.46348679e-01 5.28394824e-01 6.70285207e-02 2.27592068e+02] [-5.26772834e-01 8.48998718e-01 -4.13709835e-02 -8.14994231e+01] [-7.87673417e-02 -2.94526602e-04 9.96892983e-01 -1.61362338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:-81.53, Z:-16.14 [[ 8.40411379e-01 5.37789225e-01 6.70183876e-02 2.27647482e+02] [-5.36195545e-01 8.43078538e-01 -4.13873921e-02 -8.15290011e+01] [-7.87594577e-02 -1.15252557e-03 9.96892983e-01 -1.61407218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.70, Y:-81.56, Z:-16.15 [[ 8.37250025e-01 5.42699279e-01 6.70066211e-02 2.27701593e+02] [-5.41119716e-01 8.39925569e-01 -4.14064334e-02 -8.15609082e+01] [-7.87518159e-02 -1.59106632e-03 9.96892983e-01 -1.61456635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.76, Y:-81.59, Z:-16.15 [[ 8.33273246e-01 5.48787194e-01 6.69948810e-02 2.27755005e+02] [-5.47225648e-01 8.35959344e-01 -4.14254200e-02 -8.15927018e+01] [-7.87387368e-02 -2.14262297e-03 9.96892983e-01 -1.61504907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.81, Y:-81.63, Z:-16.16 [[ 8.31358317e-01 5.51685135e-01 6.69840319e-02 2.27808860e+02] [-5.50131539e-01 8.34049022e-01 -4.14429554e-02 -8.16256424e+01] [-7.87314287e-02 -2.39608296e-03 9.96892984e-01 -1.61556493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.86, Y:-81.66, Z:-16.16 [[ 8.30328393e-01 5.53235416e-01 6.69726435e-02 2.27861603e+02] [-5.51685362e-01 8.33021139e-01 -4.14613512e-02 -8.16599616e+01] [-7.87275156e-02 -2.52128993e-03 9.96892984e-01 -1.61608363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.91, Y:-81.69, Z:-16.17 [[ 8.30792710e-01 5.52539308e-01 6.69610752e-02 2.27913236e+02] [-5.50985495e-01 8.33483288e-01 -4.14800259e-02 -8.16943887e+01] [-7.87302819e-02 -2.43327798e-03 9.96892984e-01 -1.61669885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.96, Y:-81.73, Z:-16.17 [[ 8.33261212e-01 5.48810896e-01 6.69503708e-02 2.27964266e+02] [-5.47243655e-01 8.35943991e-01 -4.14972959e-02 -8.17295784e+01] [-7.87409284e-02 -2.06007856e-03 9.96892984e-01 -1.61727853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.02, Y:-81.77, Z:-16.18 [[ 8.35878599e-01 5.44817372e-01 6.69402606e-02 2.28015478e+02] [-5.43236007e-01 8.38553076e-01 -4.15135986e-02 -8.17653414e+01] [-7.87502912e-02 -1.66403127e-03 9.96892985e-01 -1.61778847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:-81.80, Z:-16.18 [[ 8.40845775e-01 5.37120975e-01 6.69286244e-02 2.28065316e+02] [-5.35513632e-01 8.43504721e-01 -4.15323501e-02 -8.18049592e+01] [-7.87625071e-02 -9.18889615e-04 9.96892985e-01 -1.61812341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.12, Y:-81.84, Z:-16.19 [[ 8.44201391e-01 5.31832833e-01 6.69167291e-02 2.28115735e+02] [-5.30207315e-01 8.46849264e-01 -4.15515071e-02 -8.18419970e+01] [-7.87668385e-02 -4.01899114e-04 9.96892985e-01 -1.61855938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.17, Y:-81.88, Z:-16.19 [[ 8.48351740e-01 5.25188583e-01 6.69049883e-02 2.28165802e+02] [-5.23540835e-01 8.50985837e-01 -4.15704032e-02 -8.18811134e+01] [-7.87674986e-02 2.38830485e-04 9.96892985e-01 -1.61897708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.22, Y:-81.92, Z:-16.19 [[ 8.50644639e-01 5.21468131e-01 6.68930923e-02 2.28216617e+02] [-5.19807359e-01 8.53270543e-01 -4.15895369e-02 -8.19185060e+01] [-7.87655233e-02 6.06395008e-04 9.96892986e-01 -1.61943248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.27, Y:-81.96, Z:-16.20 [[ 8.53716121e-01 5.16425857e-01 6.68813793e-02 2.28267313e+02] [-5.14748101e-01 8.56331207e-01 -4.16083643e-02 -8.19562620e+01] [-7.87602475e-02 1.09466838e-03 9.96892986e-01 -1.61995177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:-81.99, Z:-16.20 [[ 8.56440774e-01 5.11896115e-01 6.68697785e-02 2.28317886e+02] [-5.10203076e-01 8.59045991e-01 -4.16270000e-02 -8.19930655e+01] [-7.87529147e-02 1.53389343e-03 9.96892986e-01 -1.62038602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.37, Y:-82.03, Z:-16.21 [[ 8.57944879e-01 5.09372726e-01 6.68581359e-02 2.28370026e+02] [-5.07670569e-01 8.60544147e-01 -4.16456910e-02 -8.20285032e+01] [-7.87475568e-02 1.78779942e-03 9.96892986e-01 -1.62084719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.42, Y:-82.06, Z:-16.21 [[ 8.60640025e-01 5.04807178e-01 6.68465470e-02 2.28421419e+02] [-5.03089793e-01 8.63229256e-01 -4.16642844e-02 -8.20639405e+01] [-7.87363249e-02 2.22813530e-03 9.96892987e-01 -1.62127700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.47, Y:-82.10, Z:-16.22 [[ 8.63256216e-01 5.00321674e-01 6.68350773e-02 2.28473339e+02] [-4.98589415e-01 8.65835521e-01 -4.16826754e-02 -8.20969593e+01] [-7.87229299e-02 2.65956653e-03 9.96892987e-01 -1.62188923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:-82.13, Z:-16.22 [[ 8.64276154e-01 4.98558224e-01 6.68313246e-02 2.28525028e+02] [-4.96820239e-01 8.66851604e-01 -4.16886914e-02 -8.21311165e+01] [-7.87170808e-02 2.82738718e-03 9.96892987e-01 -1.62204505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.58, Y:-82.16, Z:-16.23 [[ 8.65437787e-01 4.96540470e-01 6.68206390e-02 2.28576951e+02] [-4.94795162e-01 8.68008279e-01 -4.17058117e-02 -8.21628963e+01] [-7.87094912e-02 3.03125648e-03 9.96892987e-01 -1.62270166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.63, Y:-82.20, Z:-16.23 [[ 8.65120378e-01 4.97094064e-01 6.68148483e-02 2.28630480e+02] [-4.95349685e-01 8.67691501e-01 -4.17150866e-02 -8.21950868e+01] [-7.87109979e-02 2.99185737e-03 9.96892987e-01 -1.62326632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.69, Y:-82.23, Z:-16.24 [[ 8.64107322e-01 4.98854554e-01 6.68032150e-02 2.28685292e+02] [-4.97113978e-01 8.66681020e-01 -4.17337082e-02 -8.22261475e+01] [-7.87161289e-02 2.85359093e-03 9.96892987e-01 -1.62370157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.74, Y:-82.26, Z:-16.24 [[ 8.63655429e-01 4.99638066e-01 6.67914887e-02 2.28740316e+02] [-4.97898376e-01 8.66229726e-01 -4.17524668e-02 -8.22574814e+01] [-7.87178947e-02 2.80437085e-03 9.96892988e-01 -1.62408225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.80, Y:-82.29, Z:-16.25 [[ 8.62953289e-01 5.00851374e-01 6.67796535e-02 2.28795557e+02] [-4.99113842e-01 8.65529043e-01 -4.17713877e-02 -8.22876882e+01] [-7.87209865e-02 2.71610698e-03 9.96892988e-01 -1.62451229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.85, Y:-82.32, Z:-16.25 [[ 8.62274885e-01 5.02019979e-01 6.67679832e-02 2.28849536e+02] [-5.00284496e-01 8.64852020e-01 -4.17900333e-02 -8.23176742e+01] [-7.87238568e-02 2.63150927e-03 9.96892988e-01 -1.62505176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.91, Y:-82.35, Z:-16.26 [[ 8.60813330e-01 5.04523425e-01 6.67571990e-02 2.28905006e+02] [-5.02794105e-01 8.63394604e-01 -4.18072535e-02 -8.23465131e+01] [-7.87305441e-02 2.42311502e-03 9.96892988e-01 -1.62569283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.96, Y:-82.38, Z:-16.26 [[ 8.58278439e-01 5.08824215e-01 6.67535724e-02 2.28960267e+02] [-5.07107381e-01 8.60868035e-01 -4.18130432e-02 -8.23761452e+01] [-7.87415056e-02 2.03600422e-03 9.96892988e-01 -1.62629344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.01, Y:-82.41, Z:-16.27 [[ 8.56697351e-01 5.11483289e-01 6.67419886e-02 2.29014699e+02] [-5.09773056e-01 8.59291310e-01 -4.18315252e-02 -8.24067724e+01] [-7.87469369e-02 1.81368936e-03 9.96892988e-01 -1.62686594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.07, Y:-82.44, Z:-16.27 [[ 8.55994929e-01 5.12659477e-01 6.67303634e-02 2.29067237e+02] [-5.10951364e-01 8.58590284e-01 -4.18500617e-02 -8.24383174e+01] [-7.87488724e-02 1.72747041e-03 9.96892989e-01 -1.62741319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.12, Y:-82.47, Z:-16.28 [[ 8.54850002e-01 5.14567749e-01 6.67196126e-02 2.29121803e+02] [-5.12864093e-01 8.57448284e-01 -4.18671942e-02 -8.24692920e+01] [-7.87521252e-02 1.57207745e-03 9.96892989e-01 -1.62788305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.18, Y:-82.50, Z:-16.28 [[ 8.54343343e-01 5.15410059e-01 6.67077507e-02 2.29175657e+02] [-5.13707490e-01 8.56942338e-01 -4.18860854e-02 -8.25015598e+01] [-7.87532056e-02 1.51682700e-03 9.96892989e-01 -1.62834885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:-82.53, Z:-16.29 [[ 8.53145707e-01 5.17391602e-01 6.66958192e-02 2.29229235e+02] [-5.15693586e-01 8.55747679e-01 -4.19050756e-02 -8.25336433e+01] [-7.87561267e-02 1.35652926e-03 9.96892989e-01 -1.62884287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.28, Y:-82.57, Z:-16.29 [[ 8.50631188e-01 5.21516863e-01 6.66839056e-02 2.29282765e+02] [-5.19829982e-01 8.53240392e-01 -4.19240252e-02 -8.25661210e+01] [-7.87614879e-02 9.97589930e-04 9.96892990e-01 -1.62944464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:-82.60, Z:-16.30 [[ 8.48772114e-01 5.24538593e-01 6.66720597e-02 2.29336172e+02] [-5.22859522e-01 8.51386350e-01 -4.19428556e-02 -8.25974957e+01] [-7.87643280e-02 7.39804941e-04 9.96892990e-01 -1.63005496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:-82.63, Z:-16.30 [[ 8.43664801e-01 5.32714803e-01 6.66681495e-02 2.29387929e+02] [-5.31060578e-01 8.46294829e-01 -4.19490699e-02 -8.26295294e+01] [-7.87678007e-02 -1.38722799e-05 9.96892990e-01 -1.63041843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.44, Y:-82.66, Z:-16.31 [[ 8.40579858e-01 5.37570659e-01 6.66579949e-02 2.29440911e+02] [-5.35930347e-01 8.43218587e-01 -4.19651995e-02 -8.26634942e+01] [-7.87665202e-02 -4.48940951e-04 9.96892990e-01 -1.63093971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:-82.70, Z:-16.31 [[ 8.36503010e-01 5.43894305e-01 6.66460673e-02 2.29492873e+02] [-5.42272431e-01 8.39153111e-01 -4.19841336e-02 -8.26982953e+01] [-7.87611859e-02 -1.02047076e-03 9.96892990e-01 -1.63141663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.54, Y:-82.73, Z:-16.32 [[ 8.34157874e-01 5.47485630e-01 6.66342749e-02 2.29544530e+02] [-5.45873670e-01 8.36814016e-01 -4.20028413e-02 -8.27326365e+01] [-7.87564472e-02 -1.33689542e-03 9.96892991e-01 -1.63177341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.59, Y:-82.77, Z:-16.32 [[ 8.30911322e-01 5.52401695e-01 6.66238856e-02 2.29594513e+02] [-5.50804127e-01 8.33576146e-01 -4.20193142e-02 -8.27673144e+01] [-7.87476221e-02 -1.78238720e-03 9.96892991e-01 -1.63208581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:-82.80, Z:-16.33 [[ 8.28583518e-01 5.55888367e-01 6.66143895e-02 2.29646370e+02] [-5.54300803e-01 8.31254313e-01 -4.20343632e-02 -8.28022597e+01] [-7.87399121e-02 -2.09542898e-03 9.96892991e-01 -1.63256014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.70, Y:-82.84, Z:-16.33 [[ 8.25471392e-01 5.60500779e-01 6.66022314e-02 2.29695993e+02] [-5.58926583e-01 8.28150088e-01 -4.20536187e-02 -8.28371344e+01] [-7.87277298e-02 -2.51169846e-03 9.96892991e-01 -1.63329780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.75, Y:-82.87, Z:-16.34 [[ 8.24174347e-01 5.62406955e-01 6.65962680e-02 2.29747726e+02] [-5.60838192e-01 8.26856228e-01 -4.20630602e-02 -8.28719196e+01] [-7.87220965e-02 -2.68243541e-03 9.96892991e-01 -1.63396573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.80, Y:-82.91, Z:-16.35 [[ 8.24028869e-01 5.62620525e-01 6.65925524e-02 2.29797343e+02] [-5.61051983e-01 8.26710879e-01 -4.20689417e-02 -8.29090974e+01] [-7.87216376e-02 -2.69586106e-03 9.96892991e-01 -1.63458561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.85, Y:-82.95, Z:-16.35 [[ 8.25018976e-01 5.61168863e-01 6.65822575e-02 2.29847564e+02] [-5.59594288e-01 8.27697448e-01 -4.20852291e-02 -8.29465070e+01] [-7.87268848e-02 -2.53793840e-03 9.96892991e-01 -1.63507819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.90, Y:-82.99, Z:-16.35 [[ 8.28030600e-01 5.56716891e-01 6.65704798e-02 2.29895921e+02] [-5.55126416e-01 8.30699662e-01 -4.21038509e-02 -8.29865751e+01] [-7.87400000e-02 -2.09175494e-03 9.96892992e-01 -1.63534731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.95, Y:-83.02, Z:-16.36 [[ 8.29889205e-01 5.53943739e-01 6.65600655e-02 2.29945819e+02] [-5.52343025e-01 8.32552138e-01 -4.21203080e-02 -8.30239806e+01] [-7.87470057e-02 -1.80879894e-03 9.96892992e-01 -1.63573195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.99, Y:-83.06, Z:-16.36 [[ 8.31000121e-01 5.52277037e-01 6.65497763e-02 2.29994543e+02] [-5.50669681e-01 8.33659051e-01 -4.21365587e-02 -8.30626968e+01] [-7.87508771e-02 -1.63145873e-03 9.96892992e-01 -1.63601023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.05, Y:-83.10, Z:-16.37 [[ 8.30996573e-01 5.52283647e-01 6.65392285e-02 2.30046058e+02] [-5.50674979e-01 8.33654709e-01 -4.21532085e-02 -8.30990704e+01] [-7.87512689e-02 -1.61231647e-03 9.96892992e-01 -1.63652285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.10, Y:-83.14, Z:-16.37 [[ 8.30953496e-01 5.52349895e-01 6.65272929e-02 2.30097101e+02] [-5.50739933e-01 8.33610848e-01 -4.21720372e-02 -8.31357167e+01] [-7.87515933e-02 -1.59623510e-03 9.96892993e-01 -1.63711322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.15, Y:-83.17, Z:-16.38 [[ 8.31210611e-01 5.51964362e-01 6.65151451e-02 2.30148431e+02] [-5.50351635e-01 8.33866285e-01 -4.21911883e-02 -8.31699245e+01] [-7.87527693e-02 -1.53695546e-03 9.96892993e-01 -1.63771721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.20, Y:-83.20, Z:-16.38 [[ 8.32009317e-01 5.50761041e-01 6.65039316e-02 2.30201002e+02] [-5.49143061e-01 8.34661794e-01 -4.22088563e-02 -8.32022497e+01] [-7.87552845e-02 -1.40201086e-03 9.96892993e-01 -1.63834606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.25, Y:-83.23, Z:-16.39 [[ 8.33241189e-01 5.48896843e-01 6.64934419e-02 2.30254026e+02] [-5.47271611e-01 8.35889228e-01 -4.22253748e-02 -8.32339317e+01] [-7.87585267e-02 -1.20605152e-03 9.96892993e-01 -1.63891101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:-83.27, Z:-16.39 [[ 8.34587262e-01 5.46848889e-01 6.64860447e-02 2.30305820e+02] [-5.45216232e-01 8.37230730e-01 -4.22370188e-02 -8.32673050e+01] [-7.87614266e-02 -9.98792885e-04 9.96892993e-01 -1.63917198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.36, Y:-83.30, Z:-16.40 [[ 8.35085056e-01 5.46089100e-01 6.64804003e-02 2.30358004e+02] [-5.44453331e-01 8.37726599e-01 -4.22459012e-02 -8.33015377e+01] [-7.87624258e-02 -9.16554633e-04 9.96892993e-01 -1.63959018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.41, Y:-83.34, Z:-16.40 [[ 8.35559978e-01 5.45363578e-01 6.64687246e-02 2.30410617e+02] [-5.43724054e-01 8.38199192e-01 -4.22642635e-02 -8.33351936e+01] [-7.87634212e-02 -8.26317409e-04 9.96892994e-01 -1.64023815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.46, Y:-83.37, Z:-16.41 [[ 8.35212655e-01 5.45896806e-01 6.64567444e-02 2.30463357e+02] [-5.44257469e-01 8.37851984e-01 -4.22830929e-02 -8.33687352e+01] [-7.87631206e-02 -8.54205294e-04 9.96892994e-01 -1.64079693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.52, Y:-83.40, Z:-16.41 [[ 8.34570033e-01 5.46880198e-01 6.64447810e-02 2.30516147e+02] [-5.45242475e-01 8.37210364e-01 -4.23018843e-02 -8.34021688e+01] [-7.87623221e-02 -9.24631878e-04 9.96892994e-01 -1.64128347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.57, Y:-83.44, Z:-16.42 [[ 8.34230094e-01 5.47400068e-01 6.64327901e-02 2.30569409e+02] [-5.45762492e-01 8.36870516e-01 -4.23207069e-02 -8.34353197e+01] [-7.87620012e-02 -9.51317784e-04 9.96892994e-01 -1.64182720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.62, Y:-83.47, Z:-16.42 [[ 8.33028042e-01 5.49229082e-01 6.64206057e-02 2.30621923e+02] [-5.47595779e-01 8.35671109e-01 -4.23398213e-02 -8.34677853e+01] [-7.87600424e-02 -1.10138493e-03 9.96892995e-01 -1.64218488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.67, Y:-83.50, Z:-16.43 [[ 8.32515801e-01 5.50006587e-01 6.64093042e-02 2.30674651e+02] [-5.48374339e-01 8.35159519e-01 -4.23575400e-02 -8.35019494e+01] [-7.87592886e-02 -1.15383697e-03 9.96892995e-01 -1.64260688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:-83.54, Z:-16.43 [[ 8.32373221e-01 5.50223802e-01 6.63971966e-02 2.30727230e+02] [-5.48590731e-01 8.35016431e-01 -4.23765108e-02 -8.35354780e+01] [-7.87593151e-02 -1.15181386e-03 9.96892995e-01 -1.64315211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.78, Y:-83.57, Z:-16.44 [[ 8.32726231e-01 5.49690850e-01 6.63851906e-02 2.30779526e+02] [-5.48054589e-01 8.35367467e-01 -4.23953106e-02 -8.35679936e+01] [-7.87603428e-02 -1.07902105e-03 9.96892995e-01 -1.64370953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.83, Y:-83.60, Z:-16.44 [[ 8.33419046e-01 5.48641205e-01 6.63740972e-02 2.30832894e+02] [-5.47000235e-01 8.36057359e-01 -4.24126713e-02 -8.36012367e+01] [-7.87618915e-02 -9.59118690e-04 9.96892996e-01 -1.64426611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.89, Y:-83.64, Z:-16.45 [[ 8.34807159e-01 5.46528206e-01 6.63620839e-02 2.30885747e+02] [-5.44879065e-01 8.37440372e-01 -4.24314600e-02 -8.36357934e+01] [-7.87642779e-02 -7.37223588e-04 9.96892996e-01 -1.64478622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.94, Y:-83.67, Z:-16.45 [[ 8.35357472e-01 5.45688146e-01 6.63501500e-02 2.30938153e+02] [-5.44034874e-01 8.37988093e-01 -4.24501129e-02 -8.36693220e+01] [-7.87651590e-02 -6.35776513e-04 9.96892996e-01 -1.64531222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.99, Y:-83.70, Z:-16.46 [[ 8.35948601e-01 5.44783612e-01 6.63381656e-02 2.30991833e+02] [-5.43126009e-01 8.38576494e-01 -4.24688330e-02 -8.37017316e+01] [-7.87659506e-02 -5.28221618e-04 9.96892996e-01 -1.64596026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:-83.73, Z:-16.47 [[ 8.36715632e-01 5.43606276e-01 6.63262212e-02 2.31044602e+02] [-5.41943497e-01 8.39340253e-01 -4.24874791e-02 -8.37336308e+01] [-7.87667276e-02 -3.95126306e-04 9.96892997e-01 -1.64656022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:-83.77, Z:-16.47 [[ 8.37056147e-01 5.43083139e-01 6.63152351e-02 2.31097400e+02] [-5.41417362e-01 8.39678866e-01 -4.25046196e-02 -8.37675802e+01] [-7.87670437e-02 -3.25466563e-04 9.96892997e-01 -1.64697227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.15, Y:-83.80, Z:-16.47 [[ 8.37222633e-01 5.42827867e-01 6.63036187e-02 2.31150857e+02] [-5.41159855e-01 8.39843931e-01 -4.25227326e-02 -8.37999446e+01] [-7.87672160e-02 -2.79862558e-04 9.96892997e-01 -1.64738921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.20, Y:-83.83, Z:-16.48 [[ 8.36762753e-01 5.43537922e-01 6.62919489e-02 2.31204421e+02] [-5.41870694e-01 8.39384549e-01 -4.25409177e-02 -8.38326254e+01] [-7.87670397e-02 -3.25008971e-04 9.96892997e-01 -1.64780542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.26, Y:-83.86, Z:-16.48 [[ 8.35829254e-01 5.44973770e-01 6.62800725e-02 2.31257422e+02] [-5.43309579e-01 8.38452979e-01 -4.25594135e-02 -8.38637310e+01] [-7.87664883e-02 -4.38195444e-04 9.96892997e-01 -1.64834506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.31, Y:-83.90, Z:-16.49 [[ 8.35352187e-01 5.45706083e-01 6.62690992e-02 2.31310807e+02] [-5.44042837e-01 8.37976511e-01 -4.25764933e-02 -8.38974273e+01] [-7.87661999e-02 -4.86861940e-04 9.96892998e-01 -1.64881229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:-83.93, Z:-16.50 [[ 8.35370626e-01 5.45679304e-01 6.62571811e-02 2.31363957e+02] [-5.44014504e-01 8.37993964e-01 -4.25950320e-02 -8.39302626e+01] [-7.87663453e-02 -4.62228992e-04 9.96892998e-01 -1.64952908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.42, Y:-83.96, Z:-16.50 [[ 8.34818435e-01 5.46524428e-01 6.62512651e-02 2.31416036e+02] [-5.44861553e-01 8.37442994e-01 -4.26042316e-02 -8.39625169e+01] [-7.87659111e-02 -5.30969200e-04 9.96892998e-01 -1.64978633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:-83.99, Z:-16.50 [[ 8.33798088e-01 5.48081169e-01 6.62403293e-02 2.31468516e+02] [-5.46421844e-01 8.36424892e-01 -4.26212277e-02 -8.39943717e+01] [-7.87649526e-02 -6.57664776e-04 9.96892998e-01 -1.65036320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.52, Y:-84.03, Z:-16.51 [[ 8.32416601e-01 5.50178422e-01 6.62291968e-02 2.31522021e+02] [-5.48524339e-01 8.35046709e-01 -4.26385194e-02 -8.40271602e+01] [-7.87632662e-02 -8.35314985e-04 9.96892998e-01 -1.65083327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.58, Y:-84.06, Z:-16.51 [[ 8.31772594e-01 5.51152989e-01 6.62173219e-02 2.31575542e+02] [-5.49500520e-01 8.34403717e-01 -4.26569533e-02 -8.40593672e+01] [-7.87624868e-02 -9.05568126e-04 9.96892999e-01 -1.65129543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.63, Y:-84.09, Z:-16.52 [[ 8.31664480e-01 5.51317574e-01 6.62051739e-02 2.31627809e+02] [-5.49664125e-01 8.34294987e-01 -4.26757991e-02 -8.40921461e+01] [-7.87625627e-02 -8.98662704e-04 9.96892999e-01 -1.65181688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:-84.13, Z:-16.52 [[ 8.31990844e-01 5.50826288e-01 6.61939351e-02 2.31679583e+02] [-5.49169900e-01 8.34619500e-01 -4.26932243e-02 -8.41260133e+01] [-7.87632993e-02 -8.31344988e-04 9.96892999e-01 -1.65225094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:-84.16, Z:-16.53 [[ 8.31998575e-01 5.50815936e-01 6.61828958e-02 2.31732493e+02] [-5.49158154e-01 8.34626353e-01 -4.27103305e-02 -8.41602176e+01] [-7.87635197e-02 -8.09942769e-04 9.96892999e-01 -1.65265689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.79, Y:-84.19, Z:-16.53 [[ 8.31448616e-01 5.51647185e-01 6.61708572e-02 2.31785089e+02] [-5.49990548e-01 8.34077114e-01 -4.27289738e-02 -8.41942632e+01] [-7.87629158e-02 -8.66399912e-04 9.96893000e-01 -1.65319883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:-84.23, Z:-16.54 [[ 8.31169978e-01 5.52068398e-01 6.61585354e-02 2.31836476e+02] [-5.50411574e-01 8.33798359e-01 -4.27480436e-02 -8.42279987e+01] [-7.87627222e-02 -8.83533083e-04 9.96893000e-01 -1.65374981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.89, Y:-84.26, Z:-16.54 [[ 8.30803361e-01 5.52621325e-01 6.61471586e-02 2.31887550e+02] [-5.50964850e-01 8.33431961e-01 -4.27656406e-02 -8.42619003e+01] [-7.87623611e-02 -9.14921335e-04 9.96893000e-01 -1.65426345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:-84.30, Z:-16.55 [[ 8.31461756e-01 5.51631565e-01 6.61359613e-02 2.31939738e+02] [-5.49970584e-01 8.34087511e-01 -4.27829499e-02 -8.42960062e+01] [-7.87636049e-02 -8.00446587e-04 9.96893000e-01 -1.65472361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.99, Y:-84.33, Z:-16.55 [[ 8.32067242e-01 5.50719304e-01 6.61237714e-02 2.31991700e+02] [-5.49053948e-01 8.34690224e-01 -4.28017819e-02 -8.43307110e+01] [-7.87646331e-02 -6.91557051e-04 9.96893000e-01 -1.65512722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.04, Y:-84.36, Z:-16.55 [[ 8.31916457e-01 5.50948499e-01 6.61117202e-02 2.32044753e+02] [-5.49282387e-01 8.34538959e-01 -4.28203881e-02 -8.43639033e+01] [-7.87646347e-02 -6.91017853e-04 9.96893001e-01 -1.65542274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.10, Y:-84.40, Z:-16.56 [[ 8.30980446e-01 5.52359723e-01 6.61077486e-02 2.32096278e+02] [-5.50697577e-01 8.33605463e-01 -4.28265188e-02 -8.43969970e+01] [-7.87634244e-02 -8.17377289e-04 9.96893001e-01 -1.65616643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.15, Y:-84.43, Z:-16.57 [[ 8.30315354e-01 5.53359934e-01 6.60999007e-02 2.32148805e+02] [-5.51699986e-01 8.32941761e-01 -4.28386281e-02 -8.44306055e+01] [-7.87625481e-02 -8.97743567e-04 9.96893001e-01 -1.65665709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.20, Y:-84.47, Z:-16.57 [[ 8.30264910e-01 5.53437036e-01 6.60880115e-02 2.32201296e+02] [-5.51775873e-01 8.32890549e-01 -4.28569620e-02 -8.44654262e+01] [-7.87627102e-02 -8.83138533e-04 9.96893001e-01 -1.65703101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:-84.50, Z:-16.58 [[ 8.31229465e-01 5.51988733e-01 6.60758305e-02 2.32252428e+02] [-5.50321502e-01 8.33851255e-01 -4.28757341e-02 -8.44991487e+01] [-7.87643364e-02 -7.23376763e-04 9.96893001e-01 -1.65750779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.30, Y:-84.53, Z:-16.58 [[ 8.31888772e-01 5.50995955e-01 6.60645843e-02 2.32304109e+02] [-5.49324220e-01 8.34507691e-01 -4.28930558e-02 -8.45326668e+01] [-7.87653040e-02 -6.08624691e-04 9.96893002e-01 -1.65804304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.36, Y:-84.57, Z:-16.58 [[ 8.31949375e-01 5.50905754e-01 6.60536703e-02 2.32356469e+02] [-5.49232401e-01 8.34567262e-01 -4.29098564e-02 -8.45665429e+01] [-7.87655175e-02 -5.79987741e-04 9.96893002e-01 -1.65848530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.41, Y:-84.60, Z:-16.59 [[ 8.32216355e-01 5.50503821e-01 6.60415206e-02 2.32408329e+02] [-5.48827720e-01 8.34832482e-01 -4.29285475e-02 -8.46003423e+01] [-7.87659360e-02 -5.19577874e-04 9.96893002e-01 -1.65904276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.46, Y:-84.63, Z:-16.60 [[ 8.33011380e-01 5.49301412e-01 6.60302930e-02 2.32460733e+02] [-5.47620167e-01 8.35624204e-01 -4.29458103e-02 -8.46347396e+01] [-7.87667053e-02 -3.85171405e-04 9.96893002e-01 -1.65958102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.51, Y:-84.67, Z:-16.60 [[ 8.34465843e-01 5.47090779e-01 6.60184482e-02 2.32513260e+02] [-5.45401172e-01 8.37073268e-01 -4.29640111e-02 -8.46700041e+01] [-7.87674925e-02 -1.54539278e-04 9.96893002e-01 -1.65993054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.57, Y:-84.70, Z:-16.60 [[ 8.35020744e-01 5.46244939e-01 6.60062429e-02 2.32565638e+02] [-5.44551209e-01 8.37625492e-01 -4.29827542e-02 -8.47044676e+01] [-7.87676235e-02 -5.22879713e-05 9.96893003e-01 -1.66043183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:-84.74, Z:-16.61 [[ 8.35491276e-01 5.45526449e-01 6.59941009e-02 2.32617894e+02] [-5.43829007e-01 8.38093605e-01 -4.30013884e-02 -8.47385187e+01] [-7.87676287e-02 3.77784842e-05 9.96893003e-01 -1.66106737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.67, Y:-84.77, Z:-16.62 [[ 8.35054003e-01 5.46197026e-01 6.59819744e-02 2.32670225e+02] [-5.44500203e-01 8.37656737e-01 -4.30199876e-02 -8.47731080e+01] [-7.87676346e-02 -3.18558994e-06 9.96893003e-01 -1.66157872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.72, Y:-84.81, Z:-16.62 [[ 8.34934959e-01 5.46380450e-01 6.59698262e-02 2.32722856e+02] [-5.44682728e-01 8.37537106e-01 -4.30386083e-02 -8.48074336e+01] [-7.87676315e-02 1.81371236e-06 9.96893003e-01 -1.66203066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.77, Y:-84.84, Z:-16.63 [[ 8.34747351e-01 5.46668497e-01 6.59576729e-02 2.32774752e+02] [-5.44970202e-01 8.37349123e-01 -4.30572256e-02 -8.48421263e+01] [-7.87676284e-02 -3.06130228e-06 9.96893004e-01 -1.66257775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.83, Y:-84.88, Z:-16.63 [[ 8.34580308e-01 5.46924927e-01 6.59456843e-02 2.32826891e+02] [-5.45225981e-01 8.37181655e-01 -4.30755794e-02 -8.48774473e+01] [-7.87676252e-02 -5.27012193e-06 9.96893004e-01 -1.66313984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.88, Y:-84.91, Z:-16.64 [[ 8.34173687e-01 5.47546348e-01 6.59337294e-02 2.32879182e+02] [-5.45847893e-01 8.36775355e-01 -4.30938704e-02 -8.49124382e+01] [-7.87676112e-02 -4.20145044e-05 9.96893004e-01 -1.66372458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:-84.95, Z:-16.64 [[ 8.33459873e-01 5.48633703e-01 6.59219184e-02 2.32931415e+02] [-5.46937215e-01 8.36062823e-01 -4.31119304e-02 -8.49475279e+01] [-7.87675233e-02 -1.23086352e-04 9.96893004e-01 -1.66420407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.98, Y:-84.98, Z:-16.65 [[ 8.32127574e-01 5.50653819e-01 6.59095740e-02 2.32982651e+02] [-5.48962156e-01 8.34733662e-01 -4.31307944e-02 -8.49829187e+01] [-7.87670767e-02 -2.91538514e-04 9.96893005e-01 -1.66470998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.03, Y:-85.02, Z:-16.65 [[ 8.29329882e-01 5.54859878e-01 6.58973678e-02 2.33032653e+02] [-5.53179949e-01 8.31943550e-01 -4.31494356e-02 -8.50191502e+01] [-7.87647806e-02 -6.67986265e-04 9.96893005e-01 -1.66521654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:-85.05, Z:-16.66 [[ 8.26003694e-01 5.59800787e-01 6.58860825e-02 2.33083868e+02] [-5.58135118e-01 8.28626472e-01 -4.31666606e-02 -8.50549466e+01] [-7.87596827e-02 -1.11751530e-03 9.96893005e-01 -1.66566388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.14, Y:-85.09, Z:-16.66 [[ 8.23972854e-01 5.62787142e-01 6.58738886e-02 2.33135761e+02] [-5.61129491e-01 8.26600706e-01 -4.31852609e-02 -8.50899471e+01] [-7.87555124e-02 -1.38029891e-03 9.96893005e-01 -1.66616759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.19, Y:-85.13, Z:-16.67 [[ 8.21321995e-01 5.66650172e-01 6.58617059e-02 2.33187636e+02] [-5.65003390e-01 8.23956672e-01 -4.32038329e-02 -8.51254818e+01] [-7.87486513e-02 -1.72782893e-03 9.96893006e-01 -1.66661788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.24, Y:-85.16, Z:-16.67 [[ 8.20341875e-01 5.68069611e-01 6.58492642e-02 2.33238804e+02] [-5.66425868e-01 8.22978448e-01 -4.32227876e-02 -8.51602830e+01] [-7.87460774e-02 -1.84126406e-03 9.96893006e-01 -1.66718810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:-85.20, Z:-16.68 [[ 8.20722295e-01 5.67521191e-01 6.58377739e-02 2.33289522e+02] [-5.65874284e-01 8.23356893e-01 -4.32402827e-02 -8.51953111e+01] [-7.87477617e-02 -1.76763911e-03 9.96893006e-01 -1.66778306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:-85.23, Z:-16.68 [[ 8.21808541e-01 5.65948337e-01 6.58270546e-02 2.33341266e+02] [-5.64295081e-01 8.24439160e-01 -4.32565952e-02 -8.52301867e+01] [-7.87513997e-02 -1.59724372e-03 9.96893006e-01 -1.66829818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.39, Y:-85.26, Z:-16.69 [[ 8.23423733e-01 5.63597148e-01 6.58149726e-02 2.33393908e+02] [-5.61934912e-01 8.26048686e-01 -4.32749702e-02 -8.52646068e+01] [-7.87560215e-02 -1.35009334e-03 9.96893006e-01 -1.66860215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.45, Y:-85.30, Z:-16.69 [[ 8.23657592e-01 5.63256788e-01 6.58024527e-02 2.33445667e+02] [-5.61591947e-01 8.26280894e-01 -4.32939992e-02 -8.52988466e+01] [-7.87569483e-02 -1.29469640e-03 9.96893007e-01 -1.66902566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.50, Y:-85.33, Z:-16.70 [[ 8.22783629e-01 5.64534016e-01 6.57909151e-02 2.33497350e+02] [-5.62871846e-01 8.25408624e-01 -4.33115251e-02 -8.53328681e+01] [-7.87552179e-02 -1.39584004e-03 9.96893007e-01 -1.66956392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.55, Y:-85.37, Z:-16.70 [[ 8.21893027e-01 5.65831141e-01 6.57797186e-02 2.33549514e+02] [-5.64171755e-01 8.24519782e-01 -4.33285232e-02 -8.53670304e+01] [-7.87533070e-02 -1.49964821e-03 9.96893007e-01 -1.67000917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.60, Y:-85.40, Z:-16.71 [[ 8.20475538e-01 5.67885823e-01 6.57691671e-02 2.33601112e+02] [-5.66231731e-01 8.23105630e-01 -4.33445336e-02 -8.53998685e+01] [-7.87497179e-02 -1.67745988e-03 9.96893007e-01 -1.67061125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:-85.43, Z:-16.71 [[ 8.18650240e-01 5.70515093e-01 6.57595123e-02 2.33654445e+02] [-5.68868272e-01 8.21284890e-01 -4.33591763e-02 -8.54323340e+01] [-7.87443584e-02 -1.91250014e-03 9.96893007e-01 -1.67093844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.71, Y:-85.46, Z:-16.71 [[ 8.16838997e-01 5.73106754e-01 6.57472551e-02 2.33707022e+02] [-5.71466797e-01 8.19477926e-01 -4.33777546e-02 -8.54648940e+01] [-7.87385083e-02 -2.13973172e-03 9.96893008e-01 -1.67147283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.76, Y:-85.50, Z:-16.72 [[ 8.15146735e-01 5.75512457e-01 6.57359251e-02 2.33759904e+02] [-5.73878905e-01 8.17789633e-01 -4.33949176e-02 -8.54978317e+01] [-7.87324737e-02 -2.35123536e-03 9.96893008e-01 -1.67193743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.81, Y:-85.53, Z:-16.72 [[ 8.15380166e-01 5.75182877e-01 6.57255138e-02 2.33811823e+02] [-5.73546988e-01 8.18021617e-01 -4.34106807e-02 -8.55317929e+01] [-7.87339713e-02 -2.30046246e-03 9.96893008e-01 -1.67237964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:-85.57, Z:-16.73 [[ 8.18006932e-01 5.71442213e-01 6.57149633e-02 2.33862873e+02] [-5.69792961e-01 8.20640060e-01 -4.34266461e-02 -8.55679170e+01] [-7.87441502e-02 -1.92062598e-03 9.96893008e-01 -1.67284221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.91, Y:-85.60, Z:-16.73 [[ 8.21071991e-01 5.67030770e-01 6.57030555e-02 2.33914160e+02] [-5.65365927e-01 8.23695290e-01 -4.34446548e-02 -8.56040843e+01] [-7.87537534e-02 -1.47507969e-03 9.96893009e-01 -1.67309579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:-85.64, Z:-16.74 [[ 8.25849665e-01 5.60050958e-01 6.56906035e-02 2.33965122e+02] [-5.58362443e-01 8.28457789e-01 -4.34634749e-02 -8.56412861e+01] [-7.87636528e-02 -7.84869703e-04 9.96893009e-01 -1.67351395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:-85.68, Z:-16.74 [[ 8.27197845e-01 5.58059221e-01 6.56782427e-02 2.34016924e+02] [-5.56362943e-01 8.29800927e-01 -4.34821454e-02 -8.56769564e+01] [-7.87654788e-02 -5.72603444e-04 9.96893009e-01 -1.67396973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:-85.71, Z:-16.74 [[ 8.30892687e-01 5.52544408e-01 6.56659702e-02 2.34066621e+02] [-5.50829388e-01 8.33483459e-01 -4.35006712e-02 -8.57134065e+01] [-7.87675526e-02 -2.63565430e-05 9.96893009e-01 -1.67438861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.12, Y:-85.75, Z:-16.75 [[ 8.30561505e-01 5.53043372e-01 6.56552777e-02 2.34119161e+02] [-5.51328633e-01 8.33152463e-01 -4.35168035e-02 -8.57462579e+01] [-7.87675360e-02 -5.42526883e-05 9.96893009e-01 -1.67506062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.17, Y:-85.78, Z:-16.76 [[ 8.29960661e-01 5.53945913e-01 6.56446991e-02 2.34171381e+02] [-5.52232730e-01 8.32552648e-01 -4.35327554e-02 -8.57789105e+01] [-7.87674599e-02 -1.20676937e-04 9.96893010e-01 -1.67551457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.22, Y:-85.81, Z:-16.76 [[ 8.28092839e-01 5.56735511e-01 6.56339963e-02 2.34224129e+02] [-5.55029781e-01 8.30689736e-01 -4.35488859e-02 -8.58121400e+01] [-7.87666983e-02 -3.66302011e-04 9.96893010e-01 -1.67595252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.28, Y:-85.84, Z:-16.77 [[ 8.25326807e-01 5.60829270e-01 6.56215776e-02 2.34277150e+02] [-5.59134933e-01 8.27931151e-01 -4.35675910e-02 -8.58429036e+01] [-7.87641286e-02 -7.33815661e-04 9.96893010e-01 -1.67661854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.33, Y:-85.87, Z:-16.77 [[ 8.23084725e-01 5.64115810e-01 6.56116489e-02 2.34330098e+02] [-5.62430680e-01 8.25695036e-01 -4.35825383e-02 -8.58745272e+01] [-7.87608117e-02 -1.02988275e-03 9.96893010e-01 -1.67718058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:-85.91, Z:-16.78 [[ 8.20322359e-01 5.68126516e-01 6.56009838e-02 2.34384036e+02] [-5.66452864e-01 8.22940044e-01 -4.35985856e-02 -8.59055805e+01] [-7.87551890e-02 -1.39497052e-03 9.96893010e-01 -1.67758748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:-85.94, Z:-16.78 [[ 8.19452269e-01 5.69382033e-01 6.55902361e-02 2.34436212e+02] [-5.67711098e-01 8.22071689e-01 -4.36147487e-02 -8.59383920e+01] [-7.87533304e-02 -1.49610019e-03 9.96893011e-01 -1.67799346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.49, Y:-85.97, Z:-16.78 [[ 8.19565313e-01 5.69220556e-01 6.55793849e-02 2.34488460e+02] [-5.67547801e-01 8.22183571e-01 -4.36310585e-02 -8.59719876e+01] [-7.87539882e-02 -1.46093358e-03 9.96893011e-01 -1.67841367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.54, Y:-86.01, Z:-16.79 [[ 8.20255914e-01 5.68226175e-01 6.55686603e-02 2.34539748e+02] [-5.66548958e-01 8.22871316e-01 -4.36471694e-02 -8.60060942e+01] [-7.87560339e-02 -1.34600733e-03 9.96893011e-01 -1.67882212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.59, Y:-86.04, Z:-16.79 [[ 8.21894784e-01 5.65854323e-01 6.55579818e-02 2.34591929e+02] [-5.64168279e-01 8.24504504e-01 -4.36632027e-02 -8.60399105e+01] [-7.87598633e-02 -1.09917526e-03 9.96893011e-01 -1.67926263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.64, Y:-86.07, Z:-16.80 [[ 8.23146652e-01 5.64032935e-01 6.55472158e-02 2.34644032e+02] [-5.62339831e-01 8.25751796e-01 -4.36793587e-02 -8.60745411e+01] [-7.87623280e-02 -9.05292355e-04 9.96893011e-01 -1.67972717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.70, Y:-86.11, Z:-16.80 [[ 8.25485593e-01 5.60605684e-01 6.55347475e-02 2.34695812e+02] [-5.58900279e-01 8.28082700e-01 -4.36980576e-02 -8.61087470e+01] [-7.87655702e-02 -5.55271649e-04 9.96893012e-01 -1.68041597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.75, Y:-86.14, Z:-16.81 [[ 8.28036993e-01 5.56831700e-01 6.55224830e-02 2.34747015e+02] [-5.55113002e-01 8.30625323e-01 -4.37164397e-02 -8.61432334e+01] [-7.87673331e-02 -1.73552973e-04 9.96893012e-01 -1.68113065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.80, Y:-86.18, Z:-16.82 [[ 8.30161236e-01 5.53661014e-01 6.55118583e-02 2.34798711e+02] [-5.51931175e-01 8.32742133e-01 -4.37323558e-02 -8.61778120e+01] [-7.87673851e-02 1.46869659e-04 9.96893012e-01 -1.68171908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.85, Y:-86.21, Z:-16.82 [[ 8.31946408e-01 5.50976191e-01 6.55012297e-02 2.34849944e+02] [-5.49236769e-01 8.34520857e-01 -4.37482693e-02 -8.62131780e+01] [-7.87663971e-02 4.20531747e-04 9.96893012e-01 -1.68213435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.90, Y:-86.25, Z:-16.83 [[ 8.31710810e-01 5.51333045e-01 6.54904691e-02 2.34901815e+02] [-5.49593460e-01 8.34285148e-01 -4.37643718e-02 -8.62483067e+01] [-7.87664701e-02 4.06167596e-04 9.96893012e-01 -1.68266217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.95, Y:-86.28, Z:-16.83 [[ 8.31318438e-01 5.51925939e-01 6.54783392e-02 2.34953779e+02] [-5.50186761e-01 8.33893051e-01 -4.37825125e-02 -8.62831140e+01] [-7.87666364e-02 3.71894594e-04 9.96893013e-01 -1.68313028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.01, Y:-86.32, Z:-16.84 [[ 8.30033815e-01 5.53857433e-01 6.54661001e-02 2.35005983e+02] [-5.52122803e-01 8.32611494e-01 -4.38008055e-02 -8.63182399e+01] [-7.87672291e-02 2.10822961e-04 9.96893013e-01 -1.68356026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.06, Y:-86.35, Z:-16.84 [[ 8.28487184e-01 5.56169766e-01 6.54536235e-02 2.35057230e+02] [-5.54440858e-01 8.31068704e-01 -4.38194421e-02 -8.63525082e+01] [-7.87675069e-02 1.36829853e-05 9.96893013e-01 -1.68405966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:-86.39, Z:-16.85 [[ 8.25987918e-01 5.59876138e-01 6.54421118e-02 2.35107971e+02] [-5.58157452e-01 8.28576254e-01 -4.38366274e-02 -8.63857896e+01] [-7.87668615e-02 -3.18477758e-04 9.96893013e-01 -1.68452540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.16, Y:-86.42, Z:-16.85 [[ 8.23620051e-01 5.63354790e-01 6.54323455e-02 2.35159510e+02] [-5.61645879e-01 8.26214851e-01 -4.38512002e-02 -8.64214832e+01] [-7.87649593e-02 -6.33079400e-04 9.96893014e-01 -1.68490450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.21, Y:-86.46, Z:-16.85 [[ 8.22553330e-01 5.64912595e-01 6.54200290e-02 2.35211341e+02] [-5.63207136e-01 8.25150400e-01 -4.38695671e-02 -8.64572435e+01] [-7.87638341e-02 -7.59968751e-04 9.96893014e-01 -1.68540239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.26, Y:-86.49, Z:-16.86 [[ 8.21218780e-01 5.66852316e-01 6.54076970e-02 2.35263214e+02] [-5.65151528e-01 8.23818912e-01 -4.38879460e-02 -8.64927065e+01] [-7.87620815e-02 -9.23654376e-04 9.96893014e-01 -1.68583468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.31, Y:-86.53, Z:-16.86 [[ 8.20161933e-01 5.68381790e-01 6.53952964e-02 2.35314115e+02] [-5.66684378e-01 8.22764269e-01 -4.39064157e-02 -8.65274802e+01] [-7.87605204e-02 -1.04812212e-03 9.96893014e-01 -1.68632731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.36, Y:-86.56, Z:-16.87 [[ 8.19269037e-01 5.69669315e-01 6.53843678e-02 2.35363925e+02] [-5.67974695e-01 8.21873192e-01 -4.39226843e-02 -8.65620138e+01] [-7.87590646e-02 -1.15217106e-03 9.96893014e-01 -1.68713218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.42, Y:-86.60, Z:-16.88 [[ 8.19028246e-01 5.70016600e-01 6.53743715e-02 2.35415030e+02] [-5.68321897e-01 8.21632347e-01 -4.39375577e-02 -8.65977265e+01] [-7.87588355e-02 -1.16758600e-03 9.96893015e-01 -1.68752569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.47, Y:-86.63, Z:-16.88 [[ 8.19793145e-01 5.68917206e-01 6.53637001e-02 2.35465383e+02] [-5.67217745e-01 8.22394143e-01 -4.39534274e-02 -8.66335923e+01] [-7.87605852e-02 -1.04273212e-03 9.96893015e-01 -1.68795922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.52, Y:-86.67, Z:-16.88 [[ 8.21801342e-01 5.66013794e-01 6.53524266e-02 2.35515228e+02] [-5.64303811e-01 8.24395434e-01 -4.39701832e-02 -8.66722314e+01] [-7.87639722e-02 -7.43867874e-04 9.96893015e-01 -1.68816084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:-86.70, Z:-16.89 [[ 8.26712755e-01 5.58817233e-01 6.53400361e-02 2.35567778e+02] [-5.57083213e-01 8.29290841e-01 -4.39885878e-02 -8.67033257e+01] [-7.87674744e-02 -3.39106019e-05 9.96893015e-01 -1.68945030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.61, Y:-86.75, Z:-16.89 [[ 8.27175554e-01 5.58133188e-01 6.53295269e-02 2.35613956e+02] [-5.56395803e-01 8.29751374e-01 -4.40041900e-02 -8.67454299e+01] [-7.87674635e-02 5.01157091e-05 9.96893015e-01 -1.68891282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.67, Y:-86.78, Z:-16.90 [[ 8.30651119e-01 5.52948576e-01 6.53191425e-02 2.35667686e+02] [-5.51193902e-01 8.33215193e-01 -4.40195990e-02 -8.67752950e+01] [-7.87654765e-02 5.61416135e-04 9.96893016e-01 -1.69043203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.72, Y:-86.81, Z:-16.91 [[ 8.31857116e-01 5.51133893e-01 6.53082741e-02 2.35717304e+02] [-5.49372361e-01 8.34416482e-01 -4.40357178e-02 -8.68130552e+01] [-7.87638769e-02 7.52864456e-04 9.96893016e-01 -1.69082339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.77, Y:-86.85, Z:-16.90 [[ 8.32642803e-01 5.49946642e-01 6.53043167e-02 2.35765648e+02] [-5.48181000e-01 8.35199336e-01 -4.40415858e-02 -8.68535138e+01] [-7.87626441e-02 8.72323862e-04 9.96893016e-01 -1.69042754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.82, Y:-86.89, Z:-16.91 [[ 8.34303181e-01 5.47425799e-01 6.52931606e-02 2.35817228e+02] [-5.45651139e-01 8.36853462e-01 -4.40581189e-02 -8.68887579e+01] [-7.87593584e-02 1.13054134e-03 9.96893016e-01 -1.69076811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.87, Y:-86.92, Z:-16.91 [[ 8.35038578e-01 5.46304845e-01 6.52808475e-02 2.35867934e+02] [-5.44525337e-01 8.37585478e-01 -4.40763557e-02 -8.69224448e+01] [-7.87574165e-02 1.25838193e-03 9.96893016e-01 -1.69119104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:-86.96, Z:-16.92 [[ 8.34508828e-01 5.47114898e-01 6.52710149e-02 2.35918332e+02] [-5.45336723e-01 8.37056659e-01 -4.40909115e-02 -8.69560730e+01] [-7.87583322e-02 1.19957350e-03 9.96893016e-01 -1.69155501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.97, Y:-86.99, Z:-16.92 [[ 8.33150592e-01 5.49181631e-01 6.52658190e-02 2.35971537e+02] [-5.47409175e-01 8.35702404e-01 -4.40986016e-02 -8.69900139e+01] [-7.87609438e-02 1.01366790e-03 9.96893016e-01 -1.69201202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.03, Y:-87.02, Z:-16.93 [[ 8.29022167e-01 5.55395512e-01 6.52539107e-02 2.36025802e+02] [-5.53640798e-01 8.31586211e-01 -4.41162156e-02 -8.70222096e+01] [-7.87662005e-02 4.46093437e-04 9.96893017e-01 -1.69257219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.08, Y:-87.05, Z:-16.93 [[ 8.23201703e-01 5.63988035e-01 6.52414988e-02 2.36079840e+02] [-5.62258630e-01 8.25782885e-01 -4.41345633e-02 -8.70546981e+01] [-7.87666788e-02 -3.50948030e-04 9.96893017e-01 -1.69306452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.13, Y:-87.09, Z:-16.94 [[ 8.19014567e-01 5.70052915e-01 6.52289209e-02 2.36132815e+02] [-5.68341143e-01 8.21607476e-01 -4.41531451e-02 -8.70871148e+01] [-7.87621982e-02 -9.10210399e-04 9.96893017e-01 -1.69357996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.19, Y:-87.12, Z:-16.94 [[ 8.13811770e-01 5.77457362e-01 6.52180754e-02 2.36186713e+02] [-5.75767893e-01 8.16419266e-01 -4.41691592e-02 -8.71185008e+01] [-7.87510994e-02 -1.60509224e-03 9.96893017e-01 -1.69406696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.24, Y:-87.15, Z:-16.94 [[ 8.11360762e-01 5.80897352e-01 6.52072016e-02 2.36239760e+02] [-5.79217648e-01 8.13974559e-01 -4.41852063e-02 -8.71521522e+01] [-7.87440726e-02 -1.91901931e-03 9.96893018e-01 -1.69449634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.29, Y:-87.19, Z:-16.95 [[ 8.08717178e-01 5.84573507e-01 6.51946403e-02 2.36293335e+02] [-5.82904191e-01 8.11337620e-01 -4.42037327e-02 -8.71855778e+01] [-7.87351954e-02 -2.25391108e-03 9.96893018e-01 -1.69497303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.35, Y:-87.22, Z:-16.96 [[ 8.07378535e-01 5.86422355e-01 6.51822174e-02 2.36345739e+02] [-5.84757563e-01 8.10001854e-01 -4.42220438e-02 -8.72192269e+01] [-7.87305120e-02 -2.41186561e-03 9.96893018e-01 -1.69560711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.40, Y:-87.25, Z:-16.96 [[ 8.06180783e-01 5.88069276e-01 6.51695553e-02 2.36397372e+02] [-5.86408336e-01 8.08806543e-01 -4.42406959e-02 -8.72528794e+01] [-7.87261568e-02 -2.54997160e-03 9.96893018e-01 -1.69636788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.45, Y:-87.29, Z:-16.97 [[ 8.06359300e-01 5.87825764e-01 6.51578863e-02 2.36448600e+02] [-5.86162645e-01 8.08983680e-01 -4.42578754e-02 -8.72880260e+01] [-7.87275861e-02 -2.50536955e-03 9.96893019e-01 -1.69709518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:-87.32, Z:-16.98 [[ 8.08629708e-01 5.84699936e-01 6.51458351e-02 2.36499220e+02] [-5.83025243e-01 8.11246717e-01 -4.42756072e-02 -8.73243723e+01] [-7.87372896e-02 -2.17909509e-03 9.96893019e-01 -1.69790057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.55, Y:-87.36, Z:-16.99 [[ 8.14064338e-01 5.77110750e-01 6.51339817e-02 2.36548746e+02] [-5.75410258e-01 8.16664657e-01 -4.42930380e-02 -8.73619793e+01] [-7.87546092e-02 -1.42137854e-03 9.96893019e-01 -1.69878710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.60, Y:-87.40, Z:-16.99 [[ 8.15273101e-01 5.75403403e-01 6.51206117e-02 2.36597304e+02] [-5.73695896e-01 8.17868819e-01 -4.43126862e-02 -8.74013513e+01] [-7.87577882e-02 -1.23248657e-03 9.96893019e-01 -1.69865082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.65, Y:-87.44, Z:-16.99 [[ 8.16741181e-01 5.73319069e-01 6.51082827e-02 2.36646357e+02] [-5.71603494e-01 8.19331573e-01 -4.43307937e-02 -8.74383246e+01] [-7.87609611e-02 -1.00933702e-03 9.96893019e-01 -1.69906255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.70, Y:-87.47, Z:-17.00 [[ 8.17636518e-01 5.72042766e-01 6.50968353e-02 2.36697189e+02] [-5.70321810e-01 8.20223338e-01 -4.43475972e-02 -8.74740660e+01] [-7.87626657e-02 -8.65929986e-04 9.96893020e-01 -1.69968545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.75, Y:-87.51, Z:-17.00 [[ 8.18821720e-01 5.70346417e-01 6.50842232e-02 2.36747144e+02] [-5.68618631e-01 8.21403982e-01 -4.43660989e-02 -8.75113351e+01] [-7.87644856e-02 -6.80176501e-04 9.96893020e-01 -1.70027180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.80, Y:-87.55, Z:-17.01 [[ 8.19070739e-01 5.69990183e-01 6.50716229e-02 2.36797693e+02] [-5.68259806e-01 8.21651266e-01 -4.43845720e-02 -8.75468804e+01] [-7.87649517e-02 -6.23483646e-04 9.96893020e-01 -1.70078001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:-87.58, Z:-17.01 [[ 8.20447178e-01 5.68008473e-01 6.50599939e-02 2.36848552e+02] [-5.66270512e-01 8.23022603e-01 -4.44016116e-02 -8.75827118e+01] [-7.87663371e-02 -4.12379144e-04 9.96893020e-01 -1.70132973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.90, Y:-87.62, Z:-17.02 [[ 8.22852042e-01 5.64520451e-01 6.50474987e-02 2.36899644e+02] [-5.62770126e-01 8.25419080e-01 -4.44199093e-02 -8.76187970e+01] [-7.87673938e-02 -5.57759987e-05 9.96893021e-01 -1.70186229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.95, Y:-87.66, Z:-17.02 [[ 8.24585693e-01 5.61986543e-01 6.50350681e-02 2.36951296e+02] [-5.60226895e-01 8.27146348e-01 -4.44381016e-02 -8.76550051e+01] [-7.87671342e-02 2.08628570e-04 9.96893021e-01 -1.70234710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.00, Y:-87.69, Z:-17.03 [[ 8.26799392e-01 5.58726064e-01 6.50226982e-02 2.37002909e+02] [-5.56954895e-01 8.29352092e-01 -4.44561941e-02 -8.76907720e+01] [-7.87655451e-02 5.41644180e-04 9.96893021e-01 -1.70290506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.05, Y:-87.73, Z:-17.03 [[ 8.28202260e-01 5.56645929e-01 6.50101952e-02 2.37054319e+02] [-5.54866914e-01 8.30749498e-01 -4.44744703e-02 -8.77272586e+01] [-7.87637199e-02 7.61850406e-04 9.96893021e-01 -1.70336901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.10, Y:-87.76, Z:-17.04 [[ 8.28773995e-01 5.55795800e-01 6.49976428e-02 2.37104151e+02] [-5.54012734e-01 8.31318399e-01 -4.44928075e-02 -8.77637597e+01] [-7.87626519e-02 8.64960096e-04 9.96893022e-01 -1.70375877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.16, Y:-87.80, Z:-17.04 [[ 8.28807863e-01 5.55746846e-01 6.49843840e-02 2.37155028e+02] [-5.53962112e-01 8.31351097e-01 -4.45121644e-02 -8.77999918e+01] [-7.87623339e-02 8.93145249e-04 9.96893022e-01 -1.70402160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:-87.83, Z:-17.05 [[ 8.29668626e-01 5.54462445e-01 6.49720585e-02 2.37207639e+02] [-5.52672366e-01 8.32208100e-01 -4.45301481e-02 -8.78300426e+01] [-7.87605681e-02 1.03700540e-03 9.96893022e-01 -1.70489480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.26, Y:-87.86, Z:-17.05 [[ 8.27869576e-01 5.57145814e-01 6.49654280e-02 2.37260847e+02] [-5.55363207e-01 8.30414302e-01 -4.45398193e-02 -8.78633583e+01] [-7.87633944e-02 7.93752862e-04 9.96893022e-01 -1.70535675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:237.31, Y:-87.90, Z:-17.06 [[ 8.26176631e-01 5.59654638e-01 6.49527582e-02 2.37311503e+02] [-5.57878308e-01 8.28725740e-01 -4.45582882e-02 -8.79001984e+01] [-7.87652752e-02 5.77281592e-04 9.96893022e-01 -1.70557213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.36, Y:-87.93, Z:-17.06 [[ 8.22042164e-01 5.65710796e-01 6.49459540e-02 2.37363467e+02] [-5.63952462e-01 8.24603720e-01 -4.45682034e-02 -8.79346224e+01] [-7.87673891e-02 1.05117401e-05 9.96893023e-01 -1.70561292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.42, Y:-87.96, Z:-17.07 [[ 8.21723530e-01 5.66175060e-01 6.49325933e-02 2.37417287e+02] [-5.64416637e-01 8.24285024e-01 -4.45876605e-02 -8.79630148e+01] [-7.87673856e-02 -1.03061787e-05 9.96893023e-01 -1.70688912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.47, Y:-87.99, Z:-17.08 [[ 8.18606435e-01 5.70673842e-01 6.49220376e-02 2.37469238e+02] [-5.68928276e-01 8.21176709e-01 -4.46030249e-02 -8.79940760e+01] [-7.87662447e-02 -4.23659758e-04 9.96893023e-01 -1.70751884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.52, Y:-88.03, Z:-17.08 [[ 8.16890267e-01 5.73128889e-01 6.49120131e-02 2.37521807e+02] [-5.71389888e-01 8.19464987e-01 -4.46176091e-02 -8.80276181e+01] [-7.87647627e-02 -6.42377347e-04 9.96893023e-01 -1.70797881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:-88.06, Z:-17.08 [[ 8.16883897e-01 5.73139220e-01 6.49009525e-02 2.37573899e+02] [-5.71398974e-01 8.19457775e-01 -4.46336921e-02 -8.80632177e+01] [-7.87649096e-02 -6.23793369e-04 9.96893023e-01 -1.70843501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:-88.10, Z:-17.09 [[ 8.17640257e-01 5.72061095e-01 6.48884726e-02 2.37625113e+02] [-5.70316016e-01 8.20210861e-01 -4.46518281e-02 -8.80985613e+01] [-7.87658036e-02 -4.97802993e-04 9.96893024e-01 -1.70888587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:237.67, Y:-88.14, Z:-17.09 [[ 8.16837903e-01 5.73207416e-01 6.48775701e-02 2.37671334e+02] [-5.71464687e-01 8.19410100e-01 -4.46676634e-02 -8.81388319e+01] [-7.87651721e-02 -5.88999806e-04 9.96893024e-01 -1.70892362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.73, Y:-88.17, Z:-17.10 [[ 8.20217006e-01 5.68361942e-01 6.48750006e-02 2.37725729e+02] [-5.66603721e-01 8.22778639e-01 -4.46713951e-02 -8.81689276e+01] [-7.87672855e-02 -1.18178831e-04 9.96893024e-01 -1.70985532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.78, Y:-88.20, Z:-17.10 [[ 8.20217237e-01 5.68361998e-01 6.48715816e-02 2.37777081e+02] [-5.66603386e-01 8.22778601e-01 -4.46763595e-02 -8.82039620e+01] [-7.87672941e-02 -1.12137568e-04 9.96893024e-01 -1.71028640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.83, Y:-88.24, Z:-17.11 [[ 8.20375783e-01 5.68134379e-01 6.48606393e-02 2.37827384e+02] [-5.66373800e-01 8.22935795e-01 -4.46922399e-02 -8.82387295e+01] [-7.87673397e-02 -7.09354526e-05 9.96893024e-01 -1.71086493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.88, Y:-88.27, Z:-17.11 [[ 8.20084015e-01 5.68556149e-01 6.48545511e-02 2.37877816e+02] [-5.66796188e-01 8.22644452e-01 -4.47010730e-02 -8.82743733e+01] [-7.87673065e-02 -1.00676929e-04 9.96893024e-01 -1.71138274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:-88.31, Z:-17.11 [[ 8.18262909e-01 5.71175169e-01 6.48439533e-02 2.37927738e+02] [-5.69422185e-01 8.20828127e-01 -4.47164409e-02 -8.83120928e+01] [-7.87666615e-02 -3.33780636e-04 9.96893024e-01 -1.71127838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:-88.34, Z:-17.12 [[ 8.18172846e-01 5.71305458e-01 6.48326212e-02 2.37979446e+02] [-5.69551581e-01 8.20737453e-01 -4.47328649e-02 -8.83439361e+01] [-7.87666903e-02 -3.26306552e-04 9.96893024e-01 -1.71214849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:-88.38, Z:-17.13 [[ 8.17224632e-01 5.72661679e-01 6.48267142e-02 2.38031202e+02] [-5.70911379e-01 8.19791682e-01 -4.47414237e-02 -8.83791628e+01] [-7.87660999e-02 -4.46515212e-04 9.96893024e-01 -1.71259809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.08, Y:-88.41, Z:-17.13 [[ 8.16425431e-01 5.73801936e-01 6.48139956e-02 2.38083481e+02] [-5.72053759e-01 8.18993928e-01 -4.47598408e-02 -8.84143369e+01] [-7.87655521e-02 -5.34017520e-04 9.96893025e-01 -1.71302554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.13, Y:-88.45, Z:-17.13 [[ 8.15688990e-01 5.74849755e-01 6.48014743e-02 2.38133302e+02] [-5.73103439e-01 8.18258751e-01 -4.47779613e-02 -8.84514241e+01] [-7.87649735e-02 -6.13057765e-04 9.96893025e-01 -1.71308438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.18, Y:-88.49, Z:-17.14 [[ 8.16030222e-01 5.74366541e-01 6.47900637e-02 2.38183267e+02] [-5.72617392e-01 8.18598056e-01 -4.47944655e-02 -8.84862175e+01] [-7.87654624e-02 -5.46279668e-04 9.96893025e-01 -1.71351357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.23, Y:-88.52, Z:-17.14 [[ 8.16106602e-01 5.74259190e-01 6.47796041e-02 2.38234859e+02] [-5.72508503e-01 8.18673388e-01 -4.48095865e-02 -8.85206246e+01] [-7.87656548e-02 -5.17474751e-04 9.96893025e-01 -1.71403949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.29, Y:-88.55, Z:-17.15 [[ 8.15988204e-01 5.74428665e-01 6.47685060e-02 2.38286826e+02] [-5.72677239e-01 8.18554484e-01 -4.48256222e-02 -8.85513351e+01] [-7.87656734e-02 -5.14270162e-04 9.96893025e-01 -1.71490585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.34, Y:-88.59, Z:-17.15 [[ 8.15423116e-01 5.75231689e-01 6.47583605e-02 2.38337055e+02] [-5.73481626e-01 8.17990326e-01 -4.48402744e-02 -8.85854732e+01] [-7.87652592e-02 -5.73933652e-04 9.96893026e-01 -1.71538887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:-88.62, Z:-17.16 [[ 8.14986383e-01 5.75851398e-01 6.47484591e-02 2.38389004e+02] [-5.74102152e-01 8.17554149e-01 -4.48545672e-02 -8.86211041e+01] [-7.87649367e-02 -6.16368259e-04 9.96893026e-01 -1.71590084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.44, Y:-88.66, Z:-17.16 [[ 8.14945150e-01 5.75911115e-01 6.47363156e-02 2.38439303e+02] [-5.74160665e-01 8.17512096e-01 -4.48720865e-02 -8.86563578e+01] [-7.87650544e-02 -6.00756800e-04 9.96893026e-01 -1.71643720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.49, Y:-88.70, Z:-17.16 [[ 8.12306501e-01 5.79628166e-01 6.47250870e-02 2.38486376e+02] [-5.77888171e-01 8.14880546e-01 -4.48882773e-02 -8.86976798e+01] [-7.87617240e-02 -9.40822691e-04 9.96893026e-01 -1.71578075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.54, Y:-88.73, Z:-17.17 [[ 8.16199495e-01 5.74133769e-01 6.47209405e-02 2.38538747e+02] [-5.72375971e-01 8.18761414e-01 -4.48942549e-02 -8.87265201e+01] [-7.87663166e-02 -4.02043005e-04 9.96893026e-01 -1.71742781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:-88.77, Z:-17.17 [[ 8.14420964e-01 5.76654392e-01 6.47163523e-02 2.38586120e+02] [-5.74903997e-01 8.16987947e-01 -4.49008680e-02 -8.87670576e+01] [-7.87647626e-02 -6.37481499e-04 9.96893026e-01 -1.71732470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.64, Y:-88.80, Z:-17.19 [[ 8.17803713e-01 5.71847307e-01 6.47127814e-02 2.38638786e+02] [-5.70081416e-01 8.20360061e-01 -4.49060139e-02 -8.87960878e+01] [-7.87671644e-02 -1.67249109e-04 9.96893026e-01 -1.71863195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.69, Y:-88.83, Z:-17.19 [[ 8.19322959e-01 5.69669071e-01 6.47073276e-02 2.38689385e+02] [-5.67895762e-01 8.21874168e-01 -4.49138712e-02 -8.88326573e+01] [-7.87673243e-02 5.19487728e-05 9.96893026e-01 -1.71899176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.74, Y:-88.87, Z:-17.19 [[ 8.20533876e-01 5.67924751e-01 6.46964860e-02 2.38739604e+02] [-5.66144788e-01 8.23080446e-01 -4.49294827e-02 -8.88691915e+01] [-7.87669778e-02 2.38584189e-04 9.96893027e-01 -1.71947456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.79, Y:-88.91, Z:-17.20 [[ 8.21447523e-01 5.66603754e-01 6.46850342e-02 2.38790032e+02] [-5.64818398e-01 8.23990314e-01 -4.49459638e-02 -8.89052946e+01] [-7.87663935e-02 3.85453234e-04 9.96893027e-01 -1.71979372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.84, Y:-88.94, Z:-17.20 [[ 8.21187222e-01 5.66982213e-01 6.46739272e-02 2.38841929e+02] [-5.65196770e-01 8.23729953e-01 -4.49619403e-02 -8.89413864e+01] [-7.87664714e-02 3.68676095e-04 9.96893027e-01 -1.72023366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.89, Y:-88.98, Z:-17.21 [[ 8.20216880e-01 5.68386492e-01 6.46611624e-02 2.38893221e+02] [-5.66603957e-01 8.22761648e-01 -4.49802903e-02 -8.89771052e+01] [-7.87669140e-02 2.56322857e-04 9.96893027e-01 -1.72067131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.94, Y:-89.01, Z:-17.21 [[ 8.19459594e-01 5.69479189e-01 6.46484906e-02 2.38944935e+02] [-5.67698610e-01 8.22005732e-01 -4.49984957e-02 -8.90128107e+01] [-7.87671367e-02 1.73590731e-04 9.96893027e-01 -1.72119187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.00, Y:-89.05, Z:-17.22 [[ 8.17325914e-01 5.72538689e-01 6.46359026e-02 2.38997690e+02] [-5.70766212e-01 8.19877698e-01 -4.50165699e-02 -8.90468005e+01] [-7.87672629e-02 -9.87801597e-05 9.96893028e-01 -1.72171462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.05, Y:-89.08, Z:-17.22 [[ 8.15929669e-01 5.74528163e-01 6.46232621e-02 2.39048389e+02] [-5.72760471e-01 8.18484770e-01 -4.50347086e-02 -8.90798725e+01] [-7.87668642e-02 -2.68495202e-04 9.96893028e-01 -1.72223755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.10, Y:-89.11, Z:-17.23 [[ 8.14581239e-01 5.76439084e-01 6.46172362e-02 2.39099705e+02] [-5.74676700e-01 8.17140004e-01 -4.50433532e-02 -8.91139722e+01] [-7.87660779e-02 -4.42549583e-04 9.96893028e-01 -1.72255368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:-89.15, Z:-17.23 [[ 8.14599241e-01 5.76414895e-01 6.46060751e-02 2.39151629e+02] [-5.74651166e-01 8.17157079e-01 -4.50593560e-02 -8.91474049e+01] [-7.87661955e-02 -4.20639166e-04 9.96893028e-01 -1.72303340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.20, Y:-89.18, Z:-17.24 [[ 8.14679089e-01 5.76303290e-01 6.45948899e-02 2.39204144e+02] [-5.74537940e-01 8.17235808e-01 -4.50753847e-02 -8.91817646e+01] [-7.87663496e-02 -3.90241611e-04 9.96893028e-01 -1.72357929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.26, Y:-89.22, Z:-17.24 [[ 8.14747743e-01 5.76207643e-01 6.45822591e-02 2.39255366e+02] [-5.74440558e-01 8.17303263e-01 -4.50934745e-02 -8.92163264e+01] [-7.87664957e-02 -3.58862455e-04 9.96893029e-01 -1.72413256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.31, Y:-89.25, Z:-17.25 [[ 8.14664584e-01 5.76326081e-01 6.45744740e-02 2.39307529e+02] [-5.74558485e-01 8.17219751e-01 -4.51046201e-02 -8.92514921e+01] [-7.87665045e-02 -3.56675316e-04 9.96893029e-01 -1.72464201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.36, Y:-89.29, Z:-17.25 [[ 8.14776818e-01 5.76168810e-01 6.45619020e-02 2.39360083e+02] [-5.74399295e-01 8.17330656e-01 -4.51226082e-02 -8.92860749e+01] [-7.87666612e-02 -3.19455840e-04 9.96893029e-01 -1.72517097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:-89.32, Z:-17.26 [[ 8.14654030e-01 5.76343828e-01 6.45492349e-02 2.39412454e+02] [-5.74573426e-01 8.17207252e-01 -4.51407217e-02 -8.93211023e+01] [-7.87666792e-02 -3.14204217e-04 9.96893029e-01 -1.72562326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:-89.36, Z:-17.26 [[ 8.14449706e-01 5.76633953e-01 6.45365054e-02 2.39464273e+02] [-5.74863019e-01 8.17002559e-01 -4.51589134e-02 -8.93564229e+01] [-7.87666529e-02 -3.19986582e-04 9.96893029e-01 -1.72597853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.51, Y:-89.39, Z:-17.27 [[ 8.14186876e-01 5.77006461e-01 6.45234375e-02 2.39514821e+02] [-5.75235216e-01 8.16739513e-01 -4.51775773e-02 -8.93905099e+01] [-7.87665950e-02 -3.33163023e-04 9.96893030e-01 -1.72652327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.57, Y:-89.43, Z:-17.27 [[ 8.13630722e-01 5.77791590e-01 6.45129952e-02 2.39566936e+02] [-5.76021626e-01 8.16184248e-01 -4.51924839e-02 -8.94257396e+01] [-7.87663276e-02 -3.90887066e-04 9.96893030e-01 -1.72700745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.62, Y:-89.46, Z:-17.27 [[ 8.12588297e-01 5.79258144e-01 6.45001017e-02 2.39619947e+02] [-5.77491328e-01 8.15144001e-01 -4.52108784e-02 -8.94603480e+01] [-7.87656405e-02 -5.10418715e-04 9.96893030e-01 -1.72744273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.67, Y:-89.49, Z:-17.28 [[ 8.12024109e-01 5.80050204e-01 6.44872617e-02 2.39670787e+02] [-5.78284428e-01 8.14580531e-01 -4.52291856e-02 -8.94944941e+01] [-7.87652662e-02 -5.64790025e-04 9.96893030e-01 -1.72798167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.72, Y:-89.53, Z:-17.28 [[ 8.12365000e-01 5.79574005e-01 6.44754170e-02 2.39722896e+02] [-5.77805390e-01 8.14919459e-01 -4.52460643e-02 -8.95297967e+01] [-7.87657146e-02 -4.97924444e-04 9.96893031e-01 -1.72834234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.77, Y:-89.57, Z:-17.29 [[ 8.13224957e-01 5.78368166e-01 6.44626578e-02 2.39774873e+02] [-5.76594323e-01 8.15775788e-01 -4.52642352e-02 -8.95653169e+01] [-7.87664681e-02 -3.58796802e-04 9.96893031e-01 -1.72877339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.82, Y:-89.60, Z:-17.29 [[ 8.14213007e-01 5.76977817e-01 6.44498104e-02 2.39824437e+02] [-5.75198171e-01 8.16759792e-01 -4.52825206e-02 -8.96002399e+01] [-7.87670237e-02 -2.01795773e-04 9.96893031e-01 -1.72925665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.88, Y:-89.64, Z:-17.30 [[ 8.15497010e-01 5.75162285e-01 6.44435608e-02 2.39875743e+02] [-5.73376266e-01 8.18039330e-01 -4.52914130e-02 -8.96366351e+01] [-7.87672799e-02 -1.53963508e-05 9.96893031e-01 -1.72970436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:-89.67, Z:-17.30 [[ 8.17639374e-01 5.72114061e-01 6.44310170e-02 2.39926545e+02] [-5.70317158e-01 8.20174013e-01 -4.53092507e-02 -8.96730486e+01] [-7.87667052e-02 3.00512878e-04 9.96893031e-01 -1.73004516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.98, Y:-89.71, Z:-17.31 [[ 8.18695317e-01 5.70603421e-01 6.44182742e-02 2.39977514e+02] [-5.68800416e-01 8.21225619e-01 -4.53273605e-02 -8.97088498e+01] [-7.87658841e-02 4.68156576e-04 9.96893032e-01 -1.73051901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.03, Y:-89.75, Z:-17.31 [[ 8.18823315e-01 5.70421157e-01 6.44056035e-02 2.40028886e+02] [-5.68616174e-01 8.21352206e-01 -4.53453572e-02 -8.97450501e+01] [-7.87656356e-02 5.07767828e-04 9.96893032e-01 -1.73086437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.08, Y:-89.78, Z:-17.31 [[ 8.17414531e-01 5.72439587e-01 6.43925715e-02 2.40078644e+02] [-5.70639391e-01 8.19946831e-01 -4.53638558e-02 -8.97795603e+01] [-7.87665518e-02 3.36137113e-04 9.96893032e-01 -1.73140040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.13, Y:-89.81, Z:-17.32 [[ 8.15615101e-01 5.75001689e-01 6.43821663e-02 2.40129473e+02] [-5.73208283e-01 8.18152214e-01 -4.53786185e-02 -8.98148709e+01] [-7.87671942e-02 1.07095528e-04 9.96893032e-01 -1.73211333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.18, Y:-89.85, Z:-17.32 [[ 8.13123202e-01 5.78521052e-01 6.43743009e-02 2.40180964e+02] [-5.76737743e-01 8.15667423e-01 -4.53897736e-02 -8.98503776e+01] [-7.87669597e-02 -2.19610978e-04 9.96893032e-01 -1.73246472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:-89.89, Z:-17.33 [[ 8.09907665e-01 5.83015547e-01 6.43618315e-02 2.40232643e+02] [-5.81244952e-01 8.12460749e-01 -4.54074481e-02 -8.98860916e+01] [-7.87647101e-02 -6.34149430e-04 9.96893033e-01 -1.73285430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:-89.92, Z:-17.33 [[ 8.07809006e-01 5.85921340e-01 6.43489956e-02 2.40283248e+02] [-5.84158479e-01 8.10367437e-01 -4.54256313e-02 -8.99214782e+01] [-7.87621774e-02 -8.94777363e-04 9.96893033e-01 -1.73325051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:-89.96, Z:-17.34 [[ 8.06829350e-01 5.87270839e-01 6.43378723e-02 2.40334511e+02] [-5.85511002e-01 8.09389861e-01 -4.54413801e-02 -8.99575854e+01] [-7.87608190e-02 -1.00709290e-03 9.96893033e-01 -1.73375251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:-89.99, Z:-17.34 [[ 8.06693908e-01 5.87458275e-01 6.43250707e-02 2.40384608e+02] [-5.85697589e-01 8.09253835e-01 -4.54594944e-02 -8.99937552e+01] [-7.87608663e-02 -1.00314157e-03 9.96893033e-01 -1.73428697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.44, Y:-90.03, Z:-17.35 [[ 8.06671555e-01 5.87490263e-01 6.43132389e-02 2.40435570e+02] [-5.85728345e-01 8.09230634e-01 -4.54762272e-02 -9.00304336e+01] [-7.87610837e-02 -9.85708048e-04 9.96893033e-01 -1.73473996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.48, Y:-90.07, Z:-17.35 [[ 8.06613260e-01 5.87571725e-01 6.43002081e-02 2.40484850e+02] [-5.85808597e-01 8.09171506e-01 -4.54946443e-02 -9.00654665e+01] [-7.87612628e-02 -9.71031324e-04 9.96893034e-01 -1.73537239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:-90.10, Z:-17.36 [[ 8.06593011e-01 5.87600662e-01 6.42897870e-02 2.40536378e+02] [-5.85836452e-01 8.09150511e-01 -4.55093660e-02 -9.01019075e+01] [-7.87614475e-02 -9.55764129e-04 9.96893034e-01 -1.73595177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:-90.14, Z:-17.37 [[ 8.07361218e-01 5.86546104e-01 6.42769911e-02 2.40586490e+02] [-5.84777116e-01 8.09915414e-01 -4.55274317e-02 -9.01389172e+01] [-7.87628635e-02 -8.30630749e-04 9.96893034e-01 -1.73663172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:-90.18, Z:-17.37 [[ 8.08225244e-01 5.85355390e-01 6.42730265e-02 2.40635744e+02] [-5.83582194e-01 8.10776521e-01 -4.55330279e-02 -9.01761223e+01] [-7.87640641e-02 -7.07651236e-04 9.96893034e-01 -1.73739757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:-90.21, Z:-17.38 [[ 8.08513244e-01 5.84958816e-01 6.42613176e-02 2.40685693e+02] [-5.83183056e-01 8.11062737e-01 -4.55495469e-02 -9.02135183e+01] [-7.87645691e-02 -6.48699572e-04 9.96893034e-01 -1.73777620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.73, Y:-90.25, Z:-17.38 [[ 8.08063591e-01 5.85581183e-01 6.42488177e-02 2.40733825e+02] [-5.83805985e-01 8.10613474e-01 -4.55671716e-02 -9.02506973e+01] [-7.87642356e-02 -6.87671986e-04 9.96893035e-01 -1.73821759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.78, Y:-90.29, Z:-17.39 [[ 8.07461260e-01 5.86412557e-01 6.42388225e-02 2.40783542e+02] [-5.84638864e-01 8.10012190e-01 -4.55812580e-02 -9.02878708e+01] [-7.87636514e-02 -7.51412226e-04 9.96893035e-01 -1.73853488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.83, Y:-90.33, Z:-17.39 [[ 8.05342249e-01 5.89320526e-01 6.42275637e-02 2.40832384e+02] [-5.87554778e-01 8.07898685e-01 -4.55971171e-02 -9.03253214e+01] [-7.87606813e-02 -1.01592716e-03 9.96893035e-01 -1.73895215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.88, Y:-90.36, Z:-17.39 [[ 8.03094268e-01 5.92381506e-01 6.42164108e-02 2.40883261e+02] [-5.90624246e-01 8.05656546e-01 -4.56128188e-02 -9.03627530e+01] [-7.87565621e-02 -1.29637594e-03 9.96893035e-01 -1.73948635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.93, Y:-90.40, Z:-17.40 [[ 7.99967014e-01 5.96599283e-01 6.42033686e-02 2.40934443e+02] [-5.94854058e-01 8.02537504e-01 -4.56311694e-02 -9.03997322e+01] [-7.87491341e-02 -1.68820402e-03 9.96893035e-01 -1.74004451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.98, Y:-90.44, Z:-17.41 [[ 7.97781809e-01 5.99519688e-01 6.41897900e-02 2.40983307e+02] [-5.97782337e-01 8.00357627e-01 -4.56502625e-02 -9.04373704e+01] [-7.87430191e-02 -1.95257369e-03 9.96893036e-01 -1.74087559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.03, Y:-90.47, Z:-17.41 [[ 7.96763099e-01 6.00873383e-01 6.41852181e-02 2.41034035e+02] [-5.99139891e-01 7.99341515e-01 -4.56566897e-02 -9.04749678e+01] [-7.87397991e-02 -2.07835901e-03 9.96893036e-01 -1.74133424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.08, Y:-90.51, Z:-17.42 [[ 7.95239176e-01 6.02890377e-01 6.41704387e-02 2.41082165e+02] [-6.01161751e-01 7.97820857e-01 -4.56774528e-02 -9.05126993e+01] [-7.87350112e-02 -2.25231337e-03 9.96893036e-01 -1.74199913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.13, Y:-90.55, Z:-17.42 [[ 7.95037861e-01 6.03157036e-01 6.41590900e-02 2.41131967e+02] [-6.01427991e-01 7.97619262e-01 -4.56933878e-02 -9.05512012e+01] [-7.87348143e-02 -2.25909927e-03 9.96893036e-01 -1.74242760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.18, Y:-90.59, Z:-17.43 [[ 7.95640215e-01 6.02363612e-01 6.41461352e-02 2.41181404e+02] [-6.00630528e-01 7.98218906e-01 -4.57115670e-02 -9.05901784e+01] [-7.87376425e-02 -2.15816604e-03 9.96893036e-01 -1.74287459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:-90.63, Z:-17.43 [[ 7.96391713e-01 6.01371075e-01 6.41332197e-02 2.41231191e+02] [-5.99633320e-01 7.98967257e-01 -4.57296803e-02 -9.06278687e+01] [-7.87408497e-02 -2.03767701e-03 9.96893037e-01 -1.74332848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:-90.67, Z:-17.44 [[ 7.97106492e-01 6.00424705e-01 6.41203023e-02 2.41280276e+02] [-5.98682437e-01 7.99678985e-01 -4.57477855e-02 -9.06662251e+01] [-7.87437589e-02 -1.92184200e-03 9.96893037e-01 -1.74372470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:-90.70, Z:-17.44 [[ 7.98508662e-01 5.98559893e-01 6.41090652e-02 2.41330069e+02] [-5.96810353e-01 8.01076215e-01 -4.57635272e-02 -9.07036222e+01] [-7.87484593e-02 -1.71838095e-03 9.96893037e-01 -1.74441386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:-90.74, Z:-17.45 [[ 7.98494632e-01 5.98579993e-01 6.40961382e-02 2.41379400e+02] [-5.96829066e-01 8.01061239e-01 -4.57816256e-02 -9.07405098e+01] [-7.87488970e-02 -1.69805603e-03 9.96893037e-01 -1.74488747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:241.43, Y:-90.78, Z:-17.46 [[ 7.98611850e-01 5.98424872e-01 6.40842069e-02 2.41427845e+02] [-5.96672107e-01 8.01177203e-01 -4.57983208e-02 -9.07784757e+01] [-7.87496599e-02 -1.66217704e-03 9.96893038e-01 -1.74576080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.48, Y:-90.81, Z:-17.46 [[ 7.99876314e-01 5.96734169e-01 6.40797453e-02 2.41478340e+02] [-5.94975483e-01 8.02437610e-01 -4.58045625e-02 -9.08137793e+01] [-7.87531452e-02 -1.48789281e-03 9.96893038e-01 -1.74599489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.53, Y:-90.85, Z:-17.46 [[ 7.97844900e-01 5.99448929e-01 6.40663550e-02 2.41527379e+02] [-5.97697454e-01 8.00411132e-01 -4.58232837e-02 -9.08509113e+01] [-7.87481421e-02 -1.73242413e-03 9.96893038e-01 -1.74622875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.58, Y:-90.89, Z:-17.47 [[ 7.96929685e-01 6.00666331e-01 6.40549465e-02 2.41578142e+02] [-5.98917496e-01 7.99497716e-01 -4.58392258e-02 -9.08868980e+01] [-7.87458630e-02 -1.83298836e-03 9.96893038e-01 -1.74689356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.63, Y:-90.92, Z:-17.48 [[ 7.95535058e-01 6.02513459e-01 6.40429836e-02 2.41628877e+02] [-6.00769242e-01 7.98106228e-01 -4.58559333e-02 -9.09233045e+01] [-7.87419211e-02 -1.99505214e-03 9.96893038e-01 -1.74750194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:-90.96, Z:-17.48 [[ 7.94554574e-01 6.03807120e-01 6.40311777e-02 2.41679758e+02] [-6.02065762e-01 7.97127681e-01 -4.58724127e-02 -9.09601291e+01] [-7.87391136e-02 -2.10284450e-03 9.96893038e-01 -1.74804721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.73, Y:-91.00, Z:-17.49 [[ 7.93744370e-01 6.04873024e-01 6.40195273e-02 2.41730340e+02] [-6.03133812e-01 7.96318928e-01 -4.58886663e-02 -9.09976275e+01] [-7.87367777e-02 -2.18847098e-03 9.96893039e-01 -1.74860870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.78, Y:-91.03, Z:-17.49 [[ 7.93852486e-01 6.04732339e-01 6.40080368e-02 2.41779980e+02] [-6.02991380e-01 7.96425863e-01 -4.59046882e-02 -9.10345279e+01] [-7.87377055e-02 -2.15474358e-03 9.96893039e-01 -1.74921806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.83, Y:-91.07, Z:-17.49 [[ 7.95908173e-01 6.02025344e-01 6.39973887e-02 2.41829626e+02] [-6.00274439e-01 7.98474793e-01 -4.59195284e-02 -9.10729033e+01] [-7.87450216e-02 -1.86826866e-03 9.96893039e-01 -1.74938059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.88, Y:-91.11, Z:-17.50 [[ 7.97786352e-01 5.99535629e-01 6.39841143e-02 2.41878648e+02] [-5.97775231e-01 8.00346470e-01 -4.59380176e-02 -9.11104341e+01] [-7.87509382e-02 -1.59939522e-03 9.96893039e-01 -1.74994156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:-91.15, Z:-17.50 [[ 7.99700161e-01 5.96981786e-01 6.39718666e-02 2.41929052e+02] [-5.95211849e-01 8.02253692e-01 -4.59550669e-02 -9.11484623e+01] [-7.87560042e-02 -1.32653861e-03 9.96893039e-01 -1.75030100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:-91.19, Z:-17.51 [[ 8.01081915e-01 5.95127736e-01 6.39589204e-02 2.41978488e+02] [-5.93350450e-01 8.03630337e-01 -4.59730781e-02 -9.11853424e+01] [-7.87591827e-02 -1.12185277e-03 9.96893040e-01 -1.75105226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:-91.22, Z:-17.52 [[ 8.01634815e-01 5.94383632e-01 6.39509309e-02 2.42028317e+02] [-5.92603094e-01 8.04180967e-01 -4.59841892e-02 -9.12215954e+01] [-7.87603708e-02 -1.03499256e-03 9.96893040e-01 -1.75160550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:-91.25, Z:-17.52 [[ 8.03345010e-01 5.92071351e-01 6.39399035e-02 2.42081033e+02] [-5.90282264e-01 8.05885161e-01 -4.59995174e-02 -9.12549465e+01] [-7.87632159e-02 -7.89108269e-04 9.96893040e-01 -1.75217708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.13, Y:-91.29, Z:-17.53 [[ 8.01409079e-01 5.94690598e-01 6.39263723e-02 2.42129103e+02] [-5.92908313e-01 8.03954008e-01 -4.60183144e-02 -9.12938684e+01] [-7.87605221e-02 -1.02298261e-03 9.96893040e-01 -1.75263431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:-91.33, Z:-17.53 [[ 8.01594750e-01 5.94441641e-01 6.39139379e-02 2.42180478e+02] [-5.92657190e-01 8.04138160e-01 -4.60355778e-02 -9.13303318e+01] [-7.87611009e-02 -9.77177331e-04 9.96893040e-01 -1.75305546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.23, Y:-91.37, Z:-17.53 [[ 8.01609166e-01 5.94423596e-01 6.39009690e-02 2.42231257e+02] [-5.92637653e-01 8.04151528e-01 -4.60535727e-02 -9.13666820e+01] [-7.87613921e-02 -9.53154302e-04 9.96893041e-01 -1.75343552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:242.28, Y:-91.40, Z:-17.54 [[ 8.02259879e-01 5.93546485e-01 6.38878478e-02 2.42281327e+02] [-5.91756314e-01 8.04799265e-01 -4.60717679e-02 -9.14034756e+01] [-7.87626289e-02 -8.44506362e-04 9.96893041e-01 -1.75381407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.33, Y:-91.44, Z:-17.54 [[ 8.02614299e-01 5.93068445e-01 6.38757124e-02 2.42332826e+02] [-5.91275423e-01 8.05151673e-01 -4.60885868e-02 -9.14398100e+01] [-7.87633232e-02 -7.76780058e-04 9.96893041e-01 -1.75429827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:242.38, Y:-91.48, Z:-17.55 [[ 8.02852896e-01 5.92746797e-01 6.38628322e-02 2.42383783e+02] [-5.90951340e-01 8.05388547e-01 -4.61064275e-02 -9.14758077e+01] [-7.87638308e-02 -7.23147398e-04 9.96893041e-01 -1.75478998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:-91.51, Z:-17.55 [[ 8.02775255e-01 5.92853351e-01 6.38497700e-02 2.42433992e+02] [-5.91056792e-01 8.05310125e-01 -4.61245093e-02 -9.15121896e+01] [-7.87639362e-02 -7.11225513e-04 9.96893042e-01 -1.75527208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.49, Y:-91.55, Z:-17.56 [[ 8.02196256e-01 5.93637864e-01 6.38377042e-02 2.42485251e+02] [-5.91842456e-01 8.04731941e-01 -4.61412027e-02 -9.15484588e+01] [-7.87634047e-02 -7.67563552e-04 9.96893042e-01 -1.75570177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.54, Y:-91.58, Z:-17.56 [[ 8.02319281e-01 5.93472958e-01 6.38249160e-02 2.42536914e+02] [-5.91675622e-01 8.04853599e-01 -4.61588854e-02 -9.15838066e+01] [-7.87637636e-02 -7.29483126e-04 9.96893042e-01 -1.75626494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.59, Y:-91.62, Z:-17.57 [[ 8.02600736e-01 5.93093628e-01 6.38122789e-02 2.42588340e+02] [-5.91293706e-01 8.05133218e-01 -4.61763489e-02 -9.16193296e+01] [-7.87642837e-02 -6.70627280e-04 9.96893042e-01 -1.75686518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.64, Y:-91.66, Z:-17.57 [[ 8.01384830e-01 5.94736924e-01 6.37992608e-02 2.42637465e+02] [-5.92940763e-01 8.03919981e-01 -4.61943283e-02 -9.16562028e+01] [-7.87629732e-02 -8.09748416e-04 9.96893043e-01 -1.75718019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.69, Y:-91.69, Z:-17.58 [[ 8.00224877e-01 5.96298027e-01 6.37872143e-02 2.42688496e+02] [-5.94505487e-01 8.02762589e-01 -4.62109566e-02 -9.16922519e+01] [-7.87614916e-02 -9.42691795e-04 9.96893043e-01 -1.75761316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.74, Y:-91.73, Z:-17.58 [[ 7.97765867e-01 5.99585203e-01 6.37746553e-02 2.42739932e+02] [-5.97801733e-01 8.00309961e-01 -4.62282827e-02 -9.17282033e+01] [-7.87572861e-02 -1.24525343e-03 9.96893043e-01 -1.75804268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.79, Y:-91.76, Z:-17.59 [[ 7.95984138e-01 6.01949911e-01 6.37617157e-02 2.42790566e+02] [-6.00172570e-01 7.98532518e-01 -4.62461231e-02 -9.17644507e+01] [-7.87536531e-02 -1.45685231e-03 9.96893043e-01 -1.75858452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.84, Y:-91.80, Z:-17.59 [[ 7.94040238e-01 6.04513171e-01 6.37489275e-02 2.42840916e+02] [-6.02742642e-01 7.96593355e-01 -4.62637445e-02 -9.18001730e+01] [-7.87490150e-02 -1.68892234e-03 9.96893044e-01 -1.75923057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.89, Y:-91.84, Z:-17.59 [[ 7.92596460e-01 6.06406178e-01 6.37369587e-02 2.42889981e+02] [-6.04640421e-01 7.95152879e-01 -4.62802279e-02 -9.18360641e+01] [-7.87452424e-02 -1.85639676e-03 9.96893044e-01 -1.75948541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.94, Y:-91.87, Z:-17.60 [[ 7.92046800e-01 6.07125081e-01 6.37260025e-02 2.42939392e+02] [-6.05360432e-01 7.94603984e-01 -4.62953093e-02 -9.18723274e+01] [-7.87439789e-02 -1.90914893e-03 9.96893044e-01 -1.75997060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:-91.91, Z:-17.60 [[ 7.92329780e-01 6.06756995e-01 6.37139617e-02 2.42989597e+02] [-6.04989827e-01 7.94885224e-01 -4.63118746e-02 -9.19089999e+01] [-7.87453406e-02 -1.85202127e-03 9.96893044e-01 -1.76019844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:-91.95, Z:-17.61 [[ 7.93262801e-01 6.05537875e-01 6.37025225e-02 2.43039208e+02] [-6.03765517e-01 7.95814648e-01 -4.63276041e-02 -9.19452798e+01] [-7.87485194e-02 -1.71142149e-03 9.96893044e-01 -1.76082471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.09, Y:-91.98, Z:-17.61 [[ 7.96536010e-01 6.01226582e-01 6.36944393e-02 2.43089099e+02] [-5.99439522e-01 7.99077583e-01 -4.63387147e-02 -9.19817104e+01] [-7.87568656e-02 -1.27050935e-03 9.96893044e-01 -1.76124495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.14, Y:-92.02, Z:-17.62 [[ 7.99450317e-01 5.97347171e-01 6.36831850e-02 2.43138697e+02] [-5.95546545e-01 8.01982296e-01 -4.63541763e-02 -9.20179540e+01] [-7.87623230e-02 -8.68439848e-04 9.96893045e-01 -1.76180977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.19, Y:-92.06, Z:-17.62 [[ 8.05106165e-01 5.89703298e-01 6.36716812e-02 2.43188761e+02] [-5.87877381e-01 8.07619967e-01 -4.63699725e-02 -9.20563137e+01] [-7.87670468e-02 -9.83904531e-05 9.96893045e-01 -1.76225902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.24, Y:-92.09, Z:-17.63 [[ 8.08745801e-01 5.84703200e-01 6.36584406e-02 2.43238177e+02] [-5.82860311e-01 8.11247187e-01 -4.63881426e-02 -9.20929901e+01] [-7.87660263e-02 4.12237118e-04 9.96893045e-01 -1.76274346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.29, Y:-92.13, Z:-17.63 [[ 8.13428968e-01 5.78171216e-01 6.36502927e-02 2.43289419e+02] [-5.76307368e-01 8.15914775e-01 -4.63993198e-02 -9.21298924e+01] [-7.87599654e-02 1.06041812e-03 9.96893045e-01 -1.76327109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.34, Y:-92.17, Z:-17.64 [[ 8.15186767e-01 5.75691605e-01 6.36373367e-02 2.43340244e+02] [-5.73818811e-01 8.17665841e-01 -4.64170825e-02 -9.21671434e+01] [-7.87560011e-02 1.32229056e-03 9.96893045e-01 -1.76370790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.39, Y:-92.21, Z:-17.64 [[ 8.15012108e-01 5.75940295e-01 6.36242155e-02 2.43389034e+02] [-5.74066854e-01 8.17490693e-01 -4.64350609e-02 -9.22054630e+01] [-7.87560266e-02 1.32058361e-03 9.96893046e-01 -1.76377878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.44, Y:-92.24, Z:-17.65 [[ 8.14039516e-01 5.77315393e-01 6.36129154e-02 2.43441211e+02] [-5.75444930e-01 8.16520349e-01 -4.64505361e-02 -9.22380809e+01] [-7.87578494e-02 1.20684226e-03 9.96893046e-01 -1.76465016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.49, Y:-92.27, Z:-17.65 [[ 8.10504052e-01 5.82269706e-01 6.36016587e-02 2.43494156e+02] [-5.80413200e-01 8.12995346e-01 -4.64659440e-02 -9.22721542e+01] [-7.87635641e-02 7.45593573e-04 9.96893046e-01 -1.76512763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:-92.31, Z:-17.66 [[ 8.07448046e-01 5.86501630e-01 6.35884494e-02 2.43544904e+02] [-5.84656758e-01 8.09947968e-01 -4.64840139e-02 -9.23069186e+01] [-7.87662853e-02 3.56009527e-04 9.96893046e-01 -1.76562706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:-92.34, Z:-17.66 [[ 8.04430681e-01 5.90634694e-01 6.35762438e-02 2.43596350e+02] [-5.88801348e-01 8.06939067e-01 -4.65007015e-02 -9.23414759e+01] [-7.87670825e-02 -2.71870552e-05 9.96893046e-01 -1.76610895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.65, Y:-92.37, Z:-17.66 [[ 7.99447368e-01 5.97363774e-01 6.35643610e-02 2.43648992e+02] [-5.95550249e-01 8.01970121e-01 -4.65169391e-02 -9.23743908e+01] [-7.87642526e-02 -6.67926457e-04 9.96893047e-01 -1.76648003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.70, Y:-92.41, Z:-17.67 [[ 7.95616325e-01 6.02458042e-01 6.35528968e-02 2.43700889e+02] [-6.00659418e-01 7.98149724e-01 -4.65325967e-02 -9.24099342e+01] [-7.87586641e-02 -1.15155245e-03 9.96893047e-01 -1.76705426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.75, Y:-92.45, Z:-17.68 [[ 7.92162707e-01 6.06993350e-01 6.35399004e-02 2.43752124e+02] [-6.05207805e-01 7.94705341e-01 -4.65503365e-02 -9.24453594e+01] [-7.87512429e-02 -1.57940309e-03 9.96893047e-01 -1.76768124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:-92.48, Z:-17.68 [[ 7.89081679e-01 6.10994459e-01 6.35285321e-02 2.43803378e+02] [-6.09220557e-01 7.91632449e-01 -4.65658459e-02 -9.24815079e+01] [-7.87427213e-02 -1.95863182e-03 9.96893047e-01 -1.76812286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:-92.52, Z:-17.69 [[ 7.86593642e-01 6.14195594e-01 6.35154601e-02 2.43853800e+02] [-6.12430634e-01 7.89150607e-01 -4.65836693e-02 -9.25162589e+01] [-7.87347483e-02 -2.25639534e-03 9.96893047e-01 -1.76867135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:-92.55, Z:-17.69 [[ 7.85863516e-01 6.15130680e-01 6.35041722e-02 2.43904190e+02] [-6.13367521e-01 7.88421723e-01 -4.65990522e-02 -9.25526771e+01] [-7.87325755e-02 -2.33090165e-03 9.96893048e-01 -1.76927722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.95, Y:-92.59, Z:-17.70 [[ 7.86009555e-01 6.14945371e-01 6.34914943e-02 2.43953922e+02] [-6.13180215e-01 7.88566385e-01 -4.66163195e-02 -9.25915660e+01] [-7.87337480e-02 -2.29085554e-03 9.96893048e-01 -1.76978808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.00, Y:-92.63, Z:-17.71 [[ 7.88319531e-01 6.11982648e-01 6.34787879e-02 2.44004446e+02] [-6.10206490e-01 7.90868729e-01 -4.66336159e-02 -9.26269341e+01] [-7.87423520e-02 -1.97297813e-03 9.96893048e-01 -1.77053878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.05, Y:-92.67, Z:-17.71 [[ 7.88346125e-01 6.11949644e-01 6.34666837e-02 2.44050155e+02] [-6.10172054e-01 7.90894325e-01 -4.66500834e-02 -9.26677681e+01] [-7.87429419e-02 -1.94918426e-03 9.96893048e-01 -1.77063065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:-92.71, Z:-17.71 [[ 7.88665451e-01 6.11539215e-01 6.34554531e-02 2.44098605e+02] [-6.09759071e-01 7.91211868e-01 -4.66653548e-02 -9.27076219e+01] [-7.87444020e-02 -1.88918504e-03 9.96893049e-01 -1.77111002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.15, Y:-92.75, Z:-17.72 [[ 7.87765606e-01 6.12699303e-01 6.34422083e-02 2.44147504e+02] [-6.10921461e-01 7.90313630e-01 -4.66833544e-02 -9.27469084e+01] [-7.87421006e-02 -1.98266560e-03 9.96893049e-01 -1.77157966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.20, Y:-92.78, Z:-17.72 [[ 7.86251763e-01 6.14642098e-01 6.34291524e-02 2.44197221e+02] [-6.12869122e-01 7.88803174e-01 -4.67010868e-02 -9.27847611e+01] [-7.87375707e-02 -2.15495711e-03 9.96893049e-01 -1.77201877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.25, Y:-92.82, Z:-17.73 [[ 7.83522311e-01 6.18119095e-01 6.34158648e-02 2.44247609e+02] [-6.16355982e-01 7.86080548e-01 -4.67191232e-02 -9.28228126e+01] [-7.87279599e-02 -2.48127223e-03 9.96893049e-01 -1.77256827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.30, Y:-92.86, Z:-17.73 [[ 7.81890986e-01 6.20182696e-01 6.34027609e-02 2.44297941e+02] [-6.18424894e-01 7.84452875e-01 -4.67368999e-02 -9.28607694e+01] [-7.87218946e-02 -2.66668491e-03 9.96893049e-01 -1.77310138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:-92.90, Z:-17.73 [[ 7.79514713e-01 6.23168149e-01 6.33898278e-02 2.44347980e+02] [-6.21418734e-01 7.82082336e-01 -4.67544347e-02 -9.28981426e+01] [-7.87119391e-02 -2.94585680e-03 9.96893050e-01 -1.77344855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.40, Y:-92.94, Z:-17.74 [[ 7.77951634e-01 6.25119704e-01 6.33767410e-02 2.44398360e+02] [-6.23375288e-01 7.80522655e-01 -4.67721674e-02 -9.29353612e+01] [-7.87051856e-02 -3.12101006e-03 9.96893050e-01 -1.77391700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:-92.97, Z:-17.75 [[ 7.77013331e-01 6.26286930e-01 6.33637499e-02 2.44448141e+02] [-6.24544944e-01 7.79586000e-01 -4.67897603e-02 -9.29724771e+01] [-7.87013076e-02 -3.21724219e-03 9.96893050e-01 -1.77467631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:-93.01, Z:-17.75 [[ 7.78329349e-01 6.24651102e-01 6.33594890e-02 2.44496937e+02] [-6.22903240e-01 7.80898029e-01 -4.67955294e-02 -9.30102175e+01] [-7.87081791e-02 -3.04449698e-03 9.96893050e-01 -1.77486282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.55, Y:-93.05, Z:-17.75 [[ 7.79429043e-01 6.23279540e-01 6.33481110e-02 2.44546505e+02] [-6.21525908e-01 7.81993787e-01 -4.68109270e-02 -9.30494123e+01] [-7.87141223e-02 -2.88669625e-03 9.96893050e-01 -1.77523377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:244.60, Y:-93.09, Z:-17.76 [[ 7.79594690e-01 6.23073688e-01 6.33348169e-02 2.44596968e+02] [-6.21317921e-01 7.82157973e-01 -4.68289070e-02 -9.30868472e+01] [-7.87156917e-02 -2.84348950e-03 9.96893051e-01 -1.77576820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.65, Y:-93.12, Z:-17.76 [[ 7.80437907e-01 6.22018535e-01 6.33215257e-02 2.44646158e+02] [-6.20257848e-01 7.82997811e-01 -4.68468724e-02 -9.31233396e+01] [-7.87202389e-02 -2.71459823e-03 9.96893051e-01 -1.77637550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.70, Y:-93.16, Z:-17.77 [[ 7.81396067e-01 6.20815692e-01 6.33092576e-02 2.44695671e+02] [-6.19049723e-01 7.83952331e-01 -4.68634457e-02 -9.31608744e+01] [-7.87250026e-02 -2.57266621e-03 9.96893051e-01 -1.77683121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.75, Y:-93.20, Z:-17.77 [[ 7.84897793e-01 6.16383694e-01 6.32976770e-02 2.44745588e+02] [-6.14602028e-01 7.87443140e-01 -4.68790823e-02 -9.31992765e+01] [-7.87388235e-02 -2.10759238e-03 9.96893051e-01 -1.77736008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.80, Y:-93.24, Z:-17.78 [[ 7.88773069e-01 6.11418120e-01 6.32844994e-02 2.44795500e+02] [-6.09618999e-01 7.91306110e-01 -4.68968646e-02 -9.32381742e+01] [-7.87510038e-02 -1.58844937e-03 9.96893052e-01 -1.77772832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:-93.28, Z:-17.78 [[ 7.95388129e-01 6.02788935e-01 6.32710402e-02 2.44843451e+02] [-6.00960882e-01 7.97900369e-01 -4.69150162e-02 -9.32766752e+01] [-7.87638390e-02 -7.07773147e-04 9.96893052e-01 -1.77814833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.89, Y:-93.31, Z:-17.79 [[ 8.02155057e-01 5.93755513e-01 6.32586330e-02 2.44891565e+02] [-5.91897848e-01 8.04645481e-01 -4.69317397e-02 -9.33140884e+01] [-7.87667523e-02 2.03883632e-04 9.96893052e-01 -1.77880055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.94, Y:-93.35, Z:-17.79 [[ 8.06196054e-01 5.88258106e-01 6.32481088e-02 2.44941063e+02] [-5.86382348e-01 8.08672878e-01 -4.69459185e-02 -9.33516992e+01] [-7.87633472e-02 7.60039783e-04 9.96893052e-01 -1.77934162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:-93.39, Z:-17.80 [[ 8.09581083e-01 5.83591971e-01 6.32367171e-02 2.44990407e+02] [-5.81700740e-01 8.12046113e-01 -4.69612583e-02 -9.33889786e+01] [-7.87573435e-02 1.23410115e-03 9.96893052e-01 -1.77982512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:-93.43, Z:-17.80 [[ 8.13181737e-01 5.78565489e-01 6.32253016e-02 2.45039737e+02] [-5.76657830e-01 8.15634075e-01 -4.69766222e-02 -9.34259915e+01] [-7.87477628e-02 1.74116596e-03 9.96893053e-01 -1.78010193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:-93.46, Z:-17.80 [[ 8.13671523e-01 5.77877719e-01 6.32138724e-02 2.45090877e+02] [-5.75966795e-01 8.16121317e-01 -4.69919970e-02 -9.34624383e+01] [-7.87458168e-02 1.82695832e-03 9.96893053e-01 -1.78044653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.14, Y:-93.50, Z:-17.81 [[ 8.12687759e-01 5.79261816e-01 6.32009060e-02 2.45142143e+02] [-5.77353709e-01 8.15139748e-01 -4.70094294e-02 -9.34984449e+01] [-7.87483380e-02 1.71471035e-03 9.96893053e-01 -1.78095667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.19, Y:-93.53, Z:-17.82 [[ 8.09437326e-01 5.83796617e-01 6.31880088e-02 2.45193927e+02] [-5.81900897e-01 8.11898904e-01 -4.70267589e-02 -9.35325326e+01] [-7.87563378e-02 1.29605495e-03 9.96893053e-01 -1.78156666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.25, Y:-93.57, Z:-17.82 [[ 8.06170193e-01 5.88301200e-01 6.31768815e-02 2.45246321e+02] [-5.86418064e-01 8.08641411e-01 -4.70417028e-02 -9.35679651e+01] [-7.87621328e-02 8.75554102e-04 9.96893053e-01 -1.78205617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.30, Y:-93.60, Z:-17.83 [[ 8.04104453e-01 5.91122944e-01 6.31640303e-02 2.45297679e+02] [-5.89247126e-01 8.06581230e-01 -4.70589522e-02 -9.36046961e+01] [-7.87645475e-02 6.21089719e-04 9.96893054e-01 -1.78256619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.35, Y:-93.64, Z:-17.83 [[ 7.97874643e-01 5.99506437e-01 6.31512993e-02 2.45349559e+02] [-5.97655292e-01 8.00369914e-01 -4.70760305e-02 -9.36396979e+01] [-7.87667833e-02 -1.81937251e-04 9.96893054e-01 -1.78285239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:-93.67, Z:-17.83 [[ 7.92726835e-01 6.06298400e-01 6.31380632e-02 2.45401436e+02] [-6.04467219e-01 7.95236794e-01 -4.70937760e-02 -9.36738948e+01] [-7.87625919e-02 -8.32389438e-04 9.96893054e-01 -1.78317558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.45, Y:-93.71, Z:-17.84 [[ 7.90369892e-01 6.09368946e-01 6.31262349e-02 2.45451372e+02] [-6.07546250e-01 7.92886018e-01 -4.71096258e-02 -9.37085360e+01] [-7.87590520e-02 -1.11807740e-03 9.96893054e-01 -1.78366060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.50, Y:-93.74, Z:-17.84 [[ 7.88337106e-01 6.11997140e-01 6.31197920e-02 2.45501886e+02] [-6.10182140e-01 7.90858790e-01 -4.71182568e-02 -9.37437013e+01] [-7.87550807e-02 -1.36949958e-03 9.96893054e-01 -1.78401270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.55, Y:-93.78, Z:-17.85 [[ 7.88206436e-01 6.12166542e-01 6.31089453e-02 2.45552347e+02] [-6.10350922e-01 7.90727673e-01 -4.71327800e-02 -9.37801053e+01] [-7.87551004e-02 -1.36824247e-03 9.96893054e-01 -1.78455380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.60, Y:-93.82, Z:-17.85 [[ 7.89092101e-01 6.11025848e-01 6.30957207e-02 2.45602841e+02] [-6.09205168e-01 7.91609686e-01 -4.71504769e-02 -9.38165926e+01] [-7.87573438e-02 -1.23217026e-03 9.96893055e-01 -1.78514153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.65, Y:-93.85, Z:-17.86 [[ 7.91644458e-01 6.07716616e-01 6.30838131e-02 2.45650646e+02] [-6.05884143e-01 7.94153471e-01 -4.71664031e-02 -9.38537576e+01] [-7.87620360e-02 -8.82460408e-04 9.96893055e-01 -1.78569179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:-93.89, Z:-17.86 [[ 7.94504541e-01 6.03973790e-01 6.30729339e-02 2.45699356e+02] [-6.02128342e-01 7.97004027e-01 -4.71809467e-02 -9.38915614e+01] [-7.87654375e-02 -4.92524641e-04 9.96893055e-01 -1.78622892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:-93.93, Z:-17.87 [[ 7.99616432e-01 5.97190860e-01 6.30605948e-02 2.45748771e+02] [-5.95322908e-01 8.02099145e-01 -4.71974331e-02 -9.39306205e+01] [-7.87667248e-02 1.98426399e-04 9.96893055e-01 -1.78669191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:-93.97, Z:-17.87 [[ 8.03117191e-01 5.92475999e-01 6.30473488e-02 2.45798297e+02] [-5.90592083e-01 8.05587812e-01 -4.72151208e-02 -9.39696024e+01] [-7.87640016e-02 6.84010131e-04 9.96893056e-01 -1.78710979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.85, Y:-94.01, Z:-17.88 [[ 8.08091594e-01 5.85674565e-01 6.30339480e-02 2.45846574e+02] [-5.83768465e-01 8.10545139e-01 -4.72330045e-02 -9.40084061e+01] [-7.87550296e-02 1.37136289e-03 9.96893056e-01 -1.78753255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:-94.05, Z:-17.88 [[ 8.11917124e-01 5.80360975e-01 6.30215982e-02 2.45896376e+02] [-5.78437543e-01 8.14357106e-01 -4.72494769e-02 -9.40464437e+01] [-7.87438388e-02 1.90860097e-03 9.96893056e-01 -1.78785665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:-94.08, Z:-17.88 [[ 8.13449298e-01 5.78212941e-01 6.30082025e-02 2.45947143e+02] [-5.76281685e-01 8.15883091e-01 -4.72673336e-02 -9.40828444e+01] [-7.87379110e-02 2.13910631e-03 9.96893056e-01 -1.78821808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.00, Y:-94.12, Z:-17.89 [[ 8.13233663e-01 5.78517466e-01 6.29964404e-02 2.45996932e+02] [-5.76585908e-01 8.15667216e-01 -4.72830046e-02 -9.41193401e+01] [-7.87381752e-02 2.12927116e-03 9.96893056e-01 -1.78875304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.05, Y:-94.15, Z:-17.89 [[ 8.11466088e-01 5.80995525e-01 6.29840223e-02 2.46049324e+02] [-5.79070118e-01 8.13904511e-01 -4.72995406e-02 -9.41544173e+01] [-7.87438012e-02 1.90980800e-03 9.96893057e-01 -1.78928393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.10, Y:-94.19, Z:-17.90 [[ 8.09844627e-01 5.83254967e-01 6.29708214e-02 2.46102330e+02] [-5.81334998e-01 8.12287333e-01 -4.73171087e-02 -9.41864401e+01] [-7.87483392e-02 1.71236386e-03 9.96893057e-01 -1.79015086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.15, Y:-94.22, Z:-17.90 [[ 8.06916058e-01 5.87301229e-01 6.29582469e-02 2.46152229e+02] [-5.85392207e-01 8.09367329e-01 -4.73338339e-02 -9.42223440e+01] [-7.87555670e-02 1.33916359e-03 9.96893057e-01 -1.79012561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.21, Y:-94.26, Z:-17.91 [[ 8.04120647e-01 5.91124089e-01 6.29467759e-02 2.46205322e+02] [-5.89225527e-01 8.06580028e-01 -4.73490837e-02 -9.42552710e+01] [-7.87607963e-02 9.84528620e-04 9.96893057e-01 -1.79071103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.26, Y:-94.29, Z:-17.91 [[ 8.00633128e-01 5.95840560e-01 6.29334728e-02 2.46259146e+02] [-5.93955098e-01 8.03102566e-01 -4.73667588e-02 -9.42874601e+01] [-7.87650696e-02 5.43739177e-04 9.96893058e-01 -1.79136966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:-94.32, Z:-17.92 [[ 7.98004739e-01 5.99357552e-01 6.29202754e-02 2.46311148e+02] [-5.97481592e-01 8.00481403e-01 -4.73842833e-02 -9.43221368e+01] [-7.87666384e-02 2.19176277e-04 9.96893058e-01 -1.79189730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:246.36, Y:-94.36, Z:-17.93 [[ 7.94768914e-01 6.03643183e-01 6.29069316e-02 2.46364013e+02] [-6.01779176e-01 7.97254586e-01 -4.74019919e-02 -9.43553607e+01] [-7.87667289e-02 -1.82451841e-04 9.96893058e-01 -1.79268583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:-94.39, Z:-17.93 [[ 7.91439819e-01 6.08002961e-01 6.28920726e-02 2.46415700e+02] [-6.06151080e-01 7.93934538e-01 -4.74216983e-02 -9.43905237e+01] [-7.87647216e-02 -5.90677351e-04 9.96893058e-01 -1.79301585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:-94.43, Z:-17.94 [[ 7.87475331e-01 6.13130571e-01 6.28769091e-02 2.46467730e+02] [-6.11293328e-01 7.89980850e-01 -4.74417952e-02 -9.44251681e+01] [-7.87595691e-02 -1.07699167e-03 9.96893059e-01 -1.79363345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.52, Y:-94.46, Z:-17.94 [[ 7.85325793e-01 6.15882761e-01 6.28635311e-02 2.46517941e+02] [-6.14052880e-01 7.87836693e-01 -4.74595153e-02 -9.44614542e+01] [-7.87556938e-02 -1.33035083e-03 9.96893059e-01 -1.79421240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:-94.50, Z:-17.95 [[ 7.83989857e-01 6.17583708e-01 6.28511521e-02 2.46568399e+02] [-6.15757961e-01 7.86503765e-01 -4.74759034e-02 -9.44991911e+01] [-7.87530122e-02 -1.48047052e-03 9.96893059e-01 -1.79458217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.62, Y:-94.54, Z:-17.95 [[ 7.83544653e-01 6.18149806e-01 6.28378392e-02 2.46617872e+02] [-6.16324464e-01 7.86058854e-01 -4.74935175e-02 -9.45372060e+01] [-7.87523485e-02 -1.51520592e-03 9.96893059e-01 -1.79500653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.67, Y:-94.58, Z:-17.96 [[ 7.82430037e-01 6.19561412e-01 6.28243197e-02 2.46666489e+02] [-6.17739170e-01 7.84946485e-01 -4.75113944e-02 -9.45761282e+01] [-7.87499555e-02 -1.63470100e-03 9.96893060e-01 -1.79555784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.72, Y:-94.61, Z:-17.96 [[ 7.81441013e-01 6.20809734e-01 6.28109612e-02 2.46715649e+02] [-6.18990094e-01 7.83959344e-01 -4.75290480e-02 -9.46146584e+01] [-7.87477356e-02 -1.73821532e-03 9.96893060e-01 -1.79616609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.76, Y:-94.66, Z:-17.97 [[ 7.80567513e-01 6.21909002e-01 6.27977010e-02 2.46763627e+02] [-6.20091500e-01 7.83087387e-01 -4.75465616e-02 -9.46556717e+01] [-7.87457223e-02 -1.82701929e-03 9.96893060e-01 -1.79669600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.81, Y:-94.70, Z:-17.97 [[ 7.80039963e-01 6.22571890e-01 6.27845330e-02 2.46809752e+02] [-6.20755132e-01 7.82560373e-01 -4.75639435e-02 -9.46972004e+01] [-7.87446617e-02 -1.87204436e-03 9.96893060e-01 -1.79676754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.86, Y:-94.74, Z:-17.97 [[ 7.80244893e-01 6.22316317e-01 6.27718716e-02 2.46856816e+02] [-6.20497391e-01 7.82763738e-01 -4.75806473e-02 -9.47355659e+01] [-7.87457581e-02 -1.82522546e-03 9.96893061e-01 -1.79745709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.91, Y:-94.78, Z:-17.98 [[ 7.80228162e-01 6.22338459e-01 6.27603219e-02 2.46905226e+02] [-6.20518380e-01 7.82746174e-01 -4.75958769e-02 -9.47754871e+01] [-7.87461465e-02 -1.80828966e-03 9.96893061e-01 -1.79791521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.95, Y:-94.82, Z:-17.98 [[ 7.80035783e-01 6.22580915e-01 6.27469641e-02 2.46953713e+02] [-6.20760204e-01 7.82553337e-01 -4.76134804e-02 -9.48154653e+01] [-7.87460904e-02 -1.81059982e-03 9.96893061e-01 -1.79833005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.00, Y:-94.86, Z:-17.99 [[ 7.79381446e-01 6.23401240e-01 6.27332053e-02 2.47000782e+02] [-6.21581721e-01 7.81899862e-01 -4.76316014e-02 -9.48560698e+01] [-7.87446840e-02 -1.87062731e-03 9.96893061e-01 -1.79872481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.05, Y:-94.89, Z:-17.99 [[ 7.79536182e-01 6.23208991e-01 6.27207631e-02 2.47048957e+02] [-6.21387534e-01 7.82053197e-01 -4.76479795e-02 -9.48942722e+01] [-7.87456226e-02 -1.83057627e-03 9.96893061e-01 -1.79939765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.10, Y:-94.94, Z:-18.00 [[ 7.78720540e-01 6.24229187e-01 6.27075997e-02 2.47096005e+02] [-6.22409634e-01 7.81238931e-01 -4.76652971e-02 -9.49357218e+01] [-7.87436878e-02 -1.91186825e-03 9.96893062e-01 -1.79988534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.14, Y:-94.98, Z:-18.00 [[ 7.77675949e-01 6.25531506e-01 6.26933226e-02 2.47143385e+02] [-6.23714658e-01 7.80196292e-01 -4.76840683e-02 -9.49759786e+01] [-7.87409849e-02 -2.01999118e-03 9.96893062e-01 -1.80030197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.19, Y:-95.02, Z:-18.01 [[ 7.75505103e-01 6.28222122e-01 6.26801371e-02 2.47190454e+02] [-6.26412619e-01 7.78030724e-01 -4.77013941e-02 -9.50173736e+01] [-7.87341435e-02 -2.27095430e-03 9.96893062e-01 -1.80099678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.24, Y:-95.06, Z:-18.01 [[ 7.74756581e-01 6.29146042e-01 6.26697569e-02 2.47238061e+02] [-6.27338449e-01 7.77283569e-01 -4.77150277e-02 -9.50566394e+01] [-7.87318931e-02 -2.34761630e-03 9.96893062e-01 -1.80134701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:-95.10, Z:-18.02 [[ 7.72432891e-01 6.31997714e-01 6.26603435e-02 2.47285598e+02] [-6.30198448e-01 7.74965814e-01 -4.77273864e-02 -9.50978399e+01] [-7.87232232e-02 -2.62224815e-03 9.96893062e-01 -1.80166930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.33, Y:-95.14, Z:-18.02 [[ 7.71536820e-01 6.33092656e-01 6.26468257e-02 2.47333279e+02] [-6.31295547e-01 7.74071273e-01 -4.77451232e-02 -9.51379110e+01] [-7.87201950e-02 -2.71154158e-03 9.96893063e-01 -1.80215320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.38, Y:-95.18, Z:-18.03 [[ 7.70397575e-01 6.34479721e-01 6.26343362e-02 2.47380694e+02] [-6.32685845e-01 7.72934319e-01 -4.77615019e-02 -9.51799320e+01] [-7.87159324e-02 -2.83251266e-03 9.96893063e-01 -1.80254280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.43, Y:-95.22, Z:-18.03 [[ 7.69936942e-01 6.35039946e-01 6.26208534e-02 2.47427665e+02] [-6.33246482e-01 7.72473976e-01 -4.77791730e-02 -9.52214020e+01] [-7.87146631e-02 -2.86748470e-03 9.96893063e-01 -1.80313710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.47, Y:-95.26, Z:-18.04 [[ 7.70530047e-01 6.34321509e-01 6.26072709e-02 2.47474161e+02] [-6.32524235e-01 7.73064384e-01 -4.77969641e-02 -9.52598963e+01] [-7.87180937e-02 -2.77161914e-03 9.96893063e-01 -1.80385696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.52, Y:-95.30, Z:-18.04 [[ 7.70364225e-01 6.34523539e-01 6.26006325e-02 2.47521781e+02] [-6.32726226e-01 7.72898533e-01 -4.78056571e-02 -9.52992096e+01] [-7.87177517e-02 -2.78129392e-03 9.96893063e-01 -1.80448739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.57, Y:-95.34, Z:-18.05 [[ 7.71586980e-01 6.33036556e-01 6.25959406e-02 2.47568950e+02] [-6.31233860e-01 7.74117462e-01 -4.78117998e-02 -9.53395614e+01] [-7.87232277e-02 -2.62171502e-03 9.96893063e-01 -1.80498475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.62, Y:-95.38, Z:-18.06 [[ 7.72939695e-01 6.31385570e-01 6.25818594e-02 2.47616288e+02] [-6.29575979e-01 7.75465251e-01 -4.78302239e-02 -9.53794076e+01] [-7.87293705e-02 -2.43015672e-03 9.96893064e-01 -1.80565410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.66, Y:-95.42, Z:-18.06 [[ 7.73626952e-01 6.30544525e-01 6.25694983e-02 2.47664848e+02] [-6.28730882e-01 7.76149600e-01 -4.78463887e-02 -9.54186594e+01] [-7.87325695e-02 -2.32412001e-03 9.96893064e-01 -1.80608843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.71, Y:-95.46, Z:-18.07 [[ 7.75158985e-01 6.28661468e-01 6.25564305e-02 2.47711915e+02] [-6.26840320e-01 7.77676219e-01 -4.78634681e-02 -9.54570071e+01] [-7.87385664e-02 -2.11109556e-03 9.96893064e-01 -1.80667220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.76, Y:-95.50, Z:-18.07 [[ 7.75112411e-01 6.28719514e-01 6.25501617e-02 2.47761099e+02] [-6.26897894e-01 7.77629304e-01 -4.78716590e-02 -9.54965719e+01] [-7.87386849e-02 -2.10664767e-03 9.96893064e-01 -1.80698021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:-95.54, Z:-18.07 [[ 7.75110903e-01 6.28722690e-01 6.25369290e-02 2.47811179e+02] [-6.26899688e-01 7.77626794e-01 -4.78889392e-02 -9.55351620e+01] [-7.87392543e-02 -2.08514234e-03 9.96893064e-01 -1.80749988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.86, Y:-95.57, Z:-18.08 [[ 7.74756476e-01 6.29160319e-01 6.25275601e-02 2.47860531e+02] [-6.27337752e-01 7.77272683e-01 -4.79011689e-02 -9.55722521e+01] [-7.87384791e-02 -2.11415814e-03 9.96893065e-01 -1.80809630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.91, Y:-95.61, Z:-18.09 [[ 7.73747315e-01 6.30402149e-01 6.25157918e-02 2.47910575e+02] [-6.28582380e-01 7.76265546e-01 -4.79165229e-02 -9.56087992e+01] [-7.87355342e-02 -2.22104432e-03 9.96893065e-01 -1.80857967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.96, Y:-95.65, Z:-18.09 [[ 7.74136587e-01 6.29925214e-01 6.25041493e-02 2.47960378e+02] [-6.28102670e-01 7.76652810e-01 -4.79317049e-02 -9.56458753e+01] [-7.87374127e-02 -2.15333663e-03 9.96893065e-01 -1.80898752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.01, Y:-95.68, Z:-18.09 [[ 7.75445880e-01 6.28313926e-01 6.24923840e-02 2.48008629e+02] [-6.26484918e-01 7.77957408e-01 -4.79470395e-02 -9.56823284e+01] [-7.87422057e-02 -1.97020184e-03 9.96893065e-01 -1.80947133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.06, Y:-95.72, Z:-18.10 [[ 7.78797415e-01 6.24155499e-01 6.24859983e-02 2.48057352e+02] [-6.22312411e-01 7.81298628e-01 -4.79553601e-02 -9.57213632e+01] [-7.87518264e-02 -1.53830180e-03 9.96893065e-01 -1.80996142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:248.11, Y:-95.76, Z:-18.11 [[ 7.81800505e-01 6.20391124e-01 6.24725836e-02 2.48105853e+02] [-6.18534595e-01 7.84291758e-01 -4.79728294e-02 -9.57609174e+01] [-7.87586500e-02 -1.13627198e-03 9.96893065e-01 -1.81054053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:-95.80, Z:-18.11 [[ 7.86298015e-01 6.14682270e-01 6.24590988e-02 2.48152458e+02] [-6.12806257e-01 7.88774629e-01 -4.79903798e-02 -9.57999836e+01] [-7.87649880e-02 -5.40586207e-04 9.96893066e-01 -1.81116467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:248.20, Y:-95.84, Z:-18.12 [[ 7.89811350e-01 6.10162467e-01 6.24483351e-02 2.48201253e+02] [-6.08271174e-01 7.92276314e-01 -4.80043822e-02 -9.58388668e+01] [-7.87668090e-02 -7.11162031e-05 9.96893066e-01 -1.81174582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:-95.88, Z:-18.12 [[ 7.92745352e-01 6.06347000e-01 6.24349521e-02 2.48250255e+02] [-6.04442472e-01 7.95200105e-01 -4.80217819e-02 -9.58777416e+01] [-7.87661438e-02 3.30707548e-04 9.96893066e-01 -1.81216131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:248.30, Y:-95.92, Z:-18.13 [[ 7.93969436e-01 6.04744681e-01 6.24211971e-02 2.48298998e+02] [-6.02833794e-01 7.96419242e-01 -4.80396547e-02 -9.59162974e+01] [-7.87651681e-02 5.12410486e-04 9.96893066e-01 -1.81256971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:248.35, Y:-95.95, Z:-18.13 [[ 7.93535232e-01 6.05315633e-01 6.24084927e-02 2.48349625e+02] [-6.03405212e-01 7.95985400e-01 -4.80561534e-02 -9.59542634e+01] [-7.87653900e-02 4.76641125e-04 9.96893067e-01 -1.81295624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:248.40, Y:-95.99, Z:-18.14 [[ 7.94397212e-01 6.04185293e-01 6.23955255e-02 2.48402543e+02] [-6.02270062e-01 7.96843623e-01 -4.80729840e-02 -9.59869625e+01] [-7.87644665e-02 6.10087411e-04 9.96893067e-01 -1.81389998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:248.45, Y:-96.02, Z:-18.14 [[ 7.93272499e-01 6.05662709e-01 6.23812814e-02 2.48452734e+02] [-6.03750583e-01 7.95721337e-01 -4.80914607e-02 -9.60242108e+01] [-7.87653210e-02 4.86898265e-04 9.96893067e-01 -1.81448920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:248.50, Y:-96.06, Z:-18.15 [[ 7.86149058e-01 6.14882131e-01 6.23668430e-02 2.48501652e+02] [-6.12997237e-01 7.88618918e-01 -4.81101777e-02 -9.60616010e+01] [-7.87657608e-02 -4.08931573e-04 9.96893067e-01 -1.81489983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:-95.52, Z:-17.19 [[ 8.41556330e-01 5.36557507e-01 6.23617315e-02 2.49063127e+02] [-5.34443690e-01 8.43833346e-01 -4.81168024e-02 -9.55168696e+01] [-7.84403401e-02 7.16416573e-03 9.96893067e-01 -1.71883659e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:-95.55, Z:-17.19 [[ 8.39279480e-01 5.39596788e-01 6.66727880e-02 2.49116303e+02] [-5.38028335e-01 8.41922495e-01 -4.11342077e-02 -9.55511720e+01] [-7.83292063e-02 -1.34875264e-03 9.96926635e-01 -1.71896751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:-95.58, Z:-17.19 [[ 8.37281768e-01 5.42692877e-01 6.66609527e-02 2.49170142e+02] [-5.41132672e-01 8.39929658e-01 -4.11533788e-02 -9.55822360e+01] [-7.83241567e-02 -1.61544570e-03 9.96926636e-01 -1.71929730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:-95.61, Z:-17.20 [[ 8.35343533e-01 5.45672938e-01 6.66500274e-02 2.49224942e+02] [-5.44120767e-01 8.37996142e-01 -4.11710653e-02 -9.56137484e+01] [-7.83184019e-02 -1.87368086e-03 9.96926636e-01 -1.71972276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:249.28, Y:-95.64, Z:-17.20 [[ 8.32794220e-01 5.49557205e-01 6.66383128e-02 2.49279978e+02] [-5.48015889e-01 8.35453151e-01 -4.11900175e-02 -9.56430130e+01] [-7.83094593e-02 -2.21604570e-03 9.96926636e-01 -1.72028734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:249.33, Y:-95.67, Z:-17.21 [[ 8.31565017e-01 5.51416810e-01 6.66267494e-02 2.49333882e+02] [-5.49879944e-01 8.34226522e-01 -4.12087134e-02 -9.56732388e+01] [-7.83049787e-02 -2.36898878e-03 9.96926636e-01 -1.72091455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:249.39, Y:-95.71, Z:-17.21 [[ 8.31739995e-01 5.51154135e-01 6.66160735e-02 2.49387810e+02] [-5.49615048e-01 8.34400215e-01 -4.12259643e-02 -9.57058163e+01] [-7.83063268e-02 -2.32391305e-03 9.96926637e-01 -1.72149472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:249.44, Y:-95.74, Z:-17.22 [[ 8.33054766e-01 5.49166232e-01 6.66048478e-02 2.49440377e+02] [-5.47619349e-01 8.35710461e-01 -4.12440926e-02 -9.57391272e+01] [-7.83122310e-02 -2.11551541e-03 9.96926637e-01 -1.72202496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:249.49, Y:-95.77, Z:-17.22 [[ 8.35290122e-01 5.45761563e-01 6.65937583e-02 2.49492063e+02] [-5.44202427e-01 8.37938641e-01 -4.12619903e-02 -9.57723025e+01] [-7.83206917e-02 -1.77475202e-03 9.96926637e-01 -1.72245306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters Centerline goodness : 0.998406 with order 1 Centerline is valid? [True, True] Translation: X:249.54, Y:-95.81, Z:-17.23 [[ 8.37109845e-01 5.42967533e-01 6.65835262e-02 2.49542901e+02] [-5.41398244e-01 8.39752361e-01 -4.12784950e-02 -9.58095607e+01] [-7.83265559e-02 -1.49356962e-03 9.96926637e-01 -1.72298752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:249.60, Y:-95.84, Z:-17.23 [[ 8.39978224e-01 5.38520249e-01 6.65772099e-02 2.49596503e+02] [-5.36936160e-01 8.42611894e-01 -4.12886799e-02 -9.58405922e+01] [-7.83335392e-02 -1.06611947e-03 9.96926637e-01 -1.72325171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:249.65, Y:-95.87, Z:-17.24 [[ 8.41614551e-01 5.35961024e-01 6.65637175e-02 2.49647679e+02] [-5.34367207e-01 8.44242345e-01 -4.13104204e-02 -9.58748724e+01] [-7.83366842e-02 -8.02016865e-04 9.96926638e-01 -1.72384350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:249.70, Y:-95.91, Z:-17.25 [[ 8.42883734e-01 5.33963294e-01 6.65598350e-02 2.49698907e+02] [-5.32362755e-01 8.45507439e-01 -4.13166750e-02 -9.59104182e+01] [-7.83384235e-02 -6.08823819e-04 9.96926638e-01 -1.72451547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:249.75, Y:-95.94, Z:-17.25 [[ 8.44265047e-01 5.31777303e-01 6.65539618e-02 2.49752508e+02] [-5.30169225e-01 8.46884138e-01 -4.13261335e-02 -9.59416810e+01] [-7.83397944e-02 -3.94652280e-04 9.96926638e-01 -1.72471829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:249.80, Y:-95.98, Z:-17.25 [[ 8.44375130e-01 5.31604065e-01 6.65414056e-02 2.49804955e+02] [-5.29993856e-01 8.46992912e-01 -4.13463411e-02 -9.59754432e+01] [-7.83399819e-02 -3.54714006e-04 9.96926638e-01 -1.72510205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:-96.01, Z:-17.26 [[ 8.44176960e-01 5.31920176e-01 6.65295902e-02 2.49857593e+02] [-5.30309450e-01 8.46794423e-01 -4.13653443e-02 -9.60076476e+01] [-7.83399472e-02 -3.61599745e-04 9.96926638e-01 -1.72567919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:249.91, Y:-96.04, Z:-17.26 [[ 8.43768484e-01 5.32569167e-01 6.65193817e-02 2.49910248e+02] [-5.30959161e-01 8.46386389e-01 -4.13817541e-02 -9.60398970e+01] [-7.83397456e-02 -4.02455101e-04 9.96926638e-01 -1.72625748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:249.96, Y:-96.07, Z:-17.27 [[ 8.44123526e-01 5.32007595e-01 6.65085825e-02 2.49962874e+02] [-5.30394480e-01 8.46739517e-01 -4.13991033e-02 -9.60734899e+01] [-7.83400824e-02 -3.29827901e-04 9.96926639e-01 -1.72661527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:-96.11, Z:-17.27 [[ 8.44374557e-01 5.31610521e-01 6.64970806e-02 2.50015811e+02] [-5.29994722e-01 8.46988890e-01 -4.14175700e-02 -9.61067353e+01] [-7.83403044e-02 -2.71159435e-04 9.96926639e-01 -1.72703618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:250.07, Y:-96.14, Z:-17.27 [[ 8.45511535e-01 5.29801771e-01 6.64855430e-02 2.50068395e+02] [-5.28178923e-01 8.48121499e-01 -4.14360823e-02 -9.61391448e+01] [-7.83407282e-02 -8.15769122e-05 9.96926639e-01 -1.72733918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.12, Y:-96.17, Z:-17.28 [[ 8.46533996e-01 5.28167786e-01 6.64754325e-02 2.50122074e+02] [-5.26538627e-01 8.49140025e-01 -4.14522963e-02 -9.61713351e+01] [-7.83407179e-02 8.88950574e-05 9.96926639e-01 -1.72782439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:-96.20, Z:-17.28 [[ 8.47475374e-01 5.26657415e-01 6.64639586e-02 2.50176245e+02] [-5.25022169e-01 8.50077587e-01 -4.14706852e-02 -9.62031634e+01] [-7.83403654e-02 2.50332785e-04 9.96926639e-01 -1.72836837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.23, Y:-96.24, Z:-17.29 [[ 8.47752908e-01 5.26212019e-01 6.64523755e-02 2.50229749e+02] [-5.24573951e-01 8.50353346e-01 -4.14892375e-02 -9.62352615e+01] [-7.83401353e-02 3.13436571e-04 9.96926640e-01 -1.72881581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.28, Y:-96.27, Z:-17.29 [[ 8.47660645e-01 5.26362115e-01 6.64406182e-02 2.50283721e+02] [-5.24723032e-01 8.50260443e-01 -4.15080571e-02 -9.62667678e+01] [-7.83400982e-02 3.21823761e-04 9.96926640e-01 -1.72929943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:-96.30, Z:-17.30 [[ 8.47225902e-01 5.27063087e-01 6.64287111e-02 2.50337865e+02] [-5.25424662e-01 8.49826114e-01 -4.15271045e-02 -9.62970716e+01] [-7.83402573e-02 2.79555505e-04 9.96926640e-01 -1.72984669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.39, Y:-96.33, Z:-17.30 [[ 8.46586367e-01 5.28091100e-01 6.64177162e-02 2.50391618e+02] [-5.26454454e-01 8.49187699e-01 -4.15446820e-02 -9.63269449e+01] [-7.83404844e-02 2.05258875e-04 9.96926640e-01 -1.73046024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:-96.36, Z:-17.31 [[ 8.46146032e-01 5.28797628e-01 6.64075454e-02 2.50445532e+02] [-5.27161878e-01 8.48747927e-01 -4.15609333e-02 -9.63586938e+01] [-7.83405894e-02 1.59092471e-04 9.96926641e-01 -1.73096411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:-96.39, Z:-17.31 [[ 8.45572494e-01 5.29715712e-01 6.63959457e-02 2.50499843e+02] [-5.28081332e-01 8.48175251e-01 -4.15794564e-02 -9.63900762e+01] [-7.83406892e-02 9.59852174e-05 9.96926641e-01 -1.73133882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.55, Y:-96.42, Z:-17.32 [[ 8.44750840e-01 5.31026501e-01 6.63842858e-02 2.50553256e+02] [-5.29394697e-01 8.47355212e-01 -4.15980638e-02 -9.64222478e+01] [-7.83407448e-02 -3.48947142e-06 9.96926641e-01 -1.73173802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.61, Y:-96.45, Z:-17.32 [[ 8.42922987e-01 5.33924645e-01 6.63725164e-02 2.50607695e+02] [-5.32300318e-01 8.45532028e-01 -4.16168342e-02 -9.64530122e+01] [-7.83403418e-02 -2.50325416e-04 9.96926641e-01 -1.73213833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:-96.49, Z:-17.33 [[ 8.42175731e-01 5.35104000e-01 6.63607447e-02 2.50661420e+02] [-5.33481847e-01 8.44786124e-01 -4.16355966e-02 -9.64856928e+01] [-7.83400105e-02 -3.37763714e-04 9.96926642e-01 -1.73260504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.71, Y:-96.52, Z:-17.33 [[ 8.41789364e-01 5.35713071e-01 6.63488688e-02 2.50714944e+02] [-5.34091316e-01 8.44400004e-01 -4.16545130e-02 -9.65179142e+01] [-7.83398521e-02 -3.72028629e-04 9.96926642e-01 -1.73317670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.77, Y:-96.55, Z:-17.34 [[ 8.42809321e-01 5.34108464e-01 6.63370065e-02 2.50767753e+02] [-5.32480252e-01 8.45415938e-01 -4.16733957e-02 -9.65515526e+01] [-7.83404760e-02 -2.00419612e-04 9.96926642e-01 -1.73364111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:-96.59, Z:-17.34 [[ 8.46040841e-01 5.28976257e-01 6.63250623e-02 2.50819712e+02] [-5.27330744e-01 8.48636571e-01 -4.16923969e-02 -9.65858683e+01] [-7.83401615e-02 2.98226138e-04 9.96926642e-01 -1.73399736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:-96.62, Z:-17.34 [[ 8.48266261e-01 5.25401485e-01 6.63146307e-02 2.50871074e+02] [-5.23743737e-01 8.50854194e-01 -4.17089825e-02 -9.66193348e+01] [-7.83380430e-02 6.48450178e-04 9.96926643e-01 -1.73445701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters Centerline goodness : 0.997783 with order 1 Centerline is valid? [True, True] Translation: X:250.92, Y:-96.66, Z:-17.35 [[ 8.49267031e-01 5.23783018e-01 6.63088265e-02 2.50920247e+02] [-5.22119618e-01 8.51851334e-01 -4.17182080e-02 -9.66574540e+01] [-7.83365512e-02 8.08759509e-04 9.96926643e-01 -1.73469475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:250.97, Y:-96.69, Z:-17.35 [[ 8.50255466e-01 5.22177297e-01 6.63061988e-02 2.50970580e+02] [-5.20508691e-01 8.52836412e-01 -4.17223840e-02 -9.66927811e+01] [-7.83348223e-02 9.61732330e-04 9.96926643e-01 -1.73453273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:251.02, Y:-96.73, Z:-17.35 [[ 8.49486911e-01 5.23426870e-01 6.63046018e-02 2.51020898e+02] [-5.21761862e-01 8.52070179e-01 -4.17249218e-02 -9.67283045e+01] [-7.83361191e-02 8.49562380e-04 9.96926643e-01 -1.73508790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.08, Y:-96.75, Z:-17.36 [[ 8.51659285e-01 5.19886233e-01 6.62930365e-02 2.51075753e+02] [-5.18209058e-01 8.54234669e-01 -4.17432887e-02 -9.67529394e+01] [-7.83315713e-02 1.19740747e-03 9.96926643e-01 -1.73637776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.13, Y:-96.79, Z:-17.37 [[ 8.49809847e-01 5.22904306e-01 6.62895980e-02 2.51128892e+02] [-5.21235851e-01 8.52390890e-01 -4.17487484e-02 -9.67858433e+01] [-7.83352498e-02 9.25982460e-04 9.96926643e-01 -1.73693564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.18, Y:-96.82, Z:-17.37 [[ 8.45943316e-01 5.29138051e-01 6.62784275e-02 2.51181614e+02] [-5.27487228e-01 8.48535671e-01 -4.17664748e-02 -9.68186121e+01] [-7.83398410e-02 3.71046125e-04 9.96926643e-01 -1.73741876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.23, Y:-96.85, Z:-17.38 [[ 8.41964747e-01 5.35447311e-01 6.62687073e-02 2.51234457e+02] [-5.33814701e-01 8.44568611e-01 -4.17818916e-02 -9.68522276e+01] [-7.83404716e-02 -1.96330345e-04 9.96926643e-01 -1.73794622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:-96.89, Z:-17.38 [[ 8.39081691e-01 5.39955432e-01 6.62574303e-02 2.51287386e+02] [-5.38335399e-01 8.41693399e-01 -4.17997669e-02 -9.68867758e+01] [-7.83384529e-02 -5.95301075e-04 9.96926643e-01 -1.73840340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:-96.92, Z:-17.39 [[ 8.34472554e-01 5.47053018e-01 6.62461509e-02 2.51339478e+02] [-5.45453777e-01 8.37097045e-01 -4.18176356e-02 -9.69211617e+01] [-7.83309208e-02 -1.23854408e-03 9.96926644e-01 -1.73884748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:-96.96, Z:-17.39 [[ 8.31431158e-01 5.51665669e-01 6.62360963e-02 2.51391328e+02] [-5.50079719e-01 8.34063700e-01 -4.18335553e-02 -9.69556729e+01] [-7.83232598e-02 -1.65341196e-03 9.96926644e-01 -1.73931058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.44, Y:-96.99, Z:-17.40 [[ 8.26943680e-01 5.58371178e-01 6.62252131e-02 2.51441784e+02] [-5.56805191e-01 8.29588146e-01 -4.18507769e-02 -9.69887611e+01] [-7.83079194e-02 -2.26630698e-03 9.96926644e-01 -1.74004760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.49, Y:-97.02, Z:-17.41 [[ 8.25636014e-01 5.60304046e-01 6.62159295e-02 2.51494061e+02] [-5.58743073e-01 8.28283443e-01 -4.18654603e-02 -9.70232345e+01] [-7.83029448e-02 -2.43206014e-03 9.96926644e-01 -1.74053141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:251.54, Y:-97.06, Z:-17.41 [[ 8.25589360e-01 5.60374125e-01 6.62045913e-02 2.51544015e+02] [-5.58811942e-01 8.28236075e-01 -4.18833825e-02 -9.70615647e+01] [-7.83033947e-02 -2.41744122e-03 9.96926644e-01 -1.74146798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:251.60, Y:-97.10, Z:-17.42 [[ 8.27691612e-01 5.57265951e-01 6.61910615e-02 2.51595286e+02] [-5.55692119e-01 8.30331416e-01 -4.19047537e-02 -9.70966979e+01] [-7.83126102e-02 -2.09763810e-03 9.96926645e-01 -1.74198792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:251.65, Y:-97.13, Z:-17.42 [[ 8.30256806e-01 5.53438376e-01 6.61785535e-02 2.51645280e+02] [-5.51850800e-01 8.32888367e-01 -4.19244977e-02 -9.71331726e+01] [-7.83219733e-02 -1.71258817e-03 9.96926645e-01 -1.74247788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.16, Y:-96.55, Z:-16.47 [[ 8.85573105e-01 4.59762529e-01 6.61716918e-02 2.52157407e+02] [-4.57897102e-01 8.88015581e-01 -4.19353252e-02 -9.65473727e+01] [-7.80417845e-02 6.83697031e-03 9.96926645e-01 -1.64698261e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.21, Y:-96.58, Z:-16.47 [[ 8.90122058e-01 4.50375024e-01 6.96064667e-02 2.52208802e+02] [-4.49002379e-01 8.92839480e-01 -3.51358216e-02 -9.65808806e+01] [-7.79716981e-02 2.17006725e-05 9.96955573e-01 -1.64699863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.26, Y:-96.61, Z:-16.47 [[ 8.95003179e-01 4.40596166e-01 6.96012079e-02 2.52263153e+02] [-4.39193023e-01 8.97704980e-01 -3.51462360e-02 -9.66109573e+01] [-7.79666477e-02 8.87628032e-04 9.96955573e-01 -1.64737848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:252.32, Y:-96.64, Z:-16.48 [[ 8.97430613e-01 4.35631860e-01 6.95929389e-02 2.52319695e+02] [-4.34212505e-01 9.00123932e-01 -3.51626018e-02 -9.66387056e+01] [-7.79602194e-02 1.33787095e-03 9.96955573e-01 -1.64785346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:252.37, Y:-96.67, Z:-16.48 [[ 8.98246664e-01 4.33948227e-01 6.95835201e-02 2.52374047e+02] [-4.32522381e-01 9.00936552e-01 -3.51812309e-02 -9.66698382e+01] [-7.79571694e-02 1.50499353e-03 9.96955573e-01 -1.64844264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:252.43, Y:-96.69, Z:-16.49 [[ 9.00493245e-01 4.29268126e-01 6.95758001e-02 2.52431982e+02] [-4.27827123e-01 9.03175044e-01 -3.51964915e-02 -9.66924855e+01] [-7.79478583e-02 1.92778844e-03 9.96955573e-01 -1.64892808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.49, Y:-96.72, Z:-16.50 [[ 9.01315663e-01 4.27539775e-01 6.95687928e-02 2.52489723e+02] [-4.26092563e-01 9.03994115e-01 -3.52103367e-02 -9.67163818e+01] [-7.79435987e-02 2.09288273e-03 9.96955573e-01 -1.64958392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.55, Y:-96.74, Z:-16.51 [[ 9.03051381e-01 4.23862816e-01 6.95594425e-02 2.52547282e+02] [-4.22403279e-01 9.05723138e-01 -3.52287990e-02 -9.67400698e+01] [-7.79337744e-02 2.43127899e-03 9.96955574e-01 -1.65052774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.60, Y:-96.77, Z:-16.51 [[ 9.02128985e-01 4.25823015e-01 6.95561283e-02 2.52603304e+02] [-4.24368779e-01 9.04803631e-01 -3.52353414e-02 -9.67661492e+01] [-7.79386567e-02 2.26937350e-03 9.96955574e-01 -1.65063206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:-96.79, Z:-16.51 [[ 9.01212694e-01 4.27760459e-01 6.95461743e-02 2.52659988e+02] [-4.26310460e-01 9.03889638e-01 -3.52549773e-02 -9.67918601e+01] [-7.79427516e-02 2.12397145e-03 9.96955574e-01 -1.65124806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.72, Y:-96.82, Z:-16.52 [[ 8.99117050e-01 4.32149527e-01 6.95364350e-02 2.52717888e+02] [-4.30711114e-01 9.01800238e-01 -3.52741766e-02 -9.68162711e+01] [-7.79516923e-02 1.76549824e-03 9.96955574e-01 -1.65183963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.77, Y:-96.84, Z:-16.52 [[ 8.98298562e-01 4.33849888e-01 6.95267414e-02 2.52774549e+02] [-4.32415076e-01 9.00983678e-01 -3.52932728e-02 -9.68439421e+01] [-7.79544415e-02 1.63948507e-03 9.96955574e-01 -1.65230479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.83, Y:-96.87, Z:-16.53 [[ 8.95883851e-01 4.38816019e-01 6.95171009e-02 2.52832225e+02] [-4.37394621e-01 8.98576091e-01 -3.53122514e-02 -9.68688640e+01] [-7.79619863e-02 1.22926974e-03 9.96955575e-01 -1.65270886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:252.89, Y:-96.89, Z:-16.53 [[ 8.92825704e-01 4.45006712e-01 6.95074724e-02 2.52890345e+02] [-4.43602509e-01 8.95526952e-01 -3.53311937e-02 -9.68930630e+01] [-7.79684332e-02 7.10908753e-04 9.96955575e-01 -1.65320347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:252.95, Y:-96.92, Z:-16.54 [[ 8.90447865e-01 4.49747350e-01 6.94976368e-02 2.52947491e+02] [-4.48356019e-01 8.93155765e-01 -3.53505301e-02 -9.69188667e+01] [-7.79710222e-02 3.18120260e-04 9.96955575e-01 -1.65375439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.00, Y:-96.95, Z:-16.54 [[ 8.88269402e-01 4.54036263e-01 6.94877012e-02 2.53004356e+02] [-4.52656481e-01 8.90983204e-01 -3.53700495e-02 -9.69451943e+01] [-7.79716598e-02 -3.59256018e-05 9.96955575e-01 -1.65438960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.06, Y:-96.97, Z:-16.55 [[ 8.86064676e-01 4.58325453e-01 6.94778346e-02 2.53060629e+02] [-4.56957287e-01 8.88784353e-01 -3.53894201e-02 -9.69708601e+01] [-7.79706843e-02 -3.91087746e-04 9.96955575e-01 -1.65508543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.12, Y:-97.00, Z:-16.56 [[ 8.86026083e-01 4.58401438e-01 6.94687137e-02 2.53116930e+02] [-4.57032102e-01 8.88745171e-01 -3.54073152e-02 -9.69988999e+01] [-7.79707480e-02 -3.77627484e-04 9.96955576e-01 -1.65575379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.17, Y:-97.03, Z:-16.57 [[ 8.90107726e-01 4.50426143e-01 6.94588020e-02 2.53172869e+02] [-4.49030928e-01 8.92813626e-01 -3.54267485e-02 -9.70266842e+01] [-7.79708985e-02 3.44472187e-04 9.96955576e-01 -1.65672310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.22, Y:-97.06, Z:-16.57 [[ 8.91331747e-01 4.48000720e-01 6.94483411e-02 2.53224726e+02] [-4.46596546e-01 8.94033007e-01 -3.54472434e-02 -9.70607675e+01] [-7.79694999e-02 5.79864101e-04 9.96955576e-01 -1.65683266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:-97.09, Z:-16.57 [[ 8.95262820e-01 4.40093928e-01 6.94393138e-02 2.53280871e+02] [-4.38664529e-01 8.97950818e-01 -3.54649186e-02 -9.70890776e+01] [-7.79609840e-02 1.28985916e-03 9.96955576e-01 -1.65740306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.33, Y:-97.12, Z:-16.58 [[ 8.98795197e-01 4.32835855e-01 6.94284990e-02 2.53333905e+02] [-4.31383120e-01 9.01470655e-01 -3.54860780e-02 -9.71207192e+01] [-7.79474013e-02 1.94443395e-03 9.96955577e-01 -1.65763661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:-97.15, Z:-16.58 [[ 9.00400550e-01 4.29487967e-01 6.94185548e-02 2.53386772e+02] [-4.28023789e-01 9.03069762e-01 -3.55055203e-02 -9.71526529e+01] [-7.79389915e-02 2.25639720e-03 9.96955577e-01 -1.65794446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.44, Y:-97.18, Z:-16.59 [[ 9.01050837e-01 4.28123569e-01 6.94089252e-02 2.53442501e+02] [-4.26653900e-01 9.03717030e-01 -3.55243352e-02 -9.71818140e+01] [-7.79348329e-02 2.39564332e-03 9.96955577e-01 -1.65852578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:-97.21, Z:-16.59 [[ 8.99848244e-01 4.30647094e-01 6.93989758e-02 2.53498244e+02] [-4.29183407e-01 9.02517725e-01 -3.55437612e-02 -9.72098255e+01] [-7.79406233e-02 2.19910224e-03 9.96955577e-01 -1.65910224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.55, Y:-97.24, Z:-16.60 [[ 8.98506150e-01 4.33441857e-01 6.93891626e-02 2.53554149e+02] [-4.31984996e-01 9.01179362e-01 -3.55629085e-02 -9.72385876e+01] [-7.79465344e-02 1.97841486e-03 9.96955578e-01 -1.65953669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:-97.27, Z:-16.60 [[ 8.96910982e-01 4.36734690e-01 6.93794048e-02 2.53610511e+02] [-4.35286174e-01 8.99588724e-01 -3.55819348e-02 -9.72673178e+01] [-7.79527955e-02 1.71393245e-03 9.96955578e-01 -1.65997486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:-97.29, Z:-16.60 [[ 8.94008300e-01 4.42647722e-01 6.93696855e-02 2.53666153e+02] [-4.41215450e-01 8.96694767e-01 -3.56008732e-02 -9.72941172e+01] [-7.79620794e-02 1.22049907e-03 9.96955578e-01 -1.66048748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:-97.32, Z:-16.61 [[ 8.89444620e-01 4.51748368e-01 6.93662697e-02 2.53721101e+02] [-4.50343068e-01 8.92145294e-01 -3.56075275e-02 -9.73214556e+01] [-7.79704335e-02 4.32305124e-04 9.96955578e-01 -1.66084307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:-97.35, Z:-16.61 [[ 8.86186432e-01 4.58108450e-01 6.93560143e-02 2.53777655e+02] [-4.56720970e-01 8.88896303e-01 -3.56274918e-02 -9.73489449e+01] [-7.79715597e-02 -1.03746244e-04 9.96955578e-01 -1.66133622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.83, Y:-97.38, Z:-16.62 [[ 8.81427502e-01 4.67200872e-01 6.93462642e-02 2.53833596e+02] [-4.65839852e-01 8.84150758e-01 -3.56464595e-02 -9.73756140e+01] [-7.79666090e-02 -8.84483673e-04 9.96955579e-01 -1.66172974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:-97.40, Z:-16.62 [[ 8.78241777e-01 4.73163532e-01 6.93372404e-02 2.53889444e+02] [-4.71819614e-01 8.80973513e-01 -3.56640035e-02 -9.74033509e+01] [-7.79591781e-02 -1.39305220e-03 9.96955579e-01 -1.66215034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.95, Y:-97.43, Z:-16.63 [[ 8.76705324e-01 4.76005723e-01 6.93276774e-02 2.53945058e+02] [-4.74669191e-01 8.79440682e-01 -3.56825834e-02 -9.74312600e+01] [-7.79546938e-02 -1.62460165e-03 9.96955579e-01 -1.66270561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:-97.46, Z:-16.63 [[ 8.76891990e-01 4.75663155e-01 6.93181149e-02 2.54000534e+02] [-4.74324088e-01 8.79626107e-01 -3.57011502e-02 -9.74605318e+01] [-7.79557453e-02 -1.57319902e-03 9.96955579e-01 -1.66323563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.06, Y:-97.49, Z:-16.64 [[ 8.79509719e-01 4.70806809e-01 6.93080330e-02 2.54055136e+02] [-4.69451101e-01 8.82235623e-01 -3.57207119e-02 -9.74912996e+01] [-7.79635701e-02 -1.12001911e-03 9.96955579e-01 -1.66419435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.11, Y:-97.53, Z:-16.64 [[ 8.83486174e-01 4.63303339e-01 6.92978849e-02 2.54106308e+02] [-4.61922934e-01 8.86199654e-01 -3.57403884e-02 -9.75256681e+01] [-7.79704029e-02 -4.34143286e-04 9.96955580e-01 -1.66441471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.16, Y:-97.56, Z:-16.65 [[ 8.86938712e-01 4.56659845e-01 6.92929009e-02 2.54160138e+02] [-4.55258360e-01 8.89641366e-01 -3.57500486e-02 -9.75581993e+01] [-7.79714427e-02 1.61929622e-04 9.96955580e-01 -1.66491119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.21, Y:-97.59, Z:-16.65 [[ 8.90194667e-01 4.50281376e-01 6.92830273e-02 2.54214406e+02] [-4.48859038e-01 8.92886404e-01 -3.57691733e-02 -9.75907194e+01] [-7.79680657e-02 7.43214338e-04 9.96955580e-01 -1.66534420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.27, Y:-97.62, Z:-16.66 [[ 8.94682812e-01 4.41297942e-01 6.92733121e-02 2.54267747e+02] [-4.39847126e-01 8.97359307e-01 -3.57879786e-02 -9.76244732e+01] [-7.79562127e-02 1.54922211e-03 9.96955580e-01 -1.66570881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.32, Y:-97.66, Z:-16.66 [[ 8.98525132e-01 4.33422573e-01 6.92637000e-02 2.54321436e+02] [-4.31946873e-01 9.01187987e-01 -3.58065722e-02 -9.76575976e+01] [-7.79389911e-02 2.25486633e-03 9.96955580e-01 -1.66606352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.38, Y:-97.69, Z:-16.67 [[ 9.00398478e-01 4.29518897e-01 6.92538626e-02 2.54375306e+02] [-4.28030193e-01 9.03054085e-01 -3.58255889e-02 -9.76886630e+01] [-7.79277509e-02 2.61456152e-03 9.96955581e-01 -1.66662190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.43, Y:-97.72, Z:-16.67 [[ 9.00217657e-01 4.29899207e-01 6.92447955e-02 2.54430580e+02] [-4.28410280e-01 9.02873138e-01 -3.58431055e-02 -9.77182318e+01] [-7.79281884e-02 2.60141424e-03 9.96955581e-01 -1.66710351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.49, Y:-97.75, Z:-16.68 [[ 8.98499687e-01 4.33479862e-01 6.92352674e-02 2.54486475e+02] [-4.32000103e-01 9.01160288e-01 -3.58615007e-02 -9.77461533e+01] [-7.79373119e-02 2.31190453e-03 9.96955581e-01 -1.66761629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.54, Y:-97.77, Z:-16.68 [[ 8.97548765e-01 4.35446892e-01 6.92258610e-02 2.54542500e+02] [-4.33971565e-01 9.00211826e-01 -3.58796493e-02 -9.77749194e+01] [-7.79416205e-02 2.16167972e-03 9.96955581e-01 -1.66806673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.60, Y:-97.80, Z:-16.69 [[ 8.95280403e-01 4.40093265e-01 6.92164585e-02 2.54598281e+02] [-4.38630360e-01 8.97950309e-01 -3.58977789e-02 -9.78031597e+01] [-7.79513110e-02 1.77813790e-03 9.96955581e-01 -1.66850959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.65, Y:-97.83, Z:-16.69 [[ 8.93598734e-01 4.43499347e-01 6.92071701e-02 2.54653082e+02] [-4.42045234e-01 8.96273438e-01 -3.59156770e-02 -9.78305897e+01] [-7.79571276e-02 1.50150371e-03 9.96955582e-01 -1.66922139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.71, Y:-97.86, Z:-16.70 [[ 8.90500931e-01 4.49688302e-01 6.91991594e-02 2.54709370e+02] [-4.48251582e-01 8.93185017e-01 -3.59311047e-02 -9.78581581e+01] [-7.79654498e-02 9.78049423e-04 9.96955582e-01 -1.66954547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.76, Y:-97.88, Z:-16.70 [[ 8.88318378e-01 4.53986010e-01 6.91893217e-02 2.54764606e+02] [-4.52560802e-01 8.91008594e-01 -3.59500385e-02 -9.78847124e+01] [-7.79690947e-02 6.22704948e-04 9.96955582e-01 -1.67021962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.82, Y:-97.91, Z:-16.71 [[ 8.85401211e-01 4.59650728e-01 6.91802231e-02 2.54820517e+02] [-4.58241365e-01 8.88099762e-01 -3.59675387e-02 -9.79104505e+01] [-7.79714450e-02 1.44462497e-04 9.96955582e-01 -1.67124586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.88, Y:-97.94, Z:-16.71 [[ 8.82464661e-01 4.65264953e-01 6.91711364e-02 2.54875791e+02] [-4.63871388e-01 8.85171404e-01 -3.59850054e-02 -9.79402677e+01] [-7.79708738e-02 -3.31015441e-04 9.96955582e-01 -1.67109895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.93, Y:-97.97, Z:-16.72 [[ 8.79541638e-01 4.70768879e-01 6.91604603e-02 2.54931397e+02] [-4.69390639e-01 8.82256216e-01 -3.60055124e-02 -9.79667464e+01] [-7.79675207e-02 -7.94925295e-04 9.96955583e-01 -1.67163601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.99, Y:-98.00, Z:-16.72 [[ 8.77060983e-01 4.75375806e-01 6.91511052e-02 2.54987277e+02] [-4.74010408e-01 8.79782042e-01 -3.60234707e-02 -9.79957283e+01] [-7.79625870e-02 -1.18356298e-03 9.96955583e-01 -1.67206809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.04, Y:-98.02, Z:-16.73 [[ 8.74488227e-01 4.80093586e-01 6.91410854e-02 2.55042038e+02] [-4.78741347e-01 8.77215850e-01 -3.60426918e-02 -9.80233471e+01] [-7.79555211e-02 -1.58178672e-03 9.96955583e-01 -1.67257866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.10, Y:-98.05, Z:-16.73 [[ 8.72078731e-01 4.84457924e-01 6.91318142e-02 2.55098083e+02] [-4.83117926e-01 8.74812387e-01 -3.60604658e-02 -9.80504381e+01] [-7.79471457e-02 -1.95125344e-03 9.96955583e-01 -1.67332102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.15, Y:-98.08, Z:-16.74 [[ 8.71251730e-01 4.85944321e-01 6.91269869e-02 2.55152502e+02] [-4.84608253e-01 8.73987309e-01 -3.60697172e-02 -9.80793932e+01] [-7.79439835e-02 -2.07370490e-03 9.96955583e-01 -1.67395965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.21, Y:-98.11, Z:-16.74 [[ 8.71784891e-01 4.84988466e-01 6.91179555e-02 2.55206114e+02] [-4.83648028e-01 8.74518331e-01 -3.60870151e-02 -9.81116338e+01] [-7.79467052e-02 -1.96864844e-03 9.96955584e-01 -1.67440447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:-98.14, Z:-16.75 [[ 8.74034271e-01 4.80924328e-01 6.91077697e-02 2.55259232e+02] [-4.79569637e-01 8.76760676e-01 -3.61065107e-02 -9.81445522e+01] [-7.79554743e-02 -1.58366031e-03 9.96955584e-01 -1.67467945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:-98.18, Z:-16.75 [[ 8.75552671e-01 4.78155680e-01 6.90989573e-02 2.55313291e+02] [-4.76791037e-01 8.78274108e-01 -3.61233677e-02 -9.81757836e+01] [-7.79604185e-02 -1.31785241e-03 9.96955584e-01 -1.67506299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.37, Y:-98.21, Z:-16.75 [[ 8.76774582e-01 4.75912910e-01 6.90885915e-02 2.55366050e+02] [-4.74539745e-01 8.79491729e-01 -3.61431821e-02 -9.82106671e+01] [-7.79638518e-02 -1.09585917e-03 9.96955584e-01 -1.67542242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:-98.24, Z:-16.76 [[ 8.74843626e-01 4.79454719e-01 6.90782369e-02 2.55420259e+02] [-4.78090991e-01 8.77565521e-01 -3.61629616e-02 -9.82377367e+01] [-7.79591815e-02 -1.38874627e-03 9.96955584e-01 -1.67643803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:-98.26, Z:-16.77 [[ 8.73702358e-01 4.81532479e-01 6.90699750e-02 2.55476355e+02] [-4.80173978e-01 8.76426865e-01 -3.61787346e-02 -9.82645113e+01] [-7.79560174e-02 -1.55615889e-03 9.96955585e-01 -1.67714244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.53, Y:-98.29, Z:-16.78 [[ 8.73177486e-01 4.82484853e-01 6.90611624e-02 2.55532518e+02] [-4.81127995e-01 8.75902811e-01 -3.61955491e-02 -9.82927763e+01] [-7.79546705e-02 -1.62212004e-03 9.96955585e-01 -1.67753601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.59, Y:-98.32, Z:-16.78 [[ 8.72446190e-01 4.83807422e-01 6.90508820e-02 2.55588437e+02] [-4.82453144e-01 8.75172798e-01 -3.62151506e-02 -9.83185343e+01] [-7.79526123e-02 -1.71804494e-03 9.96955585e-01 -1.67790675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.64, Y:-98.35, Z:-16.78 [[ 8.72750244e-01 4.83259411e-01 6.90460261e-02 2.55643737e+02] [-4.81902689e-01 8.75475637e-01 -3.62244063e-02 -9.83468051e+01] [-7.79538989e-02 -1.65860616e-03 9.96955585e-01 -1.67830497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.70, Y:-98.38, Z:-16.79 [[ 8.73938260e-01 4.81108906e-01 6.90372257e-02 2.55698483e+02] [-4.79744153e-01 8.76659640e-01 -3.62411705e-02 -9.83756698e+01] [-7.79580994e-02 -1.44765991e-03 9.96955585e-01 -1.67852220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.75, Y:-98.40, Z:-16.79 [[ 8.76607460e-01 4.76229461e-01 6.90279772e-02 2.55754303e+02] [-4.74848173e-01 8.79320484e-01 -3.62587776e-02 -9.84026087e+01] [-7.79652124e-02 -9.93093927e-04 9.96955585e-01 -1.67924291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.81, Y:-98.43, Z:-16.79 [[ 8.77254841e-01 4.75036389e-01 6.90244361e-02 2.55809207e+02] [-4.73650880e-01 8.79965713e-01 -3.62655173e-02 -9.84315280e+01] [-7.79665775e-02 -8.79384266e-04 9.96955586e-01 -1.67945285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:-98.46, Z:-16.80 [[ 8.78422036e-01 4.72876117e-01 6.90138047e-02 2.55864675e+02] [-4.71482353e-01 8.81128672e-01 -3.62857378e-02 -9.84599006e+01] [-7.79687009e-02 -6.64599412e-04 9.96955586e-01 -1.68003717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.92, Y:-98.49, Z:-16.81 [[ 8.80473824e-01 4.69046215e-01 6.90035791e-02 2.55919241e+02] [-4.67639154e-01 8.83173571e-01 -3.63051731e-02 -9.84878113e+01] [-7.79709414e-02 -3.03020772e-04 9.96955586e-01 -1.68072891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:255.97, Y:-98.52, Z:-16.81 [[ 8.83218851e-01 4.63857939e-01 6.89947338e-02 2.55974912e+02] [-4.62433706e-01 8.85909579e-01 -3.63219750e-02 -9.85163605e+01] [-7.79713321e-02 1.74762600e-04 9.96955586e-01 -1.68139402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.03, Y:-98.55, Z:-16.82 [[ 8.86233774e-01 4.58072926e-01 6.89847263e-02 2.56028578e+02] [-4.56629651e-01 8.88914335e-01 -3.63409721e-02 -9.85471552e+01] [-7.79683275e-02 7.06125323e-04 9.96955586e-01 -1.68201339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:-98.58, Z:-16.82 [[ 8.88892248e-01 4.52894140e-01 6.89744134e-02 2.56082816e+02] [-4.51433731e-01 8.91563513e-01 -3.63605352e-02 -9.85776783e+01] [-7.79625436e-02 1.18322101e-03 9.96955587e-01 -1.68215666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:-98.61, Z:-16.83 [[ 8.89390615e-01 4.51916132e-01 6.89647985e-02 2.56138673e+02] [-4.50451373e-01 8.92059497e-01 -3.63787626e-02 -9.86059046e+01] [-7.79608532e-02 1.28964189e-03 9.96955587e-01 -1.68271026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.20, Y:-98.63, Z:-16.83 [[ 8.88756057e-01 4.53164384e-01 6.89544240e-02 2.56195874e+02] [-4.51701848e-01 8.91426158e-01 -3.63984165e-02 -9.86328354e+01] [-7.79622432e-02 1.20247234e-03 9.96955587e-01 -1.68323637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.25, Y:-98.66, Z:-16.84 [[ 8.89381685e-01 4.51936867e-01 6.89440897e-02 2.56251279e+02] [-4.50469130e-01 8.92048930e-01 -3.64179806e-02 -9.86602289e+01] [-7.79601295e-02 1.33230084e-03 9.96955587e-01 -1.68402652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:-98.69, Z:-16.85 [[ 8.89247383e-01 4.52202492e-01 6.89347355e-02 2.56307141e+02] [-4.50734181e-01 8.91914312e-01 -3.64356786e-02 -9.86898192e+01] [-7.79601818e-02 1.32909031e-03 9.96955588e-01 -1.68452166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:-98.72, Z:-16.85 [[ 8.88684499e-01 4.53309343e-01 6.89238700e-02 2.56361426e+02] [-4.51842761e-01 8.91352379e-01 -3.64562207e-02 -9.87185262e+01] [-7.79614010e-02 1.25532653e-03 9.96955588e-01 -1.68466506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:-98.75, Z:-16.85 [[ 8.89846908e-01 4.51024585e-01 6.89151965e-02 2.56418307e+02] [-4.49549884e-01 8.92510308e-01 -3.64726094e-02 -9.87460606e+01] [-7.79575668e-02 1.47422009e-03 9.96955588e-01 -1.68517021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.47, Y:-98.77, Z:-16.86 [[ 8.91268418e-01 4.48210578e-01 6.89049019e-02 2.56474828e+02] [-4.46725967e-01 8.93926306e-01 -3.64920478e-02 -9.87741051e+01] [-7.79520263e-02 1.74260080e-03 9.96955588e-01 -1.68570035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.53, Y:-98.80, Z:-16.86 [[ 8.92209114e-01 4.46336667e-01 6.88946731e-02 2.56531399e+02] [-4.44844985e-01 8.94863040e-01 -3.65113490e-02 -9.88019333e+01] [-7.79476505e-02 1.92830852e-03 9.96955588e-01 -1.68623544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.59, Y:-98.83, Z:-16.87 [[ 8.92827309e-01 4.45100384e-01 6.88842813e-02 2.56587599e+02] [-4.43603516e-01 8.95478314e-01 -3.65309443e-02 -9.88289253e+01] [-7.79443174e-02 2.05851524e-03 9.96955589e-01 -1.68679565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.64, Y:-98.86, Z:-16.87 [[ 8.92270342e-01 4.46217441e-01 6.88740280e-02 2.56644330e+02] [-4.44722402e-01 8.94922379e-01 -3.65502654e-02 -9.88559536e+01] [-7.79462748e-02 1.98289469e-03 9.96955589e-01 -1.68731078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.70, Y:-98.88, Z:-16.88 [[ 8.90741719e-01 4.49262673e-01 6.88639262e-02 2.56701124e+02] [-4.47775231e-01 8.93398024e-01 -3.65692882e-02 -9.88816032e+01] [-7.79521117e-02 1.73823013e-03 9.96955589e-01 -1.68788494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:-98.91, Z:-16.89 [[ 8.88130917e-01 4.54403396e-01 6.88551216e-02 2.56758283e+02] [-4.52930048e-01 8.90795065e-01 -3.65858585e-02 -9.89068622e+01] [-7.79605409e-02 1.30647858e-03 9.96955589e-01 -1.68853491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.81, Y:-98.93, Z:-16.89 [[ 8.84948964e-01 4.60570015e-01 6.88519552e-02 2.56814435e+02] [-4.59114770e-01 8.87623043e-01 -3.65918166e-02 -9.89323752e+01] [-7.79676755e-02 7.70940640e-04 9.96955589e-01 -1.68900178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.87, Y:-98.96, Z:-16.89 [[ 8.81712128e-01 4.66737989e-01 6.88431007e-02 2.56871375e+02] [-4.65300151e-01 8.84395607e-01 -3.66084676e-02 -9.89590169e+01] [-7.79710984e-02 2.45424770e-04 9.96955590e-01 -1.68932063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.93, Y:-98.99, Z:-16.90 [[ 8.79709142e-01 4.70503859e-01 6.88327311e-02 2.56927871e+02] [-4.69075983e-01 8.82397934e-01 -3.66279546e-02 -9.89862740e+01] [-7.79714537e-02 -6.58345490e-05 9.96955590e-01 -1.68984094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:256.98, Y:-99.01, Z:-16.90 [[ 8.78155317e-01 4.73399112e-01 6.88223763e-02 2.56984066e+02] [-4.71978578e-01 8.80847995e-01 -3.66474006e-02 -9.90142483e+01] [-7.79708991e-02 -3.00577582e-04 9.96955590e-01 -1.69033018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.04, Y:-99.04, Z:-16.91 [[ 8.76752043e-01 4.75994497e-01 6.88120236e-02 2.57040790e+02] [-4.74580408e-01 8.79448111e-01 -3.66668293e-02 -9.90414971e+01] [-7.79698132e-02 -5.09120734e-04 9.96955590e-01 -1.69076477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.09, Y:-99.07, Z:-16.91 [[ 8.76240634e-01 4.76936824e-01 6.88012902e-02 2.57094814e+02] [-4.75524054e-01 8.78937393e-01 -3.66869584e-02 -9.90695173e+01] [-7.79693881e-02 -5.70064720e-04 9.96955591e-01 -1.69145179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.15, Y:-99.10, Z:-16.92 [[ 8.76135915e-01 4.77130403e-01 6.87927054e-02 2.57148276e+02] [-4.75716966e-01 8.78832325e-01 -3.67030490e-02 -9.90978845e+01] [-7.79693938e-02 -5.68997645e-04 9.96955591e-01 -1.69210459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.20, Y:-99.13, Z:-16.92 [[ 8.76189501e-01 4.77033179e-01 6.87844836e-02 2.57203769e+02] [-4.75618233e-01 8.78885119e-01 -3.67184509e-02 -9.91282965e+01] [-7.79695784e-02 -5.42833373e-04 9.96955591e-01 -1.69248500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:-99.16, Z:-16.93 [[ 8.76871404e-01 4.75780043e-01 6.87742051e-02 2.57258035e+02] [-4.74359736e-01 8.79564201e-01 -3.67376926e-02 -9.91585232e+01] [-7.79703897e-02 -4.09481623e-04 9.96955591e-01 -1.69292128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.31, Y:-99.19, Z:-16.93 [[ 8.77975604e-01 4.73740623e-01 6.87652505e-02 2.57311814e+02] [-4.72312749e-01 8.80664396e-01 -3.67544461e-02 -9.91916014e+01] [-7.79711820e-02 -2.09197519e-04 9.96955591e-01 -1.69317497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.37, Y:-99.22, Z:-16.94 [[ 8.79751750e-01 4.70435612e-01 6.87545927e-02 2.57365505e+02] [-4.68996079e-01 8.82434317e-01 -3.67743723e-02 -9.92208963e+01] [-7.79713864e-02 1.06684044e-04 9.96955592e-01 -1.69375021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:-99.25, Z:-16.94 [[ 8.82446334e-01 4.65362801e-01 6.87454026e-02 2.57419029e+02] [-4.63906509e-01 8.85119841e-01 -3.67915442e-02 -9.92539549e+01] [-7.79693359e-02 5.75123603e-04 9.96955592e-01 -1.69418833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.47, Y:-99.29, Z:-16.95 [[ 8.84776509e-01 4.60918671e-01 6.87350484e-02 2.57472926e+02] [-4.59447450e-01 8.87441829e-01 -3.68108780e-02 -9.92861880e+01] [-7.79651781e-02 9.89257415e-04 9.96955592e-01 -1.69466526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:-99.32, Z:-16.95 [[ 8.86304753e-01 4.57974651e-01 6.87248478e-02 2.57526451e+02] [-4.56493101e-01 8.88964345e-01 -3.68299124e-02 -9.93172871e+01] [-7.79611056e-02 1.27010753e-03 9.96955592e-01 -1.69523466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.58, Y:-99.35, Z:-16.96 [[ 8.86733768e-01 4.57144850e-01 6.87154357e-02 2.57580774e+02] [-4.55659452e-01 8.89391212e-01 -3.68474648e-02 -9.93481108e+01] [-7.79595334e-02 1.36305356e-03 9.96955592e-01 -1.69565131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.64, Y:-99.38, Z:-16.96 [[ 8.86238528e-01 4.58105768e-01 6.87050022e-02 2.57635337e+02] [-4.56621744e-01 8.88896740e-01 -3.68669086e-02 -9.93780669e+01] [-7.79605960e-02 1.30067681e-03 9.96955593e-01 -1.69611516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.69, Y:-99.41, Z:-16.97 [[ 8.84998148e-01 4.60498888e-01 6.86953598e-02 2.57690448e+02] [-4.59020660e-01 8.87659586e-01 -3.68848669e-02 -9.94080664e+01] [-7.79635349e-02 1.11044954e-03 9.96955593e-01 -1.69653308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.75, Y:-99.44, Z:-16.97 [[ 8.79861686e-01 4.70240125e-01 6.86850622e-02 2.57745542e+02] [-4.68789869e-01 8.82538470e-01 -3.69040327e-02 -9.94371893e+01] [-7.79709667e-02 2.71583087e-04 9.96955593e-01 -1.69693519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.80, Y:-99.47, Z:-16.97 [[ 8.76361906e-01 4.76732194e-01 6.86747729e-02 2.57799796e+02] [-4.75300267e-01 8.79048540e-01 -3.69231701e-02 -9.94661998e+01] [-7.79709228e-02 -2.83078158e-04 9.96955593e-01 -1.69746573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.85, Y:-99.49, Z:-16.98 [[ 8.73484214e-01 4.81985033e-01 6.86713599e-02 2.57854326e+02] [-4.80568763e-01 8.76179134e-01 -3.69295167e-02 -9.94936485e+01] [-7.79678870e-02 -7.43960610e-04 9.96955593e-01 -1.69823325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.91, Y:-99.52, Z:-16.99 [[ 8.69843809e-01 4.88525740e-01 6.86611136e-02 2.57909300e+02] [-4.87128229e-01 8.72548504e-01 -3.69485574e-02 -9.95241396e+01] [-7.79604733e-02 -1.30729280e-03 9.96955594e-01 -1.69865950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.96, Y:-99.55, Z:-16.99 [[ 8.67771049e-01 4.92199634e-01 6.86507632e-02 2.57963701e+02] [-4.90812053e-01 8.70480851e-01 -3.69677787e-02 -9.95541139e+01] [-7.79547019e-02 -1.61505395e-03 9.96955594e-01 -1.69913130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.02, Y:-99.59, Z:-17.00 [[ 8.67567367e-01 4.92559451e-01 6.86443724e-02 2.58016588e+02] [-4.91172056e-01 8.70277265e-01 -3.69796417e-02 -9.95856123e+01] [-7.79543087e-02 -1.63386718e-03 9.96955594e-01 -1.69952204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.07, Y:-99.62, Z:-17.00 [[ 8.67694119e-01 4.92336832e-01 6.86393498e-02 2.58071576e+02] [-4.90948004e-01 8.70403282e-01 -3.69889620e-02 -9.96163786e+01] [-7.79549437e-02 -1.60324700e-03 9.96955594e-01 -1.69999055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.13, Y:-99.65, Z:-17.01 [[ 8.68262882e-01 4.91334559e-01 6.86288584e-02 2.58125306e+02] [-4.89941067e-01 8.70969648e-01 -3.70084175e-02 -9.96489921e+01] [-7.79571671e-02 -1.49106087e-03 9.96955594e-01 -1.70062079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.18, Y:-99.68, Z:-17.01 [[ 8.68113568e-01 4.91599779e-01 6.86184407e-02 2.58178143e+02] [-4.90205588e-01 8.70819975e-01 -3.70277232e-02 -9.96794849e+01] [-7.79571293e-02 -1.49287416e-03 9.96955594e-01 -1.70131226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.23, Y:-99.71, Z:-17.02 [[ 8.67943426e-01 4.91901272e-01 6.86101168e-02 2.58232493e+02] [-4.90506804e-01 8.70649689e-01 -3.70431405e-02 -9.97100735e+01] [-7.79569448e-02 -1.50237883e-03 9.96955595e-01 -1.70185282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.29, Y:-99.74, Z:-17.02 [[ 8.68766183e-01 4.90448122e-01 6.85999903e-02 2.58285073e+02] [-4.89047647e-01 8.71469343e-01 -3.70618841e-02 -9.97428362e+01] [-7.79597200e-02 -1.35055225e-03 9.96955595e-01 -1.70239436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.34, Y:-99.78, Z:-17.03 [[ 8.70464236e-01 4.87429280e-01 6.85908904e-02 2.58338670e+02] [-4.86018104e-01 8.73161824e-01 -3.70787178e-02 -9.97753566e+01] [-7.79641998e-02 -1.06071671e-03 9.96955595e-01 -1.70284465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.39, Y:-99.81, Z:-17.03 [[ 8.75098704e-01 4.79060510e-01 6.85805061e-02 2.58390564e+02] [-4.77622028e-01 8.77781831e-01 -3.70979147e-02 -9.98104932e+01] [-7.79708681e-02 -2.91223309e-04 9.96955595e-01 -1.70313660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.44, Y:-99.84, Z:-17.03 [[ 8.80821171e-01 4.68456253e-01 6.85769912e-02 2.58442573e+02] [-4.66984964e-01 8.83486449e-01 -3.71044109e-02 -9.98437767e+01] [-7.79686358e-02 6.57926840e-04 9.96955595e-01 -1.70333967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.50, Y:-99.87, Z:-17.04 [[ 8.83151468e-01 4.64049703e-01 6.85664412e-02 2.58498619e+02] [-4.62563604e-01 8.85808517e-01 -3.71238965e-02 -9.98712114e+01] [-7.79640707e-02 1.06968362e-03 9.96955596e-01 -1.70406510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.55, Y:-99.90, Z:-17.05 [[ 8.84804739e-01 4.60891133e-01 6.85560856e-02 2.58553242e+02] [-4.59394069e-01 8.87455625e-01 -3.71430102e-02 -9.99005634e+01] [-7.79593678e-02 1.37005233e-03 9.96955596e-01 -1.70456692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.61, Y:-99.93, Z:-17.05 [[ 8.86169945e-01 4.58262097e-01 6.85469147e-02 2.58607341e+02] [-4.56755860e-01 8.88815630e-01 -3.71599272e-02 -9.99282510e+01] [-7.79545553e-02 1.62080565e-03 9.96955596e-01 -1.70523079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.67, Y:-99.95, Z:-17.06 [[ 8.90144942e-01 4.50493566e-01 6.85385280e-02 2.58665054e+02] [-4.48963057e-01 8.92776660e-01 -3.71753895e-02 -9.99545276e+01] [-7.79368718e-02 2.32021785e-03 9.96955596e-01 -1.70566833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.72, Y:-99.98, Z:-17.06 [[ 8.90786635e-01 4.49224956e-01 6.85281768e-02 2.58720552e+02] [-4.47689234e-01 8.93415313e-01 -3.71944608e-02 -9.99836041e+01] [-7.79328026e-02 2.45300156e-03 9.96955596e-01 -1.70604048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.78, Y:-100.01, Z:-17.06 [[ 8.91687900e-01 4.47434922e-01 6.85177304e-02 2.58776789e+02] [-4.45892447e-01 8.94312622e-01 -3.72136949e-02 -1.00011386e+02] [-7.79269778e-02 2.63146296e-03 9.96955597e-01 -1.70630511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.83, Y:-100.04, Z:-17.07 [[ 8.90774822e-01 4.49251562e-01 6.85073057e-02 2.58833092e+02] [-4.47712968e-01 8.93401820e-01 -3.72328760e-02 -1.00036346e+02] [-7.79314793e-02 2.49449929e-03 9.96955597e-01 -1.70683007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.89, Y:-100.06, Z:-17.07 [[ 8.89341441e-01 4.52083917e-01 6.84976848e-02 2.58890314e+02] [-4.50552329e-01 8.91972530e-01 -3.72505672e-02 -1.00063417e+02] [-7.79384356e-02 2.26668167e-03 9.96955597e-01 -1.70732326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.95, Y:-100.09, Z:-17.08 [[ 8.86993082e-01 4.56675800e-01 6.84871231e-02 2.58946589e+02] [-4.55156337e-01 8.89631192e-01 -3.72699755e-02 -1.00089110e+02] [-7.79485768e-02 1.88586233e-03 9.96955597e-01 -1.70777625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.00, Y:-100.11, Z:-17.09 [[ 8.86126637e-01 4.58356230e-01 6.84773623e-02 2.59002616e+02] [-4.56840387e-01 8.88766827e-01 -3.72879006e-02 -1.00114640e+02] [-7.79515496e-02 1.75857729e-03 9.96955597e-01 -1.70869459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.06, Y:-100.14, Z:-17.09 [[ 8.83207353e-01 4.63956990e-01 6.84739569e-02 2.59058318e+02] [-4.62457407e-01 8.85856813e-01 -3.72941531e-02 -1.00140950e+02] [-7.79610043e-02 1.27218169e-03 9.96955598e-01 -1.70872829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.11, Y:-100.17, Z:-17.09 [[ 8.81282223e-01 4.67604718e-01 6.84651088e-02 2.59113616e+02] [-4.66114841e-01 8.83937153e-01 -3.73103896e-02 -1.00167998e+02] [-7.79653675e-02 9.68379731e-04 9.96955598e-01 -1.70919644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.17, Y:-100.19, Z:-17.10 [[ 8.79008181e-01 4.71867013e-01 6.84553786e-02 2.59169345e+02] [-4.70388621e-01 8.81669523e-01 -3.73282337e-02 -1.00194960e+02] [-7.79689831e-02 6.11191664e-04 9.96955598e-01 -1.70995336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:-100.22, Z:-17.10 [[ 8.76813888e-01 4.75933306e-01 6.84462802e-02 2.59223940e+02] [-4.74465955e-01 8.79481333e-01 -3.73449094e-02 -1.00224357e+02] [-7.79709119e-02 2.69105536e-04 9.96955598e-01 -1.71049498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.28, Y:-100.25, Z:-17.11 [[ 8.76421240e-01 4.76657275e-01 6.84372197e-02 2.59278625e+02] [-4.75190831e-01 8.79089183e-01 -3.73615059e-02 -1.00254274e+02] [-7.79710532e-02 2.23678064e-04 9.96955598e-01 -1.71103531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:-100.28, Z:-17.12 [[ 8.76585130e-01 4.76357122e-01 6.84280768e-02 2.59332551e+02] [-4.74888458e-01 8.79251852e-01 -3.73782438e-02 -1.00284338e+02] [-7.79709059e-02 2.69508811e-04 9.96955598e-01 -1.71170142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:-100.32, Z:-17.12 [[ 8.77514199e-01 4.74644869e-01 6.84184140e-02 2.59386813e+02] [-4.73169623e-01 8.80177285e-01 -3.73959226e-02 -1.00316535e+02] [-7.79701167e-02 4.41937890e-04 9.96955599e-01 -1.71195072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.44, Y:-100.35, Z:-17.12 [[ 8.78665960e-01 4.72510827e-01 6.84079687e-02 2.59439844e+02] [-4.71027626e-01 8.81324623e-01 -3.74150203e-02 -1.00348758e+02] [-7.79686295e-02 6.53261638e-04 9.96955599e-01 -1.71219074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.49, Y:-100.38, Z:-17.13 [[ 8.79422355e-01 4.71102888e-01 6.83987555e-02 2.59494237e+02] [-4.69614122e-01 8.82077906e-01 -3.74318556e-02 -1.00380683e+02] [-7.79672863e-02 7.97389102e-04 9.96955599e-01 -1.71258778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.55, Y:-100.41, Z:-17.13 [[ 8.78924969e-01 4.72031728e-01 6.83882097e-02 2.59546982e+02] [-4.70544269e-01 8.81581252e-01 -3.74511129e-02 -1.00412206e+02] [-7.79678771e-02 7.37038010e-04 9.96955599e-01 -1.71307449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.60, Y:-100.44, Z:-17.14 [[ 8.77674867e-01 4.74353469e-01 6.83784664e-02 2.59601595e+02] [-4.72871652e-01 8.80334302e-01 -3.74688940e-02 -1.00443773e+02] [-7.79694093e-02 5.51268141e-04 9.96955599e-01 -1.71358479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.66, Y:-100.48, Z:-17.14 [[ 8.75020333e-01 4.79233981e-01 6.83681761e-02 2.59655967e+02] [-4.77765531e-01 8.77687172e-01 -3.74876609e-02 -1.00475283e+02] [-7.79712321e-02 1.38507577e-04 9.96955600e-01 -1.71404583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.71, Y:-100.51, Z:-17.15 [[ 8.71693865e-01 4.85259796e-01 6.83574164e-02 2.59709557e+02] [-4.83808243e-01 8.74369938e-01 -3.75072705e-02 -1.00505718e+02] [-7.79704404e-02 -3.77023963e-04 9.96955600e-01 -1.71468563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.76, Y:-100.54, Z:-17.15 [[ 8.70527074e-01 4.87351246e-01 6.83474636e-02 2.59764404e+02] [-4.85904700e-01 8.73205856e-01 -3.75253984e-02 -1.00536575e+02] [-7.79694551e-02 -5.43478451e-04 9.96955600e-01 -1.71518992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.82, Y:-100.57, Z:-17.16 [[ 8.68607694e-01 4.90765440e-01 6.83370863e-02 2.59819148e+02] [-4.89327936e-01 8.71291339e-01 -3.75442868e-02 -1.00568077e+02] [-7.79669499e-02 -8.27989016e-04 9.96955600e-01 -1.71562719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:-100.60, Z:-17.16 [[ 8.67175836e-01 4.93292586e-01 6.83263717e-02 2.59871520e+02] [-4.91861368e-01 8.69862839e-01 -3.75637762e-02 -1.00599982e+02] [-7.79645039e-02 -1.03270355e-03 9.96955601e-01 -1.71615863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.92, Y:-100.63, Z:-17.17 [[ 8.67281999e-01 4.93107284e-01 6.83164705e-02 2.59923917e+02] [-4.91674074e-01 8.69967939e-01 -3.75817747e-02 -1.00632246e+02] [-7.79649859e-02 -9.95440644e-04 9.96955601e-01 -1.71658291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.98, Y:-100.66, Z:-17.17 [[ 8.68084307e-01 4.91694849e-01 6.83067445e-02 2.59976893e+02] [-4.90255878e-01 8.70767165e-01 -3.75994438e-02 -1.00663944e+02] [-7.79667231e-02 -8.48295903e-04 9.96955601e-01 -1.71683312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.03, Y:-100.70, Z:-17.17 [[ 8.70402478e-01 4.87580734e-01 6.82975373e-02 2.60028957e+02] [-4.86127770e-01 8.73077784e-01 -3.76161609e-02 -1.00699021e+02] [-7.79699778e-02 -4.60129818e-04 9.96955601e-01 -1.71728569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.08, Y:-100.73, Z:-17.18 [[ 8.71088697e-01 4.86355196e-01 6.82869370e-02 2.60081655e+02] [-4.84896959e-01 8.73761132e-01 -3.76353944e-02 -1.00731089e+02] [-7.79706410e-02 -3.28361492e-04 9.96955601e-01 -1.71783981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:-100.76, Z:-17.18 [[ 8.71223702e-01 4.86114624e-01 6.82776155e-02 2.60134630e+02] [-4.84654325e-01 8.73895011e-01 -3.76522979e-02 -1.00762380e+02] [-7.79708001e-02 -2.87467310e-04 9.96955602e-01 -1.71846885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.19, Y:-100.79, Z:-17.19 [[ 8.70591906e-01 4.87246516e-01 6.82683294e-02 2.60186497e+02] [-4.85788371e-01 8.73264391e-01 -3.76691273e-02 -1.00794417e+02] [-7.79704521e-02 -3.69523151e-04 9.96955602e-01 -1.71915948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.24, Y:-100.83, Z:-17.20 [[ 8.70338260e-01 4.87700639e-01 6.82597957e-02 2.60240735e+02] [-4.86242676e-01 8.73010843e-01 -3.76845848e-02 -1.00826623e+02] [-7.79703379e-02 -3.92489734e-04 9.96955602e-01 -1.71957625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.30, Y:-100.86, Z:-17.20 [[ 8.70111727e-01 4.88106128e-01 6.82494732e-02 2.60295164e+02] [-4.86647944e-01 8.72784190e-01 -3.77032703e-02 -1.00858136e+02] [-7.79702584e-02 -4.07408190e-04 9.96955602e-01 -1.72006536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.35, Y:-100.89, Z:-17.20 [[ 8.68877681e-01 4.90300920e-01 6.82391639e-02 2.60350352e+02] [-4.88848022e-01 8.71553021e-01 -3.77219198e-02 -1.00888149e+02] [-7.79691415e-02 -5.82846097e-04 9.96955602e-01 -1.72048616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.40, Y:-100.92, Z:-17.21 [[ 8.67131368e-01 4.93384293e-01 6.82285170e-02 2.60404501e+02] [-4.91939394e-01 8.69811035e-01 -3.77411674e-02 -1.00918626e+02] [-7.79668162e-02 -8.37745184e-04 9.96955603e-01 -1.72098320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.46, Y:-100.95, Z:-17.21 [[ 8.66365242e-01 4.94729699e-01 6.82187066e-02 2.60458528e+02] [-4.93287565e-01 8.69046399e-01 -3.77588917e-02 -1.00948172e+02] [-7.79656665e-02 -9.38448332e-04 9.96955603e-01 -1.72125903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.51, Y:-100.98, Z:-17.22 [[ 8.66353422e-01 4.94751598e-01 6.82100024e-02 2.60512801e+02] [-4.93308295e-01 8.69033950e-01 -3.77746091e-02 -1.00977988e+02] [-7.79658560e-02 -9.22398145e-04 9.96955603e-01 -1.72168595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.57, Y:-101.01, Z:-17.22 [[ 8.67342012e-01 4.93017736e-01 6.82007728e-02 2.60566843e+02] [-4.91567765e-01 8.70018938e-01 -3.77912655e-02 -1.01008792e+02] [-7.79677281e-02 -7.47349232e-04 9.96955603e-01 -1.72221147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.62, Y:-101.04, Z:-17.23 [[ 8.67944727e-01 4.91957396e-01 6.81899611e-02 2.60620406e+02] [-4.90502622e-01 8.70619046e-01 -3.78107640e-02 -1.01039385e+02] [-7.79687639e-02 -6.29701456e-04 9.96955604e-01 -1.72272617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.67, Y:-101.07, Z:-17.23 [[ 8.68506285e-01 4.90966262e-01 6.81833019e-02 2.60674435e+02] [-4.89507494e-01 8.71178427e-01 -3.78227685e-02 -1.01068902e+02] [-7.79695250e-02 -5.26925026e-04 9.96955604e-01 -1.72326443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.73, Y:-101.10, Z:-17.24 [[ 8.68643216e-01 4.90725245e-01 6.81740132e-02 2.60727588e+02] [-4.89264422e-01 8.71314236e-01 -3.78395036e-02 -1.01097606e+02] [-7.79697879e-02 -4.86091029e-04 9.96955604e-01 -1.72386640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.78, Y:-101.13, Z:-17.24 [[ 8.68503984e-01 4.90972799e-01 6.81655293e-02 2.60782829e+02] [-4.89511538e-01 8.71174764e-01 -3.78547808e-02 -1.01128264e+02] [-7.79697566e-02 -4.90785143e-04 9.96955604e-01 -1.72415771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.84, Y:-101.16, Z:-17.25 [[ 8.68312813e-01 4.91312304e-01 6.81548145e-02 2.60837635e+02] [-4.89850573e-01 8.70983336e-01 -3.78740622e-02 -1.01157473e+02] [-7.79697004e-02 -4.99141482e-04 9.96955604e-01 -1.72463040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:260.89, Y:-101.19, Z:-17.25 [[ 8.67173796e-01 4.93321187e-01 6.81455298e-02 2.60891525e+02] [-4.91864331e-01 8.69846981e-01 -3.78907606e-02 -1.01188789e+02] [-7.79684983e-02 -6.60480702e-04 9.96955604e-01 -1.72507241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.95, Y:-101.22, Z:-17.26 [[ 8.67056358e-01 4.93528107e-01 6.81416114e-02 2.60946277e+02] [-4.92071336e-01 8.69729588e-01 -3.78978060e-02 -1.01215936e+02] [-7.79684081e-02 -6.71000098e-04 9.96955604e-01 -1.72557873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.00, Y:-101.25, Z:-17.26 [[ 8.65196527e-01 4.96782727e-01 6.81314315e-02 2.60998635e+02] [-4.95334570e-01 8.67874434e-01 -3.79160983e-02 -1.01247895e+02] [-7.79655902e-02 -9.42976798e-04 9.96955605e-01 -1.72562871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.05, Y:-101.27, Z:-17.26 [[ 8.65274502e-01 4.96647737e-01 6.81253353e-02 2.61053141e+02] [-4.95198300e-01 8.67951717e-01 -3.79270483e-02 -1.01273600e+02] [-7.79658845e-02 -9.18242371e-04 9.96955605e-01 -1.72641168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.11, Y:-101.30, Z:-17.27 [[ 8.64332447e-01 4.98286137e-01 6.81200836e-02 2.61108733e+02] [-4.96841032e-01 8.67012002e-01 -3.79364785e-02 -1.01303220e+02] [-7.79641514e-02 -1.05512335e-03 9.96955605e-01 -1.72686213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.16, Y:-101.33, Z:-17.27 [[ 8.64136265e-01 4.98627662e-01 6.81099890e-02 2.61163818e+02] [-4.97182188e-01 8.66815621e-01 -3.79545935e-02 -1.01333785e+02] [-7.79640126e-02 -1.06513274e-03 9.96955605e-01 -1.72712708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.22, Y:-101.36, Z:-17.28 [[ 8.63315337e-01 5.00049125e-01 6.80992066e-02 2.61218766e+02] [-4.98606538e-01 8.65996248e-01 -3.79739296e-02 -1.01361614e+02] [-7.79624877e-02 -1.17123380e-03 9.96955605e-01 -1.72774363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.27, Y:-101.39, Z:-17.28 [[ 8.62860799e-01 5.00834400e-01 6.80892438e-02 2.61273130e+02] [-4.99392845e-01 8.65542264e-01 -3.79917852e-02 -1.01390555e+02] [-7.79617112e-02 -1.22165895e-03 9.96955605e-01 -1.72825591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.33, Y:-101.42, Z:-17.29 [[ 8.62392198e-01 5.01642099e-01 6.80801109e-02 2.61327628e+02] [-5.00201764e-01 8.65074318e-01 -3.80081441e-02 -1.01419982e+02] [-7.79608407e-02 -1.27586460e-03 9.96955606e-01 -1.72877557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.38, Y:-101.45, Z:-17.29 [[ 8.62930858e-01 5.00716189e-01 6.80707850e-02 2.61381255e+02] [-4.99271659e-01 8.65610722e-01 -3.80248390e-02 -1.01450311e+02] [-7.79624538e-02 -1.17300683e-03 9.96955606e-01 -1.72930647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.44, Y:-101.48, Z:-17.30 [[ 8.63590696e-01 4.99578572e-01 6.80614467e-02 2.61435265e+02] [-4.98129195e-01 8.66267941e-01 -3.80415465e-02 -1.01481800e+02] [-7.79641908e-02 -1.05106807e-03 9.96955606e-01 -1.72974402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:-101.51, Z:-17.30 [[ 8.63846784e-01 4.99137071e-01 6.80508494e-02 2.61488991e+02] [-4.97684834e-01 8.66522478e-01 -3.80604941e-02 -1.01512603e+02] [-7.79649942e-02 -9.89440226e-04 9.96955606e-01 -1.73027376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:-101.54, Z:-17.31 [[ 8.65249163e-01 4.96703433e-01 6.80410617e-02 2.61542759e+02] [-4.95242294e-01 8.67920006e-01 -3.80779837e-02 -1.01544395e+02] [-7.79676639e-02 -7.49867969e-04 9.96955606e-01 -1.73052463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:-101.58, Z:-17.31 [[ 8.66252204e-01 4.94953321e-01 6.80318235e-02 2.61596285e+02] [-4.93485490e-01 8.68919376e-01 -3.80944819e-02 -1.01575816e+02] [-7.79691599e-02 -5.73288810e-04 9.96955607e-01 -1.73092522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.65, Y:-101.61, Z:-17.32 [[ 8.66418794e-01 4.94662941e-01 6.80224137e-02 2.61650106e+02] [-4.93192898e-01 8.69084746e-01 -3.81112770e-02 -1.01606719e+02] [-7.79694785e-02 -5.27844660e-04 9.96955607e-01 -1.73161539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:261.70, Y:-101.64, Z:-17.32 [[ 8.68065181e-01 4.91769494e-01 6.80118047e-02 2.61703440e+02] [-4.90289082e-01 8.70725390e-01 -3.81302000e-02 -1.01637817e+02] [-7.79708743e-02 -2.45946272e-04 9.96955607e-01 -1.73221529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:261.76, Y:-101.67, Z:-17.33 [[ 8.69503509e-01 4.89223174e-01 6.80024634e-02 2.61756665e+02] [-4.87733668e-01 8.72158636e-01 -3.81468522e-02 -1.01668763e+02] [-7.79712598e-02 1.73088322e-06 9.96955607e-01 -1.73261784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:261.81, Y:-101.70, Z:-17.33 [[ 8.69747002e-01 4.88791446e-01 6.79931943e-02 2.61810431e+02] [-4.87299332e-01 8.72400664e-01 -3.81633665e-02 -1.01699696e+02] [-7.79712349e-02 5.94354515e-05 9.96955607e-01 -1.73297449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:261.87, Y:-101.73, Z:-17.34 [[ 8.69121544e-01 4.89904006e-01 6.79838698e-02 2.61865080e+02] [-4.88413990e-01 8.71776384e-01 -3.81799699e-02 -1.01730495e+02] [-7.79712524e-02 -2.12387157e-05 9.96955608e-01 -1.73360193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:261.92, Y:-101.76, Z:-17.34 [[ 8.67972516e-01 4.91938359e-01 6.79732506e-02 2.61918771e+02] [-4.90453086e-01 8.70630012e-01 -3.81988663e-02 -1.01760748e+02] [-7.79710396e-02 -1.82124376e-04 9.96955608e-01 -1.73412730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:261.97, Y:-101.79, Z:-17.35 [[ 8.66825798e-01 4.93957406e-01 6.79640859e-02 2.61973827e+02] [-4.92477044e-01 8.69486034e-01 -3.82151653e-02 -1.01790335e+02] [-7.79704874e-02 -3.44860947e-04 9.96955608e-01 -1.73463769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:-101.82, Z:-17.35 [[ 8.65525695e-01 4.96233414e-01 6.79534429e-02 2.62029397e+02] [-4.94758562e-01 8.68188989e-01 -3.82340813e-02 -1.01819929e+02] [-7.79694595e-02 -5.27967938e-04 9.96955608e-01 -1.73521163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:262.08, Y:-101.85, Z:-17.36 [[ 8.64159679e-01 4.98609902e-01 6.79427325e-02 2.62083283e+02] [-4.97140878e-01 8.66826192e-01 -3.82531043e-02 -1.01850572e+02] [-7.79679167e-02 -7.20319409e-04 9.96955608e-01 -1.73558879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:262.14, Y:-101.88, Z:-17.36 [[ 8.63261652e-01 5.00164424e-01 6.79328307e-02 2.62137318e+02] [-4.98698819e-01 8.65930045e-01 -3.82706807e-02 -1.01880410e+02] [-7.79667121e-02 -8.40411388e-04 9.96955609e-01 -1.73586641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:-101.91, Z:-17.36 [[ 8.62241943e-01 5.01921563e-01 6.79233069e-02 2.62192112e+02] [-5.00460066e-01 8.64912588e-01 -3.82875762e-02 -1.01908667e+02] [-7.79650832e-02 -9.79748521e-04 9.96955609e-01 -1.73643688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:262.25, Y:-101.94, Z:-17.37 [[ 8.61678798e-01 5.02889093e-01 6.79132484e-02 2.62247681e+02] [-5.01429189e-01 8.64350313e-01 -3.83054094e-02 -1.01938834e+02] [-7.79642101e-02 -1.04672594e-03 9.96955609e-01 -1.73689989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:262.30, Y:-101.97, Z:-17.37 [[ 8.60421572e-01 5.05038500e-01 6.79031128e-02 2.62302742e+02] [-5.03583852e-01 8.63095953e-01 -3.83233681e-02 -1.01968317e+02] [-7.79616782e-02 -1.22065845e-03 9.96955609e-01 -1.73740723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:262.36, Y:-102.00, Z:-17.38 [[ 8.58380521e-01 5.08501199e-01 6.78926502e-02 2.62358287e+02] [-5.07055874e-01 8.61059951e-01 -3.83418944e-02 -1.01996080e+02] [-7.79565414e-02 -1.51343178e-03 9.96955609e-01 -1.73819207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:262.41, Y:-102.03, Z:-17.39 [[ 8.56808188e-01 5.11147458e-01 6.78822903e-02 2.62414157e+02] [-5.09708956e-01 8.59491288e-01 -3.83602274e-02 -1.02025118e+02] [-7.79519698e-02 -1.73285442e-03 9.96955610e-01 -1.73884917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:262.47, Y:-102.06, Z:-17.39 [[ 8.57199522e-01 5.10492336e-01 6.78716069e-02 2.62469109e+02] [-5.09050288e-01 8.59880717e-01 -3.83791205e-02 -1.02055735e+02] [-7.79537329e-02 -1.65149725e-03 9.96955610e-01 -1.73922193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:262.52, Y:-102.09, Z:-17.40 [[ 8.58523576e-01 5.08263908e-01 6.78606663e-02 2.62523967e+02] [-5.06813372e-01 8.61200188e-01 -3.83984556e-02 -1.02087367e+02] [-7.79581677e-02 -1.42671373e-03 9.96955610e-01 -1.73951375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:-102.12, Z:-17.40 [[ 8.60075485e-01 5.05634848e-01 6.78495446e-02 2.62578069e+02] [-5.04174581e-01 8.62746800e-01 -3.84180975e-02 -1.02118030e+02] [-7.79625064e-02 -1.16555196e-03 9.96955610e-01 -1.73996727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:262.63, Y:-102.15, Z:-17.41 [[ 8.60693758e-01 5.04583082e-01 6.78392762e-02 2.62632529e+02] [-5.03118122e-01 8.63362503e-01 -3.84362211e-02 -1.02148164e+02] [-7.79641542e-02 -1.04935361e-03 9.96955611e-01 -1.74070446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:262.69, Y:-102.18, Z:-17.41 [[ 8.61230362e-01 5.03668136e-01 6.78282527e-02 2.62688522e+02] [-5.02198810e-01 8.63896705e-01 -3.84556644e-02 -1.02176842e+02] [-7.79654969e-02 -9.44082059e-04 9.96955611e-01 -1.74136086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:262.74, Y:-102.21, Z:-17.42 [[ 8.59841910e-01 5.06036307e-01 6.78170088e-02 2.62741654e+02] [-5.04572761e-01 8.62511430e-01 -3.84754830e-02 -1.02208789e+02] [-7.79629365e-02 -1.13578263e-03 9.96955611e-01 -1.74167296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:262.80, Y:-102.24, Z:-17.42 [[ 8.59528035e-01 5.06570641e-01 6.78066572e-02 2.62796982e+02] [-5.05107316e-01 8.62197676e-01 -3.84937173e-02 -1.02238720e+02] [-7.79625293e-02 -1.16320947e-03 9.96955611e-01 -1.74232007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:262.85, Y:-102.27, Z:-17.43 [[ 8.60319180e-01 5.05227331e-01 6.77956651e-02 2.62851785e+02] [-5.03758313e-01 8.62985693e-01 -3.85130671e-02 -1.02268430e+02] [-7.79645431e-02 -1.01909958e-03 9.96955612e-01 -1.74300590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:262.90, Y:-102.30, Z:-17.43 [[ 8.60282936e-01 5.05290552e-01 6.77844271e-02 2.62903527e+02] [-5.03820173e-01 8.62948697e-01 -3.85328363e-02 -1.02301906e+02] [-7.79647612e-02 -1.00202023e-03 9.96955612e-01 -1.74333463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:262.96, Y:-102.34, Z:-17.44 [[ 8.61123803e-01 5.03857590e-01 6.77740693e-02 2.62957134e+02] [-5.02381342e-01 8.63786319e-01 -3.85510457e-02 -1.02335509e+02] [-7.79665508e-02 -8.51204764e-04 9.96955612e-01 -1.74375032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:263.01, Y:-102.37, Z:-17.44 [[ 8.61200341e-01 5.03728201e-01 6.77633586e-02 2.63010851e+02] [-5.02250072e-01 8.63861812e-01 -3.85698634e-02 -1.02368869e+02] [-7.79669057e-02 -8.17772213e-04 9.96955612e-01 -1.74410060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:263.07, Y:-102.40, Z:-17.45 [[ 8.60546693e-01 5.04845511e-01 6.77524897e-02 2.63065132e+02] [-5.03369335e-01 8.63209248e-01 -3.85889464e-02 -1.02400797e+02] [-7.79660321e-02 -8.96935537e-04 9.96955613e-01 -1.74463732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:263.12, Y:-102.43, Z:-17.45 [[ 8.58431348e-01 5.08435526e-01 6.77416880e-02 2.63119016e+02] [-5.06968989e-01 8.61099224e-01 -3.86078993e-02 -1.02432377e+02] [-7.79619425e-02 -1.20070409e-03 9.96955613e-01 -1.74536775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.17, Y:-102.46, Z:-17.46 [[ 8.57079714e-01 5.10712163e-01 6.77307229e-02 2.63173279e+02] [-5.09251193e-01 8.59750643e-01 -3.86271261e-02 -1.02464233e+02] [-7.79588756e-02 -1.38542529e-03 9.96955613e-01 -1.74595001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.23, Y:-102.50, Z:-17.46 [[ 8.56406302e-01 5.11842036e-01 6.77198326e-02 2.63227010e+02] [-5.10383082e-01 8.59078332e-01 -3.86462092e-02 -1.02495960e+02] [-7.79573952e-02 -1.46619971e-03 9.96955613e-01 -1.74649526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.28, Y:-102.53, Z:-17.47 [[ 8.56626538e-01 5.11474802e-01 6.77089422e-02 2.63280155e+02] [-5.10013195e-01 8.59297118e-01 -3.86652799e-02 -1.02529405e+02] [-7.79584153e-02 -1.41074910e-03 9.96955614e-01 -1.74696622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:-102.56, Z:-17.47 [[ 8.57230897e-01 5.10462724e-01 6.76978324e-02 2.63331691e+02] [-5.08996429e-01 8.59898905e-01 -3.86847220e-02 -1.02563696e+02] [-7.79604006e-02 -1.29621607e-03 9.96955614e-01 -1.74741781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.38, Y:-102.60, Z:-17.48 [[ 8.57259319e-01 5.10416352e-01 6.76875763e-02 2.63382839e+02] [-5.08948497e-01 8.59926469e-01 -3.87026591e-02 -1.02597718e+02] [-7.79608085e-02 -1.27127499e-03 9.96955614e-01 -1.74815493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:-102.63, Z:-17.49 [[ 8.57093053e-01 5.10696739e-01 6.76781990e-02 2.63434993e+02] [-5.09228463e-01 8.59759971e-01 -3.87190500e-02 -1.02629783e+02] [-7.79606990e-02 -1.27783648e-03 9.96955614e-01 -1.74876311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:-102.66, Z:-17.49 [[ 8.56955434e-01 5.10928767e-01 6.76696305e-02 2.63489818e+02] [-5.09460031e-01 8.59622099e-01 -3.87340194e-02 -1.02661265e+02] [-7.79606346e-02 -1.28164359e-03 9.96955614e-01 -1.74925821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.54, Y:-102.70, Z:-17.50 [[ 8.57435089e-01 5.10124795e-01 6.76591598e-02 2.63543232e+02] [-5.08652117e-01 8.60099578e-01 -3.87523007e-02 -1.02695020e+02] [-7.79621242e-02 -1.18739241e-03 9.96955615e-01 -1.74975499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.60, Y:-102.73, Z:-17.50 [[ 8.59154891e-01 5.07224333e-01 6.76487184e-02 2.63597820e+02] [-5.05741224e-01 8.61813588e-01 -3.87705195e-02 -1.02726637e+02] [-7.79659356e-02 -9.02864226e-04 9.96955615e-01 -1.75022233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.65, Y:-102.76, Z:-17.51 [[ 8.59685661e-01 5.06325605e-01 6.76383470e-02 2.63651945e+02] [-5.04838294e-01 8.62342009e-01 -3.87886048e-02 -1.02757653e+02] [-7.79670518e-02 -8.00420411e-04 9.96955615e-01 -1.75067924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.71, Y:-102.79, Z:-17.51 [[ 8.63603107e-01 4.99616011e-01 6.76277774e-02 2.63706162e+02] [-4.98106618e-01 8.66246970e-01 -3.88070241e-02 -1.02789345e+02] [-7.79709678e-02 -1.71976940e-04 9.96955615e-01 -1.75092018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.76, Y:-102.82, Z:-17.51 [[ 8.64801851e-01 4.97539671e-01 6.76168217e-02 2.63760764e+02] [-4.96022438e-01 8.67441223e-01 -3.88261038e-02 -1.02819103e+02] [-7.79711454e-02 3.74256295e-05 9.96955615e-01 -1.75134345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.82, Y:-102.85, Z:-17.52 [[ 8.66910230e-01 4.93858265e-01 6.76067075e-02 2.63816616e+02] [-4.92328451e-01 8.69542330e-01 -3.88437074e-02 -1.02848407e+02] [-7.79701799e-02 3.89301781e-04 9.96955616e-01 -1.75205536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.87, Y:-102.88, Z:-17.53 [[ 8.68680988e-01 4.90738346e-01 6.75959775e-02 2.63871738e+02] [-4.89197627e-01 8.71306718e-01 -3.88623710e-02 -1.02878410e+02] [-7.79680850e-02 6.91211016e-04 9.96955616e-01 -1.75262262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.93, Y:-102.91, Z:-17.53 [[ 8.71538233e-01 4.85647369e-01 6.75850702e-02 2.63926817e+02] [-4.84089843e-01 8.74154029e-01 -3.88813305e-02 -1.02906598e+02] [-7.79623772e-02 1.16932005e-03 9.96955616e-01 -1.75318882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:-102.94, Z:-17.54 [[ 8.73002009e-01 4.83012066e-01 6.75783664e-02 2.63982393e+02] [-4.81445744e-01 8.75612547e-01 -3.88929786e-02 -1.02936683e+02] [-7.79582435e-02 1.41833160e-03 9.96955616e-01 -1.75367867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.04, Y:-102.97, Z:-17.54 [[ 8.74324205e-01 4.80616036e-01 6.75678256e-02 2.64038122e+02] [-4.79041146e-01 8.76929582e-01 -3.89112823e-02 -1.02966569e+02] [-7.79536114e-02 1.65330735e-03 9.96955616e-01 -1.75410276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.09, Y:-103.00, Z:-17.55 [[ 8.74579641e-01 4.80152571e-01 6.75570859e-02 2.64092198e+02] [-4.78574862e-01 8.77183312e-01 -3.89299196e-02 -1.02996511e+02] [-7.79522493e-02 1.71619205e-03 9.96955617e-01 -1.75458273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.15, Y:-103.03, Z:-17.55 [[ 8.74448589e-01 4.80392596e-01 6.75471676e-02 2.64148617e+02] [-4.78814273e-01 8.77051888e-01 -3.89471211e-02 -1.03025176e+02] [-7.79522795e-02 1.71470712e-03 9.96955617e-01 -1.75509761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.20, Y:-103.05, Z:-17.56 [[ 8.73282795e-01 4.82510087e-01 6.75364793e-02 2.64204115e+02] [-4.80936645e-01 8.75889046e-01 -3.89656464e-02 -1.03054871e+02] [-7.79557799e-02 1.54726080e-03 9.96955617e-01 -1.75550558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.26, Y:-103.08, Z:-17.56 [[ 8.71071787e-01 4.86491715e-01 6.75259510e-02 2.64259536e+02] [-4.84928774e-01 8.73684349e-01 -3.89838831e-02 -1.03083534e+02] [-7.79617027e-02 1.21248415e-03 9.96955617e-01 -1.75584464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.31, Y:-103.11, Z:-17.56 [[ 8.69074415e-01 4.90052264e-01 6.75162183e-02 2.64314867e+02] [-4.88498718e-01 8.71692575e-01 -3.90007320e-02 -1.03113275e+02] [-7.79657832e-02 9.12952270e-04 9.96955617e-01 -1.75647042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:-103.14, Z:-17.57 [[ 8.66276787e-01 4.94982302e-01 6.75059247e-02 2.64370880e+02] [-4.93442269e-01 8.68902918e-01 -3.90185408e-02 -1.03141981e+02] [-7.79695821e-02 4.90579479e-04 9.96955618e-01 -1.75710684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:-103.17, Z:-17.58 [[ 8.64667930e-01 4.97788858e-01 6.74953549e-02 2.64426016e+02] [-4.96255923e-01 8.67298210e-01 -3.90368163e-02 -1.03172253e+02] [-7.79706927e-02 2.58913460e-04 9.96955618e-01 -1.75752554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:-103.20, Z:-17.58 [[ 8.62975736e-01 5.00718198e-01 6.74845496e-02 2.64482407e+02] [-4.99192732e-01 8.65610354e-01 -3.90554871e-02 -1.03200851e+02] [-7.79711180e-02 1.61410544e-05 9.96955618e-01 -1.75806751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:-103.23, Z:-17.59 [[ 8.62370134e-01 5.01761962e-01 6.74735827e-02 2.64535845e+02] [-5.00238203e-01 8.65005740e-01 -3.90744246e-02 -1.03230820e+02] [-7.79710963e-02 -5.62469397e-05 9.96955618e-01 -1.75860442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.59, Y:-103.26, Z:-17.59 [[ 8.61999101e-01 5.02400473e-01 6.74634330e-02 2.64590217e+02] [-5.00877295e-01 8.64635042e-01 -3.90919406e-02 -1.03261206e+02] [-7.79710577e-02 -9.36842089e-05 9.96955619e-01 -1.75908974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.64, Y:-103.29, Z:-17.60 [[ 8.61727462e-01 5.02867740e-01 6.74523401e-02 2.64644870e+02] [-5.01344493e-01 8.64363363e-01 -3.91110720e-02 -1.03292213e+02] [-7.79710279e-02 -1.13774447e-04 9.96955619e-01 -1.75955984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:-103.32, Z:-17.60 [[ 8.61626285e-01 5.03042600e-01 6.74409936e-02 2.64698546e+02] [-5.01518357e-01 8.64261610e-01 -3.91306274e-02 -1.03323763e+02] [-7.79710343e-02 -1.06919183e-04 9.96955619e-01 -1.75994992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:-103.36, Z:-17.60 [[ 8.61440291e-01 5.03362444e-01 6.74305256e-02 2.64752582e+02] [-5.01837768e-01 8.64075365e-01 -3.91486578e-02 -1.03356629e+02] [-7.79710201e-02 -1.14953270e-04 9.96955619e-01 -1.76029346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.81, Y:-103.39, Z:-17.61 [[ 8.61286465e-01 5.03627101e-01 6.74193506e-02 2.64805844e+02] [-5.02101729e-01 8.63921136e-01 -3.91678933e-02 -1.03387838e+02] [-7.79710145e-02 -1.16596200e-04 9.96955620e-01 -1.76128724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.86, Y:-103.42, Z:-17.62 [[ 8.63246058e-01 5.00262117e-01 6.74096191e-02 2.64859164e+02] [-4.98725168e-01 8.65873993e-01 -3.91846345e-02 -1.03421695e+02] [-7.79708242e-02 2.07107704e-04 9.96955620e-01 -1.76181033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.91, Y:-103.45, Z:-17.62 [[ 8.63926183e-01 4.99088172e-01 6.73984186e-02 2.64911924e+02] [-4.97546149e-01 8.66551144e-01 -3.92038901e-02 -1.03453062e+02] [-7.79703746e-02 3.35443538e-04 9.96955620e-01 -1.76222106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:-103.49, Z:-17.63 [[ 8.66629180e-01 4.94381139e-01 6.73880830e-02 2.64966034e+02] [-4.92823480e-01 8.69244891e-01 -3.92216482e-02 -1.03485328e+02] [-7.79671899e-02 7.80195266e-04 9.96955620e-01 -1.76265567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.02, Y:-103.52, Z:-17.63 [[ 8.72841568e-01 4.83330060e-01 6.73769230e-02 2.65019091e+02] [-4.81737813e-01 8.75436370e-01 -3.92408099e-02 -1.03519010e+02] [-7.79504720e-02 1.79299852e-03 9.96955620e-01 -1.76297052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.07, Y:-103.55, Z:-17.63 [[ 8.78310631e-01 4.73320472e-01 6.73659123e-02 2.65072601e+02] [-4.71697220e-01 8.80886150e-01 -3.92597034e-02 -1.03551980e+02] [-7.79241204e-02 2.70590129e-03 9.96955621e-01 -1.76320339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.13, Y:-103.58, Z:-17.64 [[ 8.80026431e-01 4.70124244e-01 6.73548526e-02 2.65127572e+02] [-4.68490190e-01 8.82595110e-01 -3.92786685e-02 -1.03582645e+02] [-7.79129179e-02 3.01117872e-03 9.96955621e-01 -1.76366262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.18, Y:-103.61, Z:-17.64 [[ 8.79224336e-01 4.71624180e-01 6.73438845e-02 2.65182431e+02] [-4.69993072e-01 8.81794886e-01 -3.92974645e-02 -1.03612525e+02] [-7.79171275e-02 2.90012803e-03 9.96955621e-01 -1.76373975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.24, Y:-103.64, Z:-17.65 [[ 8.78058824e-01 4.73791079e-01 6.73402956e-02 2.65236868e+02] [-4.72165844e-01 8.80633091e-01 -3.93036135e-02 -1.03640014e+02] [-7.79237942e-02 2.71509715e-03 9.96955621e-01 -1.76462773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.29, Y:-103.67, Z:-17.65 [[ 8.74242503e-01 4.80797864e-01 6.73309710e-02 2.65291809e+02] [-4.79192039e-01 8.76828923e-01 -3.93195810e-02 -1.03668282e+02] [-7.79425134e-02 2.11038365e-03 9.96955621e-01 -1.76521078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.35, Y:-103.70, Z:-17.66 [[ 8.69761818e-01 4.88858166e-01 6.73206738e-02 2.65347586e+02] [-4.87274953e-01 8.72362141e-01 -3.93372034e-02 -1.03695862e+02] [-7.79583202e-02 1.41031932e-03 9.96955622e-01 -1.76594399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:-103.73, Z:-17.66 [[ 8.64685067e-01 4.97784061e-01 6.73109485e-02 2.65401709e+02] [-4.96226400e-01 8.67300776e-01 -3.93538377e-02 -1.03725450e+02] [-7.79685509e-02 6.27206166e-04 9.96955622e-01 -1.76614405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:-103.75, Z:-17.67 [[ 8.60314955e-01 5.05300032e-01 6.73056882e-02 2.65457531e+02] [-5.03764520e-01 8.62943727e-01 -3.93628321e-02 -1.03751719e+02] [-7.79710618e-02 -4.17846696e-05 9.96955622e-01 -1.76679715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.52, Y:-103.78, Z:-17.68 [[ 8.52012008e-01 5.19179015e-01 6.72955307e-02 2.65515460e+02] [-5.17684945e-01 8.54664553e-01 -3.93801899e-02 -1.03776214e+02] [-7.79604729e-02 -1.28548845e-03 9.96955622e-01 -1.76780160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.57, Y:-103.81, Z:-17.68 [[ 8.47243123e-01 5.26926924e-01 6.72837787e-02 2.65567275e+02] [-5.25455513e-01 8.49908303e-01 -3.94002589e-02 -1.03808633e+02] [-7.79460994e-02 -1.97303404e-03 9.96955622e-01 -1.76788834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.62, Y:-103.84, Z:-17.68 [[ 8.47094147e-01 5.27167139e-01 6.72778891e-02 2.65621797e+02] [-5.25695685e-01 8.49759303e-01 -3.94103131e-02 -1.03840654e+02] [-7.79458342e-02 -1.98345048e-03 9.96955622e-01 -1.76838323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.68, Y:-103.87, Z:-17.69 [[ 8.47155113e-01 5.27070588e-01 6.72667114e-02 2.65675148e+02] [-5.25597317e-01 8.49819265e-01 -3.94293824e-02 -1.03872630e+02] [-7.79466150e-02 -1.95240017e-03 9.96955623e-01 -1.76892932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.73, Y:-103.91, Z:-17.69 [[ 8.47686219e-01 5.26217232e-01 6.72569632e-02 2.65728992e+02] [-5.24739962e-01 8.50348155e-01 -3.94460034e-02 -1.03905513e+02] [-7.79490013e-02 -1.85458285e-03 9.96955623e-01 -1.76944194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.78, Y:-103.94, Z:-17.70 [[ 8.52156831e-01 5.18947750e-01 6.72455797e-02 2.65782600e+02] [-5.17446236e-01 8.54805168e-01 -3.94654000e-02 -1.03935163e+02] [-7.79623496e-02 -1.16526189e-03 9.96955623e-01 -1.77049614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.83, Y:-103.97, Z:-17.71 [[ 8.56759249e-01 5.11314962e-01 6.72354005e-02 2.65830538e+02] [-5.09788491e-01 8.59393279e-01 -3.94827343e-02 -1.03974242e+02] [-7.79697641e-02 -4.48635624e-04 9.96955623e-01 -1.77054943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.88, Y:-104.01, Z:-17.71 [[ 8.65458278e-01 4.96450014e-01 6.72261325e-02 2.65880679e+02] [-4.94877078e-01 8.68064828e-01 -3.94985083e-02 -1.04010175e+02] [-7.79656761e-02 9.15638964e-04 9.96955623e-01 -1.77111860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.93, Y:-104.05, Z:-17.71 [[ 8.72152388e-01 4.84594981e-01 6.72154449e-02 2.65929180e+02] [-4.82985226e-01 8.74736362e-01 -3.95166874e-02 -1.04048679e+02] [-7.79453820e-02 2.00050640e-03 9.96955624e-01 -1.77101434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:265.98, Y:-104.08, Z:-17.72 [[ 8.77678990e-01 4.74513446e-01 6.72055110e-02 2.65981148e+02] [-4.72872733e-01 8.80243418e-01 -3.95335745e-02 -1.04083520e+02] [-7.79164214e-02 2.91813407e-03 9.96955624e-01 -1.77150869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.03, Y:-104.12, Z:-17.72 [[ 8.81397215e-01 4.67572299e-01 6.71944624e-02 2.66033683e+02] [-4.65909973e-01 8.83947685e-01 -3.95523447e-02 -1.04116914e+02] [-7.78899702e-02 3.55475630e-03 9.96955624e-01 -1.77206446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.09, Y:-104.15, Z:-17.73 [[ 8.84023987e-01 4.62588122e-01 6.71849691e-02 2.66087205e+02] [-4.60910201e-01 8.86564224e-01 -3.95684639e-02 -1.04148587e+02] [-7.78676914e-02 4.01323363e-03 9.96955624e-01 -1.77259969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.14, Y:-104.18, Z:-17.73 [[ 8.83961364e-01 4.62709521e-01 6.71729515e-02 2.66140634e+02] [-4.61030405e-01 8.86500811e-01 -3.95888550e-02 -1.04178423e+02] [-7.78670161e-02 4.02624534e-03 9.96955624e-01 -1.77310129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.19, Y:-104.21, Z:-17.74 [[ 8.83456808e-01 4.63673539e-01 6.71633686e-02 2.66194574e+02] [-4.61995963e-01 8.85997272e-01 -3.96051059e-02 -1.04209511e+02] [-7.78704010e-02 3.96019526e-03 9.96955625e-01 -1.77362355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.25, Y:-104.24, Z:-17.74 [[ 8.81559211e-01 4.67272836e-01 6.71524662e-02 2.66249795e+02] [-4.65604232e-01 8.84105577e-01 -3.96235830e-02 -1.04240110e+02] [-7.78848938e-02 3.66406215e-03 9.96955625e-01 -1.77403359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.30, Y:-104.27, Z:-17.75 [[ 8.78677476e-01 4.72671092e-01 6.71411277e-02 2.66303635e+02] [-4.71016673e-01 8.81233081e-01 -3.96427864e-02 -1.04270247e+02] [-7.79049820e-02 3.20863293e-03 9.96955625e-01 -1.77491744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.36, Y:-104.30, Z:-17.75 [[ 8.72323420e-01 4.84297879e-01 6.71372939e-02 2.66358977e+02] [-4.82677044e-01 8.74900455e-01 -3.96492781e-02 -1.04296899e+02] [-7.79405103e-02 2.18136329e-03 9.96955625e-01 -1.77480208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.42, Y:-104.32, Z:-17.75 [[ 8.64783133e-01 4.97638477e-01 6.71273336e-02 2.66415570e+02] [-4.96056105e-01 8.67383963e-01 -3.96661341e-02 -1.04323843e+02] [-7.79645672e-02 1.00368009e-03 9.96955625e-01 -1.77512737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.47, Y:-104.35, Z:-17.76 [[ 8.58533209e-01 5.08346276e-01 6.71177503e-02 2.66473068e+02] [-5.06795077e-01 8.61152751e-01 -3.96823430e-02 -1.04348108e+02] [-7.79710066e-02 5.36637880e-05 9.96955626e-01 -1.77609874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.53, Y:-104.38, Z:-17.76 [[ 8.53452711e-01 5.16831740e-01 6.71075462e-02 2.66526677e+02] [-5.15305229e-01 8.56086715e-01 -3.96995919e-02 -1.04377073e+02] [-7.79678880e-02 -6.99145146e-04 9.96955626e-01 -1.77613703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.58, Y:-104.40, Z:-17.77 [[ 8.48470247e-01 5.24972448e-01 6.70982037e-02 2.66581684e+02] [-5.23469957e-01 8.51118026e-01 -3.97153760e-02 -1.04404504e+02] [-7.79579688e-02 -1.42657892e-03 9.96955626e-01 -1.77654852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.64, Y:-104.43, Z:-17.77 [[ 8.45564479e-01 5.29640691e-01 6.70928533e-02 2.66636386e+02] [-5.28152098e-01 8.48220097e-01 -3.97244125e-02 -1.04434583e+02] [-7.79491718e-02 -1.84567910e-03 9.96955626e-01 -1.77710639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters Centerline goodness : 0.997655 with order 1 Centerline is valid? [True, True] Translation: X:266.69, Y:-104.46, Z:-17.79 [[ 8.44310158e-01 5.31639348e-01 6.70817460e-02 2.66691375e+02] [-5.30155553e-01 8.46968459e-01 -3.97431603e-02 -1.04464330e+02] [-7.79451509e-02 -2.00820621e-03 9.96955626e-01 -1.77857321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.75, Y:-104.49, Z:-17.79 [[ 8.45485951e-01 5.29768810e-01 6.70709682e-02 2.66745709e+02] [-5.28277692e-01 8.48140151e-01 -3.97613407e-02 -1.04492982e+02] [-7.79498993e-02 -1.81444135e-03 9.96955626e-01 -1.77929144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.80, Y:-104.53, Z:-17.79 [[ 8.45396174e-01 5.29913585e-01 6.70589340e-02 2.66796878e+02] [-5.28421314e-01 8.48049726e-01 -3.97816266e-02 -1.04529927e+02] [-7.79501350e-02 -1.80413510e-03 9.96955627e-01 -1.77908566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.85, Y:-104.56, Z:-17.80 [[ 8.47742181e-01 5.26152799e-01 6.70554011e-02 2.66850346e+02] [-5.24648283e-01 8.50388809e-01 -3.97875807e-02 -1.04563405e+02] [-7.79575097e-02 -1.45089061e-03 9.96955627e-01 -1.77959417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:-104.60, Z:-17.80 [[ 8.54241808e-01 5.15534715e-01 6.70439434e-02 2.66900758e+02] [-5.13995781e-01 8.56868572e-01 -3.98068781e-02 -1.04598738e+02] [-7.79696756e-02 -4.55604534e-04 9.96955627e-01 -1.78031111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.95, Y:-104.64, Z:-17.80 [[ 8.57584516e-01 5.09956154e-01 6.70337073e-02 2.66950726e+02] [-5.08398786e-01 8.60200393e-01 -3.98241080e-02 -1.04635611e+02] [-7.79709703e-02 7.26830415e-05 9.96955627e-01 -1.78026501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.00, Y:-104.67, Z:-17.81 [[ 8.63653616e-01 4.99609526e-01 6.70280027e-02 2.67002164e+02] [-4.98020077e-01 8.66250125e-01 -3.98337071e-02 -1.04672495e+02] [-7.79643153e-02 1.02123407e-03 9.96955627e-01 -1.78062629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.05, Y:-104.71, Z:-17.81 [[ 8.68248185e-01 4.91583000e-01 6.70167450e-02 2.67052874e+02] [-4.89968092e-01 8.70828936e-01 -3.98526382e-02 -1.04708122e+02] [-7.79510002e-02 1.76591411e-03 9.96955627e-01 -1.78089705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.11, Y:-104.74, Z:-17.81 [[ 8.70525281e-01 4.87540569e-01 6.70069319e-02 2.67105952e+02] [-4.85912410e-01 8.73097693e-01 -3.98691309e-02 -1.04742437e+02] [-7.79414164e-02 2.14758660e-03 9.96955628e-01 -1.78138238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.16, Y:-104.78, Z:-17.82 [[ 8.72120395e-01 4.84682977e-01 6.69957300e-02 2.67157919e+02] [-4.83044947e-01 8.74686533e-01 -3.98879457e-02 -1.04775903e+02] [-7.79332710e-02 2.42514207e-03 9.96955628e-01 -1.78215432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.21, Y:-104.81, Z:-17.83 [[ 8.72373358e-01 4.84228864e-01 6.69860508e-02 2.67210756e+02] [-4.82588253e-01 8.74937846e-01 -3.99041939e-02 -1.04809451e+02] [-7.79313934e-02 2.48467437e-03 9.96955628e-01 -1.78273773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.26, Y:-104.84, Z:-17.83 [[ 8.72299298e-01 4.84363783e-01 6.69750713e-02 2.67263151e+02] [-4.82722156e-01 8.74863135e-01 -3.99226133e-02 -1.04841825e+02] [-7.79310889e-02 2.49411677e-03 9.96955628e-01 -1.78314832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.32, Y:-104.87, Z:-17.83 [[ 8.71878134e-01 4.85122423e-01 6.69683037e-02 2.67316512e+02] [-4.83482156e-01 8.74442842e-01 -3.99339626e-02 -1.04873597e+02] [-7.79328144e-02 2.43956894e-03 9.96955628e-01 -1.78337529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.37, Y:-104.90, Z:-17.84 [[ 8.69285505e-01 4.89754289e-01 6.69585532e-02 2.67371906e+02] [-4.88126433e-01 8.71858107e-01 -3.99503048e-02 -1.04904091e+02] [-7.79441906e-02 2.04398109e-03 9.96955629e-01 -1.78383322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:-104.93, Z:-17.84 [[ 8.62102163e-01 5.02292651e-01 6.69473883e-02 2.67428577e+02] [-5.00700772e-01 8.64697181e-01 -3.99690059e-02 -1.04930478e+02] [-7.79653559e-02 9.36757482e-04 9.96955629e-01 -1.78445879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:-104.96, Z:-17.85 [[ 8.60976981e-01 5.04220401e-01 6.69359751e-02 2.67481732e+02] [-5.02632848e-01 8.63574647e-01 -3.99881104e-02 -1.04960908e+02] [-7.79670322e-02 7.84622792e-04 9.96955629e-01 -1.78500138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.54, Y:-104.99, Z:-17.86 [[ 8.60001741e-01 5.05883381e-01 6.69254070e-02 2.67535855e+02] [-5.04299475e-01 8.62601633e-01 -4.00057897e-02 -1.04992098e+02] [-7.79682295e-02 6.54601152e-04 9.96955629e-01 -1.78555018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.59, Y:-105.02, Z:-17.86 [[ 8.59355116e-01 5.06982523e-01 6.69141735e-02 2.67589692e+02] [-5.05400480e-01 8.61956141e-01 -4.00245702e-02 -1.05022616e+02] [-7.79688404e-02 5.76863768e-04 9.96955629e-01 -1.78619115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.64, Y:-105.05, Z:-17.87 [[ 8.61031221e-01 5.04131964e-01 6.69043988e-02 2.67644515e+02] [-5.02540041e-01 8.63626211e-01 -4.00409028e-02 -1.05052705e+02] [-7.79662915e-02 8.54328090e-04 9.96955630e-01 -1.78662884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.70, Y:-105.09, Z:-17.87 [[ 8.63138611e-01 5.00515766e-01 6.69007216e-02 2.67696366e+02] [-4.98912497e-01 8.65726605e-01 -4.00470458e-02 -1.05086542e+02] [-7.79619124e-02 1.18854547e-03 9.96955630e-01 -1.78732084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.75, Y:-105.12, Z:-17.88 [[ 8.66552358e-01 4.94583418e-01 6.68898610e-02 2.67749759e+02] [-4.92961035e-01 8.69128414e-01 -4.00651778e-02 -1.05120413e+02] [-7.79514514e-02 1.74447918e-03 9.96955630e-01 -1.78774516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.80, Y:-105.15, Z:-17.88 [[ 8.70868501e-01 4.86944882e-01 6.68785227e-02 2.67802167e+02] [-4.85298460e-01 8.73429259e-01 -4.00840954e-02 -1.05153501e+02] [-7.79324036e-02 2.45193198e-03 9.96955630e-01 -1.78819581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.86, Y:-105.19, Z:-17.89 [[ 8.71726930e-01 4.85407891e-01 6.68680671e-02 2.67856410e+02] [-4.83755619e-01 8.74283917e-01 -4.01015298e-02 -1.05185798e+02] [-7.79272747e-02 2.60978023e-03 9.96955630e-01 -1.78864934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.91, Y:-105.22, Z:-17.89 [[ 8.73486480e-01 4.82235976e-01 6.68568095e-02 2.67909521e+02] [-4.80572987e-01 8.76036510e-01 -4.01202896e-02 -1.05216997e+02] [-7.79164531e-02 2.91495392e-03 9.96955631e-01 -1.78923045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.96, Y:-105.25, Z:-17.90 [[ 8.74025128e-01 4.81260388e-01 6.68469437e-02 2.67963779e+02] [-4.79593299e-01 8.76572479e-01 -4.01367209e-02 -1.05248972e+02] [-7.79124051e-02 3.02115640e-03 9.96955631e-01 -1.78964040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.02, Y:-105.28, Z:-17.90 [[ 8.73747716e-01 4.81765418e-01 6.68357063e-02 2.68017779e+02] [-4.80098373e-01 8.76295095e-01 -4.01554248e-02 -1.05280418e+02] [-7.79132966e-02 2.99799689e-03 9.96955631e-01 -1.78986534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.07, Y:-105.31, Z:-17.91 [[ 8.71884666e-01 4.85130370e-01 6.68255510e-02 2.68070050e+02] [-4.83471865e-01 8.74437614e-01 -4.01723178e-02 -1.05311493e+02] [-7.79235868e-02 2.71735408e-03 9.96955631e-01 -1.79071627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.12, Y:-105.34, Z:-17.91 [[ 8.69784473e-01 4.88887058e-01 6.68162744e-02 2.68122655e+02] [-4.87238399e-01 8.72343790e-01 -4.01877412e-02 -1.05341886e+02] [-7.79340286e-02 2.39921878e-03 9.96955631e-01 -1.79114121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:-105.37, Z:-17.91 [[ 8.67256358e-01 4.93359086e-01 6.68073427e-02 2.68176554e+02] [-4.91722485e-01 8.69823402e-01 -4.02025836e-02 -1.05372922e+02] [-7.79449000e-02 2.01527369e-03 9.96955632e-01 -1.79140798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.23, Y:-105.40, Z:-17.92 [[ 8.62516489e-01 5.01600828e-01 6.67975743e-02 2.68230492e+02] [-4.99987506e-01 8.65098226e-01 -4.02188075e-02 -1.05402759e+02] [-7.79602502e-02 1.29143202e-03 9.96955632e-01 -1.79176368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.29, Y:-105.43, Z:-17.92 [[ 8.57187903e-01 5.10654780e-01 6.67876865e-02 2.68285594e+02] [-5.09067452e-01 8.59785704e-01 -4.02352206e-02 -1.05432998e+02] [-7.79694058e-02 4.89706939e-04 9.96955632e-01 -1.79225564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:-105.46, Z:-17.93 [[ 8.55260408e-01 5.13877961e-01 6.67763154e-02 2.68339871e+02] [-5.12298951e-01 8.57863272e-01 -4.02540838e-02 -1.05464299e+02] [-7.79706350e-02 2.18287779e-04 9.96955632e-01 -1.79281422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.39, Y:-105.49, Z:-17.93 [[ 8.49496982e-01 5.23351995e-01 6.67650178e-02 2.68394604e+02] [-5.21800540e-01 8.52116364e-01 -4.02728133e-02 -1.05493526e+02] [-7.79684213e-02 -6.26388961e-04 9.96955632e-01 -1.79335632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.45, Y:-105.52, Z:-17.94 [[ 8.44344050e-01 5.31626648e-01 6.67550164e-02 2.68448226e+02] [-5.30099549e-01 8.46977705e-01 -4.02893845e-02 -1.05523143e+02] [-7.79589211e-02 -1.36870206e-03 9.96955633e-01 -1.79395509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.50, Y:-105.55, Z:-17.94 [[ 8.42257273e-01 5.34927911e-01 6.67444115e-02 2.68502210e+02] [-5.33409743e-01 8.44896086e-01 -4.03069453e-02 -1.05554746e+02] [-7.79534021e-02 -1.65330156e-03 9.96955633e-01 -1.79436543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.56, Y:-105.59, Z:-17.95 [[ 8.41670828e-01 5.35851613e-01 6.67327985e-02 2.68555218e+02] [-5.34334818e-01 8.44310430e-01 -4.03261628e-02 -1.05587308e+02] [-7.79520372e-02 -1.71630295e-03 9.96955633e-01 -1.79495777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:-105.62, Z:-17.96 [[ 8.42470637e-01 5.34594523e-01 6.67227249e-02 2.68605893e+02] [-5.33072470e-01 8.45107211e-01 -4.03428235e-02 -1.05620862e+02] [-7.79549084e-02 -1.58040353e-03 9.96955633e-01 -1.79563285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:-105.66, Z:-17.96 [[ 8.44791205e-01 5.30921018e-01 6.67135124e-02 2.68657362e+02] [-5.29386297e-01 8.47420425e-01 -4.03580521e-02 -1.05656720e+02] [-7.79613311e-02 -1.22309184e-03 9.96955633e-01 -1.79602281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.71, Y:-105.69, Z:-17.96 [[ 8.48082677e-01 5.25648749e-01 6.67020702e-02 2.68707041e+02] [-5.24096194e-01 8.50701405e-01 -4.03769545e-02 -1.05692234e+02] [-7.79676405e-02 -7.15305448e-04 9.96955634e-01 -1.79635593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.76, Y:-105.73, Z:-17.96 [[ 8.52183440e-01 5.18975372e-01 6.66929336e-02 2.68757366e+02] [-5.17401128e-01 8.54789188e-01 -4.03920403e-02 -1.05729889e+02] [-7.79708727e-02 -8.55712367e-05 9.96955634e-01 -1.79625241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:-105.76, Z:-17.97 [[ 8.53479373e-01 5.16842703e-01 6.66826857e-02 2.68810080e+02] [-5.15260627e-01 8.56080372e-01 -4.04089513e-02 -1.05764634e+02] [-7.79708101e-02 1.29244007e-04 9.96955634e-01 -1.79690359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.86, Y:-105.80, Z:-17.98 [[ 8.58843158e-01 5.07880459e-01 6.66773464e-02 2.68859778e+02] [-5.06270559e-01 8.61427029e-01 -4.04177597e-02 -1.05800212e+02] [-7.79650587e-02 9.55739006e-04 9.96955634e-01 -1.79782280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.91, Y:-105.84, Z:-17.98 [[ 8.62376896e-01 5.01858086e-01 6.66674693e-02 2.68910601e+02] [-5.00228885e-01 8.64948640e-01 -4.04340450e-02 -1.05835937e+02] [-7.79560893e-02 1.52039238e-03 9.96955634e-01 -1.79842212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.96, Y:-105.87, Z:-17.99 [[ 8.68465756e-01 4.91247482e-01 6.66568945e-02 2.68961080e+02] [-4.89585538e-01 8.71016463e-01 -4.04514705e-02 -1.05871748e+02] [-7.79309355e-02 2.49646536e-03 9.96955634e-01 -1.79888608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.01, Y:-105.91, Z:-17.99 [[ 8.71756837e-01 4.85383987e-01 6.66513485e-02 2.69009856e+02] [-4.83704195e-01 8.74295826e-01 -4.04606065e-02 -1.05908781e+02] [-7.79119262e-02 3.03227353e-03 9.96955634e-01 -1.79920735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.06, Y:-105.94, Z:-18.00 [[ 8.72069594e-01 4.84822653e-01 6.66454603e-02 2.69061870e+02] [-4.83140488e-01 8.74607011e-01 -4.04703030e-02 -1.05942126e+02] [-7.79095065e-02 3.09380053e-03 9.96955635e-01 -1.79959019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.11, Y:-105.97, Z:-18.00 [[ 8.70939500e-01 4.86851218e-01 6.66354122e-02 2.69114461e+02] [-4.85173701e-01 8.73479991e-01 -4.04868408e-02 -1.05974240e+02] [-7.79157670e-02 2.93183936e-03 9.96955635e-01 -1.79998197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.17, Y:-106.01, Z:-18.00 [[ 8.68554736e-01 4.91094403e-01 6.66255071e-02 2.69168474e+02] [-4.89428052e-01 8.71102565e-01 -4.05031341e-02 -1.06006270e+02] [-7.79285126e-02 2.57079683e-03 9.96955635e-01 -1.80040572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.22, Y:-106.04, Z:-18.01 [[ 8.65214609e-01 4.96956953e-01 6.66143190e-02 2.69222806e+02] [-4.95306455e-01 8.67772736e-01 -4.05215266e-02 -1.06036918e+02] [-7.79435442e-02 2.06531463e-03 9.96955635e-01 -1.80102883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.28, Y:-106.07, Z:-18.01 [[ 8.61782756e-01 5.02885398e-01 6.66089959e-02 2.69276175e+02] [-5.01251827e-01 8.64351724e-01 -4.05302748e-02 -1.06066672e+02] [-7.79556838e-02 1.54041102e-03 9.96955635e-01 -1.80135257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.33, Y:-106.10, Z:-18.02 [[ 8.59560687e-01 5.06675310e-01 6.65999646e-02 2.69331763e+02] [-5.05051917e-01 8.62136100e-01 -4.05451097e-02 -1.06096335e+02] [-7.79614398e-02 1.21454253e-03 9.96955635e-01 -1.80187330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.39, Y:-106.13, Z:-18.02 [[ 8.57406447e-01 5.10313757e-01 6.65887002e-02 2.69386942e+02] [-5.08699857e-01 8.59987819e-01 -4.05636012e-02 -1.06127164e+02] [-7.79656348e-02 9.05830876e-04 9.96955636e-01 -1.80241640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:269.44, Y:-106.16, Z:-18.03 [[ 8.56318445e-01 5.12138809e-01 6.65774873e-02 2.69440912e+02] [-5.10528981e-01 8.58902358e-01 -4.05819968e-02 -1.06158117e+02] [-7.79671763e-02 7.61375658e-04 9.96955636e-01 -1.80297570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.50, Y:-106.19, Z:-18.03 [[ 8.56059124e-01 5.12572984e-01 6.65711128e-02 2.69495266e+02] [-5.10963654e-01 8.58643347e-01 -4.05924510e-02 -1.06188792e+02] [-7.79674368e-02 7.34118960e-04 9.96955636e-01 -1.80317867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.55, Y:-106.22, Z:-18.04 [[ 8.56146875e-01 5.12427505e-01 6.65626060e-02 2.69549018e+02] [-5.10816652e-01 8.58730149e-01 -4.06063954e-02 -1.06219543e+02] [-7.79671504e-02 7.63750906e-04 9.96955636e-01 -1.80391603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.60, Y:-106.25, Z:-18.04 [[ 8.55393997e-01 5.13683792e-01 6.65587788e-02 2.69602118e+02] [-5.12076245e-01 8.57979330e-01 -4.06126676e-02 -1.06252446e+02] [-7.79681256e-02 6.56662538e-04 9.96955636e-01 -1.80403267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.66, Y:-106.28, Z:-18.05 [[ 8.54550396e-01 5.15087357e-01 6.65479988e-02 2.69655228e+02] [-5.13482681e-01 8.57137511e-01 -4.06303241e-02 -1.06282764e+02] [-7.79689523e-02 5.49414679e-04 9.96955636e-01 -1.80475819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.71, Y:-106.32, Z:-18.05 [[ 8.53954262e-01 5.16076255e-01 6.65388433e-02 2.69709194e+02] [-5.14473407e-01 8.56542510e-01 -4.06453123e-02 -1.06315050e+02] [-7.79694284e-02 4.76772286e-04 9.96955636e-01 -1.80522030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:-106.35, Z:-18.06 [[ 8.53514053e-01 5.16805452e-01 6.65273380e-02 2.69762490e+02] [-5.15203348e-01 8.56102761e-01 -4.06641352e-02 -1.06348668e+02] [-7.79696845e-02 4.32303511e-04 9.96955637e-01 -1.80562491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:-106.38, Z:-18.06 [[ 8.53479925e-01 5.16863293e-01 6.65158205e-02 2.69816332e+02] [-5.15259897e-01 8.56067833e-01 -4.06829662e-02 -1.06381631e+02] [-7.79695862e-02 4.49160155e-04 9.96955637e-01 -1.80602629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.87, Y:-106.41, Z:-18.07 [[ 8.54023137e-01 5.15966730e-01 6.65042508e-02 2.69868283e+02] [-5.14359145e-01 8.56608445e-01 -4.07018704e-02 -1.06413305e+02] [-7.79689138e-02 5.53269463e-04 9.96955637e-01 -1.80671104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.92, Y:-106.45, Z:-18.07 [[ 8.55577184e-01 5.13386887e-01 6.64950058e-02 2.69920065e+02] [-5.11770334e-01 8.58156893e-01 -4.07169683e-02 -1.06449385e+02] [-7.79667053e-02 8.06337761e-04 9.96955637e-01 -1.80701419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:269.97, Y:-106.48, Z:-18.07 [[ 8.55522268e-01 5.13479894e-01 6.64834393e-02 2.69971715e+02] [-5.11862154e-01 8.58101233e-01 -4.07358457e-02 -1.06483122e+02] [-7.79665589e-02 8.20066677e-04 9.96955638e-01 -1.80744388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.02, Y:-106.51, Z:-18.08 [[ 8.56284598e-01 5.12208969e-01 6.64729985e-02 2.70023986e+02] [-5.10586080e-01 8.58860325e-01 -4.07528759e-02 -1.06514318e+02] [-7.79650097e-02 9.55872197e-04 9.96955638e-01 -1.80803219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.08, Y:-106.55, Z:-18.09 [[ 8.56141928e-01 5.12448140e-01 6.64673096e-02 2.70077845e+02] [-5.10825250e-01 8.58717655e-01 -4.07621523e-02 -1.06547431e+02] [-7.79651414e-02 9.45007659e-04 9.96955638e-01 -1.80852703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.13, Y:-106.58, Z:-18.09 [[ 8.57202313e-01 5.10673875e-01 6.64559179e-02 2.70129289e+02] [-5.09044215e-01 8.59773761e-01 -4.07807162e-02 -1.06580856e+02] [-7.79627008e-02 1.12832370e-03 9.96955638e-01 -1.80905758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.18, Y:-106.62, Z:-18.10 [[ 8.59218227e-01 5.07275647e-01 6.64488960e-02 2.70181443e+02] [-5.05634934e-01 8.61782637e-01 -4.07921546e-02 -1.06615065e+02] [-7.79573715e-02 1.45047967e-03 9.96955638e-01 -1.80951966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.23, Y:-106.65, Z:-18.10 [[ 8.60400290e-01 5.05269636e-01 6.64374543e-02 2.70234046e+02] [-5.03621507e-01 8.62959940e-01 -4.08107810e-02 -1.06648746e+02] [-7.79533101e-02 1.65427702e-03 9.96955638e-01 -1.81001421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.29, Y:-106.68, Z:-18.11 [[ 8.61714026e-01 5.03027368e-01 6.64259305e-02 2.70286253e+02] [-5.01371134e-01 8.64268439e-01 -4.08295293e-02 -1.06682546e+02] [-7.79482059e-02 1.87933398e-03 9.96955639e-01 -1.81053212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.34, Y:-106.72, Z:-18.11 [[ 8.61646683e-01 5.03144117e-01 6.64152922e-02 2.70339188e+02] [-5.01486898e-01 8.64200456e-01 -4.08468267e-02 -1.06715793e+02] [-7.79479664e-02 1.88913394e-03 9.96955639e-01 -1.81098403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.39, Y:-106.75, Z:-18.11 [[ 8.60082313e-01 5.05815100e-01 6.64040535e-02 2.70392509e+02] [-5.04164403e-01 8.62640307e-01 -4.08650892e-02 -1.06748655e+02] [-7.79529923e-02 1.66878043e-03 9.96955639e-01 -1.81136818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:-106.78, Z:-18.12 [[ 8.58228837e-01 5.08955088e-01 6.63926342e-02 2.70446274e+02] [-5.07312316e-01 8.60791927e-01 -4.08836336e-02 -1.06781233e+02] [-7.79581768e-02 1.40571226e-03 9.96955639e-01 -1.81175598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.50, Y:-106.82, Z:-18.12 [[ 8.53991481e-01 5.16034995e-01 6.63809778e-02 2.70497372e+02] [-5.14412005e-01 8.56567143e-01 -4.09025508e-02 -1.06816420e+02] [-7.79669121e-02 7.83257997e-04 9.96955640e-01 -1.81222262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:-106.85, Z:-18.13 [[ 8.50854315e-01 5.21191934e-01 6.63769774e-02 2.70550186e+02] [-5.19584049e-01 8.53439433e-01 -4.09090417e-02 -1.06845883e+02] [-7.79701925e-02 3.19215951e-04 9.96955640e-01 -1.81297588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.60, Y:-106.88, Z:-18.14 [[ 8.45360938e-01 5.30056940e-01 6.63665890e-02 2.70603193e+02] [-5.28474842e-01 8.47961917e-01 -4.09258878e-02 -1.06878183e+02] [-7.79693909e-02 -4.75925667e-04 9.96955640e-01 -1.81357043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.65, Y:-106.91, Z:-18.13 [[ 8.39839486e-01 5.38763776e-01 6.63568467e-02 2.70653584e+02] [-5.37207390e-01 8.42455933e-01 -4.09416778e-02 -1.06914293e+02] [-7.79606121e-02 -1.26295084e-03 9.96955640e-01 -1.81345324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:-106.94, Z:-18.14 [[ 8.37080904e-01 5.43040187e-01 6.63544695e-02 2.70707465e+02] [-5.41496861e-01 8.39705075e-01 -4.09455302e-02 -1.06942654e+02] [-7.79532531e-02 -1.65601551e-03 9.96955640e-01 -1.81436992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:-106.98, Z:-18.15 [[ 8.35759450e-01 5.45073011e-01 6.63442086e-02 2.70760009e+02] [-5.43534749e-01 8.38386593e-01 -4.09621493e-02 -1.06976909e+02] [-7.79494570e-02 -1.82587938e-03 9.96955640e-01 -1.81477756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.81, Y:-107.01, Z:-18.15 [[ 8.35022174e-01 5.46203226e-01 6.63325379e-02 2.70811361e+02] [-5.44667020e-01 8.37650519e-01 -4.09810396e-02 -1.07011276e+02] [-7.79474608e-02 -1.90906902e-03 9.96955640e-01 -1.81512768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:-107.04, Z:-18.16 [[ 8.34686910e-01 5.46716671e-01 6.63222729e-02 2.70862087e+02] [-5.45180764e-01 8.37315429e-01 -4.09976454e-02 -1.07044929e+02] [-7.79467586e-02 -1.93742940e-03 9.96955641e-01 -1.81573406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.91, Y:-107.08, Z:-18.16 [[ 8.32813208e-01 5.49567798e-01 6.63128674e-02 2.70911467e+02] [-5.48039678e-01 8.35446262e-01 -4.10128530e-02 -1.07082841e+02] [-7.79401805e-02 -2.18603682e-03 9.96955641e-01 -1.81593641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.96, Y:-107.11, Z:-18.17 [[ 8.35207954e-01 5.45921883e-01 6.63096641e-02 2.70964001e+02] [-5.44381857e-01 8.37834062e-01 -4.10180315e-02 -1.07112836e+02] [-7.79491362e-02 -1.83919185e-03 9.96955641e-01 -1.81705234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:-107.15, Z:-18.17 [[ 8.37807318e-01 5.41925553e-01 6.62992683e-02 2.71014214e+02] [-5.40371669e-01 8.40425251e-01 -4.10348279e-02 -1.07150073e+02] [-7.79574009e-02 -1.44696718e-03 9.96955641e-01 -1.81728166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.06, Y:-107.19, Z:-18.17 [[ 8.40777632e-01 5.37306905e-01 6.62892426e-02 2.71063048e+02] [-5.35737363e-01 8.43386206e-01 -4.10510174e-02 -1.07191036e+02] [-7.79644279e-02 -9.98846774e-04 9.96955641e-01 -1.81687214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.12, Y:-107.22, Z:-18.18 [[ 8.43775772e-01 5.32586790e-01 6.62854320e-02 2.71116063e+02] [-5.31002170e-01 8.46375215e-01 -4.10571695e-02 -1.07220724e+02] [-7.79688528e-02 -5.54663389e-04 9.96955641e-01 -1.81787356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:-107.25, Z:-18.19 [[ 8.43508248e-01 5.33011602e-01 6.62756916e-02 2.71170852e+02] [-5.31427057e-01 8.46107736e-01 -4.10728867e-02 -1.07250235e+02] [-7.79687005e-02 -5.75377026e-04 9.96955641e-01 -1.81875355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:-107.28, Z:-18.19 [[ 8.44308089e-01 5.31744169e-01 6.62720913e-02 2.71223402e+02] [-5.30155266e-01 8.46904915e-01 -4.10786951e-02 -1.07282363e+02] [-7.79695164e-02 -4.51423575e-04 9.96955641e-01 -1.81919253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.28, Y:-107.31, Z:-18.19 [[ 8.45190165e-01 5.30342347e-01 6.62614584e-02 2.71277042e+02] [-5.28747792e-01 8.47783524e-01 -4.10958391e-02 -1.07314514e+02] [-7.79702365e-02 -3.01800819e-04 9.96955642e-01 -1.81940810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.33, Y:-107.35, Z:-18.20 [[ 8.47063912e-01 5.27345889e-01 6.62498500e-02 2.71332029e+02] [-5.25740697e-01 8.49650701e-01 -4.11145444e-02 -1.07345398e+02] [-7.79708175e-02 -3.59548689e-06 9.96955642e-01 -1.81980223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.39, Y:-107.38, Z:-18.20 [[ 8.47216126e-01 5.27102837e-01 6.62377186e-02 2.71385674e+02] [-5.25495376e-01 8.49801505e-01 -4.11340795e-02 -1.07377394e+02] [-7.79708029e-02 4.18406601e-05 9.96955642e-01 -1.82004722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:271.44, Y:-107.41, Z:-18.21 [[ 8.48619840e-01 5.24841251e-01 6.62270943e-02 2.71440943e+02] [-5.23225565e-01 8.51200087e-01 -4.11511778e-02 -1.07405289e+02] [-7.79703441e-02 2.69997059e-04 9.96955642e-01 -1.82065963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.50, Y:-107.44, Z:-18.21 [[ 8.49407753e-01 5.23566473e-01 6.62164433e-02 2.71495182e+02] [-5.21945579e-01 8.51984732e-01 -4.11683094e-02 -1.07436149e+02] [-7.79697452e-02 4.07301391e-04 9.96955642e-01 -1.82115472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.55, Y:-107.47, Z:-18.22 [[ 8.49655842e-01 5.23165299e-01 6.62043869e-02 2.71548672e+02] [-5.21541679e-01 8.52231102e-01 -4.11876886e-02 -1.07468371e+02] [-7.79694071e-02 4.67013190e-04 9.96955643e-01 -1.82162922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.60, Y:-107.50, Z:-18.22 [[ 8.50226172e-01 5.22238818e-01 6.61972378e-02 2.71603896e+02] [-5.20611497e-01 8.52799096e-01 -4.11991756e-02 -1.07497118e+02] [-7.79687532e-02 5.65574308e-04 9.96955643e-01 -1.82190955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.66, Y:-107.53, Z:-18.22 [[ 8.50105469e-01 5.22436707e-01 6.61859489e-02 2.71657237e+02] [-5.20808573e-01 8.52677878e-01 -4.12173030e-02 -1.07528548e+02] [-7.79687265e-02 5.68845035e-04 9.96955643e-01 -1.82245763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.71, Y:-107.56, Z:-18.23 [[ 8.49982282e-01 5.22638393e-01 6.61757499e-02 2.71710985e+02] [-5.21009596e-01 8.52554271e-01 -4.12336715e-02 -1.07561213e+02] [-7.79687180e-02 5.69689493e-04 9.96955643e-01 -1.82290199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.77, Y:-107.59, Z:-18.23 [[ 8.49940994e-01 5.22707002e-01 6.61641620e-02 2.71765458e+02] [-5.21076965e-01 8.52512198e-01 -4.12522573e-02 -1.07591361e+02] [-7.79685988e-02 5.85363812e-04 9.96955643e-01 -1.82304106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:-107.62, Z:-18.24 [[ 8.48610699e-01 5.24865257e-01 6.61539313e-02 2.71819990e+02] [-5.23240482e-01 8.51185230e-01 -4.12686571e-02 -1.07618874e+02] [-7.79697336e-02 4.06609030e-04 9.96955644e-01 -1.82376143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:-107.65, Z:-18.25 [[ 8.45424892e-01 5.29982240e-01 6.61481493e-02 2.71875728e+02] [-5.28372322e-01 8.48008740e-01 -4.12779228e-02 -1.07645453e+02] [-7.79707747e-02 -5.34677684e-05 9.96955644e-01 -1.82469681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.93, Y:-107.68, Z:-18.25 [[ 8.45269936e-01 5.30230664e-01 6.61375647e-02 2.71929326e+02] [-5.28620179e-01 8.47853431e-01 -4.12948750e-02 -1.07678976e+02] [-7.79707701e-02 -5.63349396e-05 9.96955644e-01 -1.82519191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.98, Y:-107.71, Z:-18.26 [[ 8.44050748e-01 5.32170799e-01 6.61254513e-02 2.71979824e+02] [-5.30564734e-01 8.46636991e-01 -4.13142631e-02 -1.07713116e+02] [-7.79704976e-02 -2.12497805e-04 9.96955644e-01 -1.82562162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.03, Y:-107.75, Z:-18.26 [[ 8.43899582e-01 5.32411682e-01 6.61157803e-02 2.72033396e+02] [-5.30805142e-01 8.46485531e-01 -4.13297341e-02 -1.07746679e+02] [-7.79704846e-02 -2.16450840e-04 9.96955644e-01 -1.82611666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:-107.78, Z:-18.27 [[ 8.42882008e-01 5.34022641e-01 6.61040020e-02 2.72085054e+02] [-5.32419567e-01 8.45470107e-01 -4.13485640e-02 -1.07781101e+02] [-7.79700270e-02 -3.43103504e-04 9.96955645e-01 -1.82661694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.14, Y:-107.81, Z:-18.28 [[ 8.43357065e-01 5.33273366e-01 6.60937059e-02 2.72136991e+02] [-5.31666703e-01 8.45942937e-01 -4.13650154e-02 -1.07813795e+02] [-7.79703646e-02 -2.54344676e-04 9.96955645e-01 -1.82766049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:-107.85, Z:-18.28 [[ 8.39869795e-01 5.38750166e-01 6.60831725e-02 2.72184660e+02] [-5.37159041e-01 8.42465256e-01 -4.13818364e-02 -1.07851831e+02] [-7.79672480e-02 -7.41819113e-04 9.96955645e-01 -1.82836761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.23, Y:-107.89, Z:-18.28 [[ 8.33945060e-01 5.47877323e-01 6.60762945e-02 2.72233752e+02] [-5.46313728e-01 8.36557198e-01 -4.13928158e-02 -1.07888947e+02] [-7.79547849e-02 -1.57905257e-03 9.96955645e-01 -1.82845296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.29, Y:-107.92, Z:-18.28 [[ 8.30427670e-01 5.53194514e-01 6.60735596e-02 2.72285938e+02] [-5.51647294e-01 8.33049540e-01 -4.13971810e-02 -1.07921694e+02] [-7.79432419e-02 -2.07193584e-03 9.96955645e-01 -1.82803465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.34, Y:-107.95, Z:-18.29 [[ 8.27089082e-01 5.58174531e-01 6.60669616e-02 2.72339011e+02] [-5.56642253e-01 8.29719714e-01 -4.14077083e-02 -1.07953912e+02] [-7.79297886e-02 -2.52779893e-03 9.96955645e-01 -1.82874672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.39, Y:-107.99, Z:-18.29 [[ 8.23925574e-01 5.62834402e-01 6.60612176e-02 2.72390262e+02] [-5.61316266e-01 8.26564391e-01 -4.14168702e-02 -1.07987434e+02] [-7.79146894e-02 -2.95681744e-03 9.96955645e-01 -1.82859095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.44, Y:-108.02, Z:-18.29 [[ 8.19976990e-01 5.68572334e-01 6.60548014e-02 2.72443789e+02] [-5.67071833e-01 8.22625876e-01 -4.14271007e-02 -1.08019118e+02] [-7.78926921e-02 -3.48854802e-03 9.96955645e-01 -1.82879902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.50, Y:-108.05, Z:-18.29 [[ 8.19026309e-01 5.69942096e-01 6.60447798e-02 2.72497267e+02] [-5.68444741e-01 8.21676973e-01 -4.14430714e-02 -1.08051556e+02] [-7.78876257e-02 -3.59984190e-03 9.96955645e-01 -1.82939719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.55, Y:-108.09, Z:-18.30 [[ 8.21406587e-01 5.66507590e-01 6.60330989e-02 2.72547340e+02] [-5.64997657e-01 8.24050106e-01 -4.14616747e-02 -1.08087491e+02] [-7.79029356e-02 -3.25165351e-03 9.96955646e-01 -1.82981664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:-108.12, Z:-18.30 [[ 8.25789141e-01 5.60101116e-01 6.60229825e-02 2.72597724e+02] [-5.58569381e-01 8.28420087e-01 -4.14777778e-02 -1.08124137e+02] [-7.79265145e-02 -2.62651796e-03 9.96955646e-01 -1.83004284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.64, Y:-108.17, Z:-18.31 [[ 8.46095306e-01 5.28928186e-01 6.60129288e-02 2.72644892e+02] [-5.27298191e-01 8.48666533e-01 -4.14937723e-02 -1.08166214e+02] [-7.79701891e-02 2.99188040e-04 9.96955646e-01 -1.83142426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.70, Y:-108.20, Z:-18.32 [[ 8.46174670e-01 5.28802627e-01 6.60015868e-02 2.72698125e+02] [-5.27170843e-01 8.48744763e-01 -4.15118054e-02 -1.08199791e+02] [-7.79700529e-02 3.32126083e-04 9.96955646e-01 -1.83198870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.75, Y:-108.23, Z:-18.32 [[ 8.46030155e-01 5.29035226e-01 6.59902046e-02 2.72751591e+02] [-5.27402739e-01 8.48599799e-01 -4.15298917e-02 -1.08233528e+02] [-7.79700500e-02 3.32126073e-04 9.96955646e-01 -1.83248392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.80, Y:-108.27, Z:-18.33 [[ 8.46033412e-01 5.29031437e-01 6.59788173e-02 2.72803417e+02] [-5.27397528e-01 8.48602152e-01 -4.15479748e-02 -1.08266547e+02] [-7.79699512e-02 3.53909707e-04 9.96955647e-01 -1.83307858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.86, Y:-108.30, Z:-18.34 [[ 8.45979894e-01 5.29118326e-01 6.59682982e-02 2.72856873e+02] [-5.27483378e-01 8.48547974e-01 -4.15646701e-02 -1.08300299e+02] [-7.79698944e-02 3.65694408e-04 9.96955647e-01 -1.83356370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.91, Y:-108.33, Z:-18.34 [[ 8.45833151e-01 5.29354314e-01 6.59567326e-02 2.72910314e+02] [-5.27718653e-01 8.48400776e-01 -4.15830148e-02 -1.08334073e+02] [-7.79698914e-02 3.65694392e-04 9.96955647e-01 -1.83405893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.96, Y:-108.37, Z:-18.35 [[ 8.45686343e-01 5.29590262e-01 6.59451619e-02 2.72963746e+02] [-5.27953886e-01 8.48253512e-01 -4.16013563e-02 -1.08367861e+02] [-7.79698884e-02 3.65694378e-04 9.96955647e-01 -1.83455415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.02, Y:-108.40, Z:-18.35 [[ 8.45578954e-01 5.29763149e-01 6.59335861e-02 2.73016465e+02] [-5.28125869e-01 8.48145546e-01 -4.16196946e-02 -1.08401542e+02] [-7.79698579e-02 3.71505412e-04 9.96955648e-01 -1.83508520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.07, Y:-108.44, Z:-18.36 [[ 8.44819965e-01 5.30974118e-01 6.59220137e-02 2.73069248e+02] [-5.29339087e-01 8.47387991e-01 -4.16380164e-02 -1.08436256e+02] [-7.79702317e-02 2.81529016e-04 9.96955648e-01 -1.83562230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.12, Y:-108.47, Z:-18.36 [[ 8.43551709e-01 5.32988111e-01 6.59104583e-02 2.73120831e+02] [-5.31357783e-01 8.46122721e-01 -4.16562998e-02 -1.08469610e+02] [-7.79706489e-02 1.17207903e-04 9.96955648e-01 -1.83608483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.17, Y:-108.50, Z:-18.36 [[ 8.38823446e-01 5.40399630e-01 6.59049823e-02 2.73174401e+02] [-5.38791337e-01 8.41408300e-01 -4.16649617e-02 -1.08501473e+02] [-7.79687290e-02 -5.59486775e-04 9.96955648e-01 -1.83626842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.23, Y:-108.53, Z:-18.37 [[ 8.35603079e-01 5.45367174e-01 6.58949098e-02 2.73228190e+02] [-5.43772990e-01 8.38196659e-01 -4.16808857e-02 -1.08534165e+02] [-7.79642801e-02 -1.00319573e-03 9.96955648e-01 -1.83671344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.28, Y:-108.57, Z:-18.37 [[ 8.32152410e-01 5.50619457e-01 6.58830827e-02 2.73281720e+02] [-5.49040161e-01 8.34755082e-01 -4.16995720e-02 -1.08567424e+02] [-7.79568337e-02 -1.47205904e-03 9.96955649e-01 -1.83728558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.33, Y:-108.60, Z:-18.38 [[ 8.31218446e-01 5.52029758e-01 6.58714022e-02 2.73334414e+02] [-5.50453418e-01 8.33822908e-01 -4.17180151e-02 -1.08601099e+02] [-7.79546699e-02 -1.58235485e-03 9.96955649e-01 -1.83783350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.39, Y:-108.63, Z:-18.38 [[ 8.30638140e-01 5.52903956e-01 6.58596726e-02 2.73387323e+02] [-5.51328889e-01 8.33243373e-01 -4.17365244e-02 -1.08634422e+02] [-7.79534251e-02 -1.64239116e-03 9.96955649e-01 -1.83847409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.44, Y:-108.67, Z:-18.39 [[ 8.31905864e-01 5.50996076e-01 6.58479903e-02 2.73439286e+02] [-5.49413577e-01 8.34506588e-01 -4.17549474e-02 -1.08669678e+02] [-7.79573939e-02 -1.44159433e-03 9.96955649e-01 -1.83906235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:-108.71, Z:-18.40 [[ 8.35916589e-01 5.44893606e-01 6.58362746e-02 2.73490320e+02] [-5.43290663e-01 8.38504763e-01 -4.17734118e-02 -1.08706723e+02] [-7.79660948e-02 -8.49145355e-04 9.96955649e-01 -1.83964709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.54, Y:-108.74, Z:-18.40 [[ 8.39834642e-01 5.38836632e-01 6.58244430e-02 2.73540503e+02] [-5.37213561e-01 8.42410241e-01 -4.17920471e-02 -1.08742726e+02] [-7.79702708e-02 -2.63374492e-04 9.96955650e-01 -1.84017506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.59, Y:-108.77, Z:-18.41 [[ 8.45094049e-01 5.30551246e-01 6.58135541e-02 2.73594649e+02] [-5.28901589e-01 8.47652700e-01 -4.18091878e-02 -1.08773727e+02] [-7.79689536e-02 5.23802452e-04 9.96955650e-01 -1.84092503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.65, Y:-108.81, Z:-18.41 [[ 8.44813263e-01 5.30999714e-01 6.58016364e-02 2.73645223e+02] [-5.29349954e-01 8.47371848e-01 -4.18279363e-02 -1.08809620e+02] [-7.79690764e-02 5.04702086e-04 9.96955650e-01 -1.84095345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.70, Y:-108.84, Z:-18.41 [[ 8.44238447e-01 5.31914054e-01 6.57942502e-02 2.73698175e+02] [-5.30266160e-01 8.46798235e-01 -4.18395513e-02 -1.08842846e+02] [-7.79695003e-02 4.34093423e-04 9.96955650e-01 -1.84146680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:-108.88, Z:-18.42 [[ 8.42976205e-01 5.33913614e-01 6.57827453e-02 2.73751714e+02] [-5.32270382e-01 8.45538987e-01 -4.18576322e-02 -1.08875321e+02] [-7.79702356e-02 2.70780982e-04 9.96955651e-01 -1.84210498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.81, Y:-108.91, Z:-18.43 [[ 8.40256626e-01 5.38184882e-01 6.57710759e-02 2.73807409e+02] [-5.36553243e-01 8.42826804e-01 -4.18759605e-02 -1.08905211e+02] [-7.79706345e-02 -1.03130749e-04 9.96955651e-01 -1.84263860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:-108.94, Z:-18.43 [[ 8.38660133e-01 5.40670776e-01 6.57593645e-02 2.73861919e+02] [-5.39045313e-01 8.41234221e-01 -4.18943432e-02 -1.08936803e+02] [-7.79700748e-02 -3.12161739e-04 9.96955651e-01 -1.84308230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.92, Y:-108.97, Z:-18.44 [[ 8.37037696e-01 5.43180599e-01 6.57474958e-02 2.73916011e+02] [-5.41561392e-01 8.39615723e-01 -4.19129613e-02 -1.08968392e+02] [-7.79689387e-02 -5.23576748e-04 9.96955651e-01 -1.84352621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.97, Y:-109.00, Z:-18.44 [[ 8.35761201e-01 5.45144055e-01 6.57356349e-02 2.73969567e+02] [-5.43529441e-01 8.38342109e-01 -4.19315556e-02 -1.09000625e+02] [-7.79676890e-02 -6.84485617e-04 9.96955651e-01 -1.84400248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.02, Y:-109.03, Z:-18.45 [[ 8.34789745e-01 5.46631944e-01 6.57236587e-02 2.74023074e+02] [-5.45020453e-01 8.37372603e-01 -4.19503187e-02 -1.09032364e+02] [-7.79665754e-02 -8.01042393e-04 9.96955652e-01 -1.84452531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.08, Y:-109.06, Z:-18.45 [[ 8.33525951e-01 5.48558423e-01 6.57126021e-02 2.74076924e+02] [-5.46951537e-01 8.36111676e-01 -4.19676312e-02 -1.09064907e+02] [-7.79647714e-02 -9.60498990e-04 9.96955652e-01 -1.84499442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.13, Y:-109.10, Z:-18.45 [[ 8.32981121e-01 5.49386786e-01 6.57009272e-02 2.74129117e+02] [-5.47781031e-01 8.35567548e-01 -4.19859003e-02 -1.09098155e+02] [-7.79640615e-02 -1.01625933e-03 9.96955652e-01 -1.84531958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.18, Y:-109.13, Z:-18.46 [[ 8.32387637e-01 5.50286432e-01 6.56937263e-02 2.74181671e+02] [-5.48682583e-01 8.34975246e-01 -4.19971644e-02 -1.09131557e+02] [-7.79631050e-02 -1.08708295e-03 9.96955652e-01 -1.84576615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.23, Y:-109.16, Z:-18.46 [[ 8.31251733e-01 5.52002196e-01 6.56820432e-02 2.74234616e+02] [-5.50402246e-01 8.33841755e-01 -4.20154283e-02 -1.09164664e+02] [-7.79610389e-02 -1.22614647e-03 9.96955652e-01 -1.84641036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.29, Y:-109.20, Z:-18.47 [[ 8.30240304e-01 5.53523684e-01 6.56701504e-02 2.74287298e+02] [-5.51927010e-01 8.32832347e-01 -4.20340087e-02 -1.09199447e+02] [-7.79590448e-02 -1.34680164e-03 9.96955653e-01 -1.84697948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:-109.23, Z:-18.48 [[ 8.28987204e-01 5.55400048e-01 6.56582202e-02 2.74338149e+02] [-5.53807766e-01 8.31581947e-01 -4.20526358e-02 -1.09234170e+02] [-7.79562265e-02 -1.50093525e-03 9.96955653e-01 -1.84757764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.39, Y:-109.27, Z:-18.48 [[ 8.28667474e-01 5.55878191e-01 6.56479527e-02 2.74389591e+02] [-5.54286138e-01 8.31262357e-01 -4.20686581e-02 -1.09269892e+02] [-7.79557215e-02 -1.52682146e-03 9.96955653e-01 -1.84805853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.44, Y:-109.31, Z:-18.49 [[ 8.30072298e-01 5.53779631e-01 6.56361145e-02 2.74439748e+02] [-5.52179558e-01 8.32662243e-01 -4.20871202e-02 -1.09307837e+02] [-7.79597042e-02 -1.30756804e-03 9.96955653e-01 -1.84850978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.49, Y:-109.35, Z:-18.49 [[ 8.32730753e-01 5.49775350e-01 6.56243683e-02 2.74488183e+02] [-5.48161378e-01 8.35312059e-01 -4.21054275e-02 -1.09345888e+02] [-7.79653524e-02 -9.10259842e-04 9.96955654e-01 -1.84892904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.54, Y:-109.38, Z:-18.49 [[ 8.35011910e-01 5.46305753e-01 6.56135294e-02 2.74538394e+02] [-5.44679728e-01 8.37585640e-01 -4.21223112e-02 -1.09383869e+02] [-7.79686110e-02 -5.65727792e-04 9.96955654e-01 -1.84934700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.59, Y:-109.42, Z:-18.50 [[ 8.35612937e-01 5.45387386e-01 6.56019703e-02 2.74589627e+02] [-5.43757120e-01 8.38183983e-01 -4.21403060e-02 -1.09420967e+02] [-7.79693120e-02 -4.58553576e-04 9.96955654e-01 -1.84972173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.64, Y:-109.46, Z:-18.50 [[ 8.35178744e-01 5.46053485e-01 6.55900670e-02 2.74640754e+02] [-5.44423815e-01 8.37750167e-01 -4.21588250e-02 -1.09458380e+02] [-7.79690629e-02 -4.98640007e-04 9.96955654e-01 -1.85015011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.69, Y:-109.49, Z:-18.51 [[ 8.32219276e-01 5.50554788e-01 6.55782192e-02 2.74691624e+02] [-5.48937574e-01 8.34798550e-01 -4.21772462e-02 -1.09490945e+02] [-7.79654872e-02 -8.97631326e-04 9.96955655e-01 -1.85070876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.74, Y:-109.52, Z:-18.51 [[ 8.29577413e-01 5.54528678e-01 6.55687489e-02 2.74744067e+02] [-5.52922655e-01 8.32163671e-01 -4.21919636e-02 -1.09524442e+02] [-7.79605846e-02 -1.25294670e-03 9.96955655e-01 -1.85127982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.80, Y:-109.56, Z:-18.52 [[ 8.27589768e-01 5.57491936e-01 6.55585019e-02 2.74795728e+02] [-5.55893913e-01 8.30180976e-01 -4.22078796e-02 -1.09557652e+02] [-7.79559736e-02 -1.51276287e-03 9.96955655e-01 -1.85190828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.85, Y:-109.59, Z:-18.52 [[ 8.26713105e-01 5.58792394e-01 6.55477071e-02 2.74848571e+02] [-5.57197119e-01 8.29306006e-01 -4.22246369e-02 -1.09591786e+02] [-7.79539132e-02 -1.61533285e-03 9.96955655e-01 -1.85218625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.90, Y:-109.63, Z:-18.52 [[ 8.28004900e-01 5.56877835e-01 6.55359694e-02 2.74900585e+02] [-5.55275123e-01 8.30593210e-01 -4.22428470e-02 -1.09626239e+02] [-7.79578364e-02 -1.41320921e-03 9.96955655e-01 -1.85246195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.95, Y:-109.66, Z:-18.53 [[ 8.29059712e-01 5.55307487e-01 6.55254791e-02 2.74952739e+02] [-5.53698587e-01 8.31644180e-01 -4.22591129e-02 -1.09660878e+02] [-7.79606851e-02 -1.24603722e-03 9.96955655e-01 -1.85280153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.01, Y:-109.70, Z:-18.53 [[ 8.29449702e-01 5.54726206e-01 6.55135684e-02 2.75005212e+02] [-5.53114037e-01 8.32032132e-01 -4.22775698e-02 -1.09695137e+02] [-7.79618699e-02 -1.16935662e-03 9.96955656e-01 -1.85327842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.06, Y:-109.73, Z:-18.54 [[ 8.30681205e-01 5.52881772e-01 6.55017663e-02 2.75057989e+02] [-5.51262428e-01 8.33259141e-01 -4.22958473e-02 -1.09729383e+02] [-7.79645486e-02 -9.74297325e-04 9.96955656e-01 -1.85381223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.11, Y:-109.76, Z:-18.54 [[ 8.31265572e-01 5.52004188e-01 6.54898801e-02 2.75111049e+02] [-5.50380673e-01 8.33840884e-01 -4.23142437e-02 -1.09762973e+02] [-7.79657792e-02 -8.69990313e-04 9.96955656e-01 -1.85449361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.16, Y:-109.80, Z:-18.55 [[ 8.31417971e-01 5.51776019e-01 6.54780962e-02 2.75163595e+02] [-5.50150362e-01 8.33991931e-01 -4.23324706e-02 -1.09796998e+02] [-7.79662460e-02 -8.26821538e-04 9.96955656e-01 -1.85518691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.22, Y:-109.83, Z:-18.56 [[ 8.31286367e-01 5.51975649e-01 6.54664794e-02 2.75216013e+02] [-5.50349195e-01 8.33859823e-01 -4.23504281e-02 -1.09831657e+02] [-7.79662719e-02 -8.24090763e-04 9.96955657e-01 -1.85583184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.27, Y:-109.87, Z:-18.56 [[ 8.31224573e-01 5.52070060e-01 6.54550049e-02 2.75267946e+02] [-5.50442504e-01 8.33797331e-01 -4.23681553e-02 -1.09866264e+02] [-7.79663984e-02 -8.11765010e-04 9.96955657e-01 -1.85626761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.32, Y:-109.90, Z:-18.57 [[ 8.32475329e-01 5.50183591e-01 6.54434265e-02 2.75320177e+02] [-5.48548799e-01 8.35043496e-01 -4.23860322e-02 -1.09901246e+02] [-7.79682070e-02 -6.13586884e-04 9.96955657e-01 -1.85662707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.37, Y:-109.94, Z:-18.57 [[ 8.33789680e-01 5.48191060e-01 6.54318827e-02 2.75372511e+02] [-5.46548732e-01 8.36353034e-01 -4.24038449e-02 -1.09936849e+02] [-7.79695623e-02 -4.05824230e-04 9.96955657e-01 -1.85690875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.42, Y:-109.97, Z:-18.57 [[ 8.35237764e-01 5.45983621e-01 6.54198991e-02 2.75423905e+02] [-5.44333071e-01 8.37795831e-01 -4.24223250e-02 -1.09972294e+02] [-7.79704134e-02 -1.77486739e-04 9.96955658e-01 -1.85731568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.48, Y:-110.01, Z:-18.58 [[ 8.36046388e-01 5.44745296e-01 6.54140682e-02 2.75475372e+02] [-5.43090253e-01 8.38601550e-01 -4.24313143e-02 -1.10007027e+02] [-7.79705978e-02 -5.11958311e-05 9.96955658e-01 -1.85768554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.53, Y:-110.04, Z:-18.58 [[ 8.35074133e-01 5.46236049e-01 6.54016088e-02 2.75528968e+02] [-5.44584065e-01 8.37631273e-01 -4.24505099e-02 -1.10040165e+02] [-7.79704317e-02 -1.67351212e-04 9.96955658e-01 -1.85827647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.58, Y:-110.07, Z:-18.59 [[ 8.33531465e-01 5.48588624e-01 6.53897398e-02 2.75582685e+02] [-5.46942423e-01 8.36092332e-01 -4.24687849e-02 -1.10073053e+02] [-7.79697523e-02 -3.65354213e-04 9.96955658e-01 -1.85879349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:-110.11, Z:-18.59 [[ 8.32256938e-01 5.50521677e-01 6.53779128e-02 2.75635696e+02] [-5.48879995e-01 8.34820704e-01 -4.24869839e-02 -1.10106585e+02] [-7.79688409e-02 -5.24541334e-04 9.96955658e-01 -1.85919790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.69, Y:-110.14, Z:-18.60 [[ 8.30074928e-01 5.53807644e-01 6.53659540e-02 2.75688212e+02] [-5.52174661e-01 8.32644244e-01 -4.25053745e-02 -1.10141088e+02] [-7.79663867e-02 -8.10777837e-04 9.96955659e-01 -1.85955968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:-110.17, Z:-18.60 [[ 8.28546515e-01 5.56093073e-01 6.53541581e-02 2.75739894e+02] [-5.54465748e-01 8.31119418e-01 -4.25235037e-02 -1.10174834e+02] [-7.79641356e-02 -1.00394135e-03 9.96955659e-01 -1.86031486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:-110.21, Z:-18.61 [[ 8.28125080e-01 5.56721704e-01 6.53436760e-02 2.75790402e+02] [-5.55095062e-01 8.30698414e-01 -4.25396049e-02 -1.10210096e+02] [-7.79636093e-02 -1.04383813e-03 9.96955659e-01 -1.86064549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.84, Y:-110.25, Z:-18.61 [[ 8.29174002e-01 5.55159552e-01 6.53325777e-02 2.75842975e+02] [-5.53526719e-01 8.31743412e-01 -4.25566429e-02 -1.10245116e+02] [-7.79656679e-02 -8.76465483e-04 9.96955659e-01 -1.86098088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.90, Y:-110.28, Z:-18.61 [[ 8.29107088e-01 5.55260878e-01 6.53206977e-02 2.75895774e+02] [-5.53626923e-01 8.31675784e-01 -4.25748699e-02 -1.10278387e+02] [-7.79658022e-02 -8.64170520e-04 9.96955659e-01 -1.86137913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.95, Y:-110.31, Z:-18.62 [[ 8.29024307e-01 5.55385870e-01 6.53087622e-02 2.75949674e+02] [-5.53750861e-01 8.31592332e-01 -4.25931709e-02 -1.10310604e+02] [-7.79659111e-02 -8.54009302e-04 9.96955660e-01 -1.86174257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:-110.34, Z:-18.62 [[ 8.29056981e-01 5.55338509e-01 6.52967310e-02 2.76002620e+02] [-5.53701901e-01 8.31623987e-01 -4.26116071e-02 -1.10342838e+02] [-7.79661941e-02 -8.27473782e-04 9.96955660e-01 -1.86213599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.06, Y:-110.38, Z:-18.62 [[ 8.30332122e-01 5.53431002e-01 6.52893064e-02 2.76055265e+02] [-5.51787603e-01 8.32894785e-01 -4.26229801e-02 -1.10375372e+02] [-7.79680014e-02 -6.34600345e-04 9.96955660e-01 -1.86244781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.11, Y:-110.41, Z:-18.63 [[ 8.31545899e-01 5.51606851e-01 6.52786352e-02 2.76107105e+02] [-5.49956547e-01 8.34104121e-01 -4.26393171e-02 -1.10409255e+02] [-7.79693181e-02 -4.43863531e-04 9.96955660e-01 -1.86281290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.16, Y:-110.45, Z:-18.63 [[ 8.35101873e-01 5.46209609e-01 6.52681034e-02 2.76157325e+02] [-5.44541511e-01 8.37648528e-01 -4.26554321e-02 -1.10445006e+02] [-7.79705376e-02 8.04396418e-05 9.96955660e-01 -1.86313128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.21, Y:-110.48, Z:-18.64 [[ 8.38630279e-01 5.40777865e-01 6.52576145e-02 2.76208011e+02] [-5.39092025e-01 8.41165224e-01 -4.26714728e-02 -1.10480544e+02] [-7.79682239e-02 6.05729507e-04 9.96955661e-01 -1.86352591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.26, Y:-110.51, Z:-18.64 [[ 8.40868756e-01 5.37291863e-01 6.52471358e-02 2.76260668e+02] [-5.35594272e-01 8.43395847e-01 -4.26874894e-02 -1.10513496e+02] [-7.79648040e-02 9.48583942e-04 9.96955661e-01 -1.86387369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.31, Y:-110.55, Z:-18.65 [[ 8.42106979e-01 5.35350349e-01 6.52367936e-02 2.76314088e+02] [-5.33645708e-01 8.44629319e-01 -4.27032890e-02 -1.10545734e+02] [-7.79621292e-02 1.14740277e-03 9.96955661e-01 -1.86452050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.37, Y:-110.58, Z:-18.65 [[ 8.44539834e-01 5.31505593e-01 6.52247841e-02 2.76366677e+02] [-5.29788055e-01 8.47053410e-01 -4.27216244e-02 -1.10577153e+02] [-7.79556581e-02 1.52480204e-03 9.96955661e-01 -1.86530548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.42, Y:-110.61, Z:-18.66 [[ 8.46992137e-01 5.27590094e-01 6.52151281e-02 2.76419942e+02] [-5.25859804e-01 8.49496951e-01 -4.27363593e-02 -1.10605558e+02] [-7.79473323e-02 1.90334587e-03 9.96955661e-01 -1.86635696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.47, Y:-110.64, Z:-18.67 [[ 8.48966328e-01 5.24408733e-01 6.52047169e-02 2.76473273e+02] [-5.22667839e-01 8.51463784e-01 -4.27522383e-02 -1.10636180e+02] [-7.79391021e-02 2.21480231e-03 9.96955662e-01 -1.86733633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.53, Y:-110.67, Z:-18.68 [[ 8.49004643e-01 5.24348018e-01 6.51941096e-02 2.76525643e+02] [-5.22605706e-01 8.51501110e-01 -4.27684075e-02 -1.10668736e+02] [-7.79383864e-02 2.23976292e-03 9.96955662e-01 -1.86792284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.58, Y:-110.70, Z:-18.69 [[ 8.48708194e-01 5.24829060e-01 6.51832840e-02 2.76578490e+02] [-5.23086897e-01 8.51204764e-01 -4.27849004e-02 -1.10702082e+02] [-7.79390810e-02 2.21537376e-03 9.96955662e-01 -1.86856446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.63, Y:-110.73, Z:-18.69 [[ 8.47512215e-01 5.26759561e-01 6.51721539e-02 2.76631808e+02] [-5.25021784e-01 8.50011840e-01 -4.28018478e-02 -1.10734871e+02] [-7.79433850e-02 2.05828833e-03 9.96955662e-01 -1.86935684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:-110.77, Z:-18.70 [[ 8.46226818e-01 5.28823420e-01 6.51610555e-02 2.76684933e+02] [-5.27090441e-01 8.48729770e-01 -4.28187372e-02 -1.10768711e+02] [-7.79476787e-02 1.88859428e-03 9.96955662e-01 -1.87003190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:-110.80, Z:-18.71 [[ 8.43320275e-01 5.33447769e-01 6.51490004e-02 2.76738271e+02] [-5.31727101e-01 8.45831707e-01 -4.28370713e-02 -1.10799777e+02] [-7.79564303e-02 1.48388166e-03 9.96955663e-01 -1.87111706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.79, Y:-110.83, Z:-18.72 [[ 8.37900627e-01 5.41922044e-01 6.51385945e-02 2.76792904e+02] [-5.40225551e-01 8.40428453e-01 -4.28528888e-02 -1.10828087e+02] [-7.79672533e-02 7.16929284e-04 9.96955663e-01 -1.87231836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.85, Y:-110.86, Z:-18.73 [[ 8.32674948e-01 5.49918872e-01 6.51280689e-02 2.76846412e+02] [-5.48245406e-01 8.35218076e-01 -4.28688797e-02 -1.10856807e+02] [-7.79705464e-02 -1.03223942e-05 9.96955663e-01 -1.87311265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:-110.89, Z:-18.74 [[ 8.29299562e-01 5.54997143e-01 6.51184160e-02 2.76900295e+02] [-5.53338099e-01 8.31852121e-01 -4.28835377e-02 -1.10887948e+02] [-7.79691333e-02 -4.69201488e-04 9.96955663e-01 -1.87370766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.96, Y:-110.92, Z:-18.74 [[ 8.25252631e-01 5.60998250e-01 6.51080513e-02 2.76955432e+02] [-5.59356524e-01 8.27816364e-01 -4.28992681e-02 -1.10917127e+02] [-7.79639246e-02 -1.01587942e-03 9.96955663e-01 -1.87432689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.01, Y:-110.95, Z:-18.75 [[ 8.23337135e-01 5.63806969e-01 6.50973499e-02 2.77008008e+02] [-5.62172705e-01 8.25905630e-01 -4.29155009e-02 -1.10947056e+02] [-7.79603262e-02 -1.26202774e-03 9.96955663e-01 -1.87503699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:-110.98, Z:-18.76 [[ 8.21626488e-01 5.66298091e-01 6.50875351e-02 2.77062262e+02] [-5.64670436e-01 8.24199176e-01 -4.29303813e-02 -1.10975953e+02] [-7.79564857e-02 -1.48026842e-03 9.96955664e-01 -1.87571425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.12, Y:-111.01, Z:-18.76 [[ 8.21216051e-01 5.66893799e-01 6.50816254e-02 2.77116495e+02] [-5.65267301e-01 8.23789471e-01 -4.29393384e-02 -1.11007052e+02] [-7.79556024e-02 -1.52604080e-03 9.96955664e-01 -1.87621425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.17, Y:-111.04, Z:-18.77 [[ 8.21065141e-01 5.67112774e-01 6.50779111e-02 2.77169253e+02] [-5.65486517e-01 8.23638713e-01 -4.29449670e-02 -1.11040360e+02] [-7.79553263e-02 -1.54006582e-03 9.96955664e-01 -1.87665604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:-111.07, Z:-18.77 [[ 8.21734443e-01 5.66143724e-01 6.50675769e-02 2.77222311e+02] [-5.64513192e-01 8.24305308e-01 -4.29606191e-02 -1.11073873e+02] [-7.79574339e-02 -1.42928516e-03 9.96955664e-01 -1.87695698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.27, Y:-111.11, Z:-18.77 [[ 8.22691985e-01 5.64752724e-01 6.50558185e-02 2.77274594e+02] [-5.63116438e-01 8.25259191e-01 -4.29784175e-02 -1.11108356e+02] [-7.79600906e-02 -1.27600121e-03 9.96955664e-01 -1.87732124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.32, Y:-111.14, Z:-18.78 [[ 8.25590482e-01 5.60508404e-01 6.50437112e-02 2.77324820e+02] [-5.58857477e-01 8.28148297e-01 -4.29967330e-02 -1.11144661e+02] [-7.79658689e-02 -8.52470760e-04 9.96955664e-01 -1.87773579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:-111.18, Z:-18.78 [[ 8.29129603e-01 5.55260997e-01 6.50332735e-02 2.77373050e+02] [-5.53592642e-01 8.31676085e-01 -4.30125145e-02 -1.11184023e+02] [-7.79697900e-02 -3.38992626e-04 9.96955664e-01 -1.87808254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.42, Y:-111.22, Z:-18.78 [[ 8.30038591e-01 5.53901755e-01 6.50290997e-02 2.77422503e+02] [-5.52228736e-01 8.32582011e-01 -4.30188237e-02 -1.11223068e+02] [-7.79702606e-02 -2.03653739e-04 9.96955665e-01 -1.87803208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.47, Y:-111.26, Z:-18.78 [[ 8.29204078e-01 5.55151829e-01 6.50157219e-02 2.77469293e+02] [-5.53481059e-01 8.31748976e-01 -4.30390326e-02 -1.11264652e+02] [-7.79699578e-02 -2.96829300e-04 9.96955665e-01 -1.87843162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:-111.31, Z:-18.79 [[ 8.25505136e-01 5.60638650e-01 6.50044186e-02 2.77516877e+02] [-5.58983450e-01 8.28060188e-01 -4.30560980e-02 -1.11305708e+02] [-7.79664837e-02 -7.93364180e-04 9.96955665e-01 -1.87865130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.56, Y:-111.34, Z:-18.79 [[ 8.22544568e-01 5.64974518e-01 6.49940667e-02 2.77564988e+02] [-5.63331551e-01 8.25107503e-01 -4.30717187e-02 -1.11344190e+02] [-7.79615155e-02 -1.18480018e-03 9.96955665e-01 -1.87932030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.61, Y:-111.38, Z:-18.79 [[ 8.19960885e-01 5.68718225e-01 6.49902193e-02 2.77613765e+02] [-5.67086499e-01 8.22530990e-01 -4.30775233e-02 -1.11383677e+02] [-7.79554420e-02 -1.53319179e-03 9.96955665e-01 -1.87934274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.66, Y:-111.43, Z:-18.79 [[ 8.18077624e-01 5.71425127e-01 6.49794245e-02 2.77660890e+02] [-5.69800612e-01 8.20652293e-01 -4.30938002e-02 -1.11425340e+02] [-7.79503940e-02 -1.77124219e-03 9.96955665e-01 -1.87933713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.71, Y:-111.46, Z:-18.80 [[ 8.18853071e-01 5.70314539e-01 6.49690273e-02 2.77713288e+02] [-5.68685290e-01 8.21424747e-01 -4.31094696e-02 -1.11457546e+02] [-7.79531241e-02 -1.64660852e-03 9.96955666e-01 -1.87994445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.77, Y:-111.49, Z:-18.80 [[ 8.20524761e-01 5.67908072e-01 6.49579734e-02 2.77768785e+02] [-5.66269961e-01 8.23090802e-01 -4.31261194e-02 -1.11488428e+02] [-7.79579817e-02 -1.39770022e-03 9.96955666e-01 -1.88026538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.82, Y:-111.52, Z:-18.81 [[ 8.21080341e-01 5.67105907e-01 6.49458480e-02 2.77820198e+02] [-5.65463847e-01 8.23643856e-01 -4.31443719e-02 -1.11520956e+02] [-7.79596769e-02 -1.29953345e-03 9.96955666e-01 -1.88068153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.87, Y:-111.56, Z:-18.81 [[ 8.21534756e-01 5.66448529e-01 6.49361968e-02 2.77871060e+02] [-5.64803269e-01 8.24096218e-01 -4.31588931e-02 -1.11557841e+02] [-7.79609657e-02 -1.21964557e-03 9.96955666e-01 -1.88099648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.92, Y:-111.59, Z:-18.82 [[ 8.21941164e-01 5.65859954e-01 6.49248376e-02 2.77922069e+02] [-5.64211512e-01 8.24500579e-01 -4.31759742e-02 -1.11592853e+02] [-7.79621210e-02 -1.14323031e-03 9.96955666e-01 -1.88159821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.97, Y:-111.63, Z:-18.82 [[ 8.21888398e-01 5.65937804e-01 6.49142820e-02 2.77972260e+02] [-5.64288351e-01 8.24447162e-01 -4.31918385e-02 -1.11626360e+02] [-7.79622898e-02 -1.13150220e-03 9.96955667e-01 -1.88226400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:-111.66, Z:-18.83 [[ 8.21251545e-01 5.66862675e-01 6.49046114e-02 2.78023899e+02] [-5.65214956e-01 8.23811425e-01 -4.32063657e-02 -1.11662455e+02] [-7.79612364e-02 -1.20176246e-03 9.96955667e-01 -1.88267625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.08, Y:-111.70, Z:-18.83 [[ 8.21642999e-01 5.66296475e-01 6.48928652e-02 2.78075030e+02] [-5.64645600e-01 8.24200845e-01 -4.32240005e-02 -1.11696314e+02] [-7.79623535e-02 -1.12677332e-03 9.96955667e-01 -1.88345501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.12, Y:-111.73, Z:-18.83 [[ 8.21411631e-01 5.66632518e-01 6.48885299e-02 2.78124877e+02] [-5.64982175e-01 8.23969820e-01 -4.32305077e-02 -1.11731651e+02] [-7.79620018e-02 -1.15082094e-03 9.96955667e-01 -1.88344250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:-111.77, Z:-18.84 [[ 8.21500576e-01 5.66504849e-01 6.48772702e-02 2.78175476e+02] [-5.64852774e-01 8.24057647e-01 -4.32473990e-02 -1.11767070e+02] [-7.79624718e-02 -1.11834285e-03 9.96955667e-01 -1.88396248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.23, Y:-111.80, Z:-18.84 [[ 8.20782240e-01 5.67546380e-01 6.48661809e-02 2.78226150e+02] [-5.65896237e-01 8.23340557e-01 -4.32640253e-02 -1.11803358e+02] [-7.79612985e-02 -1.19718410e-03 9.96955667e-01 -1.88439901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.28, Y:-111.84, Z:-18.85 [[ 8.20713525e-01 5.67647134e-01 6.48539931e-02 2.78279083e+02] [-5.65995862e-01 8.23271114e-01 -4.32822874e-02 -1.11837061e+02] [-7.79614856e-02 -1.18473311e-03 9.96955668e-01 -1.88500472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.33, Y:-111.87, Z:-18.86 [[ 8.21031318e-01 5.67188800e-01 6.48416558e-02 2.78331694e+02] [-5.65534642e-01 8.23587040e-01 -4.33007623e-02 -1.11869902e+02] [-7.79624548e-02 -1.11892067e-03 9.96955668e-01 -1.88562451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.38, Y:-111.90, Z:-18.86 [[ 8.21897958e-01 5.65933552e-01 6.48302533e-02 2.78384922e+02] [-5.64274145e-01 8.24450275e-01 -4.33178274e-02 -1.11903986e+02] [-7.79643321e-02 -9.79201835e-04 9.96955668e-01 -1.88610498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:-111.94, Z:-18.87 [[ 8.23266890e-01 5.63941730e-01 6.48178446e-02 2.78435765e+02] [-5.62274686e-01 8.25814225e-01 -4.33363870e-02 -1.11938870e+02] [-7.79666952e-02 -7.68020713e-04 9.96955668e-01 -1.88656785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.49, Y:-111.97, Z:-18.87 [[ 8.23579541e-01 5.63486355e-01 6.48063922e-02 2.78488088e+02] [-5.61816555e-01 8.26125071e-01 -4.33535065e-02 -1.11974076e+02] [-7.79672947e-02 -7.04243017e-04 9.96955669e-01 -1.88703035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.54, Y:-112.01, Z:-18.88 [[ 8.23782058e-01 5.63191658e-01 6.47941134e-02 2.78540174e+02] [-5.61519505e-01 8.26326043e-01 -4.33718501e-02 -1.12007031e+02] [-7.79677275e-02 -6.54206493e-04 9.96955669e-01 -1.88763288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.59, Y:-112.04, Z:-18.88 [[ 8.24778402e-01 5.61732838e-01 6.47827707e-02 2.78592857e+02] [-5.60054855e-01 8.27318544e-01 -4.33887857e-02 -1.12041372e+02] [-7.79688932e-02 -4.95771962e-04 9.96955669e-01 -1.88813657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.65, Y:-112.08, Z:-18.89 [[ 8.24657476e-01 5.61911746e-01 6.47706395e-02 2.78645163e+02] [-5.60232893e-01 8.27197043e-01 -4.34068876e-02 -1.12075722e+02] [-7.79689215e-02 -4.90828347e-04 9.96955669e-01 -1.88864244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.70, Y:-112.11, Z:-18.89 [[ 8.23850661e-01 5.63095401e-01 6.47584649e-02 2.78697263e+02] [-5.61418768e-01 8.26391694e-01 -4.34250433e-02 -1.12109948e+02] [-7.79682997e-02 -5.80866989e-04 9.96955669e-01 -1.88928249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.75, Y:-112.14, Z:-18.90 [[ 8.23118272e-01 5.64165881e-01 6.47546767e-02 2.78749280e+02] [-5.62492109e-01 8.25661191e-01 -4.34306915e-02 -1.12142472e+02] [-7.79675378e-02 -6.75398955e-04 9.96955669e-01 -1.88995720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.80, Y:-112.18, Z:-18.91 [[ 8.22219173e-01 5.65476662e-01 6.47439351e-02 2.78801151e+02] [-5.63805683e-01 8.24763928e-01 -4.34466985e-02 -1.12176529e+02] [-7.79665562e-02 -7.80289995e-04 9.96955670e-01 -1.89052570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.85, Y:-112.21, Z:-18.91 [[ 8.22768555e-01 5.64678235e-01 6.47332684e-02 2.78852773e+02] [-5.63003537e-01 8.25310863e-01 -4.34625855e-02 -1.12211286e+02] [-7.79674457e-02 -6.85410439e-04 9.96955670e-01 -1.89077066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.90, Y:-112.25, Z:-18.91 [[ 8.23350403e-01 5.63830729e-01 6.47226522e-02 2.78903953e+02] [-5.62152172e-01 8.25890165e-01 -4.34783890e-02 -1.12245727e+02] [-7.79682537e-02 -5.86030429e-04 9.96955670e-01 -1.89106111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:-112.28, Z:-18.91 [[ 8.23944432e-01 5.62963554e-01 6.47117522e-02 2.78955717e+02] [-5.61281049e-01 8.26481580e-01 -4.34946062e-02 -1.12280934e+02] [-7.79689493e-02 -4.84341543e-04 9.96955670e-01 -1.89147706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.01, Y:-112.32, Z:-18.92 [[ 8.23759006e-01 5.63236259e-01 6.46994409e-02 2.79008340e+02] [-5.61553157e-01 8.26295758e-01 -4.35129119e-02 -1.12315482e+02] [-7.79689232e-02 -4.88022206e-04 9.96955670e-01 -1.89195052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:-112.35, Z:-18.93 [[ 8.22409960e-01 5.65205668e-01 6.46870271e-02 2.79060089e+02] [-5.63527189e-01 8.24949773e-01 -4.35313586e-02 -1.12347911e+02] [-7.79677190e-02 -6.52275718e-04 9.96955671e-01 -1.89274976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.11, Y:-112.38, Z:-18.93 [[ 8.21609710e-01 5.66369451e-01 6.46771135e-02 2.79111538e+02] [-5.64693411e-01 8.24151133e-01 -4.35460829e-02 -1.12381805e+02] [-7.79668875e-02 -7.44855266e-04 9.96955671e-01 -1.89345597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.16, Y:-112.42, Z:-18.94 [[ 8.22676391e-01 5.64820125e-01 6.46667006e-02 2.79162665e+02] [-5.63138084e-01 8.25213845e-01 -4.35615408e-02 -1.12416240e+02] [-7.79682916e-02 -5.79230713e-04 9.96955671e-01 -1.89390854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.21, Y:-112.45, Z:-18.94 [[ 8.25918432e-01 5.60069947e-01 6.46559891e-02 2.79213364e+02] [-5.58372067e-01 8.28445316e-01 -4.35774335e-02 -1.12451640e+02] [-7.79703622e-02 -1.10692698e-04 9.96955671e-01 -1.89417046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.26, Y:-112.49, Z:-18.95 [[ 8.28222346e-01 5.56658543e-01 6.46452880e-02 2.79264157e+02] [-5.54949016e-01 8.30741364e-01 -4.35933024e-02 -1.12486873e+02] [-7.79700989e-02 2.30108254e-04 9.96955671e-01 -1.89456678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.32, Y:-112.52, Z:-18.95 [[ 8.30177182e-01 5.53740205e-01 6.46346020e-02 2.79315578e+02] [-5.52020590e-01 8.32689325e-01 -4.36091405e-02 -1.12523051e+02] [-7.79686775e-02 5.23682284e-04 9.96955672e-01 -1.89498695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.37, Y:-112.56, Z:-18.96 [[ 8.32250523e-01 5.50620574e-01 6.46223633e-02 2.79367592e+02] [-5.48890135e-01 8.34755222e-01 -4.36272690e-02 -1.12558221e+02] [-7.79659271e-02 8.38239659e-04 9.96955672e-01 -1.89552378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.42, Y:-112.59, Z:-18.96 [[ 8.32781633e-01 5.49818411e-01 6.46101106e-02 2.79420369e+02] [-5.48084153e-01 8.35283688e-01 -4.36454073e-02 -1.12592917e+02] [-7.79648199e-02 9.35315830e-04 9.96955672e-01 -1.89593218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.47, Y:-112.63, Z:-18.96 [[ 8.32210687e-01 5.50683688e-01 6.45975848e-02 2.79472169e+02] [-5.48950592e-01 8.34713548e-01 -4.36639383e-02 -1.12626585e+02] [-7.79654977e-02 8.76713665e-04 9.96955672e-01 -1.89640760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:-112.66, Z:-18.97 [[ 8.30254116e-01 5.53630068e-01 6.45898641e-02 2.79525590e+02] [-5.51904967e-01 8.32762494e-01 -4.36753561e-02 -1.12659124e+02] [-7.79680066e-02 6.14177328e-04 9.96955672e-01 -1.89689805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.58, Y:-112.69, Z:-18.97 [[ 8.28945199e-01 5.55589416e-01 6.45775349e-02 2.79578908e+02] [-5.53868825e-01 8.31456671e-01 -4.36935782e-02 -1.12692474e+02] [-7.79691118e-02 4.52098475e-04 9.96955673e-01 -1.89742506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.63, Y:-112.72, Z:-18.98 [[ 8.27856329e-01 5.57212012e-01 6.45652636e-02 2.79631738e+02] [-5.55494929e-01 8.30370201e-01 -4.37117039e-02 -1.12724179e+02] [-7.79697574e-02 3.21334194e-04 9.96955673e-01 -1.89795577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.68, Y:-112.76, Z:-18.98 [[ 8.27351281e-01 5.57962936e-01 6.45540056e-02 2.79684965e+02] [-5.56246838e-01 8.29865826e-01 -4.37283235e-02 -1.12758107e+02] [-7.79699469e-02 2.70723057e-04 9.96955673e-01 -1.89837871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.74, Y:-112.79, Z:-18.99 [[ 8.26182138e-01 5.59694131e-01 6.45411101e-02 2.79737660e+02] [-5.57981816e-01 8.28699260e-01 -4.37473485e-02 -1.12791302e+02] [-7.79703043e-02 1.30512092e-04 9.96955673e-01 -1.89851845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.79, Y:-112.82, Z:-18.99 [[ 8.26909387e-01 5.58620483e-01 6.45292246e-02 2.79792255e+02] [-5.56903532e-01 8.29423349e-01 -4.37648731e-02 -1.12823165e+02] [-7.79700001e-02 2.53031349e-04 9.96955674e-01 -1.89903643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.85, Y:-112.86, Z:-19.00 [[ 8.28296756e-01 5.56562701e-01 6.45170045e-02 2.79845482e+02] [-5.54838102e-01 8.30805477e-01 -4.37828802e-02 -1.12856327e+02] [-7.79689988e-02 4.68725312e-04 9.96955674e-01 -1.89981228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:-112.89, Z:-19.00 [[ 8.28995546e-01 5.55522827e-01 6.45040566e-02 2.79897516e+02] [-5.53793597e-01 8.31501077e-01 -4.38019477e-02 -1.12890494e+02] [-7.79681744e-02 5.89686030e-04 9.96955674e-01 -1.90028797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.95, Y:-112.92, Z:-19.01 [[ 8.29564874e-01 5.54673789e-01 6.44911361e-02 2.79950314e+02] [-5.52940517e-01 8.32067610e-01 -4.38209628e-02 -1.12923779e+02] [-7.79673250e-02 6.92569332e-04 9.96955674e-01 -1.90086293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:-112.96, Z:-19.01 [[ 8.28255172e-01 5.56629077e-01 6.44782167e-02 2.80001117e+02] [-5.54900234e-01 8.30760969e-01 -4.38399643e-02 -1.12957040e+02] [-7.79685847e-02 5.31699693e-04 9.96955675e-01 -1.90116584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.05, Y:-112.99, Z:-19.02 [[ 8.26196480e-01 5.59680937e-01 6.44719004e-02 2.80054022e+02] [-5.57960625e-01 8.28708142e-01 -4.38492512e-02 -1.12988194e+02] [-7.79699787e-02 2.55315160e-04 9.96955675e-01 -1.90177226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.11, Y:-113.02, Z:-19.02 [[ 8.24331965e-01 5.62424798e-01 6.44605183e-02 2.80106718e+02] [-5.60711539e-01 8.26848442e-01 -4.38659771e-02 -1.13021150e+02] [-7.79703924e-02 1.63706481e-05 9.96955675e-01 -1.90229019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.16, Y:-113.06, Z:-19.03 [[ 8.23436488e-01 5.63736264e-01 6.44497775e-02 2.80159139e+02] [-5.62025778e-01 8.25954851e-01 -4.38817523e-02 -1.13055823e+02] [-7.79703415e-02 -8.86002942e-05 9.96955675e-01 -1.90275349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.21, Y:-113.09, Z:-19.03 [[ 8.22749834e-01 5.64739346e-01 6.44374233e-02 2.80210262e+02] [-5.63030510e-01 8.25269316e-01 -4.38998862e-02 -1.13089752e+02] [-7.79702213e-02 -1.61611216e-04 9.96955675e-01 -1.90329234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.26, Y:-113.12, Z:-19.04 [[ 8.21917692e-01 5.65951057e-01 6.44259979e-02 2.80262892e+02] [-5.64244621e-01 8.24438801e-01 -4.39166472e-02 -1.13124357e+02] [-7.79699654e-02 -2.56153451e-04 9.96955675e-01 -1.90381780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.31, Y:-113.16, Z:-19.04 [[ 8.21192616e-01 5.67004051e-01 6.44134629e-02 2.80314636e+02] [-5.65299406e-01 8.23714935e-01 -4.39350250e-02 -1.13158762e+02] [-7.79696686e-02 -3.33774184e-04 9.96955676e-01 -1.90413043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.37, Y:-113.19, Z:-19.04 [[ 8.20643630e-01 5.67799639e-01 6.44018807e-02 2.80367054e+02] [-5.66096108e-01 8.23166701e-01 -4.39519962e-02 -1.13192770e+02] [-7.79694113e-02 -3.88728341e-04 9.96955676e-01 -1.90448314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.42, Y:-113.23, Z:-19.05 [[ 8.19979705e-01 5.68759256e-01 6.43909316e-02 2.80417951e+02] [-5.67057419e-01 8.22503919e-01 -4.39680311e-02 -1.13226955e+02] [-7.79690182e-02 -4.60462298e-04 9.96955676e-01 -1.90496923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.47, Y:-113.26, Z:-19.06 [[ 8.19924663e-01 5.68839913e-01 6.43793535e-02 2.80468801e+02] [-5.67136993e-01 8.22448146e-01 -4.39849776e-02 -1.13261267e+02] [-7.79690908e-02 -4.47545071e-04 9.96955676e-01 -1.90559144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.52, Y:-113.30, Z:-19.06 [[ 8.20137252e-01 5.68534582e-01 6.43685955e-02 2.80519544e+02] [-5.66829487e-01 8.22659267e-01 -4.40007155e-02 -1.13297710e+02] [-7.79693500e-02 -3.99392092e-04 9.96955677e-01 -1.90612220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.57, Y:-113.33, Z:-19.07 [[ 8.20610116e-01 5.67853229e-01 6.43564229e-02 2.80570055e+02] [-5.66144644e-01 8.23129767e-01 -4.40185122e-02 -1.13334011e+02] [-7.79697417e-02 -3.13007724e-04 9.96955677e-01 -1.90669493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.62, Y:-113.37, Z:-19.07 [[ 8.20514245e-01 5.67992991e-01 6.43454374e-02 2.80620534e+02] [-5.66283576e-01 8.23033334e-01 -4.40345648e-02 -1.13371782e+02] [-7.79697640e-02 -3.06776749e-04 9.96955677e-01 -1.90716425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.67, Y:-113.41, Z:-19.08 [[ 8.20999396e-01 5.67292925e-01 6.43329535e-02 2.80670336e+02] [-5.65579934e-01 8.23516053e-01 -4.40527958e-02 -1.13409324e+02] [-7.79700593e-02 -2.18108854e-04 9.96955677e-01 -1.90764120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:-113.45, Z:-19.08 [[ 8.22520463e-01 5.65086668e-01 6.43206398e-02 2.80719039e+02] [-5.63365521e-01 8.25031549e-01 -4.40707676e-02 -1.13447482e+02] [-7.79703603e-02 1.30774626e-05 9.96955677e-01 -1.90842935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:-113.48, Z:-19.09 [[ 8.22658242e-01 5.64886559e-01 6.43163399e-02 2.80768941e+02] [-5.63164311e-01 8.25168573e-01 -4.40770419e-02 -1.13484670e+02] [-7.79703509e-02 3.96746352e-05 9.96955677e-01 -1.90851164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:-113.52, Z:-19.09 [[ 8.21715572e-01 5.66258411e-01 6.43034269e-02 2.80818415e+02] [-5.64538880e-01 8.24227764e-01 -4.40958725e-02 -1.13522492e+02] [-7.79703285e-02 -6.75195317e-05 9.96955678e-01 -1.90874353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.87, Y:-113.56, Z:-19.09 [[ 8.20268126e-01 5.68354299e-01 6.42930203e-02 2.80869385e+02] [-5.66639998e-01 8.22783890e-01 -4.41110404e-02 -1.13559167e+02] [-7.79699608e-02 -2.48116355e-04 9.96955678e-01 -1.90929621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.92, Y:-113.60, Z:-19.10 [[ 8.17775264e-01 5.71936661e-01 6.42812061e-02 2.80919649e+02] [-5.70232027e-01 8.20297588e-01 -4.41282500e-02 -1.13596533e+02] [-7.79682823e-02 -5.68211166e-04 9.96955678e-01 -1.90983627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.97, Y:-113.63, Z:-19.10 [[ 8.17132244e-01 5.72856381e-01 6.42686819e-02 2.80970105e+02] [-5.71153152e-01 8.19655516e-01 -4.41464829e-02 -1.13632377e+02] [-7.79677740e-02 -6.33745543e-04 9.96955678e-01 -1.91045853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:-113.67, Z:-19.11 [[ 8.17150236e-01 5.72832013e-01 6.42571160e-02 2.81019387e+02] [-5.71127386e-01 8.19672564e-01 -4.41633112e-02 -1.13670262e+02] [-7.79679534e-02 -6.10938490e-04 9.96955679e-01 -1.91134166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:-113.71, Z:-19.12 [[ 8.17582116e-01 5.72215907e-01 6.42529338e-02 2.81068575e+02] [-5.70508900e-01 8.20102835e-01 -4.41693950e-02 -1.13708165e+02] [-7.79684435e-02 -5.44763127e-04 9.96955679e-01 -1.91170560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:-113.75, Z:-19.12 [[ 8.18744084e-01 5.70553502e-01 6.42403794e-02 2.81117969e+02] [-5.68839945e-01 8.21260354e-01 -4.41876467e-02 -1.13747428e+02] [-7.79694933e-02 -3.64119632e-04 9.96955679e-01 -1.91216708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:-113.79, Z:-19.13 [[ 8.19226974e-01 5.69861322e-01 6.42280190e-02 2.81167291e+02] [-5.68144231e-01 8.21740833e-01 -4.42056057e-02 -1.13785677e+02] [-7.79698507e-02 -2.76353861e-04 9.96955679e-01 -1.91261373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.22, Y:-113.83, Z:-19.13 [[ 8.19420400e-01 5.69584559e-01 6.42155631e-02 2.81215249e+02] [-5.67865201e-01 8.21932709e-01 -4.42236925e-02 -1.13826149e+02] [-7.79700041e-02 -2.27987841e-04 9.96955679e-01 -1.91300604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.27, Y:-113.86, Z:-19.13 [[ 8.19102349e-01 5.70043232e-01 6.42032374e-02 2.81265174e+02] [-5.68323879e-01 8.21614661e-01 -4.42415795e-02 -1.13863932e+02] [-7.79699341e-02 -2.49851235e-04 9.96955680e-01 -1.91348664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.32, Y:-113.90, Z:-19.14 [[ 8.17809598e-01 5.71897727e-01 6.41907485e-02 2.81315418e+02] [-5.70182649e-01 8.20324830e-01 -4.42596925e-02 -1.13902045e+02] [-7.79692823e-02 -4.04449690e-04 9.96955680e-01 -1.91402736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.37, Y:-113.94, Z:-19.14 [[ 8.16338429e-01 5.73997126e-01 6.41784201e-02 2.81366696e+02] [-5.72287111e-01 8.18857106e-01 -4.42775619e-02 -1.13938508e+02] [-7.79681486e-02 -5.83007317e-04 9.96955680e-01 -1.91447595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.42, Y:-113.97, Z:-19.15 [[ 8.14678744e-01 5.76351725e-01 6.41656703e-02 2.81416724e+02] [-5.74647535e-01 8.17201366e-01 -4.42960308e-02 -1.13973151e+02] [-7.79663672e-02 -7.85609530e-04 9.96955680e-01 -1.91507972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.47, Y:-114.01, Z:-19.16 [[ 8.13651566e-01 5.77802045e-01 6.41554832e-02 2.81469177e+02] [-5.76101189e-01 8.16176436e-01 -4.43107802e-02 -1.14007654e+02] [-7.79650531e-02 -9.06514476e-04 9.96955680e-01 -1.91561691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.52, Y:-114.04, Z:-19.16 [[ 8.11941947e-01 5.80203376e-01 6.41429442e-02 2.81520380e+02] [-5.78508553e-01 8.14470871e-01 -4.43289240e-02 -1.14042043e+02] [-7.79623510e-02 -1.11472897e-03 9.96955681e-01 -1.91609579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.57, Y:-114.07, Z:-19.17 [[ 8.12302813e-01 5.79698500e-01 6.41388177e-02 2.81571582e+02] [-5.78001635e-01 8.14830367e-01 -4.43348937e-02 -1.14073899e+02] [-7.79631278e-02 -1.05898263e-03 9.96955681e-01 -1.91675239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.62, Y:-114.11, Z:-19.17 [[ 8.11669843e-01 5.80585436e-01 6.41297020e-02 2.81623480e+02] [-5.78890291e-01 8.14198550e-01 -4.43480755e-02 -1.14108787e+02] [-7.79621572e-02 -1.12806635e-03 9.96955681e-01 -1.91729204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.67, Y:-114.14, Z:-19.18 [[ 8.10694156e-01 5.81948406e-01 6.41173847e-02 2.81673741e+02] [-5.80256105e-01 8.13224767e-01 -4.43658765e-02 -1.14143038e+02] [-7.79604964e-02 -1.23734712e-03 9.96955681e-01 -1.91794407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.73, Y:-114.18, Z:-19.18 [[ 8.10557473e-01 5.82139851e-01 6.41075398e-02 2.81725128e+02] [-5.80447023e-01 8.13087733e-01 -4.43800977e-02 -1.14178633e+02] [-7.79604776e-02 -1.23841076e-03 9.96955681e-01 -1.91820244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.78, Y:-114.22, Z:-19.18 [[ 8.10672442e-01 5.81980942e-01 6.40966100e-02 2.81775899e+02] [-5.80286371e-01 8.13201534e-01 -4.43958775e-02 -1.14215174e+02] [-7.79610162e-02 -1.20387477e-03 9.96955681e-01 -1.91834644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.83, Y:-114.25, Z:-19.19 [[ 8.12820554e-01 5.78978277e-01 6.40851142e-02 2.81826532e+02] [-5.77273055e-01 8.15342476e-01 -4.44124655e-02 -1.14248938e+02] [-7.79651684e-02 -8.95244757e-04 9.96955682e-01 -1.91905357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.88, Y:-114.29, Z:-19.20 [[ 8.13976447e-01 5.77352777e-01 6.40789673e-02 2.81877842e+02] [-5.75641820e-01 8.16494482e-01 -4.44213326e-02 -1.14285877e+02] [-7.79669030e-02 -7.28614866e-04 9.96955682e-01 -1.91953666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.93, Y:-114.32, Z:-19.20 [[ 8.15722493e-01 5.74884630e-01 6.40661968e-02 2.81928879e+02] [-5.73164608e-01 8.18234344e-01 -4.44397430e-02 -1.14323096e+02] [-7.79688877e-02 -4.69978580e-04 9.96955682e-01 -1.92008727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:281.98, Y:-114.36, Z:-19.21 [[ 8.15534408e-01 5.75152830e-01 6.40535047e-02 2.81980091e+02] [-5.73432198e-01 8.18045841e-01 -4.44580294e-02 -1.14356328e+02] [-7.79688646e-02 -4.73289377e-04 9.96955682e-01 -1.92074075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.03, Y:-114.39, Z:-19.21 [[ 8.14845779e-01 5.76129154e-01 6.40433760e-02 2.82033235e+02] [-5.74410384e-01 8.17358487e-01 -4.44726155e-02 -1.14390510e+02] [-7.79683672e-02 -5.48857217e-04 9.96955682e-01 -1.92126985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.08, Y:-114.43, Z:-19.22 [[ 8.14487761e-01 5.76636578e-01 6.40308081e-02 2.82084928e+02] [-5.74917951e-01 8.17000567e-01 -4.44907031e-02 -1.14425826e+02] [-7.79681733e-02 -5.75327824e-04 9.96955683e-01 -1.92169723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.14, Y:-114.46, Z:-19.22 [[ 8.14011831e-01 5.77309628e-01 6.40182150e-02 2.82137512e+02] [-5.75591655e-01 8.16525083e-01 -4.45088161e-02 -1.14460738e+02] [-7.79678464e-02 -6.17647504e-04 9.96955683e-01 -1.92219053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:-114.50, Z:-19.23 [[ 8.14338475e-01 5.76850169e-01 6.40057073e-02 2.82190079e+02] [-5.75129365e-01 8.16849789e-01 -4.45267955e-02 -1.14495173e+02] [-7.79683380e-02 -5.51679018e-04 9.96955683e-01 -1.92269118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.24, Y:-114.53, Z:-19.23 [[ 8.14740385e-01 5.76283756e-01 6.39932716e-02 2.82240804e+02] [-5.74559802e-01 8.17249538e-01 -4.45446608e-02 -1.14530380e+02] [-7.79688361e-02 -4.75627436e-04 9.96955683e-01 -1.92330631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:-114.57, Z:-19.24 [[ 8.15772123e-01 5.74823523e-01 6.39825081e-02 2.82289910e+02] [-5.73093866e-01 8.18277347e-01 -4.45601159e-02 -1.14566420e+02] [-7.79696398e-02 -3.17082570e-04 9.96955683e-01 -1.92408526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.34, Y:-114.60, Z:-19.25 [[ 8.16279620e-01 5.74103719e-01 6.39726624e-02 2.82340736e+02] [-5.72370746e-01 8.18782551e-01 -4.45742463e-02 -1.14602588e+02] [-7.79699403e-02 -2.31031618e-04 9.96955684e-01 -1.92450181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.39, Y:-114.64, Z:-19.25 [[ 8.15879782e-01 5.74673203e-01 6.39600827e-02 2.82391889e+02] [-5.72940562e-01 8.18382943e-01 -4.45922898e-02 -1.14636846e+02] [-7.79698347e-02 -2.63378085e-04 9.96955684e-01 -1.92493285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.44, Y:-114.67, Z:-19.25 [[ 8.16977325e-01 5.73113028e-01 6.39492626e-02 2.82441581e+02] [-5.71374392e-01 8.19476326e-01 -4.46078014e-02 -1.14673899e+02] [-7.79702189e-02 -9.54088319e-05 9.96955684e-01 -1.92518907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.49, Y:-114.71, Z:-19.26 [[ 8.17633062e-01 5.72178351e-01 6.39383354e-02 2.82491452e+02] [-5.70435634e-01 8.20129218e-01 -4.46234583e-02 -1.14710334e+02] [-7.79702739e-02 1.29099843e-05 9.96955684e-01 -1.92553537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.54, Y:-114.75, Z:-19.26 [[ 8.16505696e-01 5.73787183e-01 6.39274358e-02 2.82542677e+02] [-5.72048162e-01 8.19004428e-01 -4.46390676e-02 -1.14745771e+02] [-7.79701779e-02 -1.21519184e-04 9.96955684e-01 -1.92593742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.60, Y:-114.78, Z:-19.27 [[ 8.14734562e-01 5.76300579e-01 6.39158485e-02 2.82595433e+02] [-5.74567965e-01 8.17237742e-01 -4.46556527e-02 -1.14780406e+02] [-7.79695222e-02 -3.41495383e-04 9.96955685e-01 -1.92657142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.65, Y:-114.81, Z:-19.27 [[ 8.10644322e-01 5.82041351e-01 6.39034264e-02 2.82647124e+02] [-5.80325062e-01 8.13158722e-01 -4.46734220e-02 -1.14812468e+02] [-7.79654075e-02 -8.70503988e-04 9.96955685e-01 -1.92737514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.70, Y:-114.85, Z:-19.28 [[ 8.09592055e-01 5.83505206e-01 6.38934983e-02 2.82698795e+02] [-5.81792343e-01 8.12108790e-01 -4.46876170e-02 -1.14848408e+02] [-7.79639287e-02 -9.94008407e-04 9.96955685e-01 -1.92809214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.75, Y:-114.88, Z:-19.28 [[ 8.09314849e-01 5.83891067e-01 6.38803357e-02 2.82749156e+02] [-5.82177919e-01 8.11831390e-01 -4.47064249e-02 -1.14883707e+02] [-7.79637438e-02 -1.00814735e-03 9.96955685e-01 -1.92844296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.80, Y:-114.92, Z:-19.29 [[ 8.10479040e-01 5.82275277e-01 6.38688351e-02 2.82800382e+02] [-5.80555818e-01 8.12991272e-01 -4.47228490e-02 -1.14920466e+02] [-7.79658148e-02 -8.32492082e-04 9.96955685e-01 -1.92886877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:-114.96, Z:-19.29 [[ 8.13201490e-01 5.78468405e-01 6.38564033e-02 2.82850225e+02] [-5.76735792e-01 8.15704668e-01 -4.47405924e-02 -1.14956704e+02] [-7.79689854e-02 -4.45156958e-04 9.96955686e-01 -1.92923003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.90, Y:-114.99, Z:-19.30 [[ 8.16003268e-01 5.74510606e-01 6.38453602e-02 2.82900360e+02] [-5.72764619e-01 8.18497136e-01 -4.47563456e-02 -1.14994155e+02] [-7.79702396e-02 -4.70391379e-05 9.96955686e-01 -1.92950975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:282.95, Y:-115.03, Z:-19.30 [[ 8.17083691e-01 5.72974356e-01 6.38328271e-02 2.82949432e+02] [-5.71222283e-01 8.19573287e-01 -4.47742135e-02 -1.15029466e+02] [-7.79701560e-02 1.21546385e-04 9.96955686e-01 -1.93017538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.00, Y:-115.06, Z:-19.31 [[ 8.13938134e-01 5.77435159e-01 6.38228155e-02 2.83002102e+02] [-5.75695612e-01 8.16436498e-01 -4.47884799e-02 -1.15062414e+02] [-7.79697189e-02 -2.87463023e-04 9.96955686e-01 -1.93095992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.05, Y:-115.10, Z:-19.31 [[ 8.13775914e-01 5.77664969e-01 6.38117975e-02 2.83053804e+02] [-5.75924897e-01 8.16273912e-01 -4.48041721e-02 -1.15098798e+02] [-7.79697063e-02 -2.90246805e-04 9.96955686e-01 -1.93145506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.10, Y:-115.13, Z:-19.32 [[ 8.13471016e-01 5.78095643e-01 6.37991700e-02 2.83104040e+02] [-5.76355484e-01 8.15968953e-01 -4.48221460e-02 -1.15134075e+02] [-7.79696292e-02 -3.09484834e-04 9.96955687e-01 -1.93207824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.15, Y:-115.17, Z:-19.33 [[ 8.12564931e-01 5.79369818e-01 6.37875101e-02 2.83154103e+02] [-5.77632273e-01 8.15064688e-01 -4.48387333e-02 -1.15172711e+02] [-7.79691558e-02 -4.11342263e-04 9.96955687e-01 -1.93263788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:-115.21, Z:-19.33 [[ 8.12750103e-01 5.79110716e-01 6.37812623e-02 2.83205433e+02] [-5.77371677e-01 8.15248820e-01 -4.48476189e-02 -1.15207158e+02] [-7.79693354e-02 -3.75587498e-04 9.96955687e-01 -1.93297847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.26, Y:-115.24, Z:-19.33 [[ 8.11830231e-01 5.80401008e-01 6.37679051e-02 2.83257503e+02] [-5.78664449e-01 8.14330672e-01 -4.48666031e-02 -1.15243026e+02] [-7.79687827e-02 -4.76154916e-04 9.96955687e-01 -1.93325997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.31, Y:-115.28, Z:-19.34 [[ 8.11070340e-01 5.81463819e-01 6.37552368e-02 2.83309544e+02] [-5.79729123e-01 8.13572073e-01 -4.48845976e-02 -1.15277861e+02] [-7.79682497e-02 -5.56201647e-04 9.96955687e-01 -1.93369040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.36, Y:-115.31, Z:-19.34 [[ 8.11131213e-01 5.81380288e-01 6.37425730e-02 2.83360472e+02] [-5.79643921e-01 8.13631787e-01 -4.49025748e-02 -1.15314595e+02] [-7.79684554e-02 -5.26114984e-04 9.96955688e-01 -1.93405603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.41, Y:-115.35, Z:-19.34 [[ 8.11277746e-01 5.81177184e-01 6.37299039e-02 2.83411007e+02] [-5.79438779e-01 8.13776902e-01 -4.49205488e-02 -1.15352000e+02] [-7.79687218e-02 -4.84536067e-04 9.96955688e-01 -1.93443507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.46, Y:-115.39, Z:-19.35 [[ 8.10823630e-01 5.81811945e-01 6.37173583e-02 2.83462369e+02] [-5.80074098e-01 8.13323175e-01 -4.49383371e-02 -1.15388030e+02] [-7.79684654e-02 -5.23723515e-04 9.96955688e-01 -1.93494592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.51, Y:-115.42, Z:-19.36 [[ 8.09715591e-01 5.83354427e-01 6.37045902e-02 2.83514725e+02] [-5.81619918e-01 8.12217452e-01 -4.49564299e-02 -1.15423242e+02] [-7.79675123e-02 -6.49936317e-04 9.96955688e-01 -1.93552801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.57, Y:-115.46, Z:-19.36 [[ 8.07807492e-01 5.85995237e-01 6.36917442e-02 2.83566283e+02] [-5.84267472e-01 8.10314016e-01 -4.49746220e-02 -1.15457951e+02] [-7.79652273e-02 -8.82177765e-04 9.96955689e-01 -1.93614378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.62, Y:-115.49, Z:-19.37 [[ 8.05822837e-01 5.88722282e-01 6.36838345e-02 2.83617542e+02] [-5.87002114e-01 8.08334580e-01 -4.49858193e-02 -1.15493795e+02] [-7.79619998e-02 -1.13194496e-03 9.96955689e-01 -1.93651373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.67, Y:-115.53, Z:-19.37 [[ 8.04867267e-01 5.90029390e-01 6.36710356e-02 2.83669464e+02] [-5.88311870e-01 8.07380821e-01 -4.50039271e-02 -1.15529591e+02] [-7.79604127e-02 -1.23623813e-03 9.96955689e-01 -1.93702814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.72, Y:-115.57, Z:-19.37 [[ 8.04479187e-01 5.90559776e-01 6.36583826e-02 2.83720125e+02] [-5.88842497e-01 8.06992905e-01 -4.50218178e-02 -1.15566034e+02] [-7.79599377e-02 -1.26564563e-03 9.96955689e-01 -1.93737810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:-115.60, Z:-19.38 [[ 8.06136132e-01 5.88297158e-01 6.36473955e-02 2.83769915e+02] [-5.86571598e-01 8.08644173e-01 -4.50373449e-02 -1.15600055e+02] [-7.79634375e-02 -1.02752348e-03 9.96955689e-01 -1.93810394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.82, Y:-115.64, Z:-19.39 [[ 8.08025877e-01 5.85699479e-01 6.36419832e-02 2.83820831e+02] [-5.83965254e-01 8.10527934e-01 -4.50449918e-02 -1.15637498e+02] [-7.79664333e-02 -7.67187836e-04 9.96955689e-01 -1.93854213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.87, Y:-115.67, Z:-19.39 [[ 8.11156396e-01 5.81357503e-01 6.36298232e-02 2.83871957e+02] [-5.79608536e-01 8.13648171e-01 -4.50621623e-02 -1.15674696e+02] [-7.79695154e-02 -3.27927518e-04 9.96955690e-01 -1.93883491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.92, Y:-115.71, Z:-19.39 [[ 8.13203665e-01 5.78491676e-01 6.36174519e-02 2.83923624e+02] [-5.76732562e-01 8.15688286e-01 -4.50796210e-02 -1.15710486e+02] [-7.79701958e-02 -3.13430251e-05 9.96955690e-01 -1.93937041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:283.97, Y:-115.75, Z:-19.40 [[ 8.13832776e-01 5.77607705e-01 6.36046578e-02 2.83974590e+02] [-5.75844482e-01 8.16314482e-01 -4.50976655e-02 -1.15746815e+02] [-7.79701623e-02 7.55671226e-05 9.96955690e-01 -1.93989597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.03, Y:-115.78, Z:-19.40 [[ 8.14189415e-01 5.77106284e-01 6.35919273e-02 2.84026043e+02] [-5.75340130e-01 8.16669037e-01 -4.51156095e-02 -1.15783221e+02] [-7.79700598e-02 1.45663983e-04 9.96955690e-01 -1.94034187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:-115.82, Z:-19.41 [[ 8.13710684e-01 5.77782507e-01 6.35790566e-02 2.84077340e+02] [-5.76016998e-01 8.16190764e-01 -4.51337402e-02 -1.15818469e+02] [-7.79701244e-02 1.03189334e-04 9.96955691e-01 -1.94090779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.13, Y:-115.85, Z:-19.41 [[ 8.12600071e-01 5.79344838e-01 6.35663734e-02 2.84128581e+02] [-5.77582700e-01 8.15082547e-01 -4.51515963e-02 -1.15852763e+02] [-7.79701858e-02 -2.46472141e-05 9.96955691e-01 -1.94146541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.18, Y:-115.89, Z:-19.42 [[ 8.09949192e-01 5.83046349e-01 6.35551813e-02 2.84178617e+02] [-5.81294320e-01 8.12438813e-01 -4.51673448e-02 -1.15888659e+02] [-7.79693515e-02 -3.61011415e-04 9.96955691e-01 -1.94195854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.23, Y:-115.92, Z:-19.42 [[ 8.08742514e-01 5.84719458e-01 6.35507815e-02 2.84229639e+02] [-5.82972093e-01 8.11235410e-01 -4.51735345e-02 -1.15921956e+02] [-7.79684889e-02 -5.14574219e-04 9.96955691e-01 -1.94232915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.28, Y:-115.96, Z:-19.43 [[ 8.06839322e-01 5.87344072e-01 6.35393591e-02 2.84282052e+02] [-5.85603551e-01 8.09337001e-01 -4.51895951e-02 -1.15956811e+02] [-7.79665951e-02 -7.48132057e-04 9.96955691e-01 -1.94277529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.33, Y:-115.99, Z:-19.43 [[ 8.04580174e-01 5.90436379e-01 6.35265747e-02 2.84334176e+02] [-5.88704039e-01 8.07083534e-01 -4.52075601e-02 -1.15990499e+02] [-7.79634405e-02 -1.02524458e-03 9.96955692e-01 -1.94331673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.39, Y:-116.02, Z:-19.44 [[ 8.01752916e-01 5.94271097e-01 6.35147624e-02 2.84386492e+02] [-5.92549415e-01 8.04263618e-01 -4.52241498e-02 -1.16024554e+02] [-7.79580177e-02 -1.37704136e-03 9.96955692e-01 -1.94367625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.44, Y:-116.06, Z:-19.44 [[ 8.01170346e-01 5.95057611e-01 6.35021046e-02 2.84438120e+02] [-5.93336986e-01 8.03681772e-01 -4.52419165e-02 -1.16060426e+02] [-7.79570306e-02 -1.43166545e-03 9.96955692e-01 -1.94407679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.49, Y:-116.09, Z:-19.45 [[ 8.00290515e-01 5.96241795e-01 6.34886877e-02 2.84488504e+02] [-5.94523394e-01 8.02803463e-01 -4.52607368e-02 -1.16093935e+02] [-7.79552813e-02 -1.52377171e-03 9.96955692e-01 -1.94483071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.54, Y:-116.13, Z:-19.45 [[ 8.00978160e-01 5.95318862e-01 6.34778684e-02 2.84540187e+02] [-5.93596364e-01 8.03488301e-01 -4.52759057e-02 -1.16129137e+02] [-7.79573253e-02 -1.41522023e-03 9.96955692e-01 -1.94522264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:-116.17, Z:-19.46 [[ 8.02601301e-01 5.93129183e-01 6.34738037e-02 2.84590643e+02] [-5.91399386e-01 8.05106417e-01 -4.52816035e-02 -1.16165704e+02] [-7.79610072e-02 -1.19529466e-03 9.96955692e-01 -1.94577249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:-116.21, Z:-19.46 [[ 8.05605611e-01 5.89043553e-01 6.34609569e-02 2.84639283e+02] [-5.87299631e-01 8.08100915e-01 -4.52996008e-02 -1.16205016e+02] [-7.79662951e-02 -7.76984008e-04 9.96955693e-01 -1.94631398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:-116.24, Z:-19.47 [[ 8.07181485e-01 5.86882668e-01 6.34569395e-02 2.84689044e+02] [-5.85131624e-01 8.09671797e-01 -4.53052278e-02 -1.16242418e+02] [-7.79681472e-02 -5.61120974e-04 9.96955693e-01 -1.94683866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.74, Y:-116.28, Z:-19.48 [[ 8.09108639e-01 5.84224325e-01 6.34440608e-02 2.84739200e+02] [-5.82463685e-01 8.11592175e-01 -4.53232556e-02 -1.16278351e+02] [-7.79696517e-02 -2.82423802e-04 9.96955693e-01 -1.94758720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.79, Y:-116.32, Z:-19.47 [[ 8.10371749e-01 5.82472307e-01 6.34321737e-02 2.84786899e+02] [-5.80704995e-01 8.12850542e-01 -4.53398861e-02 -1.16318921e+02] [-7.79701048e-02 -9.32173873e-05 9.96955693e-01 -1.94742805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.84, Y:-116.35, Z:-19.48 [[ 8.11191347e-01 5.81330802e-01 6.34278844e-02 2.84836269e+02] [-5.79559534e-01 8.13667314e-01 -4.53458858e-02 -1.16354009e+02] [-7.79701565e-02 2.39550791e-05 9.96955693e-01 -1.94809532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:284.88, Y:-116.39, Z:-19.49 [[ 8.10999952e-01 5.81598997e-01 6.34167484e-02 2.84884978e+02] [-5.79827330e-01 8.13475633e-01 -4.53614542e-02 -1.16392076e+02] [-7.79701559e-02 1.73732813e-05 9.96955693e-01 -1.94874400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.94, Y:-116.43, Z:-19.49 [[ 8.09924272e-01 5.83096554e-01 6.34119979e-02 2.84936480e+02] [-5.81328944e-01 8.12402852e-01 -4.53680942e-02 -1.16427623e+02] [-7.79700673e-02 -1.18509067e-04 9.96955693e-01 -1.94911934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:284.99, Y:-116.46, Z:-19.50 [[ 8.08509896e-01 5.85057774e-01 6.33967534e-02 2.84986764e+02] [-5.83294507e-01 8.10991567e-01 -4.53893867e-02 -1.16463757e+02] [-7.79696459e-02 -2.81209675e-04 9.96955694e-01 -1.94970590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.04, Y:-116.50, Z:-19.50 [[ 8.06008937e-01 5.88499768e-01 6.33846777e-02 2.85036549e+02] [-5.86745772e-01 8.08497169e-01 -4.54062437e-02 -1.16500576e+02] [-7.79678964e-02 -5.92853447e-04 9.96955694e-01 -1.94998331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.09, Y:-116.54, Z:-19.51 [[ 8.03902295e-01 5.91375439e-01 6.33734200e-02 2.85086197e+02] [-5.89629106e-01 8.06395910e-01 -4.54219507e-02 -1.16536804e+02] [-7.79654927e-02 -8.52002542e-04 9.96955694e-01 -1.95051528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.14, Y:-116.57, Z:-19.51 [[ 8.02859302e-01 5.92791919e-01 6.33615256e-02 2.85137182e+02] [-5.91048676e-01 8.05355078e-01 -4.54385367e-02 -1.16572679e+02] [-7.79641238e-02 -9.68993959e-04 9.96955694e-01 -1.95099147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.19, Y:-116.61, Z:-19.52 [[ 8.02360201e-01 5.93468657e-01 6.33487303e-02 2.85187048e+02] [-5.91726111e-01 8.04856464e-01 -4.54563686e-02 -1.16608508e+02] [-7.79635651e-02 -1.01271682e-03 9.96955695e-01 -1.95165085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:-116.65, Z:-19.52 [[ 8.03237979e-01 5.92281338e-01 6.33369239e-02 2.85236495e+02] [-5.90533806e-01 8.05730753e-01 -4.54728132e-02 -1.16645867e+02] [-7.79652060e-02 -8.77104216e-04 9.96955695e-01 -1.95190386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.29, Y:-116.68, Z:-19.52 [[ 8.07235683e-01 5.86822289e-01 6.33257700e-02 2.85285848e+02] [-5.85056680e-01 8.09715686e-01 -4.54883408e-02 -1.16683401e+02] [-7.79694416e-02 -3.29352879e-04 9.96955695e-01 -1.95222975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.34, Y:-116.72, Z:-19.53 [[ 8.08170838e-01 5.85534942e-01 6.33145223e-02 2.85336216e+02] [-5.83764156e-01 8.10647147e-01 -4.55039910e-02 -1.16720371e+02] [-7.79699136e-02 -1.85750121e-04 9.96955695e-01 -1.95273715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.39, Y:-116.76, Z:-19.53 [[ 8.11588419e-01 5.80790103e-01 6.33016110e-02 2.85385604e+02] [-5.79003439e-01 8.14053297e-01 -4.55219451e-02 -1.16758542e+02] [-7.79695804e-02 2.93233025e-04 9.96955695e-01 -1.95342054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.43, Y:-116.79, Z:-19.54 [[ 8.12592013e-01 5.79386589e-01 6.32882364e-02 2.85434479e+02] [-5.77594220e-01 8.15052745e-01 -4.55405321e-02 -1.16794635e+02] [-7.79688243e-02 4.50953121e-04 9.96955696e-01 -1.95387759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.49, Y:-116.83, Z:-19.54 [[ 8.13378531e-01 5.78283075e-01 6.32775642e-02 2.85485182e+02] [-5.76486214e-01 8.15835985e-01 -4.55553561e-02 -1.16831825e+02] [-7.79680053e-02 5.75105197e-04 9.96955696e-01 -1.95443416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:-116.87, Z:-19.55 [[ 8.12205618e-01 5.79930675e-01 6.32648919e-02 2.85536183e+02] [-5.78137429e-01 8.14665710e-01 -4.55729479e-02 -1.16867384e+02] [-7.79688885e-02 4.38802320e-04 9.96955696e-01 -1.95501211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.59, Y:-116.90, Z:-19.56 [[ 8.10197553e-01 5.82734124e-01 6.32524028e-02 2.85586668e+02] [-5.80948037e-01 8.12662848e-01 -4.55902755e-02 -1.16903330e+02] [-7.79698870e-02 1.90770367e-04 9.96955696e-01 -1.95556139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.64, Y:-116.94, Z:-19.56 [[ 8.07091827e-01 5.87029247e-01 6.32411826e-02 2.85638378e+02] [-5.85255060e-01 8.09565700e-01 -4.56058343e-02 -1.16939477e+02] [-7.79698508e-02 -2.04126019e-04 9.96955696e-01 -1.95616260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.69, Y:-116.98, Z:-19.57 [[ 8.05394899e-01 5.89356618e-01 6.32284212e-02 2.85689798e+02] [-5.87588193e-01 8.07872893e-01 -4.56235202e-02 -1.16975466e+02] [-7.79690511e-02 -4.07323291e-04 9.96955697e-01 -1.95658868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.74, Y:-117.01, Z:-19.57 [[ 8.02673398e-01 5.93059198e-01 6.32155346e-02 2.85740259e+02] [-5.91300796e-01 8.05158515e-01 -4.56413688e-02 -1.17011046e+02] [-7.79665595e-02 -7.44283374e-04 9.96955697e-01 -1.95700174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:-117.05, Z:-19.58 [[ 8.00429359e-01 5.96085611e-01 6.32043144e-02 2.85790842e+02] [-5.94335379e-01 8.02920236e-01 -4.56569012e-02 -1.17046670e+02] [-7.79634449e-02 -1.01943595e-03 9.96955697e-01 -1.95763869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.84, Y:-117.08, Z:-19.58 [[ 7.98194370e-01 5.99075925e-01 6.31963909e-02 2.85841353e+02] [-5.97334155e-01 8.00691172e-01 -4.56678660e-02 -1.17082383e+02] [-7.79593113e-02 -1.29752923e-03 9.96955697e-01 -1.95798102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.89, Y:-117.12, Z:-19.58 [[ 7.98094751e-01 5.99209795e-01 6.31853585e-02 2.85891103e+02] [-5.97467237e-01 8.00591002e-01 -4.56831252e-02 -1.17118805e+02] [-7.79594056e-02 -1.29171909e-03 9.96955697e-01 -1.95830430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.94, Y:-117.16, Z:-19.59 [[ 7.98681664e-01 5.98428479e-01 6.31740091e-02 2.85941549e+02] [-5.96682238e-01 8.01175340e-01 -4.56988146e-02 -1.17155746e+02] [-7.79609303e-02 -1.19600392e-03 9.96955698e-01 -1.95878748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:285.99, Y:-117.19, Z:-19.59 [[ 7.98642735e-01 5.98481804e-01 6.31610010e-02 2.85990794e+02] [-5.96734308e-01 8.01135532e-01 -4.57167862e-02 -1.17192403e+02] [-7.79611868e-02 -1.17895704e-03 9.96955698e-01 -1.95944848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.04, Y:-117.23, Z:-19.60 [[ 7.98149000e-01 5.99141281e-01 6.31498097e-02 2.86040477e+02] [-5.97394623e-01 8.00642384e-01 -4.57322399e-02 -1.17228877e+02] [-7.79604870e-02 -1.22421519e-03 9.96955698e-01 -1.96017283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.09, Y:-117.27, Z:-19.61 [[ 7.97704320e-01 5.99734378e-01 6.31386886e-02 2.86088264e+02] [-5.97988359e-01 8.00198151e-01 -4.57475887e-02 -1.17267648e+02] [-7.79598635e-02 -1.26315174e-03 9.96955698e-01 -1.96074964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.14, Y:-117.31, Z:-19.61 [[ 7.97446193e-01 6.00078752e-01 6.31273361e-02 2.86138217e+02] [-5.98332571e-01 7.99939910e-01 -4.57632488e-02 -1.17305286e+02] [-7.79596288e-02 -1.27741278e-03 9.96955698e-01 -1.96124236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.19, Y:-117.34, Z:-19.62 [[ 7.97260989e-01 6.00326143e-01 6.31144792e-02 2.86187383e+02] [-5.98579333e-01 7.99754265e-01 -4.57809735e-02 -1.17342472e+02] [-7.79595892e-02 -1.27963863e-03 9.96955699e-01 -1.96160555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.24, Y:-117.38, Z:-19.62 [[ 7.96758958e-01 6.00993477e-01 6.31031158e-02 2.86236795e+02] [-5.99247516e-01 7.99252828e-01 -4.57966312e-02 -1.17378276e+02] [-7.79588204e-02 -1.32550928e-03 9.96955699e-01 -1.96211677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.29, Y:-117.42, Z:-19.63 [[ 7.96240489e-01 6.01680861e-01 6.30969438e-02 2.86287462e+02] [-5.99936379e-01 7.98735395e-01 -4.58051331e-02 -1.17415330e+02] [-7.79578343e-02 -1.38225041e-03 9.96955699e-01 -1.96253161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:-117.45, Z:-19.63 [[ 7.96348178e-01 6.01539675e-01 6.30840626e-02 2.86337249e+02] [-5.99793346e-01 7.98841791e-01 -4.58228667e-02 -1.17451417e+02] [-7.79584579e-02 -1.34644459e-03 9.96955699e-01 -1.96304793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.39, Y:-117.49, Z:-19.64 [[ 7.96283488e-01 6.01626556e-01 6.30721426e-02 2.86386595e+02] [-5.99879200e-01 7.98776381e-01 -4.58392680e-02 -1.17489351e+02] [-7.79586587e-02 -1.33461430e-03 9.96955699e-01 -1.96356209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.44, Y:-117.52, Z:-19.64 [[ 7.96164971e-01 6.01783864e-01 6.30675847e-02 2.86437541e+02] [-6.00036505e-01 7.98657861e-01 -4.58455380e-02 -1.17524643e+02] [-7.79585273e-02 -1.34224172e-03 9.96955699e-01 -1.96384990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.49, Y:-117.56, Z:-19.64 [[ 7.95901833e-01 6.02133272e-01 6.30539026e-02 2.86488028e+02] [-6.00385518e-01 7.98394446e-01 -4.58643480e-02 -1.17559742e+02] [-7.79583356e-02 -1.35313130e-03 9.96955700e-01 -1.96438321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.54, Y:-117.59, Z:-19.65 [[ 7.95825492e-01 6.02235348e-01 6.30426202e-02 2.86538514e+02] [-6.00486686e-01 7.98317468e-01 -4.58798511e-02 -1.17594759e+02] [-7.79584930e-02 -1.34389898e-03 9.96955700e-01 -1.96509191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.59, Y:-117.63, Z:-19.65 [[ 7.97391946e-01 6.00160904e-01 6.30315293e-02 2.86588378e+02] [-5.98404554e-01 7.99878510e-01 -4.58950831e-02 -1.17632250e+02] [-7.79620003e-02 -1.12198458e-03 9.96955700e-01 -1.96548046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.64, Y:-117.67, Z:-19.66 [[ 7.99824843e-01 5.96916095e-01 6.30190083e-02 2.86638042e+02] [-5.95148303e-01 8.02303285e-01 -4.59122694e-02 -1.17669555e+02] [-7.79661300e-02 -7.83882180e-04 9.96955700e-01 -1.96575587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:-117.71, Z:-19.66 [[ 8.05946336e-01 5.88625919e-01 6.30081802e-02 2.86687320e+02] [-5.86831470e-01 8.08405545e-01 -4.59271247e-02 -1.17706717e+02] [-7.79700583e-02 3.96148855e-05 9.96955700e-01 -1.96600843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.74, Y:-117.75, Z:-19.66 [[ 8.12225651e-01 5.79931746e-01 6.29973207e-02 2.86736147e+02] [-5.78109820e-01 8.14664574e-01 -4.59420156e-02 -1.17745622e+02] [-7.79649188e-02 8.95913843e-04 9.96955701e-01 -1.96646160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.79, Y:-117.78, Z:-19.67 [[ 8.15371584e-01 5.75501626e-01 6.29845916e-02 2.86785512e+02] [-5.73665103e-01 8.17799534e-01 -4.59594602e-02 -1.17781320e+02] [-7.79585137e-02 1.34197568e-03 9.96955701e-01 -1.96705758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.84, Y:-117.82, Z:-19.68 [[ 8.17003641e-01 5.73183014e-01 6.29784315e-02 2.86838219e+02] [-5.71338951e-01 8.19425869e-01 -4.59678998e-02 -1.17815653e+02] [-7.79541753e-02 1.57391056e-03 9.96955701e-01 -1.96763175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.89, Y:-117.85, Z:-19.68 [[ 8.17734446e-01 5.72141285e-01 6.29660731e-02 2.86889959e+02] [-5.70292834e-01 8.20153327e-01 -4.59848220e-02 -1.17851229e+02] [-7.79516494e-02 1.69427272e-03 9.96955701e-01 -1.96808773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.94, Y:-117.89, Z:-19.68 [[ 8.16778637e-01 5.73506296e-01 6.29538410e-02 2.86942533e+02] [-5.71660598e-01 8.19199620e-01 -4.60015617e-02 -1.17886489e+02] [-7.79539479e-02 1.58486247e-03 9.96955701e-01 -1.96847077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:-117.92, Z:-19.69 [[ 8.13470564e-01 5.78190332e-01 6.29410985e-02 2.86996705e+02] [-5.76357228e-01 8.15901096e-01 -4.60189900e-02 -1.17918010e+02] [-7.79614463e-02 1.15853670e-03 9.96955701e-01 -1.96898984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:-117.95, Z:-19.70 [[ 8.10426808e-01 5.82450346e-01 6.29284013e-02 2.87048208e+02] [-5.80628672e-01 8.12865918e-01 -4.60363462e-02 -1.17950806e+02] [-7.79662384e-02 7.71054977e-04 9.96955702e-01 -1.96970262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.10, Y:-117.98, Z:-19.70 [[ 8.05409562e-01 5.89369776e-01 6.29182407e-02 2.87102009e+02] [-5.87567974e-01 8.07863387e-01 -4.60502286e-02 -1.17982054e+02] [-7.79699560e-02 1.20551159e-04 9.96955702e-01 -1.97025901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.16, Y:-118.01, Z:-19.71 [[ 8.01172429e-01 5.95118002e-01 6.29070965e-02 2.87156560e+02] [-5.93332610e-01 8.03638220e-01 -4.60654472e-02 -1.18013878e+02] [-7.79689239e-02 -4.18465538e-04 9.96955702e-01 -1.97072027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:-118.05, Z:-19.71 [[ 7.97427521e-01 6.00128064e-01 6.28940115e-02 2.87206676e+02] [-5.98356754e-01 7.99903447e-01 -4.60833054e-02 -1.18051225e+02] [-7.79650215e-02 -8.84960614e-04 9.96955702e-01 -1.97060183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.26, Y:-118.08, Z:-19.71 [[ 7.96322832e-01 6.01594326e-01 6.28825448e-02 2.87258858e+02] [-5.99826340e-01 7.98801132e-01 -4.60989470e-02 -1.18082241e+02] [-7.79635129e-02 -1.00896262e-03 9.96955702e-01 -1.97135489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.31, Y:-118.12, Z:-19.72 [[ 7.94660666e-01 6.03788646e-01 6.28784303e-02 2.87311469e+02] [-6.02027059e-01 7.97143519e-01 -4.61045584e-02 -1.18117001e+02] [-7.79605421e-02 -1.21703743e-03 9.96955702e-01 -1.97177392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.36, Y:-118.15, Z:-19.72 [[ 7.92404995e-01 6.06747251e-01 6.28657065e-02 2.87363762e+02] [-6.04993559e-01 7.94893430e-01 -4.61219014e-02 -1.18152385e+02] [-7.79558740e-02 -1.48612252e-03 9.96955703e-01 -1.97230026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:-118.19, Z:-19.73 [[ 7.90844062e-01 6.08781715e-01 6.28529444e-02 2.87415674e+02] [-6.07033042e-01 7.93336027e-01 -4.61392865e-02 -1.18187432e+02] [-7.79522592e-02 -1.66483326e-03 9.96955703e-01 -1.97287372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.47, Y:-118.22, Z:-19.74 [[ 7.89301512e-01 6.10781707e-01 6.28397166e-02 2.87465468e+02] [-6.09037916e-01 7.91796894e-01 -4.61572953e-02 -1.18221432e+02] [-7.79483240e-02 -1.83974709e-03 9.96955703e-01 -1.97362781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:-118.26, Z:-19.74 [[ 7.90132304e-01 6.09707668e-01 6.28291444e-02 2.87517571e+02] [-6.07959341e-01 7.92624511e-01 -4.61716816e-02 -1.18256995e+02] [-7.79511482e-02 -1.71582806e-03 9.96955703e-01 -1.97430239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:-118.29, Z:-19.76 [[ 7.93864725e-01 6.04841310e-01 6.28155097e-02 2.87569881e+02] [-6.03076237e-01 7.96345099e-01 -4.61902239e-02 -1.18289687e+02] [-7.79605788e-02 -1.21375184e-03 9.96955704e-01 -1.97559895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.61, Y:-118.33, Z:-19.75 [[ 7.92138166e-01 6.07102003e-01 6.28035326e-02 2.87613830e+02] [-6.05342717e-01 7.94622649e-01 -4.62065031e-02 -1.18333352e+02] [-7.79571700e-02 -1.41572646e-03 9.96955704e-01 -1.97523371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.66, Y:-118.37, Z:-19.76 [[ 7.99881241e-01 5.96864373e-01 6.27926699e-02 2.87664271e+02] [-5.95072123e-01 8.02342049e-01 -4.62212603e-02 -1.18367698e+02] [-7.79690230e-02 -3.94648307e-04 9.96955704e-01 -1.97620979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.71, Y:-118.41, Z:-19.76 [[ 8.00978132e-01 5.95392892e-01 6.27800623e-02 2.87707781e+02] [-5.93594779e-01 8.03434659e-01 -4.62383784e-02 -1.18413304e+02] [-7.79696797e-02 -2.29987264e-04 9.96955704e-01 -1.97564359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.76, Y:-118.45, Z:-19.76 [[ 8.03257676e-01 5.92315348e-01 6.27665165e-02 2.87756134e+02] [-5.90506386e-01 8.05706225e-01 -4.62567588e-02 -1.18451603e+02] [-7.79699613e-02 9.20677438e-05 9.96955704e-01 -1.97616227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.80, Y:-118.49, Z:-19.77 [[ 8.05918641e-01 5.88690951e-01 6.27543552e-02 2.87804544e+02] [-5.86869693e-01 8.08358058e-01 -4.62732517e-02 -1.18490776e+02] [-7.79686332e-02 4.63846910e-04 9.96955705e-01 -1.97679719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.85, Y:-118.53, Z:-19.77 [[ 8.07909047e-01 5.85957588e-01 6.27429467e-02 2.87854249e+02] [-5.84126877e-01 8.10341377e-01 -4.62887155e-02 -1.18529750e+02] [-7.79664299e-02 7.47230531e-04 9.96955705e-01 -1.97731891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:-118.57, Z:-19.78 [[ 8.11536837e-01 5.80924185e-01 6.27300084e-02 2.87902456e+02] [-5.79077035e-01 8.13956706e-01 -4.63062429e-02 -1.18570035e+02] [-7.79599274e-02 1.25371463e-03 9.96955705e-01 -1.97769963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:287.95, Y:-118.61, Z:-19.78 [[ 8.13986072e-01 5.77488773e-01 6.27167556e-02 2.87950834e+02] [-5.75630029e-01 8.16397048e-01 -4.63241853e-02 -1.18608047e+02] [-7.79534711e-02 1.60559384e-03 9.96955705e-01 -1.97821434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:288.00, Y:-118.65, Z:-19.79 [[ 8.14767005e-01 5.76387333e-01 6.27086087e-02 2.87999548e+02] [-5.74524482e-01 8.17174809e-01 -4.63352112e-02 -1.18646249e+02] [-7.79509241e-02 1.72477037e-03 9.96955705e-01 -1.97917536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.05, Y:-118.68, Z:-19.79 [[ 8.17056785e-01 5.73138380e-01 6.26945514e-02 2.88047253e+02] [-5.71264499e-01 8.19456014e-01 -4.63542238e-02 -1.18684509e+02] [-7.79428119e-02 2.05886164e-03 9.96955706e-01 -1.97924391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:288.09, Y:-118.72, Z:-19.80 [[ 8.16124800e-01 5.74465582e-01 6.26865736e-02 2.88094155e+02] [-5.72594775e-01 8.18526426e-01 -4.63650100e-02 -1.18724763e+02] [-7.79457195e-02 1.94563007e-03 9.96955706e-01 -1.98013595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.14, Y:-118.76, Z:-19.80 [[ 8.12491174e-01 5.79593906e-01 6.26817078e-02 2.88142946e+02] [-5.77737753e-01 8.14904144e-01 -4.63715873e-02 -1.18764447e+02] [-7.79562728e-02 1.46291642e-03 9.96955706e-01 -1.98033946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.19, Y:-118.80, Z:-19.81 [[ 8.09908665e-01 5.83198896e-01 6.26658050e-02 2.88194786e+02] [-5.81351823e-01 8.12328592e-01 -4.63930682e-02 -1.18797798e+02] [-7.79616112e-02 1.14326795e-03 9.96955706e-01 -1.98061599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.25, Y:-118.83, Z:-19.81 [[ 8.03109697e-01 5.92528087e-01 6.26520637e-02 2.88245872e+02] [-5.90707682e-01 8.05549748e-01 -4.64116179e-02 -1.18834196e+02] [-7.79695412e-02 2.64565047e-04 9.96955706e-01 -1.98106511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.30, Y:-118.87, Z:-19.82 [[ 7.96640425e-01 6.01199122e-01 6.26390422e-02 2.88295351e+02] [-5.99403893e-01 7.99099058e-01 -4.64291856e-02 -1.18870626e+02] [-7.79679852e-02 -5.58719594e-04 9.96955707e-01 -1.98157966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.35, Y:-118.91, Z:-19.82 [[ 7.92597588e-01 6.06520341e-01 6.26269833e-02 2.88345629e+02] [-6.04740332e-01 7.95067262e-01 -4.64454459e-02 -1.18908280e+02] [-7.79627718e-02 -1.06051428e-03 9.96955707e-01 -1.98202751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.40, Y:-118.95, Z:-19.83 [[ 7.88756071e-01 6.11509073e-01 6.26140120e-02 2.88395961e+02] [-6.09743295e-01 7.91235939e-01 -4.64629261e-02 -1.18945282e+02] [-7.79549575e-02 -1.53055900e-03 9.96955707e-01 -1.98265177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.45, Y:-118.98, Z:-19.83 [[ 7.83991191e-01 6.17607410e-01 6.26011185e-02 2.88446205e+02] [-6.15859531e-01 7.86483707e-01 -4.64802915e-02 -1.18983077e+02] [-7.79413322e-02 -2.11335637e-03 9.96955707e-01 -1.98336615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.49, Y:-119.02, Z:-19.84 [[ 7.82006920e-01 6.20119290e-01 6.25878833e-02 2.88492948e+02] [-6.18377992e-01 7.84504038e-01 -4.64981065e-02 -1.19022458e+02] [-7.79348200e-02 -2.34112851e-03 9.96955708e-01 -1.98404517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.54, Y:-119.06, Z:-19.85 [[ 7.82546640e-01 6.19438712e-01 6.25814518e-02 2.88541109e+02] [-6.17694551e-01 7.85041759e-01 -4.65067610e-02 -1.19062603e+02] [-7.79371412e-02 -2.26251217e-03 9.96955708e-01 -1.98460645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.59, Y:-119.10, Z:-19.85 [[ 7.83935729e-01 6.17681119e-01 6.25684210e-02 2.88586259e+02] [-6.15929966e-01 7.86425946e-01 -4.65242856e-02 -1.19103603e+02] [-7.79426025e-02 -2.06571568e-03 9.96955708e-01 -1.98539910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:-119.14, Z:-19.86 [[ 7.85811548e-01 6.15294153e-01 6.25565031e-02 2.88633035e+02] [-6.13534160e-01 7.88295525e-01 -4.65403050e-02 -1.19144842e+02] [-7.79489889e-02 -1.80864249e-03 9.96955708e-01 -1.98553089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:-119.19, Z:-19.86 [[ 7.87657980e-01 6.12929968e-01 6.25440729e-02 2.88678774e+02] [-6.11161194e-01 7.90135710e-01 -4.65570035e-02 -1.19188115e+02] [-7.79544882e-02 -1.55351490e-03 9.96955708e-01 -1.98593630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:-119.22, Z:-19.87 [[ 7.86704598e-01 6.14154499e-01 6.25310042e-02 2.88729765e+02] [-6.12388187e-01 7.89184085e-01 -4.65745495e-02 -1.19223276e+02] [-7.79524425e-02 -1.65283603e-03 9.96955709e-01 -1.98668091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters Centerline goodness : 0.997764 with order 1 Centerline is valid? [True, True] Translation: X:288.78, Y:-119.26, Z:-19.88 [[ 7.86339667e-01 6.14622899e-01 6.25189497e-02 2.88778915e+02] [-6.12856779e-01 7.88819290e-01 -4.65907252e-02 -1.19260468e+02] [-7.79518802e-02 -1.67902677e-03 9.96955709e-01 -1.98751367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.32, Y:-118.71, Z:-18.87 [[ 8.53222946e-01 5.17786583e-01 6.25112637e-02 2.89324044e+02] [-5.15740112e-01 8.55476757e-01 -4.66010353e-02 -1.18714958e+02] [-7.76063240e-02 7.52150652e-03 9.96955709e-01 -1.88655514e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.38, Y:-118.75, Z:-18.87 [[ 8.53118008e-01 5.17396009e-01 6.70151889e-02 2.89375758e+02] [-5.15938513e-01 8.55744870e-01 -3.88351397e-02 -1.18751916e+02] [-7.74410504e-02 -1.44475989e-03 9.96995886e-01 -1.88654923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.43, Y:-118.78, Z:-18.87 [[ 8.52976124e-01 5.17631315e-01 6.70041272e-02 2.89428901e+02] [-5.16173046e-01 8.55602557e-01 -3.88542158e-02 -1.18784487e+02] [-7.74410614e-02 -1.44400605e-03 9.96995886e-01 -1.88696196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:-118.82, Z:-18.88 [[ 8.53655987e-01 5.16510779e-01 6.69930695e-02 2.89482225e+02] [-5.15047567e-01 8.56279670e-01 -3.88732723e-02 -1.18815373e+02] [-7.74432675e-02 -1.32021580e-03 9.96995886e-01 -1.88761719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.54, Y:-118.85, Z:-18.88 [[ 8.54598931e-01 5.14950449e-01 6.69828488e-02 2.89536973e+02] [-5.13481067e-01 8.57219163e-01 -3.88908757e-02 -1.18846498e+02] [-7.74458555e-02 -1.15832384e-03 9.96995887e-01 -1.88797476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.59, Y:-118.88, Z:-18.88 [[ 8.54784181e-01 5.14644307e-01 6.69719459e-02 2.89590901e+02] [-5.13172516e-01 8.57403061e-01 -3.89096420e-02 -1.18878904e+02] [-7.74465771e-02 -1.10881547e-03 9.96995887e-01 -1.88829356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:-118.91, Z:-18.89 [[ 8.55076618e-01 5.14159711e-01 6.69609590e-02 2.89644489e+02] [-5.12684956e-01 8.57693829e-01 -3.89285406e-02 -1.18911676e+02] [-7.74474885e-02 -1.04299155e-03 9.96995887e-01 -1.88864038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:289.70, Y:-118.95, Z:-18.89 [[ 8.54390731e-01 5.15300076e-01 6.69500574e-02 2.89695782e+02] [-5.13827347e-01 8.57009082e-01 -3.89472803e-02 -1.18947311e+02] [-7.74463438e-02 -1.12457504e-03 9.96995887e-01 -1.88900700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:-118.98, Z:-18.90 [[ 8.56296332e-01 5.12127725e-01 6.69461272e-02 2.89749119e+02] [-5.10644767e-01 8.58908904e-01 -3.89540349e-02 -1.18975836e+02] [-7.74500660e-02 -8.29492333e-04 9.96995887e-01 -1.88951250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:-119.01, Z:-18.89 [[ 8.55785964e-01 5.12981449e-01 6.69359188e-02 2.89800511e+02] [-5.11499726e-01 8.58399236e-01 -3.89715684e-02 -1.19011154e+02] [-7.74494331e-02 -8.86382836e-04 9.96995887e-01 -1.88920895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.86, Y:-119.04, Z:-18.90 [[ 8.58398622e-01 5.08598799e-01 6.69258319e-02 2.89855039e+02] [-5.07102383e-01 8.61003508e-01 -3.89888828e-02 -1.19037303e+02] [-7.74530751e-02 -4.70245536e-04 9.96995888e-01 -1.89019219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.91, Y:-119.07, Z:-18.91 [[ 8.58717131e-01 5.08062060e-01 6.69166061e-02 2.89909143e+02] [-5.06562782e-01 8.61320370e-01 -3.90047108e-02 -1.19068985e+02] [-7.74534496e-02 -4.03448779e-04 9.96995888e-01 -1.89073336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.96, Y:-119.11, Z:-18.90 [[ 8.56923844e-01 5.11082341e-01 6.69056540e-02 2.89959137e+02] [-5.09590772e-01 8.59531508e-01 -3.90234882e-02 -1.19106169e+02] [-7.74517333e-02 -6.54346340e-04 9.96995888e-01 -1.89033614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.01, Y:-119.13, Z:-18.92 [[ 8.58735800e-01 5.08032948e-01 6.68980524e-02 2.90014520e+02] [-5.06531104e-01 8.61337559e-01 -3.90365152e-02 -1.19130598e+02] [-7.74536411e-02 -3.63891272e-04 9.96995888e-01 -1.89179138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.07, Y:-119.16, Z:-18.92 [[ 8.56448167e-01 5.11881221e-01 6.68891059e-02 2.90069015e+02] [-5.10389870e-01 8.59055956e-01 -3.90518391e-02 -1.19160986e+02] [-7.74513878e-02 -6.93645947e-04 9.96995888e-01 -1.89197016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.12, Y:-119.19, Z:-18.93 [[ 8.57310833e-01 5.10436408e-01 6.68790549e-02 2.90123287e+02] [-5.08939320e-01 8.59915332e-01 -3.90690446e-02 -1.19187778e+02] [-7.74525875e-02 -5.43065562e-04 9.96995889e-01 -1.89294096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.18, Y:-119.22, Z:-18.94 [[ 8.56826318e-01 5.11250505e-01 6.68698824e-02 2.90176830e+02] [-5.09754667e-01 8.59431535e-01 -3.90847378e-02 -1.19217792e+02] [-7.74521776e-02 -5.98402669e-04 9.96995889e-01 -1.89350529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:-119.25, Z:-18.94 [[ 8.56534900e-01 5.11739932e-01 6.68596085e-02 2.90231400e+02] [-5.10244211e-01 8.59140184e-01 -3.91023047e-02 -1.19249624e+02] [-7.74519871e-02 -6.22239542e-04 9.96995889e-01 -1.89395904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:-119.28, Z:-18.95 [[ 8.55981837e-01 5.12665947e-01 6.68484981e-02 2.90285996e+02] [-5.11171562e-01 8.58587887e-01 -3.91212897e-02 -1.19279790e+02] [-7.74514637e-02 -6.83937790e-04 9.96995889e-01 -1.89453626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:-119.31, Z:-18.95 [[ 8.56038629e-01 5.12572550e-01 6.68374624e-02 2.90338387e+02] [-5.11076409e-01 8.58643671e-01 -3.91401348e-02 -1.19310899e+02] [-7.74517228e-02 -6.53582944e-04 9.96995889e-01 -1.89500223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.39, Y:-119.34, Z:-18.96 [[ 8.56885205e-01 5.11157195e-01 6.68286374e-02 2.90391131e+02] [-5.09655577e-01 8.59487093e-01 -3.91551970e-02 -1.19342102e+02] [-7.74528120e-02 -5.08078771e-04 9.96995890e-01 -1.89566243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.45, Y:-119.38, Z:-18.96 [[ 8.58132329e-01 5.09062054e-01 6.68186387e-02 2.90445028e+02] [-5.07552755e-01 8.60729769e-01 -3.91722525e-02 -1.19375314e+02] [-7.74538988e-02 -2.99007825e-04 9.96995890e-01 -1.89602583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.50, Y:-119.41, Z:-18.97 [[ 8.61825956e-01 5.02785002e-01 6.68076623e-02 2.90498458e+02] [-5.01255334e-01 8.64411452e-01 -3.91909637e-02 -1.19406262e+02] [-7.74539371e-02 2.88092663e-04 9.96995890e-01 -1.89682762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.55, Y:-119.44, Z:-18.97 [[ 8.62914977e-01 5.00914951e-01 6.67978592e-02 2.90552290e+02] [-4.99378386e-01 8.65496381e-01 -3.92076652e-02 -1.19437700e+02] [-7.74530111e-02 4.75474381e-04 9.96995890e-01 -1.89740406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.61, Y:-119.47, Z:-18.98 [[ 8.62781590e-01 5.01146152e-01 6.67866886e-02 2.90605139e+02] [-4.99608808e-01 8.65362529e-01 -3.92266840e-02 -1.19468689e+02] [-7.74529995e-02 4.76842947e-04 9.96995890e-01 -1.89787940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.66, Y:-119.50, Z:-18.98 [[ 8.61722217e-01 5.02966286e-01 6.67812589e-02 2.90657786e+02] [-5.01433676e-01 8.64305970e-01 -3.92359256e-02 -1.19500536e+02] [-7.74537886e-02 3.24096640e-04 9.96995890e-01 -1.89829946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.71, Y:-119.53, Z:-18.99 [[ 8.59328059e-01 5.07047146e-01 6.67718419e-02 2.90711506e+02] [-5.05525562e-01 8.61918320e-01 -3.92519451e-02 -1.19531699e+02] [-7.74544605e-02 -2.45751004e-05 9.96995891e-01 -1.89886647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.77, Y:-119.56, Z:-18.99 [[ 8.58096180e-01 5.09130343e-01 6.67625643e-02 2.90765263e+02] [-5.07613820e-01 8.60689408e-01 -3.92677187e-02 -1.19561417e+02] [-7.74542190e-02 -1.94120923e-04 9.96995891e-01 -1.89940170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.82, Y:-119.59, Z:-19.00 [[ 8.57192542e-01 5.10651134e-01 6.67560095e-02 2.90818659e+02] [-5.09138344e-01 8.59787949e-01 -3.92788589e-02 -1.19593882e+02] [-7.74538064e-02 -3.18499171e-04 9.96995891e-01 -1.89961596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.87, Y:-119.62, Z:-19.00 [[ 8.58290959e-01 5.08803955e-01 6.67470241e-02 2.90871154e+02] [-5.07284392e-01 8.60882406e-01 -3.92941220e-02 -1.19624183e+02] [-7.74543434e-02 -1.33933930e-04 9.96995891e-01 -1.89999077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.92, Y:-119.66, Z:-19.00 [[ 8.59579731e-01 5.06624734e-01 6.67387849e-02 2.90924114e+02] [-5.05097515e-01 8.62166674e-01 -3.93081109e-02 -1.19656340e+02] [-7.74544174e-02 7.88609810e-05 9.96995891e-01 -1.90036334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.98, Y:-119.69, Z:-19.01 [[ 8.61988420e-01 5.02516732e-01 6.67300360e-02 2.90977361e+02] [-5.00976035e-01 8.64567358e-01 -3.93229575e-02 -1.19686758e+02] [-7.74530551e-02 4.65785171e-04 9.96995891e-01 -1.90079066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.03, Y:-119.72, Z:-19.01 [[ 8.62557942e-01 5.01539599e-01 6.67220217e-02 2.91029921e+02] [-4.99994929e-01 8.65134502e-01 -3.93365512e-02 -1.19719176e+02] [-7.74523612e-02 5.69382113e-04 9.96995891e-01 -1.90120587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.08, Y:-119.75, Z:-19.02 [[ 8.63640058e-01 4.99675066e-01 6.67134074e-02 2.91082748e+02] [-4.98123706e-01 8.66212595e-01 -3.93511554e-02 -1.19749824e+02] [-7.74507849e-02 7.53704463e-04 9.96995892e-01 -1.90192467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.14, Y:-119.78, Z:-19.03 [[ 8.63662195e-01 4.99637453e-01 6.67085406e-02 2.91136086e+02] [-4.98085344e-01 8.66234280e-01 -3.93594039e-02 -1.19781174e+02] [-7.74506570e-02 7.66682766e-04 9.96995892e-01 -1.90268221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.19, Y:-119.81, Z:-19.03 [[ 8.63435627e-01 5.00030001e-01 6.67001995e-02 2.91188855e+02] [-4.98477970e-01 8.66007759e-01 -3.93735340e-02 -1.19812455e+02] [-7.74508386e-02 7.47931979e-04 9.96995892e-01 -1.90320900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.24, Y:-119.84, Z:-19.04 [[ 8.63365322e-01 5.00152169e-01 6.66942952e-02 2.91241828e+02] [-4.98599729e-01 8.65937207e-01 -3.93835328e-02 -1.19843978e+02] [-7.74508311e-02 7.48618987e-04 9.96995892e-01 -1.90366024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:291.30, Y:-119.87, Z:-19.04 [[ 8.61385353e-01 5.03555279e-01 6.66884888e-02 2.91295633e+02] [-5.02012239e-01 8.63962890e-01 -3.93933624e-02 -1.19874530e+02] [-7.74531151e-02 4.54427820e-04 9.96995892e-01 -1.90363784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.35, Y:-119.91, Z:-19.04 [[ 8.57719093e-01 5.09775774e-01 6.66829652e-02 2.91349610e+02] [-5.08250701e-01 8.60307301e-01 -3.94027102e-02 -1.19906742e+02] [-7.74543889e-02 -9.52069261e-05 9.96995892e-01 -1.90398927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.40, Y:-119.94, Z:-19.05 [[ 8.54583669e-01 5.15016210e-01 6.66712524e-02 2.91403590e+02] [-5.13505462e-01 8.57180264e-01 -3.94225188e-02 -1.19936483e+02] [-7.74525180e-02 -5.46211485e-04 9.96995892e-01 -1.90459681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.46, Y:-119.97, Z:-19.05 [[ 8.49791159e-01 5.22887089e-01 6.66639162e-02 2.91457892e+02] [-5.21399415e-01 8.52401042e-01 -3.94349206e-02 -1.19965816e+02] [-7.74444025e-02 -1.24708003e-03 9.96995892e-01 -1.90519144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.51, Y:-120.00, Z:-19.06 [[ 8.47576470e-01 5.26470722e-01 6.66536279e-02 2.91512401e+02] [-5.24992716e-01 8.50191840e-01 -3.94523024e-02 -1.19997457e+02] [-7.74388527e-02 -1.55382593e-03 9.96995893e-01 -1.90567301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.57, Y:-120.03, Z:-19.06 [[ 8.46095655e-01 5.28848662e-01 6.66425999e-02 2.91566100e+02] [-5.27376539e-01 8.48714341e-01 -3.94709222e-02 -1.20030151e+02] [-7.74346746e-02 -1.74956790e-03 9.96995893e-01 -1.90605078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.62, Y:-120.06, Z:-19.07 [[ 8.46785343e-01 5.27745013e-01 6.66317062e-02 2.91620376e+02] [-5.26268032e-01 8.49401291e-01 -3.94893034e-02 -1.20059716e+02] [-7.74373403e-02 -1.62717352e-03 9.96995893e-01 -1.90689218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.67, Y:-120.09, Z:-19.07 [[ 8.46679470e-01 5.27915316e-01 6.66280267e-02 2.91672199e+02] [-5.26438373e-01 8.49295440e-01 -3.94955107e-02 -1.20093879e+02] [-7.74371643e-02 -1.63551190e-03 9.96995893e-01 -1.90718377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.72, Y:-120.13, Z:-19.08 [[ 8.47866224e-01 5.26007702e-01 6.66240515e-02 2.91724198e+02] [-5.24524346e-01 8.50478562e-01 -3.95022153e-02 -1.20128350e+02] [-7.74407970e-02 -1.45334299e-03 9.96995893e-01 -1.90777517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.78, Y:-120.16, Z:-19.08 [[ 8.48505190e-01 5.24978001e-01 6.66111086e-02 2.91775665e+02] [-5.23489763e-01 8.51114751e-01 -3.95240284e-02 -1.20161460e+02] [-7.74429425e-02 -1.33389023e-03 9.96995893e-01 -1.90803434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.83, Y:-120.19, Z:-19.09 [[ 8.48609051e-01 5.24811432e-01 6.66006032e-02 2.91829865e+02] [-5.23321293e-01 8.51217526e-01 -3.95417227e-02 -1.20193634e+02] [-7.74435488e-02 -1.29805003e-03 9.96995894e-01 -1.90855943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.88, Y:-120.23, Z:-19.09 [[ 8.48756316e-01 5.24574650e-01 6.65894257e-02 2.91882394e+02] [-5.23082309e-01 8.51363531e-01 -3.95605371e-02 -1.20226716e+02] [-7.74442635e-02 -1.25449484e-03 9.96995894e-01 -1.90943993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.93, Y:-120.26, Z:-19.10 [[ 8.49871701e-01 5.22766140e-01 6.65856993e-02 2.91934514e+02] [-5.21267759e-01 8.52475449e-01 -3.95668081e-02 -1.20258701e+02] [-7.74468615e-02 -1.08226775e-03 9.96995894e-01 -1.90963817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:291.99, Y:-120.29, Z:-19.10 [[ 8.50954433e-01 5.21003058e-01 6.65760241e-02 2.91987902e+02] [-5.19498008e-01 8.53554333e-01 -3.95830813e-02 -1.20292757e+02] [-7.74491602e-02 -9.02713447e-04 9.96995894e-01 -1.90999123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.04, Y:-120.33, Z:-19.10 [[ 8.51719252e-01 5.19753268e-01 6.65646725e-02 2.92039952e+02] [-5.18242912e-01 8.54316073e-01 -3.96021615e-02 -1.20325276e+02] [-7.74506224e-02 -7.66746339e-04 9.96995894e-01 -1.91046736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.09, Y:-120.36, Z:-19.11 [[ 8.52894400e-01 5.17823538e-01 6.65576795e-02 2.92091430e+02] [-5.16306390e-01 8.55487258e-01 -3.96139108e-02 -1.20359530e+02] [-7.74522622e-02 -5.77672500e-04 9.96995894e-01 -1.91093376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.15, Y:-120.39, Z:-19.11 [[ 8.52253367e-01 5.18879189e-01 6.65476243e-02 2.92145778e+02] [-5.17363934e-01 8.54847331e-01 -3.96307954e-02 -1.20391569e+02] [-7.74516540e-02 -6.53861873e-04 9.96995895e-01 -1.91127998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.20, Y:-120.42, Z:-19.12 [[ 8.51566016e-01 5.20007860e-01 6.65368029e-02 2.92199825e+02] [-5.18494624e-01 8.54161159e-01 -3.96489553e-02 -1.20422691e+02] [-7.74509211e-02 -7.35271660e-04 9.96995895e-01 -1.91166487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.25, Y:-120.45, Z:-19.12 [[ 8.51183023e-01 5.20635968e-01 6.65255676e-02 2.92253534e+02] [-5.19123174e-01 8.53778423e-01 -3.96677977e-02 -1.20452951e+02] [-7.74505765e-02 -7.70407925e-04 9.96995895e-01 -1.91222039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:-120.48, Z:-19.13 [[ 8.50702893e-01 5.21421439e-01 6.65151936e-02 2.92308193e+02] [-5.19909683e-01 8.53298897e-01 -3.96851854e-02 -1.20484672e+02] [-7.74500478e-02 -8.21591183e-04 9.96995895e-01 -1.91266067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:-120.51, Z:-19.13 [[ 8.50033257e-01 5.22513711e-01 6.65047665e-02 2.92363911e+02] [-5.21003924e-01 8.52630407e-01 -3.97026515e-02 -1.20514715e+02] [-7.74491659e-02 -9.00670102e-04 9.96995895e-01 -1.91302869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:-120.55, Z:-19.13 [[ 8.49989248e-01 5.22586726e-01 6.64935490e-02 2.92418368e+02] [-5.21075694e-01 8.52585673e-01 -3.97214295e-02 -1.20545812e+02] [-7.74493391e-02 -8.85384191e-04 9.96995896e-01 -1.91349132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.47, Y:-120.58, Z:-19.14 [[ 8.50844526e-01 5.21194478e-01 6.64823864e-02 2.92472884e+02] [-5.19677738e-01 8.53437621e-01 -3.97401039e-02 -1.20577567e+02] [-7.74508924e-02 -7.36766242e-04 9.96995896e-01 -1.91393081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.53, Y:-120.61, Z:-19.14 [[ 8.51715573e-01 5.19771261e-01 6.64711830e-02 2.92527268e+02] [-5.18248726e-01 8.54305269e-01 -3.97588344e-02 -1.20609723e+02] [-7.74521814e-02 -5.85387404e-04 9.96995896e-01 -1.91446360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.58, Y:-120.64, Z:-19.15 [[ 8.52903534e-01 5.17821023e-01 6.64601347e-02 2.92582550e+02] [-5.16291127e-01 8.55488889e-01 -3.97772940e-02 -1.20640010e+02] [-7.74534259e-02 -3.86583206e-04 9.96995896e-01 -1.91512588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:292.64, Y:-120.67, Z:-19.16 [[ 8.53400963e-01 5.17002230e-01 6.64491539e-02 2.92636276e+02] [-5.15468426e-01 8.55984001e-01 -3.97956293e-02 -1.20672557e+02] [-7.74538417e-02 -2.90812419e-04 9.96995897e-01 -1.91595941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.69, Y:-120.70, Z:-19.16 [[ 8.54457807e-01 5.15255408e-01 6.64358317e-02 2.92690002e+02] [-5.13714595e-01 8.57036670e-01 -3.98178575e-02 -1.20702896e+02] [-7.74543103e-02 -1.06377167e-04 9.96995897e-01 -1.91616962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.74, Y:-120.73, Z:-19.17 [[ 8.54460939e-01 5.15251826e-01 6.64233293e-02 2.92743979e+02] [-5.13709382e-01 8.57038826e-01 -3.98387028e-02 -1.20733851e+02] [-7.74543365e-02 -8.16719762e-05 9.96995897e-01 -1.91671103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.80, Y:-120.76, Z:-19.17 [[ 8.53894725e-01 5.16191063e-01 6.64122348e-02 2.92798545e+02] [-5.14650016e-01 8.56473447e-01 -3.98571890e-02 -1.20763088e+02] [-7.74542405e-02 -1.45214238e-04 9.96995897e-01 -1.91732041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.85, Y:-120.80, Z:-19.18 [[ 8.53812899e-01 5.16327276e-01 6.64053991e-02 2.92852653e+02] [-5.14785755e-01 8.56391338e-01 -3.98685747e-02 -1.20795292e+02] [-7.74542411e-02 -1.44250145e-04 9.96995898e-01 -1.91772082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.91, Y:-120.83, Z:-19.18 [[ 8.53950030e-01 5.16101864e-01 6.63943668e-02 2.92907265e+02] [-5.14558234e-01 8.56527207e-01 -3.98869387e-02 -1.20826854e+02] [-7.74543049e-02 -1.02315641e-04 9.96995898e-01 -1.91815715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.96, Y:-120.86, Z:-19.19 [[ 8.54384242e-01 5.15384158e-01 6.63832616e-02 2.92961233e+02] [-5.13836928e-01 8.56959258e-01 -3.99054123e-02 -1.20856128e+02] [-7.74543680e-02 -1.56157579e-05 9.96995898e-01 -1.91874058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.02, Y:-120.89, Z:-19.19 [[ 8.55303076e-01 5.13859194e-01 6.63730160e-02 2.93016104e+02] [-5.12306051e-01 8.57874530e-01 -3.99224463e-02 -1.20887466e+02] [-7.74542359e-02 1.42493460e-04 9.96995898e-01 -1.91918034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.07, Y:-120.92, Z:-19.20 [[ 8.55697105e-01 5.13204248e-01 6.63616166e-02 2.93069148e+02] [-5.11647668e-01 8.58266479e-01 -3.99413861e-02 -1.20917887e+02] [-7.74540401e-02 2.23962044e-04 9.96995898e-01 -1.91985205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.12, Y:-120.95, Z:-19.20 [[ 8.55431088e-01 5.13648896e-01 6.63510706e-02 2.93123880e+02] [-5.12092293e-01 8.58000449e-01 -3.99588977e-02 -1.20948219e+02] [-7.74540920e-02 2.04211432e-04 9.96995899e-01 -1.92046337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.18, Y:-120.98, Z:-19.21 [[ 8.55100956e-01 5.14199760e-01 6.63397419e-02 2.93179056e+02] [-5.12643353e-01 8.57670436e-01 -3.99776966e-02 -1.20975859e+02] [-7.74541574e-02 1.76338878e-04 9.96995899e-01 -1.92116767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:-121.01, Z:-19.21 [[ 8.53220766e-01 5.17314053e-01 6.63362218e-02 2.93231573e+02] [-5.15766572e-01 8.55795630e-01 -3.99835369e-02 -1.21006886e+02] [-7.74542942e-02 -9.92217196e-05 9.96995899e-01 -1.92148529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:-121.04, Z:-19.22 [[ 8.52101526e-01 5.19156728e-01 6.63270776e-02 2.93285127e+02] [-5.17613634e-01 8.54679021e-01 -3.99987000e-02 -1.21037742e+02] [-7.74539560e-02 -2.48846370e-04 9.96995899e-01 -1.92185916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.34, Y:-121.07, Z:-19.22 [[ 8.50727968e-01 5.21405352e-01 6.63203061e-02 2.93340315e+02] [-5.19868196e-01 8.53309009e-01 -4.00099245e-02 -1.21068041e+02] [-7.74531034e-02 -4.40256050e-04 9.96995899e-01 -1.92232244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.40, Y:-121.10, Z:-19.23 [[ 8.48406834e-01 5.25175118e-01 6.63094185e-02 2.93395235e+02] [-5.23648020e-01 8.50993839e-01 -4.00279606e-02 -1.21098868e+02] [-7.74505956e-02 -7.62800361e-04 9.96995899e-01 -1.92278941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.45, Y:-121.13, Z:-19.23 [[ 8.45203420e-01 5.30316631e-01 6.62981793e-02 2.93450034e+02] [-5.28803810e-01 8.47798799e-01 -4.00465675e-02 -1.21128969e+02] [-7.74448776e-02 -1.21123392e-03 9.96995900e-01 -1.92335057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.50, Y:-121.16, Z:-19.24 [[ 8.44079576e-01 5.32104978e-01 6.62869730e-02 2.93504251e+02] [-5.30596199e-01 8.46677306e-01 -4.00651081e-02 -1.21160618e+02] [-7.74425192e-02 -1.35347646e-03 9.96995900e-01 -1.92386682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.56, Y:-121.19, Z:-19.24 [[ 8.41865239e-01 5.35602873e-01 6.62757980e-02 2.93557970e+02] [-5.34103432e-01 8.44468371e-01 -4.00835853e-02 -1.21191883e+02] [-7.74366987e-02 -1.65315407e-03 9.96995900e-01 -1.92441571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.61, Y:-121.23, Z:-19.25 [[ 8.40849434e-01 5.37197427e-01 6.62657809e-02 2.93611651e+02] [-5.35701619e-01 8.43454655e-01 -4.01001387e-02 -1.21225091e+02] [-7.74338727e-02 -1.78050715e-03 9.96995900e-01 -1.92487321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:-121.26, Z:-19.25 [[ 8.40453643e-01 5.37817841e-01 6.62543843e-02 2.93663794e+02] [-5.36322474e-01 8.43059116e-01 -4.01189596e-02 -1.21258010e+02] [-7.74330549e-02 -1.81558949e-03 9.96995901e-01 -1.92543073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:-121.29, Z:-19.26 [[ 8.40591833e-01 5.37603124e-01 6.62438735e-02 2.93717102e+02] [-5.36105725e-01 8.43196139e-01 -4.01363075e-02 -1.21291444e+02] [-7.74339827e-02 -1.77546749e-03 9.96995901e-01 -1.92596087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.77, Y:-121.33, Z:-19.26 [[ 8.41643577e-01 5.35956490e-01 6.62323975e-02 2.93768460e+02] [-5.34452506e-01 8.44244086e-01 -4.01552361e-02 -1.21326984e+02] [-7.74377693e-02 -1.60167426e-03 9.96995901e-01 -1.92629183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.82, Y:-121.36, Z:-19.27 [[ 8.42749544e-01 5.34217072e-01 6.62217975e-02 2.93820324e+02] [-5.32706348e-01 8.45346142e-01 -4.01727095e-02 -1.21361741e+02] [-7.74412883e-02 -1.42123928e-03 9.96995901e-01 -1.92665207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.87, Y:-121.40, Z:-19.27 [[ 8.44053194e-01 5.32156390e-01 6.62101365e-02 2.93871453e+02] [-5.30637820e-01 8.46645211e-01 -4.01919192e-02 -1.21396494e+02] [-7.74448817e-02 -1.20948469e-03 9.96995901e-01 -1.92724858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.92, Y:-121.43, Z:-19.28 [[ 8.44831614e-01 5.30921073e-01 6.61993827e-02 2.93922852e+02] [-5.29397325e-01 8.47420591e-01 -4.02096239e-02 -1.21431680e+02] [-7.74468567e-02 -1.07541468e-03 9.96995902e-01 -1.92779247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.97, Y:-121.47, Z:-19.28 [[ 8.44857410e-01 5.30881267e-01 6.61893997e-02 2.93974409e+02] [-5.29356111e-01 8.47445558e-01 -4.02260503e-02 -1.21465477e+02] [-7.74471693e-02 -1.05248649e-03 9.96995902e-01 -1.92834533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.03, Y:-121.50, Z:-19.29 [[ 8.44329166e-01 5.31722237e-01 6.61794663e-02 2.94026191e+02] [-5.30198378e-01 8.46918077e-01 -4.02423860e-02 -1.21501278e+02] [-7.74463579e-02 -1.11042546e-03 9.96995902e-01 -1.92884462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.08, Y:-121.54, Z:-19.29 [[ 8.43736048e-01 5.32664316e-01 6.61680195e-02 2.94077979e+02] [-5.31141874e-01 8.46325792e-01 -4.02611985e-02 -1.21535131e+02] [-7.74454053e-02 -1.17478129e-03 9.96995902e-01 -1.92933371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.13, Y:-121.57, Z:-19.30 [[ 8.42776810e-01 5.34181594e-01 6.61609671e-02 2.94129497e+02] [-5.32662904e-01 8.45368756e-01 -4.02727844e-02 -1.21571086e+02] [-7.74433946e-02 -1.30052411e-03 9.96995902e-01 -1.92978745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.18, Y:-121.61, Z:-19.30 [[ 8.42209951e-01 5.35076294e-01 6.61495059e-02 2.94181989e+02] [-5.33558881e-01 8.44802644e-01 -4.02916010e-02 -1.21606225e+02] [-7.74423581e-02 -1.36066904e-03 9.96995903e-01 -1.93030379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.23, Y:-121.64, Z:-19.31 [[ 8.41377133e-01 5.36386299e-01 6.61381776e-02 2.94233175e+02] [-5.34871461e-01 8.43971332e-01 -4.03101878e-02 -1.21640215e+02] [-7.74405583e-02 -1.45935346e-03 9.96995903e-01 -1.93087842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.29, Y:-121.68, Z:-19.31 [[ 8.40608169e-01 5.37591881e-01 6.61277214e-02 2.94285592e+02] [-5.36079416e-01 8.43203751e-01 -4.03273337e-02 -1.21675571e+02] [-7.74387899e-02 -1.55022412e-03 9.96995903e-01 -1.93124972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.34, Y:-121.71, Z:-19.32 [[ 8.40830503e-01 5.37245453e-01 6.61164855e-02 2.94337463e+02] [-5.35730471e-01 8.43424616e-01 -4.03457465e-02 -1.21708895e+02] [-7.74398402e-02 -1.49668160e-03 9.96995903e-01 -1.93158397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.39, Y:-121.74, Z:-19.32 [[ 8.42018970e-01 5.35382055e-01 6.61067980e-02 2.94391524e+02] [-5.33860087e-01 8.44608991e-01 -4.03616132e-02 -1.21739695e+02] [-7.74432794e-02 -1.30653692e-03 9.96995903e-01 -1.93198575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.45, Y:-121.77, Z:-19.32 [[ 8.42313290e-01 5.34920082e-01 6.60971067e-02 2.94446310e+02] [-5.33395449e-01 8.44901743e-01 -4.03774777e-02 -1.21771027e+02] [-7.74442844e-02 -1.24540983e-03 9.96995904e-01 -1.93242225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.50, Y:-121.80, Z:-19.33 [[ 8.42027107e-01 5.35371873e-01 6.60856158e-02 2.94499795e+02] [-5.33847153e-01 8.44615509e-01 -4.03962761e-02 -1.21801633e+02] [-7.74439660e-02 -1.26485841e-03 9.96995904e-01 -1.93295954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.55, Y:-121.83, Z:-19.33 [[ 8.40915653e-01 5.37117268e-01 6.60749949e-02 2.94553269e+02] [-5.35596556e-01 8.43506412e-01 -4.04136409e-02 -1.21833473e+02] [-7.74415463e-02 -1.40507649e-03 9.96995904e-01 -1.93344243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.61, Y:-121.86, Z:-19.34 [[ 8.38812093e-01 5.40397710e-01 6.60650264e-02 2.94607511e+02] [-5.38885847e-01 8.41408025e-01 -4.04299302e-02 -1.21863882e+02] [-7.74358851e-02 -1.68839341e-03 9.96995904e-01 -1.93426744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.66, Y:-121.90, Z:-19.35 [[ 8.38549783e-01 5.40805306e-01 6.60596912e-02 2.94660261e+02] [-5.39294019e-01 8.41146050e-01 -4.04386457e-02 -1.21895519e+02] [-7.74352824e-02 -1.71577879e-03 9.96995904e-01 -1.93505431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.71, Y:-121.93, Z:-19.35 [[ 8.40114511e-01 5.38372559e-01 6.60499539e-02 2.94712183e+02] [-5.36852504e-01 8.42705654e-01 -4.04545438e-02 -1.21929527e+02] [-7.74402858e-02 -1.47263388e-03 9.96995904e-01 -1.93548227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.76, Y:-121.96, Z:-19.36 [[ 8.43633133e-01 5.32842799e-01 6.60430786e-02 2.94762678e+02] [-5.31304879e-01 8.46213713e-01 -4.04657647e-02 -1.21963818e+02] [-7.74484501e-02 -9.50749944e-04 9.96995905e-01 -1.93563436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.82, Y:-122.00, Z:-19.36 [[ 8.45914688e-01 5.29214332e-01 6.60343156e-02 2.94815040e+02] [-5.27664226e-01 8.48487967e-01 -4.04800597e-02 -1.21997747e+02] [-7.74519499e-02 -6.01268876e-04 9.96995905e-01 -1.93585968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.87, Y:-122.03, Z:-19.36 [[ 8.49028782e-01 5.24204984e-01 6.60247068e-02 2.94867552e+02] [-5.22638476e-01 8.51592109e-01 -4.04957261e-02 -1.22031632e+02] [-7.74541807e-02 -1.25015126e-04 9.96995905e-01 -1.93610094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.92, Y:-122.06, Z:-19.37 [[ 8.50527396e-01 5.21771204e-01 6.60148459e-02 2.94921172e+02] [-5.20196114e-01 8.53085457e-01 -4.05117946e-02 -1.22061986e+02] [-7.74541928e-02 1.15724902e-04 9.96995905e-01 -1.93661985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:-122.09, Z:-19.37 [[ 8.51380858e-01 5.20378702e-01 6.60048486e-02 2.94973195e+02] [-5.18798166e-01 8.53935558e-01 -4.05280764e-02 -1.22093932e+02] [-7.74538350e-02 2.61634016e-04 9.96995905e-01 -1.93713285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.03, Y:-122.13, Z:-19.38 [[ 8.52979448e-01 5.17754920e-01 6.59992775e-02 2.95027229e+02] [-5.16165824e-01 8.55528832e-01 -4.05371468e-02 -1.22125176e+02] [-7.74525920e-02 5.10781558e-04 9.96995905e-01 -1.93768026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.08, Y:-122.16, Z:-19.38 [[ 8.53826637e-01 5.16357079e-01 6.59957633e-02 2.95080140e+02] [-5.14763367e-01 8.56373138e-01 -4.05428673e-02 -1.22156764e+02] [-7.74515954e-02 6.44378741e-04 9.96995905e-01 -1.93810207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.13, Y:-122.19, Z:-19.39 [[ 8.55277899e-01 5.13950974e-01 6.59856953e-02 2.95133917e+02] [-5.12348835e-01 8.57819106e-01 -4.05592468e-02 -1.22187412e+02] [-7.74492546e-02 8.81733237e-04 9.96995905e-01 -1.93864496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:-122.22, Z:-19.40 [[ 8.55020777e-01 5.14379979e-01 6.59750600e-02 2.95187044e+02] [-5.12777781e-01 8.57561947e-01 -4.05765392e-02 -1.22220635e+02] [-7.74494603e-02 8.63239265e-04 9.96995906e-01 -1.93958411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.24, Y:-122.25, Z:-19.40 [[ 8.54808269e-01 5.14734658e-01 6.59625311e-02 2.95241044e+02] [-5.13131943e-01 8.57349112e-01 -4.05968965e-02 -1.22251167e+02] [-7.74495471e-02 8.55081020e-04 9.96995906e-01 -1.93955936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.30, Y:-122.28, Z:-19.40 [[ 8.53406157e-01 5.17057372e-01 6.59515388e-02 2.95295474e+02] [-5.15460193e-01 8.55950484e-01 -4.06147462e-02 -1.22280859e+02] [-7.74514055e-02 6.65481525e-04 9.96995906e-01 -1.93986727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.35, Y:-122.31, Z:-19.40 [[ 8.51990404e-01 5.19388172e-01 6.59414756e-02 2.95350280e+02] [-5.17796690e-01 8.54538298e-01 -4.06310780e-02 -1.22312297e+02] [-7.74528177e-02 4.73010767e-04 9.96995906e-01 -1.94028287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.40, Y:-122.34, Z:-19.41 [[ 8.48970089e-01 5.24311951e-01 6.59300030e-02 2.95401953e+02] [-5.22733801e-01 8.51526263e-01 -4.06496856e-02 -1.22344630e+02] [-7.74542450e-02 4.65261336e-05 9.96995907e-01 -1.94063971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.46, Y:-122.37, Z:-19.41 [[ 8.48606273e-01 5.24901871e-01 6.59197982e-02 2.95457321e+02] [-5.23324214e-01 8.51162749e-01 -4.06662275e-02 -1.22371867e+02] [-7.74542556e-02 1.21891599e-05 9.96995907e-01 -1.94109045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.51, Y:-122.40, Z:-19.41 [[ 8.46861694e-01 5.27712578e-01 6.59143840e-02 2.95512940e+02] [-5.26142722e-01 8.49422969e-01 -4.06750014e-02 -1.22401074e+02] [-7.74539016e-02 -2.34272823e-04 9.96995907e-01 -1.94138027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:-122.43, Z:-19.42 [[ 8.46554649e-01 5.28206457e-01 6.59026980e-02 2.95567373e+02] [-5.26636622e-01 8.49115936e-01 -4.06939265e-02 -1.22431565e+02] [-7.74538259e-02 -2.57141595e-04 9.96995907e-01 -1.94182531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.62, Y:-122.46, Z:-19.42 [[ 8.46756233e-01 5.27884689e-01 6.58910985e-02 2.95622193e+02] [-5.26312420e-01 8.49316026e-01 -4.07126997e-02 -1.22462122e+02] [-7.74539768e-02 -2.05571304e-04 9.96995907e-01 -1.94245052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.67, Y:-122.49, Z:-19.43 [[ 8.46896056e-01 5.27661770e-01 6.58796337e-02 2.95674991e+02] [-5.26087385e-01 8.49454548e-01 -4.07312432e-02 -1.22493803e+02] [-7.74540744e-02 -1.63314980e-04 9.96995908e-01 -1.94293160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.73, Y:-122.52, Z:-19.44 [[ 8.46934531e-01 5.27601281e-01 6.58694801e-02 2.95728829e+02] [-5.26025436e-01 8.49492124e-01 -4.07476567e-02 -1.22524097e+02] [-7.74541204e-02 -1.38424486e-04 9.96995908e-01 -1.94357726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:-122.56, Z:-19.44 [[ 8.46179720e-01 5.28812266e-01 6.58594606e-02 2.95782153e+02] [-5.27238821e-01 8.48738790e-01 -4.07638446e-02 -1.22555602e+02] [-7.74538999e-02 -2.30125760e-04 9.96995908e-01 -1.94424595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:295.83, Y:-122.59, Z:-19.45 [[ 8.44393137e-01 5.31661610e-01 6.58495432e-02 2.95833456e+02] [-5.30095552e-01 8.46956734e-01 -4.07798587e-02 -1.22591165e+02] [-7.74527994e-02 -4.72317096e-04 9.96995908e-01 -1.94465327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.89, Y:-122.62, Z:-19.45 [[ 8.44318939e-01 5.31780221e-01 6.58431936e-02 2.95886139e+02] [-5.30213723e-01 8.46882267e-01 -4.07901083e-02 -1.22620880e+02] [-7.74528059e-02 -4.71103907e-04 9.96995908e-01 -1.94499443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.94, Y:-122.65, Z:-19.45 [[ 8.42895364e-01 5.34034499e-01 6.58373718e-02 2.95939256e+02] [-5.32474123e-01 8.45462423e-01 -4.07995028e-02 -1.22653876e+02] [-7.74513659e-02 -6.66985118e-04 9.96995908e-01 -1.94538035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.99, Y:-122.69, Z:-19.45 [[ 8.39240696e-01 5.39761067e-01 6.58258672e-02 2.95990256e+02] [-5.38216750e-01 8.41817448e-01 -4.08180560e-02 -1.22689871e+02] [-7.74453610e-02 -1.17241054e-03 9.96995908e-01 -1.94546603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.04, Y:-122.72, Z:-19.46 [[ 8.38454135e-01 5.40982571e-01 6.58218847e-02 2.96043197e+02] [-5.39441505e-01 8.41032832e-01 -4.08244769e-02 -1.22718997e+02] [-7.74436967e-02 -1.27760502e-03 9.96995909e-01 -1.94622819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.10, Y:-122.75, Z:-19.47 [[ 8.36606302e-01 5.43837049e-01 6.58115384e-02 2.96095146e+02] [-5.42303469e-01 8.39189459e-01 -4.08411491e-02 -1.22752427e+02] [-7.74392793e-02 -1.52186291e-03 9.96995909e-01 -1.94673412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.15, Y:-122.79, Z:-19.47 [[ 8.34542736e-01 5.46999631e-01 6.58014146e-02 2.96145712e+02] [-5.45474554e-01 8.37130921e-01 -4.08574535e-02 -1.22786607e+02] [-7.74334109e-02 -1.79570629e-03 9.96995909e-01 -1.94733336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.20, Y:-122.82, Z:-19.48 [[ 8.33602628e-01 5.48431922e-01 6.57957836e-02 2.96197944e+02] [-5.46910577e-01 8.36193009e-01 -4.08665197e-02 -1.22820707e+02] [-7.74304782e-02 -1.91797177e-03 9.96995909e-01 -1.94785286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.25, Y:-122.86, Z:-19.48 [[ 8.32880248e-01 5.49529696e-01 6.57845427e-02 2.96249792e+02] [-5.48010338e-01 8.35471794e-01 -4.08846066e-02 -1.22855564e+02] [-7.74284353e-02 -1.99862814e-03 9.96995909e-01 -1.94834232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:-122.89, Z:-19.49 [[ 8.32300766e-01 5.50408346e-01 6.57729985e-02 2.96299072e+02] [-5.48890258e-01 8.34893056e-01 -4.09031699e-02 -1.22892186e+02] [-7.74268658e-02 -2.05841849e-03 9.96995909e-01 -1.94891865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.35, Y:-122.93, Z:-19.49 [[ 8.32234078e-01 5.50510277e-01 6.57637697e-02 2.96351208e+02] [-5.48991335e-01 8.34825868e-01 -4.09180025e-02 -1.22928005e+02] [-7.74270771e-02 -2.05038363e-03 9.96995910e-01 -1.94941440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.40, Y:-122.96, Z:-19.50 [[ 8.32670192e-01 5.49851786e-01 6.57522960e-02 2.96402171e+02] [-5.48329341e-01 8.35259925e-01 -4.09364316e-02 -1.22964095e+02] [-7.74292279e-02 -1.96736677e-03 9.96995910e-01 -1.94988500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.45, Y:-123.00, Z:-19.50 [[ 8.32748734e-01 5.49734011e-01 6.57424065e-02 2.96452952e+02] [-5.48209947e-01 8.35337514e-01 -4.09523077e-02 -1.22999828e+02] [-7.74299748e-02 -1.93765882e-03 9.96995910e-01 -1.95012372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.50, Y:-123.03, Z:-19.50 [[ 8.32438945e-01 5.50204207e-01 6.57322825e-02 2.96503893e+02] [-5.48680323e-01 8.35027832e-01 -4.09685512e-02 -1.23034733e+02] [-7.74293546e-02 -1.96219245e-03 9.96995910e-01 -1.95048661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.56, Y:-123.07, Z:-19.51 [[ 8.31298926e-01 5.51926348e-01 6.57221545e-02 2.96556127e+02] [-5.50406545e-01 8.33890210e-01 -4.09847923e-02 -1.23068993e+02] [-7.74256480e-02 -2.10329019e-03 9.96995910e-01 -1.95102385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.61, Y:-123.10, Z:-19.52 [[ 8.30493759e-01 5.53138531e-01 6.57105935e-02 2.96607714e+02] [-5.51621045e-01 8.33086400e-01 -4.10033196e-02 -1.23102139e+02] [-7.74231178e-02 -2.19434517e-03 9.96995911e-01 -1.95168521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.66, Y:-123.14, Z:-19.52 [[ 8.29604859e-01 5.54472090e-01 6.56999129e-02 2.96659449e+02] [-5.52957418e-01 8.32199146e-01 -4.10204261e-02 -1.23136601e+02] [-7.74200928e-02 -2.29850937e-03 9.96995911e-01 -1.95221007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.71, Y:-123.17, Z:-19.53 [[ 8.30576182e-01 5.53017262e-01 6.56895300e-02 2.96712402e+02] [-5.51496732e-01 8.33167039e-01 -4.10370464e-02 -1.23169824e+02] [-7.74245463e-02 -2.14316777e-03 9.96995911e-01 -1.95274067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.77, Y:-123.20, Z:-19.53 [[ 8.31450542e-01 5.51703141e-01 6.56783130e-02 2.96765253e+02] [-5.50177100e-01 8.34038156e-01 -4.10549911e-02 -1.23204242e+02] [-7.74283866e-02 -1.99950924e-03 9.96995911e-01 -1.95309663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.82, Y:-123.24, Z:-19.53 [[ 8.32687564e-01 5.49835708e-01 6.56667059e-02 2.96817591e+02] [-5.48302401e-01 8.35270879e-01 -4.10735480e-02 -1.23238149e+02] [-7.74331905e-02 -1.80377982e-03 9.96995911e-01 -1.95349219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:-123.27, Z:-19.54 [[ 8.34454694e-01 5.47151316e-01 6.56566911e-02 2.96869225e+02] [-5.45608440e-01 8.37032305e-01 -4.10895506e-02 -1.23272005e+02] [-7.74389732e-02 -1.53547640e-03 9.96995912e-01 -1.95381188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.92, Y:-123.31, Z:-19.54 [[ 8.35661731e-01 5.45307265e-01 6.56464644e-02 2.96921931e+02] [-5.43757418e-01 8.38235156e-01 -4.11058827e-02 -1.23306876e+02] [-7.74425109e-02 -1.34513888e-03 9.96995912e-01 -1.95423589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.97, Y:-123.34, Z:-19.55 [[ 8.36794986e-01 5.43568042e-01 6.56348607e-02 2.96974606e+02] [-5.42011393e-01 8.39364303e-01 -4.11244024e-02 -1.23341542e+02] [-7.74454700e-02 -1.16214847e-03 9.96995912e-01 -1.95475668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.03, Y:-123.37, Z:-19.55 [[ 8.36146678e-01 5.44566159e-01 6.56234084e-02 2.97027642e+02] [-5.43011144e-01 8.38716984e-01 -4.11426691e-02 -1.23373423e+02] [-7.74443724e-02 -1.23293599e-03 9.96995912e-01 -1.95541623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.08, Y:-123.41, Z:-19.56 [[ 8.34832981e-01 5.46579173e-01 6.56132760e-02 2.97081684e+02] [-5.45029087e-01 8.37406261e-01 -4.11588216e-02 -1.23405522e+02] [-7.74415229e-02 -1.40040215e-03 9.96995912e-01 -1.95592492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.14, Y:-123.44, Z:-19.56 [[ 8.33453428e-01 5.48681872e-01 6.56017321e-02 2.97136759e+02] [-5.47136830e-01 8.36029740e-01 -4.11772130e-02 -1.23436462e+02] [-7.74381893e-02 -1.57383439e-03 9.96995913e-01 -1.95649866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.19, Y:-123.47, Z:-19.57 [[ 8.33369401e-01 5.48810854e-01 6.55902982e-02 2.97189871e+02] [-5.47264779e-01 8.35945094e-01 -4.11954177e-02 -1.23469430e+02] [-7.74383804e-02 -1.56425942e-03 9.96995913e-01 -1.95693910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.24, Y:-123.50, Z:-19.57 [[ 8.34475783e-01 5.47128510e-01 6.55786593e-02 2.97241193e+02] [-5.45575787e-01 8.37047473e-01 -4.12139373e-02 -1.23502912e+02] [-7.74417712e-02 -1.38609604e-03 9.96995913e-01 -1.95744620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.29, Y:-123.54, Z:-19.58 [[ 8.36738395e-01 5.43662798e-01 6.55714879e-02 2.97293392e+02] [-5.42098528e-01 8.39303078e-01 -4.12253439e-02 -1.23537355e+02] [-7.74470374e-02 -1.05137899e-03 9.96995913e-01 -1.95780745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:-123.57, Z:-19.58 [[ 8.38733843e-01 5.40580661e-01 6.55598162e-02 2.97344918e+02] [-5.39005516e-01 8.41291861e-01 -4.12438968e-02 -1.23570241e+02] [-7.74505928e-02 -7.44450433e-04 9.96995913e-01 -1.95842396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:-123.60, Z:-19.59 [[ 8.41713859e-01 5.35930041e-01 6.55497542e-02 2.97397327e+02] [-5.34339517e-01 8.44262342e-01 -4.12598824e-02 -1.23604166e+02] [-7.74535995e-02 -2.96809168e-04 9.96995914e-01 -1.95881286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.45, Y:-123.64, Z:-19.59 [[ 8.43580953e-01 5.32987742e-01 6.55381041e-02 2.97449052e+02] [-5.31386892e-01 8.46122962e-01 -4.12783793e-02 -1.23638679e+02] [-7.74541650e-02 -4.43487176e-06 9.96995914e-01 -1.95937486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.50, Y:-123.67, Z:-19.60 [[ 8.43718822e-01 5.32770710e-01 6.55280172e-02 2.97500151e+02] [-5.31167962e-01 8.46259635e-01 -4.12943859e-02 -1.23673731e+02] [-7.74541552e-02 3.44672245e-05 9.96995914e-01 -1.95964471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.55, Y:-123.70, Z:-19.60 [[ 8.43856341e-01 5.32553330e-01 6.55242514e-02 2.97554130e+02] [-5.30949464e-01 8.46396448e-01 -4.13003605e-02 -1.23703530e+02] [-7.74541381e-02 6.15049376e-05 9.96995914e-01 -1.96046904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.61, Y:-123.74, Z:-19.61 [[ 8.42670832e-01 5.34428503e-01 6.55136861e-02 2.97606599e+02] [-5.32828987e-01 8.45213681e-01 -4.13171131e-02 -1.23735433e+02] [-7.74541067e-02 -9.08649263e-05 9.96995914e-01 -1.96105493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.66, Y:-123.77, Z:-19.62 [[ 8.41474650e-01 5.36311181e-01 6.55036651e-02 2.97660119e+02] [-5.34716118e-01 8.44020294e-01 -4.13329941e-02 -1.23768857e+02] [-7.74537696e-02 -2.45198762e-04 9.96995914e-01 -1.96151288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.71, Y:-123.80, Z:-19.62 [[ 8.39897378e-01 5.38779358e-01 6.54919688e-02 2.97712088e+02] [-5.37190331e-01 8.42446794e-01 -4.13515187e-02 -1.23801658e+02] [-7.74528438e-02 -4.50620219e-04 9.96995915e-01 -1.96196864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:-123.83, Z:-19.62 [[ 8.37860066e-01 5.41943038e-01 6.54847543e-02 2.97765779e+02] [-5.40362744e-01 8.40414905e-01 -4.13629405e-02 -1.23833274e+02] [-7.74507212e-02 -7.29165482e-04 9.96995915e-01 -1.96248606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.82, Y:-123.87, Z:-19.63 [[ 8.37178769e-01 5.42996275e-01 6.54733115e-02 2.97819073e+02] [-5.41417780e-01 8.39734718e-01 -4.13810453e-02 -1.23866864e+02] [-7.74499663e-02 -8.05082374e-04 9.96995915e-01 -1.96285300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.87, Y:-123.90, Z:-19.63 [[ 8.36706161e-01 5.43725639e-01 6.54616672e-02 2.97871062e+02] [-5.42147931e-01 8.39262597e-01 -4.13994576e-02 -1.23900162e+02] [-7.74494753e-02 -8.50726133e-04 9.96995915e-01 -1.96318153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.92, Y:-123.93, Z:-19.64 [[ 8.35937005e-01 5.44908652e-01 6.54513959e-02 2.97924146e+02] [-5.43333291e-01 8.38494887e-01 -4.14156900e-02 -1.23934138e+02] [-7.74484286e-02 -9.41014476e-04 9.96995915e-01 -1.96362793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:297.98, Y:-123.97, Z:-19.64 [[ 8.34764083e-01 5.46705196e-01 6.54396976e-02 2.97978151e+02] [-5.45133892e-01 8.37324459e-01 -4.14341658e-02 -1.23966471e+02] [-7.74465332e-02 -1.08564362e-03 9.96995916e-01 -1.96416664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.03, Y:-124.00, Z:-19.65 [[ 8.33937805e-01 5.47966166e-01 6.54279568e-02 2.98031048e+02] [-5.46397280e-01 8.36499663e-01 -4.14526973e-02 -1.23999891e+02] [-7.74451394e-02 -1.18068626e-03 9.96995916e-01 -1.96471325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.08, Y:-124.03, Z:-19.65 [[ 8.32823267e-01 5.49660001e-01 6.54162738e-02 2.98083967e+02] [-5.48094878e-01 8.35387425e-01 -4.14711260e-02 -1.24033998e+02] [-7.74429517e-02 -1.31620597e-03 9.96995916e-01 -1.96513304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.14, Y:-124.07, Z:-19.66 [[ 8.32264091e-01 5.50507715e-01 6.54044237e-02 2.98137242e+02] [-5.48943736e-01 8.34828947e-01 -4.14898065e-02 -1.24066747e+02] [-7.74419648e-02 -1.37287257e-03 9.96995916e-01 -1.96568909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.19, Y:-124.10, Z:-19.66 [[ 8.31266569e-01 5.52014203e-01 6.53927488e-02 2.98189495e+02] [-5.50453426e-01 8.33833374e-01 -4.15081994e-02 -1.24098718e+02] [-7.74397720e-02 -1.49128404e-03 9.96995917e-01 -1.96637817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.24, Y:-124.13, Z:-19.67 [[ 8.30828997e-01 5.52673754e-01 6.53827190e-02 2.98240923e+02] [-5.51113772e-01 8.33396286e-01 -4.15239921e-02 -1.24133020e+02] [-7.74389357e-02 -1.53398017e-03 9.96995917e-01 -1.96687466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.29, Y:-124.17, Z:-19.67 [[ 8.32010313e-01 5.50894949e-01 6.53727314e-02 2.98291696e+02] [-5.49328244e-01 8.34573504e-01 -4.15397100e-02 -1.24167830e+02] [-7.74423660e-02 -1.34962059e-03 9.96995917e-01 -1.96739750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.34, Y:-124.20, Z:-19.68 [[ 8.33522457e-01 5.48605593e-01 6.53621989e-02 2.98343957e+02] [-5.47030548e-01 8.36080532e-01 -4.15562762e-02 -1.24203276e+02] [-7.74460676e-02 -1.11702999e-03 9.96995917e-01 -1.96772587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.40, Y:-124.24, Z:-19.68 [[ 8.35893360e-01 5.44987705e-01 6.53505308e-02 2.98395107e+02] [-5.43400153e-01 8.38443692e-01 -4.15746172e-02 -1.24239351e+02] [-7.74503955e-02 -7.59541951e-04 9.96995917e-01 -1.96784996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.45, Y:-124.27, Z:-19.68 [[ 8.37656389e-01 5.42275240e-01 6.53401717e-02 2.98446917e+02] [-5.40678160e-01 8.40200765e-01 -4.15908915e-02 -1.24273744e+02] [-7.74525729e-02 -4.89127837e-04 9.96995918e-01 -1.96835080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.50, Y:-124.31, Z:-19.69 [[ 8.39695359e-01 5.39113457e-01 6.53328670e-02 2.98496493e+02] [-5.37505904e-01 8.42233131e-01 -4.16023629e-02 -1.24308246e+02] [-7.74538988e-02 -1.83490676e-04 9.96995918e-01 -1.96903807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.55, Y:-124.34, Z:-19.69 [[ 8.39868037e-01 5.38845521e-01 6.53236950e-02 2.98549372e+02] [-5.37236039e-01 8.42404584e-01 -4.16167597e-02 -1.24342702e+02] [-7.74539848e-02 -1.41656869e-04 9.96995918e-01 -1.96930919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.60, Y:-124.38, Z:-19.70 [[ 8.39692002e-01 5.39121204e-01 6.53120932e-02 2.98601765e+02] [-5.37511139e-01 8.42228179e-01 -4.16349594e-02 -1.24376548e+02] [-7.74539748e-02 -1.45435211e-04 9.96995918e-01 -1.96971084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.65, Y:-124.41, Z:-19.70 [[ 8.38654971e-01 5.40734233e-01 6.53018236e-02 2.98654676e+02] [-5.39127792e-01 8.41193446e-01 -4.16510604e-02 -1.24410150e+02] [-7.74536202e-02 -2.75159065e-04 9.96995918e-01 -1.97017378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.71, Y:-124.44, Z:-19.71 [[ 8.36670111e-01 5.43801729e-01 6.52901572e-02 2.98707969e+02] [-5.42203167e-01 8.39213555e-01 -4.16693401e-02 -1.24443982e+02] [-7.74522441e-02 -5.37038669e-04 9.96995918e-01 -1.97052767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.76, Y:-124.48, Z:-19.71 [[ 8.35036197e-01 5.46308791e-01 6.52782858e-02 2.98761411e+02] [-5.44716412e-01 8.37583516e-01 -4.16879294e-02 -1.24477686e+02] [-7.74504984e-02 -7.47223606e-04 9.96995919e-01 -1.97104954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.81, Y:-124.51, Z:-19.72 [[ 8.32624027e-01 5.49979548e-01 6.52665708e-02 2.98814610e+02] [-5.48396963e-01 8.35177442e-01 -4.17062623e-02 -1.24510788e+02] [-7.74467589e-02 -1.06635314e-03 9.96995919e-01 -1.97153148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.87, Y:-124.54, Z:-19.72 [[ 8.31328434e-01 5.51937351e-01 6.52548478e-02 2.98866681e+02] [-5.50359340e-01 8.33884677e-01 -4.17245963e-02 -1.24543044e+02] [-7.74443809e-02 -1.22677165e-03 9.96995919e-01 -1.97216138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.92, Y:-124.58, Z:-19.72 [[ 8.31064068e-01 5.52336612e-01 6.52440107e-02 2.98919883e+02] [-5.50758499e-01 8.33620249e-01 -4.17415354e-02 -1.24575329e+02] [-7.74441067e-02 -1.24380319e-03 9.96995919e-01 -1.97235856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:298.97, Y:-124.61, Z:-19.73 [[ 8.31465951e-01 5.51732660e-01 6.52337629e-02 2.98971223e+02] [-5.50151435e-01 8.34020207e-01 -4.17575445e-02 -1.24607597e+02] [-7.74452776e-02 -1.16847174e-03 9.96995920e-01 -1.97280774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.02, Y:-124.64, Z:-19.73 [[ 8.32702238e-01 5.49866130e-01 6.52243975e-02 2.99024492e+02] [-5.48278034e-01 8.35252228e-01 -4.17721679e-02 -1.24641598e+02] [-7.74479236e-02 -9.77326763e-04 9.96995920e-01 -1.97326714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.08, Y:-124.67, Z:-19.74 [[ 8.33926528e-01 5.48008983e-01 6.52127341e-02 2.99077649e+02] [-5.46413784e-01 8.36472081e-01 -4.17903684e-02 -1.24674194e+02] [-7.74501287e-02 -7.83039968e-04 9.96995920e-01 -1.97383159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.13, Y:-124.71, Z:-19.75 [[ 8.35542917e-01 5.45542705e-01 6.52011607e-02 2.99130565e+02] [-5.43938584e-01 8.38082856e-01 -4.18084174e-02 -1.24706085e+02] [-7.74522521e-02 -5.32699973e-04 9.96995920e-01 -1.97455653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.18, Y:-124.74, Z:-19.75 [[ 8.36899504e-01 5.43460564e-01 6.51907646e-02 2.99182348e+02] [-5.41848861e-01 8.39434639e-01 -4.18246215e-02 -1.24738938e+02] [-7.74534183e-02 -3.20536574e-04 9.96995920e-01 -1.97528571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.23, Y:-124.77, Z:-19.76 [[ 8.39738814e-01 5.39064301e-01 6.51797831e-02 2.99234755e+02] [-5.37437998e-01 8.42264607e-01 -4.18417283e-02 -1.24772507e+02] [-7.74540064e-02 1.06031144e-04 9.96995921e-01 -1.97572977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.29, Y:-124.81, Z:-19.76 [[ 8.41591016e-01 5.36169277e-01 6.51695313e-02 2.99287224e+02] [-5.34533049e-01 8.44110391e-01 -4.18576896e-02 -1.24806599e+02] [-7.74530857e-02 3.91787291e-04 9.96995921e-01 -1.97628008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.34, Y:-124.84, Z:-19.77 [[ 8.44242483e-01 5.31986000e-01 6.51576923e-02 2.99340293e+02] [-5.30335868e-01 8.46752773e-01 -4.18761106e-02 -1.24840083e+02] [-7.74499613e-02 7.98130274e-04 9.96995921e-01 -1.97687189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.39, Y:-124.87, Z:-19.77 [[ 8.45576379e-01 5.29864684e-01 6.51460211e-02 2.99392167e+02] [-5.28206856e-01 8.48081593e-01 -4.18942596e-02 -1.24874624e+02] [-7.74474299e-02 1.01422134e-03 9.96995921e-01 -1.97723524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:-124.91, Z:-19.78 [[ 8.46206610e-01 5.28858960e-01 6.51350385e-02 2.99444431e+02] [-5.27196841e-01 8.48708979e-01 -4.19113278e-02 -1.24909346e+02] [-7.74458733e-02 1.12665614e-03 9.96995921e-01 -1.97758761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:-124.94, Z:-19.78 [[ 8.44812508e-01 5.31084544e-01 6.51232205e-02 2.99497717e+02] [-5.29427603e-01 8.47318308e-01 -4.19296830e-02 -1.24942274e+02] [-7.74483036e-02 9.44690205e-04 9.96995922e-01 -1.97799821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.55, Y:-124.97, Z:-19.78 [[ 8.41494544e-01 5.36327744e-01 6.51113174e-02 2.99550651e+02] [-5.34684988e-01 8.44009665e-01 -4.19481588e-02 -1.24973721e+02] [-7.74525426e-02 4.85102802e-04 9.96995922e-01 -1.97844427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.60, Y:-125.01, Z:-19.79 [[ 8.39125793e-01 5.40027642e-01 6.51003060e-02 2.99604803e+02] [-5.38394650e-01 8.41647265e-01 -4.19652407e-02 -1.25006415e+02] [-7.74538845e-02 1.64459442e-04 9.96995922e-01 -1.97885253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.66, Y:-125.04, Z:-19.79 [[ 8.35147848e-01 5.46160766e-01 6.50883178e-02 2.99659142e+02] [-5.44544843e-01 8.37680292e-01 -4.19838264e-02 -1.25038461e+02] [-7.74531198e-02 -3.80805560e-04 9.96995922e-01 -1.97936688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.71, Y:-125.07, Z:-19.80 [[ 8.32408262e-01 5.50328603e-01 6.50762225e-02 2.99713197e+02] [-5.48723893e-01 8.34947827e-01 -4.20025660e-02 -1.25069279e+02] [-7.74504640e-02 -7.45595221e-04 9.96995923e-01 -1.97992686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.77, Y:-125.10, Z:-19.80 [[ 8.31295848e-01 5.52008842e-01 6.50649819e-02 2.99766940e+02] [-5.50407903e-01 8.33837791e-01 -4.20199714e-02 -1.25102311e+02] [-7.74490365e-02 -8.81252432e-04 9.96995923e-01 -1.98042856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:299.82, Y:-125.13, Z:-19.81 [[ 8.31317730e-01 5.51977283e-01 6.50531332e-02 2.99819561e+02] [-5.50374814e-01 8.33858708e-01 -4.20383069e-02 -1.25133368e+02] [-7.74493121e-02 -8.56416215e-04 9.96995923e-01 -1.98106357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:-125.17, Z:-19.82 [[ 8.32498014e-01 5.50196234e-01 6.50473697e-02 2.99871873e+02] [-5.48587631e-01 8.35035114e-01 -4.20472231e-02 -1.25167313e+02] [-7.74510616e-02 -6.79952701e-04 9.96995923e-01 -1.98151425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:-125.20, Z:-19.82 [[ 8.35744697e-01 5.45253281e-01 6.50358495e-02 2.99924494e+02] [-5.43628285e-01 8.38271329e-01 -4.20650343e-02 -1.25201074e+02] [-7.74537859e-02 -1.99698015e-04 9.96995923e-01 -1.98196233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:299.98, Y:-125.24, Z:-19.82 [[ 8.38209565e-01 5.41457849e-01 6.50240157e-02 2.99975629e+02] [-5.39819994e-01 8.40727880e-01 -4.20833190e-02 -1.25235934e+02] [-7.74538463e-02 1.73376746e-04 9.96995924e-01 -1.98244028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:300.03, Y:-125.27, Z:-19.83 [[ 8.41312373e-01 5.36625373e-01 6.50130829e-02 3.00027325e+02] [-5.34971749e-01 8.43820360e-01 -4.21002020e-02 -1.25271086e+02] [-7.74513997e-02 6.39258162e-04 9.96995924e-01 -1.98289413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:300.08, Y:-125.31, Z:-19.83 [[ 8.42556475e-01 5.34671255e-01 6.50018166e-02 3.00079300e+02] [-5.33010473e-01 8.45059728e-01 -4.21175898e-02 -1.25305548e+02] [-7.74494821e-02 8.39798956e-04 9.96995924e-01 -1.98327889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:300.13, Y:-125.34, Z:-19.84 [[ 8.43885798e-01 5.32572104e-01 6.49901035e-02 3.00130683e+02] [-5.30903705e-01 8.46383980e-01 -4.21356562e-02 -1.25339815e+02] [-7.74468575e-02 1.05419509e-03 9.96995924e-01 -1.98369811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:-125.37, Z:-19.84 [[ 8.44369824e-01 5.31805662e-01 6.49795307e-02 3.00182651e+02] [-5.30133741e-01 8.46865650e-01 -4.21519547e-02 -1.25373931e+02] [-7.74455807e-02 1.14399689e-03 9.96995924e-01 -1.98428067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:-125.40, Z:-19.85 [[ 8.47725244e-01 5.26441393e-01 6.49720776e-02 3.00237253e+02] [-5.24752802e-01 8.50209822e-01 -4.21634396e-02 -1.25403253e+02] [-7.74364784e-02 1.64873236e-03 9.96995925e-01 -1.98542029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:300.29, Y:-125.44, Z:-19.85 [[ 8.44859651e-01 5.31029378e-01 6.49612942e-02 3.00286189e+02] [-5.29353005e-01 8.47352489e-01 -4.21800472e-02 -1.25440473e+02] [-7.74439585e-02 1.24876364e-03 9.96995925e-01 -1.98519011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:300.34, Y:-125.47, Z:-19.86 [[ 8.43877019e-01 5.32590271e-01 6.49552228e-02 3.00339221e+02] [-5.30917789e-01 8.46372469e-01 -4.21893948e-02 -1.25474092e+02] [-7.74459735e-02 1.11677743e-03 9.96995925e-01 -1.98571191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:300.39, Y:-125.50, Z:-19.87 [[ 8.44476814e-01 5.31640148e-01 6.49435487e-02 3.00393541e+02] [-5.29963477e-01 8.46969451e-01 -4.22073575e-02 -1.25502527e+02] [-7.74443276e-02 1.22542587e-03 9.96995925e-01 -1.98668479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.44, Y:-125.54, Z:-19.87 [[ 8.41135481e-01 5.36912227e-01 6.49335339e-02 3.00443538e+02] [-5.35249993e-01 8.43637768e-01 -4.22227591e-02 -1.25538054e+02] [-7.74502972e-02 7.59387231e-04 9.96995925e-01 -1.98683067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.50, Y:-125.57, Z:-19.87 [[ 8.38226815e-01 5.41443182e-01 6.49237046e-02 3.00497564e+02] [-5.39793304e-01 8.40737266e-01 -4.22378677e-02 -1.25570690e+02] [-7.74531834e-02 3.59532243e-04 9.96995925e-01 -1.98732113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:-125.60, Z:-19.88 [[ 8.35611640e-01 5.45471950e-01 6.49117713e-02 3.00550815e+02] [-5.43832752e-01 8.38129078e-01 -4.22561990e-02 -1.25604211e+02] [-7.74540143e-02 8.62449425e-06 9.96995926e-01 -1.98780188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:-125.64, Z:-19.88 [[ 8.34006660e-01 5.47924174e-01 6.48998561e-02 3.00604314e+02] [-5.46290954e-01 8.36527980e-01 -4.22744912e-02 -1.25637357e+02] [-7.74537612e-02 -1.96997160e-04 9.96995926e-01 -1.98830645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:300.66, Y:-125.67, Z:-19.89 [[ 8.32460347e-01 5.50272053e-01 6.48878906e-02 3.00657795e+02] [-5.48644513e-01 8.34985337e-01 -4.22928495e-02 -1.25669965e+02] [-7.74530103e-02 -3.93264958e-04 9.96995926e-01 -1.98884276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:300.71, Y:-125.70, Z:-19.89 [[ 8.32559762e-01 5.50123043e-01 6.48758845e-02 3.00709492e+02] [-5.48493616e-01 8.35083535e-01 -4.23112584e-02 -1.25703855e+02] [-7.74531812e-02 -3.57357204e-04 9.96995926e-01 -1.98936156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:300.76, Y:-125.74, Z:-19.90 [[ 8.34551006e-01 5.47098875e-01 6.48647752e-02 3.00761057e+02] [-5.45458980e-01 8.37067989e-01 -4.23282825e-02 -1.25740122e+02] [-7.74539827e-02 -5.59633216e-05 9.96995927e-01 -1.98978443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:300.81, Y:-125.77, Z:-19.90 [[ 8.36067672e-01 5.44779742e-01 6.48527591e-02 3.00811776e+02] [-5.43131438e-01 8.38579155e-01 -4.23466849e-02 -1.25774460e+02] [-7.74537880e-02 1.81122046e-04 9.96995927e-01 -1.99034075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.86, Y:-125.81, Z:-19.91 [[ 8.38458465e-01 5.41094224e-01 6.48416727e-02 3.00863058e+02] [-5.39433568e-01 8.40961798e-01 -4.23636538e-02 -1.25810710e+02] [-7.74520980e-02 5.42389252e-04 9.96995927e-01 -1.99083965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:300.91, Y:-125.85, Z:-19.91 [[ 8.39965350e-01 5.38753502e-01 6.48295901e-02 3.00914996e+02] [-5.37084444e-01 8.42463088e-01 -4.23821358e-02 -1.25845676e+02] [-7.74500608e-02 7.80561127e-04 9.96995927e-01 -1.99131898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.97, Y:-125.88, Z:-19.92 [[ 8.42109736e-01 5.35396926e-01 6.48176293e-02 3.00966791e+02] [-5.33716505e-01 8.44599844e-01 -4.24004204e-02 -1.25881210e+02] [-7.74460143e-02 1.11156823e-03 9.96995927e-01 -1.99184751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:-125.92, Z:-19.92 [[ 8.43453703e-01 5.33278597e-01 6.48057777e-02 3.01018578e+02] [-5.31590532e-01 8.45938635e-01 -4.24185270e-02 -1.25916434e+02] [-7.74426037e-02 1.32792585e-03 9.96995928e-01 -1.99226903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:301.07, Y:-125.95, Z:-19.93 [[ 8.45189507e-01 5.30524675e-01 6.47940332e-02 3.01070139e+02] [-5.28827141e-01 8.47667979e-01 -4.24364590e-02 -1.25951566e+02] [-7.74374158e-02 1.60200651e-03 9.96995928e-01 -1.99265644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.12, Y:-125.99, Z:-19.93 [[ 8.45118520e-01 5.30639193e-01 6.47822030e-02 3.01121396e+02] [-5.28940611e-01 8.47596274e-01 -4.24545110e-02 -1.25986620e+02] [-7.74371814e-02 1.61315541e-03 9.96995928e-01 -1.99252237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:-126.02, Z:-19.93 [[ 8.43361217e-01 5.33429031e-01 6.47713427e-02 3.01173163e+02] [-5.31737374e-01 8.45843705e-01 -4.24710738e-02 -1.26021109e+02] [-7.74417362e-02 1.37711277e-03 9.96995928e-01 -1.99281638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.23, Y:-126.05, Z:-19.94 [[ 8.42441663e-01 5.34880576e-01 6.47673876e-02 3.01226718e+02] [-5.33192734e-01 8.44926745e-01 -4.24771044e-02 -1.26050966e+02] [-7.74438760e-02 1.25098198e-03 9.96995928e-01 -1.99360187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.28, Y:-126.08, Z:-19.94 [[ 8.39512318e-01 5.39467893e-01 6.47569332e-02 3.01280152e+02] [-5.37792402e-01 8.42005745e-01 -4.24930363e-02 -1.26079454e+02] [-7.74493385e-02 8.47640800e-04 9.96995929e-01 -1.99422308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.33, Y:-126.11, Z:-19.95 [[ 8.35879857e-01 5.45080310e-01 6.47481281e-02 3.01333744e+02] [-5.43420523e-01 8.38383765e-01 -4.25064488e-02 -1.26111290e+02] [-7.74532076e-02 3.44822693e-04 9.96995929e-01 -1.99471136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.39, Y:-126.14, Z:-19.95 [[ 8.29630417e-01 5.54547196e-01 6.47362252e-02 3.01389201e+02] [-5.52914566e-01 8.32152116e-01 -4.25245689e-02 -1.26141470e+02] [-7.74522671e-02 -5.13926061e-04 9.96995929e-01 -1.99532162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.44, Y:-126.17, Z:-19.96 [[ 8.25029315e-01 5.61370976e-01 6.47244710e-02 3.01444131e+02] [-5.59757798e-01 8.27563501e-01 -4.25424518e-02 -1.26171717e+02] [-7.74457075e-02 -1.13125756e-03 9.96995929e-01 -1.99578261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.50, Y:-126.20, Z:-19.96 [[ 8.23359225e-01 5.63819015e-01 6.47124840e-02 3.01497446e+02] [-5.62211939e-01 8.25897285e-01 -4.25606777e-02 -1.26204854e+02] [-7.74423842e-02 -1.33940447e-03 9.96995929e-01 -1.99621026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.55, Y:-126.24, Z:-19.97 [[ 8.22620029e-01 5.64898352e-01 6.47003782e-02 3.01550118e+02] [-5.63293160e-01 8.25159281e-01 -4.25790730e-02 -1.26239050e+02] [-7.74409657e-02 -1.41888224e-03 9.96995930e-01 -1.99669886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:-126.27, Z:-19.98 [[ 8.23111985e-01 5.64182663e-01 6.46883456e-02 3.01601579e+02] [-5.62573828e-01 8.25648929e-01 -4.25973457e-02 -1.26272089e+02] [-7.74425473e-02 -1.32958445e-03 9.96995930e-01 -1.99774481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.65, Y:-126.31, Z:-19.98 [[ 8.23317188e-01 5.63883685e-01 6.46838247e-02 3.01652461e+02] [-5.62273389e-01 8.25853205e-01 -4.26042095e-02 -1.26306067e+02] [-7.74431627e-02 -1.29321537e-03 9.96995930e-01 -1.99785450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:-126.34, Z:-19.98 [[ 8.23588104e-01 5.63489269e-01 6.46720835e-02 3.01704406e+02] [-5.61876359e-01 8.26122460e-01 -4.26220251e-02 -1.26341899e+02] [-7.74441144e-02 -1.23472198e-03 9.96995930e-01 -1.99828169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.75, Y:-126.38, Z:-19.99 [[ 8.23977696e-01 5.62920830e-01 6.46598411e-02 3.01753992e+02] [-5.61304716e-01 8.26510009e-01 -4.26405893e-02 -1.26378503e+02] [-7.74452818e-02 -1.15897928e-03 9.96995930e-01 -1.99906957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.80, Y:-126.41, Z:-19.99 [[ 8.25293543e-01 5.60990382e-01 6.46556994e-02 3.01804944e+02] [-5.59367852e-01 8.27821750e-01 -4.26468685e-02 -1.26412480e+02] [-7.74478773e-02 -9.70134542e-04 9.96995930e-01 -1.99922776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.86, Y:-126.45, Z:-20.00 [[ 8.25816242e-01 5.60221890e-01 6.46449394e-02 3.01856594e+02] [-5.58595732e-01 8.28342117e-01 -4.26631724e-02 -1.26448101e+02] [-7.74489690e-02 -8.78446524e-04 9.96995931e-01 -1.99974645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.91, Y:-126.49, Z:-20.00 [[ 8.27732460e-01 5.57388158e-01 6.46329316e-02 3.01905767e+02] [-5.55751932e-01 8.30251824e-01 -4.26813561e-02 -1.26486013e+02] [-7.74516918e-02 -5.91132692e-04 9.96995931e-01 -2.00024403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.96, Y:-126.52, Z:-20.01 [[ 8.29154844e-01 5.55271286e-01 6.46223209e-02 3.01955142e+02] [-5.53627376e-01 8.31669201e-01 -4.26974153e-02 -1.26524874e+02] [-7.74530427e-02 -3.73917269e-04 9.96995931e-01 -2.00109331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:-126.56, Z:-20.01 [[ 8.29581325e-01 5.54634589e-01 6.46165415e-02 3.02005504e+02] [-5.52988068e-01 8.32093973e-01 -4.27061599e-02 -1.26560753e+02] [-7.74533482e-02 -3.03943737e-04 9.96995931e-01 -2.00119315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.05, Y:-126.60, Z:-20.02 [[ 8.30210531e-01 5.53693753e-01 6.46041894e-02 3.02054350e+02] [-5.52042932e-01 8.32720355e-01 -4.27248375e-02 -1.26598279e+02] [-7.74536992e-02 -1.93676088e-04 9.96995931e-01 -2.00163670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.10, Y:-126.63, Z:-20.02 [[ 8.30883518e-01 5.52684633e-01 6.45931627e-02 3.02104008e+02] [-5.51029468e-01 8.33390479e-01 -4.27415015e-02 -1.26634925e+02] [-7.74538979e-02 -7.95269249e-05 9.96995931e-01 -2.00211092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.15, Y:-126.67, Z:-20.03 [[ 8.31226993e-01 5.52168761e-01 6.45859549e-02 3.02154527e+02] [-5.50511193e-01 8.33732367e-01 -4.27523904e-02 -1.26673104e+02] [-7.74539355e-02 -1.83501934e-05 9.96995932e-01 -2.00256026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.20, Y:-126.71, Z:-20.03 [[ 8.29868985e-01 5.54208995e-01 6.45744315e-02 3.02204887e+02] [-5.52556233e-01 8.32377531e-01 -4.27697886e-02 -1.26711590e+02] [-7.74537075e-02 -1.87683544e-04 9.96995932e-01 -2.00303228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.26, Y:-126.75, Z:-20.04 [[ 8.28195950e-01 5.56707399e-01 6.45626869e-02 3.02256202e+02] [-5.55060822e-01 8.30708560e-01 -4.27875103e-02 -1.26748143e+02] [-7.74529002e-02 -3.99775362e-04 9.96995932e-01 -2.00351916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.31, Y:-126.78, Z:-20.04 [[ 8.26197721e-01 5.59669973e-01 6.45511189e-02 3.02307237e+02] [-5.58031043e-01 8.28715326e-01 -4.28049552e-02 -1.26784917e+02] [-7.74511496e-02 -6.56171745e-04 9.96995932e-01 -2.00404081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.36, Y:-126.82, Z:-20.05 [[ 8.22756458e-01 5.64718022e-01 6.45396456e-02 3.02358141e+02] [-5.63093181e-01 8.25283178e-01 -4.28222472e-02 -1.26821400e+02] [-7.74459786e-02 -1.10955393e-03 9.96995932e-01 -2.00450720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.41, Y:-126.86, Z:-20.05 [[ 8.20922843e-01 5.67381609e-01 6.45274819e-02 3.02409731e+02] [-5.65763526e-01 8.23453896e-01 -4.28405685e-02 -1.26857392e+02] [-7.74423570e-02 -1.33849441e-03 9.96995933e-01 -2.00498558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.46, Y:-126.90, Z:-20.05 [[ 8.19761377e-01 5.69059816e-01 6.45151937e-02 3.02459549e+02] [-5.67445459e-01 8.22294808e-01 -4.28590659e-02 -1.26896122e+02] [-7.74398809e-02 -1.47464683e-03 9.96995933e-01 -2.00538290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.51, Y:-126.93, Z:-20.06 [[ 8.19990098e-01 5.68731567e-01 6.45030597e-02 3.02510462e+02] [-5.67114761e-01 8.22521965e-01 -4.28773198e-02 -1.26933087e+02] [-7.74408687e-02 -1.42165966e-03 9.96995933e-01 -2.00590023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.56, Y:-126.97, Z:-20.06 [[ 8.19747630e-01 5.69082358e-01 6.44910209e-02 3.02561037e+02] [-5.67465212e-01 8.22279281e-01 -4.28954195e-02 -1.26969587e+02] [-7.74406568e-02 -1.43299241e-03 9.96995933e-01 -2.00648792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.61, Y:-127.00, Z:-20.07 [[ 8.22258958e-01 5.65448553e-01 6.44836449e-02 3.02614127e+02] [-5.63819349e-01 8.24782865e-01 -4.29065049e-02 -1.26999987e+02] [-7.74464265e-02 -1.07686865e-03 9.96995933e-01 -2.00722335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:-127.04, Z:-20.08 [[ 8.22381199e-01 5.65271988e-01 6.44728120e-02 3.02666216e+02] [-5.63640966e-01 8.24903932e-01 -4.29227766e-02 -1.27035215e+02] [-7.74469194e-02 -1.04063348e-03 9.96995934e-01 -2.00762255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.72, Y:-127.07, Z:-20.08 [[ 8.20318879e-01 5.68262050e-01 6.44606794e-02 3.02716830e+02] [-5.66638792e-01 8.22846615e-01 -4.29409895e-02 -1.27071976e+02] [-7.74429865e-02 -1.30061710e-03 9.96995934e-01 -2.00795993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:-127.10, Z:-20.09 [[ 8.19494659e-01 5.69450480e-01 6.44566112e-02 3.02768743e+02] [-5.67830407e-01 8.22024438e-01 -4.29470951e-02 -1.27103268e+02] [-7.74411535e-02 -1.40550874e-03 9.96995934e-01 -2.00856800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.82, Y:-127.14, Z:-20.09 [[ 8.19229855e-01 5.69832565e-01 6.44460494e-02 3.02820459e+02] [-5.68212426e-01 8.21759591e-01 -4.29629383e-02 -1.27137982e+02] [-7.74408405e-02 -1.42252432e-03 9.96995934e-01 -2.00907082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.87, Y:-127.17, Z:-20.09 [[ 8.20097458e-01 5.68584582e-01 6.44339307e-02 3.02872469e+02] [-5.66959167e-01 8.22623807e-01 -4.29811058e-02 -1.27173687e+02] [-7.74432794e-02 -1.28271204e-03 9.96995934e-01 -2.00945258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:-127.21, Z:-20.10 [[ 8.20950788e-01 5.67353179e-01 6.44218436e-02 3.02925658e+02] [-5.65722553e-01 8.23473777e-01 -4.29992147e-02 -1.27206935e+02] [-7.74454400e-02 -1.14465064e-03 9.96995935e-01 -2.00984641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:302.98, Y:-127.24, Z:-20.10 [[ 8.20661576e-01 5.67772814e-01 6.44097058e-02 3.02978179e+02] [-5.66142052e-01 8.23184476e-01 -4.30173887e-02 -1.27239560e+02] [-7.74451737e-02 -1.16232500e-03 9.96995935e-01 -2.01041387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.03, Y:-127.27, Z:-20.11 [[ 8.19465821e-01 5.69498553e-01 6.43985009e-02 3.03030395e+02] [-5.67871787e-01 8.21991299e-01 -4.30341563e-02 -1.27274264e+02] [-7.74428971e-02 -1.30507151e-03 9.96995935e-01 -2.01090049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.08, Y:-127.31, Z:-20.11 [[ 8.17743329e-01 5.71970449e-01 6.43867480e-02 3.03079924e+02] [-5.70349933e-01 8.20272822e-01 -4.30517336e-02 -1.27311171e+02] [-7.74390188e-02 -1.51770941e-03 9.96995935e-01 -2.01112423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:-127.34, Z:-20.12 [[ 8.17781057e-01 5.71917751e-01 6.43756837e-02 3.03132065e+02] [-5.70295771e-01 8.20309611e-01 -4.30682719e-02 -1.27341860e+02] [-7.74395012e-02 -1.49276323e-03 9.96995935e-01 -2.01188756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:-127.38, Z:-20.12 [[ 8.16639489e-01 5.73547748e-01 6.43655653e-02 3.03185318e+02] [-5.71929624e-01 8.19170512e-01 -4.30833885e-02 -1.27375563e+02] [-7.74367535e-02 -1.62897723e-03 9.96995936e-01 -2.01245871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.24, Y:-127.41, Z:-20.13 [[ 8.16548139e-01 5.73679153e-01 6.43534495e-02 3.03236478e+02] [-5.72060011e-01 8.19078510e-01 -4.31014781e-02 -1.27411162e+02] [-7.74369471e-02 -1.61960333e-03 9.96995936e-01 -2.01286690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.29, Y:-127.45, Z:-20.13 [[ 8.17583035e-01 5.72204664e-01 6.43413021e-02 3.03287189e+02] [-5.70579532e-01 8.20109564e-01 -4.31196040e-02 -1.27446887e+02] [-7.74401558e-02 -1.45797332e-03 9.96995936e-01 -2.01338802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.34, Y:-127.49, Z:-20.13 [[ 8.18011888e-01 5.71592682e-01 6.43300680e-02 3.03336513e+02] [-5.69964343e-01 8.20536351e-01 -4.31363577e-02 -1.27485291e+02] [-7.74415856e-02 -1.37979153e-03 9.96995936e-01 -2.01329977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.39, Y:-127.52, Z:-20.14 [[ 8.20174862e-01 5.68485951e-01 6.43188829e-02 3.03388689e+02] [-5.66846742e-01 8.22692280e-01 -4.31530291e-02 -1.27516261e+02] [-7.74465391e-02 -1.06591951e-03 9.96995937e-01 -2.01410677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.44, Y:-127.55, Z:-20.15 [[ 8.21134410e-01 5.67100236e-01 6.43086536e-02 3.03440151e+02] [-5.65455586e-01 8.23648275e-01 -4.31682678e-02 -1.27551008e+02] [-7.74484465e-02 -9.16737234e-04 9.96995937e-01 -2.01463544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.49, Y:-127.59, Z:-20.15 [[ 8.21296178e-01 5.66867199e-01 6.42974781e-02 3.03492260e+02] [-5.65220533e-01 8.23808724e-01 -4.31849068e-02 -1.27586666e+02] [-7.74489306e-02 -8.74655871e-04 9.96995937e-01 -2.01503586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.54, Y:-127.62, Z:-20.16 [[ 8.21261001e-01 5.66919552e-01 6.42852220e-02 3.03543785e+02] [-5.65271619e-01 8.23772715e-01 -4.32031437e-02 -1.27622447e+02] [-7.74491187e-02 -8.57554431e-04 9.96995937e-01 -2.01566952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.60, Y:-127.65, Z:-20.16 [[ 8.21020332e-01 5.67269483e-01 6.42724493e-02 3.03595129e+02] [-5.65621133e-01 8.23531773e-01 -4.32221371e-02 -1.27654227e+02] [-7.74490035e-02 -8.67602201e-04 9.96995937e-01 -2.01637316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.65, Y:-127.69, Z:-20.17 [[ 8.21447666e-01 5.66651657e-01 6.42622179e-02 3.03647110e+02] [-5.65000228e-01 8.23957083e-01 -4.32373438e-02 -1.27689488e+02] [-7.74498220e-02 -7.90952647e-04 9.96995938e-01 -2.01688527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.70, Y:-127.73, Z:-20.17 [[ 8.22253380e-01 5.65483247e-01 6.42501104e-02 3.03699021e+02] [-5.63826847e-01 8.24759518e-01 -4.32553278e-02 -1.27725354e+02] [-7.74510533e-02 -6.59097690e-04 9.96995938e-01 -2.01737202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.75, Y:-127.76, Z:-20.18 [[ 8.23718838e-01 5.63347810e-01 6.42380039e-02 3.03749815e+02] [-5.61683511e-01 8.26219737e-01 -4.32732997e-02 -1.27761859e+02] [-7.74526253e-02 -4.36395451e-04 9.96995938e-01 -2.01785748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.80, Y:-127.80, Z:-20.18 [[ 8.23841563e-01 5.63169722e-01 6.42257152e-02 3.03801407e+02] [-5.61503462e-01 8.26341156e-01 -4.32915308e-02 -1.27795856e+02] [-7.74528311e-02 -3.97599009e-04 9.96995938e-01 -2.01833614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.85, Y:-127.83, Z:-20.19 [[ 8.22696424e-01 5.64842122e-01 6.42181523e-02 3.03854065e+02] [-5.63180067e-01 8.25198815e-01 -4.33027465e-02 -1.27829972e+02] [-7.74519584e-02 -5.41368615e-04 9.96995938e-01 -2.01882842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.91, Y:-127.86, Z:-20.19 [[ 8.21858217e-01 5.66062445e-01 6.42057685e-02 3.03905369e+02] [-5.64402671e-01 8.24362121e-01 -4.33211005e-02 -1.27863790e+02] [-7.74512516e-02 -6.34104902e-04 9.96995939e-01 -2.01938098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:303.96, Y:-127.90, Z:-20.20 [[ 8.21701924e-01 5.66290593e-01 6.41943306e-02 3.03956948e+02] [-5.64630192e-01 8.24205412e-01 -4.33380428e-02 -1.27899117e+02] [-7.74512407e-02 -6.35104015e-04 9.96995939e-01 -2.01991510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:-127.93, Z:-20.20 [[ 8.21493378e-01 5.66594440e-01 6.41823159e-02 3.04009253e+02] [-5.64933575e-01 8.23996558e-01 -4.33558290e-02 -1.27933722e+02] [-7.74511791e-02 -6.42218755e-04 9.96995939e-01 -2.02041013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.06, Y:-127.97, Z:-20.21 [[ 8.20547238e-01 5.67965178e-01 6.41699871e-02 3.04061263e+02] [-5.66307068e-01 8.23052243e-01 -4.33740689e-02 -1.27968192e+02] [-7.74502126e-02 -7.49444850e-04 9.96995939e-01 -2.02092209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.11, Y:-128.00, Z:-20.21 [[ 8.18869014e-01 5.70383477e-01 6.41578312e-02 3.04114359e+02] [-5.68731356e-01 8.21377973e-01 -4.33920423e-02 -1.28001479e+02] [-7.74479333e-02 -9.56171473e-04 9.96995940e-01 -2.02137734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.17, Y:-128.04, Z:-20.22 [[ 8.18264902e-01 5.71251154e-01 6.41456864e-02 3.04166597e+02] [-5.69600287e-01 8.20774686e-01 -4.34099883e-02 -1.28035234e+02] [-7.74471615e-02 -1.01653155e-03 9.96995940e-01 -2.02196416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.22, Y:-128.07, Z:-20.23 [[ 8.17495366e-01 5.72352556e-01 6.41395239e-02 3.04217829e+02] [-5.70704356e-01 8.20006902e-01 -4.34190917e-02 -1.28067631e+02] [-7.74458804e-02 -1.10979942e-03 9.96995940e-01 -2.02250169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.27, Y:-128.10, Z:-20.23 [[ 8.17522347e-01 5.72314743e-01 6.41330511e-02 3.04269667e+02] [-5.70665677e-01 8.20033315e-01 -4.34286503e-02 -1.28102856e+02] [-7.74460953e-02 -1.09463895e-03 9.96995940e-01 -2.02297511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.32, Y:-128.14, Z:-20.24 [[ 8.17911071e-01 5.71760435e-01 6.41208576e-02 3.04320615e+02] [-5.70108258e-01 8.20419992e-01 -4.34466461e-02 -1.28136932e+02] [-7.74471068e-02 -1.02033757e-03 9.96995940e-01 -2.02365778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.37, Y:-128.17, Z:-20.24 [[ 8.18376090e-01 5.71095907e-01 6.41095991e-02 3.04371860e+02] [-5.69440391e-01 8.20882809e-01 -4.34632528e-02 -1.28171482e+02] [-7.74481536e-02 -9.37308345e-04 9.96995940e-01 -2.02419376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:-128.21, Z:-20.25 [[ 8.18745652e-01 5.70567130e-01 6.40992043e-02 3.04422672e+02] [-5.68908795e-01 8.21250507e-01 -4.34785777e-02 -1.28206603e+02] [-7.74489513e-02 -8.68704654e-04 9.96995940e-01 -2.02476877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:-128.24, Z:-20.25 [[ 8.18664432e-01 5.70684896e-01 6.40881970e-02 3.04474386e+02] [-5.69025653e-01 8.21168685e-01 -4.34947965e-02 -1.28242213e+02] [-7.74490439e-02 -8.60185314e-04 9.96995941e-01 -2.02518317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.53, Y:-128.28, Z:-20.26 [[ 8.18527317e-01 5.70882911e-01 6.40759983e-02 3.04525413e+02] [-5.69222867e-01 8.21031039e-01 -4.35127601e-02 -1.28278174e+02] [-7.74490746e-02 -8.57140742e-04 9.96995941e-01 -2.02571799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.58, Y:-128.31, Z:-20.26 [[ 8.17827247e-01 5.71886753e-01 6.40635313e-02 3.04576663e+02] [-5.70228345e-01 8.20332053e-01 -4.35311075e-02 -1.28313998e+02] [-7.74482319e-02 -9.29915616e-04 9.96995941e-01 -2.02626257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.63, Y:-128.35, Z:-20.27 [[ 8.16771273e-01 5.73395272e-01 6.40511572e-02 3.04628325e+02] [-5.71740063e-01 8.19278194e-01 -4.35493071e-02 -1.28348395e+02] [-7.74466831e-02 -1.05078966e-03 9.96995941e-01 -2.02678028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.68, Y:-128.38, Z:-20.27 [[ 8.15852129e-01 5.74703589e-01 6.40397356e-02 3.04679287e+02] [-5.73051083e-01 8.18360832e-01 -4.35660962e-02 -1.28380904e+02] [-7.74452032e-02 -1.15454751e-03 9.96995942e-01 -2.02721201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:-128.42, Z:-20.27 [[ 8.16059959e-01 5.74409353e-01 6.40315530e-02 3.04730524e+02] [-5.72754999e-01 8.18567443e-01 -4.35781193e-02 -1.28416149e+02] [-7.74458239e-02 -1.11203384e-03 9.96995942e-01 -2.02746302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.78, Y:-128.45, Z:-20.28 [[ 8.17690116e-01 5.72087564e-01 6.40210303e-02 3.04782347e+02] [-5.70424880e-01 8.20192085e-01 -4.35935728e-02 -1.28451751e+02] [-7.74488832e-02 -8.73154894e-04 9.96995942e-01 -2.02791042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.83, Y:-128.49, Z:-20.28 [[ 8.19352024e-01 5.69706168e-01 6.40089331e-02 3.04834288e+02] [-5.68034824e-01 8.21848216e-01 -4.36113281e-02 -1.28486241e+02] [-7.74512701e-02 -6.26273125e-04 9.96995942e-01 -2.02845593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.89, Y:-128.52, Z:-20.29 [[ 8.20416823e-01 5.68173059e-01 6.39969633e-02 3.04885013e+02] [-5.66495681e-01 8.22908964e-01 -4.36288860e-02 -1.28520590e+02] [-7.74524324e-02 -4.60131233e-04 9.96995942e-01 -2.02898627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.94, Y:-128.56, Z:-20.29 [[ 8.21817671e-01 5.66146201e-01 6.39858921e-02 3.04936296e+02] [-5.64461413e-01 8.24304808e-01 -4.36451170e-02 -1.28556246e+02] [-7.74533957e-02 -2.49238593e-04 9.96995943e-01 -2.02945725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:304.99, Y:-128.59, Z:-20.30 [[ 8.22220111e-01 5.65562007e-01 6.39820711e-02 3.04988464e+02] [-5.63875016e-01 8.24705754e-01 -4.36507176e-02 -1.28591757e+02] [-7.74535697e-02 -1.87393472e-04 9.96995943e-01 -2.02998260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.04, Y:-128.63, Z:-20.30 [[ 8.22520640e-01 5.65126208e-01 6.39700376e-02 3.05040881e+02] [-5.63436529e-01 8.25004457e-01 -4.36683457e-02 -1.28625840e+02] [-7.74536927e-02 -1.24940289e-04 9.96995943e-01 -2.03043008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.09, Y:-128.66, Z:-20.31 [[ 8.22285952e-01 5.65469016e-01 6.39578347e-02 3.05093184e+02] [-5.63778983e-01 8.24769527e-01 -4.36862110e-02 -1.28660708e+02] [-7.74536719e-02 -1.35525406e-04 9.96995943e-01 -2.03085562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.15, Y:-128.70, Z:-20.31 [[ 8.21482069e-01 5.66637613e-01 6.39454925e-02 3.05145217e+02] [-5.64949707e-01 8.23967090e-01 -4.37042694e-02 -1.28696142e+02] [-7.74534643e-02 -2.23713615e-04 9.96995943e-01 -2.03135319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.20, Y:-128.73, Z:-20.32 [[ 8.20205644e-01 5.68485034e-01 6.39333121e-02 3.05197339e+02] [-5.66801337e-01 8.22693518e-01 -4.37220806e-02 -1.28731037e+02] [-7.74528699e-02 -3.76389523e-04 9.96995943e-01 -2.03186424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.25, Y:-128.77, Z:-20.32 [[ 8.18231450e-01 5.71324229e-01 6.39212011e-02 3.05249087e+02] [-5.69647781e-01 8.20724215e-01 -4.37397795e-02 -1.28765887e+02] [-7.74512734e-02 -6.23307144e-04 9.96995944e-01 -2.03216931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.30, Y:-128.80, Z:-20.33 [[ 8.16185028e-01 5.74245300e-01 6.39088135e-02 3.05300757e+02] [-5.72576357e-01 8.18682823e-01 -4.37578718e-02 -1.28800973e+02] [-7.74488000e-02 -8.78155827e-04 9.96995944e-01 -2.03257001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.35, Y:-128.84, Z:-20.33 [[ 8.13640867e-01 5.77845878e-01 6.38958669e-02 3.05352283e+02] [-5.76186503e-01 8.16145029e-01 -4.37767685e-02 -1.28835265e+02] [-7.74445193e-02 -1.19736828e-03 9.96995944e-01 -2.03309493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:-128.87, Z:-20.34 [[ 8.12015500e-01 5.80128578e-01 6.38878792e-02 3.05404929e+02] [-5.78475326e-01 8.14523708e-01 -4.37884226e-02 -1.28870158e+02] [-7.74411076e-02 -1.40068388e-03 9.96995944e-01 -2.03356105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.46, Y:-128.90, Z:-20.34 [[ 8.10107481e-01 5.82791366e-01 6.38756042e-02 3.05457354e+02] [-5.81144947e-01 8.12620180e-01 -4.38063213e-02 -1.28903923e+02] [-7.74365508e-02 -1.63315599e-03 9.96995945e-01 -2.03419415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.51, Y:-128.94, Z:-20.35 [[ 8.09456515e-01 5.83695602e-01 6.38717088e-02 3.05507630e+02] [-5.82051542e-01 8.11970758e-01 -4.38120002e-02 -1.28938941e+02] [-7.74348316e-02 -1.71271763e-03 9.96995945e-01 -2.03476108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.56, Y:-128.97, Z:-20.35 [[ 8.09515137e-01 5.83615388e-01 6.38617450e-02 3.05557653e+02] [-5.81969934e-01 8.12028468e-01 -4.38265190e-02 -1.28974948e+02] [-7.74353858e-02 -1.68738503e-03 9.96995945e-01 -2.03527479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.61, Y:-129.01, Z:-20.36 [[ 8.10000657e-01 5.82942525e-01 6.38509856e-02 3.05607754e+02] [-5.81293749e-01 8.12511809e-01 -4.38421888e-02 -1.29010469e+02] [-7.74371561e-02 -1.60397707e-03 9.96995945e-01 -2.03587769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.66, Y:-129.05, Z:-20.36 [[ 8.11629291e-01 5.80673673e-01 6.38433973e-02 3.05658220e+02] [-5.79017008e-01 8.14135246e-01 -4.38532362e-02 -1.29048213e+02] [-7.74415797e-02 -1.37384188e-03 9.96995945e-01 -2.03632923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.71, Y:-129.09, Z:-20.37 [[ 8.12928439e-01 5.78854845e-01 6.38311856e-02 3.05708070e+02] [-5.77191179e-01 8.15429751e-01 -4.38710039e-02 -1.29086387e+02] [-7.74447910e-02 -1.17881053e-03 9.96995945e-01 -2.03675970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.76, Y:-129.12, Z:-20.37 [[ 8.14584012e-01 5.76524103e-01 6.38188515e-02 3.05758050e+02] [-5.74851874e-01 8.17079607e-01 -4.38889389e-02 -1.29124284e+02] [-7.74481133e-02 -9.35158469e-04 9.96995945e-01 -2.03717752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.81, Y:-129.16, Z:-20.38 [[ 8.13453264e-01 5.78119831e-01 6.38063311e-02 3.05809823e+02] [-5.76451071e-01 8.15951179e-01 -4.39071337e-02 -1.29160276e+02] [-7.74464359e-02 -1.06482666e-03 9.96995946e-01 -2.03766018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.86, Y:-129.20, Z:-20.38 [[ 8.12384202e-01 5.79622507e-01 6.37938763e-02 3.05861443e+02] [-5.77956946e-01 8.14884252e-01 -4.39252223e-02 -1.29196600e+02] [-7.74446726e-02 -1.18595730e-03 9.96995946e-01 -2.03813218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.91, Y:-129.23, Z:-20.39 [[ 8.11242187e-01 5.81221171e-01 6.37813857e-02 3.05912579e+02] [-5.79559112e-01 8.13744566e-01 -4.39433517e-02 -1.29231509e+02] [-7.74425623e-02 -1.31638250e-03 9.96995946e-01 -2.03866943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:305.97, Y:-129.27, Z:-20.39 [[ 8.10608268e-01 5.82106213e-01 6.37698428e-02 3.05965022e+02] [-5.80445569e-01 8.13111586e-01 -4.39600962e-02 -1.29265650e+02] [-7.74414432e-02 -1.38050526e-03 9.96995946e-01 -2.03910376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:-129.30, Z:-20.40 [[ 8.09687323e-01 5.83387902e-01 6.37573084e-02 3.06017519e+02] [-5.81729790e-01 8.12192319e-01 -4.39782680e-02 -1.29299718e+02] [-7.74395857e-02 -1.48087950e-03 9.96995947e-01 -2.03952981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:306.07, Y:-129.33, Z:-20.40 [[ 8.09287172e-01 5.83944242e-01 6.37447656e-02 3.06068877e+02] [-5.82286422e-01 8.11792360e-01 -4.39964408e-02 -1.29334838e+02] [-7.74389820e-02 -1.51195635e-03 9.96995947e-01 -2.04004956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.12, Y:-129.37, Z:-20.41 [[ 8.09527686e-01 5.83612120e-01 6.37324054e-02 3.06119327e+02] [-5.81951864e-01 8.12031259e-01 -4.40143383e-02 -1.29368988e+02] [-7.74400067e-02 -1.45836666e-03 9.96995947e-01 -2.04062594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.17, Y:-129.40, Z:-20.41 [[ 8.09278971e-01 5.83957613e-01 6.37263946e-02 3.06170694e+02] [-5.82297740e-01 8.11782800e-01 -4.40230394e-02 -1.29402897e+02] [-7.74395800e-02 -1.48081550e-03 9.96995947e-01 -2.04118273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.22, Y:-129.44, Z:-20.42 [[ 8.08994577e-01 5.84352718e-01 6.37155846e-02 3.06222992e+02] [-5.82692837e-01 8.11498399e-01 -4.40386795e-02 -1.29437956e+02] [-7.74392169e-02 -1.49956189e-03 9.96995947e-01 -2.04171625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:-129.47, Z:-20.42 [[ 8.10310603e-01 5.82527794e-01 6.37031793e-02 3.06273858e+02] [-5.80860864e-01 8.12809738e-01 -4.40566168e-02 -1.29473758e+02] [-7.74427683e-02 -1.30314004e-03 9.96995948e-01 -2.04224082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.33, Y:-129.51, Z:-20.43 [[ 8.10739115e-01 5.81932612e-01 6.36908351e-02 3.06325119e+02] [-5.80262446e-01 8.13236089e-01 -4.40744550e-02 -1.29510025e+02] [-7.74440484e-02 -1.22451518e-03 9.96995948e-01 -2.04270214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.38, Y:-129.55, Z:-20.43 [[ 8.11783813e-01 5.80475748e-01 6.36784665e-02 3.06375143e+02] [-5.78799700e-01 8.14276841e-01 -4.40923179e-02 -1.29546364e+02] [-7.74464218e-02 -1.06364741e-03 9.96995948e-01 -2.04306522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.43, Y:-129.58, Z:-20.43 [[ 8.12044552e-01 5.80112119e-01 6.36676875e-02 3.06425435e+02] [-5.78433735e-01 8.14536009e-01 -4.41078770e-02 -1.29582764e+02] [-7.74471380e-02 -1.00997708e-03 9.96995948e-01 -2.04337157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.48, Y:-129.62, Z:-20.44 [[ 8.11842982e-01 5.80395369e-01 6.36568033e-02 3.06475303e+02] [-5.78716623e-01 8.14334194e-01 -4.41235795e-02 -1.29618863e+02] [-7.74470328e-02 -1.01783188e-03 9.96995948e-01 -2.04371226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.53, Y:-129.66, Z:-20.44 [[ 8.10666404e-01 5.82038810e-01 6.36459372e-02 3.06525933e+02] [-5.80363885e-01 8.13160186e-01 -4.41392478e-02 -1.29655557e+02] [-7.74450974e-02 -1.15559813e-03 9.96995949e-01 -2.04428978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:-129.69, Z:-20.45 [[ 8.09067197e-01 5.84261148e-01 6.36331896e-02 3.06577126e+02] [-5.82591627e-01 8.11564600e-01 -4.41576176e-02 -1.29690450e+02] [-7.74420245e-02 -1.34568359e-03 9.96995949e-01 -2.04502911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.63, Y:-129.73, Z:-20.46 [[ 8.06832190e-01 5.87344560e-01 6.36253398e-02 3.06629091e+02] [-5.85683692e-01 8.09335356e-01 -4.41689254e-02 -1.29725806e+02] [-7.74366151e-02 -1.62741310e-03 9.96995949e-01 -2.04563142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.68, Y:-129.76, Z:-20.46 [[ 8.06365098e-01 5.87987011e-01 6.36129114e-02 3.06680797e+02] [-5.86326727e-01 8.08868651e-01 -4.41868177e-02 -1.29760993e+02] [-7.74357647e-02 -1.66724255e-03 9.96995949e-01 -2.04607624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.73, Y:-129.80, Z:-20.47 [[ 8.06374639e-01 5.87975287e-01 6.36003434e-02 3.06732610e+02] [-5.86313541e-01 8.08877221e-01 -4.42049002e-02 -1.29796576e+02] [-7.74362579e-02 -1.64403212e-03 9.96995949e-01 -2.04657349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.78, Y:-129.83, Z:-20.47 [[ 8.06918775e-01 5.87229659e-01 6.35878746e-02 3.06783581e+02] [-5.85564188e-01 8.09418880e-01 -4.42228290e-02 -1.29832840e+02] [-7.74381830e-02 -1.55055105e-03 9.96995950e-01 -2.04700996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.83, Y:-129.87, Z:-20.47 [[ 8.08828343e-01 5.84598043e-01 6.35754613e-02 3.06833021e+02] [-5.82923035e-01 8.11322068e-01 -4.42406674e-02 -1.29871231e+02] [-7.74431823e-02 -1.27649511e-03 9.96995950e-01 -2.04730994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.88, Y:-129.91, Z:-20.48 [[ 8.09747005e-01 5.83326302e-01 6.35626701e-02 3.06883600e+02] [-5.81645936e-01 8.12237122e-01 -4.42590376e-02 -1.29907703e+02] [-7.74454210e-02 -1.13234560e-03 9.96995950e-01 -2.04777891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.94, Y:-129.94, Z:-20.48 [[ 8.10276155e-01 5.82592452e-01 6.35498879e-02 3.06935153e+02] [-5.80908392e-01 8.12763775e-01 -4.42773834e-02 -1.29943394e+02] [-7.74467162e-02 -1.03975524e-03 9.96995950e-01 -2.04839645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:-129.98, Z:-20.49 [[ 8.09771885e-01 5.83294577e-01 6.35368423e-02 3.06985342e+02] [-5.81611206e-01 8.12259972e-01 -4.42960957e-02 -1.29977063e+02] [-7.74461061e-02 -1.08400650e-03 9.96995951e-01 -2.04907329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:-130.01, Z:-20.50 [[ 8.08547684e-01 5.84991051e-01 6.35304135e-02 3.07035338e+02] [-5.83312176e-01 8.11038806e-01 -4.43053141e-02 -1.30012192e+02] [-7.74438429e-02 -1.23510466e-03 9.96995951e-01 -2.04955330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:-130.05, Z:-20.50 [[ 8.06989590e-01 5.87139241e-01 6.35241225e-02 3.07087694e+02] [-5.85466287e-01 8.09484692e-01 -4.43143322e-02 -1.30045994e+02] [-7.74404881e-02 -1.43002741e-03 9.96995951e-01 -2.04999851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.14, Y:-130.08, Z:-20.50 [[ 8.07285705e-01 5.86733389e-01 6.35115830e-02 3.07138420e+02] [-5.85057768e-01 8.09779017e-01 -4.43322966e-02 -1.30080710e+02] [-7.74415859e-02 -1.36911566e-03 9.96995951e-01 -2.05038868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.19, Y:-130.12, Z:-20.51 [[ 8.09574373e-01 5.83572690e-01 6.35000025e-02 3.07187900e+02] [-5.81886033e-01 8.12060233e-01 -4.43488780e-02 -1.30118093e+02] [-7.74466208e-02 -1.04604948e-03 9.96995951e-01 -2.05054556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.24, Y:-130.15, Z:-20.51 [[ 8.10991701e-01 5.81602625e-01 6.34889501e-02 3.07238445e+02] [-5.79908691e-01 8.13472608e-01 -4.43646947e-02 -1.30154022e+02] [-7.74491447e-02 -8.38394715e-04 9.96995951e-01 -2.05129588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.29, Y:-130.19, Z:-20.52 [[ 8.12464059e-01 5.79545330e-01 6.34772736e-02 3.07289131e+02] [-5.77843809e-01 8.14939767e-01 -4.43813953e-02 -1.30190241e+02] [-7.74511849e-02 -6.21661022e-04 9.96995952e-01 -2.05158618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.34, Y:-130.23, Z:-20.52 [[ 8.13069778e-01 5.78696448e-01 6.34661931e-02 3.07340645e+02] [-5.76991106e-01 8.15542856e-01 -4.43972349e-02 -1.30226351e+02] [-7.74519225e-02 -5.21378978e-04 9.96995952e-01 -2.05208601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.39, Y:-130.26, Z:-20.53 [[ 8.13950416e-01 5.77458549e-01 6.34534823e-02 3.07391069e+02] [-5.75748030e-01 8.16419916e-01 -4.44153941e-02 -1.30262040e+02] [-7.74527357e-02 -3.81288971e-04 9.96995952e-01 -2.05254584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.44, Y:-130.30, Z:-20.53 [[ 8.14677263e-01 5.76433951e-01 6.34417584e-02 3.07442998e+02] [-5.74719022e-01 8.17143703e-01 -4.44321339e-02 -1.30296747e+02] [-7.74532239e-02 -2.63336121e-04 9.96995952e-01 -2.05310249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.49, Y:-130.33, Z:-20.54 [[ 8.14381552e-01 5.76853003e-01 6.34294964e-02 3.07494859e+02] [-5.75137980e-01 8.16847926e-01 -4.44496318e-02 -1.30330832e+02] [-7.74531561e-02 -2.81752349e-04 9.96995952e-01 -2.05355663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.55, Y:-130.37, Z:-20.54 [[ 8.13596373e-01 5.77961068e-01 6.34188148e-02 3.07546503e+02] [-5.76248217e-01 8.16064255e-01 -4.44648667e-02 -1.30365779e+02] [-7.74527896e-02 -3.68524725e-04 9.96995953e-01 -2.05403936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.60, Y:-130.40, Z:-20.55 [[ 8.12888836e-01 5.78957116e-01 6.34066108e-02 3.07599284e+02] [-5.77245932e-01 8.15357874e-01 -4.44822626e-02 -1.30400233e+02] [-7.74524019e-02 -4.42073436e-04 9.96995953e-01 -2.05451322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.65, Y:-130.43, Z:-20.55 [[ 8.12985250e-01 5.78823052e-01 6.33944656e-02 3.07651394e+02] [-5.77110111e-01 8.15453069e-01 -4.44995649e-02 -1.30434744e+02] [-7.74525855e-02 -4.08097200e-04 9.96995953e-01 -2.05502628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:-130.47, Z:-20.56 [[ 8.13433851e-01 5.78193793e-01 6.33822332e-02 3.07702698e+02] [-5.76477586e-01 8.15899400e-01 -4.45169811e-02 -1.30468706e+02] [-7.74529682e-02 -3.26817431e-04 9.96995953e-01 -2.05562213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:-130.50, Z:-20.56 [[ 8.14519395e-01 5.76664744e-01 6.33713480e-02 3.07753820e+02] [-5.74942704e-01 8.16980873e-01 -4.45324711e-02 -1.30502691e+02] [-7.74534853e-02 -1.62332727e-04 9.96995953e-01 -2.05627316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.80, Y:-130.54, Z:-20.57 [[ 8.15445908e-01 5.75355062e-01 6.33602749e-02 3.07804575e+02] [-5.73627844e-01 8.17903755e-01 -4.45482202e-02 -1.30538496e+02] [-7.74536508e-02 -1.85540059e-05 9.96995954e-01 -2.05679841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.86, Y:-130.57, Z:-20.57 [[ 8.16701151e-01 5.73573175e-01 6.33485814e-02 3.07855029e+02] [-5.71839306e-01 8.19154310e-01 -4.45648425e-02 -1.30574041e+02] [-7.74534617e-02 1.70949353e-04 9.96995954e-01 -2.05714847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.91, Y:-130.61, Z:-20.58 [[ 8.18101410e-01 5.71575391e-01 6.33376238e-02 3.07906422e+02] [-5.69834326e-01 8.20549467e-01 -4.45804106e-02 -1.30607472e+02] [-7.74527191e-02 3.79344596e-04 9.96995954e-01 -2.05814140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.96, Y:-130.64, Z:-20.58 [[ 8.16452500e-01 5.73929527e-01 6.33262410e-02 3.07956134e+02] [-5.72194266e-01 8.18904675e-01 -4.45965739e-02 -1.30643829e+02] [-7.74534454e-02 1.76072216e-04 9.96995954e-01 -2.05826405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.01, Y:-130.68, Z:-20.59 [[ 8.14927641e-01 5.76093345e-01 6.33198131e-02 3.08007161e+02] [-5.74363886e-01 8.17383911e-01 -4.46056986e-02 -1.30679357e+02] [-7.74536426e-02 -1.81971988e-05 9.96995954e-01 -2.05895267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:-130.71, Z:-20.59 [[ 8.13787226e-01 5.77704521e-01 6.33074871e-02 3.08059292e+02] [-5.75978565e-01 8.16245958e-01 -4.46231858e-02 -1.30714901e+02] [-7.74534966e-02 -1.49976945e-04 9.96995955e-01 -2.05936545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.11, Y:-130.75, Z:-20.60 [[ 8.13355061e-01 5.78314203e-01 6.32947649e-02 3.08110664e+02] [-5.76588686e-01 8.15814102e-01 -4.46412240e-02 -1.30751272e+02] [-7.74534156e-02 -1.85879847e-04 9.96995955e-01 -2.05981606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.16, Y:-130.79, Z:-20.60 [[ 8.13387173e-01 5.78270419e-01 6.32821392e-02 3.08159871e+02] [-5.76543378e-01 8.15845143e-01 -4.46591147e-02 -1.30786709e+02] [-7.74534709e-02 -1.59747255e-04 9.96995955e-01 -2.06021336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.21, Y:-130.82, Z:-20.61 [[ 8.13765383e-01 5.77739171e-01 6.32720459e-02 3.08210764e+02] [-5.76009414e-01 8.16221442e-01 -4.46734101e-02 -1.30823490e+02] [-7.74535794e-02 -9.16194145e-05 9.96995955e-01 -2.06067542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.26, Y:-130.86, Z:-20.61 [[ 8.14610076e-01 5.76548913e-01 6.32595864e-02 3.08261073e+02] [-5.74814197e-01 8.17062635e-01 -4.46910464e-02 -1.30858863e+02] [-7.74536186e-02 4.32682846e-05 9.96995955e-01 -2.06131111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.31, Y:-130.90, Z:-20.62 [[ 8.15226617e-01 5.75678071e-01 6.32480952e-02 3.08311823e+02] [-5.73939474e-01 8.17676426e-01 -4.47073033e-02 -1.30895782e+02] [-7.74534905e-02 1.46005155e-04 9.96995956e-01 -2.06184451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.36, Y:-130.93, Z:-20.62 [[ 8.15287041e-01 5.75593843e-01 6.32358145e-02 3.08362836e+02] [-5.73853646e-01 8.17735714e-01 -4.47246668e-02 -1.30932969e+02] [-7.74534267e-02 1.75338504e-04 9.96995956e-01 -2.06227451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.41, Y:-130.97, Z:-20.63 [[ 8.14652639e-01 5.76492777e-01 6.32230590e-02 3.08412375e+02] [-5.74753884e-01 8.17102237e-01 -4.47426908e-02 -1.30970504e+02] [-7.74535410e-02 1.12052386e-04 9.96995956e-01 -2.06280753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.46, Y:-131.01, Z:-20.64 [[ 8.13232596e-01 5.78495102e-01 6.32152010e-02 3.08461141e+02] [-5.76761376e-01 8.15685854e-01 -4.47537904e-02 -1.31007715e+02] [-7.74535937e-02 -6.48451791e-05 9.96995956e-01 -2.06370140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.51, Y:-131.04, Z:-20.64 [[ 8.10763490e-01 5.81950989e-01 6.32108371e-02 3.08513145e+02] [-5.80227240e-01 8.13223768e-01 -4.47599531e-02 -1.31042598e+02] [-7.74526541e-02 -3.86913759e-04 9.96995956e-01 -2.06386857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.56, Y:-131.08, Z:-20.64 [[ 8.07601311e-01 5.86332911e-01 6.31968398e-02 3.08563565e+02] [-5.84620964e-01 8.10069815e-01 -4.47797074e-02 -1.31080190e+02] [-7.74496685e-02 -7.82047064e-04 9.96995956e-01 -2.06425400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.61, Y:-131.12, Z:-20.65 [[ 8.05795608e-01 5.88813377e-01 6.31842166e-02 3.08614307e+02] [-5.87107633e-01 8.08268403e-01 -4.47975117e-02 -1.31116536e+02] [-7.74471799e-02 -9.98297660e-04 9.96995957e-01 -2.06464983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.67, Y:-131.15, Z:-20.65 [[ 8.03007936e-01 5.92610858e-01 6.31713959e-02 3.08665792e+02] [-5.90915385e-01 8.05487784e-01 -4.48155835e-02 -1.31153110e+02] [-7.74419891e-02 -1.34168058e-03 9.96995957e-01 -2.06516136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters Centerline goodness : 0.997681 with order 1 Centerline is valid? [True, True] Translation: X:308.72, Y:-131.19, Z:-20.66 [[ 8.01256260e-01 5.94978492e-01 6.31585383e-02 3.08715383e+02] [-5.93288919e-01 8.03740131e-01 -4.48336964e-02 -1.31190332e+02] [-7.74381369e-02 -1.54798102e-03 9.96995957e-01 -2.06614818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.24, Y:-130.65, Z:-19.65 [[ 8.64145276e-01 4.99265397e-01 6.31427363e-02 3.09238705e+02] [-4.97300782e-01 8.66417842e-01 -4.48559406e-02 -1.30650621e+02] [-7.71030123e-02 7.36111705e-03 9.96995958e-01 -1.96455532e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.29, Y:-130.69, Z:-19.64 [[ 8.63269728e-01 5.00228555e-01 6.73555436e-02 3.09289484e+02] [-4.98842333e-01 8.65892195e-01 -3.72429008e-02 -1.30686812e+02] [-7.69526019e-02 -1.44912766e-03 9.97033699e-01 -1.96427542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:-130.72, Z:-19.65 [[ 8.63704149e-01 4.99479498e-01 6.73451795e-02 3.09344668e+02] [-4.98089542e-01 8.66324638e-01 -3.72616324e-02 -1.30717555e+02] [-7.69542098e-02 -1.36090311e-03 9.97033699e-01 -1.96477081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.40, Y:-130.75, Z:-19.66 [[ 8.66098286e-01 4.95317879e-01 6.73346659e-02 3.09399377e+02] [-4.93913854e-01 8.68711264e-01 -3.72806217e-02 -1.30746486e+02] [-7.69601412e-02 -9.68841799e-04 9.97033700e-01 -1.96573222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.45, Y:-130.78, Z:-19.66 [[ 8.66487607e-01 4.94637836e-01 6.73248749e-02 3.09451916e+02] [-4.93230387e-01 8.69098741e-01 -3.72982949e-02 -1.30780074e+02] [-7.69611119e-02 -8.88163882e-04 9.97033700e-01 -1.96573866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.51, Y:-130.81, Z:-19.66 [[ 8.68317975e-01 4.91418885e-01 6.73154772e-02 3.09505582e+02] [-4.90000442e-01 8.70923153e-01 -3.73152481e-02 -1.30810377e+02] [-7.69640253e-02 -5.83112886e-04 9.97033700e-01 -1.96621402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.56, Y:-130.84, Z:-19.67 [[ 8.72868559e-01 4.83291244e-01 6.73056555e-02 3.09561250e+02] [-4.81847177e-01 8.75459622e-01 -3.73329552e-02 -1.30840131e+02] [-7.69660740e-02 1.55722783e-04 9.97033700e-01 -1.96674157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.62, Y:-130.87, Z:-19.67 [[ 8.74207074e-01 4.80867367e-01 6.72946331e-02 3.09615068e+02] [-4.79414587e-01 8.76793260e-01 -3.73528130e-02 -1.30871401e+02] [-7.69652296e-02 3.92064608e-04 9.97033700e-01 -1.96721820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.67, Y:-130.90, Z:-19.68 [[ 8.71873523e-01 4.85087070e-01 6.72836819e-02 3.09669385e+02] [-4.83645285e-01 8.74465856e-01 -3.73725291e-02 -1.30900520e+02] [-7.69662131e-02 4.26830771e-05 9.97033701e-01 -1.96761476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.73, Y:-130.93, Z:-19.68 [[ 8.72198110e-01 4.84504149e-01 6.72769376e-02 3.09725639e+02] [-4.83059695e-01 8.74788956e-01 -3.73846661e-02 -1.30927734e+02] [-7.69661479e-02 1.08058148e-04 9.97033701e-01 -1.96823599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.78, Y:-130.96, Z:-19.68 [[ 8.70596245e-01 4.87378157e-01 6.72659715e-02 3.09778592e+02] [-4.85940732e-01 8.73190997e-01 -3.74043870e-02 -1.30958990e+02] [-7.69661219e-02 -1.23156544e-04 9.97033701e-01 -1.96843050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.84, Y:-130.98, Z:-19.69 [[ 8.70054712e-01 4.88345622e-01 6.72558673e-02 3.09835907e+02] [-4.86909679e-01 8.72650284e-01 -3.74225462e-02 -1.30984475e+02] [-7.69659883e-02 -1.87870124e-04 9.97033701e-01 -1.96907454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.89, Y:-131.01, Z:-19.69 [[ 8.68164163e-01 4.91700219e-01 6.72449359e-02 3.09893042e+02] [-4.90272784e-01 8.70764423e-01 -3.74421788e-02 -1.31011803e+02] [-7.69648253e-02 -4.62404143e-04 9.97033701e-01 -1.96942120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:-131.04, Z:-19.70 [[ 8.65770891e-01 4.95903589e-01 6.72338842e-02 3.09948180e+02] [-4.94487237e-01 8.68377205e-01 -3.74620135e-02 -1.31040413e+02] [-7.69619194e-02 -8.12776797e-04 9.97033702e-01 -1.96978814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.00, Y:-131.07, Z:-19.70 [[ 8.65014195e-01 4.97223711e-01 6.72236897e-02 3.10003163e+02] [-4.95809916e-01 8.67621896e-01 -3.74802981e-02 -1.31068307e+02] [-7.69608381e-02 -9.09182002e-04 9.97033702e-01 -1.97020907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.06, Y:-131.10, Z:-19.71 [[ 8.64374527e-01 4.98336220e-01 6.72137559e-02 3.10060399e+02] [-4.96924396e-01 8.66983296e-01 -3.74981042e-02 -1.31095063e+02] [-7.69598671e-02 -9.87749013e-04 9.97033702e-01 -1.97068889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.12, Y:-131.12, Z:-19.71 [[ 8.64316690e-01 4.98437892e-01 6.72036247e-02 3.10116509e+02] [-4.97024965e-01 8.66924861e-01 -3.75162524e-02 -1.31122934e+02] [-7.69600148e-02 -9.75956094e-04 9.97033702e-01 -1.97123969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.17, Y:-131.15, Z:-19.72 [[ 8.64242112e-01 4.98568611e-01 6.71930933e-02 3.10171458e+02] [-4.97154612e-01 8.66849703e-01 -3.75351051e-02 -1.31151579e+02] [-7.69601382e-02 -9.65937703e-04 9.97033703e-01 -1.97174826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.23, Y:-131.18, Z:-19.72 [[ 8.63926852e-01 4.99116009e-01 6.71833652e-02 3.10227028e+02] [-4.97702309e-01 8.66534604e-01 -3.75525092e-02 -1.31178387e+02] [-7.69597693e-02 -9.94695019e-04 9.97033703e-01 -1.97227955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:-131.21, Z:-19.73 [[ 8.63973001e-01 4.99037375e-01 6.71740474e-02 3.10282606e+02] [-4.97622143e-01 8.66579922e-01 -3.75691694e-02 -1.31207137e+02] [-7.69601005e-02 -9.68545371e-04 9.97033703e-01 -1.97277948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.34, Y:-131.24, Z:-19.73 [[ 8.64078319e-01 4.98856369e-01 6.71638422e-02 3.10336943e+02] [-4.97439173e-01 8.66684173e-01 -3.75874050e-02 -1.31236882e+02] [-7.69605554e-02 -9.31464401e-04 9.97033703e-01 -1.97329233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.39, Y:-131.27, Z:-19.74 [[ 8.64051039e-01 4.98904863e-01 6.71545894e-02 3.10390402e+02] [-4.97486530e-01 8.66656274e-01 -3.76039290e-02 -1.31265337e+02] [-7.69607293e-02 -9.16789678e-04 9.97033703e-01 -1.97406245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.44, Y:-131.30, Z:-19.75 [[ 8.64062713e-01 4.98885784e-01 6.71461273e-02 3.10444734e+02] [-4.97466220e-01 8.66667277e-01 -3.76190330e-02 -1.31295158e+02] [-7.69609521e-02 -8.97726436e-04 9.97033704e-01 -1.97459891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.50, Y:-131.33, Z:-19.75 [[ 8.63899724e-01 4.99169230e-01 6.71367812e-02 3.10498660e+02] [-4.97749224e-01 8.66504047e-01 -3.76357052e-02 -1.31326711e+02] [-7.69608785e-02 -9.03805444e-04 9.97033704e-01 -1.97504756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.55, Y:-131.36, Z:-19.76 [[ 8.63476609e-01 4.99902216e-01 6.71261452e-02 3.10553663e+02] [-4.98482948e-01 8.66081334e-01 -3.76546658e-02 -1.31357595e+02] [-7.69603522e-02 -9.47315611e-04 9.97033704e-01 -1.97555514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:-131.39, Z:-19.76 [[ 8.63481460e-01 4.99895275e-01 6.71154436e-02 3.10608997e+02] [-4.98474504e-01 8.66085365e-01 -3.76737306e-02 -1.31385334e+02] [-7.69606234e-02 -9.24769572e-04 9.97033704e-01 -1.97637239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.66, Y:-131.42, Z:-19.76 [[ 8.59981960e-01 5.05893117e-01 6.71057611e-02 3.10660051e+02] [-5.04489159e-01 8.62594968e-01 -3.76909695e-02 -1.31418738e+02] [-7.69526939e-02 -1.44057516e-03 9.97033704e-01 -1.97642945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:-131.45, Z:-19.77 [[ 8.57637519e-01 5.09858695e-01 6.70969245e-02 3.10714946e+02] [-5.08465588e-01 8.60256329e-01 -3.77066938e-02 -1.31449666e+02] [-7.69456396e-02 -1.77780189e-03 9.97033705e-01 -1.97667818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.77, Y:-131.48, Z:-19.77 [[ 8.56421951e-01 5.11899299e-01 6.70861352e-02 3.10768778e+02] [-5.10510930e-01 8.59043275e-01 -3.77258800e-02 -1.31480165e+02] [-7.69417448e-02 -1.93893351e-03 9.97033705e-01 -1.97721863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:-131.51, Z:-19.78 [[ 8.56157894e-01 5.12342121e-01 6.70761584e-02 3.10822043e+02] [-5.10953720e-01 8.58779201e-01 -3.77436102e-02 -1.31511243e+02] [-7.69412510e-02 -1.95832288e-03 9.97033705e-01 -1.97785321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.88, Y:-131.54, Z:-19.79 [[ 8.59222869e-01 5.07186424e-01 6.70670820e-02 3.10875742e+02] [-5.05781033e-01 8.61835106e-01 -3.77597314e-02 -1.31542461e+02] [-7.69519888e-02 -1.47723331e-03 9.97033705e-01 -1.97867561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.93, Y:-131.58, Z:-19.79 [[ 8.60607323e-01 5.04834154e-01 6.70634944e-02 3.10925921e+02] [-5.03421126e-01 8.63215437e-01 -3.77661020e-02 -1.31577796e+02] [-7.69558618e-02 -1.25939592e-03 9.97033705e-01 -1.97881365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:310.98, Y:-131.61, Z:-19.79 [[ 8.65093032e-01 4.97109428e-01 6.70541796e-02 3.10977121e+02] [-4.95671827e-01 8.67687682e-01 -3.77826335e-02 -1.31613077e+02] [-7.69641889e-02 -5.51374751e-04 9.97033705e-01 -1.97898530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.03, Y:-131.65, Z:-19.79 [[ 8.69289270e-01 4.89735814e-01 6.70447354e-02 3.11027695e+02] [-4.88274912e-01 8.71870872e-01 -3.77993846e-02 -1.31648863e+02] [-7.69660643e-02 1.22337228e-04 9.97033706e-01 -1.97934146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.08, Y:-131.68, Z:-19.80 [[ 8.71311143e-01 4.86130812e-01 6.70352613e-02 3.11079142e+02] [-4.84657936e-01 8.73885932e-01 -3.78161791e-02 -1.31684260e+02] [-7.69647816e-02 4.60486795e-04 9.97033706e-01 -1.97986157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.13, Y:-131.72, Z:-19.80 [[ 8.70227876e-01 4.88068794e-01 6.70245978e-02 3.11133191e+02] [-4.86600197e-01 8.72805108e-01 -3.78350695e-02 -1.31715401e+02] [-7.69655280e-02 3.10949660e-04 9.97033706e-01 -1.98032540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:-131.74, Z:-19.81 [[ 8.66689192e-01 4.94326800e-01 6.70138740e-02 3.11187319e+02] [-4.92875344e-01 8.69276116e-01 -3.78540540e-02 -1.31744920e+02] [-7.69658335e-02 -2.21786702e-04 9.97033706e-01 -1.98093808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:-131.77, Z:-19.82 [[ 8.62885858e-01 5.00937587e-01 6.70039635e-02 3.11242102e+02] [-4.99504587e-01 8.65483050e-01 -3.78715881e-02 -1.31774209e+02] [-7.69620966e-02 -7.89929377e-04 9.97033706e-01 -1.98156680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:-131.80, Z:-19.82 [[ 8.60463093e-01 5.05089054e-01 6.69948801e-02 3.11296655e+02] [-5.03667334e-01 8.63066477e-01 -3.78876499e-02 -1.31804485e+02] [-7.69576723e-02 -1.14220824e-03 9.97033707e-01 -1.98200384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:-131.83, Z:-19.83 [[ 8.58097852e-01 5.09098253e-01 6.69854075e-02 3.11352143e+02] [-5.07687389e-01 8.60707135e-01 -3.79043900e-02 -1.31833020e+02] [-7.69518769e-02 -1.48197104e-03 9.97033707e-01 -1.98250044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:-131.86, Z:-19.83 [[ 8.58201431e-01 5.08925036e-01 6.69747048e-02 3.11406576e+02] [-5.07512171e-01 8.60809631e-01 -3.79232917e-02 -1.31862755e+02] [-7.69525835e-02 -1.44465464e-03 9.97033707e-01 -1.98329429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.46, Y:-131.89, Z:-19.84 [[ 8.59464811e-01 5.06789017e-01 6.69711189e-02 3.11460698e+02] [-5.05369175e-01 8.62069220e-01 -3.79296233e-02 -1.31894218e+02] [-7.69560567e-02 -1.24596261e-03 9.97033707e-01 -1.98367393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.51, Y:-131.93, Z:-19.84 [[ 8.60745240e-01 5.04612844e-01 6.69590133e-02 3.11512524e+02] [-5.03184756e-01 8.63345136e-01 -3.79509818e-02 -1.31926480e+02] [-7.69592913e-02 -1.02662777e-03 9.97033707e-01 -1.98354473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.57, Y:-131.96, Z:-19.84 [[ 8.62871679e-01 5.00969333e-01 6.69491864e-02 3.11566551e+02] [-4.99528923e-01 8.65464767e-01 -3.79683096e-02 -1.31958938e+02] [-7.69631207e-02 -6.81275928e-04 9.97033708e-01 -1.98405035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.62, Y:-131.99, Z:-19.85 [[ 8.64973241e-01 4.97333449e-01 6.69382709e-02 3.11620540e+02] [-4.95880649e-01 8.67559409e-01 -3.79875438e-02 -1.31990298e+02] [-7.69654030e-02 -3.35184324e-04 9.97033708e-01 -1.98468867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.67, Y:-132.02, Z:-19.85 [[ 8.65710556e-01 4.96050371e-01 6.69272871e-02 3.11673761e+02] [-4.94592243e-01 8.68293723e-01 -3.80068856e-02 -1.32021715e+02] [-7.69658730e-02 -1.98754907e-04 9.97033708e-01 -1.98524721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:-132.05, Z:-19.86 [[ 8.66230609e-01 4.95143036e-01 6.69171544e-02 3.11728372e+02] [-4.93680824e-01 8.68811467e-01 -3.80247174e-02 -1.32053501e+02] [-7.69660651e-02 -9.75418011e-05 9.97033708e-01 -1.98573525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.78, Y:-132.08, Z:-19.86 [[ 8.64587631e-01 4.98007782e-01 6.69064830e-02 3.11782484e+02] [-4.96552669e-01 8.67172497e-01 -3.80434852e-02 -1.32081529e+02] [-7.69654136e-02 -3.30665990e-04 9.97033708e-01 -1.98644982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.84, Y:-132.11, Z:-19.87 [[ 8.63068071e-01 5.00637319e-01 6.69012685e-02 3.11836833e+02] [-4.99189371e-01 8.65656957e-01 -3.80526528e-02 -1.32110867e+02] [-7.69641266e-02 -5.54372494e-04 9.97033709e-01 -1.98699646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.89, Y:-132.14, Z:-19.88 [[ 8.61601174e-01 5.03158886e-01 6.68920998e-02 3.11891703e+02] [-5.01717264e-01 8.64193587e-01 -3.80687636e-02 -1.32139668e+02] [-7.69623604e-02 -7.60829877e-04 9.97033709e-01 -1.98751061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:311.95, Y:-132.17, Z:-19.88 [[ 8.60603813e-01 5.04864119e-01 6.68827181e-02 3.11946612e+02] [-5.03426353e-01 8.63198367e-01 -3.80852391e-02 -1.32168209e+02] [-7.69609238e-02 -8.94220810e-04 9.97033709e-01 -1.98813504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:-132.20, Z:-19.88 [[ 8.60422437e-01 5.05174482e-01 6.68728107e-02 3.12001891e+02] [-5.03736301e-01 8.63016761e-01 -3.81026274e-02 -1.32199088e+02] [-7.69608315e-02 -9.01906800e-04 9.97033709e-01 -1.98847085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:-132.23, Z:-19.89 [[ 8.61326683e-01 5.03632621e-01 6.68620045e-02 3.12055531e+02] [-5.02188324e-01 8.63917607e-01 -3.81215804e-02 -1.32231487e+02] [-7.69625345e-02 -7.42183583e-04 9.97033709e-01 -1.98885445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.11, Y:-132.26, Z:-19.89 [[ 8.61976767e-01 5.02520621e-01 6.68511730e-02 3.12108610e+02] [-5.01071509e-01 8.64565000e-01 -3.81405655e-02 -1.32263512e+02] [-7.69636051e-02 -6.20936872e-04 9.97033710e-01 -1.98920673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.16, Y:-132.29, Z:-19.90 [[ 8.61973287e-01 5.02527852e-01 6.68416889e-02 3.12161828e+02] [-5.01077473e-01 8.64560811e-01 -3.81571793e-02 -1.32294948e+02] [-7.69637501e-02 -6.02395352e-04 9.97033710e-01 -1.98964228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.21, Y:-132.33, Z:-19.90 [[ 8.60825722e-01 5.04492338e-01 6.68323106e-02 3.12214628e+02] [-5.03046589e-01 8.63415836e-01 -3.81735984e-02 -1.32328436e+02] [-7.69623632e-02 -7.58950480e-04 9.97033710e-01 -1.99003751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.27, Y:-132.36, Z:-19.91 [[ 8.60111271e-01 5.05710875e-01 6.68215039e-02 3.12268413e+02] [-5.04267327e-01 8.62702611e-01 -3.81925058e-02 -1.32360055e+02] [-7.69614514e-02 -8.46096455e-04 9.97033710e-01 -1.99056940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.32, Y:-132.39, Z:-19.91 [[ 8.58054775e-01 5.09193788e-01 6.68108539e-02 3.12321606e+02] [-5.07759308e-01 8.60651146e-01 -3.82111269e-02 -1.32392274e+02] [-7.69577064e-02 -1.13659305e-03 9.97033710e-01 -1.99113509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.38, Y:-132.42, Z:-19.93 [[ 8.57382467e-01 5.10326247e-01 6.68014076e-02 3.12376623e+02] [-5.08893911e-01 8.59980021e-01 -3.82276340e-02 -1.32418030e+02] [-7.69564409e-02 -1.21912639e-03 9.97033711e-01 -1.99266702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.43, Y:-132.45, Z:-19.93 [[ 8.54320964e-01 5.15436397e-01 6.67907990e-02 3.12428966e+02] [-5.14018149e-01 8.56926236e-01 -3.82461602e-02 -1.32451249e+02] [-7.69482511e-02 -1.65718638e-03 9.97033711e-01 -1.99252645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:-132.48, Z:-19.93 [[ 8.54183272e-01 5.15665924e-01 6.67801853e-02 3.12483211e+02] [-5.14246928e-01 8.56788136e-01 -3.82646835e-02 -1.32482013e+02] [-7.69482639e-02 -1.65645265e-03 9.97033711e-01 -1.99295103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.54, Y:-132.51, Z:-19.94 [[ 8.57065225e-01 5.10863003e-01 6.67697050e-02 3.12538747e+02] [-5.09427983e-01 8.59661296e-01 -3.82829625e-02 -1.32508160e+02] [-7.69566803e-02 -1.20336033e-03 9.97033711e-01 -1.99404198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:312.59, Y:-132.54, Z:-19.94 [[ 8.56773250e-01 5.11353807e-01 6.67598888e-02 3.12590500e+02] [-5.09918942e-01 8.59369407e-01 -3.83000728e-02 -1.32541342e+02] [-7.69562941e-02 -1.22765400e-03 9.97033711e-01 -1.99373973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.64, Y:-132.57, Z:-19.95 [[ 8.61201666e-01 5.03861102e-01 6.67508847e-02 3.12644670e+02] [-5.02402431e-01 8.63784522e-01 -3.83157590e-02 -1.32571031e+02] [-7.69642016e-02 -5.38211240e-04 9.97033712e-01 -1.99483877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.70, Y:-132.60, Z:-19.95 [[ 8.63855840e-01 4.99297399e-01 6.67472512e-02 3.12698095e+02] [-4.97824593e-01 8.66430662e-01 -3.83220877e-02 -1.32603325e+02] [-7.69659838e-02 -1.23663904e-04 9.97033712e-01 -1.99457787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.75, Y:-132.63, Z:-19.95 [[ 8.64589684e-01 4.98026946e-01 6.67370896e-02 3.12752718e+02] [-4.96548991e-01 8.67161554e-01 -3.83397759e-02 -1.32634852e+02] [-7.69660798e-02 9.94025005e-06 9.97033712e-01 -1.99512891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.81, Y:-132.67, Z:-19.96 [[ 8.65958916e-01 4.95643782e-01 6.67262865e-02 3.12806703e+02] [-4.94157301e-01 8.68525867e-01 -3.83585683e-02 -1.32667480e+02] [-7.69656917e-02 2.43662602e-04 9.97033712e-01 -1.99551909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:-132.70, Z:-19.96 [[ 8.65544682e-01 4.96368256e-01 6.67154991e-02 3.12861019e+02] [-4.94882478e-01 8.68112040e-01 -3.83773213e-02 -1.32698091e+02] [-7.69658120e-02 2.00954858e-04 9.97033712e-01 -1.99592518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.92, Y:-132.73, Z:-19.96 [[ 8.63824039e-01 4.99358084e-01 6.67048285e-02 3.12916662e+02] [-4.97879760e-01 8.66395696e-01 -3.83958591e-02 -1.32727049e+02] [-7.69660590e-02 -4.37179075e-05 9.97033713e-01 -1.99648694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:312.97, Y:-132.76, Z:-19.97 [[ 8.62890970e-01 5.00970102e-01 6.66943123e-02 3.12970647e+02] [-4.99495171e-01 8.65464575e-01 -3.84141175e-02 -1.32757171e+02] [-7.69658889e-02 -1.66291815e-04 9.97033713e-01 -1.99744316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.03, Y:-132.79, Z:-19.98 [[ 8.60577671e-01 5.04934353e-01 6.66886181e-02 3.13025277e+02] [-5.03470512e-01 8.63157599e-01 -3.84240003e-02 -1.32788574e+02] [-7.69643852e-02 -5.08915975e-04 9.97033713e-01 -1.99788823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.08, Y:-132.82, Z:-19.98 [[ 8.57857443e-01 5.09543798e-01 6.66762789e-02 3.13080054e+02] [-5.08092155e-01 8.60444254e-01 -3.84454003e-02 -1.32818700e+02] [-7.69608363e-02 -8.97021448e-04 9.97033713e-01 -1.99820299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:-132.85, Z:-19.98 [[ 8.54933902e-01 5.14435554e-01 6.66639671e-02 3.13134183e+02] [-5.12997047e-01 8.57528040e-01 -3.84667370e-02 -1.32848871e+02] [-7.69548783e-02 -1.31190071e-03 9.97033713e-01 -1.99833297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:-132.88, Z:-19.99 [[ 8.55539614e-01 5.13429179e-01 6.66516859e-02 3.13187025e+02] [-5.11985964e-01 8.58131136e-01 -3.84880051e-02 -1.32880234e+02] [-7.69567518e-02 -1.19671469e-03 9.97033714e-01 -1.99894356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.24, Y:-132.91, Z:-20.00 [[ 8.55246754e-01 5.13918238e-01 6.66410904e-02 3.13240294e+02] [-5.12475076e-01 8.57838305e-01 -3.85063422e-02 -1.32911777e+02] [-7.69563916e-02 -1.21947376e-03 9.97033714e-01 -1.99964360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.29, Y:-132.95, Z:-20.00 [[ 8.55248867e-01 5.13915954e-01 6.66315840e-02 3.13293206e+02] [-5.12471505e-01 8.57839701e-01 -3.85227852e-02 -1.32946121e+02] [-7.69566920e-02 -1.20021966e-03 9.97033714e-01 -2.00019515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.35, Y:-132.98, Z:-20.01 [[ 8.56611799e-01 5.11642360e-01 6.66207240e-02 3.13345241e+02] [-5.10189575e-01 8.59197967e-01 -3.85415572e-02 -1.32981978e+02] [-7.69598839e-02 -9.74046207e-04 9.97033714e-01 -2.00065839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.40, Y:-133.02, Z:-20.01 [[ 8.58241441e-01 5.08905439e-01 6.66099286e-02 3.13397312e+02] [-5.07442958e-01 8.60822139e-01 -3.85602056e-02 -1.33016982e+02] [-7.69627995e-02 -7.06772771e-04 9.97033715e-01 -2.00107399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.45, Y:-133.05, Z:-20.01 [[ 8.58879039e-01 5.07830052e-01 6.65990580e-02 3.13450637e+02] [-5.06362885e-01 8.61457075e-01 -3.85789714e-02 -1.33049300e+02] [-7.69637908e-02 -5.88621282e-04 9.97033715e-01 -2.00140232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.50, Y:-133.08, Z:-20.02 [[ 8.58964419e-01 5.07686850e-01 6.65897115e-02 3.13504666e+02] [-5.06218003e-01 8.61541497e-01 -3.85950974e-02 -1.33081303e+02] [-7.69640232e-02 -5.57095382e-04 9.97033715e-01 -2.00179145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.56, Y:-133.11, Z:-20.02 [[ 8.59812827e-01 5.06250132e-01 6.65785743e-02 3.13557306e+02] [-5.04775491e-01 8.62386595e-01 -3.86143001e-02 -1.33111518e+02] [-7.69649645e-02 -4.06162015e-04 9.97033715e-01 -2.00243351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.61, Y:-133.14, Z:-20.03 [[ 8.59755632e-01 5.06348428e-01 6.65696821e-02 3.13612044e+02] [-5.04872896e-01 8.62328888e-01 -3.86296240e-02 -1.33140947e+02] [-7.69650093e-02 -3.97191353e-04 9.97033715e-01 -2.00303762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.67, Y:-133.17, Z:-20.04 [[ 8.60368506e-01 5.05307598e-01 6.65602361e-02 3.13666436e+02] [-5.03827694e-01 8.62939250e-01 -3.86458929e-02 -1.33171299e+02] [-7.69655036e-02 -2.85181135e-04 9.97033716e-01 -2.00360217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.72, Y:-133.20, Z:-20.04 [[ 8.61484040e-01 5.03404649e-01 6.65507967e-02 3.13720614e+02] [-5.01917811e-01 8.64050780e-01 -3.86621415e-02 -1.33201989e+02] [-7.69659695e-02 -9.62123627e-05 9.97033716e-01 -2.00412977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.77, Y:-133.24, Z:-20.03 [[ 8.62338016e-01 5.01941616e-01 6.65414176e-02 3.13772822e+02] [-5.00449178e-01 8.64901504e-01 -3.86782770e-02 -1.33235726e+02] [-7.69660090e-02 5.31508833e-05 9.97033716e-01 -2.00337305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.83, Y:-133.27, Z:-20.04 [[ 8.65195649e-01 4.97000131e-01 6.65384068e-02 3.13825264e+02] [-4.95492653e-01 8.67750322e-01 -3.86834558e-02 -1.33268958e+02] [-7.69644065e-02 4.99465916e-04 9.97033716e-01 -2.00382286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.88, Y:-133.29, Z:-20.05 [[ 8.68711412e-01 4.90829509e-01 6.65347752e-02 3.13880381e+02] [-4.89303408e-01 8.71255004e-01 -3.86897012e-02 -1.33293513e+02] [-7.69588028e-02 1.05449267e-03 9.97033716e-01 -2.00507944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.93, Y:-133.33, Z:-20.05 [[ 8.67155573e-01 4.93574227e-01 6.65258872e-02 3.13932342e+02] [-4.92055007e-01 8.69703280e-01 -3.87049778e-02 -1.33328129e+02] [-7.69615618e-02 8.28841285e-04 9.97033716e-01 -2.00479802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:313.99, Y:-133.35, Z:-20.06 [[ 8.69306321e-01 4.89776702e-01 6.65229533e-02 3.13987654e+02] [-4.88245967e-01 8.71847126e-01 -3.87100197e-02 -1.33353100e+02] [-7.69571114e-02 1.17130112e-03 9.97033716e-01 -2.00602592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.04, Y:-133.38, Z:-20.06 [[ 8.70556280e-01 4.87552794e-01 6.65134354e-02 3.14042171e+02] [-4.86014320e-01 8.73092406e-01 -3.87263669e-02 -1.33383982e+02] [-7.69535237e-02 1.38699982e-03 9.97033716e-01 -2.00639422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.10, Y:-133.41, Z:-20.07 [[ 8.72102155e-01 4.84783701e-01 6.65025882e-02 3.14097445e+02] [-4.83235756e-01 8.74632511e-01 -3.87449853e-02 -1.33412425e+02] [-7.69482631e-02 1.65315664e-03 9.97033717e-01 -2.00688566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:-133.44, Z:-20.07 [[ 8.71742377e-01 4.85431731e-01 6.64925777e-02 3.14153781e+02] [-4.83884358e-01 8.74273083e-01 -3.87621573e-02 -1.33440862e+02] [-7.69490520e-02 1.61589682e-03 9.97033717e-01 -2.00747288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.21, Y:-133.47, Z:-20.08 [[ 8.70005757e-01 4.88538754e-01 6.64820843e-02 3.14209041e+02] [-4.86999046e-01 8.72541134e-01 -3.87801465e-02 -1.33470235e+02] [-7.69539577e-02 1.36223910e-03 9.97033717e-01 -2.00793713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.27, Y:-133.50, Z:-20.09 [[ 8.66659102e-01 4.94452840e-01 6.64709729e-02 3.14265791e+02] [-4.92928975e-01 8.69204032e-01 -3.87991827e-02 -1.33496873e+02] [-7.69612037e-02 8.60196241e-04 9.97033717e-01 -2.00858242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:-133.52, Z:-20.09 [[ 8.62748549e-01 5.01246474e-01 6.64598712e-02 3.14322530e+02] [-4.99741186e-01 8.65304510e-01 -3.88181898e-02 -1.33524509e+02] [-7.69655070e-02 2.77602057e-04 9.97033717e-01 -2.00927541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:-133.55, Z:-20.10 [[ 8.60127933e-01 5.05731687e-01 6.64484777e-02 3.14378903e+02] [-5.04238221e-01 8.62690820e-01 -3.88376833e-02 -1.33552274e+02] [-7.69659388e-02 -1.00485934e-04 9.97033718e-01 -2.00987838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:-133.58, Z:-20.10 [[ 8.55365777e-01 5.13746538e-01 6.64370595e-02 3.14434289e+02] [-5.12275569e-01 8.57941641e-01 -3.88572058e-02 -1.33581816e+02] [-7.69618748e-02 -7.96958474e-04 9.97033718e-01 -2.01022031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:-133.61, Z:-20.11 [[ 8.52061909e-01 5.19209154e-01 6.64255786e-02 3.14488590e+02] [-5.17753167e-01 8.54646272e-01 -3.88768222e-02 -1.33611238e+02] [-7.69555751e-02 -1.26659433e-03 9.97033718e-01 -2.01056913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.54, Y:-133.64, Z:-20.11 [[ 8.51164102e-01 5.20681022e-01 6.64149432e-02 3.14541305e+02] [-5.19228088e-01 8.53750182e-01 -3.88949828e-02 -1.33643161e+02] [-7.69536492e-02 -1.37849083e-03 9.97033718e-01 -2.01092482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.60, Y:-133.67, Z:-20.11 [[ 8.51260541e-01 5.20524664e-01 6.64045599e-02 3.14595628e+02] [-5.19069873e-01 8.53845577e-01 -3.89127020e-02 -1.33674069e+02] [-7.69542608e-02 -1.34375867e-03 9.97033719e-01 -2.01144267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.65, Y:-133.71, Z:-20.12 [[ 8.50255560e-01 5.22166048e-01 6.63935281e-02 3.14647939e+02] [-5.20714779e-01 8.52842574e-01 -3.89315155e-02 -1.33707988e+02] [-7.69519430e-02 -1.47035376e-03 9.97033719e-01 -2.01162991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:-133.74, Z:-20.12 [[ 8.50301221e-01 5.22092957e-01 6.63835712e-02 3.14700005e+02] [-5.20640140e-01 8.52887366e-01 -3.89484860e-02 -1.33740921e+02] [-7.69524394e-02 -1.44400664e-03 9.97033719e-01 -2.01211184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.75, Y:-133.77, Z:-20.13 [[ 8.53110567e-01 5.17490978e-01 6.63735473e-02 3.14752241e+02] [-5.16022882e-01 8.55688069e-01 -3.89655608e-02 -1.33770921e+02] [-7.69593786e-02 -1.00833748e-03 9.97033719e-01 -2.01329769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.80, Y:-133.81, Z:-20.14 [[ 8.54623474e-01 5.14989791e-01 6.63643907e-02 3.14804995e+02] [-5.13512940e-01 8.57195970e-01 -3.89811495e-02 -1.33805311e+02] [-7.69621823e-02 -7.64767970e-04 9.97033719e-01 -2.01360094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.85, Y:-133.84, Z:-20.14 [[ 8.56712918e-01 5.11507795e-01 6.63532301e-02 3.14854256e+02] [-5.10019017e-01 8.59278530e-01 -3.90001378e-02 -1.33843278e+02] [-7.69647805e-02 -4.29487384e-04 9.97033720e-01 -2.01370097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.91, Y:-133.88, Z:-20.14 [[ 8.59560845e-01 5.06708669e-01 6.63436383e-02 3.14906112e+02] [-5.05204308e-01 8.62117349e-01 -3.90164477e-02 -1.33875907e+02] [-7.69659739e-02 1.99188307e-05 9.97033720e-01 -2.01435871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:314.96, Y:-133.91, Z:-20.15 [[ 8.63311731e-01 5.00292497e-01 6.63345469e-02 3.14957019e+02] [-4.98767949e-01 8.65856249e-01 -3.90318985e-02 -1.33912092e+02] [-7.69635480e-02 6.11149956e-04 9.97033720e-01 -2.01486009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:-133.95, Z:-20.15 [[ 8.65478349e-01 4.96536427e-01 6.63234841e-02 3.15007574e+02] [-4.94999397e-01 8.68015346e-01 -3.90506875e-02 -1.33947978e+02] [-7.69598909e-02 9.67439872e-04 9.97033720e-01 -2.01539020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.06, Y:-133.98, Z:-20.16 [[ 8.65736717e-01 4.96087098e-01 6.63138563e-02 3.15060300e+02] [-4.94547500e-01 8.68272156e-01 -3.90670302e-02 -1.33981965e+02] [-7.69591247e-02 1.02641064e-03 9.97033720e-01 -2.01583525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.11, Y:-134.01, Z:-20.16 [[ 8.64392537e-01 4.98427019e-01 6.63027015e-02 3.15111615e+02] [-4.96892834e-01 8.66931255e-01 -3.90859524e-02 -1.34014756e+02] [-7.69613790e-02 8.40268365e-04 9.97033721e-01 -2.01626631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.16, Y:-134.05, Z:-20.16 [[ 8.61053600e-01 5.04173933e-01 6.62973887e-02 3.15162037e+02] [-5.02655999e-01 8.63602068e-01 -3.90949619e-02 -1.34052177e+02] [-7.69652227e-02 3.38077563e-04 9.97033721e-01 -2.01626324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.21, Y:-134.08, Z:-20.17 [[ 8.57019652e-01 5.11001422e-01 6.62937615e-02 3.15213597e+02] [-5.09503315e-01 8.59579825e-01 -3.91011116e-02 -1.34083284e+02] [-7.69655036e-02 -2.66470181e-04 9.97033721e-01 -2.01716821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.27, Y:-134.12, Z:-20.18 [[ 8.55059939e-01 5.14275108e-01 6.62843397e-02 3.15266673e+02] [-5.12785564e-01 8.57625104e-01 -3.91170771e-02 -1.34116129e+02] [-7.69640528e-02 -5.42206938e-04 9.97033721e-01 -2.01762355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:-134.14, Z:-20.18 [[ 8.52395929e-01 5.18680143e-01 6.62728395e-02 3.15320675e+02] [-5.17202341e-01 8.54967876e-01 -3.91365513e-02 -1.34144848e+02] [-7.69605008e-02 -9.16630692e-04 9.97033721e-01 -2.01832989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.37, Y:-134.18, Z:-20.19 [[ 8.49289604e-01 5.23752312e-01 6.62622412e-02 3.15374227e+02] [-5.22288469e-01 8.51869521e-01 -3.91544871e-02 -1.34176642e+02] [-7.69540368e-02 -1.35450570e-03 9.97033721e-01 -2.01881084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.43, Y:-134.21, Z:-20.19 [[ 8.46686879e-01 5.27950850e-01 6.62512649e-02 3.15427668e+02] [-5.26498347e-01 8.49273197e-01 -3.91730507e-02 -1.34207754e+02] [-7.69468690e-02 -1.71387337e-03 9.97033722e-01 -2.01913859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.48, Y:-134.24, Z:-20.20 [[ 8.47487604e-01 5.26665744e-01 6.62416370e-02 3.15481957e+02] [-5.25208048e-01 8.50070999e-01 -3.91893248e-02 -1.34237468e+02] [-7.69497694e-02 -1.57817389e-03 9.97033722e-01 -2.01974503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.54, Y:-134.27, Z:-20.20 [[ 8.49036835e-01 5.24165859e-01 6.62314449e-02 3.15536807e+02] [-5.22699213e-01 8.51615159e-01 -3.92065422e-02 -1.34268409e+02] [-7.69544334e-02 -1.33132562e-03 9.97033722e-01 -2.02014685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.59, Y:-134.30, Z:-20.20 [[ 8.49239129e-01 5.23839372e-01 6.62209421e-02 3.15591040e+02] [-5.22370353e-01 8.51816102e-01 -3.92242739e-02 -1.34300614e+02] [-7.69552837e-02 -1.28106869e-03 9.97033722e-01 -2.02047888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:-134.33, Z:-20.21 [[ 8.49273939e-01 5.23784330e-01 6.62099074e-02 3.15645276e+02] [-5.22313692e-01 8.51849988e-01 -3.92428913e-02 -1.34332624e+02] [-7.69557204e-02 -1.25437627e-03 9.97033722e-01 -2.02104301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:-134.36, Z:-20.22 [[ 8.50846114e-01 5.21227959e-01 6.61989793e-02 3.15698541e+02] [-5.19748148e-01 8.53416904e-01 -3.92613175e-02 -1.34364373e+02] [-7.69594243e-02 -1.00145749e-03 9.97033723e-01 -2.02185405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.75, Y:-134.40, Z:-20.23 [[ 8.54220414e-01 5.15680560e-01 6.61894634e-02 3.15751746e+02] [-5.14182810e-01 8.56780793e-01 -3.92773535e-02 -1.34396696e+02] [-7.69644286e-02 -4.81967048e-04 9.97033723e-01 -2.02251184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:-134.43, Z:-20.23 [[ 8.56774583e-01 5.11426169e-01 6.61860111e-02 3.15805623e+02] [-5.09915255e-01 8.59327217e-01 -3.92831701e-02 -1.34428827e+02] [-7.69658819e-02 -9.24350186e-05 9.97033723e-01 -2.02294868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.86, Y:-134.46, Z:-20.23 [[ 8.61306297e-01 5.03758189e-01 6.61751437e-02 3.15859159e+02] [-5.02223144e-01 8.63844493e-01 -3.93014684e-02 -1.34461529e+02] [-7.69634700e-02 6.15913431e-04 9.97033723e-01 -2.02320776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.91, Y:-134.49, Z:-20.24 [[ 8.65437302e-01 4.96629210e-01 6.61642138e-02 3.15913509e+02] [-4.95071855e-01 8.67961870e-01 -3.93198604e-02 -1.34492186e+02] [-7.69554059e-02 1.27283391e-03 9.97033723e-01 -2.02366808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.97, Y:-134.52, Z:-20.24 [[ 8.67635405e-01 4.92780406e-01 6.61534216e-02 3.15968070e+02] [-4.91210469e-01 8.70152168e-01 -3.93380093e-02 -1.34522376e+02] [-7.69485434e-02 1.63579642e-03 9.97033724e-01 -2.02410384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.02, Y:-134.55, Z:-20.24 [[ 8.68359925e-01 4.91504037e-01 6.61424432e-02 3.16022984e+02] [-4.89928997e-01 8.70873496e-01 -3.93564597e-02 -1.34551473e+02] [-7.69455596e-02 1.77047147e-03 9.97033724e-01 -2.02438267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.08, Y:-134.58, Z:-20.25 [[ 8.65351303e-01 4.96783231e-01 6.61327703e-02 3.16078854e+02] [-4.95222287e-01 8.67873653e-01 -3.93727069e-02 -1.34579853e+02] [-7.69545894e-02 1.32080154e-03 9.97033724e-01 -2.02463588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:-134.61, Z:-20.25 [[ 8.61836022e-01 5.02858246e-01 6.61230413e-02 3.16133847e+02] [-5.01313830e-01 8.64368525e-01 -3.93890391e-02 -1.34608396e+02] [-7.69617788e-02 7.98497672e-04 9.97033724e-01 -2.02502205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.19, Y:-134.64, Z:-20.26 [[ 8.54480850e-01 5.15258670e-01 6.61133905e-02 3.16190657e+02] [-5.13749756e-01 8.57034665e-01 -3.94052310e-02 -1.34635758e+02] [-7.69653544e-02 -2.94722909e-04 9.97033724e-01 -2.02560767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.25, Y:-134.66, Z:-20.26 [[ 8.47058883e-01 5.27372464e-01 6.61024370e-02 3.16246970e+02] [-5.25898631e-01 8.49633103e-01 -3.94235970e-02 -1.34664593e+02] [-7.69537382e-02 -1.36907306e-03 9.97033725e-01 -2.02603992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.30, Y:-134.69, Z:-20.27 [[ 8.42226628e-01 5.35057250e-01 6.60911930e-02 3.16300331e+02] [-5.33605422e-01 8.44813321e-01 -3.94424380e-02 -1.34694137e+02] [-7.69386827e-02 -2.04714736e-03 9.97033725e-01 -2.02651738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.35, Y:-134.73, Z:-20.27 [[ 8.40702574e-01 5.37449384e-01 6.60858618e-02 3.16354713e+02] [-5.36004214e-01 8.43292993e-01 -3.94513685e-02 -1.34726231e+02] [-7.69328579e-02 -2.25543334e-03 9.97033725e-01 -2.02698870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.41, Y:-134.76, Z:-20.28 [[ 8.39184465e-01 5.39818070e-01 6.60748371e-02 3.16408235e+02] [-5.38378759e-01 8.41778144e-01 -3.94698245e-02 -1.34758695e+02] [-7.69268782e-02 -2.45082529e-03 9.97033725e-01 -2.02757281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.46, Y:-134.79, Z:-20.28 [[ 8.39269607e-01 5.39687020e-01 6.60639585e-02 3.16461150e+02] [-5.38245873e-01 8.41862267e-01 -3.94880245e-02 -1.34790109e+02] [-7.69279281e-02 -2.41755425e-03 9.97033725e-01 -2.02835669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.51, Y:-134.82, Z:-20.29 [[ 8.41778140e-01 5.35767099e-01 6.60543603e-02 3.16513993e+02] [-5.34312619e-01 8.44363342e-01 -3.95040736e-02 -1.34824528e+02] [-7.69388634e-02 -2.04001262e-03 9.97033725e-01 -2.02891018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.57, Y:-134.86, Z:-20.29 [[ 8.44885967e-01 5.30854042e-01 6.60430780e-02 3.16565446e+02] [-5.29383052e-01 8.47461812e-01 -3.95229264e-02 -1.34860022e+02] [-7.69498918e-02 -1.56972028e-03 9.97033726e-01 -2.02941358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:-134.90, Z:-20.30 [[ 8.50306375e-01 5.22129177e-01 6.60317441e-02 3.16613042e+02] [-5.20630281e-01 8.52866081e-01 -3.95418532e-02 -1.34898443e+02] [-7.69621901e-02 -7.55435635e-04 9.97033726e-01 -2.03007096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:-134.94, Z:-20.31 [[ 8.55097490e-01 5.14246328e-01 6.60226975e-02 3.16661136e+02] [-5.12722668e-01 8.57642532e-01 -3.95569525e-02 -1.34938012e+02] [-7.69658910e-02 -2.62828346e-05 9.97033726e-01 -2.03077800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:-134.97, Z:-20.31 [[ 8.55997797e-01 5.12747559e-01 6.60129667e-02 3.16713933e+02] [-5.11218191e-01 8.58539414e-01 -3.95731847e-02 -1.34971298e+02] [-7.69657876e-02 1.27529550e-04 9.97033726e-01 -2.03135287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.77, Y:-135.00, Z:-20.32 [[ 8.54433072e-01 5.15351215e-01 6.60094762e-02 3.16768167e+02] [-5.13829142e-01 8.56979063e-01 -3.95790061e-02 -1.35001995e+02] [-7.69658280e-02 -9.99807460e-05 9.97033726e-01 -2.03201344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.82, Y:-135.03, Z:-20.33 [[ 8.53911827e-01 5.16214874e-01 6.60060205e-02 3.16822635e+02] [-5.14694931e-01 8.56459091e-01 -3.95847683e-02 -1.35029218e+02] [-7.69657025e-02 -1.71062311e-04 9.97033726e-01 -2.03277921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.88, Y:-135.06, Z:-20.33 [[ 8.54192984e-01 5.15749719e-01 6.60043461e-02 3.16875723e+02] [-5.14228173e-01 8.56739290e-01 -3.95875600e-02 -1.35062521e+02] [-7.69657896e-02 -1.25878289e-04 9.97033726e-01 -2.03289377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.93, Y:-135.09, Z:-20.33 [[ 8.55812208e-01 5.13059635e-01 6.59945179e-02 3.16927485e+02] [-5.11528822e-01 8.58352954e-01 -3.96039375e-02 -1.35094522e+02] [-7.69657710e-02 1.35435173e-04 9.97033726e-01 -2.03283433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:-135.12, Z:-20.33 [[ 8.55680157e-01 5.13280380e-01 6.59903124e-02 3.16983199e+02] [-5.11749682e-01 8.58220972e-01 -3.96109437e-02 -1.35121793e+02] [-7.69657902e-02 1.23777148e-04 9.97033727e-01 -2.03282356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.04, Y:-135.15, Z:-20.33 [[ 8.53525939e-01 5.16855814e-01 6.59813517e-02 3.17038207e+02] [-5.15334606e-01 8.56072447e-01 -3.96258643e-02 -1.35151377e+02] [-7.69656755e-02 -1.80770855e-04 9.97033727e-01 -2.03265013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.10, Y:-135.18, Z:-20.33 [[ 8.46257549e-01 5.28673715e-01 6.59716837e-02 3.17096080e+02] [-5.27186808e-01 8.48824237e-01 -3.96419536e-02 -1.35176124e+02] [-7.69560230e-02 -1.23209885e-03 9.97033727e-01 -2.03298419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.15, Y:-135.21, Z:-20.34 [[ 8.47531165e-01 5.26630763e-01 6.59618398e-02 3.17149957e+02] [-5.25136394e-01 8.50093515e-01 -3.96583266e-02 -1.35207614e+02] [-7.69590270e-02 -1.02729494e-03 9.97033727e-01 -2.03352570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.20, Y:-135.24, Z:-20.34 [[ 8.62735604e-01 5.01336037e-01 6.59504075e-02 3.17201972e+02] [-4.99765093e-01 8.65251733e-01 -3.96773290e-02 -1.35241010e+02] [-7.69553793e-02 1.27133288e-03 9.97033727e-01 -2.03447675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.26, Y:-135.26, Z:-20.36 [[ 8.67849756e-01 4.92431453e-01 6.59398583e-02 3.17259297e+02] [-4.90833369e-01 8.70348736e-01 -3.96948530e-02 -1.35264895e+02] [-7.69376665e-02 2.08368566e-03 9.97033727e-01 -2.03588486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.31, Y:-135.30, Z:-20.36 [[ 8.68678045e-01 4.90970137e-01 6.59301088e-02 3.17313158e+02] [-4.89366622e-01 8.71173543e-01 -3.97110396e-02 -1.35297062e+02] [-7.69335011e-02 2.23211353e-03 9.97033728e-01 -2.03632874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.37, Y:-135.33, Z:-20.37 [[ 8.68541370e-01 4.91213368e-01 6.59190090e-02 3.17367283e+02] [-4.89609155e-01 8.71036420e-01 -3.97294565e-02 -1.35329756e+02] [-7.69334977e-02 2.23212628e-03 9.97033728e-01 -2.03681758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.42, Y:-135.36, Z:-20.37 [[ 8.69201897e-01 4.90045110e-01 6.59079106e-02 3.17421294e+02] [-4.88436150e-01 8.71693888e-01 -3.97478593e-02 -1.35362213e+02] [-7.69297669e-02 2.35710859e-03 9.97033728e-01 -2.03723329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.47, Y:-135.39, Z:-20.38 [[ 8.69889769e-01 4.88824547e-01 6.58965278e-02 3.17474445e+02] [-4.87210664e-01 8.72378574e-01 -3.97667216e-02 -1.35393937e+02] [-7.69256686e-02 2.48717319e-03 9.97033728e-01 -2.03771749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.53, Y:-135.43, Z:-20.38 [[ 8.69753875e-01 4.89067716e-01 6.58860166e-02 3.17528544e+02] [-4.87453212e-01 8.72242277e-01 -3.97841290e-02 -1.35426676e+02] [-7.69257022e-02 2.48604994e-03 9.97033729e-01 -2.03820629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.58, Y:-135.46, Z:-20.39 [[ 8.69617915e-01 4.89310921e-01 6.58749177e-02 3.17582634e+02] [-4.87695723e-01 8.72105867e-01 -3.98024982e-02 -1.35459430e+02] [-7.69256992e-02 2.48604984e-03 9.97033729e-01 -2.03869513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.64, Y:-135.49, Z:-20.39 [[ 8.70004293e-01 4.88625101e-01 6.58638137e-02 3.17636605e+02] [-4.87006554e-01 8.72490066e-01 -3.98208643e-02 -1.35491882e+02] [-7.69229970e-02 2.56821391e-03 9.97033729e-01 -2.03912904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.69, Y:-135.52, Z:-20.40 [[ 8.69866071e-01 4.88872647e-01 6.58525094e-02 3.17690678e+02] [-4.87253395e-01 8.72351385e-01 -3.98395497e-02 -1.35524659e+02] [-7.69229939e-02 2.56821381e-03 9.97033729e-01 -2.03961788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.74, Y:-135.56, Z:-20.40 [[ 8.70135352e-01 4.88394723e-01 6.58411998e-02 3.17744372e+02] [-4.86772694e-01 8.72618855e-01 -3.98582319e-02 -1.35556736e+02] [-7.69208225e-02 2.63235844e-03 9.97033730e-01 -2.04012109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.80, Y:-135.59, Z:-20.41 [[ 8.69190857e-01 4.90075165e-01 6.58299787e-02 3.17797854e+02] [-4.88456537e-01 8.71676577e-01 -3.98767562e-02 -1.35587848e+02] [-7.69250583e-02 2.50542846e-03 9.97033730e-01 -2.04060714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.85, Y:-135.62, Z:-20.41 [[ 8.65664814e-01 4.96278357e-01 6.58196168e-02 3.17852106e+02] [-4.94676247e-01 8.68161213e-01 -3.98938519e-02 -1.35617322e+02] [-7.69404936e-02 1.97530287e-03 9.97033730e-01 -2.04089414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.91, Y:-135.65, Z:-20.41 [[ 8.60523577e-01 5.05141806e-01 6.58097944e-02 3.17906484e+02] [-5.03564179e-01 8.63035518e-01 -3.99100486e-02 -1.35647302e+02] [-7.69564241e-02 1.20408277e-03 9.97033730e-01 -2.04117428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:317.96, Y:-135.68, Z:-20.42 [[ 8.56954808e-01 5.11174037e-01 6.57993984e-02 3.17960963e+02] [-5.09612778e-01 8.59476955e-01 -3.99271811e-02 -1.35678115e+02] [-7.69628049e-02 6.83575600e-04 9.97033730e-01 -2.04153589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.02, Y:-135.71, Z:-20.42 [[ 8.51708394e-01 5.19869200e-01 6.57938156e-02 3.18015550e+02] [-5.18332980e-01 8.54245870e-01 -3.99363785e-02 -1.35706507e+02] [-7.69657884e-02 -8.89557029e-05 9.97033730e-01 -2.04235228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.07, Y:-135.74, Z:-20.43 [[ 8.47763530e-01 5.26279025e-01 6.57828654e-02 3.18070485e+02] [-5.24760591e-01 8.50311689e-01 -3.99544076e-02 -1.35736705e+02] [-7.69631060e-02 -6.48365648e-04 9.97033731e-01 -2.04271691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.12, Y:-135.77, Z:-20.43 [[ 8.45037965e-01 5.30645801e-01 6.57713549e-02 3.18124143e+02] [-5.29139060e-01 8.47593055e-01 -3.99733467e-02 -1.35769080e+02] [-7.69590322e-02 -1.02319736e-03 9.97033731e-01 -2.04307620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.18, Y:-135.80, Z:-20.44 [[ 8.43636795e-01 5.32872028e-01 6.57598676e-02 3.18176213e+02] [-5.31370557e-01 8.46194985e-01 -3.99922355e-02 -1.35803666e+02] [-7.69564138e-02 -1.20393609e-03 9.97033731e-01 -2.04350337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.23, Y:-135.84, Z:-20.44 [[ 8.43673913e-01 5.32813826e-01 6.57552669e-02 3.18228096e+02] [-5.31311589e-01 8.46231653e-01 -3.99997985e-02 -1.35836143e+02] [-7.69566339e-02 -1.18974886e-03 9.97033731e-01 -2.04419917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.28, Y:-135.87, Z:-20.45 [[ 8.43895751e-01 5.32463630e-01 6.57453029e-02 3.18280891e+02] [-5.30959057e-01 8.46452117e-01 -4.00161691e-02 -1.35869923e+02] [-7.69574055e-02 -1.13858891e-03 9.97033731e-01 -2.04481004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.33, Y:-135.91, Z:-20.45 [[ 8.45538697e-01 5.29852171e-01 6.57342329e-02 3.18330809e+02] [-5.28338289e-01 8.48089561e-01 -4.00343455e-02 -1.35905909e+02] [-7.69608016e-02 -8.79323870e-04 9.97033732e-01 -2.04541232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.38, Y:-135.94, Z:-20.46 [[ 8.46785441e-01 5.27858243e-01 6.57274116e-02 3.18382181e+02] [-5.26337485e-01 8.49332212e-01 -4.00455414e-02 -1.35942088e+02] [-7.69627770e-02 -6.84819167e-04 9.97033732e-01 -2.04581026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.43, Y:-135.98, Z:-20.46 [[ 8.47972727e-01 5.25950224e-01 6.57161830e-02 3.18432647e+02] [-5.24422308e-01 8.50515210e-01 -4.00639596e-02 -1.35980700e+02] [-7.69642617e-02 -4.89887279e-04 9.97033732e-01 -2.04611263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.48, Y:-136.02, Z:-20.47 [[ 8.47781475e-01 5.26259882e-01 6.57047039e-02 3.18482329e+02] [-5.24731436e-01 8.50323639e-01 -4.00827763e-02 -1.36017110e+02] [-7.69642201e-02 -4.95888403e-04 9.97033732e-01 -2.04681735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.53, Y:-136.05, Z:-20.47 [[ 8.47200764e-01 5.27195551e-01 6.56941068e-02 3.18533990e+02] [-5.25668567e-01 8.49743806e-01 -4.01001372e-02 -1.36052701e+02] [-7.69637743e-02 -5.60460135e-04 9.97033732e-01 -2.04723527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:-136.09, Z:-20.48 [[ 8.46959086e-01 5.27585115e-01 6.56829750e-02 3.18583989e+02] [-5.26057887e-01 8.49501982e-01 -4.01183625e-02 -1.36091812e+02] [-7.69636683e-02 -5.74435360e-04 9.97033733e-01 -2.04760676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.63, Y:-136.13, Z:-20.48 [[ 8.47318851e-01 5.27008535e-01 6.56716738e-02 3.18634086e+02] [-5.25478143e-01 8.49859844e-01 -4.01368534e-02 -1.36129009e+02] [-7.69641828e-02 -5.00316733e-04 9.97033733e-01 -2.04788003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.68, Y:-136.17, Z:-20.48 [[ 8.47556386e-01 5.26627671e-01 6.56617828e-02 3.18683073e+02] [-5.25094884e-01 8.50095934e-01 -4.01530282e-02 -1.36167128e+02] [-7.69645103e-02 -4.46710747e-04 9.97033733e-01 -2.04835883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.73, Y:-136.20, Z:-20.49 [[ 8.46222630e-01 5.28769482e-01 6.56513240e-02 3.18732618e+02] [-5.27241796e-01 8.48765250e-01 -4.01701214e-02 -1.36204360e+02] [-7.69632966e-02 -6.21256254e-04 9.97033733e-01 -2.04872908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.78, Y:-136.24, Z:-20.49 [[ 8.43551875e-01 5.33021050e-01 6.56414048e-02 3.18784420e+02] [-5.31504918e-01 8.46101401e-01 -4.01863237e-02 -1.36237231e+02] [-7.69594410e-02 -9.89480794e-04 9.97033733e-01 -2.04930186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.84, Y:-136.27, Z:-20.50 [[ 8.40651410e-01 5.37585146e-01 6.56309210e-02 3.18837168e+02] [-5.36081519e-01 8.43208330e-01 -4.02034381e-02 -1.36268732e+02] [-7.69533105e-02 -1.38644691e-03 9.97033734e-01 -2.04988231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.89, Y:-136.30, Z:-20.50 [[ 8.39117275e-01 5.39977855e-01 6.56210002e-02 3.18890526e+02] [-5.38480253e-01 8.41677729e-01 -4.02196245e-02 -1.36299940e+02] [-7.69494410e-02 -1.58663105e-03 9.97033734e-01 -2.05039974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:318.94, Y:-136.33, Z:-20.51 [[ 8.38562168e-01 5.40840360e-01 6.56139835e-02 3.18943690e+02] [-5.39344497e-01 8.41123638e-01 -4.02310684e-02 -1.36330610e+02] [-7.69480580e-02 -1.65228897e-03 9.97033734e-01 -2.05087033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.00, Y:-136.36, Z:-20.51 [[ 8.39655508e-01 5.39142222e-01 6.56071019e-02 3.18996887e+02] [-5.37640302e-01 8.42213431e-01 -4.02422875e-02 -1.36364045e+02] [-7.69514987e-02 -1.48336374e-03 9.97033734e-01 -2.05124652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.05, Y:-136.40, Z:-20.52 [[ 8.40571649e-01 5.37714166e-01 6.55955689e-02 3.19050358e+02] [-5.36206434e-01 8.43126150e-01 -4.02610776e-02 -1.36397122e+02] [-7.69542913e-02 -1.33044571e-03 9.97033734e-01 -2.05170215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.10, Y:-136.43, Z:-20.52 [[ 8.44669029e-01 5.31256018e-01 6.55841018e-02 3.19102160e+02] [-5.29727302e-01 8.47211029e-01 -4.02797487e-02 -1.36430129e+02] [-7.69624332e-02 -7.18633080e-04 9.97033734e-01 -2.05222525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.15, Y:-136.46, Z:-20.53 [[ 8.48983357e-01 5.24335171e-01 6.55735261e-02 3.19154704e+02] [-5.22784403e-01 8.51511963e-01 -4.02969581e-02 -1.36464997e+02] [-7.69657544e-02 -6.93698732e-05 9.97033735e-01 -2.05270389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.21, Y:-136.50, Z:-20.53 [[ 8.50819779e-01 5.21351421e-01 6.55621746e-02 3.19207453e+02] [-5.19790362e-01 8.53342045e-01 -4.03154182e-02 -1.36498552e+02] [-7.69654608e-02 2.22568694e-04 9.97033735e-01 -2.05317124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.26, Y:-136.53, Z:-20.54 [[ 8.52438567e-01 5.18701828e-01 6.55507693e-02 3.19260400e+02] [-5.17131504e-01 8.54955075e-01 -4.03339541e-02 -1.36530620e+02] [-7.69642586e-02 4.83850136e-04 9.97033735e-01 -2.05368330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.31, Y:-136.56, Z:-20.54 [[ 8.52529063e-01 5.18554340e-01 6.55407716e-02 3.19313197e+02] [-5.16982333e-01 8.55044519e-01 -4.03501934e-02 -1.36561702e+02] [-7.69640455e-02 5.16291571e-04 9.97033735e-01 -2.05425300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:319.37, Y:-136.59, Z:-20.55 [[ 8.51161720e-01 5.20796561e-01 6.55337227e-02 3.19367925e+02] [-5.19230299e-01 8.53680757e-01 -4.03616385e-02 -1.36592848e+02] [-7.69650806e-02 3.27187135e-04 9.97033735e-01 -2.05476670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.42, Y:-136.62, Z:-20.55 [[ 8.47869241e-01 5.26141196e-01 6.55224589e-02 3.19420271e+02] [-5.24589400e-01 8.50397215e-01 -4.03799158e-02 -1.36623635e+02] [-7.69656538e-02 -1.35498774e-04 9.97033736e-01 -2.05536126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.48, Y:-136.65, Z:-20.56 [[ 8.44382703e-01 5.31719698e-01 6.55134537e-02 3.19475431e+02] [-5.30183470e-01 8.46920168e-01 -4.03945208e-02 -1.36652891e+02] [-7.69632276e-02 -6.25715598e-04 9.97033736e-01 -2.05586187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.53, Y:-136.68, Z:-20.56 [[ 8.41839557e-01 5.35738211e-01 6.55036633e-02 3.19529876e+02] [-5.34212859e-01 8.44383575e-01 -4.04103907e-02 -1.36683521e+02] [-7.69596078e-02 -9.73833885e-04 9.97033736e-01 -2.05638320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.58, Y:-136.72, Z:-20.57 [[ 8.41134037e-01 5.36846600e-01 6.54924400e-02 3.19583252e+02] [-5.35323186e-01 8.43679215e-01 -4.04285719e-02 -1.36716768e+02] [-7.69585517e-02 -1.05377369e-03 9.97033736e-01 -2.05672300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.64, Y:-136.75, Z:-20.57 [[ 8.41973679e-01 5.35530147e-01 6.54811913e-02 3.19635719e+02] [-5.34001337e-01 8.44515619e-01 -4.04467830e-02 -1.36749732e+02] [-7.69603604e-02 -9.11917048e-04 9.97033736e-01 -2.05696859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.69, Y:-136.78, Z:-20.57 [[ 8.42854731e-01 5.34143630e-01 6.54712506e-02 3.19688047e+02] [-5.32609388e-01 8.45393397e-01 -4.04628677e-02 -1.36781705e+02] [-7.69619460e-02 -7.66283219e-04 9.97033736e-01 -2.05735125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.74, Y:-136.82, Z:-20.58 [[ 8.44119896e-01 5.32143129e-01 6.54621399e-02 3.19740511e+02] [-5.30601728e-01 8.46654221e-01 -4.04776019e-02 -1.36815400e+02] [-7.69636748e-02 -5.66375473e-04 9.97033737e-01 -2.05775019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.79, Y:-136.85, Z:-20.58 [[ 8.44414475e-01 5.31676950e-01 6.54508587e-02 3.19792747e+02] [-5.30132737e-01 8.46947087e-01 -4.04958351e-02 -1.36849450e+02] [-7.69641162e-02 -5.02373517e-04 9.97033737e-01 -2.05836174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:319.85, Y:-136.88, Z:-20.59 [[ 8.43675754e-01 5.32848833e-01 6.54472529e-02 3.19845145e+02] [-5.31307686e-01 8.46210233e-01 -4.05016617e-02 -1.36882221e+02] [-7.69633983e-02 -6.02358447e-04 9.97033737e-01 -2.05906606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.90, Y:-136.91, Z:-20.60 [[ 8.42016340e-01 5.35468451e-01 6.54371592e-02 3.19898055e+02] [-5.33933922e-01 8.44554831e-01 -4.05179632e-02 -1.36914766e+02] [-7.69613599e-02 -8.22331933e-04 9.97033737e-01 -2.05992054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:319.95, Y:-136.95, Z:-20.60 [[ 8.41146257e-01 5.36834632e-01 6.54335690e-02 3.19949475e+02] [-5.35303775e-01 8.43686964e-01 -4.05237602e-02 -1.36948953e+02] [-7.69600071e-02 -9.40427282e-04 9.97033737e-01 -2.06037572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.00, Y:-136.98, Z:-20.60 [[ 8.40393606e-01 5.38012975e-01 6.54264898e-02 3.20000880e+02] [-5.36484791e-01 8.42935921e-01 -4.05351866e-02 -1.36983564e+02] [-7.69587948e-02 -1.03480515e-03 9.97033737e-01 -2.06049483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.05, Y:-137.02, Z:-20.61 [[ 8.40047005e-01 5.38555183e-01 6.54166933e-02 3.20053081e+02] [-5.37027410e-01 8.42589567e-01 -4.05509903e-02 -1.37016961e+02] [-7.69583693e-02 -1.06581942e-03 9.97033737e-01 -2.06079897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.10, Y:-137.05, Z:-20.61 [[ 8.40030796e-01 5.38581675e-01 6.54067448e-02 3.20104050e+02] [-5.37052732e-01 8.42572655e-01 -4.05670305e-02 -1.37050783e+02] [-7.69585938e-02 -1.04931607e-03 9.97033738e-01 -2.06147756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.16, Y:-137.08, Z:-20.62 [[ 8.39492645e-01 5.39421217e-01 6.53976347e-02 3.20155871e+02] [-5.37893673e-01 8.42035345e-01 -4.05817114e-02 -1.37083813e+02] [-7.69577560e-02 -1.10892568e-03 9.97033738e-01 -2.06203116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.21, Y:-137.12, Z:-20.62 [[ 8.38967240e-01 5.40239186e-01 6.53880208e-02 3.20208810e+02] [-5.38712914e-01 8.41510703e-01 -4.05971962e-02 -1.37116776e+02] [-7.69569155e-02 -1.16565364e-03 9.97033738e-01 -2.06240662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.26, Y:-137.15, Z:-20.63 [[ 8.38438712e-01 5.41060407e-01 6.53770810e-02 3.20262330e+02] [-5.39535254e-01 8.40982846e-01 -4.06148059e-02 -1.37149579e+02] [-7.69560670e-02 -1.22021450e-03 9.97033738e-01 -2.06280773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.31, Y:-137.18, Z:-20.63 [[ 8.37969083e-01 5.41788802e-01 6.53659626e-02 3.20314537e+02] [-5.40264466e-01 8.40513707e-01 -4.06326920e-02 -1.37182995e+02] [-7.69553251e-02 -1.26596723e-03 9.97033738e-01 -2.06325744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.37, Y:-137.22, Z:-20.64 [[ 8.37818277e-01 5.42023175e-01 6.53560425e-02 3.20366783e+02] [-5.40498307e-01 8.40362582e-01 -4.06486418e-02 -1.37215301e+02] [-7.69552785e-02 -1.26865524e-03 9.97033738e-01 -2.06384368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:-137.25, Z:-20.64 [[ 8.37802698e-01 5.42048467e-01 6.53459895e-02 3.20418396e+02] [-5.40522416e-01 8.40346293e-01 -4.06647965e-02 -1.37247909e+02] [-7.69555506e-02 -1.25189588e-03 9.97033739e-01 -2.06432929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.47, Y:-137.28, Z:-20.65 [[ 8.37646087e-01 5.42291126e-01 6.53403946e-02 3.20471721e+02] [-5.40765111e-01 8.40189704e-01 -4.06737845e-02 -1.37279643e+02] [-7.69553591e-02 -1.26356927e-03 9.97033739e-01 -2.06455635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.53, Y:-137.31, Z:-20.65 [[ 8.37262470e-01 5.42884449e-01 6.53301655e-02 3.20525105e+02] [-5.41358956e-01 8.39806399e-01 -4.06902078e-02 -1.37311323e+02] [-7.69547721e-02 -1.29868627e-03 9.97033739e-01 -2.06504972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.58, Y:-137.34, Z:-20.65 [[ 8.37333044e-01 5.42776894e-01 6.53193498e-02 3.20578900e+02] [-5.41249720e-01 8.39875964e-01 -4.07075627e-02 -1.37343345e+02] [-7.69552763e-02 -1.26829236e-03 9.97033739e-01 -2.06549483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.63, Y:-137.38, Z:-20.66 [[ 8.38413719e-01 5.41107497e-01 6.53078308e-02 3.20630476e+02] [-5.39573821e-01 8.40952723e-01 -4.07260345e-02 -1.37375477e+02] [-7.69579607e-02 -1.09312969e-03 9.97033739e-01 -2.06612377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.68, Y:-137.41, Z:-20.67 [[ 8.38725120e-01 5.40625378e-01 6.53021711e-02 3.20684162e+02] [-5.39089536e-01 8.41262814e-01 -4.07351075e-02 -1.37408704e+02] [-7.69587211e-02 -1.03815917e-03 9.97033739e-01 -2.06654773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.74, Y:-137.44, Z:-20.67 [[ 8.39318029e-01 5.39705805e-01 6.52908071e-02 3.20737413e+02] [-5.38165767e-01 8.41853179e-01 -4.07533138e-02 -1.37441417e+02] [-7.69600735e-02 -9.32286212e-04 9.97033740e-01 -2.06696775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.79, Y:-137.47, Z:-20.68 [[ 8.39587568e-01 5.39287057e-01 6.52854165e-02 3.20790204e+02] [-5.37745083e-01 8.42121541e-01 -4.07619475e-02 -1.37472795e+02] [-7.69606462e-02 -8.83687319e-04 9.97033740e-01 -2.06759898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.84, Y:-137.51, Z:-20.68 [[ 8.39793549e-01 5.38967511e-01 6.52749354e-02 3.20842980e+02] [-5.37423269e-01 8.42326139e-01 -4.07787247e-02 -1.37505834e+02] [-7.69611921e-02 -8.34559251e-04 9.97033740e-01 -2.06797954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.90, Y:-137.54, Z:-20.69 [[ 8.39572386e-01 5.39313140e-01 6.52651932e-02 3.20895717e+02] [-5.37768729e-01 8.42104874e-01 -4.07943109e-02 -1.37537946e+02] [-7.69610452e-02 -8.47803114e-04 9.97033740e-01 -2.06855134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:320.95, Y:-137.57, Z:-20.69 [[ 8.39481813e-01 5.39455275e-01 6.52555950e-02 3.20949140e+02] [-5.37910100e-01 8.42013834e-01 -4.08096587e-02 -1.37569702e+02] [-7.69610994e-02 -8.42677369e-04 9.97033740e-01 -2.06868183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.00, Y:-137.60, Z:-20.69 [[ 8.39666271e-01 5.39169329e-01 6.52455964e-02 3.21001059e+02] [-5.37622050e-01 8.42197007e-01 -4.08256381e-02 -1.37601477e+02] [-7.69615779e-02 -7.97559995e-04 9.97033740e-01 -2.06899364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.05, Y:-137.63, Z:-20.69 [[ 8.39885684e-01 5.38828585e-01 6.52364440e-02 3.21054731e+02] [-5.37279144e-01 8.42415096e-01 -4.08402576e-02 -1.37634862e+02] [-7.69620635e-02 -7.49033105e-04 9.97033741e-01 -2.06920807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:321.11, Y:-137.67, Z:-20.70 [[ 8.38284633e-01 5.41317452e-01 6.52249242e-02 3.21106063e+02] [-5.39774090e-01 8.40817758e-01 -4.08586474e-02 -1.37668297e+02] [-7.69597735e-02 -9.55547892e-04 9.97033741e-01 -2.06992498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.16, Y:-137.70, Z:-20.70 [[ 8.37458775e-01 5.42595645e-01 6.52132390e-02 3.21160496e+02] [-5.41054698e-01 8.39993370e-01 -4.08772894e-02 -1.37697660e+02] [-7.69585276e-02 -1.05088463e-03 9.97033741e-01 -2.07031658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.21, Y:-137.73, Z:-20.71 [[ 8.35933757e-01 5.44943689e-01 6.52006849e-02 3.21214034e+02] [-5.43408299e-01 8.38471723e-01 -4.08973037e-02 -1.37728933e+02] [-7.69556582e-02 -1.24315654e-03 9.97033741e-01 -2.07113488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.27, Y:-137.76, Z:-20.71 [[ 8.35749388e-01 5.45227890e-01 6.51882519e-02 3.21266581e+02] [-5.43691820e-01 8.38286941e-01 -4.09171118e-02 -1.37759867e+02] [-7.69556108e-02 -1.24586816e-03 9.97033742e-01 -2.07135356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.32, Y:-137.79, Z:-20.72 [[ 8.34983102e-01 5.46401428e-01 6.51820351e-02 3.21319266e+02] [-5.44868151e-01 8.37522344e-01 -4.09270129e-02 -1.37792487e+02] [-7.69539892e-02 -1.34225072e-03 9.97033742e-01 -2.07192260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.37, Y:-137.82, Z:-20.72 [[ 8.33939139e-01 5.47994606e-01 6.51722744e-02 3.21372805e+02] [-5.46464966e-01 8.36480573e-01 -4.09425500e-02 -1.37824382e+02] [-7.69516380e-02 -1.47076983e-03 9.97033742e-01 -2.07237149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.43, Y:-137.86, Z:-20.73 [[ 8.33845202e-01 5.48138710e-01 6.51623708e-02 3.21426781e+02] [-5.46608278e-01 8.36386159e-01 -4.09583061e-02 -1.37855382e+02] [-7.69517381e-02 -1.46540425e-03 9.97033742e-01 -2.07271457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.48, Y:-137.89, Z:-20.73 [[ 8.34480486e-01 5.47172241e-01 6.51525624e-02 3.21479277e+02] [-5.45637649e-01 8.37018933e-01 -4.09739025e-02 -1.37888045e+02] [-7.69537104e-02 -1.35776887e-03 9.97033742e-01 -2.07293054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.53, Y:-137.92, Z:-20.73 [[ 8.35624730e-01 5.45424351e-01 6.51428263e-02 3.21532657e+02] [-5.43883243e-01 8.38159226e-01 -4.09893757e-02 -1.37920346e+02] [-7.69566646e-02 -1.17835568e-03 9.97033742e-01 -2.07319572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.59, Y:-137.95, Z:-20.74 [[ 8.36312070e-01 5.44371005e-01 6.51331740e-02 3.21586241e+02] [-5.42825511e-01 8.38843894e-01 -4.10047078e-02 -1.37952934e+02] [-7.69583393e-02 -1.06321634e-03 9.97033742e-01 -2.07354927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.64, Y:-137.98, Z:-20.74 [[ 8.37254482e-01 5.42921819e-01 6.51216668e-02 3.21638762e+02] [-5.41370522e-01 8.39782754e-01 -4.10229749e-02 -1.37983521e+02] [-7.69603208e-02 -9.08281124e-04 9.97033743e-01 -2.07430487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.69, Y:-138.01, Z:-20.75 [[ 8.37698884e-01 5.42236552e-01 6.51160718e-02 3.21693275e+02] [-5.40682496e-01 8.40225461e-01 -4.10318539e-02 -1.38014912e+02] [-7.69611524e-02 -8.34782077e-04 9.97033743e-01 -2.07455415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.75, Y:-138.05, Z:-20.75 [[ 8.37672901e-01 5.42278088e-01 6.51044240e-02 3.21746931e+02] [-5.40722722e-01 8.40198672e-01 -4.10503270e-02 -1.38047177e+02] [-7.69613434e-02 -8.16694834e-04 9.97033743e-01 -2.07510849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.80, Y:-138.08, Z:-20.76 [[ 8.37260840e-01 5.42915486e-01 6.50927033e-02 3.21798557e+02] [-5.41360599e-01 8.39786906e-01 -4.10689039e-02 -1.38078459e+02] [-7.69609438e-02 -8.53239839e-04 9.97033743e-01 -2.07588213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.85, Y:-138.11, Z:-20.76 [[ 8.35296026e-01 5.45934710e-01 6.50833451e-02 3.21851352e+02] [-5.44387798e-01 8.37826982e-01 -4.10837288e-02 -1.38111696e+02] [-7.69576162e-02 -1.11350360e-03 9.97033743e-01 -2.07626385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.90, Y:-138.14, Z:-20.77 [[ 8.32911784e-01 5.49566577e-01 6.50733195e-02 3.21903301e+02] [-5.48029460e-01 8.35448702e-01 -4.10996025e-02 -1.38143850e+02] [-7.69523881e-02 -1.42975289e-03 9.97033744e-01 -2.07704884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.96, Y:-138.18, Z:-20.78 [[ 8.28948691e-01 5.55527512e-01 6.50634364e-02 3.21957039e+02] [-5.54007407e-01 8.31495838e-01 -4.11152421e-02 -1.38176206e+02] [-7.69406248e-02 -1.96319964e-03 9.97033744e-01 -2.07750319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.01, Y:-138.21, Z:-20.78 [[ 8.26054242e-01 5.59823757e-01 6.50519011e-02 3.22009759e+02] [-5.58315463e-01 8.28608400e-01 -4.11334851e-02 -1.38208748e+02] [-7.69300538e-02 -2.34099238e-03 9.97033744e-01 -2.07768158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.06, Y:-138.24, Z:-20.78 [[ 8.24320832e-01 5.62374197e-01 6.50417509e-02 3.22062891e+02] [-5.60872540e-01 8.26878897e-01 -4.11495287e-02 -1.38240334e+02] [-7.69230844e-02 -2.55971833e-03 9.97033744e-01 -2.07805187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.12, Y:-138.27, Z:-20.78 [[ 8.22507134e-01 5.65024682e-01 6.50317114e-02 3.22116343e+02] [-5.63530015e-01 8.25069290e-01 -4.11653888e-02 -1.38271370e+02] [-7.69151286e-02 -2.78849541e-03 9.97033744e-01 -2.07826479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.17, Y:-138.30, Z:-20.79 [[ 8.21613336e-01 5.66324726e-01 6.50217714e-02 3.22170257e+02] [-5.64832873e-01 8.24177132e-01 -4.11810833e-02 -1.38303010e+02] [-7.69113227e-02 -2.89150671e-03 9.97033744e-01 -2.07858335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.22, Y:-138.33, Z:-20.79 [[ 8.20455832e-01 5.68001496e-01 6.50117574e-02 3.22224881e+02] [-5.66513633e-01 8.23021944e-01 -4.11968862e-02 -1.38333343e+02] [-7.69059959e-02 -3.02982137e-03 9.97033745e-01 -2.07896817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.28, Y:-138.36, Z:-20.80 [[ 8.20151058e-01 5.68442815e-01 6.50000627e-02 3.22277321e+02] [-5.66954874e-01 8.22717125e-01 -4.12153297e-02 -1.38363383e+02] [-7.69052228e-02 -3.04930611e-03 9.97033745e-01 -2.07959055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.33, Y:-138.39, Z:-20.80 [[ 8.20357484e-01 5.68145937e-01 6.49907145e-02 3.22330875e+02] [-5.66655902e-01 8.22922335e-01 -4.12300653e-02 -1.38394287e+02] [-7.69070046e-02 -3.00397934e-03 9.97033745e-01 -2.08018218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.38, Y:-138.43, Z:-20.81 [[ 8.20619398e-01 5.67768704e-01 6.49807914e-02 3.22384081e+02] [-5.66276254e-01 8.23182845e-01 -4.12456987e-02 -1.38427273e+02] [-7.69090896e-02 -2.95005879e-03 9.97033745e-01 -2.08069906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.44, Y:-138.46, Z:-20.81 [[ 8.23295010e-01 5.63883230e-01 6.49694468e-02 3.22438366e+02] [-5.62377272e-01 8.25850545e-01 -4.12635609e-02 -1.38459343e+02] [-7.69228830e-02 -2.56525648e-03 9.97033745e-01 -2.08109733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.49, Y:-138.49, Z:-20.82 [[ 8.26204651e-01 5.59612691e-01 6.49577605e-02 3.22491094e+02] [-5.58092076e-01 8.28751492e-01 -4.12819493e-02 -1.38492846e+02] [-7.69357437e-02 -2.14507289e-03 9.97033746e-01 -2.08153146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.54, Y:-138.52, Z:-20.82 [[ 8.32473734e-01 5.50244932e-01 6.49461133e-02 3.22544149e+02] [-5.48694219e-01 8.35002360e-01 -4.13002650e-02 -1.38524789e+02] [-7.69554194e-02 -1.25417116e-03 9.97033746e-01 -2.08161349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:-138.55, Z:-20.82 [[ 8.38651640e-01 5.40783470e-01 6.49358486e-02 3.22600138e+02] [-5.39202976e-01 8.41161760e-01 -4.13163979e-02 -1.38551310e+02] [-7.69647777e-02 -3.63537940e-04 9.97033746e-01 -2.08226768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.65, Y:-138.59, Z:-20.82 [[ 8.38936304e-01 5.40342991e-01 6.49255682e-02 3.22652044e+02] [-5.38759929e-01 8.41444805e-01 -4.13325464e-02 -1.38586077e+02] [-7.69650338e-02 -3.03920778e-04 9.97033746e-01 -2.08228690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.71, Y:-138.62, Z:-20.83 [[ 8.38776573e-01 5.40592184e-01 6.49149557e-02 3.22705342e+02] [-5.39008577e-01 8.41284730e-01 -4.13492071e-02 -1.38620094e+02] [-7.69650192e-02 -3.06971661e-04 9.97033746e-01 -2.08277559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.76, Y:-138.65, Z:-20.84 [[ 8.40209430e-01 5.38363960e-01 6.49026936e-02 3.22756928e+02] [-5.36772216e-01 8.42712430e-01 -4.13684451e-02 -1.38650994e+02] [-7.69655866e-02 -7.98049753e-05 9.97033747e-01 -2.08366464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.81, Y:-138.69, Z:-20.84 [[ 8.40059631e-01 5.38598003e-01 6.48999898e-02 3.22810213e+02] [-5.37006628e-01 8.42562866e-01 -4.13726866e-02 -1.38685052e+02] [-7.69655677e-02 -9.62008483e-05 9.97033747e-01 -2.08415297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.86, Y:-138.72, Z:-20.84 [[ 8.41418504e-01 5.36474036e-01 6.48884411e-02 3.22862329e+02] [-5.34874947e-01 8.43916817e-01 -4.13907915e-02 -1.38718925e+02] [-7.69655317e-02 1.19776401e-04 9.97033747e-01 -2.08410597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.91, Y:-138.75, Z:-20.84 [[ 8.43971688e-01 5.32449677e-01 6.48778211e-02 3.22914560e+02] [-5.30837396e-01 8.46461508e-01 -4.14074310e-02 -1.38752582e+02] [-7.69639516e-02 5.07125858e-04 9.97033747e-01 -2.08427478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:322.97, Y:-138.78, Z:-20.85 [[ 8.46889148e-01 5.27798293e-01 6.48670363e-02 3.22966935e+02] [-5.26171044e-01 8.49369212e-01 -4.14243192e-02 -1.38782955e+02] [-7.69597485e-02 9.50650185e-04 9.97033747e-01 -2.08530987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:-138.82, Z:-20.85 [[ 8.44903687e-01 5.30971971e-01 6.48577414e-02 3.23017875e+02] [-5.29352921e-01 8.47389111e-01 -4.14388671e-02 -1.38818588e+02] [-7.69626207e-02 6.79216771e-04 9.97033748e-01 -2.08486783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.07, Y:-138.84, Z:-20.86 [[ 8.43361926e-01 5.33417660e-01 6.48556978e-02 3.23072513e+02] [-5.31805572e-01 8.45851871e-01 -4.14420654e-02 -1.38842959e+02] [-7.69642429e-02 4.60038601e-04 9.97033748e-01 -2.08635458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.13, Y:-138.88, Z:-20.87 [[ 8.39941761e-01 5.38787654e-01 6.48513878e-02 3.23126716e+02] [-5.37190965e-01 8.42441608e-01 -4.14488089e-02 -1.38875144e+02] [-7.69656139e-02 -2.29940528e-05 9.97033748e-01 -2.08676618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.18, Y:-138.91, Z:-20.87 [[ 8.35492808e-01 5.45662544e-01 6.48394604e-02 3.23179417e+02] [-5.44084976e-01 8.38004766e-01 -4.14674587e-02 -1.38905189e+02] [-7.69630159e-02 -6.32412721e-04 9.97033748e-01 -2.08733575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.23, Y:-138.94, Z:-20.88 [[ 8.33741040e-01 5.48336538e-01 6.48299243e-02 3.23233080e+02] [-5.46765868e-01 8.36257316e-01 -4.14823620e-02 -1.38937823e+02] [-7.69607933e-02 -8.61242183e-04 9.97033748e-01 -2.08778147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.28, Y:-138.97, Z:-20.88 [[ 8.32414847e-01 5.50349094e-01 6.48181891e-02 3.23284142e+02] [-5.48783080e-01 8.34934023e-01 -4.15006908e-02 -1.38970377e+02] [-7.69587790e-02 -1.02533429e-03 9.97033748e-01 -2.08815604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.34, Y:-139.00, Z:-20.89 [[ 8.31646260e-01 5.51510940e-01 6.48088078e-02 3.23336584e+02] [-5.49947305e-01 8.34166913e-01 -4.15153359e-02 -1.39004721e+02] [-7.69575251e-02 -1.11535537e-03 9.97033748e-01 -2.08856179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:-139.04, Z:-20.89 [[ 8.29917864e-01 5.54109764e-01 6.47974377e-02 3.23389497e+02] [-5.52552637e-01 8.32442543e-01 -4.15330749e-02 -1.39038849e+02] [-7.69540261e-02 -1.33495424e-03 9.97033749e-01 -2.08889712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.44, Y:-139.07, Z:-20.89 [[ 8.28881747e-01 5.55659863e-01 6.47855469e-02 3.23441500e+02] [-5.54106008e-01 8.31408441e-01 -4.15516145e-02 -1.39071954e+02] [-7.69518149e-02 -1.45668595e-03 9.97033749e-01 -2.08949343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.49, Y:-139.11, Z:-20.90 [[ 8.27768742e-01 5.57317832e-01 6.47745668e-02 3.23492916e+02] [-5.55767700e-01 8.30297721e-01 -4.15687243e-02 -1.39106001e+02] [-7.69491665e-02 -1.59032138e-03 9.97033749e-01 -2.08995591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.54, Y:-139.14, Z:-20.90 [[ 8.27149164e-01 5.58238156e-01 6.47643596e-02 3.23544067e+02] [-5.56689593e-01 8.29679104e-01 -4.15846212e-02 -1.39140905e+02] [-7.69477581e-02 -1.65696036e-03 9.97033749e-01 -2.09047826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.59, Y:-139.18, Z:-20.91 [[ 8.27203610e-01 5.58158678e-01 6.47539844e-02 3.23594096e+02] [-5.56608609e-01 8.29732627e-01 -4.16007708e-02 -1.39175479e+02] [-7.69483248e-02 -1.63031745e-03 9.97033749e-01 -2.09110612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.64, Y:-139.21, Z:-20.92 [[ 8.28796769e-01 5.55791387e-01 6.47444964e-02 3.23643758e+02] [-5.54232941e-01 8.31320633e-01 -4.16155320e-02 -1.39213902e+02] [-7.69529900e-02 -1.39271414e-03 9.97033750e-01 -2.09154502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.69, Y:-139.25, Z:-20.92 [[ 8.30230794e-01 5.53648349e-01 6.47327895e-02 3.23693596e+02] [-5.52081969e-01 8.32749741e-01 -4.16337342e-02 -1.39250935e+02] [-7.69566619e-02 -1.17219770e-03 9.97033750e-01 -2.09197254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.74, Y:-139.29, Z:-20.92 [[ 8.31855410e-01 5.51205627e-01 6.47219713e-02 3.23742761e+02] [-5.49630542e-01 8.34368923e-01 -4.16505448e-02 -1.39290668e+02] [-7.69600162e-02 -9.25941172e-04 9.97033750e-01 -2.09228164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.79, Y:-139.33, Z:-20.93 [[ 8.32158715e-01 5.50749001e-01 6.47102115e-02 3.23793313e+02] [-5.49171117e-01 8.34670471e-01 -4.16688074e-02 -1.39328971e+02] [-7.69607568e-02 -8.61917931e-04 9.97033750e-01 -2.09264600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.84, Y:-139.37, Z:-20.93 [[ 8.30924236e-01 5.52611141e-01 6.46980774e-02 3.23842626e+02] [-5.51037420e-01 8.33438602e-01 -4.16876393e-02 -1.39367154e+02] [-7.69589291e-02 -1.01179182e-03 9.97033750e-01 -2.09315577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.89, Y:-139.40, Z:-20.94 [[ 8.27631510e-01 5.57531711e-01 6.46875189e-02 3.23891687e+02] [-5.55971657e-01 8.30154378e-01 -4.17040167e-02 -1.39403446e+02] [-7.69519388e-02 -1.44886874e-03 9.97033751e-01 -2.09380084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.94, Y:-139.44, Z:-20.94 [[ 8.25234112e-01 5.61075250e-01 6.46778543e-02 3.23942916e+02] [-5.59524854e-01 8.27762927e-01 -4.17189999e-02 -1.39439889e+02] [-7.69454283e-02 -1.76092518e-03 9.97033751e-01 -2.09428094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.99, Y:-139.48, Z:-20.95 [[ 8.23247470e-01 5.63987499e-01 6.46660997e-02 3.23992463e+02] [-5.62444618e-01 8.25780877e-01 -4.17372121e-02 -1.39478260e+02] [-7.69392944e-02 -2.01104549e-03 9.97033751e-01 -2.09465717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.04, Y:-139.51, Z:-20.95 [[ 8.22482751e-01 5.65103546e-01 6.46537464e-02 3.24042935e+02] [-5.63562601e-01 8.25017335e-01 -4.17563395e-02 -1.39513761e+02] [-7.69371171e-02 -2.09256453e-03 9.97033751e-01 -2.09514402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.09, Y:-139.55, Z:-20.96 [[ 8.21879395e-01 5.65982003e-01 6.46423395e-02 3.24092777e+02] [-5.64442380e-01 8.24414783e-01 -4.17739908e-02 -1.39550740e+02] [-7.69354273e-02 -2.15369366e-03 9.97033752e-01 -2.09556050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.14, Y:-139.59, Z:-20.96 [[ 8.21460882e-01 5.66590436e-01 6.46320176e-02 3.24140932e+02] [-5.65051436e-01 8.23996647e-01 -4.17899547e-02 -1.39588851e+02] [-7.69343545e-02 -2.19160124e-03 9.97033752e-01 -2.09598874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.19, Y:-139.63, Z:-20.96 [[ 8.21441964e-01 5.66618938e-01 6.46225872e-02 3.24191562e+02] [-5.65078880e-01 8.23977087e-01 -4.18045324e-02 -1.39625717e+02] [-7.69347710e-02 -2.17686198e-03 9.97033752e-01 -2.09635717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:-139.66, Z:-20.97 [[ 8.22003649e-01 5.65805125e-01 6.46108400e-02 3.24240119e+02] [-5.64261132e-01 8.24536378e-01 -4.18226804e-02 -1.39663476e+02] [-7.69374749e-02 -2.07898979e-03 9.97033752e-01 -2.09681978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.29, Y:-139.70, Z:-20.97 [[ 8.24228602e-01 5.62560266e-01 6.45999922e-02 3.24289727e+02] [-5.61004989e-01 8.26754416e-01 -4.18394296e-02 -1.39701875e+02] [-7.69455294e-02 -1.75566332e-03 9.97033752e-01 -2.09725861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.34, Y:-139.74, Z:-20.98 [[ 8.25966463e-01 5.60006926e-01 6.45882736e-02 3.24340246e+02] [-5.58442426e-01 8.28486575e-01 -4.18575120e-02 -1.39739096e+02] [-7.69510142e-02 -1.49593105e-03 9.97033753e-01 -2.09768936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.39, Y:-139.78, Z:-20.98 [[ 8.28262042e-01 5.56607447e-01 6.45766234e-02 3.24390002e+02] [-5.55031202e-01 8.30774824e-01 -4.18754778e-02 -1.39776524e+02] [-7.69568358e-02 -1.15817219e-03 9.97033753e-01 -2.09808744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.44, Y:-139.81, Z:-20.99 [[ 8.29058800e-01 5.55421158e-01 6.45665802e-02 3.24441041e+02] [-5.53840113e-01 8.31568564e-01 -4.18909575e-02 -1.39812855e+02] [-7.69586625e-02 -1.02949515e-03 9.97033753e-01 -2.09850230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.49, Y:-139.85, Z:-21.00 [[ 8.30354840e-01 5.53483102e-01 6.45545871e-02 3.24490903e+02] [-5.51894763e-01 8.32859995e-01 -4.19094310e-02 -1.39848079e+02] [-7.69610949e-02 -8.27639625e-04 9.97033753e-01 -2.09951977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.54, Y:-139.88, Z:-21.00 [[ 8.29909456e-01 5.54152022e-01 6.45432512e-02 3.24540561e+02] [-5.52564345e-01 8.32415030e-01 -4.19268817e-02 -1.39884193e+02] [-7.69606386e-02 -8.68783734e-04 9.97033753e-01 -2.09965808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.59, Y:-139.92, Z:-21.00 [[ 8.30448774e-01 5.53344704e-01 6.45327151e-02 3.24590181e+02] [-5.51753332e-01 8.32952002e-01 -4.19430923e-02 -1.39920596e+02] [-7.69616423e-02 -7.74550994e-04 9.97033754e-01 -2.10022087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.64, Y:-139.96, Z:-21.00 [[ 8.30853961e-01 5.52736983e-01 6.45253685e-02 3.24641177e+02] [-5.51142901e-01 8.33355465e-01 -4.19543913e-02 -1.39955765e+02] [-7.69623122e-02 -7.04726643e-04 9.97033754e-01 -2.10040859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.69, Y:-139.99, Z:-21.01 [[ 8.30456715e-01 5.53334865e-01 6.45148941e-02 3.24691546e+02] [-5.51741334e-01 8.32958569e-01 -4.19704921e-02 -1.39991074e+02] [-7.69619705e-02 -7.40856745e-04 9.97033754e-01 -2.10084855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:324.74, Y:-140.03, Z:-21.01 [[ 8.28620744e-01 5.56081329e-01 6.45075032e-02 3.24741447e+02] [-5.54495206e-01 8.31127302e-01 -4.19818486e-02 -1.40025090e+02] [-7.69592692e-02 -9.82070660e-04 9.97033754e-01 -2.10143535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.79, Y:-140.06, Z:-21.02 [[ 8.26970992e-01 5.58532868e-01 6.44981617e-02 3.24793528e+02] [-5.56953057e-01 8.29481532e-01 -4.19961955e-02 -1.40058971e+02] [-7.69562895e-02 -1.19281288e-03 9.97033754e-01 -2.10202483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.85, Y:-140.09, Z:-21.02 [[ 8.25037256e-01 5.61386637e-01 6.44869717e-02 3.24846308e+02] [-5.59814167e-01 8.27552400e-01 -4.20133712e-02 -1.40093785e+02] [-7.69520934e-02 -1.43812381e-03 9.97033754e-01 -2.10238638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.90, Y:-140.13, Z:-21.03 [[ 8.23631419e-01 5.63448510e-01 6.44752908e-02 3.24899060e+02] [-5.61880933e-01 8.26149616e-01 -4.20312895e-02 -1.40128461e+02] [-7.69487041e-02 -1.60914600e-03 9.97033754e-01 -2.10277047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:324.95, Y:-140.16, Z:-21.03 [[ 8.22575419e-01 5.64990391e-01 6.44634612e-02 3.24950711e+02] [-5.63426114e-01 8.25095667e-01 -4.20494248e-02 -1.40161922e+02] [-7.69460435e-02 -1.73157427e-03 9.97033755e-01 -2.10327329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.00, Y:-140.19, Z:-21.04 [[ 8.21204276e-01 5.66982723e-01 6.44525351e-02 3.25003198e+02] [-5.65423247e-01 8.23727497e-01 -4.20661654e-02 -1.40194442e+02] [-7.69421144e-02 -1.89804677e-03 9.97033755e-01 -2.10374206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.05, Y:-140.23, Z:-21.04 [[ 8.21159455e-01 5.67048818e-01 6.44421223e-02 3.25054913e+02] [-5.65488295e-01 8.23682028e-01 -4.20821110e-02 -1.40227730e+02] [-7.69424293e-02 -1.88514261e-03 9.97033755e-01 -2.10423130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.11, Y:-140.26, Z:-21.05 [[ 8.21898172e-01 5.65978767e-01 6.44315898e-02 3.25105713e+02] [-5.64413697e-01 8.24417926e-01 -4.20982311e-02 -1.40261519e+02] [-7.69452626e-02 -1.76561259e-03 9.97033755e-01 -2.10469863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.16, Y:-140.30, Z:-21.05 [[ 8.22749254e-01 5.64741953e-01 6.44219715e-02 3.25157564e+02] [-5.63171944e-01 8.25265934e-01 -4.21129446e-02 -1.40295678e+02] [-7.69482051e-02 -1.63225314e-03 9.97033755e-01 -2.10523871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.21, Y:-140.33, Z:-21.05 [[ 8.24687834e-01 5.61908522e-01 6.44110889e-02 3.25209244e+02] [-5.60328566e-01 8.27198281e-01 -4.21295829e-02 -1.40329516e+02] [-7.69537137e-02 -1.34761862e-03 9.97033756e-01 -2.10546090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.26, Y:-140.36, Z:-21.06 [[ 8.26910616e-01 5.58633454e-01 6.44010633e-02 3.25259691e+02] [-5.57042361e-01 8.29414019e-01 -4.21449029e-02 -1.40362859e+02] [-7.69586974e-02 -1.02405269e-03 9.97033756e-01 -2.10590808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.31, Y:-140.40, Z:-21.06 [[ 8.30829501e-01 5.52789126e-01 6.43935012e-02 3.25311017e+02] [-5.51179526e-01 8.33321045e-01 -4.21564540e-02 -1.40398403e+02] [-7.69640890e-02 -4.67553786e-04 9.97033756e-01 -2.10628657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.36, Y:-140.43, Z:-21.07 [[ 8.34186446e-01 5.47711559e-01 6.43818338e-02 3.25361983e+02] [-5.46085419e-01 8.36667226e-01 -4.21742650e-02 -1.40432750e+02] [-7.69655028e-02 2.32195345e-05 9.97033756e-01 -2.10673753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.41, Y:-140.47, Z:-21.07 [[ 8.35106265e-01 5.46309291e-01 6.43714595e-02 3.25413318e+02] [-5.44677764e-01 8.37583506e-01 -4.21900935e-02 -1.40466486e+02] [-7.69653128e-02 1.71508754e-04 9.97033756e-01 -2.10728460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.47, Y:-140.50, Z:-21.08 [[ 8.35517565e-01 5.45681271e-01 6.43610906e-02 3.25465618e+02] [-5.44046664e-01 8.37992774e-01 -4.22059055e-02 -1.40500435e+02] [-7.69651010e-02 2.48338810e-04 9.97033756e-01 -2.10774764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.52, Y:-140.53, Z:-21.08 [[ 8.34976562e-01 5.46510143e-01 6.43490861e-02 3.25516445e+02] [-5.44876583e-01 8.37452462e-01 -4.22242002e-02 -1.40533392e+02] [-7.69652543e-02 1.93907347e-04 9.97033757e-01 -2.10815371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.57, Y:-140.57, Z:-21.08 [[ 8.32953713e-01 5.49588968e-01 6.43434375e-02 3.25568537e+02] [-5.47963895e-01 8.35435192e-01 -4.22328061e-02 -1.40565085e+02] [-7.69654564e-02 -7.99080485e-05 9.97033757e-01 -2.10840466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.62, Y:-140.60, Z:-21.09 [[ 8.30799711e-01 5.52840358e-01 6.43379970e-02 3.25621296e+02] [-5.51224355e-01 8.33287106e-01 -4.22410926e-02 -1.40597106e+02] [-7.69646041e-02 -3.70783362e-04 9.97033757e-01 -2.10873075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.67, Y:-140.63, Z:-21.09 [[ 8.29431462e-01 5.54892234e-01 6.43277458e-02 3.25674203e+02] [-5.53281173e-01 8.31922061e-01 -4.22566982e-02 -1.40630564e+02] [-7.69635845e-02 -5.42295690e-04 9.97033757e-01 -2.10917385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.73, Y:-140.66, Z:-21.10 [[ 8.25947422e-01 5.60066367e-01 6.43157887e-02 3.25727731e+02] [-5.58469491e-01 8.28447138e-01 -4.22748894e-02 -1.40661238e+02] [-7.69589748e-02 -1.00156986e-03 9.97033757e-01 -2.10982852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.78, Y:-140.69, Z:-21.11 [[ 8.22340160e-01 5.65350750e-01 6.43054450e-02 3.25782037e+02] [-5.63768706e-01 8.24849289e-01 -4.22906176e-02 -1.40691581e+02] [-7.69513330e-02 -1.47612427e-03 9.97033757e-01 -2.11064334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.84, Y:-140.72, Z:-21.11 [[ 8.20551756e-01 5.67944488e-01 6.42952132e-02 3.25835253e+02] [-5.66369156e-01 8.23065105e-01 -4.23061674e-02 -1.40724389e+02] [-7.69467010e-02 -1.70042568e-03 9.97033758e-01 -2.11110113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:-140.76, Z:-21.11 [[ 8.20348298e-01 5.68239677e-01 6.42832714e-02 3.25888365e+02] [-5.66663829e-01 8.22861324e-01 -4.23243051e-02 -1.40757933e+02] [-7.69465672e-02 -1.70633306e-03 9.97033758e-01 -2.11148998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.94, Y:-140.79, Z:-21.12 [[ 8.21882769e-01 5.66019353e-01 6.42713434e-02 3.25941153e+02] [-5.64435301e-01 8.24390630e-01 -4.23424106e-02 -1.40792522e+02] [-7.69513171e-02 -1.47651738e-03 9.97033758e-01 -2.11197695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:325.99, Y:-140.83, Z:-21.13 [[ 8.25326630e-01 5.60987244e-01 6.42593650e-02 3.25992983e+02] [-5.59386484e-01 8.27823860e-01 -4.23605814e-02 -1.40826876e+02] [-7.69591813e-02 -9.84504374e-04 9.97033758e-01 -2.11253472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.05, Y:-140.86, Z:-21.13 [[ 8.28901779e-01 5.55692450e-01 6.42475092e-02 3.26045439e+02] [-5.54074344e-01 8.31387803e-01 -4.23785552e-02 -1.40861721e+02] [-7.69640387e-02 -4.70236715e-04 9.97033759e-01 -2.11307395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.10, Y:-140.90, Z:-21.13 [[ 8.30971817e-01 5.52593542e-01 6.42356297e-02 3.26096784e+02] [-5.50964773e-01 8.33450869e-01 -4.23965541e-02 -1.40897094e+02] [-7.69653034e-02 -1.61227520e-04 9.97033759e-01 -2.11345121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.15, Y:-140.93, Z:-21.14 [[ 8.33273440e-01 5.49118096e-01 6.42237551e-02 3.26148037e+02] [-5.47477601e-01 8.35744748e-01 -4.24145345e-02 -1.40932311e+02] [-7.69652544e-02 1.81837618e-04 9.97033759e-01 -2.11387775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.20, Y:-140.97, Z:-21.14 [[ 8.33574588e-01 5.48661695e-01 6.42164334e-02 3.26200680e+02] [-5.47018994e-01 8.36044429e-01 -4.24256168e-02 -1.40966511e+02] [-7.69651023e-02 2.37307237e-04 9.97033759e-01 -2.11428632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.25, Y:-141.00, Z:-21.15 [[ 8.33085684e-01 5.49405166e-01 6.42044124e-02 3.26253230e+02] [-5.47763266e-01 8.35556059e-01 -4.24438010e-02 -1.41001181e+02] [-7.69652293e-02 1.90504346e-04 9.97033759e-01 -2.11482522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.31, Y:-141.04, Z:-21.15 [[ 8.33365269e-01 5.48982395e-01 6.41923506e-02 3.26305166e+02] [-5.47337838e-01 8.35833875e-01 -4.24620354e-02 -1.41035273e+02] [-7.69650511e-02 2.51483181e-04 9.97033760e-01 -2.11542703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.36, Y:-141.07, Z:-21.16 [[ 8.34067396e-01 5.47916281e-01 6.41819842e-02 3.26358009e+02] [-5.46267364e-01 8.36533091e-01 -4.24776988e-02 -1.41069661e+02] [-7.69645764e-02 3.68740326e-04 9.97033760e-01 -2.11590930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.41, Y:-141.11, Z:-21.16 [[ 8.36060404e-01 5.44871725e-01 6.41701243e-02 3.26410354e+02] [-5.43212453e-01 8.38519143e-01 -4.24956076e-02 -1.41105067e+02] [-7.69625327e-02 6.70884199e-04 9.97033760e-01 -2.11628960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:-141.14, Z:-21.17 [[ 8.37537211e-01 5.42600348e-01 6.41582653e-02 3.26461500e+02] [-5.40933038e-01 8.39990506e-01 -4.25135045e-02 -1.41139380e+02] [-7.69601760e-02 9.01316624e-04 9.97033760e-01 -2.11664685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.51, Y:-141.17, Z:-21.17 [[ 8.38471165e-01 5.41157220e-01 6.41480179e-02 3.26514066e+02] [-5.39484506e-01 8.40920778e-01 -4.25289611e-02 -1.41173305e+02] [-7.69582555e-02 1.05244579e-03 9.97033760e-01 -2.11709480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.57, Y:-141.21, Z:-21.18 [[ 8.39445855e-01 5.39645484e-01 6.41358587e-02 3.26567130e+02] [-5.37966958e-01 8.41891490e-01 -4.25472898e-02 -1.41206371e+02] [-7.69558864e-02 1.21317324e-03 9.97033761e-01 -2.11760777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.62, Y:-141.24, Z:-21.18 [[ 8.40267171e-01 5.38367180e-01 6.41237929e-02 3.26620142e+02] [-5.36683547e-01 8.42709292e-01 -4.25654667e-02 -1.41239500e+02] [-7.69535664e-02 1.35217967e-03 9.97033761e-01 -2.11809532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.67, Y:-141.27, Z:-21.19 [[ 8.40422686e-01 5.38125829e-01 6.41116308e-02 3.26672305e+02] [-5.36440098e-01 8.42863359e-01 -4.25837773e-02 -1.41272022e+02] [-7.69527749e-02 1.39632294e-03 9.97033761e-01 -2.11865964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.73, Y:-141.30, Z:-21.19 [[ 8.39633053e-01 5.39358391e-01 6.41004056e-02 3.26726709e+02] [-5.37674954e-01 8.42075309e-01 -4.26006676e-02 -1.41304165e+02] [-7.69543964e-02 1.30374596e-03 9.97033761e-01 -2.11922174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.78, Y:-141.34, Z:-21.20 [[ 8.38312785e-01 5.41409584e-01 6.40885173e-02 3.26780509e+02] [-5.39730757e-01 8.40758211e-01 -4.26185450e-02 -1.41337120e+02] [-7.69570358e-02 1.13712722e-03 9.97033762e-01 -2.11970512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.83, Y:-141.37, Z:-21.20 [[ 8.36741102e-01 5.43836850e-01 6.40765893e-02 3.26832597e+02] [-5.42163745e-01 8.39190446e-01 -4.26364710e-02 -1.41369565e+02] [-7.69597457e-02 9.35684129e-04 9.97033762e-01 -2.12017209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.89, Y:-141.40, Z:-21.21 [[ 8.33817365e-01 5.48310319e-01 6.40655689e-02 3.26886703e+02] [-5.46649083e-01 8.36274775e-01 -4.26530239e-02 -1.41401261e+02] [-7.69635124e-02 5.43447406e-04 9.97033762e-01 -2.12055602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:326.94, Y:-141.43, Z:-21.21 [[ 8.30497554e-01 5.53327180e-01 6.40534508e-02 3.26941433e+02] [-5.51679386e-01 8.32963998e-01 -4.26712144e-02 -1.41432661e+02] [-7.69653612e-02 1.01370739e-04 9.97033762e-01 -2.12104598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.00, Y:-141.47, Z:-21.22 [[ 8.28322461e-01 5.56579376e-01 6.40413868e-02 3.26995002e+02] [-5.54939867e-01 8.30794419e-01 -4.26893125e-02 -1.41465514e+02] [-7.69652176e-02 -1.78602259e-04 9.97033762e-01 -2.12154359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:-141.50, Z:-21.22 [[ 8.26241785e-01 5.59664857e-01 6.40293721e-02 3.27049337e+02] [-5.58033183e-01 8.28718921e-01 -4.27073257e-02 -1.41497915e+02] [-7.69641415e-02 -4.43937290e-04 9.97033763e-01 -2.12199965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.10, Y:-141.53, Z:-21.22 [[ 8.25555399e-01 5.60678223e-01 6.40172905e-02 3.27102108e+02] [-5.59048186e-01 8.28033613e-01 -4.27254280e-02 -1.41531740e+02] [-7.69636854e-02 -5.16542341e-04 9.97033763e-01 -2.12245570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.16, Y:-141.57, Z:-21.23 [[ 8.24578702e-01 5.62115009e-01 6.40053239e-02 3.27155003e+02] [-5.60487899e-01 8.27058838e-01 -4.27433472e-02 -1.41565648e+02] [-7.69628458e-02 -6.28955785e-04 9.97033763e-01 -2.12287710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.21, Y:-141.60, Z:-21.23 [[ 8.22895641e-01 5.64577385e-01 6.39932838e-02 3.27208068e+02] [-5.62956295e-01 8.25379716e-01 -4.27613656e-02 -1.41599201e+02] [-7.69608584e-02 -8.37280612e-04 9.97033763e-01 -2.12336200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.26, Y:-141.63, Z:-21.24 [[ 8.21142681e-01 5.67125283e-01 6.39813318e-02 3.27260868e+02] [-5.65510508e-01 8.23630865e-01 -4.27792411e-02 -1.41632790e+02] [-7.69581889e-02 -1.05425471e-03 9.97033764e-01 -2.12390247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.31, Y:-141.67, Z:-21.24 [[ 8.20087330e-01 5.68651668e-01 6.39691479e-02 3.27313378e+02] [-5.67040104e-01 8.22577594e-01 -4.27974524e-02 -1.41667637e+02] [-7.69564305e-02 -1.17542379e-03 9.97033764e-01 -2.12443545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.37, Y:-141.70, Z:-21.25 [[ 8.17982060e-01 5.71677224e-01 6.39570276e-02 3.27365928e+02] [-5.70073455e-01 8.20477351e-01 -4.28155576e-02 -1.41702506e+02] [-7.69519717e-02 -1.43784563e-03 9.97033764e-01 -2.12502986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.42, Y:-141.74, Z:-21.25 [[ 8.17861500e-01 5.71851026e-01 6.39450676e-02 3.27417650e+02] [-5.70246391e-01 8.20356235e-01 -4.28334124e-02 -1.41738243e+02] [-7.69520657e-02 -1.43264518e-03 9.97033764e-01 -2.12545461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.47, Y:-141.77, Z:-21.26 [[ 8.18804262e-01 5.70501677e-01 6.39329117e-02 3.27467988e+02] [-5.68891516e-01 8.21295433e-01 -4.28515486e-02 -1.41774501e+02] [-7.69546887e-02 -1.28386038e-03 9.97033765e-01 -2.12587040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.52, Y:-141.81, Z:-21.26 [[ 8.19750820e-01 5.69141997e-01 6.39216709e-02 3.27518585e+02] [-5.67526397e-01 8.22238467e-01 -4.28683100e-02 -1.41811935e+02] [-7.69570123e-02 -1.13590324e-03 9.97033765e-01 -2.12628984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.57, Y:-141.85, Z:-21.27 [[ 8.20248078e-01 5.68426468e-01 6.39096279e-02 3.27569343e+02] [-5.66807300e-01 8.22733404e-01 -4.28862567e-02 -1.41848232e+02] [-7.69582691e-02 -1.04707402e-03 9.97033765e-01 -2.12676202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.62, Y:-141.88, Z:-21.27 [[ 8.21502683e-01 5.66613138e-01 6.38975313e-02 3.27618554e+02] [-5.64987082e-01 8.23983508e-01 -4.29042722e-02 -1.41884851e+02] [-7.69606363e-02 -8.55305068e-04 9.97033765e-01 -2.12724844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.67, Y:-141.92, Z:-21.28 [[ 8.22739516e-01 5.64816476e-01 6.38908154e-02 3.27669639e+02] [-5.63184227e-01 8.25216270e-01 -4.29142709e-02 -1.41921909e+02] [-7.69624276e-02 -6.75032940e-04 9.97033765e-01 -2.12768079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.72, Y:-141.96, Z:-21.28 [[ 8.25261058e-01 5.61127191e-01 6.38784866e-02 3.27718494e+02] [-5.59482449e-01 8.27729533e-01 -4.29326147e-02 -1.41959711e+02] [-7.69647674e-02 -3.08277061e-04 9.97033766e-01 -2.12817919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.77, Y:-142.00, Z:-21.29 [[ 8.27475098e-01 5.57857931e-01 6.38708958e-02 3.27769141e+02] [-5.56202565e-01 8.29936460e-01 -4.29439045e-02 -1.41996599e+02] [-7.69653829e-02 9.85550079e-06 9.97033766e-01 -2.12864315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.82, Y:-142.03, Z:-21.29 [[ 8.31066334e-01 5.52495071e-01 6.38587873e-02 3.27819142e+02] [-5.50822438e-01 8.33515996e-01 -4.29619026e-02 -1.42034195e+02] [-7.69635602e-02 5.29337962e-04 9.97033766e-01 -2.12930550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.87, Y:-142.07, Z:-21.30 [[ 8.33163636e-01 5.49328637e-01 6.38467283e-02 3.27869702e+02] [-5.47645322e-01 8.35605970e-01 -4.29798164e-02 -1.42071516e+02] [-7.69607513e-02 8.43858047e-04 9.97033766e-01 -2.12983376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.92, Y:-142.11, Z:-21.30 [[ 8.34837372e-01 5.46783039e-01 6.38347153e-02 3.27920566e+02] [-5.45090914e-01 8.37273610e-01 -4.29976511e-02 -1.42108816e+02] [-7.69575088e-02 1.10032267e-03 9.97033766e-01 -2.13037778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:327.97, Y:-142.14, Z:-21.31 [[ 8.35415666e-01 5.45900453e-01 6.38228805e-02 3.27971843e+02] [-5.44204413e-01 8.37849180e-01 -4.30152106e-02 -1.42142724e+02] [-7.69559711e-02 1.20288764e-03 9.97033767e-01 -2.13143464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.02, Y:-142.18, Z:-21.31 [[ 8.32711574e-01 5.50016921e-01 6.38186525e-02 3.28022051e+02] [-5.48332432e-01 8.35153098e-01 -4.30214825e-02 -1.42178488e+02] [-7.69608887e-02 8.30649538e-04 9.97033767e-01 -2.13135479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.07, Y:-142.21, Z:-21.32 [[ 8.30845543e-01 5.52832944e-01 6.38076686e-02 3.28074318e+02] [-5.51155480e-01 8.33291898e-01 -4.30377673e-02 -1.42213827e+02] [-7.69631089e-02 5.89790896e-04 9.97033767e-01 -2.13174505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.13, Y:-142.25, Z:-21.32 [[ 8.27754821e-01 5.57451424e-01 6.37955041e-02 3.28126642e+02] [-5.55786220e-01 8.30209537e-01 -4.30557915e-02 -1.42249366e+02] [-7.69651482e-02 1.82976894e-04 9.97033767e-01 -2.13214359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.18, Y:-142.28, Z:-21.33 [[ 8.25681257e-01 5.60519526e-01 6.37834025e-02 3.28178568e+02] [-5.58862059e-01 8.28141204e-01 -4.30737115e-02 -1.42284504e+02] [-7.69653201e-02 -8.09674088e-05 9.97033767e-01 -2.13261414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.23, Y:-142.32, Z:-21.33 [[ 8.22359983e-01 5.65382415e-01 6.37713443e-02 3.28229851e+02] [-5.63738110e-01 8.24828747e-01 -4.30915565e-02 -1.42319825e+02] [-7.69636462e-02 -5.13565443e-04 9.97033767e-01 -2.13309070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.28, Y:-142.36, Z:-21.34 [[ 8.18491463e-01 5.70969269e-01 6.37637663e-02 3.28281932e+02] [-5.69340941e-01 8.20970794e-01 -4.31027670e-02 -1.42355179e+02] [-7.69585452e-02 -1.02407587e-03 9.97033768e-01 -2.13362383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.33, Y:-142.39, Z:-21.34 [[ 8.16025708e-01 5.74489130e-01 6.37517350e-02 3.28334038e+02] [-5.72870105e-01 8.18511124e-01 -4.31205547e-02 -1.42390250e+02] [-7.69537942e-02 -1.33398188e-03 9.97033768e-01 -2.13420302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.39, Y:-142.43, Z:-21.35 [[ 8.13801589e-01 5.77636780e-01 6.37394945e-02 3.28385277e+02] [-5.76025952e-01 8.16292325e-01 -4.31386406e-02 -1.42425684e+02] [-7.69485257e-02 -1.60930875e-03 9.97033768e-01 -2.13478118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.44, Y:-142.46, Z:-21.35 [[ 8.13579140e-01 5.77951380e-01 6.37274313e-02 3.28435975e+02] [-5.76340121e-01 8.16069596e-01 -4.31564539e-02 -1.42462498e+02] [-7.69483513e-02 -1.61748481e-03 9.97033768e-01 -2.13519355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.48, Y:-142.50, Z:-21.36 [[ 8.14359776e-01 5.76852280e-01 6.37150084e-02 3.28484250e+02] [-5.75236226e-01 8.16847123e-01 -4.31747871e-02 -1.42499335e+02] [-7.69508957e-02 -1.49137098e-03 9.97033768e-01 -2.13568210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.54, Y:-142.54, Z:-21.36 [[ 8.14771641e-01 5.76271063e-01 6.37089836e-02 3.28535761e+02] [-5.74652539e-01 8.17257383e-01 -4.31836754e-02 -1.42535914e+02] [-7.69521397e-02 -1.42569508e-03 9.97033769e-01 -2.13623230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.59, Y:-142.57, Z:-21.37 [[ 8.15331315e-01 5.75480299e-01 6.36967117e-02 3.28585270e+02] [-5.73857952e-01 8.17814562e-01 -4.32017691e-02 -1.42573245e+02] [-7.69538655e-02 -1.32910929e-03 9.97033769e-01 -2.13688457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.64, Y:-142.61, Z:-21.37 [[ 8.16060985e-01 5.74446299e-01 6.36861014e-02 3.28635238e+02] [-5.72819585e-01 8.18541373e-01 -4.32174048e-02 -1.42610602e+02] [-7.69557871e-02 -1.21260823e-03 9.97033769e-01 -2.13734701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.68, Y:-142.65, Z:-21.38 [[ 8.16866552e-01 5.73301553e-01 6.36738951e-02 3.28682389e+02] [-5.71669962e-01 8.19343735e-01 -4.32353814e-02 -1.42652363e+02] [-7.69577183e-02 -1.08291626e-03 9.97033769e-01 -2.13771499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.73, Y:-142.69, Z:-21.38 [[ 8.21343993e-01 5.66869126e-01 6.36666251e-02 3.28733091e+02] [-5.65217302e-01 8.23807731e-01 -4.32460843e-02 -1.42686801e+02] [-7.69639279e-02 -4.65566500e-04 9.97033769e-01 -2.13811623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.78, Y:-142.73, Z:-21.38 [[ 8.22642943e-01 5.64983128e-01 6.36604568e-02 3.28782432e+02] [-5.63324954e-01 8.25102410e-01 -4.32551624e-02 -1.42726629e+02] [-7.69648333e-02 -2.77969807e-04 9.97033769e-01 -2.13829282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.83, Y:-142.76, Z:-21.39 [[ 8.24906704e-01 5.61674208e-01 6.36475820e-02 3.28833272e+02] [-5.60004706e-01 8.27358496e-01 -4.32740987e-02 -1.42761218e+02] [-7.69653128e-02 5.41486965e-05 9.97033770e-01 -2.13893908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:328.89, Y:-142.80, Z:-21.39 [[ 8.26681357e-01 5.59060454e-01 6.36344490e-02 3.28885214e+02] [-5.57381715e-01 8.29126833e-01 -4.32934021e-02 -1.42796148e+02] [-7.69646582e-02 3.21170049e-04 9.97033770e-01 -2.13924415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.94, Y:-142.83, Z:-21.40 [[ 8.28270934e-01 5.56704350e-01 6.36201764e-02 3.28937967e+02] [-5.55017044e-01 8.30710507e-01 -4.33143657e-02 -1.42828887e+02] [-7.69632448e-02 5.65747902e-04 9.97033770e-01 -2.13982928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.99, Y:-142.86, Z:-21.41 [[ 8.29284882e-01 5.55194341e-01 6.36068328e-02 3.28991380e+02] [-5.53501090e-01 8.31720333e-01 -4.33339519e-02 -1.42860812e+02] [-7.69618610e-02 7.29739844e-04 9.97033770e-01 -2.14050819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.04, Y:-142.89, Z:-21.41 [[ 8.29745417e-01 5.54507057e-01 6.35961232e-02 3.29043350e+02] [-5.52810585e-01 8.32178625e-01 -4.33496635e-02 -1.42894251e+02] [-7.69610287e-02 8.12574470e-04 9.97033771e-01 -2.14118827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.10, Y:-142.93, Z:-21.42 [[ 8.31495276e-01 5.51880860e-01 6.35855495e-02 3.29096439e+02] [-5.50175519e-01 8.33922275e-01 -4.33651675e-02 -1.42926882e+02] [-7.69578121e-02 1.07471919e-03 9.97033771e-01 -2.14167312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.15, Y:-142.96, Z:-21.42 [[ 8.33937337e-01 5.48184953e-01 6.35749627e-02 3.29149169e+02] [-5.46467674e-01 8.36355904e-01 -4.33806826e-02 -1.42959451e+02] [-7.69519329e-02 1.43510897e-03 9.97033771e-01 -2.14225966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.20, Y:-142.99, Z:-21.43 [[ 8.35592958e-01 5.45658466e-01 6.35708051e-02 3.29201919e+02] [-5.43933412e-01 8.38005985e-01 -4.33867744e-02 -1.42992099e+02] [-7.69470759e-02 1.67539824e-03 9.97033771e-01 -2.14264748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.25, Y:-143.03, Z:-21.43 [[ 8.34985478e-01 5.46589050e-01 6.35583269e-02 3.29253113e+02] [-5.44865295e-01 8.37399434e-01 -4.34050463e-02 -1.43029163e+02] [-7.69484300e-02 1.61185680e-03 9.97033771e-01 -2.14273912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.31, Y:-143.06, Z:-21.43 [[ 8.33698172e-01 5.48551234e-01 6.35523517e-02 3.29307096e+02] [-5.46832494e-01 8.36115701e-01 -4.34137933e-02 -1.43057401e+02] [-7.69518090e-02 1.44150909e-03 9.97033771e-01 -2.14312921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.36, Y:-143.09, Z:-21.44 [[ 8.28576933e-01 5.56257638e-01 6.35429556e-02 3.29361758e+02] [-5.54560333e-01 8.31009558e-01 -4.34275417e-02 -1.43088980e+02] [-7.69617052e-02 7.44656708e-04 9.97033771e-01 -2.14371871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.42, Y:-143.12, Z:-21.44 [[ 8.23542205e-01 5.63686116e-01 6.35310889e-02 3.29415010e+02] [-5.62009417e-01 8.25989078e-01 -4.34448949e-02 -1.43122273e+02] [-7.69652696e-02 7.36343001e-05 9.97033772e-01 -2.14421859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:-143.15, Z:-21.45 [[ 8.16398494e-01 5.73985059e-01 6.35189106e-02 3.29468026e+02] [-5.72337838e-01 8.18865308e-01 -4.34626929e-02 -1.43154140e+02] [-7.69603687e-02 -8.71398955e-04 9.97033772e-01 -2.14485168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.52, Y:-143.19, Z:-21.45 [[ 8.12582655e-01 5.79375704e-01 6.35076472e-02 3.29520567e+02] [-5.77743561e-01 8.15059471e-01 -4.34791448e-02 -1.43188348e+02] [-7.69532695e-02 -1.36073536e-03 9.97033772e-01 -2.14538865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.57, Y:-143.22, Z:-21.46 [[ 8.09458998e-01 5.83733243e-01 6.34951220e-02 3.29571631e+02] [-5.82112998e-01 8.11943613e-01 -4.34974284e-02 -1.43224183e+02] [-7.69453537e-02 -1.75195099e-03 9.97033772e-01 -2.14589058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.62, Y:-143.26, Z:-21.47 [[ 8.07613601e-01 5.86285112e-01 6.34825915e-02 3.29621403e+02] [-5.84671281e-01 8.10102386e-01 -4.35157085e-02 -1.43263000e+02] [-7.69400109e-02 -1.97257010e-03 9.97033773e-01 -2.14653181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.67, Y:-143.30, Z:-21.47 [[ 8.08198742e-01 5.85478859e-01 6.34767617e-02 3.29672085e+02] [-5.83861878e-01 8.10685482e-01 -4.35242109e-02 -1.43296117e+02] [-7.69421944e-02 -1.88544886e-03 9.97033773e-01 -2.14707962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.72, Y:-143.34, Z:-21.47 [[ 8.09246312e-01 5.84031229e-01 6.34659831e-02 3.29720658e+02] [-5.82408568e-01 8.11729349e-01 -4.35399222e-02 -1.43335846e+02] [-7.69458754e-02 -1.72861084e-03 9.97033773e-01 -2.14747318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.77, Y:-143.37, Z:-21.48 [[ 8.10079117e-01 5.82876879e-01 6.34536767e-02 3.29771284e+02] [-5.81249276e-01 8.12558917e-01 -4.35578499e-02 -1.43373437e+02] [-7.69487144e-02 -1.59709904e-03 9.97033773e-01 -2.14792714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:-143.41, Z:-21.48 [[ 8.10407240e-01 5.82421913e-01 6.34414697e-02 3.29822230e+02] [-5.80791527e-01 8.12885211e-01 -4.35756219e-02 -1.43410257e+02] [-7.69500296e-02 -1.53226861e-03 9.97033773e-01 -2.14840534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:-143.45, Z:-21.49 [[ 8.12328218e-01 5.79740975e-01 6.34292325e-02 3.29871427e+02] [-5.78101020e-01 8.14799867e-01 -4.35934273e-02 -1.43450192e+02] [-7.69550263e-02 -1.25633291e-03 9.97033774e-01 -2.14896273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.92, Y:-143.49, Z:-21.49 [[ 8.13581237e-01 5.77982561e-01 6.34171156e-02 3.29920828e+02] [-5.76335890e-01 8.16048417e-01 -4.36110472e-02 -1.43488299e+02] [-7.69578615e-02 -1.06843003e-03 9.97033774e-01 -2.14938507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:329.97, Y:-143.53, Z:-21.50 [[ 8.15610647e-01 5.75116581e-01 6.34049777e-02 3.29970064e+02] [-5.73459869e-01 8.18071095e-01 -4.36286871e-02 -1.43528055e+02] [-7.69613609e-02 -7.76188533e-04 9.97033774e-01 -2.14977621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.02, Y:-143.57, Z:-21.50 [[ 8.16886346e-01 5.73304485e-01 6.33929436e-02 3.30020276e+02] [-5.71640959e-01 8.19342191e-01 -4.36461658e-02 -1.43566539e+02] [-7.69630559e-02 -5.84046224e-04 9.97033774e-01 -2.15020862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.07, Y:-143.60, Z:-21.51 [[ 8.17631825e-01 5.72242156e-01 6.33806986e-02 3.30070475e+02] [-5.70574062e-01 8.20084569e-01 -4.36639401e-02 -1.43604704e+02] [-7.69638802e-02 -4.62355547e-04 9.97033774e-01 -2.15077097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:330.12, Y:-143.64, Z:-21.51 [[ 8.15513896e-01 5.75257786e-01 6.33684856e-02 3.30122423e+02] [-5.73597384e-01 8.17971854e-01 -4.36816575e-02 -1.43638724e+02] [-7.69618512e-02 -7.24998919e-04 9.97033775e-01 -2.15137068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.17, Y:-143.67, Z:-21.52 [[ 8.13523985e-01 5.78069711e-01 6.33572100e-02 3.30174860e+02] [-5.76416531e-01 8.15986806e-01 -4.36980058e-02 -1.43671564e+02] [-7.69591410e-02 -9.70767400e-04 9.97033775e-01 -2.15194952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.23, Y:-143.70, Z:-21.53 [[ 8.10937222e-01 5.81694063e-01 6.33469813e-02 3.30227365e+02] [-5.80050731e-01 8.13406625e-01 -4.37128289e-02 -1.43704166e+02] [-7.69543473e-02 -1.29610286e-03 9.97033775e-01 -2.15256926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.28, Y:-143.74, Z:-21.53 [[ 8.09558960e-01 5.83611863e-01 6.33362718e-02 3.30280008e+02] [-5.81973168e-01 8.12031443e-01 -4.37283406e-02 -1.43738337e+02] [-7.69514225e-02 -1.45934077e-03 9.97033775e-01 -2.15302570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.33, Y:-143.77, Z:-21.53 [[ 8.09605785e-01 5.83548242e-01 6.33239453e-02 3.30331084e+02] [-5.81907958e-01 8.12077213e-01 -4.37461836e-02 -1.43773217e+02] [-7.69519416e-02 -1.43154437e-03 9.97033775e-01 -2.15330502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.38, Y:-143.81, Z:-21.54 [[ 8.10374097e-01 5.82482001e-01 6.33130410e-02 3.30381070e+02] [-5.80837233e-01 8.12842543e-01 -4.37619595e-02 -1.43808022e+02] [-7.69540870e-02 -1.31101305e-03 9.97033776e-01 -2.15367488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.43, Y:-143.84, Z:-21.54 [[ 8.13367111e-01 5.78296347e-01 6.33030582e-02 3.30432584e+02] [-5.76637751e-01 8.15826287e-01 -4.37763952e-02 -1.43844527e+02] [-7.69600284e-02 -8.96653080e-04 9.97033776e-01 -2.15411565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.48, Y:-143.88, Z:-21.55 [[ 8.17566682e-01 5.72345160e-01 6.32909007e-02 3.30482531e+02] [-5.70667301e-01 8.20012756e-01 -4.37939653e-02 -1.43879982e+02] [-7.69646099e-02 -3.13560599e-04 9.97033776e-01 -2.15477394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.53, Y:-143.92, Z:-21.55 [[ 8.19935726e-01 5.68947266e-01 6.32804453e-02 3.30532719e+02] [-5.67258105e-01 8.22374008e-01 -4.38090677e-02 -1.43916282e+02] [-7.69652427e-02 2.42742094e-05 9.97033776e-01 -2.15539398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.58, Y:-143.95, Z:-21.56 [[ 8.20861986e-01 5.67611209e-01 6.32701731e-02 3.30583711e+02] [-5.65916936e-01 8.23296719e-01 -4.38238980e-02 -1.43952137e+02] [-7.69650617e-02 1.67709399e-04 9.97033776e-01 -2.15590902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.64, Y:-143.99, Z:-21.56 [[ 8.22040408e-01 5.65904528e-01 6.32584613e-02 3.30635113e+02] [-5.64203900e-01 8.24470705e-01 -4.38407972e-02 -1.43987707e+02] [-7.69644538e-02 3.48236307e-04 9.97033777e-01 -2.15635046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.69, Y:-144.02, Z:-21.57 [[ 8.21187613e-01 5.67142682e-01 6.32462048e-02 3.30687282e+02] [-5.65444356e-01 8.23619520e-01 -4.38584717e-02 -1.44021788e+02] [-7.69648201e-02 2.53824156e-04 9.97033777e-01 -2.15685708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.74, Y:-144.06, Z:-21.57 [[ 8.19887616e-01 5.69021744e-01 6.32341145e-02 3.30739164e+02] [-5.67327648e-01 8.22322471e-01 -4.38758963e-02 -1.44056514e+02] [-7.69651723e-02 9.88425887e-05 9.97033777e-01 -2.15735187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.79, Y:-144.09, Z:-21.58 [[ 8.16713156e-01 5.73570059e-01 6.32218940e-02 3.30791807e+02] [-5.71888161e-01 8.19156452e-01 -4.38934981e-02 -1.44090814e+02] [-7.69646187e-02 -3.07455339e-04 9.97033777e-01 -2.15786893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.84, Y:-144.12, Z:-21.58 [[ 8.13727215e-01 5.77799778e-01 6.32094679e-02 3.30843758e+02] [-5.76129189e-01 8.16178257e-01 -4.39113852e-02 -1.44124198e+02] [-7.69621820e-02 -6.84930334e-04 9.97033777e-01 -2.15848548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:-144.16, Z:-21.59 [[ 8.08805110e-01 5.84671113e-01 6.31979726e-02 3.30896678e+02] [-5.83020052e-01 8.11269349e-01 -4.39279233e-02 -1.44157691e+02] [-7.69539659e-02 -1.31655645e-03 9.97033778e-01 -2.15896985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:-144.19, Z:-21.60 [[ 8.05897241e-01 5.88674126e-01 6.31855155e-02 3.30948552e+02] [-5.87033901e-01 8.08368705e-01 -4.39458342e-02 -1.44192645e+02] [-7.69469689e-02 -1.67621308e-03 9.97033778e-01 -2.15953017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.00, Y:-144.23, Z:-21.60 [[ 8.03327156e-01 5.92177865e-01 6.31732327e-02 3.31000011e+02] [-5.90547030e-01 8.05804826e-01 -4.39634840e-02 -1.44226681e+02] [-7.69394978e-02 -1.98970438e-03 9.97033778e-01 -2.16009091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.05, Y:-144.26, Z:-21.60 [[ 8.02172880e-01 5.93741333e-01 6.31656537e-02 3.31051731e+02] [-5.92114471e-01 8.04653160e-01 -4.39743707e-02 -1.44261745e+02] [-7.69358443e-02 -2.12625006e-03 9.97033778e-01 -2.16043097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.10, Y:-144.30, Z:-21.61 [[ 8.01156827e-01 5.95112961e-01 6.31530096e-02 3.31103260e+02] [-5.93488915e-01 8.03638952e-01 -4.39925218e-02 -1.44296958e+02] [-7.69327383e-02 -2.23570194e-03 9.97033778e-01 -2.16080220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:-144.33, Z:-21.61 [[ 8.00883541e-01 5.95482018e-01 6.31404772e-02 3.31153843e+02] [-5.93857701e-01 8.03365488e-01 -4.40105017e-02 -1.44332089e+02] [-7.69323426e-02 -2.24917220e-03 9.97033779e-01 -2.16127246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.21, Y:-144.37, Z:-21.62 [[ 8.01943421e-01 5.94055125e-01 6.31289044e-02 3.31205083e+02] [-5.92425086e-01 8.04421613e-01 -4.40270955e-02 -1.44368086e+02] [-7.69367768e-02 -2.09190707e-03 9.97033779e-01 -2.16194999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.25, Y:-144.41, Z:-21.62 [[ 8.04423593e-01 5.90693658e-01 6.31164436e-02 3.31253978e+02] [-5.89051862e-01 8.06894012e-01 -4.40449519e-02 -1.44405213e+02] [-7.69453541e-02 -1.74806014e-03 9.97033779e-01 -2.16248692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.30, Y:-144.44, Z:-21.63 [[ 8.06896383e-01 5.87312517e-01 6.31049412e-02 3.31303826e+02] [-5.85659080e-01 8.09359026e-01 -4.40614256e-02 -1.44443034e+02] [-7.69523806e-02 -1.40497681e-03 9.97033779e-01 -2.16293017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.35, Y:-144.48, Z:-21.63 [[ 8.10718746e-01 5.82026138e-01 6.30927105e-02 3.31353152e+02] [-5.80355278e-01 8.13169600e-01 -4.40789322e-02 -1.44481862e+02] [-7.69601649e-02 -8.80570863e-04 9.97033780e-01 -2.16345263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.40, Y:-144.52, Z:-21.64 [[ 8.12328506e-01 5.79778618e-01 6.30805304e-02 3.31403812e+02] [-5.78099623e-01 8.14773795e-01 -4.40963561e-02 -1.44519496e+02] [-7.69624875e-02 -6.46103809e-04 9.97033780e-01 -2.16399231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.45, Y:-144.56, Z:-21.65 [[ 8.13846960e-01 5.77646547e-01 6.30681591e-02 3.31454124e+02] [-5.75959776e-01 8.16286891e-01 -4.41140428e-02 -1.44557361e+02] [-7.69640360e-02 -4.22643229e-04 9.97033780e-01 -2.16458956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.51, Y:-144.59, Z:-21.65 [[ 8.13583983e-01 5.78018244e-01 6.30556199e-02 3.31505042e+02] [-5.76331199e-01 8.16023725e-01 -4.41319588e-02 -1.44591896e+02] [-7.69639592e-02 -4.35866241e-04 9.97033780e-01 -2.16515398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.56, Y:-144.63, Z:-21.66 [[ 8.12688897e-01 5.79277313e-01 6.30440488e-02 3.31556820e+02] [-5.77592765e-01 8.15130363e-01 -4.41484823e-02 -1.44626895e+02] [-7.69633326e-02 -5.34805100e-04 9.97033780e-01 -2.16571881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.61, Y:-144.66, Z:-21.66 [[ 8.11664736e-01 5.80712813e-01 6.30316132e-02 3.31608325e+02] [-5.79031206e-01 8.14108228e-01 -4.41662299e-02 -1.44662838e+02] [-7.69624505e-02 -6.49099613e-04 9.97033781e-01 -2.16620974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.66, Y:-144.70, Z:-21.67 [[ 8.10991753e-01 5.81653650e-01 6.30191054e-02 3.31659458e+02] [-5.79973491e-01 8.13436241e-01 -4.41840696e-02 -1.44699769e+02] [-7.69618495e-02 -7.16494492e-04 9.97033781e-01 -2.16673586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.71, Y:-144.73, Z:-21.67 [[ 8.10325415e-01 5.82582950e-01 6.30065757e-02 3.31711542e+02] [-5.80904205e-01 8.12770874e-01 -4.42019298e-02 -1.44734430e+02] [-7.69612002e-02 -7.82837692e-04 9.97033781e-01 -2.16745663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.76, Y:-144.77, Z:-21.68 [[ 8.10372680e-01 5.82518547e-01 6.29941461e-02 3.31762892e+02] [-5.80838231e-01 8.12817060e-01 -4.42196367e-02 -1.44770294e+02] [-7.69614751e-02 -7.55022878e-04 9.97033781e-01 -2.16792708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.81, Y:-144.81, Z:-21.68 [[ 8.11049467e-01 5.81577215e-01 6.29817808e-02 3.31813456e+02] [-5.79892696e-01 8.13490951e-01 -4.42372416e-02 -1.44807232e+02] [-7.69624805e-02 -6.44083395e-04 9.97033782e-01 -2.16826779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.86, Y:-144.85, Z:-21.69 [[ 8.13017711e-01 5.78823877e-01 6.29692066e-02 3.31864152e+02] [-5.77129703e-01 8.15452506e-01 -4.42551331e-02 -1.44845009e+02] [-7.69643250e-02 -3.61192470e-04 9.97033782e-01 -2.16859311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.92, Y:-144.88, Z:-21.69 [[ 8.14113466e-01 5.77283045e-01 6.29567378e-02 3.31916090e+02] [-5.75582892e-01 8.16544088e-01 -4.42728639e-02 -1.44880902e+02] [-7.69649257e-02 -1.93686565e-04 9.97033782e-01 -2.16913505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:-144.92, Z:-21.70 [[ 8.14903011e-01 5.76169333e-01 6.29442777e-02 3.31967907e+02] [-5.74464490e-01 8.17330346e-01 -4.42905718e-02 -1.44916467e+02] [-7.69651375e-02 -6.67320433e-05 9.97033782e-01 -2.16969416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.02, Y:-144.95, Z:-21.70 [[ 8.15667122e-01 5.75088440e-01 6.29319611e-02 3.32019026e+02] [-5.73379030e-01 8.18091244e-01 -4.43080654e-02 -1.44952420e+02] [-7.69651425e-02 5.67653590e-05 9.97033783e-01 -2.17023129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.07, Y:-144.99, Z:-21.71 [[ 8.16305641e-01 5.74183101e-01 6.29195244e-02 3.32070414e+02] [-5.72469642e-01 8.18726902e-01 -4.43257190e-02 -1.44987931e+02] [-7.69649861e-02 1.63816863e-04 9.97033783e-01 -2.17073725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.12, Y:-145.02, Z:-21.72 [[ 8.16992681e-01 5.73206493e-01 6.29068832e-02 3.32122689e+02] [-5.71488758e-01 8.19410910e-01 -4.43436522e-02 -1.45021618e+02] [-7.69646558e-02 2.77862766e-04 9.97033783e-01 -2.17153657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.17, Y:-145.06, Z:-21.72 [[ 8.17284123e-01 5.72792244e-01 6.28944229e-02 3.32173465e+02] [-5.71071924e-01 8.19700513e-01 -4.43613181e-02 -1.45058374e+02] [-7.69644097e-02 3.38561847e-04 9.97033783e-01 -2.17209569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.22, Y:-145.09, Z:-21.73 [[ 8.17385294e-01 5.72649247e-01 6.28817995e-02 3.32223782e+02] [-5.70927128e-01 8.19800403e-01 -4.43792045e-02 -1.45094371e+02] [-7.69642426e-02 3.73983924e-04 9.97033784e-01 -2.17261796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:-145.13, Z:-21.73 [[ 8.17627042e-01 5.72304882e-01 6.28740264e-02 3.32274337e+02] [-5.70580900e-01 8.20040820e-01 -4.43902143e-02 -1.45129928e+02] [-7.69640045e-02 4.19921092e-04 9.97033784e-01 -2.17298208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.33, Y:-145.17, Z:-21.73 [[ 8.17324456e-01 5.72738135e-01 6.28630435e-02 3.32326552e+02] [-5.71014237e-01 8.19738293e-01 -4.44057622e-02 -1.45165710e+02] [-7.69641175e-02 3.98222629e-04 9.97033784e-01 -2.17333334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.38, Y:-145.20, Z:-21.74 [[ 8.16378409e-01 5.74087224e-01 6.28502308e-02 3.32376369e+02] [-5.72365919e-01 8.18794097e-01 -4.44238896e-02 -1.45201705e+02] [-7.69645854e-02 2.93374252e-04 9.97033784e-01 -2.17372261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.43, Y:-145.24, Z:-21.74 [[ 8.13324099e-01 5.78407507e-01 6.28384044e-02 3.32427728e+02] [-5.76697742e-01 8.15747968e-01 -4.44406119e-02 -1.45237607e+02] [-7.69650842e-02 -9.41453157e-05 9.97033784e-01 -2.17410166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.48, Y:-145.27, Z:-21.75 [[ 8.10514291e-01 5.82339644e-01 6.28261334e-02 3.32480520e+02] [-5.80640293e-01 8.12945472e-01 -4.44579529e-02 -1.45272246e+02] [-7.69638491e-02 -4.45578269e-04 9.97033784e-01 -2.17465686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.53, Y:-145.31, Z:-21.75 [[ 8.06608137e-01 5.87739503e-01 6.28139347e-02 3.32533320e+02] [-5.86055085e-01 8.09049687e-01 -4.44751815e-02 -1.45306530e+02] [-7.69594153e-02 -9.38382554e-04 9.97033785e-01 -2.17522045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.58, Y:-145.34, Z:-21.76 [[ 8.04879938e-01 5.90105325e-01 6.28011990e-02 3.32584435e+02] [-5.88426680e-01 8.07325462e-01 -4.44931577e-02 -1.45342601e+02] [-7.69566563e-02 -1.14225099e-03 9.97033785e-01 -2.17572584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.64, Y:-145.38, Z:-21.76 [[ 8.02607174e-01 5.93194158e-01 6.27886540e-02 3.32635436e+02] [-5.91523540e-01 8.05058188e-01 -4.45108543e-02 -1.45377520e+02] [-7.69520987e-02 -1.41623591e-03 9.97033785e-01 -2.17631739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.69, Y:-145.41, Z:-21.77 [[ 8.01690842e-01 5.94433134e-01 6.27777247e-02 3.32687407e+02] [-5.92765098e-01 8.04143613e-01 -4.45262635e-02 -1.45413168e+02] [-7.69501927e-02 -1.51614641e-03 9.97033785e-01 -2.17693248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.74, Y:-145.45, Z:-21.77 [[ 8.01319972e-01 5.94934291e-01 6.27653693e-02 3.32738291e+02] [-5.93266426e-01 8.03772859e-01 -4.45436731e-02 -1.45450069e+02] [-7.69496590e-02 -1.54285138e-03 9.97033786e-01 -2.17730741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.79, Y:-145.49, Z:-21.78 [[ 8.02238857e-01 5.93695960e-01 6.27528696e-02 3.32788774e+02] [-5.92022932e-01 8.04688225e-01 -4.45612757e-02 -1.45487949e+02] [-7.69523447e-02 -1.40235096e-03 9.97033786e-01 -2.17770652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.84, Y:-145.53, Z:-21.78 [[ 8.03033445e-01 5.92622081e-01 6.27403847e-02 3.32839614e+02] [-5.90944405e-01 8.05479631e-01 -4.45788471e-02 -1.45525444e+02] [-7.69545111e-02 -1.27777421e-03 9.97033786e-01 -2.17825171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.89, Y:-145.56, Z:-21.79 [[ 8.03696755e-01 5.91723545e-01 6.27277602e-02 3.32888310e+02] [-5.90041749e-01 8.06140110e-01 -4.45966043e-02 -1.45562046e+02] [-7.69562243e-02 -1.16985114e-03 9.97033786e-01 -2.17898853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.94, Y:-145.60, Z:-21.79 [[ 8.04273407e-01 5.90940589e-01 6.27176722e-02 3.32938229e+02] [-5.89255308e-01 8.06714360e-01 -4.46107868e-02 -1.45598680e+02] [-7.69575715e-02 -1.07745173e-03 9.97033786e-01 -2.17946423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.99, Y:-145.64, Z:-21.80 [[ 8.05317218e-01 5.89518515e-01 6.27064536e-02 3.32987883e+02] [-5.87827696e-01 8.07754338e-01 -4.46265506e-02 -1.45635055e+02] [-7.69595877e-02 -9.22060615e-04 9.97033787e-01 -2.18020581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.04, Y:-145.67, Z:-21.80 [[ 8.05944825e-01 5.88660643e-01 6.27023614e-02 3.33036187e+02] [-5.86966783e-01 8.08379833e-01 -4.46322996e-02 -1.45673222e+02] [-7.69606025e-02 -8.33032406e-04 9.97033787e-01 -2.18039810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:-145.71, Z:-21.81 [[ 8.06699630e-01 5.87626969e-01 6.26917298e-02 3.33086472e+02] [-5.85928828e-01 8.09131654e-01 -4.46472279e-02 -1.45711669e+02] [-7.69617783e-02 -7.15989575e-04 9.97033787e-01 -2.18081729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.13, Y:-145.75, Z:-21.81 [[ 8.07885347e-01 5.85997089e-01 6.26791583e-02 3.33134799e+02] [-5.84292674e-01 8.10312977e-01 -4.46648699e-02 -1.45749890e+02] [-7.69632191e-02 -5.38878991e-04 9.97033787e-01 -2.18111244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.19, Y:-145.79, Z:-21.82 [[ 8.08163999e-01 5.85613839e-01 6.26688360e-02 3.33185747e+02] [-5.83907149e-01 8.10590030e-01 -4.46793484e-02 -1.45786729e+02] [-7.69635784e-02 -4.84540462e-04 9.97033787e-01 -2.18165667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.24, Y:-145.82, Z:-21.82 [[ 8.08051761e-01 5.85770046e-01 6.26562446e-02 3.33237091e+02] [-5.84062456e-01 8.10477159e-01 -4.46969989e-02 -1.45822693e+02] [-7.69636183e-02 -4.77671456e-04 9.97033787e-01 -2.18215895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.29, Y:-145.86, Z:-21.83 [[ 8.08096825e-01 5.85709207e-01 6.26437986e-02 3.33288114e+02] [-5.84000083e-01 8.10521142e-01 -4.47144355e-02 -1.45858904e+02] [-7.69637798e-02 -4.50390272e-04 9.97033788e-01 -2.18255367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.34, Y:-145.89, Z:-21.83 [[ 8.09071911e-01 5.84362874e-01 6.26312617e-02 3.33339240e+02] [-5.82648357e-01 8.11492416e-01 -4.47319891e-02 -1.45894379e+02] [-7.69645076e-02 -3.00605798e-04 9.97033788e-01 -2.18308354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.39, Y:-145.93, Z:-21.84 [[ 8.11228231e-01 5.81367037e-01 6.26188939e-02 3.33390670e+02] [-5.79642245e-01 8.13641425e-01 -4.47492957e-02 -1.45930589e+02] [-7.69650915e-02 5.33572535e-06 9.97033788e-01 -2.18358133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.44, Y:-145.97, Z:-21.84 [[ 8.14020194e-01 5.77452673e-01 6.26061774e-02 3.33441518e+02] [-5.75714909e-01 8.16424064e-01 -4.47670796e-02 -1.45965075e+02] [-7.69640595e-02 3.97997055e-04 9.97033788e-01 -2.18412846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.49, Y:-146.00, Z:-21.85 [[ 8.15898595e-01 5.74796850e-01 6.25944426e-02 3.33493211e+02] [-5.73050003e-01 8.18295872e-01 -4.47834815e-02 -1.46000439e+02] [-7.69621781e-02 6.69034087e-04 9.97033789e-01 -2.18467788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.55, Y:-146.04, Z:-21.85 [[ 8.19200726e-01 5.70082124e-01 6.25822789e-02 3.33546056e+02] [-5.68320184e-01 8.21586931e-01 -4.48004731e-02 -1.46035183e+02] [-7.69567314e-02 1.13380782e-03 9.97033789e-01 -2.18519066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.60, Y:-146.07, Z:-21.86 [[ 8.20615137e-01 5.68045585e-01 6.25700502e-02 3.33598188e+02] [-5.66276422e-01 8.22995991e-01 -4.48175456e-02 -1.46071082e+02] [-7.69533095e-02 1.34601216e-03 9.97033789e-01 -2.18557246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.65, Y:-146.10, Z:-21.86 [[ 8.20704747e-01 5.67917517e-01 6.25572766e-02 3.33650428e+02] [-5.66146624e-01 8.23084315e-01 -4.48353683e-02 -1.46104297e+02] [-7.69527042e-02 1.38000855e-03 9.97033789e-01 -2.18618884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.70, Y:-146.14, Z:-21.87 [[ 8.19381257e-01 5.69826656e-01 6.25454871e-02 3.33703376e+02] [-5.68060053e-01 8.21764012e-01 -4.48518087e-02 -1.46137959e+02] [-7.69553866e-02 1.22113872e-03 9.97033789e-01 -2.18680943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.76, Y:-146.17, Z:-21.87 [[ 8.16718307e-01 5.73638230e-01 6.25330936e-02 3.33756279e+02] [-5.71881426e-01 8.19108295e-01 -4.48690813e-02 -1.46170159e+02] [-7.69599961e-02 8.83885423e-04 9.97033790e-01 -2.18740493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.81, Y:-146.21, Z:-21.88 [[ 8.15654886e-01 5.75150133e-01 6.25254488e-02 3.33807901e+02] [-5.73396943e-01 8.18047526e-01 -4.48797318e-02 -1.46205904e+02] [-7.69613725e-02 7.54471337e-04 9.97033790e-01 -2.18793228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.86, Y:-146.24, Z:-21.88 [[ 8.12888847e-01 5.79054215e-01 6.25135089e-02 3.33860649e+02] [-5.77311238e-01 8.15288938e-01 -4.48963570e-02 -1.46240034e+02] [-7.69639970e-02 4.05996698e-04 9.97033790e-01 -2.18830352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.91, Y:-146.27, Z:-21.89 [[ 8.11069790e-01 5.81600699e-01 6.25013744e-02 3.33912429e+02] [-5.79863957e-01 8.13474395e-01 -4.49132434e-02 -1.46274175e+02] [-7.69648415e-02 1.85480593e-04 9.97033790e-01 -2.18880035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.96, Y:-146.31, Z:-21.89 [[ 8.09295591e-01 5.84067771e-01 6.24938874e-02 3.33964480e+02] [-5.82337554e-01 8.11704896e-01 -4.49236587e-02 -1.46309058e+02] [-7.69650555e-02 -3.60185813e-05 9.97033790e-01 -2.18919591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.02, Y:-146.34, Z:-21.90 [[ 8.08636750e-01 5.84980841e-01 6.24821731e-02 3.34016316e+02] [-5.83252086e-01 8.11047104e-01 -4.49399456e-02 -1.46344015e+02] [-7.69649928e-02 -1.02766221e-04 9.97033790e-01 -2.18958379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:-146.38, Z:-21.90 [[ 8.08464671e-01 5.85219967e-01 6.24697225e-02 3.34067622e+02] [-5.83490589e-01 8.10874577e-01 -4.49572462e-02 -1.46380316e+02] [-7.69649880e-02 -1.04149864e-04 9.97033791e-01 -2.19009814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.12, Y:-146.41, Z:-21.91 [[ 8.08365259e-01 5.85358589e-01 6.24574263e-02 3.34118752e+02] [-5.83628304e-01 8.10774514e-01 -4.49743224e-02 -1.46414338e+02] [-7.69649954e-02 -9.62419843e-05 9.97033791e-01 -2.19074279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.17, Y:-146.45, Z:-21.91 [[ 8.08433131e-01 5.85266001e-01 6.24466262e-02 3.34168871e+02] [-5.83534282e-01 8.10841355e-01 -4.49893134e-02 -1.46449842e+02] [-7.69650225e-02 -6.88957051e-05 9.97033791e-01 -2.19125747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.22, Y:-146.49, Z:-21.92 [[ 8.09457623e-01 5.83849433e-01 6.24355350e-02 3.34219788e+02] [-5.82112312e-01 8.11861954e-01 -4.50047003e-02 -1.46485778e+02] [-7.69650042e-02 8.49040247e-05 9.97033791e-01 -2.19192476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.27, Y:-146.52, Z:-21.92 [[ 8.11152548e-01 5.81492773e-01 6.24315581e-02 3.34268438e+02] [-5.79748242e-01 8.13551508e-01 -4.50102164e-02 -1.46523344e+02] [-7.69644038e-02 3.15565626e-04 9.97033791e-01 -2.19236395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.32, Y:-146.56, Z:-21.93 [[ 8.12485211e-01 5.79630527e-01 6.24198140e-02 3.34318871e+02] [-5.77879248e-01 8.14879248e-01 -4.50264973e-02 -1.46561560e+02] [-7.69633435e-02 5.12247992e-04 9.97033791e-01 -2.19278943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.37, Y:-146.60, Z:-21.93 [[ 8.12165767e-01 5.80079393e-01 6.24072430e-02 3.34368182e+02] [-5.78328099e-01 8.14559793e-01 -4.50439142e-02 -1.46599389e+02] [-7.69634773e-02 4.91262936e-04 9.97033792e-01 -2.19325056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.42, Y:-146.64, Z:-21.94 [[ 8.11414864e-01 5.81130455e-01 6.23964190e-02 3.34418563e+02] [-5.79381109e-01 8.13810313e-01 -4.50589029e-02 -1.46636528e+02] [-7.69639501e-02 4.10157079e-04 9.97033792e-01 -2.19361037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:-146.67, Z:-21.94 [[ 8.07416113e-01 5.86674965e-01 6.23835449e-02 3.34469457e+02] [-5.84940692e-01 8.09822497e-01 -4.50767199e-02 -1.46673294e+02] [-7.69649812e-02 -9.50039666e-05 9.97033792e-01 -2.19402068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.52, Y:-146.71, Z:-21.95 [[ 8.02318013e-01 5.93629261e-01 6.23707181e-02 3.34519976e+02] [-5.91914465e-01 8.04738315e-01 -4.50944609e-02 -1.46709648e+02] [-7.69614981e-02 -7.38031978e-04 9.97033792e-01 -2.19459550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.57, Y:-146.75, Z:-21.95 [[ 7.99519914e-01 5.97393841e-01 6.23578894e-02 3.34570220e+02] [-5.95689057e-01 8.01947278e-01 -4.51121939e-02 -1.46746827e+02] [-7.69574864e-02 -1.07781497e-03 9.97033793e-01 -2.19509540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.62, Y:-146.78, Z:-21.96 [[ 7.96375517e-01 6.01580522e-01 6.23450935e-02 3.34620649e+02] [-5.99887115e-01 7.98810831e-01 -4.51298709e-02 -1.46783444e+02] [-7.69511873e-02 -1.45969392e-03 9.97033793e-01 -2.19563922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.67, Y:-146.82, Z:-21.96 [[ 7.94990113e-01 6.03411470e-01 6.23323239e-02 3.34671500e+02] [-6.01722289e-01 7.97428360e-01 -4.51475012e-02 -1.46819351e+02] [-7.69480829e-02 -1.61493158e-03 9.97033793e-01 -2.19620288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.72, Y:-146.86, Z:-21.97 [[ 7.94685912e-01 6.03813375e-01 6.23194212e-02 3.34720891e+02] [-6.02124032e-01 7.97124047e-01 -4.51653043e-02 -1.46857425e+02] [-7.69477241e-02 -1.63179013e-03 9.97033793e-01 -2.19685962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.77, Y:-146.90, Z:-21.97 [[ 7.96791117e-01 6.01033029e-01 6.23154409e-02 3.34769391e+02] [-5.99334748e-01 7.99223035e-01 -4.51707954e-02 -1.46897092e+02] [-7.69530758e-02 -1.35612049e-03 9.97033793e-01 -2.19726939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.82, Y:-146.94, Z:-21.98 [[ 7.98869071e-01 5.98269643e-01 6.23028190e-02 3.34818752e+02] [-5.96561592e-01 8.01294137e-01 -4.51881978e-02 -1.46936472e+02] [-7.69576105e-02 -1.06801527e-03 9.97033794e-01 -2.19761428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.87, Y:-146.98, Z:-21.98 [[ 8.01725083e-01 5.94438266e-01 6.22899661e-02 3.34865910e+02] [-5.92717249e-01 8.04140963e-01 -4.52059080e-02 -1.46977204e+02] [-7.69620349e-02 -6.77626965e-04 9.97033794e-01 -2.19805622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.91, Y:-147.02, Z:-21.99 [[ 8.03202247e-01 5.92442056e-01 6.22780950e-02 3.34914198e+02] [-5.90713766e-01 8.05612930e-01 -4.52222564e-02 -1.47015596e+02] [-7.69636052e-02 -4.65910097e-04 9.97033794e-01 -2.19857156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:334.96, Y:-147.05, Z:-21.99 [[ 8.04052449e-01 5.91288456e-01 6.22705564e-02 3.34961952e+02] [-5.89555904e-01 8.06460070e-01 -4.52326346e-02 -1.47054872e+02] [-7.69642519e-02 -3.42563617e-04 9.97033794e-01 -2.19902719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.01, Y:-147.09, Z:-22.00 [[ 8.03668264e-01 5.91811689e-01 6.22594992e-02 3.35009456e+02] [-5.90079527e-01 8.06076165e-01 -4.52478489e-02 -1.47092660e+02] [-7.69641043e-02 -3.73795657e-04 9.97033794e-01 -2.19958502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.06, Y:-147.13, Z:-22.00 [[ 8.02191705e-01 5.93812667e-01 6.22493847e-02 3.35059109e+02] [-5.92085430e-01 8.04603142e-01 -4.52617597e-02 -1.47130243e+02] [-7.69630567e-02 -5.48345577e-04 9.97033794e-01 -2.20006415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.11, Y:-147.17, Z:-22.00 [[ 7.99858288e-01 5.96953174e-01 6.22384799e-02 3.35109151e+02] [-5.95234239e-01 8.02275649e-01 -4.52767496e-02 -1.47167395e+02] [-7.69605163e-02 -8.31490773e-04 9.97033795e-01 -2.20047609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.16, Y:-147.20, Z:-22.01 [[ 7.98220595e-01 5.99142583e-01 6.22257715e-02 3.35159820e+02] [-5.97428918e-01 8.00641695e-01 -4.52942087e-02 -1.47204067e+02] [-7.69582363e-02 -1.02070513e-03 9.97033795e-01 -2.20099560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.21, Y:-147.24, Z:-22.01 [[ 7.95947484e-01 6.02160397e-01 6.22130102e-02 3.35210799e+02] [-6.00454541e-01 7.98374092e-01 -4.53117300e-02 -1.47240125e+02] [-7.69541849e-02 -1.29032694e-03 9.97033795e-01 -2.20139740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.26, Y:-147.28, Z:-22.02 [[ 7.95562867e-01 6.02669766e-01 6.22003089e-02 3.35261659e+02] [-6.00964102e-01 7.97989609e-01 -4.53291586e-02 -1.47277010e+02] [-7.69537136e-02 -1.31795739e-03 9.97033795e-01 -2.20175517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:-147.31, Z:-22.02 [[ 7.95938519e-01 6.02174861e-01 6.21877110e-02 3.35312239e+02] [-6.00466338e-01 7.98363249e-01 -4.53464353e-02 -1.47313700e+02] [-7.69548664e-02 -1.24865259e-03 9.97033796e-01 -2.20218184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.36, Y:-147.35, Z:-22.03 [[ 7.97673705e-01 5.99875738e-01 6.21752391e-02 3.35363606e+02] [-5.98158893e-01 8.00092550e-01 -4.53635292e-02 -1.47350382e+02] [-7.69584262e-02 -1.00537783e-03 9.97033796e-01 -2.20259859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.41, Y:-147.39, Z:-22.03 [[ 7.98408749e-01 5.98898399e-01 6.21625033e-02 3.35414145e+02] [-5.97177236e-01 8.00824523e-01 -4.53809748e-02 -1.47387079e+02] [-7.69598502e-02 -8.89464572e-04 9.97033796e-01 -2.20313492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.46, Y:-147.42, Z:-22.04 [[ 8.00080191e-01 5.96664954e-01 6.21499861e-02 3.35464453e+02] [-5.94935716e-01 8.02490191e-01 -4.53981108e-02 -1.47423497e+02] [-7.69622159e-02 -6.53117338e-04 9.97033796e-01 -2.20366133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.52, Y:-147.46, Z:-22.04 [[ 8.02694445e-01 5.93144487e-01 6.21389229e-02 3.35515742e+02] [-5.91403506e-01 8.05095975e-01 -4.54132486e-02 -1.47460100e+02] [-7.69644148e-02 -2.96214479e-04 9.97033796e-01 -2.20422138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.57, Y:-147.50, Z:-22.05 [[ 8.04896002e-01 5.90154837e-01 6.21264370e-02 3.35566851e+02] [-5.88403618e-01 8.07290077e-01 -4.54303232e-02 -1.47496267e+02] [-7.69649811e-02 1.12652418e-05 9.97033797e-01 -2.20462999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:-147.53, Z:-22.05 [[ 8.05637247e-01 5.89143925e-01 6.21132993e-02 3.35616553e+02] [-5.87388317e-01 8.08028105e-01 -4.54482783e-02 -1.47532899e+02] [-7.69648686e-02 1.30199439e-04 9.97033797e-01 -2.20511664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.67, Y:-147.57, Z:-22.06 [[ 8.05362640e-01 5.89520534e-01 6.21011869e-02 3.35666086e+02] [-5.87764769e-01 8.07753382e-01 -4.54648228e-02 -1.47569019e+02] [-7.69648904e-02 1.14779973e-04 9.97033797e-01 -2.20560080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.72, Y:-147.60, Z:-22.06 [[ 8.03913860e-01 5.91495747e-01 6.20909548e-02 3.35716724e+02] [-5.89744776e-01 8.06308116e-01 -4.54787925e-02 -1.47604396e+02] [-7.69649531e-02 -5.67845987e-05 9.97033797e-01 -2.20608163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.77, Y:-147.64, Z:-22.07 [[ 8.01400536e-01 5.94897718e-01 6.20796699e-02 3.35768156e+02] [-5.93155718e-01 8.03801327e-01 -4.54941915e-02 -1.47640015e+02] [-7.69641117e-02 -3.63841673e-04 9.97033797e-01 -2.20650193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.82, Y:-147.68, Z:-22.07 [[ 8.00248804e-01 5.96447456e-01 6.20667625e-02 3.35817375e+02] [-5.94708740e-01 8.02651974e-01 -4.55117940e-02 -1.47675612e+02] [-7.69634032e-02 -4.90887382e-04 9.97033798e-01 -2.20682924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.87, Y:-147.71, Z:-22.07 [[ 8.00310318e-01 5.96365987e-01 6.20564518e-02 3.35867645e+02] [-5.94625937e-01 8.02712522e-01 -4.55258486e-02 -1.47712449e+02] [-7.69635585e-02 -4.65569435e-04 9.97033798e-01 -2.20721022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.92, Y:-147.75, Z:-22.08 [[ 8.01879113e-01 5.94256244e-01 6.20435734e-02 3.35918196e+02] [-5.92508515e-01 8.04275735e-01 -4.55433928e-02 -1.47748840e+02] [-7.69645861e-02 -2.41050170e-04 9.97033798e-01 -2.20763055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:335.97, Y:-147.79, Z:-22.08 [[ 8.03638164e-01 5.91876597e-01 6.20305995e-02 3.35968770e+02] [-5.90120408e-01 8.06028594e-01 -4.55610566e-02 -1.47785965e+02] [-7.69649600e-02 9.08114143e-06 9.97033798e-01 -2.20810690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.02, Y:-147.82, Z:-22.09 [[ 8.07026320e-01 5.87249787e-01 6.20177911e-02 3.36018101e+02] [-5.85478554e-01 8.09405624e-01 -4.55784848e-02 -1.47821683e+02] [-7.69635043e-02 4.72950211e-04 9.97033798e-01 -2.20863226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:336.07, Y:-147.86, Z:-22.09 [[ 8.07725655e-01 5.86288604e-01 6.20075717e-02 3.36065186e+02] [-5.84513473e-01 8.10102052e-01 -4.55923835e-02 -1.47860709e+02] [-7.69627560e-02 5.81876739e-04 9.97033799e-01 -2.20918888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.12, Y:-147.89, Z:-22.10 [[ 8.10228999e-01 5.82825374e-01 6.19963998e-02 3.36117302e+02] [-5.81038924e-01 8.12596898e-01 -4.56075701e-02 -1.47894697e+02] [-7.69593312e-02 9.30254444e-04 9.97033799e-01 -2.20961959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.17, Y:-147.93, Z:-22.10 [[ 8.09669177e-01 5.83604182e-01 6.19837286e-02 3.36167230e+02] [-5.81818693e-01 8.12037800e-01 -4.56247846e-02 -1.47930638e+02] [-7.69599457e-02 8.77689867e-04 9.97033799e-01 -2.21015917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.22, Y:-147.97, Z:-22.11 [[ 8.06686124e-01 5.87721789e-01 6.19725434e-02 3.36218134e+02] [-5.85947224e-01 8.09062942e-01 -4.56399726e-02 -1.47965487e+02] [-7.69632946e-02 5.04492843e-04 9.97033799e-01 -2.21083154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.27, Y:-148.00, Z:-22.11 [[ 8.03682035e-01 5.91824277e-01 6.19613768e-02 3.36269030e+02] [-5.90060676e-01 8.06066999e-01 -4.56551274e-02 -1.48002549e+02] [-7.69648339e-02 1.31233798e-04 9.97033799e-01 -2.21123563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.32, Y:-148.04, Z:-22.12 [[ 7.99220606e-01 5.97836783e-01 6.19483951e-02 3.36319544e+02] [-5.96089758e-01 8.01617740e-01 -4.56727352e-02 -1.48040227e+02] [-7.69637736e-02 -4.24212740e-04 9.97033800e-01 -2.21162011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.37, Y:-148.08, Z:-22.12 [[ 7.96049141e-01 6.02054619e-01 6.19354514e-02 3.36368464e+02] [-6.00318930e-01 7.98454495e-01 -4.56902811e-02 -1.48077036e+02] [-7.69606843e-02 -8.09314864e-04 9.97033800e-01 -2.21230948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.42, Y:-148.12, Z:-22.12 [[ 7.93223808e-01 6.05772795e-01 6.19298930e-02 3.36416489e+02] [-6.04047792e-01 7.95636836e-01 -4.56978139e-02 -1.48115318e+02] [-7.69561966e-02 -1.16002114e-03 9.97033800e-01 -2.21216319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:-148.15, Z:-22.13 [[ 7.91354265e-01 6.08213726e-01 6.19232611e-02 3.36465719e+02] [-6.06495462e-01 7.93772098e-01 -4.57067987e-02 -1.48152409e+02] [-7.69524592e-02 -1.38590676e-03 9.97033800e-01 -2.21250153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.52, Y:-148.19, Z:-22.13 [[ 7.89738770e-01 6.10311059e-01 6.19119324e-02 3.36515200e+02] [-6.08598014e-01 7.92160302e-01 -4.57221388e-02 -1.48189343e+02] [-7.69489020e-02 -1.57093339e-03 9.97033800e-01 -2.21313461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.57, Y:-148.22, Z:-22.14 [[ 7.88844791e-01 6.11467254e-01 6.19006708e-02 3.36565634e+02] [-6.09756562e-01 7.91267987e-01 -4.57373803e-02 -1.48223646e+02] [-7.69469294e-02 -1.66464604e-03 9.97033800e-01 -2.21428394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.61, Y:-148.26, Z:-22.15 [[ 7.85857209e-01 6.15303263e-01 6.18897538e-02 3.36613310e+02] [-6.13603236e-01 7.88287898e-01 -4.57521478e-02 -1.48261473e+02] [-7.69383898e-02 -2.02109801e-03 9.97033801e-01 -2.21458468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:336.66, Y:-148.30, Z:-22.15 [[ 7.85240113e-01 6.16091521e-01 6.18805541e-02 3.36662250e+02] [-6.14392954e-01 7.87671823e-01 -4.57645873e-02 -1.48298206e+02] [-7.69367430e-02 -2.08278671e-03 9.97033801e-01 -2.21528995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:337.20, Y:-147.77, Z:-21.16 [[ 8.58455682e-01 5.09142430e-01 6.18694506e-02 3.37195655e+02] [-5.07142010e-01 8.60645810e-01 -4.57795933e-02 -1.47766251e+02] [-7.65560168e-02 7.92315437e-03 9.97033801e-01 -2.11566051e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.25, Y:-147.80, Z:-21.15 [[ 8.61618227e-01 5.03158636e-01 6.66739766e-02 3.37246908e+02] [-5.01785952e-01 8.64192884e-01 -3.71687747e-02 -1.47802420e+02] [-7.63209661e-02 -1.43077107e-03 9.97082275e-01 -2.11523927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.30, Y:-147.83, Z:-21.16 [[ 8.63655760e-01 4.99654717e-01 6.66625238e-02 3.37299228e+02] [-4.98270003e-01 8.66223966e-01 -3.71893042e-02 -1.47833777e+02] [-7.63264870e-02 -1.09717916e-03 9.97082275e-01 -2.11561080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.35, Y:-147.87, Z:-21.16 [[ 8.64813202e-01 4.97650007e-01 6.66528054e-02 3.37351886e+02] [-4.96257998e-01 8.67377461e-01 -3.72067140e-02 -1.47867720e+02] [-7.63290626e-02 -9.00130322e-04 9.97082275e-01 -2.11580427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.41, Y:-147.90, Z:-21.16 [[ 8.64987896e-01 4.97347853e-01 6.66412323e-02 3.37405185e+02] [-4.95953352e-01 8.67550800e-01 -3.72274311e-02 -1.47897142e+02] [-7.63296374e-02 -8.49665288e-04 9.97082276e-01 -2.11613336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.46, Y:-147.93, Z:-21.17 [[ 8.64353422e-01 4.98450451e-01 6.66356443e-02 3.37459452e+02] [-4.97058448e-01 8.66917685e-01 -3.72374307e-02 -1.47925912e+02] [-7.63286327e-02 -9.35509295e-04 9.97082276e-01 -2.11671205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.51, Y:-147.95, Z:-21.17 [[ 8.63294697e-01 5.00283094e-01 6.66265087e-02 3.37514420e+02] [-4.98895274e-01 8.65861226e-01 -3.72537693e-02 -1.47953928e+02] [-7.63267415e-02 -1.07866888e-03 9.97082276e-01 -2.11730075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.57, Y:-147.98, Z:-21.18 [[ 8.62438363e-01 5.01759086e-01 6.66174935e-02 3.37568929e+02] [-5.00374413e-01 8.65006591e-01 -3.72698835e-02 -1.47982230e+02] [-7.63250736e-02 -1.19071193e-03 9.97082276e-01 -2.11785822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.62, Y:-148.01, Z:-21.18 [[ 8.61820432e-01 5.02820967e-01 6.66079477e-02 3.37624651e+02] [-5.01438142e-01 8.64389654e-01 -3.72869357e-02 -1.48011867e+02] [-7.63238740e-02 -1.26512247e-03 9.97082276e-01 -2.11809008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.68, Y:-148.04, Z:-21.18 [[ 8.61948673e-01 5.02602469e-01 6.65976242e-02 3.37679235e+02] [-5.01217569e-01 8.64516777e-01 -3.73053653e-02 -1.48040766e+02] [-7.63245322e-02 -1.22458926e-03 9.97082277e-01 -2.11847381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.73, Y:-148.07, Z:-21.19 [[ 8.62127570e-01 5.02296767e-01 6.65883690e-02 3.37734045e+02] [-5.00909681e-01 8.64694495e-01 -3.73218782e-02 -1.48070403e+02] [-7.63252548e-02 -1.17853850e-03 9.97082277e-01 -2.11890908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.79, Y:-148.10, Z:-21.19 [[ 8.62224312e-01 5.02132075e-01 6.65778786e-02 3.37789597e+02] [-5.00743055e-01 8.64790191e-01 -3.73405824e-02 -1.48100974e+02] [-7.63258005e-02 -1.14245241e-03 9.97082277e-01 -2.11911990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.84, Y:-148.13, Z:-21.19 [[ 8.61397563e-01 5.03550451e-01 6.65671240e-02 3.37842503e+02] [-5.02164175e-01 8.63964925e-01 -3.73597449e-02 -1.48133811e+02] [-7.63241766e-02 -1.24603171e-03 9.97082277e-01 -2.11940925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.90, Y:-148.16, Z:-21.20 [[ 8.62435791e-01 5.01770916e-01 6.65616517e-02 3.37897885e+02] [-5.00378590e-01 8.64999877e-01 -3.73694920e-02 -1.48159939e+02] [-7.63267448e-02 -1.07723806e-03 9.97082277e-01 -2.11992583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:337.95, Y:-148.19, Z:-21.20 [[ 8.62159406e-01 5.02246379e-01 6.65562475e-02 3.37953462e+02] [-5.00854725e-01 8.64723856e-01 -3.73791146e-02 -1.48190091e+02] [-7.63262999e-02 -1.10825578e-03 9.97082277e-01 -2.12035228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.01, Y:-148.22, Z:-21.21 [[ 8.61504098e-01 5.03370998e-01 6.65456729e-02 3.38008005e+02] [-5.01981238e-01 8.64069575e-01 -3.73979310e-02 -1.48218671e+02] [-7.63251252e-02 -1.18620849e-03 9.97082278e-01 -2.12081543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.06, Y:-148.25, Z:-21.21 [[ 8.61170284e-01 5.03943085e-01 6.65365285e-02 3.38063114e+02] [-5.02553773e-01 8.63736003e-01 -3.74141933e-02 -1.48247048e+02] [-7.63246192e-02 -1.21819198e-03 9.97082278e-01 -2.12129880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.12, Y:-148.28, Z:-21.22 [[ 8.60714518e-01 5.04722342e-01 6.65272505e-02 3.38117885e+02] [-5.03334079e-01 8.63280805e-01 -3.74306836e-02 -1.48275727e+02] [-7.63238006e-02 -1.26829958e-03 9.97082278e-01 -2.12202433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:338.17, Y:-148.30, Z:-21.23 [[ 8.60802295e-01 5.04573836e-01 6.65180736e-02 3.38171494e+02] [-5.03183870e-01 8.63367660e-01 -3.74469847e-02 -1.48304055e+02] [-7.63243222e-02 -1.23637135e-03 9.97082278e-01 -2.12270363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.23, Y:-148.33, Z:-21.23 [[ 8.61527070e-01 5.03336439e-01 6.65096771e-02 3.38226116e+02] [-5.01941638e-01 8.64089809e-01 -3.74618919e-02 -1.48334251e+02] [-7.63262694e-02 -1.10954229e-03 9.97082278e-01 -2.12297233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.28, Y:-148.36, Z:-21.23 [[ 8.63522555e-01 4.99906556e-01 6.64998629e-02 3.38278742e+02] [-4.98500235e-01 8.66078990e-01 -3.74793053e-02 -1.48364206e+02] [-7.63302845e-02 -7.85971821e-04 9.97082278e-01 -2.12336836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.33, Y:-148.39, Z:-21.24 [[ 8.65566744e-01 4.96359841e-01 6.64915064e-02 3.38334242e+02] [-4.94941906e-01 8.68116755e-01 -3.74941245e-02 -1.48394614e+02] [-7.63329685e-02 -4.55765644e-04 9.97082279e-01 -2.12360768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:-148.42, Z:-21.24 [[ 8.67715770e-01 4.92594795e-01 6.64809020e-02 3.38389483e+02] [-4.91164355e-01 8.70258788e-01 -3.75129179e-02 -1.48424568e+02] [-7.63342573e-02 -1.02498851e-04 9.97082279e-01 -2.12417921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.44, Y:-148.45, Z:-21.25 [[ 8.71270586e-01 4.86281033e-01 6.64704671e-02 3.38443053e+02] [-4.84830755e-01 8.73802342e-01 -3.75313987e-02 -1.48454559e+02] [-7.63328572e-02 4.73076946e-04 9.97082279e-01 -2.12472714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.50, Y:-148.48, Z:-21.25 [[ 8.74606316e-01 4.80256962e-01 6.64608337e-02 3.38497832e+02] [-4.78787952e-01 8.77127249e-01 -3.75484499e-02 -1.48483814e+02] [-7.63275127e-02 1.01946498e-03 9.97082279e-01 -2.12509680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.55, Y:-148.51, Z:-21.25 [[ 8.76343370e-01 4.77081151e-01 6.64520405e-02 3.38552085e+02] [-4.75601826e-01 8.78858264e-01 -3.75640054e-02 -1.48513114e+02] [-7.63230039e-02 1.31425527e-03 9.97082279e-01 -2.12533024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.61, Y:-148.54, Z:-21.26 [[ 8.77346934e-01 4.75233804e-01 6.64468881e-02 3.38607634e+02] [-4.73748494e-01 8.79858298e-01 -3.75731172e-02 -1.48542519e+02] [-7.63198613e-02 1.48554602e-03 9.97082279e-01 -2.12575783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.66, Y:-148.57, Z:-21.26 [[ 8.77054504e-01 4.75774757e-01 6.64362652e-02 3.38661253e+02] [-4.74289575e-01 8.79565943e-01 -3.75918913e-02 -1.48570535e+02] [-7.63203492e-02 1.46010956e-03 9.97082280e-01 -2.12632641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.72, Y:-148.60, Z:-21.27 [[ 8.75764805e-01 4.78145750e-01 6.64277675e-02 3.38718096e+02] [-4.76666229e-01 8.78279583e-01 -3.76069014e-02 -1.48597458e+02] [-7.63237320e-02 1.27092727e-03 9.97082280e-01 -2.12682096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.77, Y:-148.63, Z:-21.27 [[ 8.74247007e-01 4.80916729e-01 6.64173915e-02 3.38773850e+02] [-4.79443788e-01 8.76765645e-01 -3.76252176e-02 -1.48626774e+02] [-7.63270836e-02 1.05032807e-03 9.97082280e-01 -2.12727533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.83, Y:-148.65, Z:-21.28 [[ 8.72337447e-01 4.84373315e-01 6.64068556e-02 3.38830043e+02] [-4.82908940e-01 8.74861075e-01 -3.76438037e-02 -1.48654313e+02] [-7.63304270e-02 7.69635331e-04 9.97082280e-01 -2.12775987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.88, Y:-148.68, Z:-21.28 [[ 8.71314699e-01 4.86212115e-01 6.63963541e-02 3.38884919e+02] [-4.84751655e-01 8.73840593e-01 -3.76623174e-02 -1.48682435e+02] [-7.63317044e-02 6.29988168e-04 9.97082280e-01 -2.12817482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:-148.71, Z:-21.28 [[ 8.70671454e-01 4.87364303e-01 6.63871634e-02 3.38940570e+02] [-4.85905952e-01 8.73198566e-01 -3.76785108e-02 -1.48709993e+02] [-7.63323370e-02 5.47685979e-04 9.97082281e-01 -2.12848555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.99, Y:-148.74, Z:-21.29 [[ 8.70596418e-01 4.87499588e-01 6.63779196e-02 3.38994702e+02] [-4.86040388e-01 8.73123041e-01 -3.76947884e-02 -1.48740179e+02] [-7.63322848e-02 5.54597984e-04 9.97082281e-01 -2.12869239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.05, Y:-148.77, Z:-21.29 [[ 8.72644581e-01 4.83824220e-01 6.63743860e-02 3.39048895e+02] [-4.82353906e-01 8.75164752e-01 -3.77010095e-02 -1.48766799e+02] [-7.63291846e-02 8.83637330e-04 9.97082281e-01 -2.12936730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.10, Y:-148.80, Z:-21.30 [[ 8.75240854e-01 4.79112643e-01 6.63665842e-02 3.39102561e+02] [-4.77627723e-01 8.77752446e-01 -3.77147383e-02 -1.48795298e+02] [-7.63230396e-02 1.31095926e-03 9.97082281e-01 -2.13002368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.16, Y:-148.82, Z:-21.31 [[ 8.76832933e-01 4.76193891e-01 6.63580169e-02 3.39157448e+02] [-4.74699472e-01 8.79338884e-01 -3.77298063e-02 -1.48824708e+02] [-7.63178878e-02 1.58262119e-03 9.97082281e-01 -2.13061910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.21, Y:-148.85, Z:-21.31 [[ 8.77260598e-01 4.75406856e-01 6.63488158e-02 3.39213173e+02] [-4.73908966e-01 8.79764476e-01 -3.77459798e-02 -1.48854508e+02] [-7.63160287e-02 1.66976208e-03 9.97082281e-01 -2.13114539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.27, Y:-148.89, Z:-21.32 [[ 8.77128421e-01 4.75652149e-01 6.63382717e-02 3.39268098e+02] [-4.74153559e-01 8.79631880e-01 -3.77645018e-02 -1.48885849e+02] [-7.63160251e-02 1.66979022e-03 9.97082282e-01 -2.13163020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.32, Y:-148.92, Z:-21.32 [[ 8.76368565e-01 4.77052166e-01 6.63277365e-02 3.39323211e+02] [-4.75556176e-01 8.78873579e-01 -3.77829964e-02 -1.48915504e+02] [-7.63181554e-02 1.56926559e-03 9.97082282e-01 -2.13210369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.38, Y:-148.95, Z:-21.32 [[ 8.74021177e-01 4.81340853e-01 6.63171643e-02 3.39377444e+02] [-4.79855749e-01 8.76532660e-01 -3.78015438e-02 -1.48945133e+02] [-7.63245877e-02 1.21667727e-03 9.97082282e-01 -2.13241256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.43, Y:-148.98, Z:-21.33 [[ 8.71236782e-01 4.86363783e-01 6.63079191e-02 3.39432806e+02] [-4.84891927e-01 8.73756051e-01 -3.78177538e-02 -1.48975169e+02] [-7.63301314e-02 7.96043459e-04 9.97082282e-01 -2.13289967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:-149.00, Z:-21.33 [[ 8.65803276e-01 4.95973126e-01 6.62974021e-02 3.39488446e+02] [-4.94527822e-01 8.68337870e-01 -3.78361820e-02 -1.49003711e+02] [-7.63342744e-02 -2.72194999e-05 9.97082282e-01 -2.13323046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.54, Y:-149.03, Z:-21.34 [[ 8.60239339e-01 5.05563422e-01 6.62865468e-02 3.39542766e+02] [-5.04144907e-01 8.62789023e-01 -3.78551904e-02 -1.49032091e+02] [-7.63295045e-02 -8.53501007e-04 9.97082283e-01 -2.13381728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.60, Y:-149.06, Z:-21.34 [[ 8.55492061e-01 5.13556967e-01 6.62765094e-02 3.39597095e+02] [-5.12160910e-01 8.58054111e-01 -3.78727555e-02 -1.49063159e+02] [-7.63186488e-02 -1.54439571e-03 9.97082283e-01 -2.13433804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.65, Y:-149.09, Z:-21.35 [[ 8.53269422e-01 5.17242815e-01 6.62658553e-02 3.39651814e+02] [-5.15856378e-01 8.55836690e-01 -3.78913878e-02 -1.49094927e+02] [-7.63117984e-02 -1.85210153e-03 9.97082283e-01 -2.13477761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.70, Y:-149.13, Z:-21.35 [[ 8.51691421e-01 5.19838431e-01 6.62550312e-02 3.39704027e+02] [-5.18458347e-01 8.54262109e-01 -3.79103050e-02 -1.49127343e+02] [-7.63063962e-02 -2.06259244e-03 9.97082283e-01 -2.13520967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.76, Y:-149.16, Z:-21.36 [[ 8.51031259e-01 5.20919756e-01 6.62450331e-02 3.39756822e+02] [-5.19541580e-01 8.53602971e-01 -3.79277677e-02 -1.49160777e+02] [-7.63042806e-02 -2.13933324e-03 9.97082283e-01 -2.13559664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.81, Y:-149.19, Z:-21.36 [[ 8.50760291e-01 5.21363545e-01 6.62342916e-02 3.39807441e+02] [-5.19985252e-01 8.53331940e-01 -3.79465167e-02 -1.49193702e+02] [-7.63037670e-02 -2.15746531e-03 9.97082284e-01 -2.13632810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:-149.23, Z:-21.37 [[ 8.50741427e-01 5.21394997e-01 6.62290079e-02 3.39860447e+02] [-5.20016082e-01 8.53312742e-01 -3.79557363e-02 -1.49226387e+02] [-7.63039874e-02 -2.14963199e-03 9.97082284e-01 -2.13690582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.91, Y:-149.26, Z:-21.37 [[ 8.50891113e-01 5.21152011e-01 6.62185469e-02 3.39911357e+02] [-5.19770943e-01 8.53461272e-01 -3.79739780e-02 -1.49263365e+02] [-7.63051803e-02 -2.10675622e-03 9.97082284e-01 -2.13720031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.96, Y:-149.30, Z:-21.38 [[ 8.51479233e-01 5.20191920e-01 6.62078644e-02 3.39961750e+02] [-5.18806508e-01 8.54047054e-01 -3.79925940e-02 -1.49300013e+02] [-7.63080719e-02 -1.99916613e-03 9.97082284e-01 -2.13754856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.01, Y:-149.33, Z:-21.38 [[ 8.52123404e-01 5.19137212e-01 6.61986320e-02 3.40012328e+02] [-5.17747374e-01 8.54688831e-01 -3.80086739e-02 -1.49333486e+02] [-7.63109484e-02 -1.88608722e-03 9.97082284e-01 -2.13799640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:-149.37, Z:-21.38 [[ 8.53651013e-01 5.16622061e-01 6.61936150e-02 3.40062787e+02] [-5.15223987e-01 8.56211960e-01 -3.80174091e-02 -1.49369599e+02] [-7.63163971e-02 -1.65093842e-03 9.97082284e-01 -2.13828604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.11, Y:-149.40, Z:-21.39 [[ 8.55105779e-01 5.14211785e-01 6.61841832e-02 3.40113182e+02] [-5.12805222e-01 8.57662074e-01 -3.80338218e-02 -1.49403892e+02] [-7.63211032e-02 -1.41665392e-03 9.97082285e-01 -2.13868881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.16, Y:-149.44, Z:-21.39 [[ 8.58320508e-01 5.08828300e-01 6.61790490e-02 3.40162986e+02] [-5.07405012e-01 8.60867529e-01 -3.80427532e-02 -1.49442149e+02] [-7.63286238e-02 -9.26705944e-04 9.97082285e-01 -2.13886886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:340.21, Y:-149.48, Z:-21.40 [[ 8.58861643e-01 5.07915601e-01 6.61696301e-02 3.40214991e+02] [-5.06488345e-01 8.61406443e-01 -3.80591291e-02 -1.49475814e+02] [-7.63297710e-02 -8.26620268e-04 9.97082285e-01 -2.13950727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:340.27, Y:-149.51, Z:-21.40 [[ 8.59688278e-01 5.06516419e-01 6.61602680e-02 3.40266918e+02] [-5.05083770e-01 8.62230045e-01 -3.80753967e-02 -1.49509284e+02] [-7.63311844e-02 -6.83505309e-04 9.97082285e-01 -2.14030080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:340.32, Y:-149.54, Z:-21.41 [[ 8.60256587e-01 5.05551829e-01 6.61509786e-02 3.40319655e+02] [-5.04115089e-01 8.62796044e-01 -3.80915290e-02 -1.49542633e+02] [-7.63320448e-02 -5.79217698e-04 9.97082285e-01 -2.14077822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:340.37, Y:-149.58, Z:-21.41 [[ 8.61526256e-01 5.03386504e-01 6.61402838e-02 3.40371302e+02] [-5.01941956e-01 8.64061279e-01 -3.81100900e-02 -1.49575729e+02] [-7.63333632e-02 -3.65740263e-04 9.97082285e-01 -2.14130391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:340.42, Y:-149.61, Z:-21.42 [[ 8.62908211e-01 5.01015157e-01 6.61304180e-02 3.40423532e+02] [-4.99562331e-01 8.65438498e-01 -3.81272018e-02 -1.49609539e+02] [-7.63341157e-02 -1.35990302e-04 9.97082286e-01 -2.14173396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:340.48, Y:-149.64, Z:-21.42 [[ 8.64237838e-01 4.98719285e-01 6.61213507e-02 3.40475727e+02] [-4.97258535e-01 8.66763559e-01 -3.81429202e-02 -1.49643095e+02] [-7.63341872e-02 8.51489598e-05 9.97082286e-01 -2.14199221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.53, Y:-149.68, Z:-21.42 [[ 8.65269728e-01 4.96928068e-01 6.61119701e-02 3.40528988e+02] [-4.95460847e-01 8.67791695e-01 -3.81591724e-02 -1.49676052e+02] [-7.63337824e-02 2.62083997e-04 9.97082286e-01 -2.14247678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:-149.71, Z:-21.43 [[ 8.66268740e-01 4.95185904e-01 6.61013608e-02 3.40582408e+02] [-4.93712209e-01 8.68786930e-01 -3.81775416e-02 -1.49709759e+02] [-7.63329788e-02 4.36962043e-04 9.97082286e-01 -2.14287246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.63, Y:-149.74, Z:-21.43 [[ 8.65601376e-01 4.96352952e-01 6.60908825e-02 3.40634788e+02] [-4.94881269e-01 8.68120741e-01 -3.81956725e-02 -1.49744127e+02] [-7.63334007e-02 3.55086888e-04 9.97082286e-01 -2.14327614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.69, Y:-149.77, Z:-21.44 [[ 8.65250195e-01 4.96966590e-01 6.60780445e-02 3.40688998e+02] [-4.95494998e-01 8.67769613e-01 -3.82178692e-02 -1.49773666e+02] [-7.63335233e-02 3.26678255e-04 9.97082287e-01 -2.14406441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.74, Y:-149.81, Z:-21.45 [[ 8.63616046e-01 4.99802571e-01 6.60659968e-02 3.40742837e+02] [-4.98337660e-01 8.66139354e-01 -3.82386843e-02 -1.49805139e+02] [-7.63341525e-02 1.00367115e-04 9.97082287e-01 -2.14460706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.80, Y:-149.84, Z:-21.45 [[ 8.60051002e-01 5.05914010e-01 6.60551938e-02 3.40796736e+02] [-5.04465596e-01 8.62583815e-01 -3.82573369e-02 -1.49835317e+02] [-7.63330638e-02 -4.19311775e-04 9.97082287e-01 -2.14536048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.85, Y:-149.87, Z:-21.46 [[ 8.58200753e-01 5.09047637e-01 6.60452267e-02 3.40850425e+02] [-5.07607147e-01 8.60738081e-01 -3.82745358e-02 -1.49866740e+02] [-7.63312037e-02 -6.77793695e-04 9.97082287e-01 -2.14607314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.90, Y:-149.90, Z:-21.47 [[ 8.56976835e-01 5.11106797e-01 6.60344346e-02 3.40903804e+02] [-5.09670970e-01 8.59516804e-01 -3.82931462e-02 -1.49899159e+02] [-7.63295936e-02 -8.39495146e-04 9.97082288e-01 -2.14662301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:340.96, Y:-149.93, Z:-21.47 [[ 8.54493293e-01 5.15249543e-01 6.60236400e-02 3.40956425e+02] [-5.13824592e-01 8.57039380e-01 -3.83117490e-02 -1.49931928e+02] [-7.63249706e-02 -1.18743732e-03 9.97082288e-01 -2.14719260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.01, Y:-149.96, Z:-21.48 [[ 8.51070943e-01 5.20884245e-01 6.60140445e-02 3.41010105e+02] [-5.19474867e-01 8.53625682e-01 -3.83282756e-02 -1.49963208e+02] [-7.63158787e-02 -1.67255537e-03 9.97082288e-01 -2.14777166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.06, Y:-150.00, Z:-21.48 [[ 8.50925590e-01 5.21122945e-01 6.60039115e-02 3.41064736e+02] [-5.19712931e-01 8.53479979e-01 -3.83457174e-02 -1.49995034e+02] [-7.63158502e-02 -1.67373410e-03 9.97082288e-01 -2.14825646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.12, Y:-150.03, Z:-21.49 [[ 8.50482286e-01 5.21847469e-01 6.59931793e-02 3.41118810e+02] [-5.20438200e-01 8.53037086e-01 -3.83641787e-02 -1.50026592e+02] [-7.63148789e-02 -1.71731700e-03 9.97082289e-01 -2.14872758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.17, Y:-150.06, Z:-21.49 [[ 8.50387197e-01 5.22003797e-01 6.59821998e-02 3.41172283e+02] [-5.20593534e-01 8.52941448e-01 -3.83830530e-02 -1.50058895e+02] [-7.63150525e-02 -1.70944972e-03 9.97082289e-01 -2.14917692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.23, Y:-150.09, Z:-21.50 [[ 8.51811198e-01 5.19677518e-01 6.59769740e-02 3.41226212e+02] [-5.18259584e-01 8.54361198e-01 -3.83920336e-02 -1.50090363e+02] [-7.63196432e-02 -1.49043498e-03 9.97082289e-01 -2.14962928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.28, Y:-150.12, Z:-21.50 [[ 8.52293275e-01 5.18887887e-01 6.59661660e-02 3.41280810e+02] [-5.17466153e-01 8.54841159e-01 -3.84105953e-02 -1.50121467e+02] [-7.63213864e-02 -1.39816612e-03 9.97082289e-01 -2.14999100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.33, Y:-150.15, Z:-21.51 [[ 8.51529788e-01 5.20141267e-01 6.59551542e-02 3.41333478e+02] [-5.18721821e-01 8.54078946e-01 -3.84294944e-02 -1.50151055e+02] [-7.63196745e-02 -1.48851842e-03 9.97082289e-01 -2.15064208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.39, Y:-150.18, Z:-21.51 [[ 8.50675745e-01 5.21537969e-01 6.59463679e-02 3.41387342e+02] [-5.20121540e-01 8.53226581e-01 -3.84445661e-02 -1.50183540e+02] [-7.63174950e-02 -1.59626645e-03 9.97082289e-01 -2.15118938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.44, Y:-150.22, Z:-21.52 [[ 8.50534702e-01 5.21769285e-01 6.59358352e-02 3.41441068e+02] [-5.20352151e-01 8.53085146e-01 -3.84626222e-02 -1.50215901e+02] [-7.63174965e-02 -1.59605871e-03 9.97082290e-01 -2.15153981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.49, Y:-150.25, Z:-21.52 [[ 8.51212365e-01 5.20664377e-01 6.59250767e-02 3.41493882e+02] [-5.19242505e-01 8.53760171e-01 -3.84810534e-02 -1.50247621e+02] [-7.63199185e-02 -1.47555348e-03 9.97082290e-01 -2.15185826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.55, Y:-150.28, Z:-21.52 [[ 8.51251172e-01 5.20602120e-01 6.59156676e-02 3.41548353e+02] [-5.19178815e-01 8.53798177e-01 -3.84971640e-02 -1.50279648e+02] [-7.63203820e-02 -1.45126217e-03 9.97082290e-01 -2.15216088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.60, Y:-150.31, Z:-21.53 [[ 8.50551920e-01 5.21745154e-01 6.59046733e-02 3.41602568e+02] [-5.20323814e-01 8.53100022e-01 -3.85159764e-02 -1.50309844e+02] [-7.63188023e-02 -1.53193330e-03 9.97082290e-01 -2.15275650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.66, Y:-150.34, Z:-21.53 [[ 8.49956174e-01 5.22716375e-01 6.58945609e-02 3.41656095e+02] [-5.21296608e-01 8.52505152e-01 -3.85332693e-02 -1.50340519e+02] [-7.63174235e-02 -1.59902097e-03 9.97082290e-01 -2.15339399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.71, Y:-150.37, Z:-21.54 [[ 8.49417117e-01 5.23593058e-01 6.58852891e-02 3.41709462e+02] [-5.22174692e-01 8.51966875e-01 -3.85491160e-02 -1.50372952e+02] [-7.63161334e-02 -1.65935160e-03 9.97082291e-01 -2.15375690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.76, Y:-150.40, Z:-21.54 [[ 8.47937574e-01 5.25987134e-01 6.58741589e-02 3.41763305e+02] [-5.24574491e-01 8.50490507e-01 -3.85681264e-02 -1.50404665e+02] [-7.63116851e-02 -1.85253986e-03 9.97082291e-01 -2.15406539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.82, Y:-150.43, Z:-21.55 [[ 8.47457292e-01 5.26761797e-01 6.58646120e-02 3.41817969e+02] [-5.25350222e-01 8.50010815e-01 -3.85844231e-02 -1.50434964e+02] [-7.63104327e-02 -1.90333785e-03 9.97082291e-01 -2.15464481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.87, Y:-150.47, Z:-21.55 [[ 8.47641861e-01 5.26466116e-01 6.58536618e-02 3.41870630e+02] [-5.25052200e-01 8.50194088e-01 -3.86031033e-02 -1.50465250e+02] [-7.63116198e-02 -1.85500366e-03 9.97082291e-01 -2.15524600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.92, Y:-150.50, Z:-21.56 [[ 8.47731960e-01 5.26322118e-01 6.58449161e-02 3.41924799e+02] [-5.24906611e-01 8.50283305e-01 -3.86180151e-02 -1.50498035e+02] [-7.63123484e-02 -1.82470606e-03 9.97082291e-01 -2.15557353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:341.98, Y:-150.53, Z:-21.56 [[ 8.48853725e-01 5.24512374e-01 6.58340498e-02 3.41979351e+02] [-5.23089993e-01 8.51401244e-01 -3.86365306e-02 -1.50529651e+02] [-7.63165303e-02 -1.64036968e-03 9.97082292e-01 -2.15604146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.03, Y:-150.56, Z:-21.57 [[ 8.51622221e-01 5.20006636e-01 6.58231810e-02 3.42033665e+02] [-5.18569343e-01 8.54161357e-01 -3.86550384e-02 -1.50561064e+02] [-7.63244941e-02 -1.21439404e-03 9.97082292e-01 -2.15652122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.09, Y:-150.59, Z:-21.57 [[ 8.56101500e-01 5.12600216e-01 6.58121593e-02 3.42086573e+02] [-5.11139511e-01 8.58627240e-01 -3.86737943e-02 -1.50594377e+02] [-7.63323080e-02 -5.30501669e-04 9.97082292e-01 -2.15689142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.14, Y:-150.63, Z:-21.57 [[ 8.60987815e-01 5.04351242e-01 6.58012628e-02 3.42140463e+02] [-5.02864922e-01 8.63498566e-01 -3.86923253e-02 -1.50626526e+02] [-7.63338184e-02 2.24473762e-04 9.97082292e-01 -2.15743537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.19, Y:-150.66, Z:-21.58 [[ 8.64009177e-01 4.99159065e-01 6.57903463e-02 3.42194405e+02] [-4.97656244e-01 8.66510087e-01 -3.87108781e-02 -1.50658323e+02] [-7.63308844e-02 7.05577311e-04 9.97082293e-01 -2.15790792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.25, Y:-150.69, Z:-21.58 [[ 8.66593715e-01 4.94659902e-01 6.57792910e-02 3.42246823e+02] [-4.93142674e-01 8.69085909e-01 -3.87296547e-02 -1.50689829e+02] [-7.63258622e-02 1.12429990e-03 9.97082293e-01 -2.15845484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.30, Y:-150.72, Z:-21.59 [[ 8.69224439e-01 4.90023128e-01 6.57739274e-02 3.42299841e+02] [-4.88491918e-01 8.71708067e-01 -3.87387616e-02 -1.50721270e+02] [-7.63185523e-02 1.54264633e-03 9.97082293e-01 -2.15894675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.35, Y:-150.75, Z:-21.60 [[ 8.69315033e-01 4.89863671e-01 6.57644025e-02 3.42352833e+02] [-4.88330784e-01 8.71797626e-01 -3.87549247e-02 -1.50750692e+02] [-7.63178797e-02 1.57545645e-03 9.97082293e-01 -2.15961254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.41, Y:-150.78, Z:-21.60 [[ 8.66393950e-01 4.95012841e-01 6.57556935e-02 3.42407043e+02] [-4.93493589e-01 8.68884911e-01 -3.87696957e-02 -1.50778269e+02] [-7.63256271e-02 1.13981658e-03 9.97082293e-01 -2.16037224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.46, Y:-150.81, Z:-21.61 [[ 8.62998577e-01 5.00909941e-01 6.57471448e-02 3.42462667e+02] [-4.99406609e-01 8.65499177e-01 -3.87841875e-02 -1.50808298e+02] [-7.63314848e-02 6.36139953e-04 9.97082293e-01 -2.16093745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.52, Y:-150.84, Z:-21.61 [[ 8.55304096e-01 5.13939282e-01 6.57367339e-02 3.42518310e+02] [-5.12472687e-01 8.57826418e-01 -3.88018253e-02 -1.50836098e+02] [-7.63324892e-02 -5.00920556e-04 9.97082294e-01 -2.16111632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.57, Y:-150.86, Z:-21.61 [[ 8.50359796e-01 5.22080602e-01 6.57271829e-02 3.42572197e+02] [-5.20636902e-01 8.52895292e-01 -3.88179973e-02 -1.50864501e+02] [-7.63245282e-02 -1.21073257e-03 9.97082294e-01 -2.16148950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:-150.90, Z:-21.62 [[ 8.48652223e-01 5.24852377e-01 6.57220406e-02 3.42627134e+02] [-5.23416284e-01 8.51192035e-01 -3.88267016e-02 -1.50895935e+02] [-7.63203642e-02 -1.44961968e-03 9.97082294e-01 -2.16184946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:-150.93, Z:-21.62 [[ 8.45997793e-01 5.29121691e-01 6.57112691e-02 3.42681605e+02] [-5.27696999e-01 8.48544017e-01 -3.88449231e-02 -1.50927071e+02] [-7.63125957e-02 -1.81292035e-03 9.97082294e-01 -2.16217627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.73, Y:-150.96, Z:-21.63 [[ 8.43670117e-01 5.32826631e-01 6.57001879e-02 3.42734973e+02] [-5.31411661e-01 8.46221758e-01 -3.88636563e-02 -1.50955380e+02] [-7.63045195e-02 -2.12574047e-03 9.97082294e-01 -2.16316111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.79, Y:-150.99, Z:-21.64 [[ 8.42740707e-01 5.34296502e-01 6.56913106e-02 3.42788894e+02] [-5.32884815e-01 8.45294165e-01 -3.88786559e-02 -1.50986211e+02] [-7.63012113e-02 -2.24127592e-03 9.97082294e-01 -2.16364788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.84, Y:-151.02, Z:-21.64 [[ 8.43005119e-01 5.33880410e-01 6.56816369e-02 3.42841349e+02] [-5.32466191e-01 8.45557175e-01 -3.88949916e-02 -1.51016105e+02] [-7.63028534e-02 -2.18457397e-03 9.97082295e-01 -2.16432450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.89, Y:-151.05, Z:-21.65 [[ 8.45904671e-01 5.29275327e-01 6.56727917e-02 3.42893584e+02] [-5.27846054e-01 8.48448326e-01 -3.89099209e-02 -1.51048413e+02] [-7.63140312e-02 -1.75104011e-03 9.97082295e-01 -2.16495768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:342.95, Y:-151.08, Z:-21.65 [[ 8.48734964e-01 5.24725910e-01 6.56633862e-02 3.42945597e+02] [-5.23281773e-01 8.51270210e-01 -3.89257869e-02 -1.51082183e+02] [-7.63226534e-02 -1.32277681e-03 9.97082295e-01 -2.16517617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.00, Y:-151.12, Z:-21.65 [[ 8.54386744e-01 5.15473446e-01 6.56537725e-02 3.42996891e+02] [-5.14000603e-01 8.56905422e-01 -3.89419950e-02 -1.51117446e+02] [-7.63326379e-02 -4.74554252e-04 9.97082295e-01 -2.16540430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:-151.15, Z:-21.66 [[ 8.55563418e-01 5.13519295e-01 6.56442885e-02 3.43050758e+02] [-5.12039472e-01 8.58078000e-01 -3.89579755e-02 -1.51150240e+02] [-7.63335919e-02 -2.81448198e-04 9.97082295e-01 -2.16588092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.10, Y:-151.18, Z:-21.66 [[ 8.57582996e-01 5.10140811e-01 6.56335091e-02 3.43103232e+02] [-5.08649693e-01 8.60090897e-01 -3.89761275e-02 -1.51183864e+02] [-7.63340970e-02 4.07999745e-05 9.97082295e-01 -2.16607410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.16, Y:-151.21, Z:-21.67 [[ 8.59069343e-01 5.07635075e-01 6.56238829e-02 3.43156990e+02] [-5.06135405e-01 8.61572139e-01 -3.89923283e-02 -1.51214195e+02] [-7.63335827e-02 2.82543275e-04 9.97082296e-01 -2.16666604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.21, Y:-151.25, Z:-21.67 [[ 8.62627112e-01 5.01566851e-01 6.56137157e-02 3.43211203e+02] [-5.00048275e-01 8.65118482e-01 -3.90094295e-02 -1.51245083e+02] [-7.63294748e-02 8.40566127e-04 9.97082296e-01 -2.16721146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.26, Y:-151.28, Z:-21.68 [[ 8.65074951e-01 4.97333737e-01 6.56085640e-02 3.43264620e+02] [-4.95802314e-01 8.67558444e-01 -3.90180921e-02 -1.51277517e+02] [-7.63242773e-02 1.22469626e-03 9.97082296e-01 -2.16754486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.32, Y:-151.31, Z:-21.68 [[ 8.70498570e-01 4.87779843e-01 6.55977394e-02 3.43318321e+02] [-4.86219802e-01 8.72964187e-01 -3.90362821e-02 -1.51309420e+02] [-7.63055888e-02 2.08610786e-03 9.97082296e-01 -2.16775903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.37, Y:-151.34, Z:-21.68 [[ 8.72105543e-01 4.84902388e-01 6.55865484e-02 3.43373050e+02] [-4.83332801e-01 8.74565094e-01 -3.90550756e-02 -1.51336239e+02] [-7.62976053e-02 2.36001778e-03 9.97082296e-01 -2.16842017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.43, Y:-151.37, Z:-21.69 [[ 8.70157382e-01 4.88390934e-01 6.55776430e-02 3.43427607e+02] [-4.86830084e-01 8.72622486e-01 -3.90700230e-02 -1.51365303e+02] [-7.63059709e-02 2.07189950e-03 9.97082297e-01 -2.16896998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.48, Y:-151.40, Z:-21.69 [[ 8.68754598e-01 4.90883140e-01 6.55682216e-02 3.43482445e+02] [-4.89328170e-01 8.71223416e-01 -3.90858279e-02 -1.51396685e+02] [-7.63111439e-02 1.87161485e-03 9.97082297e-01 -2.16944385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.54, Y:-151.43, Z:-21.70 [[ 8.67221553e-01 4.93587883e-01 6.55574493e-02 3.43536936e+02] [-4.92039249e-01 8.69694350e-01 -3.91038875e-02 -1.51427996e+02] [-7.63161484e-02 1.65489590e-03 9.97082297e-01 -2.16989631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:-151.46, Z:-21.70 [[ 8.64087049e-01 4.99056308e-01 6.55467259e-02 3.43592780e+02] [-4.97521963e-01 8.66568737e-01 -3.91218542e-02 -1.51457676e+02] [-7.63247516e-02 1.19375182e-03 9.97082297e-01 -2.17029045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.65, Y:-151.49, Z:-21.71 [[ 8.59129187e-01 5.07545159e-01 6.55358804e-02 3.43648879e+02] [-5.06033953e-01 8.61625033e-01 -3.91400139e-02 -1.51485462e+02] [-7.63326796e-02 4.62947679e-04 9.97082297e-01 -2.17083735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.70, Y:-151.52, Z:-21.71 [[ 8.55801340e-01 5.13137911e-01 6.55251889e-02 3.43704276e+02] [-5.11641646e-01 8.58306172e-01 -3.91579046e-02 -1.51515673e+02] [-7.63340794e-02 -1.40282250e-05 9.97082298e-01 -2.17114372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.76, Y:-151.54, Z:-21.72 [[ 8.50548298e-01 5.21800272e-01 6.55138858e-02 3.43759519e+02] [-5.20328060e-01 8.53067341e-01 -3.91768063e-02 -1.51544557e+02] [-7.63302246e-02 -7.66947249e-04 9.97082298e-01 -2.17163854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.82, Y:-151.57, Z:-21.72 [[ 8.45826462e-01 5.29421394e-01 6.55025433e-02 3.43815097e+02] [-5.27970407e-01 8.48357791e-01 -3.91957615e-02 -1.51573757e+02] [-7.63206676e-02 -1.43059221e-03 9.97082298e-01 -2.17213905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.87, Y:-151.60, Z:-21.73 [[ 8.43862537e-01 5.32547570e-01 6.54912519e-02 3.43869427e+02] [-5.31104498e-01 8.46398385e-01 -3.92146190e-02 -1.51604646e+02] [-7.63153399e-02 -1.69095055e-03 9.97082298e-01 -2.17260773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.92, Y:-151.64, Z:-21.73 [[ 8.42884505e-01 5.34095580e-01 6.54799367e-02 3.43922785e+02] [-5.32655699e-01 8.45422166e-01 -3.92335039e-02 -1.51635459e+02] [-7.63126310e-02 -1.80894886e-03 9.97082299e-01 -2.17315885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.98, Y:-151.67, Z:-21.74 [[ 8.42105631e-01 5.35324062e-01 6.54694919e-02 3.43976732e+02] [-5.33886529e-01 8.44644623e-01 -3.92509255e-02 -1.51666375e+02] [-7.63104192e-02 -1.89985436e-03 9.97082299e-01 -2.17360847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.03, Y:-151.70, Z:-21.74 [[ 8.42209376e-01 5.35162031e-01 6.54596592e-02 3.44029903e+02] [-5.33722736e-01 8.44747370e-01 -3.92673170e-02 -1.51697341e+02] [-7.63112521e-02 -1.86600583e-03 9.97082299e-01 -2.17441567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.08, Y:-151.73, Z:-21.75 [[ 8.44254755e-01 5.31930664e-01 6.54498044e-02 3.44081422e+02] [-5.30480382e-01 8.46786486e-01 -3.92837359e-02 -1.51731467e+02] [-7.63182336e-02 -1.55435647e-03 9.97082299e-01 -2.17494523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.13, Y:-151.77, Z:-21.75 [[ 8.49468305e-01 5.23565932e-01 6.54393935e-02 3.44132680e+02] [-5.22089379e-01 8.51984804e-01 -3.93010710e-02 -1.51766512e+02] [-7.63300707e-02 -7.80198186e-04 9.97082299e-01 -2.17510873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.18, Y:-151.80, Z:-21.75 [[ 8.56846350e-01 5.11403276e-01 6.54295190e-02 3.44182839e+02] [-5.09889745e-01 8.59340783e-01 -3.93175034e-02 -1.51802829e+02] [-7.63333542e-02 3.27218526e-04 9.97082300e-01 -2.17544976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.24, Y:-151.84, Z:-21.76 [[ 8.59442581e-01 5.07029297e-01 6.54197319e-02 3.44235713e+02] [-5.05501832e-01 8.61928507e-01 -3.93337814e-02 -1.51836836e+02] [-7.63305113e-02 7.35332285e-04 9.97082300e-01 -2.17588790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.29, Y:-151.87, Z:-21.76 [[ 8.67612652e-01 4.92919876e-01 6.54085750e-02 3.44287443e+02] [-4.91350603e-01 8.70072399e-01 -3.93523255e-02 -1.51872202e+02] [-7.63077392e-02 2.00403277e-03 9.97082300e-01 -2.17638408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.34, Y:-151.90, Z:-21.77 [[ 8.70148049e-01 4.88431701e-01 6.53975971e-02 3.44340163e+02] [-4.86848374e-01 8.72598773e-01 -3.93705607e-02 -1.51904823e+02] [-7.62956930e-02 2.41950282e-03 9.97082300e-01 -2.17696537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.39, Y:-151.94, Z:-21.77 [[ 8.76905389e-01 4.76194263e-01 6.53908454e-02 3.44392887e+02] [-4.74575927e-01 8.79333137e-01 -3.93817715e-02 -1.51939220e+02] [-7.62537109e-02 3.50116661e-03 9.97082300e-01 -2.17722409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.44, Y:-151.97, Z:-21.78 [[ 8.80955664e-01 4.68660459e-01 6.53796014e-02 3.44444869e+02] [-4.67019994e-01 8.83368514e-01 -3.94004294e-02 -1.51970975e+02] [-7.62197047e-02 4.17645034e-03 9.97082300e-01 -2.17770421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.50, Y:-152.00, Z:-21.78 [[ 8.82055628e-01 4.66588198e-01 6.53706513e-02 3.44498533e+02] [-4.64940970e-01 8.84463866e-01 -3.94152732e-02 -1.52001693e+02] [-7.62086803e-02 4.37296947e-03 9.97082301e-01 -2.17815030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.55, Y:-152.03, Z:-21.78 [[ 8.78962072e-01 4.72391287e-01 6.53616692e-02 3.44554651e+02] [-4.70758863e-01 8.81380369e-01 -3.94301626e-02 -1.52029360e+02] [-7.62349573e-02 3.88803230e-03 9.97082301e-01 -2.17841600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.61, Y:-152.06, Z:-21.79 [[ 8.74640672e-01 4.80346564e-01 6.53519244e-02 3.44609885e+02] [-4.78734944e-01 8.77072883e-01 -3.94463071e-02 -1.52057619e+02] [-7.62662988e-02 3.21509467e-03 9.97082301e-01 -2.17887983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.67, Y:-152.08, Z:-21.80 [[ 8.65319295e-01 4.96943651e-01 6.53416116e-02 3.44668019e+02] [-4.95377432e-01 8.67780987e-01 -3.94633826e-02 -1.52081010e+02] [-7.63132856e-02 1.77966661e-03 9.97082301e-01 -2.17957745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.73, Y:-152.10, Z:-21.80 [[ 8.51607458e-01 5.20092817e-01 6.53314515e-02 3.44728210e+02] [-5.18592248e-01 8.54109709e-01 -3.94801955e-02 -1.52102810e+02] [-7.63335931e-02 -2.58755339e-04 9.97082301e-01 -2.18013047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.79, Y:-152.13, Z:-21.81 [[ 8.44850981e-01 5.30999097e-01 6.53205875e-02 3.44786053e+02] [-5.29529435e-01 8.47371508e-01 -3.94981619e-02 -1.52128492e+02] [-7.63242930e-02 -1.21911290e-03 9.97082302e-01 -2.18071965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.84, Y:-152.16, Z:-21.81 [[ 8.42721104e-01 5.34374241e-01 6.53093505e-02 3.44841474e+02] [-5.32913234e-01 8.45246658e-01 -3.95167333e-02 -1.52157579e+02] [-7.63192346e-02 -1.50263208e-03 9.97082302e-01 -2.18123135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.90, Y:-152.19, Z:-21.82 [[ 8.41780212e-01 5.35856549e-01 6.52980373e-02 3.44895541e+02] [-5.34398541e-01 8.44307498e-01 -3.95354187e-02 -1.52188101e+02] [-7.63169355e-02 -1.61504273e-03 9.97082302e-01 -2.18172219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:344.95, Y:-152.22, Z:-21.82 [[ 8.42571462e-01 5.34612816e-01 6.52875878e-02 3.44949426e+02] [-5.33149741e-01 8.45095817e-01 -3.95526672e-02 -1.52220031e+02] [-7.63196301e-02 -1.48211191e-03 9.97082302e-01 -2.18239564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.00, Y:-152.25, Z:-21.83 [[ 8.43994554e-01 5.32364669e-01 6.52767349e-02 3.45003133e+02] [-5.30893485e-01 8.46514192e-01 -3.95705704e-02 -1.52252938e+02] [-7.63236561e-02 -1.25764735e-03 9.97082302e-01 -2.18298407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:-152.29, Z:-21.84 [[ 8.45203125e-01 5.30445207e-01 6.52652971e-02 3.45054527e+02] [-5.28966845e-01 8.47718558e-01 -3.95894262e-02 -1.52286208e+02] [-7.63266250e-02 -1.06207157e-03 9.97082303e-01 -2.18368912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.11, Y:-152.32, Z:-21.84 [[ 8.46441497e-01 5.28467998e-01 6.52561601e-02 3.45106614e+02] [-5.26982600e-01 8.48952781e-01 -3.96044813e-02 -1.52319751e+02] [-7.63290996e-02 -8.65984422e-04 9.97082303e-01 -2.18434558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.16, Y:-152.35, Z:-21.85 [[ 8.48192719e-01 5.25653910e-01 6.52462948e-02 3.45157581e+02] [-5.24158929e-01 8.50698310e-01 -3.96207272e-02 -1.52354606e+02] [-7.63317029e-02 -5.93415755e-04 9.97082303e-01 -2.18487465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.21, Y:-152.39, Z:-21.85 [[ 8.52568060e-01 5.18528671e-01 6.52358787e-02 3.45208414e+02] [-5.17011437e-01 8.55060239e-01 -3.96378700e-02 -1.52392516e+02] [-7.63339781e-02 6.62865032e-05 9.97082303e-01 -2.18510578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.26, Y:-152.43, Z:-21.86 [[ 8.56271599e-01 5.12391143e-01 6.52247284e-02 3.45260025e+02] [-5.10854650e-01 8.58751950e-01 -3.96562096e-02 -1.52429003e+02] [-7.63313533e-02 6.36130192e-04 9.97082303e-01 -2.18550922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.31, Y:-152.47, Z:-21.86 [[ 8.62077788e-01 5.02562511e-01 6.52135769e-02 3.45310217e+02] [-5.00996358e-01 8.64539519e-01 -3.96745395e-02 -1.52466344e+02] [-7.63186506e-02 1.53077466e-03 9.97082304e-01 -2.18590639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.36, Y:-152.50, Z:-21.86 [[ 8.67302103e-01 4.93493257e-01 6.52032817e-02 3.45361353e+02] [-4.91900102e-01 8.69746445e-01 -3.96914520e-02 -1.52503097e+02] [-7.62977864e-02 2.35097887e-03 9.97082304e-01 -2.18623793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.41, Y:-152.54, Z:-21.87 [[ 8.70446894e-01 4.87926412e-01 6.51921945e-02 3.45413300e+02] [-4.86316268e-01 8.72880078e-01 -3.97096541e-02 -1.52537654e+02] [-7.62803569e-02 2.86112027e-03 9.97082304e-01 -2.18672408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.47, Y:-152.57, Z:-21.87 [[ 8.72083204e-01 4.84997244e-01 6.51809707e-02 3.45466816e+02] [-4.83377556e-01 8.74510045e-01 -3.97280688e-02 -1.52569604e+02] [-7.62694175e-02 3.13916322e-03 9.97082304e-01 -2.18710351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.52, Y:-152.60, Z:-21.88 [[ 8.71087734e-01 4.86784448e-01 6.51694816e-02 3.45517813e+02] [-4.85168333e-01 8.73516956e-01 -3.97469065e-02 -1.52602304e+02] [-7.62748231e-02 3.00487394e-03 9.97082305e-01 -2.18767099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.57, Y:-152.63, Z:-21.88 [[ 8.69442636e-01 4.89717912e-01 6.51603330e-02 3.45572526e+02] [-4.88108873e-01 8.71876551e-01 -3.97618989e-02 -1.52632626e+02] [-7.62838805e-02 2.76535356e-03 9.97082305e-01 -2.18813358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.63, Y:-152.66, Z:-21.88 [[ 8.68122176e-01 4.92056361e-01 6.51492436e-02 3.45627060e+02] [-4.90452519e-01 8.70559518e-01 -3.97800604e-02 -1.52663483e+02] [-7.62903259e-02 2.58134206e-03 9.97082305e-01 -2.18846448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.68, Y:-152.69, Z:-21.89 [[ 8.66852990e-01 4.94290305e-01 6.51382223e-02 3.45682903e+02] [-4.92691391e-01 8.69293567e-01 -3.97980992e-02 -1.52692645e+02] [-7.62960522e-02 2.40605994e-03 9.97082305e-01 -2.18869904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.74, Y:-152.72, Z:-21.89 [[ 8.65805817e-01 4.96123743e-01 6.51269487e-02 3.45738833e+02] [-4.94528611e-01 8.68248868e-01 -3.98165392e-02 -1.52720206e+02] [-7.63003299e-02 2.26625181e-03 9.97082305e-01 -2.18922642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.79, Y:-152.75, Z:-21.90 [[ 8.65199958e-01 4.97180923e-01 6.51165367e-02 3.45794498e+02] [-4.95587497e-01 8.67644121e-01 -3.98335598e-02 -1.52748818e+02] [-7.63024663e-02 2.19305285e-03 9.97082306e-01 -2.18976068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.85, Y:-152.78, Z:-21.90 [[ 8.64487482e-01 4.98420173e-01 6.51054887e-02 3.45851430e+02] [-4.96828893e-01 8.66933043e-01 -3.98516090e-02 -1.52776442e+02] [-7.63049453e-02 2.10492920e-03 9.97082306e-01 -2.19024039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.91, Y:-152.80, Z:-21.91 [[ 8.64350050e-01 4.98659948e-01 6.50941485e-02 3.45907806e+02] [-4.97067953e-01 8.66795145e-01 -3.98701237e-02 -1.52803809e+02] [-7.63049257e-02 2.10552829e-03 9.97082306e-01 -2.19084159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:345.96, Y:-152.84, Z:-21.91 [[ 8.64271073e-01 4.98797276e-01 6.50906305e-02 3.45962313e+02] [-4.97205238e-01 8.66716140e-01 -3.98758662e-02 -1.52835145e+02] [-7.63050735e-02 2.10015525e-03 9.97082306e-01 -2.19137404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.02, Y:-152.86, Z:-21.92 [[ 8.66301803e-01 4.95263413e-01 6.50794730e-02 3.46018498e+02] [-4.93660037e-01 8.68739450e-01 -3.98940675e-02 -1.52861089e+02] [-7.62951776e-02 2.43316752e-03 9.97082306e-01 -2.19191878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.07, Y:-152.89, Z:-21.92 [[ 8.67008996e-01 4.94025262e-01 6.50725957e-02 3.46072860e+02] [-4.92417564e-01 8.69443794e-01 -3.99052823e-02 -1.52893000e+02] [-7.62911820e-02 2.55534965e-03 9.97082306e-01 -2.19238732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:-152.92, Z:-21.93 [[ 8.69724091e-01 4.89231001e-01 6.50617619e-02 3.46128315e+02] [-4.87608567e-01 8.72149095e-01 -3.99229379e-02 -1.52921346e+02] [-7.62750957e-02 2.99726835e-03 9.97082307e-01 -2.19281059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.18, Y:-152.95, Z:-21.93 [[ 8.71285622e-01 4.86445921e-01 6.50517582e-02 3.46184103e+02] [-4.84814523e-01 8.73704604e-01 -3.99392316e-02 -1.52951243e+02] [-7.62642970e-02 3.26044107e-03 9.97082307e-01 -2.19313643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.24, Y:-152.98, Z:-21.94 [[ 8.71903336e-01 4.85339346e-01 6.50407009e-02 3.46240853e+02] [-4.83703540e-01 8.74319338e-01 -3.99572303e-02 -1.52978924e+02] [-7.62591586e-02 3.37842512e-03 9.97082307e-01 -2.19358119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.30, Y:-153.01, Z:-21.94 [[ 8.70526075e-01 4.87806808e-01 6.50297721e-02 3.46297887e+02] [-4.86176525e-01 8.72945809e-01 -3.99750089e-02 -1.53005278e+02] [-7.62675485e-02 3.18333895e-03 9.97082307e-01 -2.19395357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.36, Y:-153.03, Z:-21.95 [[ 8.67923993e-01 4.92423142e-01 6.50183898e-02 3.46355741e+02] [-4.90804350e-01 8.70351429e-01 -3.99935134e-02 -1.53029043e+02] [-7.62825800e-02 2.80002135e-03 9.97082307e-01 -2.19457580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.41, Y:-153.06, Z:-21.95 [[ 8.66612408e-01 4.94729129e-01 6.50078757e-02 3.46411411e+02] [-4.93115517e-01 8.69043289e-01 -4.00105963e-02 -1.53057997e+02] [-7.62890656e-02 2.61728693e-03 9.97082308e-01 -2.19494378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.47, Y:-153.09, Z:-21.95 [[ 8.65702959e-01 4.96320288e-01 6.49966055e-02 3.46465630e+02] [-4.94709773e-01 8.68135893e-01 -4.00288963e-02 -1.53089096e+02] [-7.62930395e-02 2.49867796e-03 9.97082308e-01 -2.19542334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.52, Y:-153.12, Z:-21.96 [[ 8.62727690e-01 5.01475654e-01 6.49853971e-02 3.46522300e+02] [-4.99878312e-01 8.65169292e-01 -4.00470845e-02 -1.53115930e+02] [-7.63060079e-02 2.06493810e-03 9.97082308e-01 -2.19585477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.58, Y:-153.14, Z:-21.96 [[ 8.59108879e-01 5.07651774e-01 6.49739264e-02 3.46578549e+02] [-5.06070582e-01 8.61560971e-01 -4.00656864e-02 -1.53142711e+02] [-7.63184159e-02 1.53939418e-03 9.97082308e-01 -2.19636997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.63, Y:-153.17, Z:-21.97 [[ 8.56776594e-01 5.11579549e-01 6.49633176e-02 3.46633535e+02] [-5.10008297e-01 8.59235067e-01 -4.00828804e-02 -1.53171542e+02] [-7.63243424e-02 1.21024278e-03 9.97082309e-01 -2.19694452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.69, Y:-153.20, Z:-21.97 [[ 8.56139093e-01 5.12646946e-01 6.49535387e-02 3.46686434e+02] [-5.11077557e-01 8.58598756e-01 -4.00987207e-02 -1.53202601e+02] [-7.63255142e-02 1.13378642e-03 9.97082309e-01 -2.19746482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.74, Y:-153.23, Z:-21.98 [[ 8.55139583e-01 5.14313791e-01 6.49431928e-02 3.46741565e+02] [-5.12747925e-01 8.57601490e-01 -4.01154697e-02 -1.53233458e+02] [-7.63273182e-02 1.00483875e-03 9.97082309e-01 -2.19785513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.80, Y:-153.26, Z:-21.98 [[ 8.54291625e-01 5.15722434e-01 6.49321947e-02 3.46796661e+02] [-5.14159275e-01 8.56755251e-01 -4.01332637e-02 -1.53264141e+02] [-7.63286233e-02 9.00020940e-04 9.97082309e-01 -2.19819473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:346.85, Y:-153.30, Z:-21.99 [[ 8.54276529e-01 5.15748871e-01 6.49208290e-02 3.46850379e+02] [-5.14184392e-01 8.56739317e-01 -4.01516409e-02 -1.53295535e+02] [-7.63283901e-02 9.19327402e-04 9.97082309e-01 -2.19851377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.90, Y:-153.33, Z:-21.99 [[ 8.54445863e-01 5.15469527e-01 6.49109701e-02 3.46904893e+02] [-5.13903033e-01 8.56907369e-01 -4.01675730e-02 -1.53327672e+02] [-7.63278484e-02 9.63072147e-04 9.97082310e-01 -2.19893972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:346.96, Y:-153.36, Z:-22.00 [[ 8.55053137e-01 5.14462990e-01 6.48996557e-02 3.46957063e+02] [-5.12892211e-01 8.57511911e-01 -4.01858456e-02 -1.53359102e+02] [-7.63263580e-02 1.07450540e-03 9.97082310e-01 -2.19958768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.01, Y:-153.39, Z:-22.00 [[ 8.55256719e-01 5.14125620e-01 6.48906134e-02 3.47009827e+02] [-5.12552765e-01 8.57714164e-01 -4.02004415e-02 -1.53392826e+02] [-7.63256752e-02 1.12183435e-03 9.97082310e-01 -2.19990654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.06, Y:-153.43, Z:-22.00 [[ 8.55276275e-01 5.14094517e-01 6.48792842e-02 3.47061989e+02] [-5.12520186e-01 8.57732775e-01 -4.02187173e-02 -1.53425001e+02] [-7.63253106e-02 1.14617195e-03 9.97082310e-01 -2.20024663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.11, Y:-153.46, Z:-22.01 [[ 8.54213658e-01 5.15859360e-01 6.48702327e-02 3.47114673e+02] [-5.14288996e-01 8.56672697e-01 -4.02333116e-02 -1.53457766e+02] [-7.63272875e-02 1.00579744e-03 9.97082310e-01 -2.20081897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.17, Y:-153.49, Z:-22.01 [[ 8.52494980e-01 5.18695958e-01 6.48599394e-02 3.47167479e+02] [-5.17132515e-01 8.54958424e-01 -4.02498985e-02 -1.53490789e+02] [-7.63300113e-02 7.71652857e-04 9.97082311e-01 -2.20129558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.22, Y:-153.52, Z:-22.02 [[ 8.48761315e-01 5.24784468e-01 6.48497678e-02 3.47221355e+02] [-5.23237446e-01 8.51235104e-01 -4.02662802e-02 -1.53522943e+02] [-7.63335172e-02 2.44634108e-04 9.97082311e-01 -2.20186658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.27, Y:-153.56, Z:-22.02 [[ 8.44703557e-01 5.31292571e-01 6.48390686e-02 3.47273857e+02] [-5.29763286e-01 8.47188350e-01 -4.02835012e-02 -1.53555645e+02] [-7.63332285e-02 -3.21741268e-04 9.97082311e-01 -2.20237396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.33, Y:-153.59, Z:-22.03 [[ 8.41293560e-01 5.36677114e-01 6.48291680e-02 3.47325951e+02] [-5.35162504e-01 8.43787325e-01 -4.02994282e-02 -1.53590880e+02] [-7.63298111e-02 -7.90490474e-04 9.97082311e-01 -2.20258168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.38, Y:-153.63, Z:-22.03 [[ 8.38831075e-01 5.40519255e-01 6.48179221e-02 3.47378240e+02] [-5.39014669e-01 8.41330901e-01 -4.03175082e-02 -1.53625689e+02] [-7.63257103e-02 -1.11823208e-03 9.97082311e-01 -2.20302354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.43, Y:-153.66, Z:-22.04 [[ 8.37481332e-01 5.42609535e-01 6.48067252e-02 3.47429496e+02] [-5.41109797e-01 8.39984068e-01 -4.03354982e-02 -1.53661204e+02] [-7.63230426e-02 -1.28732712e-03 9.97082312e-01 -2.20350632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.48, Y:-153.70, Z:-22.04 [[ 8.37195546e-01 5.43051745e-01 6.47952190e-02 3.47481817e+02] [-5.41551899e-01 8.39698218e-01 -4.03539734e-02 -1.53695853e+02] [-7.63227256e-02 -1.30580710e-03 9.97082312e-01 -2.20395492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.53, Y:-153.73, Z:-22.04 [[ 8.36632941e-01 5.43919490e-01 6.47835592e-02 3.47530644e+02] [-5.42420792e-01 8.39136301e-01 -4.03726832e-02 -1.53733368e+02] [-7.63217255e-02 -1.36283279e-03 9.97082312e-01 -2.20445872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.58, Y:-153.77, Z:-22.05 [[ 8.36059976e-01 5.44800894e-01 6.47742502e-02 3.47582053e+02] [-5.43303678e-01 8.38564222e-01 -4.03876132e-02 -1.53768930e+02] [-7.63205764e-02 -1.42562148e-03 9.97082312e-01 -2.20499685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:-153.81, Z:-22.06 [[ 8.34723725e-01 5.46847409e-01 6.47627632e-02 3.47632374e+02] [-5.45354905e-01 8.37230781e-01 -4.04060246e-02 -1.53806802e+02] [-7.63173086e-02 -1.59082324e-03 9.97082312e-01 -2.20550853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.68, Y:-153.85, Z:-22.06 [[ 8.33376678e-01 5.48899452e-01 6.47511001e-02 3.47680373e+02] [-5.47411670e-01 8.35886539e-01 -4.04247061e-02 -1.53845092e+02] [-7.63136720e-02 -1.75650055e-03 9.97082313e-01 -2.20608825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.73, Y:-153.88, Z:-22.07 [[ 8.32892786e-01 5.49634091e-01 6.47454518e-02 3.47732032e+02] [-5.48147820e-01 8.35403543e-01 -4.04337506e-02 -1.53880137e+02] [-7.63123476e-02 -1.81309905e-03 9.97082313e-01 -2.20657779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.78, Y:-153.92, Z:-22.07 [[ 8.32106553e-01 5.50825027e-01 6.47338762e-02 3.47780276e+02] [-5.49340909e-01 8.34618583e-01 -4.04522746e-02 -1.53919883e+02] [-7.63102212e-02 -1.90036366e-03 9.97082313e-01 -2.20708756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.83, Y:-153.96, Z:-22.08 [[ 8.31886996e-01 5.51157814e-01 6.47231820e-02 3.47829951e+02] [-5.49673372e-01 8.34398833e-01 -4.04693780e-02 -1.53957909e+02] [-7.63099615e-02 -1.91066045e-03 9.97082313e-01 -2.20757616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.88, Y:-154.00, Z:-22.08 [[ 8.32215427e-01 5.50662943e-01 6.47132672e-02 3.47877631e+02] [-5.49175776e-01 8.34725652e-01 -4.04852262e-02 -1.53998928e+02] [-7.63115380e-02 -1.84652891e-03 9.97082313e-01 -2.20804286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.93, Y:-154.04, Z:-22.08 [[ 8.32854399e-01 5.49697280e-01 6.47027870e-02 3.47927532e+02] [-5.48205902e-01 8.35362125e-01 -4.05019687e-02 -1.54037265e+02] [-7.63140796e-02 -1.73820693e-03 9.97082314e-01 -2.20830841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:347.98, Y:-154.08, Z:-22.09 [[ 8.34358420e-01 5.47413081e-01 6.46911572e-02 3.47975823e+02] [-5.45913398e-01 8.36861188e-01 -4.05205356e-02 -1.54078138e+02] [-7.63189899e-02 -1.50711942e-03 9.97082314e-01 -2.20876430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.02, Y:-154.12, Z:-22.09 [[ 8.36228660e-01 5.44553187e-01 6.46796267e-02 3.48022935e+02] [-5.43043522e-01 8.38725419e-01 -4.05389325e-02 -1.54120172e+02] [-7.63240519e-02 -1.22403514e-03 9.97082314e-01 -2.20927566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.07, Y:-154.16, Z:-22.10 [[ 8.37459681e-01 5.42659307e-01 6.46696148e-02 3.48072680e+02] [-5.41142762e-01 8.39952267e-01 -4.05548977e-02 -1.54159137e+02] [-7.63268822e-02 -1.03240234e-03 9.97082314e-01 -2.20980524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:-154.20, Z:-22.10 [[ 8.37925041e-01 5.41941837e-01 6.46581114e-02 3.48122889e+02] [-5.40421744e-01 8.40415464e-01 -4.05732297e-02 -1.54197686e+02] [-7.63280073e-02 -9.45324226e-04 9.97082314e-01 -2.21024739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.17, Y:-154.24, Z:-22.11 [[ 8.37659039e-01 5.42354283e-01 6.46464743e-02 3.48170731e+02] [-5.40833986e-01 8.40149337e-01 -4.05917631e-02 -1.54238858e+02] [-7.63278090e-02 -9.60953139e-04 9.97082315e-01 -2.21063831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.22, Y:-154.28, Z:-22.11 [[ 8.36952997e-01 5.43444625e-01 6.46345079e-02 3.48219835e+02] [-5.41926102e-01 8.39444377e-01 -4.06108082e-02 -1.54277564e+02] [-7.63267997e-02 -1.03778931e-03 9.97082315e-01 -2.21131323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.27, Y:-154.32, Z:-22.12 [[ 8.35634351e-01 5.45470541e-01 6.46306553e-02 3.48267091e+02] [-5.43957583e-01 8.38129114e-01 -4.06169386e-02 -1.54316582e+02] [-7.63241774e-02 -1.21542595e-03 9.97082315e-01 -2.21169043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.31, Y:-154.36, Z:-22.12 [[ 8.33884673e-01 5.48142794e-01 6.46206527e-02 3.48314373e+02] [-5.46636599e-01 8.36383525e-01 -4.06328463e-02 -1.54356559e+02] [-7.63202512e-02 -1.44090602e-03 9.97082315e-01 -2.21209870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.36, Y:-154.40, Z:-22.12 [[ 8.31828236e-01 5.51259164e-01 6.46151710e-02 3.48362479e+02] [-5.49761652e-01 8.34332301e-01 -4.06415616e-02 -1.54395999e+02] [-7.63145576e-02 -1.71614469e-03 9.97082315e-01 -2.21248067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.41, Y:-154.43, Z:-22.13 [[ 8.30671992e-01 5.53001107e-01 6.46050840e-02 3.48413036e+02] [-5.51507601e-01 8.33178448e-01 -4.06575899e-02 -1.54433148e+02] [-7.63112559e-02 -1.85707374e-03 9.97082315e-01 -2.21298356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.46, Y:-154.47, Z:-22.14 [[ 8.29962192e-01 5.54067184e-01 6.45934573e-02 3.48460822e+02] [-5.52575462e-01 8.32469710e-01 -4.06760531e-02 -1.54472090e+02] [-7.63093629e-02 -1.93317334e-03 9.97082316e-01 -2.21352917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.51, Y:-154.51, Z:-22.14 [[ 8.30430840e-01 5.53365786e-01 6.45827184e-02 3.48511113e+02] [-5.51870621e-01 8.32936306e-01 -4.06930965e-02 -1.54509456e+02] [-7.63114582e-02 -1.84850263e-03 9.97082316e-01 -2.21407064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.56, Y:-154.55, Z:-22.15 [[ 8.32118263e-01 5.50826407e-01 6.45713996e-02 3.48560384e+02] [-5.49322202e-01 8.34618313e-01 -4.07110493e-02 -1.54548728e+02] [-7.63171935e-02 -1.59409581e-03 9.97082316e-01 -2.21457902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.61, Y:-154.59, Z:-22.15 [[ 8.34529288e-01 5.47168085e-01 6.45596938e-02 3.48610376e+02] [-5.45651485e-01 8.37021837e-01 -4.07296038e-02 -1.54585830e+02] [-7.63238129e-02 -1.23704556e-03 9.97082316e-01 -2.21520783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.66, Y:-154.62, Z:-22.16 [[ 8.35289944e-01 5.46007465e-01 6.45488733e-02 3.48664145e+02] [-5.44486077e-01 8.37779574e-01 -4.07467451e-02 -1.54618579e+02] [-7.63257546e-02 -1.11061640e-03 9.97082316e-01 -2.21565222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:348.72, Y:-154.65, Z:-22.17 [[ 8.35611717e-01 5.45516250e-01 6.45374238e-02 3.48716532e+02] [-5.43991999e-01 8.38099594e-01 -4.07648716e-02 -1.54650614e+02] [-7.63266886e-02 -1.04423783e-03 9.97082317e-01 -2.21664467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.77, Y:-154.68, Z:-22.17 [[ 8.36478884e-01 5.44186111e-01 6.45333500e-02 3.48771317e+02] [-5.42657406e-01 8.38964027e-01 -4.07713196e-02 -1.54679714e+02] [-7.63283451e-02 -9.15152378e-04 9.97082317e-01 -2.21675382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.82, Y:-154.71, Z:-22.17 [[ 8.36665258e-01 5.43900898e-01 6.45217715e-02 3.48824339e+02] [-5.42369934e-01 8.39149010e-01 -4.07896348e-02 -1.54713604e+02] [-7.63288997e-02 -8.67398625e-04 9.97082317e-01 -2.21710800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.88, Y:-154.75, Z:-22.18 [[ 8.37622570e-01 5.42426820e-01 6.45102707e-02 3.48877633e+02] [-5.40890084e-01 8.40102755e-01 -4.08078156e-02 -1.54746217e+02] [-7.63305098e-02 -7.11418308e-04 9.97082317e-01 -2.21762653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.93, Y:-154.78, Z:-22.18 [[ 8.40457729e-01 5.38024822e-01 6.44988068e-02 3.48931032e+02] [-5.36473706e-01 8.42928945e-01 -4.08259269e-02 -1.54778718e+02] [-7.63332733e-02 -2.89448128e-04 9.97082317e-01 -2.21808967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.98, Y:-154.81, Z:-22.18 [[ 8.42502003e-01 5.34819376e-01 6.44872860e-02 3.48983736e+02] [-5.33257464e-01 8.44966410e-01 -4.08441167e-02 -1.54812748e+02] [-7.63338156e-02 2.29235172e-05 9.97082318e-01 -2.21837027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.04, Y:-154.85, Z:-22.19 [[ 8.44113721e-01 5.32273332e-01 6.44757727e-02 3.49037019e+02] [-5.30702600e-01 8.46572516e-01 -4.08622834e-02 -1.54846690e+02] [-7.63333208e-02 2.74953878e-04 9.97082318e-01 -2.21875631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.09, Y:-154.88, Z:-22.19 [[ 8.44117012e-01 5.32269518e-01 6.44641822e-02 3.49089488e+02] [-5.30697379e-01 8.46574906e-01 -4.08805604e-02 -1.54878737e+02] [-7.63332352e-02 2.97004000e-04 9.97082318e-01 -2.21947743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.14, Y:-154.91, Z:-22.20 [[ 8.43657991e-01 5.32997997e-01 6.44540949e-02 3.49142155e+02] [-5.31426765e-01 8.46116466e-01 -4.08964582e-02 -1.54911722e+02] [-7.63334013e-02 2.49992634e-04 9.97082318e-01 -2.22015526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.19, Y:-154.95, Z:-22.21 [[ 8.42864298e-01 5.34253432e-01 6.44441220e-02 3.49194886e+02] [-5.32684661e-01 8.45324344e-01 -4.09121674e-02 -1.54945414e+02] [-7.63336510e-02 1.55009918e-04 9.97082318e-01 -2.22068298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.25, Y:-154.98, Z:-22.21 [[ 8.41353209e-01 5.36631335e-01 6.44328253e-02 3.49248284e+02] [-5.35068155e-01 8.43816810e-01 -4.09299510e-02 -1.54978570e+02] [-7.63337953e-02 -3.94073551e-05 9.97082319e-01 -2.22111472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.30, Y:-155.01, Z:-22.22 [[ 8.39864314e-01 5.38959928e-01 6.44214978e-02 3.49300876e+02] [-5.37402212e-01 8.42331374e-01 -4.09477721e-02 -1.55012356e+02] [-7.63334570e-02 -2.29682916e-04 9.97082319e-01 -2.22152234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.35, Y:-155.05, Z:-22.22 [[ 8.39483992e-01 5.39553508e-01 6.44099299e-02 3.49353628e+02] [-5.37996140e-01 8.41951272e-01 -4.09659600e-02 -1.55046345e+02] [-7.63333499e-02 -2.62025994e-04 9.97082319e-01 -2.22200071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.41, Y:-155.08, Z:-22.22 [[ 8.38279958e-01 5.41423626e-01 6.43985229e-02 3.49406476e+02] [-5.39870386e-01 8.40749837e-01 -4.09838841e-02 -1.55080989e+02] [-7.63326908e-02 -4.10886722e-04 9.97082319e-01 -2.22248415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.46, Y:-155.11, Z:-22.23 [[ 8.37295330e-01 5.42946473e-01 6.43867840e-02 3.49458095e+02] [-5.41396307e-01 8.39767140e-01 -4.10023179e-02 -1.55114506e+02] [-7.63319694e-02 -5.27717764e-04 9.97082320e-01 -2.22295634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.51, Y:-155.15, Z:-22.23 [[ 8.36299031e-01 5.44481101e-01 6.43759419e-02 3.49511137e+02] [-5.42934160e-01 8.38772861e-01 -4.10193336e-02 -1.55147896e+02] [-7.63310449e-02 -6.47469068e-04 9.97082320e-01 -2.22346582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.56, Y:-155.18, Z:-22.24 [[ 8.35173563e-01 5.46207244e-01 6.43643297e-02 3.49562816e+02] [-5.44664012e-01 8.37649708e-01 -4.10375466e-02 -1.55180456e+02] [-7.63297672e-02 -7.83460026e-04 9.97082320e-01 -2.22408763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.62, Y:-155.21, Z:-22.25 [[ 8.34777531e-01 5.46813407e-01 6.43550412e-02 3.49615346e+02] [-5.45270851e-01 8.37254097e-01 -4.10521077e-02 -1.55214621e+02] [-7.63293647e-02 -8.21550963e-04 9.97082320e-01 -2.22459234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:349.67, Y:-155.25, Z:-22.25 [[ 8.34960019e-01 5.46536071e-01 6.43435213e-02 3.49667638e+02] [-5.44991302e-01 8.37435205e-01 -4.10701556e-02 -1.55248694e+02] [-7.63298514e-02 -7.74721546e-04 9.97082320e-01 -2.22515655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.72, Y:-155.28, Z:-22.26 [[ 8.35590618e-01 5.45572829e-01 6.43320145e-02 3.49720620e+02] [-5.44023819e-01 8.38063152e-01 -4.10881718e-02 -1.55282435e+02] [-7.63308810e-02 -6.65257383e-04 9.97082321e-01 -2.22567457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters Centerline goodness : 0.997720 with order 1 Centerline is valid? [True, True] Translation: X:349.77, Y:-155.32, Z:-22.27 [[ 8.36354675e-01 5.44402204e-01 6.43202778e-02 3.49772056e+02] [-5.42848322e-01 8.38824149e-01 -4.11065365e-02 -1.55316131e+02] [-7.63318914e-02 -5.36510881e-04 9.97082321e-01 -2.22677870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.82, Y:-155.35, Z:-22.27 [[ 8.37959980e-01 5.41929503e-01 6.43077352e-02 3.49822235e+02] [-5.40366828e-01 8.40423899e-01 -4.11261490e-02 -1.55350944e+02] [-7.63332311e-02 -2.87699893e-04 9.97082321e-01 -2.22676538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.87, Y:-155.38, Z:-22.27 [[ 8.39869313e-01 5.38967115e-01 6.42960793e-02 3.49873519e+02] [-5.37394354e-01 8.42326807e-01 -4.11443638e-02 -1.55384973e+02] [-7.63337702e-02 3.53859246e-06 9.97082321e-01 -2.22718891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.93, Y:-155.42, Z:-22.27 [[ 8.41708892e-01 5.36090989e-01 6.42852368e-02 3.49925433e+02] [-5.34508538e-01 8.44160157e-01 -4.11612975e-02 -1.55418355e+02] [-7.63332363e-02 2.84822189e-04 9.97082322e-01 -2.22738248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:349.98, Y:-155.45, Z:-22.28 [[ 8.42356767e-01 5.35073615e-01 6.42752149e-02 3.49977954e+02] [-5.33487010e-01 8.44805344e-01 -4.11769413e-02 -1.55451835e+02] [-7.63327398e-02 3.95682936e-04 9.97082322e-01 -2.22779700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.03, Y:-155.49, Z:-22.28 [[ 8.44224547e-01 5.32123106e-01 6.42644068e-02 3.50030450e+02] [-5.30526660e-01 8.46666720e-01 -4.11938024e-02 -1.55485825e+02] [-7.63307086e-02 6.82838082e-04 9.97082322e-01 -2.22825644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.08, Y:-155.52, Z:-22.29 [[ 8.45612452e-01 5.29916173e-01 6.42528598e-02 3.50083463e+02] [-5.28311986e-01 8.48049546e-01 -4.12118052e-02 -1.55518849e+02] [-7.63284107e-02 9.03659682e-04 9.97082322e-01 -2.22886882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.14, Y:-155.55, Z:-22.29 [[ 8.46069519e-01 5.29187507e-01 6.42413566e-02 3.50136778e+02] [-5.27579860e-01 8.48504332e-01 -4.12297287e-02 -1.55551952e+02] [-7.63273267e-02 9.90770814e-04 9.97082322e-01 -2.22934687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.19, Y:-155.58, Z:-22.30 [[ 8.46022876e-01 5.29263497e-01 6.42296216e-02 3.50188801e+02] [-5.27654681e-01 8.48456917e-01 -4.12480021e-02 -1.55583447e+02] [-7.63271285e-02 1.00569291e-03 9.97082323e-01 -2.22993782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.24, Y:-155.62, Z:-22.30 [[ 8.45560464e-01 5.30003076e-01 6.42202539e-02 3.50241736e+02] [-5.28395282e-01 8.47995180e-01 -4.12625817e-02 -1.55616328e+02] [-7.63277610e-02 9.56328558e-04 9.97082323e-01 -2.23045165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:350.29, Y:-155.65, Z:-22.31 [[ 8.44107123e-01 5.32315891e-01 6.42102538e-02 3.50293434e+02] [-5.30713586e-01 8.46545454e-01 -4.12781375e-02 -1.55649706e+02] [-7.63299070e-02 7.65915873e-04 9.97082323e-01 -2.23127115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.35, Y:-155.68, Z:-22.31 [[ 8.43062842e-01 5.33969709e-01 6.41980799e-02 3.50346449e+02] [-5.32370746e-01 8.45503366e-01 -4.12970623e-02 -1.55680733e+02] [-7.63310730e-02 6.38839024e-04 9.97082323e-01 -2.23118395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.40, Y:-155.71, Z:-22.32 [[ 8.41925666e-01 5.35762291e-01 6.41867672e-02 3.50400037e+02] [-5.34167184e-01 8.44368711e-01 -4.13146379e-02 -1.55713724e+02] [-7.63321229e-02 4.97389344e-04 9.97082323e-01 -2.23159599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.45, Y:-155.75, Z:-22.32 [[ 8.40458071e-01 5.38062994e-01 6.41751057e-02 3.50452676e+02] [-5.36473193e-01 8.42904572e-01 -4.13327441e-02 -1.55746504e+02] [-7.63331101e-02 3.10214608e-04 9.97082324e-01 -2.23211114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.51, Y:-155.78, Z:-22.33 [[ 8.38378523e-01 5.41298799e-01 6.41643354e-02 3.50505622e+02] [-5.39717161e-01 8.40830309e-01 -4.13494571e-02 -1.55778507e+02] [-7.63337294e-02 3.59038226e-05 9.97082324e-01 -2.23263515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.56, Y:-155.81, Z:-22.33 [[ 8.36537899e-01 5.44140267e-01 6.41538321e-02 3.50559597e+02] [-5.42565707e-01 8.38994236e-01 -4.13657466e-02 -1.55811200e+02] [-7.63334637e-02 -2.03654583e-04 9.97082324e-01 -2.23293058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.61, Y:-155.84, Z:-22.34 [[ 8.33623838e-01 5.48595574e-01 6.41419737e-02 3.50613380e+02] [-5.47032728e-01 8.36087644e-01 -4.13841262e-02 -1.55843563e+02] [-7.63314601e-02 -5.88964739e-04 9.97082324e-01 -2.23353539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.67, Y:-155.88, Z:-22.34 [[ 8.31739507e-01 5.51449641e-01 6.41302294e-02 3.50666183e+02] [-5.49893845e-01 8.34207772e-01 -4.14023175e-02 -1.55876487e+02] [-7.63292289e-02 -8.28875324e-04 9.97082324e-01 -2.23415436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.72, Y:-155.91, Z:-22.35 [[ 8.32395607e-01 5.50459972e-01 6.41199952e-02 3.50719056e+02] [-5.48900022e-01 8.34861247e-01 -4.14181612e-02 -1.55908219e+02] [-7.63303390e-02 -7.19171319e-04 9.97082325e-01 -2.23510114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.77, Y:-155.94, Z:-22.35 [[ 8.30956066e-01 5.52631925e-01 6.41090714e-02 3.50769738e+02] [-5.51077115e-01 8.33424951e-01 -4.14350628e-02 -1.55942970e+02] [-7.63284382e-02 -8.98325376e-04 9.97082325e-01 -2.23527736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.82, Y:-155.98, Z:-22.36 [[ 8.31072656e-01 5.52457753e-01 6.40989260e-02 3.50822091e+02] [-5.50901216e-01 8.33540452e-01 -4.14507515e-02 -1.55978000e+02] [-7.63288368e-02 -8.63590116e-04 9.97082325e-01 -2.23570061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.87, Y:-156.01, Z:-22.36 [[ 8.32478124e-01 5.50338971e-01 6.40873631e-02 3.50872987e+02] [-5.48774778e-01 8.34941074e-01 -4.14686214e-02 -1.56013765e+02] [-7.63309702e-02 -6.47808287e-04 9.97082325e-01 -2.23618222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.92, Y:-156.05, Z:-22.37 [[ 8.33835075e-01 5.48281670e-01 6.40802424e-02 3.50924640e+02] [-5.46710554e-01 8.36293615e-01 -4.14796218e-02 -1.56048753e+02] [-7.63324139e-02 -4.46181277e-04 9.97082325e-01 -2.23656908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:350.97, Y:-156.09, Z:-22.37 [[ 8.35910498e-01 5.45113612e-01 6.40686280e-02 3.50974735e+02] [-5.43531804e-01 8.38362172e-01 -4.14975535e-02 -1.56085052e+02] [-7.63335954e-02 -1.35096337e-04 9.97082326e-01 -2.23702832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.03, Y:-156.12, Z:-22.37 [[ 8.36406313e-01 5.44353805e-01 6.40579024e-02 3.51026328e+02] [-5.42768502e-01 8.38855728e-01 -4.15141035e-02 -1.56120151e+02] [-7.63336986e-02 -4.59534956e-05 9.97082326e-01 -2.23746112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:-156.16, Z:-22.38 [[ 8.38220306e-01 5.41557701e-01 6.40466612e-02 3.51076836e+02] [-5.39962903e-01 8.40663549e-01 -4.15314389e-02 -1.56157130e+02] [-7.63333641e-02 2.29674289e-04 9.97082326e-01 -2.23770377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.13, Y:-156.19, Z:-22.38 [[ 8.39899581e-01 5.38950825e-01 6.40367204e-02 3.51128314e+02] [-5.37347275e-01 8.42337090e-01 -4.15467608e-02 -1.56193237e+02] [-7.63321657e-02 4.85149757e-04 9.97082326e-01 -2.23816823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.18, Y:-156.23, Z:-22.39 [[ 8.40640095e-01 5.37796424e-01 6.40252827e-02 3.51179998e+02] [-5.36188184e-01 8.43074512e-01 -4.15643794e-02 -1.56228290e+02] [-7.63312586e-02 6.11083826e-04 9.97082326e-01 -2.23863638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.23, Y:-156.26, Z:-22.39 [[ 8.40466142e-01 5.38068664e-01 6.40216924e-02 3.51232433e+02] [-5.36460792e-01 8.42900801e-01 -4.15699087e-02 -1.56262871e+02] [-7.63314011e-02 5.92972942e-04 9.97082326e-01 -2.23920360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.28, Y:-156.30, Z:-22.40 [[ 8.39614844e-01 5.39397438e-01 6.40102986e-02 3.51284298e+02] [-5.37792082e-01 8.42051163e-01 -4.15874459e-02 -1.56296771e+02] [-7.63321081e-02 4.93205169e-04 9.97082327e-01 -2.23983029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.34, Y:-156.33, Z:-22.40 [[ 8.37937209e-01 5.42001081e-01 6.40004892e-02 3.51336443e+02] [-5.40402143e-01 8.40377744e-01 -4.16025364e-02 -1.56330236e+02] [-7.63332065e-02 2.74311742e-04 9.97082327e-01 -2.24036081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.39, Y:-156.36, Z:-22.41 [[ 8.36387901e-01 5.44390066e-01 6.39901154e-02 3.51388959e+02] [-5.42796878e-01 8.38832194e-01 -4.16184866e-02 -1.56364400e+02] [-7.63336596e-02 7.55637910e-05 9.97082327e-01 -2.24068142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.44, Y:-156.40, Z:-22.41 [[ 8.33731868e-01 5.48450434e-01 6.39788552e-02 3.51441225e+02] [-5.46867822e-01 8.36183022e-01 -4.16357895e-02 -1.56396443e+02] [-7.63331993e-02 -2.74892663e-04 9.97082327e-01 -2.24111182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.49, Y:-156.43, Z:-22.41 [[ 8.31358648e-01 5.52041832e-01 6.39735446e-02 3.51494131e+02] [-5.50469181e-01 8.33816204e-01 -4.16439476e-02 -1.56429937e+02] [-7.63313793e-02 -5.94408676e-04 9.97082327e-01 -2.24147956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.55, Y:-156.46, Z:-22.42 [[ 8.29678224e-01 5.54565533e-01 6.39618146e-02 3.51547049e+02] [-5.52998969e-01 8.32139665e-01 -4.16619562e-02 -1.56464117e+02] [-7.63294479e-02 -8.04799688e-04 9.97082327e-01 -2.24197313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.60, Y:-156.50, Z:-22.43 [[ 8.29433588e-01 5.54932712e-01 6.39500422e-02 3.51600178e+02] [-5.53365845e-01 8.31894836e-01 -4.16800188e-02 -1.56497728e+02] [-7.63293157e-02 -8.16961603e-04 9.97082328e-01 -2.24252352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.65, Y:-156.53, Z:-22.43 [[ 8.29425632e-01 5.54945963e-01 6.39382430e-02 3.51651502e+02] [-5.53377741e-01 8.31886016e-01 -4.16981113e-02 -1.56531428e+02] [-7.63295287e-02 -7.96518158e-04 9.97082328e-01 -2.24306294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.70, Y:-156.57, Z:-22.43 [[ 8.30759305e-01 5.52948707e-01 6.39273393e-02 3.51703222e+02] [-5.51373284e-01 8.33215084e-01 -4.17148210e-02 -1.56566919e+02] [-7.63313797e-02 -5.92851266e-04 9.97082328e-01 -2.24344461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.76, Y:-156.60, Z:-22.44 [[ 8.32558377e-01 5.50237517e-01 6.39157545e-02 3.51755353e+02] [-5.48652734e-01 8.35008126e-01 -4.17325637e-02 -1.56602648e+02] [-7.63329967e-02 -3.22757925e-04 9.97082328e-01 -2.24389751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.81, Y:-156.64, Z:-22.44 [[ 8.34796606e-01 5.46837178e-01 6.39040537e-02 3.51806112e+02] [-5.45241045e-01 8.37238975e-01 -4.17504732e-02 -1.56637757e+02] [-7.63336754e-02 1.00402884e-05 9.97082329e-01 -2.24446118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.86, Y:-156.67, Z:-22.45 [[ 8.37977299e-01 5.41951756e-01 6.38931965e-02 3.51857849e+02] [-5.40340118e-01 8.40409464e-01 -4.17670820e-02 -1.56672114e+02] [-7.63321905e-02 4.75809216e-04 9.97082329e-01 -2.24499505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.91, Y:-156.71, Z:-22.46 [[ 8.38976833e-01 5.40404328e-01 6.38829844e-02 3.51910678e+02] [-5.38787015e-01 8.41405229e-01 -4.17826958e-02 -1.56705807e+02] [-7.63310267e-02 6.35391352e-04 9.97082329e-01 -2.24552822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:351.96, Y:-156.74, Z:-22.46 [[ 8.40336836e-01 5.38288455e-01 6.38712880e-02 3.51963286e+02] [-5.36663670e-01 8.42760237e-01 -4.18005679e-02 -1.56739338e+02] [-7.63289450e-02 8.49157114e-04 9.97082329e-01 -2.24598096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.02, Y:-156.77, Z:-22.46 [[ 8.40964308e-01 5.37308848e-01 6.38610631e-02 3.52015241e+02] [-5.35680054e-01 8.43385017e-01 -4.18161832e-02 -1.56772523e+02] [-7.63276690e-02 9.56819764e-04 9.97082329e-01 -2.24647025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.07, Y:-156.81, Z:-22.47 [[ 8.42370459e-01 5.35102939e-01 6.38502460e-02 3.52068965e+02] [-5.33466555e-01 8.44786044e-01 -4.18326936e-02 -1.56805612e+02] [-7.63245941e-02 1.17665455e-03 9.97082330e-01 -2.24683864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.12, Y:-156.84, Z:-22.47 [[ 8.42904136e-01 5.34263269e-01 6.38386773e-02 3.52122508e+02] [-5.32623143e-01 8.45317181e-01 -4.18503407e-02 -1.56839298e+02] [-7.63230305e-02 1.27386831e-03 9.97082330e-01 -2.24717754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.18, Y:-156.87, Z:-22.48 [[ 8.42464636e-01 5.34957427e-01 6.38270143e-02 3.52176964e+02] [-5.33317943e-01 8.44878117e-01 -4.18681207e-02 -1.56870952e+02] [-7.63237098e-02 1.23231908e-03 9.97082330e-01 -2.24756252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.23, Y:-156.90, Z:-22.48 [[ 8.41305533e-01 5.36779876e-01 6.38150844e-02 3.52230205e+02] [-5.35144242e-01 8.43721624e-01 -4.18862962e-02 -1.56903276e+02] [-7.63258876e-02 1.08889781e-03 9.97082330e-01 -2.24803788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.28, Y:-156.93, Z:-22.49 [[ 8.38536574e-01 5.41096624e-01 6.38032704e-02 3.52284077e+02] [-5.39472060e-01 8.40960122e-01 -4.19042843e-02 -1.56934034e+02] [-7.63302728e-02 7.18193291e-04 9.97082330e-01 -2.24868442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.34, Y:-156.97, Z:-22.49 [[ 8.35842646e-01 5.45249958e-01 6.37930609e-02 3.52338348e+02] [-5.43636251e-01 8.38273437e-01 -4.19198209e-02 -1.56966122e+02] [-7.63328090e-02 3.58153565e-04 9.97082331e-01 -2.24928998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.39, Y:-157.00, Z:-22.50 [[ 8.31755992e-01 5.51465238e-01 6.37813602e-02 3.52392503e+02] [-5.49868330e-01 8.34197852e-01 -4.19376161e-02 -1.56997268e+02] [-7.63334111e-02 -1.89486567e-04 9.97082331e-01 -2.24986079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.45, Y:-157.03, Z:-22.50 [[ 8.29382349e-01 5.55030027e-01 6.37698109e-02 3.52445976e+02] [-5.53442265e-01 8.31830165e-01 -4.19551706e-02 -1.57030640e+02] [-7.63320318e-02 -4.96030597e-04 9.97082331e-01 -2.25027206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.50, Y:-157.06, Z:-22.51 [[ 8.27371787e-01 5.58024011e-01 6.37583739e-02 3.52499564e+02] [-5.56443767e-01 8.29824463e-01 -4.19725440e-02 -1.57063771e+02] [-7.63299457e-02 -7.51051095e-04 9.97082331e-01 -2.25058433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.55, Y:-157.10, Z:-22.51 [[ 8.26193054e-01 5.59769080e-01 6.37464876e-02 3.52551790e+02] [-5.58192625e-01 8.28648166e-01 -4.19905887e-02 -1.57096124e+02] [-7.63284433e-02 -8.90486612e-04 9.97082332e-01 -2.25108664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.60, Y:-157.13, Z:-22.52 [[ 8.25479471e-01 5.60822100e-01 6.37355024e-02 3.52604615e+02] [-5.59247490e-01 8.27935768e-01 -4.20072560e-02 -1.57129285e+02] [-7.63274997e-02 -9.67792243e-04 9.97082332e-01 -2.25159209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.66, Y:-157.16, Z:-22.52 [[ 8.27374188e-01 5.58024424e-01 6.37235873e-02 3.52656683e+02] [-5.56440116e-01 8.29824240e-01 -4.20253231e-02 -1.57164181e+02] [-7.63305341e-02 -6.87692762e-04 9.97082332e-01 -2.25218893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.71, Y:-157.20, Z:-22.53 [[ 8.28260847e-01 5.56708879e-01 6.37117945e-02 3.52708562e+02] [-5.55119305e-01 8.30707486e-01 -4.20431938e-02 -1.57199305e+02] [-7.63316839e-02 -5.44915801e-04 9.97082332e-01 -2.25270693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.76, Y:-157.24, Z:-22.53 [[ 8.31046858e-01 5.52542685e-01 6.37000934e-02 3.52759826e+02] [-5.50939486e-01 8.33484590e-01 -4.20609149e-02 -1.57235342e+02] [-7.63334970e-02 -1.40305569e-04 9.97082332e-01 -2.25304853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.81, Y:-157.27, Z:-22.53 [[ 8.36157762e-01 5.44778872e-01 6.36881337e-02 3.52810986e+02] [-5.43151660e-01 8.38579531e-01 -4.20790163e-02 -1.57271986e+02] [-7.63313243e-02 5.92380478e-04 9.97082333e-01 -2.25346120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.86, Y:-157.31, Z:-22.54 [[ 8.39772894e-01 5.39190886e-01 6.36763230e-02 3.52862125e+02] [-5.37546207e-01 8.42182835e-01 -4.20968814e-02 -1.57308510e+02] [-7.63253610e-02 1.12285402e-03 9.97082333e-01 -2.25390265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.91, Y:-157.35, Z:-22.54 [[ 8.45256165e-01 5.30555212e-01 6.36646069e-02 3.52912586e+02] [-5.28884586e-01 8.47648191e-01 -4.21145926e-02 -1.57345519e+02] [-7.63093055e-02 1.92638984e-03 9.97082333e-01 -2.25426781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.96, Y:-157.38, Z:-22.55 [[ 8.49805891e-01 5.23238235e-01 6.36529449e-02 3.52964358e+02] [-5.21545702e-01 8.52182467e-01 -4.21322116e-02 -1.57381200e+02] [-7.62891076e-02 2.60628175e-03 9.97082333e-01 -2.25472014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:353.02, Y:-157.42, Z:-22.55 [[ 8.52691015e-01 5.18524668e-01 6.36411948e-02 3.53016153e+02] [-5.16817681e-01 8.55057230e-01 -4.21499527e-02 -1.57416054e+02] [-7.62726540e-02 3.04999123e-03 9.97082334e-01 -2.25514811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.07, Y:-157.45, Z:-22.55 [[ 8.56247683e-01 5.12631619e-01 6.36296242e-02 3.53069624e+02] [-5.10907060e-01 8.58601121e-01 -4.21674125e-02 -1.57449508e+02] [-7.62488156e-02 3.59692503e-03 9.97082334e-01 -2.25548544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.12, Y:-157.48, Z:-22.56 [[ 8.57699613e-01 5.10200106e-01 6.36178073e-02 3.53123429e+02] [-5.08467559e-01 8.60047177e-01 -4.21852331e-02 -1.57481290e+02] [-7.62372260e-02 3.83466687e-03 9.97082334e-01 -2.25597987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.18, Y:-157.51, Z:-22.56 [[ 8.58083205e-01 5.09556159e-01 6.36060765e-02 3.53178908e+02] [-5.07820545e-01 8.60428502e-01 -4.22029132e-02 -1.57511281e+02] [-7.62332355e-02 3.91313855e-03 9.97082334e-01 -2.25638814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.23, Y:-157.54, Z:-22.57 [[ 8.57156540e-01 5.11114891e-01 6.35942969e-02 3.53233437e+02] [-5.09382231e-01 8.59504019e-01 -4.22206562e-02 -1.57542010e+02] [-7.62391598e-02 3.79590675e-03 9.97082334e-01 -2.25694510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.29, Y:-157.57, Z:-22.57 [[ 8.54307273e-01 5.15864645e-01 6.35826278e-02 3.53290762e+02] [-5.14143738e-01 8.56663382e-01 -4.22382220e-02 -1.57569619e+02] [-7.62581144e-02 3.39381039e-03 9.97082335e-01 -2.25732013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.35, Y:-157.60, Z:-22.58 [[ 8.51582932e-01 5.20351083e-01 6.35709104e-02 3.53347098e+02] [-5.18641278e-01 8.53947111e-01 -4.22558500e-02 -1.57599030e+02] [-7.62740726e-02 3.01386238e-03 9.97082335e-01 -2.25771005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.41, Y:-157.62, Z:-22.58 [[ 8.46650876e-01 5.28339429e-01 6.35589601e-02 3.53405215e+02] [-5.26650595e-01 8.49030079e-01 -4.22738174e-02 -1.57624388e+02] [-7.62983935e-02 2.31780040e-03 9.97082335e-01 -2.25813499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.46, Y:-157.65, Z:-22.59 [[ 8.43191494e-01 5.33844445e-01 6.35469310e-02 3.53462080e+02] [-5.32169787e-01 8.45580696e-01 -4.22918921e-02 -1.57652222e+02] [-7.63113499e-02 1.84240693e-03 9.97082335e-01 -2.25859444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.52, Y:-157.68, Z:-22.59 [[ 8.38493269e-01 5.41195299e-01 6.35349264e-02 3.53521223e+02] [-5.39540225e-01 8.40896079e-01 -4.23099190e-02 -1.57675945e+02] [-7.63241997e-02 1.19693382e-03 9.97082336e-01 -2.25917694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.58, Y:-157.70, Z:-22.60 [[ 8.35401970e-01 5.45956390e-01 6.35229841e-02 3.53578291e+02] [-5.44313649e-01 8.37813228e-01 -4.23278413e-02 -1.57701707e+02] [-7.63295518e-02 7.84334727e-04 9.97082336e-01 -2.25977885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.63, Y:-157.73, Z:-22.60 [[ 8.34474381e-01 5.47374346e-01 6.35124646e-02 3.53633096e+02] [-5.45734502e-01 8.36887610e-01 -4.23436198e-02 -1.57730229e+02] [-7.63306059e-02 6.73722643e-04 9.97082336e-01 -2.26040667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:-157.76, Z:-22.61 [[ 8.35089014e-01 5.46437480e-01 6.35013305e-02 3.53690670e+02] [-5.44793659e-01 8.37499536e-01 -4.23603107e-02 -1.57757609e+02] [-7.63295963e-02 7.79507882e-04 9.97082336e-01 -2.26079476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.74, Y:-157.79, Z:-22.62 [[ 8.36695067e-01 5.43976542e-01 6.34892695e-02 3.53743404e+02] [-5.42324261e-01 8.39099797e-01 -4.23783800e-02 -1.57787381e+02] [-7.63266777e-02 1.02601034e-03 9.97082336e-01 -2.26162547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.80, Y:-157.82, Z:-22.62 [[ 8.40401011e-01 5.38234591e-01 6.34796433e-02 3.53797536e+02] [-5.36564795e-01 8.42793612e-01 -4.23927944e-02 -1.57817738e+02] [-7.63175062e-02 1.56600553e-03 9.97082337e-01 -2.26212966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.85, Y:-157.85, Z:-22.62 [[ 8.43367757e-01 5.33575188e-01 6.34692506e-02 3.53851342e+02] [-5.31891005e-01 8.45750253e-01 -4.24083484e-02 -1.57851167e+02] [-7.63071772e-02 2.00711019e-03 9.97082337e-01 -2.26240246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.90, Y:-157.88, Z:-22.63 [[ 8.47815982e-01 5.26480055e-01 6.34571758e-02 3.53904737e+02] [-5.24774592e-01 8.50183291e-01 -4.24264086e-02 -1.57882800e+02] [-7.62868885e-02 2.66907372e-03 9.97082337e-01 -2.26279285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.96, Y:-157.91, Z:-22.63 [[ 8.50869095e-01 5.21532724e-01 6.34460497e-02 3.53958100e+02] [-5.19812264e-01 8.53225526e-01 -4.24430406e-02 -1.57913801e+02] [-7.62692237e-02 3.13343682e-03 9.97082337e-01 -2.26311719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.01, Y:-157.95, Z:-22.64 [[ 8.51647823e-01 5.20261406e-01 6.34354395e-02 3.54012679e+02] [-5.18536250e-01 8.54000820e-01 -4.24588928e-02 -1.57945512e+02] [-7.62636405e-02 3.26644872e-03 9.97082337e-01 -2.26360380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.07, Y:-157.97, Z:-22.64 [[ 8.51234665e-01 5.20938597e-01 6.34233741e-02 3.54067353e+02] [-5.19213974e-01 8.53588052e-01 -4.24769079e-02 -1.57974105e+02] [-7.62652951e-02 3.22751436e-03 9.97082338e-01 -2.26418257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.12, Y:-158.00, Z:-22.65 [[ 8.49182246e-01 5.24278487e-01 6.34159443e-02 3.54122888e+02] [-5.22562296e-01 8.51541788e-01 -4.24879973e-02 -1.58004272e+02] [-7.62768696e-02 2.94127151e-03 9.97082338e-01 -2.26463941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.18, Y:-158.04, Z:-22.65 [[ 8.47934845e-01 5.26295010e-01 6.34039547e-02 3.54175467e+02] [-5.24583096e-01 8.50297492e-01 -4.25058816e-02 -1.58037413e+02] [-7.62828571e-02 2.78157520e-03 9.97082338e-01 -2.26488686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.23, Y:-158.07, Z:-22.66 [[ 8.44681040e-01 5.31502800e-01 6.33933288e-02 3.54229975e+02] [-5.29804270e-01 8.47053327e-01 -4.25217232e-02 -1.58065847e+02] [-7.62979451e-02 2.33123712e-03 9.97082338e-01 -2.26561490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.28, Y:-158.10, Z:-22.66 [[ 8.41189928e-01 5.37012128e-01 6.33835883e-02 3.54284271e+02] [-5.35328046e-01 8.43572494e-01 -4.25362377e-02 -1.58096051e+02] [-7.63111271e-02 1.85004230e-03 9.97082338e-01 -2.26601229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.34, Y:-158.13, Z:-22.66 [[ 8.38627403e-01 5.41006373e-01 6.33733672e-02 3.54337841e+02] [-5.39332490e-01 8.41017145e-01 -4.25514604e-02 -1.58128644e+02] [-7.63186996e-02 1.50550473e-03 9.97082338e-01 -2.26645197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.39, Y:-158.16, Z:-22.67 [[ 8.35701062e-01 5.45517211e-01 6.33617224e-02 3.54391767e+02] [-5.43854915e-01 8.38098878e-01 -4.25687931e-02 -1.58160192e+02] [-7.63253977e-02 1.11520140e-03 9.97082339e-01 -2.26686764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.45, Y:-158.19, Z:-22.67 [[ 8.30466991e-01 5.53454083e-01 6.33494599e-02 3.54445942e+02] [-5.51813315e-01 8.32879589e-01 -4.25870339e-02 -1.58189832e+02] [-7.63324400e-02 4.10050433e-04 9.97082339e-01 -2.26744885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.50, Y:-158.22, Z:-22.68 [[ 8.24408082e-01 5.62440749e-01 6.33381283e-02 3.54499921e+02] [-5.60824985e-01 8.26837496e-01 -4.26038804e-02 -1.58221439e+02] [-7.63324978e-02 -3.98621576e-04 9.97082339e-01 -2.26790803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.55, Y:-158.25, Z:-22.68 [[ 8.16955109e-01 5.73213884e-01 6.33260929e-02 3.54553980e+02] [-5.71628764e-01 8.19404627e-01 -4.26217623e-02 -1.58253800e+02] [-7.63210794e-02 -1.37894970e-03 9.97082339e-01 -2.26844702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.60, Y:-158.29, Z:-22.69 [[ 8.13938178e-01 5.77491126e-01 6.33138412e-02 3.54604257e+02] [-5.75917462e-01 8.16395071e-01 -4.26399543e-02 -1.58289152e+02] [-7.63133030e-02 -1.75726002e-03 9.97082340e-01 -2.26897702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.66, Y:-158.32, Z:-22.70 [[ 8.13381258e-01 5.78275907e-01 6.33080119e-02 3.54655170e+02] [-5.76703940e-01 8.15839238e-01 -4.26486072e-02 -1.58323597e+02] [-7.63118222e-02 -1.82040211e-03 9.97082340e-01 -2.26962588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.71, Y:-158.36, Z:-22.70 [[ 8.11432069e-01 5.81008668e-01 6.33002844e-02 3.54705949e+02] [-5.79444085e-01 8.13894754e-01 -4.26600735e-02 -1.58360099e+02] [-7.63056420e-02 -2.06322366e-03 9.97082340e-01 -2.27013981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.76, Y:-158.40, Z:-22.71 [[ 8.11239491e-01 5.81278871e-01 6.32879341e-02 3.54756600e+02] [-5.79713680e-01 8.13701791e-01 -4.26783879e-02 -1.58397261e+02] [-7.63055505e-02 -2.06648756e-03 9.97082340e-01 -2.27056550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.80, Y:-158.44, Z:-22.71 [[ 8.12907441e-01 5.78945332e-01 6.32755381e-02 3.54804965e+02] [-5.77371644e-01 8.15364318e-01 -4.26967585e-02 -1.58437313e+02] [-7.63117051e-02 -1.82498872e-03 9.97082340e-01 -2.27100327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.85, Y:-158.48, Z:-22.71 [[ 8.16271495e-01 5.74193897e-01 6.32630568e-02 3.54851665e+02] [-5.72604473e-01 8.18718221e-01 -4.27152440e-02 -1.58478397e+02] [-7.63214497e-02 -1.35747319e-03 9.97082340e-01 -2.27142359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.90, Y:-158.52, Z:-22.72 [[ 8.18848673e-01 5.70513885e-01 6.32515511e-02 3.54900652e+02] [-5.68912148e-01 8.21287356e-01 -4.27322744e-02 -1.58518097e+02] [-7.63270551e-02 -9.93309573e-04 9.97082341e-01 -2.27189270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:354.95, Y:-158.56, Z:-22.72 [[ 8.21402956e-01 5.66831479e-01 6.32396869e-02 3.54949488e+02] [-5.65217458e-01 8.23833526e-01 -4.27498252e-02 -1.58557596e+02] [-7.63309209e-02 -6.29342224e-04 9.97082341e-01 -2.27236055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.00, Y:-158.60, Z:-22.73 [[ 8.25381094e-01 5.61024342e-01 6.32276660e-02 3.54995565e+02] [-5.59391857e-01 8.27799301e-01 -4.27675969e-02 -1.58599543e+02] [-7.63334806e-02 -6.94755522e-05 9.97082341e-01 -2.27283387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.04, Y:-158.64, Z:-22.73 [[ 8.28155808e-01 5.56921560e-01 6.32165661e-02 3.55044169e+02] [-5.55275843e-01 8.30565029e-01 -4.27839979e-02 -1.58639482e+02] [-7.63327999e-02 3.29184335e-04 9.97082341e-01 -2.27337014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.09, Y:-158.68, Z:-22.74 [[ 8.32512797e-01 5.50388609e-01 6.32046055e-02 3.55091663e+02] [-5.48722647e-01 8.34908064e-01 -4.28016599e-02 -1.58681595e+02] [-7.63275809e-02 9.51131190e-04 9.97082342e-01 -2.27392247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.14, Y:-158.72, Z:-22.74 [[ 8.34986317e-01 5.46630155e-01 6.31927533e-02 3.55140886e+02] [-5.44952089e-01 8.37373119e-01 -4.28191515e-02 -1.58721118e+02] [-7.63221524e-02 1.31638260e-03 9.97082342e-01 -2.27442316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.19, Y:-158.76, Z:-22.75 [[ 8.36751540e-01 5.43925578e-01 6.31808963e-02 3.55188228e+02] [-5.42238478e-01 8.39131965e-01 -4.28366397e-02 -1.58760895e+02] [-7.63170537e-02 1.58451116e-03 9.97082342e-01 -2.27502483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.24, Y:-158.80, Z:-22.75 [[ 8.35605448e-01 5.45685069e-01 6.31770648e-02 3.55235997e+02] [-5.44002555e-01 8.37989116e-01 -4.28422899e-02 -1.58802133e+02] [-7.63200906e-02 1.43076623e-03 9.97082342e-01 -2.27489076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:-158.84, Z:-22.76 [[ 8.36558237e-01 5.44224561e-01 6.31659945e-02 3.55285423e+02] [-5.42536655e-01 8.38938090e-01 -4.28586055e-02 -1.58836004e+02] [-7.63170646e-02 1.58385207e-03 9.97082342e-01 -2.27594596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.34, Y:-158.87, Z:-22.76 [[ 8.35003105e-01 5.46607844e-01 6.31639103e-02 3.55336167e+02] [-5.44926498e-01 8.37387598e-01 -4.28616769e-02 -1.58873539e+02] [-7.63212039e-02 1.36994488e-03 9.97082342e-01 -2.27620288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.39, Y:-158.91, Z:-22.77 [[ 8.31260022e-01 5.52284947e-01 6.31515125e-02 3.55386484e+02] [-5.50618501e-01 8.33654951e-01 -4.28799359e-02 -1.58910593e+02] [-7.63285142e-02 8.71985257e-04 9.97082342e-01 -2.27651364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.44, Y:-158.95, Z:-22.77 [[ 8.25592817e-01 5.60722679e-01 6.31393531e-02 3.55437522e+02] [-5.59079344e-01 8.28003661e-01 -4.28978328e-02 -1.58946559e+02] [-7.63334033e-02 1.16234572e-04 9.97082343e-01 -2.27697299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.49, Y:-158.98, Z:-22.78 [[ 8.21324596e-01 5.66957536e-01 6.31273316e-02 3.55488731e+02] [-5.65331142e-01 8.23746902e-01 -4.29155160e-02 -1.58982658e+02] [-7.63322191e-02 -4.40277658e-04 9.97082343e-01 -2.27752738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.54, Y:-159.02, Z:-22.78 [[ 8.16000483e-01 5.74595221e-01 6.31153154e-02 3.55539456e+02] [-5.72990130e-01 8.18436957e-01 -4.29331809e-02 -1.59018810e+02] [-7.63251073e-02 -1.13095644e-03 9.97082343e-01 -2.27813929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.59, Y:-159.06, Z:-22.79 [[ 8.13830846e-01 5.77665407e-01 6.31033421e-02 3.55590312e+02] [-5.76068143e-01 8.16272458e-01 -4.29507721e-02 -1.59056025e+02] [-7.63206954e-02 -1.39716199e-03 9.97082343e-01 -2.27870135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.64, Y:-159.10, Z:-22.79 [[ 8.12114170e-01 5.80077638e-01 6.30912766e-02 3.55639823e+02] [-5.78486250e-01 8.14559616e-01 -4.29684881e-02 -1.59095396e+02] [-7.63166651e-02 -1.60211804e-03 9.97082344e-01 -2.27927746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.69, Y:-159.13, Z:-22.80 [[ 8.11195747e-01 5.81362588e-01 6.30793339e-02 3.55687642e+02] [-5.79773712e-01 8.13642825e-01 -4.29860133e-02 -1.59134072e+02] [-7.63145073e-02 -1.70166846e-03 9.97082344e-01 -2.27981662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.74, Y:-159.17, Z:-22.80 [[ 8.10741891e-01 5.81996146e-01 6.30719625e-02 3.55737475e+02] [-5.80408341e-01 8.13189665e-01 -4.29968265e-02 -1.59173181e+02] [-7.63134553e-02 -1.74816472e-03 9.97082344e-01 -2.28034077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.79, Y:-159.21, Z:-22.81 [[ 8.09908620e-01 5.83156432e-01 6.30603173e-02 3.55785338e+02] [-5.81570806e-01 8.12357804e-01 -4.30138989e-02 -1.59213871e+02] [-7.63113727e-02 -1.83671209e-03 9.97082344e-01 -2.28080849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.83, Y:-159.25, Z:-22.81 [[ 8.09285161e-01 5.84021744e-01 6.30565673e-02 3.55834630e+02] [-5.82438309e-01 8.11735763e-01 -4.30193954e-02 -1.59252773e+02] [-7.63095331e-02 -1.91160209e-03 9.97082344e-01 -2.28128475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.88, Y:-159.29, Z:-22.82 [[ 8.08404635e-01 5.85241302e-01 6.30441473e-02 3.55881177e+02] [-5.83660146e-01 8.10856708e-01 -4.30375891e-02 -1.59293120e+02] [-7.63071444e-02 -2.00456970e-03 9.97082344e-01 -2.28187831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.93, Y:-159.33, Z:-22.82 [[ 8.07299778e-01 5.86765669e-01 6.30326777e-02 3.55927805e+02] [-5.85187833e-01 8.09753988e-01 -4.30543810e-02 -1.59334938e+02] [-7.63037947e-02 -2.12816388e-03 9.97082345e-01 -2.28228037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.98, Y:-159.37, Z:-22.83 [[ 8.07084496e-01 5.87062402e-01 6.30265948e-02 3.55977696e+02] [-5.85484774e-01 8.09538840e-01 -4.30632837e-02 -1.59372466e+02] [-7.63033112e-02 -2.14540293e-03 9.97082345e-01 -2.28264284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.03, Y:-159.41, Z:-22.83 [[ 8.08970372e-01 5.84462429e-01 6.30127543e-02 3.56025754e+02] [-5.82875336e-01 8.11418605e-01 -4.30835265e-02 -1.59414044e+02] [-7.63104237e-02 -1.87528389e-03 9.97082345e-01 -2.28286775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.07, Y:-159.45, Z:-22.83 [[ 8.10679217e-01 5.82091323e-01 6.29991940e-02 3.56074840e+02] [-5.80495529e-01 8.13121788e-01 -4.31033460e-02 -1.59453548e+02] [-7.63161010e-02 -1.62776361e-03 9.97082345e-01 -2.28332233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.12, Y:-159.49, Z:-22.84 [[ 8.15574698e-01 5.75213520e-01 6.29866495e-02 3.56122863e+02] [-5.73595709e-01 8.18002741e-01 -4.31216696e-02 -1.59492383e+02] [-7.63274193e-02 -9.59929215e-04 9.97082345e-01 -2.28388535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.17, Y:-159.53, Z:-22.84 [[ 8.19144549e-01 5.70119536e-01 6.29755708e-02 3.56170950e+02] [-5.68485380e-01 8.21561622e-01 -4.31378430e-02 -1.59531852e+02] [-7.63320391e-02 -4.64562334e-04 9.97082346e-01 -2.28436768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.22, Y:-159.57, Z:-22.85 [[ 8.24653425e-01 5.62122970e-01 6.29642431e-02 3.56217178e+02] [-5.60464113e-01 8.27053613e-01 -4.31543707e-02 -1.59572780e+02] [-7.63328677e-02 2.98200925e-04 9.97082346e-01 -2.28491175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.27, Y:-159.61, Z:-22.85 [[ 8.27499377e-01 5.57926238e-01 6.29531162e-02 3.56265984e+02] [-5.56253975e-01 8.29890243e-01 -4.31705964e-02 -1.59611562e+02] [-7.63301853e-02 7.05720551e-04 9.97082346e-01 -2.28547885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.31, Y:-159.65, Z:-22.86 [[ 8.29523325e-01 5.54913761e-01 6.29426007e-02 3.56313861e+02] [-5.53231653e-01 8.31907275e-01 -4.31859226e-02 -1.59651764e+02] [-7.63268701e-02 1.00189104e-03 9.97082346e-01 -2.28609481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.36, Y:-159.69, Z:-22.87 [[ 8.29490903e-01 5.54963442e-01 6.29318632e-02 3.56362885e+02] [-5.53280290e-01 8.31874116e-01 -4.32015638e-02 -1.59690255e+02] [-7.63266767e-02 1.01634462e-03 9.97082346e-01 -2.28664675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.41, Y:-159.73, Z:-22.87 [[ 8.27816289e-01 5.57459508e-01 6.29212818e-02 3.56411121e+02] [-5.55782372e-01 8.30203739e-01 -4.32169698e-02 -1.59729441e+02] [-7.63291941e-02 8.05172321e-04 9.97082347e-01 -2.28719245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.46, Y:-159.77, Z:-22.87 [[ 8.23071521e-01 5.64442311e-01 6.29138220e-02 3.56462024e+02] [-5.62784601e-01 8.25472500e-01 -4.32278268e-02 -1.59765626e+02] [-7.63332444e-02 1.72662930e-04 9.97082347e-01 -2.28745748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.51, Y:-159.80, Z:-22.88 [[ 8.18712722e-01 5.70747440e-01 6.29034076e-02 3.56514028e+02] [-5.69107056e-01 8.21125571e-01 -4.32429762e-02 -1.59801638e+02] [-7.63324144e-02 -3.95198356e-04 9.97082347e-01 -2.28788557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.57, Y:-159.84, Z:-22.88 [[ 8.13308250e-01 5.78424045e-01 6.28912968e-02 3.56565436e+02] [-5.76805071e-01 8.15735516e-01 -4.32605826e-02 -1.59836297e+02] [-7.63256256e-02 -1.09183018e-03 9.97082347e-01 -2.28843244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.62, Y:-159.87, Z:-22.89 [[ 8.10739432e-01 5.82020330e-01 6.28801132e-02 3.56617249e+02] [-5.80410862e-01 8.13173012e-01 -4.32768321e-02 -1.59871700e+02] [-7.63204071e-02 -1.41006646e-03 9.97082347e-01 -2.28887673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.67, Y:-159.91, Z:-22.89 [[ 8.08883298e-01 5.84598524e-01 6.28679206e-02 3.56670091e+02] [-5.82995437e-01 8.11321085e-01 -4.32945370e-02 -1.59906027e+02] [-7.63159920e-02 -1.63148292e-03 9.97082347e-01 -2.28935236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.72, Y:-159.94, Z:-22.90 [[ 8.08805770e-01 5.84707088e-01 6.28557659e-02 3.56722622e+02] [-5.83102958e-01 8.11242871e-01 -4.33121763e-02 -1.59939680e+02] [-7.63162284e-02 -1.62024493e-03 9.97082348e-01 -2.28989859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.77, Y:-159.97, Z:-22.90 [[ 8.09832353e-01 5.83285738e-01 6.28435140e-02 3.56774015e+02] [-5.81675952e-01 8.12265722e-01 -4.33299458e-02 -1.59974044e+02] [-7.63193717e-02 -1.46456884e-03 9.97082348e-01 -2.29045784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.83, Y:-160.01, Z:-22.91 [[ 8.12875875e-01 5.79037932e-01 6.28321988e-02 3.56825663e+02] [-5.77414160e-01 8.15299933e-01 -4.33463476e-02 -1.60010317e+02] [-7.63262670e-02 -1.04500113e-03 9.97082348e-01 -2.29090839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.88, Y:-160.05, Z:-22.91 [[ 8.15594094e-01 5.75204235e-01 6.28200709e-02 3.56876135e+02] [-5.73567715e-01 8.18009564e-01 -4.33639169e-02 -1.60046074e+02] [-7.63305275e-02 -6.64210020e-04 9.97082348e-01 -2.29148682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.93, Y:-160.08, Z:-22.92 [[ 8.20782676e-01 5.67777110e-01 6.28088607e-02 3.56926675e+02] [-5.66117489e-01 8.23182332e-01 -4.33801480e-02 -1.60083693e+02] [-7.63333994e-02 4.84794133e-05 9.97082349e-01 -2.29188324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.98, Y:-160.12, Z:-22.92 [[ 8.24340816e-01 5.62600039e-01 6.27966135e-02 3.56978140e+02] [-5.60923998e-01 8.26729032e-01 -4.33978697e-02 -1.60119974e+02] [-7.63314267e-02 5.50507771e-04 9.97082349e-01 -2.29231710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.03, Y:-160.15, Z:-22.93 [[ 8.27052473e-01 5.58607494e-01 6.27843539e-02 3.57028417e+02] [-5.56918579e-01 8.29431602e-01 -4.34155986e-02 -1.60154296e+02] [-7.63276059e-02 9.41205032e-04 9.97082349e-01 -2.29273739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.08, Y:-160.19, Z:-22.93 [[ 8.29972655e-01 5.54260087e-01 6.27785605e-02 3.57079609e+02] [-5.52558079e-01 8.32342434e-01 -4.34239741e-02 -1.60190279e+02] [-7.63214356e-02 1.35191031e-03 9.97082349e-01 -2.29303542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.13, Y:-160.22, Z:-22.94 [[ 8.31168566e-01 5.52465551e-01 6.27744351e-02 3.57130357e+02] [-5.50757976e-01 8.33534338e-01 -4.34299371e-02 -1.60224573e+02] [-7.63181913e-02 1.52407770e-03 9.97082349e-01 -2.29352855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.18, Y:-160.26, Z:-22.94 [[ 8.32720177e-01 5.50124906e-01 6.27669881e-02 3.57183112e+02] [-5.48409871e-01 8.35080546e-01 -4.34406973e-02 -1.60258830e+02] [-7.63133002e-02 1.75190929e-03 9.97082349e-01 -2.29401807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.23, Y:-160.29, Z:-22.94 [[ 8.33646678e-01 5.48721275e-01 6.27549142e-02 3.57234285e+02] [-5.47000955e-01 8.36003197e-01 -4.34581323e-02 -1.60294544e+02] [-7.63097107e-02 1.90172963e-03 9.97082349e-01 -2.29408248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.29, Y:-160.33, Z:-22.94 [[ 8.36508644e-01 5.44349562e-01 6.27442699e-02 3.57285967e+02] [-5.42615778e-01 8.38855275e-01 -4.34734950e-02 -1.60328547e+02] [-7.62981398e-02 2.31992347e-03 9.97082350e-01 -2.29445120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.34, Y:-160.36, Z:-22.95 [[ 8.38657576e-01 5.41033391e-01 6.27402645e-02 3.57337843e+02] [-5.39289898e-01 8.40997003e-01 -4.34792748e-02 -1.60360810e+02] [-7.62881139e-02 2.62903234e-03 9.97082350e-01 -2.29516974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.39, Y:-160.39, Z:-22.96 [[ 8.38850425e-01 5.40735538e-01 6.27299202e-02 3.57391424e+02] [-5.38990101e-01 8.41188401e-01 -4.34941939e-02 -1.60393639e+02] [-7.62865377e-02 2.67431700e-03 9.97082350e-01 -2.29563384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.44, Y:-160.42, Z:-22.96 [[ 8.35854700e-01 5.45356175e-01 6.27181196e-02 3.57444616e+02] [-5.43622391e-01 8.38201331e-01 -4.35112036e-02 -1.60424470e+02] [-7.62995149e-02 2.27406991e-03 9.97082350e-01 -2.29602049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.50, Y:-160.46, Z:-22.96 [[ 8.32249152e-01 5.50843871e-01 6.27086863e-02 3.57498215e+02] [-5.49124541e-01 8.34606393e-01 -4.35247948e-02 -1.60457321e+02] [-7.63124369e-02 1.78859490e-03 9.97082350e-01 -2.29647496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.55, Y:-160.49, Z:-22.97 [[ 8.25738029e-01 5.60558440e-01 6.26972299e-02 3.57552621e+02] [-5.58865598e-01 8.28114364e-01 -4.35412915e-02 -1.60487384e+02] [-7.63279151e-02 9.14375386e-04 9.97082350e-01 -2.29707239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.61, Y:-160.52, Z:-22.98 [[ 8.23443228e-01 5.63925205e-01 6.26866348e-02 3.57605145e+02] [-5.62240919e-01 8.25825634e-01 -4.35565399e-02 -1.60521148e+02] [-7.63308606e-02 6.21346639e-04 9.97082350e-01 -2.29767412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.66, Y:-160.55, Z:-22.98 [[ 8.17264604e-01 5.72844093e-01 6.26754467e-02 3.57660181e+02] [-5.71184573e-01 8.19664327e-01 -4.35726331e-02 -1.60550918e+02] [-7.63331533e-02 -1.88877488e-04 9.97082351e-01 -2.29840744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.71, Y:-160.58, Z:-22.99 [[ 8.13632641e-01 5.77992196e-01 6.26653550e-02 3.57712403e+02] [-5.76346742e-01 8.16042030e-01 -4.35871420e-02 -1.60584227e+02] [-7.63305914e-02 -6.53051666e-04 9.97082351e-01 -2.29893993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.77, Y:-160.62, Z:-22.99 [[ 8.09371145e-01 5.83945839e-01 6.26546649e-02 3.57765470e+02] [-5.82316916e-01 8.11791741e-01 -4.36025032e-02 -1.60618468e+02] [-7.63240398e-02 -1.19426333e-03 9.97082351e-01 -2.29929598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.82, Y:-160.65, Z:-23.00 [[ 8.07026799e-01 5.87182733e-01 6.26433122e-02 3.57817374e+02] [-5.85562253e-01 8.09453055e-01 -4.36188074e-02 -1.60653082e+02] [-7.63190310e-02 -1.48001255e-03 9.97082351e-01 -2.29961122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.87, Y:-160.69, Z:-23.00 [[ 8.04002725e-01 5.91317899e-01 6.26319518e-02 3.57868670e+02] [-5.89708626e-01 8.06436428e-01 -4.36351136e-02 -1.60687170e+02] [-7.63109112e-02 -1.85185205e-03 9.97082351e-01 -2.30016920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.92, Y:-160.72, Z:-23.01 [[ 8.02365804e-01 5.93538337e-01 6.26207622e-02 3.57920934e+02] [-5.91934547e-01 8.04803124e-01 -4.36511660e-02 -1.60722438e+02] [-7.63060255e-02 -2.04318964e-03 9.97082352e-01 -2.30074295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.97, Y:-160.76, Z:-23.01 [[ 8.00587634e-01 5.95935806e-01 6.26095448e-02 3.57972792e+02] [-5.94338057e-01 8.03028919e-01 -4.36672494e-02 -1.60757093e+02] [-7.63001525e-02 -2.25177530e-03 9.97082352e-01 -2.30132966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.02, Y:-160.79, Z:-23.02 [[ 8.00085915e-01 5.96609630e-01 6.26057379e-02 3.58023402e+02] [-5.95013511e-01 8.02528265e-01 -4.36727067e-02 -1.60793136e+02] [-7.62984316e-02 -2.30934242e-03 9.97082352e-01 -2.30194683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.07, Y:-160.83, Z:-23.03 [[ 8.01579928e-01 5.94601943e-01 6.25951236e-02 3.58072803e+02] [-5.92998519e-01 8.04017489e-01 -4.36879146e-02 -1.60830033e+02] [-7.63044930e-02 -2.09946019e-03 9.97082352e-01 -2.30266013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.12, Y:-160.87, Z:-23.03 [[ 8.02754899e-01 5.93015879e-01 6.25838655e-02 3.58120951e+02] [-5.91406383e-01 8.05188455e-01 -4.37040362e-02 -1.60870524e+02] [-7.63089933e-02 -1.92886833e-03 9.97082352e-01 -2.30274445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.17, Y:-160.90, Z:-23.03 [[ 8.05733661e-01 5.88962935e-01 6.25773805e-02 3.58171367e+02] [-5.87340476e-01 8.08158593e-01 -4.37133196e-02 -1.60904946e+02] [-7.63179728e-02 -1.53293538e-03 9.97082352e-01 -2.30295771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.22, Y:-160.94, Z:-23.03 [[ 8.08716463e-01 5.84861164e-01 6.25707634e-02 3.58220824e+02] [-5.83225672e-01 8.11132624e-01 -4.37227893e-02 -1.60942455e+02] [-7.63249490e-02 -1.13353602e-03 9.97082352e-01 -2.30326779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.27, Y:-160.98, Z:-23.04 [[ 8.10282474e-01 5.82690809e-01 6.25598384e-02 3.58271531e+02] [-5.81047638e-01 8.12693419e-01 -4.37384156e-02 -1.60979885e+02] [-7.63279417e-02 -9.09774767e-04 9.97082352e-01 -2.30377628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.32, Y:-161.02, Z:-23.04 [[ 8.11973346e-01 5.80333612e-01 6.25474524e-02 3.58320706e+02] [-5.78682078e-01 8.14378569e-01 -4.37561209e-02 -1.61015221e+02] [-7.63304525e-02 -6.66285832e-04 9.97082353e-01 -2.30432799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.37, Y:-161.05, Z:-23.05 [[ 8.12073030e-01 5.80195180e-01 6.25375750e-02 3.58372527e+02] [-5.78542149e-01 8.14477224e-01 -4.37702333e-02 -1.61051384e+02] [-7.63307089e-02 -6.35997059e-04 9.97082353e-01 -2.30478555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.42, Y:-161.09, Z:-23.05 [[ 8.12695928e-01 5.79323614e-01 6.25258265e-02 3.58424210e+02] [-5.77666714e-01 8.15097458e-01 -4.37870096e-02 -1.61086611e+02] [-7.63314909e-02 -5.33564298e-04 9.97082353e-01 -2.30529196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.48, Y:-161.12, Z:-23.06 [[ 8.13422128e-01 5.78304840e-01 6.25136212e-02 3.58475972e+02] [-5.76643594e-01 8.15820653e-01 -4.38044280e-02 -1.61122757e+02] [-7.63322160e-02 -4.16588173e-04 9.97082353e-01 -2.30589389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.53, Y:-161.16, Z:-23.06 [[ 8.14789823e-01 5.76377564e-01 6.25015810e-02 3.58527073e+02] [-5.74709326e-01 8.17183491e-01 -4.38216007e-02 -1.61158593e+02] [-7.63330476e-02 -2.14847195e-04 9.97082354e-01 -2.30631826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.58, Y:-161.19, Z:-23.07 [[ 8.15507059e-01 5.75363653e-01 6.24892289e-02 3.58577179e+02] [-5.73691090e-01 8.17897706e-01 -4.38392077e-02 -1.61194462e+02] [-7.63332836e-02 -9.83305134e-05 9.97082354e-01 -2.30681168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.63, Y:-161.23, Z:-23.07 [[ 8.15870313e-01 5.74849679e-01 6.24778236e-02 3.58627897e+02] [-5.73174366e-01 8.18259033e-01 -4.38554560e-02 -1.61230981e+02] [-7.63333383e-02 -3.03222245e-05 9.97082354e-01 -2.30713261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.68, Y:-161.27, Z:-23.08 [[ 8.15109574e-01 5.75929213e-01 6.24653815e-02 3.58678545e+02] [-5.74255706e-01 8.17499559e-01 -4.38731707e-02 -1.61265845e+02] [-7.63332625e-02 -1.09660232e-04 9.97082354e-01 -2.30767025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.73, Y:-161.30, Z:-23.08 [[ 8.13021150e-01 5.78874462e-01 6.24577178e-02 3.58730865e+02] [-5.77208774e-01 8.15416592e-01 -4.38840780e-02 -1.61301138e+02] [-7.63324315e-02 -3.72459127e-04 9.97082354e-01 -2.30814540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.78, Y:-161.34, Z:-23.09 [[ 8.11461368e-01 5.81060245e-01 6.24454987e-02 3.58782621e+02] [-5.79399672e-01 8.13860358e-01 -4.39014586e-02 -1.61337479e+02] [-7.63313082e-02 -5.56563820e-04 9.97082355e-01 -2.30859238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.83, Y:-161.37, Z:-23.09 [[ 8.09843100e-01 5.83314878e-01 6.24332156e-02 3.58833106e+02] [-5.81659638e-01 8.12245772e-01 -4.39189197e-02 -1.61373431e+02] [-7.63296747e-02 -7.47447443e-04 9.97082355e-01 -2.30906446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.88, Y:-161.41, Z:-23.10 [[ 8.08845479e-01 5.84698642e-01 6.24218645e-02 3.58884063e+02] [-5.83046268e-01 8.11250123e-01 -4.39350471e-02 -1.61409361e+02] [-7.63285076e-02 -8.58170916e-04 9.97082355e-01 -2.30954151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.93, Y:-161.45, Z:-23.10 [[ 8.07406308e-01 5.86685686e-01 6.24096150e-02 3.58934905e+02] [-5.85037885e-01 8.09814087e-01 -4.39524407e-02 -1.61445798e+02] [-7.63264532e-02 -1.02451133e-03 9.97082355e-01 -2.31019360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.99, Y:-161.48, Z:-23.11 [[ 8.06529740e-01 5.87891434e-01 6.23974443e-02 3.58986051e+02] [-5.86245896e-01 8.08939067e-01 -4.39697121e-02 -1.61482512e+02] [-7.63251474e-02 -1.11736524e-03 9.97082355e-01 -2.31073819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.04, Y:-161.52, Z:-23.11 [[ 8.05641243e-01 5.89109743e-01 6.23850837e-02 3.59036318e+02] [-5.87466492e-01 8.08052129e-01 -4.39872426e-02 -1.61519125e+02] [-7.63237129e-02 -1.21120944e-03 9.97082356e-01 -2.31132094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.09, Y:-161.56, Z:-23.12 [[ 8.05453701e-01 5.89367308e-01 6.23739692e-02 3.59086472e+02] [-5.87723608e-01 8.07864281e-01 -4.40029974e-02 -1.61556509e+02] [-7.63236299e-02 -1.21627714e-03 9.97082356e-01 -2.31193542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.14, Y:-161.60, Z:-23.12 [[ 8.05981864e-01 5.88646153e-01 6.23613724e-02 3.59135650e+02] [-5.86998916e-01 8.08390029e-01 -4.40208424e-02 -1.61595638e+02] [-7.63250112e-02 -1.12605737e-03 9.97082356e-01 -2.31242419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.19, Y:-161.63, Z:-23.13 [[ 8.06408181e-01 5.88063334e-01 6.23487065e-02 3.59185242e+02] [-5.86412970e-01 8.08814203e-01 -4.40387744e-02 -1.61633951e+02] [-7.63261079e-02 -1.04886221e-03 9.97082356e-01 -2.31293464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.23, Y:-161.67, Z:-23.14 [[ 8.06506496e-01 5.87929833e-01 6.23360587e-02 3.59234839e+02] [-5.86277687e-01 8.08911295e-01 -4.40566699e-02 -1.61670467e+02] [-7.63265725e-02 -1.01424992e-03 9.97082357e-01 -2.31350667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.28, Y:-161.71, Z:-23.14 [[ 8.06591913e-01 5.87813879e-01 6.23243938e-02 3.59284119e+02] [-5.86160113e-01 8.08995598e-01 -4.40731654e-02 -1.61709677e+02] [-7.63269785e-02 -9.83014948e-04 9.97082357e-01 -2.31411913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.33, Y:-161.75, Z:-23.15 [[ 8.06336937e-01 5.88164918e-01 6.23119069e-02 3.59332885e+02] [-5.86510835e-01 8.08740404e-01 -4.40908127e-02 -1.61749208e+02] [-7.63268260e-02 -9.94557659e-04 9.97082357e-01 -2.31471493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:-161.79, Z:-23.15 [[ 8.06118295e-01 5.88465851e-01 6.22995648e-02 3.59382335e+02] [-5.86811319e-01 8.08521452e-01 -4.41082450e-02 -1.61788024e+02] [-7.63267306e-02 -1.00162649e-03 9.97082357e-01 -2.31517291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.43, Y:-161.83, Z:-23.16 [[ 8.05763116e-01 5.88953408e-01 6.22871077e-02 3.59430735e+02] [-5.87298970e-01 8.08166338e-01 -4.41258292e-02 -1.61827810e+02] [-7.63264013e-02 -1.02618855e-03 9.97082357e-01 -2.31553596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.48, Y:-161.87, Z:-23.16 [[ 8.05545876e-01 5.89251809e-01 6.22747693e-02 3.59480891e+02] [-5.87596917e-01 8.07948784e-01 -4.41432357e-02 -1.61866329e+02] [-7.63263056e-02 -1.03306098e-03 9.97082358e-01 -2.31596939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.53, Y:-161.91, Z:-23.16 [[ 8.05113361e-01 5.89843920e-01 6.22625488e-02 3.59530404e+02] [-5.88189463e-01 8.07516569e-01 -4.41604656e-02 -1.61905575e+02] [-7.63258219e-02 -1.06799424e-03 9.97082358e-01 -2.31643759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.58, Y:-161.94, Z:-23.17 [[ 8.04199312e-01 5.91090827e-01 6.22503176e-02 3.59578993e+02] [-5.89438761e-01 8.06604164e-01 -4.41777004e-02 -1.61943960e+02] [-7.63243988e-02 -1.16507386e-03 9.97082358e-01 -2.31688398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.63, Y:-161.98, Z:-23.18 [[ 8.03154265e-01 5.92510815e-01 6.22427616e-02 3.59628741e+02] [-5.90862177e-01 8.05561468e-01 -4.41883436e-02 -1.61980786e+02] [-7.63224419e-02 -1.28683694e-03 9.97082358e-01 -2.31756076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.68, Y:-162.02, Z:-23.18 [[ 8.02331302e-01 5.93625882e-01 6.22317825e-02 3.59678231e+02] [-5.91979391e-01 8.04739973e-01 -4.42038005e-02 -1.62015251e+02] [-7.63209230e-02 -1.37383989e-03 9.97082358e-01 -2.31833987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.73, Y:-162.05, Z:-23.19 [[ 8.01098698e-01 5.95289284e-01 6.22217305e-02 3.59730182e+02] [-5.93646696e-01 8.03510033e-01 -4.42179452e-02 -1.62051307e+02] [-7.63182537e-02 -1.51478642e-03 9.97082358e-01 -2.31866749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.78, Y:-162.09, Z:-23.19 [[ 7.99886613e-01 5.96918260e-01 6.22092926e-02 3.59782683e+02] [-5.95279223e-01 8.02300363e-01 -4.42354369e-02 -1.62086528e+02] [-7.63154781e-02 -1.64856559e-03 9.97082359e-01 -2.31902906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.83, Y:-162.12, Z:-23.19 [[ 8.01068470e-01 5.95332551e-01 6.21969400e-02 3.59834408e+02] [-5.93687389e-01 8.03478049e-01 -4.42527985e-02 -1.62122889e+02] [-7.63190074e-02 -1.47601733e-03 9.97082359e-01 -2.31949574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.88, Y:-162.16, Z:-23.20 [[ 8.02295918e-01 5.93678657e-01 6.21844998e-02 3.59884704e+02] [-5.92027172e-01 8.04701168e-01 -4.42702727e-02 -1.62160566e+02] [-7.63222557e-02 -1.29705453e-03 9.97082359e-01 -2.31989757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.93, Y:-162.20, Z:-23.20 [[ 8.05140696e-01 5.89816173e-01 6.21718782e-02 3.59933788e+02] [-5.88151780e-01 8.07537031e-01 -4.42879910e-02 -1.62197956e+02] [-7.63278673e-02 -9.08436930e-04 9.97082359e-01 -2.32030119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.99, Y:-162.23, Z:-23.21 [[ 8.07332009e-01 5.86814392e-01 6.21602486e-02 3.59985173e+02] [-5.85139833e-01 8.09721251e-01 -4.43043077e-02 -1.62234335e+02] [-7.63308797e-02 -6.04151802e-04 9.97082360e-01 -2.32077177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.03, Y:-162.27, Z:-23.21 [[ 8.09659992e-01 5.83599470e-01 6.21478573e-02 3.60034933e+02] [-5.81914090e-01 8.12041613e-01 -4.43216829e-02 -1.62270094e+02] [-7.63327569e-02 -2.79220400e-04 9.97082360e-01 -2.32124268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.09, Y:-162.31, Z:-23.22 [[ 8.10625837e-01 5.82258376e-01 6.21364296e-02 3.60086059e+02] [-5.80567828e-01 8.13003792e-01 -4.43376981e-02 -1.62307138e+02] [-7.63331490e-02 -1.33128307e-04 9.97082360e-01 -2.32173518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.14, Y:-162.34, Z:-23.22 [[ 8.11455197e-01 5.81103269e-01 6.21245011e-02 3.60137053e+02] [-5.79408056e-01 8.13829829e-01 -4.43544055e-02 -1.62342791e+02] [-7.63332622e-02 -3.82356513e-06 9.97082360e-01 -2.32231436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.19, Y:-162.38, Z:-23.23 [[ 8.12187946e-01 5.80079837e-01 6.21137921e-02 3.60188241e+02] [-5.78380486e-01 8.14559617e-01 -4.43693974e-02 -1.62379047e+02] [-7.63331796e-02 1.10884486e-04 9.97082360e-01 -2.32282118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.24, Y:-162.42, Z:-23.23 [[ 8.12595085e-01 5.79510700e-01 6.21013358e-02 3.60239316e+02] [-5.77808356e-01 8.14964609e-01 -4.43868249e-02 -1.62415427e+02] [-7.63330309e-02 1.85845035e-04 9.97082361e-01 -2.32323372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.29, Y:-162.45, Z:-23.24 [[ 8.12247404e-01 5.79999267e-01 6.20886950e-02 3.60290593e+02] [-5.78296996e-01 8.14616980e-01 -4.44045000e-02 -1.62450855e+02] [-7.63330827e-02 1.61734029e-04 9.97082361e-01 -2.32369793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.34, Y:-162.48, Z:-23.24 [[ 8.07046350e-01 5.87216092e-01 6.20761680e-02 3.60344877e+02] [-5.85533663e-01 8.09430055e-01 -4.44220055e-02 -1.62483032e+02] [-7.63316326e-02 -4.97068714e-04 9.97082361e-01 -2.32435188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.40, Y:-162.52, Z:-23.25 [[ 8.03630529e-01 5.91883564e-01 6.20630331e-02 3.60395706e+02] [-5.90213563e-01 8.06022956e-01 -4.44403491e-02 -1.62516618e+02] [-7.63277416e-02 -9.16822651e-04 9.97082361e-01 -2.32494906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.45, Y:-162.55, Z:-23.25 [[ 8.03072640e-01 5.92641391e-01 6.20525335e-02 3.60447046e+02] [-5.90972515e-01 8.05465852e-01 -4.44550050e-02 -1.62552581e+02] [-7.63270728e-02 -9.70743590e-04 9.97082362e-01 -2.32549665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.50, Y:-162.59, Z:-23.26 [[ 8.02059153e-01 5.94013663e-01 6.20393771e-02 3.60497407e+02] [-5.92347462e-01 8.04454228e-01 -4.44733580e-02 -1.62588580e+02] [-7.63256214e-02 -1.07860374e-03 9.97082362e-01 -2.32596848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.55, Y:-162.62, Z:-23.26 [[ 8.01363037e-01 5.94953700e-01 6.20272349e-02 3.60548784e+02] [-5.93288999e-01 8.03759154e-01 -4.44902862e-02 -1.62624213e+02] [-7.63246183e-02 -1.14720527e-03 9.97082362e-01 -2.32643189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.60, Y:-162.66, Z:-23.27 [[ 8.01692985e-01 5.94510313e-01 6.20148799e-02 3.60599905e+02] [-5.92842955e-01 8.04087254e-01 -4.45075012e-02 -1.62659883e+02] [-7.63255430e-02 -1.08373314e-03 9.97082362e-01 -2.32684302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.65, Y:-162.69, Z:-23.27 [[ 8.04341010e-01 5.90924060e-01 6.20023818e-02 3.60651117e+02] [-5.89244684e-01 8.06726865e-01 -4.45249053e-02 -1.62694084e+02] [-7.63298249e-02 -7.21366661e-04 9.97082362e-01 -2.32736407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.70, Y:-162.73, Z:-23.28 [[ 8.05475760e-01 5.89377586e-01 6.19908107e-02 3.60701472e+02] [-5.87692390e-01 8.07857508e-01 -4.45410095e-02 -1.62731436e+02] [-7.63312146e-02 -5.54824215e-04 9.97082363e-01 -2.32786296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.75, Y:-162.77, Z:-23.28 [[ 8.05909900e-01 5.88785182e-01 6.19777543e-02 3.60750976e+02] [-5.87096839e-01 8.08289417e-01 -4.45591699e-02 -1.62769037e+02] [-7.63317419e-02 -4.76267411e-04 9.97082363e-01 -2.32829532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.80, Y:-162.80, Z:-23.29 [[ 8.05957281e-01 5.88721593e-01 6.19656970e-02 3.60801084e+02] [-5.87031773e-01 8.08335749e-01 -4.45759310e-02 -1.62804962e+02] [-7.63319012e-02 -4.49536884e-04 9.97082363e-01 -2.32879901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.85, Y:-162.84, Z:-23.29 [[ 8.05556301e-01 5.89271354e-01 6.19541584e-02 3.60852665e+02] [-5.87581924e-01 8.07935046e-01 -4.45919622e-02 -1.62840437e+02] [-7.63317018e-02 -4.81807531e-04 9.97082363e-01 -2.32933706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.90, Y:-162.88, Z:-23.30 [[ 8.05058397e-01 5.89952713e-01 6.19416988e-02 3.60903480e+02] [-5.88263966e-01 8.07437626e-01 -4.46092629e-02 -1.62876746e+02] [-7.63314139e-02 -5.25007775e-04 9.97082364e-01 -2.32980910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.95, Y:-162.91, Z:-23.30 [[ 8.04430226e-01 5.90810281e-01 6.19291845e-02 3.60954762e+02] [-5.89122733e-01 8.06810306e-01 -4.46266293e-02 -1.62913615e+02] [-7.63309757e-02 -5.84880889e-04 9.97082364e-01 -2.33028193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.00, Y:-162.95, Z:-23.30 [[ 8.03567054e-01 5.91985062e-01 6.19166864e-02 3.61004830e+02] [-5.90299658e-01 8.05948652e-01 -4.46439629e-02 -1.62950595e+02] [-7.63302291e-02 -6.74981022e-04 9.97082364e-01 -2.33046967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.05, Y:-162.99, Z:-23.31 [[ 8.03031844e-01 5.92712082e-01 6.19051279e-02 3.61053868e+02] [-5.91027599e-01 8.05414094e-01 -4.46599846e-02 -1.62985861e+02] [-7.63297750e-02 -7.24249252e-04 9.97082364e-01 -2.33133821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.10, Y:-163.02, Z:-23.32 [[ 8.02186566e-01 5.93856224e-01 6.18991043e-02 3.61103689e+02] [-5.92174495e-01 8.04570760e-01 -4.46683319e-02 -1.63024053e+02] [-7.63287763e-02 -8.22735051e-04 9.97082364e-01 -2.33153829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.15, Y:-163.06, Z:-23.32 [[ 8.02318266e-01 5.93679602e-01 6.18864349e-02 3.61153499e+02] [-5.91995994e-01 8.04701134e-01 -4.46858780e-02 -1.63060465e+02] [-7.63291786e-02 -7.84225375e-04 9.97082364e-01 -2.33204453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.20, Y:-163.10, Z:-23.32 [[ 8.03073475e-01 5.92658850e-01 6.18747220e-02 3.61203397e+02] [-5.90970964e-01 8.05453315e-01 -4.47020906e-02 -1.63098007e+02] [-7.63302895e-02 -6.67100895e-04 9.97082365e-01 -2.33235452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.25, Y:-163.13, Z:-23.33 [[ 8.04111183e-01 5.91251445e-01 6.18622119e-02 3.61253862e+02] [-5.89558063e-01 8.06487115e-01 -4.47193963e-02 -1.63134756e+02] [-7.63314845e-02 -5.11999160e-04 9.97082365e-01 -2.33273451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.30, Y:-163.17, Z:-23.33 [[ 8.06183628e-01 5.88423790e-01 6.18498320e-02 3.61304413e+02] [-5.86720760e-01 8.08552654e-01 -4.47365120e-02 -1.63172193e+02] [-7.63328737e-02 -2.22736973e-04 9.97082365e-01 -2.33314872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.36, Y:-163.21, Z:-23.34 [[ 8.07597962e-01 5.86482470e-01 6.18372360e-02 3.61355464e+02] [-5.84772413e-01 8.09961920e-01 -4.47539161e-02 -1.63209078e+02] [-7.63331937e-02 -1.75382574e-05 9.97082365e-01 -2.33350854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.41, Y:-163.25, Z:-23.34 [[ 8.07616356e-01 5.86458502e-01 6.18243235e-02 3.61406028e+02] [-5.84747010e-01 8.09979275e-01 -4.47717467e-02 -1.63245198e+02] [-7.63331922e-02 6.80667931e-06 9.97082366e-01 -2.33353923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.46, Y:-163.28, Z:-23.35 [[ 8.08033707e-01 5.85883779e-01 6.18201123e-02 3.61456659e+02] [-5.84170161e-01 8.10395085e-01 -4.47775608e-02 -1.63278740e+02] [-7.63331616e-02 6.83135015e-05 9.97082366e-01 -2.33458948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.51, Y:-163.31, Z:-23.35 [[ 8.07820164e-01 5.86179331e-01 6.18091719e-02 3.61507987e+02] [-5.84465422e-01 8.10181330e-01 -4.47926574e-02 -1.63314837e+02] [-7.63331671e-02 5.90881240e-05 9.97082366e-01 -2.33504342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.56, Y:-163.35, Z:-23.35 [[ 8.07660784e-01 5.86400238e-01 6.17965969e-02 3.61559948e+02] [-5.84685647e-01 8.10021455e-01 -4.48099994e-02 -1.63350907e+02] [-7.63331636e-02 5.96960071e-05 9.97082366e-01 -2.33541364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.61, Y:-163.39, Z:-23.36 [[ 8.07638178e-01 5.86432695e-01 6.17840368e-02 3.61611288e+02] [-5.84716876e-01 8.09997955e-01 -4.48273105e-02 -1.63387455e+02] [-7.63331440e-02 7.80784193e-05 9.97082366e-01 -2.33583479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.66, Y:-163.42, Z:-23.36 [[ 8.07032697e-01 5.87266990e-01 6.17714152e-02 3.61661789e+02] [-5.85552279e-01 8.09393280e-01 -4.48446962e-02 -1.63423504e+02] [-7.63331781e-02 2.07431227e-05 9.97082366e-01 -2.33630096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.71, Y:-163.46, Z:-23.37 [[ 8.04855470e-01 5.90248596e-01 6.17597639e-02 3.61713657e+02] [-5.88541398e-01 8.07221492e-01 -4.48607366e-02 -1.63459274e+02] [-7.63327955e-02 -2.41768544e-04 9.97082367e-01 -2.33670970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.77, Y:-163.50, Z:-23.37 [[ 8.02733319e-01 5.93132795e-01 6.17471191e-02 3.61765289e+02] [-5.91432760e-01 8.05104492e-01 -4.48781345e-02 -1.63495098e+02] [-7.63315763e-02 -4.94095236e-04 9.97082367e-01 -2.33717180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.82, Y:-163.53, Z:-23.38 [[ 7.99154916e-01 5.97946733e-01 6.17343115e-02 3.61816394e+02] [-5.96259620e-01 8.01535301e-01 -4.48957457e-02 -1.63530437e+02] [-7.63274944e-02 -9.31021240e-04 9.97082367e-01 -2.33774916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.87, Y:-163.57, Z:-23.38 [[ 7.96384304e-01 6.01633017e-01 6.17231968e-02 3.61867197e+02] [-5.99955738e-01 7.98771628e-01 -4.49110211e-02 -1.63566131e+02] [-7.63226915e-02 -1.26475377e-03 9.97082367e-01 -2.33829541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.92, Y:-163.60, Z:-23.39 [[ 7.94566190e-01 6.04033260e-01 6.17121576e-02 3.61918218e+02] [-6.02362015e-01 7.96957741e-01 -4.49261850e-02 -1.63602461e+02] [-7.63188917e-02 -1.47623195e-03 9.97082367e-01 -2.33874081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:361.97, Y:-163.64, Z:-23.39 [[ 7.93961480e-01 6.04829204e-01 6.16992935e-02 3.61967549e+02] [-6.03158984e-01 7.96353747e-01 -4.49438449e-02 -1.63638711e+02] [-7.63178135e-02 -1.53080152e-03 9.97082368e-01 -2.33939481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.02, Y:-163.68, Z:-23.40 [[ 7.92362971e-01 6.06923046e-01 6.16874285e-02 3.62017278e+02] [-6.05257880e-01 7.94758759e-01 -4.49601243e-02 -1.63675189e+02] [-7.63139597e-02 -1.71206457e-03 9.97082368e-01 -2.33978978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.07, Y:-163.71, Z:-23.40 [[ 7.91406797e-01 6.08170469e-01 6.16762753e-02 3.62067530e+02] [-6.06507889e-01 7.93804379e-01 -4.49754191e-02 -1.63712300e+02] [-7.63116191e-02 -1.81329520e-03 9.97082368e-01 -2.34033321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.12, Y:-163.75, Z:-23.41 [[ 7.90566177e-01 6.09264074e-01 6.16636720e-02 3.62117196e+02] [-6.07603464e-01 7.92965124e-01 -4.49926922e-02 -1.63750200e+02] [-7.63095723e-02 -1.89736004e-03 9.97082368e-01 -2.34077389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.17, Y:-163.79, Z:-23.41 [[ 7.90163917e-01 6.09786951e-01 6.16511005e-02 3.62165720e+02] [-6.08126586e-01 7.92563034e-01 -4.50099117e-02 -1.63786902e+02] [-7.63088401e-02 -1.92646510e-03 9.97082369e-01 -2.34129605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.22, Y:-163.83, Z:-23.42 [[ 7.89597643e-01 6.10521043e-01 6.16410487e-02 3.62215687e+02] [-6.08861835e-01 7.91997560e-01 -4.50236734e-02 -1.63825336e+02] [-7.63074602e-02 -1.98029565e-03 9.97082369e-01 -2.34160793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.26, Y:-163.86, Z:-23.42 [[ 7.89464430e-01 6.10694584e-01 6.16282298e-02 3.62264405e+02] [-6.09034536e-01 7.91863765e-01 -4.50412131e-02 -1.63862574e+02] [-7.63075870e-02 -1.97528477e-03 9.97082369e-01 -2.34216588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.31, Y:-163.90, Z:-23.43 [[ 7.89277775e-01 6.10936996e-01 6.16163923e-02 3.62312681e+02] [-6.09276422e-01 7.91676747e-01 -4.50574010e-02 -1.63900498e+02] [-7.63074983e-02 -1.97860985e-03 9.97082369e-01 -2.34264532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.36, Y:-163.94, Z:-23.43 [[ 7.88983944e-01 6.11317562e-01 6.16049867e-02 3.62362022e+02] [-6.09656929e-01 7.91382874e-01 -4.50729900e-02 -1.63938805e+02] [-7.63070419e-02 -1.99604159e-03 9.97082369e-01 -2.34287426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.41, Y:-163.98, Z:-23.43 [[ 7.88458304e-01 6.11996571e-01 6.15930235e-02 3.62411341e+02] [-6.10336729e-01 7.90857781e-01 -4.50893321e-02 -1.63976746e+02] [-7.63058385e-02 -2.04142622e-03 9.97082370e-01 -2.34329010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.46, Y:-164.01, Z:-23.44 [[ 7.87817808e-01 6.12822039e-01 6.15812492e-02 3.62461196e+02] [-6.11163455e-01 7.90218155e-01 -4.51054073e-02 -1.64014494e+02] [-7.63042088e-02 -2.10136597e-03 9.97082370e-01 -2.34365350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.51, Y:-164.05, Z:-23.44 [[ 7.85382044e-01 6.15941857e-01 6.15684418e-02 3.62510568e+02] [-6.14291439e-01 7.87788013e-01 -4.51228825e-02 -1.64050025e+02] [-7.62959525e-02 -2.38226497e-03 9.97082370e-01 -2.34434221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.56, Y:-164.09, Z:-23.45 [[ 7.83293802e-01 6.18596320e-01 6.15582019e-02 3.62561716e+02] [-6.16952958e-01 7.85704596e-01 -4.51368478e-02 -1.64086637e+02] [-7.62880501e-02 -2.62310158e-03 9.97082370e-01 -2.34488339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.61, Y:-164.12, Z:-23.45 [[ 7.81503007e-01 6.20858413e-01 6.15457690e-02 3.62612110e+02] [-6.19220696e-01 7.83917639e-01 -4.51537942e-02 -1.64122305e+02] [-7.62809269e-02 -2.82258805e-03 9.97082370e-01 -2.34541328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.66, Y:-164.16, Z:-23.46 [[ 7.81406465e-01 6.20981054e-01 6.15342774e-02 3.62662502e+02] [-6.19342486e-01 7.83820519e-01 -4.51694493e-02 -1.64158914e+02] [-7.62812014e-02 -2.81509259e-03 9.97082371e-01 -2.34579196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.71, Y:-164.19, Z:-23.46 [[ 7.81584979e-01 6.20757415e-01 6.15235892e-02 3.62713424e+02] [-6.19117013e-01 7.83997787e-01 -4.51840025e-02 -1.64193973e+02] [-7.62826624e-02 -2.77516308e-03 9.97082371e-01 -2.34599320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.76, Y:-164.23, Z:-23.46 [[ 7.81871281e-01 6.20397884e-01 6.15123146e-02 3.62763961e+02] [-6.18755168e-01 7.84282514e-01 -4.51993463e-02 -1.64228500e+02] [-7.62846115e-02 -2.72099168e-03 9.97082371e-01 -2.34647574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.82, Y:-164.26, Z:-23.47 [[ 7.81724204e-01 6.20584219e-01 6.15020046e-02 3.62815262e+02] [-6.18940976e-01 7.84135078e-01 -4.52133706e-02 -1.64264493e+02] [-7.62845834e-02 -2.72172466e-03 9.97082371e-01 -2.34697614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:-164.30, Z:-23.47 [[ 7.81454818e-01 6.20924653e-01 6.14893654e-02 3.62866885e+02] [-6.19281111e-01 7.83865488e-01 -4.52305533e-02 -1.64300159e+02] [-7.62841570e-02 -2.73356869e-03 9.97082371e-01 -2.34748909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.92, Y:-164.34, Z:-23.48 [[ 7.81326639e-01 6.21087194e-01 6.14766644e-02 3.62918598e+02] [-6.19442798e-01 7.83736726e-01 -4.52478097e-02 -1.64335494e+02] [-7.62843548e-02 -2.72795789e-03 9.97082371e-01 -2.34808664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:362.97, Y:-164.37, Z:-23.49 [[ 7.82082741e-01 6.20136077e-01 6.14640658e-02 3.62970062e+02] [-6.18487408e-01 7.84489906e-01 -4.52649171e-02 -1.64372111e+02] [-7.62883473e-02 -2.61384031e-03 9.97082372e-01 -2.34853900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.02, Y:-164.41, Z:-23.49 [[ 7.84324983e-01 6.17299012e-01 6.14512003e-02 3.63020230e+02] [-6.15640268e-01 7.86725217e-01 -4.52823763e-02 -1.64406787e+02] [-7.62979751e-02 -2.31573437e-03 9.97082372e-01 -2.34906947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.07, Y:-164.44, Z:-23.50 [[ 7.85788579e-01 6.15435466e-01 6.14450670e-02 3.63071259e+02] [-6.13770379e-01 7.88184417e-01 -4.52906973e-02 -1.64443059e+02] [-7.63035457e-02 -2.12424943e-03 9.97082372e-01 -2.34958216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.12, Y:-164.48, Z:-23.50 [[ 7.85674352e-01 6.15582513e-01 6.14327504e-02 3.63119484e+02] [-6.13916569e-01 7.88069594e-01 -4.53073975e-02 -1.64483505e+02] [-7.63037243e-02 -2.11772317e-03 9.97082372e-01 -2.34960131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.17, Y:-164.52, Z:-23.51 [[ 7.87277050e-01 6.13531891e-01 6.14285353e-02 3.63171292e+02] [-6.11859263e-01 7.89667629e-01 -4.53131118e-02 -1.64517378e+02] [-7.63091650e-02 -1.91164534e-03 9.97082372e-01 -2.35051102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.22, Y:-164.55, Z:-23.51 [[ 7.87927453e-01 6.12696820e-01 6.14242261e-02 3.63223259e+02] [-6.11021203e-01 7.90315938e-01 -4.53189523e-02 -1.64552076e+02] [-7.63113228e-02 -1.82345783e-03 9.97082372e-01 -2.35122233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.28, Y:-164.58, Z:-23.52 [[ 7.88260810e-01 6.12269285e-01 6.14102352e-02 3.63275390e+02] [-6.10590898e-01 7.90647349e-01 -4.53379030e-02 -1.64584647e+02] [-7.63128451e-02 -1.75843851e-03 9.97082373e-01 -2.35158796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.33, Y:-164.62, Z:-23.52 [[ 7.88903730e-01 6.11441785e-01 6.13990917e-02 3.63326768e+02] [-6.09759721e-01 7.91287678e-01 -4.53529892e-02 -1.64621158e+02] [-7.63150574e-02 -1.65955070e-03 9.97082373e-01 -2.35199978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.38, Y:-164.66, Z:-23.52 [[ 7.90437196e-01 6.09459412e-01 6.13861838e-02 3.63377689e+02] [-6.07770013e-01 7.92815952e-01 -4.53704536e-02 -1.64656893e+02] [-7.63193957e-02 -1.44618757e-03 9.97082373e-01 -2.35234501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.43, Y:-164.69, Z:-23.53 [[ 7.92042270e-01 6.07373196e-01 6.13746139e-02 3.63428030e+02] [-6.05676319e-01 7.94415697e-01 -4.53860993e-02 -1.64694490e+02] [-7.63232569e-02 -1.22544109e-03 9.97082373e-01 -2.35297503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.48, Y:-164.73, Z:-23.53 [[ 7.93848283e-01 6.05012165e-01 6.13610868e-02 3.63479954e+02] [-6.03306816e-01 7.96215629e-01 -4.54043804e-02 -1.64730546e+02] [-7.63268588e-02 -9.75372483e-04 9.97082373e-01 -2.35347414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.53, Y:-164.77, Z:-23.54 [[ 7.94493884e-01 6.04165498e-01 6.13475315e-02 3.63530088e+02] [-6.02456212e-01 7.96858389e-01 -4.54226881e-02 -1.64765326e+02] [-7.63281161e-02 -8.71153529e-04 9.97082374e-01 -2.35393901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.58, Y:-164.80, Z:-23.54 [[ 7.96570102e-01 6.01426539e-01 6.13366972e-02 3.63581678e+02] [-5.99707996e-01 7.98927888e-01 -4.54373135e-02 -1.64801176e+02] [-7.63308042e-02 -5.90102357e-04 9.97082374e-01 -2.35446727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.63, Y:-164.84, Z:-23.55 [[ 7.97531994e-01 6.00151755e-01 6.13236480e-02 3.63630941e+02] [-5.98428089e-01 7.99886037e-01 -4.54549183e-02 -1.64839069e+02] [-7.63317788e-02 -4.46041874e-04 9.97082374e-01 -2.35472202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.68, Y:-164.87, Z:-23.55 [[ 8.01221885e-01 5.95217895e-01 6.13118935e-02 3.63681444e+02] [-5.93478520e-01 8.03564344e-01 -4.54707679e-02 -1.64872545e+02] [-7.63330663e-02 4.48825296e-05 9.97082374e-01 -2.35548914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.73, Y:-164.91, Z:-23.56 [[ 8.02415949e-01 5.93607830e-01 6.13056969e-02 3.63732367e+02] [-5.91863117e-01 8.04754435e-01 -4.54791210e-02 -1.64909416e+02] [-7.63327938e-02 2.08591187e-04 9.97082374e-01 -2.35592207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.78, Y:-164.95, Z:-23.56 [[ 8.02464275e-01 5.93543829e-01 6.12928292e-02 3.63783733e+02] [-5.91797605e-01 8.04801632e-01 -4.54964563e-02 -1.64945474e+02] [-7.63327099e-02 2.36331279e-04 9.97082375e-01 -2.35620609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.84, Y:-164.98, Z:-23.57 [[ 8.01063141e-01 5.95434840e-01 6.12796583e-02 3.63835062e+02] [-5.93692777e-01 8.03403601e-01 -4.55141895e-02 -1.64980705e+02] [-7.63330322e-02 7.84491331e-05 9.97082375e-01 -2.35673686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.88, Y:-165.02, Z:-23.56 [[ 7.94623445e-01 6.04002797e-01 6.12715461e-02 3.63883409e+02] [-6.02285125e-01 7.96981864e-01 -4.55251075e-02 -1.65019569e+02] [-7.63296033e-02 -7.27623053e-04 9.97082375e-01 -2.35645977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.94, Y:-165.05, Z:-23.58 [[ 7.93354602e-01 6.05668781e-01 6.12682870e-02 3.63937904e+02] [-6.03955724e-01 7.95716375e-01 -4.55294933e-02 -1.65048083e+02] [-7.63279719e-02 -8.82299590e-04 9.97082375e-01 -2.35767712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:-165.08, Z:-23.58 [[ 7.90869744e-01 6.08910058e-01 6.12665470e-02 3.63989905e+02] [-6.07206497e-01 7.93238376e-01 -4.55318346e-02 -1.65083932e+02] [-7.63237683e-02 -1.19169508e-03 9.97082375e-01 -2.35816681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.04, Y:-165.12, Z:-23.59 [[ 7.89805331e-01 6.10291342e-01 6.12537163e-02 3.64040699e+02] [-6.08590586e-01 7.92175977e-01 -4.55490892e-02 -1.65120500e+02] [-7.63219373e-02 -1.30352170e-03 9.97082375e-01 -2.35860321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.09, Y:-165.16, Z:-23.59 [[ 7.88069458e-01 6.12532527e-01 6.12407733e-02 3.64092366e+02] [-6.10837161e-01 7.90443962e-01 -4.55664843e-02 -1.65155443e+02] [-7.63183533e-02 -1.49858551e-03 9.97082375e-01 -2.35899089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.14, Y:-165.19, Z:-23.59 [[ 7.87737551e-01 6.12960430e-01 6.12295856e-02 3.64143632e+02] [-6.11265186e-01 7.90112142e-01 -4.55815129e-02 -1.65192269e+02] [-7.63179028e-02 -1.52124473e-03 9.97082376e-01 -2.35941158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.19, Y:-165.23, Z:-23.60 [[ 7.88249679e-01 6.12303005e-01 6.12166047e-02 3.64194150e+02] [-6.10604429e-01 7.90621887e-01 -4.55989397e-02 -1.65229194e+02] [-7.63195554e-02 -1.43578040e-03 9.97082376e-01 -2.35998119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.24, Y:-165.27, Z:-23.61 [[ 7.88569869e-01 6.11891881e-01 6.12036573e-02 3.64244008e+02] [-6.10190720e-01 7.90940224e-01 -4.56163114e-02 -1.65267166e+02] [-7.63206850e-02 -1.37425497e-03 9.97082376e-01 -2.36050862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.29, Y:-165.30, Z:-23.61 [[ 7.88533860e-01 6.11939599e-01 6.11905093e-02 3.64292250e+02] [-6.10237214e-01 7.90903336e-01 -4.56339415e-02 -1.65303940e+02] [-7.63209938e-02 -1.35681789e-03 9.97082376e-01 -2.36112672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:364.34, Y:-165.34, Z:-23.62 [[ 7.86194314e-01 6.14943093e-01 6.11840984e-02 3.64338611e+02] [-6.13249090e-01 7.88569789e-01 -4.56425354e-02 -1.65343792e+02] [-7.63154935e-02 -1.63719091e-03 9.97082376e-01 -2.36150886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.39, Y:-165.38, Z:-23.62 [[ 7.87219861e-01 6.13629879e-01 6.11822007e-02 3.64388165e+02] [-6.11931716e-01 7.89592364e-01 -4.56450791e-02 -1.65379087e+02] [-7.63181828e-02 -1.50661629e-03 9.97082376e-01 -2.36235615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.44, Y:-165.42, Z:-23.63 [[ 7.87523088e-01 6.13241341e-01 6.11755121e-02 3.64436027e+02] [-6.11541312e-01 7.89894254e-01 -4.56540417e-02 -1.65418570e+02] [-7.63191312e-02 -1.45774098e-03 9.97082376e-01 -2.36297928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:-165.46, Z:-23.63 [[ 7.87950409e-01 6.12692977e-01 6.11675374e-02 3.64485086e+02] [-6.10990469e-01 7.90319796e-01 -4.56647237e-02 -1.65457475e+02] [-7.63203712e-02 -1.39124461e-03 9.97082376e-01 -2.36318473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.53, Y:-165.50, Z:-23.64 [[ 7.88595092e-01 6.11864101e-01 6.11563802e-02 3.64533420e+02] [-6.10157944e-01 7.90961853e-01 -4.56796611e-02 -1.65497981e+02] [-7.63221085e-02 -1.29229465e-03 9.97082377e-01 -2.36356301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.58, Y:-165.54, Z:-23.64 [[ 7.88247649e-01 6.12312913e-01 6.11436016e-02 3.64582336e+02] [-6.10606778e-01 7.90614425e-01 -4.56967593e-02 -1.65537160e+02] [-7.63217292e-02 -1.31433450e-03 9.97082377e-01 -2.36404493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.63, Y:-165.58, Z:-23.64 [[ 7.85686687e-01 6.15596814e-01 6.11309558e-02 3.64631428e+02] [-6.13899254e-01 7.88059621e-01 -4.57136701e-02 -1.65575656e+02] [-7.63160274e-02 -1.61162620e-03 9.97082377e-01 -2.36449672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.68, Y:-165.61, Z:-23.65 [[ 7.83305682e-01 6.18624928e-01 6.11179836e-02 3.64679878e+02] [-6.16935189e-01 7.85684191e-01 -4.57310069e-02 -1.65613149e+02] [-7.63097744e-02 -1.88447721e-03 9.97082377e-01 -2.36517883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.73, Y:-165.65, Z:-23.66 [[ 7.79866134e-01 6.22956000e-01 6.11116522e-02 3.64728929e+02] [-6.21278806e-01 7.82253505e-01 -4.57394662e-02 -1.65652925e+02] [-7.62984791e-02 -2.29671360e-03 9.97082377e-01 -2.36572046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.78, Y:-165.69, Z:-23.66 [[ 7.78288662e-01 6.24926930e-01 6.10990308e-02 3.64778029e+02] [-6.23254459e-01 7.80679344e-01 -4.57563197e-02 -1.65692076e+02] [-7.62931077e-02 -2.46861860e-03 9.97082378e-01 -2.36617800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.82, Y:-165.73, Z:-23.66 [[ 7.77457689e-01 6.25961653e-01 6.10864139e-02 3.64824995e+02] [-6.24291043e-01 7.79849672e-01 -4.57731576e-02 -1.65732238e+02] [-7.62904613e-02 -2.54900775e-03 9.97082378e-01 -2.36642558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.87, Y:-165.77, Z:-23.67 [[ 7.77194154e-01 6.26289938e-01 6.10750387e-02 3.64872768e+02] [-6.24619148e-01 7.79586011e-01 -4.57883305e-02 -1.65771355e+02] [-7.62900165e-02 -2.56221580e-03 9.97082378e-01 -2.36683452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.92, Y:-165.81, Z:-23.67 [[ 7.76399189e-01 6.27276341e-01 6.10630154e-02 3.64921762e+02] [-6.25607331e-01 7.78792288e-01 -4.58043592e-02 -1.65811026e+02] [-7.62873963e-02 -2.63900279e-03 9.97082378e-01 -2.36712423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:364.97, Y:-165.85, Z:-23.68 [[ 7.75109961e-01 6.28869988e-01 6.10498646e-02 3.64970810e+02] [-6.27204521e-01 7.77505527e-01 -4.58218804e-02 -1.65849333e+02] [-7.62826125e-02 -2.77375505e-03 9.97082378e-01 -2.36769493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.02, Y:-165.89, Z:-23.68 [[ 7.73113055e-01 6.31324570e-01 6.10368008e-02 3.65018854e+02] [-6.29665337e-01 7.75512943e-01 -4.58392753e-02 -1.65888288e+02] [-7.62742898e-02 -2.99381554e-03 9.97082379e-01 -2.36830918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.07, Y:-165.93, Z:-23.69 [[ 7.71959495e-01 6.32735672e-01 6.10254755e-02 3.65067787e+02] [-6.31079636e-01 7.74361590e-01 -4.58543477e-02 -1.65927182e+02] [-7.62694657e-02 -3.11423580e-03 9.97082379e-01 -2.36886146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.12, Y:-165.97, Z:-23.69 [[ 7.71217208e-01 6.33641437e-01 6.10126773e-02 3.65116871e+02] [-6.31986879e-01 7.73620321e-01 -4.58713704e-02 -1.65967040e+02] [-7.62666481e-02 -3.18242128e-03 9.97082379e-01 -2.36937175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.17, Y:-166.01, Z:-23.70 [[ 7.71227952e-01 6.33629603e-01 6.09997714e-02 3.65165613e+02] [-6.31973655e-01 7.73630107e-01 -4.58885263e-02 -1.66007228e+02] [-7.62675884e-02 -3.15973438e-03 9.97082379e-01 -2.36988852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.21, Y:-166.05, Z:-23.70 [[ 7.72193674e-01 6.32453570e-01 6.09869745e-02 3.65212784e+02] [-6.30792624e-01 7.74592376e-01 -4.59055275e-02 -1.66048544e+02] [-7.62731602e-02 -3.02217570e-03 9.97082380e-01 -2.37034603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.26, Y:-166.09, Z:-23.71 [[ 7.72517166e-01 6.32059634e-01 6.09741481e-02 3.65259862e+02] [-6.30396124e-01 7.74914089e-01 -4.59225579e-02 -1.66088277e+02] [-7.62755216e-02 -2.96190230e-03 9.97082380e-01 -2.37073482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.31, Y:-166.13, Z:-23.71 [[ 7.72833155e-01 6.31674222e-01 6.09638521e-02 3.65308655e+02] [-6.30008441e-01 7.75228501e-01 -4.59362221e-02 -1.66127297e+02] [-7.62776430e-02 -2.90670599e-03 9.97082380e-01 -2.37114114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.36, Y:-166.17, Z:-23.71 [[ 7.72963479e-01 6.31515955e-01 6.09512846e-02 3.65357893e+02] [-6.29848371e-01 7.75357570e-01 -4.59528914e-02 -1.66167209e+02] [-7.62790240e-02 -2.87016050e-03 9.97082380e-01 -2.37141096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.41, Y:-166.21, Z:-23.72 [[ 7.72811949e-01 6.31702640e-01 6.09382191e-02 3.65407731e+02] [-6.30034272e-01 7.75205492e-01 -4.59702112e-02 -1.66205648e+02] [-7.62791459e-02 -2.86683796e-03 9.97082380e-01 -2.37186156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.46, Y:-166.24, Z:-23.73 [[ 7.72889293e-01 6.31609280e-01 6.09250169e-02 3.65457106e+02] [-6.29939247e-01 7.75281676e-01 -4.59877016e-02 -1.66242798e+02] [-7.62803083e-02 -2.83565704e-03 9.97082381e-01 -2.37253951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.51, Y:-166.28, Z:-23.73 [[ 7.72656734e-01 6.31894927e-01 6.09128275e-02 3.65506844e+02] [-6.30224509e-01 7.75048847e-01 -4.60038415e-02 -1.66281648e+02] [-7.62800107e-02 -2.84357889e-03 9.97082381e-01 -2.37304965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.56, Y:-166.32, Z:-23.73 [[ 7.72165242e-01 6.32496662e-01 6.09000154e-02 3.65556845e+02] [-6.30826773e-01 7.74557725e-01 -4.60207959e-02 -1.66319863e+02] [-7.62785771e-02 -2.88170113e-03 9.97082381e-01 -2.37349491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.61, Y:-166.36, Z:-23.74 [[ 7.72056331e-01 6.32630849e-01 6.08870359e-02 3.65606377e+02] [-6.30960025e-01 7.74448160e-01 -4.60379618e-02 -1.66357313e+02] [-7.62788878e-02 -2.87338581e-03 9.97082381e-01 -2.37400357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.66, Y:-166.40, Z:-23.74 [[ 7.72172878e-01 6.32489742e-01 6.08750616e-02 3.65656552e+02] [-6.30817236e-01 7.74563531e-01 -4.60537897e-02 -1.66395082e+02] [-7.62801523e-02 -2.83955080e-03 9.97082381e-01 -2.37447165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.71, Y:-166.43, Z:-23.75 [[ 7.72800132e-01 6.31724460e-01 6.08618322e-02 3.65706625e+02] [-6.30048213e-01 7.75188163e-01 -4.60712664e-02 -1.66433584e+02] [-7.62837177e-02 -2.74200787e-03 9.97082382e-01 -2.37496589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.76, Y:-166.47, Z:-23.76 [[ 7.73541031e-01 6.30818289e-01 6.08486551e-02 3.65755663e+02] [-6.29137878e-01 7.75926134e-01 -4.60886635e-02 -1.66471318e+02] [-7.62876335e-02 -2.63072146e-03 9.97082382e-01 -2.37554753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.81, Y:-166.51, Z:-23.76 [[ 7.74513045e-01 6.29625647e-01 6.08365662e-02 3.65805513e+02] [-6.27940312e-01 7.76894671e-01 -4.61046151e-02 -1.66509276e+02] [-7.62922522e-02 -2.49310650e-03 9.97082382e-01 -2.37601421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.85, Y:-166.55, Z:-23.76 [[ 7.75907364e-01 6.27907859e-01 6.08233829e-02 3.65854077e+02] [-6.26215889e-01 7.78284280e-01 -4.61220007e-02 -1.66547349e+02] [-7.62982495e-02 -2.30216881e-03 9.97082382e-01 -2.37649022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.90, Y:-166.59, Z:-23.77 [[ 7.78459924e-01 6.24741663e-01 6.08111964e-02 3.65902820e+02] [-6.23038771e-01 7.80829027e-01 -4.61380628e-02 -1.66586302e+02] [-7.63075174e-02 -1.97110024e-03 9.97082383e-01 -2.37683018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:365.95, Y:-166.63, Z:-23.77 [[ 7.80553346e-01 6.22124964e-01 6.08029954e-02 3.65951938e+02] [-6.20413287e-01 7.82916110e-01 -4.61488680e-02 -1.66625345e+02] [-7.63140075e-02 -1.70133294e-03 9.97082383e-01 -2.37745644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.00, Y:-166.66, Z:-23.78 [[ 7.81633755e-01 6.20768348e-01 6.07892339e-02 3.65999572e+02] [-6.19051162e-01 7.83992518e-01 -4.61669881e-02 -1.66662872e+02] [-7.63173095e-02 -1.54596959e-03 9.97082383e-01 -2.37788302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.05, Y:-166.70, Z:-23.78 [[ 7.83626281e-01 6.18252262e-01 6.07782305e-02 3.66047942e+02] [-6.16526379e-01 7.85978687e-01 -4.61814695e-02 -1.66703629e+02] [-7.63221918e-02 -1.28236916e-03 9.97082383e-01 -2.37840898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.10, Y:-166.74, Z:-23.79 [[ 7.85478816e-01 6.15898211e-01 6.07653098e-02 3.66095338e+02] [-6.14163963e-01 7.87825062e-01 -4.61984642e-02 -1.66743983e+02] [-7.63259854e-02 -1.03194850e-03 9.97082383e-01 -2.37898011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.14, Y:-166.78, Z:-23.80 [[ 7.86255046e-01 6.14908095e-01 6.07539060e-02 3.66142780e+02] [-6.13169734e-01 7.88598246e-01 -4.62134560e-02 -1.66783034e+02] [-7.63274520e-02 -9.16893371e-04 9.97082383e-01 -2.37958630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.19, Y:-166.82, Z:-23.80 [[ 7.87784562e-01 6.12948539e-01 6.07418515e-02 3.66190194e+02] [-6.11203127e-01 7.90122515e-01 -4.62292948e-02 -1.66824337e+02] [-7.63296832e-02 -7.06884860e-04 9.97082384e-01 -2.38004884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.24, Y:-166.86, Z:-23.80 [[ 7.87745064e-01 6.13000579e-01 6.07289487e-02 3.66240090e+02] [-6.11254016e-01 7.90082156e-01 -4.62462383e-02 -1.66863060e+02] [-7.63298296e-02 -6.90567851e-04 9.97082384e-01 -2.38038416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.29, Y:-166.90, Z:-23.81 [[ 7.86554715e-01 6.14528478e-01 6.07159813e-02 3.66290426e+02] [-6.12785141e-01 7.88894215e-01 -4.62632568e-02 -1.66901414e+02] [-7.63285752e-02 -8.17268377e-04 9.97082384e-01 -2.38073191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.34, Y:-166.94, Z:-23.81 [[ 7.85315167e-01 6.16113017e-01 6.07028775e-02 3.66341759e+02] [-6.14373072e-01 7.87657190e-01 -4.62804443e-02 -1.66937841e+02] [-7.63270420e-02 -9.49478513e-04 9.97082384e-01 -2.38125355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.39, Y:-166.97, Z:-23.82 [[ 7.83125659e-01 6.18894959e-01 6.06896340e-02 3.66392422e+02] [-6.17161988e-01 7.85472847e-01 -4.62978046e-02 -1.66972947e+02] [-7.63235375e-02 -1.19833646e-03 9.97082385e-01 -2.38182327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.44, Y:-167.01, Z:-23.82 [[ 7.82001942e-01 6.20315333e-01 6.06782566e-02 3.66443528e+02] [-6.18585469e-01 7.84351420e-01 -4.63127111e-02 -1.67009347e+02] [-7.63215615e-02 -1.31805783e-03 9.97082385e-01 -2.38233277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.49, Y:-167.05, Z:-23.83 [[ 7.81415562e-01 6.21055110e-01 6.06652298e-02 3.66494173e+02] [-6.19326146e-01 7.83765703e-01 -4.63297686e-02 -1.67047059e+02] [-7.63206661e-02 -1.36876080e-03 9.97082385e-01 -2.38281643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.54, Y:-167.09, Z:-23.83 [[ 7.81872562e-01 6.20480946e-01 6.06522299e-02 3.66544420e+02] [-6.18748938e-01 7.84220459e-01 -4.63467812e-02 -1.67085336e+02] [-7.63220142e-02 -1.29122632e-03 9.97082385e-01 -2.38326164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.59, Y:-167.12, Z:-23.84 [[ 7.83803180e-01 6.18041643e-01 6.06391169e-02 3.66592384e+02] [-6.16301000e-01 7.86144683e-01 -4.63639316e-02 -1.67123421e+02] [-7.63259598e-02 -1.03175133e-03 9.97082385e-01 -2.38386821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.64, Y:-167.16, Z:-23.84 [[ 7.85413617e-01 6.15994414e-01 6.06327657e-02 3.66642013e+02] [-6.14247026e-01 7.87750091e-01 -4.63722360e-02 -1.67162448e+02] [-7.63285050e-02 -8.22110446e-04 9.97082386e-01 -2.38419710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.69, Y:-167.20, Z:-23.85 [[ 7.87930277e-01 6.12773317e-01 6.06196455e-02 3.66690406e+02] [-6.11015058e-01 7.90258580e-01 -4.63893809e-02 -1.67200612e+02] [-7.63313698e-02 -4.87918471e-04 9.97082386e-01 -2.38456599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:366.74, Y:-167.24, Z:-23.85 [[ 7.89513501e-01 6.10733229e-01 6.06081997e-02 3.66738114e+02] [-6.08967806e-01 7.91836378e-01 -4.64043302e-02 -1.67239001e+02] [-7.63324437e-02 -2.71597241e-04 9.97082386e-01 -2.38535245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.30, Y:-166.68, Z:-22.89 [[ 8.38226771e-01 5.41944060e-01 6.06012935e-02 3.67297462e+02] [-5.39988305e-01 8.40391832e-01 -4.64133475e-02 -1.66682068e+02] [-7.60822701e-02 6.18092071e-03 9.97082386e-01 -2.28870556e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.35, Y:-166.72, Z:-22.89 [[ 8.37557799e-01 5.42579708e-01 6.40639760e-02 3.67347950e+02] [-5.41028004e-01 8.40004263e-01 -4.10065545e-02 -1.66717794e+02] [-7.60633373e-02 -3.15045463e-04 9.97102938e-01 -2.28906968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.40, Y:-166.75, Z:-22.90 [[ 8.36614611e-01 5.44034081e-01 6.40539765e-02 3.67400369e+02] [-5.42485435e-01 8.39063010e-01 -4.10221682e-02 -1.66750357e+02] [-7.60627799e-02 -4.28603969e-04 9.97102938e-01 -2.28968299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.45, Y:-166.78, Z:-22.90 [[ 8.35520772e-01 5.45713660e-01 6.40440479e-02 3.67453306e+02] [-5.44168748e-01 8.37971529e-01 -4.10376630e-02 -1.66782849e+02] [-7.60619020e-02 -5.62949430e-04 9.97102939e-01 -2.29032080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.50, Y:-166.82, Z:-22.91 [[ 8.34721679e-01 5.46936346e-01 6.40339829e-02 3.67504199e+02] [-5.45393819e-01 8.37173938e-01 -4.10533620e-02 -1.66818012e+02] [-7.60611575e-02 -6.55607227e-04 9.97102939e-01 -2.29065247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.56, Y:-166.85, Z:-22.91 [[ 8.35043404e-01 5.46445492e-01 6.40299785e-02 3.67556360e+02] [-5.44901045e-01 8.37494454e-01 -4.10596068e-02 -1.66852239e+02] [-7.60615889e-02 -6.03448381e-04 9.97102939e-01 -2.29094990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.61, Y:-166.88, Z:-22.92 [[ 8.35811823e-01 5.45270973e-01 6.40168983e-02 3.67608252e+02] [-5.43721520e-01 8.38259711e-01 -4.10799904e-02 -1.66883156e+02] [-7.60625129e-02 -4.72223618e-04 9.97102939e-01 -2.29157020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.66, Y:-166.92, Z:-22.92 [[ 8.35765421e-01 5.45343276e-01 6.40068133e-02 3.67660374e+02] [-5.43792832e-01 8.38212682e-01 -4.10956978e-02 -1.66916539e+02] [-7.60625851e-02 -4.60083032e-04 9.97102939e-01 -2.29215592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.71, Y:-166.95, Z:-22.93 [[ 8.36213349e-01 5.44657456e-01 6.39960124e-02 3.67713336e+02] [-5.43103718e-01 8.38658520e-01 -4.11125106e-02 -1.66949657e+02] [-7.60630364e-02 -3.77642110e-04 9.97102939e-01 -2.29253297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.77, Y:-166.98, Z:-22.93 [[ 8.36805697e-01 5.43748289e-01 6.39845552e-02 3.67766352e+02] [-5.42190531e-01 8.39248309e-01 -4.11303340e-02 -1.66984067e+02] [-7.60634785e-02 -2.73722085e-04 9.97102940e-01 -2.29298302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.82, Y:-167.02, Z:-22.94 [[ 8.38015019e-01 5.41884031e-01 6.39728444e-02 3.67819345e+02] [-5.40319450e-01 8.40453265e-01 -4.11485406e-02 -1.67018221e+02] [-7.60639230e-02 -8.26770450e-05 9.97102940e-01 -2.29351268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:-167.05, Z:-22.94 [[ 8.39745047e-01 5.39200535e-01 6.39612300e-02 3.67872522e+02] [-5.37626787e-01 8.42177386e-01 -4.11665861e-02 -1.67052259e+02] [-7.60637468e-02 1.82166206e-04 9.97102940e-01 -2.29401398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:-167.09, Z:-22.95 [[ 8.41031417e-01 5.37193274e-01 6.39495348e-02 3.67925853e+02] [-5.35612340e-01 8.43459091e-01 -4.11847459e-02 -1.67085901e+02] [-7.60629849e-02 3.85505186e-04 9.97102940e-01 -2.29454238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:367.98, Y:-167.12, Z:-22.95 [[ 8.42678073e-01 5.34607898e-01 6.39379442e-02 3.67978901e+02] [-5.33018151e-01 8.45099986e-01 -4.12027321e-02 -1.67119437e+02] [-7.60612617e-02 6.40554091e-04 9.97102941e-01 -2.29500150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.03, Y:-167.15, Z:-22.95 [[ 8.43325994e-01 5.33586629e-01 6.39263387e-02 3.68030726e+02] [-5.31992585e-01 8.45745080e-01 -4.12207303e-02 -1.67152246e+02] [-7.60602169e-02 7.54175220e-04 9.97102941e-01 -2.29547640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.08, Y:-167.18, Z:-22.96 [[ 8.42703307e-01 5.34570787e-01 6.39156427e-02 3.68083757e+02] [-5.32978311e-01 8.45123425e-01 -4.12373085e-02 -1.67183448e+02] [-7.60608674e-02 6.85164930e-04 9.97102941e-01 -2.29600858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.14, Y:-167.22, Z:-22.97 [[ 8.41497693e-01 5.36467440e-01 6.39086713e-02 3.68136290e+02] [-5.34879598e-01 8.43920855e-01 -4.12481097e-02 -1.67215292e+02] [-7.60621284e-02 5.26744739e-04 9.97102941e-01 -2.29663854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.19, Y:-167.25, Z:-22.97 [[ 8.39908129e-01 5.38953860e-01 6.38989129e-02 3.68190287e+02] [-5.37372043e-01 8.42335227e-01 -4.12632213e-02 -1.67248043e+02] [-7.60632777e-02 3.19825636e-04 9.97102941e-01 -2.29720000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.24, Y:-167.28, Z:-22.98 [[ 8.38024099e-01 5.41880045e-01 6.38876087e-02 3.68243226e+02] [-5.40305368e-01 8.40455835e-01 -4.12807161e-02 -1.67280704e+02] [-7.60639099e-02 7.54169802e-05 9.97102942e-01 -2.29762267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.30, Y:-167.31, Z:-22.98 [[ 8.37131751e-01 5.43258053e-01 6.38836388e-02 3.68295318e+02] [-5.41686911e-01 8.39565772e-01 -4.12868589e-02 -1.67311350e+02] [-7.60639351e-02 -4.23904834e-05 9.97102942e-01 -2.29820624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:-167.34, Z:-22.99 [[ 8.37182903e-01 5.43180435e-01 6.38733274e-02 3.68347885e+02] [-5.41607850e-01 8.39615993e-01 -4.13028052e-02 -1.67343515e+02] [-7.60639428e-02 -1.62931318e-05 9.97102942e-01 -2.29862608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.40, Y:-167.38, Z:-22.99 [[ 8.38597290e-01 5.40995426e-01 6.38634114e-02 3.68400477e+02] [-5.39415334e-01 8.41025511e-01 -4.13181319e-02 -1.67376629e+02] [-7.60636785e-02 2.00370017e-04 9.97102942e-01 -2.29900422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.45, Y:-167.41, Z:-22.99 [[ 8.39542232e-01 5.39529029e-01 6.38534896e-02 3.68453522e+02] [-5.37943530e-01 8.41966925e-01 -4.13334595e-02 -1.67409997e+02] [-7.60631275e-02 3.51613205e-04 9.97102942e-01 -2.29946790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.51, Y:-167.44, Z:-23.00 [[ 8.41364469e-01 5.36684323e-01 6.38417499e-02 3.68506505e+02] [-5.35089251e-01 8.43782875e-01 -4.13515841e-02 -1.67443697e+02] [-7.60613222e-02 6.30719469e-04 9.97102942e-01 -2.30007213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.56, Y:-167.48, Z:-23.01 [[ 8.42456287e-01 5.34970221e-01 6.38299892e-02 3.68557511e+02] [-5.33368854e-01 8.44870529e-01 -4.13697299e-02 -1.67476066e+02] [-7.60596503e-02 8.07260920e-04 9.97102943e-01 -2.30068155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.61, Y:-167.51, Z:-23.02 [[ 8.44891879e-01 5.31115971e-01 6.38242827e-02 3.68608820e+02] [-5.29502927e-01 8.47298335e-01 -4.13785318e-02 -1.67507748e+02] [-7.60550076e-02 1.16524098e-03 9.97102943e-01 -2.30171957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.66, Y:-167.54, Z:-23.02 [[ 8.45157571e-01 5.30694285e-01 6.38142393e-02 3.68660692e+02] [-5.29078871e-01 8.47562436e-01 -4.13940152e-02 -1.67542958e+02] [-7.60541194e-02 1.22169960e-03 9.97102943e-01 -2.30173658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.71, Y:-167.58, Z:-23.02 [[ 8.46212495e-01 5.29011782e-01 6.38039798e-02 3.68712125e+02] [-5.27390396e-01 8.48613338e-01 -4.14098230e-02 -1.67576441e+02] [-7.60511925e-02 1.39190349e-03 9.97102943e-01 -2.30244694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.76, Y:-167.61, Z:-23.02 [[ 8.45169818e-01 5.30676485e-01 6.38000606e-02 3.68762714e+02] [-5.29059372e-01 8.47573541e-01 -4.14158604e-02 -1.67611662e+02] [-7.60536665e-02 1.24941518e-03 9.97102943e-01 -2.30248140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.81, Y:-167.65, Z:-23.03 [[ 8.43983558e-01 5.32562302e-01 6.37898808e-02 3.68814728e+02] [-5.30949376e-01 8.46390092e-01 -4.14315337e-02 -1.67645917e+02] [-7.60559960e-02 1.09833580e-03 9.97102943e-01 -2.30292365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.87, Y:-167.68, Z:-23.03 [[ 8.41667068e-01 5.36217174e-01 6.37784355e-02 3.68867315e+02] [-5.34613364e-01 8.44079688e-01 -4.14491448e-02 -1.67679849e+02] [-7.60598252e-02 7.89576205e-04 9.97102943e-01 -2.30344278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.92, Y:-167.71, Z:-23.04 [[ 8.38014984e-01 5.41908342e-01 6.37670398e-02 3.68919921e+02] [-5.40319585e-01 8.40437542e-01 -4.14666690e-02 -1.67713546e+02] [-7.60633480e-02 2.95109549e-04 9.97102944e-01 -2.30393190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:368.97, Y:-167.75, Z:-23.05 [[ 8.35019314e-01 5.46514382e-01 6.37555943e-02 3.68972667e+02] [-5.44937644e-01 8.37449712e-01 -4.14842592e-02 -1.67746502e+02] [-7.60638483e-02 -1.02665675e-04 9.97102944e-01 -2.30452199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.03, Y:-167.78, Z:-23.05 [[ 8.30773165e-01 5.52949016e-01 6.37442832e-02 3.69026019e+02] [-5.51389769e-01 8.33214821e-01 -4.15016325e-02 -1.67778881e+02] [-7.60609683e-02 -6.69502961e-04 9.97102944e-01 -2.30511832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:-167.81, Z:-23.06 [[ 8.27913730e-01 5.57222554e-01 6.37328839e-02 3.69078168e+02] [-5.55674562e-01 8.30362537e-01 -4.15191306e-02 -1.67811973e+02] [-7.60567952e-02 -1.04048412e-03 9.97102944e-01 -2.30566464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.13, Y:-167.85, Z:-23.06 [[ 8.26807119e-01 5.58864430e-01 6.37223378e-02 3.69131111e+02] [-5.57320054e-01 8.29258208e-01 -4.15353102e-02 -1.67846513e+02] [-7.60548791e-02 -1.17204660e-03 9.97102944e-01 -2.30614649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.18, Y:-167.88, Z:-23.07 [[ 8.26146803e-01 5.59841361e-01 6.37111527e-02 3.69183877e+02] [-5.58298561e-01 8.28598883e-01 -4.15524601e-02 -1.67881252e+02] [-7.60537758e-02 -1.24141287e-03 9.97102945e-01 -2.30673568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.24, Y:-167.92, Z:-23.07 [[ 8.26127995e-01 5.59870025e-01 6.37031431e-02 3.69235758e+02] [-5.58326364e-01 8.28579534e-01 -4.15647357e-02 -1.67917342e+02] [-7.60539703e-02 -1.22935251e-03 9.97102945e-01 -2.30725065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.29, Y:-167.95, Z:-23.08 [[ 8.27819405e-01 5.57367404e-01 6.36915207e-02 3.69286903e+02] [-5.55814962e-01 8.30265392e-01 -4.15825377e-02 -1.67953971e+02] [-7.60576165e-02 -9.77868489e-04 9.97102945e-01 -2.30767230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.34, Y:-167.99, Z:-23.08 [[ 8.28691418e-01 5.56071416e-01 6.36797709e-02 3.69338599e+02] [-5.54513767e-01 8.31134092e-01 -4.16005236e-02 -1.67988955e+02] [-7.60592907e-02 -8.37312749e-04 9.97102945e-01 -2.30812270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.39, Y:-168.03, Z:-23.09 [[ 8.32651770e-01 5.50124899e-01 6.36680819e-02 3.69389422e+02] [-5.48548436e-01 8.35082344e-01 -4.16184056e-02 -1.68025434e+02] [-7.60634123e-02 -2.71387687e-04 9.97102945e-01 -2.30858416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.44, Y:-168.06, Z:-23.09 [[ 8.38218910e-01 5.41605871e-01 6.36564105e-02 3.69439801e+02] [-5.40003351e-01 8.40632383e-01 -4.16362496e-02 -1.68062241e+02] [-7.60620774e-02 5.25616816e-04 9.97102946e-01 -2.30906021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.49, Y:-168.10, Z:-23.10 [[ 8.42213052e-01 5.35375155e-01 6.36444749e-02 3.69490106e+02] [-5.33753404e-01 8.44613644e-01 -4.16544863e-02 -1.68097390e+02] [-7.60557689e-02 1.11149692e-03 9.97102946e-01 -2.30951439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.54, Y:-168.13, Z:-23.10 [[ 8.46959094e-01 5.27836218e-01 6.36334807e-02 3.69543150e+02] [-5.26191843e-01 8.49344247e-01 -4.16712749e-02 -1.68131145e+02] [-7.60423388e-02 1.81044685e-03 9.97102946e-01 -2.30986251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.60, Y:-168.16, Z:-23.10 [[ 8.49614230e-01 5.23553176e-01 6.36217845e-02 3.69597066e+02] [-5.21895444e-01 8.51990119e-01 -4.16891244e-02 -1.68163109e+02] [-7.60316052e-02 2.21575385e-03 9.97102946e-01 -2.31027429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.65, Y:-168.20, Z:-23.11 [[ 8.51559513e-01 5.20384617e-01 6.36101175e-02 3.69650152e+02] [-5.18716719e-01 8.53928275e-01 -4.17069187e-02 -1.68196020e+02] [-7.60221168e-02 2.52029194e-03 9.97102946e-01 -2.31069639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.70, Y:-168.23, Z:-23.11 [[ 8.52016827e-01 5.19636961e-01 6.35983899e-02 3.69704422e+02] [-5.17965652e-01 8.54383184e-01 -4.17247942e-02 -1.68227953e+02] [-7.60191402e-02 2.60844529e-03 9.97102947e-01 -2.31117185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.76, Y:-168.26, Z:-23.12 [[ 8.50687783e-01 5.21811299e-01 6.35866660e-02 3.69760385e+02] [-5.20144706e-01 8.53057463e-01 -4.17426533e-02 -1.68257171e+02] [-7.60248682e-02 2.43569746e-03 9.97102947e-01 -2.31168679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.82, Y:-168.29, Z:-23.12 [[ 8.45989785e-01 5.29395409e-01 6.35750277e-02 3.69815846e+02] [-5.27748736e-01 8.48373351e-01 -4.17603713e-02 -1.68286718e+02] [-7.60431081e-02 1.77720706e-03 9.97102947e-01 -2.31216636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.87, Y:-168.32, Z:-23.13 [[ 8.41149092e-01 5.37054844e-01 6.35633477e-02 3.69870481e+02] [-5.35428538e-01 8.43546601e-01 -4.17781419e-02 -1.68316607e+02] [-7.60557993e-02 1.10801579e-03 9.97102947e-01 -2.31268179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.93, Y:-168.34, Z:-23.13 [[ 8.32937008e-01 5.49706298e-01 6.35525499e-02 3.69926945e+02] [-5.48115160e-01 8.35357999e-01 -4.17945610e-02 -1.68342673e+02] [-7.60638642e-02 -2.18794482e-05 9.97102948e-01 -2.31323462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:369.98, Y:-168.37, Z:-23.14 [[ 8.26332273e-01 5.59586407e-01 6.35454752e-02 3.69983205e+02] [-5.58023386e-01 8.28771510e-01 -4.18053147e-02 -1.68371484e+02] [-7.60583653e-02 -9.14780542e-04 9.97102948e-01 -2.31357415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.04, Y:-168.40, Z:-23.14 [[ 8.22812143e-01 5.64750951e-01 6.35337785e-02 3.70038351e+02] [-5.63201867e-01 8.25260254e-01 -4.18230833e-02 -1.68402098e+02] [-7.60515283e-02 -1.36980185e-03 9.97102948e-01 -2.31391153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.09, Y:-168.43, Z:-23.14 [[ 8.21506661e-01 5.66649615e-01 6.35218100e-02 3.70093473e+02] [-5.65104784e-01 8.23957458e-01 -4.18412534e-02 -1.68432030e+02] [-7.60485993e-02 -1.52361037e-03 9.97102948e-01 -2.31449211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.15, Y:-168.46, Z:-23.15 [[ 8.21535028e-01 5.66609820e-01 6.35099203e-02 3.70147293e+02] [-5.65063477e-01 8.23984871e-01 -4.18592928e-02 -1.68464359e+02] [-7.60490998e-02 -1.49826112e-03 9.97102948e-01 -2.31512372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.20, Y:-168.50, Z:-23.16 [[ 8.24191908e-01 5.62739454e-01 6.34980736e-02 3.70199527e+02] [-5.61180221e-01 8.26633568e-01 -4.18772559e-02 -1.68498239e+02] [-7.60556232e-02 -1.11896750e-03 9.97102949e-01 -2.31583196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.25, Y:-168.53, Z:-23.16 [[ 8.29907732e-01 5.54275767e-01 6.34943330e-02 3.70250529e+02] [-5.52691196e-01 8.32333024e-01 -4.18829266e-02 -1.68532876e+02] [-7.60631215e-02 -3.33794139e-04 9.97102949e-01 -2.31638731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.30, Y:-168.57, Z:-23.17 [[ 8.34712647e-01 5.47014322e-01 6.34833029e-02 3.70301615e+02] [-5.45407381e-01 8.37123175e-01 -4.18996387e-02 -1.68569129e+02] [-7.60630465e-02 3.49896363e-04 9.97102949e-01 -2.31665328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.35, Y:-168.61, Z:-23.17 [[ 8.42795256e-01 5.34478757e-01 6.34713643e-02 3.70351437e+02] [-5.32834611e-01 8.45180562e-01 -4.19177160e-02 -1.68605045e+02] [-7.60488921e-02 1.50831250e-03 9.97102949e-01 -2.31700995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.40, Y:-168.64, Z:-23.17 [[ 8.50088364e-01 5.22802598e-01 6.34603571e-02 3.70403602e+02] [-5.21124464e-01 8.52449882e-01 -4.19343736e-02 -1.68639684e+02] [-7.60201734e-02 2.57717844e-03 9.97102949e-01 -2.31737314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.46, Y:-168.67, Z:-23.18 [[ 8.55388718e-01 5.14085958e-01 6.34489475e-02 3.70456598e+02] [-5.12382496e-01 8.57732032e-01 -4.19516298e-02 -1.68672978e+02] [-7.59889384e-02 3.37482076e-03 9.97102949e-01 -2.31777731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.51, Y:-168.70, Z:-23.18 [[ 8.57705348e-01 5.10212925e-01 6.34374315e-02 3.70511316e+02] [-5.08497602e-01 8.60039993e-01 -4.19690365e-02 -1.68704632e+02] [-7.59718730e-02 3.73928523e-03 9.97102950e-01 -2.31824111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.57, Y:-168.74, Z:-23.19 [[ 8.57202253e-01 5.11059168e-01 6.34257428e-02 3.70566100e+02] [-5.09344848e-01 8.59537634e-01 -4.19866938e-02 -1.68735223e+02] [-7.59744977e-02 3.68551321e-03 9.97102950e-01 -2.31881113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.62, Y:-168.76, Z:-23.19 [[ 8.55174459e-01 5.14446612e-01 6.34139373e-02 3.70621456e+02] [-5.12740227e-01 8.57515644e-01 -4.20045164e-02 -1.68764441e+02] [-7.59875245e-02 3.40631302e-03 9.97102950e-01 -2.31933536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.68, Y:-168.79, Z:-23.19 [[ 8.49184550e-01 5.24276411e-01 6.34022387e-02 3.70677403e+02] [-5.22595828e-01 8.51544325e-01 -4.20221672e-02 -1.68792488e+02] [-7.60210475e-02 2.55082972e-03 9.97102950e-01 -2.31904979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.74, Y:-168.81, Z:-23.20 [[ 8.42283561e-01 5.35294230e-01 6.33915620e-02 3.70735142e+02] [-5.33643319e-01 8.44664189e-01 -4.20382671e-02 -1.68814622e+02] [-7.60474241e-02 1.57965778e-03 9.97102951e-01 -2.32020379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.79, Y:-168.84, Z:-23.21 [[ 8.36560634e-01 5.44195785e-01 6.33818034e-02 3.70791253e+02] [-5.42569097e-01 8.38957879e-01 -4.20529752e-02 -1.68843266e+02] [-7.60597151e-02 7.90855789e-04 9.97102951e-01 -2.32071675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.85, Y:-168.87, Z:-23.21 [[ 8.29298541e-01 5.55201005e-01 6.33701279e-02 3.70849081e+02] [-5.53604788e-01 8.31716182e-01 -4.20705618e-02 -1.68869589e+02] [-7.60635790e-02 -1.92950667e-04 9.97102951e-01 -2.32116972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.91, Y:-168.90, Z:-23.22 [[ 8.25069590e-01 5.61467626e-01 6.33583198e-02 3.70906112e+02] [-5.59888405e-01 8.27498366e-01 -4.20883373e-02 -1.68896467e+02] [-7.60601449e-02 -7.47781321e-04 9.97102951e-01 -2.32172128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:370.96, Y:-168.93, Z:-23.22 [[ 8.24773495e-01 5.61903823e-01 6.33464692e-02 3.70961865e+02] [-5.60324517e-01 8.27202216e-01 -4.21061659e-02 -1.68925959e+02] [-7.60599553e-02 -7.66530133e-04 9.97102951e-01 -2.32230611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.02, Y:-168.96, Z:-23.23 [[ 8.26894376e-01 5.58779401e-01 6.33346136e-02 3.71015002e+02] [-5.57189552e-01 8.29316208e-01 -4.21239912e-02 -1.68958867e+02] [-7.60624401e-02 -4.57293625e-04 9.97102952e-01 -2.32285445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.07, Y:-168.99, Z:-23.23 [[ 8.30313922e-01 5.53686741e-01 6.33228534e-02 3.71067848e+02] [-5.52080691e-01 8.32725039e-01 -4.21416623e-02 -1.68992868e+02] [-7.60638053e-02 3.14843054e-05 9.97102952e-01 -2.32338196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.12, Y:-169.03, Z:-23.24 [[ 8.35926879e-01 5.45176987e-01 6.33111841e-02 3.71121177e+02] [-5.43545066e-01 8.38320562e-01 -4.21591863e-02 -1.69026120e+02] [-7.60592856e-02 8.29515275e-04 9.97102952e-01 -2.32389693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.17, Y:-169.06, Z:-23.24 [[ 8.39720498e-01 5.39316848e-01 6.32994665e-02 3.71173521e+02] [-5.37666899e-01 8.42101791e-01 -4.21767723e-02 -1.69059706e+02] [-7.60512380e-02 1.38267243e-03 9.97102952e-01 -2.32445080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:371.23, Y:-169.09, Z:-23.25 [[ 8.40556802e-01 5.38013712e-01 6.32890831e-02 3.71225580e+02] [-5.36358900e-01 8.42934717e-01 -4.21923476e-02 -1.69093647e+02] [-7.60486269e-02 1.51940179e-03 9.97102952e-01 -2.32501995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.28, Y:-169.13, Z:-23.25 [[ 8.40400568e-01 5.38258938e-01 6.32787558e-02 3.71278237e+02] [-5.36603653e-01 8.42778155e-01 -4.22078305e-02 -1.69127165e+02] [-7.60486950e-02 1.51587322e-03 9.97102953e-01 -2.32548941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.33, Y:-169.16, Z:-23.26 [[ 8.38988254e-01 5.40458915e-01 6.32682474e-02 3.71330902e+02] [-5.38808679e-01 8.41369346e-01 -4.22235763e-02 -1.69159049e+02] [-7.60520723e-02 1.33560377e-03 9.97102953e-01 -2.32597199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.38, Y:-169.19, Z:-23.26 [[ 8.36278484e-01 5.44643337e-01 6.32608325e-02 3.71383416e+02] [-5.43004176e-01 8.38667214e-01 -4.22346828e-02 -1.69192413e+02] [-7.60576247e-02 9.69060225e-04 9.97102953e-01 -2.32620936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.44, Y:-169.22, Z:-23.27 [[ 8.33855026e-01 5.48347668e-01 6.32505359e-02 3.71435164e+02] [-5.46717950e-01 8.36250209e-01 -4.22500972e-02 -1.69224682e+02] [-7.60610162e-02 6.50252605e-04 9.97102953e-01 -2.32663957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.49, Y:-169.26, Z:-23.27 [[ 8.28571638e-01 5.56299923e-01 6.32411042e-02 3.71488825e+02] [-5.54692117e-01 8.30981584e-01 -4.22642102e-02 -1.69257521e+02] [-7.60637698e-02 -6.04161472e-05 9.97102953e-01 -2.32699612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.54, Y:-169.29, Z:-23.28 [[ 8.22177438e-01 5.65708705e-01 6.32291196e-02 3.71541555e+02] [-5.64127096e-01 8.24604657e-01 -4.22821322e-02 -1.69291139e+02] [-7.60583967e-02 -9.05844446e-04 9.97102953e-01 -2.32750619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.59, Y:-169.33, Z:-23.28 [[ 8.17992276e-01 5.71744896e-01 6.32171693e-02 3.71594353e+02] [-5.70179815e-01 8.20430185e-01 -4.22999918e-02 -1.69325907e+02] [-7.60500783e-02 -1.44408734e-03 9.97102954e-01 -2.32804123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.64, Y:-169.36, Z:-23.29 [[ 8.13723850e-01 5.77804975e-01 6.32052781e-02 3.71644652e+02] [-5.76256667e-01 8.16172446e-01 -4.23177525e-02 -1.69361144e+02] [-7.60378143e-02 -1.98749841e-03 9.97102954e-01 -2.32856501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.70, Y:-169.40, Z:-23.29 [[ 8.12335415e-01 5.79756550e-01 6.31942806e-02 3.71695437e+02] [-5.78212849e-01 8.14786917e-01 -4.23341690e-02 -1.69398094e+02] [-7.60333848e-02 -2.15020030e-03 9.97102954e-01 -2.32901079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.75, Y:-169.44, Z:-23.29 [[ 8.12160054e-01 5.80003469e-01 6.31824588e-02 3.71745166e+02] [-5.78459142e-01 8.14611162e-01 -4.23518053e-02 -1.69437263e+02] [-7.60333302e-02 -2.15202650e-03 9.97102954e-01 -2.32944007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.79, Y:-169.48, Z:-23.30 [[ 8.13476621e-01 5.78156791e-01 6.31705021e-02 3.71792856e+02] [-5.76605516e-01 8.15923338e-01 -4.23696321e-02 -1.69477138e+02] [-7.60385774e-02 -1.95775481e-03 9.97102955e-01 -2.33009999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.84, Y:-169.52, Z:-23.31 [[ 8.14492147e-01 5.76726399e-01 6.31601383e-02 3.71840626e+02] [-5.75169631e-01 8.16935371e-01 -4.23850757e-02 -1.69516573e+02] [-7.60423431e-02 -1.80548214e-03 9.97102955e-01 -2.33056969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.89, Y:-169.56, Z:-23.31 [[ 8.15429717e-01 5.75401167e-01 6.31496144e-02 3.71888266e+02] [-5.73839214e-01 8.17869630e-01 -4.24007495e-02 -1.69558747e+02] [-7.60455925e-02 -1.66289392e-03 9.97102955e-01 -2.33092514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.93, Y:-169.60, Z:-23.30 [[ 8.12808544e-01 5.79099230e-01 6.31375718e-02 3.71931342e+02] [-5.77546986e-01 8.15254644e-01 -4.24186742e-02 -1.69604927e+02] [-7.60378202e-02 -1.98665345e-03 9.97102955e-01 -2.33028380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:371.98, Y:-169.64, Z:-23.32 [[ 8.15501965e-01 5.75300318e-01 6.31354852e-02 3.71980331e+02] [-5.73736437e-01 8.17940642e-01 -4.24217796e-02 -1.69638285e+02] [-7.60463426e-02 -1.62808377e-03 9.97102955e-01 -2.33169953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.02, Y:-169.68, Z:-23.32 [[ 8.13617370e-01 5.77962562e-01 6.31351883e-02 3.72024021e+02] [-5.76406625e-01 8.16061124e-01 -4.24222216e-02 -1.69683824e+02] [-7.60406285e-02 -1.87608446e-03 9.97102955e-01 -2.33150190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.07, Y:-169.72, Z:-23.32 [[ 8.13397956e-01 5.78271614e-01 6.31324416e-02 3.72072567e+02] [-5.76716289e-01 8.15842099e-01 -4.24263088e-02 -1.69723777e+02] [-7.60400337e-02 -1.90003456e-03 9.97102955e-01 -2.33174548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.12, Y:-169.76, Z:-23.33 [[ 8.14745591e-01 5.76371795e-01 6.31282573e-02 3.72118250e+02] [-5.74810288e-01 8.17185789e-01 -4.24325339e-02 -1.69762292e+02] [-7.60444304e-02 -1.71505181e-03 9.97102955e-01 -2.33310345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.17, Y:-169.80, Z:-23.33 [[ 8.13341230e-01 5.78352296e-01 6.31241982e-02 3.72165720e+02] [-5.76796263e-01 8.15784922e-01 -4.24385714e-02 -1.69804194e+02] [-7.60402144e-02 -1.89276175e-03 9.97102955e-01 -2.33347305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.22, Y:-169.84, Z:-23.34 [[ 8.11889450e-01 5.80389848e-01 6.31121641e-02 3.72215115e+02] [-5.78838558e-01 8.14336155e-01 -4.24564603e-02 -1.69842576e+02] [-7.60358156e-02 -2.06180187e-03 9.97102955e-01 -2.33405981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.26, Y:-169.88, Z:-23.35 [[ 8.10136996e-01 5.82834800e-01 6.31002737e-02 3.72261894e+02] [-5.81289518e-01 8.12587500e-01 -4.24741249e-02 -1.69884103e+02] [-7.60298918e-02 -2.26966775e-03 9.97102956e-01 -2.33456915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.31, Y:-169.92, Z:-23.35 [[ 8.09664608e-01 5.83491971e-01 6.30899509e-02 3.72310996e+02] [-5.81947486e-01 8.12115614e-01 -4.24894528e-02 -1.69923900e+02] [-7.60285887e-02 -2.31283217e-03 9.97102956e-01 -2.33499650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.36, Y:-169.96, Z:-23.35 [[ 8.10019257e-01 5.83000820e-01 6.30781044e-02 3.72357591e+02] [-5.81453481e-01 8.12468462e-01 -4.25070323e-02 -1.69964624e+02] [-7.60306051e-02 -2.24546872e-03 9.97102956e-01 -2.33544867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.40, Y:-170.01, Z:-23.35 [[ 8.09156242e-01 5.84199203e-01 6.30671639e-02 3.72403721e+02] [-5.82654228e-01 8.11606939e-01 -4.25232584e-02 -1.70007503e+02] [-7.60278015e-02 -2.33838971e-03 9.97102956e-01 -2.33511575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.45, Y:-170.05, Z:-23.36 [[ 8.13732522e-01 5.77809050e-01 6.30561982e-02 3.72451602e+02] [-5.76243565e-01 8.16170168e-01 -4.25395128e-02 -1.70045093e+02] [-7.60443034e-02 -1.71994340e-03 9.97102956e-01 -2.33618137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.50, Y:-170.09, Z:-23.37 [[ 8.17617646e-01 5.72299376e-01 6.30460896e-02 3.72497989e+02] [-5.70716307e-01 8.20043909e-01 -4.25544892e-02 -1.70086440e+02] [-7.60544693e-02 -1.18813014e-03 9.97102957e-01 -2.33665098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.54, Y:-170.13, Z:-23.37 [[ 8.18972163e-01 5.70360499e-01 6.30356829e-02 3.72543789e+02] [-5.68770499e-01 8.21393890e-01 -4.25698989e-02 -1.70129014e+02] [-7.60573136e-02 -9.89274637e-04 9.97102957e-01 -2.33687117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.59, Y:-170.17, Z:-23.37 [[ 8.19336458e-01 5.69837476e-01 6.30318912e-02 3.72592439e+02] [-5.68245499e-01 8.21756885e-01 -4.25755125e-02 -1.70168592e+02] [-7.60580132e-02 -9.33918887e-04 9.97102957e-01 -2.33683466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.65, Y:-170.20, Z:-23.38 [[ 8.20279297e-01 5.68480700e-01 6.30203818e-02 3.72645342e+02] [-5.66883411e-01 8.22696222e-01 -4.25925420e-02 -1.70197088e+02] [-7.60596681e-02 -7.87428629e-04 9.97102957e-01 -2.33799424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.70, Y:-170.23, Z:-23.38 [[ 8.18700890e-01 5.70752352e-01 6.30127376e-02 3.72697002e+02] [-5.69160899e-01 8.21121662e-01 -4.26038481e-02 -1.70232059e+02] [-7.60573703e-02 -9.84578019e-04 9.97102957e-01 -2.33830805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.75, Y:-170.27, Z:-23.39 [[ 8.17079203e-01 5.73072690e-01 6.30021307e-02 3.72747893e+02] [-5.71486903e-01 8.19503689e-01 -4.26195276e-02 -1.70266853e+02] [-7.60545659e-02 -1.18136286e-03 9.97102957e-01 -2.33883143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.80, Y:-170.31, Z:-23.39 [[ 8.13163186e-01 5.78617074e-01 6.29913890e-02 3.72795060e+02] [-5.77046586e-01 8.15597610e-01 -4.26353980e-02 -1.70307487e+02] [-7.60451955e-02 -1.67942987e-03 9.97102957e-01 -2.33897221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.85, Y:-170.34, Z:-23.39 [[ 8.13592610e-01 5.78013984e-01 6.29833178e-02 3.72847496e+02] [-5.76440769e-01 8.16025273e-01 -4.26473178e-02 -1.70338941e+02] [-7.60467252e-02 -1.60860958e-03 9.97102958e-01 -2.33933665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:372.90, Y:-170.37, Z:-23.40 [[ 8.14418762e-01 5.76850051e-01 6.29769692e-02 3.72898515e+02] [-5.75272635e-01 8.16848702e-01 -4.26566907e-02 -1.70371798e+02] [-7.60491698e-02 -1.48851778e-03 9.97102958e-01 -2.34021897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:372.95, Y:-170.40, Z:-23.40 [[ 8.16941914e-01 5.73271822e-01 6.29708539e-02 3.72952348e+02] [-5.71683065e-01 8.19364455e-01 -4.26657163e-02 -1.70402103e+02] [-7.60551323e-02 -1.14395884e-03 9.97102958e-01 -2.34041765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.00, Y:-170.44, Z:-23.41 [[ 8.18577711e-01 5.70933813e-01 6.29691377e-02 3.73003596e+02] [-5.69337942e-01 8.20995571e-01 -4.26682491e-02 -1.70435273e+02] [-7.60581293e-02 -9.23441656e-04 9.97102958e-01 -2.34084695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.06, Y:-170.47, Z:-23.41 [[ 8.19548704e-01 5.69540171e-01 6.29596357e-02 3.73055603e+02] [-5.67939112e-01 8.21963131e-01 -4.26822654e-02 -1.70470302e+02] [-7.60597640e-02 -7.77044322e-04 9.97102958e-01 -2.34127623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.11, Y:-170.51, Z:-23.42 [[ 8.20387367e-01 5.68332773e-01 6.29478196e-02 3.73106376e+02] [-5.66726823e-01 8.22798544e-01 -4.26996845e-02 -1.70505548e+02] [-7.60610045e-02 -6.43936122e-04 9.97102958e-01 -2.34170492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.16, Y:-170.54, Z:-23.42 [[ 8.20618946e-01 5.67999496e-01 6.29374145e-02 3.73156846e+02] [-5.66391391e-01 8.23028687e-01 -4.27150158e-02 -1.70540037e+02] [-7.60614050e-02 -5.94458451e-04 9.97102958e-01 -2.34243901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.21, Y:-170.57, Z:-23.43 [[ 8.19902691e-01 5.69033969e-01 6.29278915e-02 3.73208991e+02] [-5.67427828e-01 8.22313741e-01 -4.27290405e-02 -1.70574050e+02] [-7.60607454e-02 -6.73381446e-04 9.97102958e-01 -2.34290169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.26, Y:-170.61, Z:-23.44 [[ 8.19887145e-01 5.69057537e-01 6.29173202e-02 3.73259206e+02] [-5.67450271e-01 8.22297445e-01 -4.27446008e-02 -1.70608252e+02] [-7.60608889e-02 -6.56701744e-04 9.97102959e-01 -2.34380215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.31, Y:-170.65, Z:-23.44 [[ 8.19377410e-01 5.69792319e-01 6.29076606e-02 3.73306653e+02] [-5.68186124e-01 8.21788423e-01 -4.27588123e-02 -1.70648534e+02] [-7.60604300e-02 -7.07654922e-04 9.97102959e-01 -2.34386677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.36, Y:-170.68, Z:-23.44 [[ 8.23129522e-01 5.64358786e-01 6.29042983e-02 3.73358559e+02] [-5.62736297e-01 8.25529600e-01 -4.27637581e-02 -1.70680859e+02] [-7.60634628e-02 -1.98420174e-04 9.97102959e-01 -2.34420638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.41, Y:-170.72, Z:-23.44 [[ 8.22758165e-01 5.64900495e-01 6.29001855e-02 3.73407419e+02] [-5.63279123e-01 8.25158999e-01 -4.27698066e-02 -1.70718827e+02] [-7.60633390e-02 -2.41153771e-04 9.97102959e-01 -2.34434870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.46, Y:-170.76, Z:-23.45 [[ 8.21519628e-01 5.66701413e-01 6.28888641e-02 3.73457895e+02] [-5.65084030e-01 8.23923151e-01 -4.27864473e-02 -1.70755618e+02] [-7.60627312e-02 -3.87586524e-04 9.97102959e-01 -2.34467424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.51, Y:-170.79, Z:-23.45 [[ 8.22769906e-01 5.64885976e-01 6.28769921e-02 3.73511807e+02] [-5.63261958e-01 8.25168949e-01 -4.28038867e-02 -1.70785993e+02] [-7.60634568e-02 -1.98467896e-04 9.97102959e-01 -2.34546873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.56, Y:-170.82, Z:-23.46 [[ 8.22731616e-01 5.64942071e-01 6.28740433e-02 3.73564313e+02] [-5.63317884e-01 8.25130546e-01 -4.28082176e-02 -1.70820114e+02] [-7.60634568e-02 -1.98399009e-04 9.97102959e-01 -2.34597253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.62, Y:-170.85, Z:-23.47 [[ 8.22649640e-01 5.65062777e-01 6.28619697e-02 3.73616039e+02] [-5.63437589e-01 8.25047891e-01 -4.28259400e-02 -1.70854305e+02] [-7.60634801e-02 -1.88052504e-04 9.97102959e-01 -2.34652048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.67, Y:-170.89, Z:-23.47 [[ 8.22169001e-01 5.65763057e-01 6.28513864e-02 3.73668248e+02] [-5.64138724e-01 8.24567832e-01 -4.28414665e-02 -1.70889101e+02] [-7.60633504e-02 -2.33975205e-04 9.97102960e-01 -2.34708236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.72, Y:-170.92, Z:-23.48 [[ 8.21256264e-01 5.67088492e-01 6.28394159e-02 3.73720787e+02] [-5.65466687e-01 8.23656804e-01 -4.28590175e-02 -1.70922364e+02] [-7.60629680e-02 -3.35359747e-04 9.97102960e-01 -2.34752683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.77, Y:-170.95, Z:-23.48 [[ 8.20445163e-01 5.68262504e-01 6.28288173e-02 3.73772922e+02] [-5.66642946e-01 8.22847219e-01 -4.28745488e-02 -1.70954975e+02] [-7.60625160e-02 -4.25289912e-04 9.97102960e-01 -2.34792510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.82, Y:-170.99, Z:-23.48 [[ 8.20277283e-01 5.68505896e-01 6.28189830e-02 3.73824610e+02] [-5.66885947e-01 8.22679075e-01 -4.28889530e-02 -1.70989713e+02] [-7.60624855e-02 -4.30364811e-04 9.97102960e-01 -2.34832261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.88, Y:-171.02, Z:-23.49 [[ 8.19213035e-01 5.70039562e-01 6.28084526e-02 3.73876667e+02] [-5.68422927e-01 8.21617059e-01 -4.29043687e-02 -1.71023994e+02] [-7.60616836e-02 -5.53946359e-04 9.97102960e-01 -2.34878204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.93, Y:-171.06, Z:-23.49 [[ 8.18388626e-01 5.71223655e-01 6.27980274e-02 3.73928940e+02] [-5.69609328e-01 8.20794200e-01 -4.29196223e-02 -1.71058493e+02] [-7.60609602e-02 -6.45411490e-04 9.97102960e-01 -2.34931484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:373.98, Y:-171.10, Z:-23.50 [[ 8.16416436e-01 5.74040156e-01 6.27861656e-02 3.73978687e+02] [-5.72432793e-01 8.18826669e-01 -4.29369678e-02 -1.71095530e+02] [-7.60585305e-02 -8.86413937e-04 9.97102961e-01 -2.34988098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.03, Y:-171.13, Z:-23.51 [[ 8.18750076e-01 5.70707235e-01 6.27818859e-02 3.74033389e+02] [-5.69089581e-01 8.21153413e-01 -4.29432245e-02 -1.71125211e+02] [-7.60615689e-02 -5.68748816e-04 9.97102961e-01 -2.35080553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.08, Y:-171.16, Z:-23.51 [[ 8.17000085e-01 5.73211013e-01 6.27693920e-02 3.74082578e+02] [-5.71599321e-01 8.19407424e-01 -4.29614790e-02 -1.71161683e+02] [-7.60596987e-02 -7.79409908e-04 9.97102961e-01 -2.35074893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.13, Y:-171.19, Z:-23.52 [[ 8.19180830e-01 5.70091295e-01 6.27589356e-02 3.74134899e+02] [-5.68469265e-01 8.21581216e-01 -4.29767485e-02 -1.71193583e+02] [-7.60622328e-02 -4.70797524e-04 9.97102961e-01 -2.35191947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:374.18, Y:-171.23, Z:-23.52 [[ 8.16767923e-01 5.73543367e-01 6.27548049e-02 3.74183997e+02] [-5.71931019e-01 8.19174823e-01 -4.29827792e-02 -1.71233265e+02] [-7.60596441e-02 -7.84464211e-04 9.97102961e-01 -2.35209406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.23, Y:-171.27, Z:-23.52 [[ 8.15201374e-01 5.75769405e-01 6.27400330e-02 3.74233659e+02] [-5.74161970e-01 8.17611558e-01 -4.30043304e-02 -1.71269154e+02] [-7.60575538e-02 -9.65751708e-04 9.97102962e-01 -2.35212490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.28, Y:-171.30, Z:-23.53 [[ 8.13398743e-01 5.78314514e-01 6.27280444e-02 3.74283440e+02] [-5.76713272e-01 8.15813046e-01 -4.30218104e-02 -1.71304999e+02] [-7.60544943e-02 -1.18220921e-03 9.97102962e-01 -2.35281226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.33, Y:-171.34, Z:-23.53 [[ 8.12217285e-01 5.79973103e-01 6.27238537e-02 3.74334056e+02] [-5.78376319e-01 8.14634539e-01 -4.30279194e-02 -1.71338583e+02] [-7.60520535e-02 -1.32997172e-03 9.97102962e-01 -2.35332342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.38, Y:-171.38, Z:-23.54 [[ 8.11657546e-01 5.80757361e-01 6.27129667e-02 3.74384440e+02] [-5.79161688e-01 8.14075532e-01 -4.30437813e-02 -1.71375296e+02] [-7.60510846e-02 -1.38413778e-03 9.97102962e-01 -2.35376803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.43, Y:-171.41, Z:-23.54 [[ 8.12125914e-01 5.80103503e-01 6.27010734e-02 3.74434707e+02] [-5.78504547e-01 8.14541730e-01 -4.30610991e-02 -1.71413183e+02] [-7.60525353e-02 -1.30182159e-03 9.97102962e-01 -2.35408412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.48, Y:-171.45, Z:-23.55 [[ 8.12644347e-01 5.79378341e-01 6.26889448e-02 3.74484621e+02] [-5.77775867e-01 8.15057831e-01 -4.30787490e-02 -1.71449129e+02] [-7.60540095e-02 -1.21245762e-03 9.97102962e-01 -2.35450622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.54, Y:-171.49, Z:-23.55 [[ 8.13540069e-01 5.78121143e-01 6.26777560e-02 3.74535489e+02] [-5.76513686e-01 8.15950237e-01 -4.30950220e-02 -1.71486311e+02] [-7.60560732e-02 -1.07505696e-03 9.97102963e-01 -2.35478138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.58, Y:-171.53, Z:-23.55 [[ 8.12922398e-01 5.78990671e-01 6.26656059e-02 3.74584619e+02] [-5.77384431e-01 8.15333377e-01 -4.31126827e-02 -1.71525561e+02] [-7.60552011e-02 -1.13487983e-03 9.97102963e-01 -2.35493652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.64, Y:-171.56, Z:-23.56 [[ 8.14382683e-01 5.76935547e-01 6.26595497e-02 3.74636503e+02] [-5.75322546e-01 8.16789144e-01 -4.31214829e-02 -1.71560748e+02] [-7.60579563e-02 -9.32062696e-04 9.97102963e-01 -2.35567714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.69, Y:-171.59, Z:-23.56 [[ 8.15771212e-01 5.74971934e-01 6.26466724e-02 3.74688123e+02] [-5.73351704e-01 8.18172811e-01 -4.31401828e-02 -1.71593521e+02] [-7.60601984e-02 -7.26057154e-04 9.97102963e-01 -2.35648160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:374.74, Y:-171.63, Z:-23.57 [[ 8.15909726e-01 5.74776490e-01 6.26362933e-02 3.74739783e+02] [-5.73154528e-01 8.18310156e-01 -4.31552473e-02 -1.71628753e+02] [-7.60605365e-02 -6.89489088e-04 9.97102963e-01 -2.35699017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:374.79, Y:-171.66, Z:-23.58 [[ 8.15842484e-01 5.74873260e-01 6.26240921e-02 3.74791387e+02] [-5.73250224e-01 8.18242187e-01 -4.31729456e-02 -1.71663961e+02] [-7.60606461e-02 -6.76951610e-04 9.97102964e-01 -2.35750688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:374.84, Y:-171.70, Z:-23.58 [[ 8.16522271e-01 5.73908648e-01 6.26118603e-02 3.74843508e+02] [-5.72281418e-01 8.18919132e-01 -4.31906776e-02 -1.71696424e+02] [-7.60615537e-02 -5.65454051e-04 9.97102964e-01 -2.35816892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:374.89, Y:-171.73, Z:-23.58 [[ 8.13935368e-01 5.77572823e-01 6.26007252e-02 3.74893028e+02] [-5.75955141e-01 8.16338684e-01 -4.32068108e-02 -1.71731880e+02] [-7.60584733e-02 -8.87658069e-04 9.97102964e-01 -2.35840050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:374.95, Y:-171.77, Z:-23.59 [[ 8.12801816e-01 5.79168059e-01 6.25904746e-02 3.74945461e+02] [-5.77553951e-01 8.15207533e-01 -4.32216551e-02 -1.71767194e+02] [-7.60568285e-02 -1.01873617e-03 9.97102964e-01 -2.35883336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:375.00, Y:-171.80, Z:-23.59 [[ 8.11255358e-01 5.81333565e-01 6.25782020e-02 3.74997309e+02] [-5.79724509e-01 8.13664456e-01 -4.32394166e-02 -1.71800307e+02] [-7.60541829e-02 -1.19990903e-03 9.97102964e-01 -2.35927975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.05, Y:-171.84, Z:-23.60 [[ 8.10300178e-01 5.82665435e-01 6.25668630e-02 3.75049892e+02] [-5.81059073e-01 8.12711073e-01 -4.32558178e-02 -1.71835066e+02] [-7.60524523e-02 -1.30484654e-03 9.97102965e-01 -2.35961778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.10, Y:-171.87, Z:-23.60 [[ 8.08579986e-01 5.85051556e-01 6.25546438e-02 3.75103421e+02] [-5.83450942e-01 8.10994700e-01 -4.32734815e-02 -1.71868601e+02] [-7.60487023e-02 -1.50749479e-03 9.97102965e-01 -2.36015674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.16, Y:-171.90, Z:-23.60 [[ 8.07348527e-01 5.86751057e-01 6.25424166e-02 3.75155531e+02] [-5.85154158e-01 8.09765699e-01 -4.32911461e-02 -1.71902454e+02] [-7.60458294e-02 -1.64591207e-03 9.97102965e-01 -2.36045205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.21, Y:-171.94, Z:-23.61 [[ 8.08083154e-01 5.85740079e-01 6.25313947e-02 3.75205832e+02] [-5.84138925e-01 8.10497511e-01 -4.33070607e-02 -1.71936315e+02] [-7.60482209e-02 -1.53131554e-03 9.97102965e-01 -2.36123786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.26, Y:-171.97, Z:-23.62 [[ 8.09525327e-01 5.83746382e-01 6.25212430e-02 3.75257600e+02] [-5.82138151e-01 8.11934975e-01 -4.33217116e-02 -1.71971335e+02] [-7.60520762e-02 -1.32597802e-03 9.97102965e-01 -2.36161967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.31, Y:-172.01, Z:-23.61 [[ 8.09349161e-01 5.83991908e-01 6.25091001e-02 3.75307932e+02] [-5.82383055e-01 8.11758393e-01 -4.33392255e-02 -1.72007149e+02] [-7.60520436e-02 -1.32767491e-03 9.97102966e-01 -2.36149806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.36, Y:-172.04, Z:-23.63 [[ 8.12013600e-01 5.80282303e-01 6.25008971e-02 3.75358960e+02] [-5.78661533e-01 8.14414831e-01 -4.33510521e-02 -1.72038673e+02] [-7.60575059e-02 -9.65221051e-04 9.97102966e-01 -2.36264174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.41, Y:-172.07, Z:-23.63 [[ 8.12944305e-01 5.78978359e-01 6.24949385e-02 3.75409730e+02] [-5.77353076e-01 8.15342484e-01 -4.33596404e-02 -1.72073656e+02] [-7.60590718e-02 -8.32672302e-04 9.97102966e-01 -2.36321156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:375.46, Y:-172.11, Z:-23.64 [[ 8.14250852e-01 5.77140575e-01 6.24844560e-02 3.75461402e+02] [-5.75508720e-01 8.16644564e-01 -4.33747412e-02 -1.72110196e+02] [-7.60609144e-02 -6.42429298e-04 9.97102966e-01 -2.36359419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.51, Y:-172.15, Z:-23.64 [[ 8.14720731e-01 5.76478362e-01 6.24726269e-02 3.75512432e+02] [-5.74843256e-01 8.17112223e-01 -4.33917720e-02 -1.72146094e+02] [-7.60615647e-02 -5.59792106e-04 9.97102966e-01 -2.36393676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.56, Y:-172.18, Z:-23.64 [[ 8.15331002e-01 5.75616208e-01 6.24606932e-02 3.75562351e+02] [-5.73977258e-01 8.17719861e-01 -4.34089432e-02 -1.72181136e+02] [-7.60622407e-02 -4.58360261e-04 9.97102966e-01 -2.36446922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.61, Y:-172.22, Z:-23.65 [[ 8.14888502e-01 5.76243510e-01 6.24511470e-02 3.75614249e+02] [-5.74605347e-01 8.17277901e-01 -4.34226728e-02 -1.72216420e+02] [-7.60619757e-02 -5.00126211e-04 9.97102966e-01 -2.36483956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.67, Y:-172.25, Z:-23.65 [[ 8.14507401e-01 5.76783342e-01 6.24393383e-02 3.75666478e+02] [-5.75145461e-01 8.16896992e-01 -4.34396463e-02 -1.72251085e+02] [-7.60617721e-02 -5.29788610e-04 9.97102967e-01 -2.36526480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.72, Y:-172.29, Z:-23.66 [[ 8.14771351e-01 5.76411764e-01 6.24269475e-02 3.75718314e+02] [-5.74771430e-01 8.17159259e-01 -4.34574459e-02 -1.72286581e+02] [-7.60621412e-02 -4.73343956e-04 9.97102967e-01 -2.36580954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.77, Y:-172.32, Z:-23.66 [[ 8.14992582e-01 5.76100258e-01 6.24146080e-02 3.75768164e+02] [-5.74457654e-01 8.17378929e-01 -4.34751610e-02 -1.72321680e+02] [-7.60624369e-02 -4.22615586e-04 9.97102967e-01 -2.36631044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.82, Y:-172.36, Z:-23.67 [[ 8.13355598e-01 5.78410164e-01 6.24047552e-02 3.75817894e+02] [-5.76773253e-01 8.15745853e-01 -4.34892992e-02 -1.72358409e+02] [-7.60610730e-02 -6.21128660e-04 9.97102967e-01 -2.36655418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.87, Y:-172.39, Z:-23.67 [[ 8.14584374e-01 5.76678846e-01 6.24003765e-02 3.75870614e+02] [-5.75036372e-01 8.16970810e-01 -4.34955811e-02 -1.72389594e+02] [-7.60622677e-02 -4.51665481e-04 9.97102967e-01 -2.36708065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.92, Y:-172.42, Z:-23.68 [[ 8.13572702e-01 5.78106452e-01 6.23890095e-02 3.75921719e+02] [-5.76466916e-01 8.15961158e-01 -4.35118795e-02 -1.72423928e+02] [-7.60615067e-02 -5.65122541e-04 9.97102968e-01 -2.36765036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.97, Y:-172.46, Z:-23.68 [[ 8.12908600e-01 5.79041155e-01 6.23774735e-02 3.75973440e+02] [-5.77403097e-01 8.15298069e-01 -4.35284110e-02 -1.72460127e+02] [-7.60609751e-02 -6.32326769e-04 9.97102968e-01 -2.36809651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.03, Y:-172.50, Z:-23.68 [[ 8.11268124e-01 5.81338612e-01 6.23654493e-02 3.76025404e+02] [-5.79705996e-01 8.13661315e-01 -4.35456319e-02 -1.72495897e+02] [-7.60591107e-02 -8.26441792e-04 9.97102968e-01 -2.36844614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.07, Y:-172.54, Z:-23.69 [[ 8.07908497e-01 5.85999976e-01 6.23529402e-02 3.76073254e+02] [-5.84379785e-01 8.10310117e-01 -4.35635364e-02 -1.72535872e+02] [-7.60534495e-02 -1.24244661e-03 9.97102968e-01 -2.36894977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.13, Y:-172.57, Z:-23.70 [[ 8.08580959e-01 5.85072451e-01 6.23462843e-02 3.76126759e+02] [-5.83448772e-01 8.10980221e-01 -4.35730599e-02 -1.72565718e+02] [-7.60550004e-02 -1.14351641e-03 9.97102968e-01 -2.36961841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.18, Y:-172.60, Z:-23.70 [[ 8.07910674e-01 5.85998340e-01 6.23401049e-02 3.76177187e+02] [-5.84376729e-01 8.10311334e-01 -4.35818991e-02 -1.72599786e+02] [-7.60538140e-02 -1.21982509e-03 9.97102968e-01 -2.37003968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.23, Y:-172.64, Z:-23.70 [[ 8.08529269e-01 5.85145567e-01 6.23304643e-02 3.76229702e+02] [-5.83520361e-01 8.10927497e-01 -4.35956826e-02 -1.72635109e+02] [-7.60553078e-02 -1.12270959e-03 9.97102968e-01 -2.37045452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.28, Y:-172.67, Z:-23.71 [[ 8.10780114e-01 5.82024082e-01 6.23183286e-02 3.76280033e+02] [-5.80388309e-01 8.13171147e-01 -4.36130232e-02 -1.72672736e+02] [-7.60592966e-02 -8.08257474e-04 9.97102969e-01 -2.37094680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.33, Y:-172.71, Z:-23.71 [[ 8.13719216e-01 5.77909128e-01 6.23063184e-02 3.76331479e+02] [-5.76259950e-01 8.16101022e-01 -4.36301744e-02 -1.72708909e+02] [-7.60625262e-02 -4.01924605e-04 9.97102969e-01 -2.37142243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.38, Y:-172.75, Z:-23.72 [[ 8.14207602e-01 5.77222167e-01 6.22940699e-02 3.76382856e+02] [-5.75569642e-01 8.16587086e-01 -4.36476557e-02 -1.72745336e+02] [-7.60629274e-02 -3.16322409e-04 9.97102969e-01 -2.37197329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.43, Y:-172.78, Z:-23.72 [[ 8.15334631e-01 5.75630436e-01 6.22819460e-02 3.76433245e+02] [-5.73971944e-01 8.17709961e-01 -4.36649487e-02 -1.72782593e+02] [-7.60634411e-02 -1.46544786e-04 9.97102969e-01 -2.37247073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.48, Y:-172.82, Z:-23.73 [[ 8.15941297e-01 5.74771499e-01 6.22697618e-02 3.76482002e+02] [-5.73109181e-01 8.18313951e-01 -4.36823175e-02 -1.72820243e+02] [-7.60635659e-02 -4.51653279e-05 9.97102970e-01 -2.37303660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.53, Y:-172.86, Z:-23.73 [[ 8.15726440e-01 5.75077607e-01 6.22585042e-02 3.76532687e+02] [-5.73414955e-01 8.18098859e-01 -4.36983566e-02 -1.72857073e+02] [-7.60635576e-02 -5.40526028e-05 9.97102970e-01 -2.37344092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.58, Y:-172.89, Z:-23.74 [[ 8.15099588e-01 5.75967062e-01 6.22463268e-02 3.76582781e+02] [-5.74305674e-01 8.17472893e-01 -4.37156958e-02 -1.72893416e+02] [-7.60634858e-02 -1.15773042e-04 9.97102970e-01 -2.37382859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.63, Y:-172.93, Z:-23.74 [[ 8.13443579e-01 5.78304647e-01 6.22356836e-02 3.76632788e+02] [-5.76648920e-01 8.15820836e-01 -4.37308429e-02 -1.72929942e+02] [-7.60629170e-02 -3.15566387e-04 9.97102970e-01 -2.37431962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.68, Y:-172.97, Z:-23.75 [[ 8.11605677e-01 5.80882387e-01 6.22244135e-02 3.76684199e+02] [-5.79232982e-01 8.13987324e-01 -4.37468731e-02 -1.72966082e+02] [-7.60616719e-02 -5.37222001e-04 9.97102970e-01 -2.37477848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.74, Y:-173.00, Z:-23.75 [[ 8.09275923e-01 5.84125021e-01 6.22128608e-02 3.76735189e+02] [-5.82483896e-01 8.11663283e-01 -4.37632963e-02 -1.73001471e+02] [-7.60591312e-02 -8.21407517e-04 9.97102971e-01 -2.37526695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.78, Y:-173.04, Z:-23.76 [[ 8.06788013e-01 5.87557651e-01 6.22021700e-02 3.76783847e+02] [-5.85925511e-01 8.09181525e-01 -4.37784861e-02 -1.73037771e+02] [-7.60552312e-02 -1.12588046e-03 9.97102971e-01 -2.37578369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.83, Y:-173.07, Z:-23.76 [[ 8.05867827e-01 5.88819688e-01 6.21966284e-02 3.76833954e+02] [-5.87190689e-01 8.08263478e-01 -4.37863578e-02 -1.73074115e+02] [-7.60535327e-02 -1.23526405e-03 9.97102971e-01 -2.37647039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.89, Y:-173.11, Z:-23.77 [[ 8.05775396e-01 5.88947201e-01 6.21868568e-02 3.76885216e+02] [-5.87317511e-01 8.08170577e-01 -4.38002313e-02 -1.73111195e+02] [-7.60536116e-02 -1.23028118e-03 9.97102971e-01 -2.37698519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.94, Y:-173.15, Z:-23.78 [[ 8.05968974e-01 5.88682777e-01 6.21819938e-02 3.76935093e+02] [-5.87051769e-01 8.08363257e-01 -4.38071341e-02 -1.73148973e+02] [-7.60541444e-02 -1.19685852e-03 9.97102971e-01 -2.37750093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.98, Y:-173.19, Z:-23.78 [[ 8.06180284e-01 5.88394523e-01 6.21710185e-02 3.76984214e+02] [-5.86761458e-01 8.08573164e-01 -4.38227047e-02 -1.73189293e+02] [-7.60548566e-02 -1.15055698e-03 9.97102971e-01 -2.37764254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.03, Y:-173.22, Z:-23.78 [[ 8.06535583e-01 5.87908341e-01 6.21621746e-02 3.77033345e+02] [-5.86272867e-01 8.08926818e-01 -4.38352462e-02 -1.73224831e+02] [-7.60557569e-02 -1.08931048e-03 9.97102971e-01 -2.37811453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.08, Y:-173.26, Z:-23.79 [[ 8.05089130e-01 5.89888229e-01 6.21560180e-02 3.77083190e+02] [-5.88257962e-01 8.07483917e-01 -4.38439742e-02 -1.73262437e+02] [-7.60530291e-02 -1.26546548e-03 9.97102971e-01 -2.37855278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.13, Y:-173.30, Z:-23.79 [[ 8.03456633e-01 5.92111076e-01 6.21442895e-02 3.77133405e+02] [-5.90486149e-01 8.05855047e-01 -4.38605919e-02 -1.73298656e+02] [-7.60496315e-02 -1.45525870e-03 9.97102972e-01 -2.37917164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.18, Y:-173.33, Z:-23.80 [[ 8.00618825e-01 5.95943661e-01 6.21341313e-02 3.77183275e+02] [-5.94329098e-01 8.03024227e-01 -4.38749775e-02 -1.73334978e+02] [-7.60422275e-02 -1.80098926e-03 9.97102972e-01 -2.37957900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.23, Y:-173.37, Z:-23.80 [[ 7.99026412e-01 5.98078192e-01 6.21230148e-02 3.77234398e+02] [-5.96468832e-01 8.01435299e-01 -4.38907118e-02 -1.73372079e+02] [-7.60376545e-02 -1.98460414e-03 9.97102972e-01 -2.38000151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.28, Y:-173.41, Z:-23.80 [[ 7.98250155e-01 5.99115168e-01 6.21104239e-02 3.77283246e+02] [-5.97507553e-01 8.00660206e-01 -4.39085222e-02 -1.73408777e+02] [-7.60356065e-02 -2.06146273e-03 9.97102972e-01 -2.38036512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.33, Y:-173.45, Z:-23.81 [[ 7.98596175e-01 5.98654903e-01 6.21003703e-02 3.77333223e+02] [-5.97044794e-01 8.01004561e-01 -4.39227367e-02 -1.73446275e+02] [-7.60372415e-02 -2.00017329e-03 9.97102972e-01 -2.38077415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.38, Y:-173.48, Z:-23.81 [[ 8.00232363e-01 5.96467316e-01 6.20878894e-02 3.77382929e+02] [-5.94849256e-01 8.02635413e-01 -4.39403721e-02 -1.73484873e+02] [-7.60429346e-02 -1.77042708e-03 9.97102972e-01 -2.38129809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.43, Y:-173.52, Z:-23.82 [[ 8.01732295e-01 5.94450978e-01 6.20754602e-02 3.77433112e+02] [-5.92825515e-01 8.04130344e-01 -4.39579241e-02 -1.73522259e+02] [-7.60475921e-02 -1.55742933e-03 9.97102973e-01 -2.38187119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.48, Y:-173.56, Z:-23.82 [[ 8.03339615e-01 5.92278355e-01 6.20629725e-02 3.77483031e+02] [-5.90645045e-01 8.05732326e-01 -4.39755481e-02 -1.73559349e+02] [-7.60519085e-02 -1.32988733e-03 9.97102973e-01 -2.38243549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.53, Y:-173.60, Z:-23.83 [[ 8.04256046e-01 5.91034639e-01 6.20505303e-02 3.77533042e+02] [-5.89396275e-01 8.06645299e-01 -4.39930974e-02 -1.73596953e+02] [-7.60542130e-02 -1.19063687e-03 9.97102973e-01 -2.38295281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.58, Y:-173.63, Z:-23.83 [[ 8.04632860e-01 5.90522838e-01 6.20381994e-02 3.77582385e+02] [-5.88881614e-01 8.07020150e-01 -4.40104794e-02 -1.73634697e+02] [-7.60552701e-02 -1.12087712e-03 9.97102973e-01 -2.38339623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.63, Y:-173.67, Z:-23.84 [[ 8.04711424e-01 5.90416922e-01 6.20272721e-02 3.77632864e+02] [-5.88774198e-01 8.07097680e-01 -4.40258747e-02 -1.73670515e+02] [-7.60556889e-02 -1.09193314e-03 9.97102974e-01 -2.38398575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.68, Y:-173.71, Z:-23.84 [[ 8.03920212e-01 5.91495005e-01 6.20157451e-02 3.77683107e+02] [-5.89854229e-01 8.06307808e-01 -4.40421060e-02 -1.73707219e+02] [-7.60544651e-02 -1.17391031e-03 9.97102974e-01 -2.38431542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.73, Y:-173.74, Z:-23.85 [[ 8.04553240e-01 5.90634826e-01 6.20047230e-02 3.77732840e+02] [-5.88990303e-01 8.06938256e-01 -4.40576179e-02 -1.73741661e+02] [-7.60559466e-02 -1.07348136e-03 9.97102974e-01 -2.38507371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.78, Y:-173.78, Z:-23.85 [[ 8.04744828e-01 5.90374823e-01 6.19945966e-02 3.77782701e+02] [-5.88728432e-01 8.07128555e-01 -4.40718625e-02 -1.73778046e+02] [-7.60565272e-02 -1.03137831e-03 9.97102974e-01 -2.38536959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.83, Y:-173.81, Z:-23.86 [[ 8.04987050e-01 5.90045609e-01 6.19841098e-02 3.77833647e+02] [-5.88397107e-01 8.07369318e-01 -4.40866065e-02 -1.73813998e+02] [-7.60571770e-02 -9.82123608e-04 9.97102974e-01 -2.38578653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.89, Y:-173.85, Z:-23.86 [[ 8.04525850e-01 5.90675557e-01 6.19721080e-02 3.77885691e+02] [-5.89027622e-01 8.06908510e-01 -4.41034709e-02 -1.73849409e+02] [-7.60566636e-02 -1.02090100e-03 9.97102974e-01 -2.38625376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:-173.88, Z:-23.87 [[ 8.03869526e-01 5.91569759e-01 6.19597131e-02 3.77936638e+02] [-5.89923133e-01 8.06253090e-01 -4.41208773e-02 -1.73883695e+02] [-7.60557869e-02 -1.08403932e-03 9.97102975e-01 -2.38685210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:377.99, Y:-173.92, Z:-23.87 [[ 8.03903640e-01 5.91524596e-01 6.19482775e-02 3.77988221e+02] [-5.89876600e-01 8.06286257e-01 -4.41369278e-02 -1.73919478e+02] [-7.60561232e-02 -1.06000238e-03 9.97102975e-01 -2.38726900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.04, Y:-173.95, Z:-23.88 [[ 8.04801015e-01 5.90304374e-01 6.19360399e-02 3.78038728e+02] [-5.88651444e-01 8.07180211e-01 -4.41540937e-02 -1.73954277e+02] [-7.60579005e-02 -9.23479905e-04 9.97102975e-01 -2.38784052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.09, Y:-173.99, Z:-23.88 [[ 8.05388982e-01 5.89503109e-01 6.19247374e-02 3.78090301e+02] [-5.87846594e-01 8.07765683e-01 -4.41699395e-02 -1.73990167e+02] [-7.60589945e-02 -8.28263389e-04 9.97102975e-01 -2.38817960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.14, Y:-174.03, Z:-23.89 [[ 8.06007987e-01 5.88657783e-01 6.19123465e-02 3.78141997e+02] [-5.86997442e-01 8.08382017e-01 -4.41873009e-02 -1.74025134e+02] [-7.60600261e-02 -7.27071586e-04 9.97102976e-01 -2.38873510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.19, Y:-174.06, Z:-23.89 [[ 8.06274444e-01 5.88294056e-01 6.19001243e-02 3.78193497e+02] [-5.86631330e-01 8.08646804e-01 -4.42044158e-02 -1.74060312e+02] [-7.60605327e-02 -6.71661437e-04 9.97102976e-01 -2.38924298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.25, Y:-174.10, Z:-23.90 [[ 8.07597764e-01 5.86477405e-01 6.18878386e-02 3.78245274e+02] [-5.84808024e-01 8.09965446e-01 -4.42216096e-02 -1.74095723e+02] [-7.60619856e-02 -4.79231524e-04 9.97102976e-01 -2.38975646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.30, Y:-174.13, Z:-23.90 [[ 8.09321149e-01 5.84098184e-01 6.18755878e-02 3.78296637e+02] [-5.82420533e-01 8.11682978e-01 -4.42387445e-02 -1.74132203e+02] [-7.60631317e-02 -2.34261264e-04 9.97102976e-01 -2.39008965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.35, Y:-174.17, Z:-23.90 [[ 8.12441776e-01 5.79751092e-01 6.18630065e-02 3.78347879e+02] [-5.78059464e-01 8.14793614e-01 -4.42563312e-02 -1.74168891e+02] [-7.60632389e-02 1.95195955e-04 9.97102976e-01 -2.39034536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.40, Y:-174.20, Z:-23.90 [[ 8.15626655e-01 5.75263127e-01 6.18505883e-02 3.78399436e+02] [-5.73557243e-01 8.17968172e-01 -4.42736795e-02 -1.74204255e+02] [-7.60608279e-02 6.35940172e-04 9.97102977e-01 -2.39048923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.45, Y:-174.24, Z:-23.91 [[ 8.18395901e-01 5.71317050e-01 6.18464042e-02 3.78450328e+02] [-5.69599435e-01 8.20728827e-01 -4.42795235e-02 -1.74237553e+02] [-7.60567735e-02 1.01050367e-03 9.97102977e-01 -2.39131584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.50, Y:-174.27, Z:-23.92 [[ 8.20744779e-01 5.67938707e-01 6.18355365e-02 3.78502746e+02] [-5.66210347e-01 8.23069756e-01 -4.42946948e-02 -1.74271623e+02] [-7.60516316e-02 1.34271886e-03 9.97102977e-01 -2.39183320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.56, Y:-174.30, Z:-23.92 [[ 8.20658936e-01 5.68064086e-01 6.18231811e-02 3.78555586e+02] [-5.66334784e-01 8.22983211e-01 -4.43119330e-02 -1.74304132e+02] [-7.60514578e-02 1.35236586e-03 9.97102977e-01 -2.39235576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.61, Y:-174.34, Z:-23.92 [[ 8.18421578e-01 5.71283604e-01 6.18155725e-02 3.78607705e+02] [-5.69562644e-01 8.20752037e-01 -4.43225444e-02 -1.74338462e+02] [-7.60560000e-02 1.06668579e-03 9.97102977e-01 -2.39232545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.66, Y:-174.37, Z:-23.93 [[ 8.15566956e-01 5.75352748e-01 6.18041725e-02 3.78661684e+02] [-5.73642213e-01 8.17905077e-01 -4.43384352e-02 -1.74366648e+02] [-7.60601870e-02 7.07480316e-04 9.97102977e-01 -2.39324869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.71, Y:-174.40, Z:-23.94 [[ 8.12599428e-01 5.79537492e-01 6.17937261e-02 3.78714622e+02] [-5.77837892e-01 8.14945509e-01 -4.43529894e-02 -1.74399911e+02] [-7.60627398e-02 3.34457353e-04 9.97102978e-01 -2.39373046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.77, Y:-174.43, Z:-23.94 [[ 8.07741986e-01 5.86289948e-01 6.17817169e-02 3.78768322e+02] [-5.84608681e-01 8.10101240e-01 -4.43697113e-02 -1.74431915e+02] [-7.60629612e-02 -2.78849304e-04 9.97102978e-01 -2.39388866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.82, Y:-174.46, Z:-23.95 [[ 8.05825872e-01 5.88921918e-01 6.17708618e-02 3.78821201e+02] [-5.87247198e-01 8.08189777e-01 -4.43848185e-02 -1.74461807e+02] [-7.60617715e-02 -5.08330444e-04 9.97102978e-01 -2.39479567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.88, Y:-174.49, Z:-23.95 [[ 8.01744831e-01 5.94466840e-01 6.17608470e-02 3.78875417e+02] [-5.92807394e-01 8.04119484e-01 -4.43987497e-02 -1.74494229e+02] [-7.60566848e-02 -1.01581868e-03 9.97102978e-01 -2.39510508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.93, Y:-174.53, Z:-23.96 [[ 7.98599342e-01 5.98687049e-01 6.17487574e-02 3.78928292e+02] [-5.97038851e-01 8.00981815e-01 -4.44155573e-02 -1.74526050e+02] [-7.60506507e-02 -1.39617234e-03 9.97102978e-01 -2.39560698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:378.98, Y:-174.56, Z:-23.96 [[ 7.97533551e-01 6.00106865e-01 6.17412874e-02 3.78979757e+02] [-5.98462105e-01 7.99918399e-01 -4.44259388e-02 -1.74559891e+02] [-7.60483026e-02 -1.51864413e-03 9.97102978e-01 -2.39614266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.03, Y:-174.59, Z:-23.97 [[ 7.98445638e-01 5.98893924e-01 6.17303075e-02 3.79031241e+02] [-5.97244363e-01 8.00827167e-01 -4.44411902e-02 -1.74594534e+02] [-7.60508661e-02 -1.38420368e-03 9.97102979e-01 -2.39668781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.08, Y:-174.63, Z:-23.97 [[ 8.00636347e-01 5.95962835e-01 6.17230831e-02 3.79080319e+02] [-5.94303781e-01 8.03011273e-01 -4.44512217e-02 -1.74630695e+02] [-7.60556077e-02 -1.09299790e-03 9.97102979e-01 -2.39724030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.13, Y:-174.67, Z:-23.98 [[ 8.01112796e-01 5.95323177e-01 6.17138790e-02 3.79130860e+02] [-5.93661243e-01 8.03485707e-01 -4.44639967e-02 -1.74667600e+02] [-7.60566674e-02 -1.01646144e-03 9.97102979e-01 -2.39778585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.18, Y:-174.70, Z:-23.98 [[ 8.01742541e-01 5.94475980e-01 6.17025774e-02 3.79181133e+02] [-5.92810332e-01 8.04112846e-01 -4.44796742e-02 -1.74704143e+02] [-7.60579331e-02 -9.16678355e-04 9.97102979e-01 -2.39844281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.23, Y:-174.74, Z:-23.99 [[ 8.02669768e-01 5.93224442e-01 6.16928366e-02 3.79230344e+02] [-5.91554060e-01 8.05036739e-01 -4.44931807e-02 -1.74742192e+02] [-7.60594422e-02 -7.81316954e-04 9.97102979e-01 -2.39899502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.28, Y:-174.78, Z:-23.99 [[ 8.03704375e-01 5.91823026e-01 6.16829334e-02 3.79279944e+02] [-5.90147463e-01 8.06067681e-01 -4.45069057e-02 -1.74781486e+02] [-7.60608307e-02 -6.31631868e-04 9.97102979e-01 -2.39942598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.33, Y:-174.82, Z:-24.00 [[ 8.07298425e-01 5.86912134e-01 6.16717185e-02 3.79326674e+02] [-5.85221007e-01 8.09650619e-01 -4.45224404e-02 -1.74821038e+02] [-7.60633055e-02 -1.48689152e-04 9.97102979e-01 -2.39969805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.37, Y:-174.86, Z:-24.00 [[ 8.12446146e-01 5.79765909e-01 6.16664434e-02 3.79373868e+02] [-5.78053539e-01 8.14782921e-01 -4.45297456e-02 -1.74861628e+02] [-7.60615933e-02 5.31514405e-04 9.97102979e-01 -2.39970457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.42, Y:-174.90, Z:-24.00 [[ 8.15949970e-01 5.74825382e-01 6.16557110e-02 3.79421712e+02] [-5.73097741e-01 8.18275478e-01 -4.45446006e-02 -1.74900212e+02] [-7.60567234e-02 1.01141682e-03 9.97102980e-01 -2.40016250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.47, Y:-174.94, Z:-24.01 [[ 8.20161907e-01 5.68800859e-01 6.16443797e-02 3.79470847e+02] [-5.67054962e-01 8.22473739e-01 -4.45602763e-02 -1.74939367e+02] [-7.60468069e-02 1.59088983e-03 9.97102980e-01 -2.40071867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.52, Y:-174.98, Z:-24.01 [[ 8.22221322e-01 5.65821139e-01 6.16322647e-02 3.79520097e+02] [-5.64065610e-01 8.24525849e-01 -4.45770266e-02 -1.74976137e+02] [-7.60400193e-02 1.88754072e-03 9.97102980e-01 -2.40126600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.57, Y:-175.01, Z:-24.02 [[ 8.24534552e-01 5.62446029e-01 6.16217237e-02 3.79570681e+02] [-5.60679982e-01 8.26831027e-01 -4.45915933e-02 -1.75013647e+02] [-7.60311177e-02 2.21724245e-03 9.97102980e-01 -2.40179115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.62, Y:-175.05, Z:-24.02 [[ 8.25647470e-01 5.60812360e-01 6.16096810e-02 3.79621164e+02] [-5.59040529e-01 8.27939486e-01 -4.46082258e-02 -1.75050852e+02] [-7.60259320e-02 2.38836008e-03 9.97102980e-01 -2.40216267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.67, Y:-175.09, Z:-24.03 [[ 8.26345611e-01 5.59784523e-01 6.15972277e-02 3.79672320e+02] [-5.58008563e-01 8.28634429e-01 -4.46254154e-02 -1.75087689e+02] [-7.60222005e-02 2.50423571e-03 9.97102981e-01 -2.40260316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.72, Y:-175.12, Z:-24.03 [[ 8.24485397e-01 5.62522114e-01 6.15849065e-02 3.79724203e+02] [-5.60752487e-01 8.26779114e-01 -4.46424127e-02 -1.75123231e+02] [-7.60294588e-02 2.27312786e-03 9.97102981e-01 -2.40296848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.78, Y:-175.16, Z:-24.03 [[ 8.21618933e-01 5.66702024e-01 6.15722726e-02 3.79775271e+02] [-5.64942763e-01 8.23920611e-01 -4.46598310e-02 -1.75157245e+02] [-7.60394811e-02 1.90855286e-03 9.97102981e-01 -2.40349671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.83, Y:-175.19, Z:-24.04 [[ 8.14665743e-01 5.76654160e-01 6.15605952e-02 3.79826816e+02] [-5.74921812e-01 8.16987743e-01 -4.46759218e-02 -1.75191658e+02] [-7.60568079e-02 1.00341410e-03 9.97102981e-01 -2.40382014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.88, Y:-175.22, Z:-24.04 [[ 8.09683332e-01 5.83630539e-01 6.15491337e-02 3.79879629e+02] [-5.81916999e-01 8.12019247e-01 -4.46917065e-02 -1.75224336e+02] [-7.60625259e-02 3.69642651e-04 9.97102981e-01 -2.40449330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.93, Y:-175.26, Z:-24.05 [[ 8.01473803e-01 5.94855396e-01 6.15369828e-02 3.79933383e+02] [-5.93173285e-01 8.03832451e-01 -4.47084311e-02 -1.75256893e+02] [-7.60604752e-02 -6.69457981e-04 9.97102982e-01 -2.40499476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:379.99, Y:-175.29, Z:-24.05 [[ 7.96459798e-01 6.01553444e-01 6.15243396e-02 3.79985366e+02] [-5.99889822e-01 7.98831523e-01 -4.47258230e-02 -1.75291763e+02] [-7.60525547e-02 -1.28550523e-03 9.97102982e-01 -2.40543617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.04, Y:-175.33, Z:-24.06 [[ 7.91288891e-01 6.08340550e-01 6.15115092e-02 3.80037049e+02] [-6.06695896e-01 7.93673807e-01 -4.47434617e-02 -1.75328070e+02] [-7.60393358e-02 -1.91377605e-03 9.97102982e-01 -2.40591278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.09, Y:-175.36, Z:-24.06 [[ 7.89825635e-01 6.10240424e-01 6.14987009e-02 3.80086406e+02] [-6.08600138e-01 7.92213557e-01 -4.47610595e-02 -1.75364876e+02] [-7.60351125e-02 -2.07468559e-03 9.97102982e-01 -2.40643279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.14, Y:-175.40, Z:-24.07 [[ 7.89206408e-01 6.11042235e-01 6.14868555e-02 3.80135557e+02] [-6.09403108e-01 7.91595126e-01 -4.47773253e-02 -1.75403347e+02] [-7.60335320e-02 -2.13172877e-03 9.97102983e-01 -2.40700552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.18, Y:-175.44, Z:-24.07 [[ 7.88013590e-01 6.12581006e-01 6.14743322e-02 3.80182370e+02] [-6.10945204e-01 7.90404586e-01 -4.47945119e-02 -1.75444456e+02] [-7.60298612e-02 -2.25876434e-03 9.97102983e-01 -2.40736633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.23, Y:-175.48, Z:-24.08 [[ 7.90523722e-01 6.09338700e-01 6.14702650e-02 3.80231411e+02] [-6.07692657e-01 7.92907679e-01 -4.48000924e-02 -1.75479979e+02] [-7.60386752e-02 -1.93949292e-03 9.97102983e-01 -2.40833790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.28, Y:-175.52, Z:-24.09 [[ 7.91322754e-01 6.08301738e-01 6.14597054e-02 3.80279598e+02] [-6.06651446e-01 7.93703771e-01 -4.48145740e-02 -1.75520181e+02] [-7.60415833e-02 -1.82182705e-03 9.97102983e-01 -2.40865559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.33, Y:-175.56, Z:-24.09 [[ 7.94121754e-01 6.04644480e-01 6.14466716e-02 3.80325164e+02] [-6.02981839e-01 7.96494165e-01 -4.48324381e-02 -1.75561851e+02] [-7.60496016e-02 -1.44881272e-03 9.97102983e-01 -2.40908687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.37, Y:-175.60, Z:-24.09 [[ 7.96691335e-01 6.01255768e-01 6.14362930e-02 3.80372241e+02] [-5.99581939e-01 7.99055865e-01 -4.48466560e-02 -1.75603051e+02] [-7.60553408e-02 -1.10714946e-03 9.97102983e-01 -2.40933812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.42, Y:-175.65, Z:-24.10 [[ 8.00276702e-01 5.96476440e-01 6.14252180e-02 3.80418204e+02] [-5.94787324e-01 8.02630336e-01 -4.48618199e-02 -1.75646114e+02] [-7.60607620e-02 -6.33071783e-04 9.97102984e-01 -2.40974828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.47, Y:-175.69, Z:-24.10 [[ 8.02273721e-01 5.93788980e-01 6.14127332e-02 3.80466345e+02] [-5.92090672e-01 8.04620730e-01 -4.48789043e-02 -1.75687254e+02] [-7.60625571e-02 -3.56740916e-04 9.97102984e-01 -2.41028513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.51, Y:-175.73, Z:-24.11 [[ 8.03352670e-01 5.92329736e-01 6.14000928e-02 3.80510073e+02] [-5.90625843e-01 8.05695628e-01 -4.48961913e-02 -1.75732115e+02] [-7.60631355e-02 -1.97006460e-04 9.97102984e-01 -2.41091794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.56, Y:-175.77, Z:-24.11 [[ 8.07017754e-01 5.87326932e-01 6.13956069e-02 3.80558726e+02] [-5.85608048e-01 8.09349736e-01 -4.49023249e-02 -1.75768043e+02] [-7.60628630e-02 2.83211881e-04 9.97102984e-01 -2.41138899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.61, Y:-175.81, Z:-24.12 [[ 8.11612610e-01 5.80962117e-01 6.13839617e-02 3.80605414e+02] [-5.79223743e-01 8.13930100e-01 -4.49182390e-02 -1.75810479e+02] [-7.60580493e-02 9.01161148e-04 9.97102984e-01 -2.41177499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.66, Y:-175.85, Z:-24.12 [[ 8.12792974e-01 5.79310899e-01 6.13715210e-02 3.80655732e+02] [-5.77566535e-01 8.15105958e-01 -4.49352302e-02 -1.75848500e+02] [-7.60557611e-02 1.07690267e-03 9.97102984e-01 -2.41216080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.71, Y:-175.88, Z:-24.12 [[ 8.13685572e-01 5.78057846e-01 6.13589156e-02 3.80706937e+02] [-5.76308623e-01 8.15994883e-01 -4.49524364e-02 -1.75884220e+02] [-7.60536697e-02 1.21547679e-03 9.97102985e-01 -2.41249759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.75, Y:-175.92, Z:-24.13 [[ 8.12582137e-01 5.79609113e-01 6.13477545e-02 3.80754033e+02] [-5.77863149e-01 8.14893913e-01 -4.49676630e-02 -1.75924035e+02] [-7.60555790e-02 1.08931308e-03 9.97102985e-01 -2.41315878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.81, Y:-175.96, Z:-24.14 [[ 8.13779766e-01 5.77926887e-01 6.13433375e-02 3.80806274e+02] [-5.76175691e-01 8.16087581e-01 -4.49736878e-02 -1.75956967e+02] [-7.60530393e-02 1.25413725e-03 9.97102985e-01 -2.41358797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.86, Y:-175.99, Z:-24.14 [[ 8.13651484e-01 5.78108886e-01 6.13300784e-02 3.80858898e+02] [-5.76356844e-01 8.15958657e-01 -4.49917618e-02 -1.75991720e+02] [-7.60529457e-02 1.25960335e-03 9.97102985e-01 -2.41410267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.91, Y:-176.03, Z:-24.14 [[ 8.13434935e-01 5.78414863e-01 6.13176308e-02 3.80910733e+02] [-5.76662412e-01 8.15741796e-01 -4.50087198e-02 -1.76027997e+02] [-7.60530668e-02 1.25209225e-03 9.97102985e-01 -2.41440843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:380.96, Y:-176.06, Z:-24.15 [[ 8.12752544e-01 5.79374676e-01 6.13048761e-02 3.80961980e+02] [-5.77623639e-01 8.15060479e-01 -4.50260859e-02 -1.76063026e+02] [-7.60541556e-02 1.18392025e-03 9.97102986e-01 -2.41479130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.01, Y:-176.10, Z:-24.15 [[ 8.12311929e-01 5.79993522e-01 6.12931002e-02 3.81012986e+02] [-5.78243034e-01 8.14620281e-01 -4.50421105e-02 -1.76097591e+02] [-7.60547348e-02 1.14593545e-03 9.97102986e-01 -2.41526301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.07, Y:-176.13, Z:-24.16 [[ 8.11054832e-01 5.81751351e-01 6.12815201e-02 3.81065390e+02] [-5.80004677e-01 8.13366070e-01 -4.50578602e-02 -1.76131770e+02] [-7.60567802e-02 1.00082699e-03 9.97102986e-01 -2.41578421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.12, Y:-176.17, Z:-24.16 [[ 8.09403515e-01 5.84048017e-01 6.12687858e-02 3.81115777e+02] [-5.82306591e-01 8.11718709e-01 -4.50751694e-02 -1.76165113e+02] [-7.60590831e-02 8.06782725e-04 9.97102986e-01 -2.41644758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.17, Y:-176.20, Z:-24.17 [[ 8.08082408e-01 5.85875173e-01 6.12625781e-02 3.81166563e+02] [-5.84138342e-01 8.10401052e-01 -4.50836049e-02 -1.76200462e+02] [-7.60606226e-02 6.45447214e-04 9.97102986e-01 -2.41694722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.22, Y:-176.24, Z:-24.17 [[ 8.06941068e-01 5.87447314e-01 6.12516574e-02 3.81218286e+02] [-5.85713875e-01 8.09262249e-01 -4.50984372e-02 -1.76235855e+02] [-7.60616098e-02 5.15835427e-04 9.97102986e-01 -2.41735643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.27, Y:-176.27, Z:-24.18 [[ 8.06390009e-01 5.88204858e-01 6.12388569e-02 3.81271009e+02] [-5.86472281e-01 8.08711832e-01 -4.51158122e-02 -1.76270583e+02] [-7.60619281e-02 4.66048196e-04 9.97102987e-01 -2.41785332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.32, Y:-176.31, Z:-24.18 [[ 8.07689276e-01 5.86420849e-01 6.12259914e-02 3.81321139e+02] [-5.84681820e-01 8.10006270e-01 -4.51332650e-02 -1.76307410e+02] [-7.60605245e-02 6.55930072e-04 9.97102987e-01 -2.41841612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:-176.35, Z:-24.19 [[ 8.08513163e-01 5.85285744e-01 6.12132624e-02 3.81366921e+02] [-5.83542156e-01 8.10826728e-01 -4.51505225e-02 -1.76349032e+02] [-7.60593064e-02 7.84272646e-04 9.97102987e-01 -2.41888839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.42, Y:-176.38, Z:-24.19 [[ 8.12906231e-01 5.79170093e-01 6.12001888e-02 3.81418916e+02] [-5.77407769e-01 8.15205556e-01 -4.51682365e-02 -1.76380750e+02] [-7.60508257e-02 1.38007647e-03 9.97102987e-01 -2.41937233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.47, Y:-176.42, Z:-24.20 [[ 8.14287615e-01 5.77227601e-01 6.11880401e-02 3.81469607e+02] [-5.75458557e-01 8.16581774e-01 -4.51846881e-02 -1.76418375e+02] [-7.60468874e-02 1.58215068e-03 9.97102988e-01 -2.41972715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.52, Y:-176.46, Z:-24.20 [[ 8.13960033e-01 5.77690787e-01 6.11753182e-02 3.81519409e+02] [-5.75921755e-01 8.16254201e-01 -4.52019056e-02 -1.76455683e+02] [-7.60473349e-02 1.56034798e-03 9.97102988e-01 -2.42024223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.57, Y:-176.49, Z:-24.21 [[ 8.12445785e-01 5.79819771e-01 6.11627357e-02 3.81570238e+02] [-5.78055470e-01 8.14743593e-01 -4.52189246e-02 -1.76491607e+02] [-7.60507735e-02 1.38247071e-03 9.97102988e-01 -2.42079497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:-176.53, Z:-24.21 [[ 8.08548786e-01 5.85243146e-01 6.11499965e-02 3.81620760e+02] [-5.83492958e-01 8.10857361e-01 -4.52361454e-02 -1.76527653e+02] [-7.60580688e-02 8.95038061e-04 9.97102988e-01 -2.42127552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.67, Y:-176.57, Z:-24.22 [[ 8.01209910e-01 5.95251878e-01 6.11382283e-02 3.81669159e+02] [-5.93529318e-01 8.03539172e-01 -4.52520451e-02 -1.76566047e+02] [-7.60633261e-02 -3.09439862e-05 9.97102988e-01 -2.42181650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.72, Y:-176.60, Z:-24.23 [[ 7.97313403e-01 6.00461482e-01 6.11338399e-02 3.81719755e+02] [-5.98753686e-01 7.99653512e-01 -4.52579728e-02 -1.76600350e+02] [-7.60615592e-02 -5.19323711e-04 9.97102988e-01 -2.42255719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.77, Y:-176.64, Z:-24.23 [[ 7.93649727e-01 6.05296291e-01 6.11270093e-02 3.81770120e+02] [-6.03602039e-01 7.95999661e-01 -4.52671966e-02 -1.76635274e+02] [-7.60571448e-02 -9.70089163e-04 9.97102989e-01 -2.42277745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.82, Y:-176.67, Z:-24.23 [[ 7.89659890e-01 6.10493375e-01 6.11154478e-02 3.81819916e+02] [-6.08813379e-01 7.92020036e-01 -4.52828004e-02 -1.76674046e+02] [-7.60495088e-02 -1.44989118e-03 9.97102989e-01 -2.42311985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.87, Y:-176.71, Z:-24.23 [[ 7.88510701e-01 6.11978195e-01 6.11028897e-02 3.81869267e+02] [-6.10301331e-01 7.90873074e-01 -4.52997395e-02 -1.76712620e+02] [-7.60470830e-02 -1.57184555e-03 9.97102989e-01 -2.42347666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.92, Y:-176.75, Z:-24.24 [[ 7.88358016e-01 6.12176171e-01 6.10898803e-02 3.81917582e+02] [-6.10498543e-01 7.90719845e-01 -4.53172769e-02 -1.76752793e+02] [-7.60471377e-02 -1.56904441e-03 9.97102989e-01 -2.42392454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:381.97, Y:-176.79, Z:-24.24 [[ 7.89069436e-01 6.11260188e-01 6.10770650e-02 3.81966126e+02] [-6.09578482e-01 7.91428363e-01 -4.53345423e-02 -1.76792396e+02] [-7.60493224e-02 -1.45916280e-03 9.97102989e-01 -2.42446941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.01, Y:-176.83, Z:-24.25 [[ 7.90529024e-01 6.09372649e-01 6.10642007e-02 3.82011662e+02] [-6.07683973e-01 7.92882966e-01 -4.53518636e-02 -1.76833148e+02] [-7.60529498e-02 -1.25577160e-03 9.97102990e-01 -2.42509672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.06, Y:-176.87, Z:-24.26 [[ 7.92244911e-01 6.07141186e-01 6.10539270e-02 3.82059270e+02] [-6.05444814e-01 7.94593312e-01 -4.53656901e-02 -1.76873488e+02] [-7.60564210e-02 -1.02404635e-03 9.97102990e-01 -2.42552948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.11, Y:-176.92, Z:-24.26 [[ 7.96672396e-01 6.01321012e-01 6.10420678e-02 3.82106173e+02] [-5.99606259e-01 7.99007410e-01 -4.53816417e-02 -1.76916357e+02] [-7.60619992e-02 -4.46904710e-04 9.97102990e-01 -2.42588761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.15, Y:-176.96, Z:-24.26 [[ 8.00057650e-01 5.96810835e-01 6.10293680e-02 3.82153954e+02] [-5.95081615e-01 8.02381971e-01 -4.53987141e-02 -1.76957481e+02] [-7.60633090e-02 4.13357764e-06 9.97102990e-01 -2.42631174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.20, Y:-176.99, Z:-24.27 [[ 8.01646079e-01 5.94676829e-01 6.10166665e-02 3.82204388e+02] [-5.92940123e-01 8.03964811e-01 -4.54157787e-02 -1.76994002e+02] [-7.60629640e-02 2.28151153e-04 9.97102990e-01 -2.42663490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.25, Y:-177.03, Z:-24.27 [[ 8.01873146e-01 5.94371742e-01 6.10056582e-02 3.82254462e+02] [-5.92633029e-01 8.04190373e-01 -4.54305611e-02 -1.77031124e+02] [-7.60628048e-02 2.75578896e-04 9.97102991e-01 -2.42714239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.30, Y:-177.07, Z:-24.28 [[ 8.03936138e-01 5.91579710e-01 6.09928906e-02 3.82303629e+02] [-5.89831650e-01 8.06246322e-01 -4.54476959e-02 -1.77068230e+02] [-7.60612284e-02 5.61507793e-04 9.97102991e-01 -2.42810559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.35, Y:-177.10, Z:-24.28 [[ 8.06147940e-01 5.88562539e-01 6.09888200e-02 3.82353198e+02] [-5.86805420e-01 8.08451241e-01 -4.54531577e-02 -1.77104184e+02] [-7.60585131e-02 8.53399300e-04 9.97102991e-01 -2.42824593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.40, Y:-177.14, Z:-24.29 [[ 8.08381330e-01 5.85492339e-01 6.09782448e-02 3.82404191e+02] [-5.83725404e-01 8.10677108e-01 -4.54673406e-02 -1.77140101e+02] [-7.60544468e-02 1.16039868e-03 9.97102991e-01 -2.42869909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:382.45, Y:-177.18, Z:-24.29 [[ 8.09936097e-01 5.83340978e-01 6.09657450e-02 3.82453879e+02] [-5.81566684e-01 8.12226193e-01 -4.54840950e-02 -1.77176722e+02] [-7.60507115e-02 1.38356422e-03 9.97102991e-01 -2.42940852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.51, Y:-177.21, Z:-24.29 [[ 8.11431862e-01 5.81259023e-01 6.09613171e-02 3.82506895e+02] [-5.79478408e-01 8.13717047e-01 -4.54900290e-02 -1.77209219e+02] [-7.60467527e-02 1.58629192e-03 9.97102991e-01 -2.42937967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.56, Y:-177.24, Z:-24.30 [[ 8.09475754e-01 5.83981456e-01 6.09480252e-02 3.82558822e+02] [-5.82207188e-01 8.11765870e-01 -4.55078306e-02 -1.77243843e+02] [-7.60512559e-02 1.35310711e-03 9.97102991e-01 -2.42991493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.61, Y:-177.28, Z:-24.31 [[ 8.03946252e-01 5.91571879e-01 6.09355099e-02 3.82612939e+02] [-5.89817966e-01 8.06251995e-01 -4.55245825e-02 -1.77276203e+02] [-7.60604392e-02 6.58458969e-04 9.97102992e-01 -2.43062364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.67, Y:-177.31, Z:-24.31 [[ 7.97086660e-01 6.00783889e-01 6.09227050e-02 3.82666630e+02] [-5.99055316e-01 7.99411459e-01 -4.55417121e-02 -1.77309754e+02] [-7.60630354e-02 -1.95379104e-04 9.97102992e-01 -2.43119070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.72, Y:-177.34, Z:-24.32 [[ 7.92867420e-01 6.06342507e-01 6.09099264e-02 3.82717502e+02] [-6.04628919e-01 7.95203286e-01 -4.55587966e-02 -1.77344664e+02] [-7.60600086e-02 -7.05817441e-04 9.97102992e-01 -2.43164827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.77, Y:-177.38, Z:-24.32 [[ 7.88817124e-01 6.11603601e-01 6.08981183e-02 3.82768701e+02] [-6.09904373e-01 7.91163456e-01 -4.55745750e-02 -1.77379633e+02] [-7.60539399e-02 -1.19202351e-03 9.97102992e-01 -2.43187842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.82, Y:-177.42, Z:-24.32 [[ 7.87389053e-01 6.13442165e-01 6.08867000e-02 3.82819277e+02] [-6.11747236e-01 7.89738493e-01 -4.55898245e-02 -1.77415912e+02] [-7.60512913e-02 -1.35034169e-03 9.97102993e-01 -2.43223697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.87, Y:-177.45, Z:-24.33 [[ 7.86629518e-01 6.14416626e-01 6.08786510e-02 3.82870431e+02] [-6.12723777e-01 7.88980457e-01 -4.56005702e-02 -1.77452424e+02] [-7.60498144e-02 -1.43104241e-03 9.97102993e-01 -2.43278576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.92, Y:-177.49, Z:-24.33 [[ 7.86212507e-01 6.14951432e-01 6.08656683e-02 3.82920573e+02] [-6.13258841e-01 7.88563632e-01 -4.56178924e-02 -1.77489899e+02] [-7.60492407e-02 -1.46105159e-03 9.97102993e-01 -2.43349141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:382.97, Y:-177.53, Z:-24.34 [[ 7.85754831e-01 6.15537402e-01 6.08527157e-02 3.82968625e+02] [-6.13845228e-01 7.88106255e-01 -4.56351642e-02 -1.77527658e+02] [-7.60485563e-02 -1.49609840e-03 9.97102993e-01 -2.43422212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.02, Y:-177.57, Z:-24.35 [[ 7.86100581e-01 6.15096411e-01 6.08463766e-02 3.83017738e+02] [-6.13402264e-01 7.88450584e-01 -4.56436147e-02 -1.77565993e+02] [-7.60495848e-02 -1.44283316e-03 9.97102993e-01 -2.43482309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.06, Y:-177.61, Z:-24.35 [[ 7.87945830e-01 6.12731938e-01 6.08353712e-02 3.83062681e+02] [-6.11029606e-01 7.90289910e-01 -4.56582785e-02 -1.77609139e+02] [-7.60538655e-02 -1.19596277e-03 9.97102993e-01 -2.43537235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.11, Y:-177.65, Z:-24.36 [[ 7.94484179e-01 6.04230506e-01 6.08307925e-02 3.83109702e+02] [-6.02502619e-01 7.96809487e-01 -4.56643778e-02 -1.77647910e+02] [-7.60623627e-02 -3.71086109e-04 9.97102993e-01 -2.43565593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:383.16, Y:-177.69, Z:-24.36 [[ 7.96836429e-01 6.01126248e-01 6.08189011e-02 3.83155938e+02] [-5.99388094e-01 7.99154072e-01 -4.56802101e-02 -1.77691757e+02] [-7.60632458e-02 -5.44697094e-05 9.97102994e-01 -2.43599079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.20, Y:-177.73, Z:-24.36 [[ 8.02028798e-01 5.94182413e-01 6.08035096e-02 3.83203953e+02] [-5.92422642e-01 8.04330069e-01 -4.57006881e-02 -1.77729167e+02] [-7.60606363e-02 6.31892155e-04 9.97102994e-01 -2.43633804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.25, Y:-177.77, Z:-24.37 [[ 8.01548483e-01 5.94831473e-01 6.07910179e-02 3.83249584e+02] [-5.93072306e-01 8.03850215e-01 -4.57172987e-02 -1.77771218e+02] [-7.60609609e-02 5.91162263e-04 9.97102994e-01 -2.43672127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.30, Y:-177.81, Z:-24.37 [[ 8.01525625e-01 5.94862728e-01 6.07865783e-02 3.83300280e+02] [-5.93103202e-01 8.03827084e-01 -4.57232008e-02 -1.77806762e+02] [-7.60609259e-02 5.95602826e-04 9.97102994e-01 -2.43740984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.35, Y:-177.84, Z:-24.38 [[ 7.99254878e-01 5.97911575e-01 6.07732545e-02 3.83350481e+02] [-5.96159482e-01 8.01562001e-01 -4.57409034e-02 -1.77844363e+02] [-7.60625471e-02 3.28088260e-04 9.97102994e-01 -2.43800053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.40, Y:-177.88, Z:-24.39 [[ 7.95446469e-01 6.02970222e-01 6.07604028e-02 3.83400108e+02] [-6.01231499e-01 7.97763683e-01 -4.57579687e-02 -1.77882928e+02] [-7.60631353e-02 -1.33053416e-04 9.97102995e-01 -2.43874660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.45, Y:-177.92, Z:-24.39 [[ 7.92873253e-01 6.06351166e-01 6.07475775e-02 3.83449496e+02] [-6.04621019e-01 7.95196878e-01 -4.57749891e-02 -1.77921206e+02] [-7.60620020e-02 -4.35497694e-04 9.97102995e-01 -2.43940482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.50, Y:-177.96, Z:-24.40 [[ 7.89459821e-01 6.10790036e-01 6.07348662e-02 3.83498533e+02] [-6.09071656e-01 7.91792160e-01 -4.57918484e-02 -1.77960193e+02] [-7.60585957e-02 -8.41061070e-04 9.97102995e-01 -2.43991994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.55, Y:-178.00, Z:-24.40 [[ 7.87852076e-01 6.12863698e-01 6.07222698e-02 3.83548378e+02] [-6.11150169e-01 7.90187983e-01 -4.58085458e-02 -1.77999012e+02] [-7.60564027e-02 -1.02006758e-03 9.97102995e-01 -2.44038105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.60, Y:-178.04, Z:-24.41 [[ 7.86869047e-01 6.14126550e-01 6.07098288e-02 3.83597219e+02] [-6.12415500e-01 7.89206768e-01 -4.58250279e-02 -1.78038310e+02] [-7.60549741e-02 -1.12134415e-03 9.97102995e-01 -2.44077049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.65, Y:-178.08, Z:-24.41 [[ 7.87392709e-01 6.13456262e-01 6.06970868e-02 3.83645943e+02] [-6.11741920e-01 7.89728018e-01 -4.58418991e-02 -1.78077685e+02] [-7.60561901e-02 -1.03537533e-03 9.97102996e-01 -2.44114945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.70, Y:-178.12, Z:-24.42 [[ 7.88146104e-01 6.12489298e-01 6.06842551e-02 3.83695783e+02] [-6.10770784e-01 7.90478344e-01 -4.58588790e-02 -1.78115478e+02] [-7.60576621e-02 -9.20673275e-04 9.97102996e-01 -2.44166940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.75, Y:-178.15, Z:-24.42 [[ 7.89102421e-01 6.11258022e-01 6.06712342e-02 3.83746121e+02] [-6.09534546e-01 7.91430996e-01 -4.58760993e-02 -1.78150436e+02] [-7.60592290e-02 -7.80272122e-04 9.97102996e-01 -2.44235395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.80, Y:-178.19, Z:-24.43 [[ 7.88666715e-01 6.11820879e-01 6.06632102e-02 3.83796820e+02] [-6.10098248e-01 7.90995915e-01 -4.58867071e-02 -1.78186611e+02] [-7.60587970e-02 -8.21199776e-04 9.97102996e-01 -2.44295534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.85, Y:-178.22, Z:-24.43 [[ 7.87751717e-01 6.12999745e-01 6.06510063e-02 3.83847088e+02] [-6.11279358e-01 7.90082576e-01 -4.59028321e-02 -1.78224264e+02] [-7.60577276e-02 -9.14673379e-04 9.97102996e-01 -2.44348882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.90, Y:-178.26, Z:-24.44 [[ 7.85161199e-01 6.16315529e-01 6.06387740e-02 3.83896540e+02] [-6.14603738e-01 7.87498376e-01 -4.59189855e-02 -1.78260967e+02] [-7.60535200e-02 -1.21501144e-03 9.97102997e-01 -2.44414428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.95, Y:-178.30, Z:-24.45 [[ 7.83852336e-01 6.17980459e-01 6.06272956e-02 3.83945170e+02] [-6.16272460e-01 7.86192286e-01 -4.59341357e-02 -1.78298160e+02] [-7.60511103e-02 -1.35735309e-03 9.97102997e-01 -2.44482506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:383.99, Y:-178.34, Z:-24.45 [[ 7.83776725e-01 6.18077381e-01 6.06168022e-02 3.83993635e+02] [-6.16368602e-01 7.86116105e-01 -4.59479791e-02 -1.78336340e+02] [-7.60512510e-02 -1.34933703e-03 9.97102997e-01 -2.44530475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.04, Y:-178.37, Z:-24.46 [[ 7.84561938e-01 6.17081520e-01 6.06049738e-02 3.84042498e+02] [-6.15368567e-01 7.86898263e-01 -4.59635753e-02 -1.78374757e+02] [-7.60532216e-02 -1.23312416e-03 9.97102997e-01 -2.44564677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.09, Y:-178.41, Z:-24.46 [[ 7.86343705e-01 6.14810561e-01 6.05933392e-02 3.84091539e+02] [-6.13089678e-01 7.88674195e-01 -4.59789080e-02 -1.78412139e+02] [-7.60567213e-02 -9.93925970e-04 9.97102997e-01 -2.44577862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.14, Y:-178.45, Z:-24.46 [[ 7.87147590e-01 6.13782051e-01 6.05827263e-02 3.84141145e+02] [-6.12057047e-01 7.89475032e-01 -4.59928876e-02 -1.78449586e+02] [-7.60581586e-02 -8.76893985e-04 9.97102997e-01 -2.44623025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.19, Y:-178.49, Z:-24.47 [[ 7.85785335e-01 6.15525886e-01 6.05746820e-02 3.84189340e+02] [-6.13805231e-01 7.88115993e-01 -4.60034799e-02 -1.78488682e+02] [-7.60562084e-02 -1.03219680e-03 9.97102998e-01 -2.44660010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.24, Y:-178.52, Z:-24.48 [[ 7.85539705e-01 6.15839964e-01 6.05682380e-02 3.84239741e+02] [-6.14119587e-01 7.87870569e-01 -4.60119625e-02 -1.78522658e+02] [-7.60559374e-02 -1.05191784e-03 9.97102998e-01 -2.44751350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.29, Y:-178.56, Z:-24.48 [[ 7.84237432e-01 6.17498128e-01 6.05616435e-02 3.84289118e+02] [-6.15782009e-01 7.86571432e-01 -4.60206407e-02 -1.78558900e+02] [-7.60537181e-02 -1.20166144e-03 9.97102998e-01 -2.44806290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.34, Y:-178.59, Z:-24.49 [[ 7.82523004e-01 6.19670091e-01 6.05535093e-02 3.84340002e+02] [-6.17959622e-01 7.84861148e-01 -4.60313411e-02 -1.78594965e+02] [-7.60503421e-02 -1.39904042e-03 9.97102998e-01 -2.44860930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.39, Y:-178.63, Z:-24.49 [[ 7.82620224e-01 6.19548546e-01 6.05407575e-02 3.84389141e+02] [-6.17836418e-01 7.84957153e-01 -4.60481063e-02 -1.78633489e+02] [-7.60509380e-02 -1.36610544e-03 9.97102998e-01 -2.44900713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.44, Y:-178.67, Z:-24.49 [[ 7.83745576e-01 6.18125598e-01 6.05278227e-02 3.84438143e+02] [-6.16407914e-01 7.86078425e-01 -4.60651021e-02 -1.78672038e+02] [-7.60536343e-02 -1.20650891e-03 9.97102998e-01 -2.44941540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.49, Y:-178.71, Z:-24.50 [[ 7.86395157e-01 6.14752491e-01 6.05147190e-02 3.84486192e+02] [-6.13023476e-01 7.88719619e-01 -4.60823097e-02 -1.78711296e+02] [-7.60583609e-02 -8.58038230e-04 9.97102998e-01 -2.44981928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.54, Y:-178.75, Z:-24.50 [[ 7.88040053e-01 6.12643702e-01 6.05026371e-02 3.84535706e+02] [-6.10907250e-01 7.90358964e-01 -4.60981670e-02 -1.78749904e+02] [-7.60605533e-02 -6.34297606e-04 9.97102999e-01 -2.45022887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.58, Y:-178.79, Z:-24.51 [[ 7.90342101e-01 6.09672327e-01 6.04898083e-02 3.84584387e+02] [-6.07925867e-01 7.92653485e-01 -4.61149947e-02 -1.78787852e+02] [-7.60624935e-02 -3.26697385e-04 9.97102999e-01 -2.45075762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.63, Y:-178.83, Z:-24.51 [[ 7.91956879e-01 6.07574454e-01 6.04779734e-02 3.84634432e+02] [-6.05820686e-01 7.94262722e-01 -4.61305106e-02 -1.78825428e+02] [-7.60631195e-02 -1.05432155e-04 9.97102999e-01 -2.45137268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.68, Y:-178.86, Z:-24.52 [[ 7.92655870e-01 6.06663498e-01 6.04654582e-02 3.84684662e+02] [-6.04905829e-01 7.94958741e-01 -4.61469090e-02 -1.78863685e+02] [-7.60631898e-02 2.71019808e-06 9.97102999e-01 -2.45188060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.73, Y:-178.90, Z:-24.52 [[ 7.92503825e-01 6.06863390e-01 6.04525787e-02 3.84734101e+02] [-6.05105015e-01 7.94806156e-01 -4.61637751e-02 -1.78901778e+02] [-7.60631867e-02 4.80979192e-06 9.97103000e-01 -2.45222335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.78, Y:-178.94, Z:-24.53 [[ 7.93470681e-01 6.05599839e-01 6.04409918e-02 3.84784766e+02] [-6.03836643e-01 7.95769322e-01 -4.61789405e-02 -1.78935975e+02] [-7.60630460e-02 1.45149770e-04 9.97103000e-01 -2.45295986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.84, Y:-178.97, Z:-24.53 [[ 7.93520362e-01 6.05535799e-01 6.04303879e-02 3.84835619e+02] [-6.03771361e-01 7.95818050e-01 -4.61928128e-02 -1.78972534e+02] [-7.60629952e-02 1.68800006e-04 9.97103000e-01 -2.45343174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.89, Y:-179.01, Z:-24.54 [[ 7.92891132e-01 6.06360790e-01 6.04172657e-02 3.84886530e+02] [-6.04597435e-01 7.95189651e-01 -4.62099695e-02 -1.79009177e+02] [-7.60630980e-02 1.11351118e-04 9.97103000e-01 -2.45394775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.94, Y:-179.05, Z:-24.55 [[ 7.92375046e-01 6.07036329e-01 6.04043106e-02 3.84936560e+02] [-6.05273644e-01 7.94674078e-01 -4.62268978e-02 -1.79045057e+02] [-7.60631462e-02 6.79030950e-05 9.97103000e-01 -2.45452729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:384.99, Y:-179.08, Z:-24.55 [[ 7.91902667e-01 6.07653557e-01 6.03930413e-02 3.84987427e+02] [-6.05891541e-01 7.94202212e-01 -4.62416158e-02 -1.79081213e+02] [-7.60631694e-02 2.72260558e-05 9.97103000e-01 -2.45510789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.04, Y:-179.12, Z:-24.55 [[ 7.91381668e-01 6.08332530e-01 6.03869897e-02 3.85037641e+02] [-6.06571883e-01 7.93682262e-01 -4.62495173e-02 -1.79118936e+02] [-7.60631684e-02 -2.80299031e-05 9.97103001e-01 -2.45545564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.09, Y:-179.15, Z:-24.56 [[ 7.90673411e-01 6.09254085e-01 6.03739778e-02 3.85087733e+02] [-6.07494823e-01 7.92975064e-01 -4.62664968e-02 -1.79154725e+02] [-7.60631111e-02 -9.51901179e-05 9.97103001e-01 -2.45577018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.14, Y:-179.19, Z:-24.56 [[ 7.90324709e-01 6.09707403e-01 6.03633703e-02 3.85138864e+02] [-6.07948405e-01 7.92626562e-01 -4.62803322e-02 -1.79191797e+02] [-7.60630719e-02 -1.21324647e-04 9.97103001e-01 -2.45616437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:-179.23, Z:-24.57 [[ 7.90940978e-01 6.08909049e-01 6.03501337e-02 3.85190050e+02] [-6.07146411e-01 7.93240045e-01 -4.62975864e-02 -1.79228775e+02] [-7.60631621e-02 -2.27087903e-05 9.97103001e-01 -2.45661091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.24, Y:-179.27, Z:-24.57 [[ 7.92060396e-01 6.07453531e-01 6.03368594e-02 3.85240416e+02] [-6.05685350e-01 7.94355203e-01 -4.63148797e-02 -1.79266198e+02] [-7.60630354e-02 1.39030090e-04 9.97103001e-01 -2.45714704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.29, Y:-179.30, Z:-24.58 [[ 7.94401145e-01 6.04390502e-01 6.03236376e-02 3.85289726e+02] [-6.02612166e-01 7.96688091e-01 -4.63320943e-02 -1.79302286e+02] [-7.60618014e-02 4.54510908e-04 9.97103002e-01 -2.45773203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.34, Y:-179.34, Z:-24.58 [[ 7.93713224e-01 6.05294679e-01 6.03130956e-02 3.85336236e+02] [-6.03517906e-01 7.96001384e-01 -4.63458133e-02 -1.79343286e+02] [-7.60621818e-02 3.85251751e-04 9.97103002e-01 -2.45775977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.39, Y:-179.37, Z:-24.59 [[ 7.98126747e-01 5.99463537e-01 6.03089044e-02 3.85388677e+02] [-5.97669636e-01 8.00401503e-01 -4.63512666e-02 -1.79374762e+02] [-7.60572320e-02 9.49384675e-04 9.97103002e-01 -2.45877311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.44, Y:-179.41, Z:-24.59 [[ 7.98818584e-01 5.98541924e-01 6.03028689e-02 3.85438405e+02] [-5.96744806e-01 8.01090800e-01 -4.63591174e-02 -1.79412481e+02] [-7.60559488e-02 1.04710077e-03 9.97103002e-01 -2.45921125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.49, Y:-179.45, Z:-24.59 [[ 7.99489614e-01 5.97646639e-01 6.02897350e-02 3.85486399e+02] [-5.95845690e-01 8.01758793e-01 -4.63761917e-02 -1.79451659e+02] [-7.60544003e-02 1.15390487e-03 9.97103002e-01 -2.45942444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.54, Y:-179.49, Z:-24.60 [[ 8.00757638e-01 5.95947031e-01 6.02854886e-02 3.85537368e+02] [-5.94140850e-01 8.03022657e-01 -4.63817111e-02 -1.79486083e+02] [-7.60516562e-02 1.32243797e-03 9.97103002e-01 -2.45995266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.59, Y:-179.52, Z:-24.60 [[ 7.98707783e-01 5.98692635e-01 6.02744212e-02 3.85587481e+02] [-5.96893156e-01 8.00978129e-01 -4.63960891e-02 -1.79521944e+02] [-7.60554899e-02 1.07952795e-03 9.97103002e-01 -2.46043109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.64, Y:-179.56, Z:-24.61 [[ 7.94011181e-01 6.04908840e-01 6.02622682e-02 3.85639692e+02] [-6.03125939e-01 7.96294569e-01 -4.64118688e-02 -1.79557168e+02] [-7.60614666e-02 5.05805622e-04 9.97103002e-01 -2.46089025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.69, Y:-179.59, Z:-24.61 [[ 7.89882057e-01 6.10292031e-01 6.02492534e-02 3.85691192e+02] [-6.08523405e-01 7.92176518e-01 -4.64287578e-02 -1.79593257e+02] [-7.60631447e-02 1.01618975e-05 9.97103003e-01 -2.46138757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.74, Y:-179.63, Z:-24.62 [[ 7.84092973e-01 6.17713383e-01 6.02360820e-02 3.85743303e+02] [-6.15965159e-01 7.86403018e-01 -4.64458399e-02 -1.79628511e+02] [-7.60600536e-02 -6.85471149e-04 9.97103003e-01 -2.46197919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.79, Y:-179.67, Z:-24.62 [[ 7.81137433e-01 6.21447908e-01 6.02229910e-02 3.85793964e+02] [-6.19709420e-01 7.83454812e-01 -4.64628080e-02 -1.79665924e+02] [-7.60562069e-02 -1.02691624e-03 9.97103003e-01 -2.46245448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.84, Y:-179.70, Z:-24.63 [[ 7.79238852e-01 6.23828185e-01 6.02096989e-02 3.85843899e+02] [-6.22095444e-01 7.81560532e-01 -4.64800264e-02 -1.79702389e+02] [-7.60530748e-02 -1.23713703e-03 9.97103003e-01 -2.46296294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.89, Y:-179.74, Z:-24.63 [[ 7.78939352e-01 6.24203298e-01 6.01974095e-02 3.85894113e+02] [-6.22470446e-01 7.81260950e-01 -4.64959372e-02 -1.79739769e+02] [-7.60528027e-02 -1.25359315e-03 9.97103004e-01 -2.46329986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.94, Y:-179.78, Z:-24.64 [[ 7.79185365e-01 6.23897441e-01 6.01842975e-02 3.85944812e+02] [-6.22162368e-01 7.81505302e-01 -4.65129033e-02 -1.79777350e+02] [-7.60536289e-02 -1.20223147e-03 9.97103004e-01 -2.46394638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:385.99, Y:-179.82, Z:-24.65 [[ 7.79799244e-01 6.23131257e-01 6.01712258e-02 3.85994307e+02] [-6.21392600e-01 7.82116496e-01 -4.65298073e-02 -1.79815232e+02] [-7.60550856e-02 -1.10604596e-03 9.97103004e-01 -2.46458815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.04, Y:-179.85, Z:-24.65 [[ 7.80640714e-01 6.22077153e-01 6.01671942e-02 3.86042621e+02] [-6.20334965e-01 7.82955313e-01 -4.65350199e-02 -1.79854639e+02] [-7.60565971e-02 -9.96683154e-04 9.97103004e-01 -2.46507701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.09, Y:-179.89, Z:-24.66 [[ 7.82113860e-01 6.20225260e-01 6.01542720e-02 3.86089956e+02] [-6.18476308e-01 7.84423351e-01 -4.65517181e-02 -1.79894174e+02] [-7.60589671e-02 -7.95248104e-04 9.97103004e-01 -2.46566543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.14, Y:-179.93, Z:-24.66 [[ 7.83347997e-01 6.18666918e-01 6.01428325e-02 3.86137673e+02] [-6.16912237e-01 7.85653139e-01 -4.65664928e-02 -1.79934799e+02] [-7.60605537e-02 -6.25080468e-04 9.97103004e-01 -2.46614437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.18, Y:-179.98, Z:-24.67 [[ 7.86825449e-01 6.14239467e-01 6.01297871e-02 3.86184574e+02] [-6.12470527e-01 7.89119666e-01 -4.65833318e-02 -1.79977487e+02] [-7.60629184e-02 -1.74771436e-04 9.97103005e-01 -2.46659269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.23, Y:-180.02, Z:-24.67 [[ 7.89854212e-01 6.10341121e-01 6.01168856e-02 3.86232273e+02] [-6.08559591e-01 7.92138667e-01 -4.65999756e-02 -1.80019163e+02] [-7.60627909e-02 2.22479782e-04 9.97103005e-01 -2.46689940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.28, Y:-180.06, Z:-24.67 [[ 7.94035489e-01 6.04892713e-01 6.01036477e-02 3.86278780e+02] [-6.03094217e-01 7.96306610e-01 -4.66170432e-02 -1.80061264e+02] [-7.60592417e-02 7.67424318e-04 9.97103005e-01 -2.46724150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.32, Y:-180.11, Z:-24.66 [[ 7.92321239e-01 6.07137693e-01 6.00905676e-02 3.86320594e+02] [-6.05344354e-01 7.94596434e-01 -4.66338979e-02 -1.80109236e+02] [-7.60609479e-02 5.73541924e-04 9.97103005e-01 -2.46641422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.37, Y:-180.14, Z:-24.68 [[ 7.95586362e-01 6.02853061e-01 6.00876730e-02 3.86373291e+02] [-6.01047188e-01 7.97851621e-01 -4.66376272e-02 -1.80139440e+02] [-7.60566836e-02 9.88733277e-04 9.97103005e-01 -2.46790631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.42, Y:-180.18, Z:-24.68 [[ 7.93539496e-01 6.05545116e-01 6.00847840e-02 3.86422329e+02] [-6.03746646e-01 7.95810638e-01 -4.66413490e-02 -1.80177833e+02] [-7.60595513e-02 7.35765737e-04 9.97103005e-01 -2.46845787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.47, Y:-180.22, Z:-24.69 [[ 7.91771893e-01 6.07855623e-01 6.00733809e-02 3.86471730e+02] [-6.06062668e-01 7.94047390e-01 -4.66560313e-02 -1.80216649e+02] [-7.60612423e-02 5.32700713e-04 9.97103006e-01 -2.46893376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.52, Y:-180.26, Z:-24.69 [[ 7.89036190e-01 6.11403842e-01 6.00602483e-02 3.86521244e+02] [-6.09619833e-01 7.91318707e-01 -4.66729308e-02 -1.80255530e+02] [-7.60628073e-02 2.12712974e-04 9.97103006e-01 -2.46935805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.57, Y:-180.29, Z:-24.70 [[ 7.87350905e-01 6.13573884e-01 6.00469963e-02 3.86569637e+02] [-6.11794866e-01 7.89637315e-01 -4.66899739e-02 -1.80294898e+02] [-7.60630976e-02 2.49491541e-05 9.97103006e-01 -2.46975865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.62, Y:-180.34, Z:-24.69 [[ 7.84844586e-01 6.16777688e-01 6.00354767e-02 3.86615207e+02] [-6.15006871e-01 7.87137353e-01 -4.67047816e-02 -1.80337356e+02] [-7.60626334e-02 -2.66235680e-04 9.97103006e-01 -2.46937426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.66, Y:-180.38, Z:-24.70 [[ 7.85440927e-01 6.16018345e-01 6.00328961e-02 3.86664121e+02] [-6.14245058e-01 7.87731784e-01 -4.67080984e-02 -1.80375853e+02] [-7.60628658e-02 -1.88457645e-04 9.97103006e-01 -2.46978867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.71, Y:-180.41, Z:-24.70 [[ 7.87177015e-01 6.13799498e-01 6.00210212e-02 3.86713113e+02] [-6.12018590e-01 7.89461952e-01 -4.67233529e-02 -1.80412811e+02] [-7.60630832e-02 4.55686607e-05 9.97103006e-01 -2.47044481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.76, Y:-180.45, Z:-24.71 [[ 7.87868056e-01 6.12913327e-01 6.00098278e-02 3.86760890e+02] [-6.11128754e-01 7.90150132e-01 -4.67377249e-02 -1.80450107e+02] [-7.60629479e-02 1.49429161e-04 9.97103007e-01 -2.47126719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.81, Y:-180.49, Z:-24.72 [[ 7.87470522e-01 6.13425071e-01 5.99988293e-02 3.86809318e+02] [-6.11640906e-01 7.89752916e-01 -4.67518399e-02 -1.80488884e+02] [-7.60630011e-02 1.17957468e-04 9.97103007e-01 -2.47179713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.86, Y:-180.53, Z:-24.72 [[ 7.86839844e-01 6.14234926e-01 5.99876253e-02 3.86858399e+02] [-6.12452014e-01 7.89123218e-01 -4.67662114e-02 -1.80526289e+02] [-7.60630683e-02 5.79765997e-05 9.97103007e-01 -2.47216310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.91, Y:-180.56, Z:-24.73 [[ 7.85197263e-01 6.16334475e-01 5.99755942e-02 3.86906379e+02] [-6.14556491e-01 7.87484475e-01 -4.67816356e-02 -1.80562974e+02] [-7.60629842e-02 -1.25578456e-04 9.97103007e-01 -2.47289908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:386.95, Y:-180.60, Z:-24.73 [[ 7.84604867e-01 6.17089498e-01 5.99645982e-02 3.86954299e+02] [-6.15312637e-01 7.86892952e-01 -4.67957261e-02 -1.80600347e+02] [-7.60628709e-02 -1.80820589e-04 9.97103007e-01 -2.47347684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.00, Y:-180.64, Z:-24.74 [[ 7.83543778e-01 6.18437265e-01 5.99541227e-02 3.87003170e+02] [-6.16663313e-01 7.85834119e-01 -4.68091433e-02 -1.80638970e+02] [-7.60625138e-02 -2.94494908e-04 9.97103007e-01 -2.47382183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.05, Y:-180.68, Z:-24.74 [[ 7.83025855e-01 6.19094026e-01 5.99424563e-02 3.87051509e+02] [-6.17320852e-01 7.85316797e-01 -4.68240783e-02 -1.80677420e+02] [-7.60623249e-02 -3.39264216e-04 9.97103008e-01 -2.47431709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.10, Y:-180.72, Z:-24.75 [[ 7.83509564e-01 6.18482937e-01 5.99301256e-02 3.87100879e+02] [-6.16706769e-01 7.85798186e-01 -4.68398550e-02 -1.80716118e+02] [-7.60626351e-02 -2.59839800e-04 9.97103008e-01 -2.47473645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.15, Y:-180.76, Z:-24.75 [[ 7.84267285e-01 6.17523133e-01 5.99166558e-02 3.87148653e+02] [-6.15742848e-01 7.86552706e-01 -4.68570791e-02 -1.80755981e+02] [-7.60629380e-02 -1.44778070e-04 9.97103008e-01 -2.47514227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.20, Y:-180.80, Z:-24.76 [[ 7.84466245e-01 6.17271532e-01 5.99046350e-02 3.87196005e+02] [-6.15489341e-01 7.86750180e-01 -4.68724420e-02 -1.80795521e+02] [-7.60630065e-02 -1.00815727e-04 9.97103008e-01 -2.47551387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.24, Y:-180.83, Z:-24.76 [[ 7.84235493e-01 6.17565841e-01 5.98926019e-02 3.87242773e+02] [-6.15783333e-01 7.86519179e-01 -4.68878127e-02 -1.80834594e+02] [-7.60629916e-02 -1.09779134e-04 9.97103008e-01 -2.47604603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.29, Y:-180.87, Z:-24.77 [[ 7.84224119e-01 6.17581352e-01 5.98815984e-02 3.87291260e+02] [-6.15797816e-01 7.86507003e-01 -4.69018614e-02 -1.80873800e+02] [-7.60630114e-02 -9.33866159e-05 9.97103009e-01 -2.47672750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.34, Y:-180.92, Z:-24.77 [[ 7.82846517e-01 6.19327256e-01 5.98755475e-02 3.87338440e+02] [-6.17548220e-01 7.85132910e-01 -4.69095847e-02 -1.80915049e+02] [-7.60626472e-02 -2.53032857e-04 9.97103009e-01 -2.47709307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.39, Y:-180.95, Z:-24.78 [[ 7.81407572e-01 6.21143130e-01 5.98616547e-02 3.87385754e+02] [-6.19368051e-01 7.83697037e-01 -4.69273068e-02 -1.80954037e+02] [-7.60619757e-02 -4.07043507e-04 9.97103009e-01 -2.47761425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.44, Y:-180.99, Z:-24.78 [[ 7.80312546e-01 6.22518988e-01 5.98534905e-02 3.87435365e+02] [-6.20747146e-01 7.82604518e-01 -4.69377175e-02 -1.80993088e+02] [-7.60612325e-02 -5.27793533e-04 9.97103009e-01 -2.47814340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.48, Y:-181.03, Z:-24.79 [[ 7.79158021e-01 6.23964645e-01 5.98406265e-02 3.87483065e+02] [-6.22195796e-01 7.81452303e-01 -4.69541120e-02 -1.81032357e+02] [-7.60603013e-02 -6.47913304e-04 9.97103009e-01 -2.47853263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.53, Y:-181.07, Z:-24.79 [[ 7.78885987e-01 6.24305288e-01 5.98291471e-02 3.87531526e+02] [-6.22536320e-01 7.81180176e-01 -4.69687347e-02 -1.81071685e+02] [-7.60601731e-02 -6.62527848e-04 9.97103009e-01 -2.47887801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.58, Y:-181.11, Z:-24.79 [[ 7.79042927e-01 6.24110745e-01 5.98155095e-02 3.87579631e+02] [-6.22339871e-01 7.81335646e-01 -4.69860960e-02 -1.81110290e+02] [-7.60605171e-02 -6.21390707e-04 9.97103010e-01 -2.47939792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.63, Y:-181.15, Z:-24.80 [[ 7.78950512e-01 6.24227291e-01 5.98029173e-02 3.87628396e+02] [-6.22455530e-01 7.81242545e-01 -4.70021176e-02 -1.81149045e+02] [-7.60605879e-02 -6.12333007e-04 9.97103010e-01 -2.47986481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.68, Y:-181.19, Z:-24.80 [[ 7.78319430e-01 6.25015267e-01 5.97894744e-02 3.87676965e+02] [-6.23244513e-01 7.80612241e-01 -4.70192116e-02 -1.81188382e+02] [-7.60601207e-02 -6.67495876e-04 9.97103010e-01 -2.48030462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.72, Y:-181.23, Z:-24.81 [[ 7.76630956e-01 6.27113371e-01 5.97760632e-02 3.87723872e+02] [-6.25347499e-01 7.78927529e-01 -4.70362553e-02 -1.81229218e+02] [-7.60582858e-02 -8.50999647e-04 9.97103010e-01 -2.48054463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.77, Y:-181.26, Z:-24.81 [[ 7.77442174e-01 6.26108572e-01 5.97638917e-02 3.87773034e+02] [-6.24338544e-01 7.79735544e-01 -4.70517152e-02 -1.81264436e+02] [-7.60595128e-02 -7.32913366e-04 9.97103010e-01 -2.48128369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.82, Y:-181.30, Z:-24.82 [[ 7.77345127e-01 6.26230116e-01 5.97527781e-02 3.87821558e+02] [-6.24459362e-01 7.79637937e-01 -4.70658246e-02 -1.81302934e+02] [-7.60595695e-02 -7.26792256e-04 9.97103011e-01 -2.48187362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.87, Y:-181.34, Z:-24.82 [[ 7.77189029e-01 6.26425006e-01 5.97404825e-02 3.87869702e+02] [-6.24653628e-01 7.79481356e-01 -4.70814262e-02 -1.81341112e+02] [-7.60595750e-02 -7.25941182e-04 9.97103011e-01 -2.48240953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.92, Y:-181.38, Z:-24.82 [[ 7.77252623e-01 6.26347258e-01 5.97283308e-02 3.87917060e+02] [-6.24574466e-01 7.79543857e-01 -4.70968371e-02 -1.81381607e+02] [-7.60598281e-02 -6.98650098e-04 9.97103011e-01 -2.48236592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:387.97, Y:-181.42, Z:-24.83 [[ 7.78126398e-01 6.25262593e-01 5.97159813e-02 3.87965741e+02] [-6.23485406e-01 7.80414225e-01 -4.71124903e-02 -1.81416924e+02] [-7.60608791e-02 -5.72570433e-04 9.97103011e-01 -2.48326824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.02, Y:-181.45, Z:-24.84 [[ 7.76836016e-01 6.26865871e-01 5.97074829e-02 3.88015305e+02] [-6.25092578e-01 7.79126862e-01 -4.71232582e-02 -1.81454712e+02] [-7.60596661e-02 -7.15660189e-04 9.97103011e-01 -2.48367291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.06, Y:-181.49, Z:-24.84 [[ 7.75808352e-01 6.28138544e-01 5.96939802e-02 3.88063873e+02] [-6.26367693e-01 7.78101086e-01 -4.71403567e-02 -1.81491277e+02] [-7.60586259e-02 -8.18498282e-04 9.97103011e-01 -2.48422124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.11, Y:-181.53, Z:-24.84 [[ 7.74210049e-01 6.30108497e-01 5.96831747e-02 3.88113026e+02] [-6.28342426e-01 7.76506467e-01 -4.71540333e-02 -1.81529786e+02] [-7.60565282e-02 -9.94344349e-04 9.97103012e-01 -2.48435568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.16, Y:-181.57, Z:-24.85 [[ 7.74251143e-01 6.30059158e-01 5.96709814e-02 3.88161464e+02] [-6.28291751e-01 7.76546533e-01 -4.71694584e-02 -1.81568690e+02] [-7.60568429e-02 -9.69778336e-04 9.97103012e-01 -2.48485416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.21, Y:-181.61, Z:-24.85 [[ 7.74841422e-01 6.29333911e-01 5.96623759e-02 3.88210511e+02] [-6.27563518e-01 7.77134510e-01 -4.71803406e-02 -1.81607522e+02] [-7.60578794e-02 -8.84648335e-04 9.97103012e-01 -2.48526563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.26, Y:-181.64, Z:-24.86 [[ 7.76548800e-01 6.27227247e-01 5.96484884e-02 3.88258444e+02] [-6.25449285e-01 7.78836023e-01 -4.71978915e-02 -1.81644207e+02] [-7.60601950e-02 -6.55638345e-04 9.97103012e-01 -2.48597609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.31, Y:-181.68, Z:-24.87 [[ 7.77301092e-01 6.26295771e-01 5.96374016e-02 3.88307588e+02] [-6.24513993e-01 7.79585344e-01 -4.72118962e-02 -1.81683387e+02] [-7.60610552e-02 -5.46533371e-04 9.97103012e-01 -2.48650475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.36, Y:-181.72, Z:-24.87 [[ 7.78473235e-01 6.24839485e-01 5.96241546e-02 3.88355007e+02] [-6.23052154e-01 7.80753144e-01 -4.72286200e-02 -1.81722590e+02] [-7.60620528e-02 -3.82741342e-04 9.97103013e-01 -2.48704009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.40, Y:-181.76, Z:-24.88 [[ 7.78476961e-01 6.24835944e-01 5.96126158e-02 3.88402767e+02] [-6.23047487e-01 7.80755987e-01 -4.72431800e-02 -1.81760945e+02] [-7.60621436e-02 -3.63763287e-04 9.97103013e-01 -2.48772029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.45, Y:-181.80, Z:-24.88 [[ 7.77449844e-01 6.26114551e-01 5.96012496e-02 3.88452443e+02] [-6.24328743e-01 7.79730946e-01 -4.72575150e-02 -1.81799395e+02] [-7.60615565e-02 -4.70425586e-04 9.97103013e-01 -2.48793657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.50, Y:-181.84, Z:-24.88 [[ 7.76731634e-01 6.27006568e-01 5.95880252e-02 3.88502031e+02] [-6.25222101e-01 7.79013784e-01 -4.72741842e-02 -1.81838467e+02] [-7.60611170e-02 -5.36396001e-04 9.97103013e-01 -2.48838296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.55, Y:-181.88, Z:-24.89 [[ 7.74804787e-01 6.29387306e-01 5.95748391e-02 3.88550806e+02] [-6.27608574e-01 7.77091410e-01 -4.72907954e-02 -1.81875730e+02] [-7.60593220e-02 -7.48545121e-04 9.97103013e-01 -2.48891769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.60, Y:-181.91, Z:-24.89 [[ 7.73050655e-01 6.31541744e-01 5.95626625e-02 3.88599574e+02] [-6.29768203e-01 7.75341306e-01 -4.73061269e-02 -1.81913489e+02] [-7.60571864e-02 -9.40638549e-04 9.97103014e-01 -2.48944735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.65, Y:-181.95, Z:-24.90 [[ 7.70948401e-01 6.34107378e-01 5.95516326e-02 3.88649133e+02] [-6.32340388e-01 7.73244108e-01 -4.73200079e-02 -1.81950947e+02] [-7.60539152e-02 -1.17561805e-03 9.97103014e-01 -2.48981992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.70, Y:-181.99, Z:-24.90 [[ 7.69811310e-01 6.35488389e-01 5.95403563e-02 3.88697780e+02] [-6.33724420e-01 7.72109340e-01 -4.73341921e-02 -1.81988704e+02] [-7.60519947e-02 -1.29378138e-03 9.97103014e-01 -2.49025795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.75, Y:-182.03, Z:-24.91 [[ 7.69681954e-01 6.35646173e-01 5.95284183e-02 3.88746577e+02] [-6.33881515e-01 7.71979454e-01 -4.73492008e-02 -1.82026148e+02] [-7.60520542e-02 -1.29013857e-03 9.97103014e-01 -2.49067382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.80, Y:-182.06, Z:-24.91 [[ 7.71986996e-01 6.32845827e-01 5.95167042e-02 3.88795214e+02] [-6.31071699e-01 7.74277192e-01 -4.73639206e-02 -1.82063992e+02] [-7.60564861e-02 -9.94976851e-04 9.97103014e-01 -2.49086900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.84, Y:-182.10, Z:-24.91 [[ 7.74823088e-01 6.29371293e-01 5.95059463e-02 3.88843854e+02] [-6.27585857e-01 7.77104479e-01 -4.73774324e-02 -1.82102964e+02] [-7.60603333e-02 -6.35961799e-04 9.97103014e-01 -2.49137258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.89, Y:-182.14, Z:-24.92 [[ 7.79869562e-01 6.23108393e-01 5.94928281e-02 3.88892653e+02] [-6.21303378e-01 7.82135494e-01 -4.73938995e-02 -1.82142557e+02] [-7.60629891e-02 -2.03544648e-06 9.97103015e-01 -2.49176830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.94, Y:-182.18, Z:-24.93 [[ 7.82724397e-01 6.19519744e-01 5.94794620e-02 3.88940899e+02] [-6.17703066e-01 7.84980988e-01 -4.74106682e-02 -1.82179908e+02] [-7.60620918e-02 3.68840682e-04 9.97103015e-01 -2.49257912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:388.99, Y:-182.22, Z:-24.93 [[ 7.87512492e-01 6.13422966e-01 5.94671340e-02 3.88991340e+02] [-6.11587652e-01 7.89753953e-01 -4.74261262e-02 -1.82215011e+02] [-7.60566791e-02 9.79301949e-04 9.97103015e-01 -2.49315361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.04, Y:-182.25, Z:-24.93 [[ 7.88281903e-01 6.12434527e-01 5.94608445e-02 3.89039118e+02] [-6.10595808e-01 7.90520571e-01 -4.74340104e-02 -1.82253703e+02] [-7.60552464e-02 1.08482955e-03 9.97103015e-01 -2.49325510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.09, Y:-182.29, Z:-24.94 [[ 7.89358974e-01 6.11046348e-01 5.94539422e-02 3.89088460e+02] [-6.09203041e-01 7.91593866e-01 -4.74426602e-02 -1.82291610e+02] [-7.60530402e-02 1.22976716e-03 9.97103015e-01 -2.49405518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.14, Y:-182.33, Z:-24.94 [[ 7.90225405e-01 6.09926055e-01 5.94476017e-02 3.89139606e+02] [-6.08078983e-01 7.92457185e-01 -4.74506037e-02 -1.82327467e+02] [-7.60510387e-02 1.34783525e-03 9.97103015e-01 -2.49420230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.19, Y:-182.36, Z:-24.94 [[ 7.89110345e-01 6.11369329e-01 5.94340461e-02 3.89189225e+02] [-6.09525061e-01 7.91344444e-01 -4.74675766e-02 -1.82364471e+02] [-7.60530227e-02 1.23061517e-03 9.97103015e-01 -2.49438593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.24, Y:-182.40, Z:-24.95 [[ 7.84078438e-01 6.17810631e-01 5.94224387e-02 3.89239567e+02] [-6.15983619e-01 7.86326670e-01 -4.74821031e-02 -1.82399305e+02] [-7.60603964e-02 6.26444431e-04 9.97103016e-01 -2.49464239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.29, Y:-182.43, Z:-24.95 [[ 7.75572538e-01 6.28456003e-01 5.94162391e-02 3.89291923e+02] [-6.26659256e-01 7.77845030e-01 -4.74898596e-02 -1.82432669e+02] [-7.60619136e-02 -4.01905219e-04 9.97103016e-01 -2.49501812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.34, Y:-182.47, Z:-24.96 [[ 7.69476987e-01 6.35905862e-01 5.94045458e-02 3.89343608e+02] [-6.34129984e-01 7.71765824e-01 -4.75044821e-02 -1.82468213e+02] [-7.60547769e-02 -1.11659785e-03 9.97103016e-01 -2.49552959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.40, Y:-182.50, Z:-24.96 [[ 7.62164892e-01 6.44652907e-01 5.93911385e-02 3.89396568e+02] [-6.42901982e-01 7.64472873e-01 -4.75212383e-02 -1.82502922e+02] [-7.60376187e-02 -1.96366119e-03 9.97103016e-01 -2.49606624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.45, Y:-182.54, Z:-24.97 [[ 7.59207100e-01 6.48134904e-01 5.93778225e-02 3.89447522e+02] [-6.46393262e-01 7.61522095e-01 -4.75378708e-02 -1.82539561e+02] [-7.60284771e-02 -2.29033538e-03 9.97103016e-01 -2.49657094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.50, Y:-182.58, Z:-24.97 [[ 7.57438853e-01 6.50201692e-01 5.93645019e-02 3.89498774e+02] [-6.48465065e-01 7.59757612e-01 -4.75544996e-02 -1.82575250e+02] [-7.60226483e-02 -2.47618000e-03 9.97103016e-01 -2.49715127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.55, Y:-182.61, Z:-24.98 [[ 7.58113738e-01 6.49415906e-01 5.93509998e-02 3.89548026e+02] [-6.47675560e-01 7.60429705e-01 -4.75713451e-02 -1.82612630e+02] [-7.60258515e-02 -2.37570175e-03 9.97103017e-01 -2.49771220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.60, Y:-182.65, Z:-24.98 [[ 7.61460818e-01 6.45489193e-01 5.93390679e-02 3.89595748e+02] [-6.43735742e-01 7.63766879e-01 -4.75862240e-02 -1.82649611e+02] [-7.60376080e-02 -1.96363391e-03 9.97103017e-01 -2.49828672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.64, Y:-182.69, Z:-24.99 [[ 7.64801085e-01 6.41529008e-01 5.93281726e-02 3.89643528e+02] [-6.39762561e-01 7.67097206e-01 -4.75998038e-02 -1.82688293e+02] [-7.60471305e-02 -1.55156205e-03 9.97103017e-01 -2.49882298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.69, Y:-182.73, Z:-24.99 [[ 7.70271304e-01 6.34951771e-01 5.93158118e-02 3.89691390e+02] [-6.33164528e-01 7.72551276e-01 -4.76152021e-02 -1.82728960e+02] [-7.60578630e-02 -8.80044128e-04 9.97103017e-01 -2.49915054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.74, Y:-182.77, Z:-25.00 [[ 7.73955613e-01 6.30456926e-01 5.93023947e-02 3.89738575e+02] [-6.28655160e-01 7.76224124e-01 -4.76319067e-02 -1.82768963e+02] [-7.60618149e-02 -4.15774897e-04 9.97103017e-01 -2.49955681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.79, Y:-182.81, Z:-25.00 [[ 7.80165209e-01 6.22757486e-01 5.92904748e-02 3.89785012e+02] [-6.20932204e-01 7.82414843e-01 -4.76467396e-02 -1.82809009e+02] [-7.60621113e-02 3.56963372e-04 9.97103018e-01 -2.50006716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.83, Y:-182.85, Z:-25.00 [[ 7.86388688e-01 6.14881260e-01 5.92778859e-02 3.89832521e+02] [-6.13032270e-01 7.88618876e-01 -4.76623964e-02 -1.82850395e+02] [-7.60543741e-02 1.14191233e-03 9.97103018e-01 -2.50034489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.88, Y:-182.89, Z:-25.01 [[ 7.91191098e-01 6.08690704e-01 5.92644342e-02 3.89880391e+02] [-6.06823017e-01 7.93405652e-01 -4.76791168e-02 -1.82890999e+02] [-7.60425722e-02 1.76027004e-03 9.97103018e-01 -2.50069374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.93, Y:-182.93, Z:-25.01 [[ 7.93039572e-01 6.06281750e-01 5.92509595e-02 3.89928701e+02] [-6.04406087e-01 7.95247375e-01 -4.76958559e-02 -1.82929657e+02] [-7.60362970e-02 2.01306051e-03 9.97103018e-01 -2.50119460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:389.98, Y:-182.97, Z:-25.02 [[ 7.93815616e-01 6.05266118e-01 5.92426726e-02 3.89978382e+02] [-6.03386863e-01 7.96020362e-01 -4.77061468e-02 -1.82967954e+02] [-7.60332880e-02 2.12363385e-03 9.97103018e-01 -2.50161028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.03, Y:-183.01, Z:-25.02 [[ 7.93034020e-01 6.06291115e-01 5.92294461e-02 3.90028714e+02] [-6.04413485e-01 7.95240150e-01 -4.77225626e-02 -1.83005414e+02] [-7.60353992e-02 2.04653972e-03 9.97103019e-01 -2.50208541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.08, Y:-183.04, Z:-25.03 [[ 7.92140218e-01 6.07459714e-01 5.92163126e-02 3.90077844e+02] [-6.05584122e-01 7.94348080e-01 -4.77388536e-02 -1.83043986e+02] [-7.60377946e-02 1.95540720e-03 9.97103019e-01 -2.50252370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.13, Y:-183.08, Z:-25.03 [[ 7.87895157e-01 6.12956949e-01 5.92030387e-02 3.90128409e+02] [-6.11095530e-01 7.90114981e-01 -4.77553095e-02 -1.83079227e+02] [-7.60491566e-02 1.44746477e-03 9.97103019e-01 -2.50309863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.18, Y:-183.12, Z:-25.04 [[ 7.84165274e-01 6.17722585e-01 5.91914788e-02 3.90179193e+02] [-6.15873578e-01 7.86395447e-01 -4.77696334e-02 -1.83116088e+02] [-7.60562908e-02 1.00481981e-03 9.97103019e-01 -2.50358045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.23, Y:-183.15, Z:-25.04 [[ 7.78943237e-01 6.24295922e-01 5.91780034e-02 3.90229793e+02] [-6.22464469e-01 7.81187847e-01 -4.77863212e-02 -1.83151742e+02] [-7.60619425e-02 3.86627232e-04 9.97103019e-01 -2.50395322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.28, Y:-183.19, Z:-25.04 [[ 7.75615820e-01 6.28426180e-01 5.91661738e-02 3.90279424e+02] [-6.26605563e-01 7.77869228e-01 -4.78009635e-02 -1.83188204e+02] [-7.60629228e-02 1.32989643e-06 9.97103020e-01 -2.50434816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.33, Y:-183.22, Z:-25.05 [[ 7.70786395e-01 6.34341384e-01 5.91552316e-02 3.90330638e+02] [-6.32537021e-01 7.73052839e-01 -4.78145010e-02 -1.83223828e+02] [-7.60608364e-02 -5.63107062e-04 9.97103020e-01 -2.50477503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.38, Y:-183.26, Z:-25.05 [[ 7.67184110e-01 6.38693746e-01 5.91509861e-02 3.90381167e+02] [-6.36901835e-01 7.69460411e-01 -4.78197525e-02 -1.83261347e+02] [-7.60565190e-02 -9.86817268e-04 9.97103020e-01 -2.50532030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.43, Y:-183.30, Z:-25.06 [[ 7.64316922e-01 6.42123374e-01 5.91372499e-02 3.90430720e+02] [-6.40340362e-01 7.66600201e-01 -4.78367336e-02 -1.83299087e+02] [-7.60517125e-02 -1.30554307e-03 9.97103020e-01 -2.50591381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.48, Y:-183.34, Z:-25.06 [[ 7.63443120e-01 6.43163268e-01 5.91237093e-02 3.90479371e+02] [-6.41382071e-01 7.65727814e-01 -4.78534633e-02 -1.83337982e+02] [-7.60502585e-02 -1.38748971e-03 9.97103020e-01 -2.50641224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.53, Y:-183.38, Z:-25.07 [[ 7.62190605e-01 6.44648329e-01 5.91101821e-02 3.90526075e+02] [-6.42870288e-01 7.64477757e-01 -4.78701668e-02 -1.83376207e+02] [-7.60478424e-02 -1.51398835e-03 9.97103021e-01 -2.50706593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.57, Y:-183.42, Z:-25.08 [[ 7.62217924e-01 6.44617019e-01 5.90993669e-02 3.90571945e+02] [-6.42837850e-01 7.64504197e-01 -4.78835152e-02 -1.83416587e+02] [-7.60482429e-02 -1.49363638e-03 9.97103021e-01 -2.50786555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.61, Y:-183.46, Z:-25.08 [[ 7.59514147e-01 6.47801494e-01 5.90887962e-02 3.90613919e+02] [-6.46030895e-01 7.61807064e-01 -4.78965560e-02 -1.83462307e+02] [-7.60417229e-02 -1.79507607e-03 9.97103021e-01 -2.50762674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.66, Y:-183.50, Z:-25.09 [[ 7.63628001e-01 6.42947217e-01 5.90859766e-02 3.90659725e+02] [-6.41161771e-01 7.65909375e-01 -4.79000341e-02 -1.83499758e+02] [-7.60516970e-02 -1.30586212e-03 9.97103021e-01 -2.50888281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.70, Y:-183.55, Z:-25.09 [[ 7.61751507e-01 6.45169370e-01 5.90857406e-02 3.90701913e+02] [-6.43390556e-01 7.64038056e-01 -4.79003252e-02 -1.83545651e+02] [-7.60475771e-02 -1.52706251e-03 9.97103021e-01 -2.50862784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.75, Y:-183.59, Z:-25.09 [[ 7.62338083e-01 6.44476422e-01 5.90828969e-02 3.90747655e+02] [-6.42695257e-01 7.64622802e-01 -4.79038325e-02 -1.83585527e+02] [-7.60490208e-02 -1.45338169e-03 9.97103021e-01 -2.50944384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.79, Y:-183.63, Z:-25.10 [[ 7.59947479e-01 6.47294746e-01 5.90706426e-02 3.90793013e+02] [-6.45520880e-01 7.62237869e-01 -4.79189387e-02 -1.83628686e+02] [-7.60435580e-02 -1.71545657e-03 9.97103021e-01 -2.50998453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.84, Y:-183.67, Z:-25.11 [[ 7.58578639e-01 6.48899622e-01 5.90570051e-02 3.90838980e+02] [-6.47129294e-01 7.60871764e-01 -4.79357401e-02 -1.83670640e+02] [-7.60402913e-02 -1.85448953e-03 9.97103021e-01 -2.51057630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.88, Y:-183.71, Z:-25.11 [[ 7.57573468e-01 6.50073990e-01 5.90444520e-02 3.90884255e+02] [-6.48306013e-01 7.59868407e-01 -4.79511974e-02 -1.83714491e+02] [-7.60378399e-02 -1.95231838e-03 9.97103021e-01 -2.51102112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.93, Y:-183.76, Z:-25.12 [[ 7.57558944e-01 6.50092155e-01 5.90308155e-02 3.90930555e+02] [-6.48322927e-01 7.59852917e-01 -4.79679789e-02 -1.83756792e+02] [-7.60383441e-02 -1.93245968e-03 9.97103022e-01 -2.51161460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:390.97, Y:-183.80, Z:-25.12 [[ 7.60779774e-01 6.46321199e-01 5.90173171e-02 3.90974835e+02] [-6.44539310e-01 7.63063927e-01 -4.79845809e-02 -1.83801190e+02] [-7.60474376e-02 -1.53328229e-03 9.97103022e-01 -2.51221422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.02, Y:-183.85, Z:-25.13 [[ 7.64998992e-01 6.41322913e-01 5.90039363e-02 3.91020401e+02] [-6.39524829e-01 7.67270418e-01 -4.80010289e-02 -1.83845091e+02] [-7.60561345e-02 -1.01374353e-03 9.97103022e-01 -2.51253200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.06, Y:-183.89, Z:-25.13 [[ 7.74061124e-01 6.30356678e-01 5.89901257e-02 3.91063319e+02] [-6.28525116e-01 7.76305642e-01 -4.80179952e-02 -1.83889880e+02] [-7.60628314e-02 9.20877121e-05 9.97103022e-01 -2.51288628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.11, Y:-183.94, Z:-25.13 [[ 7.83582230e-01 6.18482379e-01 5.89782627e-02 3.91106764e+02] [-6.16615715e-01 7.85797641e-01 -4.80325616e-02 -1.83935843e+02] [-7.60522727e-02 1.27053816e-03 9.97103023e-01 -2.51331576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.15, Y:-183.98, Z:-25.14 [[ 7.91794535e-01 6.07934677e-01 5.89647675e-02 3.91150239e+02] [-6.06037284e-01 7.93983685e-01 -4.80491226e-02 -1.83980027e+02] [-7.60277912e-02 2.31018513e-03 9.97103023e-01 -2.51390137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.20, Y:-184.02, Z:-25.14 [[ 7.95028122e-01 6.03700934e-01 5.89530930e-02 3.91198273e+02] [-6.01790827e-01 7.97206188e-01 -4.80634423e-02 -1.84020188e+02] [-7.60137155e-02 2.73435767e-03 9.97103023e-01 -2.51438966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.25, Y:-184.06, Z:-25.15 [[ 7.96941732e-01 6.01173840e-01 5.89397112e-02 3.91247603e+02] [-5.99255618e-01 7.99112653e-01 -4.80798467e-02 -1.84059006e+02] [-7.60038150e-02 2.99688326e-03 9.97103023e-01 -2.51487133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.30, Y:-184.10, Z:-25.15 [[ 7.98354186e-01 5.99298159e-01 5.89263038e-02 3.91296666e+02] [-5.97373629e-01 8.00519517e-01 -4.80962731e-02 -1.84097447e+02] [-7.59956641e-02 3.19684108e-03 9.97103023e-01 -2.51534551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.34, Y:-184.14, Z:-25.15 [[ 7.95730104e-01 6.02779286e-01 5.89129338e-02 3.91340400e+02] [-6.00863022e-01 7.97902753e-01 -4.81126444e-02 -1.84141880e+02] [-7.60080975e-02 2.88607610e-03 9.97103024e-01 -2.51493230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.39, Y:-184.17, Z:-25.16 [[ 7.99018521e-01 5.98413819e-01 5.89092947e-02 3.91394816e+02] [-5.96485361e-01 8.01180353e-01 -4.81170997e-02 -1.84169172e+02] [-7.59909069e-02 3.30792189e-03 9.97103024e-01 -2.51629863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.45, Y:-184.20, Z:-25.17 [[ 7.95502148e-01 6.03080998e-01 5.89036668e-02 3.91447412e+02] [-6.01164719e-01 7.97674785e-01 -4.81239882e-02 -1.84204593e+02] [-7.60086326e-02 2.87192969e-03 9.97103024e-01 -2.51672348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.50, Y:-184.24, Z:-25.17 [[ 7.91574082e-01 6.08228914e-01 5.88902438e-02 3.91497804e+02] [-6.06325551e-01 7.93758041e-01 -4.81404086e-02 -1.84240485e+02] [-7.60249930e-02 2.40004020e-03 9.97103024e-01 -2.51722691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.55, Y:-184.27, Z:-25.18 [[ 7.84442390e-01 6.17400236e-01 5.88819565e-02 3.91550348e+02] [-6.15521658e-01 7.86647706e-01 -4.81505429e-02 -1.84274483e+02] [-7.60475126e-02 1.52820749e-03 9.97103024e-01 -2.51785332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.60, Y:-184.31, Z:-25.18 [[ 7.81712873e-01 6.20853834e-01 5.88685083e-02 3.91600077e+02] [-6.18983764e-01 7.83925406e-01 -4.81669791e-02 -1.84311914e+02] [-7.60531729e-02 1.21409676e-03 9.97103024e-01 -2.51846198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.65, Y:-184.35, Z:-25.19 [[ 7.75191929e-01 6.28978189e-01 5.88550016e-02 3.91652175e+02] [-6.27130058e-01 7.77422821e-01 -4.81834772e-02 -1.84346860e+02] [-7.60615776e-02 4.41702131e-04 9.97103024e-01 -2.51919201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.70, Y:-184.39, Z:-25.19 [[ 7.71099229e-01 6.33990261e-01 5.88415507e-02 3.91699764e+02] [-6.32155378e-01 7.73341029e-01 -4.81998978e-02 -1.84386202e+02] [-7.60628512e-02 -3.00986939e-05 9.97103025e-01 -2.51930356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:391.75, Y:-184.42, Z:-25.20 [[ 7.68355986e-01 6.37313278e-01 5.88291162e-02 3.91749522e+02] [-6.35486928e-01 7.70604744e-01 -4.82150697e-02 -1.84421355e+02] [-7.60621001e-02 -3.38796963e-04 9.97103025e-01 -2.52026355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.80, Y:-184.46, Z:-25.21 [[ 7.64987360e-01 6.41354116e-01 5.88152758e-02 3.91798581e+02] [-6.39538347e-01 7.67244669e-01 -4.82319471e-02 -1.84459910e+02] [-7.60594646e-02 -7.17794346e-04 9.97103025e-01 -2.52056947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.85, Y:-184.50, Z:-25.21 [[ 7.62207269e-01 6.44656503e-01 5.88053758e-02 3.91847561e+02] [-6.42849582e-01 7.64471667e-01 -4.82440143e-02 -1.84499762e+02] [-7.60558612e-02 -1.03107289e-03 9.97103025e-01 -2.52113087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.90, Y:-184.54, Z:-25.22 [[ 7.61108630e-01 6.45954479e-01 5.87917082e-02 3.91895889e+02] [-6.44150133e-01 7.63375081e-01 -4.82606643e-02 -1.84540435e+02] [-7.60543173e-02 -1.13907860e-03 9.97103025e-01 -2.52161866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.94, Y:-184.58, Z:-25.22 [[ 7.59782831e-01 6.47514653e-01 5.87777466e-02 3.91942845e+02] [-6.45713647e-01 7.62051936e-01 -4.82776626e-02 -1.84580402e+02] [-7.60521895e-02 -1.27305392e-03 9.97103026e-01 -2.52233797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:391.99, Y:-184.62, Z:-25.23 [[ 7.58444986e-01 6.49082348e-01 5.87648610e-02 3.91988935e+02] [-6.47284818e-01 7.60716845e-01 -4.82933421e-02 -1.84621464e+02] [-7.60497756e-02 -1.40975920e-03 9.97103026e-01 -2.52305549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.03, Y:-184.66, Z:-25.23 [[ 7.57814694e-01 6.49819190e-01 5.87529514e-02 3.92033955e+02] [-6.48022746e-01 7.60087412e-01 -4.83078269e-02 -1.84664065e+02] [-7.60487318e-02 -1.46486783e-03 9.97103026e-01 -2.52337245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.08, Y:-184.71, Z:-25.24 [[ 7.58478629e-01 6.49045222e-01 5.87406927e-02 3.92079372e+02] [-6.47245306e-01 7.60748597e-01 -4.83227285e-02 -1.84706753e+02] [-7.60505356e-02 -1.36788079e-03 9.97103026e-01 -2.52363690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.12, Y:-184.75, Z:-25.24 [[ 7.63661630e-01 6.42940031e-01 5.87284556e-02 3.92122813e+02] [-6.41120820e-01 7.65916165e-01 -4.83375962e-02 -1.84749426e+02] [-7.60592490e-02 -7.38468073e-04 9.97103026e-01 -2.52420427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.17, Y:-184.79, Z:-25.24 [[ 7.67786136e-01 6.38009976e-01 5.87172787e-02 3.92166872e+02] [-6.36175249e-01 7.70028062e-01 -4.83511693e-02 -1.84793883e+02] [-7.60624807e-02 -2.31121956e-04 9.97103027e-01 -2.52419990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.21, Y:-184.84, Z:-25.25 [[ 7.75081566e-01 6.29128222e-01 5.87047436e-02 3.92211653e+02] [-6.27266653e-01 7.77301254e-01 -4.83663838e-02 -1.84838087e+02] [-7.60599279e-02 6.64364500e-04 9.97103027e-01 -2.52466564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.26, Y:-184.88, Z:-25.25 [[ 7.79009535e-01 6.24259255e-01 5.86900889e-02 3.92257176e+02] [-6.22382476e-01 7.81216377e-01 -4.83841600e-02 -1.84879874e+02] [-7.60539183e-02 1.16403913e-03 9.97103027e-01 -2.52535165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.30, Y:-184.92, Z:-25.26 [[ 7.81916375e-01 6.20615694e-01 5.86765962e-02 3.92303250e+02] [-6.18727405e-01 7.84113377e-01 -4.84005175e-02 -1.84922701e+02] [-7.60472247e-02 1.54033910e-03 9.97103027e-01 -2.52607536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.35, Y:-184.96, Z:-25.27 [[ 7.82704744e-01 6.19622350e-01 5.86636749e-02 3.92350923e+02] [-6.17730101e-01 7.84898335e-01 -4.84161736e-02 -1.84964021e+02] [-7.60447641e-02 1.65725092e-03 9.97103027e-01 -2.52672069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.40, Y:-185.01, Z:-25.27 [[ 7.81404094e-01 6.21263059e-01 5.86502596e-02 3.92397183e+02] [-6.19374198e-01 7.83600603e-01 -4.84324192e-02 -1.85005338e+02] [-7.60476517e-02 1.51883320e-03 9.97103028e-01 -2.52686515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.45, Y:-185.05, Z:-25.27 [[ 7.79166255e-01 6.24068510e-01 5.86382187e-02 3.92445390e+02] [-6.22186462e-01 7.81368604e-01 -4.84469930e-02 -1.85045174e+02] [-7.60523059e-02 1.26435632e-03 9.97103028e-01 -2.52721747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.49, Y:-185.08, Z:-25.28 [[ 7.78111894e-01 6.25383970e-01 5.86239786e-02 3.92493229e+02] [-6.23504347e-01 7.80316313e-01 -4.84642184e-02 -1.85082512e+02] [-7.60539921e-02 1.15827932e-03 9.97103028e-01 -2.52812687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.54, Y:-185.12, Z:-25.29 [[ 7.74406997e-01 6.29966955e-01 5.86126209e-02 3.92542925e+02] [-6.28099340e-01 7.76621599e-01 -4.84779505e-02 -1.85121099e+02] [-7.60593342e-02 7.27115534e-04 9.97103028e-01 -2.52858136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.59, Y:-185.16, Z:-25.29 [[ 7.71014461e-01 6.34115783e-01 5.85992765e-02 3.92592219e+02] [-6.32258860e-01 7.73238035e-01 -4.84940756e-02 -1.85158858e+02] [-7.60620481e-02 3.39721807e-04 9.97103029e-01 -2.52910867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.64, Y:-185.20, Z:-25.30 [[ 7.65812735e-01 6.40389274e-01 5.85869597e-02 3.92642686e+02] [-6.38549429e-01 7.68050460e-01 -4.85089513e-02 -1.85195808e+02] [-7.60623535e-02 -2.61896951e-04 9.97103029e-01 -2.52954348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.69, Y:-185.23, Z:-25.30 [[ 7.60249567e-01 6.46985208e-01 5.85724915e-02 3.92691176e+02] [-6.45163429e-01 7.62502024e-01 -4.85264148e-02 -1.85233293e+02] [-7.60575159e-02 -8.96643586e-04 9.97103029e-01 -2.53014011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.74, Y:-185.27, Z:-25.31 [[ 7.57511613e-01 6.50189559e-01 5.85635890e-02 3.92740973e+02] [-6.48376477e-01 7.59771076e-01 -4.85371563e-02 -1.85272151e+02] [-7.60532733e-02 -1.20379397e-03 9.97103029e-01 -2.53070893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.79, Y:-185.31, Z:-25.31 [[ 7.56037536e-01 6.51904244e-01 5.85499819e-02 3.92790089e+02] [-6.50095016e-01 7.58300087e-01 -4.85535649e-02 -1.85310971e+02] [-7.60507314e-02 -1.35473381e-03 9.97103029e-01 -2.53129913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.84, Y:-185.35, Z:-25.32 [[ 7.56650863e-01 6.51193505e-01 5.85362335e-02 3.92838352e+02] [-6.49380870e-01 7.58910685e-01 -4.85701344e-02 -1.85351592e+02] [-7.60523291e-02 -1.26167607e-03 9.97103030e-01 -2.53187174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.89, Y:-185.39, Z:-25.33 [[ 7.61858555e-01 6.45094313e-01 5.85223836e-02 3.92886707e+02] [-6.43262302e-01 7.64102697e-01 -4.85868166e-02 -1.85388987e+02] [-7.60601902e-02 -6.28961342e-04 9.97103030e-01 -2.53288556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.93, Y:-185.43, Z:-25.33 [[ 7.64640622e-01 6.41795385e-01 5.85098581e-02 3.92933278e+02] [-6.39952537e-01 7.66875874e-01 -4.86018955e-02 -1.85430619e+02] [-7.60622708e-02 -2.80548499e-04 9.97103030e-01 -2.53341348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:392.98, Y:-185.47, Z:-25.33 [[ 7.64666233e-01 6.41766184e-01 5.84954477e-02 3.92977101e+02] [-6.39921925e-01 7.66900320e-01 -4.86192331e-02 -1.85474306e+02] [-7.60623573e-02 -2.55033638e-04 9.97103030e-01 -2.53339725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.02, Y:-185.51, Z:-25.34 [[ 7.71282906e-01 6.33799494e-01 5.84882937e-02 3.93023892e+02] [-6.31931507e-01 7.73497191e-01 -4.86278378e-02 -1.85514061e+02] [-7.60608299e-02 5.45224498e-04 9.97103030e-01 -2.53436924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.07, Y:-185.56, Z:-25.34 [[ 7.70822458e-01 6.34360534e-01 5.84760748e-02 3.93067543e+02] [-6.32493044e-01 7.73037162e-01 -4.86425269e-02 -1.85556957e+02] [-7.60610782e-02 5.09041643e-04 9.97103030e-01 -2.53440036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.11, Y:-185.60, Z:-25.35 [[ 7.75390813e-01 6.28769398e-01 5.84647815e-02 3.93114680e+02] [-6.26884918e-01 7.77591078e-01 -4.86560968e-02 -1.85597956e+02] [-7.60551572e-02 1.07680076e-03 9.97103031e-01 -2.53474713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.16, Y:-185.64, Z:-25.35 [[ 7.78745342e-01 6.24611180e-01 5.84514009e-02 3.93163080e+02] [-6.22713747e-01 7.80934447e-01 -4.86721659e-02 -1.85636606e+02] [-7.60478914e-02 1.50473163e-03 9.97103031e-01 -2.53516733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.21, Y:-185.68, Z:-25.35 [[ 7.83331259e-01 6.18851377e-01 5.84389668e-02 3.93212712e+02] [-6.16936740e-01 7.85505332e-01 -4.86870905e-02 -1.85675234e+02] [-7.60341930e-02 2.08497422e-03 9.97103031e-01 -2.53547961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.26, Y:-185.71, Z:-25.36 [[ 7.87855145e-01 6.13083045e-01 5.84247447e-02 3.93259016e+02] [-6.11151234e-01 7.90013971e-01 -4.87041511e-02 -1.85714403e+02] [-7.60160539e-02 2.66546119e-03 9.97103031e-01 -2.53596495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.31, Y:-185.75, Z:-25.36 [[ 7.91789612e-01 6.07994298e-01 5.84135613e-02 3.93307771e+02] [-6.06047631e-01 7.93935053e-01 -4.87175604e-02 -1.85753192e+02] [-7.59965728e-02 3.17265785e-03 9.97103031e-01 -2.53588851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.36, Y:-185.79, Z:-25.36 [[ 7.92745488e-01 6.06748608e-01 5.84013615e-02 3.93356514e+02] [-6.04797496e-01 7.94886887e-01 -4.87321809e-02 -1.85791271e+02] [-7.59906593e-02 3.31121930e-03 9.97103032e-01 -2.53620568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.41, Y:-185.82, Z:-25.37 [[ 7.93259707e-01 6.06077356e-01 5.83890008e-02 3.93408073e+02] [-6.04123347e-01 7.95398462e-01 -4.87469864e-02 -1.85823564e+02] [-7.59869661e-02 3.39486158e-03 9.97103032e-01 -2.53734463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.45, Y:-185.86, Z:-25.37 [[ 7.89039746e-01 6.11562201e-01 5.83776881e-02 3.93454784e+02] [-6.09622066e-01 7.91191094e-01 -4.87605304e-02 -1.85864062e+02] [-7.60080042e-02 2.88566969e-03 9.97103032e-01 -2.53686525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.51, Y:-185.90, Z:-25.37 [[ 7.85334164e-01 6.16313724e-01 5.83750262e-02 3.93507498e+02] [-6.14386374e-01 7.87496974e-01 -4.87637169e-02 -1.85897786e+02] [-7.60239045e-02 2.43099219e-03 9.97103032e-01 -2.53736566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.56, Y:-185.93, Z:-25.38 [[ 7.82799554e-01 6.19530266e-01 5.83704397e-02 3.93559599e+02] [-6.17611396e-01 7.84969890e-01 -4.87692064e-02 -1.85932083e+02] [-7.60330371e-02 2.12626432e-03 9.97103032e-01 -2.53803636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.61, Y:-185.97, Z:-25.38 [[ 7.81398044e-01 6.21298228e-01 5.83575970e-02 3.93610383e+02] [-6.19383123e-01 7.83571703e-01 -4.87845693e-02 -1.85969674e+02] [-7.60371281e-02 1.97445639e-03 9.97103032e-01 -2.53838974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.66, Y:-186.00, Z:-25.39 [[ 7.79597852e-01 6.23556991e-01 5.83426689e-02 3.93664192e+02] [-6.21646850e-01 7.81775875e-01 -4.88024157e-02 -1.86001942e+02] [-7.60419785e-02 1.77772212e-03 9.97103032e-01 -2.53893942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.71, Y:-186.04, Z:-25.40 [[ 7.77547423e-01 6.26113148e-01 5.83295063e-02 3.93714709e+02] [-6.24208989e-01 7.79730676e-01 -4.88181428e-02 -1.86037378e+02] [-7.60469865e-02 1.54861902e-03 9.97103033e-01 -2.53960867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.77, Y:-186.07, Z:-25.40 [[ 7.76671725e-01 6.27200406e-01 5.83153711e-02 3.93767518e+02] [-6.25298036e-01 7.78856538e-01 -4.88350221e-02 -1.86072270e+02] [-7.60486537e-02 1.46429389e-03 9.97103033e-01 -2.54016613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters Centerline goodness : 0.996860 with order 1 Centerline is valid? [True, True] Translation: X:393.82, Y:-186.10, Z:-25.41 [[ 7.80924699e-01 6.21898406e-01 5.83008339e-02 3.93820931e+02] [-6.19979913e-01 7.83095367e-01 -4.88523710e-02 -1.86103834e+02] [-7.60363245e-02 2.00467721e-03 9.97103033e-01 -2.54145359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.87, Y:-186.14, Z:-25.42 [[ 7.82735087e-01 6.19619684e-01 5.82857672e-02 3.93869660e+02] [-6.17693535e-01 7.84898966e-01 -4.88703405e-02 -1.86141121e+02] [-7.60294633e-02 2.24978865e-03 9.97103033e-01 -2.54167839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.92, Y:-186.18, Z:-25.42 [[ 7.87623414e-01 6.13394716e-01 5.82776140e-02 3.93918428e+02] [-6.11450756e-01 7.89771304e-01 -4.88800611e-02 -1.86178952e+02] [-7.60087585e-02 2.86518944e-03 9.97103033e-01 -2.54210930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:393.96, Y:-186.22, Z:-25.42 [[ 7.88962337e-01 6.11672825e-01 5.82648027e-02 3.93964773e+02] [-6.09723053e-01 7.91104953e-01 -4.88953274e-02 -1.86219804e+02] [-7.60015170e-02 3.05117844e-03 9.97103034e-01 -2.54244059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.02, Y:-186.25, Z:-25.43 [[ 7.92975625e-01 6.06461410e-01 5.82599018e-02 3.94017073e+02] [-6.04497136e-01 7.95104954e-01 -4.89011663e-02 -1.86251485e+02] [-7.59794068e-02 3.55948915e-03 9.97103034e-01 -2.54289319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.07, Y:-186.29, Z:-25.43 [[ 7.92053491e-01 6.07665435e-01 5.82579284e-02 3.94067712e+02] [-6.05704226e-01 7.94185644e-01 -4.89035171e-02 -1.86287864e+02] [-7.59845874e-02 3.44712800e-03 9.97103034e-01 -2.54326796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.12, Y:-186.33, Z:-25.43 [[ 7.86721669e-01 6.14553857e-01 5.82457978e-02 3.94117452e+02] [-6.12610261e-01 7.88869889e-01 -4.89179609e-02 -1.86325898e+02] [-7.60110775e-02 2.80284646e-03 9.97103034e-01 -2.54334803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.17, Y:-186.36, Z:-25.44 [[ 7.82210467e-01 6.20286756e-01 5.82333614e-02 3.94170942e+02] [-6.18357811e-01 7.84371852e-01 -4.89327610e-02 -1.86356373e+02] [-7.60289532e-02 2.26666398e-03 9.97103034e-01 -2.54422826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.22, Y:-186.40, Z:-25.44 [[ 7.77289417e-01 6.26443425e-01 5.82219698e-02 3.94218923e+02] [-6.24530591e-01 7.79465073e-01 -4.89463115e-02 -1.86395699e+02] [-7.60440869e-02 1.68404870e-03 9.97103034e-01 -2.54412068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.27, Y:-186.43, Z:-25.45 [[ 7.73437730e-01 6.31193159e-01 5.82174635e-02 3.94270937e+02] [-6.29293286e-01 7.75624712e-01 -4.89516708e-02 -1.86427926e+02] [-7.60528631e-02 1.22521026e-03 9.97103034e-01 -2.54502674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.32, Y:-186.46, Z:-25.46 [[ 7.71069262e-01 6.34085390e-01 5.82057642e-02 3.94321970e+02] [-6.32192671e-01 7.73262439e-01 -4.89655778e-02 -1.86464390e+02] [-7.60566887e-02 9.58594348e-04 9.97103034e-01 -2.54559066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.37, Y:-186.50, Z:-25.46 [[ 7.70970592e-01 6.34206620e-01 5.81919970e-02 3.94371096e+02] [-6.32313012e-01 7.73163001e-01 -4.89819337e-02 -1.86503332e+02] [-7.60565656e-02 9.68073603e-04 9.97103035e-01 -2.54612470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.42, Y:-186.54, Z:-25.47 [[ 7.72038939e-01 6.32906920e-01 5.81782386e-02 3.94421158e+02] [-6.31008390e-01 7.74227086e-01 -4.89982698e-02 -1.86541683e+02] [-7.60545122e-02 1.11761554e-03 9.97103035e-01 -2.54674604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.47, Y:-186.58, Z:-25.47 [[ 7.74291489e-01 6.30150432e-01 5.81646213e-02 3.94469950e+02] [-6.28242899e-01 7.76471793e-01 -4.90144292e-02 -1.86579083e+02] [-7.60496515e-02 1.40994506e-03 9.97103035e-01 -2.54730704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.52, Y:-186.62, Z:-25.47 [[ 7.74979222e-01 6.29305605e-01 5.81520504e-02 3.94515666e+02] [-6.27394578e-01 7.77156463e-01 -4.90293391e-02 -1.86620537e+02] [-7.60476798e-02 1.51243795e-03 9.97103035e-01 -2.54660226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.57, Y:-186.66, Z:-25.47 [[ 7.80684678e-01 6.22213717e-01 5.81508721e-02 3.94565735e+02] [-6.20282814e-01 7.82844312e-01 -4.90307367e-02 -1.86656451e+02] [-7.60306764e-02 2.20755830e-03 9.97103035e-01 -2.54722375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.61, Y:-186.69, Z:-25.49 [[ 7.83926220e-01 6.18125819e-01 5.81390790e-02 3.94613881e+02] [-6.16182623e-01 7.86074799e-01 -4.90447165e-02 -1.86691712e+02] [-7.60174705e-02 2.62314899e-03 9.97103035e-01 -2.54868202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.66, Y:-186.73, Z:-25.49 [[ 7.85415867e-01 6.16232492e-01 5.81328780e-02 3.94663581e+02] [-6.14283575e-01 7.87559258e-01 -4.90520655e-02 -1.86729944e+02] [-7.60105629e-02 2.81619845e-03 9.97103035e-01 -2.54915277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.71, Y:-186.77, Z:-25.50 [[ 7.85993257e-01 6.15497189e-01 5.81189321e-02 3.94713801e+02] [-6.13545048e-01 7.88133712e-01 -4.90685837e-02 -1.86766792e+02] [-7.60070650e-02 2.90899297e-03 9.97103036e-01 -2.54968409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.76, Y:-186.80, Z:-25.49 [[ 7.83235248e-01 6.19004225e-01 5.81060684e-02 3.94763582e+02] [-6.17060543e-01 7.85383387e-01 -4.90838120e-02 -1.86803456e+02] [-7.60186278e-02 2.58920954e-03 9.97103036e-01 -2.54916735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.82, Y:-186.83, Z:-25.51 [[ 7.82092074e-01 6.20448129e-01 5.81042672e-02 3.94816349e+02] [-6.18508256e-01 7.84243653e-01 -4.90859440e-02 -1.86833019e+02] [-7.60231850e-02 2.45175884e-03 9.97103036e-01 -2.55071975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.87, Y:-186.87, Z:-25.51 [[ 7.79532627e-01 6.23660870e-01 5.81033872e-02 3.94867653e+02] [-6.21729788e-01 7.81692100e-01 -4.90869857e-02 -1.86869005e+02] [-7.60325909e-02 2.14030028e-03 9.97103036e-01 -2.55122087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.92, Y:-186.90, Z:-25.52 [[ 7.76119386e-01 6.27904698e-01 5.80894844e-02 3.94920924e+02] [-6.25984197e-01 7.78288274e-01 -4.91034328e-02 -1.86903756e+02] [-7.60426407e-02 1.74702692e-03 9.97103036e-01 -2.55165795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:394.97, Y:-186.94, Z:-25.52 [[ 7.74197150e-01 6.30274532e-01 5.80756968e-02 3.94974006e+02] [-6.28359448e-01 7.76370823e-01 -4.91197343e-02 -1.86938690e+02] [-7.60471941e-02 1.53594548e-03 9.97103036e-01 -2.55203723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.02, Y:-186.98, Z:-25.53 [[ 7.73562544e-01 6.31054507e-01 5.80620277e-02 3.95024277e+02] [-6.29140404e-01 7.75737080e-01 -4.91358866e-02 -1.86975063e+02] [-7.60482905e-02 1.48051387e-03 9.97103037e-01 -2.55254899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.08, Y:-187.01, Z:-25.53 [[ 7.73123068e-01 6.31594007e-01 5.80493928e-02 3.95075647e+02] [-6.29680301e-01 7.75297953e-01 -4.91508090e-02 -1.87011235e+02] [-7.60489318e-02 1.44706514e-03 9.97103037e-01 -2.55294326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.13, Y:-187.05, Z:-25.54 [[ 7.72649499e-01 6.32174513e-01 5.80356471e-02 3.95125730e+02] [-6.30261223e-01 7.74824750e-01 -4.91670342e-02 -1.87046990e+02] [-7.60496016e-02 1.41126640e-03 9.97103037e-01 -2.55353169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.18, Y:-187.09, Z:-25.54 [[ 7.72724116e-01 6.32084470e-01 5.80229544e-02 3.95176125e+02] [-6.30169802e-01 7.74898155e-01 -4.91820085e-02 -1.87085168e+02] [-7.60490641e-02 1.43981033e-03 9.97103037e-01 -2.55403940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.23, Y:-187.12, Z:-25.54 [[ 7.73608276e-01 6.31003315e-01 5.80090706e-02 3.95225553e+02] [-6.29084383e-01 7.75778550e-01 -4.91983788e-02 -1.87121694e+02] [-7.60465327e-02 1.56767260e-03 9.97103037e-01 -2.55447587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.28, Y:-187.16, Z:-25.55 [[ 7.75526785e-01 6.28645005e-01 5.79971022e-02 3.95275964e+02] [-6.26718420e-01 7.77690269e-01 -4.92124835e-02 -1.87159223e+02] [-7.60409639e-02 1.81774689e-03 9.97103038e-01 -2.55498856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.33, Y:-187.20, Z:-25.55 [[ 7.78676138e-01 6.24741055e-01 5.79835055e-02 3.95325524e+02] [-6.22802434e-01 7.80828843e-01 -4.92284983e-02 -1.87198333e+02] [-7.60302575e-02 2.22078858e-03 9.97103038e-01 -2.55549756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:395.37, Y:-187.24, Z:-25.56 [[ 7.80735125e-01 6.22167326e-01 5.79696829e-02 3.95374454e+02] [-6.20220404e-01 7.82880325e-01 -4.92447700e-02 -1.87237257e+02] [-7.60218110e-02 2.49314154e-03 9.97103038e-01 -2.55591926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.42, Y:-187.28, Z:-25.56 [[ 7.82157909e-01 6.20379017e-01 5.79558556e-02 3.95424605e+02] [-6.18425988e-01 7.84297550e-01 -4.92610379e-02 -1.87275763e+02] [-7.60151498e-02 2.68850304e-03 9.97103038e-01 -2.55639808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.47, Y:-187.31, Z:-25.57 [[ 7.80990921e-01 6.21848762e-01 5.79422015e-02 3.95474064e+02] [-6.19898571e-01 7.83133149e-01 -4.92770930e-02 -1.87314435e+02] [-7.60193580e-02 2.56667433e-03 9.97103039e-01 -2.55673354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.52, Y:-187.35, Z:-25.57 [[ 7.79413512e-01 6.23825996e-01 5.79284388e-02 3.95522518e+02] [-6.21880041e-01 7.81559588e-01 -4.92932667e-02 -1.87352799e+02] [-7.60249479e-02 2.39529820e-03 9.97103039e-01 -2.55720372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.57, Y:-187.39, Z:-25.58 [[ 7.77077770e-01 6.26734320e-01 5.79157223e-02 3.95572770e+02] [-6.24795286e-01 7.79230102e-01 -4.93082030e-02 -1.87391255e+02] [-7.60328173e-02 2.13083815e-03 9.97103039e-01 -2.55771893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.62, Y:-187.43, Z:-25.58 [[ 7.75117218e-01 6.29158700e-01 5.79018807e-02 3.95621939e+02] [-6.27225186e-01 7.77274510e-01 -4.93244517e-02 -1.87430480e+02] [-7.60385639e-02 1.91471390e-03 9.97103039e-01 -2.55828606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.67, Y:-187.47, Z:-25.59 [[ 7.72131485e-01 6.32820611e-01 5.78882090e-02 3.95670980e+02] [-6.30896128e-01 7.74296837e-01 -4.93404919e-02 -1.87469769e+02] [-7.60463374e-02 1.57590034e-03 9.97103039e-01 -2.55857844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.72, Y:-187.51, Z:-25.59 [[ 7.70134465e-01 6.35250701e-01 5.78744536e-02 3.95719809e+02] [-6.33331840e-01 7.72304800e-01 -4.93566212e-02 -1.87508155e+02] [-7.60505466e-02 1.35750090e-03 9.97103040e-01 -2.55924432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.77, Y:-187.55, Z:-25.60 [[ 7.69444777e-01 6.36087010e-01 5.78623414e-02 3.95767886e+02] [-6.34169441e-01 7.71616253e-01 -4.93708167e-02 -1.87548930e+02] [-7.60516583e-02 1.29358829e-03 9.97103040e-01 -2.55975072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.82, Y:-187.59, Z:-25.60 [[ 7.69855400e-01 6.35591222e-01 5.78486107e-02 3.95815285e+02] [-6.33671046e-01 7.72024572e-01 -4.93869000e-02 -1.87589931e+02] [-7.60504290e-02 1.36378200e-03 9.97103040e-01 -2.56016777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.86, Y:-187.63, Z:-25.61 [[ 7.71753641e-01 6.33286224e-01 5.78349036e-02 3.95862486e+02] [-6.31358369e-01 7.73915989e-01 -4.94029466e-02 -1.87630663e+02] [-7.60455621e-02 1.61235346e-03 9.97103040e-01 -2.56061392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.91, Y:-187.67, Z:-25.61 [[ 7.73422311e-01 6.31248334e-01 5.78227422e-02 3.95907792e+02] [-6.29313719e-01 7.75578614e-01 -4.94171766e-02 -1.87671962e+02] [-7.60405926e-02 1.83170205e-03 9.97103040e-01 -2.56112907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.95, Y:-187.71, Z:-25.61 [[ 7.75645814e-01 6.28515382e-01 5.78099067e-02 3.95954450e+02] [-6.26572053e-01 7.77794266e-01 -4.94321874e-02 -1.87714547e+02] [-7.60331042e-02 2.11979731e-03 9.97103041e-01 -2.56133498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.00, Y:-187.76, Z:-25.62 [[ 7.75942115e-01 6.28150819e-01 5.77960454e-02 3.96002135e+02] [-6.26205276e-01 7.78088562e-01 -4.94483887e-02 -1.87756122e+02] [-7.60314878e-02 2.17689878e-03 9.97103041e-01 -2.56178532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.05, Y:-187.80, Z:-25.62 [[ 7.74880271e-01 6.29461499e-01 5.77822267e-02 3.96049907e+02] [-6.27518385e-01 7.77028917e-01 -4.94645312e-02 -1.87797615e+02] [-7.60344790e-02 2.06967987e-03 9.97103041e-01 -2.56227490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.10, Y:-187.84, Z:-25.63 [[ 7.73880689e-01 6.30691272e-01 5.77684914e-02 3.96096999e+02] [-6.28750376e-01 7.76031338e-01 -4.94805672e-02 -1.87839361e+02] [-7.60371215e-02 1.97009474e-03 9.97103041e-01 -2.56269000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.14, Y:-187.88, Z:-25.63 [[ 7.70958248e-01 6.34261606e-01 5.77546048e-02 3.96144107e+02] [-6.32329459e-01 7.73116760e-01 -4.94967706e-02 -1.87879190e+02] [-7.60449542e-02 1.64000552e-03 9.97103041e-01 -2.56320173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.19, Y:-187.92, Z:-25.64 [[ 7.67023174e-01 6.39015528e-01 5.77460504e-02 3.96191635e+02] [-6.37096010e-01 7.69192925e-01 -4.95067487e-02 -1.87920594e+02] [-7.60534345e-02 1.18304515e-03 9.97103042e-01 -2.56364279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.24, Y:-187.96, Z:-25.64 [[ 7.65450864e-01 6.40899317e-01 5.77324940e-02 3.96239028e+02] [-6.38983947e-01 7.67624278e-01 -4.95225525e-02 -1.87961593e+02] [-7.60558341e-02 1.01694369e-03 9.97103042e-01 -2.56404943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters Centerline goodness : 0.997050 with order 1 Centerline is valid? [True, True] Translation: X:396.28, Y:-188.00, Z:-25.65 [[ 7.62769097e-01 6.44089953e-01 5.77186024e-02 3.96282540e+02] [-6.42182451e-01 7.64949419e-01 -4.95387379e-02 -1.88000802e+02] [-7.60592147e-02 7.20744789e-04 9.97103042e-01 -2.56454978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.60, Y:-187.81, Z:-24.66 [[ 8.02577909e-01 5.93747038e-01 5.77334821e-02 3.96604058e+02] [-5.91704617e-01 8.04632387e-01 -4.95213907e-02 -1.87807992e+02] [-7.58574086e-02 5.58360627e-03 9.97103042e-01 -2.46622856e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.65, Y:-187.85, Z:-24.67 [[ 8.02387234e-01 5.93692890e-01 6.08562184e-02 3.96650570e+02] [-5.91959863e-01 8.04691637e-01 -4.53308862e-02 -1.87848967e+02] [-7.58831148e-02 3.48485704e-04 9.97116659e-01 -2.46666118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.70, Y:-187.89, Z:-24.67 [[ 8.05408118e-01 5.89589377e-01 6.08451333e-02 3.96695592e+02] [-5.87843487e-01 8.07702790e-01 -4.53457603e-02 -1.87892100e+02] [-7.58801625e-02 7.54428104e-04 9.97116659e-01 -2.46709393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.74, Y:-187.93, Z:-24.67 [[ 8.10309994e-01 5.82835319e-01 6.08334168e-02 3.96743508e+02] [-5.81069126e-01 8.12589077e-01 -4.53614731e-02 -1.87932945e+02] [-7.58708386e-02 1.40843463e-03 9.97116659e-01 -2.46721185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.79, Y:-187.97, Z:-24.68 [[ 8.10145362e-01 5.83065481e-01 6.08205253e-02 3.96794193e+02] [-5.81298639e-01 8.12423942e-01 -4.53787514e-02 -1.87970833e+02] [-7.58708344e-02 1.40849645e-03 9.97116660e-01 -2.46769382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.84, Y:-188.01, Z:-24.68 [[ 8.12733145e-01 5.79454280e-01 6.08076660e-02 3.96838984e+02] [-5.77676027e-01 8.15002830e-01 -4.53959764e-02 -1.88013611e+02] [-7.58633127e-02 1.76768379e-03 9.97116660e-01 -2.46828749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.89, Y:-188.05, Z:-24.69 [[ 8.13614633e-01 5.78217174e-01 6.07957936e-02 3.96887288e+02] [-5.76434284e-01 8.15880676e-01 -4.54118708e-02 -1.88053913e+02] [-7.58600368e-02 1.90298284e-03 9.97116660e-01 -2.46872413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.93, Y:-188.10, Z:-24.68 [[ 8.10998263e-01 5.81882455e-01 6.07834444e-02 3.96930891e+02] [-5.80108570e-01 8.13271362e-01 -4.54283940e-02 -1.88097811e+02] [-7.58674201e-02 1.58135160e-03 9.97116660e-01 -2.46796684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.98, Y:-188.13, Z:-24.70 [[ 8.12865021e-01 5.79271968e-01 6.07819490e-02 3.96979942e+02] [-5.77490635e-01 8.15132288e-01 -4.54303948e-02 -1.88130982e+02] [-7.58618833e-02 1.82777249e-03 9.97116660e-01 -2.46963586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.03, Y:-188.17, Z:-24.70 [[ 8.11826569e-01 5.80726429e-01 6.07818798e-02 3.97028991e+02] [-5.78949151e-01 8.14097016e-01 -4.54304873e-02 -1.88170294e+02] [-7.58650317e-02 1.69205893e-03 9.97116660e-01 -2.46996181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.08, Y:-188.21, Z:-24.70 [[ 8.09112559e-01 5.84503191e-01 6.07691232e-02 3.97078144e+02] [-5.82735232e-01 8.11390270e-01 -4.54475446e-02 -1.88207838e+02] [-7.58717101e-02 1.35986998e-03 9.97116660e-01 -2.47044313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.13, Y:-188.25, Z:-24.71 [[ 8.06092203e-01 5.88662813e-01 6.07573286e-02 3.97128414e+02] [-5.86905421e-01 8.08378076e-01 -4.54633070e-02 -1.88245616e+02] [-7.58774506e-02 9.88811749e-04 9.97116661e-01 -2.47091029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.18, Y:-188.28, Z:-24.71 [[ 8.00778037e-01 5.95872968e-01 6.07448820e-02 3.97178766e+02] [-5.94134899e-01 8.03078637e-01 -4.54799312e-02 -1.88283308e+02] [-7.58831787e-02 3.28675794e-04 9.97116661e-01 -2.47127747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.23, Y:-188.32, Z:-24.72 [[ 7.96083353e-01 6.02131971e-01 6.07320695e-02 3.97228322e+02] [-6.00410685e-01 7.98396536e-01 -4.54970341e-02 -1.88320059e+02] [-7.58834928e-02 -2.44751998e-04 9.97116661e-01 -2.47180999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.28, Y:-188.36, Z:-24.72 [[ 7.88597882e-01 6.11903881e-01 6.07208417e-02 3.97278623e+02] [-6.10210100e-01 7.90931280e-01 -4.55120139e-02 -1.88356968e+02] [-7.58749910e-02 -1.16179310e-03 9.97116661e-01 -2.47218073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.33, Y:-188.40, Z:-24.73 [[ 7.84630562e-01 6.16984163e-01 6.07076964e-02 3.97328523e+02] [-6.15304131e-01 7.86973879e-01 -4.55295416e-02 -1.88395082e+02] [-7.58663774e-02 -1.62982661e-03 9.97116661e-01 -2.47260752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.38, Y:-188.44, Z:-24.73 [[ 7.83142418e-01 6.18873264e-01 6.06946146e-02 3.97376454e+02] [-6.17197535e-01 7.85488813e-01 -4.55469739e-02 -1.88435662e+02] [-7.58627452e-02 -1.79079924e-03 9.97116662e-01 -2.47307705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.42, Y:-188.48, Z:-24.74 [[ 7.85804591e-01 6.15490761e-01 6.06816934e-02 3.97423842e+02] [-6.13803602e-01 7.88142782e-01 -4.55641822e-02 -1.88477478e+02] [-7.58701718e-02 -1.44209841e-03 9.97116662e-01 -2.47356211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.47, Y:-188.52, Z:-24.74 [[ 7.88096416e-01 6.12554796e-01 6.06684419e-02 3.97471395e+02] [-6.10857568e-01 7.90427308e-01 -4.55818197e-02 -1.88518320e+02] [-7.58753555e-02 -1.13690815e-03 9.97116662e-01 -2.47411482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.52, Y:-188.56, Z:-24.75 [[ 7.90248040e-01 6.09777805e-01 6.06552798e-02 3.97517320e+02] [-6.08071042e-01 7.92571958e-01 -4.55993278e-02 -1.88561541e+02] [-7.58791319e-02 -8.47939727e-04 9.97116662e-01 -2.47463014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.56, Y:-188.60, Z:-24.75 [[ 7.90194294e-01 6.09848742e-01 6.06423087e-02 3.97563640e+02] [-6.08140864e-01 7.92517393e-01 -4.56165714e-02 -1.88602866e+02] [-7.58792931e-02 -8.33111541e-04 9.97116663e-01 -2.47513397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.61, Y:-188.65, Z:-24.76 [[ 7.88076300e-01 6.12584055e-01 6.06343196e-02 3.97609224e+02] [-6.10883423e-01 7.90404708e-01 -4.56271882e-02 -1.88646335e+02] [-7.58761397e-02 -1.08279504e-03 9.97116663e-01 -2.47550391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.66, Y:-188.69, Z:-24.76 [[ 7.85666103e-01 6.15673486e-01 6.06212277e-02 3.97655473e+02] [-6.13980668e-01 7.88000198e-01 -4.56445757e-02 -1.88687004e+02] [-7.58716945e-02 -1.35886593e-03 9.97116663e-01 -2.47605631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.70, Y:-188.73, Z:-24.77 [[ 7.82396959e-01 6.19823726e-01 6.06097921e-02 3.97699389e+02] [-6.18142112e-01 7.84739139e-01 -4.56597557e-02 -1.88729298e+02] [-7.58638760e-02 -1.74141089e-03 9.97116663e-01 -2.47669355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.75, Y:-188.77, Z:-24.77 [[ 7.81340250e-01 6.21156289e-01 6.05993238e-02 3.97745649e+02] [-6.19477593e-01 7.83684522e-01 -4.56736450e-02 -1.88772015e+02] [-7.58612239e-02 -1.85326600e-03 9.97116663e-01 -2.47704864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.79, Y:-188.82, Z:-24.77 [[ 7.80298079e-01 6.22466235e-01 6.05862543e-02 3.97787229e+02] [-6.20790129e-01 7.82644204e-01 -4.56909751e-02 -1.88820827e+02] [-7.58585700e-02 -1.95876850e-03 9.97116663e-01 -2.47653751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.83, Y:-188.86, Z:-24.78 [[ 7.83853095e-01 6.17983776e-01 6.05836519e-02 3.97833058e+02] [-6.16293985e-01 7.86189382e-01 -4.56944254e-02 -1.88859012e+02] [-7.58686374e-02 -1.51962348e-03 9.97116663e-01 -2.47774816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.88, Y:-188.90, Z:-24.78 [[ 7.86152867e-01 6.15056185e-01 6.05768845e-02 3.97877696e+02] [-6.13357003e-01 7.88482332e-01 -4.57033953e-02 -1.88904949e+02] [-7.58739591e-02 -1.22540108e-03 9.97116664e-01 -2.47811845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.92, Y:-188.95, Z:-24.79 [[ 7.88000210e-01 6.12688904e-01 6.05638163e-02 3.97920317e+02] [-6.10981392e-01 7.90323576e-01 -4.57207061e-02 -1.88949103e+02] [-7.58775812e-02 -9.75438810e-04 9.97116664e-01 -2.47868935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:397.97, Y:-188.99, Z:-24.79 [[ 7.88886049e-01 6.11548926e-01 6.05533857e-02 3.97965323e+02] [-6.09836997e-01 7.91206162e-01 -4.57345164e-02 -1.88991896e+02] [-7.58791063e-02 -8.48372975e-04 9.97116664e-01 -2.47920355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.01, Y:-189.03, Z:-24.80 [[ 7.89123149e-01 6.11244051e-01 6.05422612e-02 3.98012256e+02] [-6.09530096e-01 7.91441766e-01 -4.57492380e-02 -1.89031830e+02] [-7.58796237e-02 -8.00547483e-04 9.97116664e-01 -2.47968095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.06, Y:-189.08, Z:-24.80 [[ 7.89896653e-01 6.10245250e-01 6.05310936e-02 3.98056250e+02] [-6.08527231e-01 7.92212260e-01 -4.57640091e-02 -1.89076953e+02] [-7.58807437e-02 -6.85981192e-04 9.97116664e-01 -2.48014532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.10, Y:-189.12, Z:-24.81 [[ 7.90394370e-01 6.09601594e-01 6.05197186e-02 3.98102722e+02] [-6.07880538e-01 7.92707721e-01 -4.57790470e-02 -1.89119325e+02] [-7.58814282e-02 -6.05258090e-04 9.97116664e-01 -2.48061657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.14, Y:-189.17, Z:-24.81 [[ 7.93013213e-01 6.06192181e-01 6.05068938e-02 3.98143936e+02] [-6.04459886e-01 7.95318159e-01 -4.57959914e-02 -1.89166753e+02] [-7.58834033e-02 -2.57163859e-04 9.97116665e-01 -2.48096729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.19, Y:-189.21, Z:-24.81 [[ 7.95030270e-01 6.03545517e-01 6.04952831e-02 3.98190397e+02] [-6.01804382e-01 7.97328545e-01 -4.58113238e-02 -1.89208023e+02] [-7.58838351e-02 1.50627079e-05 9.97116665e-01 -2.48112216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.24, Y:-189.25, Z:-24.82 [[ 7.96787368e-01 6.01225123e-01 6.04834035e-02 3.98236823e+02] [-5.99476104e-01 7.99079650e-01 -4.58270028e-02 -1.89249669e+02] [-7.58834022e-02 2.56021846e-04 9.97116665e-01 -2.48158696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.28, Y:-189.29, Z:-24.82 [[ 7.97320933e-01 6.00518576e-01 6.04712300e-02 3.98282741e+02] [-5.98766309e-01 7.99610731e-01 -4.58430607e-02 -1.89292780e+02] [-7.58830540e-02 3.43496711e-04 9.97116665e-01 -2.48206758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.33, Y:-189.33, Z:-24.83 [[ 7.96173207e-01 6.02040693e-01 6.04584862e-02 3.98330753e+02] [-6.00291527e-01 7.98465376e-01 -4.58598612e-02 -1.89333588e+02] [-7.58835105e-02 2.19675762e-04 9.97116665e-01 -2.48255716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.38, Y:-189.37, Z:-24.83 [[ 7.94515758e-01 6.04227633e-01 6.04456529e-02 3.98377063e+02] [-6.02483490e-01 7.96811751e-01 -4.58767701e-02 -1.89374819e+02] [-7.58838187e-02 3.23088386e-05 9.97116666e-01 -2.48313192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.42, Y:-189.42, Z:-24.84 [[ 7.93896221e-01 6.05042521e-01 6.04345768e-02 3.98424367e+02] [-6.03299624e-01 7.96193159e-01 -4.58913561e-02 -1.89415478e+02] [-7.58838185e-02 -2.71833093e-05 9.97116666e-01 -2.48358138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.47, Y:-189.46, Z:-24.84 [[ 7.93961249e-01 6.04958313e-01 6.04232922e-02 3.98470526e+02] [-6.03214042e-01 7.96257144e-01 -4.59062094e-02 -1.89457433e+02] [-7.58838211e-02 -4.26992208e-07 9.97116666e-01 -2.48391802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.52, Y:-189.50, Z:-24.84 [[ 7.94562175e-01 6.04169950e-01 6.04120988e-02 3.98516935e+02] [-6.02422282e-01 7.96855484e-01 -4.59209351e-02 -1.89498671e+02] [-7.58837613e-02 9.34436846e-05 9.97116666e-01 -2.48425500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.56, Y:-189.54, Z:-24.85 [[ 7.94598082e-01 6.04123826e-01 6.04010892e-02 3.98564944e+02] [-6.02374923e-01 7.96890450e-01 -4.59354118e-02 -1.89538717e+02] [-7.58837279e-02 1.16088571e-04 9.97116666e-01 -2.48464404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.61, Y:-189.58, Z:-24.85 [[ 7.93817615e-01 6.05150271e-01 6.03882689e-02 3.98613865e+02] [-6.03403051e-01 7.96111266e-01 -4.59522597e-02 -1.89578730e+02] [-7.58838036e-02 3.92475193e-05 9.97116667e-01 -2.48504018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.66, Y:-189.62, Z:-24.86 [[ 7.91448132e-01 6.08247229e-01 6.03751798e-02 3.98662848e+02] [-6.06507673e-01 7.93747600e-01 -4.59694506e-02 -1.89618632e+02] [-7.58834450e-02 -2.35573900e-04 9.97116667e-01 -2.48553954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.71, Y:-189.66, Z:-24.86 [[ 7.88746585e-01 6.11747700e-01 6.03620469e-02 3.98711158e+02] [-6.10017029e-01 7.91052747e-01 -4.59866889e-02 -1.89657275e+02] [-7.58818142e-02 -5.50032668e-04 9.97116667e-01 -2.48618648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.76, Y:-189.70, Z:-24.87 [[ 7.87145654e-01 6.13807389e-01 6.03507059e-02 3.98758751e+02] [-6.12081611e-01 7.89455481e-01 -4.60015674e-02 -1.89695411e+02] [-7.58802976e-02 -7.29623481e-04 9.97116667e-01 -2.48683493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.81, Y:-189.73, Z:-24.87 [[ 7.86200157e-01 6.15018592e-01 6.03443835e-02 3.98807827e+02] [-6.13295737e-01 7.88512164e-01 -4.60098596e-02 -1.89734692e+02] [-7.58791995e-02 -8.35994317e-04 9.97116667e-01 -2.48717458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.86, Y:-189.77, Z:-24.88 [[ 7.85651175e-01 6.15721024e-01 6.03311885e-02 3.98855112e+02] [-6.13998908e-01 7.87963732e-01 -4.60271553e-02 -1.89774877e+02] [-7.58786756e-02 -8.81995236e-04 9.97116668e-01 -2.48763472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.90, Y:-189.82, Z:-24.88 [[ 7.84136566e-01 6.17649950e-01 6.03190353e-02 3.98901413e+02] [-6.15932297e-01 7.86452440e-01 -4.60430767e-02 -1.89817670e+02] [-7.58765565e-02 -1.04838194e-03 9.97116668e-01 -2.48835656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:398.95, Y:-189.85, Z:-24.89 [[ 7.84357604e-01 6.17370688e-01 6.03040886e-02 3.98950785e+02] [-6.15650706e-01 7.86671749e-01 -4.60626446e-02 -1.89854773e+02] [-7.58772494e-02 -9.96669142e-04 9.97116668e-01 -2.48853026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.00, Y:-189.90, Z:-24.89 [[ 7.82308238e-01 6.19966877e-01 6.02900642e-02 3.98997725e+02] [-6.18253162e-01 7.84627026e-01 -4.60809934e-02 -1.89896682e+02] [-7.58739034e-02 -1.22498202e-03 9.97116668e-01 -2.48935161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.05, Y:-189.93, Z:-24.90 [[ 7.81282066e-01 6.21260553e-01 6.02798427e-02 3.99045435e+02] [-6.19549646e-01 7.83602927e-01 -4.60943606e-02 -1.89934200e+02] [-7.58720691e-02 -1.33365798e-03 9.97116668e-01 -2.48986763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.10, Y:-189.97, Z:-24.90 [[ 7.81000236e-01 6.21615531e-01 6.02724150e-02 3.99095391e+02] [-6.19904929e-01 7.83321322e-01 -4.61040710e-02 -1.89971320e+02] [-7.58716743e-02 -1.35587681e-03 9.97116669e-01 -2.49002588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.15, Y:-190.01, Z:-24.91 [[ 7.82141299e-01 6.20180432e-01 6.02596103e-02 3.99145398e+02] [-6.18464283e-01 7.84458286e-01 -4.61208011e-02 -1.90006573e+02] [-7.58743690e-02 -1.19543342e-03 9.97116669e-01 -2.49052591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.20, Y:-190.04, Z:-24.91 [[ 7.83202038e-01 6.18841394e-01 6.02486230e-02 3.99195379e+02] [-6.17120179e-01 7.85515266e-01 -4.61351496e-02 -1.90044750e+02] [-7.58765534e-02 -1.04749785e-03 9.97116669e-01 -2.49088575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.25, Y:-190.08, Z:-24.91 [[ 7.84486391e-01 6.17213734e-01 6.02354527e-02 3.99245395e+02] [-6.15486400e-01 7.86795052e-01 -4.61523388e-02 -1.90083090e+02] [-7.58788134e-02 -8.68220195e-04 9.97116669e-01 -2.49137188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.30, Y:-190.12, Z:-24.92 [[ 7.87338359e-01 6.13572786e-01 6.02224683e-02 3.99295543e+02] [-6.11833479e-01 7.89638013e-01 -4.61692755e-02 -1.90121412e+02] [-7.58821611e-02 -4.95280734e-04 9.97116669e-01 -2.49190588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.34, Y:-190.16, Z:-24.92 [[ 7.88508767e-01 6.12069225e-01 6.02095452e-02 3.99341887e+02] [-6.10324247e-01 7.90804120e-01 -4.61861224e-02 -1.90162790e+02] [-7.58830605e-02 -3.29182945e-04 9.97116670e-01 -2.49239663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.39, Y:-190.20, Z:-24.92 [[ 7.91962488e-01 6.07594262e-01 6.02049115e-02 3.99390566e+02] [-6.05835855e-01 7.94247569e-01 -4.61921617e-02 -1.90199090e+02] [-7.58836970e-02 1.08165277e-04 9.97116670e-01 -2.49247881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.44, Y:-190.23, Z:-24.93 [[ 7.96170939e-01 6.02070127e-01 6.01946738e-02 3.99442006e+02] [-6.00294858e-01 7.98442945e-01 -4.62054991e-02 -1.90232302e+02] [-7.58809633e-02 6.52922474e-04 9.97116670e-01 -2.49310140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.49, Y:-190.27, Z:-24.93 [[ 7.95634252e-01 6.02780327e-01 6.01831786e-02 3.99488565e+02] [-6.01005953e-01 7.97906957e-01 -4.62204668e-02 -1.90273134e+02] [-7.58813650e-02 6.04137945e-04 9.97116670e-01 -2.49340543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.54, Y:-190.31, Z:-24.94 [[ 8.01293193e-01 5.95237516e-01 6.01790541e-02 3.99540856e+02] [-5.93441350e-01 8.03548714e-01 -4.62258364e-02 -1.90306553e+02] [-7.58721536e-02 1.32770892e-03 9.97116670e-01 -2.49393225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.59, Y:-190.34, Z:-24.94 [[ 8.03560633e-01 5.92174125e-01 6.01673881e-02 3.99590332e+02] [-5.90368225e-01 8.05808369e-01 -4.62410158e-02 -1.90344672e+02] [-7.58661179e-02 1.63654589e-03 9.97116670e-01 -2.49431860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.64, Y:-190.38, Z:-24.95 [[ 8.06767693e-01 5.87797922e-01 6.01622128e-02 3.99642072e+02] [-5.85979330e-01 8.09005173e-01 -4.62477482e-02 -1.90377550e+02] [-7.58558716e-02 2.05737596e-03 9.97116670e-01 -2.49501138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.69, Y:-190.41, Z:-24.96 [[ 8.09684638e-01 5.83774481e-01 6.01510051e-02 3.99693258e+02] [-5.81943692e-01 8.11912148e-01 -4.62623206e-02 -1.90412418e+02] [-7.58440940e-02 2.45339232e-03 9.97116670e-01 -2.49552573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.74, Y:-190.45, Z:-24.96 [[ 8.11097069e-01 5.81811595e-01 6.01399378e-02 3.99744018e+02] [-5.79974352e-01 8.13319259e-01 -4.62767034e-02 -1.90449762e+02] [-7.58372923e-02 2.65527702e-03 9.97116671e-01 -2.49593991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.79, Y:-190.49, Z:-24.96 [[ 8.11453028e-01 5.81316345e-01 6.01272881e-02 3.99794930e+02] [-5.79476531e-01 8.13673089e-01 -4.62931333e-02 -1.90485923e+02] [-7.58349113e-02 2.72235084e-03 9.97116671e-01 -2.49631636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.84, Y:-190.52, Z:-24.97 [[ 8.08578307e-01 5.85309629e-01 6.01145617e-02 3.99844653e+02] [-5.83479555e-01 8.10806404e-01 -4.63096536e-02 -1.90522372e+02] [-7.58467577e-02 2.36936355e-03 9.97116671e-01 -2.49674726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.90, Y:-190.56, Z:-24.97 [[ 8.06261503e-01 5.88497386e-01 6.01100218e-02 3.99895735e+02] [-5.86675685e-01 8.08496451e-01 -4.63155456e-02 -1.90558735e+02] [-7.58553168e-02 2.07735318e-03 9.97116671e-01 -2.49663799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:399.95, Y:-190.59, Z:-24.97 [[ 8.04783792e-01 5.90517950e-01 6.00965830e-02 3.99949596e+02] [-5.88700560e-01 8.07022246e-01 -4.63329764e-02 -1.90587999e+02] [-7.58597337e-02 1.90913638e-03 9.97116671e-01 -2.49747009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.00, Y:-190.62, Z:-24.98 [[ 8.01339840e-01 5.95183655e-01 6.00905798e-02 3.99999665e+02] [-5.93378717e-01 8.03588347e-01 -4.63407609e-02 -1.90623424e+02] [-7.58693532e-02 1.47822670e-03 9.97116671e-01 -2.49803413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.05, Y:-190.65, Z:-24.99 [[ 7.98634948e-01 5.98809461e-01 6.00786972e-02 4.00054955e+02] [-5.97013574e-01 8.00890691e-01 -4.63561611e-02 -1.90652376e+02] [-7.58749771e-02 1.15385259e-03 9.97116671e-01 -2.49884028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.10, Y:-190.69, Z:-24.99 [[ 7.93822106e-01 6.05176465e-01 6.00658838e-02 4.00104582e+02] [-6.03397417e-01 7.96091153e-01 -4.63727581e-02 -1.90688369e+02] [-7.58816205e-02 5.68121297e-04 9.97116672e-01 -2.49891679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.16, Y:-190.72, Z:-25.00 [[ 7.88702160e-01 6.11835279e-01 6.00540960e-02 4.00156476e+02] [-6.10074227e-01 7.90985202e-01 -4.63880186e-02 -1.90720678e+02] [-7.58837275e-02 -5.11257476e-05 9.97116672e-01 -2.49965036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.21, Y:-190.76, Z:-24.99 [[ 7.83526973e-01 6.18449871e-01 6.00436550e-02 4.00205279e+02] [-6.16707056e-01 7.85823966e-01 -4.64015293e-02 -1.90758746e+02] [-7.58807629e-02 -6.72495970e-04 9.97116672e-01 -2.49928366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.26, Y:-190.79, Z:-25.01 [[ 7.81797788e-01 6.20634688e-01 6.00400012e-02 4.00258017e+02] [-6.18897930e-01 7.84099364e-01 -4.64062567e-02 -1.90789049e+02] [-7.58786593e-02 -8.78323592e-04 9.97116672e-01 -2.50070937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.31, Y:-190.82, Z:-25.01 [[ 7.79367437e-01 6.23684425e-01 6.00344510e-02 4.00309034e+02] [-6.21956119e-01 7.81675367e-01 -4.64134356e-02 -1.90824482e+02] [-7.58747884e-02 -1.16567376e-03 9.97116672e-01 -2.50107927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.36, Y:-190.86, Z:-25.01 [[ 7.78347667e-01 6.24957717e-01 6.00230151e-02 4.00359567e+02] [-6.23232046e-01 7.80657567e-01 -4.64282202e-02 -1.90861422e+02] [-7.58730954e-02 -1.27096964e-03 9.97116672e-01 -2.50147283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.41, Y:-190.90, Z:-25.02 [[ 7.77648826e-01 6.25828369e-01 6.00096237e-02 4.00407927e+02] [-6.24103950e-01 7.79959661e-01 -4.64455225e-02 -1.90898518e+02] [-7.58720113e-02 -1.33393712e-03 9.97116672e-01 -2.50201052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.46, Y:-190.94, Z:-25.02 [[ 7.76957802e-01 6.26687084e-01 5.99989322e-02 4.00456436e+02] [-6.24964153e-01 7.79269747e-01 -4.64593298e-02 -1.90936641e+02] [-7.58708146e-02 -1.40024309e-03 9.97116673e-01 -2.50235195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.50, Y:-190.98, Z:-25.03 [[ 7.75913834e-01 6.27980270e-01 5.99875156e-02 4.00504713e+02] [-6.26260054e-01 7.78227799e-01 -4.64740661e-02 -1.90975618e+02] [-7.58687488e-02 -1.50791391e-03 9.97116673e-01 -2.50273122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.55, Y:-191.01, Z:-25.03 [[ 7.74927120e-01 6.29198563e-01 5.99760545e-02 4.00552520e+02] [-6.27480841e-01 7.77242936e-01 -4.64888522e-02 -1.91014413e+02] [-7.58666837e-02 -1.60835278e-03 9.97116673e-01 -2.50326190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.60, Y:-191.06, Z:-25.04 [[ 7.73271579e-01 6.31233232e-01 5.99639287e-02 4.00600283e+02] [-6.29520391e-01 7.75591007e-01 -4.65044876e-02 -1.91055241e+02] [-7.58626618e-02 -1.78791728e-03 9.97116673e-01 -2.50378670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.65, Y:-191.09, Z:-25.04 [[ 7.72345979e-01 6.32366636e-01 5.99510384e-02 4.00649409e+02] [-6.30655910e-01 7.74666968e-01 -4.65210991e-02 -1.91094915e+02] [-7.58604800e-02 -1.87809280e-03 9.97116673e-01 -2.50439636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.70, Y:-191.14, Z:-25.05 [[ 7.71056362e-01 6.33939705e-01 5.99377759e-02 4.00695458e+02] [-6.32232387e-01 7.73379859e-01 -4.65381802e-02 -1.91135167e+02] [-7.58570689e-02 -2.01104320e-03 9.97116674e-01 -2.50505231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.74, Y:-191.18, Z:-25.06 [[ 7.70888275e-01 6.34145090e-01 5.99272198e-02 4.00741559e+02] [-6.32437336e-01 7.73211451e-01 -4.65517694e-02 -1.91177836e+02] [-7.58569886e-02 -2.01399798e-03 9.97116674e-01 -2.50551925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.79, Y:-191.22, Z:-25.06 [[ 7.71539665e-01 6.33353640e-01 5.99142039e-02 4.00788628e+02] [-6.31642204e-01 7.73860129e-01 -4.65685155e-02 -1.91219245e+02] [-7.58595523e-02 -1.91488294e-03 9.97116674e-01 -2.50594834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.83, Y:-191.26, Z:-25.06 [[ 7.73826549e-01 6.30558719e-01 5.99013712e-02 4.00833948e+02] [-6.28837624e-01 7.76139858e-01 -4.65850164e-02 -1.91261274e+02] [-7.58664300e-02 -1.61951346e-03 9.97116674e-01 -2.50626945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.88, Y:-191.30, Z:-25.07 [[ 7.75081146e-01 6.29016929e-01 5.98908976e-02 4.00880381e+02] [-6.27290192e-01 7.77390247e-01 -4.65984777e-02 -1.91302382e+02] [-7.58698310e-02 -1.45137113e-03 9.97116674e-01 -2.50656936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.93, Y:-191.34, Z:-25.07 [[ 7.75681716e-01 6.28277273e-01 5.98794058e-02 4.00928259e+02] [-6.26547195e-01 7.77988315e-01 -4.66132400e-02 -1.91343665e+02] [-7.58715173e-02 -1.36023578e-03 9.97116675e-01 -2.50699899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:400.98, Y:-191.38, Z:-25.07 [[ 7.75503089e-01 6.28498993e-01 5.98663094e-02 4.00975715e+02] [-6.26768278e-01 7.77809208e-01 -4.66300539e-02 -1.91384451e+02] [-7.58715087e-02 -1.36055280e-03 9.97116675e-01 -2.50748576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.02, Y:-191.43, Z:-25.08 [[ 7.73932385e-01 6.30433373e-01 5.98533641e-02 4.01021933e+02] [-6.28707137e-01 7.76241859e-01 -4.66466644e-02 -1.91425283e+02] [-7.58683006e-02 -1.52887303e-03 9.97116675e-01 -2.50808886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.07, Y:-191.46, Z:-25.09 [[ 7.74234076e-01 6.30063251e-01 5.98489387e-02 4.01071442e+02] [-6.28335472e-01 7.76542397e-01 -4.66523416e-02 -1.91462433e+02] [-7.58691643e-02 -1.48537851e-03 9.97116675e-01 -2.50861149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.12, Y:-191.50, Z:-25.09 [[ 7.74551597e-01 6.29674137e-01 5.98356498e-02 4.01119790e+02] [-6.27943883e-01 7.76858062e-01 -4.66693796e-02 -1.91501856e+02] [-7.58703083e-02 -1.42558777e-03 9.97116675e-01 -2.50924945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.17, Y:-191.54, Z:-25.10 [[ 7.75231089e-01 6.28838617e-01 5.98226796e-02 4.01168653e+02] [-6.27104595e-01 7.77534723e-01 -4.66859995e-02 -1.91540694e+02] [-7.58721699e-02 -1.32263899e-03 9.97116675e-01 -2.50973348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.22, Y:-191.58, Z:-25.10 [[ 7.76543203e-01 6.27218854e-01 5.98093849e-02 4.01217240e+02] [-6.25478716e-01 7.78842220e-01 -4.67030251e-02 -1.91579511e+02] [-7.58750920e-02 -1.14258049e-03 9.97116676e-01 -2.51021480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.27, Y:-191.62, Z:-25.11 [[ 7.79366883e-01 6.23707919e-01 5.97971056e-02 4.01265952e+02] [-6.21956217e-01 7.81657101e-01 -4.67187419e-02 -1.91619612e+02] [-7.58796814e-02 -7.80141368e-04 9.97116676e-01 -2.51061148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.31, Y:-191.66, Z:-25.11 [[ 7.82458922e-01 6.19825701e-01 5.97840667e-02 4.01313723e+02] [-6.18061361e-01 7.84739418e-01 -4.67354212e-02 -1.91659169e+02] [-7.58827290e-02 -3.81674357e-04 9.97116676e-01 -2.51104979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.36, Y:-191.70, Z:-25.12 [[ 7.83800655e-01 6.18129304e-01 5.97720360e-02 4.01361930e+02] [-6.16358855e-01 7.86076411e-01 -4.67508029e-02 -1.91698143e+02] [-7.58834288e-02 -1.97713759e-04 9.97116676e-01 -2.51161433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.41, Y:-191.74, Z:-25.12 [[ 7.84993478e-01 6.16614901e-01 5.97603796e-02 4.01410060e+02] [-6.14838928e-01 7.87264925e-01 -4.67656982e-02 -1.91737863e+02] [-7.58836771e-02 -3.22395751e-05 9.97116676e-01 -2.51205308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.46, Y:-191.78, Z:-25.13 [[ 7.84991936e-01 6.16617978e-01 5.97488851e-02 4.01457845e+02] [-6.14840896e-01 7.87262516e-01 -4.67803792e-02 -1.91776152e+02] [-7.58836805e-02 -1.38376659e-05 9.97116677e-01 -2.51271446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.51, Y:-191.82, Z:-25.13 [[ 7.84335043e-01 6.17454502e-01 5.97367448e-02 4.01505836e+02] [-6.15678661e-01 7.86606593e-01 -4.67958768e-02 -1.91816180e+02] [-7.58836421e-02 -7.49930123e-05 9.97116677e-01 -2.51300205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.55, Y:-191.86, Z:-25.13 [[ 7.82132549e-01 6.20243302e-01 5.97237222e-02 4.01551956e+02] [-6.18474291e-01 7.84409422e-01 -4.68124911e-02 -1.91858602e+02] [-7.58829845e-02 -3.24013778e-04 9.97116677e-01 -2.51331711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.60, Y:-191.89, Z:-25.14 [[ 7.82161259e-01 6.20207743e-01 5.97170002e-02 4.01601615e+02] [-6.18437974e-01 7.84437544e-01 -4.68210647e-02 -1.91893781e+02] [-7.58830437e-02 -3.09637719e-04 9.97116677e-01 -2.51392697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.65, Y:-191.93, Z:-25.14 [[ 7.80606855e-01 6.22163674e-01 5.97101338e-02 4.01650826e+02] [-6.20398939e-01 7.82887044e-01 -4.68298195e-02 -1.91933017e+02] [-7.58821028e-02 -4.88425534e-04 9.97116677e-01 -2.51443326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.70, Y:-191.97, Z:-25.15 [[ 7.80273871e-01 6.22582503e-01 5.96968457e-02 4.01699350e+02] [-6.20817696e-01 7.82554004e-01 -4.68467527e-02 -1.91971731e+02] [-7.58819742e-02 -5.07561121e-04 9.97116677e-01 -2.51493498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.75, Y:-192.01, Z:-25.16 [[ 7.81479285e-01 6.21069948e-01 5.96845614e-02 4.01747494e+02] [-6.19299533e-01 7.83755066e-01 -4.68623981e-02 -1.92011506e+02] [-7.58829045e-02 -3.40627668e-04 9.97116678e-01 -2.51550771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.79, Y:-192.05, Z:-25.16 [[ 7.83102446e-01 6.19023301e-01 5.96716985e-02 4.01794828e+02] [-6.17245691e-01 7.85372611e-01 -4.68787713e-02 -1.92051565e+02] [-7.58835694e-02 -1.21218238e-04 9.97116678e-01 -2.51598529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.84, Y:-192.09, Z:-25.17 [[ 7.87698706e-01 6.13165071e-01 5.96602401e-02 4.01843509e+02] [-6.11369473e-01 7.89954670e-01 -4.68933493e-02 -1.92090740e+02] [-7.58822491e-02 4.63380994e-04 9.97116678e-01 -2.51651081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.89, Y:-192.13, Z:-25.17 [[ 7.91147454e-01 6.08710054e-01 5.96470938e-02 4.01892016e+02] [-6.06900493e-01 7.93392234e-01 -4.69100651e-02 -1.92130986e+02] [-7.58781692e-02 9.12927993e-04 9.97116678e-01 -2.51694600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.94, Y:-192.17, Z:-25.17 [[ 7.95860451e-01 6.02536232e-01 5.96341424e-02 4.01939538e+02] [-6.00708029e-01 7.98090074e-01 -4.69265237e-02 -1.92170909e+02] [-7.58683479e-02 1.52425626e-03 9.97116678e-01 -2.51728292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:401.99, Y:-192.21, Z:-25.17 [[ 7.98764831e-01 5.98681764e-01 5.96228943e-02 4.01989009e+02] [-5.96841738e-01 8.00984706e-01 -4.69408108e-02 -1.92210235e+02] [-7.58596339e-02 1.90923695e-03 9.97116679e-01 -2.51747411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.04, Y:-192.25, Z:-25.18 [[ 7.99165938e-01 5.98147610e-01 5.96090668e-02 4.02036539e+02] [-5.96304792e-01 8.01383496e-01 -4.69583634e-02 -1.92247839e+02] [-7.58577552e-02 1.98235237e-03 9.97116679e-01 -2.51810766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.09, Y:-192.28, Z:-25.19 [[ 7.97894293e-01 5.99843954e-01 5.95980469e-02 4.02085424e+02] [-5.98004808e-01 8.00114897e-01 -4.69723454e-02 -1.92284101e+02] [-7.58613626e-02 1.83904771e-03 9.97116679e-01 -2.51876445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.14, Y:-192.32, Z:-25.19 [[ 7.95778974e-01 6.02648444e-01 5.95875691e-02 4.02135661e+02] [-6.00816130e-01 7.98005218e-01 -4.69856335e-02 -1.92321455e+02] [-7.58670100e-02 1.58900655e-03 9.97116679e-01 -2.51931787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.19, Y:-192.36, Z:-25.20 [[ 7.91962554e-01 6.07656280e-01 5.95748088e-02 4.02186707e+02] [-6.05836830e-01 7.94199324e-01 -4.70018072e-02 -1.92357718e+02] [-7.58752162e-02 1.13105802e-03 9.97116679e-01 -2.51985827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.24, Y:-192.39, Z:-25.20 [[ 7.88900450e-01 6.11627681e-01 5.95622362e-02 4.02237769e+02] [-6.09818290e-01 7.91145364e-01 -4.70177342e-02 -1.92394939e+02] [-7.58797348e-02 7.70170699e-04 9.97116680e-01 -2.52023802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.29, Y:-192.43, Z:-25.21 [[ 7.85340222e-01 6.16193649e-01 5.95493275e-02 4.02288408e+02] [-6.14396071e-01 7.87594606e-01 -4.70340778e-02 -1.92432158e+02] [-7.58828292e-02 3.50880254e-04 9.97116680e-01 -2.52063170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:-192.47, Z:-25.21 [[ 7.79971219e-01 6.22976963e-01 5.95365598e-02 4.02338136e+02] [-6.21197757e-01 7.82240131e-01 -4.70502339e-02 -1.92468304e+02] [-7.58830981e-02 -2.86149144e-04 9.97116680e-01 -2.52097576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.39, Y:-192.51, Z:-25.21 [[ 7.75399838e-01 6.28658657e-01 5.95263360e-02 4.02388983e+02] [-6.26895083e-01 7.77680920e-01 -4.70631651e-02 -1.92505274e+02] [-7.58791620e-02 -8.23996734e-04 9.97116680e-01 -2.52144877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.44, Y:-192.54, Z:-25.22 [[ 7.72769032e-01 6.31890905e-01 5.95139336e-02 4.02439536e+02] [-6.30135663e-01 7.75056532e-01 -4.70788434e-02 -1.92542914e+02] [-7.58753560e-02 -1.12077983e-03 9.97116680e-01 -2.52198766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.49, Y:-192.58, Z:-25.23 [[ 7.70509475e-01 6.34645337e-01 5.95016311e-02 4.02488962e+02] [-6.32897073e-01 7.72802312e-01 -4.70943871e-02 -1.92580798e+02] [-7.58712313e-02 -1.37173662e-03 9.97116681e-01 -2.52251550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.54, Y:-192.62, Z:-25.23 [[ 7.68285419e-01 6.37337054e-01 5.94894525e-02 4.02537614e+02] [-6.35595632e-01 7.70583456e-01 -4.71097661e-02 -1.92618323e+02] [-7.58663875e-02 -1.61748981e-03 9.97116681e-01 -2.52301496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:402.58, Y:-192.66, Z:-25.23 [[ 7.64163659e-01 6.42274278e-01 5.94781778e-02 4.02584148e+02] [-6.40546593e-01 7.66472042e-01 -4.71239966e-02 -1.92660008e+02] [-7.58548913e-02 -2.08809840e-03 9.97116681e-01 -2.52273201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.63, Y:-192.69, Z:-25.24 [[ 7.65960608e-01 6.40130632e-01 5.94737076e-02 4.02634625e+02] [-6.38396048e-01 7.68263811e-01 -4.71296377e-02 -1.92693476e+02] [-7.58606220e-02 -1.86833394e-03 9.97116681e-01 -2.52393611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.68, Y:-192.73, Z:-25.24 [[ 7.65171696e-01 6.41074519e-01 5.94620572e-02 4.02683439e+02] [-6.39341636e-01 7.67476179e-01 -4.71443320e-02 -1.92732598e+02] [-7.58587424e-02 -1.94306042e-03 9.97116681e-01 -2.52419485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.73, Y:-192.77, Z:-25.25 [[ 7.64991958e-01 6.41290221e-01 5.94487696e-02 4.02731361e+02] [-6.39556686e-01 7.67295952e-01 -4.71610817e-02 -1.92770940e+02] [-7.58587407e-02 -1.94300982e-03 9.97116681e-01 -2.52468164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.78, Y:-192.81, Z:-25.25 [[ 7.62439054e-01 6.44324445e-01 5.94365067e-02 4.02777741e+02] [-6.42598875e-01 7.64749018e-01 -4.71765315e-02 -1.92813190e+02] [-7.58510026e-02 -2.22460230e-03 9.97116682e-01 -2.52463755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.83, Y:-192.85, Z:-25.26 [[ 7.64457274e-01 6.41929067e-01 5.94318797e-02 4.02827873e+02] [-6.40195805e-01 7.66761473e-01 -4.71823597e-02 -1.92846631e+02] [-7.58578038e-02 -1.97914201e-03 9.97116682e-01 -2.52558858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.88, Y:-192.88, Z:-25.26 [[ 7.63756421e-01 6.42763716e-01 5.94216648e-02 4.02876881e+02] [-6.41031973e-01 7.66061761e-01 -4.71952209e-02 -1.92884814e+02] [-7.58560407e-02 -2.04553399e-03 9.97116682e-01 -2.52611107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.93, Y:-192.92, Z:-25.27 [[ 7.63756309e-01 6.42764992e-01 5.94093086e-02 4.02926254e+02] [-6.41032044e-01 7.66060743e-01 -4.72107698e-02 -1.92923084e+02] [-7.58565691e-02 -2.02574720e-03 9.97116682e-01 -2.52655299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:402.98, Y:-192.96, Z:-25.27 [[ 7.64056215e-01 6.42409697e-01 5.93959811e-02 4.02975550e+02] [-6.40674376e-01 7.66358862e-01 -4.72275313e-02 -1.92962032e+02] [-7.58580605e-02 -1.96899432e-03 9.97116682e-01 -2.52700003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.02, Y:-193.01, Z:-25.27 [[ 7.62672861e-01 6.44052659e-01 5.93824807e-02 4.03021004e+02] [-6.42320978e-01 7.64978247e-01 -4.72445002e-02 -1.93005401e+02] [-7.58542519e-02 -2.11051495e-03 9.97116682e-01 -2.52701147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.07, Y:-193.04, Z:-25.28 [[ 7.61954590e-01 6.44902928e-01 5.93752245e-02 4.03071404e+02] [-6.43173110e-01 7.64261373e-01 -4.72536178e-02 -1.93042886e+02] [-7.58521870e-02 -2.18343683e-03 9.97116682e-01 -2.52751959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:403.12, Y:-193.08, Z:-25.29 [[ 7.62113124e-01 6.44717002e-01 5.93597019e-02 4.03120953e+02] [-6.42985105e-01 7.64418346e-01 -4.72731091e-02 -1.93080086e+02] [-7.58534224e-02 -2.13994728e-03 9.97116683e-01 -2.52857632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.17, Y:-193.12, Z:-25.29 [[ 7.62538065e-01 6.44214820e-01 5.93545726e-02 4.03170597e+02] [-6.42480904e-01 7.64841770e-01 -4.72795485e-02 -1.93115734e+02] [-7.58550421e-02 -2.08172404e-03 9.97116683e-01 -2.52898296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.22, Y:-193.16, Z:-25.29 [[ 7.62836795e-01 6.43862283e-01 5.93412593e-02 4.03219582e+02] [-6.42126005e-01 7.65138719e-01 -4.72962523e-02 -1.93155169e+02] [-7.58565681e-02 -2.02524419e-03 9.97116683e-01 -2.52938671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.27, Y:-193.19, Z:-25.30 [[ 7.64083648e-01 6.42383363e-01 5.93278488e-02 4.03267326e+02] [-6.40641324e-01 7.66381216e-01 -4.73130684e-02 -1.93194451e+02] [-7.58608768e-02 -1.85672967e-03 9.97116683e-01 -2.52984906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.32, Y:-193.23, Z:-25.30 [[ 7.65214126e-01 6.41037072e-01 5.93195847e-02 4.03316528e+02] [-6.39290188e-01 7.67508012e-01 -4.73234273e-02 -1.93234103e+02] [-7.58643278e-02 -1.70987339e-03 9.97116683e-01 -2.53032063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.36, Y:-193.27, Z:-25.31 [[ 7.66804781e-01 6.39134729e-01 5.93061993e-02 4.03364663e+02] [-6.37380858e-01 7.69093329e-01 -4.73401961e-02 -1.93273277e+02] [-7.58687657e-02 -1.49994752e-03 9.97116684e-01 -2.53089823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.41, Y:-193.31, Z:-25.31 [[ 7.69108561e-01 6.36361663e-01 5.92946513e-02 4.03412834e+02] [-6.34598425e-01 7.71389899e-01 -4.73546558e-02 -1.93312663e+02] [-7.58739826e-02 -1.20742118e-03 9.97116684e-01 -2.53145347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.46, Y:-193.35, Z:-25.32 [[ 7.70937810e-01 6.34145584e-01 5.92812866e-02 4.03461101e+02] [-6.32374502e-01 7.73213064e-01 -4.73713807e-02 -1.93352841e+02] [-7.58774171e-02 -9.67585500e-04 9.97116684e-01 -2.53199122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.51, Y:-193.39, Z:-25.32 [[ 7.73104189e-01 6.31503922e-01 5.92681118e-02 4.03509173e+02] [-6.29723801e-01 7.75372378e-01 -4.73878585e-02 -1.93394013e+02] [-7.58804753e-02 -6.86788727e-04 9.97116684e-01 -2.53242377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.56, Y:-193.43, Z:-25.33 [[ 7.73538201e-01 6.30973457e-01 5.92549420e-02 4.03558279e+02] [-6.29190520e-01 7.75804176e-01 -4.74043206e-02 -1.93433729e+02] [-7.58810995e-02 -6.13594930e-04 9.97116684e-01 -2.53292206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.61, Y:-193.47, Z:-25.33 [[ 7.72729720e-01 6.31964537e-01 5.92419102e-02 4.03606552e+02] [-6.30183258e-01 7.74996999e-01 -4.74206010e-02 -1.93473175e+02] [-7.58804408e-02 -6.89952230e-04 9.97116685e-01 -2.53343766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.65, Y:-193.51, Z:-25.34 [[ 7.71632708e-01 6.33304765e-01 5.92286932e-02 4.03653484e+02] [-6.31526158e-01 7.73902083e-01 -4.74371035e-02 -1.93511183e+02] [-7.58793527e-02 -8.00448375e-04 9.97116685e-01 -2.53396965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.70, Y:-193.55, Z:-25.34 [[ 7.70362639e-01 6.34850075e-01 5.92181298e-02 4.03701978e+02] [-6.33075006e-01 7.72634782e-01 -4.74502867e-02 -1.93551061e+02] [-7.58778049e-02 -9.35589787e-04 9.97116685e-01 -2.53443355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.75, Y:-193.59, Z:-25.35 [[ 7.70256557e-01 6.34979966e-01 5.92054078e-02 4.03750330e+02] [-6.33204060e-01 7.72528046e-01 -4.74661550e-02 -1.93590442e+02] [-7.58778955e-02 -9.27987522e-04 9.97116685e-01 -2.53480588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.80, Y:-193.63, Z:-25.35 [[ 7.69823846e-01 6.35505728e-01 5.91921956e-02 4.03795299e+02] [-6.33730107e-01 7.72095558e-01 -4.74826255e-02 -1.93633582e+02] [-7.58775118e-02 -9.58619125e-04 9.97116685e-01 -2.53519109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.84, Y:-193.67, Z:-25.35 [[ 7.70919239e-01 6.34176929e-01 5.91874218e-02 4.03842395e+02] [-6.32396936e-01 7.73187526e-01 -4.74885754e-02 -1.93674955e+02] [-7.58791351e-02 -8.20087820e-04 9.97116685e-01 -2.53538687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.89, Y:-193.72, Z:-25.36 [[ 7.71848917e-01 6.33046615e-01 5.91712233e-02 4.03890374e+02] [-6.31261753e-01 7.74113375e-01 -4.75087503e-02 -1.93715585e+02] [-7.58804889e-02 -6.82952740e-04 9.97116686e-01 -2.53589436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.94, Y:-193.75, Z:-25.36 [[ 7.75239461e-01 6.28891399e-01 5.91556125e-02 4.03938774e+02] [-6.27092917e-01 7.77493116e-01 -4.75281802e-02 -1.93752294e+02] [-7.58831453e-02 -2.50344827e-04 9.97116686e-01 -2.53645844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:403.99, Y:-193.79, Z:-25.37 [[ 7.75731699e-01 6.28284822e-01 5.91482355e-02 4.03985003e+02] [-6.26483877e-01 7.77983387e-01 -4.75373591e-02 -1.93791672e+02] [-7.58833458e-02 -1.79179582e-04 9.97116686e-01 -2.53701956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.03, Y:-193.84, Z:-25.37 [[ 7.73379085e-01 6.31179102e-01 5.91416282e-02 4.04027866e+02] [-6.29385956e-01 7.75636988e-01 -4.75455779e-02 -1.93836124e+02] [-7.58822095e-02 -4.52154695e-04 9.97116686e-01 -2.53722649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.08, Y:-193.87, Z:-25.37 [[ 7.74262669e-01 6.30095287e-01 5.91375459e-02 4.04076819e+02] [-6.28298592e-01 7.76517749e-01 -4.75506549e-02 -1.93874967e+02] [-7.58827976e-02 -3.39339828e-04 9.97116686e-01 -2.53738932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.13, Y:-193.91, Z:-25.38 [[ 7.76738547e-01 6.27041554e-01 5.91279949e-02 4.04125440e+02] [-6.25235090e-01 7.78985808e-01 -4.75625283e-02 -1.93912217e+02] [-7.58835506e-02 -2.52480790e-05 9.97116686e-01 -2.53822451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.17, Y:-193.95, Z:-25.39 [[ 7.75539380e-01 6.28525133e-01 5.91170635e-02 4.04173121e+02] [-6.26721932e-01 7.77789261e-01 -4.75761115e-02 -1.93952014e+02] [-7.58833989e-02 -1.52812185e-04 9.97116686e-01 -2.53882691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.22, Y:-194.00, Z:-25.38 [[ 7.73054885e-01 6.31579745e-01 5.91030598e-02 4.04217993e+02] [-6.29784104e-01 7.75310803e-01 -4.75935018e-02 -1.93995278e+02] [-7.58823325e-02 -4.29778501e-04 9.97116687e-01 -2.53835968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.27, Y:-194.03, Z:-25.40 [[ 7.73272784e-01 6.31313213e-01 5.91001542e-02 4.04267453e+02] [-6.29516519e-01 7.75527864e-01 -4.75971096e-02 -1.94028873e+02] [-7.58825005e-02 -3.98973819e-04 9.97116687e-01 -2.53960565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.31, Y:-194.07, Z:-25.39 [[ 7.68011697e-01 6.37703823e-01 5.90920344e-02 4.04313089e+02] [-6.35925115e-01 7.70280990e-01 -4.76071882e-02 -1.94070834e+02] [-7.58767567e-02 -1.01523143e-03 9.97116687e-01 -2.53934816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.36, Y:-194.11, Z:-25.40 [[ 7.67996116e-01 6.37723586e-01 5.90812508e-02 4.04363054e+02] [-6.35943907e-01 7.70264648e-01 -4.76205671e-02 -1.94105210e+02] [-7.58769577e-02 -9.99950879e-04 9.97116687e-01 -2.54045503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.41, Y:-194.14, Z:-25.41 [[ 7.65374584e-01 6.40868552e-01 5.90698377e-02 4.04411990e+02] [-6.39097102e-01 7.67649548e-01 -4.76347200e-02 -1.94144171e+02] [-7.58725282e-02 -1.29295810e-03 9.97116687e-01 -2.54092255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.46, Y:-194.18, Z:-25.41 [[ 7.64122113e-01 6.42362613e-01 5.90564982e-02 4.04461048e+02] [-6.40594334e-01 7.66399541e-01 -4.76512523e-02 -1.94183565e+02] [-7.58702561e-02 -1.41988256e-03 9.97116687e-01 -2.54145025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.51, Y:-194.22, Z:-25.42 [[ 7.63512853e-01 6.43087872e-01 5.90432981e-02 4.04510029e+02] [-6.41320493e-01 7.65790980e-01 -4.76676027e-02 -1.94223499e+02] [-7.58692823e-02 -1.47084970e-03 9.97116688e-01 -2.54193302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.56, Y:-194.26, Z:-25.42 [[ 7.64489017e-01 6.41928325e-01 5.90302313e-02 4.04558041e+02] [-6.40156242e-01 7.66763486e-01 -4.76837787e-02 -1.94263553e+02] [-7.58717941e-02 -1.33484586e-03 9.97116688e-01 -2.54243027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.61, Y:-194.30, Z:-25.43 [[ 7.65405433e-01 6.40836543e-01 5.90173586e-02 4.04606267e+02] [-6.39059987e-01 7.67676411e-01 -4.76997057e-02 -1.94304438e+02] [-7.58739485e-02 -1.20601848e-03 9.97116688e-01 -2.54292686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.65, Y:-194.34, Z:-25.44 [[ 7.66761244e-01 6.39214870e-01 5.90046157e-02 4.04653485e+02] [-6.37432298e-01 7.69027502e-01 -4.77154636e-02 -1.94344492e+02] [-7.58766061e-02 -1.02507954e-03 9.97116688e-01 -2.54357114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.70, Y:-194.38, Z:-25.44 [[ 7.67514650e-01 6.38311065e-01 5.89936161e-02 4.04701501e+02] [-6.36524780e-01 7.69777982e-01 -4.77290591e-02 -1.94383917e+02] [-7.58779733e-02 -9.18146401e-04 9.97116688e-01 -2.54420295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:404.75, Y:-194.42, Z:-25.45 [[ 7.68284802e-01 6.37384889e-01 5.89827587e-02 4.04749841e+02] [-6.35594846e-01 7.70545163e-01 -4.77424728e-02 -1.94424308e+02] [-7.58792102e-02 -8.09321158e-04 9.97116689e-01 -2.54454538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.80, Y:-194.46, Z:-25.45 [[ 7.68610935e-01 6.36992803e-01 5.89694729e-02 4.04797744e+02] [-6.35200349e-01 7.70869384e-01 -4.77588773e-02 -1.94463356e+02] [-7.58798223e-02 -7.49434400e-04 9.97116689e-01 -2.54481961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.85, Y:-194.50, Z:-25.45 [[ 7.68653757e-01 6.36942230e-01 5.89575888e-02 4.04846502e+02] [-6.35148501e-01 7.70911194e-01 -4.77735435e-02 -1.94502179e+02] [-7.58800525e-02 -7.25510442e-04 9.97116689e-01 -2.54522099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.90, Y:-194.54, Z:-25.46 [[ 7.68517109e-01 6.37108370e-01 5.89438508e-02 4.04895908e+02] [-6.35313830e-01 7.70773901e-01 -4.77904877e-02 -1.94541442e+02] [-7.58801016e-02 -7.20036115e-04 9.97116689e-01 -2.54570512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.94, Y:-194.58, Z:-25.46 [[ 7.68580924e-01 6.37032646e-01 5.89302165e-02 4.04944951e+02] [-6.35236595e-01 7.70836513e-01 -4.78072942e-02 -1.94580418e+02] [-7.58803698e-02 -6.90855708e-04 9.97116689e-01 -2.54623587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:404.99, Y:-194.62, Z:-25.47 [[ 7.68807729e-01 6.36760154e-01 5.89167455e-02 4.04993280e+02] [-6.34962032e-01 7.71061667e-01 -4.78238899e-02 -1.94619107e+02] [-7.58807915e-02 -6.42520184e-04 9.97116690e-01 -2.54676377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.04, Y:-194.66, Z:-25.47 [[ 7.69768756e-01 6.35599201e-01 5.89043103e-02 4.05042024e+02] [-6.33796508e-01 7.72019039e-01 -4.78392014e-02 -1.94657752e+02] [-7.58818072e-02 -5.08223632e-04 9.97116690e-01 -2.54728354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.09, Y:-194.70, Z:-25.48 [[ 7.70184377e-01 6.35096761e-01 5.88908302e-02 4.05090099e+02] [-6.33291331e-01 7.72432465e-01 -4.78557898e-02 -1.94697002e+02] [-7.58822463e-02 -4.37270598e-04 9.97116690e-01 -2.54781537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.14, Y:-194.74, Z:-25.48 [[ 7.70128282e-01 6.35165551e-01 5.88825376e-02 4.05138870e+02] [-6.33359542e-01 7.72375904e-01 -4.78659910e-02 -1.94736122e+02] [-7.58822818e-02 -4.30863665e-04 9.97116690e-01 -2.54826130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.19, Y:-194.77, Z:-25.49 [[ 7.68972694e-01 6.36565340e-01 5.88690434e-02 4.05188455e+02] [-6.34762152e-01 7.71222580e-01 -4.78825814e-02 -1.94774578e+02] [-7.58815273e-02 -5.47443106e-04 9.97116690e-01 -2.54877944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.24, Y:-194.81, Z:-25.49 [[ 7.67077885e-01 6.38848596e-01 5.88556654e-02 4.05237756e+02] [-6.37050844e-01 7.69332117e-01 -4.78990196e-02 -1.94812911e+02] [-7.58797751e-02 -7.51772698e-04 9.97116691e-01 -2.54928649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.29, Y:-194.85, Z:-25.50 [[ 7.63416049e-01 6.43221193e-01 5.88424490e-02 4.05287269e+02] [-6.41435100e-01 7.65679529e-01 -4.79152501e-02 -1.94850933e+02] [-7.58745630e-02 -1.16434127e-03 9.97116691e-01 -2.54983233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.34, Y:-194.89, Z:-25.50 [[ 7.59903988e-01 6.47367147e-01 5.88362664e-02 4.05337287e+02] [-6.45592814e-01 7.62176699e-01 -4.79228406e-02 -1.94889495e+02] [-7.58673039e-02 -1.56751302e-03 9.97116691e-01 -2.55021834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.39, Y:-194.93, Z:-25.51 [[ 7.58270539e-01 6.49280900e-01 5.88226382e-02 4.05385860e+02] [-6.47511006e-01 7.60546708e-01 -4.79395627e-02 -1.94927606e+02] [-7.58636063e-02 -1.73714752e-03 9.97116691e-01 -2.55065335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.43, Y:-194.97, Z:-25.51 [[ 7.56730829e-01 6.51075906e-01 5.88100061e-02 4.05434746e+02] [-6.49310208e-01 7.59010255e-01 -4.79550542e-02 -1.94965744e+02] [-7.58597780e-02 -1.89686938e-03 9.97116691e-01 -2.55111307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.48, Y:-195.00, Z:-25.52 [[ 7.55503317e-01 6.52501019e-01 5.87976024e-02 4.05484333e+02] [-6.50738438e-01 7.57785154e-01 -4.79702576e-02 -1.95003483e+02] [-7.58565921e-02 -2.02017122e-03 9.97116691e-01 -2.55167837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.53, Y:-195.04, Z:-25.52 [[ 7.55000294e-01 6.53084143e-01 5.87848520e-02 4.05533383e+02] [-6.51322110e-01 7.57282553e-01 -4.79858773e-02 -1.95043051e+02] [-7.58555584e-02 -2.05852237e-03 9.97116692e-01 -2.55223675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.58, Y:-195.08, Z:-25.53 [[ 7.56243199e-01 6.51645656e-01 5.87721298e-02 4.05582797e+02] [-6.49878072e-01 7.58521161e-01 -4.80014543e-02 -1.95080041e+02] [-7.58598433e-02 -1.89394507e-03 9.97116692e-01 -2.55305526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.63, Y:-195.12, Z:-25.53 [[ 7.55892444e-01 6.52053550e-01 5.87603789e-02 4.05630066e+02] [-6.50286078e-01 7.58170493e-01 -4.80158346e-02 -1.95120989e+02] [-7.58592809e-02 -1.91624980e-03 9.97116692e-01 -2.55328399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.68, Y:-195.16, Z:-25.54 [[ 7.56519135e-01 6.51327436e-01 5.87483549e-02 4.05678426e+02] [-6.49556637e-01 7.58794598e-01 -4.80305417e-02 -1.95160663e+02] [-7.58615440e-02 -1.82435996e-03 9.97116692e-01 -2.55381573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.73, Y:-195.20, Z:-25.54 [[ 7.58268428e-01 6.49291320e-01 5.87347630e-02 4.05725832e+02] [-6.47513124e-01 7.60538115e-01 -4.80471571e-02 -1.95201978e+02] [-7.58666280e-02 -1.59888756e-03 9.97116692e-01 -2.55428769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.77, Y:-195.24, Z:-25.55 [[ 7.59646678e-01 6.47679516e-01 5.87211213e-02 4.05771321e+02] [-6.45895216e-01 7.61911569e-01 -4.80638237e-02 -1.95241805e+02] [-7.58702557e-02 -1.41616733e-03 9.97116693e-01 -2.55479674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.82, Y:-195.28, Z:-25.55 [[ 7.61307377e-01 6.45727184e-01 5.87152542e-02 4.05817739e+02] [-6.43936523e-01 7.63567243e-01 -4.80709899e-02 -1.95282887e+02] [-7.58737897e-02 -1.21209742e-03 9.97116693e-01 -2.55491374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.87, Y:-195.32, Z:-25.55 [[ 7.61581906e-01 6.45404469e-01 5.87032491e-02 4.05865828e+02] [-6.43611721e-01 7.63840117e-01 -4.80856458e-02 -1.95323122e+02] [-7.58745873e-02 -1.16094140e-03 9.97116693e-01 -2.55543348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.91, Y:-195.36, Z:-25.56 [[ 7.61015553e-01 6.46073412e-01 5.86896483e-02 4.05912415e+02] [-6.44281369e-01 7.63274323e-01 -4.81022402e-02 -1.95362214e+02] [-7.58738800e-02 -1.20609403e-03 9.97116693e-01 -2.55621874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:405.96, Y:-195.40, Z:-25.57 [[ 7.59210362e-01 6.48194744e-01 5.86787809e-02 4.05958978e+02] [-6.46407989e-01 7.61473316e-01 -4.81154935e-02 -1.95403463e+02] [-7.58705359e-02 -1.40065148e-03 9.97116693e-01 -2.55666295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.01, Y:-195.44, Z:-25.57 [[ 7.59362840e-01 6.48016549e-01 5.86739240e-02 4.06006772e+02] [-6.46228805e-01 7.61625013e-01 -4.81214155e-02 -1.95441580e+02] [-7.58710017e-02 -1.37516506e-03 9.97116693e-01 -2.55707188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.05, Y:-195.48, Z:-25.57 [[ 7.59286221e-01 6.48107464e-01 5.86613133e-02 4.06054643e+02] [-6.46318803e-01 7.61547670e-01 -4.81367833e-02 -1.95481759e+02] [-7.58711950e-02 -1.36431351e-03 9.97116693e-01 -2.55739751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.10, Y:-195.52, Z:-25.58 [[ 7.58445358e-01 6.49092369e-01 5.86492481e-02 4.06102545e+02] [-6.47305510e-01 7.60708230e-01 -4.81514789e-02 -1.95521646e+02] [-7.58697233e-02 -1.44371582e-03 9.97116694e-01 -2.55776071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.15, Y:-195.56, Z:-25.58 [[ 7.57731168e-01 6.49927214e-01 5.86352517e-02 4.06150361e+02] [-6.48141531e-01 7.59994967e-01 -4.81685167e-02 -1.95559847e+02] [-7.58685261e-02 -1.50515537e-03 9.97116694e-01 -2.55844718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.20, Y:-195.60, Z:-25.59 [[ 7.57479252e-01 6.50221967e-01 5.86223254e-02 4.06199155e+02] [-6.48435948e-01 7.59742786e-01 -4.81842432e-02 -1.95599554e+02] [-7.58683422e-02 -1.51425865e-03 9.97116694e-01 -2.55895456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:406.25, Y:-195.64, Z:-25.59 [[ 7.56419515e-01 6.51455708e-01 5.86086817e-02 4.06245249e+02] [-6.49672096e-01 7.58684946e-01 -4.82008330e-02 -1.95641902e+02] [-7.58662323e-02 -1.61637434e-03 9.97116694e-01 -2.55888927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.29, Y:-195.68, Z:-25.59 [[ 7.57133986e-01 6.50626322e-01 5.85962180e-02 4.06293493e+02] [-6.48839056e-01 7.59396536e-01 -4.82159800e-02 -1.95681174e+02] [-7.58683507e-02 -1.51355760e-03 9.97116695e-01 -2.55942975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.34, Y:-195.72, Z:-25.60 [[ 7.57499925e-01 6.50201370e-01 5.85836353e-02 4.06340580e+02] [-6.48411653e-01 7.59760537e-01 -4.82312635e-02 -1.95721628e+02] [-7.58695678e-02 -1.45113337e-03 9.97116695e-01 -2.55989244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.39, Y:-195.76, Z:-25.61 [[ 7.61552461e-01 6.45450513e-01 5.85788809e-02 4.06389797e+02] [-6.43646247e-01 7.63801477e-01 -4.82370372e-02 -1.95756530e+02] [-7.58772562e-02 -9.69042461e-04 9.97116695e-01 -2.56071634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.44, Y:-195.80, Z:-25.61 [[ 7.62815437e-01 6.43957953e-01 5.85727267e-02 4.06438008e+02] [-6.42148713e-01 7.65060454e-01 -4.82445089e-02 -1.95796798e+02] [-7.58791120e-02 -8.10744950e-04 9.97116695e-01 -2.56113540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:406.49, Y:-195.84, Z:-25.62 [[ 7.63905694e-01 6.42665452e-01 5.85594467e-02 4.06486434e+02] [-6.40851178e-01 7.66146644e-01 -4.82606229e-02 -1.95835849e+02] [-7.58805586e-02 -6.61325789e-04 9.97116695e-01 -2.56166912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:407.05, Y:-195.33, Z:-24.66 [[ 8.23339443e-01 5.64521517e-01 5.85458729e-02 4.07050476e+02] [-5.62494741e-01 8.25390205e-01 -4.82770840e-02 -1.95327277e+02] [-7.55766426e-02 6.81668183e-03 9.97116695e-01 -2.46610869e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.10, Y:-195.36, Z:-24.66 [[ 8.22696722e-01 5.64996813e-01 6.28387238e-02 4.07100933e+02] [-5.63446898e-01 8.25092492e-01 -4.18326874e-02 -1.95363356e+02] [-7.54830942e-02 -9.90669205e-04 9.97146590e-01 -2.46619616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.15, Y:-195.40, Z:-24.67 [[ 8.23444502e-01 5.63907822e-01 6.28261176e-02 4.07153904e+02] [-5.62353294e-01 8.25837281e-01 -4.18516113e-02 -1.95395687e+02] [-7.54846011e-02 -8.67994935e-04 9.97146590e-01 -2.46673326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.21, Y:-195.43, Z:-24.68 [[ 8.25197823e-01 5.61340272e-01 6.28144319e-02 4.07205901e+02] [-5.59776964e-01 8.27584875e-01 -4.18691428e-02 -1.95426981e+02] [-7.54871098e-02 -6.11746514e-04 9.97146590e-01 -2.46768374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.26, Y:-195.46, Z:-24.68 [[ 8.25069176e-01 5.61530460e-01 6.28044413e-02 4.07258010e+02] [-5.59966562e-01 8.27455841e-01 -4.18841237e-02 -1.95461783e+02] [-7.54871130e-02 -6.11087622e-04 9.97146590e-01 -2.46821225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.31, Y:-195.50, Z:-24.68 [[ 8.23152314e-01 5.64338054e-01 6.27919517e-02 4.07307574e+02] [-5.62780869e-01 8.25543364e-01 -4.19028396e-02 -1.95497440e+02] [-7.54848459e-02 -8.45689755e-04 9.97146590e-01 -2.46808053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.36, Y:-195.53, Z:-24.69 [[ 8.24159450e-01 5.62867325e-01 6.27819691e-02 4.07359427e+02] [-5.61304734e-01 8.26546971e-01 -4.19177910e-02 -1.95529853e+02] [-7.54864012e-02 -6.92872891e-04 9.97146591e-01 -2.46906482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.41, Y:-195.56, Z:-24.69 [[ 8.22283202e-01 5.65605220e-01 6.27779539e-02 4.07409060e+02] [-5.64050119e-01 8.24675608e-01 -4.19238034e-02 -1.95564937e+02] [-7.54837693e-02 -9.36673092e-04 9.97146591e-01 -2.46926942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.46, Y:-195.60, Z:-24.70 [[ 8.22936858e-01 5.64654908e-01 6.27675274e-02 4.07459975e+02] [-5.63095855e-01 8.25326690e-01 -4.19394080e-02 -1.95599401e+02] [-7.54850082e-02 -8.30649831e-04 9.97146591e-01 -2.47022389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.51, Y:-195.63, Z:-24.70 [[ 8.22681838e-01 5.65026852e-01 6.27634488e-02 4.07510445e+02] [-5.63468413e-01 8.25072070e-01 -4.19455108e-02 -1.95634990e+02] [-7.54847086e-02 -8.57410962e-04 9.97146591e-01 -2.47017545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.56, Y:-195.67, Z:-24.71 [[ 8.22184090e-01 5.65752066e-01 6.27528601e-02 4.07560726e+02] [-5.64194527e-01 8.24574909e-01 -4.19613461e-02 -1.95669915e+02] [-7.54841522e-02 -9.04869089e-04 9.97146591e-01 -2.47085995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.61, Y:-195.70, Z:-24.71 [[ 8.20320211e-01 5.68452563e-01 6.27410179e-02 4.07612974e+02] [-5.66901541e-01 8.22715262e-01 -4.19790452e-02 -1.95701736e+02] [-7.54810889e-02 -1.13172050e-03 9.97146591e-01 -2.47098193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.67, Y:-195.74, Z:-24.72 [[ 8.18823538e-01 5.70607067e-01 6.27342644e-02 4.07665726e+02] [-5.69061574e-01 8.21222161e-01 -4.19891354e-02 -1.95735845e+02] [-7.54780656e-02 -1.31796682e-03 9.97146591e-01 -2.47160944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.72, Y:-195.77, Z:-24.72 [[ 8.17681825e-01 5.72243218e-01 6.27226629e-02 4.07718280e+02] [-5.70701196e-01 8.20082681e-01 -4.20064584e-02 -1.95769476e+02] [-7.54756805e-02 -1.44798116e-03 9.97146592e-01 -2.47214794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.77, Y:-195.80, Z:-24.73 [[ 8.17381906e-01 5.72672793e-01 6.27111748e-02 4.07770858e+02] [-5.71130718e-01 8.19782727e-01 -4.20236020e-02 -1.95804626e+02] [-7.54753114e-02 -1.46694639e-03 9.97146592e-01 -2.47260776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.82, Y:-195.84, Z:-24.73 [[ 8.17483068e-01 5.72529617e-01 6.26998469e-02 4.07821242e+02] [-5.70985826e-01 8.19882786e-01 -4.20404966e-02 -1.95839154e+02] [-7.54759546e-02 -1.43332974e-03 9.97146592e-01 -2.47287975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.87, Y:-195.87, Z:-24.73 [[ 8.18016753e-01 5.71767433e-01 6.26944584e-02 4.07872949e+02] [-5.70220790e-01 8.20414634e-01 -4.20485309e-02 -1.95873383e+02] [-7.54774317e-02 -1.35328090e-03 9.97146592e-01 -2.47323791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.93, Y:-195.91, Z:-24.74 [[ 8.17814435e-01 5.72057907e-01 6.26841440e-02 4.07925788e+02] [-5.70510938e-01 8.20212105e-01 -4.20639016e-02 -1.95907288e+02] [-7.54772812e-02 -1.36152388e-03 9.97146592e-01 -2.47362664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:407.98, Y:-195.94, Z:-24.74 [[ 8.17459122e-01 5.72566839e-01 6.26721622e-02 4.07978858e+02] [-5.71019995e-01 8.19856873e-01 -4.20817461e-02 -1.95941257e+02] [-7.54768152e-02 -1.38695056e-03 9.97146592e-01 -2.47416710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.03, Y:-195.97, Z:-24.75 [[ 8.17222198e-01 5.72906264e-01 6.26601293e-02 4.08031319e+02] [-5.71359043e-01 8.19619706e-01 -4.20996555e-02 -1.95974441e+02] [-7.54766331e-02 -1.39665854e-03 9.97146593e-01 -2.47472975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.08, Y:-196.01, Z:-24.75 [[ 8.16819174e-01 5.73481941e-01 6.26490156e-02 4.08084378e+02] [-5.71935144e-01 8.19216954e-01 -4.21161875e-02 -1.96007782e+02] [-7.54760087e-02 -1.42986418e-03 9.97146593e-01 -2.47526359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.14, Y:-196.04, Z:-24.76 [[ 8.16279222e-01 5.74251531e-01 6.26371376e-02 4.08137758e+02] [-5.72705639e-01 8.18677586e-01 -4.21338457e-02 -1.96041493e+02] [-7.54750460e-02 -1.47965915e-03 9.97146593e-01 -2.47595892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.19, Y:-196.07, Z:-24.76 [[ 8.15613470e-01 5.75197338e-01 6.26313897e-02 4.08190556e+02] [-5.73653571e-01 8.18013202e-01 -4.21423881e-02 -1.96073143e+02] [-7.54734931e-02 -1.55682096e-03 9.97146593e-01 -2.47624906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.24, Y:-196.11, Z:-24.77 [[ 8.15532758e-01 5.75313105e-01 6.26191006e-02 4.08242857e+02] [-5.73768279e-01 8.17931808e-01 -4.21606405e-02 -1.96107270e+02] [-7.54737232e-02 -1.54547016e-03 9.97146593e-01 -2.47663910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.30, Y:-196.14, Z:-24.77 [[ 8.16119081e-01 5.74482374e-01 6.26070883e-02 4.08295038e+02] [-5.72933739e-01 8.18515674e-01 -4.21784709e-02 -1.96142405e+02] [-7.54756711e-02 -1.44705829e-03 9.97146594e-01 -2.47705930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:-196.18, Z:-24.77 [[ 8.17665352e-01 5.72280711e-01 6.25952087e-02 4.08347512e+02] [-5.70724273e-01 8.20056885e-01 -4.21960935e-02 -1.96177535e+02] [-7.54796422e-02 -1.22232130e-03 9.97146594e-01 -2.47745839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.40, Y:-196.21, Z:-24.78 [[ 8.19111808e-01 5.70209773e-01 6.25832350e-02 4.08399687e+02] [-5.68645932e-01 8.21498506e-01 -4.22138449e-02 -1.96211988e+02] [-7.54827810e-02 -1.00984319e-03 9.97146594e-01 -2.47792948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.45, Y:-196.25, Z:-24.79 [[ 8.22271196e-01 5.65645617e-01 6.25708925e-02 4.08450770e+02] [-5.64067135e-01 8.24648236e-01 -4.22321316e-02 -1.96246744e+02] [-7.54873962e-02 -5.67918743e-04 9.97146594e-01 -2.47851473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.50, Y:-196.28, Z:-24.79 [[ 8.27461254e-01 5.58027045e-01 6.25594892e-02 4.08502439e+02] [-5.56425401e-01 8.29822749e-01 -4.22490168e-02 -1.96282360e+02] [-7.54893813e-02 1.49735540e-04 9.97146595e-01 -2.47926195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.55, Y:-196.32, Z:-24.80 [[ 8.30611887e-01 5.53327909e-01 6.25469330e-02 4.08554138e+02] [-5.51711505e-01 8.32963304e-01 -4.22675972e-02 -1.96318305e+02] [-7.54871412e-02 6.00106082e-04 9.97146595e-01 -2.47975557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.60, Y:-196.35, Z:-24.80 [[ 8.34538657e-01 5.47388966e-01 6.25343891e-02 4.08604752e+02] [-5.45754441e-01 8.36877513e-01 -4.22861477e-02 -1.96354513e+02] [-7.54805947e-02 1.16100433e-03 9.97146595e-01 -2.48007569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.66, Y:-196.39, Z:-24.80 [[ 8.36523241e-01 5.44352610e-01 6.25228230e-02 4.08656663e+02] [-5.42708320e-01 8.38855241e-01 -4.23032421e-02 -1.96390018e+02] [-7.54754780e-02 1.45598895e-03 9.97146595e-01 -2.48047714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.71, Y:-196.42, Z:-24.81 [[ 8.36592556e-01 5.44247432e-01 6.25110233e-02 4.08709091e+02] [-5.42601546e-01 8.38923431e-01 -4.23206713e-02 -1.96424431e+02] [-7.54748787e-02 1.48658070e-03 9.97146595e-01 -2.48098602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.76, Y:-196.46, Z:-24.81 [[ 8.33723463e-01 5.48633786e-01 6.24992528e-02 4.08760391e+02] [-5.46998863e-01 8.36062040e-01 -4.23380468e-02 -1.96460329e+02] [-7.54813357e-02 1.11120281e-03 9.97146596e-01 -2.48128052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.81, Y:-196.49, Z:-24.82 [[ 8.32517250e-01 5.50462967e-01 6.24944085e-02 4.08813187e+02] [-5.48832646e-01 8.34859037e-01 -4.23451962e-02 -1.96491357e+02] [-7.54834840e-02 9.54134752e-04 9.97146596e-01 -2.48207216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.87, Y:-196.52, Z:-24.83 [[ 8.28193709e-01 5.56947881e-01 6.24839125e-02 4.08866521e+02] [-5.55334730e-01 8.30547356e-01 -4.23606782e-02 -1.96523914e+02] [-7.54885383e-02 3.83360549e-04 9.97146596e-01 -2.48251850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.92, Y:-196.56, Z:-24.83 [[ 8.23391721e-01 5.64024226e-01 6.24719597e-02 4.08919994e+02] [-5.62429965e-01 8.25758205e-01 -4.23782985e-02 -1.96556052e+02] [-7.54891203e-02 -2.42161997e-04 9.97146596e-01 -2.48298244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:408.97, Y:-196.59, Z:-24.83 [[ 8.20429555e-01 5.68325682e-01 6.24601105e-02 4.08973026e+02] [-5.66742499e-01 8.22803464e-01 -4.23957556e-02 -1.96589785e+02] [-7.54869919e-02 -6.16068176e-04 9.97146596e-01 -2.48342095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.03, Y:-196.62, Z:-24.84 [[ 8.17098526e-01 5.73105780e-01 6.24480891e-02 4.09026194e+02] [-5.71535131e-01 8.19480746e-01 -4.24134555e-02 -1.96623420e+02] [-7.54824031e-02 -1.03530479e-03 9.97146597e-01 -2.48378957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.08, Y:-196.66, Z:-24.84 [[ 8.14295516e-01 5.77082810e-01 6.24359117e-02 4.09077430e+02] [-5.75522421e-01 8.16684469e-01 -4.24313740e-02 -1.96659424e+02] [-7.54768559e-02 -1.38158952e-03 9.97146597e-01 -2.48401151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.13, Y:-196.69, Z:-24.85 [[ 8.12181435e-01 5.80054792e-01 6.24320014e-02 4.09128382e+02] [-5.78502702e-01 8.14575788e-01 -4.24371266e-02 -1.96691521e+02] [-7.54714554e-02 -1.65043514e-03 9.97146597e-01 -2.48484556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.18, Y:-196.73, Z:-24.85 [[ 8.10351870e-01 5.82609079e-01 6.24220192e-02 4.09180106e+02] [-5.81063406e-01 8.12750369e-01 -4.24518047e-02 -1.96727064e+02] [-7.54663260e-02 -1.87025171e-03 9.97146597e-01 -2.48529379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.23, Y:-196.76, Z:-24.86 [[ 8.08283207e-01 5.85476933e-01 6.24100728e-02 4.09231474e+02] [-5.83938415e-01 8.10686303e-01 -4.24693604e-02 -1.96761886e+02] [-7.54598221e-02 -2.11636813e-03 9.97146597e-01 -2.48595436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.28, Y:-196.80, Z:-24.86 [[ 8.08378856e-01 5.85345968e-01 6.23996990e-02 4.09281173e+02] [-5.83805885e-01 8.10780949e-01 -4.24845971e-02 -1.96799656e+02] [-7.54606748e-02 -2.08566149e-03 9.97146597e-01 -2.48647362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.33, Y:-196.84, Z:-24.87 [[ 8.09803635e-01 5.83374397e-01 6.23889819e-02 4.09330726e+02] [-5.81827254e-01 8.12201187e-01 -4.25003294e-02 -1.96837927e+02] [-7.54660092e-02 -1.88268877e-03 9.97146598e-01 -2.48681711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.38, Y:-196.88, Z:-24.87 [[ 8.14076979e-01 5.77397498e-01 6.23762873e-02 4.09378273e+02] [-5.75831322e-01 8.16462141e-01 -4.25189526e-02 -1.96876749e+02] [-7.54782140e-02 -1.30451944e-03 9.97146598e-01 -2.48721442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.43, Y:-196.91, Z:-24.88 [[ 8.15760896e-01 5.75017060e-01 6.23661819e-02 4.09428679e+02] [-5.73442791e-01 8.18140724e-01 -4.25337700e-02 -1.96913643e+02] [-7.54819566e-02 -1.06605103e-03 9.97146598e-01 -2.48764753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.48, Y:-196.95, Z:-24.88 [[ 8.21818135e-01 5.66327545e-01 6.23543493e-02 4.09475883e+02] [-5.64726793e-01 8.24180230e-01 -4.25511095e-02 -1.96953637e+02] [-7.54890874e-02 -2.43898275e-04 9.97146598e-01 -2.48816682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.53, Y:-196.99, Z:-24.89 [[ 8.26087957e-01 5.60082124e-01 6.23434148e-02 4.09525610e+02] [-5.58462306e-01 8.28437018e-01 -4.25671241e-02 -1.96992824e+02] [-7.54886780e-02 3.47741465e-04 9.97146598e-01 -2.48854356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.57, Y:-197.03, Z:-24.89 [[ 8.32791470e-01 5.50066525e-01 6.23312567e-02 4.09572326e+02] [-5.48417128e-01 8.35119858e-01 -4.25849198e-02 -1.97031487e+02] [-7.54786091e-02 1.28082914e-03 9.97146599e-01 -2.48915959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.62, Y:-197.07, Z:-24.90 [[ 8.37813134e-01 5.42388400e-01 6.23215585e-02 4.09620618e+02] [-5.40716617e-01 8.40125501e-01 -4.25991081e-02 -1.97070669e+02] [-7.54631926e-02 1.99178998e-03 9.97146599e-01 -2.48960374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.67, Y:-197.11, Z:-24.90 [[ 8.38868870e-01 5.40755402e-01 6.23106199e-02 4.09668581e+02] [-5.39077931e-01 8.41177114e-01 -4.26151023e-02 -1.97109961e+02] [-7.54586142e-02 2.15820265e-03 9.97146599e-01 -2.48964368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.72, Y:-197.14, Z:-24.91 [[ 8.40713028e-01 5.37885053e-01 6.22998675e-02 4.09718619e+02] [-5.36198540e-01 8.43014673e-01 -4.26308157e-02 -1.97144030e+02] [-7.54501810e-02 2.43518422e-03 9.97146599e-01 -2.49050339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.77, Y:-197.18, Z:-24.90 [[ 8.36848890e-01 5.43878540e-01 6.22901955e-02 4.09766025e+02] [-5.42207466e-01 8.39161768e-01 -4.26449432e-02 -1.97184990e+02] [-7.54652201e-02 1.91316437e-03 9.97146599e-01 -2.49016531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.82, Y:-197.22, Z:-24.91 [[ 8.34092614e-01 5.48096643e-01 6.22862895e-02 4.09818268e+02] [-5.46436841e-01 8.36413594e-01 -4.26506475e-02 -1.97218205e+02] [-7.54737760e-02 1.53906679e-03 9.97146599e-01 -2.49083542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.87, Y:-197.25, Z:-24.91 [[ 8.31022977e-01 5.52741044e-01 6.22747886e-02 4.09870712e+02] [-5.51092958e-01 8.33352292e-01 -4.26674336e-02 -1.97252135e+02] [-7.54808796e-02 1.13842027e-03 9.97146599e-01 -2.49138523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.92, Y:-197.28, Z:-24.92 [[ 8.27233369e-01 5.58398155e-01 6.22611803e-02 4.09924806e+02] [-5.56764506e-01 8.29572831e-01 -4.26872818e-02 -1.97280640e+02] [-7.54866830e-02 6.47528675e-04 9.97146600e-01 -2.49246514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:409.98, Y:-197.31, Z:-24.93 [[ 8.20977460e-01 5.67556963e-01 6.22503293e-02 4.09978330e+02] [-5.65948214e-01 8.23334114e-01 -4.27031000e-02 -1.97313757e+02] [-7.54892615e-02 -1.72180104e-04 9.97146600e-01 -2.49294929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.03, Y:-197.35, Z:-24.93 [[ 8.14921347e-01 5.76220104e-01 6.22381790e-02 4.10026672e+02] [-5.74635053e-01 8.17294004e-01 -4.27208013e-02 -1.97351816e+02] [-7.54834751e-02 -9.50146305e-04 9.97146600e-01 -2.49278806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.08, Y:-197.39, Z:-24.93 [[ 8.11325430e-01 5.81272639e-01 6.22347639e-02 4.10079045e+02] [-5.79701980e-01 8.13707639e-01 -4.27257757e-02 -1.97385231e+02] [-7.54762272e-02 -1.41310754e-03 9.97146600e-01 -2.49328891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.13, Y:-197.42, Z:-24.94 [[ 8.09818769e-01 5.83371093e-01 6.22232230e-02 4.10130059e+02] [-5.81805316e-01 8.12204190e-01 -4.27425766e-02 -1.97420816e+02] [-7.54727461e-02 -1.58806115e-03 9.97146600e-01 -2.49380128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.18, Y:-197.45, Z:-24.95 [[ 8.11804088e-01 5.80606538e-01 6.22106975e-02 4.10182804e+02] [-5.79031242e-01 8.14183232e-01 -4.27607994e-02 -1.97451060e+02] [-7.54781065e-02 -1.30854564e-03 9.97146601e-01 -2.49491988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.23, Y:-197.49, Z:-24.95 [[ 8.10208857e-01 5.82831080e-01 6.22056298e-02 4.10230861e+02] [-5.81261749e-01 8.12591941e-01 -4.27681703e-02 -1.97491934e+02] [-7.54744123e-02 -1.50660283e-03 9.97146601e-01 -2.49498541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.28, Y:-197.52, Z:-24.96 [[ 8.11243946e-01 5.81389983e-01 6.22008703e-02 4.10282577e+02] [-5.79815889e-01 8.13623885e-01 -4.27750912e-02 -1.97524275e+02] [-7.54771234e-02 -1.36401910e-03 9.97146601e-01 -2.49592844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.33, Y:-197.56, Z:-24.97 [[ 8.10625277e-01 5.82253548e-01 6.21889554e-02 4.10332134e+02] [-5.80680661e-01 8.13006015e-01 -4.27924069e-02 -1.97560295e+02] [-7.54760255e-02 -1.42331702e-03 9.97146601e-01 -2.49692571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:410.38, Y:-197.60, Z:-24.97 [[ 8.09970331e-01 5.83165422e-01 6.21783927e-02 4.10378076e+02] [-5.81594038e-01 8.12352061e-01 -4.28077493e-02 -1.97602950e+02] [-7.54747446e-02 -1.48957561e-03 9.97146601e-01 -2.49733073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.91, Y:-197.02, Z:-24.00 [[ 8.69054557e-01 4.90794862e-01 6.21657554e-02 4.10912031e+02] [-4.88970396e-01 8.71248459e-01 -4.28260935e-02 -1.97024798e+02] [-7.51806452e-02 6.82099766e-03 9.97146601e-01 -2.40020202e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:410.96, Y:-197.06, Z:-24.00 [[ 8.70937025e-01 4.86955933e-01 6.58985449e-02 4.10963858e+02] [-4.85624021e-01 8.73426297e-01 -3.59974190e-02 -1.97058994e+02] [-7.50866789e-02 -6.50431292e-04 9.97176799e-01 -2.40024031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.02, Y:-197.09, Z:-24.00 [[ 8.72810474e-01 4.83591152e-01 6.58898706e-02 4.11017632e+02] [-4.82248445e-01 8.75293939e-01 -3.60132896e-02 -1.97089465e+02] [-7.50887126e-02 -3.42511274e-04 9.97176799e-01 -2.40046725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.07, Y:-197.12, Z:-24.01 [[ 8.76734209e-01 4.76441828e-01 6.58810380e-02 4.11071136e+02] [-4.75077655e-01 8.79205949e-01 -3.60294403e-02 -1.97119114e+02] [-7.50889330e-02 2.89633725e-04 9.97176799e-01 -2.40083836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.12, Y:-197.15, Z:-24.00 [[ 8.78756691e-01 4.72701809e-01 6.58762304e-02 4.11123310e+02] [-4.71326459e-01 8.81222228e-01 -3.60382284e-02 -1.97152112e+02] [-7.50869343e-02 6.19623995e-04 9.97176799e-01 -2.40045509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.18, Y:-197.18, Z:-24.01 [[ 8.84431265e-01 4.61998441e-01 6.58693942e-02 4.11178211e+02] [-4.60592329e-01 8.86879390e-01 -3.60507190e-02 -1.97177266e+02] [-7.50735842e-02 1.54544533e-03 9.97176799e-01 -2.40144071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.23, Y:-197.21, Z:-24.01 [[ 8.85534583e-01 4.59880766e-01 6.58648885e-02 4.11231719e+02] [-4.58468188e-01 8.87978982e-01 -3.60589491e-02 -1.97208989e+02] [-7.50694538e-02 1.73449043e-03 9.97176799e-01 -2.40123652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.29, Y:-197.23, Z:-24.02 [[ 8.89325529e-01 4.52506559e-01 6.58628670e-02 4.11288062e+02] [-4.51073446e-01 8.91757945e-01 -3.60626411e-02 -1.97231751e+02] [-7.50523166e-02 2.36243706e-03 9.97176799e-01 -2.40244099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.35, Y:-197.26, Z:-24.03 [[ 8.90676072e-01 4.49843694e-01 6.58542836e-02 4.11345044e+02] [-4.48402152e-01 8.93103502e-01 -3.60783086e-02 -1.97258883e+02] [-7.50442909e-02 2.60488374e-03 9.97176799e-01 -2.40291536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.40, Y:-197.29, Z:-24.03 [[ 8.87882530e-01 4.55334093e-01 6.58443349e-02 4.11400130e+02] [-4.53906221e-01 8.90318027e-01 -3.60964562e-02 -1.97289235e+02] [-7.50583455e-02 2.16225970e-03 9.97176799e-01 -2.40290478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.46, Y:-197.30, Z:-24.04 [[ 8.76954308e-01 4.76042511e-01 6.58382112e-02 4.11463597e+02] [-4.74671342e-01 8.79422172e-01 -3.61076220e-02 -1.97299234e+02] [-7.50883458e-02 4.13222621e-04 9.97176800e-01 -2.40389171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.52, Y:-197.32, Z:-24.04 [[ 8.74272784e-01 4.80950734e-01 6.58292548e-02 4.11520544e+02] [-4.79592190e-01 8.76747621e-01 -3.61239435e-02 -1.97323356e+02] [-7.50894797e-02 1.09841049e-05 9.97176800e-01 -2.40442068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.58, Y:-197.35, Z:-24.05 [[ 8.74137086e-01 4.81198585e-01 6.58200235e-02 4.11575944e+02] [-4.79839478e-01 8.76611614e-01 -3.61407557e-02 -1.97353850e+02] [-7.50894776e-02 8.92919811e-06 9.97176800e-01 -2.40489754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.63, Y:-197.38, Z:-24.05 [[ 8.72447849e-01 4.84255946e-01 6.58097951e-02 4.11631059e+02] [-4.82904105e-01 8.74926354e-01 -3.61593714e-02 -1.97382610e+02] [-7.50891147e-02 -2.32654362e-04 9.97176800e-01 -2.40543076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.68, Y:-197.41, Z:-24.06 [[ 8.70192514e-01 4.88298375e-01 6.58003503e-02 4.11684955e+02] [-4.86956749e-01 8.72676562e-01 -3.61765503e-02 -1.97413805e+02] [-7.50873742e-02 -5.61361389e-04 9.97176800e-01 -2.40567227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.74, Y:-197.44, Z:-24.06 [[ 8.68562136e-01 4.91193025e-01 6.57968647e-02 4.11739959e+02] [-4.89859197e-01 8.71050380e-01 -3.61828887e-02 -1.97443146e+02] [-7.50851666e-02 -8.04112225e-04 9.97176800e-01 -2.40620991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.80, Y:-197.47, Z:-24.07 [[ 8.66321673e-01 4.95135359e-01 6.57855209e-02 4.11796041e+02] [-4.93811288e-01 8.68815123e-01 -3.62035016e-02 -1.97469076e+02] [-7.50810892e-02 -1.12175479e-03 9.97176801e-01 -2.40694209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.85, Y:-197.50, Z:-24.07 [[ 8.60198628e-01 5.05699487e-01 6.57749942e-02 4.11850615e+02] [-5.04404567e-01 8.62707340e-01 -3.62226166e-02 -1.97498943e+02] [-7.50623289e-02 -2.01856234e-03 9.97176801e-01 -2.40742659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.91, Y:-197.52, Z:-24.08 [[ 8.61106739e-01 5.04152072e-01 6.57713695e-02 4.11906207e+02] [-5.02852142e-01 8.63612858e-01 -3.62291970e-02 -1.97524431e+02] [-7.50660251e-02 -1.87606839e-03 9.97176801e-01 -2.40798566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:411.96, Y:-197.56, Z:-24.08 [[ 8.62482648e-01 5.01795822e-01 6.57619589e-02 4.11960166e+02] [-5.00487744e-01 8.64984524e-01 -3.62462707e-02 -1.97555417e+02] [-7.50713039e-02 -1.65127487e-03 9.97176801e-01 -2.40832277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.01, Y:-197.59, Z:-24.08 [[ 8.63535364e-01 4.99983223e-01 6.57529611e-02 4.12012639e+02] [-4.98668651e-01 8.66033834e-01 -3.62625859e-02 -1.97588522e+02] [-7.50749736e-02 -1.47491514e-03 9.97176801e-01 -2.40823927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.07, Y:-197.62, Z:-24.09 [[ 8.67586066e-01 4.92922109e-01 6.57435326e-02 4.12065533e+02] [-4.91585904e-01 8.70073034e-01 -3.62796716e-02 -1.97616991e+02] [-7.50847271e-02 -8.42856377e-04 9.97176801e-01 -2.40919915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.12, Y:-197.65, Z:-24.10 [[ 8.69929700e-01 4.88774714e-01 6.57388434e-02 4.12118672e+02] [-4.87426011e-01 8.72409911e-01 -3.62881666e-02 -1.97648088e+02] [-7.50879568e-02 -4.74668295e-04 9.97176802e-01 -2.40968613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.17, Y:-197.68, Z:-24.10 [[ 8.74044050e-01 4.81379902e-01 6.57296616e-02 4.12170558e+02] [-4.80008964e-01 8.76512040e-01 -3.63047902e-02 -1.97680824e+02] [-7.50892361e-02 1.81159081e-04 9.97176802e-01 -2.41028332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.22, Y:-197.71, Z:-24.11 [[ 8.77342360e-01 4.75343137e-01 6.57212796e-02 4.12223262e+02] [-4.73954081e-01 8.79800199e-01 -3.63199575e-02 -1.97712663e+02] [-7.50860374e-02 7.16168514e-04 9.97176802e-01 -2.41079189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.28, Y:-197.74, Z:-24.11 [[ 8.83538050e-01 4.63726644e-01 6.57123659e-02 4.12276477e+02] [-4.62304084e-01 8.85976650e-01 -3.63360776e-02 -1.97744276e+02] [-7.50696291e-02 1.72521205e-03 9.97176802e-01 -2.41132490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.33, Y:-197.78, Z:-24.12 [[ 8.86986526e-01 4.57097374e-01 6.57030696e-02 4.12328751e+02] [-4.55655350e-01 8.89413667e-01 -3.63528795e-02 -1.97777244e+02] [-7.50540138e-02 2.30655915e-03 9.97176802e-01 -2.41151027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.38, Y:-197.81, Z:-24.12 [[ 8.93145766e-01 4.44943784e-01 6.56937582e-02 4.12382557e+02] [-4.43467520e-01 8.95552234e-01 -3.63696985e-02 -1.97807459e+02] [-7.50146632e-02 3.35039423e-03 9.97176802e-01 -2.41206394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.43, Y:-197.84, Z:-24.12 [[ 8.94043654e-01 4.43138235e-01 6.56844662e-02 4.12434527e+02] [-4.41655883e-01 8.96446376e-01 -3.63864723e-02 -1.97841017e+02] [-7.50068388e-02 3.52116371e-03 9.97176803e-01 -2.41205219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.49, Y:-197.87, Z:-24.13 [[ 8.95316016e-01 4.40563253e-01 6.56753454e-02 4.12488485e+02] [-4.39072788e-01 8.97713715e-01 -3.64029274e-02 -1.97869663e+02] [-7.49954504e-02 3.75586691e-03 9.97176803e-01 -2.41255000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.54, Y:-197.90, Z:-24.13 [[ 8.94530097e-01 4.42157559e-01 6.56703824e-02 4.12543552e+02] [-4.40670713e-01 8.96930041e-01 -3.64118783e-02 -1.97898058e+02] [-7.50015260e-02 3.63250679e-03 9.97176803e-01 -2.41305622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.60, Y:-197.92, Z:-24.14 [[ 8.91974648e-01 4.47291600e-01 6.56616445e-02 4.12600742e+02] [-4.45817416e-01 8.94382390e-01 -3.64276286e-02 -1.97923535e+02] [-7.50203909e-02 3.21941649e-03 9.97176803e-01 -2.41356044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.66, Y:-197.95, Z:-24.14 [[ 8.87984928e-01 4.55161255e-01 6.56582070e-02 4.12656920e+02] [-4.53707961e-01 8.90405336e-01 -3.64338235e-02 -1.97948589e+02] [-7.50456827e-02 2.56303489e-03 9.97176803e-01 -2.41393611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.71, Y:-197.98, Z:-24.14 [[ 8.85364861e-01 4.60238238e-01 6.56492776e-02 4.12712198e+02] [-4.58797635e-01 8.87792844e-01 -3.64499061e-02 -1.97976734e+02] [-7.50585994e-02 2.15173277e-03 9.97176803e-01 -2.41432330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.77, Y:-198.00, Z:-24.15 [[ 8.83399199e-01 4.64000492e-01 6.56460089e-02 4.12769419e+02] [-4.62569794e-01 8.85833032e-01 -3.64557920e-02 -1.97999331e+02] [-7.50669086e-02 1.83915662e-03 9.97176803e-01 -2.41484735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.82, Y:-198.03, Z:-24.15 [[ 8.81555949e-01 4.67494197e-01 6.56375214e-02 4.12824267e+02] [-4.66072009e-01 8.83994765e-01 -3.64710671e-02 -1.98027774e+02] [-7.50732375e-02 1.55947475e-03 9.97176803e-01 -2.41514574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.88, Y:-198.05, Z:-24.16 [[ 8.80135783e-01 4.70162901e-01 6.56342175e-02 4.12881336e+02] [-4.68747665e-01 8.82578639e-01 -3.64770119e-02 -1.98053161e+02] [-7.50774961e-02 1.33883727e-03 9.97176803e-01 -2.41579404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.94, Y:-198.08, Z:-24.16 [[ 8.81158760e-01 4.68243989e-01 6.56262593e-02 4.12938794e+02] [-4.66822368e-01 8.83597906e-01 -3.64913240e-02 -1.98075943e+02] [-7.50740684e-02 1.51884396e-03 9.97176803e-01 -2.41631128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:412.99, Y:-198.10, Z:-24.17 [[ 8.81257970e-01 4.68058022e-01 6.56207145e-02 4.12994413e+02] [-4.66635145e-01 8.83696383e-01 -3.65012924e-02 -1.98103368e+02] [-7.50735107e-02 1.54612321e-03 9.97176804e-01 -2.41655660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.05, Y:-198.13, Z:-24.17 [[ 8.82121075e-01 4.66430660e-01 6.56113433e-02 4.13050775e+02] [-4.65002033e-01 8.84556124e-01 -3.65181294e-02 -1.98131283e+02] [-7.50700907e-02 1.70400357e-03 9.97176804e-01 -2.41708479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.11, Y:-198.16, Z:-24.17 [[ 8.84379800e-01 4.62134747e-01 6.56037015e-02 4.13106193e+02] [-4.60693276e-01 8.86807267e-01 -3.65318525e-02 -1.98158624e+02] [-7.50604776e-02 2.08484818e-03 9.97176804e-01 -2.41739013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.16, Y:-198.18, Z:-24.18 [[ 8.88765430e-01 4.53644621e-01 6.55939619e-02 4.13163190e+02] [-4.52178683e-01 8.91178200e-01 -3.65493318e-02 -1.98181404e+02] [-7.50363167e-02 2.82359128e-03 9.97176804e-01 -2.41813469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.22, Y:-198.21, Z:-24.19 [[ 8.90382661e-01 4.50462853e-01 6.55891408e-02 4.13219133e+02] [-4.48987658e-01 8.92789783e-01 -3.65579815e-02 -1.98209549e+02] [-7.50253274e-02 3.10187810e-03 9.97176804e-01 -2.41854544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.28, Y:-198.24, Z:-24.19 [[ 8.90928065e-01 4.49384680e-01 6.55789097e-02 4.13275071e+02] [-4.47905226e-01 8.93332570e-01 -3.65763252e-02 -1.98238965e+02] [-7.50206162e-02 3.21373824e-03 9.97176804e-01 -2.41894760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.33, Y:-198.26, Z:-24.19 [[ 8.91591848e-01 4.48067793e-01 6.55685135e-02 4.13332718e+02] [-4.46583422e-01 8.93993321e-01 -3.65949525e-02 -1.98264513e+02] [-7.50148327e-02 3.34595019e-03 9.97176805e-01 -2.41934932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.39, Y:-198.29, Z:-24.19 [[ 8.88531053e-01 4.54108668e-01 6.55582584e-02 4.13388220e+02] [-4.52639276e-01 8.90941721e-01 -3.66133149e-02 -1.98292270e+02] [-7.50350112e-02 2.85782456e-03 9.97176805e-01 -2.41901019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.44, Y:-198.31, Z:-24.20 [[ 8.87546179e-01 4.56030837e-01 6.55565113e-02 4.13444459e+02] [-4.54566436e-01 8.89959882e-01 -3.66164428e-02 -1.98312902e+02] [-7.50408921e-02 2.69899415e-03 9.97176805e-01 -2.42033071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.50, Y:-198.34, Z:-24.21 [[ 8.82917546e-01 4.64929439e-01 6.55532167e-02 4.13503531e+02] [-4.63488937e-01 8.85345587e-01 -3.66223401e-02 -1.98336633e+02] [-7.50640552e-02 1.95131596e-03 9.97176805e-01 -2.42072434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.56, Y:-198.36, Z:-24.21 [[ 8.79588924e-01 4.71197896e-01 6.55428685e-02 4.13560389e+02] [-4.69773323e-01 8.82026345e-01 -3.66408508e-02 -1.98362374e+02] [-7.50756286e-02 1.43859547e-03 9.97176805e-01 -2.42122200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.62, Y:-198.39, Z:-24.22 [[ 8.75075546e-01 4.79529119e-01 6.55332980e-02 4.13618215e+02] [-4.78126474e-01 8.77525652e-01 -3.66579600e-02 -1.98386648e+02] [-7.50857093e-02 7.45279700e-04 9.97176805e-01 -2.42172011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.67, Y:-198.41, Z:-24.22 [[ 8.72297709e-01 4.84565203e-01 6.55230526e-02 4.13674519e+02] [-4.83175330e-01 8.74755081e-01 -3.66762637e-02 -1.98414674e+02] [-7.50886644e-02 3.33498263e-04 9.97176805e-01 -2.42224916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.73, Y:-198.44, Z:-24.23 [[ 8.69065413e-01 4.90340080e-01 6.55126944e-02 4.13730707e+02] [-4.88965141e-01 8.71531173e-01 -3.66947568e-02 -1.98441577e+02] [-7.50892653e-02 -1.43279883e-04 9.97176806e-01 -2.42281427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.79, Y:-198.47, Z:-24.23 [[ 8.66901401e-01 4.94157086e-01 6.55037007e-02 4.13786684e+02] [-4.92791792e-01 8.69372513e-01 -3.67108043e-02 -1.98470770e+02] [-7.50880210e-02 -4.55038366e-04 9.97176806e-01 -2.42331287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.84, Y:-198.50, Z:-24.24 [[ 8.63623582e-01 4.99864910e-01 6.54933642e-02 4.13842321e+02] [-4.98514548e-01 8.66102886e-01 -3.67292357e-02 -1.98500643e+02] [-7.50836479e-02 -9.29160754e-04 9.97176806e-01 -2.42377036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.90, Y:-198.53, Z:-24.24 [[ 8.61577602e-01 5.03384556e-01 6.54830163e-02 4.13896025e+02] [-5.02042920e-01 8.64061638e-01 -3.67476754e-02 -1.98531965e+02] [-7.50795746e-02 -1.21431068e-03 9.97176806e-01 -2.42425952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:413.95, Y:-198.56, Z:-24.25 [[ 8.61128547e-01 5.04153602e-01 6.54734433e-02 4.13949640e+02] [-5.02812889e-01 8.63613081e-01 -3.67647237e-02 -1.98564072e+02] [-7.50787900e-02 -1.26173808e-03 9.97176806e-01 -2.42471877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.00, Y:-198.60, Z:-24.25 [[ 8.61389975e-01 5.03708120e-01 6.54632763e-02 4.14001686e+02] [-5.02364747e-01 8.63873072e-01 -3.67828182e-02 -1.98597422e+02] [-7.50797659e-02 -1.20209140e-03 9.97176807e-01 -2.42514032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.05, Y:-198.63, Z:-24.25 [[ 8.61480369e-01 5.03554726e-01 6.54538849e-02 4.14054936e+02] [-5.02209643e-01 8.63962540e-01 -3.67995224e-02 -1.98630649e+02] [-7.50802781e-02 -1.16950604e-03 9.97176807e-01 -2.42543878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.11, Y:-198.67, Z:-24.26 [[ 8.61759091e-01 5.03078951e-01 6.54433931e-02 4.14107636e+02] [-5.01731081e-01 8.64239750e-01 -3.68181713e-02 -1.98665354e+02] [-7.50812287e-02 -1.10659049e-03 9.97176807e-01 -2.42588941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.16, Y:-198.70, Z:-24.26 [[ 8.62497892e-01 5.01812628e-01 6.54329642e-02 4.14160906e+02] [-5.00459710e-01 8.64975801e-01 -3.68366963e-02 -1.98698974e+02] [-7.50830500e-02 -9.74989438e-04 9.97176807e-01 -2.42643875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.21, Y:-198.74, Z:-24.27 [[ 8.65087915e-01 4.97335703e-01 6.54224656e-02 4.14212908e+02] [-4.95968552e-01 8.67557998e-01 -3.68553325e-02 -1.98735397e+02] [-7.50872560e-02 -5.64382784e-04 9.97176808e-01 -2.42694056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.26, Y:-198.77, Z:-24.27 [[ 8.69502284e-01 4.89578445e-01 6.54119617e-02 4.14263220e+02] [-4.88187854e-01 8.71959248e-01 -3.68739657e-02 -1.98771432e+02] [-7.50892637e-02 1.28672202e-04 9.97176808e-01 -2.42743985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.32, Y:-198.81, Z:-24.28 [[ 8.73046501e-01 4.83230720e-01 6.54054950e-02 4.14315839e+02] [-4.81821407e-01 8.75492774e-01 -3.68854325e-02 -1.98806268e+02] [-7.50862124e-02 6.88930155e-04 9.97176808e-01 -2.42781409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.37, Y:-198.84, Z:-24.28 [[ 8.78571450e-01 4.73112759e-01 6.53951422e-02 4.14367668e+02] [-4.71673915e-01 8.81000471e-01 -3.69037782e-02 -1.98842942e+02] [-7.50727994e-02 1.57742312e-03 9.97176808e-01 -2.42815168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.42, Y:-198.88, Z:-24.29 [[ 8.81532972e-01 4.67572961e-01 6.53845921e-02 4.14419989e+02] [-4.66117471e-01 8.83952055e-01 -3.69224611e-02 -1.98876322e+02] [-7.50607890e-02 2.07146612e-03 9.97176808e-01 -2.42863479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.47, Y:-198.91, Z:-24.29 [[ 8.84676652e-01 4.61598687e-01 6.53748752e-02 4.14473207e+02] [-4.60125596e-01 8.87085057e-01 -3.69396577e-02 -1.98910602e+02] [-7.50443724e-02 2.59899929e-03 9.97176808e-01 -2.42916721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.53, Y:-198.94, Z:-24.30 [[ 8.85986761e-01 4.59080534e-01 6.53645349e-02 4.14525816e+02] [-4.57599252e-01 8.88390137e-01 -3.69579459e-02 -1.98944598e+02] [-7.50358816e-02 2.83348853e-03 9.97176809e-01 -2.42961300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.58, Y:-198.98, Z:-24.30 [[ 8.85589155e-01 4.59848554e-01 6.53540868e-02 4.14579033e+02] [-4.58367996e-01 8.87992976e-01 -3.69764124e-02 -1.98975698e+02] [-7.50375198e-02 2.78968800e-03 9.97176809e-01 -2.43014108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.63, Y:-199.01, Z:-24.31 [[ 8.83412959e-01 4.64016410e-01 6.53476537e-02 4.14633761e+02] [-4.62546355e-01 8.85823218e-01 -3.69877780e-02 -1.99006103e+02] [-7.50494048e-02 2.44916329e-03 9.97176809e-01 -2.43065379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.69, Y:-199.04, Z:-24.31 [[ 8.80285126e-01 4.69924584e-01 6.53374544e-02 4.14687860e+02] [-4.68469375e-01 8.82704376e-01 -3.70057859e-02 -1.99036182e+02] [-7.50635855e-02 1.96704642e-03 9.97176809e-01 -2.43108360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.74, Y:-199.07, Z:-24.32 [[ 8.77827824e-01 4.74500240e-01 6.53286603e-02 4.14743019e+02] [-4.73056489e-01 8.80253930e-01 -3.70213043e-02 -1.99066418e+02] [-7.50724277e-02 1.59418428e-03 9.97176809e-01 -2.43154478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.80, Y:-199.10, Z:-24.32 [[ 8.73568098e-01 4.82298961e-01 6.53183707e-02 4.14798771e+02] [-4.80875517e-01 8.76006174e-01 -3.70394498e-02 -1.99095592e+02] [-7.50833842e-02 9.46476447e-04 9.97176810e-01 -2.43204918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.85, Y:-199.13, Z:-24.33 [[ 8.70297251e-01 4.88177794e-01 6.53080137e-02 4.14854105e+02] [-4.86769451e-01 8.72744080e-01 -3.70577023e-02 -1.99125624e+02] [-7.50879297e-02 4.61270501e-04 9.97176810e-01 -2.43250789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.91, Y:-199.15, Z:-24.33 [[ 8.65620784e-01 4.96424090e-01 6.52976454e-02 4.14908331e+02] [-4.95037678e-01 8.68080106e-01 -3.70759629e-02 -1.99154604e+02] [-7.50889880e-02 -2.31070733e-04 9.97176810e-01 -2.43299254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:414.96, Y:-199.18, Z:-24.34 [[ 8.62535838e-01 5.01765864e-01 6.52912459e-02 4.14963346e+02] [-5.00393830e-01 8.65003209e-01 -3.70872291e-02 -1.99184834e+02] [-7.50862428e-02 -6.82272404e-04 9.97176810e-01 -2.43352681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.02, Y:-199.22, Z:-24.34 [[ 8.59768346e-01 5.06494589e-01 6.52811051e-02 4.15017530e+02] [-5.05134770e-01 8.62242470e-01 -3.71050704e-02 -1.99215393e+02] [-7.50816587e-02 -1.07399095e-03 9.97176810e-01 -2.43409948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.07, Y:-199.25, Z:-24.35 [[ 8.57504998e-01 5.10318428e-01 6.52708255e-02 4.15071549e+02] [-5.08968266e-01 8.59984405e-01 -3.71231442e-02 -1.99247187e+02] [-7.50765167e-02 -1.38749718e-03 9.97176811e-01 -2.43464651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.12, Y:-199.28, Z:-24.35 [[ 8.56102290e-01 5.12669449e-01 6.52602883e-02 4.15124251e+02] [-5.11324685e-01 8.58584628e-01 -3.71416589e-02 -1.99279301e+02] [-7.50728742e-02 -1.57213708e-03 9.97176811e-01 -2.43523562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.18, Y:-199.31, Z:-24.36 [[ 8.55185773e-01 5.14197989e-01 6.52512154e-02 4.15176909e+02] [-5.12856446e-01 8.57669854e-01 -3.71575914e-02 -1.99312789e+02] [-7.50703592e-02 -1.68786291e-03 9.97176811e-01 -2.43569022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.23, Y:-199.35, Z:-24.36 [[ 8.55032464e-01 5.14454228e-01 6.52405783e-02 4.15229022e+02] [-5.13112006e-01 8.57516178e-01 -3.71762586e-02 -1.99345425e+02] [-7.50703347e-02 -1.68881603e-03 9.97176811e-01 -2.43615965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.28, Y:-199.38, Z:-24.37 [[ 8.55615048e-01 5.13485968e-01 6.52307530e-02 4.15280931e+02] [-5.12139622e-01 8.58096529e-01 -3.71934904e-02 -1.99381399e+02] [-7.50726181e-02 -1.58394310e-03 9.97176811e-01 -2.43656236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.33, Y:-199.42, Z:-24.37 [[ 8.56718077e-01 5.11644856e-01 6.52202242e-02 4.15333378e+02] [-5.10291772e-01 8.59195891e-01 -3.72119439e-02 -1.99415426e+02] [-7.50762483e-02 -1.40119879e-03 9.97176812e-01 -2.43697552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.38, Y:-199.45, Z:-24.37 [[ 8.59721357e-01 5.06583550e-01 6.52096331e-02 4.15384401e+02] [-5.05214470e-01 8.62190367e-01 -3.72304943e-02 -1.99452225e+02] [-7.50834735e-02 -9.36999146e-04 9.97176812e-01 -2.43733436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.43, Y:-199.49, Z:-24.38 [[ 8.63730294e-01 4.99718982e-01 6.51990733e-02 4.15434610e+02] [-4.98328883e-01 8.66187531e-01 -3.72489780e-02 -1.99491003e+02] [-7.50886456e-02 -3.17510661e-04 9.97176812e-01 -2.43761448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.49, Y:-199.53, Z:-24.38 [[ 8.66404370e-01 4.95069596e-01 6.51886766e-02 4.15485981e+02] [-4.93664942e-01 8.68853315e-01 -3.72671641e-02 -1.99526226e+02] [-7.50892377e-02 1.07069533e-04 9.97176812e-01 -2.43808810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.54, Y:-199.56, Z:-24.39 [[ 8.70134073e-01 4.88485805e-01 6.51790930e-02 4.15537408e+02] [-4.87061367e-01 8.72571564e-01 -3.72839181e-02 -1.99563501e+02] [-7.50860878e-02 6.95789391e-04 9.97176812e-01 -2.43863797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.59, Y:-199.60, Z:-24.39 [[ 8.72351241e-01 4.84516572e-01 6.51690318e-02 4.15589360e+02] [-4.83079732e-01 8.74781442e-01 -3.73014959e-02 -1.99598833e+02] [-7.50818525e-02 1.05816785e-03 9.97176813e-01 -2.43908063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.64, Y:-199.63, Z:-24.40 [[ 8.74969892e-01 4.79772904e-01 6.51586431e-02 4.15638503e+02] [-4.78321539e-01 8.77391446e-01 -3.73196342e-02 -1.99634788e+02] [-7.50745854e-02 1.48677390e-03 9.97176813e-01 -2.43959364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.69, Y:-199.67, Z:-24.40 [[ 8.76259984e-01 4.77413291e-01 6.51535867e-02 4.15689755e+02] [-4.75954750e-01 8.78677223e-01 -3.73284597e-02 -1.99669194e+02] [-7.50700754e-02 1.69927647e-03 9.97176813e-01 -2.43991592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.74, Y:-199.70, Z:-24.40 [[ 8.75880156e-01 4.78110461e-01 6.51486036e-02 4.15743587e+02] [-4.76653198e-01 8.78298165e-01 -3.73371545e-02 -1.99702321e+02] [-7.50711831e-02 1.64958244e-03 9.97176813e-01 -2.44024053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.80, Y:-199.73, Z:-24.41 [[ 8.73978348e-01 4.81579572e-01 6.51380342e-02 4.15797525e+02] [-4.80130534e-01 8.76401295e-01 -3.73555847e-02 -1.99734541e+02] [-7.50767441e-02 1.37321305e-03 9.97176813e-01 -2.44057170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.85, Y:-199.77, Z:-24.41 [[ 8.71798771e-01 4.85515525e-01 6.51273958e-02 4.15851458e+02] [-4.84076043e-01 8.74227407e-01 -3.73741231e-02 -1.99765462e+02] [-7.50818714e-02 1.05610250e-03 9.97176813e-01 -2.44107504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.91, Y:-199.80, Z:-24.42 [[ 8.67695882e-01 4.92811889e-01 6.51175687e-02 4.15906718e+02] [-4.91391547e-01 8.70135761e-01 -3.73912372e-02 -1.99795166e+02] [-7.50879714e-02 4.45999754e-04 9.97176814e-01 -2.44169708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:415.96, Y:-199.83, Z:-24.42 [[ 8.64848335e-01 4.97793597e-01 6.51067764e-02 4.15960880e+02] [-4.96385895e-01 8.67295529e-01 -3.74100196e-02 -1.99825520e+02] [-7.50892843e-02 3.59076970e-05 9.97176814e-01 -2.44227666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.01, Y:-199.86, Z:-24.43 [[ 8.61764111e-01 5.03114887e-01 6.51001269e-02 4.16014406e+02] [-5.01721422e-01 8.64219439e-01 -3.74215873e-02 -1.99855953e+02] [-7.50881529e-02 -4.13547315e-04 9.97176814e-01 -2.44289990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.07, Y:-199.89, Z:-24.43 [[ 8.60387659e-01 5.05466023e-01 6.50935991e-02 4.16068259e+02] [-5.04078409e-01 8.62846298e-01 -3.74329388e-02 -1.99887839e+02] [-7.50868497e-02 -6.05439298e-04 9.97176814e-01 -2.44343852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.12, Y:-199.92, Z:-24.44 [[ 8.60039651e-01 5.06059252e-01 6.50832772e-02 4.16121325e+02] [-5.04671976e-01 8.62498480e-01 -3.74508767e-02 -1.99920902e+02] [-7.50865903e-02 -6.36467178e-04 9.97176814e-01 -2.44388199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.17, Y:-199.95, Z:-24.44 [[ 8.60492624e-01 5.05290007e-01 6.50726782e-02 4.16174274e+02] [-5.03899141e-01 8.62949424e-01 -3.74692839e-02 -1.99953957e+02] [-7.50872849e-02 -5.48024264e-04 9.97176814e-01 -2.44433403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.23, Y:-199.99, Z:-24.45 [[ 8.60333898e-01 5.05561578e-01 6.50620819e-02 4.16226657e+02] [-5.04170097e-01 8.62790350e-01 -3.74876745e-02 -1.99988088e+02] [-7.50872642e-02 -5.50439008e-04 9.97176815e-01 -2.44481409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.28, Y:-200.02, Z:-24.45 [[ 8.57672610e-01 5.10064696e-01 6.50515178e-02 4.16280057e+02] [-5.08684721e-01 8.60135544e-01 -3.75059971e-02 -2.00021106e+02] [-7.50836077e-02 -9.22846765e-04 9.97176815e-01 -2.44545169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.33, Y:-200.05, Z:-24.46 [[ 8.55054249e-01 5.14443300e-01 6.50409254e-02 4.16333705e+02] [-5.13074541e-01 8.57523433e-01 -3.75243570e-02 -2.00053442e+02] [-7.50782717e-02 -1.28548202e-03 9.97176815e-01 -2.44609577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.39, Y:-200.09, Z:-24.47 [[ 8.52005761e-01 5.19477862e-01 6.50302560e-02 4.16385290e+02] [-5.18122281e-01 8.54482204e-01 -3.75428381e-02 -2.00086807e+02] [-7.50698698e-02 -1.70691026e-03 9.97176815e-01 -2.44672591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.44, Y:-200.12, Z:-24.47 [[ 8.51485301e-01 5.20331750e-01 6.50203954e-02 4.16436927e+02] [-5.18977349e-01 8.53962390e-01 -3.75599079e-02 -2.00120543e+02] [-7.50685849e-02 -1.76240302e-03 9.97176816e-01 -2.44719773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.49, Y:-200.16, Z:-24.48 [[ 8.53502360e-01 5.17017712e-01 6.50108284e-02 4.16488352e+02] [-5.15652432e-01 8.55973469e-01 -3.75764598e-02 -2.00157847e+02] [-7.50752396e-02 -1.45139463e-03 9.97176816e-01 -2.44752066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.54, Y:-200.19, Z:-24.48 [[ 8.56301579e-01 5.12369574e-01 6.50001965e-02 4.16540113e+02] [-5.10989484e-01 8.58764447e-01 -3.75948420e-02 -2.00194129e+02] [-7.50823110e-02 -1.02189431e-03 9.97176816e-01 -2.44790728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.59, Y:-200.23, Z:-24.48 [[ 8.60797096e-01 5.04781849e-01 6.49895647e-02 4.16590981e+02] [-5.03378660e-01 8.63246877e-01 -3.76132121e-02 -2.00231972e+02] [-7.50885055e-02 -3.37016281e-04 9.97176816e-01 -2.44829303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.64, Y:-200.27, Z:-24.49 [[ 8.64511995e-01 4.98394169e-01 6.49789342e-02 4.16641694e+02] [-4.96971499e-01 8.66950514e-01 -3.76315680e-02 -2.00269170e+02] [-7.50888745e-02 2.40263629e-04 9.97176816e-01 -2.44882551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.69, Y:-200.30, Z:-24.49 [[ 8.65257285e-01 4.97100543e-01 6.49683153e-02 4.16694437e+02] [-4.95672851e-01 8.67692867e-01 -3.76498918e-02 -2.00302279e+02] [-7.50883254e-02 3.73813081e-04 9.97176817e-01 -2.44935691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.75, Y:-200.33, Z:-24.50 [[ 8.64929320e-01 4.97672346e-01 6.49577455e-02 4.16747947e+02] [-4.96244895e-01 8.67365043e-01 -3.76681192e-02 -2.00333762e+02] [-7.50884590e-02 3.45311098e-04 9.97176817e-01 -2.44987380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.80, Y:-200.36, Z:-24.51 [[ 8.62291649e-01 5.02229900e-01 6.49479846e-02 4.16803247e+02] [-5.00814056e-01 8.64734137e-01 -3.76849417e-02 -2.00363546e+02] [-7.50892439e-02 -3.14530243e-05 9.97176817e-01 -2.45055130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.86, Y:-200.39, Z:-24.51 [[ 8.60917225e-01 5.04583638e-01 6.49375307e-02 4.16857813e+02] [-5.03173114e-01 8.63362789e-01 -3.77029469e-02 -2.00394413e+02] [-7.50889378e-02 -2.15703051e-04 9.97176817e-01 -2.45117153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.91, Y:-200.43, Z:-24.52 [[ 8.59867001e-01 5.06372636e-01 6.49268434e-02 4.16912452e+02] [-5.04965810e-01 8.62314694e-01 -3.77213422e-02 -2.00426159e+02] [-7.50884266e-02 -3.50498729e-04 9.97176818e-01 -2.45163989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:416.97, Y:-200.46, Z:-24.52 [[ 8.59796970e-01 5.06492905e-01 6.49161615e-02 4.16966657e+02] [-5.05085034e-01 8.62244062e-01 -3.77397163e-02 -2.00456138e+02] [-7.50884732e-02 -3.39687923e-04 9.97176818e-01 -2.45195701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.02, Y:-200.49, Z:-24.52 [[ 8.60017731e-01 5.06119230e-01 6.49062956e-02 4.17020530e+02] [-5.04709016e-01 8.62463473e-01 -3.77566764e-02 -2.00487002e+02] [-7.50886891e-02 -2.87381392e-04 9.97176818e-01 -2.45228403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:417.07, Y:-200.52, Z:-24.53 [[ 8.59549316e-01 5.06915576e-01 6.48966262e-02 4.17074881e+02] [-5.05506373e-01 8.61995641e-01 -3.77732889e-02 -2.00517750e+02] [-7.50884774e-02 -3.37653492e-04 9.97176818e-01 -2.45266057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.13, Y:-200.55, Z:-24.53 [[ 8.58480277e-01 5.08725247e-01 6.48863406e-02 4.17129774e+02] [-5.07319867e-01 8.60928799e-01 -3.77909493e-02 -2.00548014e+02] [-7.50877293e-02 -4.75345066e-04 9.97176818e-01 -2.45328118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.18, Y:-200.58, Z:-24.54 [[ 8.56699171e-01 5.11720297e-01 6.48757953e-02 4.17183690e+02] [-5.10322106e-01 8.59151805e-01 -3.78090437e-02 -2.00576866e+02] [-7.50858117e-02 -7.16576134e-04 9.97176819e-01 -2.45406225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.24, Y:-200.61, Z:-24.55 [[ 8.56042858e-01 5.12818701e-01 6.48660536e-02 4.17237831e+02] [-5.11422391e-01 8.58496564e-01 -3.78257494e-02 -2.00607683e+02] [-7.50850358e-02 -7.93489622e-04 9.97176819e-01 -2.45457444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.29, Y:-200.64, Z:-24.55 [[ 8.56312509e-01 5.12369647e-01 6.48554743e-02 4.17292279e+02] [-5.10970678e-01 8.58764699e-01 -3.78438798e-02 -2.00639723e+02] [-7.50856472e-02 -7.33057981e-04 9.97176819e-01 -2.45498195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.35, Y:-200.67, Z:-24.55 [[ 8.56893519e-01 5.11398719e-01 6.48447930e-02 4.17346494e+02] [-5.09995587e-01 8.59343329e-01 -3.78621733e-02 -2.00671395e+02] [-7.50866072e-02 -6.26707341e-04 9.97176819e-01 -2.45548435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.40, Y:-200.70, Z:-24.56 [[ 8.57707893e-01 5.10033035e-01 6.48341997e-02 4.17400453e+02] [-5.08624631e-01 8.60154676e-01 -3.78803042e-02 -2.00703897e+02] [-7.50876466e-02 -4.86034960e-04 9.97176819e-01 -2.45607973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.45, Y:-200.74, Z:-24.57 [[ 8.58686757e-01 5.08384651e-01 6.48236078e-02 4.17454306e+02] [-5.06970183e-01 8.61130039e-01 -3.78984214e-02 -2.00736748e+02] [-7.50885316e-02 -3.20763729e-04 9.97176820e-01 -2.45659309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.51, Y:-200.77, Z:-24.57 [[ 8.59545925e-01 5.06932035e-01 6.48129254e-02 4.17507967e+02] [-5.05512061e-01 8.61986010e-01 -3.79166813e-02 -2.00768562e+02] [-7.50890154e-02 -1.72586584e-04 9.97176820e-01 -2.45707620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.56, Y:-200.80, Z:-24.58 [[ 8.60642602e-01 5.05069270e-01 6.48023540e-02 4.17562365e+02] [-5.03642654e-01 8.63078810e-01 -3.79347400e-02 -2.00800468e+02] [-7.50892101e-02 1.10238170e-05 9.97176820e-01 -2.45750407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.62, Y:-200.83, Z:-24.58 [[ 8.61033003e-01 5.04404792e-01 6.47917635e-02 4.17615649e+02] [-5.02974936e-01 8.63467311e-01 -3.79528198e-02 -2.00833595e+02] [-7.50891540e-02 8.99973229e-05 9.97176820e-01 -2.45812947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.67, Y:-200.86, Z:-24.59 [[ 8.62116452e-01 5.02551789e-01 6.47836617e-02 4.17670957e+02] [-5.01115661e-01 8.64547065e-01 -3.79666442e-02 -2.00864245e+02] [-7.50887296e-02 2.67561146e-04 9.97176820e-01 -2.45850557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.72, Y:-200.89, Z:-24.59 [[ 8.63320012e-01 5.00482965e-01 6.47715921e-02 4.17724946e+02] [-4.99039469e-01 8.65746256e-01 -3.79872239e-02 -2.00894030e+02] [-7.50877218e-02 4.71549683e-04 9.97176821e-01 -2.45915831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.78, Y:-200.93, Z:-24.60 [[ 8.63891948e-01 4.99496377e-01 6.47616570e-02 4.17779568e+02] [-4.98048841e-01 8.66315783e-01 -3.80041541e-02 -2.00925404e+02] [-7.50869829e-02 5.77014484e-04 9.97176821e-01 -2.45961506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.83, Y:-200.96, Z:-24.60 [[ 8.64233236e-01 4.98907004e-01 6.47511888e-02 4.17834547e+02] [-4.97456479e-01 8.66655284e-01 -3.80219813e-02 -2.00955450e+02] [-7.50863927e-02 6.48961542e-04 9.97176821e-01 -2.45996331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.89, Y:-200.98, Z:-24.60 [[ 8.63806676e-01 4.99646554e-01 6.47406213e-02 4.17890552e+02] [-4.98196755e-01 8.66229158e-01 -3.80399664e-02 -2.00984966e+02] [-7.50867520e-02 6.05609453e-04 9.97176821e-01 -2.46040435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:417.94, Y:-201.01, Z:-24.61 [[ 8.63223703e-01 5.00654476e-01 6.47297020e-02 4.17944819e+02] [-4.99206113e-01 8.65647044e-01 -3.80585380e-02 -2.01014384e+02] [-7.50872525e-02 5.39569155e-04 9.97176822e-01 -2.46092532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.00, Y:-201.04, Z:-24.61 [[ 8.61937962e-01 5.02866106e-01 6.47196189e-02 4.18000045e+02] [-5.01422674e-01 8.64364243e-01 -3.80756768e-02 -2.01043217e+02] [-7.50882917e-02 3.66986858e-04 9.97176822e-01 -2.46145745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.05, Y:-201.07, Z:-24.62 [[ 8.60900639e-01 5.04641276e-01 6.47091311e-02 4.18054910e+02] [-5.03201508e-01 8.63329096e-01 -3.80934924e-02 -2.01072821e+02] [-7.50888243e-02 2.32979619e-04 9.97176822e-01 -2.46195783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.11, Y:-201.10, Z:-24.62 [[ 8.59567849e-01 5.06909471e-01 6.46985411e-02 4.18110840e+02] [-5.05474758e-01 8.61999295e-01 -3.81114701e-02 -2.01101839e+02] [-7.50891620e-02 5.59149817e-05 9.97176822e-01 -2.46234228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.17, Y:-201.13, Z:-24.63 [[ 8.58572672e-01 5.08594602e-01 6.46876848e-02 4.18166106e+02] [-5.07163274e-01 8.61006112e-01 -3.81298879e-02 -2.01130755e+02] [-7.50891472e-02 -6.99382523e-05 9.97176822e-01 -2.46276660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.22, Y:-201.16, Z:-24.63 [[ 8.58120477e-01 5.09358571e-01 6.46768407e-02 4.18221375e+02] [-5.07928023e-01 8.60554375e-01 -3.81482731e-02 -2.01161085e+02] [-7.50890882e-02 -1.15365516e-04 9.97176823e-01 -2.46328552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.28, Y:-201.19, Z:-24.64 [[ 8.58068514e-01 5.09447461e-01 6.46661428e-02 4.18275331e+02] [-5.08015799e-01 8.60501757e-01 -3.81663989e-02 -2.01191197e+02] [-7.50891045e-02 -1.02037005e-04 9.97176823e-01 -2.46381250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.33, Y:-201.22, Z:-24.64 [[ 8.58292832e-01 5.09070288e-01 6.46595465e-02 4.18330356e+02] [-5.07636714e-01 8.60724950e-01 -3.81775708e-02 -2.01221733e+02] [-7.50891518e-02 -5.60244163e-05 9.97176823e-01 -2.46439097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.38, Y:-201.25, Z:-24.65 [[ 8.58225650e-01 5.09184881e-01 6.46489777e-02 4.18383934e+02] [-5.07750285e-01 8.60657165e-01 -3.81954594e-02 -2.01252033e+02] [-7.50891563e-02 -4.52139063e-05 9.97176823e-01 -2.46494367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.44, Y:-201.28, Z:-24.65 [[ 8.57831922e-01 5.09849113e-01 6.46395852e-02 4.18438254e+02] [-5.08415202e-01 8.60263840e-01 -3.82113481e-02 -2.01284131e+02] [-7.50891197e-02 -8.48336315e-05 9.97176823e-01 -2.46542633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.49, Y:-201.31, Z:-24.66 [[ 8.56958410e-01 5.11317320e-01 6.46287937e-02 4.18491403e+02] [-5.09886200e-01 8.59391972e-01 -3.82295916e-02 -2.01314532e+02] [-7.50889188e-02 -1.92159960e-04 9.97176824e-01 -2.46594044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.55, Y:-201.35, Z:-24.66 [[ 8.56647664e-01 5.11838854e-01 6.46201695e-02 4.18545757e+02] [-5.10408117e-01 8.59081450e-01 -3.82441637e-02 -2.01346211e+02] [-7.50888379e-02 -2.20885525e-04 9.97176824e-01 -2.46645859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.60, Y:-201.38, Z:-24.67 [[ 8.57224594e-01 5.10873369e-01 6.46095720e-02 4.18598974e+02] [-5.09438541e-01 8.59655971e-01 -3.82620587e-02 -2.01378708e+02] [-7.50890712e-02 -1.15428414e-04 9.97176824e-01 -2.46685981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.65, Y:-201.41, Z:-24.67 [[ 8.58208134e-01 5.09220775e-01 6.45987754e-02 4.18651457e+02] [-5.07779893e-01 8.60635928e-01 -3.82802782e-02 -2.01411139e+02] [-7.50891399e-02 5.04868433e-05 9.97176824e-01 -2.46725446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.70, Y:-201.44, Z:-24.68 [[ 8.60291845e-01 5.05693722e-01 6.45894843e-02 4.18704577e+02] [-5.04241711e-01 8.62712998e-01 -3.82959485e-02 -2.01444967e+02] [-7.50882084e-02 3.76980070e-04 9.97176824e-01 -2.46761504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.76, Y:-201.48, Z:-24.68 [[ 8.61826191e-01 5.03075748e-01 6.45786953e-02 4.18757609e+02] [-5.01615019e-01 8.64242096e-01 -3.83141335e-02 -2.01477547e+02] [-7.50865383e-02 6.26480275e-04 9.97176825e-01 -2.46812501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.81, Y:-201.51, Z:-24.69 [[ 8.63573235e-01 5.00072229e-01 6.45680529e-02 4.18810560e+02] [-4.98601758e-01 8.65983221e-01 -3.83320599e-02 -2.01510745e+02] [-7.50836491e-02 9.08796269e-04 9.97176825e-01 -2.46861493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.86, Y:-201.54, Z:-24.69 [[ 8.64119051e-01 4.99129838e-01 6.45575033e-02 4.18864516e+02] [-4.97655412e-01 8.66526619e-01 -3.83498191e-02 -2.01543790e+02] [-7.50823341e-02 1.01141834e-03 9.97176825e-01 -2.46902940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.92, Y:-201.58, Z:-24.70 [[ 8.63973625e-01 4.99382935e-01 6.45465671e-02 4.18916935e+02] [-4.97907841e-01 8.66380784e-01 -3.83682171e-02 -2.01575731e+02] [-7.50823382e-02 1.01088577e-03 9.97176825e-01 -2.46958776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:418.97, Y:-201.61, Z:-24.70 [[ 8.61421590e-01 5.03773649e-01 6.45364700e-02 4.18968222e+02] [-5.02309553e-01 8.63835453e-01 -3.83851932e-02 -2.01611165e+02] [-7.50863396e-02 6.48548788e-04 9.97176825e-01 -2.46995571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.02, Y:-201.64, Z:-24.70 [[ 8.59832167e-01 5.06482158e-01 6.45326884e-02 4.19020138e+02] [-5.05025189e-01 8.62250339e-01 -3.83915497e-02 -2.01643552e+02] [-7.50879674e-02 4.19656285e-04 9.97176825e-01 -2.47042532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.08, Y:-201.67, Z:-24.71 [[ 8.59496650e-01 5.07052570e-01 6.45228682e-02 4.19075492e+02] [-5.05595967e-01 8.61915042e-01 -3.84080469e-02 -2.01670776e+02] [-7.50881296e-02 3.89085698e-04 9.97176826e-01 -2.47104545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.13, Y:-201.70, Z:-24.71 [[ 8.57550214e-01 5.10338863e-01 6.45126014e-02 4.19129379e+02] [-5.08890231e-01 8.59973389e-01 -3.84252840e-02 -2.01702773e+02] [-7.50890362e-02 1.21777812e-04 9.97176826e-01 -2.47144849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.18, Y:-201.73, Z:-24.72 [[ 8.54234675e-01 5.15870761e-01 6.45017680e-02 4.19183853e+02] [-5.14436449e-01 8.56666353e-01 -3.84434607e-02 -2.01734590e+02] [-7.50883517e-02 -3.42323333e-04 9.97176826e-01 -2.47198929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:-201.77, Z:-24.73 [[ 8.51794925e-01 5.19890679e-01 6.44909926e-02 4.19236846e+02] [-5.18466474e-01 8.54232537e-01 -3.84615285e-02 -2.01766149e+02] [-7.50860944e-02 -6.75082691e-04 9.97176826e-01 -2.47256882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.29, Y:-201.80, Z:-24.73 [[ 8.48641732e-01 5.25023245e-01 6.44810239e-02 4.19290157e+02] [-5.23612512e-01 8.51087165e-01 -3.84782340e-02 -2.01798846e+02] [-7.50809391e-02 -1.10883578e-03 9.97176826e-01 -2.47283221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.34, Y:-201.83, Z:-24.73 [[ 8.47166332e-01 5.27401932e-01 6.44702125e-02 4.19343542e+02] [-5.25996688e-01 8.49614922e-01 -3.84963399e-02 -2.01830936e+02] [-7.50778986e-02 -1.29831522e-03 9.97176827e-01 -2.47327470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.40, Y:-201.86, Z:-24.74 [[ 8.45907130e-01 5.29420553e-01 6.44593259e-02 4.19396623e+02] [-5.28019764e-01 8.48358272e-01 -3.85145601e-02 -2.01863909e+02] [-7.50750021e-02 -1.45605705e-03 9.97176827e-01 -2.47368647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.45, Y:-201.90, Z:-24.74 [[ 8.46084066e-01 5.29139069e-01 6.44484234e-02 4.19449813e+02] [-5.27736076e-01 8.48533946e-01 -3.85327952e-02 -2.01896763e+02] [-7.50758825e-02 -1.40977406e-03 9.97176827e-01 -2.47427529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.50, Y:-201.93, Z:-24.75 [[ 8.44949004e-01 5.30951023e-01 6.44375065e-02 4.19499253e+02] [-5.29551892e-01 8.47401092e-01 -3.85510428e-02 -2.01934814e+02] [-7.50731290e-02 -1.54933824e-03 9.97176827e-01 -2.47483139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.55, Y:-201.96, Z:-24.75 [[ 8.47422112e-01 5.26995312e-01 6.44337238e-02 4.19553590e+02] [-5.25584253e-01 8.49867356e-01 -3.85573640e-02 -2.01963365e+02] [-7.50796686e-02 -1.19098769e-03 9.97176827e-01 -2.47542181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.60, Y:-202.00, Z:-24.76 [[ 8.49800852e-01 5.23152054e-01 6.44239032e-02 4.19604892e+02] [-5.21728692e-01 8.52238955e-01 -3.85737660e-02 -2.01996097e+02] [-7.50845048e-02 -8.31779531e-04 9.97176828e-01 -2.47604066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.66, Y:-202.03, Z:-24.76 [[ 8.52160238e-01 5.19301098e-01 6.44150556e-02 4.19657684e+02] [-5.17865601e-01 8.54591215e-01 -3.85885351e-02 -2.02029259e+02] [-7.50876092e-02 -4.74726235e-04 9.97176828e-01 -2.47640059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.71, Y:-202.06, Z:-24.77 [[ 8.55467422e-01 5.13836089e-01 6.44046903e-02 4.19710487e+02] [-5.12383760e-01 8.57888380e-01 -3.86058271e-02 -2.02060260e+02] [-7.50891027e-02 2.61099965e-05 9.97176828e-01 -2.47666024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.76, Y:-202.09, Z:-24.77 [[ 8.57760959e-01 5.09998863e-01 6.43995157e-02 4.19763748e+02] [-5.08535055e-01 8.60174995e-01 -3.86144572e-02 -2.02092939e+02] [-7.50881823e-02 3.72562530e-04 9.97176828e-01 -2.47705435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.82, Y:-202.12, Z:-24.78 [[ 8.62053362e-01 5.02710733e-01 6.43888183e-02 4.19818111e+02] [-5.01225187e-01 8.64454081e-01 -3.86322867e-02 -2.02124737e+02] [-7.50820419e-02 1.02979512e-03 9.97176828e-01 -2.47753595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.87, Y:-202.15, Z:-24.78 [[ 8.67018976e-01 4.94098730e-01 6.43781070e-02 4.19873810e+02] [-4.92588020e-01 8.69403939e-01 -3.86501282e-02 -2.02154231e+02] [-7.50675591e-02 1.79851026e-03 9.97176828e-01 -2.47804793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.93, Y:-202.19, Z:-24.79 [[ 8.70764257e-01 4.87469422e-01 6.43674749e-02 4.19928859e+02] [-4.85939253e-01 8.73136783e-01 -3.86678265e-02 -2.02185010e+02] [-7.50509930e-02 2.39187859e-03 9.97176829e-01 -2.47861982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:419.98, Y:-202.22, Z:-24.79 [[ 8.74683806e-01 4.80402392e-01 6.43566746e-02 4.19981169e+02] [-4.78851742e-01 8.77042997e-01 -3.86857936e-02 -2.02218708e+02] [-7.50283186e-02 3.02053142e-03 9.97176829e-01 -2.47850897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.04, Y:-202.25, Z:-24.79 [[ 8.77141304e-01 4.75901899e-01 6.43468346e-02 4.20035777e+02] [-4.74337951e-01 8.79491701e-01 -3.87021538e-02 -2.02248201e+02] [-7.50109355e-02 3.42511200e-03 9.97176829e-01 -2.47895834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.09, Y:-202.27, Z:-24.80 [[ 8.79142990e-01 4.72195247e-01 6.43370131e-02 4.20090415e+02] [-4.70620202e-01 8.81485964e-01 -3.87184739e-02 -2.02274143e+02] [-7.49948534e-02 3.76077677e-03 9.97176829e-01 -2.48001347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.15, Y:-202.30, Z:-24.80 [[ 8.79073995e-01 4.72324360e-01 6.43320357e-02 4.20147210e+02] [-4.70749056e-01 8.81416794e-01 -3.87267424e-02 -2.02301356e+02] [-7.49949205e-02 3.75942702e-03 9.97176829e-01 -2.48049310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.20, Y:-202.33, Z:-24.80 [[ 8.74807632e-01 4.80181607e-01 6.43213071e-02 4.20201240e+02] [-4.78626051e-01 8.77163590e-01 -3.87445532e-02 -2.02332672e+02] [-7.50247305e-02 3.10817763e-03 9.97176829e-01 -2.48023806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.26, Y:-202.36, Z:-24.81 [[ 8.70980706e-01 4.87089153e-01 6.43177044e-02 4.20257611e+02] [-4.85551848e-01 8.73348613e-01 -3.87505330e-02 -2.02361815e+02] [-7.50467422e-02 2.52138639e-03 9.97176829e-01 -2.48060119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.32, Y:-202.38, Z:-24.82 [[ 8.65042896e-01 4.97558734e-01 6.43124731e-02 4.20316352e+02] [-4.96049455e-01 8.67428764e-01 -3.87592132e-02 -2.02381465e+02] [-7.50714741e-02 1.62621479e-03 9.97176829e-01 -2.48169254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.37, Y:-202.41, Z:-24.82 [[ 8.59448200e-01 5.07162637e-01 6.43028031e-02 4.20372834e+02] [-5.05678826e-01 8.61849990e-01 -3.87752494e-02 -2.02409349e+02] [-7.50847280e-02 8.08752317e-04 9.97176830e-01 -2.48225652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.43, Y:-202.44, Z:-24.82 [[ 8.49395212e-01 5.23826599e-01 6.42920548e-02 4.20426571e+02] [-5.22388560e-01 8.51824683e-01 -3.87930627e-02 -2.02440283e+02] [-7.50863973e-02 -6.34792243e-04 9.97176830e-01 -2.48211646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.48, Y:-202.47, Z:-24.83 [[ 8.45967304e-01 5.29345106e-01 6.42890273e-02 4.20481382e+02] [-5.27922532e-01 8.48405864e-01 -3.87980794e-02 -2.02467515e+02] [-7.50807611e-02 -1.11771942e-03 9.97176830e-01 -2.48299620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.54, Y:-202.49, Z:-24.84 [[ 8.42796606e-01 5.34380173e-01 6.42783959e-02 4.20538388e+02] [-5.32970823e-01 8.45242832e-01 -3.88156848e-02 -2.02492088e+02] [-7.50731858e-02 -1.54478219e-03 9.97176830e-01 -2.48393906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.59, Y:-202.53, Z:-24.84 [[ 8.37709165e-01 5.42321830e-01 6.42680902e-02 4.20590903e+02] [-5.40934356e-01 8.40167865e-01 -3.88327407e-02 -2.02525699e+02] [-7.50558272e-02 -2.23427517e-03 9.97176830e-01 -2.48385524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.65, Y:-202.55, Z:-24.85 [[ 8.37759995e-01 5.42244505e-01 6.42579748e-02 4.20645254e+02] [-5.40855522e-01 8.40217842e-01 -3.88494719e-02 -2.02552480e+02] [-7.50566096e-02 -2.20774717e-03 9.97176830e-01 -2.48525764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.70, Y:-202.59, Z:-24.86 [[ 8.37326251e-01 5.42915140e-01 6.42487414e-02 4.20697665e+02] [-5.41526956e-01 8.39784549e-01 -3.88647361e-02 -2.02585042e+02] [-7.50553539e-02 -2.24996158e-03 9.97176831e-01 -2.48594107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.75, Y:-202.62, Z:-24.86 [[ 8.38603267e-01 5.40941679e-01 6.42390875e-02 4.20749293e+02] [-5.39546488e-01 8.41057596e-01 -3.88806864e-02 -2.02618872e+02] [-7.50609562e-02 -2.05450340e-03 9.97176831e-01 -2.48642079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.80, Y:-202.66, Z:-24.86 [[ 8.39168555e-01 5.40065541e-01 6.42288781e-02 4.20799302e+02] [-5.38666499e-01 8.41620689e-01 -3.88975445e-02 -2.02656297e+02] [-7.50635760e-02 -1.95634872e-03 9.97176831e-01 -2.48608565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.85, Y:-202.69, Z:-24.87 [[ 8.43084187e-01 5.33932548e-01 6.42268467e-02 4.20852189e+02] [-5.32515408e-01 8.45525908e-01 -3.89008983e-02 -2.02688055e+02] [-7.50759186e-02 -1.40505321e-03 9.97176831e-01 -2.48734126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.90, Y:-202.72, Z:-24.88 [[ 8.43906297e-01 5.32632542e-01 6.42241095e-02 4.20904283e+02] [-5.31211297e-01 8.46345630e-01 -3.89054169e-02 -2.02722859e+02] [-7.50780855e-02 -1.28404625e-03 9.97176831e-01 -2.48780709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:420.96, Y:-202.76, Z:-24.88 [[ 8.44445362e-01 5.31778815e-01 6.42131046e-02 4.20955337e+02] [-5.30353724e-01 8.46882450e-01 -3.89235719e-02 -2.02758451e+02] [-7.50796823e-02 -1.18682934e-03 9.97176831e-01 -2.48828662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.00, Y:-202.80, Z:-24.88 [[ 8.42110847e-01 5.35469236e-01 6.42029493e-02 4.21004770e+02] [-5.34053547e-01 8.44553409e-01 -3.89403155e-02 -2.02796945e+02] [-7.50741607e-02 -1.49575079e-03 9.97176831e-01 -2.48773795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.06, Y:-202.83, Z:-24.88 [[ 8.41106218e-01 5.37046268e-01 6.41999705e-02 4.21055572e+02] [-5.35634785e-01 8.43551212e-01 -3.89452261e-02 -2.02830227e+02] [-7.50713512e-02 -1.63066552e-03 9.97176831e-01 -2.48842869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.11, Y:-202.86, Z:-24.90 [[ 8.40467066e-01 5.38047213e-01 6.41896229e-02 4.21108054e+02] [-5.36637340e-01 8.42912989e-01 -3.89622736e-02 -2.02860713e+02] [-7.50698096e-02 -1.70004070e-03 9.97176832e-01 -2.48956502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.16, Y:-202.89, Z:-24.90 [[ 8.38784062e-01 5.40668311e-01 6.41800189e-02 4.21160754e+02] [-5.39264872e-01 8.41233682e-01 -3.89780871e-02 -2.02893736e+02] [-7.50646101e-02 -1.91583146e-03 9.97176832e-01 -2.49011203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.21, Y:-202.93, Z:-24.91 [[ 8.36312669e-01 5.44484407e-01 6.41704724e-02 4.21213368e+02] [-5.43090939e-01 8.38767975e-01 -3.89937975e-02 -2.02927044e+02] [-7.50556519e-02 -2.23939528e-03 9.97176832e-01 -2.49066646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.27, Y:-202.96, Z:-24.91 [[ 8.34952734e-01 5.46568828e-01 6.41595482e-02 4.21266401e+02] [-5.45180110e-01 8.37410729e-01 -3.90117637e-02 -2.02960649e+02] [-7.50505080e-02 -2.40553081e-03 9.97176832e-01 -2.49104089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.32, Y:-202.99, Z:-24.91 [[ 8.34295908e-01 5.47572201e-01 6.41484412e-02 4.21319018e+02] [-5.46185038e-01 8.36754780e-01 -3.90300188e-02 -2.02994373e+02] [-7.50482681e-02 -2.47433374e-03 9.97176832e-01 -2.49136327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.37, Y:-203.03, Z:-24.92 [[ 8.34581493e-01 5.47138112e-01 6.41374910e-02 4.21372650e+02] [-5.45748289e-01 8.37038863e-01 -3.90480048e-02 -2.03027932e+02] [-7.50502242e-02 -2.41418384e-03 9.97176833e-01 -2.49178077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.43, Y:-203.06, Z:-24.92 [[ 8.35935062e-01 5.45069144e-01 6.41264431e-02 4.21425213e+02] [-5.43671849e-01 8.38388190e-01 -3.90661399e-02 -2.03061556e+02] [-7.50566000e-02 -2.20698580e-03 9.97176833e-01 -2.49219485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.48, Y:-203.09, Z:-24.93 [[ 8.37232351e-01 5.43075676e-01 6.41155343e-02 4.21478114e+02] [-5.41671170e-01 8.39681357e-01 -3.90840353e-02 -2.03094321e+02] [-7.50622077e-02 -2.00711772e-03 9.97176833e-01 -2.49271223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.53, Y:-203.13, Z:-24.93 [[ 8.39578708e-01 5.39442530e-01 6.41042071e-02 4.21531351e+02] [-5.38026008e-01 8.42020784e-01 -3.91026050e-02 -2.03128272e+02] [-7.50706829e-02 -1.66001602e-03 9.97176833e-01 -2.49330039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.58, Y:-203.16, Z:-24.94 [[ 8.41418866e-01 5.36569077e-01 6.40930439e-02 4.21582717e+02] [-5.35142821e-01 8.43855270e-01 -3.91208940e-02 -2.03162488e+02] [-7.50763148e-02 -1.38187410e-03 9.97176834e-01 -2.49366189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.64, Y:-203.19, Z:-24.94 [[ 8.45491834e-01 5.30129172e-01 6.40829086e-02 4.21635971e+02] [-5.28683098e-01 8.47916528e-01 -3.91374894e-02 -2.03194293e+02] [-7.50848822e-02 -7.89122980e-04 9.97176834e-01 -2.49440100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.69, Y:-203.23, Z:-24.95 [[ 8.48289286e-01 5.25642500e-01 6.40722184e-02 4.21689770e+02] [-5.24182280e-01 8.50705487e-01 -3.91549826e-02 -2.03227308e+02] [-7.50881106e-02 -3.70769278e-04 9.97176834e-01 -2.49496891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.74, Y:-203.26, Z:-24.95 [[ 8.52704345e-01 5.18451030e-01 6.40611457e-02 4.21742410e+02] [-5.16969071e-01 8.55107273e-01 -3.91730902e-02 -2.03260627e+02] [-7.50884805e-02 2.85433256e-04 9.97176834e-01 -2.49548342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.80, Y:-203.29, Z:-24.96 [[ 8.53810445e-01 5.16628793e-01 6.40500976e-02 4.21795875e+02] [-5.15140351e-01 8.56209363e-01 -3.91911462e-02 -2.03293858e+02] [-7.50875677e-02 4.67020168e-04 9.97176834e-01 -2.49591944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.85, Y:-203.33, Z:-24.96 [[ 8.56011945e-01 5.12974239e-01 6.40388911e-02 4.21848081e+02] [-5.11474187e-01 8.58403620e-01 -3.92094491e-02 -2.03327098e+02] [-7.50846533e-02 8.09516999e-04 9.97176835e-01 -2.49633008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.90, Y:-203.36, Z:-24.97 [[ 8.56424035e-01 5.12287237e-01 6.40285728e-02 4.21903093e+02] [-5.10784008e-01 8.58813714e-01 -3.92262916e-02 -2.03357755e+02] [-7.50837450e-02 8.89567938e-04 9.97176835e-01 -2.49703332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:421.96, Y:-203.39, Z:-24.97 [[ 8.52217798e-01 5.19255904e-01 6.40166494e-02 4.21955512e+02] [-5.17770756e-01 8.54618755e-01 -3.92457409e-02 -2.03389299e+02] [-7.50884118e-02 2.99969933e-04 9.97176835e-01 -2.49746856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.01, Y:-203.42, Z:-24.98 [[ 8.48263191e-01 5.25692538e-01 6.40071363e-02 4.22007375e+02] [-5.24224438e-01 8.50674610e-01 -3.92612500e-02 -2.03420798e+02] [-7.50885919e-02 -2.50231830e-04 9.97176835e-01 -2.49794619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.06, Y:-203.45, Z:-24.98 [[ 8.43782103e-01 5.32856485e-01 6.39978863e-02 4.22061203e+02] [-5.31407713e-01 8.46205184e-01 -3.92763222e-02 -2.03452492e+02] [-7.50839861e-02 -8.68312639e-04 9.97176835e-01 -2.49840662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.11, Y:-203.48, Z:-24.98 [[ 8.41646323e-01 5.36224898e-01 6.39869215e-02 4.22114032e+02] [-5.34784466e-01 8.44074370e-01 -3.92941774e-02 -2.03484936e+02] [-7.50802367e-02 -1.14741174e-03 9.97176836e-01 -2.49849025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.17, Y:-203.52, Z:-24.99 [[ 8.40197365e-01 5.38493580e-01 6.39769727e-02 4.22166905e+02] [-5.37058471e-01 8.42628562e-01 -3.93103689e-02 -2.03516062e+02] [-7.50772058e-02 -1.33090678e-03 9.97176836e-01 -2.49895327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.22, Y:-203.55, Z:-24.99 [[ 8.38386572e-01 5.41309638e-01 6.39674210e-02 4.22217950e+02] [-5.39881510e-01 8.40821877e-01 -3.93259057e-02 -2.03550726e+02] [-7.50726987e-02 -1.56451656e-03 9.97176836e-01 -2.49932081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.27, Y:-203.58, Z:-25.00 [[ 8.38323415e-01 5.41408714e-01 6.39566768e-02 4.22271056e+02] [-5.39979542e-01 8.40758106e-01 -3.93433716e-02 -2.03583837e+02] [-7.50729386e-02 -1.55282742e-03 9.97176836e-01 -2.49996737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.32, Y:-203.62, Z:-25.00 [[ 8.38242590e-01 5.41535161e-01 6.39455180e-02 4.22323959e+02] [-5.40104974e-01 8.40676685e-01 -3.93614998e-02 -2.03617966e+02] [-7.50731422e-02 -1.54280679e-03 9.97176836e-01 -2.50045036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.37, Y:-203.65, Z:-25.01 [[ 8.39027051e-01 5.40320337e-01 6.39338797e-02 4.22374599e+02] [-5.38885187e-01 8.41458222e-01 -3.93803946e-02 -2.03654157e+02] [-7.50757168e-02 -1.41180436e-03 9.97176837e-01 -2.50108022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.42, Y:-203.69, Z:-25.02 [[ 8.41445284e-01 5.36547845e-01 6.39237344e-02 4.22422773e+02] [-5.35100543e-01 8.43869241e-01 -3.93968560e-02 -2.03691797e+02] [-7.50815714e-02 -1.05532634e-03 9.97176837e-01 -2.50160098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.47, Y:-203.73, Z:-25.02 [[ 8.44586890e-01 5.31589573e-01 6.39180017e-02 4.22473132e+02] [-5.30127336e-01 8.47001867e-01 -3.94061546e-02 -2.03727658e+02] [-7.50865676e-02 -6.02758393e-04 9.97176837e-01 -2.50209587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.52, Y:-203.77, Z:-25.03 [[ 8.50995390e-01 5.21270150e-01 6.39083525e-02 4.22522116e+02] [-5.19777452e-01 8.53391658e-01 -3.94217973e-02 -2.03765495e+02] [-7.50882611e-02 3.29647098e-04 9.97176837e-01 -2.50250943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:-203.80, Z:-25.03 [[ 8.54714579e-01 5.15150478e-01 6.38981508e-02 4.22573119e+02] [-5.13639389e-01 8.57099292e-01 -3.94383262e-02 -2.03801511e+02] [-7.50837324e-02 8.87905186e-04 9.97176837e-01 -2.50250116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.63, Y:-203.83, Z:-25.03 [[ 8.57078687e-01 5.11208797e-01 6.38881033e-02 4.22625158e+02] [-5.09685530e-01 8.59455639e-01 -3.94545960e-02 -2.03832661e+02] [-7.50785272e-02 1.25285158e-03 9.97176837e-01 -2.50292814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.68, Y:-203.87, Z:-25.03 [[ 8.56839756e-01 5.11610315e-01 6.38789305e-02 4.22677851e+02] [-5.10087055e-01 8.59216713e-01 -3.94694416e-02 -2.03865722e+02] [-7.50788181e-02 1.23517124e-03 9.97176838e-01 -2.50345703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.73, Y:-203.90, Z:-25.04 [[ 8.54839044e-01 5.14947631e-01 6.38681946e-02 4.22731822e+02] [-5.13432353e-01 8.57221098e-01 -3.94868064e-02 -2.03897069e+02] [-7.50828013e-02 9.62866414e-04 9.97176838e-01 -2.50375447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.79, Y:-203.93, Z:-25.04 [[ 8.53189778e-01 5.17676867e-01 6.38581533e-02 4.22785235e+02] [-5.16167996e-01 8.55575894e-01 -3.95030387e-02 -2.03927769e+02] [-7.50853059e-02 7.42053842e-04 9.97176838e-01 -2.50418102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.84, Y:-203.96, Z:-25.05 [[ 8.51580597e-01 5.20320967e-01 6.38480892e-02 4.22840156e+02] [-5.18818285e-01 8.53970615e-01 -3.95192983e-02 -2.03957646e+02] [-7.50871116e-02 5.28311462e-04 9.97176838e-01 -2.50454157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.89, Y:-203.99, Z:-25.05 [[ 8.51661898e-01 5.20189298e-01 6.38365535e-02 4.22893579e+02] [-5.18684851e-01 8.54050805e-01 -3.95379236e-02 -2.03988097e+02] [-7.50868646e-02 5.61889872e-04 9.97176838e-01 -2.50514537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:422.95, Y:-204.02, Z:-25.06 [[ 8.51320802e-01 5.20748480e-01 6.38272085e-02 4.22945648e+02] [-5.19244471e-01 8.53709985e-01 -3.95530037e-02 -2.04018896e+02] [-7.50870918e-02 5.30369713e-04 9.97176839e-01 -2.50551366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.00, Y:-204.05, Z:-25.06 [[ 8.50633260e-01 5.21871773e-01 6.38193521e-02 4.22999298e+02] [-5.20369968e-01 8.53023830e-01 -3.95656760e-02 -2.04049187e+02] [-7.50876377e-02 4.46205770e-04 9.97176839e-01 -2.50604603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.05, Y:-204.08, Z:-25.06 [[ 8.49323502e-01 5.24001103e-01 6.38156185e-02 4.23052482e+02] [-5.22504840e-01 8.51717543e-01 -3.95716971e-02 -2.04079010e+02] [-7.50884948e-02 2.65202823e-04 9.97176839e-01 -2.50626531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.11, Y:-204.11, Z:-25.07 [[ 8.45944080e-01 5.29440665e-01 6.38059205e-02 4.23107382e+02] [-5.27958617e-01 8.48346947e-01 -3.95873281e-02 -2.04108965e+02] [-7.50886992e-02 -1.98219637e-04 9.97176839e-01 -2.50670529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.16, Y:-204.14, Z:-25.07 [[ 8.43412848e-01 5.33465077e-01 6.37948247e-02 4.23161844e+02] [-5.31993141e-01 8.45821923e-01 -3.96052010e-02 -2.04140690e+02] [-7.50870529e-02 -5.34873834e-04 9.97176839e-01 -2.50713922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.21, Y:-204.17, Z:-25.08 [[ 8.40189753e-01 5.38528400e-01 6.37835432e-02 4.23214857e+02] [-5.37069603e-01 8.42606807e-01 -3.96233613e-02 -2.04169704e+02] [-7.50827531e-02 -9.65060083e-04 9.97176839e-01 -2.50777448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.27, Y:-204.20, Z:-25.08 [[ 8.38656947e-01 5.40913427e-01 6.37745213e-02 4.23269165e+02] [-5.39460400e-01 8.41077473e-01 -3.96378770e-02 -2.04201928e+02] [-7.50799731e-02 -1.16124788e-03 9.97176839e-01 -2.50827263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.32, Y:-204.23, Z:-25.09 [[ 8.36885526e-01 5.43651465e-01 6.37628446e-02 4.23322173e+02] [-5.42204927e-01 8.39309935e-01 -3.96566516e-02 -2.04232431e+02] [-7.50761858e-02 -1.38445076e-03 9.97176840e-01 -2.50878538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.37, Y:-204.27, Z:-25.09 [[ 8.37092874e-01 5.43333239e-01 6.37535233e-02 4.23374979e+02] [-5.41884638e-01 8.39516052e-01 -3.96716313e-02 -2.04265364e+02] [-7.50770221e-02 -1.33821498e-03 9.97176840e-01 -2.50926296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.43, Y:-204.30, Z:-25.10 [[ 8.40299987e-01 5.38361096e-01 6.37437199e-02 4.23427388e+02] [-5.36896961e-01 8.42713810e-01 -3.96873771e-02 -2.04300776e+02] [-7.50838528e-02 -8.74507038e-04 9.97176840e-01 -2.50966310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.48, Y:-204.34, Z:-25.10 [[ 8.41971406e-01 5.35744630e-01 6.37325960e-02 4.23480084e+02] [-5.34271642e-01 8.44379836e-01 -3.97052324e-02 -2.04335178e+02] [-7.50863840e-02 -6.19848320e-04 9.97176840e-01 -2.51008699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.53, Y:-204.37, Z:-25.10 [[ 8.48941986e-01 5.24630406e-01 6.37215874e-02 4.23531457e+02] [-5.23124560e-01 8.51330010e-01 -3.97228920e-02 -2.04370398e+02] [-7.50879366e-02 3.88103411e-04 9.97176840e-01 -2.51033767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.58, Y:-204.41, Z:-25.11 [[ 8.54448230e-01 5.15615191e-01 6.37118369e-02 4.23584012e+02] [-5.14082987e-01 8.56819428e-01 -3.97385248e-02 -2.04405257e+02] [-7.50793267e-02 1.20134074e-03 9.97176841e-01 -2.51070245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.64, Y:-204.44, Z:-25.11 [[ 8.62730468e-01 5.01635701e-01 6.37005730e-02 4.23635552e+02] [-5.00063765e-01 8.65075515e-01 -3.97565726e-02 -2.04440945e+02] [-7.50491221e-02 2.44485819e-03 9.97176841e-01 -2.51102670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.69, Y:-204.48, Z:-25.12 [[ 8.67539465e-01 4.93273701e-01 6.36893494e-02 4.23687726e+02] [-4.91677856e-01 8.69868307e-01 -3.97745445e-02 -2.04475270e+02] [-7.50210833e-02 3.19134433e-03 9.97176841e-01 -2.51153724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.74, Y:-204.51, Z:-25.12 [[ 8.72619931e-01 4.84229865e-01 6.36858955e-02 4.23739229e+02] [-4.82609499e-01 8.74931779e-01 -3.97800740e-02 -2.04506866e+02] [-7.49835137e-02 3.97746731e-03 9.97176841e-01 -2.51221801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.79, Y:-204.54, Z:-25.13 [[ 8.74755283e-01 4.80362805e-01 6.36770795e-02 4.23792876e+02] [-4.78731200e-01 8.77059212e-01 -3.97941810e-02 -2.04538533e+02] [-7.49642136e-02 4.32596541e-03 9.97176841e-01 -2.51268478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.85, Y:-204.57, Z:-25.13 [[ 8.74189036e-01 4.81393770e-01 6.36676333e-02 4.23846406e+02] [-4.79763786e-01 8.76494113e-01 -3.98092885e-02 -2.04571163e+02] [-7.49682492e-02 4.25541878e-03 9.97176841e-01 -2.51304568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.90, Y:-204.60, Z:-25.13 [[ 8.71614792e-01 4.86040257e-01 6.36594328e-02 4.23900850e+02] [-4.84421613e-01 8.73927845e-01 -3.98223977e-02 -2.04598894e+02] [-7.49890393e-02 3.87178574e-03 9.97176842e-01 -2.51340586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:423.96, Y:-204.63, Z:-25.14 [[ 8.68005591e-01 4.92457612e-01 6.36537048e-02 4.23955912e+02] [-4.90855408e-01 8.70330062e-01 -3.98315515e-02 -2.04628330e+02] [-7.50150836e-02 3.32924417e-03 9.97176842e-01 -2.51382545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.01, Y:-204.66, Z:-25.14 [[ 8.60973411e-01 5.04652573e-01 6.36440586e-02 4.24012065e+02] [-5.03082179e-01 8.63319490e-01 -3.98469585e-02 -2.04655049e+02] [-7.50540263e-02 2.28898017e-03 9.97176842e-01 -2.51413058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.07, Y:-204.68, Z:-25.15 [[ 8.55510530e-01 5.13860295e-01 6.36343575e-02 4.24067633e+02] [-5.12314009e-01 8.57872567e-01 -3.98624449e-02 -2.04684124e+02] [-7.50738973e-02 1.50196850e-03 9.97176842e-01 -2.51465267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.12, Y:-204.71, Z:-25.15 [[ 8.47207837e-01 5.27438110e-01 6.36232734e-02 4.24122886e+02] [-5.25928361e-01 8.49593394e-01 -3.98801281e-02 -2.04709603e+02] [-7.50882121e-02 3.25473166e-04 9.97176842e-01 -2.51535097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.18, Y:-204.74, Z:-25.16 [[ 8.42174840e-01 5.35438836e-01 6.36144007e-02 4.24178837e+02] [-5.33950681e-01 8.44573926e-01 -3.98942763e-02 -2.04739326e+02] [-7.50880090e-02 -3.68996736e-04 9.97176842e-01 -2.51582750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.23, Y:-204.77, Z:-25.16 [[ 8.37422384e-01 5.42842171e-01 6.36091933e-02 4.24234332e+02] [-5.41374592e-01 8.39834112e-01 -3.99025775e-02 -2.04767758e+02] [-7.50819721e-02 -1.02108956e-03 9.97176842e-01 -2.51636957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.29, Y:-204.80, Z:-25.17 [[ 8.35843053e-01 5.45272113e-01 6.35980627e-02 4.24288250e+02] [-5.43810196e-01 8.38258218e-01 -3.99203100e-02 -2.04799453e+02] [-7.50790304e-02 -1.21816112e-03 9.97176843e-01 -2.51677051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.34, Y:-204.83, Z:-25.17 [[ 8.35775095e-01 5.45377598e-01 6.35866915e-02 4.24341333e+02] [-5.43914609e-01 8.38189609e-01 -3.99384143e-02 -2.04831649e+02] [-7.50792205e-02 -1.20619842e-03 9.97176843e-01 -2.51730406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.39, Y:-204.87, Z:-25.18 [[ 8.36578671e-01 5.44145382e-01 6.35761814e-02 4.24394739e+02] [-5.42677567e-01 8.38990254e-01 -3.99551379e-02 -2.04865419e+02] [-7.50812003e-02 -1.07575132e-03 9.97176843e-01 -2.51781946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.45, Y:-204.90, Z:-25.18 [[ 8.37717974e-01 5.42391058e-01 6.35652114e-02 4.24446944e+02] [-5.40916869e-01 8.40125665e-01 -3.99725825e-02 -2.04900003e+02] [-7.50835369e-02 -8.97744295e-04 9.97176843e-01 -2.51835395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.50, Y:-204.93, Z:-25.19 [[ 8.38271919e-01 5.41535826e-01 6.35542185e-02 4.24499071e+02] [-5.40057856e-01 8.40677291e-01 -3.99900531e-02 -2.04934597e+02] [-7.50846347e-02 -8.00416384e-04 9.97176843e-01 -2.51880654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.55, Y:-204.97, Z:-25.19 [[ 8.37604516e-01 5.42568868e-01 6.35428861e-02 4.24548804e+02] [-5.41092499e-01 8.40010871e-01 -4.00080518e-02 -2.04971179e+02] [-7.50838385e-02 -8.71654125e-04 9.97176844e-01 -2.51920289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.60, Y:-205.00, Z:-25.20 [[ 8.40213883e-01 5.38519667e-01 6.35389605e-02 4.24599637e+02] [-5.37031229e-01 8.42612792e-01 -4.00142853e-02 -2.05004030e+02] [-7.50872205e-02 -5.01848041e-04 9.97176844e-01 -2.51981458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.65, Y:-205.04, Z:-25.20 [[ 8.41759132e-01 5.36102285e-01 6.35287690e-02 4.24651131e+02] [-5.34605736e-01 8.44152989e-01 -4.00304593e-02 -2.05039682e+02] [-7.50884210e-02 -2.66839638e-04 9.97176844e-01 -2.52015707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.70, Y:-205.08, Z:-25.20 [[ 8.44336033e-01 5.32035891e-01 6.35175136e-02 4.24701485e+02] [-5.30526470e-01 8.46721795e-01 -4.00483108e-02 -2.05076656e+02] [-7.50888018e-02 1.16509638e-04 9.97176844e-01 -2.52042036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.75, Y:-205.11, Z:-25.21 [[ 8.46042594e-01 5.29319099e-01 6.35076370e-02 4.24752275e+02] [-5.27800842e-01 8.48422742e-01 -4.00639666e-02 -2.05112128e+02] [-7.50879463e-02 3.76437972e-04 9.97176844e-01 -2.52084818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.80, Y:-205.15, Z:-25.21 [[ 8.48350676e-01 5.25613199e-01 6.34972121e-02 4.24803374e+02] [-5.24083309e-01 8.50723363e-01 -4.00804824e-02 -2.05149195e+02] [-7.50853923e-02 7.24475310e-04 9.97176844e-01 -2.52123143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.86, Y:-205.19, Z:-25.22 [[ 8.50831302e-01 5.21589510e-01 6.34860580e-02 4.24855233e+02] [-5.20047083e-01 8.53195857e-01 -4.00981423e-02 -2.05185128e+02] [-7.50808121e-02 1.10101533e-03 9.97176845e-01 -2.52173249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.91, Y:-205.22, Z:-25.22 [[ 8.53221276e-01 5.17672098e-01 6.34748286e-02 4.24906324e+02] [-5.16117494e-01 8.55577844e-01 -4.01159104e-02 -2.05220922e+02] [-7.50745445e-02 1.46727881e-03 9.97176845e-01 -2.52216037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:424.96, Y:-205.26, Z:-25.23 [[ 8.57572709e-01 5.10432578e-01 6.34636323e-02 4.24957554e+02] [-5.08856776e-01 8.59915155e-01 -4.01336153e-02 -2.05257856e+02] [-7.50588439e-02 2.12359380e-03 9.97176845e-01 -2.52253869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.01, Y:-205.29, Z:-25.23 [[ 8.60232640e-01 5.05938334e-01 6.34524012e-02 4.25009212e+02] [-5.04348990e-01 8.62565919e-01 -4.01513641e-02 -2.05292592e+02] [-7.50459930e-02 2.53735949e-03 9.97176845e-01 -2.52301225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.06, Y:-205.33, Z:-25.23 [[ 8.62222867e-01 5.02539947e-01 6.34454893e-02 4.25060115e+02] [-5.00940606e-01 8.64549304e-01 -4.01622831e-02 -2.05328701e+02] [-7.50349052e-02 2.84641699e-03 9.97176845e-01 -2.52286685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.11, Y:-205.36, Z:-25.24 [[ 8.63422545e-01 5.00477248e-01 6.34352574e-02 4.25113080e+02] [-4.98871167e-01 8.65744334e-01 -4.01784376e-02 -2.05359029e+02] [-7.50271086e-02 3.04494798e-03 9.97176846e-01 -2.52371741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.17, Y:-205.39, Z:-25.24 [[ 8.62837411e-01 5.01486545e-01 6.34259164e-02 4.25166500e+02] [-4.99882098e-01 8.65160330e-01 -4.01931779e-02 -2.05391674e+02] [-7.50299247e-02 2.97469743e-03 9.97176846e-01 -2.52422232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.22, Y:-205.42, Z:-25.25 [[ 8.60698387e-01 5.05150321e-01 6.34148231e-02 4.25220760e+02] [-5.03554477e-01 8.63027225e-01 -4.02106728e-02 -2.05423109e+02] [-7.50411531e-02 2.67644312e-03 9.97176846e-01 -2.52479094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.27, Y:-205.45, Z:-25.25 [[ 8.55387813e-01 5.14093066e-01 6.34035321e-02 4.25274906e+02] [-5.12520263e-01 8.57732272e-01 -4.02284684e-02 -2.05452697e+02] [-7.50644324e-02 1.91534668e-03 9.97176846e-01 -2.52544780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:-205.48, Z:-25.26 [[ 8.49206764e-01 5.24241457e-01 6.33937447e-02 4.25330451e+02] [-5.22695529e-01 8.51569030e-01 -4.02438859e-02 -2.05481319e+02] [-7.50816631e-02 1.03975317e-03 9.97176846e-01 -2.52598095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.38, Y:-205.51, Z:-25.26 [[ 8.44990005e-01 5.31012771e-01 6.33823920e-02 4.25383999e+02] [-5.29484435e-01 8.47363691e-01 -4.02617580e-02 -2.05512967e+02] [-7.50874454e-02 4.60793111e-04 9.97176847e-01 -2.52640175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.44, Y:-205.54, Z:-25.27 [[ 8.41579805e-01 5.36401733e-01 6.33767534e-02 4.25438502e+02] [-5.34887928e-01 8.43962784e-01 -4.02706320e-02 -2.05540935e+02] [-7.50888580e-02 -8.50970759e-06 9.97176847e-01 -2.52672972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.49, Y:-205.57, Z:-25.27 [[ 8.39591997e-01 5.39508473e-01 6.33710239e-02 4.25491971e+02] [-5.38002805e-01 8.41980125e-01 -4.02796460e-02 -2.05572106e+02] [-7.50883530e-02 -2.75320219e-04 9.97176847e-01 -2.52731483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.55, Y:-205.60, Z:-25.28 [[ 8.37195542e-01 5.43221019e-01 6.33604756e-02 4.25545681e+02] [-5.41724686e-01 8.39589530e-01 -4.02962319e-02 -2.05602700e+02] [-7.50865521e-02 -5.88107993e-04 9.97176847e-01 -2.52786654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.60, Y:-205.63, Z:-25.28 [[ 8.34661371e-01 5.47107952e-01 6.33504910e-02 4.25599915e+02] [-5.45621576e-01 8.37061554e-01 -4.03119227e-02 -2.05634672e+02] [-7.50832340e-02 -9.18590024e-04 9.97176847e-01 -2.52839240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.65, Y:-205.67, Z:-25.29 [[ 8.33136420e-01 5.49428689e-01 6.33389457e-02 4.25653043e+02] [-5.47947620e-01 8.35539881e-01 -4.03300548e-02 -2.05667223e+02] [-7.50807043e-02 -1.10598707e-03 9.97176847e-01 -2.52894784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.71, Y:-205.70, Z:-25.30 [[ 8.32557044e-01 5.50307543e-01 6.33275353e-02 4.25705301e+02] [-5.48827649e-01 8.34961229e-01 -4.03479640e-02 -2.05701257e+02] [-7.50798256e-02 -1.16392072e-03 9.97176847e-01 -2.52954654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.76, Y:-205.74, Z:-25.30 [[ 8.33298737e-01 5.49184208e-01 6.33239349e-02 4.25755725e+02] [-5.47700644e-01 8.35700659e-01 -4.03536138e-02 -2.05735984e+02] [-7.50814215e-02 -1.05594454e-03 9.97176847e-01 -2.53012454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.81, Y:-205.77, Z:-25.30 [[ 8.34448505e-01 5.47436282e-01 6.33183188e-02 4.25806965e+02] [-5.45947018e-01 8.36846897e-01 -4.03624241e-02 -2.05771729e+02] [-7.50835939e-02 -8.88082848e-04 9.97176848e-01 -2.53048833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.86, Y:-205.81, Z:-25.31 [[ 8.36671337e-01 5.44034284e-01 6.33069604e-02 4.25857436e+02] [-5.42533920e-01 8.39062800e-01 -4.03802315e-02 -2.05809248e+02] [-7.50867458e-02 -5.61191070e-04 9.97176848e-01 -2.53091038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.91, Y:-205.85, Z:-25.31 [[ 8.39453386e-01 5.39732954e-01 6.32957351e-02 4.25906528e+02] [-5.38219010e-01 8.41836275e-01 -4.03978194e-02 -2.05848061e+02] [-7.50886803e-02 -1.54881542e-04 9.97176848e-01 -2.53124705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:425.96, Y:-205.89, Z:-25.31 [[ 8.40366488e-01 5.38311298e-01 6.32859518e-02 4.25956172e+02] [-5.36792168e-01 8.42746075e-01 -4.04131398e-02 -2.05886565e+02] [-7.50888372e-02 -9.55492473e-06 9.97176848e-01 -2.53134784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.00, Y:-205.92, Z:-25.32 [[ 8.42698058e-01 5.34655204e-01 6.32755528e-02 4.26004916e+02] [-5.33124528e-01 8.45070234e-01 -4.04294152e-02 -2.05922505e+02] [-7.50880834e-02 3.36040492e-04 9.97176848e-01 -2.53194559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.06, Y:-205.96, Z:-25.32 [[ 8.43950679e-01 5.32676711e-01 6.32674718e-02 4.26055445e+02] [-5.31139527e-01 8.46318642e-01 -4.04420571e-02 -2.05959815e+02] [-7.50869828e-02 5.27246524e-04 9.97176848e-01 -2.53239426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.10, Y:-206.00, Z:-25.33 [[ 8.47050012e-01 5.27735698e-01 6.32559150e-02 4.26103788e+02] [-5.26183353e-01 8.49408063e-01 -4.04601252e-02 -2.05998195e+02] [-7.50823366e-02 9.87540074e-04 9.97176849e-01 -2.53286955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.15, Y:-206.04, Z:-25.33 [[ 8.49403653e-01 5.23940334e-01 6.32452392e-02 4.26154740e+02] [-5.22376212e-01 8.51753909e-01 -4.04768062e-02 -2.06035058e+02] [-7.50768111e-02 1.34333862e-03 9.97176849e-01 -2.53325364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.21, Y:-206.07, Z:-25.34 [[ 8.52821958e-01 5.18359125e-01 6.32338970e-02 4.26205960e+02] [-5.16778312e-01 8.55161020e-01 -4.04945176e-02 -2.06071673e+02] [-7.50658665e-02 1.85670718e-03 9.97176849e-01 -2.53367542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.26, Y:-206.11, Z:-25.34 [[ 8.55543980e-01 5.13855420e-01 6.32226670e-02 4.26256810e+02] [-5.12261003e-01 8.57873790e-01 -4.05120430e-02 -2.06107593e+02] [-7.50544018e-02 2.27332777e-03 9.97176849e-01 -2.53401499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.31, Y:-206.14, Z:-25.34 [[ 8.55948057e-01 5.13183241e-01 6.32130067e-02 4.26309842e+02] [-5.11585883e-01 8.58275852e-01 -4.05271109e-02 -2.06141734e+02] [-7.50520313e-02 2.35021996e-03 9.97176849e-01 -2.53442545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.36, Y:-206.17, Z:-25.35 [[ 8.54718285e-01 5.15230258e-01 6.32015434e-02 4.26363298e+02] [-5.13637156e-01 8.57048993e-01 -4.05449799e-02 -2.06174075e+02] [-7.50568196e-02 2.19187475e-03 9.97176850e-01 -2.53497212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.42, Y:-206.21, Z:-25.36 [[ 8.51978308e-01 5.19749901e-01 6.31902191e-02 4.26417293e+02] [-5.18167857e-01 8.54316537e-01 -4.05626214e-02 -2.06206318e+02] [-7.50668676e-02 1.81533308e-03 9.97176850e-01 -2.53552625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.47, Y:-206.24, Z:-25.36 [[ 8.46452618e-01 5.28702580e-01 6.31786906e-02 4.26471315e+02] [-5.27143935e-01 8.48806509e-01 -4.05805698e-02 -2.06236808e+02] [-7.50815358e-02 1.04526595e-03 9.97176850e-01 -2.53612098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.53, Y:-206.27, Z:-25.37 [[ 8.42539996e-01 5.34916884e-01 6.31686784e-02 4.26525418e+02] [-5.33374434e-01 8.44904531e-01 -4.05961491e-02 -2.06268288e+02] [-7.50870682e-02 5.11321223e-04 9.97176850e-01 -2.53661284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.58, Y:-206.30, Z:-25.37 [[ 8.37757240e-01 5.42378097e-01 6.31570040e-02 4.26579368e+02] [-5.40855338e-01 8.40134503e-01 -4.06143033e-02 -2.06298195e+02] [-7.50886867e-02 -1.33876052e-04 9.97176851e-01 -2.53718060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.63, Y:-206.33, Z:-25.38 [[ 8.33645192e-01 5.48678637e-01 6.31462272e-02 4.26633061e+02] [-5.47172575e-01 8.36033068e-01 -4.06310519e-02 -2.06330192e+02] [-7.50857243e-02 -6.80002680e-04 9.97176851e-01 -2.53765068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.69, Y:-206.36, Z:-25.38 [[ 8.30872819e-01 5.52869212e-01 6.31347162e-02 4.26686450e+02] [-5.51373834e-01 8.33267400e-01 -4.06489306e-02 -2.06363334e+02] [-7.50816430e-02 -1.03673894e-03 9.97176851e-01 -2.53810350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.74, Y:-206.40, Z:-25.39 [[ 8.27497679e-01 5.57909530e-01 6.31232744e-02 4.26740409e+02] [-5.56427381e-01 8.29900470e-01 -4.06666907e-02 -2.06396192e+02] [-7.50743694e-02 -1.47192607e-03 9.97176851e-01 -2.53858874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.79, Y:-206.43, Z:-25.39 [[ 8.26554152e-01 5.59307733e-01 6.31117561e-02 4.26793801e+02] [-5.57828285e-01 8.28958607e-01 -4.06845584e-02 -2.06429973e+02] [-7.50722215e-02 -1.57753192e-03 9.97176851e-01 -2.53912122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.85, Y:-206.46, Z:-25.40 [[ 8.24543407e-01 5.62269076e-01 6.31003585e-02 4.26846363e+02] [-5.60796912e-01 8.26952328e-01 -4.07022281e-02 -2.06463453e+02] [-7.50665925e-02 -1.82573238e-03 9.97176852e-01 -2.53968751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.90, Y:-206.50, Z:-25.40 [[ 8.23888113e-01 5.63230147e-01 6.30886595e-02 4.26898385e+02] [-5.61759406e-01 8.26297902e-01 -4.07203536e-02 -2.06497196e+02] [-7.50649577e-02 -1.89163262e-03 9.97176852e-01 -2.54027315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:426.95, Y:-206.53, Z:-25.41 [[ 8.24431935e-01 5.62435035e-01 6.30778571e-02 4.26948783e+02] [-5.60960691e-01 8.26839521e-01 -4.07370801e-02 -2.06533265e+02] [-7.50672263e-02 -1.79924853e-03 9.97176852e-01 -2.54090321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.00, Y:-206.57, Z:-25.42 [[ 8.25866742e-01 5.60327190e-01 6.30679329e-02 4.26998701e+02] [-5.58845528e-01 8.28269832e-01 -4.07524387e-02 -2.06569127e+02] [-7.50719657e-02 -1.58914849e-03 9.97176852e-01 -2.54154210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.05, Y:-206.61, Z:-25.42 [[ 8.30951291e-01 5.52760012e-01 6.30580833e-02 4.27046874e+02] [-5.51255304e-01 8.33340018e-01 -4.07676737e-02 -2.06610937e+02] [-7.50835641e-02 -8.85151822e-04 9.97176852e-01 -2.54195836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.09, Y:-206.65, Z:-25.42 [[ 8.33969656e-01 5.48196805e-01 6.30466166e-02 4.27094685e+02] [-5.46677686e-01 8.36349244e-01 -4.07853992e-02 -2.06648483e+02] [-7.50874157e-02 -4.52393166e-04 9.97176853e-01 -2.54231827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.14, Y:-206.69, Z:-25.42 [[ 8.37839630e-01 5.42264235e-01 6.30416840e-02 4.27142876e+02] [-5.40727693e-01 8.40208005e-01 -4.07930221e-02 -2.06689096e+02] [-7.50887244e-02 8.96261886e-05 9.97176853e-01 -2.54246611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.19, Y:-206.73, Z:-25.43 [[ 8.39720507e-01 5.39348163e-01 6.30319673e-02 4.27193464e+02] [-5.37802270e-01 8.42082789e-01 -4.08080305e-02 -2.06726601e+02] [-7.50878711e-02 3.68604980e-04 9.97176853e-01 -2.54281101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.24, Y:-206.76, Z:-25.43 [[ 8.41605786e-01 5.36402894e-01 6.30209247e-02 4.27242815e+02] [-5.34847457e-01 8.43961794e-01 -4.08250767e-02 -2.06764536e+02] [-7.50859420e-02 6.52039402e-04 9.97176853e-01 -2.54331630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.29, Y:-206.80, Z:-25.44 [[ 8.42522498e-01 5.34963039e-01 6.30110032e-02 4.27292965e+02] [-5.33402432e-01 8.44875085e-01 -4.08403842e-02 -2.06800733e+02] [-7.50845228e-02 7.98720201e-04 9.97176853e-01 -2.54381099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.34, Y:-206.84, Z:-25.44 [[ 8.43510891e-01 5.33404383e-01 6.30011259e-02 4.27344304e+02] [-5.31838291e-01 8.45859829e-01 -4.08556156e-02 -2.06836750e+02] [-7.50826860e-02 9.55745556e-04 9.97176853e-01 -2.54432188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.40, Y:-206.87, Z:-25.45 [[ 8.44317709e-01 5.32127690e-01 6.29899022e-02 4.27396848e+02] [-5.30556756e-01 8.46663412e-01 -4.08729125e-02 -2.06871387e+02] [-7.50808541e-02 1.09000568e-03 9.97176854e-01 -2.54469311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.45, Y:-206.91, Z:-25.45 [[ 8.43910039e-01 5.32775330e-01 6.29785222e-02 4.27450250e+02] [-5.31204889e-01 8.46256071e-01 -4.08904398e-02 -2.06905282e+02] [-7.50813743e-02 1.05335370e-03 9.97176854e-01 -2.54506476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.50, Y:-206.94, Z:-25.45 [[ 8.43129633e-01 5.34010836e-01 6.29670489e-02 4.27503106e+02] [-5.32442514e-01 8.45477082e-01 -4.09080999e-02 -2.06938612e+02] [-7.50825654e-02 9.64497439e-04 9.97176854e-01 -2.54544939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.56, Y:-206.97, Z:-25.46 [[ 8.42353074e-01 5.35236291e-01 6.29556316e-02 4.27556742e+02] [-5.33670071e-01 8.44701927e-01 -4.09256630e-02 -2.06970429e+02] [-7.50836434e-02 8.76321619e-04 9.97176854e-01 -2.54585303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.61, Y:-207.00, Z:-25.46 [[ 8.41841831e-01 5.36041393e-01 6.29440782e-02 4.27610579e+02] [-5.34476092e-01 8.44191295e-01 -4.09434246e-02 -2.07002395e+02] [-7.50842133e-02 8.25782601e-04 9.97176854e-01 -2.54633422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.66, Y:-207.03, Z:-25.47 [[ 8.40565112e-01 5.38042556e-01 6.29325042e-02 4.27664642e+02] [-5.36481518e-01 8.42917411e-01 -4.09612069e-02 -2.07034472e+02] [-7.50857759e-02 6.68436085e-04 9.97176855e-01 -2.54668775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.72, Y:-207.07, Z:-25.47 [[ 8.38934418e-01 5.40583006e-01 6.29210264e-02 4.27718368e+02] [-5.39027769e-01 8.41290556e-01 -4.09788306e-02 -2.07066436e+02] [-7.50873247e-02 4.62370939e-04 9.97176855e-01 -2.54716836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.77, Y:-207.10, Z:-25.48 [[ 8.35341256e-01 5.46120290e-01 6.29095810e-02 4.27773863e+02] [-5.44579349e-01 8.37706768e-01 -4.09963937e-02 -2.07096707e+02] [-7.50887442e-02 -1.32796918e-05 9.97176855e-01 -2.54775833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.83, Y:-207.13, Z:-25.48 [[ 8.30265383e-01 5.53807938e-01 6.28980260e-02 4.27827704e+02] [-5.52287555e-01 8.32644161e-01 -4.10141141e-02 -2.07127302e+02] [-7.50856161e-02 -6.85197832e-04 9.97176855e-01 -2.54837921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.88, Y:-207.16, Z:-25.49 [[ 8.26673522e-01 5.59156571e-01 6.28873423e-02 4.27881010e+02] [-5.57650332e-01 8.29061280e-01 -4.10304891e-02 -2.07159764e+02] [-7.50799281e-02 -1.15032837e-03 9.97176856e-01 -2.54883092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.93, Y:-207.19, Z:-25.50 [[ 8.22588697e-01 5.65149947e-01 6.28758604e-02 4.27933240e+02] [-5.63659758e-01 8.24986504e-01 -4.10480767e-02 -2.07191271e+02] [-7.50700546e-02 -1.67490837e-03 9.97176856e-01 -2.54953186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:427.99, Y:-207.22, Z:-25.50 [[ 8.20615265e-01 5.68012648e-01 6.28666717e-02 4.27986285e+02] [-5.66529746e-01 8.23017586e-01 -4.10621447e-02 -2.07224203e+02] [-7.50641939e-02 -1.91961686e-03 9.97176856e-01 -2.54993320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.04, Y:-207.26, Z:-25.51 [[ 8.19266004e-01 5.69958260e-01 6.28553590e-02 4.28037491e+02] [-5.68479736e-01 8.21671022e-01 -4.10794541e-02 -2.07256182e+02] [-7.50600013e-02 -2.07699771e-03 9.97176856e-01 -2.55054357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.09, Y:-207.29, Z:-25.51 [[ 8.19962302e-01 5.68957085e-01 6.28463139e-02 4.28089414e+02] [-5.67474565e-01 8.22364858e-01 -4.10932873e-02 -2.07291105e+02] [-7.50629170e-02 -1.96873820e-03 9.97176856e-01 -2.55092155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.14, Y:-207.33, Z:-25.51 [[ 8.21550186e-01 5.66663089e-01 6.28349900e-02 4.28141253e+02] [-5.65172537e-01 8.23947767e-01 -4.11105953e-02 -2.07326850e+02] [-7.50686066e-02 -1.73819350e-03 9.97176856e-01 -2.55138973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.19, Y:-207.36, Z:-25.52 [[ 8.24745279e-01 5.62003919e-01 6.28237285e-02 4.28192052e+02] [-5.60498510e-01 8.27133559e-01 -4.11277975e-02 -2.07363351e+02] [-7.50775975e-02 -1.29264940e-03 9.97176857e-01 -2.55169874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.24, Y:-207.40, Z:-25.52 [[ 8.26905699e-01 5.58821650e-01 6.28118585e-02 4.28242193e+02] [-5.57305673e-01 8.29287285e-01 -4.11459179e-02 -2.07399367e+02] [-7.50823053e-02 -9.81611104e-04 9.97176857e-01 -2.55216609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.29, Y:-207.44, Z:-25.53 [[ 8.30580319e-01 5.53346525e-01 6.28009260e-02 4.28292423e+02] [-5.51813586e-01 8.32951023e-01 -4.11625973e-02 -2.07436618e+02] [-7.50872758e-02 -4.65560954e-04 9.97176857e-01 -2.55253299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.34, Y:-207.47, Z:-25.53 [[ 8.34033276e-01 5.48129543e-01 6.27893213e-02 4.28343252e+02] [-5.46580442e-01 8.36393450e-01 -4.11802915e-02 -2.07472972e+02] [-7.50887115e-02 2.63184079e-05 9.97176857e-01 -2.55304655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.40, Y:-207.51, Z:-25.54 [[ 8.35809135e-01 5.45419131e-01 6.27778766e-02 4.28395390e+02] [-5.43861067e-01 8.38163401e-01 -4.11977313e-02 -2.07508574e+02] [-7.50881493e-02 2.90997228e-04 9.97176858e-01 -2.55352221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.45, Y:-207.54, Z:-25.54 [[ 8.36525164e-01 5.44321606e-01 6.27665536e-02 4.28447231e+02] [-5.42759159e-01 8.38876523e-01 -4.12149752e-02 -2.07543523e+02] [-7.50875897e-02 4.10242045e-04 9.97176858e-01 -2.55396332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.50, Y:-207.58, Z:-25.54 [[ 8.38740568e-01 5.40902980e-01 6.27552875e-02 4.28498136e+02] [-5.39329667e-01 8.41084670e-01 -4.12321222e-02 -2.07577755e+02] [-7.50850881e-02 7.37265287e-04 9.97176858e-01 -2.55439716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.55, Y:-207.61, Z:-25.55 [[ 8.40305832e-01 5.38469302e-01 6.27448799e-02 4.28551353e+02] [-5.36888018e-01 8.42644565e-01 -4.12479539e-02 -2.07611716e+02] [-7.50823889e-02 9.73921997e-04 9.97176858e-01 -2.55485425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.60, Y:-207.64, Z:-25.55 [[ 8.42184435e-01 5.35527638e-01 6.27337782e-02 4.28604091e+02] [-5.33936929e-01 8.44516767e-01 -4.12648315e-02 -2.07643431e+02] [-7.50781853e-02 1.25671793e-03 9.97176858e-01 -2.55523601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.66, Y:-207.68, Z:-25.56 [[ 8.43594282e-01 5.33305098e-01 6.27244782e-02 4.28656996e+02] [-5.31707194e-01 8.45921691e-01 -4.12789632e-02 -2.07676505e+02] [-7.50742781e-02 1.47164105e-03 9.97176858e-01 -2.55561897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.71, Y:-207.71, Z:-25.56 [[ 8.44075884e-01 5.32543875e-01 6.27130211e-02 4.28710443e+02] [-5.30942580e-01 8.46400961e-01 -4.12963620e-02 -2.07709427e+02] [-7.50724860e-02 1.56025000e-03 9.97176859e-01 -2.55604648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.76, Y:-207.74, Z:-25.56 [[ 8.44059976e-01 5.32570452e-01 6.27014311e-02 4.28764594e+02] [-5.30967925e-01 8.46384204e-01 -4.13139519e-02 -2.07740043e+02] [-7.50720909e-02 1.57900448e-03 9.97176859e-01 -2.55649304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.82, Y:-207.77, Z:-25.57 [[ 8.43863551e-01 5.32882810e-01 6.26914524e-02 4.28818795e+02] [-5.31280019e-01 8.46187596e-01 -4.13290885e-02 -2.07771782e+02] [-7.50722902e-02 1.56939531e-03 9.97176859e-01 -2.55687929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.87, Y:-207.80, Z:-25.57 [[ 8.43435751e-01 5.33561008e-01 6.26800118e-02 4.28873801e+02] [-5.31958798e-01 8.45760197e-01 -4.13464323e-02 -2.07802306e+02] [-7.50731031e-02 1.52987547e-03 9.97176859e-01 -2.55726201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.93, Y:-207.83, Z:-25.58 [[ 8.41456047e-01 5.36679034e-01 6.26684512e-02 4.28930181e+02] [-5.35084134e-01 8.43785514e-01 -4.13639471e-02 -2.07830940e+02] [-7.50778945e-02 1.27304943e-03 9.97176860e-01 -2.55784406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:428.99, Y:-207.86, Z:-25.58 [[ 8.39429818e-01 5.39844131e-01 6.26569651e-02 4.28985301e+02] [-5.38256717e-01 8.41764392e-01 -4.13813387e-02 -2.07860930e+02] [-7.50818749e-02 1.01119725e-03 9.97176860e-01 -2.55838210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.04, Y:-207.89, Z:-25.59 [[ 8.35861152e-01 5.45354624e-01 6.26455849e-02 4.29042150e+02] [-5.43781311e-01 8.38205252e-01 -4.13985595e-02 -2.07889053e+02] [-7.50867542e-02 5.37949287e-04 9.97176860e-01 -2.55885743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.10, Y:-207.92, Z:-25.59 [[ 8.33109985e-01 5.49549562e-01 6.26341016e-02 4.29097188e+02] [-5.47986748e-01 8.35461098e-01 -4.14159260e-02 -2.07919269e+02] [-7.50884593e-02 1.81363917e-04 9.97176860e-01 -2.55938423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.15, Y:-207.95, Z:-25.60 [[ 8.29594008e-01 5.54844292e-01 6.26226258e-02 4.29152489e+02] [-5.53295173e-01 8.31954167e-01 -4.14332707e-02 -2.07946358e+02] [-7.50881682e-02 -2.76003490e-04 9.97176860e-01 -2.56003466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.21, Y:-207.98, Z:-25.61 [[ 8.27095974e-01 5.58561864e-01 6.26170522e-02 4.29208299e+02] [-5.57022715e-01 8.29462646e-01 -4.14416922e-02 -2.07976038e+02] [-7.50862546e-02 -6.02863607e-04 9.97176860e-01 -2.56054771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.26, Y:-208.01, Z:-25.61 [[ 8.25910349e-01 5.60314740e-01 6.26058173e-02 4.29262329e+02] [-5.58779328e-01 8.28279447e-01 -4.14586579e-02 -2.08007491e+02] [-7.50850088e-02 -7.41701915e-04 9.97176861e-01 -2.56102634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.32, Y:-208.04, Z:-25.62 [[ 8.25140241e-01 5.61449452e-01 6.25946900e-02 4.29315529e+02] [-5.59916024e-01 8.27510624e-01 -4.14754511e-02 -2.08038742e+02] [-7.50841403e-02 -8.24706253e-04 9.97176861e-01 -2.56154520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.37, Y:-208.07, Z:-25.61 [[ 8.23439100e-01 5.63942588e-01 6.25843949e-02 4.29366909e+02] [-5.62415156e-01 8.25813351e-01 -4.14909801e-02 -2.08073158e+02] [-7.50815596e-02 -1.03311694e-03 9.97176861e-01 -2.56116865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.42, Y:-208.10, Z:-25.62 [[ 8.23732474e-01 5.63514146e-01 6.25828930e-02 4.29419824e+02] [-5.61985307e-01 8.26105819e-01 -4.14932454e-02 -2.08104830e+02] [-7.50821228e-02 -9.91332675e-04 9.97176861e-01 -2.56173441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.47, Y:-208.14, Z:-25.62 [[ 8.24477712e-01 5.62424422e-01 6.25721358e-02 4.29472964e+02] [-5.60891216e-01 8.26848238e-01 -4.15094610e-02 -2.08137374e+02] [-7.50835948e-02 -8.72535903e-04 9.97176861e-01 -2.56233618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.52, Y:-208.17, Z:-25.63 [[ 8.24937468e-01 5.61751056e-01 6.25613668e-02 4.29523592e+02] [-5.60214685e-01 8.27305944e-01 -4.15256853e-02 -2.08173066e+02] [-7.50844882e-02 -7.91702724e-04 9.97176861e-01 -2.56263955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.58, Y:-208.21, Z:-25.63 [[ 8.25824047e-01 5.60448095e-01 6.25505835e-02 4.29575535e+02] [-5.58906757e-01 8.28189293e-01 -4.15419220e-02 -2.08207539e+02] [-7.50858146e-02 -6.53625622e-04 9.97176862e-01 -2.56323303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.63, Y:-208.24, Z:-25.64 [[ 8.25439256e-01 5.61016040e-01 6.25382899e-02 4.29626465e+02] [-5.59474928e-01 8.27804649e-01 -4.15604208e-02 -2.08243545e+02] [-7.50855498e-02 -6.83002407e-04 9.97176862e-01 -2.56387094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.68, Y:-208.28, Z:-25.64 [[ 8.24707463e-01 5.62091887e-01 6.25324853e-02 4.29677465e+02] [-5.60553198e-01 8.27074433e-01 -4.15691528e-02 -2.08279326e+02] [-7.50847033e-02 -7.70394135e-04 9.97176862e-01 -2.56435900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.73, Y:-208.32, Z:-25.65 [[ 8.24584354e-01 5.62273839e-01 6.25201805e-02 4.29727542e+02] [-5.60734271e-01 8.26950751e-01 -4.15876510e-02 -2.08315095e+02] [-7.50847584e-02 -7.64681482e-04 9.97176862e-01 -2.56495499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.78, Y:-208.35, Z:-25.65 [[ 8.24825468e-01 5.61921274e-01 6.25094368e-02 4.29776972e+02] [-5.60379471e-01 8.27190409e-01 -4.16037934e-02 -2.08354043e+02] [-7.50852632e-02 -7.13136723e-04 9.97176862e-01 -2.56538511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.83, Y:-208.39, Z:-25.65 [[ 8.24217599e-01 5.62813876e-01 6.24971296e-02 4.29826160e+02] [-5.61273233e-01 8.26583296e-01 -4.16222731e-02 -2.08392579e+02] [-7.50846762e-02 -7.72155961e-04 9.97176863e-01 -2.56539792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.88, Y:-208.43, Z:-25.66 [[ 8.25531076e-01 5.60886711e-01 6.24863212e-02 4.29875659e+02] [-5.59339317e-01 8.27892363e-01 -4.16384932e-02 -2.08426522e+02] [-7.50864256e-02 -5.77186142e-04 9.97176863e-01 -2.56648567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.93, Y:-208.46, Z:-25.67 [[ 8.24829250e-01 5.61919332e-01 6.24769747e-02 4.29926880e+02] [-5.60373833e-01 8.27191777e-01 -4.16525124e-02 -2.08463594e+02] [-7.50857917e-02 -6.54251200e-04 9.97176863e-01 -2.56698134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:429.98, Y:-208.50, Z:-25.68 [[ 8.22762907e-01 5.64941854e-01 6.24651962e-02 4.29977266e+02] [-5.63403692e-01 8.25130218e-01 -4.16701690e-02 -2.08500666e+02] [-7.50831434e-02 -9.08452801e-04 9.97176863e-01 -2.56751373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.03, Y:-208.54, Z:-25.68 [[ 8.21250155e-01 5.67139980e-01 6.24533851e-02 4.30028462e+02] [-5.65606809e-01 8.23620701e-01 -4.16878634e-02 -2.08536997e+02] [-7.50807549e-02 -1.08789553e-03 9.97176863e-01 -2.56801400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.08, Y:-208.58, Z:-25.68 [[ 8.17919420e-01 5.71934333e-01 6.24415107e-02 4.30076335e+02] [-5.70413698e-01 8.20298026e-01 -4.17056417e-02 -2.08575994e+02] [-7.50735364e-02 -1.50563882e-03 9.97176864e-01 -2.56819734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.13, Y:-208.61, Z:-25.69 [[ 8.17931367e-01 5.71918283e-01 6.24320149e-02 4.30128598e+02] [-5.70396518e-01 8.20309251e-01 -4.17198518e-02 -2.08608804e+02] [-7.50739054e-02 -1.48702850e-03 9.97176864e-01 -2.56899357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.18, Y:-208.65, Z:-25.70 [[ 8.15444953e-01 5.75459020e-01 6.24215054e-02 4.30177973e+02] [-5.73946376e-01 8.17828649e-01 -4.17355702e-02 -2.08645768e+02] [-7.50672058e-02 -1.79353672e-03 9.97176864e-01 -2.56954567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.23, Y:-208.68, Z:-25.70 [[ 8.14424950e-01 5.76902890e-01 6.24103864e-02 4.30228807e+02] [-5.75393200e-01 8.16810517e-01 -4.17521908e-02 -2.08682210e+02] [-7.50644195e-02 -1.90648599e-03 9.97176864e-01 -2.56998112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.28, Y:-208.72, Z:-25.71 [[ 8.14196248e-01 5.77226906e-01 6.23984746e-02 4.30277933e+02] [-5.75716802e-01 8.16581553e-01 -4.17699854e-02 -2.08720237e+02] [-7.50642027e-02 -1.91488489e-03 9.97176864e-01 -2.57051507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.33, Y:-208.76, Z:-25.71 [[ 8.14321655e-01 5.77051164e-01 6.23874751e-02 4.30328633e+02] [-5.75539288e-01 8.16705837e-01 -4.17864077e-02 -2.08758146e+02] [-7.50651103e-02 -1.87886632e-03 9.97176865e-01 -2.57088982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.38, Y:-208.80, Z:-25.71 [[ 8.14356654e-01 5.77003081e-01 6.23753485e-02 4.30377427e+02] [-5.75489680e-01 8.16739868e-01 -4.18045016e-02 -2.08796091e+02] [-7.50657601e-02 -1.85259531e-03 9.97176865e-01 -2.57143512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.43, Y:-208.83, Z:-25.72 [[ 8.15081890e-01 5.75979361e-01 6.23641604e-02 4.30425608e+02] [-5.74461690e-01 8.17462388e-01 -4.18211854e-02 -2.08834909e+02] [-7.50684951e-02 -1.73813010e-03 9.97176865e-01 -2.57188968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.48, Y:-208.87, Z:-25.72 [[ 8.16119617e-01 5.74509229e-01 6.23531673e-02 4.30475433e+02] [-5.72986019e-01 8.18496573e-01 -4.18375692e-02 -2.08873301e+02] [-7.50719233e-02 -1.58303214e-03 9.97176865e-01 -2.57224793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.52, Y:-208.91, Z:-25.73 [[ 8.18324966e-01 5.71364879e-01 6.23412016e-02 4.30524447e+02] [-5.69831177e-01 8.20695166e-01 -4.18553914e-02 -2.08913617e+02] [-7.50778234e-02 -1.27264859e-03 9.97176865e-01 -2.57267456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.57, Y:-208.95, Z:-25.73 [[ 8.19988442e-01 5.68976273e-01 6.23294075e-02 4.30574084e+02] [-5.67434333e-01 8.22353290e-01 -4.18729473e-02 -2.08951654e+02] [-7.50815069e-02 -1.03251294e-03 9.97176866e-01 -2.57313338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.62, Y:-208.99, Z:-25.74 [[ 8.22408543e-01 5.65473899e-01 6.23174021e-02 4.30622531e+02] [-5.63920533e-01 8.24765902e-01 -4.18908069e-02 -2.08991689e+02] [-7.50854262e-02 -6.90705200e-04 9.97176866e-01 -2.57366373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.67, Y:-209.03, Z:-25.74 [[ 8.23830173e-01 5.63402053e-01 6.23054861e-02 4.30670032e+02] [-5.61841418e-01 8.26182726e-01 -4.19085224e-02 -2.09030022e+02] [-7.50870639e-02 -4.80297465e-04 9.97176866e-01 -2.57423123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.72, Y:-209.07, Z:-25.75 [[ 8.23906050e-01 5.63291726e-01 6.22997058e-02 4.30720092e+02] [-5.61730127e-01 8.26257962e-01 -4.19171134e-02 -2.09067874e+02] [-7.50871911e-02 -4.59858365e-04 9.97176866e-01 -2.57474485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.77, Y:-209.11, Z:-25.75 [[ 8.22728806e-01 5.65011060e-01 6.22881522e-02 4.30770293e+02] [-5.63453077e-01 8.25083115e-01 -4.19342748e-02 -2.09105275e+02] [-7.50862318e-02 -5.95915179e-04 9.97176866e-01 -2.57520564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.82, Y:-209.14, Z:-25.76 [[ 8.19543026e-01 5.69623468e-01 6.22762722e-02 4.30822077e+02] [-5.68077394e-01 8.21905172e-01 -4.19519104e-02 -2.09140313e+02] [-7.50819829e-02 -9.96346782e-04 9.97176867e-01 -2.57557629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.87, Y:-209.17, Z:-25.76 [[ 8.17379485e-01 5.72725002e-01 6.22643550e-02 4.30874858e+02] [-5.71186544e-01 8.19746598e-01 -4.19695903e-02 -2.09174551e+02] [-7.50780269e-02 -1.25947967e-03 9.97176867e-01 -2.57601604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.93, Y:-209.21, Z:-25.76 [[ 8.15910820e-01 5.74816672e-01 6.22521353e-02 4.30926925e+02] [-5.73282900e-01 8.18280972e-01 -4.19877076e-02 -2.09207966e+02] [-7.50749721e-02 -1.42985970e-03 9.97176867e-01 -2.57647673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:430.98, Y:-209.24, Z:-25.77 [[ 8.15651567e-01 5.75185709e-01 6.22408294e-02 4.30979611e+02] [-5.73651732e-01 8.18021586e-01 -4.20044604e-02 -2.09242563e+02] [-7.50747073e-02 -1.44355564e-03 9.97176867e-01 -2.57698757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.03, Y:-209.28, Z:-25.77 [[ 8.14603325e-01 5.76670597e-01 6.22289803e-02 4.31030472e+02] [-5.75139600e-01 8.16975270e-01 -4.20220072e-02 -2.09277727e+02] [-7.50723940e-02 -1.55908403e-03 9.97176867e-01 -2.57746150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.08, Y:-209.31, Z:-25.78 [[ 8.14432898e-01 5.76911942e-01 6.22227087e-02 4.31081853e+02] [-5.75380939e-01 8.16804840e-01 -4.20312917e-02 -2.09312438e+02] [-7.50721637e-02 -1.57009380e-03 9.97176867e-01 -2.57775953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.13, Y:-209.35, Z:-25.78 [[ 8.15174669e-01 5.75863813e-01 6.22183837e-02 4.31133680e+02] [-5.74329272e-01 8.17544323e-01 -4.20376930e-02 -2.09347256e+02] [-7.50742726e-02 -1.46577652e-03 9.97176868e-01 -2.57825733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.19, Y:-209.38, Z:-25.79 [[ 8.19090516e-01 5.70281821e-01 6.22042693e-02 4.31186230e+02] [-5.68729543e-01 8.21448589e-01 -4.20585681e-02 -2.09379397e+02] [-7.50828460e-02 -9.27631425e-04 9.97176868e-01 -2.57894140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.24, Y:-209.42, Z:-25.79 [[ 8.20436366e-01 5.68345305e-01 6.21915071e-02 4.31236902e+02] [-5.66786031e-01 8.22789818e-01 -4.20774311e-02 -2.09415008e+02] [-7.50850492e-02 -7.27422817e-04 9.97176868e-01 -2.57941427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.29, Y:-209.45, Z:-25.80 [[ 8.21679284e-01 5.66548063e-01 6.21807483e-02 4.31288551e+02] [-5.64982439e-01 8.24028517e-01 -4.20933241e-02 -2.09450455e+02] [-7.50866010e-02 -5.43818360e-04 9.97176868e-01 -2.57966558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.34, Y:-209.49, Z:-25.80 [[ 8.22195388e-01 5.65800124e-01 6.21688291e-02 4.31339282e+02] [-5.64231031e-01 8.24542306e-01 -4.21109206e-02 -2.09485009e+02] [-7.50871937e-02 -4.54177867e-04 9.97176869e-01 -2.58027506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.39, Y:-209.52, Z:-25.81 [[ 8.21911260e-01 5.66213590e-01 6.21614917e-02 4.31390486e+02] [-5.64644859e-01 8.24258419e-01 -4.21217488e-02 -2.09520885e+02] [-7.50870395e-02 -4.78827107e-04 9.97176869e-01 -2.58068242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.44, Y:-209.56, Z:-25.81 [[ 8.20297490e-01 5.68550307e-01 6.21496327e-02 4.31441062e+02] [-5.66986937e-01 8.22648222e-01 -4.21392392e-02 -2.09558415e+02] [-7.50855622e-02 -6.71317735e-04 9.97176869e-01 -2.58136993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.49, Y:-209.59, Z:-25.82 [[ 8.19572707e-01 5.69595550e-01 6.21408730e-02 4.31493827e+02] [-5.68034199e-01 8.21924781e-01 -4.21521527e-02 -2.09591165e+02] [-7.50848021e-02 -7.51387111e-04 9.97176869e-01 -2.58169574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.54, Y:-209.63, Z:-25.82 [[ 8.18765523e-01 5.70756093e-01 6.21329292e-02 4.31543263e+02] [-5.69197187e-01 8.21119219e-01 -4.21638588e-02 -2.09627146e+02] [-7.50838216e-02 -8.43574678e-04 9.97176869e-01 -2.58194820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.59, Y:-209.66, Z:-25.82 [[ 8.18784520e-01 5.70729841e-01 6.21237341e-02 4.31593412e+02] [-5.69169833e-01 8.21137484e-01 -4.21774025e-02 -2.09662023e+02] [-7.50840289e-02 -8.24751038e-04 9.97176869e-01 -2.58226207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.64, Y:-209.70, Z:-25.83 [[ 8.19015930e-01 5.70398695e-01 6.21146862e-02 4.31644619e+02] [-5.68836726e-01 8.21367593e-01 -4.21907231e-02 -2.09697048e+02] [-7.50845237e-02 -7.78240422e-04 9.97176869e-01 -2.58278410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.70, Y:-209.73, Z:-25.84 [[ 8.18599266e-01 5.70997249e-01 6.21078366e-02 4.31696022e+02] [-5.69436234e-01 8.20951563e-01 -4.22008039e-02 -2.09731837e+02] [-7.50840684e-02 -8.20905466e-04 9.97176869e-01 -2.58350440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.75, Y:-209.77, Z:-25.84 [[ 8.18440970e-01 5.71225235e-01 6.20975899e-02 4.31748271e+02] [-5.69663731e-01 8.20792942e-01 -4.22158763e-02 -2.09767447e+02] [-7.50840373e-02 -8.23542068e-04 9.97176870e-01 -2.58398122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.80, Y:-209.80, Z:-25.84 [[ 8.17786265e-01 5.72163413e-01 6.20858518e-02 4.31800016e+02] [-5.70603298e-01 8.20139158e-01 -4.22331322e-02 -2.09802207e+02] [-7.50832913e-02 -8.88716359e-04 9.97176870e-01 -2.58444323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.85, Y:-209.84, Z:-25.85 [[ 8.17262593e-01 5.72912473e-01 6.20737671e-02 4.31852327e+02] [-5.71353166e-01 8.19616021e-01 -4.22508867e-02 -2.09836850e+02] [-7.50827140e-02 -9.35974077e-04 9.97176870e-01 -2.58494263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.90, Y:-209.87, Z:-25.86 [[ 8.15816974e-01 5.74970436e-01 6.20617680e-02 4.31904439e+02] [-5.73415725e-01 8.18173441e-01 -4.22685047e-02 -2.09870554e+02] [-7.50804309e-02 -1.10383007e-03 9.97176870e-01 -2.58551915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:431.96, Y:-209.91, Z:-25.86 [[ 8.15210504e-01 5.75831179e-01 6.20506844e-02 4.31956256e+02] [-5.74277719e-01 8.17567795e-01 -4.22847694e-02 -2.09906342e+02] [-7.50795298e-02 -1.16333728e-03 9.97176870e-01 -2.58591353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.01, Y:-209.94, Z:-25.86 [[ 8.14771411e-01 5.76453572e-01 6.20389144e-02 4.32007527e+02] [-5.74900599e-01 8.17129023e-01 -4.23020309e-02 -2.09941743e+02] [-7.50789543e-02 -1.19972363e-03 9.97176871e-01 -2.58632628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.06, Y:-209.98, Z:-25.87 [[ 8.14559876e-01 5.76753539e-01 6.20287373e-02 4.32058631e+02] [-5.75200298e-01 8.16917311e-01 -4.23169487e-02 -2.09977269e+02] [-7.50787992e-02 -1.20925968e-03 9.97176871e-01 -2.58666521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.11, Y:-210.01, Z:-25.87 [[ 8.13930796e-01 5.77642088e-01 6.20183619e-02 4.32110154e+02] [-5.76090263e-01 8.16289164e-01 -4.23321490e-02 -2.10013948e+02] [-7.50777477e-02 -1.27273461e-03 9.97176871e-01 -2.58711696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.16, Y:-210.05, Z:-25.88 [[ 8.13097159e-01 5.78816221e-01 6.20063854e-02 4.32161988e+02] [-5.77266465e-01 8.15456886e-01 -4.23496846e-02 -2.10049247e+02] [-7.50762183e-02 -1.35979868e-03 9.97176871e-01 -2.58761289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.21, Y:-210.08, Z:-25.88 [[ 8.11871693e-01 5.80535165e-01 6.19941674e-02 4.32212715e+02] [-5.78989040e-01 8.14233800e-01 -4.23675624e-02 -2.10082387e+02] [-7.50736064e-02 -1.49691883e-03 9.97176871e-01 -2.58842218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.27, Y:-210.12, Z:-25.89 [[ 8.11389020e-01 5.81210755e-01 6.19831991e-02 4.32265009e+02] [-5.79665372e-01 8.13751613e-01 -4.23836029e-02 -2.10116942e+02] [-7.50727341e-02 -1.53992420e-03 9.97176872e-01 -2.58884602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.32, Y:-210.15, Z:-25.89 [[ 8.11105795e-01 5.81607311e-01 6.19703572e-02 4.32316341e+02] [-5.80061649e-01 8.13468206e-01 -4.24023711e-02 -2.10152983e+02] [-7.50724444e-02 -1.55381865e-03 9.97176872e-01 -2.58925009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.37, Y:-210.19, Z:-25.90 [[ 8.10715650e-01 5.82152311e-01 6.19582271e-02 4.32367871e+02] [-5.80606884e-01 8.13078214e-01 -4.24200883e-02 -2.10188637e+02] [-7.50718370e-02 -1.58274376e-03 9.97176872e-01 -2.58964624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.42, Y:-210.22, Z:-25.90 [[ 8.10165544e-01 5.82918928e-01 6.19460588e-02 4.32418719e+02] [-5.81374380e-01 8.12528682e-01 -4.24378503e-02 -2.10223007e+02] [-7.50707757e-02 -1.63216744e-03 9.97176872e-01 -2.59017467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.47, Y:-210.26, Z:-25.91 [[ 8.09657653e-01 5.83625359e-01 6.19348438e-02 4.32469183e+02] [-5.82081622e-01 8.12021321e-01 -4.24542114e-02 -2.10258007e+02] [-7.50697680e-02 -1.67775714e-03 9.97176873e-01 -2.59093227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.52, Y:-210.29, Z:-25.92 [[ 8.08808039e-01 5.84803308e-01 6.19245266e-02 4.32518592e+02] [-5.83261862e-01 8.11173202e-01 -4.24692550e-02 -2.10293044e+02] [-7.50676773e-02 -1.76873981e-03 9.97176873e-01 -2.59151958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.57, Y:-210.33, Z:-25.92 [[ 8.07325124e-01 5.86849391e-01 6.19187855e-02 4.32569871e+02] [-5.85313298e-01 8.09693766e-01 -4.24776237e-02 -2.10328275e+02] [-7.50632222e-02 -1.94863570e-03 9.97176873e-01 -2.59165154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.62, Y:-210.36, Z:-25.92 [[ 8.06509341e-01 5.87971136e-01 6.19082013e-02 4.32620611e+02] [-5.86437155e-01 8.08879351e-01 -4.24930438e-02 -2.10361452e+02] [-7.50609490e-02 -2.03423263e-03 9.97176873e-01 -2.59208124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.67, Y:-210.40, Z:-25.93 [[ 8.06932549e-01 5.87391214e-01 6.18984984e-02 4.32672396e+02] [-5.85854446e-01 8.09300753e-01 -4.25071731e-02 -2.10397546e+02] [-7.50628413e-02 -1.96308897e-03 9.97176873e-01 -2.59255958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.72, Y:-210.43, Z:-25.92 [[ 8.05583256e-01 5.89241617e-01 6.18864591e-02 4.32722225e+02] [-5.87708944e-01 8.07954112e-01 -4.25246940e-02 -2.10434905e+02] [-7.50587386e-02 -2.11404414e-03 9.97176873e-01 -2.59244287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.77, Y:-210.47, Z:-25.93 [[ 8.06209922e-01 5.88385076e-01 6.18753852e-02 4.32774627e+02] [-5.86848649e-01 8.08578347e-01 -4.25408010e-02 -2.10466257e+02] [-7.50614691e-02 -2.01467039e-03 9.97176873e-01 -2.59332882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.83, Y:-210.50, Z:-25.94 [[ 8.06067574e-01 5.88581146e-01 6.18651897e-02 4.32826531e+02] [-5.87044159e-01 8.08435634e-01 -4.25556227e-02 -2.10500941e+02] [-7.50614610e-02 -2.01489070e-03 9.97176874e-01 -2.59378425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.88, Y:-210.54, Z:-25.94 [[ 8.06105164e-01 5.88530925e-01 6.18531764e-02 4.32879208e+02] [-5.86992452e-01 8.08472259e-01 -4.25730765e-02 -2.10535929e+02] [-7.50621494e-02 -1.98897092e-03 9.97176874e-01 -2.59417759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.93, Y:-210.57, Z:-25.95 [[ 8.07092929e-01 5.87176877e-01 6.18410695e-02 4.32931339e+02] [-5.85633087e-01 8.09456561e-01 -4.25906556e-02 -2.10570465e+02] [-7.50659076e-02 -1.84155946e-03 9.97176874e-01 -2.59463299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:432.98, Y:-210.60, Z:-25.95 [[ 8.09151075e-01 5.84338701e-01 6.18289606e-02 4.32983587e+02] [-5.82785278e-01 8.11508385e-01 -4.26082269e-02 -2.10604783e+02] [-7.50723559e-02 -1.55651539e-03 9.97176874e-01 -2.59510688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.03, Y:-210.64, Z:-25.96 [[ 8.13120656e-01 5.78803473e-01 6.18169808e-02 4.33034953e+02] [-5.77232678e-01 8.15466427e-01 -4.26256004e-02 -2.10640506e+02] [-7.50815180e-02 -1.02302520e-03 9.97176875e-01 -2.59550573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.09, Y:-210.68, Z:-25.96 [[ 8.16805640e-01 5.73592774e-01 6.18051502e-02 4.33086887e+02] [-5.72005716e-01 8.19140438e-01 -4.26427473e-02 -2.10675889e+02] [-7.50866695e-02 -5.22062684e-04 9.97176875e-01 -2.59588367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.14, Y:-210.71, Z:-25.96 [[ 8.18210473e-01 5.71588343e-01 6.17931051e-02 4.33139428e+02] [-5.69994247e-01 8.20540472e-01 -4.26601947e-02 -2.10709417e+02] [-7.50878136e-02 -3.16696336e-04 9.97176875e-01 -2.59641261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.19, Y:-210.74, Z:-25.97 [[ 8.18412800e-01 5.71299900e-01 6.17811674e-02 4.33192257e+02] [-5.69703679e-01 8.20741343e-01 -4.26774761e-02 -2.10741526e+02] [-7.50879961e-02 -2.69165627e-04 9.97176875e-01 -2.59703542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.24, Y:-210.78, Z:-25.98 [[ 8.18305080e-01 5.71455375e-01 6.17701381e-02 4.33243842e+02] [-5.69858391e-01 8.20633100e-01 -4.26934335e-02 -2.10776738e+02] [-7.50880120e-02 -2.63977999e-04 9.97176875e-01 -2.59751140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.30, Y:-210.81, Z:-25.98 [[ 8.17914435e-01 5.72014769e-01 6.17663456e-02 4.33295185e+02] [-5.70418963e-01 8.20243262e-01 -4.26989197e-02 -2.10811987e+02] [-7.50878415e-02 -3.08632080e-04 9.97176875e-01 -2.59804226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.35, Y:-210.85, Z:-25.99 [[ 8.17558117e-01 5.72525220e-01 6.17543301e-02 4.33346566e+02] [-5.70929556e-01 8.19887041e-01 -4.27162903e-02 -2.10847281e+02] [-7.50877285e-02 -3.34322356e-04 9.97176876e-01 -2.59856063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.40, Y:-210.88, Z:-25.99 [[ 8.16890743e-01 5.73478345e-01 6.17422183e-02 4.33398673e+02] [-5.71884075e-01 8.19220622e-01 -4.27337896e-02 -2.10882564e+02] [-7.50874014e-02 -4.00554232e-04 9.97176876e-01 -2.59898078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.45, Y:-210.92, Z:-25.99 [[ 8.16242919e-01 5.74401341e-01 6.17300297e-02 4.33450848e+02] [-5.72808375e-01 8.18573689e-01 -4.27513892e-02 -2.10918154e+02] [-7.50870334e-02 -4.63959324e-04 9.97176876e-01 -2.59941320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.50, Y:-210.95, Z:-26.00 [[ 8.15835903e-01 5.74980584e-01 6.17179773e-02 4.33502894e+02] [-5.73387957e-01 8.18166904e-01 -4.27687814e-02 -2.10953811e+02] [-7.50868253e-02 -4.96037524e-04 9.97176876e-01 -2.59969112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.55, Y:-210.99, Z:-26.00 [[ 8.15621751e-01 5.75285612e-01 6.17059481e-02 4.33554643e+02] [-5.73692544e-01 8.17952451e-01 -4.27861300e-02 -2.10989692e+02] [-7.50867764e-02 -5.02944131e-04 9.97176877e-01 -2.60007405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.61, Y:-211.02, Z:-26.01 [[ 8.15078514e-01 5.76056320e-01 6.16938565e-02 4.33607121e+02] [-5.74464137e-01 8.17409818e-01 -4.28035579e-02 -2.11024799e+02] [-7.50864241e-02 -5.52647689e-04 9.97176877e-01 -2.60059210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.66, Y:-211.06, Z:-26.01 [[ 8.14363306e-01 5.77068250e-01 6.16817733e-02 4.33658923e+02] [-5.75477646e-01 8.16695687e-01 -4.28209633e-02 -2.11059453e+02] [-7.50858566e-02 -6.24660421e-04 9.97176877e-01 -2.60111835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.71, Y:-211.09, Z:-26.02 [[ 8.13328534e-01 5.78527062e-01 6.16695598e-02 4.33711728e+02] [-5.76939308e-01 8.15662856e-01 -4.28385456e-02 -2.11094056e+02] [-7.50848272e-02 -7.37781644e-04 9.97176877e-01 -2.60163557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.76, Y:-211.13, Z:-26.02 [[ 8.12970639e-01 5.79031178e-01 6.16574013e-02 4.33764649e+02] [-5.77443544e-01 8.15305043e-01 -4.28560382e-02 -2.11128254e+02] [-7.50845725e-02 -7.62967580e-04 9.97176877e-01 -2.60223875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.81, Y:-211.16, Z:-26.03 [[ 8.13545660e-01 5.78224298e-01 6.16451217e-02 4.33814979e+02] [-5.76633011e-01 8.15877574e-01 -4.28736942e-02 -2.11163064e+02] [-7.50854841e-02 -6.66904346e-04 9.97176878e-01 -2.60281367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.87, Y:-211.20, Z:-26.03 [[ 8.14347725e-01 5.77095367e-01 6.16337611e-02 4.33866080e+02] [-5.75499612e-01 8.16676584e-01 -4.28900197e-02 -2.11199635e+02] [-7.50864811e-02 -5.42815641e-04 9.97176878e-01 -2.60322242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.92, Y:-211.24, Z:-26.04 [[ 8.15697827e-01 5.75186784e-01 6.16215746e-02 4.33916146e+02] [-5.73584258e-01 8.18022031e-01 -4.29075214e-02 -2.11236452e+02] [-7.50876448e-02 -3.45593201e-04 9.97176878e-01 -2.60367822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:433.97, Y:-211.27, Z:-26.04 [[ 8.16191778e-01 5.74486857e-01 6.16103209e-02 4.33966913e+02] [-5.72881118e-01 8.18513764e-01 -4.29236743e-02 -2.11272751e+02] [-7.50879824e-02 -2.61439430e-04 9.97176878e-01 -2.60411567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.02, Y:-211.31, Z:-26.04 [[ 8.16485188e-01 5.74071068e-01 6.15982686e-02 4.34017374e+02] [-5.72462842e-01 8.18805452e-01 -4.29409633e-02 -2.11309484e+02] [-7.50881628e-02 -2.02059421e-04 9.97176879e-01 -2.60443038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.07, Y:-211.35, Z:-26.05 [[ 8.16471378e-01 5.74092024e-01 6.15860131e-02 4.34067387e+02] [-5.72482532e-01 8.18790764e-01 -4.29585329e-02 -2.11345216e+02] [-7.50882098e-02 -1.82504155e-04 9.97176879e-01 -2.60505045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.12, Y:-211.38, Z:-26.06 [[ 8.15865353e-01 5.74954083e-01 6.15753836e-02 4.34117689e+02] [-5.73345892e-01 8.18185641e-01 -4.29737636e-02 -2.11381657e+02] [-7.50880355e-02 -2.43188465e-04 9.97176879e-01 -2.60551234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.17, Y:-211.42, Z:-26.06 [[ 8.14237200e-01 5.77258727e-01 6.15641477e-02 4.34169156e+02] [-5.75655887e-01 8.16561187e-01 -4.29898541e-02 -2.11417587e+02] [-7.50871620e-02 -4.35825576e-04 9.97176879e-01 -2.60595862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.22, Y:-211.45, Z:-26.07 [[ 8.11906996e-01 5.80532801e-01 6.15523967e-02 4.34220776e+02] [-5.78938057e-01 8.14236546e-01 -4.30066724e-02 -2.11453525e+02] [-7.50849949e-02 -7.17606784e-04 9.97176879e-01 -2.60651553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.27, Y:-211.49, Z:-26.07 [[ 8.11061401e-01 5.81714844e-01 6.15405980e-02 4.34271723e+02] [-5.80122215e-01 8.13392396e-01 -4.30235493e-02 -2.11489291e+02] [-7.50840917e-02 -8.06327800e-04 9.97176880e-01 -2.60704404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.32, Y:-211.53, Z:-26.08 [[ 8.09666023e-01 5.83656699e-01 6.15287608e-02 4.34322942e+02] [-5.82068375e-01 8.11999954e-01 -4.30404712e-02 -2.11525185e+02] [-7.50822103e-02 -9.65538598e-04 9.97176880e-01 -2.60750799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.37, Y:-211.56, Z:-26.08 [[ 8.09390576e-01 5.84039901e-01 6.15165706e-02 4.34372957e+02] [-5.82451358e-01 8.11724358e-01 -4.30578874e-02 -2.11561660e+02] [-7.50820231e-02 -9.79761786e-04 9.97176880e-01 -2.60792084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.42, Y:-211.60, Z:-26.08 [[ 8.10280290e-01 5.82806102e-01 6.15052827e-02 4.34423078e+02] [-5.81212781e-01 8.12610813e-01 -4.30740053e-02 -2.11598333e+02] [-7.50836509e-02 -8.45638902e-04 9.97176880e-01 -2.60825275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.47, Y:-211.63, Z:-26.09 [[ 8.11969352e-01 5.80451706e-01 6.14946199e-02 4.34473454e+02] [-5.78850476e-01 8.14294447e-01 -4.30892228e-02 -2.11634710e+02] [-7.50859403e-02 -6.09061673e-04 9.97176880e-01 -2.60878994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.52, Y:-211.67, Z:-26.09 [[ 8.13499366e-01 5.78306650e-01 6.14833336e-02 4.34524217e+02] [-5.76698072e-01 8.15819383e-01 -4.31053210e-02 -2.11671246e+02] [-7.50873891e-02 -3.91168590e-04 9.97176881e-01 -2.60922435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.58, Y:-211.71, Z:-26.10 [[ 8.14968372e-01 5.76235931e-01 6.14711578e-02 4.34575423e+02] [-5.74620149e-01 8.17283378e-01 -4.31226775e-02 -2.11708290e+02] [-7.50881917e-02 -1.78947545e-04 9.97176881e-01 -2.60972294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.63, Y:-211.74, Z:-26.10 [[ 8.16981665e-01 5.73379239e-01 6.14589876e-02 4.34625436e+02] [-5.71754057e-01 8.19290081e-01 -4.31400158e-02 -2.11744509e+02] [-7.50883283e-02 1.05176483e-04 9.97176881e-01 -2.61042423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.68, Y:-211.78, Z:-26.11 [[ 8.17108803e-01 5.73199180e-01 6.14483845e-02 4.34676893e+02] [-5.71572354e-01 8.19416061e-01 -4.31551134e-02 -2.11780923e+02] [-7.50882688e-02 1.40225255e-04 9.97176881e-01 -2.61090422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.73, Y:-211.82, Z:-26.11 [[ 8.16490923e-01 5.74080289e-01 6.14361092e-02 4.34728572e+02] [-5.72454638e-01 8.18799008e-01 -4.31725817e-02 -2.11816198e+02] [-7.50883534e-02 8.06354481e-05 9.97176881e-01 -2.61148840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.78, Y:-211.85, Z:-26.12 [[ 8.15365412e-01 5.75679036e-01 6.14238725e-02 4.34780459e+02] [-5.74056599e-01 8.17675758e-01 -4.31899845e-02 -2.11851964e+02] [-7.50883801e-02 -4.51598359e-05 9.97176882e-01 -2.61211536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.83, Y:-211.89, Z:-26.13 [[ 8.14030651e-01 5.77566215e-01 6.14114526e-02 4.34831204e+02] [-5.75947803e-01 8.16343817e-01 -4.32076370e-02 -2.11886766e+02] [-7.50881310e-02 -1.97450344e-04 9.97176882e-01 -2.61253801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.88, Y:-211.92, Z:-26.13 [[ 8.13457203e-01 5.78374811e-01 6.13999727e-02 4.34883043e+02] [-5.76757468e-01 8.15771116e-01 -4.32239444e-02 -2.11922987e+02] [-7.50879649e-02 -2.52063852e-04 9.97176882e-01 -2.61294365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.93, Y:-211.96, Z:-26.13 [[ 8.11100689e-01 5.81676204e-01 6.13878318e-02 4.34934835e+02] [-5.80066974e-01 8.13420252e-01 -4.32411804e-02 -2.11957986e+02] [-7.50864713e-02 -5.36102590e-04 9.97176882e-01 -2.61347705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:434.99, Y:-211.99, Z:-26.14 [[ 8.10126038e-01 5.83034166e-01 6.13756042e-02 4.34985773e+02] [-5.81427509e-01 8.12447384e-01 -4.32585290e-02 -2.11993594e+02] [-7.50856494e-02 -6.40603995e-04 9.97176882e-01 -2.61394670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.04, Y:-212.03, Z:-26.14 [[ 8.07196397e-01 5.87084269e-01 6.13680587e-02 4.35037696e+02] [-5.85488445e-01 8.09525203e-01 -4.32692308e-02 -2.12028462e+02] [-7.50816748e-02 -1.00352208e-03 9.97176883e-01 -2.61440746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.09, Y:-212.06, Z:-26.15 [[ 8.05992544e-01 5.88737202e-01 6.13557342e-02 4.35088992e+02] [-5.87144824e-01 8.08323708e-01 -4.32866999e-02 -2.12063545e+02] [-7.50797851e-02 -1.13594438e-03 9.97176883e-01 -2.61494875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.14, Y:-212.10, Z:-26.15 [[ 8.05000063e-01 5.90094712e-01 6.13443534e-02 4.35140084e+02] [-5.88505037e-01 8.07333071e-01 -4.33028223e-02 -2.12100087e+02] [-7.50780916e-02 -1.24268625e-03 9.97176883e-01 -2.61537533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.19, Y:-212.14, Z:-26.16 [[ 8.03891999e-01 5.91604601e-01 6.13323002e-02 4.35191110e+02] [-5.90018006e-01 8.06227102e-01 -4.33198872e-02 -2.12136844e+02] [-7.50760072e-02 -1.36265076e-03 9.97176883e-01 -2.61581514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.24, Y:-212.17, Z:-26.16 [[ 8.02087762e-01 5.94049725e-01 6.13200383e-02 4.35241935e+02] [-5.92468922e-01 8.04426790e-01 -4.33372372e-02 -2.12172492e+02] [-7.50719554e-02 -1.56994945e-03 9.97176883e-01 -2.61648410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.29, Y:-212.21, Z:-26.17 [[ 8.00158120e-01 5.96647438e-01 6.13091935e-02 4.35290971e+02] [-5.95073055e-01 8.02501473e-01 -4.33525740e-02 -2.12210118e+02] [-7.50669203e-02 -1.79453498e-03 9.97176884e-01 -2.61680965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.34, Y:-212.24, Z:-26.17 [[ 8.00422424e-01 5.96293980e-01 6.12979068e-02 4.35340370e+02] [-5.94717341e-01 8.02764259e-01 -4.33685269e-02 -2.12244927e+02] [-7.50681602e-02 -1.74178671e-03 9.97176884e-01 -2.61745801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.39, Y:-212.28, Z:-26.18 [[ 8.00705943e-01 5.95914283e-01 6.12875276e-02 4.35390142e+02] [-5.94335411e-01 8.03046274e-01 -4.33831896e-02 -2.12280944e+02] [-7.50693830e-02 -1.68817015e-03 9.97176884e-01 -2.61806136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.44, Y:-212.32, Z:-26.18 [[ 8.00928924e-01 5.95615697e-01 6.12764206e-02 4.35441039e+02] [-5.94034754e-01 8.03267856e-01 -4.33988719e-02 -2.12317174e+02] [-7.50704284e-02 -1.64091169e-03 9.97176884e-01 -2.61841023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.49, Y:-212.36, Z:-26.19 [[ 8.01923316e-01 5.94277462e-01 6.12641320e-02 4.35491567e+02] [-5.92691291e-01 8.04258706e-01 -4.34162123e-02 -2.12355173e+02] [-7.50734880e-02 -1.49424457e-03 9.97176884e-01 -2.61888082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.54, Y:-212.39, Z:-26.19 [[ 8.02635339e-01 5.93316733e-01 6.12516705e-02 4.35542505e+02] [-5.91726426e-01 8.04967914e-01 -4.34337860e-02 -2.12391637e+02] [-7.50756214e-02 -1.38274053e-03 9.97176885e-01 -2.61942253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.59, Y:-212.43, Z:-26.20 [[ 8.03242597e-01 5.92495632e-01 6.12393431e-02 4.35593709e+02] [-5.90901617e-01 8.05572639e-01 -4.34511599e-02 -2.12428044e+02] [-7.50773617e-02 -1.28460431e-03 9.97176885e-01 -2.61995383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.64, Y:-212.46, Z:-26.20 [[ 8.03630156e-01 5.91971127e-01 6.12270863e-02 4.35644544e+02] [-5.90374277e-01 8.05958256e-01 -4.34684243e-02 -2.12464620e+02] [-7.50785278e-02 -1.21436013e-03 9.97176885e-01 -2.62037259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.70, Y:-212.50, Z:-26.21 [[ 8.03479090e-01 5.92177447e-01 6.12145661e-02 4.35695299e+02] [-5.90579852e-01 8.05806678e-01 -4.34860487e-02 -2.12501210e+02] [-7.50785635e-02 -1.21195848e-03 9.97176885e-01 -2.62088530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.75, Y:-212.54, Z:-26.21 [[ 8.02160333e-01 5.93963876e-01 6.12022362e-02 4.35746110e+02] [-5.92370141e-01 8.04490566e-01 -4.35033950e-02 -2.12537352e+02] [-7.50760667e-02 -1.35767943e-03 9.97176885e-01 -2.62139977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.80, Y:-212.57, Z:-26.22 [[ 8.02135405e-01 5.93998656e-01 6.11914063e-02 4.35796077e+02] [-5.92403861e-01 8.04464912e-01 -4.35186228e-02 -2.12572948e+02] [-7.50763428e-02 -1.34219720e-03 9.97176886e-01 -2.62191076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.85, Y:-212.61, Z:-26.22 [[ 8.03101402e-01 5.92693134e-01 6.11799520e-02 4.35846778e+02] [-5.91093326e-01 8.05427469e-01 -4.35347198e-02 -2.12610370e+02] [-7.50787434e-02 -1.20026679e-03 9.97176886e-01 -2.62228776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.90, Y:-212.65, Z:-26.23 [[ 8.06366366e-01 5.88244681e-01 6.11676293e-02 4.35895819e+02] [-5.86630727e-01 8.08682639e-01 -4.35520266e-02 -2.12647741e+02] [-7.50844480e-02 -7.63921429e-04 9.97176886e-01 -2.62259400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:435.95, Y:-212.68, Z:-26.23 [[ 8.08854390e-01 5.84819970e-01 6.11570033e-02 4.35945965e+02] [-5.83195080e-01 8.11163005e-01 -4.35669429e-02 -2.12684614e+02] [-7.50871168e-02 -4.27150438e-04 9.97176886e-01 -2.62307533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.00, Y:-212.72, Z:-26.24 [[ 8.12866528e-01 5.79231649e-01 6.11449435e-02 4.35996010e+02] [-5.77589614e-01 8.15162980e-01 -4.35838619e-02 -2.12721718e+02] [-7.50882466e-02 1.11178172e-04 9.97176886e-01 -2.62367983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.05, Y:-212.76, Z:-26.24 [[ 8.15172441e-01 5.75983235e-01 6.11326792e-02 4.36045622e+02] [-5.74330760e-01 8.17461391e-01 -4.36010577e-02 -2.12757931e+02] [-7.50870832e-02 4.32002582e-04 9.97176887e-01 -2.62422801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.10, Y:-212.79, Z:-26.25 [[ 8.17561925e-01 5.72587648e-01 6.11218835e-02 4.36096882e+02] [-5.70924536e-01 8.19843158e-01 -4.36161863e-02 -2.12794827e+02] [-7.50844475e-02 7.62950249e-04 9.97176887e-01 -2.62475065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.15, Y:-212.83, Z:-26.25 [[ 8.17771538e-01 5.72289563e-01 6.11094709e-02 4.36149210e+02] [-5.70624320e-01 8.20051216e-01 -4.36335704e-02 -2.12830366e+02] [-7.50839329e-02 8.11741632e-04 9.97176887e-01 -2.62516162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.20, Y:-212.87, Z:-26.25 [[ 8.14811904e-01 5.76496912e-01 6.10972284e-02 4.36197946e+02] [-5.74842155e-01 8.17099206e-01 -4.36507061e-02 -2.12869440e+02] [-7.50869940e-02 4.45852496e-04 9.97176887e-01 -2.62518312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.25, Y:-212.90, Z:-26.26 [[ 8.14799731e-01 5.76514572e-01 6.10929430e-02 4.36251081e+02] [-5.74859416e-01 8.17086742e-01 -4.36567030e-02 -2.12899898e+02] [-7.50869592e-02 4.51616343e-04 9.97176887e-01 -2.62606666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.30, Y:-212.93, Z:-26.27 [[ 8.10287497e-01 5.82840617e-01 6.10818128e-02 4.36304023e+02] [-5.81202143e-01 8.12586489e-01 -4.36722701e-02 -2.12933229e+02] [-7.50882287e-02 -1.13786043e-04 9.97176888e-01 -2.62656203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.35, Y:-212.97, Z:-26.27 [[ 8.03114890e-01 5.92685385e-01 6.10778822e-02 4.36354672e+02] [-5.91074670e-01 8.05433415e-01 -4.36777667e-02 -2.12969345e+02] [-7.50813412e-02 -1.02332433e-03 9.97176888e-01 -2.62701895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.41, Y:-213.00, Z:-26.28 [[ 8.02428883e-01 5.93614516e-01 6.10712226e-02 4.36407808e+02] [-5.92005777e-01 8.04748780e-01 -4.36870762e-02 -2.12999414e+02] [-7.50802745e-02 -1.09874481e-03 9.97176888e-01 -2.62775982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.46, Y:-213.03, Z:-26.28 [[ 8.00448165e-01 5.96283340e-01 6.10648419e-02 4.36458219e+02] [-5.94681655e-01 8.02772938e-01 -4.36959932e-02 -2.13034446e+02] [-7.50763953e-02 -1.33776370e-03 9.97176888e-01 -2.62829482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.51, Y:-213.07, Z:-26.29 [[ 7.98498326e-01 5.98892667e-01 6.10573299e-02 4.36509718e+02] [-5.97297776e-01 8.00827765e-01 -4.37064874e-02 -2.13068492e+02] [-7.50718999e-02 -1.56985034e-03 9.97176888e-01 -2.62854688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.56, Y:-213.10, Z:-26.29 [[ 7.97979728e-01 5.99584581e-01 6.10465757e-02 4.36561785e+02] [-5.97990562e-01 8.00309763e-01 -4.37215031e-02 -2.13103693e+02] [-7.50709097e-02 -1.61640305e-03 9.97176888e-01 -2.62885627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.61, Y:-213.14, Z:-26.29 [[ 7.97810439e-01 5.99811077e-01 6.10342169e-02 4.36613147e+02] [-5.98216401e-01 8.00140025e-01 -4.37387489e-02 -2.13140584e+02] [-7.50709059e-02 -1.61643912e-03 9.97176888e-01 -2.62933320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.66, Y:-213.18, Z:-26.30 [[ 7.97367379e-01 6.00401198e-01 6.10218321e-02 4.36663350e+02] [-5.98806925e-01 7.99697241e-01 -4.37560207e-02 -2.13175401e+02] [-7.50701580e-02 -1.65067208e-03 9.97176888e-01 -2.62983869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.72, Y:-213.21, Z:-26.31 [[ 7.96087888e-01 6.02097291e-01 6.10158007e-02 4.36715151e+02] [-6.00507337e-01 7.98420699e-01 -4.37644297e-02 -2.13210077e+02] [-7.50667228e-02 -1.80010359e-03 9.97176888e-01 -2.63050130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.77, Y:-213.24, Z:-26.31 [[ 7.93955194e-01 6.04907168e-01 6.10120288e-02 4.36766565e+02] [-6.03325066e-01 7.96293337e-01 -4.37696874e-02 -2.13243981e+02] [-7.50600697e-02 -2.05891569e-03 9.97176888e-01 -2.63095832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.82, Y:-213.28, Z:-26.31 [[ 7.92774462e-01 6.06454857e-01 6.10013022e-02 4.36818681e+02] [-6.04876171e-01 7.95114912e-01 -4.37846319e-02 -2.13279135e+02] [-7.50564477e-02 -2.18689613e-03 9.97176889e-01 -2.63144513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.87, Y:-213.32, Z:-26.31 [[ 7.91494987e-01 6.08125000e-01 6.09890988e-02 4.36867615e+02] [-6.06549944e-01 7.93837882e-01 -4.38016238e-02 -2.13317190e+02] [-7.50523195e-02 -2.32416884e-03 9.97176889e-01 -2.63133334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:436.92, Y:-213.35, Z:-26.32 [[ 7.92230662e-01 6.07166538e-01 6.09866696e-02 4.36917322e+02] [-6.05588388e-01 7.94571473e-01 -4.38050058e-02 -2.13353836e+02] [-7.50552017e-02 -2.22915016e-03 9.97176889e-01 -2.63195942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:436.97, Y:-213.39, Z:-26.32 [[ 7.95031384e-01 6.03495282e-01 6.09798558e-02 4.36968589e+02] [-6.01905594e-01 7.97364375e-01 -4.38144891e-02 -2.13386879e+02] [-7.50650021e-02 -1.87022237e-03 9.97176889e-01 -2.63243182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.02, Y:-213.42, Z:-26.33 [[ 7.97215983e-01 6.00607131e-01 6.09733537e-02 4.37019819e+02] [-5.99008298e-01 7.99542717e-01 -4.38235357e-02 -2.13422943e+02] [-7.50715290e-02 -1.58672171e-03 9.97176889e-01 -2.63274785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.07, Y:-213.46, Z:-26.33 [[ 7.96175472e-01 6.01987027e-01 6.09609494e-02 4.37066547e+02] [-6.00390907e-01 7.98504067e-01 -4.38407841e-02 -2.13463401e+02] [-7.50691493e-02 -1.69544268e-03 9.97176889e-01 -2.63277156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.12, Y:-213.50, Z:-26.33 [[ 7.97942346e-01 5.99643312e-01 6.09582784e-02 4.37118231e+02] [-5.98040068e-01 8.00266042e-01 -4.38444976e-02 -2.13498224e+02] [-7.50738999e-02 -1.47011165e-03 9.97176889e-01 -2.63317653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.17, Y:-213.53, Z:-26.34 [[ 8.01210264e-01 5.95271137e-01 6.09457645e-02 4.37170200e+02] [-5.93653888e-01 8.03524235e-01 -4.38618857e-02 -2.13528954e+02] [-7.50811133e-02 -1.03809701e-03 9.97176889e-01 -2.63426198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.22, Y:-213.56, Z:-26.35 [[ 8.02250207e-01 5.93869328e-01 6.09411766e-02 4.37219720e+02] [-5.92247552e-01 8.04561006e-01 -4.38682590e-02 -2.13564316e+02] [-7.50829079e-02 -8.98942834e-04 9.97176889e-01 -2.63466945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.27, Y:-213.60, Z:-26.35 [[ 8.03980387e-01 5.91525504e-01 6.09353382e-02 4.37270210e+02] [-5.89896376e-01 8.06286010e-01 -4.38763675e-02 -2.13600257e+02] [-7.50853011e-02 -6.69796300e-04 9.97176890e-01 -2.63514421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.32, Y:-213.64, Z:-26.35 [[ 8.04786405e-01 5.90429573e-01 6.09242232e-02 4.37321129e+02] [-5.88796138e-01 8.07088978e-01 -4.38917957e-02 -2.13636952e+02] [-7.50862832e-02 -5.48426899e-04 9.97176890e-01 -2.63548371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.37, Y:-213.67, Z:-26.36 [[ 8.04647178e-01 5.90620557e-01 6.09120326e-02 4.37371957e+02] [-5.88986388e-01 8.06949230e-01 -4.39087070e-02 -2.13673097e+02] [-7.50863028e-02 -5.45340848e-04 9.97176890e-01 -2.63586756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.42, Y:-213.71, Z:-26.37 [[ 8.05367389e-01 5.89639358e-01 6.08998913e-02 4.37423720e+02] [-5.88001112e-01 8.07666540e-01 -4.39255401e-02 -2.13706935e+02] [-7.50870318e-02 -4.33006252e-04 9.97176890e-01 -2.63654797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.47, Y:-213.74, Z:-26.37 [[ 8.03631374e-01 5.92004392e-01 6.08885413e-02 4.37472581e+02] [-5.90371720e-01 8.05934487e-01 -4.39412676e-02 -2.13743001e+02] [-7.50855988e-02 -6.34291552e-04 9.97176890e-01 -2.63682440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.52, Y:-213.78, Z:-26.37 [[ 8.04217820e-01 5.91208547e-01 6.08781750e-02 4.37524764e+02] [-5.89572509e-01 8.06518543e-01 -4.39556249e-02 -2.13777277e+02] [-7.50863181e-02 -5.42201492e-04 9.97176890e-01 -2.63723878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.58, Y:-213.81, Z:-26.38 [[ 8.04965648e-01 5.90191103e-01 6.08668065e-02 4.37575384e+02] [-5.88550967e-01 8.07263451e-01 -4.39713616e-02 -2.13813390e+02] [-7.50870547e-02 -4.27782246e-04 9.97176891e-01 -2.63777954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.63, Y:-213.85, Z:-26.38 [[ 8.06383116e-01 5.88253752e-01 6.08588071e-02 4.37625845e+02] [-5.86607260e-01 8.08676368e-01 -4.39824304e-02 -2.13849667e+02] [-7.50879089e-02 -2.33528794e-04 9.97176891e-01 -2.63781346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.68, Y:-213.88, Z:-26.39 [[ 8.09226548e-01 5.84337222e-01 6.08473996e-02 4.37676127e+02] [-5.82678444e-01 8.11510930e-01 -4.39982065e-02 -2.13884320e+02] [-7.50881196e-02 1.50048606e-04 9.97176891e-01 -2.63860643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.73, Y:-213.92, Z:-26.39 [[ 8.11638262e-01 5.80983813e-01 6.08370033e-02 4.37727024e+02] [-5.79314520e-01 8.13914971e-01 -4.40125770e-02 -2.13919557e+02] [-7.50867426e-02 4.78532113e-04 9.97176891e-01 -2.63916110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.78, Y:-213.96, Z:-26.40 [[ 8.14103040e-01 5.77526143e-01 6.08259444e-02 4.37777350e+02] [-5.75846039e-01 8.16371783e-01 -4.40278553e-02 -2.13955172e+02] [-7.50838221e-02 8.16831676e-04 9.97176891e-01 -2.63961171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.83, Y:-213.99, Z:-26.40 [[ 8.15024281e-01 5.76226523e-01 6.08145945e-02 4.37827814e+02] [-5.74541633e-01 8.17289471e-01 -4.40435271e-02 -2.13990883e+02] [-7.50821763e-02 9.56027549e-04 9.97176891e-01 -2.64019574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.88, Y:-214.03, Z:-26.41 [[ 8.15377110e-01 5.75728411e-01 6.08026701e-02 4.37879143e+02] [-5.74040910e-01 8.17640356e-01 -4.40599827e-02 -2.14026280e+02] [-7.50813007e-02 1.02228130e-03 9.97176892e-01 -2.64064771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.93, Y:-214.06, Z:-26.41 [[ 8.14201024e-01 5.77391741e-01 6.07903767e-02 4.37930265e+02] [-5.75707598e-01 8.16466769e-01 -4.40769376e-02 -2.14061872e+02] [-7.50829822e-02 8.90005968e-04 9.97176892e-01 -2.64110472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:437.98, Y:-214.10, Z:-26.41 [[ 8.12620870e-01 5.79614678e-01 6.07794951e-02 4.37981929e+02] [-5.77935611e-01 8.14890379e-01 -4.40919377e-02 -2.14098088e+02] [-7.50849601e-02 7.03394156e-04 9.97176892e-01 -2.64149482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.03, Y:-214.13, Z:-26.42 [[ 8.09667768e-01 5.83734093e-01 6.07668882e-02 4.38033836e+02] [-5.82065270e-01 8.11944820e-01 -4.41093055e-02 -2.14133239e+02] [-7.50874655e-02 3.43587722e-04 9.97176892e-01 -2.64194155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.09, Y:-214.17, Z:-26.42 [[ 8.06425142e-01 5.88206934e-01 6.07543693e-02 4.38085623e+02] [-5.86549442e-01 8.08710455e-01 -4.41265419e-02 -2.14168898e+02] [-7.50882315e-02 -5.06886655e-05 9.97176893e-01 -2.64235029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.13, Y:-214.21, Z:-26.42 [[ 8.02588687e-01 5.93432238e-01 6.07418991e-02 4.38133862e+02] [-5.91788325e-01 8.04883788e-01 -4.41437009e-02 -2.14207179e+02] [-7.50864650e-02 -5.17111782e-04 9.97176893e-01 -2.64211897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.18, Y:-214.24, Z:-26.43 [[ 8.00697818e-01 5.95981913e-01 6.07335459e-02 4.38184461e+02] [-5.94344437e-01 8.02997515e-01 -4.41551904e-02 -2.14242886e+02] [-7.50845813e-02 -7.41680560e-04 9.97176893e-01 -2.64258016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.23, Y:-214.28, Z:-26.43 [[ 7.99763676e-01 5.97236044e-01 6.07220720e-02 4.38234401e+02] [-5.95600977e-01 8.02065086e-01 -4.41709636e-02 -2.14279151e+02] [-7.50835455e-02 -8.39793205e-04 9.97176893e-01 -2.64302455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.29, Y:-214.31, Z:-26.44 [[ 8.00015103e-01 5.96900369e-01 6.07106587e-02 4.38285239e+02] [-5.95263146e-01 8.02314980e-01 -4.41866451e-02 -2.14311934e+02] [-7.50840957e-02 -7.88834214e-04 9.97176893e-01 -2.64426513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.34, Y:-214.35, Z:-26.45 [[ 7.99203188e-01 5.97988084e-01 6.07002223e-02 4.38335137e+02] [-5.96352902e-01 8.01504516e-01 -4.42009772e-02 -2.14349431e+02] [-7.50831599e-02 -8.73191862e-04 9.97176893e-01 -2.64462536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.38, Y:-214.39, Z:-26.45 [[ 7.98966237e-01 5.98305898e-01 6.06877646e-02 4.38384751e+02] [-5.96670333e-01 8.01267293e-01 -4.42180749e-02 -2.14386281e+02] [-7.50830559e-02 -8.81839796e-04 9.97176894e-01 -2.64521308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.43, Y:-214.42, Z:-26.46 [[ 7.99381437e-01 5.97752218e-01 6.06762288e-02 4.38433793e+02] [-5.96113859e-01 8.01680504e-01 -4.42338987e-02 -2.14424787e+02] [-7.50838608e-02 -8.10183344e-04 9.97176894e-01 -2.64564964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.48, Y:-214.46, Z:-26.46 [[ 8.00610709e-01 5.96105979e-01 6.06642780e-02 4.38482676e+02] [-5.94461651e-01 8.02905510e-01 -4.42502825e-02 -2.14463808e+02] [-7.50855411e-02 -6.35336761e-04 9.97176894e-01 -2.64600718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.53, Y:-214.50, Z:-26.46 [[ 8.01161019e-01 5.95367273e-01 6.06533707e-02 4.38532091e+02] [-5.93719698e-01 8.03453490e-01 -4.42652281e-02 -2.14501833e+02] [-7.50862305e-02 -5.47525669e-04 9.97176894e-01 -2.64639892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.58, Y:-214.54, Z:-26.47 [[ 8.01312477e-01 5.95164709e-01 6.06406133e-02 4.38579662e+02] [-5.93515232e-01 8.03603579e-01 -4.42826981e-02 -2.14540627e+02] [-7.50865130e-02 -5.06849193e-04 9.97176894e-01 -2.64685571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.63, Y:-214.58, Z:-26.47 [[ 8.01155593e-01 5.95377074e-01 6.06288347e-02 4.38628406e+02] [-5.93726984e-01 8.03446254e-01 -4.42988186e-02 -2.14578668e+02] [-7.50865112e-02 -5.06728908e-04 9.97176895e-01 -2.64736460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.67, Y:-214.62, Z:-26.48 [[ 7.99099726e-01 5.98134671e-01 6.06180122e-02 4.38674771e+02] [-5.96491363e-01 8.01395256e-01 -4.43136231e-02 -2.14620365e+02] [-7.50845018e-02 -7.47116721e-04 9.97176895e-01 -2.64801677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.72, Y:-214.66, Z:-26.48 [[ 7.98780923e-01 5.98561032e-01 6.06112894e-02 4.38724448e+02] [-5.96918251e-01 8.01076831e-01 -4.43228165e-02 -2.14658625e+02] [-7.50842104e-02 -7.75764618e-04 9.97176895e-01 -2.64833112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.77, Y:-214.70, Z:-26.48 [[ 7.98545728e-01 5.98876246e-01 6.05967237e-02 4.38774269e+02] [-5.97232861e-01 8.00841203e-01 -4.43427214e-02 -2.14695208e+02] [-7.50841556e-02 -7.80663941e-04 9.97176895e-01 -2.64844416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.82, Y:-214.74, Z:-26.49 [[ 7.97623377e-01 6.00105471e-01 6.05835960e-02 4.38821739e+02] [-5.98464262e-01 7.99920408e-01 -4.43606500e-02 -2.14735056e+02] [-7.50831236e-02 -8.74025690e-04 9.97176895e-01 -2.64909613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.87, Y:-214.77, Z:-26.50 [[ 7.97599107e-01 6.00138143e-01 6.05794926e-02 4.38870465e+02] [-5.98496602e-01 7.99895901e-01 -4.43662529e-02 -2.14771306e+02] [-7.50831685e-02 -8.70136830e-04 9.97176895e-01 -2.64970624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.92, Y:-214.81, Z:-26.50 [[ 7.98058707e-01 5.99528014e-01 6.05678181e-02 4.38919525e+02] [-5.97883508e-01 8.00353380e-01 -4.43821850e-02 -2.14810794e+02] [-7.50840211e-02 -7.92910421e-04 9.97176896e-01 -2.65001920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:438.97, Y:-214.85, Z:-26.50 [[ 7.98557893e-01 5.98864286e-01 6.05545964e-02 4.38968999e+02] [-5.97216506e-01 8.00850214e-01 -4.44002172e-02 -2.14849779e+02] [-7.50848659e-02 -7.08060591e-04 9.97176896e-01 -2.65045587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.02, Y:-214.89, Z:-26.51 [[ 7.98592675e-01 5.98819171e-01 6.05420490e-02 4.39018656e+02] [-5.97169965e-01 8.00883971e-01 -4.44173198e-02 -2.14888064e+02] [-7.50850992e-02 -6.82546991e-04 9.97176896e-01 -2.65085055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.07, Y:-214.93, Z:-26.51 [[ 7.98079490e-01 5.99504240e-01 6.05292828e-02 4.39067582e+02] [-5.97855682e-01 8.00371252e-01 -4.44347100e-02 -2.14926121e+02] [-7.50846949e-02 -7.25344935e-04 9.97176896e-01 -2.65127795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.12, Y:-214.96, Z:-26.52 [[ 7.97474553e-01 6.00309895e-01 6.05174957e-02 4.39117888e+02] [-5.98662435e-01 7.99767103e-01 -4.44507576e-02 -2.14964501e+02] [-7.50841319e-02 -7.81203308e-04 9.97176896e-01 -2.65167120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.17, Y:-215.00, Z:-26.52 [[ 7.96054362e-01 6.02193153e-01 6.05050346e-02 4.39167814e+02] [-6.00549827e-01 7.98349878e-01 -4.44677129e-02 -2.15001633e+02] [-7.50823392e-02 -9.37571240e-04 9.97176897e-01 -2.65218539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.22, Y:-215.04, Z:-26.53 [[ 7.94792281e-01 6.03859067e-01 6.04934571e-02 4.39217973e+02] [-6.02219354e-01 7.97090379e-01 -4.44834572e-02 -2.15038680e+02] [-7.50804916e-02 -1.07522222e-03 9.97176897e-01 -2.65264425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.27, Y:-215.08, Z:-26.53 [[ 7.92818272e-01 6.06449699e-01 6.04809837e-02 4.39268799e+02] [-6.04816203e-01 7.95120792e-01 -4.45004099e-02 -2.15075512e+02] [-7.50769479e-02 -1.29914081e-03 9.97176897e-01 -2.65316714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.32, Y:-215.11, Z:-26.54 [[ 7.91941170e-01 6.07595871e-01 6.04685056e-02 4.39319522e+02] [-6.05964413e-01 7.94245135e-01 -4.45173591e-02 -2.15112501e+02] [-7.50753800e-02 -1.38663306e-03 9.97176897e-01 -2.65363362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.37, Y:-215.15, Z:-26.54 [[ 7.91940421e-01 6.07598102e-01 6.04559081e-02 4.39370493e+02] [-6.05965345e-01 7.94243465e-01 -4.45344603e-02 -2.15149795e+02] [-7.50757635e-02 -1.36554596e-03 9.97176898e-01 -2.65414230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.42, Y:-215.19, Z:-26.55 [[ 7.92196035e-01 6.07266039e-01 6.04433565e-02 4.39420461e+02] [-6.05631019e-01 7.94497473e-01 -4.45514892e-02 -2.15187698e+02] [-7.50767004e-02 -1.31285844e-03 9.97176898e-01 -2.65461985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.47, Y:-215.23, Z:-26.55 [[ 7.91902778e-01 6.07649641e-01 6.04309754e-02 4.39470924e+02] [-6.06014455e-01 7.94204098e-01 -4.45682771e-02 -2.15225229e+02] [-7.50764259e-02 -1.32830220e-03 9.97176898e-01 -2.65514044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.52, Y:-215.26, Z:-26.56 [[ 7.91141557e-01 6.08641615e-01 6.04187194e-02 4.39520809e+02] [-6.07008046e-01 7.93444024e-01 -4.45848857e-02 -2.15262576e+02] [-7.50750887e-02 -1.40169289e-03 9.97176898e-01 -2.65575859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.57, Y:-215.30, Z:-26.56 [[ 7.90827899e-01 6.09050307e-01 6.04066115e-02 4.39570825e+02] [-6.07416676e-01 7.93130322e-01 -4.46012843e-02 -2.15300914e+02] [-7.50747411e-02 -1.42004324e-03 9.97176898e-01 -2.65629448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.62, Y:-215.34, Z:-26.57 [[ 7.90310077e-01 6.09723276e-01 6.03946135e-02 4.39620068e+02] [-6.08090365e-01 7.92613011e-01 -4.46175249e-02 -2.15339670e+02] [-7.50738999e-02 -1.46370296e-03 9.97176899e-01 -2.65660256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.67, Y:-215.38, Z:-26.57 [[ 7.89302862e-01 6.11027803e-01 6.03822437e-02 4.39670405e+02] [-6.09397419e-01 7.91607585e-01 -4.46342590e-02 -2.15377593e+02] [-7.50718154e-02 -1.56683508e-03 9.97176899e-01 -2.65705756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.72, Y:-215.42, Z:-26.58 [[ 7.88210538e-01 6.12437465e-01 6.03696870e-02 4.39719251e+02] [-6.10809903e-01 7.90517254e-01 -4.46512360e-02 -2.15415345e+02] [-7.50693691e-02 -1.67982792e-03 9.97176899e-01 -2.65759595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.77, Y:-215.45, Z:-26.58 [[ 7.87774081e-01 6.12999917e-01 6.03580898e-02 4.39769047e+02] [-6.11372802e-01 7.90081112e-01 -4.46669073e-02 -2.15453034e+02] [-7.50685972e-02 -1.71386262e-03 9.97176899e-01 -2.65801672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:439.82, Y:-215.49, Z:-26.58 [[ 7.87492524e-01 6.13362821e-01 6.03454639e-02 4.39817963e+02] [-6.11735463e-01 7.89799384e-01 -4.46839586e-02 -2.15490527e+02] [-7.50682891e-02 -1.72717700e-03 9.97176899e-01 -2.65845027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.87, Y:-215.53, Z:-26.59 [[ 7.87360637e-01 6.13533259e-01 6.03337939e-02 4.39866152e+02] [-6.11905195e-01 7.89666999e-01 -4.46997103e-02 -2.15527772e+02] [-7.50683649e-02 -1.72376949e-03 9.97176900e-01 -2.65887466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.92, Y:-215.57, Z:-26.59 [[ 7.87469246e-01 6.13394827e-01 6.03238921e-02 4.39915927e+02] [-6.11765335e-01 7.89774599e-01 -4.47130691e-02 -2.15566374e+02] [-7.50690430e-02 -1.69389923e-03 9.97176900e-01 -2.65905898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:439.97, Y:-215.60, Z:-26.59 [[ 7.87391065e-01 6.13496444e-01 6.03110586e-02 4.39965618e+02] [-6.11865924e-01 7.89695691e-01 -4.47303729e-02 -2.15603947e+02] [-7.50693078e-02 -1.68198557e-03 9.97176900e-01 -2.65949078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.02, Y:-215.64, Z:-26.60 [[ 7.86749376e-01 6.14320381e-01 6.02983213e-02 4.40015302e+02] [-6.12690961e-01 7.89054779e-01 -4.47475367e-02 -2.15641267e+02] [-7.50680024e-02 -1.73913979e-03 9.97176900e-01 -2.66009373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.06, Y:-215.68, Z:-26.61 [[ 7.85861640e-01 6.15456676e-01 6.02873308e-02 4.40064591e+02] [-6.13829455e-01 7.88168595e-01 -4.47623391e-02 -2.15678738e+02] [-7.50658612e-02 -1.82913413e-03 9.97176900e-01 -2.66092557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.11, Y:-215.72, Z:-26.61 [[ 7.84812229e-01 6.16794715e-01 6.02830390e-02 4.40113831e+02] [-6.15170983e-01 7.87121641e-01 -4.47681183e-02 -2.15715041e+02] [-7.50628233e-02 -1.94980968e-03 9.97176900e-01 -2.66123526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.16, Y:-215.75, Z:-26.62 [[ 7.85130911e-01 6.16390097e-01 6.02718921e-02 4.40163567e+02] [-6.14764024e-01 7.87438675e-01 -4.47831205e-02 -2.15751467e+02] [-7.50642908e-02 -1.89237874e-03 9.97176901e-01 -2.66183971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.21, Y:-215.79, Z:-26.62 [[ 7.84400960e-01 6.17319859e-01 6.02604916e-02 4.40210942e+02] [-6.15695344e-01 7.86709821e-01 -4.47984559e-02 -2.15789665e+02] [-7.50624970e-02 -1.96215226e-03 9.97176901e-01 -2.66197912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.26, Y:-215.83, Z:-26.62 [[ 7.84526867e-01 6.17160466e-01 6.02540739e-02 4.40260437e+02] [-6.15534820e-01 7.86834932e-01 -4.48070860e-02 -2.15827019e+02] [-7.50631722e-02 -1.93611770e-03 9.97176901e-01 -2.66249234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.31, Y:-215.86, Z:-26.63 [[ 7.84321889e-01 6.17422071e-01 6.02425125e-02 4.40309972e+02] [-6.15796003e-01 7.86629656e-01 -4.48226249e-02 -2.15864560e+02] [-7.50630247e-02 -1.94173257e-03 9.97176901e-01 -2.66277547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.36, Y:-215.90, Z:-26.63 [[ 7.83657841e-01 6.18265721e-01 6.02319415e-02 4.40359841e+02] [-6.16641046e-01 7.85966589e-01 -4.48368255e-02 -2.15902417e+02] [-7.50613658e-02 -2.00475760e-03 9.97176901e-01 -2.66313592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.41, Y:-215.94, Z:-26.64 [[ 7.82630956e-01 6.19566324e-01 6.02192397e-02 4.40409899e+02] [-6.17944175e-01 7.84941480e-01 -4.48538785e-02 -2.15940118e+02] [-7.50585317e-02 -2.10809451e-03 9.97176901e-01 -2.66368583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.46, Y:-215.98, Z:-26.64 [[ 7.82025467e-01 6.20331638e-01 6.02065439e-02 4.40460344e+02] [-6.18710440e-01 7.84336658e-01 -4.48709134e-02 -2.15978197e+02] [-7.50570466e-02 -2.16022021e-03 9.97176902e-01 -2.66417796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.51, Y:-216.02, Z:-26.65 [[ 7.82232401e-01 6.20071917e-01 6.01937524e-02 4.40509527e+02] [-6.18448634e-01 7.84542127e-01 -4.48880664e-02 -2.16015900e+02] [-7.50583640e-02 -2.11384393e-03 9.97176902e-01 -2.66479815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.56, Y:-216.05, Z:-26.65 [[ 7.83619236e-01 6.18319649e-01 6.01805990e-02 4.40559426e+02] [-6.16689847e-01 7.85924367e-01 -4.49056941e-02 -2.16053712e+02] [-7.50634722e-02 -1.92379872e-03 9.97176902e-01 -2.66513962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.61, Y:-216.09, Z:-26.66 [[ 7.84857480e-01 6.16748481e-01 6.01668255e-02 4.40609222e+02] [-6.15112652e-01 7.87158337e-01 -4.49241409e-02 -2.16091750e+02] [-7.50677140e-02 -1.75032754e-03 9.97176902e-01 -2.66563135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.66, Y:-216.13, Z:-26.66 [[ 7.86900065e-01 6.14141491e-01 6.01541052e-02 4.40659958e+02] [-6.12496737e-01 7.89194550e-01 -4.49411671e-02 -2.16127452e+02] [-7.50735275e-02 -1.47998586e-03 9.97176903e-01 -2.66645227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.71, Y:-216.17, Z:-26.67 [[ 7.86124087e-01 6.15135603e-01 6.01424162e-02 4.40708356e+02] [-6.13492555e-01 7.88419794e-01 -4.49568045e-02 -2.16165406e+02] [-7.50720025e-02 -1.55529767e-03 9.97176903e-01 -2.66657169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.76, Y:-216.20, Z:-26.67 [[ 7.86628707e-01 6.14491218e-01 6.01316941e-02 4.40758967e+02] [-6.12845194e-01 7.88922281e-01 -4.49711412e-02 -2.16201920e+02] [-7.50736046e-02 -1.47582906e-03 9.97176903e-01 -2.66691588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.81, Y:-216.24, Z:-26.67 [[ 7.87330116e-01 6.13593522e-01 6.01188646e-02 4.40809656e+02] [-6.11943574e-01 7.89620869e-01 -4.49882857e-02 -2.16238833e+02] [-7.50756308e-02 -1.36872065e-03 9.97176903e-01 -2.66727493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.86, Y:-216.28, Z:-26.68 [[ 7.88082362e-01 6.12628323e-01 6.01059776e-02 4.40860037e+02] [-6.10974257e-01 7.90370143e-01 -4.50054966e-02 -2.16276580e+02] [-7.50776120e-02 -1.25516701e-03 9.97176903e-01 -2.66763775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.91, Y:-216.31, Z:-26.68 [[ 7.88442190e-01 6.12166405e-01 6.00933027e-02 4.40911132e+02] [-6.10509710e-01 7.90728067e-01 -4.50224144e-02 -2.16313464e+02] [-7.50786707e-02 -1.18997377e-03 9.97176904e-01 -2.66802807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:440.96, Y:-216.35, Z:-26.69 [[ 7.88228926e-01 6.12442238e-01 6.00804997e-02 4.40961922e+02] [-6.10785041e-01 7.90514439e-01 -4.50394930e-02 -2.16349713e+02] [-7.50785904e-02 -1.19483926e-03 9.97176904e-01 -2.66859575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.01, Y:-216.39, Z:-26.69 [[ 7.87478750e-01 6.13407764e-01 6.00677342e-02 4.41013877e+02] [-6.11752072e-01 7.89765353e-01 -4.50565116e-02 -2.16385453e+02] [-7.50774293e-02 -1.26551542e-03 9.97176904e-01 -2.66917274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.07, Y:-216.42, Z:-26.70 [[ 7.87094225e-01 6.13902321e-01 6.00551431e-02 4.41065274e+02] [-6.12246786e-01 7.89380942e-01 -4.50732878e-02 -2.16421060e+02] [-7.50769814e-02 -1.29164379e-03 9.97176904e-01 -2.66965260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.12, Y:-216.46, Z:-26.70 [[ 7.87436910e-01 6.13463968e-01 6.00422558e-02 4.41115985e+02] [-6.11805852e-01 7.89721756e-01 -4.50904485e-02 -2.16457358e+02] [-7.50780411e-02 -1.22832000e-03 9.97176905e-01 -2.67007276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.17, Y:-216.49, Z:-26.70 [[ 7.87640738e-01 6.13203490e-01 6.00295646e-02 4.41167506e+02] [-6.11543331e-01 7.89924099e-01 -4.51073381e-02 -2.16493246e+02] [-7.50787769e-02 -1.18230282e-03 9.97176905e-01 -2.67039624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.22, Y:-216.53, Z:-26.71 [[ 7.87418386e-01 6.13490229e-01 6.00168656e-02 4.41218633e+02] [-6.11829615e-01 7.89701416e-01 -4.51242284e-02 -2.16528987e+02] [-7.50786769e-02 -1.18844868e-03 9.97176905e-01 -2.67094659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.27, Y:-216.56, Z:-26.72 [[ 7.87495206e-01 6.13392841e-01 6.00043524e-02 4.41269311e+02] [-6.11730678e-01 7.89777108e-01 -4.51408617e-02 -2.16563342e+02] [-7.50791454e-02 -1.15829096e-03 9.97176905e-01 -2.67160614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.32, Y:-216.60, Z:-26.72 [[ 7.88164242e-01 6.12534075e-01 5.99927807e-02 4.41320891e+02] [-6.10868255e-01 7.90443476e-01 -4.51562355e-02 -2.16599106e+02] [-7.50806351e-02 -1.05715518e-03 9.97176905e-01 -2.67220604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.37, Y:-216.64, Z:-26.73 [[ 7.88561449e-01 6.12023817e-01 5.99807455e-02 4.41371313e+02] [-6.10355306e-01 7.90838714e-01 -4.51722161e-02 -2.16636591e+02] [-7.50815677e-02 -9.88498123e-04 9.97176906e-01 -2.67263618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.42, Y:-216.67, Z:-26.73 [[ 7.89373738e-01 6.10977014e-01 5.99682326e-02 4.41421240e+02] [-6.09304223e-01 7.91647860e-01 -4.51888216e-02 -2.16673860e+02] [-7.50830543e-02 -8.68028316e-04 9.97176906e-01 -2.67306607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.47, Y:-216.71, Z:-26.73 [[ 7.90922035e-01 6.08972611e-01 5.99557643e-02 4.41471132e+02] [-6.07292802e-01 7.93190978e-01 -4.52053582e-02 -2.16711490e+02] [-7.50851964e-02 -6.56790272e-04 9.97176906e-01 -2.67340482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.52, Y:-216.75, Z:-26.74 [[ 7.91750887e-01 6.07895856e-01 5.99429754e-02 4.41520289e+02] [-6.06211679e-01 7.94016589e-01 -4.52223101e-02 -2.16749375e+02] [-7.50861718e-02 -5.33327579e-04 9.97176906e-01 -2.67363935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.57, Y:-216.78, Z:-26.74 [[ 7.92401113e-01 6.07049181e-01 5.99313666e-02 4.41569334e+02] [-6.05361419e-01 7.94664145e-01 -4.52376896e-02 -2.16784915e+02] [-7.50868107e-02 -4.33741560e-04 9.97176906e-01 -2.67434337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.62, Y:-216.82, Z:-26.75 [[ 7.91592269e-01 6.08104582e-01 5.99207656e-02 4.41619713e+02] [-6.06418774e-01 7.93856757e-01 -4.52517271e-02 -2.16822461e+02] [-7.50862873e-02 -5.16159945e-04 9.97176907e-01 -2.67480973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.67, Y:-216.86, Z:-26.75 [[ 7.89018352e-01 6.11441839e-01 5.99075726e-02 4.41668817e+02] [-6.09764284e-01 7.91288960e-01 -4.52691863e-02 -2.16859102e+02] [-7.50836754e-02 -8.11279381e-04 9.97176907e-01 -2.67537094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.72, Y:-216.90, Z:-26.76 [[ 7.86743560e-01 6.14367245e-01 5.98953974e-02 4.41719125e+02] [-6.12696907e-01 7.89019482e-01 -4.52852896e-02 -2.16896299e+02] [-7.50804340e-02 -1.06981478e-03 9.97176907e-01 -2.67583114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.77, Y:-216.93, Z:-26.76 [[ 7.84109633e-01 6.17726619e-01 5.98824495e-02 4.41769414e+02] [-6.16064723e-01 7.86391728e-01 -4.53024046e-02 -2.16933207e+02] [-7.50755641e-02 -1.36941286e-03 9.97176907e-01 -2.67644286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.82, Y:-216.97, Z:-26.77 [[ 7.82128176e-01 6.20234743e-01 5.98696879e-02 4.41816864e+02] [-6.18578875e-01 7.84414648e-01 -4.53192635e-02 -2.16973259e+02] [-7.50712419e-02 -1.58865128e-03 9.97176908e-01 -2.67692189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.87, Y:-217.01, Z:-26.77 [[ 7.83213523e-01 6.18864884e-01 5.98567734e-02 4.41865389e+02] [-6.17203714e-01 7.85496145e-01 -4.53363144e-02 -2.17009369e+02] [-7.50743177e-02 -1.43580831e-03 9.97176908e-01 -2.67747786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.91, Y:-217.05, Z:-26.78 [[ 7.83550544e-01 6.18438814e-01 5.98496266e-02 4.41914521e+02] [-6.16775683e-01 7.85831738e-01 -4.53457471e-02 -2.17048200e+02] [-7.50753061e-02 -1.38310950e-03 9.97176908e-01 -2.67796620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:441.96, Y:-217.09, Z:-26.78 [[ 7.83764102e-01 6.18169362e-01 5.98370521e-02 4.41962874e+02] [-6.16504181e-01 7.86043799e-01 -4.53623341e-02 -2.17088243e+02] [-7.50761488e-02 -1.33642376e-03 9.97176908e-01 -2.67834577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.01, Y:-217.13, Z:-26.79 [[ 7.82879358e-01 6.19290697e-01 5.98242735e-02 4.42011826e+02] [-6.17627494e-01 7.85160499e-01 -4.53791803e-02 -2.17128205e+02] [-7.50745606e-02 -1.42269263e-03 9.97176908e-01 -2.67878909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.06, Y:-217.17, Z:-26.79 [[ 7.81517425e-01 6.21009733e-01 5.98115862e-02 4.42061299e+02] [-6.19350269e-01 7.83801287e-01 -4.53958966e-02 -2.17166982e+02] [-7.50716918e-02 -1.56663776e-03 9.97176908e-01 -2.67934312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.11, Y:-217.20, Z:-26.80 [[ 7.79765393e-01 6.23209444e-01 5.97990082e-02 4.42109502e+02] [-6.21555153e-01 7.82053004e-01 -4.54124592e-02 -2.17204632e+02] [-7.50674675e-02 -1.75731763e-03 9.97176909e-01 -2.67997956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.15, Y:-217.25, Z:-26.80 [[ 7.76342473e-01 6.27469237e-01 5.97889727e-02 4.42154829e+02] [-6.25826479e-01 7.78638380e-01 -4.54256679e-02 -2.17247393e+02] [-7.50571981e-02 -2.15164693e-03 9.97176909e-01 -2.68024225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.20, Y:-217.28, Z:-26.81 [[ 7.77522867e-01 6.26006584e-01 5.97825075e-02 4.42203871e+02] [-6.24358853e-01 7.79815208e-01 -4.54341748e-02 -2.17282584e+02] [-7.50614011e-02 -1.99962794e-03 9.97176909e-01 -2.68098711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.25, Y:-217.32, Z:-26.81 [[ 7.78233140e-01 6.25123941e-01 5.97765672e-02 4.42251042e+02] [-6.23473011e-01 7.80523177e-01 -4.54419891e-02 -2.17322387e+02] [-7.50638715e-02 -1.90461445e-03 9.97176909e-01 -2.68122168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.30, Y:-217.36, Z:-26.82 [[ 7.78814841e-01 6.24400072e-01 5.97661516e-02 4.42299770e+02] [-6.22745963e-01 7.81102584e-01 -4.54556837e-02 -2.17361769e+02] [-7.50660276e-02 -1.81756852e-03 9.97176909e-01 -2.68184310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.35, Y:-217.40, Z:-26.82 [[ 7.78579789e-01 6.24694472e-01 5.97522261e-02 4.42347126e+02] [-6.23039825e-01 7.80867142e-01 -4.54739817e-02 -2.17401259e+02] [-7.50658950e-02 -1.82289344e-03 9.97176909e-01 -2.68209966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.40, Y:-217.44, Z:-26.83 [[ 7.78479633e-01 6.24820453e-01 5.97399617e-02 4.42395788e+02] [-6.23164941e-01 7.80766360e-01 -4.54900879e-02 -2.17440753e+02] [-7.50660898e-02 -1.81474277e-03 9.97176910e-01 -2.68263263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.44, Y:-217.48, Z:-26.83 [[ 7.79137885e-01 6.24000661e-01 5.97271410e-02 4.42444120e+02] [-6.22341453e-01 7.81421932e-01 -4.55069150e-02 -2.17481044e+02] [-7.50684429e-02 -1.71451418e-03 9.97176910e-01 -2.68323545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.49, Y:-217.52, Z:-26.84 [[ 7.79080104e-01 6.24074056e-01 5.97140226e-02 4.42491632e+02] [-6.22413746e-01 7.81363349e-01 -4.55241224e-02 -2.17520102e+02] [-7.50687724e-02 -1.69989054e-03 9.97176910e-01 -2.68382019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.54, Y:-217.56, Z:-26.84 [[ 7.78643329e-01 6.24620084e-01 5.97019083e-02 4.42539828e+02] [-6.22960158e-01 7.80926853e-01 -4.55400040e-02 -2.17560068e+02] [-7.50680245e-02 -1.73248999e-03 9.97176910e-01 -2.68420744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.59, Y:-217.60, Z:-26.85 [[ 7.78788097e-01 6.24440834e-01 5.96887377e-02 4.42588504e+02] [-6.22779061e-01 7.81070277e-01 -4.55572601e-02 -2.17600066e+02] [-7.50689123e-02 -1.69344418e-03 9.97176910e-01 -2.68474117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.64, Y:-217.64, Z:-26.85 [[ 7.79382682e-01 6.23699811e-01 5.96756261e-02 4.42636147e+02] [-6.22034555e-01 7.81662321e-01 -4.55744285e-02 -2.17639265e+02] [-7.50709509e-02 -1.60038123e-03 9.97176911e-01 -2.68520610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.68, Y:-217.68, Z:-26.85 [[ 7.79597109e-01 6.23432540e-01 5.96675480e-02 4.42682336e+02] [-6.21765693e-01 7.81875585e-01 -4.55850023e-02 -2.17681429e+02] [-7.50717727e-02 -1.56129829e-03 9.97176911e-01 -2.68499429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.73, Y:-217.72, Z:-26.86 [[ 7.81717676e-01 6.20772647e-01 5.96556438e-02 4.42731932e+02] [-6.19096859e-01 7.83989583e-01 -4.56005756e-02 -2.17716548e+02] [-7.50769934e-02 -1.28584575e-03 9.97176911e-01 -2.68592354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.78, Y:-217.76, Z:-26.86 [[ 7.82879002e-01 6.19308003e-01 5.96495240e-02 4.42780921e+02] [-6.17627354e-01 7.85147317e-01 -4.56085794e-02 -2.17755994e+02] [-7.50794219e-02 -1.13517849e-03 9.97176911e-01 -2.68616832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.83, Y:-217.79, Z:-26.87 [[ 7.84439959e-01 6.17330960e-01 5.96358632e-02 4.42829428e+02] [-6.15643237e-01 7.86703015e-01 -4.56264347e-02 -2.17793279e+02] [-7.50823241e-02 -9.23217238e-04 9.97176911e-01 -2.68688544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.88, Y:-217.83, Z:-26.88 [[ 7.84977619e-01 6.16648361e-01 5.96232857e-02 4.42878581e+02] [-6.14957422e-01 7.87238273e-01 -4.56428648e-02 -2.17830355e+02] [-7.50833302e-02 -8.37154738e-04 9.97176911e-01 -2.68756083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.93, Y:-217.87, Z:-26.88 [[ 7.85282615e-01 6.16260697e-01 5.96151625e-02 4.42928333e+02] [-6.14567837e-01 7.87541830e-01 -4.56534722e-02 -2.17868668e+02] [-7.50838748e-02 -7.86683413e-04 9.97176912e-01 -2.68804765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:442.98, Y:-217.91, Z:-26.88 [[ 7.85593536e-01 6.15865552e-01 5.96021625e-02 4.42976175e+02] [-6.14170269e-01 7.87850933e-01 -4.56704379e-02 -2.17908358e+02] [-7.50844688e-02 -7.27475374e-04 9.97176912e-01 -2.68849022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.03, Y:-217.94, Z:-26.89 [[ 7.87449333e-01 6.13491367e-01 5.95977404e-02 4.43025467e+02] [-6.11788841e-01 7.89701272e-01 -4.56762077e-02 -2.17943306e+02] [-7.50863705e-02 -4.93533237e-04 9.97176912e-01 -2.68897013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.08, Y:-217.98, Z:-26.89 [[ 7.88422938e-01 6.12240594e-01 5.95879631e-02 4.43075762e+02] [-6.10533531e-01 7.90671440e-01 -4.56889595e-02 -2.17981281e+02] [-7.50871363e-02 -3.58225863e-04 9.97176912e-01 -2.68942573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.13, Y:-218.02, Z:-26.90 [[ 7.88493535e-01 6.12150912e-01 5.95752061e-02 4.43125871e+02] [-6.10442337e-01 7.90740888e-01 -4.57055876e-02 -2.18018867e+02] [-7.50872686e-02 -3.28667671e-04 9.97176912e-01 -2.68992398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.18, Y:-218.06, Z:-26.90 [[ 7.88098857e-01 6.12660204e-01 5.95622821e-02 4.43175805e+02] [-6.10951809e-01 7.90346346e-01 -4.57224236e-02 -2.18056751e+02] [-7.50871415e-02 -3.55894203e-04 9.97176912e-01 -2.69045785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.23, Y:-218.09, Z:-26.91 [[ 7.87117507e-01 6.13921722e-01 5.95495528e-02 4.43225156e+02] [-6.12215674e-01 7.89366779e-01 -4.57389965e-02 -2.18094741e+02] [-7.50866022e-02 -4.55204683e-04 9.97176913e-01 -2.69094525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.28, Y:-218.13, Z:-26.91 [[ 7.86837006e-01 6.14282282e-01 5.95382610e-02 4.43275112e+02] [-6.12576153e-01 7.89086216e-01 -4.57536903e-02 -2.18131455e+02] [-7.50865024e-02 -4.71022226e-04 9.97176913e-01 -2.69148508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.33, Y:-218.17, Z:-26.92 [[ 7.86979077e-01 6.14101418e-01 5.95263015e-02 4.43325133e+02] [-6.12393596e-01 7.89227002e-01 -4.57692446e-02 -2.18169426e+02] [-7.50867224e-02 -4.34087932e-04 9.97176913e-01 -2.69201147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.37, Y:-218.21, Z:-26.93 [[ 7.87666104e-01 6.13221185e-01 5.95137482e-02 4.43373928e+02] [-6.11509618e-01 7.89911178e-01 -4.57855618e-02 -2.18207703e+02] [-7.50872514e-02 -3.29494379e-04 9.97176913e-01 -2.69257387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.42, Y:-218.25, Z:-26.93 [[ 7.87909468e-01 6.12909588e-01 5.95021596e-02 4.43423266e+02] [-6.11195996e-01 7.90152996e-01 -4.58006173e-02 -2.18246399e+02] [-7.50874472e-02 -2.80741729e-04 9.97176913e-01 -2.69308686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.47, Y:-218.28, Z:-26.94 [[ 7.87986106e-01 6.12812262e-01 5.94897247e-02 4.43472580e+02] [-6.11097174e-01 7.90228491e-01 -4.58167631e-02 -2.18283954e+02] [-7.50875496e-02 -2.51029907e-04 9.97176914e-01 -2.69379382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.52, Y:-218.32, Z:-26.94 [[ 7.86977166e-01 6.14107806e-01 5.94856585e-02 4.43521178e+02] [-6.12396010e-01 7.89222065e-01 -4.58220417e-02 -2.18321522e+02] [-7.50870678e-02 -3.67879413e-04 9.97176914e-01 -2.69408781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.57, Y:-218.36, Z:-26.95 [[ 7.86970195e-01 6.14117761e-01 5.94750970e-02 4.43571868e+02] [-6.12404958e-01 7.89214326e-01 -4.58357461e-02 -2.18359061e+02] [-7.50871443e-02 -3.51478184e-04 9.97176914e-01 -2.69479024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.62, Y:-218.40, Z:-26.95 [[ 7.85876618e-01 6.15517754e-01 5.94628962e-02 4.43620273e+02] [-6.13807751e-01 7.88122883e-01 -4.58515687e-02 -2.18397851e+02] [-7.50865238e-02 -4.65110817e-04 9.97176914e-01 -2.69519009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.67, Y:-218.44, Z:-26.96 [[ 7.85463863e-01 6.16045399e-01 5.94523862e-02 4.43668331e+02] [-6.14335874e-01 7.87710491e-01 -4.58651923e-02 -2.18436663e+02] [-7.50863090e-02 -4.98282505e-04 9.97176914e-01 -2.69563293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.72, Y:-218.48, Z:-26.96 [[ 7.85344675e-01 6.16198409e-01 5.94412546e-02 4.43717498e+02] [-6.14488230e-01 7.87590805e-01 -4.58796143e-02 -2.18475292e+02] [-7.50863309e-02 -4.94640566e-04 9.97176914e-01 -2.69590061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.77, Y:-218.51, Z:-26.96 [[ 7.84568201e-01 6.17187961e-01 5.94285959e-02 4.43767133e+02] [-6.15479374e-01 7.86815542e-01 -4.58960055e-02 -2.18514176e+02] [-7.50858050e-02 -5.68528506e-04 9.97176914e-01 -2.69643380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.82, Y:-218.55, Z:-26.97 [[ 7.84000984e-01 6.17909565e-01 5.94157049e-02 4.43816796e+02] [-6.16201782e-01 7.86248936e-01 -4.59126878e-02 -2.18553358e+02] [-7.50854237e-02 -6.16470778e-04 9.97176915e-01 -2.69694891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.87, Y:-218.59, Z:-26.97 [[ 7.84083976e-01 6.17804791e-01 5.94100895e-02 4.43865846e+02] [-6.16096156e-01 7.86331281e-01 -4.59199528e-02 -2.18592862e+02] [-7.50855787e-02 -5.97228616e-04 9.97176915e-01 -2.69733806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.91, Y:-218.63, Z:-26.98 [[ 7.85181918e-01 6.16410053e-01 5.93969927e-02 4.43913423e+02] [-6.14696146e-01 7.87425203e-01 -4.59368872e-02 -2.18631436e+02] [-7.50866482e-02 -4.42289315e-04 9.97176915e-01 -2.69784959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:443.96, Y:-218.67, Z:-26.98 [[ 7.87885706e-01 6.12951504e-01 5.93849156e-02 4.43961879e+02] [-6.11226573e-01 7.90120526e-01 -4.59524947e-02 -2.18672108e+02] [-7.50878914e-02 -9.23247296e-05 9.97176915e-01 -2.69811382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.01, Y:-218.71, Z:-26.99 [[ 7.89817608e-01 6.10461403e-01 5.93718914e-02 4.44009798e+02] [-6.08728161e-01 7.92045989e-01 -4.59693161e-02 -2.18710267e+02] [-7.50877616e-02 1.66033022e-04 9.97176915e-01 -2.69861121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.06, Y:-218.75, Z:-26.99 [[ 7.90826452e-01 6.09155093e-01 5.93598755e-02 4.44059603e+02] [-6.07417006e-01 7.93051055e-01 -4.59848269e-02 -2.18747447e+02] [-7.50873035e-02 3.09819626e-04 9.97176916e-01 -2.69918168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.11, Y:-218.79, Z:-27.00 [[ 7.90915551e-01 6.09040487e-01 5.93487742e-02 4.44109803e+02] [-6.07301003e-01 7.93139061e-01 -4.59991501e-02 -2.18785590e+02] [-7.50871758e-02 3.38873034e-04 9.97176916e-01 -2.69965325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.16, Y:-218.82, Z:-27.00 [[ 7.90958310e-01 6.08986185e-01 5.93361489e-02 4.44160048e+02] [-6.07245327e-01 7.93180744e-01 -4.60154302e-02 -2.18821776e+02] [-7.50870521e-02 3.64687783e-04 9.97176916e-01 -2.70005313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.21, Y:-218.86, Z:-27.00 [[ 7.90917708e-01 6.09040050e-01 5.93245073e-02 4.44210706e+02] [-6.07298217e-01 7.93139379e-01 -4.60304340e-02 -2.18858455e+02] [-7.50869807e-02 3.78617857e-04 9.97176916e-01 -2.70041718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.26, Y:-218.89, Z:-27.01 [[ 7.91144529e-01 6.08746633e-01 5.93116411e-02 4.44261816e+02] [-6.07002734e-01 7.93364578e-01 -4.60470066e-02 -2.18893426e+02] [-7.50867154e-02 4.27509071e-04 9.97176916e-01 -2.70092179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:444.31, Y:-218.93, Z:-27.01 [[ 7.91941096e-01 6.07711148e-01 5.92997544e-02 4.44313708e+02] [-6.05963200e-01 7.94157959e-01 -4.60623093e-02 -2.18928421e+02] [-7.50859508e-02 5.45166745e-04 9.97176917e-01 -2.70138279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.36, Y:-218.96, Z:-27.02 [[ 7.92530468e-01 6.06943571e-01 5.92870817e-02 4.44364840e+02] [-6.05192257e-01 7.94744672e-01 -4.60786147e-02 -2.18962916e+02] [-7.50852113e-02 6.38623306e-04 9.97176917e-01 -2.70189565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.42, Y:-219.00, Z:-27.02 [[ 7.92443711e-01 6.07057916e-01 5.92760614e-02 4.44416082e+02] [-6.05305861e-01 7.94657328e-01 -4.60927869e-02 -2.19000008e+02] [-7.50851478e-02 6.45791694e-04 9.97176917e-01 -2.70228985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.47, Y:-219.04, Z:-27.03 [[ 7.92448016e-01 6.07053554e-01 5.92631809e-02 4.44467402e+02] [-6.05300249e-01 7.94660643e-01 -4.61093419e-02 -2.19036882e+02] [-7.50849574e-02 6.67238358e-04 9.97176917e-01 -2.70272065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.52, Y:-219.07, Z:-27.03 [[ 7.92110469e-01 6.07495183e-01 5.92503748e-02 4.44517993e+02] [-6.05741881e-01 7.94323098e-01 -4.61257920e-02 -2.19074516e+02] [-7.50851377e-02 6.46289265e-04 9.97176917e-01 -2.70317180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.57, Y:-219.11, Z:-27.04 [[ 7.90530259e-01 6.09551327e-01 5.92375672e-02 4.44569795e+02] [-6.07802548e-01 7.92746464e-01 -4.61422345e-02 -2.19109241e+02] [-7.50864322e-02 4.72088303e-04 9.97176918e-01 -2.70364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.62, Y:-219.15, Z:-27.04 [[ 7.87589424e-01 6.13347546e-01 5.92257262e-02 4.44618195e+02] [-6.11608307e-01 7.89813124e-01 -4.61574280e-02 -2.19147664e+02] [-7.50878010e-02 1.30156038e-04 9.97176918e-01 -2.70408124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.67, Y:-219.18, Z:-27.05 [[ 7.84694377e-01 6.17047489e-01 5.92210361e-02 4.44670831e+02] [-6.15318280e-01 7.86925886e-01 -4.61634447e-02 -2.19181599e+02] [-7.50876039e-02 -2.15590620e-04 9.97176918e-01 -2.70452394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.72, Y:-219.21, Z:-27.05 [[ 7.83698943e-01 6.18312742e-01 5.92057376e-02 4.44723023e+02] [-6.16585655e-01 7.85932093e-01 -4.61830571e-02 -2.19213601e+02] [-7.50872620e-02 -3.11795464e-04 9.97176918e-01 -2.70503121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.78, Y:-219.25, Z:-27.06 [[ 7.80086990e-01 6.22864646e-01 5.91939257e-02 4.44775761e+02] [-6.21149440e-01 7.82329279e-01 -4.61981918e-02 -2.19248144e+02] [-7.50843615e-02 -7.29665382e-04 9.97176918e-01 -2.70553479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.83, Y:-219.28, Z:-27.06 [[ 7.77951120e-01 6.25531510e-01 5.91809498e-02 4.44826880e+02] [-6.23822726e-01 7.80198307e-01 -4.62148082e-02 -2.19284005e+02] [-7.50816956e-02 -9.65559697e-04 9.97176918e-01 -2.70607297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.88, Y:-219.32, Z:-27.06 [[ 7.75973596e-01 6.27984166e-01 5.91681144e-02 4.44878616e+02] [-6.26281232e-01 7.78225219e-01 -4.62312354e-02 -2.19319722e+02] [-7.50786025e-02 -1.18166161e-03 9.97176919e-01 -2.70641246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.93, Y:-219.36, Z:-27.07 [[ 7.75914530e-01 6.28058385e-01 5.91549334e-02 4.44928813e+02] [-6.26354382e-01 7.78165343e-01 -4.62480949e-02 -2.19355731e+02] [-7.50788229e-02 -1.16738296e-03 9.97176919e-01 -2.70675833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:444.98, Y:-219.39, Z:-27.07 [[ 7.77041720e-01 6.26664357e-01 5.91434595e-02 4.44978968e+02] [-6.24955200e-01 7.79288621e-01 -4.62627635e-02 -2.19393029e+02] [-7.50810499e-02 -1.01391525e-03 9.97176919e-01 -2.70721965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.03, Y:-219.43, Z:-27.08 [[ 7.80609224e-01 6.22216102e-01 5.91300346e-02 4.45028436e+02] [-6.20492840e-01 7.82845326e-01 -4.62799159e-02 -2.19429651e+02] [-7.50857801e-02 -5.63233870e-04 9.97176919e-01 -2.70779092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.08, Y:-219.47, Z:-27.08 [[ 7.83591641e-01 6.18457147e-01 5.91176554e-02 4.45077445e+02] [-6.16721965e-01 7.85818506e-01 -4.62957237e-02 -2.19467956e+02] [-7.50876688e-02 -1.82214421e-04 9.97176920e-01 -2.70829064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.13, Y:-219.51, Z:-27.09 [[ 7.89039123e-01 6.11493086e-01 5.91055646e-02 4.45127618e+02] [-6.09737094e-01 7.91249615e-01 -4.63111548e-02 -2.19505948e+02] [-7.50862062e-02 5.02457752e-04 9.97176920e-01 -2.70866195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.18, Y:-219.55, Z:-27.09 [[ 7.91146536e-01 6.08765355e-01 5.90923056e-02 4.45175119e+02] [-6.07000479e-01 7.93349941e-01 -4.63280670e-02 -2.19545606e+02] [-7.50837993e-02 7.83231909e-04 9.97176920e-01 -2.70879073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.22, Y:-219.58, Z:-27.09 [[ 7.94898394e-01 6.03859292e-01 5.90804408e-02 4.45224029e+02] [-6.02079694e-01 7.97089926e-01 -4.63431928e-02 -2.19584238e+02] [-7.50771918e-02 1.26699586e-03 9.97176920e-01 -2.70927077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.28, Y:-219.62, Z:-27.10 [[ 7.99242692e-01 5.98098183e-01 5.90735380e-02 4.45275253e+02] [-5.96302142e-01 8.01420769e-01 -4.63519901e-02 -2.19616930e+02] [-7.50658013e-02 1.82081209e-03 9.97176920e-01 -2.71026903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.33, Y:-219.65, Z:-27.11 [[ 7.99478703e-01 5.97783269e-01 5.90674824e-02 4.45326051e+02] [-5.95985801e-01 8.01655601e-01 -4.63597056e-02 -2.19654286e+02] [-7.50648345e-02 1.86021643e-03 9.97176920e-01 -2.71075785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.38, Y:-219.69, Z:-27.11 [[ 7.98281758e-01 5.99382021e-01 5.90544438e-02 4.45376554e+02] [-5.97587685e-01 8.00461240e-01 -4.63763086e-02 -2.19690988e+02] [-7.50679189e-02 1.73115281e-03 9.97176920e-01 -2.71125079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.43, Y:-219.73, Z:-27.12 [[ 7.94099749e-01 6.04912973e-01 5.90413702e-02 4.45428616e+02] [-6.03132584e-01 7.96290638e-01 -4.63929466e-02 -2.19726444e+02] [-7.50777856e-02 1.23085310e-03 9.97176921e-01 -2.71181353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.48, Y:-219.76, Z:-27.12 [[ 7.87838979e-01 6.13045992e-01 5.90284200e-02 4.45481065e+02] [-6.11286990e-01 7.90047076e-01 -4.64094182e-02 -2.19760859e+02] [-7.50863384e-02 4.79843471e-04 9.97176921e-01 -2.71235274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.53, Y:-219.80, Z:-27.13 [[ 7.82830767e-01 6.19429727e-01 5.90152794e-02 4.45532132e+02] [-6.17687473e-01 7.85052101e-01 -4.64261220e-02 -2.19796937e+02] [-7.50877892e-02 -1.09202058e-04 9.97176921e-01 -2.71280277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.58, Y:-219.83, Z:-27.13 [[ 7.75302629e-01 6.28827934e-01 5.90022364e-02 4.45584692e+02] [-6.27111341e-01 7.77543852e-01 -4.64426923e-02 -2.19831683e+02] [-7.50812884e-02 -9.93830150e-04 9.97176921e-01 -2.71331906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.64, Y:-219.87, Z:-27.14 [[ 7.69832618e-01 6.35513991e-01 5.89890443e-02 4.45635999e+02] [-6.33815576e-01 7.72087648e-01 -4.64594422e-02 -2.19867099e+02] [-7.50703380e-02 -1.62218105e-03 9.97176922e-01 -2.71385124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.69, Y:-219.90, Z:-27.14 [[ 7.67816704e-01 6.37949341e-01 5.89758183e-02 4.45686433e+02] [-6.36256790e-01 7.70076138e-01 -4.64762253e-02 -2.19903551e+02] [-7.50653477e-02 -1.83854264e-03 9.97176922e-01 -2.71430309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.74, Y:-219.94, Z:-27.15 [[ 7.68026758e-01 6.37697573e-01 5.89635859e-02 4.45736203e+02] [-6.36003091e-01 7.70284744e-01 -4.64917392e-02 -2.19942203e+02] [-7.50664199e-02 -1.79412322e-03 9.97176922e-01 -2.71475119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.78, Y:-219.98, Z:-27.15 [[ 7.69927136e-01 6.35403048e-01 5.89505845e-02 4.45784601e+02] [-6.33700575e-01 7.72179103e-01 -4.65082189e-02 -2.19981456e+02] [-7.50718735e-02 -1.54907948e-03 9.97176922e-01 -2.71529576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.83, Y:-220.02, Z:-27.16 [[ 7.71205909e-01 6.33851567e-01 5.89375706e-02 4.45833135e+02] [-6.32143304e-01 7.73453486e-01 -4.65247049e-02 -2.20021080e+02] [-7.50752266e-02 -1.37686330e-03 9.97176922e-01 -2.71584070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.88, Y:-220.06, Z:-27.16 [[ 7.72435338e-01 6.32353955e-01 5.89247371e-02 4.45880248e+02] [-6.30640094e-01 7.74678650e-01 -4.65409532e-02 -2.20060728e+02] [-7.50780916e-02 -1.21042489e-03 9.97176923e-01 -2.71634504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.93, Y:-220.10, Z:-27.17 [[ 7.72799385e-01 6.31910092e-01 5.89130352e-02 4.45927454e+02] [-6.30193815e-01 7.75040848e-01 -4.65557611e-02 -2.20100168e+02] [-7.50790641e-02 -1.14836683e-03 9.97176923e-01 -2.71688841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:445.97, Y:-220.14, Z:-27.17 [[ 7.73870712e-01 6.30598787e-01 5.89006858e-02 4.45974636e+02] [-6.28877523e-01 7.76108348e-01 -4.65713800e-02 -2.20141277e+02] [-7.50811697e-02 -1.00109034e-03 9.97176923e-01 -2.71732371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.02, Y:-220.18, Z:-27.18 [[ 7.74997120e-01 6.29215133e-01 5.88878731e-02 4.46021814e+02] [-6.27488643e-01 7.77230726e-01 -4.65875756e-02 -2.20182689e+02] [-7.50830719e-02 -8.46234660e-04 9.97176923e-01 -2.71780147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.07, Y:-220.22, Z:-27.18 [[ 7.74944951e-01 6.29280609e-01 5.88747640e-02 4.46070021e+02] [-6.27553050e-01 7.77177730e-01 -4.66041363e-02 -2.20222361e+02] [-7.50832347e-02 -8.31397560e-04 9.97176923e-01 -2.71825865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.12, Y:-220.26, Z:-27.18 [[ 7.74704797e-01 6.29577458e-01 5.88617233e-02 4.46117817e+02] [-6.27849504e-01 7.76937269e-01 -4.66206010e-02 -2.20262590e+02] [-7.50831461e-02 -8.39100522e-04 9.97176924e-01 -2.71833880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.16, Y:-220.30, Z:-27.19 [[ 7.73112701e-01 6.31532634e-01 5.88496660e-02 4.46163746e+02] [-6.29809168e-01 7.75348640e-01 -4.66358162e-02 -2.20302418e+02] [-7.50810483e-02 -1.00931730e-03 9.97176924e-01 -2.71912176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.21, Y:-220.34, Z:-27.20 [[ 7.71124211e-01 6.33959709e-01 5.88433415e-02 4.46211340e+02] [-6.32242671e-01 7.73365090e-01 -4.66437948e-02 -2.20343929e+02] [-7.50776727e-02 -1.23511190e-03 9.97176924e-01 -2.71958212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.26, Y:-220.38, Z:-27.20 [[ 7.69379498e-01 6.36077188e-01 5.88302549e-02 4.46259346e+02] [-6.34365055e-01 7.71624127e-01 -4.66602947e-02 -2.20384504e+02] [-7.50743931e-02 -1.42038373e-03 9.97176924e-01 -2.72006247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.31, Y:-220.43, Z:-27.21 [[ 7.66291358e-01 6.39795356e-01 5.88171493e-02 4.46306800e+02] [-6.38092846e-01 7.68543294e-01 -4.66768090e-02 -2.20425574e+02] [-7.50671313e-02 -1.76276684e-03 9.97176924e-01 -2.72059847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.35, Y:-220.47, Z:-27.21 [[ 7.64055564e-01 6.42464919e-01 5.88041057e-02 4.46354999e+02] [-6.40769013e-01 7.66312478e-01 -4.66932358e-02 -2.20465883e+02] [-7.50610859e-02 -2.00362217e-03 9.97176925e-01 -2.72107855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.40, Y:-220.51, Z:-27.21 [[ 7.61374101e-01 6.45641608e-01 5.87910922e-02 4.46402366e+02] [-6.43953854e-01 7.63637116e-01 -4.67096153e-02 -2.20506987e+02] [-7.50527312e-02 -2.29525903e-03 9.97176925e-01 -2.72149941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.45, Y:-220.55, Z:-27.22 [[ 7.60117968e-01 6.47121166e-01 5.87781459e-02 4.46450515e+02] [-6.45436559e-01 7.62383328e-01 -4.67259009e-02 -2.20547577e+02] [-7.50487979e-02 -2.42036737e-03 9.97176925e-01 -2.72188530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.50, Y:-220.59, Z:-27.22 [[ 7.59596063e-01 6.47734880e-01 5.87651749e-02 4.46498082e+02] [-6.46050844e-01 7.61861846e-01 -4.67422083e-02 -2.20589399e+02] [-7.50475034e-02 -2.46009340e-03 9.97176925e-01 -2.72228813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.55, Y:-220.63, Z:-27.23 [[ 7.61209230e-01 6.45839513e-01 5.87522814e-02 4.46545856e+02] [-6.44148586e-01 7.63469875e-01 -4.67584091e-02 -2.20630700e+02] [-7.50540251e-02 -2.25226640e-03 9.97176925e-01 -2.72275901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.59, Y:-220.67, Z:-27.23 [[ 7.63642559e-01 6.42961697e-01 5.87392356e-02 4.46592153e+02] [-6.41260990e-01 7.65895856e-01 -4.67747920e-02 -2.20672101e+02] [-7.50625367e-02 -1.94795850e-03 9.97176926e-01 -2.72334703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.64, Y:-220.71, Z:-27.24 [[ 7.65016449e-01 6.41327452e-01 5.87276075e-02 4.46638195e+02] [-6.39620812e-01 7.67265254e-01 -4.67893869e-02 -2.20713494e+02] [-7.50669710e-02 -1.76874938e-03 9.97176926e-01 -2.72361647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.68, Y:-220.75, Z:-27.24 [[ 7.69072649e-01 6.36458761e-01 5.87154695e-02 4.46683887e+02] [-6.34736719e-01 7.71309682e-01 -4.68046138e-02 -2.20754109e+02] [-7.50770166e-02 -1.27271624e-03 9.97176926e-01 -2.72437611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.73, Y:-220.80, Z:-27.25 [[ 7.71783649e-01 6.33169643e-01 5.87043667e-02 4.46730998e+02] [-6.31437007e-01 7.74012487e-01 -4.68185353e-02 -2.20796458e+02] [-7.50819882e-02 -9.34329547e-04 9.97176926e-01 -2.72470752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.78, Y:-220.84, Z:-27.25 [[ 7.75403888e-01 6.28732219e-01 5.86907703e-02 4.46775759e+02] [-6.26985538e-01 7.77621736e-01 -4.68355733e-02 -2.20838208e+02] [-7.50862526e-02 -4.81778523e-04 9.97176926e-01 -2.72502439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.82, Y:-220.88, Z:-27.25 [[ 7.77077186e-01 6.26663957e-01 5.86799166e-02 4.46822026e+02] [-6.24910346e-01 7.79289558e-01 -4.68491679e-02 -2.20879854e+02] [-7.50873312e-02 -2.64267419e-04 9.97176927e-01 -2.72547901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.87, Y:-220.92, Z:-27.26 [[ 7.77065050e-01 6.26680154e-01 5.86676354e-02 4.46868747e+02] [-6.24925429e-01 7.79276539e-01 -4.68645422e-02 -2.20919977e+02] [-7.50873904e-02 -2.46099319e-04 9.97176927e-01 -2.72600427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.92, Y:-220.96, Z:-27.27 [[ 7.75608762e-01 6.28482686e-01 5.86563118e-02 4.46915531e+02] [-6.26732028e-01 7.77823471e-01 -4.68787107e-02 -2.20960608e+02] [-7.50867141e-02 -4.02250470e-04 9.97176927e-01 -2.72652611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:446.96, Y:-221.00, Z:-27.27 [[ 7.73464849e-01 6.31120407e-01 5.86443362e-02 4.46962730e+02] [-6.29376166e-01 7.75684616e-01 -4.68936872e-02 -2.21000278e+02] [-7.50850724e-02 -6.38728748e-04 9.97176927e-01 -2.72686087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.01, Y:-221.04, Z:-27.27 [[ 7.69897983e-01 6.35467768e-01 5.86328648e-02 4.47007485e+02] [-6.33734968e-01 7.72126692e-01 -4.69080259e-02 -2.21043241e+02] [-7.50805384e-02 -1.04330216e-03 9.97176927e-01 -2.72689268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.06, Y:-221.08, Z:-27.28 [[ 7.67762099e-01 6.38047047e-01 5.86287132e-02 4.47056072e+02] [-6.36321337e-01 7.69996303e-01 -4.69132143e-02 -2.21078970e+02] [-7.50767302e-02 -1.28851337e-03 9.97176927e-01 -2.72776635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.10, Y:-221.12, Z:-27.28 [[ 7.64621538e-01 6.41807823e-01 5.86227091e-02 4.47103579e+02] [-6.40092526e-01 7.66863745e-01 -4.69207158e-02 -2.21117617e+02] [-7.50697128e-02 -1.64736810e-03 9.97176927e-01 -2.72840191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.15, Y:-221.16, Z:-27.29 [[ 7.60354308e-01 6.46858666e-01 5.86105171e-02 4.47151276e+02] [-6.45157087e-01 7.62606944e-01 -4.69359404e-02 -2.21156891e+02] [-7.50577071e-02 -2.12504602e-03 9.97176928e-01 -2.72891611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.20, Y:-221.20, Z:-27.29 [[ 7.58101201e-01 6.49498479e-01 5.86028595e-02 4.47198205e+02] [-6.47804005e-01 7.60359186e-01 -4.69454996e-02 -2.21196930e+02] [-7.50502531e-02 -2.37372743e-03 9.97176928e-01 -2.72921529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.25, Y:-221.24, Z:-27.30 [[ 7.57650213e-01 6.50025527e-01 5.85915510e-02 4.47246161e+02] [-6.48331534e-01 7.59908559e-01 -4.69596092e-02 -2.21236862e+02] [-7.50491658e-02 -2.40779224e-03 9.97176928e-01 -2.72967992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.29, Y:-221.28, Z:-27.30 [[ 7.58231269e-01 6.49348807e-01 5.85787520e-02 4.47293632e+02] [-6.47651567e-01 7.60487175e-01 -4.69755696e-02 -2.21278124e+02] [-7.50519197e-02 -2.32027475e-03 9.97176928e-01 -2.73010882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.34, Y:-221.32, Z:-27.30 [[ 7.58413782e-01 6.49136799e-01 5.85657879e-02 4.47338829e+02] [-6.47437683e-01 7.60668275e-01 -4.69917267e-02 -2.21320553e+02] [-7.50531960e-02 -2.27852484e-03 9.97176928e-01 -2.73036184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.39, Y:-221.36, Z:-27.31 [[ 7.61971105e-01 6.44958536e-01 5.85535803e-02 4.47385028e+02] [-6.43245887e-01 7.64215334e-01 -4.70069331e-02 -2.21360585e+02] [-7.50650667e-02 -1.84642494e-03 9.97176928e-01 -2.73089979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.43, Y:-221.40, Z:-27.32 [[ 7.63329164e-01 6.43351670e-01 5.85424270e-02 4.47431604e+02] [-6.41633232e-01 7.65568964e-01 -4.70208193e-02 -2.21401360e+02] [-7.50691878e-02 -1.67040402e-03 9.97176929e-01 -2.73156015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.48, Y:-221.44, Z:-27.32 [[ 7.65362351e-01 6.40932675e-01 5.85301442e-02 4.47478938e+02] [-6.39205989e-01 7.67595798e-01 -4.70361036e-02 -2.21443647e+02] [-7.50744685e-02 -1.41315586e-03 9.97176929e-01 -2.73169377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:447.52, Y:-221.48, Z:-27.32 [[ 7.67838054e-01 6.37965915e-01 5.85167870e-02 4.47524728e+02] [-6.36229332e-01 7.70063815e-01 -4.70527153e-02 -2.21483696e+02] [-7.50796888e-02 -1.10123095e-03 9.97176929e-01 -2.73217225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:447.57, Y:-221.52, Z:-27.33 [[ 7.67343810e-01 6.38561282e-01 5.85061290e-02 4.47572277e+02] [-6.36825416e-01 7.69570130e-01 -4.70659638e-02 -2.21524855e+02] [-7.50790715e-02 -1.14241395e-03 9.97176929e-01 -2.73277671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.15, Y:-220.99, Z:-26.37 [[ 8.30489778e-01 5.53954479e-01 5.84907129e-02 4.48149435e+02] [-5.51991877e-01 8.32519045e-01 -4.70851143e-02 -2.20988281e+02] [-7.47776424e-02 6.81730776e-03 9.97176929e-01 -2.63652150e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.20, Y:-221.02, Z:-26.37 [[ 8.31493699e-01 5.51980969e-01 6.27314734e-02 4.48200257e+02] [-5.50491998e-01 8.33856288e-01 -4.05246955e-02 -2.21024115e+02] [-7.46778942e-02 -8.37145150e-04 9.97207356e-01 -2.63656855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.25, Y:-221.06, Z:-26.37 [[ 8.31432031e-01 5.52075127e-01 6.27202650e-02 4.48252957e+02] [-5.50585115e-01 8.33793964e-01 -4.05420355e-02 -2.21057816e+02] [-7.46780277e-02 -8.24897414e-04 9.97207356e-01 -2.63688565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.31, Y:-221.09, Z:-26.38 [[ 8.31382536e-01 5.52151030e-01 6.27082041e-02 4.48307529e+02] [-5.50659828e-01 8.33743717e-01 -4.05606820e-02 -2.21086838e+02] [-7.46781935e-02 -8.09446218e-04 9.97207357e-01 -2.63751168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.36, Y:-221.12, Z:-26.38 [[ 8.29535738e-01 5.54923002e-01 6.26970640e-02 4.48360646e+02] [-5.53438389e-01 8.31901066e-01 -4.05778947e-02 -2.21119170e+02] [-7.46753615e-02 -1.03814829e-03 9.97207357e-01 -2.63812237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.42, Y:-221.15, Z:-26.38 [[ 8.29192025e-01 5.55436914e-01 6.26930587e-02 4.48415162e+02] [-5.53953299e-01 8.31557980e-01 -4.05840820e-02 -2.21149287e+02] [-7.46748105e-02 -1.07702958e-03 9.97207357e-01 -2.63849508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.47, Y:-221.18, Z:-26.39 [[ 8.28201686e-01 5.56913867e-01 6.26810372e-02 4.48468881e+02] [-5.55433067e-01 8.30569403e-01 -4.06026404e-02 -2.21182045e+02] [-7.46731251e-02 -1.18794548e-03 9.97207357e-01 -2.63884118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.52, Y:-221.22, Z:-26.39 [[ 8.27599048e-01 5.57810319e-01 6.26694821e-02 4.48521882e+02] [-5.56330734e-01 8.29967525e-01 -4.06204677e-02 -2.21215042e+02] [-7.46721509e-02 -1.24749854e-03 9.97207357e-01 -2.63927053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.57, Y:-221.25, Z:-26.40 [[ 8.26514855e-01 5.59416817e-01 6.26579531e-02 4.48573929e+02] [-5.57940489e-01 8.28885363e-01 -4.06382436e-02 -2.21247706e+02] [-7.46699771e-02 -1.37129698e-03 9.97207358e-01 -2.63985339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.63, Y:-221.28, Z:-26.40 [[ 8.25474609e-01 5.60951855e-01 6.26473113e-02 4.48626814e+02] [-5.59478691e-01 8.27847084e-01 -4.06546423e-02 -2.21281106e+02] [-7.46676910e-02 -1.49046075e-03 9.97207358e-01 -2.64003239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.68, Y:-221.31, Z:-26.40 [[ 8.24569636e-01 5.62282568e-01 6.26356842e-02 4.48679689e+02] [-5.60811873e-01 8.26943642e-01 -4.06725481e-02 -2.21314938e+02] [-7.46656456e-02 -1.58948716e-03 9.97207358e-01 -2.64045781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.73, Y:-221.35, Z:-26.41 [[ 8.22795670e-01 5.64876552e-01 6.26240100e-02 4.48732522e+02] [-5.63411973e-01 8.25173455e-01 -4.06905150e-02 -2.21348377e+02] [-7.46607885e-02 -1.80313752e-03 9.97207358e-01 -2.64092452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.79, Y:-221.38, Z:-26.41 [[ 8.20902989e-01 5.67624842e-01 6.26124698e-02 4.48785273e+02] [-5.66166871e-01 8.23284830e-01 -4.07082648e-02 -2.21381964e+02] [-7.46549189e-02 -2.03156988e-03 9.97207358e-01 -2.64142276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.84, Y:-221.41, Z:-26.42 [[ 8.18384833e-01 5.71250732e-01 6.26008561e-02 4.48836078e+02] [-5.69801948e-01 8.20772273e-01 -4.07261165e-02 -2.21414568e+02] [-7.46458708e-02 -2.34045370e-03 9.97207359e-01 -2.64211475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.89, Y:-221.45, Z:-26.43 [[ 8.17198448e-01 5.72947635e-01 6.25915673e-02 4.48887707e+02] [-5.71502717e-01 8.19588229e-01 -4.07403874e-02 -2.21448147e+02] [-7.46414204e-02 -2.47826942e-03 9.97207359e-01 -2.64261307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.94, Y:-221.48, Z:-26.43 [[ 8.16700261e-01 5.73658636e-01 6.25815764e-02 4.48939437e+02] [-5.72214624e-01 8.19090590e-01 -4.07557287e-02 -2.21483111e+02] [-7.46398560e-02 -2.52487895e-03 9.97207359e-01 -2.64300858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:448.99, Y:-221.52, Z:-26.43 [[ 8.16949783e-01 5.73304314e-01 6.25716873e-02 4.48990892e+02] [-5.71858105e-01 8.19338783e-01 -4.07709056e-02 -2.21518032e+02] [-7.46415462e-02 -2.47434404e-03 9.97207359e-01 -2.64332894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.04, Y:-221.55, Z:-26.44 [[ 8.18334900e-01 5.71326541e-01 6.25617705e-02 4.49042168e+02] [-5.69873396e-01 8.20719688e-01 -4.07861170e-02 -2.21553725e+02] [-7.46478679e-02 -2.27558561e-03 9.97207359e-01 -2.64355541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.09, Y:-221.59, Z:-26.44 [[ 8.18926526e-01 5.70479312e-01 6.25515757e-02 4.49094268e+02] [-5.69022507e-01 8.21309080e-01 -4.08017463e-02 -2.21587982e+02] [-7.46507292e-02 -2.17962201e-03 9.97207360e-01 -2.64395674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.15, Y:-221.62, Z:-26.44 [[ 8.18577635e-01 5.70980924e-01 6.25415070e-02 4.49147411e+02] [-5.69524402e-01 8.20960361e-01 -4.08171739e-02 -2.21621746e+02] [-7.46499258e-02 -2.20688868e-03 9.97207360e-01 -2.64444166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.20, Y:-221.65, Z:-26.45 [[ 8.17093089e-01 5.73104584e-01 6.25301552e-02 4.49201423e+02] [-5.71652925e-01 8.19478781e-01 -4.08345570e-02 -2.21654623e+02] [-7.46446072e-02 -2.37991182e-03 9.97207360e-01 -2.64495741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.26, Y:-221.69, Z:-26.45 [[ 8.16293088e-01 5.74244746e-01 6.25185342e-02 4.49255028e+02] [-5.72795059e-01 8.18679978e-01 -4.08523414e-02 -2.21688088e+02] [-7.46419146e-02 -2.46282360e-03 9.97207360e-01 -2.64549740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.31, Y:-221.72, Z:-26.46 [[ 8.14745052e-01 5.76440254e-01 6.25070747e-02 4.49308685e+02] [-5.74995656e-01 8.17135025e-01 -4.08698677e-02 -2.21721354e+02] [-7.46357570e-02 -2.64277400e-03 9.97207360e-01 -2.64590425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.36, Y:-221.75, Z:-26.46 [[ 8.13167316e-01 5.78665041e-01 6.24955021e-02 4.49362113e+02] [-5.77225624e-01 8.15560413e-01 -4.08875561e-02 -2.21753797e+02] [-7.46290568e-02 -2.82558102e-03 9.97207361e-01 -2.64636622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.42, Y:-221.79, Z:-26.47 [[ 8.11763536e-01 5.80633891e-01 6.24839712e-02 4.49415511e+02] [-5.79198925e-01 8.14159304e-01 -4.09051700e-02 -2.21786797e+02] [-7.46228345e-02 -2.98532352e-03 9.97207361e-01 -2.64687408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.47, Y:-221.82, Z:-26.47 [[ 8.09826647e-01 5.83333514e-01 6.24724970e-02 4.49469211e+02] [-5.81905185e-01 8.12226378e-01 -4.09226866e-02 -2.21819435e+02] [-7.46133845e-02 -3.21278783e-03 9.97207361e-01 -2.64724960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.52, Y:-221.85, Z:-26.48 [[ 8.09724584e-01 5.83476427e-01 6.24608437e-02 4.49521082e+02] [-5.82047154e-01 8.12123752e-01 -4.09404654e-02 -2.21851769e+02] [-7.46137312e-02 -3.20465501e-03 9.97207361e-01 -2.64771346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.57, Y:-221.88, Z:-26.48 [[ 8.10298673e-01 5.82679493e-01 6.24553323e-02 4.49573481e+02] [-5.81247214e-01 8.12696048e-01 -4.09488714e-02 -2.21884744e+02] [-7.46172694e-02 -3.12117176e-03 9.97207361e-01 -2.64793495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.63, Y:-221.92, Z:-26.48 [[ 8.09692305e-01 5.83522890e-01 6.24452387e-02 4.49626820e+02] [-5.82091924e-01 8.12090464e-01 -4.09642580e-02 -2.21917964e+02] [-7.46147651e-02 -3.18042467e-03 9.97207361e-01 -2.64838632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.68, Y:-221.95, Z:-26.49 [[ 8.09640989e-01 5.83595316e-01 6.24337729e-02 4.49679693e+02] [-5.82163221e-01 8.12038473e-01 -4.09817256e-02 -2.21949338e+02] [-7.46153687e-02 -3.16616146e-03 9.97207362e-01 -2.64896816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.73, Y:-221.98, Z:-26.49 [[ 8.09344521e-01 5.84007529e-01 6.24231681e-02 4.49732705e+02] [-5.82575412e-01 8.11741993e-01 -4.09978725e-02 -2.21981998e+02] [-7.46145731e-02 -3.18479940e-03 9.97207362e-01 -2.64946966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.79, Y:-222.02, Z:-26.50 [[ 8.09241697e-01 5.84151236e-01 6.24116102e-02 4.49785803e+02] [-5.82718192e-01 8.11638615e-01 -4.10154597e-02 -2.22015189e+02] [-7.46149043e-02 -3.17696046e-03 9.97207362e-01 -2.65002238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.84, Y:-222.05, Z:-26.51 [[ 8.09507003e-01 5.83784752e-01 6.24001273e-02 4.49838379e+02] [-5.82349280e-01 8.11902467e-01 -4.10329222e-02 -2.22047701e+02] [-7.46172115e-02 -3.12223133e-03 9.97207362e-01 -2.65063535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.89, Y:-222.08, Z:-26.51 [[ 8.10098812e-01 5.82964321e-01 6.23900242e-02 4.49891801e+02] [-5.81525243e-01 8.12492111e-01 -4.10482780e-02 -2.22081364e+02] [-7.46210840e-02 -3.02821276e-03 9.97207362e-01 -2.65112399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:449.94, Y:-222.11, Z:-26.52 [[ 8.11039090e-01 5.81656709e-01 6.23784168e-02 4.49944775e+02] [-5.80212419e-01 8.13429247e-01 -4.10659095e-02 -2.22114726e+02] [-7.46266904e-02 -2.88667426e-03 9.97207363e-01 -2.65160829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.00, Y:-222.15, Z:-26.52 [[ 8.14125602e-01 5.77329943e-01 6.23669891e-02 4.49996780e+02] [-5.75871619e-01 8.16507222e-01 -4.10832575e-02 -2.22148353e+02] [-7.46416917e-02 -2.46844718e-03 9.97207363e-01 -2.65196656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.05, Y:-222.18, Z:-26.52 [[ 8.19124870e-01 5.70215846e-01 6.23565231e-02 4.50048431e+02] [-5.68735623e-01 8.21492941e-01 -4.10991368e-02 -2.22183093e+02] [-7.46608226e-02 -1.79905086e-03 9.97207363e-01 -2.65237263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.10, Y:-222.22, Z:-26.53 [[ 8.22506270e-01 5.65328241e-01 6.23491485e-02 4.50100451e+02] [-5.63833096e-01 8.24864948e-01 -4.11103214e-02 -2.22217422e+02] [-7.46704528e-02 -1.34101627e-03 9.97207363e-01 -2.65282465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.15, Y:-222.25, Z:-26.53 [[ 8.27054107e-01 5.58655120e-01 6.23374735e-02 4.50152428e+02] [-5.57139606e-01 8.29399750e-01 -4.11280171e-02 -2.22252524e+02] [-7.46790622e-02 -7.15579949e-04 9.97207363e-01 -2.65338156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.20, Y:-222.29, Z:-26.54 [[ 8.29770332e-01 5.54614027e-01 6.23255815e-02 4.50204717e+02] [-5.53085736e-01 8.32107669e-01 -4.11460305e-02 -2.22287331e+02] [-7.46817600e-02 -3.29634766e-04 9.97207364e-01 -2.65393956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.26, Y:-222.32, Z:-26.54 [[ 8.33976725e-01 5.48269836e-01 6.23138008e-02 4.50257143e+02] [-5.46722432e-01 8.36301452e-01 -4.11638641e-02 -2.22322333e+02] [-7.46820271e-02 2.61351812e-04 9.97207364e-01 -2.65440728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.31, Y:-222.36, Z:-26.55 [[ 8.37744681e-01 5.42496370e-01 6.23019900e-02 4.50309455e+02] [-5.40931617e-01 8.40057766e-01 -4.11817321e-02 -2.22357788e+02] [-7.46782107e-02 7.98660786e-04 9.97207364e-01 -2.65482656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.36, Y:-222.39, Z:-26.55 [[ 8.39674044e-01 5.39506645e-01 6.22902861e-02 4.50361987e+02] [-5.37932344e-01 8.41980642e-01 -4.11994275e-02 -2.22392798e+02] [-7.46745800e-02 1.08613034e-03 9.97207364e-01 -2.65527535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.41, Y:-222.43, Z:-26.56 [[ 8.41001555e-01 5.37436283e-01 6.22786116e-02 4.50413853e+02] [-5.35854998e-01 8.43303370e-01 -4.12170676e-02 -2.22425726e+02] [-7.46713107e-02 1.29131263e-03 9.97207365e-01 -2.65583468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.47, Y:-222.46, Z:-26.56 [[ 8.40530515e-01 5.38173844e-01 6.22685061e-02 4.50467570e+02] [-5.36593449e-01 8.42832941e-01 -4.12323288e-02 -2.22458630e+02] [-7.46721090e-02 1.24415809e-03 9.97207365e-01 -2.65635924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.52, Y:-222.49, Z:-26.57 [[ 8.38554070e-01 5.41249607e-01 6.22569988e-02 4.50519757e+02] [-5.39676368e-01 8.40861392e-01 -4.12496965e-02 -2.22492867e+02] [-7.46758887e-02 9.91469859e-04 9.97207365e-01 -2.65656641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.57, Y:-222.52, Z:-26.57 [[ 8.36884864e-01 5.43827426e-01 6.22531578e-02 4.50572577e+02] [-5.42260864e-01 8.39196723e-01 -4.12554924e-02 -2.22522878e+02] [-7.46785143e-02 7.68645982e-04 9.97207365e-01 -2.65723479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.63, Y:-222.55, Z:-26.58 [[ 8.33172232e-01 5.49499608e-01 6.22431789e-02 4.50626514e+02] [-5.47947661e-01 8.35493927e-01 -4.12705423e-02 -2.22554407e+02] [-7.46819449e-02 2.79465505e-04 9.97207365e-01 -2.65776509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.68, Y:-222.59, Z:-26.58 [[ 8.30060240e-01 5.54190603e-01 6.22316149e-02 4.50678619e+02] [-5.52650471e-01 8.32389789e-01 -4.12879724e-02 -2.22588036e+02] [-7.46823671e-02 -1.20826976e-04 9.97207365e-01 -2.65789967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.73, Y:-222.62, Z:-26.59 [[ 8.26469710e-01 5.59532242e-01 6.22212853e-02 4.50731639e+02] [-5.58005994e-01 8.28808379e-01 -4.13035333e-02 -2.22618337e+02] [-7.46801812e-02 -5.83730885e-04 9.97207366e-01 -2.65858767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.79, Y:-222.65, Z:-26.59 [[ 8.23661094e-01 5.63659556e-01 6.22117867e-02 4.50785444e+02] [-5.62143946e-01 8.26006671e-01 -4.13178353e-02 -2.22651602e+02] [-7.46765435e-02 -9.40085842e-04 9.97207366e-01 -2.65897540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.84, Y:-222.68, Z:-26.59 [[ 8.20266970e-01 5.68588829e-01 6.22000122e-02 4.50837522e+02] [-5.67085969e-01 8.22620736e-01 -4.13355530e-02 -2.22684242e+02] [-7.46699535e-02 -1.36656538e-03 9.97207366e-01 -2.65940527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.89, Y:-222.72, Z:-26.60 [[ 8.17640345e-01 5.72360706e-01 6.21891300e-02 4.50890006e+02] [-5.70867458e-01 8.20000222e-01 -4.13519188e-02 -2.22718282e+02] [-7.46633138e-02 -1.69075338e-03 9.97207366e-01 -2.65983303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.94, Y:-222.75, Z:-26.60 [[ 8.15968884e-01 5.74742300e-01 6.21777175e-02 4.50942540e+02] [-5.73254633e-01 8.18332283e-01 -4.13690719e-02 -2.22751794e+02] [-7.46585890e-02 -1.88778923e-03 9.97207366e-01 -2.66034809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:450.99, Y:-222.79, Z:-26.61 [[ 8.13303779e-01 5.78508715e-01 6.21661413e-02 4.50993645e+02] [-5.77030664e-01 8.15673203e-01 -4.13864604e-02 -2.22785595e+02] [-7.46496836e-02 -2.21200511e-03 9.97207367e-01 -2.66104061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.05, Y:-222.82, Z:-26.61 [[ 8.12438776e-01 5.79723939e-01 6.21561803e-02 4.51045631e+02] [-5.78248289e-01 8.14809695e-01 -4.14014148e-02 -2.22821620e+02] [-7.46468496e-02 -2.30559015e-03 9.97207367e-01 -2.66146496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.10, Y:-222.86, Z:-26.62 [[ 8.13842063e-01 5.77753536e-01 6.21445768e-02 4.51096367e+02] [-5.76270817e-01 8.16208568e-01 -4.14188248e-02 -2.22859499e+02] [-7.46528085e-02 -2.10372421e-03 9.97207367e-01 -2.66186465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.15, Y:-222.90, Z:-26.62 [[ 8.17655203e-01 5.72345576e-01 6.21330118e-02 4.51145076e+02] [-5.70845884e-01 8.20010988e-01 -4.14361663e-02 -2.22897791e+02] [-7.46655589e-02 -1.58787706e-03 9.97207367e-01 -2.66223142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.20, Y:-222.94, Z:-26.63 [[ 8.20429122e-01 5.68362937e-01 6.21258977e-02 4.51195411e+02] [-5.66851001e-01 8.22777068e-01 -4.14468299e-02 -2.22936067e+02] [-7.46726059e-02 -1.21194100e-03 9.97207367e-01 -2.66268692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.24, Y:-222.98, Z:-26.63 [[ 8.25345529e-01 5.61200974e-01 6.21146127e-02 4.51244346e+02] [-5.59667388e-01 8.27679391e-01 -4.14637353e-02 -2.22975237e+02] [-7.46804735e-02 -5.41614470e-04 9.97207367e-01 -2.66307011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.29, Y:-223.01, Z:-26.64 [[ 8.28752117e-01 5.56159319e-01 6.21026626e-02 4.51293939e+02] [-5.54610193e-01 8.31075693e-01 -4.14816260e-02 -2.23012722e+02] [-7.46824063e-02 -6.47843860e-05 9.97207368e-01 -2.66352611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.34, Y:-223.05, Z:-26.64 [[ 8.33335161e-01 5.49269638e-01 6.20916588e-02 4.51343552e+02] [-5.47700076e-01 8.35644981e-01 -4.14980905e-02 -2.23051521e+02] [-7.46802242e-02 5.74211638e-04 9.97207368e-01 -2.66388419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.39, Y:-223.09, Z:-26.64 [[ 8.35313839e-01 5.46257136e-01 6.20800380e-02 4.51393919e+02] [-5.44677954e-01 8.37617092e-01 -4.15154677e-02 -2.23088257e+02] [-7.46774214e-02 8.64816601e-04 9.97207368e-01 -2.66440660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.44, Y:-223.12, Z:-26.65 [[ 8.36345136e-01 5.44678171e-01 6.20685434e-02 4.51444535e+02] [-5.43093365e-01 8.38644523e-01 -4.15326459e-02 -2.23124638e+02] [-7.46753696e-02 1.02661226e-03 9.97207368e-01 -2.66492391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.50, Y:-223.16, Z:-26.65 [[ 8.36253741e-01 5.44819793e-01 6.20570136e-02 4.51495929e+02] [-5.43234099e-01 8.38552516e-01 -4.15498663e-02 -2.23160463e+02] [-7.46752544e-02 1.03474524e-03 9.97207368e-01 -2.66540466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.55, Y:-223.20, Z:-26.66 [[ 8.34174925e-01 5.47998711e-01 6.20452051e-02 4.51547427e+02] [-5.46420466e-01 8.36478821e-01 -4.15674921e-02 -2.23195559e+02] [-7.46784321e-02 7.71789709e-04 9.97207369e-01 -2.66583483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.60, Y:-223.23, Z:-26.66 [[ 8.32045730e-01 5.51227492e-01 6.20335025e-02 4.51599849e+02] [-5.49656887e-01 8.34354840e-01 -4.15849493e-02 -2.23230285e+02] [-7.46807203e-02 5.03437682e-04 9.97207369e-01 -2.66628998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.65, Y:-223.26, Z:-26.67 [[ 8.28252150e-01 5.56912634e-01 6.20217275e-02 4.51651368e+02] [-5.55356564e-01 8.30571080e-01 -4.16025036e-02 -2.23264731e+02] [-7.46824131e-02 1.31895434e-05 9.97207369e-01 -2.66684176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.70, Y:-223.30, Z:-26.67 [[ 8.25254784e-01 5.61345479e-01 6.20144710e-02 4.51703725e+02] [-5.59801052e-01 8.27581485e-01 -4.16133178e-02 -2.23298782e+02] [-7.46814757e-02 -3.74176512e-04 9.97207369e-01 -2.66721620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.76, Y:-223.33, Z:-26.68 [[ 8.23578856e-01 5.63802737e-01 6.20027612e-02 4.51755685e+02] [-5.62263939e-01 8.25909282e-01 -4.16307578e-02 -2.23333363e+02] [-7.46801911e-02 -5.75704885e-04 9.97207369e-01 -2.66761809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.81, Y:-223.37, Z:-26.68 [[ 8.21874180e-01 5.66286105e-01 6.19909704e-02 4.51807713e+02] [-5.64753025e-01 8.24208371e-01 -4.16483077e-02 -2.23368631e+02] [-7.46783347e-02 -7.79919295e-04 9.97207370e-01 -2.66802398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.86, Y:-223.40, Z:-26.68 [[ 8.20882727e-01 5.67723626e-01 6.19792923e-02 4.51859131e+02] [-5.66193323e-01 8.23218739e-01 -4.16656793e-02 -2.23403768e+02] [-7.46771054e-02 -8.89625021e-04 9.97207370e-01 -2.66845654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.91, Y:-223.44, Z:-26.69 [[ 8.19476071e-01 5.69753376e-01 6.19682099e-02 4.51911099e+02] [-5.68227612e-01 8.21815051e-01 -4.16821554e-02 -2.23438873e+02] [-7.46749563e-02 -1.05451894e-03 9.97207370e-01 -2.66899879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:451.96, Y:-223.47, Z:-26.70 [[ 8.17000090e-01 5.73299451e-01 6.19563755e-02 4.51961647e+02] [-5.71782505e-01 8.19344799e-01 -4.16997386e-02 -2.23472954e+02] [-7.46700712e-02 -1.35688138e-03 9.97207370e-01 -2.66973754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.01, Y:-223.51, Z:-26.70 [[ 8.14875138e-01 5.76316434e-01 6.19506028e-02 4.52012449e+02] [-5.74807517e-01 8.17225021e-01 -4.17083129e-02 -2.23508980e+02] [-7.46647689e-02 -1.62260495e-03 9.97207370e-01 -2.67023402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.06, Y:-223.55, Z:-26.71 [[ 8.14309551e-01 5.77116403e-01 6.19404019e-02 4.52063061e+02] [-5.75608643e-01 8.16660176e-01 -4.17234567e-02 -2.23545550e+02] [-7.46635508e-02 -1.67762145e-03 9.97207371e-01 -2.67068352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.11, Y:-223.58, Z:-26.71 [[ 8.14963042e-01 5.76194502e-01 6.19284693e-02 4.52112682e+02] [-5.74682739e-01 8.17311094e-01 -4.17411603e-02 -2.23583844e+02] [-7.46658521e-02 -1.57171937e-03 9.97207371e-01 -2.67115539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.16, Y:-223.62, Z:-26.72 [[ 8.15612061e-01 5.75276709e-01 6.19166732e-02 4.52163339e+02] [-5.73760976e-01 8.17957552e-01 -4.17586507e-02 -2.23621493e+02] [-7.46679896e-02 -1.46651177e-03 9.97207371e-01 -2.67159966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.21, Y:-223.66, Z:-26.72 [[ 8.17108298e-01 5.73150770e-01 6.19049597e-02 4.52212966e+02] [-5.71627619e-01 8.19448980e-01 -4.17760082e-02 -2.23660514e+02] [-7.46719073e-02 -1.25106180e-03 9.97207371e-01 -2.67198767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.26, Y:-223.70, Z:-26.72 [[ 8.17853159e-01 5.72088678e-01 6.18930870e-02 4.52263658e+02] [-5.70561157e-01 8.20190991e-01 -4.17935908e-02 -2.23698123e+02] [-7.46737925e-02 -1.13277108e-03 9.97207371e-01 -2.67248554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.31, Y:-223.74, Z:-26.73 [[ 8.18161789e-01 5.71648483e-01 6.18813323e-02 4.52313037e+02] [-5.70118389e-01 8.20497937e-01 -4.18109881e-02 -2.23736487e+02] [-7.46746934e-02 -1.07153261e-03 9.97207372e-01 -2.67301740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.36, Y:-223.77, Z:-26.74 [[ 8.18045574e-01 5.71816042e-01 6.18696452e-02 4.52363521e+02] [-5.70285119e-01 8.20381179e-01 -4.18282749e-02 -2.23774051e+02] [-7.46747710e-02 -1.06590282e-03 9.97207372e-01 -2.67354534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.41, Y:-223.81, Z:-26.74 [[ 8.17745957e-01 5.72245708e-01 6.18578965e-02 4.52414054e+02] [-5.70714699e-01 8.20081505e-01 -4.18456424e-02 -2.23810641e+02] [-7.46745061e-02 -1.08410588e-03 9.97207372e-01 -2.67391836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.46, Y:-223.85, Z:-26.74 [[ 8.18920734e-01 5.70564560e-01 6.18458902e-02 4.52463726e+02] [-5.69027417e-01 8.21252249e-01 -4.18633796e-02 -2.23847314e+02] [-7.46768372e-02 -9.09217636e-04 9.97207372e-01 -2.67441195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.51, Y:-223.88, Z:-26.75 [[ 8.20739418e-01 5.67946132e-01 6.18384898e-02 4.52513837e+02] [-5.66400727e-01 8.23065464e-01 -4.18743082e-02 -2.23883447e+02] [-7.46794767e-02 -6.57470239e-04 9.97207372e-01 -2.67499983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.56, Y:-223.92, Z:-26.75 [[ 8.24486624e-01 5.62493694e-01 6.18275850e-02 4.52564077e+02] [-5.60931699e-01 8.26801562e-01 -4.18904030e-02 -2.23921439e+02] [-7.46822314e-02 -1.42975304e-04 9.97207373e-01 -2.67537392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.61, Y:-223.96, Z:-26.76 [[ 8.27885258e-01 5.57480739e-01 6.18160598e-02 4.52614379e+02] [-5.55903457e-01 8.30189807e-01 -4.19074034e-02 -2.23958365e+02] [-7.46816330e-02 3.30760156e-04 9.97207373e-01 -2.67573936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.67, Y:-223.99, Z:-26.76 [[ 8.29017673e-01 5.55796659e-01 6.18042988e-02 4.52666499e+02] [-5.54213403e-01 8.31318122e-01 -4.19247412e-02 -2.23992888e+02] [-7.46806647e-02 5.03580636e-04 9.97207373e-01 -2.67617970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.72, Y:-224.03, Z:-26.77 [[ 8.29977941e-01 5.54362954e-01 6.17926575e-02 4.52718522e+02] [-5.52774447e-01 8.32274767e-01 -4.19418924e-02 -2.24027233e+02] [-7.46795010e-02 6.53443446e-04 9.97207373e-01 -2.67666614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.77, Y:-224.06, Z:-26.77 [[ 8.30302474e-01 5.53878065e-01 6.17809902e-02 4.52770563e+02] [-5.52286939e-01 8.32597486e-01 -4.19590714e-02 -2.24061679e+02] [-7.46789064e-02 7.17886795e-04 9.97207373e-01 -2.67716989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.82, Y:-224.10, Z:-26.78 [[ 8.31015285e-01 5.52809308e-01 6.17694489e-02 4.52823519e+02] [-5.51213968e-01 8.33307370e-01 -4.19760549e-02 -2.24096059e+02] [-7.46776909e-02 8.34560156e-04 9.97207374e-01 -2.67771441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.88, Y:-224.13, Z:-26.78 [[ 8.31301264e-01 5.52380453e-01 6.17579426e-02 4.52876264e+02] [-5.50782674e-01 8.33591649e-01 -4.19929769e-02 -2.24130415e+02] [-7.46770048e-02 8.93610017e-04 9.97207374e-01 -2.67824615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.93, Y:-224.16, Z:-26.79 [[ 8.30553814e-01 5.53504986e-01 6.17461948e-02 4.52928903e+02] [-5.51909024e-01 8.32845465e-01 -4.20102438e-02 -2.24163738e+02] [-7.46779177e-02 8.13486112e-04 9.97207374e-01 -2.67877273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:452.98, Y:-224.20, Z:-26.79 [[ 8.29320279e-01 5.55352794e-01 6.17345114e-02 4.52981325e+02] [-5.53760660e-01 8.31614591e-01 -4.20274057e-02 -2.24197320e+02] [-7.46793576e-02 6.68035980e-04 9.97207374e-01 -2.67927749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.03, Y:-224.23, Z:-26.80 [[ 8.27708942e-01 5.57752824e-01 6.17227225e-02 4.53033906e+02] [-5.56166053e-01 8.30006966e-01 -4.20447120e-02 -2.24231043e+02] [-7.46808466e-02 4.72701161e-04 9.97207374e-01 -2.67972648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.09, Y:-224.26, Z:-26.80 [[ 8.26064598e-01 5.60186631e-01 6.17107632e-02 4.53086338e+02] [-5.58605319e-01 8.28366383e-01 -4.20622579e-02 -2.24264493e+02] [-7.46818362e-02 2.74181586e-04 9.97207375e-01 -2.68026999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.14, Y:-224.30, Z:-26.81 [[ 8.23443828e-01 5.64033161e-01 6.16997168e-02 4.53139771e+02] [-5.62461388e-01 8.25752136e-01 -4.20784554e-02 -2.24298353e+02] [-7.46823171e-02 -5.44639103e-05 9.97207375e-01 -2.68070437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.19, Y:-224.33, Z:-26.81 [[ 8.21339114e-01 5.67094913e-01 6.16880761e-02 4.53192492e+02] [-5.65530464e-01 8.23652391e-01 -4.20955141e-02 -2.24332190e+02] [-7.46816833e-02 -3.11794027e-04 9.97207375e-01 -2.68122048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.25, Y:-224.37, Z:-26.82 [[ 8.17831836e-01 5.72142571e-01 6.16763066e-02 4.53246364e+02] [-5.70591098e-01 8.20153836e-01 -4.21127511e-02 -2.24365252e+02] [-7.46785571e-02 -7.50802998e-04 9.97207375e-01 -2.68173298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.30, Y:-224.40, Z:-26.82 [[ 8.15160518e-01 5.75943442e-01 6.16642597e-02 4.53299167e+02] [-5.74401462e-01 8.17488833e-01 -4.21303836e-02 -2.24398100e+02] [-7.46745618e-02 -1.07701562e-03 9.97207376e-01 -2.68230164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.35, Y:-224.43, Z:-26.83 [[ 8.13655041e-01 5.78069122e-01 6.16568321e-02 4.53351227e+02] [-5.76532401e-01 8.15986830e-01 -4.21412509e-02 -2.24432860e+02] [-7.46717189e-02 -1.25872024e-03 9.97207376e-01 -2.68277638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.40, Y:-224.47, Z:-26.83 [[ 8.11942484e-01 5.80473345e-01 6.16449420e-02 4.53403431e+02] [-5.78942208e-01 8.14277943e-01 -4.21586368e-02 -2.24467843e+02] [-7.46680815e-02 -1.45847055e-03 9.97207376e-01 -2.68318675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.46, Y:-224.50, Z:-26.84 [[ 8.10816040e-01 5.82047008e-01 6.16330251e-02 4.53455590e+02] [-5.80519081e-01 8.13153600e-01 -4.21760513e-02 -2.24502969e+02] [-7.46655608e-02 -1.58212813e-03 9.97207376e-01 -2.68368017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.51, Y:-224.54, Z:-26.84 [[ 8.09358692e-01 5.84073065e-01 6.16211150e-02 4.53507670e+02] [-5.82549666e-01 8.11699206e-01 -4.21934454e-02 -2.24538233e+02] [-7.46618651e-02 -1.74772819e-03 9.97207376e-01 -2.68426095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.56, Y:-224.57, Z:-26.85 [[ 8.08680111e-01 5.85013479e-01 6.16093112e-02 4.53559265e+02] [-5.83491490e-01 8.11021541e-01 -4.22106739e-02 -2.24573646e+02] [-7.46602917e-02 -1.81357629e-03 9.97207377e-01 -2.68475953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.61, Y:-224.61, Z:-26.85 [[ 8.09097983e-01 5.84436650e-01 6.15975409e-02 4.53609153e+02] [-5.82911685e-01 8.11437476e-01 -4.22278432e-02 -2.24608571e+02] [-7.46620523e-02 -1.73946359e-03 9.97207377e-01 -2.68509030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.66, Y:-224.64, Z:-26.85 [[ 8.09929305e-01 5.83284622e-01 6.15919633e-02 4.53659658e+02] [-5.81755711e-01 8.12266222e-01 -4.22359768e-02 -2.24643157e+02] [-7.46646671e-02 -1.62332105e-03 9.97207377e-01 -2.68538258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.71, Y:-224.68, Z:-26.86 [[ 8.10118379e-01 5.83022567e-01 6.15865081e-02 4.53711599e+02] [-5.81492297e-01 8.12454405e-01 -4.22439300e-02 -2.24678432e+02] [-7.46653942e-02 -1.58949596e-03 9.97207377e-01 -2.68580373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.76, Y:-224.71, Z:-26.86 [[ 8.10231443e-01 5.82866700e-01 6.15744951e-02 4.53763610e+02] [-5.81334651e-01 8.12566302e-01 -4.22614327e-02 -2.24712620e+02] [-7.46661417e-02 -1.55384597e-03 9.97207377e-01 -2.68639501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.82, Y:-224.75, Z:-26.87 [[ 8.10725869e-01 5.82180056e-01 6.15625551e-02 4.53815108e+02] [-5.80644709e-01 8.13058561e-01 -4.22788188e-02 -2.24746570e+02] [-7.46678475e-02 -1.46943976e-03 9.97207377e-01 -2.68697667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.87, Y:-224.78, Z:-26.87 [[ 8.11357150e-01 5.81301113e-01 6.15515304e-02 4.53867412e+02] [-5.79762023e-01 8.13687373e-01 -4.22948630e-02 -2.24781161e+02] [-7.46697540e-02 -1.36900033e-03 9.97207377e-01 -2.68734852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.92, Y:-224.82, Z:-26.88 [[ 8.11751419e-01 5.80751665e-01 6.15397267e-02 4.53919544e+02] [-5.79209696e-01 8.14079738e-01 -4.23120305e-02 -2.24815950e+02] [-7.46710268e-02 -1.29755562e-03 9.97207378e-01 -2.68775792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:453.97, Y:-224.85, Z:-26.88 [[ 8.12310923e-01 5.79970072e-01 6.15278781e-02 4.53972215e+02] [-5.78424558e-01 8.14636891e-01 -4.23292532e-02 -2.24850416e+02] [-7.46725794e-02 -1.20472101e-03 9.97207378e-01 -2.68820471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.03, Y:-224.88, Z:-26.89 [[ 8.12020334e-01 5.80378129e-01 6.15158837e-02 4.54025048e+02] [-5.78832465e-01 8.14346202e-01 -4.23466772e-02 -2.24884494e+02] [-7.46723115e-02 -1.22102765e-03 9.97207378e-01 -2.68857717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.08, Y:-224.92, Z:-26.89 [[ 8.11205444e-01 5.81517847e-01 6.15038356e-02 4.54077987e+02] [-5.79974124e-01 8.13532601e-01 -4.23641686e-02 -2.24918736e+02] [-7.46708954e-02 -1.30458903e-03 9.97207378e-01 -2.68906573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.13, Y:-224.95, Z:-26.90 [[ 8.10418788e-01 5.82614905e-01 6.14919523e-02 4.54131371e+02] [-5.81073026e-01 8.12747166e-01 -4.23814102e-02 -2.24951221e+02] [-7.46694512e-02 -1.38462365e-03 9.97207379e-01 -2.68951554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.18, Y:-224.98, Z:-26.90 [[ 8.09772954e-01 5.83513498e-01 6.14797516e-02 4.54183905e+02] [-5.81972860e-01 8.12102153e-01 -4.23991016e-02 -2.24984957e+02] [-7.46682867e-02 -1.44590107e-03 9.97207379e-01 -2.68997184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.24, Y:-225.02, Z:-26.90 [[ 8.09506443e-01 5.83884466e-01 6.14674616e-02 4.54236004e+02] [-5.82343543e-01 8.11835454e-01 -4.24169115e-02 -2.25017290e+02] [-7.46680402e-02 -1.45841621e-03 9.97207379e-01 -2.69046838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.29, Y:-225.05, Z:-26.91 [[ 8.09868643e-01 5.83383174e-01 6.14561100e-02 4.54288748e+02] [-5.81839562e-01 8.12195872e-01 -4.24333519e-02 -2.25051966e+02] [-7.46693024e-02 -1.39215503e-03 9.97207379e-01 -2.69100003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.34, Y:-225.09, Z:-26.92 [[ 8.12103405e-01 5.80269491e-01 6.14440993e-02 4.54340446e+02] [-5.78715641e-01 8.14423810e-01 -4.24507364e-02 -2.25086822e+02] [-7.46744047e-02 -1.08427370e-03 9.97207379e-01 -2.69161367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.39, Y:-225.12, Z:-26.92 [[ 8.14551841e-01 5.76827857e-01 6.14403921e-02 4.54392132e+02] [-5.75263797e-01 8.16865376e-01 -4.24561013e-02 -2.25122561e+02] [-7.46783910e-02 -7.61737804e-04 9.97207379e-01 -2.69212159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.44, Y:-225.16, Z:-26.92 [[ 8.14474994e-01 5.76937624e-01 6.14285219e-02 4.54440635e+02] [-5.75372581e-01 8.16787864e-01 -4.24732690e-02 -2.25161431e+02] [-7.46784981e-02 -7.50871695e-04 9.97207380e-01 -2.69230389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.49, Y:-225.20, Z:-26.92 [[ 8.14931939e-01 5.76292704e-01 6.14219299e-02 4.54490225e+02] [-5.74725113e-01 8.17243083e-01 -4.24827998e-02 -2.25197250e+02] [-7.46791750e-02 -6.80135176e-04 9.97207380e-01 -2.69243870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.54, Y:-225.23, Z:-26.93 [[ 8.14627544e-01 5.76723648e-01 6.14149671e-02 4.54540645e+02] [-5.75156521e-01 8.16939002e-01 -4.24928632e-02 -2.25233367e+02] [-7.46789210e-02 -7.07361969e-04 9.97207380e-01 -2.69253109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.60, Y:-225.26, Z:-26.94 [[ 8.18508600e-01 5.71203416e-01 6.14030155e-02 4.54595298e+02] [-5.69619403e-01 8.20808519e-01 -4.25101265e-02 -2.25259989e+02] [-7.46820477e-02 -1.81444919e-04 9.97207380e-01 -2.69375866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.65, Y:-225.29, Z:-26.94 [[ 8.18359484e-01 5.71418070e-01 6.13933518e-02 4.54646912e+02] [-5.69833614e-01 8.20659098e-01 -4.25240783e-02 -2.25294982e+02] [-7.46820395e-02 -1.84012739e-04 9.97207380e-01 -2.69420800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.70, Y:-225.33, Z:-26.95 [[ 8.17893583e-01 5.72086032e-01 6.13812623e-02 4.54698231e+02] [-5.70502145e-01 8.20193588e-01 -4.25415218e-02 -2.25330129e+02] [-7.46819282e-02 -2.23704035e-04 9.97207380e-01 -2.69473549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.74, Y:-225.37, Z:-26.94 [[ 8.14210644e-01 5.77316921e-01 6.13693711e-02 4.54744656e+02] [-5.75746517e-01 8.16519876e-01 -4.25586689e-02 -2.25370951e+02] [-7.46791510e-02 -6.81480465e-04 9.97207381e-01 -2.69432570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.80, Y:-225.40, Z:-26.96 [[ 8.16362847e-01 5.74269728e-01 6.13675936e-02 4.54798691e+02] [-5.72690511e-01 8.18666061e-01 -4.25612317e-02 -2.25397042e+02] [-7.46811931e-02 -3.99230256e-04 9.97207381e-01 -2.69576500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.85, Y:-225.43, Z:-26.96 [[ 8.15927689e-01 5.74887909e-01 6.13669241e-02 4.54850214e+02] [-5.73310364e-01 8.18232049e-01 -4.25621970e-02 -2.25432447e+02] [-7.46808765e-02 -4.54618580e-04 9.97207381e-01 -2.69620845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.90, Y:-225.47, Z:-26.97 [[ 8.16331558e-01 5.74315580e-01 6.13547321e-02 4.54901277e+02] [-5.72735099e-01 8.18633905e-01 -4.25797649e-02 -2.25468301e+02] [-7.46812863e-02 -3.80802758e-04 9.97207381e-01 -2.69663201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:454.95, Y:-225.51, Z:-26.96 [[ 8.14286132e-01 5.77213284e-01 6.13426431e-02 4.54947269e+02] [-5.75639685e-01 8.16593188e-01 -4.25971739e-02 -2.25510920e+02] [-7.46796391e-02 -6.24971708e-04 9.97207381e-01 -2.69574813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.00, Y:-225.55, Z:-26.96 [[ 8.15579324e-01 5.75384884e-01 6.13400578e-02 4.54998093e+02] [-5.73805832e-01 8.17882651e-01 -4.26008965e-02 -2.25545786e+02] [-7.46808809e-02 -4.52872521e-04 9.97207381e-01 -2.69602139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.05, Y:-225.58, Z:-26.97 [[ 8.16251171e-01 5.74432714e-01 6.13276694e-02 4.55049076e+02] [-5.72849636e-01 8.18551732e-01 -4.26187232e-02 -2.25581404e+02] [-7.46814589e-02 -3.43950405e-04 9.97207381e-01 -2.69669832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.10, Y:-225.61, Z:-26.98 [[ 8.19513360e-01 5.69769489e-01 6.13235855e-02 4.55102950e+02] [-5.68172881e-01 8.21804552e-01 -4.26245986e-02 -2.25607795e+02] [-7.46821975e-02 8.90297402e-05 9.97207381e-01 -2.69846306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.15, Y:-225.65, Z:-26.98 [[ 8.15693360e-01 5.75225326e-01 6.13201968e-02 4.55150597e+02] [-5.73643675e-01 8.17994903e-01 -4.26294731e-02 -2.25647134e+02] [-7.46811610e-02 -4.03364889e-04 9.97207381e-01 -2.69813594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.20, Y:-225.68, Z:-26.99 [[ 8.13957066e-01 5.77679881e-01 6.13176092e-02 4.55200586e+02] [-5.76104891e-01 8.16263172e-01 -4.26331948e-02 -2.25680773e+02] [-7.46796451e-02 -6.23784396e-04 9.97207381e-01 -2.69884717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.25, Y:-225.72, Z:-27.00 [[ 8.12937943e-01 5.79113571e-01 6.13137210e-02 4.55251683e+02] [-5.77542226e-01 8.15246534e-01 -4.26387859e-02 -2.25715838e+02] [-7.46784981e-02 -7.48575971e-04 9.97207381e-01 -2.69950207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.30, Y:-225.75, Z:-27.00 [[ 8.12091430e-01 5.80301142e-01 6.13032972e-02 4.55302050e+02] [-5.78732042e-01 8.14401547e-01 -4.26537673e-02 -2.25752533e+02] [-7.46775300e-02 -8.39423544e-04 9.97207382e-01 -2.69985944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.35, Y:-225.78, Z:-27.01 [[ 8.14203861e-01 5.77333922e-01 6.12993941e-02 4.55353902e+02] [-5.75755980e-01 8.16507948e-01 -4.26593759e-02 -2.25784460e+02] [-7.46801473e-02 -5.60064222e-04 9.97207382e-01 -2.70075297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.40, Y:-225.82, Z:-27.01 [[ 8.15472665e-01 5.75541450e-01 6.12892582e-02 4.55403510e+02] [-5.73957349e-01 8.17772522e-01 -4.26739334e-02 -2.25821636e+02] [-7.46812887e-02 -3.77993999e-04 9.97207382e-01 -2.70096461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.45, Y:-225.86, Z:-27.01 [[ 8.16928004e-01 5.73474974e-01 6.12787957e-02 4.55454132e+02] [-5.71883929e-01 8.19223062e-01 -4.26889520e-02 -2.25859251e+02] [-7.46820483e-02 -1.70558098e-04 9.97207382e-01 -2.70144369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.50, Y:-225.90, Z:-27.02 [[ 8.17999142e-01 5.71947353e-01 6.12668692e-02 4.55504034e+02] [-5.70350740e-01 8.20290330e-01 -4.27060621e-02 -2.25895458e+02] [-7.46822395e-02 -1.00820252e-05 9.97207382e-01 -2.70196765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.55, Y:-225.93, Z:-27.02 [[ 8.19283693e-01 5.70106920e-01 6.12562692e-02 4.55552614e+02] [-5.68504024e-01 8.21570489e-01 -4.27212610e-02 -2.25934273e+02] [-7.46820295e-02 1.76396941e-04 9.97207382e-01 -2.70237499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.60, Y:-225.97, Z:-27.03 [[ 8.19924412e-01 5.69186238e-01 6.12452871e-02 4.55602999e+02] [-5.67579598e-01 8.22208580e-01 -4.27369991e-02 -2.25971004e+02] [-7.46817123e-02 2.79533443e-04 9.97207383e-01 -2.70283490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.65, Y:-226.01, Z:-27.03 [[ 8.21030712e-01 5.67590461e-01 6.12342933e-02 4.55652370e+02] [-5.65978207e-01 8.23310921e-01 -4.27527454e-02 -2.26006350e+02] [-7.46809129e-02 4.44041431e-04 9.97207383e-01 -2.70345416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.70, Y:-226.05, Z:-27.03 [[ 8.19803658e-01 5.69362408e-01 6.12242631e-02 4.55700481e+02] [-5.67754011e-01 8.22086588e-01 -4.27671045e-02 -2.26045787e+02] [-7.46816271e-02 3.00307780e-04 9.97207383e-01 -2.70324333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.75, Y:-226.08, Z:-27.04 [[ 8.18116462e-01 5.71785269e-01 6.12132436e-02 4.55749704e+02] [-5.70182453e-01 8.20403313e-01 -4.27828710e-02 -2.26083482e+02] [-7.46821633e-02 9.86536812e-05 9.97207383e-01 -2.70374804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.80, Y:-226.12, Z:-27.04 [[ 8.16051933e-01 5.74728364e-01 6.12090642e-02 4.55800015e+02] [-5.73133347e-01 8.18344231e-01 -4.27888496e-02 -2.26120283e+02] [-7.46820501e-02 -1.63032398e-04 9.97207383e-01 -2.70406743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.85, Y:-226.16, Z:-27.05 [[ 8.13251274e-01 5.78685814e-01 6.11971750e-02 4.55851419e+02] [-5.77100672e-01 8.15550412e-01 -4.28058470e-02 -2.26155228e+02] [-7.46805177e-02 -5.05021206e-04 9.97207383e-01 -2.70465798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.90, Y:-226.19, Z:-27.06 [[ 8.11700499e-01 5.80860458e-01 6.11835649e-02 4.55903355e+02] [-5.79280010e-01 8.14002865e-01 -4.28252915e-02 -2.26186963e+02] [-7.46791156e-02 -6.81105636e-04 9.97207384e-01 -2.70550124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:455.95, Y:-226.22, Z:-27.06 [[ 8.10914208e-01 5.81958809e-01 6.11726419e-02 4.55954511e+02] [-5.80380303e-01 8.13217906e-01 -4.28408885e-02 -2.26223072e+02] [-7.46783202e-02 -7.63111307e-04 9.97207384e-01 -2.70597902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.00, Y:-226.26, Z:-27.06 [[ 8.11753953e-01 5.80788170e-01 6.11606191e-02 4.56004523e+02] [-5.79205049e-01 8.14054482e-01 -4.28580456e-02 -2.26259989e+02] [-7.46795220e-02 -6.34351391e-04 9.97207384e-01 -2.70643073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.05, Y:-226.30, Z:-27.06 [[ 8.10506002e-01 5.82529550e-01 6.11501719e-02 4.56050812e+02] [-5.80950248e-01 8.12809154e-01 -4.28729467e-02 -2.26301785e+02] [-7.46781778e-02 -7.76426875e-04 9.97207384e-01 -2.70570272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.10, Y:-226.33, Z:-27.07 [[ 8.16624226e-01 5.73922262e-01 6.11400955e-02 4.56100998e+02] [-5.72317606e-01 8.18909785e-01 -4.28873116e-02 -2.26334029e+02] [-7.46822053e-02 3.12644816e-05 9.97207384e-01 -2.70745414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.15, Y:-226.37, Z:-27.08 [[ 8.20228489e-01 5.68759777e-01 6.11354345e-02 4.56150653e+02] [-5.67140241e-01 8.22503529e-01 -4.28939548e-02 -2.26373161e+02] [-7.46804668e-02 5.10478660e-04 9.97207384e-01 -2.70794177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.20, Y:-226.42, Z:-27.07 [[ 8.20225867e-01 5.68764811e-01 6.11237764e-02 4.56197111e+02] [-5.67144052e-01 8.22500035e-01 -4.29105611e-02 -2.26415863e+02] [-7.46803254e-02 5.30365988e-04 9.97207385e-01 -2.70729315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.25, Y:-226.45, Z:-27.08 [[ 8.23021176e-01 5.64712710e-01 6.11203593e-02 4.56247086e+02] [-5.63080394e-01 8.25287063e-01 -4.29154278e-02 -2.26452159e+02] [-7.46767293e-02 9.04629957e-04 9.97207385e-01 -2.70807328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.30, Y:-226.49, Z:-27.09 [[ 8.25036954e-01 5.61763930e-01 6.11171925e-02 4.56297151e+02] [-5.60123181e-01 8.27296743e-01 -4.29199373e-02 -2.26488137e+02] [-7.46729269e-02 1.17737802e-03 9.97207385e-01 -2.70871870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.35, Y:-226.53, Z:-27.09 [[ 8.25642965e-01 5.60874080e-01 6.11061439e-02 4.56346567e+02] [-5.59229732e-01 8.27900136e-01 -4.29356616e-02 -2.26525946e+02] [-7.46712846e-02 1.27715448e-03 9.97207385e-01 -2.70901862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.40, Y:-226.56, Z:-27.10 [[ 8.27416852e-01 5.58255087e-01 6.10951016e-02 4.56396777e+02] [-5.56602436e-01 8.29667950e-01 -4.29513685e-02 -2.26558945e+02] [-7.46664677e-02 1.53300364e-03 9.97207385e-01 -2.71010858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.45, Y:-226.60, Z:-27.11 [[ 8.25518560e-01 5.61059122e-01 6.10881994e-02 4.56447221e+02] [-5.59413393e-01 8.27774723e-01 -4.29611831e-02 -2.26595741e+02] [-7.46710310e-02 1.29169713e-03 9.97207385e-01 -2.71050311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.50, Y:-226.63, Z:-27.10 [[ 8.21547385e-01 5.66859376e-01 6.10765271e-02 4.56495685e+02] [-5.65228344e-01 8.23814197e-01 -4.29777709e-02 -2.26634900e+02] [-7.46780624e-02 7.86091033e-04 9.97207385e-01 -2.71009016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.55, Y:-226.66, Z:-27.11 [[ 8.19162198e-01 5.70301008e-01 6.10741649e-02 4.56547807e+02] [-5.68679250e-01 8.21435654e-01 -4.29811274e-02 -2.26664760e+02] [-7.46806768e-02 4.76904558e-04 9.97207385e-01 -2.71135110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.60, Y:-226.70, Z:-27.11 [[ 8.14333938e-01 5.77175081e-01 6.10668790e-02 4.56596635e+02] [-5.75571739e-01 8.16620418e-01 -4.29914766e-02 -2.26703490e+02] [-7.46820692e-02 -1.38951287e-04 9.97207385e-01 -2.71112915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.65, Y:-226.74, Z:-27.12 [[ 8.08672568e-01 5.85081017e-01 6.10645645e-02 4.56647984e+02] [-5.83499777e-01 8.10974389e-01 -4.29947638e-02 -2.26738210e+02] [-7.46772180e-02 -8.62473678e-04 9.97207385e-01 -2.71157711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.70, Y:-226.77, Z:-27.12 [[ 8.04945424e-01 5.90199413e-01 6.10533976e-02 4.56699349e+02] [-5.88631606e-01 8.07256415e-01 -4.30106152e-02 -2.26773393e+02] [-7.46705867e-02 -1.31676160e-03 9.97207385e-01 -2.71207922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.75, Y:-226.81, Z:-27.13 [[ 8.00302898e-01 5.96480776e-01 6.10406085e-02 4.56749721e+02] [-5.94929720e-01 8.02625164e-01 -4.30287578e-02 -2.26808609e+02] [-7.46585553e-02 -1.87883263e-03 9.97207386e-01 -2.71264288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.80, Y:-226.85, Z:-27.13 [[ 7.97877499e-01 5.99722424e-01 6.10287716e-02 4.56800934e+02] [-5.98179520e-01 8.00205188e-01 -4.30455400e-02 -2.26845578e+02] [-7.46509152e-02 -2.16109352e-03 9.97207386e-01 -2.71292682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.85, Y:-226.88, Z:-27.14 [[ 7.97699084e-01 5.99961025e-01 6.10159002e-02 4.56852224e+02] [-5.98417424e-01 8.00026311e-01 -4.30637771e-02 -2.26876116e+02] [-7.46509134e-02 -2.16104223e-03 9.97207386e-01 -2.71425032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:-226.91, Z:-27.14 [[ 7.93420366e-01 6.05608850e-01 6.10085548e-02 4.56900635e+02] [-6.04081011e-01 7.95757971e-01 -4.30741808e-02 -2.26914656e+02] [-7.46341489e-02 -2.67817718e-03 9.97207386e-01 -2.71384750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:456.95, Y:-226.95, Z:-27.14 [[ 7.92134931e-01 6.07290073e-01 6.10001475e-02 4.56952032e+02] [-6.05766280e-01 7.94475175e-01 -4.30860837e-02 -2.26950850e+02] [-7.46288538e-02 -2.82184042e-03 9.97207386e-01 -2.71440581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.00, Y:-226.99, Z:-27.15 [[ 7.90109088e-01 6.09924740e-01 6.09872087e-02 4.57001524e+02] [-6.08407339e-01 7.92453482e-01 -4.31043905e-02 -2.26987573e+02] [-7.46199601e-02 -3.04789468e-03 9.97207387e-01 -2.71483213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.05, Y:-227.02, Z:-27.15 [[ 7.89972281e-01 6.10103056e-01 6.09758745e-02 4.57051902e+02] [-6.08584949e-01 7.92316218e-01 -4.31204180e-02 -2.27023671e+02] [-7.46200730e-02 -3.04506457e-03 9.97207387e-01 -2.71540141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.10, Y:-227.06, Z:-27.16 [[ 7.90096407e-01 6.09943431e-01 6.09645685e-02 4.57102241e+02] [-6.08423621e-01 7.92439240e-01 -4.31363968e-02 -2.27060708e+02] [-7.46214782e-02 -3.01037132e-03 9.97207387e-01 -2.71581424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.15, Y:-227.10, Z:-27.16 [[ 7.90537712e-01 6.09372649e-01 6.09516263e-02 4.57151816e+02] [-6.07849741e-01 7.92878532e-01 -4.31546763e-02 -2.27097780e+02] [-7.46245154e-02 -2.93403117e-03 9.97207387e-01 -2.71623126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.20, Y:-227.13, Z:-27.17 [[ 7.91485395e-01 6.08142375e-01 6.09403086e-02 4.57201820e+02] [-6.06614601e-01 7.93823041e-01 -4.31706526e-02 -2.27134664e+02] [-7.46297243e-02 -2.79833998e-03 9.97207387e-01 -2.71663874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.25, Y:-227.17, Z:-27.17 [[ 7.92168659e-01 6.07253222e-01 6.09289732e-02 4.57252720e+02] [-6.05721596e-01 7.94503783e-01 -4.31866449e-02 -2.27170294e+02] [-7.46335290e-02 -2.69488836e-03 9.97207388e-01 -2.71726942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.30, Y:-227.20, Z:-27.18 [[ 7.93202674e-01 6.05903091e-01 6.09176660e-02 4.57303775e+02] [-6.04366268e-01 7.95534381e-01 -4.32025887e-02 -2.27202618e+02] [-7.46386797e-02 -2.54817358e-03 9.97207388e-01 -2.71833149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.35, Y:-227.24, Z:-27.18 [[ 7.90103644e-01 6.09939779e-01 6.09072899e-02 4.57354045e+02] [-6.08413740e-01 7.92442423e-01 -4.32172120e-02 -2.27240333e+02] [-7.46254171e-02 -2.91075534e-03 9.97207388e-01 -2.71829022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.41, Y:-227.27, Z:-27.19 [[ 7.88429724e-01 6.12102414e-01 6.09032428e-02 4.57405396e+02] [-6.10582350e-01 7.90772390e-01 -4.32229146e-02 -2.27273446e+02] [-7.46174533e-02 -3.10821451e-03 9.97207388e-01 -2.71911992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.46, Y:-227.31, Z:-27.20 [[ 7.87598734e-01 6.13172317e-01 6.08928910e-02 4.57456029e+02] [-6.11654310e-01 7.89942735e-01 -4.32374934e-02 -2.27309998e+02] [-7.46139308e-02 -3.19160415e-03 9.97207388e-01 -2.71953767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.51, Y:-227.35, Z:-27.20 [[ 7.87558147e-01 6.13224850e-01 6.08888286e-02 4.57506255e+02] [-6.11706559e-01 7.89901963e-01 -4.32432135e-02 -2.27346070e+02] [-7.46140183e-02 -3.18955073e-03 9.97207388e-01 -2.72003526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.56, Y:-227.38, Z:-27.21 [[ 7.88021345e-01 6.12630634e-01 6.08774715e-02 4.57556334e+02] [-6.11109344e-01 7.90363215e-01 -4.32591961e-02 -2.27380917e+02] [-7.46172228e-02 -3.11362182e-03 9.97207388e-01 -2.72059175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.61, Y:-227.42, Z:-27.21 [[ 7.88200409e-01 6.12401267e-01 6.08670919e-02 4.57607857e+02] [-6.10878171e-01 7.90541105e-01 -4.32737956e-02 -2.27417374e+02] [-7.46188653e-02 -3.07395443e-03 9.97207389e-01 -2.72101382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.66, Y:-227.45, Z:-27.22 [[ 7.89961876e-01 6.10128635e-01 6.08546002e-02 4.57658686e+02] [-6.08597454e-01 7.92297291e-01 -4.32913552e-02 -2.27450681e+02] [-7.46282303e-02 -2.83743462e-03 9.97207389e-01 -2.72169566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.71, Y:-227.49, Z:-27.22 [[ 7.90696019e-01 6.09177922e-01 6.08445908e-02 4.57708846e+02] [-6.07642853e-01 7.93028880e-01 -4.33054186e-02 -2.27487946e+02] [-7.46322226e-02 -2.73035864e-03 9.97207389e-01 -2.72194956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.76, Y:-227.52, Z:-27.22 [[ 7.91658933e-01 6.07927342e-01 6.08315744e-02 4.57758835e+02] [-6.06387185e-01 7.93988438e-01 -4.33236951e-02 -2.27523405e+02] [-7.46372255e-02 -2.58989687e-03 9.97207389e-01 -2.72242377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.81, Y:-227.56, Z:-27.23 [[ 7.93946948e-01 6.04937374e-01 6.08195416e-02 4.57809095e+02] [-6.03387151e-01 7.96269766e-01 -4.33405807e-02 -2.27560761e+02] [-7.46470992e-02 -2.28760809e-03 9.97207389e-01 -2.72267880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.86, Y:-227.60, Z:-27.23 [[ 7.98627745e-01 5.98744692e-01 6.08154478e-02 4.57859155e+02] [-5.97176015e-01 8.00938140e-01 -4.33463243e-02 -2.27596509e+02] [-7.46627932e-02 -1.69994958e-03 9.97207389e-01 -2.72341949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.91, Y:-227.63, Z:-27.24 [[ 8.00163614e-01 5.96691758e-01 6.08040908e-02 4.57910166e+02] [-5.95115943e-01 8.02469146e-01 -4.33622496e-02 -2.27633475e+02] [-7.46673037e-02 -1.48858945e-03 9.97207390e-01 -2.72390065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:457.96, Y:-227.67, Z:-27.24 [[ 8.05600839e-01 5.89331593e-01 6.07911398e-02 4.57960156e+02] [-5.87733339e-01 8.07890873e-01 -4.33803985e-02 -2.27670201e+02] [-7.46780463e-02 -7.81694178e-04 9.97207390e-01 -2.72447359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.01, Y:-227.71, Z:-27.25 [[ 8.08793951e-01 5.84942867e-01 6.07798302e-02 4.58010981e+02] [-5.83330996e-01 8.11074421e-01 -4.33962385e-02 -2.27706187e+02] [-7.46812857e-02 -3.56143626e-04 9.97207390e-01 -2.72488726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.06, Y:-227.74, Z:-27.25 [[ 8.12149947e-01 5.80275145e-01 6.07718694e-02 4.58061049e+02] [-5.78649333e-01 8.14420498e-01 -4.34073839e-02 -2.27744794e+02] [-7.46820821e-02 8.77027589e-05 9.97207390e-01 -2.72518079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.11, Y:-227.78, Z:-27.26 [[ 8.14538585e-01 5.76918749e-01 6.07589601e-02 4.58112203e+02] [-5.75282234e-01 8.16801434e-01 -4.34254461e-02 -2.27781222e+02] [-7.46809597e-02 4.18151142e-04 9.97207390e-01 -2.72551462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.16, Y:-227.82, Z:-27.26 [[ 8.15584913e-01 5.75439983e-01 6.07459868e-02 4.58164041e+02] [-5.73798014e-01 8.17843808e-01 -4.34435862e-02 -2.27815556e+02] [-7.46799057e-02 5.76006883e-04 9.97207391e-01 -2.72614677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.22, Y:-227.85, Z:-27.27 [[ 8.15282223e-01 5.75870120e-01 6.07330464e-02 4.58216287e+02] [-5.74227995e-01 8.17541004e-01 -4.34616692e-02 -2.27848961e+02] [-7.46800323e-02 5.58910783e-04 9.97207391e-01 -2.72684488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.27, Y:-227.88, Z:-27.27 [[ 8.14513797e-01 5.76957729e-01 6.07211129e-02 4.58268339e+02] [-5.75317379e-01 8.16773866e-01 -4.34783353e-02 -2.27883632e+02] [-7.46805797e-02 4.79792490e-04 9.97207391e-01 -2.72746139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.32, Y:-227.92, Z:-27.28 [[ 8.11682472e-01 5.80935507e-01 6.07083273e-02 4.58320747e+02] [-5.79304897e-01 8.13949580e-01 -4.34961804e-02 -2.27918254e+02] [-7.46819931e-02 1.36455996e-04 9.97207391e-01 -2.72788831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.37, Y:-227.95, Z:-27.28 [[ 8.08583061e-01 5.85243115e-01 6.06953915e-02 4.58371648e+02] [-5.83623228e-01 8.10857842e-01 -4.35142238e-02 -2.27953425e+02] [-7.46817340e-02 -2.38376105e-04 9.97207392e-01 -2.72812186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.42, Y:-227.99, Z:-27.29 [[ 8.04671300e-01 5.90611162e-01 6.06840524e-02 4.58424451e+02] [-5.89005257e-01 8.06955974e-01 -4.35300313e-02 -2.27986503e+02] [-7.46786810e-02 -7.15859033e-04 9.97207392e-01 -2.72851251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.48, Y:-228.02, Z:-27.29 [[ 8.01668586e-01 5.94681745e-01 6.06720776e-02 4.58475784e+02] [-5.93086177e-01 8.03960490e-01 -4.35467154e-02 -2.28021830e+02] [-7.46743900e-02 -1.07373685e-03 9.97207392e-01 -2.72899992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.53, Y:-228.06, Z:-27.30 [[ 7.97746994e-01 5.99933455e-01 6.06595665e-02 4.58528221e+02] [-5.98351649e-01 8.00048417e-01 -4.35641361e-02 -2.28056543e+02] [-7.46661729e-02 -1.54259302e-03 9.97207392e-01 -2.72956099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.58, Y:-228.09, Z:-27.30 [[ 7.95793017e-01 6.02524177e-01 6.06472647e-02 4.58580110e+02] [-6.00948559e-01 7.98098680e-01 -4.35812552e-02 -2.28092460e+02] [-7.46612619e-02 -1.76422779e-03 9.97207392e-01 -2.72998366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.63, Y:-228.13, Z:-27.30 [[ 7.94195814e-01 6.04629160e-01 6.06348793e-02 4.58631914e+02] [-6.03058338e-01 7.96504748e-01 -4.35984804e-02 -2.28128376e+02] [-7.46568818e-02 -1.94063886e-03 9.97207393e-01 -2.73048103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.68, Y:-228.16, Z:-27.31 [[ 7.93998125e-01 6.04889968e-01 6.06226306e-02 4.58681399e+02] [-6.03318607e-01 7.96306691e-01 -4.36155053e-02 -2.28164246e+02] [-7.46567880e-02 -1.94413163e-03 9.97207393e-01 -2.73111232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.73, Y:-228.20, Z:-27.32 [[ 7.94567104e-01 6.04143361e-01 6.06128422e-02 4.58731788e+02] [-6.02568794e-01 7.96873484e-01 -4.36291041e-02 -2.28201364e+02] [-7.46590004e-02 -1.85715627e-03 9.97207393e-01 -2.73157906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.78, Y:-228.24, Z:-27.32 [[ 7.96399770e-01 6.01726673e-01 6.06004796e-02 4.58781762e+02] [-6.00143801e-01 7.98700458e-01 -4.36462689e-02 -2.28240222e+02] [-7.46647550e-02 -1.60912370e-03 9.97207393e-01 -2.73194055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.83, Y:-228.28, Z:-27.32 [[ 8.00141003e-01 5.96744067e-01 6.05879055e-02 4.58830521e+02] [-5.95145544e-01 8.02430845e-01 -4.36637167e-02 -2.28279944e+02] [-7.46736681e-02 -1.12149191e-03 9.97207393e-01 -2.73227755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.88, Y:-228.32, Z:-27.33 [[ 8.03698805e-01 5.91944959e-01 6.05755424e-02 4.58879794e+02] [-5.90331469e-01 8.05978125e-01 -4.36808617e-02 -2.28318300e+02] [-7.46792280e-02 -6.53392584e-04 9.97207394e-01 -2.73270100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.93, Y:-228.36, Z:-27.33 [[ 8.10219413e-01 5.82989375e-01 6.05631149e-02 4.58928491e+02] [-5.81349402e-01 8.12479754e-01 -4.36980855e-02 -2.28357451e+02] [-7.46818242e-02 1.96706616e-04 9.97207394e-01 -2.73320882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:458.98, Y:-228.40, Z:-27.34 [[ 8.16777749e-01 5.73766257e-01 6.05507420e-02 4.58977500e+02] [-5.72099493e-01 8.19018406e-01 -4.37152235e-02 -2.28397159e+02] [-7.46744923e-02 1.06457303e-03 9.97207394e-01 -2.73368629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.03, Y:-228.44, Z:-27.34 [[ 8.20473130e-01 5.68470691e-01 6.05385584e-02 4.59026987e+02] [-5.66788224e-01 8.22702020e-01 -4.37320894e-02 -2.28435056e+02] [-7.46656053e-02 1.56846228e-03 9.97207394e-01 -2.73410602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.08, Y:-228.47, Z:-27.35 [[ 8.24274808e-01 5.62945452e-01 6.05265168e-02 4.59076188e+02] [-5.61246826e-01 8.26491408e-01 -4.37487490e-02 -2.28472426e+02] [-7.46528053e-02 2.09067619e-03 9.97207395e-01 -2.73460044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.13, Y:-228.51, Z:-27.35 [[ 8.24557012e-01 5.62533216e-01 6.05154059e-02 4.59127057e+02] [-5.60832356e-01 8.26771898e-01 -4.37641127e-02 -2.28509685e+02] [-7.46512041e-02 2.14700836e-03 9.97207395e-01 -2.73511520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.18, Y:-228.55, Z:-27.36 [[ 8.22440675e-01 5.65624110e-01 6.05037352e-02 4.59178412e+02] [-5.63930390e-01 8.24661025e-01 -4.37802414e-02 -2.28545455e+02] [-7.46582324e-02 1.88675632e-03 9.97207395e-01 -2.73564678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.23, Y:-228.58, Z:-27.36 [[ 8.19872130e-01 5.69342137e-01 6.04914980e-02 4.59229407e+02] [-5.67657241e-01 8.22099183e-01 -4.37971432e-02 -2.28580754e+02] [-7.46655702e-02 1.56962018e-03 9.97207395e-01 -2.73625965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.28, Y:-228.62, Z:-27.37 [[ 8.15192030e-01 5.76024313e-01 6.04809434e-02 4.59281225e+02] [-5.74356595e-01 8.17431976e-01 -4.38117136e-02 -2.28615940e+02] [-7.46756693e-02 9.77331099e-04 9.97207395e-01 -2.73673905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.33, Y:-228.65, Z:-27.37 [[ 8.10453007e-01 5.82674385e-01 6.04688799e-02 4.59333411e+02] [-5.81023806e-01 8.12705612e-01 -4.38283574e-02 -2.28650431e+02] [-7.46810592e-02 3.86965228e-04 9.97207396e-01 -2.73709994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.39, Y:-228.69, Z:-27.37 [[ 8.07347163e-01 5.86971507e-01 6.04566647e-02 4.59385699e+02] [-5.85331657e-01 8.09607590e-01 -4.38452004e-02 -2.28685775e+02] [-7.46820580e-02 1.10984506e-05 9.97207396e-01 -2.73748037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.44, Y:-228.72, Z:-27.38 [[ 8.04158680e-01 5.91333467e-01 6.04445862e-02 4.59438181e+02] [-5.89704627e-01 8.06427053e-01 -4.38618455e-02 -2.28718749e+02] [-7.46811267e-02 -3.72568414e-04 9.97207396e-01 -2.73796151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.49, Y:-228.76, Z:-27.38 [[ 8.02593621e-01 5.93457088e-01 6.04331431e-02 4.59488648e+02] [-5.91833062e-01 8.04865444e-01 -4.38776063e-02 -2.28755045e+02] [-7.46800249e-02 -5.50445225e-04 9.97207396e-01 -2.73832537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.54, Y:-228.79, Z:-27.39 [[ 8.00918878e-01 5.95716586e-01 6.04210279e-02 4.59540459e+02] [-5.94097712e-01 8.03194373e-01 -4.38942831e-02 -2.28790283e+02] [-7.46783820e-02 -7.40234458e-04 9.97207396e-01 -2.73883176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.59, Y:-228.83, Z:-27.39 [[ 8.00348658e-01 5.96483741e-01 6.04083824e-02 4.59590582e+02] [-5.94865734e-01 8.02624771e-01 -4.39116792e-02 -2.28825106e+02] [-7.46778667e-02 -7.90223207e-04 9.97207397e-01 -2.73948334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.64, Y:-228.86, Z:-27.40 [[ 8.00248831e-01 5.96618286e-01 6.04022350e-02 4.59641673e+02] [-5.95000024e-01 8.02524762e-01 -4.39201335e-02 -2.28859973e+02] [-7.46778440e-02 -7.92295789e-04 9.97207397e-01 -2.74013891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.69, Y:-228.89, Z:-27.41 [[ 8.03444008e-01 5.92309525e-01 6.03916623e-02 4.59693128e+02] [-5.90677965e-01 8.05710424e-01 -4.39346666e-02 -2.28894108e+02] [-7.46811133e-02 -3.72979594e-04 9.97207397e-01 -2.74091575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.74, Y:-228.93, Z:-27.41 [[ 8.03531320e-01 5.92192238e-01 6.03802299e-02 4.59740579e+02] [-5.90559166e-01 8.05796647e-01 -4.39503727e-02 -2.28933204e+02] [-7.46812564e-02 -3.42597279e-04 9.97207397e-01 -2.74100281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.79, Y:-228.97, Z:-27.42 [[ 8.05262337e-01 5.89837323e-01 6.03697142e-02 4.59789713e+02] [-5.88196543e-01 8.07522087e-01 -4.39648123e-02 -2.28969993e+02] [-7.46819648e-02 -1.06049743e-04 9.97207397e-01 -2.74153552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.84, Y:-229.00, Z:-27.42 [[ 8.08720761e-01 5.85087308e-01 6.03620150e-02 4.59841611e+02] [-5.83432468e-01 8.10970235e-01 -4.39753804e-02 -2.29003301e+02] [-7.46812344e-02 3.46643725e-04 9.97207397e-01 -2.74243396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.89, Y:-229.04, Z:-27.42 [[ 8.06987218e-01 5.87477141e-01 6.03509633e-02 4.59889107e+02] [-5.85827828e-01 8.09240748e-01 -4.39905424e-02 -2.29042857e+02] [-7.46818967e-02 1.44531644e-04 9.97207397e-01 -2.74244039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.94, Y:-229.08, Z:-27.43 [[ 8.06930938e-01 5.87555478e-01 6.03408806e-02 4.59938610e+02] [-5.85905350e-01 8.09183871e-01 -4.40043683e-02 -2.29079283e+02] [-7.46818750e-02 1.54441399e-04 9.97207398e-01 -2.74296984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:459.99, Y:-229.12, Z:-27.43 [[ 8.06618927e-01 5.87984919e-01 6.03294392e-02 4.59989582e+02] [-5.86334818e-01 8.08871879e-01 -4.40200487e-02 -2.29116138e+02] [-7.46819116e-02 1.34153700e-04 9.97207398e-01 -2.74344454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.04, Y:-229.15, Z:-27.44 [[ 8.05763558e-01 5.89157787e-01 6.03174130e-02 4.60040668e+02] [-5.87509732e-01 8.08018007e-01 -4.40365212e-02 -2.29153221e+02] [-7.46820152e-02 4.59568920e-05 9.97207398e-01 -2.74381359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.09, Y:-229.19, Z:-27.44 [[ 8.04732545e-01 5.90566548e-01 6.03049244e-02 4.60090292e+02] [-5.88921158e-01 8.06988940e-01 -4.40536168e-02 -2.29189885e+02] [-7.46819994e-02 -6.34667181e-05 9.97207398e-01 -2.74436938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.14, Y:-229.23, Z:-27.45 [[ 8.03754679e-01 5.91897827e-01 6.02940973e-02 4.60141392e+02] [-5.90255063e-01 8.06012986e-01 -4.40684304e-02 -2.29227092e+02] [-7.46818336e-02 -1.68689095e-04 9.97207398e-01 -2.74485187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.19, Y:-229.26, Z:-27.45 [[ 8.02538987e-01 5.93546365e-01 6.02817363e-02 4.60192211e+02] [-5.91906970e-01 8.04799741e-01 -4.40853327e-02 -2.29264537e+02] [-7.46814147e-02 -3.00981612e-04 9.97207399e-01 -2.74522256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.24, Y:-229.30, Z:-27.46 [[ 8.01819375e-01 5.94519407e-01 6.02690910e-02 4.60242430e+02] [-5.92881457e-01 8.04081176e-01 -4.41026134e-02 -2.29301815e+02] [-7.46811011e-02 -3.70096602e-04 9.97207399e-01 -2.74568037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.29, Y:-229.34, Z:-27.47 [[ 8.01666107e-01 5.94727333e-01 6.02565529e-02 4.60293200e+02] [-5.93088683e-01 8.03927399e-01 -4.41197373e-02 -2.29337289e+02] [-7.46811076e-02 -3.68181575e-04 9.97207399e-01 -2.74651437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.34, Y:-229.37, Z:-27.47 [[ 7.99850549e-01 5.97167972e-01 6.02454421e-02 4.60343076e+02] [-5.95535079e-01 8.02116002e-01 -4.41349039e-02 -2.29374510e+02] [-7.46797842e-02 -5.76947037e-04 9.97207399e-01 -2.74655368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.39, Y:-229.41, Z:-27.47 [[ 7.98748138e-01 5.98642833e-01 6.02342970e-02 4.60393561e+02] [-5.97012976e-01 8.01015777e-01 -4.41501093e-02 -2.29411715e+02] [-7.46787687e-02 -6.95839260e-04 9.97207399e-01 -2.74703349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.44, Y:-229.45, Z:-27.48 [[ 7.97679176e-01 6.00067727e-01 6.02217190e-02 4.60442491e+02] [-5.98440626e-01 7.99948792e-01 -4.41672593e-02 -2.29447461e+02] [-7.46776383e-02 -8.07820252e-04 9.97207400e-01 -2.74760314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.49, Y:-229.48, Z:-27.49 [[ 7.96481295e-01 6.01657397e-01 6.02156377e-02 4.60492601e+02] [-6.00034199e-01 7.98753705e-01 -4.41755487e-02 -2.29484015e+02] [-7.46760094e-02 -9.46443730e-04 9.97207400e-01 -2.74855965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.54, Y:-229.52, Z:-27.49 [[ 7.94953872e-01 6.03674737e-01 6.02092446e-02 4.60541077e+02] [-6.02056646e-01 7.97229920e-01 -4.41842606e-02 -2.29520978e+02] [-7.46735332e-02 -1.12492681e-03 9.97207400e-01 -2.74863363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.59, Y:-229.56, Z:-27.50 [[ 7.94525917e-01 6.04238564e-01 6.02023780e-02 4.60589848e+02] [-6.02621379e-01 7.96802609e-01 -4.41936145e-02 -2.29557597e+02] [-7.46728980e-02 -1.16626803e-03 9.97207400e-01 -2.74975448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.64, Y:-229.60, Z:-27.50 [[ 7.92766936e-01 6.06545687e-01 6.01906514e-02 4.60638551e+02] [-6.04933916e-01 7.95047464e-01 -4.42095802e-02 -2.29596696e+02] [-7.46695549e-02 -1.36347301e-03 9.97207400e-01 -2.75016356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.69, Y:-229.63, Z:-27.50 [[ 7.90743964e-01 6.09181089e-01 6.01862500e-02 4.60686945e+02] [-6.07576462e-01 7.93029524e-01 -4.42155713e-02 -2.29634431e+02] [-7.46647631e-02 -1.60455271e-03 9.97207400e-01 -2.75017585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.74, Y:-229.67, Z:-27.51 [[ 7.90206308e-01 6.09879481e-01 6.01748215e-02 4.60736573e+02] [-6.08275690e-01 7.92492456e-01 -4.42311194e-02 -2.29673249e+02] [-7.46637442e-02 -1.65117150e-03 9.97207400e-01 -2.75056338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.78, Y:-229.71, Z:-27.51 [[ 7.90508559e-01 6.09488919e-01 6.01620822e-02 4.60784476e+02] [-6.07882682e-01 7.92792987e-01 -4.42484403e-02 -2.29712473e+02] [-7.46650109e-02 -1.59271711e-03 9.97207400e-01 -2.75103997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.83, Y:-229.75, Z:-27.51 [[ 7.91247323e-01 6.08530698e-01 6.01503366e-02 4.60833543e+02] [-6.06920481e-01 7.93528949e-01 -4.42644013e-02 -2.29751895e+02] [-7.46672804e-02 -1.48238215e-03 9.97207401e-01 -2.75149281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.88, Y:-229.79, Z:-27.52 [[ 7.92184685e-01 6.07311177e-01 6.01378310e-02 4.60882673e+02] [-6.05696159e-01 7.94462914e-01 -4.42813850e-02 -2.29791456e+02] [-7.46698565e-02 -1.34621817e-03 9.97207401e-01 -2.75212521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.93, Y:-229.83, Z:-27.53 [[ 7.92311802e-01 6.07146591e-01 6.01250804e-02 4.60931029e+02] [-6.05529787e-01 7.94588764e-01 -4.42986909e-02 -2.29830602e+02] [-7.46705125e-02 -1.30915150e-03 9.97207401e-01 -2.75267686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:460.98, Y:-229.87, Z:-27.53 [[ 7.92558204e-01 6.06826075e-01 6.01132980e-02 4.60979820e+02] [-6.05207138e-01 7.94833649e-01 -4.43146739e-02 -2.29869645e+02] [-7.46713716e-02 -1.25903878e-03 9.97207401e-01 -2.75314675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.03, Y:-229.91, Z:-27.54 [[ 7.94212153e-01 6.04661002e-01 6.01009801e-02 4.61028900e+02] [-6.03034599e-01 7.96482267e-01 -4.43313735e-02 -2.29909156e+02] [-7.46748177e-02 -1.03445479e-03 9.97207401e-01 -2.75358492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.08, Y:-229.95, Z:-27.54 [[ 7.94925538e-01 6.03724100e-01 6.00882707e-02 4.61078397e+02] [-6.02093719e-01 7.97192797e-01 -4.43485937e-02 -2.29947026e+02] [-7.46762514e-02 -9.24940632e-04 9.97207402e-01 -2.75408949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.13, Y:-229.99, Z:-27.54 [[ 7.98863174e-01 5.98505251e-01 6.00757351e-02 4.61126413e+02] [-5.96858781e-01 8.01118775e-01 -4.43655682e-02 -2.29986086e+02] [-7.46808249e-02 -4.14711406e-04 9.97207402e-01 -2.75437793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.18, Y:-230.02, Z:-27.55 [[ 8.02116990e-01 5.94138493e-01 6.00648484e-02 4.61176281e+02] [-5.92478639e-01 8.04362761e-01 -4.43803025e-02 -2.30024650e+02] [-7.46819733e-02 1.10549828e-05 9.97207402e-01 -2.75476929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.23, Y:-230.06, Z:-27.55 [[ 8.07585541e-01 5.86684995e-01 6.00525683e-02 4.61225513e+02] [-5.85003181e-01 8.09814913e-01 -4.43969129e-02 -2.30062619e+02] [-7.46784680e-02 7.23361415e-04 9.97207402e-01 -2.75537826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.27, Y:-230.10, Z:-27.56 [[ 8.12390993e-01 5.80013845e-01 6.00401091e-02 4.61274332e+02] [-5.78312482e-01 8.14605482e-01 -4.44137557e-02 -2.30101072e+02] [-7.46695953e-02 1.35939060e-03 9.97207403e-01 -2.75601974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.33, Y:-230.14, Z:-27.56 [[ 8.14947318e-01 5.76417838e-01 6.00278609e-02 4.61325552e+02] [-5.74705487e-01 8.17153322e-01 -4.44303037e-02 -2.30137084e+02] [-7.46623856e-02 1.71001583e-03 9.97207403e-01 -2.75648808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.38, Y:-230.17, Z:-27.57 [[ 8.17958112e-01 5.72138649e-01 6.00157699e-02 4.61377717e+02] [-5.70413563e-01 8.20154171e-01 -4.44466302e-02 -2.30172092e+02] [-7.46518190e-02 2.12167257e-03 9.97207403e-01 -2.75699943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.43, Y:-230.21, Z:-27.58 [[ 8.21282558e-01 5.67357474e-01 6.00038082e-02 4.61430317e+02] [-5.65618429e-01 8.23467580e-01 -4.44627728e-02 -2.30206502e+02] [-7.46374772e-02 2.57724008e-03 9.97207403e-01 -2.75774756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.48, Y:-230.24, Z:-27.58 [[ 8.22271756e-01 5.65924264e-01 5.99907250e-02 4.61481143e+02] [-5.64180126e-01 8.24452714e-01 -4.44804181e-02 -2.30241602e+02] [-7.46320640e-02 2.72941668e-03 9.97207403e-01 -2.75825891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.53, Y:-230.27, Z:-27.58 [[ 8.21027362e-01 5.67729368e-01 5.99786271e-02 4.61534010e+02] [-5.65988836e-01 8.23211199e-01 -4.44967253e-02 -2.30274999e+02] [-7.46371753e-02 2.58579563e-03 9.97207404e-01 -2.75837282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.59, Y:-230.31, Z:-27.59 [[ 8.18745157e-01 5.71016940e-01 5.99668371e-02 4.61587180e+02] [-5.69284018e-01 8.20935037e-01 -4.45126087e-02 -2.30308162e+02] [-7.46463313e-02 2.30632086e-03 9.97207404e-01 -2.75882694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.64, Y:-230.34, Z:-27.59 [[ 8.14026748e-01 5.77724788e-01 5.99543424e-02 4.61641258e+02] [-5.76008679e-01 8.16229828e-01 -4.45294316e-02 -2.30338564e+02] [-7.46622790e-02 1.71392687e-03 9.97207404e-01 -2.75947999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.69, Y:-230.37, Z:-27.60 [[ 8.05600880e-01 5.89418037e-01 5.99466369e-02 4.61692122e+02] [-5.87733145e-01 8.07827925e-01 -4.45398025e-02 -2.30373888e+02] [-7.46791303e-02 6.48678704e-04 9.97207404e-01 -2.75965297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.75, Y:-230.40, Z:-27.60 [[ 8.02786133e-01 5.93246684e-01 5.99399355e-02 4.61747183e+02] [-5.91571740e-01 8.05020670e-01 -4.45488192e-02 -2.30401338e+02] [-7.46813263e-02 3.04402344e-04 9.97207404e-01 -2.76042772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.80, Y:-230.43, Z:-27.61 [[ 7.94699597e-01 6.04036855e-01 5.99335311e-02 4.61801658e+02] [-6.02391599e-01 7.96956082e-01 -4.45574337e-02 -2.30433792e+02] [-7.46787242e-02 -6.93681045e-04 9.97207404e-01 -2.76085000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.85, Y:-230.47, Z:-27.61 [[ 7.89797641e-01 6.10433594e-01 5.99208886e-02 4.61853277e+02] [-6.08805322e-01 7.92066412e-01 -4.45744288e-02 -2.30469855e+02] [-7.46710520e-02 -1.27537711e-03 9.97207404e-01 -2.76124616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.91, Y:-230.51, Z:-27.62 [[ 7.85697918e-01 6.15702664e-01 5.99083598e-02 4.61905171e+02] [-6.14088321e-01 7.87976620e-01 -4.45912613e-02 -2.30505152e+02] [-7.46613453e-02 -1.75376288e-03 9.97207405e-01 -2.76176221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:461.96, Y:-230.54, Z:-27.62 [[ 7.81893074e-01 6.20528577e-01 5.98957895e-02 4.61958079e+02] [-6.18927003e-01 7.84180769e-01 -4.46081396e-02 -2.30539367e+02] [-7.46497517e-02 -2.19232614e-03 9.97207405e-01 -2.76234757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.01, Y:-230.58, Z:-27.63 [[ 7.80787410e-01 6.21920437e-01 5.98831421e-02 4.62009250e+02] [-6.20321641e-01 7.83077047e-01 -4.46251114e-02 -2.30576587e+02] [-7.46463828e-02 -2.30408377e-03 9.97207405e-01 -2.76268435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.06, Y:-230.61, Z:-27.63 [[ 7.80881329e-01 6.21803721e-01 5.98705516e-02 4.62058684e+02] [-6.20203290e-01 7.83169823e-01 -4.46419969e-02 -2.30614102e+02] [-7.46473691e-02 -2.27181114e-03 9.97207405e-01 -2.76316764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.11, Y:-230.65, Z:-27.63 [[ 7.80220829e-01 6.22633416e-01 5.98589056e-02 4.62107939e+02] [-6.21034222e-01 7.82510187e-01 -4.46576071e-02 -2.30653008e+02] [-7.46455219e-02 -2.33163367e-03 9.97207406e-01 -2.76307774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.16, Y:-230.69, Z:-27.64 [[ 7.81287737e-01 6.21294516e-01 5.98547963e-02 4.62157881e+02] [-6.19690978e-01 7.83574054e-01 -4.46631142e-02 -2.30687178e+02] [-7.46496133e-02 -2.19673383e-03 9.97207406e-01 -2.76412941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.21, Y:-230.72, Z:-27.65 [[ 7.82364791e-01 6.19938701e-01 5.98443136e-02 4.62207444e+02] [-6.18330127e-01 7.84647568e-01 -4.46771556e-02 -2.30723704e+02] [-7.46537929e-02 -2.04970849e-03 9.97207406e-01 -2.76459027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.26, Y:-230.76, Z:-27.65 [[ 7.82503481e-01 6.19764765e-01 5.98325890e-02 4.62258012e+02] [-6.18154485e-01 7.84785055e-01 -4.46928520e-02 -2.30761401e+02] [-7.46547765e-02 -2.01347095e-03 9.97207406e-01 -2.76501353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.31, Y:-230.80, Z:-27.66 [[ 7.82539585e-01 6.19720416e-01 5.98197584e-02 4.62307277e+02] [-6.18108695e-01 7.84820142e-01 -4.47100186e-02 -2.30798588e+02] [-7.46554626e-02 -1.98775340e-03 9.97207406e-01 -2.76553850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.36, Y:-230.83, Z:-27.66 [[ 7.82461989e-01 6.19819529e-01 5.98079119e-02 4.62355687e+02] [-6.18206888e-01 7.84741894e-01 -4.47258600e-02 -2.30834959e+02] [-7.46557356e-02 -1.97737775e-03 9.97207406e-01 -2.76605301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.41, Y:-230.87, Z:-27.66 [[ 7.82275804e-01 6.20055467e-01 5.97978571e-02 4.62405800e+02] [-6.18442487e-01 7.84555470e-01 -4.47392991e-02 -2.30872639e+02] [-7.46555829e-02 -1.98306422e-03 9.97207406e-01 -2.76641564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.45, Y:-230.91, Z:-27.66 [[ 7.80262653e-01 6.22588069e-01 5.97853550e-02 4.62453058e+02] [-6.20981209e-01 7.82546637e-01 -4.47559995e-02 -2.30913307e+02] [-7.46493798e-02 -2.20414712e-03 9.97207407e-01 -2.76601426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.50, Y:-230.94, Z:-27.67 [[ 7.81680430e-01 6.20807300e-01 5.97829508e-02 4.62504403e+02] [-6.19194992e-01 7.83960570e-01 -4.47592107e-02 -2.30944616e+02] [-7.46543209e-02 -2.02990470e-03 9.97207407e-01 -2.76712422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.55, Y:-230.98, Z:-27.67 [[ 7.79396439e-01 6.23673247e-01 5.97735016e-02 4.62552606e+02] [-6.22068356e-01 7.81681805e-01 -4.47718261e-02 -2.30983566e+02] [-7.46468488e-02 -2.28820200e-03 9.97207407e-01 -2.76709952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.60, Y:-231.02, Z:-27.68 [[ 7.79803218e-01 6.23165668e-01 5.97619523e-02 4.62603490e+02] [-6.21558109e-01 7.82086709e-01 -4.47872369e-02 -2.31016182e+02] [-7.46488970e-02 -2.22029464e-03 9.97207407e-01 -2.76800066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.65, Y:-231.05, Z:-27.68 [[ 7.79062851e-01 6.24092019e-01 5.97513677e-02 4.62654716e+02] [-6.22486094e-01 7.81347491e-01 -4.48013536e-02 -2.31052852e+02] [-7.46467484e-02 -2.29132526e-03 9.97207407e-01 -2.76836971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.71, Y:-231.09, Z:-27.69 [[ 7.78867520e-01 6.24336997e-01 5.97385965e-02 4.62705268e+02] [-6.22730487e-01 7.81151749e-01 -4.48183763e-02 -2.31090236e+02] [-7.46466796e-02 -2.29346761e-03 9.97207407e-01 -2.76884394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.75, Y:-231.13, Z:-27.69 [[ 7.78725587e-01 6.24515226e-01 5.97259854e-02 4.62754496e+02] [-6.22907952e-01 7.81009277e-01 -4.48351759e-02 -2.31126191e+02] [-7.46467987e-02 -2.28949254e-03 9.97207408e-01 -2.76932902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.80, Y:-231.16, Z:-27.70 [[ 7.78829987e-01 6.24385987e-01 5.97159060e-02 4.62804794e+02] [-6.22777306e-01 7.81112687e-01 -4.48485967e-02 -2.31162639e+02] [-7.46476871e-02 -2.26027907e-03 9.97207408e-01 -2.76983886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.85, Y:-231.20, Z:-27.70 [[ 7.79988602e-01 6.22939092e-01 5.97048417e-02 4.62854863e+02] [-6.21325051e-01 7.82267514e-01 -4.48633213e-02 -2.31199496e+02] [-7.46522747e-02 -2.10323456e-03 9.97207408e-01 -2.77034262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.90, Y:-231.24, Z:-27.71 [[ 7.80842689e-01 6.21869246e-01 5.96936890e-02 4.62904828e+02] [-6.20250949e-01 7.83118581e-01 -4.48781558e-02 -2.31237829e+02] [-7.46555819e-02 -1.98228735e-03 9.97207408e-01 -2.77080757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:462.95, Y:-231.28, Z:-27.71 [[ 7.82906166e-01 6.19270639e-01 5.96809132e-02 4.62954474e+02] [-6.17643493e-01 7.85175739e-01 -4.48951391e-02 -2.31276305e+02] [-7.46622467e-02 -1.71284648e-03 9.97207408e-01 -2.77129422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.00, Y:-231.31, Z:-27.72 [[ 7.83852091e-01 6.18074102e-01 5.96682805e-02 4.63004494e+02] [-6.16442215e-01 7.86118258e-01 -4.49119225e-02 -2.31314922e+02] [-7.46652209e-02 -1.57774263e-03 9.97207408e-01 -2.77171932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.05, Y:-231.35, Z:-27.72 [[ 7.85292032e-01 6.16244789e-01 5.96555470e-02 4.63053118e+02] [-6.14606339e-01 7.87553458e-01 -4.49288299e-02 -2.31353861e+02] [-7.46690896e-02 -1.38242523e-03 9.97207409e-01 -2.77220577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.10, Y:-231.39, Z:-27.73 [[ 7.86493231e-01 6.14712231e-01 5.96428569e-02 4.63102266e+02] [-6.13068097e-01 7.88750528e-01 -4.49456696e-02 -2.31393467e+02] [-7.46719877e-02 -1.21566783e-03 9.97207409e-01 -2.77265408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.15, Y:-231.43, Z:-27.73 [[ 7.87039770e-01 6.14013549e-01 5.96302131e-02 4.63150778e+02] [-6.12366141e-01 7.89294678e-01 -4.49624382e-02 -2.31431969e+02] [-7.46733561e-02 -1.12829652e-03 9.97207409e-01 -2.77302422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.20, Y:-231.47, Z:-27.73 [[ 7.87237000e-01 6.13761734e-01 5.96191307e-02 4.63199365e+02] [-6.12112492e-01 7.89490567e-01 -4.49771284e-02 -2.31472295e+02] [-7.46739816e-02 -1.08595500e-03 9.97207409e-01 -2.77340463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.25, Y:-231.51, Z:-27.74 [[ 7.87057330e-01 6.13993344e-01 5.96064811e-02 4.63248155e+02] [-6.12343497e-01 7.89310454e-01 -4.49938862e-02 -2.31511665e+02] [-7.46739653e-02 -1.08687314e-03 9.97207410e-01 -2.77381276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.30, Y:-231.55, Z:-27.74 [[ 7.86078441e-01 6.15247327e-01 5.95937243e-02 4.63297132e+02] [-6.13599794e-01 7.88333257e-01 -4.50107760e-02 -2.31550655e+02] [-7.46724744e-02 -1.18469631e-03 9.97207410e-01 -2.77428101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.35, Y:-231.59, Z:-27.75 [[ 7.84924204e-01 6.16720438e-01 5.95809971e-02 4.63345610e+02] [-6.15075859e-01 7.87181175e-01 -4.50276168e-02 -2.31588928e+02] [-7.46704909e-02 -1.30356670e-03 9.97207410e-01 -2.77480418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.39, Y:-231.63, Z:-27.75 [[ 7.83225071e-01 6.18878012e-01 5.95692351e-02 4.63394240e+02] [-6.17238467e-01 7.85485702e-01 -4.50431720e-02 -2.31628669e+02] [-7.46670112e-02 -1.48948170e-03 9.97207410e-01 -2.77525994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.44, Y:-231.67, Z:-27.76 [[ 7.82135754e-01 6.20255304e-01 5.95568651e-02 4.63443145e+02] [-6.18618496e-01 7.84398366e-01 -4.50595219e-02 -2.31667959e+02] [-7.46647152e-02 -1.60031520e-03 9.97207410e-01 -2.77560288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.49, Y:-231.71, Z:-27.76 [[ 7.81013666e-01 6.21668845e-01 5.95441070e-02 4.63491131e+02] [-6.20034847e-01 7.83278309e-01 -4.50763749e-02 -2.31707373e+02] [-7.46621854e-02 -1.71415643e-03 9.97207411e-01 -2.77608151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.54, Y:-231.75, Z:-27.76 [[ 7.79722237e-01 6.23288970e-01 5.95322879e-02 4.63539127e+02] [-6.21658487e-01 7.81989411e-01 -4.50919790e-02 -2.31747382e+02] [-7.46589519e-02 -1.84953330e-03 9.97207411e-01 -2.77637729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.59, Y:-231.79, Z:-27.77 [[ 7.78523156e-01 6.24787242e-01 5.95197177e-02 4.63587286e+02] [-6.23159855e-01 7.80792554e-01 -4.51085651e-02 -2.31785891e+02] [-7.46558084e-02 -1.97223624e-03 9.97207411e-01 -2.77689161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.64, Y:-231.82, Z:-27.77 [[ 7.76277284e-01 6.27576214e-01 5.95119632e-02 4.63636171e+02] [-6.25956196e-01 7.78551948e-01 -4.51187934e-02 -2.31824993e+02] [-7.46486364e-02 -2.22718769e-03 9.97207411e-01 -2.77741725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.69, Y:-231.86, Z:-27.78 [[ 7.75432851e-01 6.28620454e-01 5.94997324e-02 4.63685142e+02] [-6.27002264e-01 7.77708815e-01 -4.51349168e-02 -2.31863858e+02] [-7.46461983e-02 -2.30736974e-03 9.97207411e-01 -2.77783201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.73, Y:-231.90, Z:-27.78 [[ 7.73821787e-01 6.30602957e-01 5.94958169e-02 4.63734179e+02] [-6.28990200e-01 7.76101605e-01 -4.51400775e-02 -2.31903537e+02] [-7.46402654e-02 -2.49191036e-03 9.97207411e-01 -2.77829157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.78, Y:-231.94, Z:-27.79 [[ 7.72686031e-01 6.31995274e-01 5.94833656e-02 4.63783829e+02] [-6.30385365e-01 7.74967860e-01 -4.51564793e-02 -2.31942087e+02] [-7.46363781e-02 -2.60566234e-03 9.97207412e-01 -2.77862005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.83, Y:-231.98, Z:-27.79 [[ 7.72380063e-01 6.32370372e-01 5.94705878e-02 4.63833765e+02] [-6.30760279e-01 7.74661761e-01 -4.51733014e-02 -2.31980854e+02] [-7.46358476e-02 -2.62072716e-03 9.97207412e-01 -2.77910278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.88, Y:-232.02, Z:-27.80 [[ 7.72341859e-01 6.32418220e-01 5.94579446e-02 4.63881570e+02] [-6.30806990e-01 7.74622754e-01 -4.51899365e-02 -2.32018624e+02] [-7.46364160e-02 -2.60440750e-03 9.97207412e-01 -2.77966684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.93, Y:-232.06, Z:-27.80 [[ 7.72782628e-01 6.31880500e-01 5.94478296e-02 4.63929987e+02] [-6.30266660e-01 7.75061678e-01 -4.52032390e-02 -2.32057431e+02] [-7.46387797e-02 -2.53570721e-03 9.97207412e-01 -2.78025040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:463.98, Y:-232.10, Z:-27.81 [[ 7.73475948e-01 6.31032651e-01 5.94369458e-02 4.63979435e+02] [-6.29415216e-01 7.75752447e-01 -4.52175454e-02 -2.32095908e+02] [-7.46421037e-02 -2.43583424e-03 9.97207412e-01 -2.78069359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.03, Y:-232.13, Z:-27.81 [[ 7.74289806e-01 6.30034972e-01 5.94241538e-02 4.64028088e+02] [-6.28413315e-01 7.76563300e-01 -4.52343501e-02 -2.32134423e+02] [-7.46458395e-02 -2.31843329e-03 9.97207413e-01 -2.78123209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.08, Y:-232.17, Z:-27.82 [[ 7.75713365e-01 6.28282539e-01 5.94123378e-02 4.64076983e+02] [-6.26654559e-01 7.77982335e-01 -4.52498644e-02 -2.32174438e+02] [-7.46514490e-02 -2.13008775e-03 9.97207413e-01 -2.78156145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.13, Y:-232.21, Z:-27.82 [[ 7.77119223e-01 6.26544016e-01 5.93995743e-02 4.64126449e+02] [-6.24909681e-01 7.79383619e-01 -4.52666129e-02 -2.32213714e+02] [-7.46565806e-02 -1.94181392e-03 9.97207413e-01 -2.78195082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.18, Y:-232.25, Z:-27.82 [[ 7.77196683e-01 6.26449169e-01 5.93864864e-02 4.64176060e+02] [-6.24813247e-01 7.79459933e-01 -4.52837768e-02 -2.32252121e+02] [-7.46573710e-02 -1.91106224e-03 9.97207413e-01 -2.78244573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.22, Y:-232.29, Z:-27.83 [[ 7.76775802e-01 6.26972200e-01 5.93735073e-02 4.64224321e+02] [-6.25336502e-01 7.79039214e-01 -4.53007879e-02 -2.32290552e+02] [-7.46566251e-02 -1.93986551e-03 9.97207413e-01 -2.78290049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.27, Y:-232.33, Z:-27.83 [[ 7.76315345e-01 6.27543382e-01 5.93615148e-02 4.64273703e+02] [-6.25908150e-01 7.78579092e-01 -4.53164972e-02 -2.32328486e+02] [-7.46557023e-02 -1.97496373e-03 9.97207414e-01 -2.78337532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.32, Y:-232.37, Z:-27.84 [[ 7.75351073e-01 6.28735585e-01 5.93487838e-02 4.64323043e+02] [-6.27102559e-01 7.77616412e-01 -4.53331643e-02 -2.32366401e+02] [-7.46531619e-02 -2.06865657e-03 9.97207414e-01 -2.78390458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.37, Y:-232.40, Z:-27.85 [[ 7.74904147e-01 6.29287525e-01 5.93361128e-02 4.64371449e+02] [-6.27654844e-01 7.77169735e-01 -4.53497432e-02 -2.32403392e+02] [-7.46522587e-02 -2.10089453e-03 9.97207414e-01 -2.78456728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.42, Y:-232.44, Z:-27.85 [[ 7.74888047e-01 6.29307932e-01 5.93299327e-02 4.64419858e+02] [-6.27674693e-01 7.77153233e-01 -4.53578270e-02 -2.32443034e+02] [-7.46524893e-02 -2.09265936e-03 9.97207414e-01 -2.78493488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.47, Y:-232.48, Z:-27.85 [[ 7.74686440e-01 6.29556470e-01 5.93259754e-02 4.64469362e+02] [-6.27923561e-01 7.76951864e-01 -4.53630025e-02 -2.32482222e+02] [-7.46519988e-02 -2.11007484e-03 9.97207414e-01 -2.78527135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.52, Y:-232.52, Z:-27.86 [[ 7.74324256e-01 6.30003093e-01 5.93131455e-02 4.64518454e+02] [-6.28370208e-01 7.76589697e-01 -4.53797717e-02 -2.32520596e+02] [-7.46513742e-02 -2.13195560e-03 9.97207414e-01 -2.78558800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.57, Y:-232.56, Z:-27.86 [[ 7.73732125e-01 6.30731231e-01 5.93018822e-02 4.64568175e+02] [-6.29099352e-01 7.75998290e-01 -4.53944857e-02 -2.32559380e+02] [-7.46498790e-02 -2.18360376e-03 9.97207414e-01 -2.78607567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.62, Y:-232.60, Z:-27.87 [[ 7.72755648e-01 6.31928400e-01 5.92891709e-02 4.64617198e+02] [-6.30298760e-01 7.75023424e-01 -4.54110816e-02 -2.32598047e+02] [-7.46470484e-02 -2.27822109e-03 9.97207415e-01 -2.78652912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.67, Y:-232.63, Z:-27.87 [[ 7.71537287e-01 6.33416577e-01 5.92760887e-02 4.64665823e+02] [-6.31790001e-01 7.73807262e-01 -4.54281517e-02 -2.32634356e+02] [-7.46432123e-02 -2.40052717e-03 9.97207415e-01 -2.78716142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.71, Y:-232.67, Z:-27.88 [[ 7.70867525e-01 6.34232486e-01 5.92656063e-02 4.64714992e+02] [-6.32607264e-01 7.73138468e-01 -4.54418231e-02 -2.32671455e+02] [-7.46412005e-02 -2.46222734e-03 9.97207415e-01 -2.78770665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.76, Y:-232.71, Z:-27.88 [[ 7.71359678e-01 6.33634897e-01 5.92542406e-02 4.64763298e+02] [-6.32006779e-01 7.73628545e-01 -4.54566386e-02 -2.32709208e+02] [-7.46436845e-02 -2.38566360e-03 9.97207415e-01 -2.78824841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.81, Y:-232.75, Z:-27.89 [[ 7.72503840e-01 6.32240447e-01 5.92438499e-02 4.64812472e+02] [-6.30607196e-01 7.74769016e-01 -4.54701768e-02 -2.32747261e+02] [-7.46483842e-02 -2.23371187e-03 9.97207415e-01 -2.78855761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.86, Y:-232.78, Z:-27.89 [[ 7.74228758e-01 6.30128041e-01 5.92324410e-02 4.64861073e+02] [-6.28487473e-01 7.76488640e-01 -4.54850341e-02 -2.32784877e+02] [-7.46547129e-02 -2.01102567e-03 9.97207416e-01 -2.78897920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.91, Y:-232.82, Z:-27.89 [[ 7.76201820e-01 6.27696971e-01 5.92220094e-02 4.64910246e+02] [-6.26048289e-01 7.78455789e-01 -4.54986121e-02 -2.32823083e+02] [-7.46610570e-02 -1.75973212e-03 9.97207416e-01 -2.78935971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:464.96, Y:-232.86, Z:-27.90 [[ 7.77046156e-01 6.26652496e-01 5.92108249e-02 4.64960036e+02] [-6.24999676e-01 7.79297092e-01 -4.55131627e-02 -2.32861789e+02] [-7.46637606e-02 -1.64091822e-03 9.97207416e-01 -2.78977647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.01, Y:-232.90, Z:-27.90 [[ 7.77769707e-01 6.25755455e-01 5.91979146e-02 4.65010206e+02] [-6.24098763e-01 7.80017794e-01 -4.55299487e-02 -2.32900140e+02] [-7.46660405e-02 -1.53353039e-03 9.97207416e-01 -2.79028305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.06, Y:-232.94, Z:-27.91 [[ 7.79013850e-01 6.24207135e-01 5.91850893e-02 4.65059881e+02] [-6.22544708e-01 7.81257699e-01 -4.55466144e-02 -2.32938039e+02] [-7.46693283e-02 -1.36392076e-03 9.97207416e-01 -2.79077248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.11, Y:-232.98, Z:-27.91 [[ 7.80981842e-01 6.21744337e-01 5.91721377e-02 4.65108836e+02] [-6.20073559e-01 7.83219481e-01 -4.55634343e-02 -2.32976590e+02] [-7.46735782e-02 -1.10686321e-03 9.97207417e-01 -2.79114783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.16, Y:-233.01, Z:-27.92 [[ 7.81876818e-01 6.20619557e-01 5.91608492e-02 4.65157134e+02] [-6.18944452e-01 7.84111219e-01 -4.55780869e-02 -2.33014409e+02] [-7.46753377e-02 -9.80829787e-04 9.97207417e-01 -2.79177194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.21, Y:-233.05, Z:-27.92 [[ 7.83149666e-01 6.19013736e-01 5.91489276e-02 4.65206659e+02] [-6.17332881e-01 7.85379744e-01 -4.55935529e-02 -2.33053285e+02] [-7.46774051e-02 -8.08002125e-04 9.97207417e-01 -2.79202931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.26, Y:-233.09, Z:-27.92 [[ 7.82698341e-01 6.19585547e-01 5.91359098e-02 4.65256067e+02] [-6.17905047e-01 7.84928686e-01 -4.56104311e-02 -2.33091443e+02] [-7.46770359e-02 -8.41168369e-04 9.97207417e-01 -2.79248428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.31, Y:-233.13, Z:-27.93 [[ 7.81405204e-01 6.21216847e-01 5.91230587e-02 4.65306417e+02] [-6.19539742e-01 7.83638103e-01 -4.56270834e-02 -2.33128642e+02] [-7.46753945e-02 -9.75844161e-04 9.97207417e-01 -2.79304423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.36, Y:-233.17, Z:-27.94 [[ 7.80398546e-01 6.22482205e-01 5.91101857e-02 4.65356223e+02] [-6.20807458e-01 7.82633214e-01 -4.56437544e-02 -2.33166100e+02] [-7.46740195e-02 -1.07572453e-03 9.97207418e-01 -2.79355344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.41, Y:-233.20, Z:-27.94 [[ 7.79937025e-01 6.23061575e-01 5.90974787e-02 4.65406198e+02] [-6.21387242e-01 7.82172002e-01 -4.56602010e-02 -2.33203665e+02] [-7.46735100e-02 -1.11033795e-03 9.97207418e-01 -2.79400604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.46, Y:-233.24, Z:-27.94 [[ 7.80763907e-01 6.22026292e-01 5.90847945e-02 4.65456097e+02] [-6.20347755e-01 7.82995728e-01 -4.56766086e-02 -2.33242541e+02] [-7.46751932e-02 -9.90472228e-04 9.97207418e-01 -2.79437918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.51, Y:-233.28, Z:-27.95 [[ 7.81731861e-01 6.20810595e-01 5.90720214e-02 4.65505716e+02] [-6.19127338e-01 7.83960125e-01 -4.56931218e-02 -2.33280699e+02] [-7.46768833e-02 -8.53334259e-04 9.97207418e-01 -2.79473842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.56, Y:-233.32, Z:-27.95 [[ 7.82109058e-01 6.20336543e-01 5.90592436e-02 4.65555745e+02] [-6.18650690e-01 7.84335358e-01 -4.57096314e-02 -2.33319291e+02] [-7.46776076e-02 -7.87125017e-04 9.97207418e-01 -2.79518679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.61, Y:-233.36, Z:-27.96 [[ 7.82774656e-01 6.19497651e-01 5.90465717e-02 4.65605231e+02] [-6.17808178e-01 7.84998210e-01 -4.57259948e-02 -2.33357335e+02] [-7.46785994e-02 -6.86304991e-04 9.97207419e-01 -2.79574895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.65, Y:-233.40, Z:-27.96 [[ 7.83084699e-01 6.19106885e-01 5.90340471e-02 4.65654931e+02] [-6.17415083e-01 7.85306482e-01 -4.57421588e-02 -2.33395212e+02] [-7.46791053e-02 -6.28526389e-04 9.97207419e-01 -2.79616495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.71, Y:-233.43, Z:-27.97 [[ 7.82892888e-01 6.19350648e-01 5.90211965e-02 4.65705102e+02] [-6.17658288e-01 7.85114245e-01 -4.57587339e-02 -2.33433101e+02] [-7.46790836e-02 -6.30743864e-04 9.97207419e-01 -2.79659020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.76, Y:-233.47, Z:-27.97 [[ 7.82452377e-01 6.19908307e-01 5.90082023e-02 4.65755050e+02] [-6.18216268e-01 7.84673978e-01 -4.57754846e-02 -2.33470307e+02] [-7.46788040e-02 -6.62693850e-04 9.97207419e-01 -2.79708003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.81, Y:-233.51, Z:-27.97 [[ 7.82051067e-01 6.20415729e-01 5.89953533e-02 4.65805652e+02] [-6.18723882e-01 7.84272814e-01 -4.57920384e-02 -2.33507678e+02] [-7.46785526e-02 -6.90121541e-04 9.97207420e-01 -2.79747955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.86, Y:-233.54, Z:-27.98 [[ 7.81481415e-01 6.21134336e-01 5.89824856e-02 4.65856625e+02] [-6.19443282e-01 7.83703765e-01 -4.58086067e-02 -2.33544963e+02] [-7.46780945e-02 -7.37729695e-04 9.97207420e-01 -2.79793306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.91, Y:-233.58, Z:-27.98 [[ 7.81405155e-01 6.21231483e-01 5.89697189e-02 4.65907417e+02] [-6.19539465e-01 7.83626771e-01 -4.58250355e-02 -2.33581565e+02] [-7.46782052e-02 -7.26149144e-04 9.97207420e-01 -2.79843600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:465.96, Y:-233.62, Z:-27.99 [[ 7.81616914e-01 6.20966254e-01 5.89568528e-02 4.65958197e+02] [-6.19272235e-01 7.83837004e-01 -4.58415825e-02 -2.33619010e+02] [-7.46786387e-02 -6.79785702e-04 9.97207420e-01 -2.79881500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.01, Y:-233.66, Z:-27.99 [[ 7.81342177e-01 6.21313140e-01 5.89439129e-02 4.66008570e+02] [-6.19618851e-01 7.83562061e-01 -4.58582149e-02 -2.33656672e+02] [-7.46785254e-02 -6.91802181e-04 9.97207420e-01 -2.79923186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.06, Y:-233.69, Z:-28.00 [[ 7.80806174e-01 6.21987825e-01 5.89310062e-02 4.66058890e+02] [-6.20294203e-01 7.83026567e-01 -4.58747949e-02 -2.33694171e+02] [-7.46781074e-02 -7.35238397e-04 9.97207421e-01 -2.79970317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.11, Y:-233.73, Z:-28.00 [[ 7.79449623e-01 6.23688210e-01 5.89177641e-02 4.66108944e+02] [-6.21998146e-01 7.81672725e-01 -4.58917956e-02 -2.33731176e+02] [-7.46765811e-02 -8.76397297e-04 9.97207421e-01 -2.80019050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.16, Y:-233.77, Z:-28.01 [[ 7.78020186e-01 6.25471603e-01 5.89055496e-02 4.66159160e+02] [-6.23785449e-01 7.80246254e-01 -4.59074686e-02 -2.33768596e+02] [-7.46746524e-02 -1.02748747e-03 9.97207421e-01 -2.80062722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.21, Y:-233.81, Z:-28.01 [[ 7.75227799e-01 6.28930464e-01 5.88925387e-02 4.66209787e+02] [-6.27252974e-01 7.77460403e-01 -4.59241537e-02 -2.33805426e+02] [-7.46697162e-02 -1.33883946e-03 9.97207421e-01 -2.80105581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.26, Y:-233.84, Z:-28.02 [[ 7.72524023e-01 6.32249822e-01 5.88795151e-02 4.66259872e+02] [-6.30580652e-01 7.74762854e-01 -4.59408452e-02 -2.33842581e+02] [-7.46637524e-02 -1.63787642e-03 9.97207421e-01 -2.80150452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.31, Y:-233.88, Z:-28.02 [[ 7.71385819e-01 6.33639209e-01 5.88665472e-02 4.66309319e+02] [-6.31972805e-01 7.73626710e-01 -4.59574557e-02 -2.33880472e+02] [-7.46611791e-02 -1.75112728e-03 9.97207422e-01 -2.80196324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.36, Y:-233.92, Z:-28.02 [[ 7.70926378e-01 6.34199330e-01 5.88534546e-02 4.66358804e+02] [-6.32533276e-01 7.73167528e-01 -4.59742161e-02 -2.33919194e+02] [-7.46603971e-02 -1.78403255e-03 9.97207422e-01 -2.80241591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.41, Y:-233.96, Z:-28.03 [[ 7.71470453e-01 6.33538579e-01 5.88405389e-02 4.66407997e+02] [-6.31869345e-01 7.73709236e-01 -4.59907404e-02 -2.33958549e+02] [-7.46623768e-02 -1.69903544e-03 9.97207422e-01 -2.80282393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.46, Y:-234.00, Z:-28.03 [[ 7.71780538e-01 6.33161999e-01 5.88275744e-02 4.66457589e+02] [-6.31490410e-01 7.74017563e-01 -4.60073177e-02 -2.33997652e+02] [-7.46636610e-02 -1.64149670e-03 9.97207422e-01 -2.80334903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.50, Y:-234.04, Z:-28.04 [[ 7.73898033e-01 6.30573283e-01 5.88147088e-02 4.66504508e+02] [-6.28892962e-01 7.76128505e-01 -4.60237589e-02 -2.34037073e+02] [-7.46691248e-02 -1.37045993e-03 9.97207423e-01 -2.80395257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.55, Y:-234.08, Z:-28.04 [[ 7.75224730e-01 6.28942114e-01 5.88084678e-02 4.66552635e+02] [-6.27256494e-01 7.77451201e-01 -4.60317321e-02 -2.34077182e+02] [-7.46720089e-02 -1.20305628e-03 9.97207423e-01 -2.80437934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.60, Y:-234.12, Z:-28.05 [[ 7.76093326e-01 6.27871197e-01 5.87954839e-02 4.66601641e+02] [-6.26181249e-01 7.78316514e-01 -4.60483103e-02 -2.34116708e+02] [-7.46739038e-02 -1.07884321e-03 9.97207423e-01 -2.80483033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:466.65, Y:-234.16, Z:-28.05 [[ 7.78660867e-01 6.24685444e-01 5.87822282e-02 4.66647783e+02] [-6.22985123e-01 7.80876131e-01 -4.60652255e-02 -2.34157329e+02] [-7.46779148e-02 -7.51265248e-04 9.97207423e-01 -2.80535295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.69, Y:-234.20, Z:-28.06 [[ 7.80054400e-01 6.22945215e-01 5.87740853e-02 4.66694697e+02] [-6.21239169e-01 7.82265258e-01 -4.60756126e-02 -2.34198829e+02] [-7.46795073e-02 -5.71279593e-04 9.97207423e-01 -2.80572310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.74, Y:-234.24, Z:-28.06 [[ 7.80251056e-01 6.22700120e-01 5.87609591e-02 4.66742576e+02] [-6.20992119e-01 7.82460404e-01 -4.60923465e-02 -2.34239059e+02] [-7.46798335e-02 -5.26490441e-04 9.97207423e-01 -2.80614058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.79, Y:-234.28, Z:-28.07 [[ 7.79758957e-01 6.23317461e-01 5.87478702e-02 4.66790082e+02] [-6.21609953e-01 7.81968685e-01 -4.61090233e-02 -2.34279732e+02] [-7.46795541e-02 -5.64336910e-04 9.97207424e-01 -2.80666951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.84, Y:-234.32, Z:-28.07 [[ 7.78551633e-01 6.24826027e-01 5.87349198e-02 4.66838238e+02] [-6.23121557e-01 7.80763705e-01 -4.61255139e-02 -2.34319696e+02] [-7.46785152e-02 -6.87900498e-04 9.97207424e-01 -2.80723065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.89, Y:-234.36, Z:-28.08 [[ 7.76175725e-01 6.27776200e-01 5.87221158e-02 4.66885903e+02] [-6.26078904e-01 7.78393306e-01 -4.61418089e-02 -2.34360377e+02] [-7.46756313e-02 -9.50525912e-04 9.97207424e-01 -2.80771906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.93, Y:-234.40, Z:-28.08 [[ 7.73182875e-01 6.31459782e-01 5.87093349e-02 4.66933887e+02] [-6.29771816e-01 7.75407566e-01 -4.61580653e-02 -2.34400707e+02] [-7.46706243e-02 -1.28485884e-03 9.97207424e-01 -2.80819846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:466.98, Y:-234.44, Z:-28.09 [[ 7.71084905e-01 6.34021163e-01 5.86961135e-02 4.66982165e+02] [-6.32339307e-01 7.73314219e-01 -4.61748720e-02 -2.34440947e+02] [-7.46663852e-02 -1.51111296e-03 9.97207425e-01 -2.80871137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.03, Y:-234.48, Z:-28.09 [[ 7.68761605e-01 6.36837413e-01 5.86830828e-02 4.67029449e+02] [-6.35162461e-01 7.70996109e-01 -4.61914266e-02 -2.34482611e+02] [-7.46608571e-02 -1.76309600e-03 9.97207425e-01 -2.80918886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.08, Y:-234.52, Z:-28.10 [[ 7.67755081e-01 6.38051680e-01 5.86701783e-02 4.67077380e+02] [-6.36379011e-01 7.69991294e-01 -4.62078115e-02 -2.34523547e+02] [-7.46584983e-02 -1.86018798e-03 9.97207425e-01 -2.80970382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.13, Y:-234.56, Z:-28.10 [[ 7.67136818e-01 6.38796072e-01 5.86573251e-02 4.67125344e+02] [-6.37124326e-01 7.69373722e-01 -4.62241219e-02 -2.34564411e+02] [-7.46571920e-02 -1.91178296e-03 9.97207425e-01 -2.81019936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.17, Y:-234.61, Z:-28.11 [[ 7.66747229e-01 6.39264835e-01 5.86443329e-02 4.67172660e+02] [-6.37593198e-01 7.68984214e-01 -4.62405992e-02 -2.34606027e+02] [-7.46565553e-02 -1.93637647e-03 9.97207425e-01 -2.81059786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.22, Y:-234.65, Z:-28.11 [[ 7.66220216e-01 6.39897623e-01 5.86311663e-02 4.67220386e+02] [-6.38226557e-01 7.68457627e-01 -4.62572879e-02 -2.34646960e+02] [-7.46554955e-02 -1.97669825e-03 9.97207426e-01 -2.81099970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.27, Y:-234.69, Z:-28.12 [[ 7.66110620e-01 6.40030058e-01 5.86177771e-02 4.67266251e+02] [-6.38358083e-01 7.68347351e-01 -4.62742487e-02 -2.34687723e+02] [-7.46557238e-02 -1.96793843e-03 9.97207426e-01 -2.81153020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.31, Y:-234.73, Z:-28.12 [[ 7.66996671e-01 6.38969100e-01 5.86054165e-02 4.67312806e+02] [-6.37292836e-01 7.69230191e-01 -4.62898979e-02 -2.34729568e+02] [-7.46588701e-02 -1.84461455e-03 9.97207426e-01 -2.81208781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.36, Y:-234.77, Z:-28.13 [[ 7.67405163e-01 6.38479654e-01 5.85922114e-02 4.67360077e+02] [-6.36800691e-01 7.69636653e-01 -4.63066064e-02 -2.34769220e+02] [-7.46605396e-02 -1.77563187e-03 9.97207426e-01 -2.81255503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.41, Y:-234.81, Z:-28.13 [[ 7.69503154e-01 6.35950313e-01 5.85840806e-02 4.67407214e+02] [-6.34263232e-01 7.71728513e-01 -4.63168907e-02 -2.34811090e+02] [-7.46662466e-02 -1.51673479e-03 9.97207426e-01 -2.81309654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.46, Y:-234.85, Z:-28.14 [[ 7.70692512e-01 6.34509649e-01 5.85709602e-02 4.67455649e+02] [-6.32817147e-01 7.72913751e-01 -4.63334765e-02 -2.34851535e+02] [-7.46693385e-02 -1.35584454e-03 9.97207427e-01 -2.81356113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.50, Y:-234.89, Z:-28.14 [[ 7.71478039e-01 6.33555535e-01 5.85578350e-02 4.67504300e+02] [-6.31859028e-01 7.73696220e-01 -4.63500586e-02 -2.34890745e+02] [-7.46713118e-02 -1.24224443e-03 9.97207427e-01 -2.81392706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.55, Y:-234.93, Z:-28.14 [[ 7.71507801e-01 6.33520512e-01 5.85446274e-02 4.67554173e+02] [-6.31822640e-01 7.73724937e-01 -4.63667351e-02 -2.34927216e+02] [-7.46717159e-02 -1.21752323e-03 9.97207427e-01 -2.81444686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.60, Y:-234.97, Z:-28.15 [[ 7.71860851e-01 6.33091444e-01 5.85324702e-02 4.67603763e+02] [-6.31391176e-01 7.74076150e-01 -4.63820771e-02 -2.34965944e+02] [-7.46726854e-02 -1.15637570e-03 9.97207427e-01 -2.81496066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.65, Y:-235.00, Z:-28.16 [[ 7.73064337e-01 6.31622526e-01 5.85193523e-02 4.67653132e+02] [-6.29916796e-01 7.75275433e-01 -4.63986219e-02 -2.35004972e+02] [-7.46750310e-02 -9.93203037e-04 9.97207427e-01 -2.81553440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.70, Y:-235.04, Z:-28.16 [[ 7.73587671e-01 6.30982667e-01 5.85063142e-02 4.67702739e+02] [-6.29273866e-01 7.75796394e-01 -4.64150564e-02 -2.35043617e+02] [-7.46760837e-02 -9.10379139e-04 9.97207428e-01 -2.81602564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.75, Y:-235.08, Z:-28.17 [[ 7.74954767e-01 6.29304087e-01 5.84933863e-02 4.67752658e+02] [-6.27589271e-01 7.77158823e-01 -4.64313428e-02 -2.35081195e+02] [-7.46780850e-02 -7.27631289e-04 9.97207428e-01 -2.81650068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.80, Y:-235.12, Z:-28.17 [[ 7.76127414e-01 6.27858494e-01 5.84803280e-02 4.67801228e+02] [-6.26138334e-01 7.78327303e-01 -4.64477839e-02 -2.35119249e+02] [-7.46794716e-02 -5.67376719e-04 9.97207428e-01 -2.81696209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.85, Y:-235.16, Z:-28.17 [[ 7.78697112e-01 6.24669728e-01 5.84682648e-02 4.67850427e+02] [-6.22939420e-01 7.80889027e-01 -4.64629641e-02 -2.35157874e+02] [-7.46812336e-02 -2.41610955e-04 9.97207428e-01 -2.81729739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.90, Y:-235.20, Z:-28.18 [[ 7.80256122e-01 6.22722547e-01 5.84552197e-02 4.67899995e+02] [-6.20985540e-01 7.82442731e-01 -4.64793704e-02 -2.35196406e+02] [-7.46816137e-02 -3.40328768e-05 9.97207429e-01 -2.81769547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:467.95, Y:-235.23, Z:-28.18 [[ 7.82121238e-01 6.20379641e-01 5.84420242e-02 4.67950434e+02] [-6.18634843e-01 7.84301636e-01 -4.64959562e-02 -2.35234440e+02] [-7.46813198e-02 2.11202311e-04 9.97207429e-01 -2.81816488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.00, Y:-235.27, Z:-28.19 [[ 7.83971268e-01 6.18041342e-01 5.84290221e-02 4.68000646e+02] [-6.16288823e-01 7.86145466e-01 -4.65122896e-02 -2.35271619e+02] [-7.46802286e-02 4.55145424e-04 9.97207429e-01 -2.81863186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.05, Y:-235.31, Z:-28.19 [[ 7.85086779e-01 6.16624960e-01 5.84158139e-02 4.68049822e+02] [-6.14867286e-01 7.87256810e-01 -4.65288721e-02 -2.35309064e+02] [-7.46791112e-02 6.11229361e-04 9.97207429e-01 -2.81908578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.10, Y:-235.35, Z:-28.20 [[ 7.85373570e-01 6.16260800e-01 5.84036199e-02 4.68101077e+02] [-6.14500981e-01 7.87541862e-01 -4.65441732e-02 -2.35345403e+02] [-7.46786449e-02 6.65481715e-04 9.97207429e-01 -2.81959599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.15, Y:-235.38, Z:-28.20 [[ 7.83983562e-01 6.18029388e-01 5.83904883e-02 4.68151508e+02] [-6.16273235e-01 7.86154823e-01 -4.65606413e-02 -2.35379788e+02] [-7.46798086e-02 5.18282298e-04 9.97207430e-01 -2.82017016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.20, Y:-235.42, Z:-28.21 [[ 7.82073477e-01 6.20445689e-01 5.83799956e-02 4.68202455e+02] [-6.18695262e-01 7.84249357e-01 -4.65737937e-02 -2.35416757e+02] [-7.46809836e-02 3.04702073e-04 9.97207430e-01 -2.82069310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.25, Y:-235.45, Z:-28.21 [[ 7.80057865e-01 6.22979147e-01 5.83670267e-02 4.68253099e+02] [-6.21234571e-01 7.82238439e-01 -4.65900410e-02 -2.35453129e+02] [-7.46815558e-02 8.33131349e-05 9.97207430e-01 -2.82118286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.31, Y:-235.49, Z:-28.22 [[ 7.76939032e-01 6.26865654e-01 5.83540219e-02 4.68305115e+02] [-6.25130763e-01 7.79127319e-01 -4.66063239e-02 -2.35489003e+02] [-7.46811163e-02 -2.68622099e-04 9.97207430e-01 -2.82163627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.36, Y:-235.53, Z:-28.22 [[ 7.74377553e-01 6.30028375e-01 5.83408260e-02 4.68355884e+02] [-6.28301177e-01 7.76571917e-01 -4.66228363e-02 -2.35525282e+02] [-7.46795569e-02 -5.51931789e-04 9.97207430e-01 -2.82211144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.41, Y:-235.56, Z:-28.23 [[ 7.72820382e-01 6.31938702e-01 5.83278230e-02 4.68405974e+02] [-6.30215700e-01 7.75018042e-01 -4.66390982e-02 -2.35562942e+02] [-7.46781663e-02 -7.15464199e-04 9.97207431e-01 -2.82256106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.46, Y:-235.60, Z:-28.23 [[ 7.71679213e-01 6.33332917e-01 5.83147382e-02 4.68457762e+02] [-6.31612651e-01 7.73879014e-01 -4.66554530e-02 -2.35599337e+02] [-7.46769862e-02 -8.29283112e-04 9.97207431e-01 -2.82307854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.51, Y:-235.64, Z:-28.24 [[ 7.72059841e-01 6.32870071e-01 5.83015960e-02 4.68508321e+02] [-6.31147246e-01 7.74257639e-01 -4.66718699e-02 -2.35636462e+02] [-7.46776857e-02 -7.63415324e-04 9.97207431e-01 -2.82363319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.56, Y:-235.67, Z:-28.24 [[ 7.73229997e-01 6.31441080e-01 5.82883784e-02 4.68558083e+02] [-6.29712949e-01 7.75423625e-01 -4.66883716e-02 -2.35674746e+02] [-7.46791414e-02 -6.04097205e-04 9.97207431e-01 -2.82421687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.61, Y:-235.71, Z:-28.25 [[ 7.75469189e-01 6.28690355e-01 5.82749903e-02 4.68607644e+02] [-6.26953187e-01 7.77655667e-01 -4.67050763e-02 -2.35713228e+02] [-7.46809074e-02 -3.17343246e-04 9.97207431e-01 -2.82483389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.66, Y:-235.75, Z:-28.25 [[ 7.76901638e-01 6.26920592e-01 5.82616190e-02 4.68655846e+02] [-6.25177192e-01 7.79083151e-01 -4.67217502e-02 -2.35751372e+02] [-7.46814730e-02 -1.25631069e-04 9.97207432e-01 -2.82540211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:468.71, Y:-235.79, Z:-28.26 [[ 7.78097818e-01 6.25436491e-01 5.82493002e-02 4.68705039e+02] [-6.23687782e-01 7.80275076e-01 -4.67371033e-02 -2.35789915e+02] [-7.46815671e-02 3.66613021e-05 9.97207432e-01 -2.82591435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.75, Y:-235.83, Z:-28.26 [[ 7.78012465e-01 6.25543883e-01 5.82362053e-02 4.68753973e+02] [-6.23794253e-01 7.80188983e-01 -4.67534143e-02 -2.35828366e+02] [-7.46815581e-02 4.73289545e-05 9.97207432e-01 -2.82640869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.80, Y:-235.87, Z:-28.27 [[ 7.76846998e-01 6.26991885e-01 5.82230002e-02 4.68803076e+02] [-6.25245079e-01 7.79025784e-01 -4.67698532e-02 -2.35867024e+02] [-7.46815368e-02 -7.06243048e-05 9.97207432e-01 -2.82690389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.85, Y:-235.91, Z:-28.28 [[ 7.75925744e-01 6.28132853e-01 5.82096104e-02 4.68850789e+02] [-6.26388001e-01 7.78106094e-01 -4.67865123e-02 -2.35905066e+02] [-7.46813980e-02 -1.58942148e-04 9.97207433e-01 -2.82760512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.90, Y:-235.94, Z:-28.28 [[ 7.74488619e-01 6.29904578e-01 5.82031065e-02 4.68899995e+02] [-6.28164106e-01 7.76672467e-01 -4.67946018e-02 -2.35944978e+02] [-7.46808842e-02 -3.19215794e-04 9.97207433e-01 -2.82789573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:468.95, Y:-235.98, Z:-28.28 [[ 7.74002573e-01 6.30502932e-01 5.81899508e-02 4.68948902e+02] [-6.28762919e-01 7.76186786e-01 -4.68109555e-02 -2.35984459e+02] [-7.46807155e-02 -3.55883265e-04 9.97207433e-01 -2.82828933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.00, Y:-236.02, Z:-28.29 [[ 7.73109240e-01 6.31599246e-01 5.81764166e-02 4.68997524e+02] [-6.29861065e-01 7.75294911e-01 -4.68277696e-02 -2.36023080e+02] [-7.46802637e-02 -4.40078353e-04 9.97207433e-01 -2.82872621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.05, Y:-236.06, Z:-28.29 [[ 7.72760031e-01 6.32027605e-01 5.81639053e-02 4.69046318e+02] [-6.30289467e-01 7.74945736e-01 -4.68433046e-02 -2.36063225e+02] [-7.46801320e-02 -4.61463345e-04 9.97207433e-01 -2.82917655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.09, Y:-236.11, Z:-28.29 [[ 7.69713065e-01 6.35736034e-01 5.81505967e-02 4.69089891e+02] [-6.34007178e-01 7.71906119e-01 -4.68598199e-02 -2.36108127e+02] [-7.46772775e-02 -7.99280030e-04 9.97207433e-01 -2.82883640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.14, Y:-236.14, Z:-28.30 [[ 7.72511747e-01 6.32332519e-01 5.81479661e-02 4.69140332e+02] [-6.30593754e-01 7.74696953e-01 -4.68630840e-02 -2.36140561e+02] [-7.46801041e-02 -4.65461276e-04 9.97207434e-01 -2.83023283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.19, Y:-236.18, Z:-28.31 [[ 7.72249051e-01 6.32654079e-01 5.81396602e-02 4.69188308e+02] [-6.30915448e-01 7.74434363e-01 -4.68733863e-02 -2.36179717e+02] [-7.46799897e-02 -4.83281757e-04 9.97207434e-01 -2.83090438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.24, Y:-236.22, Z:-28.31 [[ 7.71591874e-01 6.33456462e-01 5.81282195e-02 4.69236186e+02] [-6.31719035e-01 7.73778144e-01 -4.68875697e-02 -2.36220288e+02] [-7.46795798e-02 -5.42634957e-04 9.97207434e-01 -2.83135554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.28, Y:-236.26, Z:-28.32 [[ 7.71198457e-01 6.33936584e-01 5.81149441e-02 4.69284297e+02] [-6.32199279e-01 7.73384823e-01 -4.69040182e-02 -2.36259451e+02] [-7.46793889e-02 -5.67919231e-04 9.97207434e-01 -2.83194536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.33, Y:-236.30, Z:-28.32 [[ 7.70589598e-01 6.34677674e-01 5.81026921e-02 4.69332259e+02] [-6.32941327e-01 7.72776725e-01 -4.69191905e-02 -2.36299823e+02] [-7.46789708e-02 -6.20154926e-04 9.97207434e-01 -2.83234917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.38, Y:-236.34, Z:-28.33 [[ 7.69943137e-01 6.35462968e-01 5.80894370e-02 4.69379961e+02] [-6.33727615e-01 7.72131051e-01 -4.69355957e-02 -2.36340233e+02] [-7.46784910e-02 -6.75140531e-04 9.97207434e-01 -2.83274509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.43, Y:-236.38, Z:-28.33 [[ 7.68225379e-01 6.37539749e-01 5.80761087e-02 4.69427819e+02] [-6.35809064e-01 7.70416988e-01 -4.69520818e-02 -2.36381143e+02] [-7.46766392e-02 -8.55535500e-04 9.97207435e-01 -2.83326270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.48, Y:-236.42, Z:-28.34 [[ 7.66064404e-01 6.40135947e-01 5.80628798e-02 4.69476027e+02] [-6.38411450e-01 7.68260885e-01 -4.69684355e-02 -2.36421255e+02] [-7.46736234e-02 -1.08716077e-03 9.97207435e-01 -2.83374882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.52, Y:-236.46, Z:-28.34 [[ 7.62181926e-01 6.44754975e-01 5.80493998e-02 4.69523297e+02] [-6.43042519e-01 7.64387807e-01 -4.69850899e-02 -2.36461520e+02] [-7.46661239e-02 -1.51704592e-03 9.97207435e-01 -2.83429538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.57, Y:-236.50, Z:-28.35 [[ 7.58689802e-01 6.48861693e-01 5.80369508e-02 4.69571022e+02] [-6.47159999e-01 7.60903997e-01 -4.70004622e-02 -2.36502359e+02] [-7.46573472e-02 -1.90042167e-03 9.97207435e-01 -2.83472762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.62, Y:-236.54, Z:-28.35 [[ 7.55848506e-01 6.52170433e-01 5.80238029e-02 4.69618330e+02] [-6.50477186e-01 7.58069166e-01 -4.70166881e-02 -2.36543004e+02] [-7.46489498e-02 -2.20566661e-03 9.97207435e-01 -2.83515707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.67, Y:-236.58, Z:-28.36 [[ 7.55050648e-01 6.53095180e-01 5.80103791e-02 4.69666697e+02] [-6.51403383e-01 7.57272412e-01 -4.70332450e-02 -2.36582993e+02] [-7.46468453e-02 -2.27567505e-03 9.97207436e-01 -2.83564049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.71, Y:-236.62, Z:-28.36 [[ 7.53295202e-01 6.55120355e-01 5.79970672e-02 4.69713543e+02] [-6.53433268e-01 7.55520545e-01 -4.70496543e-02 -2.36624369e+02] [-7.46411620e-02 -2.45493435e-03 9.97207436e-01 -2.83608717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.76, Y:-236.67, Z:-28.37 [[ 7.52294732e-01 6.56270152e-01 5.79838174e-02 4.69760360e+02] [-6.54585211e-01 7.54521700e-01 -4.70659777e-02 -2.36665557e+02] [-7.46380448e-02 -2.54786225e-03 9.97207436e-01 -2.83666733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.81, Y:-236.71, Z:-28.37 [[ 7.52007141e-01 6.56600836e-01 5.79706940e-02 4.69807171e+02] [-6.54915631e-01 7.54233909e-01 -4.70821360e-02 -2.36706674e+02] [-7.46376330e-02 -2.55981112e-03 9.97207436e-01 -2.83715365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.85, Y:-236.75, Z:-28.37 [[ 7.52515299e-01 6.56019571e-01 5.79572913e-02 4.69852479e+02] [-6.54331377e-01 7.54739802e-01 -4.70986288e-02 -2.36749453e+02] [-7.46402968e-02 -2.48083542e-03 9.97207437e-01 -2.83735501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.90, Y:-236.79, Z:-28.38 [[ 7.52894923e-01 6.55584888e-01 5.79455832e-02 4.69899700e+02] [-6.53894303e-01 7.55117609e-01 -4.71130290e-02 -2.36790789e+02] [-7.46423200e-02 -2.41912639e-03 9.97207437e-01 -2.83784930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:469.95, Y:-236.83, Z:-28.38 [[ 7.53747028e-01 6.54606196e-01 5.79322487e-02 4.69948642e+02] [-6.52911468e-01 7.55966556e-01 -4.71294199e-02 -2.36829925e+02] [-7.46460528e-02 -2.30096935e-03 9.97207437e-01 -2.83834875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.00, Y:-236.87, Z:-28.39 [[ 7.53572952e-01 6.54807757e-01 5.79189667e-02 4.69998726e+02] [-6.53112370e-01 7.55791977e-01 -4.71457371e-02 -2.36868423e+02] [-7.46460846e-02 -2.29984127e-03 9.97207437e-01 -2.83878425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.05, Y:-236.91, Z:-28.39 [[ 7.52195076e-01 6.56391274e-01 5.79056328e-02 4.70047985e+02] [-6.54699300e-01 7.54416704e-01 -4.71621084e-02 -2.36906509e+02] [-7.46417730e-02 -2.43567158e-03 9.97207437e-01 -2.83929163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.10, Y:-236.94, Z:-28.40 [[ 7.49872466e-01 6.59044602e-01 5.78921206e-02 4.70097840e+02] [-6.57359209e-01 7.52099090e-01 -4.71786890e-02 -2.36944410e+02] [-7.46334716e-02 -2.67791879e-03 9.97207438e-01 -2.83984221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.15, Y:-236.98, Z:-28.40 [[ 7.48567337e-01 6.60527822e-01 5.78786539e-02 4.70147231e+02] [-6.58845566e-01 7.50796332e-01 -4.71952042e-02 -2.36983133e+02] [-7.46288265e-02 -2.80430619e-03 9.97207438e-01 -2.84035157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.20, Y:-237.02, Z:-28.41 [[ 7.47761828e-01 6.61440739e-01 5.78653387e-02 4.70197545e+02] [-6.59759944e-01 7.49991925e-01 -4.72115241e-02 -2.37020369e+02] [-7.46261622e-02 -2.87425706e-03 9.97207438e-01 -2.84087592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.25, Y:-237.06, Z:-28.41 [[ 7.47980869e-01 6.61194199e-01 5.78519764e-02 4.70246013e+02] [-6.59511406e-01 7.50209458e-01 -4.72278923e-02 -2.37058039e+02] [-7.46279083e-02 -2.82847840e-03 9.97207438e-01 -2.84137074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.29, Y:-237.10, Z:-28.42 [[ 7.48894817e-01 6.60159930e-01 5.78396157e-02 4.70294534e+02] [-6.58472893e-01 7.51120194e-01 -4.72430255e-02 -2.37095838e+02] [-7.46324558e-02 -2.70576216e-03 9.97207439e-01 -2.84176919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.34, Y:-237.14, Z:-28.42 [[ 7.50920734e-01 6.57855625e-01 5.78275686e-02 4.70343811e+02] [-6.56160625e-01 7.53140052e-01 -4.72577672e-02 -2.37135014e+02] [-7.46410460e-02 -2.45733628e-03 9.97207439e-01 -2.84233335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.39, Y:-237.18, Z:-28.42 [[ 7.55048001e-01 6.53115563e-01 5.78150276e-02 4.70391799e+02] [-6.51405452e-01 7.57255697e-01 -4.72731049e-02 -2.37175077e+02] [-7.46555595e-02 -1.96756083e-03 9.97207439e-01 -2.84214035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.44, Y:-237.21, Z:-28.43 [[ 7.59305893e-01 6.48161551e-01 5.78028163e-02 4.70437894e+02] [-6.46435897e-01 7.61501460e-01 -4.72880314e-02 -2.37213814e+02] [-7.46672128e-02 -1.45973448e-03 9.97207439e-01 -2.84336253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.48, Y:-237.25, Z:-28.44 [[ 7.63159276e-01 6.43621035e-01 5.77917202e-02 4.70484787e+02] [-6.41881290e-01 7.65343694e-01 -4.73015883e-02 -2.37253525e+02] [-7.46748259e-02 -9.96777989e-04 9.97207439e-01 -2.84380487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.53, Y:-237.29, Z:-28.44 [[ 7.68167372e-01 6.37636599e-01 5.77793808e-02 4.70533031e+02] [-6.35878700e-01 7.70337207e-01 -4.73166562e-02 -2.37293924e+02] [-7.46804386e-02 -3.93566150e-04 9.97207439e-01 -2.84419689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.58, Y:-237.33, Z:-28.45 [[ 7.71221513e-01 6.33940440e-01 5.77658796e-02 4.70581227e+02] [-6.32170907e-01 7.73381871e-01 -4.73331333e-02 -2.37332135e+02] [-7.46814714e-02 -1.35778976e-05 9.97207440e-01 -2.84475677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.63, Y:-237.37, Z:-28.45 [[ 7.70902022e-01 6.34330052e-01 5.77534252e-02 4.70630501e+02] [-6.32560473e-01 7.73062342e-01 -4.73483247e-02 -2.37369700e+02] [-7.46814634e-02 -3.16147214e-05 9.97207440e-01 -2.84544728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.68, Y:-237.41, Z:-28.46 [[ 7.70722625e-01 6.34549079e-01 5.77416894e-02 4.70679353e+02] [-6.32779042e-01 7.72882569e-01 -4.73626322e-02 -2.37409855e+02] [-7.46814599e-02 -3.42786759e-05 9.97207440e-01 -2.84592154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.73, Y:-237.45, Z:-28.46 [[ 7.69972775e-01 6.35459971e-01 5.77282548e-02 4.70728129e+02] [-6.33691262e-01 7.72133806e-01 -4.73790015e-02 -2.37449172e+02] [-7.46813960e-02 -1.01349454e-04 9.97207440e-01 -2.84647795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.78, Y:-237.49, Z:-28.47 [[ 7.66691778e-01 6.39415910e-01 5.77149236e-02 4.70776892e+02] [-6.37657128e-01 7.68860897e-01 -4.73952354e-02 -2.37486084e+02] [-7.46800155e-02 -4.64795191e-04 9.97207440e-01 -2.84716078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.83, Y:-237.52, Z:-28.48 [[ 7.62843565e-01 6.44003037e-01 5.77042755e-02 4.70826501e+02] [-6.42256317e-01 7.65022409e-01 -4.74081961e-02 -2.37524160e+02] [-7.46760861e-02 -8.95898102e-04 9.97207441e-01 -2.84763279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.88, Y:-237.56, Z:-28.48 [[ 7.60748185e-01 6.46478105e-01 5.76910711e-02 4.70875683e+02] [-6.44737256e-01 7.62931721e-01 -4.74242591e-02 -2.37563538e+02] [-7.46730933e-02 -1.11766382e-03 9.97207441e-01 -2.84801786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.92, Y:-237.60, Z:-28.48 [[ 7.59391529e-01 6.48072369e-01 5.76776486e-02 4.70923863e+02] [-6.46334864e-01 7.61577727e-01 -4.74405780e-02 -2.37602108e+02] [-7.46709403e-02 -1.25310216e-03 9.97207441e-01 -2.84841983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:470.97, Y:-237.64, Z:-28.49 [[ 7.58700150e-01 6.48882733e-01 5.76652488e-02 4.70972907e+02] [-6.47146419e-01 7.60887294e-01 -4.74556456e-02 -2.37640064e+02] [-7.46699041e-02 -1.31325384e-03 9.97207441e-01 -2.84867960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.02, Y:-237.68, Z:-28.49 [[ 7.58059231e-01 6.49632407e-01 5.76536094e-02 4.71022815e+02] [-6.47897181e-01 7.60247238e-01 -4.74697820e-02 -2.37677695e+02] [-7.46689060e-02 -1.36870463e-03 9.97207441e-01 -2.84885289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.07, Y:-237.72, Z:-28.50 [[ 7.57235938e-01 6.50592977e-01 5.76412460e-02 4.71069961e+02] [-6.48859384e-01 7.59425239e-01 -4.74847898e-02 -2.37715331e+02] [-7.46674878e-02 -1.44387404e-03 9.97207442e-01 -2.84969237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.12, Y:-237.75, Z:-28.50 [[ 7.56022527e-01 6.52003627e-01 5.76299326e-02 4.71119068e+02] [-6.50273074e-01 7.58214231e-01 -4.74985164e-02 -2.37752713e+02] [-7.46650400e-02 -1.56524507e-03 9.97207442e-01 -2.85035501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.17, Y:-237.79, Z:-28.51 [[ 7.54996804e-01 6.53192143e-01 5.76181464e-02 4.71167446e+02] [-6.51463950e-01 7.57190369e-01 -4.75128094e-02 -2.37790988e+02] [-7.46628993e-02 -1.66412600e-03 9.97207442e-01 -2.85092095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.22, Y:-237.83, Z:-28.51 [[ 7.55028390e-01 6.53156673e-01 5.76063353e-02 4.71215036e+02] [-6.51427286e-01 7.57221014e-01 -4.75271252e-02 -2.37830088e+02] [-7.46633867e-02 -1.64200981e-03 9.97207442e-01 -2.85138873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.26, Y:-237.87, Z:-28.52 [[ 7.56332058e-01 6.51647667e-01 5.75945790e-02 4.71263084e+02] [-6.49912821e-01 7.58520365e-01 -4.75413676e-02 -2.37870301e+02] [-7.46668824e-02 -1.47439491e-03 9.97207442e-01 -2.85180094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.31, Y:-237.91, Z:-28.52 [[ 7.57582327e-01 6.50194904e-01 5.75812915e-02 4.71311280e+02] [-6.48454638e-01 7.59766326e-01 -4.75574558e-02 -2.37910629e+02] [-7.46699417e-02 -1.31016757e-03 9.97207442e-01 -2.85211413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.36, Y:-237.95, Z:-28.52 [[ 7.59420672e-01 6.48047998e-01 5.75676611e-02 4.71357913e+02] [-6.46300308e-01 7.61598734e-01 -4.75739495e-02 -2.37949237e+02] [-7.46736606e-02 -1.07735646e-03 9.97207443e-01 -2.85243930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.41, Y:-237.99, Z:-28.53 [[ 7.60140001e-01 6.47204619e-01 5.75617933e-02 4.71405341e+02] [-6.45453975e-01 7.62315690e-01 -4.75810481e-02 -2.37988514e+02] [-7.46749323e-02 -9.85230328e-04 9.97207443e-01 -2.85292273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.45, Y:-238.03, Z:-28.53 [[ 7.59917792e-01 6.47466604e-01 5.75495113e-02 4.71454277e+02] [-6.45715586e-01 7.62093179e-01 -4.75958987e-02 -2.38027825e+02] [-7.46748449e-02 -9.91646178e-04 9.97207443e-01 -2.85338160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.50, Y:-238.07, Z:-28.54 [[ 7.59129371e-01 6.48391997e-01 5.75362147e-02 4.71503338e+02] [-6.46642413e-01 7.61305911e-01 -4.76119669e-02 -2.38067322e+02] [-7.46738787e-02 -1.06171424e-03 9.97207443e-01 -2.85397036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.55, Y:-238.11, Z:-28.55 [[ 7.57956829e-01 6.49763450e-01 5.75230787e-02 4.71551150e+02] [-6.48016599e-01 7.60135565e-01 -4.76278320e-02 -2.38105951e+02] [-7.46721624e-02 -1.17606934e-03 9.97207443e-01 -2.85459119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.60, Y:-238.15, Z:-28.54 [[ 7.57061973e-01 6.50806880e-01 5.75115078e-02 4.71596854e+02] [-6.49061972e-01 7.59242264e-01 -4.76418000e-02 -2.38147466e+02] [-7.46707786e-02 -1.26073758e-03 9.97207444e-01 -2.85444375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.64, Y:-238.19, Z:-28.55 [[ 7.58004925e-01 6.49709176e-01 5.75023558e-02 4.71642935e+02] [-6.47960273e-01 7.60182012e-01 -4.76528438e-02 -2.38186477e+02] [-7.46727464e-02 -1.13815185e-03 9.97207444e-01 -2.85532091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.69, Y:-238.23, Z:-28.56 [[ 7.57743481e-01 6.50015039e-01 5.74914369e-02 4.71690279e+02] [-6.48266016e-01 7.59920472e-01 -4.76660134e-02 -2.38227699e+02] [-7.46725454e-02 -1.15113381e-03 9.97207444e-01 -2.85566392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.74, Y:-238.27, Z:-28.56 [[ 7.56879550e-01 6.51022010e-01 5.74777243e-02 4.71736813e+02] [-6.49274629e-01 7.59057858e-01 -4.76825429e-02 -2.38268104e+02] [-7.46713032e-02 -1.22888645e-03 9.97207444e-01 -2.85609751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.78, Y:-238.31, Z:-28.56 [[ 7.53241164e-01 6.55229360e-01 5.74650706e-02 4.71782099e+02] [-6.53492981e-01 7.55428253e-01 -4.76977878e-02 -2.38311061e+02] [-7.46637288e-02 -1.62508303e-03 9.97207444e-01 -2.85578846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.83, Y:-238.35, Z:-28.57 [[ 7.52117068e-01 6.56519602e-01 5.74624078e-02 4.71829694e+02] [-6.54786730e-01 7.54306936e-01 -4.77009955e-02 -2.38348273e+02] [-7.46609313e-02 -1.74888923e-03 9.97207444e-01 -2.85699264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.88, Y:-238.39, Z:-28.58 [[ 7.48399813e-01 6.60754466e-01 5.74565497e-02 4.71877137e+02] [-6.59033441e-01 7.50599004e-01 -4.77080506e-02 -2.38389903e+02] [-7.46501365e-02 -2.16109157e-03 9.97207444e-01 -2.85754648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.92, Y:-238.43, Z:-28.58 [[ 7.45504892e-01 6.64020140e-01 5.74431047e-02 4.71923532e+02] [-6.62307502e-01 7.47710620e-01 -4.77242337e-02 -2.38430453e+02] [-7.46406717e-02 -2.46634947e-03 9.97207444e-01 -2.85808141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:471.97, Y:-238.47, Z:-28.59 [[ 7.44760489e-01 6.64855961e-01 5.74314021e-02 4.71971573e+02] [-6.63144714e-01 7.46967296e-01 -4.77383125e-02 -2.38471127e+02] [-7.46384807e-02 -2.53172174e-03 9.97207445e-01 -2.85860065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.02, Y:-238.51, Z:-28.59 [[ 7.44038697e-01 6.65664769e-01 5.74180527e-02 4.72016885e+02] [-6.63954685e-01 7.46246405e-01 -4.77543633e-02 -2.38511068e+02] [-7.46364126e-02 -2.59189080e-03 9.97207445e-01 -2.85916240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.06, Y:-238.55, Z:-28.60 [[ 7.45064618e-01 6.64517199e-01 5.74073801e-02 4.72062359e+02] [-6.62802727e-01 7.47268921e-01 -4.77671898e-02 -2.38554444e+02] [-7.46408702e-02 -2.46012504e-03 9.97207445e-01 -2.85957828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.11, Y:-238.60, Z:-28.60 [[ 7.48277211e-01 6.60898711e-01 5.73943353e-02 4.72107494e+02] [-6.59172376e-01 7.50472236e-01 -4.77828586e-02 -2.38597326e+02] [-7.46524848e-02 -2.07793622e-03 9.97207445e-01 -2.85979165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.15, Y:-238.64, Z:-28.60 [[ 7.52334400e-01 6.56277527e-01 5.73825633e-02 4.72152966e+02] [-6.54536629e-01 7.54517892e-01 -4.77969915e-02 -2.38639807e+02] [-7.46642620e-02 -1.59966865e-03 9.97207445e-01 -2.86017297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.20, Y:-238.68, Z:-28.61 [[ 7.56025413e-01 6.52023192e-01 5.73701277e-02 4.72200590e+02] [-6.50268873e-01 7.58198136e-01 -4.78119131e-02 -2.38679838e+02] [-7.46724001e-02 -1.15898693e-03 9.97207446e-01 -2.86070330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.25, Y:-238.72, Z:-28.61 [[ 7.58621229e-01 6.49001941e-01 5.73612330e-02 4.72247810e+02] [-6.47238162e-01 7.60786279e-01 -4.78225820e-02 -2.38721406e+02] [-7.46765876e-02 -8.47153057e-04 9.97207446e-01 -2.86139013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.29, Y:-238.76, Z:-28.62 [[ 7.60706200e-01 6.46558108e-01 5.73471077e-02 4.72291065e+02] [-6.44786096e-01 7.62864517e-01 -4.78395145e-02 -2.38764773e+02] [-7.46790996e-02 -5.84802407e-04 9.97207446e-01 -2.86184319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.34, Y:-238.81, Z:-28.62 [[ 7.63746478e-01 6.42964947e-01 5.73358070e-02 4.72336670e+02] [-6.41181764e-01 7.65895574e-01 -4.78530547e-02 -2.38807482e+02] [-7.46810776e-02 -2.15071899e-04 9.97207446e-01 -2.86228323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.38, Y:-238.85, Z:-28.63 [[ 7.65021238e-01 6.41448828e-01 5.73228231e-02 4.72383343e+02] [-6.39660221e-01 7.67165822e-01 -4.78686029e-02 -2.38849251e+02] [-7.46813700e-02 -4.66318920e-05 9.97207446e-01 -2.86265562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.43, Y:-238.89, Z:-28.63 [[ 7.64870497e-01 6.41629712e-01 5.73099964e-02 4.72430334e+02] [-6.39840461e-01 7.67014544e-01 -4.78839546e-02 -2.38889856e+02] [-7.46813688e-02 -4.42303485e-05 9.97207446e-01 -2.86295262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.48, Y:-238.93, Z:-28.64 [[ 7.64184478e-01 6.42447625e-01 5.72986361e-02 4.72478423e+02] [-6.40659650e-01 7.66329589e-01 -4.78975446e-02 -2.38928301e+02] [-7.46813040e-02 -1.06364024e-04 9.97207447e-01 -2.86369777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.52, Y:-238.97, Z:-28.64 [[ 7.62389635e-01 6.44576923e-01 5.72942878e-02 4.72524846e+02] [-6.42794548e-01 7.64539401e-01 -4.79027455e-02 -2.38969053e+02] [-7.46807448e-02 -3.07899212e-04 9.97207447e-01 -2.86380766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.57, Y:-239.01, Z:-28.64 [[ 7.59865352e-01 6.47551890e-01 5.72817286e-02 4.72573358e+02] [-6.45776800e-01 7.62021137e-01 -4.79177590e-02 -2.39007612e+02] [-7.46791234e-02 -5.80166552e-04 9.97207447e-01 -2.86433791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.62, Y:-239.05, Z:-28.65 [[ 7.57836701e-01 6.49925969e-01 5.72692673e-02 4.72621062e+02] [-6.48156507e-01 7.59997108e-01 -4.79326476e-02 -2.39046334e+02] [-7.46771500e-02 -7.94328783e-04 9.97207447e-01 -2.86483134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.67, Y:-239.08, Z:-28.65 [[ 7.55188011e-01 6.53002829e-01 5.72570732e-02 4.72669821e+02] [-6.51241065e-01 7.57354699e-01 -4.79472094e-02 -2.39084516e+02] [-7.46735769e-02 -1.07899963e-03 9.97207447e-01 -2.86533009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.72, Y:-239.12, Z:-28.66 [[ 7.53878427e-01 6.54515308e-01 5.72453452e-02 4.72718903e+02] [-6.52756827e-01 7.56047781e-01 -4.79612077e-02 -2.39123827e+02] [-7.46715608e-02 -1.21037010e-03 9.97207447e-01 -2.86569673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.77, Y:-239.16, Z:-28.66 [[ 7.52857368e-01 6.55690699e-01 5.72319043e-02 4.72767230e+02] [-6.53934387e-01 7.55028477e-01 -4.79772414e-02 -2.39162475e+02] [-7.46699485e-02 -1.30589065e-03 9.97207448e-01 -2.86628397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.81, Y:-239.20, Z:-28.67 [[ 7.52379611e-01 6.56239933e-01 5.72194961e-02 4.72814937e+02] [-6.54484081e-01 7.54551093e-01 -4.79920354e-02 -2.39201986e+02] [-7.46693234e-02 -1.34102040e-03 9.97207448e-01 -2.86682291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.86, Y:-239.24, Z:-28.67 [[ 7.53325441e-01 6.55154983e-01 5.72077596e-02 4.72863281e+02] [-6.53394942e-01 7.55493528e-01 -4.80060214e-02 -2.39241750e+02] [-7.46714763e-02 -1.21510351e-03 9.97207448e-01 -2.86748448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.91, Y:-239.28, Z:-28.68 [[ 7.54200536e-01 6.54147973e-01 5.72012374e-02 4.72908813e+02] [-6.52384447e-01 7.56365790e-01 -4.80137917e-02 -2.39282304e+02] [-7.46731836e-02 -1.10517022e-03 9.97207448e-01 -2.86793446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:472.96, Y:-239.32, Z:-28.68 [[ 7.55449631e-01 6.52706100e-01 5.71891776e-02 4.72955879e+02] [-6.50937355e-01 7.57610624e-01 -4.80281518e-02 -2.39323829e+02] [-7.46753962e-02 -9.43722382e-04 9.97207448e-01 -2.86830818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.00, Y:-239.37, Z:-28.69 [[ 7.57282103e-01 6.50580344e-01 5.71754499e-02 4.73002428e+02] [-6.48804299e-01 7.59437100e-01 -4.80444886e-02 -2.39365385e+02] [-7.46779577e-02 -7.12446326e-04 9.97207448e-01 -2.86878367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.05, Y:-239.41, Z:-28.69 [[ 7.58223903e-01 6.49483663e-01 5.71619134e-02 4.73048590e+02] [-6.47703288e-01 7.60375323e-01 -4.80605885e-02 -2.39405868e+02] [-7.46790754e-02 -5.83272216e-04 9.97207449e-01 -2.86925837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.09, Y:-239.45, Z:-28.70 [[ 7.59658841e-01 6.47805826e-01 5.71494286e-02 4.73094672e+02] [-6.46019582e-01 7.61805390e-01 -4.80754297e-02 -2.39446838e+02] [-7.46802863e-02 -3.98724828e-04 9.97207449e-01 -2.86953370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.14, Y:-239.49, Z:-28.70 [[ 7.59648897e-01 6.47818500e-01 5.71379439e-02 4.73142995e+02] [-6.46031265e-01 7.61794621e-01 -4.80890755e-02 -2.39487650e+02] [-7.46803711e-02 -3.82085050e-04 9.97207449e-01 -2.86987745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.19, Y:-239.53, Z:-28.70 [[ 7.59455798e-01 6.48046052e-01 5.71244786e-02 4.73190910e+02] [-6.46258257e-01 7.61601055e-01 -4.81050656e-02 -2.39527752e+02] [-7.46803610e-02 -3.83495048e-04 9.97207449e-01 -2.87036530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.24, Y:-239.57, Z:-28.71 [[ 7.60239811e-01 6.47127309e-01 5.71110867e-02 4.73240167e+02] [-6.45335728e-01 7.62381907e-01 -4.81209594e-02 -2.39566767e+02] [-7.46808461e-02 -2.72355705e-04 9.97207449e-01 -2.87101525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.29, Y:-239.61, Z:-28.71 [[ 7.59456372e-01 6.48047777e-01 5.70972657e-02 4.73286235e+02] [-6.46257560e-01 7.61599607e-01 -4.81373529e-02 -2.39606449e+02] [-7.46805597e-02 -3.41320209e-04 9.97207450e-01 -2.87135059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.33, Y:-239.65, Z:-28.72 [[ 7.59560723e-01 6.47926438e-01 5.70862432e-02 4.73334919e+02] [-6.46134896e-01 7.61702851e-01 -4.81504210e-02 -2.39645673e+02] [-7.46806850e-02 -3.12245280e-04 9.97207450e-01 -2.87186470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.38, Y:-239.69, Z:-28.72 [[ 7.59273941e-01 6.48263631e-01 5.70731681e-02 4.73383644e+02] [-6.46471876e-01 7.61415891e-01 -4.81659141e-02 -2.39685682e+02] [-7.46806275e-02 -3.25074557e-04 9.97207450e-01 -2.87229007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.43, Y:-239.72, Z:-28.73 [[ 7.58624900e-01 6.49024221e-01 5.70598124e-02 4.73433071e+02] [-6.47233423e-01 7.60767650e-01 -4.81817308e-02 -2.39724360e+02] [-7.46803697e-02 -3.79156989e-04 9.97207450e-01 -2.87278506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.48, Y:-239.76, Z:-28.73 [[ 7.58568145e-01 6.49091729e-01 5.70464459e-02 4.73481964e+02] [-6.47299932e-01 7.60710059e-01 -4.81975514e-02 -2.39764047e+02] [-7.46804372e-02 -3.65033440e-04 9.97207450e-01 -2.87316206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.53, Y:-239.80, Z:-28.74 [[ 7.58641769e-01 6.49006869e-01 5.70328812e-02 4.73530852e+02] [-6.47213626e-01 7.60782473e-01 -4.82135974e-02 -2.39804117e+02] [-7.46805723e-02 -3.35608983e-04 9.97207451e-01 -2.87359136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.58, Y:-239.84, Z:-28.74 [[ 7.60453535e-01 6.46884241e-01 5.70192904e-02 4.73580380e+02] [-6.45083818e-01 7.62588203e-01 -4.82296651e-02 -2.39841846e+02] [-7.46812485e-02 -1.05802246e-04 9.97207451e-01 -2.87425848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.63, Y:-239.88, Z:-28.75 [[ 7.58746276e-01 6.48886928e-01 5.70073978e-02 4.73626593e+02] [-6.47091083e-01 7.60884797e-01 -4.82437180e-02 -2.39881839e+02] [-7.46807803e-02 -2.84237341e-04 9.97207451e-01 -2.87453894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.68, Y:-239.92, Z:-28.75 [[ 7.58405570e-01 6.49285688e-01 5.70007703e-02 4.73675448e+02] [-6.47490379e-01 7.60544540e-01 -4.82515473e-02 -2.39919385e+02] [-7.46806637e-02 -3.13208159e-04 9.97207451e-01 -2.87507206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.72, Y:-239.96, Z:-28.76 [[ 7.56816888e-01 6.51137149e-01 5.69965883e-02 4.73723422e+02] [-6.49346701e-01 7.58959929e-01 -4.82564867e-02 -2.39959199e+02] [-7.46797178e-02 -4.89222486e-04 9.97207451e-01 -2.87568362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.77, Y:-240.00, Z:-28.76 [[ 7.56314129e-01 6.51722286e-01 5.69824578e-02 4.73771641e+02] [-6.49932239e-01 7.58457505e-01 -4.82731665e-02 -2.39999876e+02] [-7.46794712e-02 -5.25058497e-04 9.97207451e-01 -2.87619405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.82, Y:-240.04, Z:-28.77 [[ 7.56543614e-01 6.51457088e-01 5.69686155e-02 4.73819460e+02] [-6.49665059e-01 7.58685333e-01 -4.82894968e-02 -2.40039990e+02] [-7.46797880e-02 -4.77408597e-04 9.97207452e-01 -2.87671102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.87, Y:-240.08, Z:-28.77 [[ 7.56777066e-01 6.51187086e-01 5.69548182e-02 4.73866378e+02] [-6.49393070e-01 7.58917120e-01 -4.83057645e-02 -2.40079552e+02] [-7.46800766e-02 -4.29369450e-04 9.97207452e-01 -2.87718277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.91, Y:-240.12, Z:-28.78 [[ 7.55840496e-01 6.52275052e-01 5.69420820e-02 4.73912382e+02] [-6.50482985e-01 7.57982182e-01 -4.83207731e-02 -2.40118840e+02] [-7.46795184e-02 -5.17058385e-04 9.97207452e-01 -2.87757731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:473.96, Y:-240.16, Z:-28.78 [[ 7.54185338e-01 6.54188890e-01 5.69330532e-02 4.73960608e+02] [-6.52401455e-01 7.56330891e-01 -4.83314088e-02 -2.40159262e+02] [-7.46780975e-02 -6.92366920e-04 9.97207452e-01 -2.87782613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.01, Y:-240.20, Z:-28.78 [[ 7.50945793e-01 6.57906220e-01 5.69194393e-02 4.74008905e+02] [-6.56128189e-01 7.53099147e-01 -4.83474365e-02 -2.40198943e+02] [-7.46740603e-02 -1.04014463e-03 9.97207452e-01 -2.87835031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.06, Y:-240.24, Z:-28.79 [[ 7.48626816e-01 6.60544929e-01 5.69059475e-02 4.74056554e+02] [-6.58773282e-01 7.50785424e-01 -4.83633114e-02 -2.40239038e+02] [-7.46702960e-02 -1.28204602e-03 9.97207452e-01 -2.87885693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.10, Y:-240.28, Z:-28.79 [[ 7.45843373e-01 6.63687390e-01 5.68920983e-02 4.74104080e+02] [-6.61923595e-01 7.48008401e-01 -4.83795974e-02 -2.40280073e+02] [-7.46646963e-02 -1.57462011e-03 9.97207453e-01 -2.87938569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.15, Y:-240.32, Z:-28.80 [[ 7.44414184e-01 6.65291188e-01 5.68784525e-02 4.74152794e+02] [-6.63530833e-01 7.46582009e-01 -4.83956351e-02 -2.40319940e+02] [-7.46616189e-02 -1.71420971e-03 9.97207453e-01 -2.87988436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.20, Y:-240.36, Z:-28.80 [[ 7.43852978e-01 6.65919774e-01 5.68647620e-02 4.74200708e+02] [-6.64160023e-01 7.46021293e-01 -4.84117161e-02 -2.40360802e+02] [-7.46606424e-02 -1.75610244e-03 9.97207453e-01 -2.88030625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.25, Y:-240.40, Z:-28.81 [[ 7.43242998e-01 6.66601679e-01 5.68510971e-02 4.74247986e+02] [-6.64842691e-01 7.45411932e-01 -4.84277579e-02 -2.40402141e+02] [-7.46595108e-02 -1.80344438e-03 9.97207453e-01 -2.88061760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.30, Y:-240.44, Z:-28.81 [[ 7.42557258e-01 6.67366633e-01 5.68374459e-02 4.74296140e+02] [-6.65608654e-01 7.44727011e-01 -4.84437743e-02 -2.40442423e+02] [-7.46581398e-02 -1.85921967e-03 9.97207454e-01 -2.88115508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.34, Y:-240.48, Z:-28.82 [[ 7.41995095e-01 6.67992754e-01 5.68239354e-02 4.74344824e+02] [-6.66235394e-01 7.44165348e-01 -4.84596169e-02 -2.40481365e+02] [-7.46570766e-02 -1.90131897e-03 9.97207454e-01 -2.88180401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.39, Y:-240.52, Z:-28.82 [[ 7.40915107e-01 6.69190792e-01 5.68197809e-02 4.74392549e+02] [-6.67436568e-01 7.43087896e-01 -4.84644876e-02 -2.40520870e+02] [-7.46540803e-02 -2.01552855e-03 9.97207454e-01 -2.88231094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.44, Y:-240.56, Z:-28.83 [[ 7.39129710e-01 6.71163269e-01 5.68079101e-02 4.74438079e+02] [-6.69413774e-01 7.41306309e-01 -4.84783980e-02 -2.40562571e+02] [-7.46489822e-02 -2.19617322e-03 9.97207454e-01 -2.88267270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.49, Y:-240.60, Z:-28.83 [[ 7.41088657e-01 6.69000018e-01 5.68029867e-02 4.74487133e+02] [-6.67243727e-01 7.43259776e-01 -4.84841662e-02 -2.40599344e+02] [-7.46552832e-02 -1.97037103e-03 9.97207454e-01 -2.88331842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.53, Y:-240.64, Z:-28.84 [[ 7.41927680e-01 6.68070498e-01 5.67902038e-02 4.74533874e+02] [-6.66310343e-01 7.44095667e-01 -4.84991344e-02 -2.40639233e+02] [-7.46581854e-02 -1.85704989e-03 9.97207454e-01 -2.88375334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.58, Y:-240.68, Z:-28.84 [[ 7.44412193e-01 6.65302025e-01 5.67776520e-02 4.74581159e+02] [-6.63532686e-01 7.46572691e-01 -4.85138243e-02 -2.40679282e+02] [-7.46649900e-02 -1.55954562e-03 9.97207454e-01 -2.88393513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.63, Y:-240.72, Z:-28.84 [[ 7.46790300e-01 6.62632522e-01 5.67660927e-02 4.74629157e+02] [-6.60854431e-01 7.48943601e-01 -4.85273461e-02 -2.40719323e+02] [-7.46703996e-02 -1.27437251e-03 9.97207455e-01 -2.88414948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.68, Y:-240.76, Z:-28.85 [[ 7.48230923e-01 6.61006550e-01 5.67523279e-02 4.74677255e+02] [-6.59222560e-01 7.50379338e-01 -4.85434386e-02 -2.40758534e+02] [-7.46733051e-02 -1.09071295e-03 9.97207455e-01 -2.88467362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.72, Y:-240.80, Z:-28.85 [[ 7.48557046e-01 6.60638301e-01 5.67396201e-02 4.74723799e+02] [-6.58852128e-01 7.50703647e-01 -4.85582875e-02 -2.40800104e+02] [-7.46741043e-02 -1.03437124e-03 9.97207455e-01 -2.88506429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.77, Y:-240.84, Z:-28.86 [[ 7.51770237e-01 6.56980044e-01 5.67338759e-02 4.74773178e+02] [-6.55182918e-01 7.53907677e-01 -4.85649979e-02 -2.40835472e+02] [-7.46783390e-02 -6.61346354e-04 9.97207455e-01 -2.88603497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.82, Y:-240.87, Z:-28.86 [[ 7.54312212e-01 6.54060980e-01 5.67214368e-02 4.74821613e+02] [-6.52254490e-01 7.56441743e-01 -4.85795218e-02 -2.40874831e+02] [-7.46804321e-02 -3.52685372e-04 9.97207455e-01 -2.88632646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.87, Y:-240.92, Z:-28.87 [[ 7.55787682e-01 6.52356508e-01 5.67094980e-02 4.74870213e+02] [-6.50544170e-01 7.57912237e-01 -4.85934546e-02 -2.40915099e+02] [-7.46810789e-02 -1.65698913e-04 9.97207455e-01 -2.88679966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.92, Y:-240.95, Z:-28.87 [[ 7.56797715e-01 6.51185686e-01 5.66958652e-02 4.74918568e+02] [-6.49368870e-01 7.58918442e-01 -4.86093554e-02 -2.40954454e+02] [-7.46812541e-02 -2.90808341e-05 9.97207456e-01 -2.88722655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:474.97, Y:-240.99, Z:-28.88 [[ 7.55711848e-01 6.52446730e-01 5.66821512e-02 4.74967964e+02] [-6.50632254e-01 7.57834577e-01 -4.86253417e-02 -2.40993391e+02] [-7.46811393e-02 -1.32488965e-04 9.97207456e-01 -2.88764481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.02, Y:-241.03, Z:-28.88 [[ 7.54613230e-01 6.53718250e-01 5.66685309e-02 4.75016442e+02] [-6.51906159e-01 7.56737995e-01 -4.86412097e-02 -2.41033863e+02] [-7.46808770e-02 -2.37263947e-04 9.97207456e-01 -2.88806967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.07, Y:-241.07, Z:-28.89 [[ 7.50978850e-01 6.57891323e-01 5.66548664e-02 4.75066373e+02] [-6.56089838e-01 7.53112614e-01 -4.86571203e-02 -2.41071722e+02] [-7.46785918e-02 -6.30213902e-04 9.97207456e-01 -2.88850546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.12, Y:-241.11, Z:-28.89 [[ 7.48587009e-01 6.60612795e-01 5.66412008e-02 4.75115305e+02] [-6.58817863e-01 7.50726288e-01 -4.86730231e-02 -2.41110540e+02] [-7.46760603e-02 -8.80242130e-04 9.97207456e-01 -2.88903196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.16, Y:-241.15, Z:-28.89 [[ 7.45000576e-01 6.64655901e-01 5.66275024e-02 4.75164841e+02] [-6.62871367e-01 7.47148537e-01 -4.86889551e-02 -2.41149221e+02] [-7.46705569e-02 -1.26345031e-03 9.97207457e-01 -2.88948737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.21, Y:-241.19, Z:-28.90 [[ 7.43398422e-01 6.66448531e-01 5.66139726e-02 4.75213559e+02] [-6.64667978e-01 7.45549685e-01 -4.87046820e-02 -2.41188950e+02] [-7.46676932e-02 -1.42251090e-03 9.97207457e-01 -2.88989554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.26, Y:-241.23, Z:-28.90 [[ 7.42652418e-01 6.67280893e-01 5.66003201e-02 4.75261379e+02] [-6.65501544e-01 7.44804675e-01 -4.87205426e-02 -2.41228479e+02] [-7.46664702e-02 -1.48517162e-03 9.97207457e-01 -2.89036948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.31, Y:-241.27, Z:-28.91 [[ 7.42390665e-01 6.67572811e-01 5.65919042e-02 4.75309435e+02] [-6.65793563e-01 7.44543006e-01 -4.87303162e-02 -2.41267424e+02] [-7.46661406e-02 -1.50159371e-03 9.97207457e-01 -2.89093121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.36, Y:-241.31, Z:-28.91 [[ 7.42431719e-01 6.67528203e-01 5.65795129e-02 4.75356954e+02] [-6.65747730e-01 7.44583047e-01 -4.87446992e-02 -2.41307505e+02] [-7.46666076e-02 -1.47807146e-03 9.97207457e-01 -2.89130512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.40, Y:-241.35, Z:-28.92 [[ 7.42317128e-01 6.67656659e-01 5.65673684e-02 4.75403659e+02] [-6.65875486e-01 7.44467876e-01 -4.87587887e-02 -2.41347077e+02] [-7.46667185e-02 -1.47233992e-03 9.97207458e-01 -2.89205735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.45, Y:-241.39, Z:-28.92 [[ 7.41971123e-01 6.68042167e-01 5.65554175e-02 4.75451152e+02] [-6.66261056e-01 7.44121922e-01 -4.87726466e-02 -2.41387908e+02] [-7.46663105e-02 -1.49277682e-03 9.97207458e-01 -2.89239389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.50, Y:-241.43, Z:-28.93 [[ 7.41774096e-01 6.68262092e-01 5.65417161e-02 4.75498335e+02] [-6.66480409e-01 7.43924421e-01 -4.87885254e-02 -2.41428769e+02] [-7.46662855e-02 -1.49388176e-03 9.97207458e-01 -2.89282143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.54, Y:-241.47, Z:-28.93 [[ 7.41813477e-01 6.68219548e-01 5.65278773e-02 4.75544876e+02] [-6.66436521e-01 7.43962687e-01 -4.88045542e-02 -2.41470076e+02] [-7.46667886e-02 -1.46836579e-03 9.97207458e-01 -2.89324923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.59, Y:-241.51, Z:-28.94 [[ 7.41710744e-01 6.68334659e-01 5.65150872e-02 4.75591867e+02] [-6.66550838e-01 7.43859295e-01 -4.88193605e-02 -2.41512004e+02] [-7.46669436e-02 -1.46033446e-03 9.97207458e-01 -2.89359028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.64, Y:-241.55, Z:-28.94 [[ 7.41558074e-01 6.68505219e-01 5.65012902e-02 4.75639238e+02] [-6.66720676e-01 7.43706025e-01 -4.88353233e-02 -2.41553906e+02] [-7.46670184e-02 -1.45635004e-03 9.97207459e-01 -2.89399491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.68, Y:-241.60, Z:-28.94 [[ 7.41465374e-01 6.68609221e-01 5.64872362e-02 4.75684696e+02] [-6.66823742e-01 7.43612547e-01 -4.88515740e-02 -2.41595070e+02] [-7.46672305e-02 -1.44527967e-03 9.97207459e-01 -2.89449358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.73, Y:-241.64, Z:-28.95 [[ 7.41834964e-01 6.68200227e-01 5.64742694e-02 4.75731223e+02] [-6.66412424e-01 7.43980201e-01 -4.88665596e-02 -2.41637314e+02] [-7.46683845e-02 -1.38423237e-03 9.97207459e-01 -2.89492955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.78, Y:-241.68, Z:-28.95 [[ 7.43016652e-01 6.66887152e-01 5.64604424e-02 4.75777084e+02] [-6.65094345e-01 7.45157709e-01 -4.88825301e-02 -2.41680504e+02] [-7.46710652e-02 -1.23098708e-03 9.97207459e-01 -2.89533832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.82, Y:-241.72, Z:-28.96 [[ 7.44736311e-01 6.64967367e-01 5.64466767e-02 4.75822599e+02] [-6.63167836e-01 7.46871720e-01 -4.88984208e-02 -2.41723223e+02] [-7.46742806e-02 -1.01719088e-03 9.97207459e-01 -2.89566592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.87, Y:-241.77, Z:-28.96 [[ 7.46097719e-01 6.63440679e-01 5.64327845e-02 4.75868286e+02] [-6.61635565e-01 7.48228411e-01 -4.89144483e-02 -2.41765561e+02] [-7.46764475e-02 -8.42978976e-04 9.97207460e-01 -2.89616170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.91, Y:-241.81, Z:-28.97 [[ 7.49234339e-01 6.59897417e-01 5.64207795e-02 4.75912474e+02] [-6.58081184e-01 7.51355560e-01 -4.89282917e-02 -2.41807998e+02] [-7.46797197e-02 -4.70697095e-04 9.97207460e-01 -2.89670695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:475.96, Y:-241.85, Z:-28.97 [[ 7.51003083e-01 6.57884718e-01 5.64098137e-02 4.75958118e+02] [-6.56061851e-01 7.53118605e-01 -4.89409310e-02 -2.41849903e+02] [-7.46807708e-02 -2.53536749e-04 9.97207460e-01 -2.89707870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.00, Y:-241.89, Z:-28.97 [[ 7.53163371e-01 6.55411490e-01 5.63978342e-02 4.76003641e+02] [-6.53580642e-01 7.55271990e-01 -4.89547319e-02 -2.41892265e+02] [-7.46811982e-02 1.03782448e-05 9.97207460e-01 -2.89749493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.05, Y:-241.93, Z:-28.98 [[ 7.53944222e-01 6.54514123e-01 5.63859305e-02 4.76050692e+02] [-6.52679740e-01 7.56049766e-01 -4.89684386e-02 -2.41934675e+02] [-7.46811043e-02 1.17516900e-04 9.97207460e-01 -2.89783010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.10, Y:-241.98, Z:-28.98 [[ 7.53767496e-01 6.54718835e-01 5.63720560e-02 4.76096671e+02] [-6.52883830e-01 7.55872498e-01 -4.89844057e-02 -2.41976097e+02] [-7.46810998e-02 1.18449041e-04 9.97207461e-01 -2.89822902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.14, Y:-242.02, Z:-28.98 [[ 7.49250057e-01 6.59884758e-01 5.63600791e-02 4.76138535e+02] [-6.58063229e-01 7.51366731e-01 -4.89981821e-02 -2.42021663e+02] [-7.46802420e-02 -3.76604942e-04 9.97207461e-01 -2.89820192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.19, Y:-242.06, Z:-28.99 [[ 7.50705468e-01 6.58228797e-01 5.63573479e-02 4.76187370e+02] [-6.56402363e-01 7.52817912e-01 -4.90013233e-02 -2.42056291e+02] [-7.46809031e-02 -2.07534966e-04 9.97207461e-01 -2.89925789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.23, Y:-242.10, Z:-29.00 [[ 7.46121517e-01 6.63420402e-01 5.63564717e-02 4.76234423e+02] [-6.61608590e-01 7.48246514e-01 -4.90023311e-02 -2.42097525e+02] [-7.46776797e-02 -7.24232164e-04 9.97207461e-01 -2.89976842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.28, Y:-242.14, Z:-29.00 [[ 7.42314215e-01 6.67678913e-01 5.63424898e-02 4.76281404e+02] [-6.65878070e-01 7.44448515e-01 -4.90184021e-02 -2.42138385e+02] [-7.46726363e-02 -1.13017173e-03 9.97207461e-01 -2.90025163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.33, Y:-242.18, Z:-29.01 [[ 7.36401007e-01 6.74196314e-01 5.63283832e-02 4.76327378e+02] [-6.72413117e-01 7.38550072e-01 -4.90346070e-02 -2.42178769e+02] [-7.46602828e-02 -1.76680970e-03 9.97207461e-01 -2.90070545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.37, Y:-242.22, Z:-29.01 [[ 7.31271359e-01 6.79757738e-01 5.63171100e-02 4.76373575e+02] [-6.77989883e-01 7.33433062e-01 -4.90475511e-02 -2.42220763e+02] [-7.46452828e-02 -2.31536141e-03 9.97207461e-01 -2.90107914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.42, Y:-242.26, Z:-29.02 [[ 7.29188607e-01 6.81992521e-01 5.63043207e-02 4.76420368e+02] [-6.80230158e-01 7.31354790e-01 -4.90622282e-02 -2.42260086e+02] [-7.46385074e-02 -2.52427914e-03 9.97207462e-01 -2.90174163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.46, Y:-242.30, Z:-29.02 [[ 7.26354924e-01 6.85010856e-01 5.62907872e-02 4.76464956e+02] [-6.83256292e-01 7.28527428e-01 -4.90777509e-02 -2.42303666e+02] [-7.46281745e-02 -2.81316853e-03 9.97207462e-01 -2.90198349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.51, Y:-242.34, Z:-29.03 [[ 7.26443218e-01 6.84918260e-01 5.62781307e-02 4.76512299e+02] [-6.83162298e-01 7.28614593e-01 -4.90922599e-02 -2.42342222e+02] [-7.46292525e-02 -2.78435782e-03 9.97207462e-01 -2.90277348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.56, Y:-242.38, Z:-29.03 [[ 7.25365963e-01 6.86059980e-01 5.62665453e-02 4.76558747e+02] [-6.84306408e-01 7.27539268e-01 -4.91055349e-02 -2.42383402e+02] [-7.46254634e-02 -2.88407389e-03 9.97207462e-01 -2.90336715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.60, Y:-242.43, Z:-29.03 [[ 7.23523286e-01 6.88003994e-01 5.62544069e-02 4.76601700e+02] [-6.86255183e-01 7.25700424e-01 -4.91194364e-02 -2.42428185e+02] [-7.46182154e-02 -3.06582223e-03 9.97207462e-01 -2.90339074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.65, Y:-242.47, Z:-29.04 [[ 7.25445736e-01 6.85976837e-01 5.62517898e-02 4.76649222e+02] [-6.84221709e-01 7.27617784e-01 -4.91224334e-02 -2.42466168e+02] [-7.46266541e-02 -2.85303590e-03 9.97207462e-01 -2.90442323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.70, Y:-242.51, Z:-29.05 [[ 7.26225875e-01 6.85151779e-01 5.62407170e-02 4.76695670e+02] [-6.83393204e-01 7.28395133e-01 -4.91351075e-02 -2.42508503e+02] [-7.46304708e-02 -2.75133739e-03 9.97207462e-01 -2.90474273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.74, Y:-242.55, Z:-29.05 [[ 7.27267429e-01 6.84047216e-01 5.62271676e-02 4.76741192e+02] [-6.82284150e-01 7.29433038e-01 -4.91506077e-02 -2.42550608e+02] [-7.46352900e-02 -2.61726911e-03 9.97207463e-01 -2.90508674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.78, Y:-242.60, Z:-29.05 [[ 7.24708999e-01 6.86758100e-01 5.62154591e-02 4.76783788e+02] [-6.85002097e-01 7.26880340e-01 -4.91639956e-02 -2.42595550e+02] [-7.46256842e-02 -2.87811735e-03 9.97207463e-01 -2.90463454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.83, Y:-242.64, Z:-29.05 [[ 7.24703877e-01 6.86764302e-01 5.62057267e-02 4.76830795e+02] [-6.85007457e-01 7.26874536e-01 -4.91751195e-02 -2.42636658e+02] [-7.46262281e-02 -2.86394214e-03 9.97207463e-01 -2.90517265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.88, Y:-242.68, Z:-29.06 [[ 7.25184795e-01 6.86257668e-01 5.61909778e-02 4.76876230e+02] [-6.84498005e-01 7.27353169e-01 -4.91919668e-02 -2.42677719e+02] [-7.46290502e-02 -2.78934581e-03 9.97207463e-01 -2.90568878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.92, Y:-242.71, Z:-29.07 [[ 7.28087530e-01 6.83178194e-01 5.61792225e-02 4.76924346e+02] [-6.81408322e-01 7.30247580e-01 -4.92053882e-02 -2.42713267e+02] [-7.46407895e-02 -2.45516018e-03 9.97207463e-01 -2.90688897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:476.97, Y:-242.76, Z:-29.07 [[ 7.25323015e-01 6.86112975e-01 5.61739190e-02 4.76967693e+02] [-6.84351374e-01 7.27489815e-01 -4.92114420e-02 -2.42757777e+02] [-7.46305628e-02 -2.74850716e-03 9.97207463e-01 -2.90659677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.02, Y:-242.80, Z:-29.07 [[ 7.24859566e-01 6.86603453e-01 5.61632348e-02 4.77015131e+02] [-6.84842375e-01 7.27026791e-01 -4.92236325e-02 -2.42798968e+02] [-7.46292924e-02 -2.78274227e-03 9.97207463e-01 -2.90710483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.06, Y:-242.84, Z:-29.08 [[ 7.24474042e-01 6.87011436e-01 5.61484580e-02 4.77062354e+02] [-6.85250276e-01 7.26641200e-01 -4.92404824e-02 -2.42840939e+02] [-7.46285574e-02 -2.80229511e-03 9.97207464e-01 -2.90757111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.11, Y:-242.88, Z:-29.09 [[ 7.27018213e-01 6.84319754e-01 5.61337106e-02 4.77110853e+02] [-6.82549273e-01 7.29177763e-01 -4.92572886e-02 -2.42877025e+02] [-7.46391891e-02 -2.50307750e-03 9.97207464e-01 -2.90863380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.15, Y:-242.92, Z:-29.09 [[ 7.24878646e-01 6.86586683e-01 5.61219744e-02 4.77154465e+02] [-6.84821922e-01 7.27042872e-01 -4.92706567e-02 -2.42921511e+02] [-7.46316582e-02 -2.71831151e-03 9.97207464e-01 -2.90859703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.20, Y:-242.96, Z:-29.09 [[ 7.27223009e-01 6.84103478e-01 5.61170790e-02 4.77203290e+02] [-6.82330896e-01 7.29380834e-01 -4.92762318e-02 -2.42957641e+02] [-7.46407634e-02 -2.45560731e-03 9.97207464e-01 -2.90943556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.25, Y:-243.00, Z:-29.09 [[ 7.26349746e-01 6.85031640e-01 5.61043654e-02 4.77248094e+02] [-6.83260699e-01 7.28508918e-01 -4.92907028e-02 -2.43000580e+02] [-7.46382215e-02 -2.53161851e-03 9.97207464e-01 -2.90945693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.30, Y:-243.04, Z:-29.10 [[ 7.28490370e-01 6.82755834e-01 5.60914609e-02 4.77295531e+02] [-6.80977019e-01 7.30643059e-01 -4.93053835e-02 -2.43040999e+02] [-7.46463748e-02 -2.27849881e-03 9.97207464e-01 -2.91007667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.34, Y:-243.08, Z:-29.11 [[ 7.32473632e-01 6.78481966e-01 5.60767322e-02 4.77342015e+02] [-6.76689305e-01 7.34614805e-01 -4.93221292e-02 -2.43080505e+02] [-7.46589729e-02 -1.81936583e-03 9.97207465e-01 -2.91096392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.39, Y:-243.12, Z:-29.11 [[ 7.33442948e-01 6.77434984e-01 5.60650028e-02 4.77385995e+02] [-6.75638249e-01 7.35580702e-01 -4.93354587e-02 -2.43123878e+02] [-7.46618998e-02 -1.69491602e-03 9.97207465e-01 -2.91081904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.43, Y:-243.17, Z:-29.11 [[ 7.39240670e-01 6.71104353e-01 5.60551483e-02 4.77432121e+02] [-6.69288456e-01 7.41362172e-01 -4.93466528e-02 -2.43165687e+02] [-7.46739200e-02 -1.03801101e-03 9.97207465e-01 -2.91127825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.48, Y:-243.20, Z:-29.12 [[ 7.44799910e-01 6.64930415e-01 5.60413923e-02 4.77478174e+02] [-6.63095754e-01 7.46905206e-01 -4.93622702e-02 -2.43204795e+02] [-7.46800824e-02 -3.95794848e-04 9.97207465e-01 -2.91236415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.52, Y:-243.25, Z:-29.12 [[ 7.50566344e-01 6.58415396e-01 5.60297295e-02 4.77523708e+02] [-6.56561473e-01 7.52654697e-01 -4.93755048e-02 -2.43247621e+02] [-7.46806316e-02 2.72630384e-04 9.97207465e-01 -2.91237105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.57, Y:-243.29, Z:-29.13 [[ 7.55247315e-01 6.53041767e-01 5.60173552e-02 4.77569422e+02] [-6.51171946e-01 7.57321445e-01 -4.93895396e-02 -2.43290184e+02] [-7.46765766e-02 8.24386984e-04 9.97207466e-01 -2.91267464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.62, Y:-243.33, Z:-29.13 [[ 7.58660263e-01 6.49074954e-01 5.60027619e-02 4.77616420e+02] [-6.47193068e-01 7.60723453e-01 -4.94060814e-02 -2.43331023e+02] [-7.46708645e-02 1.23783146e-03 9.97207466e-01 -2.91317022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.66, Y:-243.37, Z:-29.14 [[ 7.59032264e-01 6.48641152e-01 5.59882010e-02 4.77662172e+02] [-6.46756871e-01 7.61093266e-01 -4.94225768e-02 -2.43371664e+02] [-7.46697599e-02 1.30257667e-03 9.97207466e-01 -2.91355543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.71, Y:-243.41, Z:-29.15 [[ 7.60589684e-01 6.46815240e-01 5.59765858e-02 4.77710925e+02] [-6.44925044e-01 7.62645262e-01 -4.94357288e-02 -2.43409292e+02] [-7.46660607e-02 1.49960325e-03 9.97207466e-01 -2.91452959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.76, Y:-243.45, Z:-29.15 [[ 7.59405038e-01 6.48206747e-01 5.59642886e-02 4.77756743e+02] [-6.46319293e-01 7.61463134e-01 -4.94496460e-02 -2.43451169e+02] [-7.46683368e-02 1.38151087e-03 9.97207466e-01 -2.91453524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.80, Y:-243.49, Z:-29.15 [[ 7.57306821e-01 6.50657975e-01 5.59515691e-02 4.77804386e+02] [-6.48776120e-01 7.59370038e-01 -4.94640338e-02 -2.43490847e+02] [-7.46721133e-02 1.15940832e-03 9.97207467e-01 -2.91490286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.85, Y:-243.53, Z:-29.16 [[ 7.54229057e-01 6.54224258e-01 5.59388072e-02 4.77854377e+02] [-6.52351089e-01 7.56300164e-01 -4.94784621e-02 -2.43525068e+02] [-7.46765392e-02 8.26352042e-04 9.97207467e-01 -2.91597396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.90, Y:-243.56, Z:-29.16 [[ 7.47934521e-01 6.61411753e-01 5.59325014e-02 4.77904742e+02] [-6.59557957e-01 7.50022985e-01 -4.94855894e-02 -2.43562370e+02] [-7.46810121e-02 1.21254331e-04 9.97207467e-01 -2.91639997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:477.95, Y:-243.60, Z:-29.17 [[ 7.45613297e-01 6.64028571e-01 5.59184148e-02 4.77951882e+02] [-6.62180910e-01 7.47707191e-01 -4.95015020e-02 -2.43601940e+02] [-7.46810125e-02 -1.19128695e-04 9.97207467e-01 -2.91685718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.00, Y:-243.64, Z:-29.17 [[ 7.41120594e-01 6.69040248e-01 5.59053840e-02 4.78000721e+02] [-6.67205636e-01 7.43225930e-01 -4.95162142e-02 -2.43640790e+02] [-7.46786713e-02 -6.02901239e-04 9.97207467e-01 -2.91728427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.05, Y:-243.68, Z:-29.18 [[ 7.35247954e-01 6.75489912e-01 5.58911926e-02 4.78050695e+02] [-6.73672548e-01 7.37368196e-01 -4.95322276e-02 -2.43678611e+02] [-7.46709079e-02 -1.23389316e-03 9.97207467e-01 -2.91795500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.10, Y:-243.72, Z:-29.18 [[ 7.31778881e-01 6.79247680e-01 5.58771688e-02 4.78098730e+02] [-6.77439996e-01 7.33907381e-01 -4.95480427e-02 -2.43718458e+02] [-7.46640597e-02 -1.59521772e-03 9.97207468e-01 -2.91841635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.15, Y:-243.76, Z:-29.19 [[ 7.28062150e-01 6.83231156e-01 5.58631645e-02 4.78146960e+02] [-6.81433904e-01 7.30199467e-01 -4.95638270e-02 -2.43757172e+02] [-7.46548037e-02 -1.98150782e-03 9.97207468e-01 -2.91891523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:478.19, Y:-243.80, Z:-29.20 [[ 7.26551186e-01 6.84838760e-01 5.58502212e-02 4.78193904e+02] [-6.83045117e-01 7.28691532e-01 -4.95784077e-02 -2.43796016e+02] [-7.46507985e-02 -2.12696995e-03 9.97207468e-01 -2.91952669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.24, Y:-243.84, Z:-29.20 [[ 7.22830868e-01 6.88764861e-01 5.58435524e-02 4.78237335e+02] [-6.86982261e-01 7.24980420e-01 -4.95859181e-02 -2.43840219e+02] [-7.46385200e-02 -2.52129772e-03 9.97207468e-01 -2.91968490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.28, Y:-243.88, Z:-29.20 [[ 7.23132792e-01 6.88448471e-01 5.58360782e-02 4.78284609e+02] [-6.86664282e-01 7.25281025e-01 -4.95943330e-02 -2.43881462e+02] [-7.46399907e-02 -2.47735204e-03 9.97207468e-01 -2.91982538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.33, Y:-243.92, Z:-29.21 [[ 7.26819996e-01 6.84555027e-01 5.58310695e-02 4.78333092e+02] [-6.82758895e-01 7.28958253e-01 -4.95999709e-02 -2.43917658e+02] [-7.46524283e-02 -2.06890869e-03 9.97207468e-01 -2.92087939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.38, Y:-243.96, Z:-29.21 [[ 7.27521357e-01 6.83810591e-01 5.58189057e-02 4.78379322e+02] [-6.82011222e-01 7.29656890e-01 -4.96136560e-02 -2.43959704e+02] [-7.46549926e-02 -1.97412576e-03 9.97207468e-01 -2.92124435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.42, Y:-244.01, Z:-29.21 [[ 7.24947560e-01 6.86539772e-01 5.58048019e-02 4.78422553e+02] [-6.84747222e-01 7.27088821e-01 -4.96295148e-02 -2.44005173e+02] [-7.46476834e-02 -2.23338736e-03 9.97207469e-01 -2.92124698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.47, Y:-244.04, Z:-29.22 [[ 7.27221871e-01 6.84130636e-01 5.57998506e-02 4.78471121e+02] [-6.82330565e-01 7.29356812e-01 -4.96350810e-02 -2.44041077e+02] [-7.46548807e-02 -1.97822708e-03 9.97207469e-01 -2.92221997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.52, Y:-244.09, Z:-29.22 [[ 7.26386726e-01 6.85017462e-01 5.57978570e-02 4.78515687e+02] [-6.83219825e-01 7.28523718e-01 -4.96373220e-02 -2.44085898e+02] [-7.46524946e-02 -2.06631027e-03 9.97207469e-01 -2.92198545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.56, Y:-244.13, Z:-29.23 [[ 7.25965150e-01 6.85464601e-01 5.57932114e-02 4.78560984e+02] [-6.83667879e-01 7.28102911e-01 -4.96425433e-02 -2.44128332e+02] [-7.46514057e-02 -2.10527017e-03 9.97207469e-01 -2.92263222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.61, Y:-244.17, Z:-29.23 [[ 7.28248323e-01 6.83038845e-01 5.57881360e-02 4.78609245e+02] [-6.81234565e-01 7.30379709e-01 -4.96482463e-02 -2.44165292e+02] [-7.46582033e-02 -1.84855445e-03 9.97207469e-01 -2.92334906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.66, Y:-244.20, Z:-29.24 [[ 7.26648222e-01 6.84741933e-01 5.57749618e-02 4.78655330e+02] [-6.82941513e-01 7.28782870e-01 -4.96630419e-02 -2.44204910e+02] [-7.46542040e-02 -2.00347567e-03 9.97207469e-01 -2.92388887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.70, Y:-244.25, Z:-29.24 [[ 7.24162983e-01 6.87370641e-01 5.57635724e-02 4.78702397e+02] [-6.85576986e-01 7.26303318e-01 -4.96758270e-02 -2.44245089e+02] [-7.46469727e-02 -2.25682683e-03 9.97207469e-01 -2.92442702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.75, Y:-244.29, Z:-29.25 [[ 7.22725549e-01 6.88882824e-01 5.57515519e-02 4.78748391e+02] [-6.87092608e-01 7.24868761e-01 -4.96893141e-02 -2.44286070e+02] [-7.46426733e-02 -2.39474242e-03 9.97207469e-01 -2.92484245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.79, Y:-244.33, Z:-29.25 [[ 7.22856598e-01 6.88746323e-01 5.57390536e-02 4.78794254e+02] [-6.86954623e-01 7.24998569e-01 -4.97033302e-02 -2.44328003e+02] [-7.46437199e-02 -2.36182039e-03 9.97207469e-01 -2.92510037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.84, Y:-244.37, Z:-29.26 [[ 7.23246967e-01 6.88337437e-01 5.57260904e-02 4.78840694e+02] [-6.86543409e-01 7.25386988e-01 -4.97178600e-02 -2.44369966e+02] [-7.46456451e-02 -2.30008862e-03 9.97207470e-01 -2.92550699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.89, Y:-244.41, Z:-29.26 [[ 7.23590791e-01 6.87977199e-01 5.57112174e-02 4.78886975e+02] [-6.86180825e-01 7.25728843e-01 -4.97345203e-02 -2.44411843e+02] [-7.46474533e-02 -2.24052820e-03 9.97207470e-01 -2.92589393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.93, Y:-244.45, Z:-29.26 [[ 7.24963031e-01 6.86532090e-01 5.56982399e-02 4.78930982e+02] [-6.84730338e-01 7.27096552e-01 -4.97490497e-02 -2.44453277e+02] [-7.46523172e-02 -2.07205283e-03 9.97207470e-01 -2.92645849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:478.98, Y:-244.50, Z:-29.27 [[ 7.25307577e-01 6.86169037e-01 5.56863708e-02 4.78976508e+02] [-6.84365198e-01 7.27439335e-01 -4.97623318e-02 -2.44495933e+02] [-7.46538278e-02 -2.01681785e-03 9.97207470e-01 -2.92691344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.02, Y:-244.54, Z:-29.28 [[ 7.24148891e-01 6.87392860e-01 5.56726090e-02 4.79021538e+02] [-6.85591442e-01 7.26282695e-01 -4.97777233e-02 -2.44536287e+02] [-7.46509041e-02 -2.12218115e-03 9.97207470e-01 -2.92769890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.07, Y:-244.58, Z:-29.28 [[ 7.21965851e-01 6.89686230e-01 5.56616074e-02 4.79067543e+02] [-6.87890643e-01 7.24104563e-01 -4.97900223e-02 -2.44578044e+02] [-7.46443167e-02 -2.34240308e-03 9.97207470e-01 -2.92814098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.11, Y:-244.62, Z:-29.29 [[ 7.20727596e-01 6.90981123e-01 5.56490809e-02 4.79113380e+02] [-6.89188299e-01 7.22868624e-01 -4.98040190e-02 -2.44620424e+02] [-7.46406115e-02 -2.45756458e-03 9.97207471e-01 -2.92864462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.16, Y:-244.66, Z:-29.29 [[ 7.19828357e-01 6.91918994e-01 5.56348932e-02 4.79158278e+02] [-6.90127738e-01 7.21970697e-01 -4.98198627e-02 -2.44663009e+02] [-7.46380719e-02 -2.53343304e-03 9.97207471e-01 -2.92907169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.20, Y:-244.71, Z:-29.29 [[ 7.19562997e-01 6.92195937e-01 5.56226470e-02 4.79203271e+02] [-6.90404450e-01 7.21705144e-01 -4.98335316e-02 -2.44705351e+02] [-7.46377185e-02 -2.54375769e-03 9.97207471e-01 -2.92936932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.25, Y:-244.75, Z:-29.30 [[ 7.19405377e-01 6.92360749e-01 5.56102314e-02 4.79249103e+02] [-6.90568684e-01 7.21547040e-01 -4.98473826e-02 -2.44748899e+02] [-7.46377690e-02 -2.54220924e-03 9.97207471e-01 -2.92975443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.29, Y:-244.79, Z:-29.30 [[ 7.18960052e-01 6.92824321e-01 5.55958925e-02 4.79294045e+02] [-6.91032404e-01 7.21101838e-01 -4.98633699e-02 -2.44791019e+02] [-7.46368557e-02 -2.56879222e-03 9.97207471e-01 -2.93034358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.34, Y:-244.83, Z:-29.31 [[ 7.18566295e-01 6.93233409e-01 5.55870547e-02 4.79340794e+02] [-6.91441950e-01 7.20708465e-01 -4.98732203e-02 -2.44833569e+02] [-7.46358434e-02 -2.59800640e-03 9.97207472e-01 -2.93080975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.39, Y:-244.88, Z:-29.31 [[ 7.18868757e-01 6.92920868e-01 5.55732042e-02 4.79386716e+02] [-6.91127288e-01 7.21009150e-01 -4.98886489e-02 -2.44876124e+02] [-7.46376747e-02 -2.54476686e-03 9.97207472e-01 -2.93131035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.43, Y:-244.92, Z:-29.32 [[ 7.19850301e-01 6.91902253e-01 5.55591330e-02 4.79432750e+02] [-6.90104436e-01 7.21987137e-01 -4.99043146e-02 -2.44919217e+02] [-7.46418871e-02 -2.41796830e-03 9.97207472e-01 -2.93173774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.48, Y:-244.96, Z:-29.32 [[ 7.20707174e-01 6.91010795e-01 5.55450230e-02 4.79478045e+02] [-6.89209128e-01 7.22840764e-01 -4.99200146e-02 -2.44962035e+02] [-7.46454759e-02 -2.30442417e-03 9.97207472e-01 -2.93213341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.52, Y:-245.01, Z:-29.33 [[ 7.23690633e-01 6.87886760e-01 5.55308407e-02 4.79523332e+02] [-6.86074671e-01 7.25815378e-01 -4.99357859e-02 -2.45006040e+02] [-7.46553042e-02 -1.96024276e-03 9.97207472e-01 -2.93260465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.57, Y:-245.05, Z:-29.33 [[ 7.26273246e-01 6.85160603e-01 5.55168536e-02 4.79568302e+02] [-6.83339350e-01 7.28390141e-01 -4.99513315e-02 -2.45049879e+02] [-7.46626133e-02 -1.65853498e-03 9.97207473e-01 -2.93298113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.61, Y:-245.09, Z:-29.33 [[ 7.27979079e-01 6.83349036e-01 5.55027613e-02 4.79613628e+02] [-6.81521321e-01 7.30090398e-01 -4.99669852e-02 -2.45092673e+02] [-7.46669242e-02 -1.45139538e-03 9.97207473e-01 -2.93343451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.66, Y:-245.14, Z:-29.33 [[ 7.26835442e-01 6.84566489e-01 5.54884015e-02 4.79655392e+02] [-6.82741094e-01 7.28948767e-01 -4.99829266e-02 -2.45139177e+02] [-7.46648385e-02 -1.55484942e-03 9.97207473e-01 -2.93333902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.70, Y:-245.18, Z:-29.34 [[ 7.32907720e-01 6.78061754e-01 5.54845218e-02 4.79702254e+02] [-6.76217273e-01 7.35004406e-01 -4.99872330e-02 -2.45176843e+02] [-7.46757989e-02 -8.83563040e-04 9.97207473e-01 -2.93449204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.75, Y:-245.22, Z:-29.35 [[ 7.35212129e-01 6.75562981e-01 5.54777779e-02 4.79747182e+02] [-6.73710808e-01 7.37302025e-01 -4.99947165e-02 -2.45218653e+02] [-7.46784577e-02 -6.19256639e-04 9.97207473e-01 -2.93505631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.79, Y:-245.26, Z:-29.36 [[ 7.37697749e-01 6.72848582e-01 5.54690581e-02 4.79792692e+02] [-6.70987992e-01 7.39780154e-01 -5.00043893e-02 -2.45261245e+02] [-7.46802908e-02 -3.30946490e-04 9.97207473e-01 -2.93552988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.84, Y:-245.30, Z:-29.36 [[ 7.41591805e-01 6.68555413e-01 5.54549767e-02 4.79837283e+02] [-6.66681600e-01 7.43662319e-01 -5.00200008e-02 -2.45304941e+02] [-7.46809188e-02 1.23610109e-04 9.97207473e-01 -2.93591501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.88, Y:-245.35, Z:-29.36 [[ 7.40825489e-01 6.69405480e-01 5.54427467e-02 4.79878222e+02] [-6.67533028e-01 7.42897234e-01 -5.00335529e-02 -2.45351140e+02] [-7.46809977e-02 5.62667449e-05 9.97207474e-01 -2.93570907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.93, Y:-245.39, Z:-29.37 [[ 7.43572576e-01 6.66352958e-01 5.54396939e-02 4.79926313e+02] [-6.64471749e-01 7.45636373e-01 -5.00369354e-02 -2.45388440e+02] [-7.46801122e-02 3.67982601e-04 9.97207474e-01 -2.93677988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:479.97, Y:-245.43, Z:-29.37 [[ 7.42140872e-01 6.67948223e-01 5.54265081e-02 4.79972748e+02] [-6.66070359e-01 7.44207713e-01 -5.00515372e-02 -2.45431049e+02] [-7.46806702e-02 2.27337277e-04 9.97207474e-01 -2.93728425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.02, Y:-245.47, Z:-29.38 [[ 7.38900098e-01 6.71532653e-01 5.54124664e-02 4.80019409e+02] [-6.69663651e-01 7.40974954e-01 -5.00670781e-02 -2.45473106e+02] [-7.46809276e-02 -1.13145697e-04 9.97207474e-01 -2.93778518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:-245.52, Z:-29.38 [[ 7.36166976e-01 6.74528893e-01 5.53981527e-02 4.80066200e+02] [-6.72667144e-01 7.38248343e-01 -5.00829109e-02 -2.45515084e+02] [-7.46799649e-02 -3.95132062e-04 9.97207474e-01 -2.93823719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.11, Y:-245.56, Z:-29.39 [[ 7.33074781e-01 6.77889378e-01 5.53837202e-02 4.80112312e+02] [-6.76035963e-01 7.35163574e-01 -5.00988660e-02 -2.45556636e+02] [-7.46775827e-02 -7.15171410e-04 9.97207475e-01 -2.93885452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.16, Y:-245.60, Z:-29.39 [[ 7.30832547e-01 6.80307216e-01 5.53703959e-02 4.80158368e+02] [-6.78459596e-01 7.32926466e-01 -5.01135879e-02 -2.45599139e+02] [-7.46750641e-02 -9.41935385e-04 9.97207475e-01 -2.93925421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.20, Y:-245.64, Z:-29.40 [[ 7.29574612e-01 6.81657229e-01 5.53561850e-02 4.80203185e+02] [-6.79812293e-01 7.31670897e-01 -5.01292806e-02 -2.45641299e+02] [-7.46734960e-02 -1.05876462e-03 9.97207475e-01 -2.93979377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.25, Y:-245.68, Z:-29.40 [[ 7.29246520e-01 6.82009282e-01 5.53430418e-02 4.80248843e+02] [-6.80164258e-01 7.31342726e-01 -5.01437866e-02 -2.45684800e+02] [-7.46732590e-02 -1.07517704e-03 9.97207475e-01 -2.94022906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.29, Y:-245.73, Z:-29.41 [[ 7.28926145e-01 6.82352812e-01 5.53291563e-02 4.80293746e+02] [-6.80507613e-01 7.31022197e-01 -5.01591033e-02 -2.45728166e+02] [-7.46730466e-02 -1.08963029e-03 9.97207475e-01 -2.94072667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.34, Y:-245.77, Z:-29.41 [[ 7.27731080e-01 6.83628316e-01 5.53154717e-02 4.80338860e+02] [-6.81785644e-01 7.29829354e-01 -5.01741902e-02 -2.45772362e+02] [-7.46713521e-02 -1.19997690e-03 9.97207476e-01 -2.94117885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.38, Y:-245.82, Z:-29.41 [[ 7.26223349e-01 6.85230899e-01 5.53015595e-02 4.80384002e+02] [-6.83391691e-01 7.28324659e-01 -5.01895195e-02 -2.45815137e+02] [-7.46688990e-02 -1.34382536e-03 9.97207476e-01 -2.94128810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.43, Y:-245.86, Z:-29.42 [[ 7.23712632e-01 6.87883134e-01 5.52885250e-02 4.80428060e+02] [-6.86050530e-01 7.25819703e-01 -5.02038741e-02 -2.45856029e+02] [-7.46638991e-02 -1.59754407e-03 9.97207476e-01 -2.94222921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.47, Y:-245.90, Z:-29.43 [[ 7.21516500e-01 6.90187255e-01 5.52765138e-02 4.80472743e+02] [-6.88360367e-01 7.23628530e-01 -5.02170954e-02 -2.45898681e+02] [-7.46588617e-02 -1.81769839e-03 9.97207476e-01 -2.94266242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.51, Y:-245.94, Z:-29.42 [[ 7.18705070e-01 6.93115374e-01 5.52639116e-02 4.80514856e+02] [-6.91296024e-01 7.20823597e-01 -5.02309604e-02 -2.45943863e+02] [-7.46513824e-02 -2.10247642e-03 9.97207476e-01 -2.94245169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.56, Y:-245.98, Z:-29.44 [[ 7.19517499e-01 6.92272324e-01 5.52593670e-02 4.80560387e+02] [-6.90450108e-01 7.21633561e-01 -5.02359594e-02 -2.45983301e+02] [-7.46539782e-02 -2.00818408e-03 9.97207476e-01 -2.94361877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.61, Y:-246.03, Z:-29.44 [[ 7.18429825e-01 6.93401516e-01 5.52532713e-02 4.80605867e+02] [-6.91582111e-01 7.20548304e-01 -5.02426630e-02 -2.46026891e+02] [-7.46509897e-02 -2.11634643e-03 9.97207476e-01 -2.94392222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.65, Y:-246.07, Z:-29.44 [[ 7.17457946e-01 6.94408206e-01 5.52389357e-02 4.80651689e+02] [-6.92590561e-01 7.19577936e-01 -5.02584193e-02 -2.46069251e+02] [-7.46485781e-02 -2.19966324e-03 9.97207477e-01 -2.94445810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.70, Y:-246.11, Z:-29.45 [[ 7.16458623e-01 6.95440346e-01 5.52246959e-02 4.80697621e+02] [-6.93624552e-01 7.18580197e-01 -5.02740614e-02 -2.46112077e+02] [-7.46459835e-02 -2.28592020e-03 9.97207477e-01 -2.94484104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.74, Y:-246.15, Z:-29.45 [[ 7.15898303e-01 6.96018266e-01 5.52104434e-02 4.80743647e+02] [-6.94202980e-01 7.18020311e-01 -5.02897084e-02 -2.46154087e+02] [-7.46447755e-02 -2.32493749e-03 9.97207477e-01 -2.94521661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.79, Y:-246.20, Z:-29.46 [[ 7.16573555e-01 6.95324120e-01 5.51970045e-02 4.80788897e+02] [-6.93505644e-01 7.18692830e-01 -5.03044544e-02 -2.46195047e+02] [-7.46475919e-02 -2.23259246e-03 9.97207477e-01 -2.94579475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.84, Y:-246.24, Z:-29.46 [[ 7.18112221e-01 6.93735465e-01 5.51900577e-02 4.80835167e+02] [-6.91911715e-01 7.20226960e-01 -5.03120748e-02 -2.46236845e+02] [-7.46526380e-02 -2.05693171e-03 9.97207477e-01 -2.94638726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.88, Y:-246.28, Z:-29.47 [[ 7.18395943e-01 6.93442006e-01 5.51856365e-02 4.80880869e+02] [-6.91617020e-01 7.20509615e-01 -5.03169238e-02 -2.46278860e+02] [-7.46536502e-02 -2.01985157e-03 9.97207477e-01 -2.94687081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.93, Y:-246.32, Z:-29.47 [[ 7.19645347e-01 6.92146347e-01 5.51725487e-02 4.80925771e+02] [-6.90316456e-01 7.21754774e-01 -5.03312705e-02 -2.46322363e+02] [-7.46576554e-02 -1.86585368e-03 9.97207477e-01 -2.94703896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:480.97, Y:-246.36, Z:-29.48 [[ 7.21342664e-01 6.90377639e-01 5.51677069e-02 4.80971318e+02] [-6.88542171e-01 7.23447239e-01 -5.03365770e-02 -2.46363242e+02] [-7.46621724e-02 -1.67537212e-03 9.97207477e-01 -2.94758642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.02, Y:-246.41, Z:-29.48 [[ 7.22705365e-01 6.88952006e-01 5.51551351e-02 4.81016363e+02] [-6.87111335e-01 7.24805392e-01 -5.03503484e-02 -2.46405046e+02] [-7.46657129e-02 -1.50925158e-03 9.97207478e-01 -2.94824328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.06, Y:-246.45, Z:-29.49 [[ 7.23458729e-01 6.88161934e-01 5.51418129e-02 4.81062018e+02] [-6.86317859e-01 7.25555766e-01 -5.03649342e-02 -2.46447394e+02] [-7.46676909e-02 -1.40785965e-03 9.97207478e-01 -2.94875401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.11, Y:-246.49, Z:-29.49 [[ 7.23798238e-01 6.87805774e-01 5.51300963e-02 4.81106575e+02] [-6.85959691e-01 7.25893508e-01 -5.03777562e-02 -2.46491261e+02] [-7.46686906e-02 -1.35369259e-03 9.97207478e-01 -2.94906057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.15, Y:-246.53, Z:-29.49 [[ 7.24622035e-01 6.86938286e-01 5.51243881e-02 4.81153009e+02] [-6.85089219e-01 7.26714672e-01 -5.03840014e-02 -2.46532119e+02] [-7.46704012e-02 -1.25576641e-03 9.97207478e-01 -2.94947776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.20, Y:-246.57, Z:-29.50 [[ 7.25829050e-01 6.85663899e-01 5.51108800e-02 4.81198498e+02] [-6.83810036e-01 7.27917439e-01 -5.03987725e-02 -2.46574836e+02] [-7.46727895e-02 -1.10447975e-03 9.97207478e-01 -2.94980825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.24, Y:-246.62, Z:-29.50 [[ 7.26437845e-01 6.85019869e-01 5.50984305e-02 4.81244163e+02] [-6.83163123e-01 7.28523671e-01 -5.04123792e-02 -2.46617643e+02] [-7.46739923e-02 -1.01975572e-03 9.97207478e-01 -2.95012268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.29, Y:-246.66, Z:-29.51 [[ 7.25859141e-01 6.85634181e-01 5.50842687e-02 4.81290756e+02] [-6.83778027e-01 7.27945494e-01 -5.04278487e-02 -2.46660014e+02] [-7.46734020e-02 -1.06189763e-03 9.97207479e-01 -2.95052168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.34, Y:-246.70, Z:-29.51 [[ 7.25720625e-01 6.85781919e-01 5.50702711e-02 4.81337254e+02] [-6.83925030e-01 7.27806323e-01 -5.04431303e-02 -2.46701399e+02] [-7.46734783e-02 -1.05631673e-03 9.97207479e-01 -2.95099747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.38, Y:-246.74, Z:-29.52 [[ 7.26972391e-01 6.84455985e-01 5.50558535e-02 4.81383057e+02] [-6.82594101e-01 7.29053631e-01 -5.04588615e-02 -2.46742341e+02] [-7.46755397e-02 -8.98601690e-04 9.97207479e-01 -2.95153196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.43, Y:-246.78, Z:-29.52 [[ 7.28859148e-01 6.82447552e-01 5.50425384e-02 4.81429002e+02] [-6.80578836e-01 7.30934255e-01 -5.04733820e-02 -2.46784577e+02] [-7.46779128e-02 -6.72800549e-04 9.97207479e-01 -2.95185069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.48, Y:-246.83, Z:-29.52 [[ 7.30036020e-01 6.81189616e-01 5.50283180e-02 4.81475825e+02] [-6.79316156e-01 7.32106846e-01 -5.04888810e-02 -2.46826664e+02] [-7.46791097e-02 -5.22923660e-04 9.97207479e-01 -2.95222325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.52, Y:-246.87, Z:-29.53 [[ 7.30365237e-01 6.80837832e-01 5.50133290e-02 4.81522005e+02] [-6.78962145e-01 7.32434045e-01 -5.05052078e-02 -2.46868260e+02] [-7.46794914e-02 -4.64719756e-04 9.97207480e-01 -2.95271363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.57, Y:-246.91, Z:-29.53 [[ 7.29607055e-01 6.81651378e-01 5.49994854e-02 4.81568736e+02] [-6.79776861e-01 7.31676923e-01 -5.05202789e-02 -2.46909318e+02] [-7.46790720e-02 -5.27425654e-04 9.97207480e-01 -2.95332530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.62, Y:-246.95, Z:-29.54 [[ 7.27720760e-01 6.83666000e-01 5.49845084e-02 4.81615280e+02] [-6.81795982e-01 7.29794693e-01 -5.05365742e-02 -2.46950343e+02] [-7.46775399e-02 -7.11702703e-04 9.97207480e-01 -2.95380414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.66, Y:-246.99, Z:-29.54 [[ 7.26405319e-01 6.85064633e-01 5.49705522e-02 4.81661939e+02] [-6.83197460e-01 7.28481813e-01 -5.05517503e-02 -2.46992512e+02] [-7.46762638e-02 -8.34681336e-04 9.97207480e-01 -2.95440387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.71, Y:-247.03, Z:-29.55 [[ 7.24640685e-01 6.86931490e-01 5.49636811e-02 4.81708574e+02] [-6.85069099e-01 7.26721470e-01 -5.05592200e-02 -2.47033699e+02] [-7.46740074e-02 -1.01665169e-03 9.97207480e-01 -2.95467942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.75, Y:-247.08, Z:-29.55 [[ 7.23618749e-01 6.88009094e-01 5.49489979e-02 4.81754049e+02] [-6.86148591e-01 7.25701222e-01 -5.05751731e-02 -2.47075274e+02] [-7.46727339e-02 -1.10603397e-03 9.97207481e-01 -2.95511194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.80, Y:-247.12, Z:-29.55 [[ 7.21300484e-01 6.90440135e-01 5.49366130e-02 4.81799201e+02] [-6.88585626e-01 7.23388296e-01 -5.05886224e-02 -2.47117402e+02] [-7.46689182e-02 -1.33896426e-03 9.97207481e-01 -2.95537623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.85, Y:-247.16, Z:-29.56 [[ 7.19333782e-01 6.92489965e-01 5.49232098e-02 4.81845788e+02] [-6.90640294e-01 7.21425882e-01 -5.06031699e-02 -2.47158383e+02] [-7.46652124e-02 -1.53161221e-03 9.97207481e-01 -2.95578531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.89, Y:-247.20, Z:-29.56 [[ 7.16117506e-01 6.95816588e-01 5.49089564e-02 4.81892770e+02] [-6.93975450e-01 7.18217118e-01 -5.06186314e-02 -2.47200180e+02] [-7.46578358e-02 -1.85657967e-03 9.97207481e-01 -2.95634882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.94, Y:-247.24, Z:-29.57 [[ 7.14520636e-01 6.97457429e-01 5.48944095e-02 4.81937658e+02] [-6.95619901e-01 7.16623409e-01 -5.06344022e-02 -2.47241428e+02] [-7.46539588e-02 -2.00631845e-03 9.97207482e-01 -2.95698818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:481.98, Y:-247.28, Z:-29.58 [[ 7.14052269e-01 6.97937847e-01 5.48827819e-02 4.81983982e+02] [-6.96100767e-01 7.16155432e-01 -5.06470023e-02 -2.47284283e+02] [-7.46530621e-02 -2.03933969e-03 9.97207482e-01 -2.95751987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.03, Y:-247.33, Z:-29.58 [[ 7.14519409e-01 6.97460731e-01 5.48684162e-02 4.82029059e+02] [-6.95621054e-01 7.16620300e-01 -5.06625606e-02 -2.47326551e+02] [-7.46549674e-02 -1.96824268e-03 9.97207482e-01 -2.95793993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.07, Y:-247.37, Z:-29.58 [[ 7.14594223e-01 6.97384464e-01 5.48635253e-02 4.82074268e+02] [-6.95544156e-01 7.16694562e-01 -5.06678565e-02 -2.47368199e+02] [-7.46553662e-02 -1.95304690e-03 9.97207482e-01 -2.95826690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.12, Y:-247.41, Z:-29.59 [[ 7.14321446e-01 6.97664855e-01 5.48509049e-02 4.82119917e+02] [-6.95824324e-01 7.16421589e-01 -5.06815151e-02 -2.47410648e+02] [-7.46550844e-02 -1.96370072e-03 9.97207482e-01 -2.95867013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.17, Y:-247.45, Z:-29.59 [[ 7.13959354e-01 6.98036506e-01 5.48368149e-02 4.82166445e+02] [-6.96195899e-01 7.16059431e-01 -5.06967558e-02 -2.47453404e+02] [-7.46546048e-02 -1.98174265e-03 9.97207482e-01 -2.95918607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.21, Y:-247.50, Z:-29.60 [[ 7.13616552e-01 6.98388058e-01 5.48227881e-02 4.82212775e+02] [-6.96547322e-01 7.15716515e-01 -5.07119196e-02 -2.47495431e+02] [-7.46541739e-02 -1.99780104e-03 9.97207482e-01 -2.95962884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:482.26, Y:-247.54, Z:-29.60 [[ 7.12930996e-01 6.99088988e-01 5.48085957e-02 4.82257197e+02] [-6.97249139e-01 7.15031736e-01 -5.07272539e-02 -2.47538392e+02] [-7.46527500e-02 -2.05021456e-03 9.97207483e-01 -2.96016996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.85, Y:-247.05, Z:-28.65 [[ 7.98120193e-01 6.00000878e-01 5.48005873e-02 4.82847698e+02] [-5.97901867e-01 7.99962015e-01 -5.07359039e-02 -2.47051403e+02] [-7.42799751e-02 7.72797594e-03 9.97207483e-01 -2.86536219e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.90, Y:-247.09, Z:-28.65 [[ 7.97913175e-01 5.99740041e-01 6.03858218e-02 4.82896902e+02] [-5.98208537e-01 8.00192618e-01 -4.28756360e-02 -2.47091670e+02] [-7.40345246e-02 -1.91227923e-03 9.97253846e-01 -2.86547686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:482.95, Y:-247.13, Z:-28.66 [[ 7.97349320e-01 6.00490607e-01 6.03746085e-02 4.82948588e+02] [-5.98960054e-01 7.99629401e-01 -4.28914201e-02 -2.47126783e+02] [-7.40332069e-02 -1.96253417e-03 9.97253846e-01 -2.86584278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.00, Y:-247.16, Z:-28.66 [[ 7.95349279e-01 6.03138341e-01 6.03627875e-02 4.82998857e+02] [-6.01614117e-01 7.97633596e-01 -4.29080498e-02 -2.47162515e+02] [-7.40268772e-02 -2.18821864e-03 9.97253846e-01 -2.86603040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.05, Y:-247.19, Z:-28.67 [[ 7.95279875e-01 6.03230937e-01 6.03519476e-02 4.83051376e+02] [-6.01705824e-01 7.97563598e-01 -4.29232912e-02 -2.47193584e+02] [-7.40271736e-02 -2.17808876e-03 9.97253846e-01 -2.86674366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.10, Y:-247.23, Z:-28.67 [[ 7.92541369e-01 6.06824948e-01 6.03461751e-02 4.83101206e+02] [-6.05309572e-01 7.94831565e-01 -4.29314052e-02 -2.47230926e+02] [-7.40168926e-02 -2.50320271e-03 9.97253846e-01 -2.86685583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.15, Y:-247.26, Z:-28.68 [[ 7.91677569e-01 6.07952565e-01 6.03349433e-02 4.83154287e+02] [-6.06439251e-01 7.93969127e-01 -4.29471845e-02 -2.47260256e+02] [-7.40139332e-02 -2.58915517e-03 9.97253846e-01 -2.86771627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.21, Y:-247.29, Z:-28.68 [[ 7.90092935e-01 6.10011551e-01 6.03246413e-02 4.83206796e+02] [-6.08503105e-01 7.92387700e-01 -4.29616501e-02 -2.47294312e+02] [-7.40076066e-02 -2.76403536e-03 9.97253846e-01 -2.86817123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.26, Y:-247.33, Z:-28.69 [[ 7.89734061e-01 6.10477259e-01 6.03127570e-02 4.83258794e+02] [-6.08968895e-01 7.92028881e-01 -4.29783276e-02 -2.47329223e+02] [-7.40067371e-02 -2.78714381e-03 9.97253847e-01 -2.86863570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.31, Y:-247.36, Z:-28.69 [[ 7.89626829e-01 6.10617131e-01 6.03008339e-02 4.83311806e+02] [-6.09107900e-01 7.91921077e-01 -4.29950500e-02 -2.47363474e+02] [-7.40070154e-02 -2.77966929e-03 9.97253847e-01 -2.86910515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.36, Y:-247.40, Z:-28.70 [[ 7.89702989e-01 6.10519819e-01 6.02887977e-02 4.83363792e+02] [-6.09009020e-01 7.91996205e-01 -4.30119208e-02 -2.47398127e+02] [-7.40081291e-02 -2.74977910e-03 9.97253847e-01 -2.86956513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.42, Y:-247.43, Z:-28.70 [[ 7.89839202e-01 6.10344765e-01 6.02768896e-02 4.83415442e+02] [-6.08832186e-01 7.92131245e-01 -4.30286024e-02 -2.47434108e+02] [-7.40094898e-02 -2.71283343e-03 9.97253847e-01 -2.87003829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.47, Y:-247.47, Z:-28.70 [[ 7.89726762e-01 6.10491523e-01 6.02639434e-02 4.83467951e+02] [-6.08977989e-01 7.92018174e-01 -4.30467266e-02 -2.47467045e+02] [-7.40098001e-02 -2.70426310e-03 9.97253848e-01 -2.87049825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.52, Y:-247.50, Z:-28.71 [[ 7.88995278e-01 6.11437786e-01 6.02518516e-02 4.83520000e+02] [-6.09925711e-01 7.91287653e-01 -4.30636447e-02 -2.47501697e+02] [-7.40072858e-02 -2.77214116e-03 9.97253848e-01 -2.87104013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.57, Y:-247.54, Z:-28.72 [[ 7.87334298e-01 6.13576282e-01 6.02399392e-02 4.83572208e+02] [-6.12069161e-01 7.89629932e-01 -4.30803021e-02 -2.47535232e+02] [-7.40003107e-02 -2.95240962e-03 9.97253848e-01 -2.87162979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.62, Y:-247.57, Z:-28.72 [[ 7.85865313e-01 6.15457705e-01 6.02289275e-02 4.83623553e+02] [-6.13954903e-01 7.88163776e-01 -4.30956916e-02 -2.47569086e+02] [-7.39938344e-02 -3.11043621e-03 9.97253848e-01 -2.87215274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.68, Y:-247.60, Z:-28.73 [[ 7.84111673e-01 6.17691336e-01 6.02187470e-02 4.83676111e+02] [-6.16193991e-01 7.86413696e-01 -4.31099124e-02 -2.47601760e+02] [-7.39854668e-02 -3.30344455e-03 9.97253848e-01 -2.87264450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.73, Y:-247.64, Z:-28.73 [[ 7.83550947e-01 6.18403520e-01 6.02079747e-02 4.83728340e+02] [-6.16907115e-01 7.85853580e-01 -4.31249520e-02 -2.47636760e+02] [-7.39832746e-02 -3.35213102e-03 9.97253848e-01 -2.87296703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.78, Y:-247.67, Z:-28.73 [[ 7.84300309e-01 6.17454056e-01 6.01956360e-02 4.83779600e+02] [-6.15953545e-01 7.86600269e-01 -4.31421681e-02 -2.47671163e+02] [-7.39882101e-02 -3.24129964e-03 9.97253849e-01 -2.87339904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.83, Y:-247.71, Z:-28.74 [[ 7.85280904e-01 6.16207562e-01 6.01842359e-02 4.83831539e+02] [-6.14702186e-01 7.87577681e-01 -4.31580656e-02 -2.47706782e+02] [-7.39940873e-02 -3.10417663e-03 9.97253849e-01 -2.87379986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.88, Y:-247.74, Z:-28.74 [[ 7.87447475e-01 6.13437682e-01 6.01721248e-02 4.83883515e+02] [-6.11922937e-01 7.89738085e-01 -4.31749446e-02 -2.47741817e+02] [-7.40053565e-02 -2.82270217e-03 9.97253849e-01 -2.87425603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.93, Y:-247.78, Z:-28.75 [[ 7.89169099e-01 6.11222483e-01 6.01598644e-02 4.83934164e+02] [-6.09700008e-01 7.91454578e-01 -4.31920214e-02 -2.47777230e+02] [-7.40137347e-02 -2.59366121e-03 9.97253849e-01 -2.87480832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:483.99, Y:-247.81, Z:-28.75 [[ 7.93683501e-01 6.05350023e-01 6.01485575e-02 4.83985199e+02] [-6.03809441e-01 7.95956813e-01 -4.32077616e-02 -2.47812888e+02] [-7.40314736e-02 -2.02497929e-03 9.97253850e-01 -2.87538181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.04, Y:-247.85, Z:-28.76 [[ 8.00155662e-01 5.96770054e-01 6.01366678e-02 4.84036217e+02] [-5.95203843e-01 8.02411394e-01 -4.32243034e-02 -2.47849436e+02] [-7.40493173e-02 -1.20740465e-03 9.97253850e-01 -2.87580024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.09, Y:-247.89, Z:-28.76 [[ 8.04965962e-01 5.90266769e-01 6.01243799e-02 4.84087046e+02] [-5.88681055e-01 8.07208026e-01 -4.32413890e-02 -2.47886839e+02] [-7.40568370e-02 -5.86237119e-04 9.97253850e-01 -2.87625037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.14, Y:-247.92, Z:-28.77 [[ 8.12565249e-01 5.79762250e-01 6.01119664e-02 4.84137377e+02] [-5.78146274e-01 8.14785601e-01 -4.32586386e-02 -2.47924604e+02] [-7.40580904e-02 3.96957051e-04 9.97253850e-01 -2.87674325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.19, Y:-247.96, Z:-28.77 [[ 8.16589168e-01 5.74082034e-01 6.00994938e-02 4.84187417e+02] [-5.72449340e-01 8.18797255e-01 -4.32759601e-02 -2.47960579e+02] [-7.40532517e-02 9.34764757e-04 9.97253850e-01 -2.87726013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.24, Y:-248.00, Z:-28.78 [[ 8.19930760e-01 5.69300431e-01 6.00880067e-02 4.84238917e+02] [-5.67653694e-01 8.22128393e-01 -4.32919038e-02 -2.47995691e+02] [-7.40461559e-02 1.38718465e-03 9.97253851e-01 -2.87779267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.29, Y:-248.03, Z:-28.78 [[ 8.20876861e-01 5.67936674e-01 6.00758964e-02 4.84291296e+02] [-5.66285057e-01 8.23070829e-01 -4.33087028e-02 -2.48029838e+02] [-7.40433185e-02 1.53102962e-03 9.97253851e-01 -2.87824064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.34, Y:-248.06, Z:-28.79 [[ 8.20371019e-01 5.68668377e-01 6.00638657e-02 4.84344001e+02] [-5.67017496e-01 8.22565542e-01 -4.33253815e-02 -2.48064768e+02] [-7.40442406e-02 1.48562462e-03 9.97253851e-01 -2.87867091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.40, Y:-248.10, Z:-28.79 [[ 8.18769648e-01 5.70972919e-01 6.00515596e-02 4.84397148e+02] [-5.69326966e-01 8.20967868e-01 -4.33424317e-02 -2.48098901e+02] [-7.40477556e-02 1.29849532e-03 9.97253851e-01 -2.87923510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.45, Y:-248.13, Z:-28.80 [[ 8.16586880e-01 5.74091586e-01 6.00393120e-02 4.84450059e+02] [-5.72452782e-01 8.18790435e-01 -4.33593910e-02 -2.48132933e+02] [-7.40518759e-02 1.03703864e-03 9.97253851e-01 -2.87983433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.50, Y:-248.17, Z:-28.80 [[ 8.15498065e-01 5.75638462e-01 6.00272222e-02 4.84501648e+02] [-5.74002607e-01 8.17703809e-01 -4.33761218e-02 -2.48168536e+02] [-7.40534523e-02 9.17361365e-04 9.97253852e-01 -2.88027760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.56, Y:-248.20, Z:-28.81 [[ 8.12230354e-01 5.80241363e-01 6.00150985e-02 4.84555015e+02] [-5.78616770e-01 8.14444406e-01 -4.33928896e-02 -2.48201695e+02] [-7.40573107e-02 5.19279680e-04 9.97253852e-01 -2.88070684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.61, Y:-248.24, Z:-28.81 [[ 8.10440710e-01 5.82739667e-01 6.00028065e-02 4.84607375e+02] [-5.81120641e-01 8.12658836e-01 -4.34098801e-02 -2.48236179e+02] [-7.40584700e-02 3.12264627e-04 9.97253852e-01 -2.88121793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.66, Y:-248.27, Z:-28.82 [[ 8.08810338e-01 5.85001687e-01 5.99905263e-02 4.84658201e+02] [-5.83387606e-01 8.11032065e-01 -4.34268442e-02 -2.48270782e+02] [-7.40590176e-02 1.26350986e-04 9.97253852e-01 -2.88176407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.71, Y:-248.31, Z:-28.82 [[ 8.06481426e-01 5.88209323e-01 5.99791756e-02 4.84710934e+02] [-5.86602913e-01 8.08708705e-01 -4.34425156e-02 -2.48305543e+02] [-7.40589742e-02 -1.48377189e-04 9.97253853e-01 -2.88225854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.76, Y:-248.34, Z:-28.83 [[ 8.04468487e-01 5.90960550e-01 5.99673329e-02 4.84762680e+02] [-5.89360539e-01 8.06700367e-01 -4.34588570e-02 -2.48341133e+02] [-7.40581395e-02 -3.81098655e-04 9.97253853e-01 -2.88265159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.81, Y:-248.38, Z:-28.83 [[ 8.03386114e-01 5.92432370e-01 5.99553040e-02 4.84813877e+02] [-5.90835209e-01 8.05620035e-01 -4.34754456e-02 -2.48378134e+02] [-7.40574554e-02 -4.96135268e-04 9.97253853e-01 -2.88310234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.86, Y:-248.42, Z:-28.84 [[ 8.01664657e-01 5.94760961e-01 5.99431098e-02 4.84864420e+02] [-5.93169033e-01 8.03902309e-01 -4.34922522e-02 -2.48415003e+02] [-7.40558982e-02 -6.90195011e-04 9.97253853e-01 -2.88351268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.91, Y:-248.45, Z:-28.84 [[ 7.99616632e-01 5.97512786e-01 5.99308946e-02 4.84913680e+02] [-5.95927297e-01 8.01858851e-01 -4.35090779e-02 -2.48451531e+02] [-7.40533487e-02 -9.23873750e-04 9.97253853e-01 -2.88416675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:484.96, Y:-248.49, Z:-28.85 [[ 7.98137794e-01 5.99487800e-01 5.99202729e-02 4.84962463e+02] [-5.97906762e-01 8.00383153e-01 -4.35237011e-02 -2.48489096e+02] [-7.40511048e-02 -1.08882552e-03 9.97253854e-01 -2.88463503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.01, Y:-248.53, Z:-28.85 [[ 7.96759249e-01 6.01319887e-01 5.99090312e-02 4.85011350e+02] [-5.99742849e-01 7.99007419e-01 -4.35391695e-02 -2.48528557e+02] [-7.40487289e-02 -1.23977704e-03 9.97253854e-01 -2.88499206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.06, Y:-248.57, Z:-28.85 [[ 7.96769621e-01 6.01307324e-01 5.98971929e-02 4.85060800e+02] [-5.99729027e-01 7.99016907e-01 -4.35554496e-02 -2.48566983e+02] [-7.40490806e-02 -1.21842616e-03 9.97253854e-01 -2.88541594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.11, Y:-248.61, Z:-28.85 [[ 7.97380039e-01 6.00498816e-01 5.98852602e-02 4.85109068e+02] [-5.98917009e-01 7.99624856e-01 -4.35718498e-02 -2.48607520e+02] [-7.40505868e-02 -1.12297757e-03 9.97253854e-01 -2.88530740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.16, Y:-248.65, Z:-28.86 [[ 8.00218596e-01 5.96711566e-01 5.98790994e-02 4.85155993e+02] [-5.95118500e-01 8.02455436e-01 -4.35803147e-02 -2.48645053e+02] [-7.40551867e-02 -7.61381555e-04 9.97253854e-01 -2.88632969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.20, Y:-248.68, Z:-28.87 [[ 8.02698686e-01 5.93371696e-01 5.98736097e-02 4.85204958e+02] [-5.91768760e-01 8.04928465e-01 -4.35878556e-02 -2.48684763e+02] [-7.40577726e-02 -4.43417317e-04 9.97253854e-01 -2.88690961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.25, Y:-248.72, Z:-28.87 [[ 8.05875319e-01 5.89051444e-01 5.98612260e-02 4.85253225e+02] [-5.87435290e-01 8.08095536e-01 -4.36048561e-02 -2.48724875e+02] [-7.40590930e-02 -2.45194145e-05 9.97253854e-01 -2.88740683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.30, Y:-248.77, Z:-28.88 [[ 8.10970808e-01 5.82017562e-01 5.98490282e-02 4.85300065e+02] [-5.80380917e-01 8.13175964e-01 -4.36215916e-02 -2.48766701e+02] [-7.40563235e-02 6.40603541e-04 9.97253855e-01 -2.88777666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.35, Y:-248.81, Z:-28.88 [[ 8.14999151e-01 5.76364426e-01 5.98367108e-02 4.85348105e+02] [-5.74711248e-01 8.17191938e-01 -4.36384811e-02 -2.48807374e+02] [-7.40497458e-02 1.17649435e-03 9.97253855e-01 -2.88813140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.40, Y:-248.85, Z:-28.89 [[ 8.16473322e-01 5.74275524e-01 5.98242144e-02 4.85397217e+02] [-5.72615482e-01 8.18660918e-01 -4.36556058e-02 -2.48846446e+02] [-7.40460922e-02 1.38736609e-03 9.97253855e-01 -2.88861312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.45, Y:-248.89, Z:-28.89 [[ 8.16533989e-01 5.74190544e-01 5.98119010e-02 4.85445617e+02] [-5.72529040e-01 8.18720474e-01 -4.36724698e-02 -2.48886078e+02] [-7.40455471e-02 1.41600575e-03 9.97253855e-01 -2.88903549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.50, Y:-248.92, Z:-28.89 [[ 8.15390457e-01 5.75814544e-01 5.97997781e-02 4.85495644e+02] [-5.74156178e-01 8.17579323e-01 -4.36890630e-02 -2.48923678e+02] [-7.40478600e-02 1.28923301e-03 9.97253856e-01 -2.88941944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.55, Y:-248.96, Z:-28.90 [[ 8.11892864e-01 5.80736965e-01 5.97875833e-02 4.85546138e+02] [-5.79090644e-01 8.14090802e-01 -4.37057451e-02 -2.48961039e+02] [-7.40540634e-02 8.61952506e-04 9.97253856e-01 -2.88977877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.60, Y:-249.00, Z:-28.90 [[ 8.05910234e-01 5.89012409e-01 5.97752163e-02 4.85596164e+02] [-5.87387405e-01 8.08123979e-01 -4.37226525e-02 -2.48997278e+02] [-7.40589706e-02 1.25323907e-04 9.97253856e-01 -2.89022138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.65, Y:-249.03, Z:-28.91 [[ 8.00767968e-01 5.95985699e-01 5.97637652e-02 4.85646601e+02] [-5.94378804e-01 8.02994893e-01 -4.37382993e-02 -2.49033802e+02] [-7.40573992e-02 -4.98086217e-04 9.97253856e-01 -2.89067141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.70, Y:-249.07, Z:-28.91 [[ 7.98892415e-01 5.98498700e-01 5.97512775e-02 4.85696029e+02] [-5.96897534e-01 8.01123463e-01 -4.37553523e-02 -2.49070047e+02] [-7.40556718e-02 -7.09571062e-04 9.97253856e-01 -2.89121294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.74, Y:-249.11, Z:-28.91 [[ 7.93895315e-01 6.05112711e-01 5.97397337e-02 4.85743173e+02] [-6.03528944e-01 7.96138746e-01 -4.37711076e-02 -2.49109384e+02] [-7.40475702e-02 -1.30498118e-03 9.97253857e-01 -2.89113095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.79, Y:-249.14, Z:-28.92 [[ 7.90383360e-01 6.09693586e-01 5.97316964e-02 4.85793592e+02] [-6.08121990e-01 7.92635335e-01 -4.37820728e-02 -2.49143111e+02] [-7.40391021e-02 -1.71953634e-03 9.97253857e-01 -2.89214620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.84, Y:-249.18, Z:-28.93 [[ 7.87785276e-01 6.13047906e-01 5.97212192e-02 4.85843104e+02] [-6.11484816e-01 7.90043163e-01 -4.37963597e-02 -2.49180079e+02] [-7.40316075e-02 -2.01649141e-03 9.97253857e-01 -2.89258954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.89, Y:-249.22, Z:-28.93 [[ 7.86455233e-01 6.14754366e-01 5.97095968e-02 4.85892351e+02] [-6.13194973e-01 7.88715675e-01 -4.38121993e-02 -2.49218885e+02] [-7.40276357e-02 -2.15729121e-03 9.97253857e-01 -2.89297926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.94, Y:-249.26, Z:-28.93 [[ 7.87191877e-01 6.13812029e-01 5.96970786e-02 4.85941928e+02] [-6.12248639e-01 7.89449556e-01 -4.38292495e-02 -2.49257854e+02] [-7.40307528e-02 -2.04742595e-03 9.97253857e-01 -2.89339260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:485.99, Y:-249.30, Z:-28.94 [[ 7.88684088e-01 6.11894729e-01 5.96845896e-02 4.85989116e+02] [-6.10324565e-01 7.90937059e-01 -4.38462500e-02 -2.49299232e+02] [-7.40360430e-02 -1.84613152e-03 9.97253857e-01 -2.89363346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.04, Y:-249.34, Z:-28.94 [[ 7.91706713e-01 6.07979211e-01 5.96804720e-02 4.86036662e+02] [-6.06397480e-01 7.93951580e-01 -4.38518538e-02 -2.49337706e+02] [-7.40444205e-02 -1.47228082e-03 9.97253857e-01 -2.89437366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.08, Y:-249.38, Z:-28.95 [[ 7.91086277e-01 6.08787337e-01 5.96697750e-02 4.86084206e+02] [-6.07206802e-01 7.93331985e-01 -4.38664045e-02 -2.49378244e+02] [-7.40432526e-02 -1.52978261e-03 9.97253858e-01 -2.89471423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.13, Y:-249.41, Z:-28.95 [[ 7.93965198e-01 6.05028352e-01 5.96653860e-02 4.86133037e+02] [-6.03436735e-01 7.96203066e-01 -4.38723735e-02 -2.49414252e+02] [-7.40497931e-02 -1.17114799e-03 9.97253858e-01 -2.89532244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.18, Y:-249.46, Z:-28.96 [[ 7.95636679e-01 6.02829724e-01 5.96539923e-02 4.86178965e+02] [-6.01230762e-01 7.97869304e-01 -4.38878603e-02 -2.49455564e+02] [-7.40529960e-02 -9.47023817e-04 9.97253858e-01 -2.89582280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.23, Y:-249.50, Z:-28.96 [[ 7.95334327e-01 6.03229695e-01 5.96426339e-02 4.86225927e+02] [-6.01630698e-01 7.97566928e-01 -4.39032907e-02 -2.49496984e+02] [-7.40527609e-02 -9.65045291e-04 9.97253858e-01 -2.89593189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.27, Y:-249.54, Z:-28.96 [[ 7.93948428e-01 6.05053660e-01 5.96318850e-02 4.86274091e+02] [-6.03458697e-01 7.96183912e-01 -4.39178856e-02 -2.49535378e+02] [-7.40506249e-02 -1.11684338e-03 9.97253858e-01 -2.89626864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.32, Y:-249.57, Z:-28.97 [[ 7.90466578e-01 6.09596442e-01 5.96218712e-02 4.86323103e+02] [-6.08013299e-01 7.92710448e-01 -4.39314759e-02 -2.49573886e+02] [-7.40433516e-02 -1.52452715e-03 9.97253858e-01 -2.89675826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.37, Y:-249.61, Z:-28.97 [[ 7.86866900e-01 6.14237064e-01 5.96096574e-02 4.86371117e+02] [-6.12665897e-01 7.89119172e-01 -4.39480423e-02 -2.49613218e+02] [-7.40336399e-02 -1.93954440e-03 9.97253859e-01 -2.89717401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.42, Y:-249.65, Z:-28.98 [[ 7.84355820e-01 6.17440988e-01 5.96034700e-02 4.86420740e+02] [-6.15878383e-01 7.86614041e-01 -4.39564322e-02 -2.49648038e+02] [-7.40254293e-02 -2.23100529e-03 9.97253859e-01 -2.89772220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.47, Y:-249.69, Z:-28.98 [[ 7.83054920e-01 6.19090612e-01 5.95970353e-02 4.86470857e+02] [-6.17532101e-01 7.85315968e-01 -4.39651548e-02 -2.49686471e+02] [-7.40209180e-02 -2.37595162e-03 9.97253859e-01 -2.89813124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.52, Y:-249.73, Z:-28.99 [[ 7.82314179e-01 6.20027584e-01 5.95845583e-02 4.86520407e+02] [-6.18470496e-01 7.84576207e-01 -4.39820580e-02 -2.49725468e+02] [-7.40187159e-02 -2.44350373e-03 9.97253859e-01 -2.89854016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.57, Y:-249.76, Z:-28.99 [[ 7.82866421e-01 6.19331365e-01 5.95720288e-02 4.86569905e+02] [-6.17770976e-01 7.85126173e-01 -4.39990222e-02 -2.49764800e+02] [-7.40215335e-02 -2.35651341e-03 9.97253859e-01 -2.89897986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.62, Y:-249.80, Z:-28.99 [[ 7.81896532e-01 6.20556611e-01 5.95592616e-02 4.86618830e+02] [-6.18998449e-01 7.84157819e-01 -4.40162978e-02 -2.49802304e+02] [-7.40184653e-02 -2.45089999e-03 9.97253859e-01 -2.89949931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.67, Y:-249.84, Z:-29.00 [[ 7.81118703e-01 6.21536541e-01 5.95474592e-02 4.86669130e+02] [-6.19980001e-01 7.83381107e-01 -4.40322589e-02 -2.49839935e+02] [-7.40160124e-02 -2.52381285e-03 9.97253860e-01 -2.90003561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.72, Y:-249.88, Z:-29.01 [[ 7.80466541e-01 6.22356466e-01 5.95349293e-02 4.86718674e+02] [-6.20801013e-01 7.82729692e-01 -4.40491937e-02 -2.49877112e+02] [-7.40140574e-02 -2.58042258e-03 9.97253860e-01 -2.90050842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.77, Y:-249.91, Z:-29.01 [[ 7.80590483e-01 6.22202043e-01 5.95240846e-02 4.86769216e+02] [-6.20645027e-01 7.82852558e-01 -4.40638435e-02 -2.49914793e+02] [-7.40151953e-02 -2.54751022e-03 9.97253860e-01 -2.90093782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:486.82, Y:-249.95, Z:-29.01 [[ 7.81146719e-01 6.21504776e-01 5.95114900e-02 4.86818602e+02] [-6.19944448e-01 7.83406511e-01 -4.40808469e-02 -2.49951725e+02] [-7.40181456e-02 -2.46020885e-03 9.97253860e-01 -2.90147499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.87, Y:-249.99, Z:-29.02 [[ 7.81472721e-01 6.21095558e-01 5.95037295e-02 4.86869211e+02] [-6.19533250e-01 7.83731145e-01 -4.40913202e-02 -2.49989149e+02] [-7.40198491e-02 -2.40837495e-03 9.97253860e-01 -2.90173821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.92, Y:-250.03, Z:-29.02 [[ 7.82066513e-01 6.20348914e-01 5.94911207e-02 4.86919872e+02] [-6.18783158e-01 7.84322547e-01 -4.41083262e-02 -2.50026869e+02] [-7.40227796e-02 -2.31645866e-03 9.97253860e-01 -2.90224401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:486.97, Y:-250.07, Z:-29.03 [[ 7.81555804e-01 6.20993411e-01 5.94786430e-02 4.86969111e+02] [-6.19428237e-01 7.83812242e-01 -4.41251456e-02 -2.50065950e+02] [-7.40215132e-02 -2.35648732e-03 9.97253861e-01 -2.90293965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.02, Y:-250.10, Z:-29.03 [[ 7.81093809e-01 6.21575314e-01 5.94692377e-02 4.87019683e+02] [-6.20010858e-01 7.83350744e-01 -4.41378179e-02 -2.50100507e+02] [-7.40202497e-02 -2.39579679e-03 9.97253861e-01 -2.90331048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.07, Y:-250.14, Z:-29.04 [[ 7.80405977e-01 6.22439338e-01 5.94624349e-02 4.87070131e+02] [-6.20876684e-01 7.82664160e-01 -4.41469808e-02 -2.50137099e+02] [-7.40179342e-02 -2.46627169e-03 9.97253861e-01 -2.90377631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.12, Y:-250.17, Z:-29.04 [[ 7.79488788e-01 6.23588750e-01 5.94499904e-02 4.87120140e+02] [-6.22028149e-01 7.81748391e-01 -4.41637326e-02 -2.50172883e+02] [-7.40149411e-02 -2.55443309e-03 9.97253861e-01 -2.90416638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.17, Y:-250.21, Z:-29.05 [[ 7.78436610e-01 6.24902669e-01 5.94398758e-02 4.87169108e+02] [-6.23344845e-01 7.80698128e-01 -4.41773417e-02 -2.50211358e+02] [-7.40111385e-02 -2.66228007e-03 9.97253861e-01 -2.90467039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.22, Y:-250.25, Z:-29.05 [[ 7.79490754e-01 6.23588292e-01 5.94290068e-02 4.87220567e+02] [-6.22025542e-01 7.81748870e-01 -4.41919583e-02 -2.50245153e+02] [-7.40161467e-02 -2.51913724e-03 9.97253861e-01 -2.90494547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.27, Y:-250.28, Z:-29.05 [[ 7.80024072e-01 6.22922017e-01 5.94189149e-02 4.87272148e+02] [-6.21356306e-01 7.82280137e-01 -4.42055233e-02 -2.50281121e+02] [-7.40188306e-02 -2.43894515e-03 9.97253862e-01 -2.90523828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.32, Y:-250.32, Z:-29.06 [[ 7.81697876e-01 6.20821526e-01 5.94059229e-02 4.87323180e+02] [-6.19248427e-01 7.83948795e-01 -4.42229758e-02 -2.50315690e+02] [-7.40257770e-02 -2.21801806e-03 9.97253862e-01 -2.90580344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.37, Y:-250.35, Z:-29.06 [[ 7.85521747e-01 6.15977230e-01 5.93939093e-02 4.87373954e+02] [-6.14389028e-01 7.87762035e-01 -4.42391049e-02 -2.50351331e+02] [-7.40385482e-02 -1.74018722e-03 9.97253862e-01 -2.90641826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.42, Y:-250.39, Z:-29.07 [[ 7.91231295e-01 6.08626905e-01 5.93828874e-02 4.87424217e+02] [-6.07016776e-01 7.93455876e-01 -4.42538949e-02 -2.50389104e+02] [-7.40518120e-02 -1.03134221e-03 9.97253862e-01 -2.90692759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.47, Y:-250.43, Z:-29.07 [[ 7.93299180e-01 6.05930338e-01 5.93703347e-02 4.87473911e+02] [-6.04311387e-01 7.95517347e-01 -4.42707290e-02 -2.50426058e+02] [-7.40551090e-02 -7.58236310e-04 9.97253862e-01 -2.90744635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.52, Y:-250.46, Z:-29.08 [[ 7.98957338e-01 5.98451093e-01 5.93587482e-02 4.87524211e+02] [-5.96810221e-01 8.01159340e-01 -4.42862590e-02 -2.50463031e+02] [-7.40589756e-02 -4.30760184e-05 9.97253863e-01 -2.90778297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.58, Y:-250.50, Z:-29.08 [[ 8.02463356e-01 5.93742850e-01 5.93463703e-02 4.87575579e+02] [-5.92087832e-01 8.04654745e-01 -4.43028400e-02 -2.50499205e+02] [-7.40578328e-02 4.13141929e-04 9.97253863e-01 -2.90816938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.63, Y:-250.53, Z:-29.09 [[ 8.03376742e-01 5.92507641e-01 5.93338501e-02 4.87625619e+02] [-5.90848016e-01 8.05564644e-01 -4.43196016e-02 -2.50534884e+02] [-7.40569544e-02 5.48049537e-04 9.97253863e-01 -2.90863567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.68, Y:-250.57, Z:-29.09 [[ 8.03334482e-01 5.92566096e-01 5.93222762e-02 4.87676679e+02] [-5.90905487e-01 8.05521636e-01 -4.43350880e-02 -2.50572047e+02] [-7.40568470e-02 5.62046487e-04 9.97253863e-01 -2.90907643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.73, Y:-250.61, Z:-29.10 [[ 8.02330989e-01 5.93925356e-01 5.93098289e-02 4.87728653e+02] [-5.92267221e-01 8.04520020e-01 -4.43517334e-02 -2.50606626e+02] [-7.40575637e-02 4.57502586e-04 9.97253863e-01 -2.90952307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.78, Y:-250.64, Z:-29.10 [[ 7.99863220e-01 5.97245889e-01 5.92973633e-02 4.87777799e+02] [-5.95595607e-01 8.02058177e-01 -4.43683934e-02 -2.50643995e+02] [-7.40587756e-02 1.71396979e-04 9.97253864e-01 -2.91012673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.83, Y:-250.68, Z:-29.10 [[ 7.97406733e-01 6.00522143e-01 5.92929861e-02 4.87831542e+02] [-5.98880444e-01 7.99608117e-01 -4.43742422e-02 -2.50675545e+02] [-7.40588680e-02 -1.25090365e-04 9.97253864e-01 -2.91042519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.88, Y:-250.71, Z:-29.11 [[ 7.93485349e-01 6.05695386e-01 5.92798468e-02 4.87884282e+02] [-6.04066728e-01 7.95696398e-01 -4.43917882e-02 -2.50710032e+02] [-7.40566618e-02 -5.84749548e-04 9.97253864e-01 -2.91105397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.94, Y:-250.75, Z:-29.12 [[ 7.90801121e-01 6.09196976e-01 5.92674529e-02 4.87935405e+02] [-6.07576868e-01 7.93018442e-01 -4.44083291e-02 -2.50746209e+02] [-7.40536030e-02 -8.91376948e-04 9.97253864e-01 -2.91169244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:487.99, Y:-250.78, Z:-29.12 [[ 7.87129334e-01 6.13935036e-01 5.92552360e-02 4.87985963e+02] [-6.12327046e-01 7.89355459e-01 -4.44246245e-02 -2.50782230e+02] [-7.40472775e-02 -1.31565850e-03 9.97253864e-01 -2.91221195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.04, Y:-250.82, Z:-29.13 [[ 7.84569481e-01 6.17204049e-01 5.92443329e-02 4.88035463e+02] [-6.15604237e-01 7.86801490e-01 -4.44391601e-02 -2.50818576e+02] [-7.40415589e-02 -1.60545360e-03 9.97253864e-01 -2.91280940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.09, Y:-250.86, Z:-29.13 [[ 7.81256628e-01 6.21392874e-01 5.92366231e-02 4.88086232e+02] [-6.19804249e-01 7.83496612e-01 -4.44494347e-02 -2.50856192e+02] [-7.40322555e-02 -1.98869522e-03 9.97253865e-01 -2.91306339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.14, Y:-250.89, Z:-29.14 [[ 7.79764270e-01 6.23265764e-01 5.92239057e-02 4.88135593e+02] [-6.21681233e-01 7.82007152e-01 -4.44663729e-02 -2.50893429e+02] [-7.40278857e-02 -2.14510190e-03 9.97253865e-01 -2.91362224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.19, Y:-250.93, Z:-29.14 [[ 7.78721745e-01 6.24568944e-01 5.92121531e-02 4.88185300e+02] [-6.22986978e-01 7.80966437e-01 -4.44820173e-02 -2.50932604e+02] [-7.40247908e-02 -2.24928625e-03 9.97253865e-01 -2.91404527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.23, Y:-250.97, Z:-29.15 [[ 7.77227871e-01 6.26428175e-01 5.91994782e-02 4.88234046e+02] [-6.24850296e-01 7.79475437e-01 -4.44988795e-02 -2.50971180e+02] [-7.40198910e-02 -2.40504208e-03 9.97253865e-01 -2.91460060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.28, Y:-251.01, Z:-29.15 [[ 7.76961882e-01 6.26759156e-01 5.91877799e-02 4.88283264e+02] [-6.25181052e-01 7.79209290e-01 -4.45144340e-02 -2.51008080e+02] [-7.40194970e-02 -2.41706004e-03 9.97253865e-01 -2.91520104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.33, Y:-251.05, Z:-29.16 [[ 7.74463367e-01 6.29844267e-01 5.91835450e-02 4.88331470e+02] [-6.28274684e-01 7.76716735e-01 -4.45200636e-02 -2.51048053e+02] [-7.40095567e-02 -2.70436463e-03 9.97253865e-01 -2.91573930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.38, Y:-251.09, Z:-29.16 [[ 7.73400462e-01 6.31149550e-01 5.91774551e-02 4.88380444e+02] [-6.29583151e-01 7.75656044e-01 -4.45281571e-02 -2.51086823e+02] [-7.40052770e-02 -2.81903135e-03 9.97253865e-01 -2.91615028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.43, Y:-251.13, Z:-29.16 [[ 7.72358981e-01 6.32424042e-01 5.91729303e-02 4.88427997e+02] [-6.30860906e-01 7.74616825e-01 -4.45341692e-02 -2.51125433e+02] [-7.40008267e-02 -2.93352287e-03 9.97253865e-01 -2.91632749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.48, Y:-251.16, Z:-29.17 [[ 7.73036463e-01 6.31596851e-01 5.91611763e-02 4.88476351e+02] [-6.30030107e-01 7.75291804e-01 -4.45497783e-02 -2.51164938e+02] [-7.40046748e-02 -2.83471924e-03 9.97253866e-01 -2.91683178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.53, Y:-251.20, Z:-29.17 [[ 7.73679630e-01 6.30810008e-01 5.91486551e-02 4.88525223e+02] [-6.29239702e-01 7.75932493e-01 -4.45663965e-02 -2.51203931e+02] [-7.40082924e-02 -2.73856890e-03 9.97253866e-01 -2.91735234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.57, Y:-251.24, Z:-29.18 [[ 7.75489646e-01 6.28584701e-01 5.91361384e-02 4.88574445e+02] [-6.27006665e-01 7.77737101e-01 -4.45829991e-02 -2.51240817e+02] [-7.40165600e-02 -2.50509879e-03 9.97253866e-01 -2.91807004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.62, Y:-251.28, Z:-29.18 [[ 7.74593760e-01 6.29689450e-01 5.91244747e-02 4.88621497e+02] [-6.28113442e-01 7.76842636e-01 -4.45984617e-02 -2.51280076e+02] [-7.40135937e-02 -2.59118713e-03 9.97253866e-01 -2.91825405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.67, Y:-251.32, Z:-29.19 [[ 7.74592221e-01 6.29692345e-01 5.91138022e-02 4.88671303e+02] [-6.28115267e-01 7.76840348e-01 -4.46126033e-02 -2.51318156e+02] [-7.40142015e-02 -2.57370612e-03 9.97253866e-01 -2.91868034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.72, Y:-251.36, Z:-29.19 [[ 7.74085542e-01 6.30316283e-01 5.91012465e-02 4.88720802e+02] [-6.28739750e-01 7.76334051e-01 -4.46292305e-02 -2.51355968e+02] [-7.40128408e-02 -2.61246088e-03 9.97253867e-01 -2.91912775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.77, Y:-251.39, Z:-29.20 [[ 7.72800952e-01 6.31891761e-01 5.90888358e-02 4.88770234e+02] [-6.30318558e-01 7.75051792e-01 -4.46456562e-02 -2.51392435e+02] [-7.40081304e-02 -2.74258420e-03 9.97253867e-01 -2.91959306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.82, Y:-251.43, Z:-29.20 [[ 7.71305980e-01 6.33716775e-01 5.90773621e-02 4.88820218e+02] [-6.32147738e-01 7.73559725e-01 -4.46608337e-02 -2.51429721e+02] [-7.40021874e-02 -2.89845271e-03 9.97253867e-01 -2.91997662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.87, Y:-251.47, Z:-29.20 [[ 7.69725657e-01 6.35636487e-01 5.90649590e-02 4.88870429e+02] [-6.34071814e-01 7.71982435e-01 -4.46772310e-02 -2.51466699e+02] [-7.39955890e-02 -3.06221473e-03 9.97253867e-01 -2.92049661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.92, Y:-251.50, Z:-29.21 [[ 7.69770833e-01 6.35582930e-01 5.90525484e-02 4.88920782e+02] [-6.34016846e-01 7.72026631e-01 -4.46936288e-02 -2.51504321e+02] [-7.39966476e-02 -3.03645863e-03 9.97253867e-01 -2.92100993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:488.97, Y:-251.54, Z:-29.21 [[ 7.71471832e-01 6.33518325e-01 5.90401943e-02 4.88970307e+02] [-6.31944957e-01 7.73722555e-01 -4.47099427e-02 -2.51542353e+02] [-7.40052980e-02 -2.81769167e-03 9.97253868e-01 -2.92138615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.02, Y:-251.58, Z:-29.22 [[ 7.72349821e-01 6.32448807e-01 5.90276250e-02 4.89020545e+02] [-6.30871057e-01 7.74597474e-01 -4.47265310e-02 -2.51580074e+02] [-7.40098904e-02 -2.69429196e-03 9.97253868e-01 -2.92170191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.07, Y:-251.62, Z:-29.22 [[ 7.72608579e-01 6.32133866e-01 5.90149008e-02 4.89070642e+02] [-6.30553920e-01 7.74854689e-01 -4.47433137e-02 -2.51617373e+02] [-7.40117365e-02 -2.64300901e-03 9.97253868e-01 -2.92221334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.12, Y:-251.65, Z:-29.23 [[ 7.72508858e-01 6.32256924e-01 5.90020819e-02 4.89119545e+02] [-6.30676048e-01 7.74754313e-01 -4.47602115e-02 -2.51653124e+02] [-7.40120711e-02 -2.63353997e-03 9.97253868e-01 -2.92287936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.17, Y:-251.69, Z:-29.23 [[ 7.72333026e-01 6.32472655e-01 5.89918445e-02 4.89169054e+02] [-6.30891378e-01 7.74578198e-01 -4.47736998e-02 -2.51689612e+02] [-7.40119374e-02 -2.63723898e-03 9.97253868e-01 -2.92346962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.22, Y:-251.72, Z:-29.24 [[ 7.73250821e-01 6.31351280e-01 5.89807496e-02 4.89219660e+02] [-6.29765633e-01 7.75492911e-01 -4.47883105e-02 -2.51724498e+02] [-7.40163103e-02 -2.51145127e-03 9.97253869e-01 -2.92413162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.27, Y:-251.76, Z:-29.24 [[ 7.72056515e-01 6.32812285e-01 5.89690627e-02 4.89267526e+02] [-6.31229708e-01 7.74300772e-01 -4.48036923e-02 -2.51763064e+02] [-7.40121177e-02 -2.63204168e-03 9.97253869e-01 -2.92435565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.32, Y:-251.80, Z:-29.25 [[ 7.71837577e-01 6.33080298e-01 5.89583883e-02 4.89316378e+02] [-6.31497430e-01 7.74081628e-01 -4.48177347e-02 -2.51800506e+02] [-7.40118300e-02 -2.64005897e-03 9.97253869e-01 -2.92472248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.37, Y:-251.84, Z:-29.25 [[ 7.72017455e-01 6.32861997e-01 5.89469425e-02 4.89366429e+02] [-6.31277348e-01 7.74260248e-01 -4.48327839e-02 -2.51838248e+02] [-7.40132395e-02 -2.60017784e-03 9.97253869e-01 -2.92493880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.42, Y:-251.87, Z:-29.25 [[ 7.71763798e-01 6.33172484e-01 5.89342537e-02 4.89416410e+02] [-6.31587466e-01 7.74006330e-01 -4.48494575e-02 -2.51874837e+02] [-7.40129279e-02 -2.60894828e-03 9.97253869e-01 -2.92540543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.47, Y:-251.91, Z:-29.26 [[ 7.71434448e-01 6.33574801e-01 5.89225259e-02 4.89466555e+02] [-6.31989779e-01 7.73676976e-01 -4.48648600e-02 -2.51912170e+02] [-7.40122465e-02 -2.62813563e-03 9.97253870e-01 -2.92582044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.52, Y:-251.95, Z:-29.26 [[ 7.71163243e-01 6.33905243e-01 5.89185590e-02 4.89515420e+02] [-6.32320784e-01 7.73406170e-01 -4.48700690e-02 -2.51948412e+02] [-7.40113490e-02 -2.65328156e-03 9.97253870e-01 -2.92628003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.57, Y:-251.99, Z:-29.27 [[ 7.71539830e-01 6.33447777e-01 5.89084343e-02 4.89565345e+02] [-6.31860976e-01 7.73781101e-01 -4.48833574e-02 -2.51985114e+02] [-7.40134961e-02 -2.59264284e-03 9.97253870e-01 -2.92676162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.62, Y:-252.02, Z:-29.27 [[ 7.72417193e-01 6.32378663e-01 5.88974310e-02 4.89615405e+02] [-6.30787660e-01 7.74655482e-01 -4.48977917e-02 -2.52023219e+02] [-7.40176233e-02 -2.47194643e-03 9.97253870e-01 -2.92724025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.67, Y:-252.06, Z:-29.28 [[ 7.75505053e-01 6.28589276e-01 5.88849352e-02 4.89665336e+02] [-6.26986091e-01 7.77734633e-01 -4.49141744e-02 -2.52060715e+02] [-7.40294218e-02 -2.08886610e-03 9.97253870e-01 -2.92751391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.71, Y:-252.10, Z:-29.28 [[ 7.79490556e-01 6.23641219e-01 5.88736199e-02 4.89714487e+02] [-6.22022759e-01 7.81709072e-01 -4.49290017e-02 -2.52098988e+02] [-7.40416202e-02 -1.59899890e-03 9.97253870e-01 -2.92785034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.76, Y:-252.14, Z:-29.28 [[ 7.81775662e-01 6.20775341e-01 5.88624690e-02 4.89764422e+02] [-6.19147647e-01 7.83987413e-01 -4.49436060e-02 -2.52137237e+02] [-7.40473171e-02 -1.30874184e-03 9.97253870e-01 -2.92829792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.81, Y:-252.17, Z:-29.29 [[ 7.84302063e-01 6.17581561e-01 5.88497208e-02 4.89814848e+02] [-6.15943608e-01 7.86506227e-01 -4.49602925e-02 -2.52174932e+02] [-7.40523194e-02 -9.85659188e-04 9.97253871e-01 -2.92881281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.87, Y:-252.21, Z:-29.29 [[ 7.85998755e-01 6.15421939e-01 5.88370162e-02 4.89865046e+02] [-6.13776686e-01 7.88197474e-01 -4.49769121e-02 -2.52211982e+02] [-7.40549660e-02 -7.60991908e-04 9.97253871e-01 -2.92928892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.91, Y:-252.25, Z:-29.30 [[ 7.86944535e-01 6.14213324e-01 5.88242477e-02 4.89914238e+02] [-6.12563445e-01 7.89139786e-01 -4.49936056e-02 -2.52249410e+02] [-7.40562263e-02 -6.26111770e-04 9.97253871e-01 -2.92974915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:489.96, Y:-252.29, Z:-29.30 [[ 7.87622725e-01 6.13344549e-01 5.88124721e-02 4.89964589e+02] [-6.11691100e-01 7.89815288e-01 -4.50089926e-02 -2.52287082e+02] [-7.40570098e-02 -5.24960304e-04 9.97253871e-01 -2.93015696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.01, Y:-252.32, Z:-29.31 [[ 7.87951500e-01 6.12923355e-01 5.87996122e-02 4.90013863e+02] [-6.11267481e-01 7.90142231e-01 -4.50257866e-02 -2.52324133e+02] [-7.40574129e-02 -4.64154741e-04 9.97253871e-01 -2.93072646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.06, Y:-252.36, Z:-29.31 [[ 7.86581128e-01 6.14682139e-01 5.87877334e-02 4.90064147e+02] [-6.13030004e-01 7.88774680e-01 -4.50412907e-02 -2.52362291e+02] [-7.40563525e-02 -6.10015158e-04 9.97253872e-01 -2.93112826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.11, Y:-252.40, Z:-29.32 [[ 7.84759973e-01 6.17006691e-01 5.87752338e-02 4.90114021e+02] [-6.15359833e-01 7.86957489e-01 -4.50575958e-02 -2.52399187e+02] [-7.40544485e-02 -8.08520406e-04 9.97253872e-01 -2.93162185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.16, Y:-252.44, Z:-29.32 [[ 7.80689237e-01 6.22150056e-01 5.87675288e-02 4.90164224e+02] [-6.20516917e-01 7.82896968e-01 -4.50676430e-02 -2.52436232e+02] [-7.40477568e-02 -1.28242193e-03 9.97253872e-01 -2.93219460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.21, Y:-252.47, Z:-29.33 [[ 7.78244515e-01 6.25206641e-01 5.87548343e-02 4.90214076e+02] [-6.23580924e-01 7.80457717e-01 -4.50841868e-02 -2.52474140e+02] [-7.40425968e-02 -1.55187276e-03 9.97253872e-01 -2.93274868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.26, Y:-252.51, Z:-29.33 [[ 7.74314056e-01 6.30069144e-01 5.87419418e-02 4.90262271e+02] [-6.28456049e-01 7.76536474e-01 -4.51009787e-02 -2.52512242e+02] [-7.40319955e-02 -1.99440691e-03 9.97253872e-01 -2.93319469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.31, Y:-252.55, Z:-29.34 [[ 7.69112324e-01 6.36409475e-01 5.87300112e-02 4.90310461e+02] [-6.34813510e-01 7.71347074e-01 -4.51165093e-02 -2.52550360e+02] [-7.40137963e-02 -2.58294127e-03 9.97253873e-01 -2.93393314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.36, Y:-252.59, Z:-29.35 [[ 7.65615001e-01 6.40613564e-01 5.87191011e-02 4.90358816e+02] [-6.39028779e-01 7.67857694e-01 -4.51307043e-02 -2.52588083e+02] [-7.39992549e-02 -2.97045134e-03 9.97253873e-01 -2.93459400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.41, Y:-252.63, Z:-29.35 [[ 7.60943818e-01 6.46156238e-01 5.87079454e-02 4.90408512e+02] [-6.44586665e-01 7.63197183e-01 -4.51452115e-02 -2.52627153e+02] [-7.39765986e-02 -3.48938919e-03 9.97253873e-01 -2.93499583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.46, Y:-252.66, Z:-29.35 [[ 7.58731758e-01 6.48753419e-01 5.86951605e-02 4.90456889e+02] [-6.47190277e-01 7.60989589e-01 -4.51618276e-02 -2.52663448e+02] [-7.39652961e-02 -3.72122441e-03 9.97253873e-01 -2.93543708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.51, Y:-252.70, Z:-29.36 [[ 7.56575059e-01 6.51267767e-01 5.86896484e-02 4.90506478e+02] [-6.49711574e-01 7.58837685e-01 -4.51689897e-02 -2.52700962e+02] [-7.39530240e-02 -3.95761285e-03 9.97253873e-01 -2.93594050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.56, Y:-252.74, Z:-29.36 [[ 7.56714260e-01 6.51107097e-01 5.86777382e-02 4.90557273e+02] [-6.49549230e-01 7.58975733e-01 -4.51844566e-02 -2.52736952e+02] [-7.39548997e-02 -3.92235700e-03 9.97253873e-01 -2.93596544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.61, Y:-252.77, Z:-29.36 [[ 7.59046703e-01 6.48387241e-01 5.86693205e-02 4.90607204e+02] [-6.46820426e-01 7.61301986e-01 -4.51953838e-02 -2.52774600e+02] [-7.39691804e-02 -3.64310783e-03 9.97253873e-01 -2.93626415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.66, Y:-252.81, Z:-29.37 [[ 7.65058279e-01 6.41284081e-01 5.86562719e-02 4.90655549e+02] [-6.39695018e-01 7.67297942e-01 -4.52123125e-02 -2.52812604e+02] [-7.40007729e-02 -2.93207087e-03 9.97253874e-01 -2.93662624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.70, Y:-252.85, Z:-29.37 [[ 7.72285135e-01 6.32563454e-01 5.86442387e-02 4.90704541e+02] [-6.30947901e-01 7.74505766e-01 -4.52279152e-02 -2.52851091e+02] [-7.40298273e-02 -2.07261270e-03 9.97253874e-01 -2.93731232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.75, Y:-252.89, Z:-29.38 [[ 7.80109203e-01 6.22889999e-01 5.86317369e-02 4.90752711e+02] [-6.21245681e-01 7.82308618e-01 -4.52441162e-02 -2.52890425e+02] [-7.40502206e-02 -1.12936184e-03 9.97253874e-01 -2.93814839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.80, Y:-252.93, Z:-29.39 [[ 7.87854488e-01 6.13065347e-01 5.86189959e-02 4.90800146e+02] [-6.11392369e-01 7.90032182e-01 -4.52606177e-02 -2.52931466e+02] [-7.40586095e-02 -1.80425987e-04 9.97253874e-01 -2.93862238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.85, Y:-252.97, Z:-29.39 [[ 7.90642897e-01 6.09466272e-01 5.86060849e-02 4.90845539e+02] [-6.07782142e-01 7.92811977e-01 -4.52773295e-02 -2.52971695e+02] [-7.40586113e-02 1.78467084e-04 9.97253875e-01 -2.93947614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.90, Y:-253.01, Z:-29.40 [[ 7.90473689e-01 6.09686707e-01 5.85957909e-02 4.90895537e+02] [-6.08002194e-01 7.92642473e-01 -4.52906476e-02 -2.53010430e+02] [-7.40586184e-02 1.74695840e-04 9.97253875e-01 -2.93994641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:490.95, Y:-253.05, Z:-29.40 [[ 7.89063403e-01 6.11512025e-01 5.85831797e-02 4.90945132e+02] [-6.09831318e-01 7.91235138e-01 -4.53069543e-02 -2.53049357e+02] [-7.40588176e-02 2.42017924e-05 9.97253875e-01 -2.94041479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.00, Y:-253.09, Z:-29.41 [[ 7.88893442e-01 6.11732479e-01 5.85705671e-02 4.90995108e+02] [-6.10051169e-01 7.91064709e-01 -4.53232535e-02 -2.53088119e+02] [-7.40588148e-02 2.41745197e-05 9.97253875e-01 -2.94088519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.04, Y:-253.13, Z:-29.41 [[ 7.87528715e-01 6.13489602e-01 5.85579331e-02 4.91044640e+02] [-6.11811923e-01 7.89702788e-01 -4.53395708e-02 -2.53127065e+02] [-7.40587183e-02 -1.20227761e-04 9.97253875e-01 -2.94135234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.09, Y:-253.17, Z:-29.42 [[ 7.87355165e-01 6.13713548e-01 5.85450617e-02 4.91094597e+02] [-6.12035252e-01 7.89528762e-01 -4.53561850e-02 -2.53165848e+02] [-7.40587153e-02 -1.20215009e-04 9.97253876e-01 -2.94182274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.14, Y:-253.20, Z:-29.42 [[ 7.87181553e-01 6.13937444e-01 5.85321933e-02 4.91144543e+02] [-6.12258532e-01 7.89354673e-01 -4.53727856e-02 -2.53204645e+02] [-7.40587124e-02 -1.20215004e-04 9.97253876e-01 -2.94229314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.19, Y:-253.24, Z:-29.43 [[ 7.86192633e-01 6.15204545e-01 5.85193203e-02 4.91192910e+02] [-6.13527900e-01 7.88367503e-01 -4.53893824e-02 -2.53242299e+02] [-7.40584848e-02 -2.18437615e-04 9.97253876e-01 -2.94282479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.24, Y:-253.28, Z:-29.43 [[ 7.84426916e-01 6.17455499e-01 5.85074356e-02 4.91242277e+02] [-6.15783952e-01 7.86605706e-01 -4.54046968e-02 -2.53280466e+02] [-7.40576625e-02 -4.11273708e-04 9.97253876e-01 -2.94332810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.29, Y:-253.32, Z:-29.44 [[ 7.83750703e-01 6.18314796e-01 5.84948594e-02 4.91289622e+02] [-6.16644429e-01 7.85930398e-01 -4.54208930e-02 -2.53320729e+02] [-7.40572983e-02 -4.71872391e-04 9.97253876e-01 -2.94370959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.34, Y:-253.36, Z:-29.44 [[ 7.82848286e-01 6.19458047e-01 5.84832294e-02 4.91338836e+02] [-6.17789745e-01 7.85029562e-01 -4.54358627e-02 -2.53360354e+02] [-7.40566747e-02 -5.60952195e-04 9.97253877e-01 -2.94413040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.39, Y:-253.40, Z:-29.45 [[ 7.81072521e-01 6.21696769e-01 5.84708815e-02 4.91388656e+02] [-6.20033530e-01 7.83257659e-01 -4.54517475e-02 -2.53398938e+02] [-7.40549704e-02 -7.52796026e-04 9.97253877e-01 -2.94461756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:491.44, Y:-253.44, Z:-29.45 [[ 7.77765405e-01 6.25830353e-01 5.84580586e-02 4.91436680e+02] [-6.24177487e-01 7.79958399e-01 -4.54682339e-02 -2.53437200e+02] [-7.40502546e-02 -1.12458479e-03 9.97253877e-01 -2.94524484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.48, Y:-253.48, Z:-29.46 [[ 7.75702931e-01 6.28385964e-01 5.84469243e-02 4.91482744e+02] [-6.26739245e-01 7.77900545e-01 -4.54825419e-02 -2.53476799e+02] [-7.40464852e-02 -1.35004016e-03 9.97253877e-01 -2.94584619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.53, Y:-253.52, Z:-29.46 [[ 7.75483797e-01 6.28657322e-01 5.84367331e-02 4.91531287e+02] [-6.27010386e-01 7.77681248e-01 -4.54956320e-02 -2.53517262e+02] [-7.40463137e-02 -1.35931305e-03 9.97253877e-01 -2.94627832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.58, Y:-253.56, Z:-29.47 [[ 7.75986166e-01 6.28038321e-01 5.84237791e-02 4.91579239e+02] [-6.26388380e-01 7.78181361e-01 -4.55122609e-02 -2.53558581e+02] [-7.40477399e-02 -1.27909150e-03 9.97253877e-01 -2.94670399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.63, Y:-253.60, Z:-29.47 [[ 7.76220222e-01 6.27750238e-01 5.84106636e-02 4.91626131e+02] [-6.26098217e-01 7.78413852e-01 -4.55290872e-02 -2.53598971e+02] [-7.40485650e-02 -1.23021416e-03 9.97253878e-01 -2.94713999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.67, Y:-253.64, Z:-29.48 [[ 7.76222717e-01 6.27747906e-01 5.84025723e-02 4.91672566e+02] [-6.26095098e-01 7.78415754e-01 -4.55394640e-02 -2.53640881e+02] [-7.40487855e-02 -1.21679769e-03 9.97253878e-01 -2.94751872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.72, Y:-253.68, Z:-29.48 [[ 7.75962143e-01 6.28071183e-01 5.83895641e-02 4.91719519e+02] [-6.26418035e-01 7.78154923e-01 -4.55561367e-02 -2.53681057e+02] [-7.40486235e-02 -1.22643855e-03 9.97253878e-01 -2.94801901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.77, Y:-253.72, Z:-29.49 [[ 7.74636594e-01 6.29706076e-01 5.83815440e-02 4.91765947e+02] [-6.28056781e-01 7.76832274e-01 -4.55664124e-02 -2.53722730e+02] [-7.40461144e-02 -1.36951404e-03 9.97253878e-01 -2.94851167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.81, Y:-253.76, Z:-29.49 [[ 7.72632863e-01 6.32164184e-01 5.83686887e-02 4.91813245e+02] [-6.30520630e-01 7.74832844e-01 -4.55828736e-02 -2.53764731e+02] [-7.40418372e-02 -1.58383628e-03 9.97253878e-01 -2.94890018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.86, Y:-253.81, Z:-29.49 [[ 7.71049428e-01 6.34095728e-01 5.83557003e-02 4.91861389e+02] [-6.32456428e-01 7.73252580e-01 -4.55994955e-02 -2.53805145e+02] [-7.40381411e-02 -1.74797285e-03 9.97253879e-01 -2.94936670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.91, Y:-253.85, Z:-29.50 [[ 7.69307508e-01 6.36209148e-01 5.83427662e-02 4.91909143e+02] [-6.34574646e-01 7.71514222e-01 -4.56160382e-02 -2.53845284e+02] [-7.40336147e-02 -1.93007953e-03 9.97253879e-01 -2.94987727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:491.96, Y:-253.89, Z:-29.50 [[ 7.68443530e-01 6.37253610e-01 5.83299079e-02 4.91957054e+02] [-6.35620862e-01 7.70651541e-01 -4.56324744e-02 -2.53885138e+02] [-7.40314924e-02 -2.00972658e-03 9.97253879e-01 -2.95032195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.00, Y:-253.92, Z:-29.51 [[ 7.68071566e-01 6.37703072e-01 5.83169117e-02 4.92004555e+02] [-6.36070356e-01 7.70279601e-01 -4.56490771e-02 -2.53924748e+02] [-7.40308842e-02 -2.03190073e-03 9.97253879e-01 -2.95078499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.05, Y:-253.96, Z:-29.51 [[ 7.68101164e-01 6.37668466e-01 5.83054793e-02 4.92052583e+02] [-6.36034544e-01 7.70308307e-01 -4.56636746e-02 -2.53963690e+02] [-7.40314803e-02 -2.00997729e-03 9.97253879e-01 -2.95123928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:492.10, Y:-254.00, Z:-29.52 [[ 7.67873796e-01 6.37943343e-01 5.82934266e-02 4.92101308e+02] [-6.36309045e-01 7.70080660e-01 -4.56790556e-02 -2.54002098e+02] [-7.40312899e-02 -2.01688480e-03 9.97253880e-01 -2.95172708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.15, Y:-254.04, Z:-29.52 [[ 7.66943527e-01 6.39062484e-01 5.82818035e-02 4.92150762e+02] [-6.37430281e-01 7.69151940e-01 -4.56938807e-02 -2.54039824e+02] [-7.40288072e-02 -2.10596034e-03 9.97253880e-01 -2.95219028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.20, Y:-254.08, Z:-29.53 [[ 7.66952245e-01 6.39053037e-01 5.82706586e-02 4.92199131e+02] [-6.37419728e-01 7.69159841e-01 -4.57080888e-02 -2.54076814e+02] [-7.40293434e-02 -2.08694603e-03 9.97253880e-01 -2.95281033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.25, Y:-254.12, Z:-29.53 [[ 7.66606271e-01 6.39468593e-01 5.82644300e-02 4.92248916e+02] [-6.37835879e-01 7.68814306e-01 -4.57160270e-02 -2.54115847e+02] [-7.40284908e-02 -2.11695096e-03 9.97253880e-01 -2.95315667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.30, Y:-254.15, Z:-29.54 [[ 7.66054672e-01 6.40130455e-01 5.82515294e-02 4.92298711e+02] [-6.38498400e-01 7.68263194e-01 -4.57324592e-02 -2.54154749e+02] [-7.40272459e-02 -2.15994435e-03 9.97253880e-01 -2.95352450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.35, Y:-254.19, Z:-29.54 [[ 7.66048335e-01 6.40139209e-01 5.82386682e-02 4.92348453e+02] [-6.38505936e-01 7.68255956e-01 -4.57488316e-02 -2.54193332e+02] [-7.40278246e-02 -2.13991909e-03 9.97253880e-01 -2.95400606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.40, Y:-254.23, Z:-29.54 [[ 7.66315812e-01 6.39820164e-01 5.82257093e-02 4.92398270e+02] [-6.38184721e-01 7.68521826e-01 -4.57653189e-02 -2.54231189e+02] [-7.40293023e-02 -2.08807053e-03 9.97253881e-01 -2.95439694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.45, Y:-254.27, Z:-29.55 [[ 7.65935642e-01 6.40276410e-01 5.82126399e-02 4.92446811e+02] [-6.38641020e-01 7.68141694e-01 -4.57819369e-02 -2.54268597e+02] [-7.40286500e-02 -2.11096252e-03 9.97253881e-01 -2.95484445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.50, Y:-254.31, Z:-29.55 [[ 7.64650890e-01 6.41811271e-01 5.82005912e-02 4.92496995e+02] [-6.40179144e-01 7.66859358e-01 -4.57972487e-02 -2.54306423e+02] [-7.40248584e-02 -2.23989763e-03 9.97253881e-01 -2.95536127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.55, Y:-254.34, Z:-29.56 [[ 7.63651304e-01 6.43001445e-01 5.81878697e-02 4.92547156e+02] [-6.41371530e-01 7.65861405e-01 -4.58134065e-02 -2.54344705e+02] [-7.40219302e-02 -2.33457542e-03 9.97253881e-01 -2.95582504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.60, Y:-254.38, Z:-29.56 [[ 7.62089630e-01 6.44852741e-01 5.81750652e-02 4.92597379e+02] [-6.43226956e-01 7.64302771e-01 -4.58296602e-02 -2.54382830e+02] [-7.40167455e-02 -2.49346127e-03 9.97253881e-01 -2.95635027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.65, Y:-254.42, Z:-29.57 [[ 7.60910397e-01 6.46244923e-01 5.81624213e-02 4.92647269e+02] [-6.44621964e-01 7.63125609e-01 -4.58457009e-02 -2.54419874e+02] [-7.40127847e-02 -2.60830375e-03 9.97253882e-01 -2.95692985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.70, Y:-254.46, Z:-29.57 [[ 7.60437630e-01 6.46802156e-01 5.81513738e-02 4.92696357e+02] [-6.45179750e-01 7.62653248e-01 -4.58597095e-02 -2.54457147e+02] [-7.40114931e-02 -2.64463996e-03 9.97253882e-01 -2.95743297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.74, Y:-254.50, Z:-29.58 [[ 7.60510540e-01 6.46717443e-01 5.81400709e-02 4.92744773e+02] [-6.45093697e-01 7.62725176e-01 -4.58740347e-02 -2.54495010e+02] [-7.40124342e-02 -2.61810639e-03 9.97253882e-01 -2.95800714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.79, Y:-254.53, Z:-29.58 [[ 7.61593675e-01 6.45442637e-01 5.81281071e-02 4.92793527e+02] [-6.43814029e-01 7.63804738e-01 -4.58891893e-02 -2.54533998e+02] [-7.40173630e-02 -2.47477452e-03 9.97253882e-01 -2.95823242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.84, Y:-254.57, Z:-29.58 [[ 7.64072712e-01 6.42507036e-01 5.81171211e-02 4.92841583e+02] [-6.40868875e-01 7.66276706e-01 -4.59030985e-02 -2.54573044e+02] [-7.40268599e-02 -2.17214916e-03 9.97253882e-01 -2.95847460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.89, Y:-254.61, Z:-29.59 [[ 7.65355872e-01 6.40979032e-01 5.81056745e-02 4.92890605e+02] [-6.39335372e-01 7.67555769e-01 -4.59175835e-02 -2.54611949e+02] [-7.40315538e-02 -2.00572081e-03 9.97253883e-01 -2.95889763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.94, Y:-254.65, Z:-29.59 [[ 7.68029667e-01 6.37774024e-01 5.80923925e-02 4.92938894e+02] [-6.36119912e-01 7.70221715e-01 -4.59343810e-02 -2.54650070e+02] [-7.40397771e-02 -1.67476024e-03 9.97253883e-01 -2.95946013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:492.99, Y:-254.69, Z:-29.60 [[ 7.69412935e-01 6.36105683e-01 5.80800869e-02 4.92988269e+02] [-6.34445644e-01 7.71600498e-01 -4.59499350e-02 -2.54688661e+02] [-7.40436388e-02 -1.49418382e-03 9.97253883e-01 -2.96003144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.04, Y:-254.73, Z:-29.60 [[ 7.71219275e-01 6.33915620e-01 5.80673460e-02 4.93037282e+02] [-6.32248158e-01 7.73401184e-01 -4.59660302e-02 -2.54727235e+02] [-7.40479387e-02 -1.26308409e-03 9.97253883e-01 -2.96040405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.09, Y:-254.76, Z:-29.61 [[ 7.73357102e-01 6.31306813e-01 5.80560195e-02 4.93086647e+02] [-6.29630916e-01 7.75532539e-01 -4.59803315e-02 -2.54764201e+02] [-7.40520287e-02 -9.94648832e-04 9.97253883e-01 -2.96093534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.14, Y:-254.80, Z:-29.61 [[ 7.74945825e-01 6.29356641e-01 5.80446919e-02 4.93136173e+02] [-6.27674199e-01 7.77116204e-01 -4.59946268e-02 -2.54802529e+02] [-7.40544944e-02 -7.89811480e-04 9.97253883e-01 -2.96142809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.19, Y:-254.84, Z:-29.62 [[ 7.76354944e-01 6.27618754e-01 5.80318879e-02 4.93186530e+02] [-6.25930246e-01 7.78520607e-01 -4.60107761e-02 -2.54839834e+02] [-7.40562465e-02 -6.03220383e-04 9.97253884e-01 -2.96180497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.24, Y:-254.88, Z:-29.62 [[ 7.77533192e-01 6.26159666e-01 5.80190314e-02 4.93236458e+02] [-6.24465885e-01 7.79694732e-01 -4.60269823e-02 -2.54876740e+02] [-7.40573730e-02 -4.43399349e-04 9.97253884e-01 -2.96225789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.29, Y:-254.91, Z:-29.63 [[ 7.78897855e-01 6.24462409e-01 5.80071719e-02 4.93287273e+02] [-6.22762804e-01 7.81054819e-01 -4.60419238e-02 -2.54914179e+02] [-7.40582318e-02 -2.62753387e-04 9.97253884e-01 -2.96255440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.34, Y:-254.95, Z:-29.63 [[ 7.79055450e-01 6.24266944e-01 5.79947216e-02 4.93338758e+02] [-6.22565631e-01 7.81211068e-01 -4.60576010e-02 -2.54950791e+02] [-7.40583562e-02 -2.24095391e-04 9.97253884e-01 -2.96285675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.39, Y:-254.99, Z:-29.63 [[ 7.77767498e-01 6.25872055e-01 5.79818036e-02 4.93390988e+02] [-6.24173979e-01 7.79925666e-01 -4.60738577e-02 -2.54985493e+02] [-7.40578368e-02 -3.55983994e-04 9.97253884e-01 -2.96340498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.44, Y:-255.02, Z:-29.64 [[ 7.75373201e-01 6.28837015e-01 5.79690253e-02 4.93439517e+02] [-6.27145989e-01 7.77536897e-01 -4.60899295e-02 -2.55023012e+02] [-7.40561097e-02 -6.18145499e-04 9.97253885e-01 -2.96409205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.49, Y:-255.06, Z:-29.64 [[ 7.73520479e-01 6.31115241e-01 5.79622302e-02 4.93491853e+02] [-6.29429948e-01 7.75688643e-01 -4.60984734e-02 -2.55055638e+02] [-7.40540928e-02 -8.25050266e-04 9.97253885e-01 -2.96426980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.54, Y:-255.09, Z:-29.65 [[ 7.71727817e-01 6.33306709e-01 5.79550621e-02 4.93542858e+02] [-6.31626895e-01 7.73900229e-01 -4.61074833e-02 -2.55092210e+02] [-7.40516144e-02 -1.02354849e-03 9.97253885e-01 -2.96467372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.59, Y:-255.13, Z:-29.65 [[ 7.69222105e-01 6.36349027e-01 5.79419486e-02 4.93594941e+02] [-6.34676565e-01 7.71400181e-01 -4.61239569e-02 -2.55127031e+02] [-7.40473647e-02 -1.29482968e-03 9.97253885e-01 -2.96513734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.65, Y:-255.16, Z:-29.66 [[ 7.66676062e-01 6.39415415e-01 5.79287736e-02 4.93646771e+02] [-6.37750413e-01 7.68859847e-01 -4.61404980e-02 -2.55162318e+02] [-7.40420536e-02 -1.56928400e-03 9.97253885e-01 -2.96566551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.70, Y:-255.20, Z:-29.66 [[ 7.65474868e-01 6.40854136e-01 5.79154820e-02 4.93696867e+02] [-6.39191978e-01 7.67660818e-01 -4.61571754e-02 -2.55198914e+02] [-7.40394631e-02 -1.68695370e-03 9.97253885e-01 -2.96628979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.75, Y:-255.24, Z:-29.67 [[ 7.64657572e-01 6.41830210e-01 5.79031867e-02 4.93747033e+02] [-6.40169675e-01 7.66844755e-01 -4.61725945e-02 -2.55236642e+02] [-7.40377211e-02 -1.76164018e-03 9.97253886e-01 -2.96666960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.80, Y:-255.27, Z:-29.67 [[ 7.65016040e-01 6.41404033e-01 5.78906387e-02 4.93796145e+02] [-6.39741090e-01 7.67201392e-01 -4.61883217e-02 -2.55274007e+02] [-7.40391544e-02 -1.70021335e-03 9.97253886e-01 -2.96678049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.85, Y:-255.31, Z:-29.67 [[ 7.65501055e-01 6.40825669e-01 5.78843407e-02 4.93845959e+02] [-6.39160480e-01 7.67684695e-01 -4.61962132e-02 -2.55312780e+02] [-7.40406417e-02 -1.63413308e-03 9.97253886e-01 -2.96717631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.89, Y:-255.35, Z:-29.68 [[ 7.67604235e-01 6.38306093e-01 5.78711484e-02 4.93894802e+02] [-6.36632490e-01 7.69781434e-01 -4.62127337e-02 -2.55351781e+02] [-7.40460051e-02 -1.36956324e-03 9.97253886e-01 -2.96767751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.94, Y:-255.39, Z:-29.68 [[ 7.68498856e-01 6.37229910e-01 5.78580114e-02 4.93942706e+02] [-6.35552021e-01 7.70672753e-01 -4.62291752e-02 -2.55390414e+02] [-7.40482061e-02 -1.24470784e-03 9.97253886e-01 -2.96825965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:493.99, Y:-255.43, Z:-29.69 [[ 7.72180548e-01 6.32764611e-01 5.78459070e-02 4.93990282e+02] [-6.31073015e-01 7.74343795e-01 -4.62443164e-02 -2.55429691e+02] [-7.40543860e-02 -7.96029370e-04 9.97253887e-01 -2.96874660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.04, Y:-255.47, Z:-29.69 [[ 7.74912491e-01 6.29417046e-01 5.78343596e-02 4.94037819e+02] [-6.27715027e-01 7.77067547e-01 -4.62587534e-02 -2.55469460e+02] [-7.40572519e-02 -4.57010791e-04 9.97253887e-01 -2.96919952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.09, Y:-255.51, Z:-29.70 [[ 7.79140100e-01 6.24177299e-01 5.78221721e-02 4.94085791e+02] [-6.22459656e-01 7.81282724e-01 -4.62739825e-02 -2.55510324e+02] [-7.40586335e-02 6.19460404e-05 9.97253887e-01 -2.96964241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.13, Y:-255.55, Z:-29.70 [[ 7.81942116e-01 6.20664665e-01 5.78091760e-02 4.94133951e+02] [-6.18936197e-01 7.84076017e-01 -4.62902125e-02 -2.55550547e+02] [-7.40574877e-02 4.16075125e-04 9.97253887e-01 -2.97012579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.18, Y:-255.59, Z:-29.71 [[ 7.85557835e-01 6.16083175e-01 5.77962664e-02 4.94182124e+02] [-6.14341078e-01 7.87680623e-01 -4.63063254e-02 -2.55590408e+02] [-7.40535472e-02 8.69676119e-04 9.97253887e-01 -2.97060142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.23, Y:-255.63, Z:-29.71 [[ 7.87304017e-01 6.13851328e-01 5.77834942e-02 4.94230533e+02] [-6.12102044e-01 7.89420887e-01 -4.63222578e-02 -2.55630484e+02] [-7.40504767e-02 1.10030471e-03 9.97253888e-01 -2.97101514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.28, Y:-255.67, Z:-29.72 [[ 7.86868295e-01 6.14411025e-01 5.77700464e-02 4.94278552e+02] [-6.12662016e-01 7.88985392e-01 -4.63390229e-02 -2.55670314e+02] [-7.40509293e-02 1.06919484e-03 9.97253888e-01 -2.97150754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.33, Y:-255.71, Z:-29.72 [[ 7.85607002e-01 6.16024179e-01 5.77568100e-02 4.94327310e+02] [-6.14278305e-01 7.87726685e-01 -4.63555149e-02 -2.55709339e+02] [-7.40526985e-02 9.38461679e-04 9.97253888e-01 -2.97196296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.38, Y:-255.75, Z:-29.72 [[ 7.83721816e-01 6.18422024e-01 5.77435361e-02 4.94375618e+02] [-6.16681418e-01 7.85845826e-01 -4.63720439e-02 -2.55747511e+02] [-7.40550101e-02 7.33416704e-04 9.97253888e-01 -2.97248677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.42, Y:-255.79, Z:-29.73 [[ 7.82908695e-01 6.19452239e-01 5.77312637e-02 4.94424901e+02] [-6.17713302e-01 7.85034072e-01 -4.63873175e-02 -2.55787053e+02] [-7.40557367e-02 6.55664695e-04 9.97253888e-01 -2.97289022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.47, Y:-255.83, Z:-29.73 [[ 7.82502368e-01 6.19966657e-01 5.77181802e-02 4.94473985e+02] [-6.18227917e-01 7.84627905e-01 -4.64035912e-02 -2.55826717e+02] [-7.40559741e-02 6.27929684e-04 9.97253889e-01 -2.97335812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.52, Y:-255.87, Z:-29.74 [[ 7.82332146e-01 6.20182678e-01 5.77049353e-02 4.94522335e+02] [-6.18443310e-01 7.84457169e-01 -4.64200561e-02 -2.55865115e+02] [-7.40559649e-02 6.28670867e-04 9.97253889e-01 -2.97387644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.57, Y:-255.90, Z:-29.74 [[ 7.81641434e-01 6.21054120e-01 5.76927052e-02 4.94571697e+02] [-6.19315999e-01 7.83767478e-01 -4.64352511e-02 -2.55903516e+02] [-7.40564701e-02 5.65700860e-04 9.97253889e-01 -2.97432133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.62, Y:-255.94, Z:-29.75 [[ 7.79779524e-01 6.23391506e-01 5.76794920e-02 4.94622042e+02] [-6.21658545e-01 7.81909775e-01 -4.64516581e-02 -2.55940876e+02] [-7.40577277e-02 3.65102825e-04 9.97253889e-01 -2.97491597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.67, Y:-255.98, Z:-29.75 [[ 7.78077203e-01 6.25516158e-01 5.76663017e-02 4.94671891e+02] [-6.23787800e-01 7.80211191e-01 -4.64680271e-02 -2.55979360e+02] [-7.40583957e-02 1.84177045e-04 9.97253890e-01 -2.97546751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.72, Y:-256.02, Z:-29.76 [[ 7.75608368e-01 6.28575993e-01 5.76531101e-02 4.94720352e+02] [-6.26854838e-01 7.77748169e-01 -4.64843882e-02 -2.56016529e+02] [-7.40585713e-02 -8.64504971e-05 9.97253890e-01 -2.97609910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.77, Y:-256.05, Z:-29.77 [[ 7.72838388e-01 6.31979187e-01 5.76466241e-02 4.94769299e+02] [-6.30266855e-01 7.74985255e-01 -4.64924304e-02 -2.56054251e+02] [-7.40575320e-02 -4.01621462e-04 9.97253890e-01 -2.97651225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.82, Y:-256.09, Z:-29.77 [[ 7.70677441e-01 6.34613664e-01 5.76348845e-02 4.94817992e+02] [-6.32907582e-01 7.72829279e-01 -4.65069790e-02 -2.56092371e+02] [-7.40558905e-02 -6.35675808e-04 9.97253890e-01 -2.97695547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.87, Y:-256.13, Z:-29.77 [[ 7.66624918e-01 6.39504406e-01 5.76224763e-02 4.94867064e+02] [-6.37810895e-01 7.68786663e-01 -4.65223478e-02 -2.56131116e+02] [-7.40506376e-02 -1.08705214e-03 9.97253890e-01 -2.97729621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.92, Y:-256.17, Z:-29.78 [[ 7.62107892e-01 6.44881960e-01 5.76091843e-02 4.94917146e+02] [-6.43202457e-01 7.64280537e-01 -4.65388017e-02 -2.56169604e+02] [-7.40416119e-02 -1.58678077e-03 9.97253890e-01 -2.97780148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:494.97, Y:-256.21, Z:-29.78 [[ 7.59025856e-01 6.48507867e-01 5.75959726e-02 4.94966175e+02] [-6.46837501e-01 7.61205534e-01 -4.65551466e-02 -2.56208415e+02] [-7.40337519e-02 -1.91867495e-03 9.97253891e-01 -2.97827859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.02, Y:-256.25, Z:-29.79 [[ 7.54530050e-01 6.53734364e-01 5.75828529e-02 4.95015504e+02] [-6.52077855e-01 7.56720278e-01 -4.65713684e-02 -2.56247728e+02] [-7.40194163e-02 -2.40900629e-03 9.97253891e-01 -2.97873358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.06, Y:-256.29, Z:-29.79 [[ 7.51618022e-01 6.57081478e-01 5.75697877e-02 4.95063508e+02] [-6.55433486e-01 7.53814665e-01 -4.65875135e-02 -2.56286897e+02] [-7.40087424e-02 -2.71715189e-03 9.97253891e-01 -2.97916625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.11, Y:-256.33, Z:-29.80 [[ 7.50553871e-01 6.58297802e-01 5.75577179e-02 4.95111693e+02] [-6.56652229e-01 7.52752326e-01 -4.66024207e-02 -2.56326338e+02] [-7.40049771e-02 -2.81777649e-03 9.97253891e-01 -2.97964873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.16, Y:-256.37, Z:-29.80 [[ 7.50440845e-01 6.58427799e-01 5.75445173e-02 4.95157210e+02] [-6.56781361e-01 7.52638652e-01 -4.66187151e-02 -2.56366331e+02] [-7.40052859e-02 -2.80957844e-03 9.97253891e-01 -2.98033687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.20, Y:-256.41, Z:-29.81 [[ 7.51872890e-01 6.56792966e-01 5.75339607e-02 4.95203230e+02] [-6.55140754e-01 7.54066359e-01 -4.66317398e-02 -2.56408573e+02] [-7.40118229e-02 -2.63170141e-03 9.97253892e-01 -2.98085361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.25, Y:-256.45, Z:-29.81 [[ 7.52749591e-01 6.55788977e-01 5.75227873e-02 4.95250583e+02] [-6.54132788e-01 7.54940058e-01 -4.66455187e-02 -2.56450622e+02] [-7.40158734e-02 -2.51514609e-03 9.97253892e-01 -2.98120953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.30, Y:-256.49, Z:-29.82 [[ 7.53897155e-01 6.54470559e-01 5.75097156e-02 4.95295869e+02] [-6.52809311e-01 7.56083789e-01 -4.66616295e-02 -2.56492745e+02] [-7.40208263e-02 -2.36480810e-03 9.97253892e-01 -2.98167840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.34, Y:-256.54, Z:-29.82 [[ 7.55287234e-01 6.52866920e-01 5.74976480e-02 4.95341781e+02] [-6.51199899e-01 7.57469469e-01 -4.66764947e-02 -2.56535172e+02] [-7.40262522e-02 -2.18830199e-03 9.97253892e-01 -2.98197409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.39, Y:-256.58, Z:-29.82 [[ 7.57064983e-01 6.50805601e-01 5.74863460e-02 4.95386994e+02] [-6.49131583e-01 7.59241855e-01 -4.66904100e-02 -2.56577047e+02] [-7.40324203e-02 -1.96852827e-03 9.97253892e-01 -2.98245015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.43, Y:-256.62, Z:-29.83 [[ 7.58207281e-01 6.49475489e-01 5.74744121e-02 4.95433359e+02] [-6.47796539e-01 7.60380351e-01 -4.67050957e-02 -2.56618776e+02] [-7.40362285e-02 -1.81958158e-03 9.97253892e-01 -2.98287003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.48, Y:-256.66, Z:-29.83 [[ 7.58456676e-01 6.49185396e-01 5.74612325e-02 4.95480879e+02] [-6.47504387e-01 7.60628154e-01 -4.67213049e-02 -2.56659077e+02] [-7.40374200e-02 -1.77031456e-03 9.97253893e-01 -2.98336188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.53, Y:-256.70, Z:-29.84 [[ 7.58602950e-01 6.49015637e-01 5.74479592e-02 4.95526454e+02] [-6.47332908e-01 7.60773094e-01 -4.67376200e-02 -2.56700477e+02] [-7.40383078e-02 -1.73265812e-03 9.97253893e-01 -2.98397436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.57, Y:-256.74, Z:-29.84 [[ 7.58252495e-01 6.49426126e-01 5.74357111e-02 4.95573708e+02] [-6.47743433e-01 7.60422667e-01 -4.67526668e-02 -2.56741185e+02] [-7.40378199e-02 -1.75327848e-03 9.97253893e-01 -2.98440593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.62, Y:-256.78, Z:-29.85 [[ 7.58319985e-01 6.49348473e-01 5.74226552e-02 4.95621542e+02] [-6.47664345e-01 7.60489043e-01 -4.67686968e-02 -2.56782069e+02] [-7.40384820e-02 -1.72496895e-03 9.97253893e-01 -2.98493777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.67, Y:-256.82, Z:-29.85 [[ 7.58412300e-01 6.49241809e-01 5.74095522e-02 4.95669079e+02] [-6.47556160e-01 7.60580176e-01 -4.67847755e-02 -2.56822993e+02] [-7.40391996e-02 -1.69375999e-03 9.97253894e-01 -2.98548121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.72, Y:-256.86, Z:-29.86 [[ 7.58265411e-01 6.49414507e-01 5.73965519e-02 4.95717090e+02] [-6.47728146e-01 7.60432733e-01 -4.68007192e-02 -2.56863926e+02] [-7.40392828e-02 -1.68999558e-03 9.97253894e-01 -2.98590702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.76, Y:-256.90, Z:-29.86 [[ 7.57774666e-01 6.49988243e-01 5.73832707e-02 4.95764290e+02] [-6.48302291e-01 7.59942306e-01 -4.68169979e-02 -2.56904070e+02] [-7.40384732e-02 -1.72497095e-03 9.97253894e-01 -2.98641810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.81, Y:-256.94, Z:-29.87 [[ 7.56982817e-01 6.50911351e-01 5.73709769e-02 4.95811543e+02] [-6.49226901e-01 7.59151624e-01 -4.68320583e-02 -2.56943069e+02] [-7.40367886e-02 -1.79571817e-03 9.97253894e-01 -2.98689131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.86, Y:-256.98, Z:-29.87 [[ 7.56554220e-01 6.51410510e-01 5.73590478e-02 4.95858579e+02] [-6.49726385e-01 7.58723279e-01 -4.68466642e-02 -2.56984280e+02] [-7.40360543e-02 -1.82564529e-03 9.97253894e-01 -2.98738269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.91, Y:-257.02, Z:-29.88 [[ 7.56550375e-01 6.51416100e-01 5.73462746e-02 4.95905815e+02] [-6.49730807e-01 7.58718527e-01 -4.68622951e-02 -2.57024872e+02] [-7.40365345e-02 -1.80595432e-03 9.97253895e-01 -2.98787732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:495.95, Y:-257.07, Z:-29.88 [[ 7.56331984e-01 6.51670826e-01 5.73329218e-02 4.95952784e+02] [-6.49985027e-01 7.58499743e-01 -4.68786257e-02 -2.57066942e+02] [-7.40364391e-02 -1.80973670e-03 9.97253895e-01 -2.98839807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.00, Y:-257.11, Z:-29.89 [[ 7.55900610e-01 6.52172313e-01 5.73196496e-02 4.96000278e+02] [-6.50486723e-01 7.58068530e-01 -4.68948484e-02 -2.57107912e+02] [-7.40357442e-02 -1.83782650e-03 9.97253895e-01 -2.98886739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.05, Y:-257.15, Z:-29.89 [[ 7.55128947e-01 6.53066799e-01 5.73064519e-02 4.96046388e+02] [-6.51382554e-01 7.57297913e-01 -4.69109706e-02 -2.57148233e+02] [-7.40340539e-02 -1.90459117e-03 9.97253895e-01 -2.98941566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.09, Y:-257.19, Z:-29.90 [[ 7.54167440e-01 6.54177471e-01 5.73001587e-02 4.96093883e+02] [-6.52495838e-01 7.56338431e-01 -4.69186564e-02 -2.57189548e+02] [-7.40314401e-02 -2.00359210e-03 9.97253895e-01 -2.98981129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.14, Y:-257.23, Z:-29.90 [[ 7.53920410e-01 6.54463300e-01 5.72870344e-02 4.96141517e+02] [-6.52781274e-01 7.56091096e-01 -4.69346755e-02 -2.57231122e+02] [-7.40312392e-02 -2.01089348e-03 9.97253895e-01 -2.99028800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.19, Y:-257.27, Z:-29.91 [[ 7.54557865e-01 6.53729424e-01 5.72736313e-02 4.96186825e+02] [-6.52044046e-01 7.56725950e-01 -4.69510254e-02 -2.57271740e+02] [-7.40337098e-02 -1.91766476e-03 9.97253896e-01 -2.99086852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.23, Y:-257.31, Z:-29.91 [[ 7.55677756e-01 6.52435504e-01 5.72629262e-02 4.96233927e+02] [-6.50745425e-01 7.57842178e-01 -4.69640781e-02 -2.57312772e+02] [-7.40372927e-02 -1.77387811e-03 9.97253896e-01 -2.99132526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.28, Y:-257.35, Z:-29.92 [[ 7.56462488e-01 6.51526614e-01 5.72501104e-02 4.96282298e+02] [-6.49832754e-01 7.58623952e-01 -4.69796956e-02 -2.57353365e+02] [-7.40398270e-02 -1.66461945e-03 9.97253896e-01 -2.99165058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.33, Y:-257.39, Z:-29.92 [[ 7.57303701e-01 6.50549813e-01 5.72367556e-02 4.96330908e+02] [-6.48851936e-01 7.59462010e-01 -4.69959606e-02 -2.57393421e+02] [-7.40423548e-02 -1.54796482e-03 9.97253896e-01 -2.99199973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.38, Y:-257.43, Z:-29.92 [[ 7.57529074e-01 6.50288555e-01 5.72232323e-02 4.96378466e+02] [-6.48588691e-01 7.59685818e-01 -4.70124211e-02 -2.57433178e+02] [-7.40433174e-02 -1.50106549e-03 9.97253896e-01 -2.99245461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.43, Y:-257.47, Z:-29.93 [[ 7.57924522e-01 6.49828709e-01 5.72107401e-02 4.96426322e+02] [-6.48126390e-01 7.60079329e-01 -4.70276183e-02 -2.57473071e+02] [-7.40445974e-02 -1.43640532e-03 9.97253897e-01 -2.99287754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.47, Y:-257.51, Z:-29.93 [[ 7.57519526e-01 6.50301943e-01 5.71974696e-02 4.96474857e+02] [-6.48599752e-01 7.59674435e-01 -4.70437531e-02 -2.57512238e+02] [-7.40440994e-02 -1.46170303e-03 9.97253897e-01 -2.99340871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.52, Y:-257.55, Z:-29.94 [[ 7.56497652e-01 6.51491566e-01 5.71842751e-02 4.96524945e+02] [-6.49791553e-01 7.58654279e-01 -4.70597862e-02 -2.57550837e+02] [-7.40421488e-02 -1.55724114e-03 9.97253897e-01 -2.99385971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.57, Y:-257.59, Z:-29.94 [[ 7.54981926e-01 6.53248640e-01 5.71708397e-02 4.96574673e+02] [-6.51552411e-01 7.57141530e-01 -4.70761027e-02 -2.57589338e+02] [-7.40388171e-02 -1.70819171e-03 9.97253897e-01 -2.99430733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.62, Y:-257.63, Z:-29.95 [[ 7.54357882e-01 6.53970348e-01 5.71574144e-02 4.96621887e+02] [-6.52274951e-01 7.56518139e-01 -4.70923974e-02 -2.57627139e+02] [-7.40376523e-02 -1.75782858e-03 9.97253898e-01 -2.99477559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.67, Y:-257.67, Z:-29.95 [[ 7.54755918e-01 6.53511870e-01 5.71466605e-02 4.96671516e+02] [-6.51814174e-01 7.56914368e-01 -4.71054436e-02 -2.57665663e+02] [-7.40390950e-02 -1.69589097e-03 9.97253898e-01 -2.99513730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.72, Y:-257.70, Z:-29.96 [[ 7.56443919e-01 6.51558426e-01 5.71333109e-02 4.96720331e+02] [-6.49853934e-01 7.58597005e-01 -4.71216296e-02 -2.57704670e+02] [-7.40436534e-02 -1.48343678e-03 9.97253898e-01 -2.99551370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.77, Y:-257.74, Z:-29.96 [[ 7.57986931e-01 6.49763893e-01 5.71200139e-02 4.96769079e+02] [-6.48053089e-01 7.60135006e-01 -4.71377425e-02 -2.57744215e+02] [-7.40473252e-02 -1.28700870e-03 9.97253898e-01 -2.99587893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:496.81, Y:-257.79, Z:-29.96 [[ 7.57778548e-01 6.50008085e-01 5.71065860e-02 4.96813090e+02] [-6.48296748e-01 7.59926198e-01 -4.71540046e-02 -2.57788363e+02] [-7.40472750e-02 -1.28972083e-03 9.97253898e-01 -2.99580790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.38, Y:-257.28, Z:-29.01 [[ 8.19412824e-01 5.70352431e-01 5.71027914e-02 4.97377612e+02] [-5.68433105e-01 8.21376815e-01 -4.71585994e-02 -2.57275609e+02] [-7.37999307e-02 6.18324414e-03 9.97253898e-01 -2.90098624e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.43, Y:-257.31, Z:-29.01 [[ 8.23095256e-01 5.64634607e-01 6.08437328e-02 4.97427651e+02] [-5.63092404e-01 8.25340994e-01 -4.17035807e-02 -2.57314871e+02] [-7.37641118e-02 6.53756645e-05 9.97275715e-01 -2.90108595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.48, Y:-257.35, Z:-29.02 [[ 8.24100707e-01 5.63167373e-01 6.08320171e-02 4.97479462e+02] [-5.61619911e-01 8.26342824e-01 -4.17206632e-02 -2.57350445e+02] [-7.37638171e-02 2.17555985e-04 9.97275715e-01 -2.90154900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.53, Y:-257.39, Z:-29.01 [[ 8.22663290e-01 5.65266314e-01 6.08202809e-02 4.97526397e+02] [-5.63723307e-01 8.24908475e-01 -4.17377652e-02 -2.57391207e+02] [-7.37641179e-02 5.03173267e-05 9.97275715e-01 -2.90099058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.58, Y:-257.42, Z:-29.02 [[ 8.26305446e-01 5.59929630e-01 6.08121550e-02 4.97580648e+02] [-5.58371253e-01 8.28539990e-01 -4.17496014e-02 -2.57418515e+02] [-7.37621412e-02 5.42163873e-04 9.97275715e-01 -2.90241849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.63, Y:-257.45, Z:-29.03 [[ 8.23953917e-01 5.63385320e-01 6.08023337e-02 4.97632983e+02] [-5.61835259e-01 8.26194238e-01 -4.17638999e-02 -2.57453673e+02] [-7.37637058e-02 2.50634051e-04 9.97275716e-01 -2.90276760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.68, Y:-257.49, Z:-29.03 [[ 8.20496263e-01 5.68410400e-01 6.07906295e-02 4.97683859e+02] [-5.66872798e-01 8.22745152e-01 -4.17809294e-02 -2.57486961e+02] [-7.37639104e-02 -1.79457802e-04 9.97275716e-01 -2.90329788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.74, Y:-257.52, Z:-29.04 [[ 8.17728043e-01 5.72386656e-01 6.07812778e-02 4.97735480e+02] [-5.70858978e-01 8.19983686e-01 -4.17945293e-02 -2.57520622e+02] [-7.37622871e-02 -5.20979469e-04 9.97275716e-01 -2.90382172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.79, Y:-257.55, Z:-29.04 [[ 8.13500160e-01 5.78380790e-01 6.07713066e-02 4.97788141e+02] [-5.76868648e-01 8.15766246e-01 -4.18090230e-02 -2.57554249e+02] [-7.37567164e-02 -1.04541453e-03 9.97275716e-01 -2.90424265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.84, Y:-257.59, Z:-29.05 [[ 8.10021144e-01 5.83244409e-01 6.07594049e-02 4.97840159e+02] [-5.81744575e-01 8.12295395e-01 -4.18263121e-02 -2.57589260e+02] [-7.37495475e-02 -1.46625707e-03 9.97275716e-01 -2.90464898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.89, Y:-257.62, Z:-29.05 [[ 8.07282942e-01 5.87029812e-01 6.07474379e-02 4.97891962e+02] [-5.85539334e-01 8.09563336e-01 -4.18436856e-02 -2.57624032e+02] [-7.37423893e-02 -1.79032072e-03 9.97275717e-01 -2.90500356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.94, Y:-257.66, Z:-29.05 [[ 8.05051477e-01 5.90087400e-01 6.07369701e-02 4.97942532e+02] [-5.88604436e-01 8.07336765e-01 -4.18588742e-02 -2.57659479e+02] [-7.37355832e-02 -2.05150150e-03 9.97275717e-01 -2.90548630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:497.99, Y:-257.70, Z:-29.06 [[ 8.03975667e-01 5.91553077e-01 6.07296008e-02 4.97992924e+02] [-5.90073473e-01 8.06263131e-01 -4.18695630e-02 -2.57695255e+02] [-7.37321069e-02 -2.17281660e-03 9.97275717e-01 -2.90594114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.04, Y:-257.74, Z:-29.06 [[ 8.00539382e-01 5.96196171e-01 6.07192138e-02 4.98039443e+02] [-5.94728691e-01 8.02834642e-01 -4.18846209e-02 -2.57735821e+02] [-7.37189389e-02 -2.58116994e-03 9.97275717e-01 -2.90617265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.09, Y:-257.77, Z:-29.07 [[ 8.03148183e-01 5.92677364e-01 6.07168703e-02 4.98091673e+02] [-5.91199568e-01 8.05436816e-01 -4.18880178e-02 -2.57765759e+02] [-7.37296826e-02 -2.25350209e-03 9.97275717e-01 -2.90716139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.14, Y:-257.80, Z:-29.08 [[ 8.03749555e-01 5.91862451e-01 6.07082604e-02 4.98141574e+02] [-5.90381394e-01 8.06036078e-01 -4.19004924e-02 -2.57803143e+02] [-7.37323762e-02 -2.16352532e-03 9.97275717e-01 -2.90763582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.19, Y:-257.84, Z:-29.08 [[ 8.05207073e-01 5.89879184e-01 6.06969263e-02 4.98190805e+02] [-5.88391259e-01 8.07489133e-01 -4.19169045e-02 -2.57841583e+02] [-7.37380178e-02 -1.96175294e-03 9.97275717e-01 -2.90783479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.24, Y:-257.88, Z:-29.08 [[ 8.06326505e-01 5.88349122e-01 6.06867295e-02 4.98241337e+02] [-5.86855756e-01 8.08605007e-01 -4.19316621e-02 -2.57879029e+02] [-7.37420499e-02 -1.80374594e-03 9.97275717e-01 -2.90811144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.29, Y:-257.92, Z:-29.09 [[ 8.08126631e-01 5.85875354e-01 6.06746891e-02 4.98289661e+02] [-5.84373706e-01 8.10399683e-01 -4.19490773e-02 -2.57916623e+02] [-7.37476793e-02 -1.55652640e-03 9.97275718e-01 -2.90851010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.34, Y:-257.95, Z:-29.09 [[ 8.09373688e-01 5.84152361e-01 6.06650817e-02 4.98338318e+02] [-5.82644833e-01 8.11642845e-01 -4.19629665e-02 -2.57953919e+02] [-7.37511455e-02 -1.38247539e-03 9.97275718e-01 -2.90887059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.39, Y:-257.99, Z:-29.09 [[ 8.10622909e-01 5.82418569e-01 6.06556666e-02 4.98389845e+02] [-5.80905170e-01 8.12888154e-01 -4.19765713e-02 -2.57990375e+02] [-7.37542074e-02 -1.20801994e-03 9.97275718e-01 -2.90933795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.44, Y:-258.03, Z:-29.10 [[ 8.11854686e-01 5.80701533e-01 6.06440327e-02 4.98437692e+02] [-5.79182087e-01 8.14115880e-01 -4.19933722e-02 -2.58029474e+02] [-7.37568856e-02 -1.03142142e-03 9.97275718e-01 -2.90998387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.49, Y:-258.06, Z:-29.10 [[ 8.14889539e-01 5.76435430e-01 6.06402116e-02 4.98489997e+02] [-5.74903735e-01 8.17142453e-01 -4.19988893e-02 -2.58063002e+02] [-7.37613391e-02 -6.37828612e-04 9.97275718e-01 -2.91026142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.54, Y:-258.10, Z:-29.11 [[ 8.17514063e-01 5.72708370e-01 6.06290328e-02 4.98540428e+02] [-5.71165208e-01 8.19759137e-01 -4.20150206e-02 -2.58097592e+02] [-7.37635577e-02 -2.81323912e-04 9.97275718e-01 -2.91069582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.59, Y:-258.14, Z:-29.11 [[ 8.18386474e-01 5.71462038e-01 6.06194529e-02 4.98589312e+02] [-5.69914433e-01 8.20628488e-01 -4.20288381e-02 -2.58135804e+02] [-7.37639355e-02 -1.52068508e-04 9.97275719e-01 -2.91070815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.64, Y:-258.17, Z:-29.11 [[ 8.20558760e-01 5.68339586e-01 6.06088716e-02 4.98641299e+02] [-5.66782323e-01 8.22794077e-01 -4.20440917e-02 -2.58167137e+02] [-7.37639422e-02 1.47610704e-04 9.97275719e-01 -2.91145922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.69, Y:-258.20, Z:-29.12 [[ 8.19344851e-01 5.70089253e-01 6.05991704e-02 4.98691037e+02] [-5.68535729e-01 8.21582768e-01 -4.20580696e-02 -2.58204952e+02] [-7.37640876e-02 7.26930823e-06 9.97275719e-01 -2.91167683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.74, Y:-258.24, Z:-29.12 [[ 8.17479540e-01 5.72761439e-01 6.05932014e-02 4.98743512e+02] [-5.71214593e-01 8.19722077e-01 -4.20666674e-02 -2.58237442e+02] [-7.37637499e-02 -2.23080952e-04 9.97275719e-01 -2.91231803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.80, Y:-258.27, Z:-29.13 [[ 8.16043661e-01 5.74806539e-01 6.05820584e-02 4.98796437e+02] [-5.73264122e-01 8.18289247e-01 -4.20827089e-02 -2.58269991e+02] [-7.37630632e-02 -3.88192673e-04 9.97275719e-01 -2.91299957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.85, Y:-258.30, Z:-29.14 [[ 8.13016423e-01 5.79081036e-01 6.05759806e-02 4.98849768e+02] [-5.77549773e-01 8.15269630e-01 -4.20914557e-02 -2.58302026e+02] [-7.37601211e-02 -7.64599040e-04 9.97275719e-01 -2.91354539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.90, Y:-258.33, Z:-29.14 [[ 8.10829619e-01 5.82140255e-01 6.05644515e-02 4.98902580e+02] [-5.80616254e-01 8.13087744e-01 -4.21080382e-02 -2.58334657e+02] [-7.37569973e-02 -1.02226043e-03 9.97275719e-01 -2.91356363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:498.95, Y:-258.37, Z:-29.14 [[ 8.10253326e-01 5.82943376e-01 6.05521860e-02 4.98954380e+02] [-5.81420296e-01 8.12512072e-01 -4.21256688e-02 -2.58368817e+02] [-7.37562617e-02 -1.07380669e-03 9.97275720e-01 -2.91419774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.01, Y:-258.40, Z:-29.15 [[ 8.09946115e-01 5.83371209e-01 6.05419157e-02 4.99005602e+02] [-5.81848220e-01 8.12204921e-01 -4.21404238e-02 -2.58402776e+02] [-7.37559519e-02 -1.09473336e-03 9.97275720e-01 -2.91477410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.06, Y:-258.44, Z:-29.15 [[ 8.11038335e-01 5.81852877e-01 6.05313881e-02 4.99057361e+02] [-5.80324531e-01 8.13293520e-01 -4.21555405e-02 -2.58437751e+02] [-7.37581083e-02 -9.38090033e-04 9.97275720e-01 -2.91523325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.11, Y:-258.47, Z:-29.16 [[ 8.12813379e-01 5.79371901e-01 6.05195117e-02 4.99110202e+02] [-5.77835402e-01 8.15063017e-01 -4.21725838e-02 -2.58471971e+02] [-7.37608258e-02 -6.91875982e-04 9.97275720e-01 -2.91576752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.16, Y:-258.51, Z:-29.16 [[ 8.14942802e-01 5.76374050e-01 6.05077116e-02 4.99162665e+02] [-5.74828019e-01 8.17185900e-01 -4.21895073e-02 -2.58506713e+02] [-7.37629860e-02 -3.99492686e-04 9.97275720e-01 -2.91628556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.21, Y:-258.54, Z:-29.16 [[ 8.18504325e-01 5.71306318e-01 6.04959539e-02 4.99213963e+02] [-5.69745152e-01 8.20736916e-01 -4.22063602e-02 -2.58541817e+02] [-7.37640228e-02 7.88118995e-05 9.97275721e-01 -2.91648634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.27, Y:-258.58, Z:-29.17 [[ 8.21489364e-01 5.67006810e-01 6.04855628e-02 4.99265319e+02] [-5.65432863e-01 8.23712962e-01 -4.22212462e-02 -2.58576277e+02] [-7.37624763e-02 4.83779747e-04 9.97275721e-01 -2.91668774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.32, Y:-258.61, Z:-29.17 [[ 8.22451818e-01 5.65610950e-01 6.04752829e-02 4.99317154e+02] [-5.64032147e-01 8.24671971e-01 -4.22359655e-02 -2.58610424e+02] [-7.37613953e-02 6.27042960e-04 9.97275721e-01 -2.91706810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.37, Y:-258.64, Z:-29.18 [[ 8.21460831e-01 5.67050334e-01 6.04650491e-02 4.99370439e+02] [-5.65474344e-01 8.23682981e-01 -4.22506111e-02 -2.58644446e+02] [-7.37622551e-02 5.15788155e-04 9.97275721e-01 -2.91754385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.42, Y:-258.68, Z:-29.18 [[ 8.18102404e-01 5.71886243e-01 6.04531349e-02 4.99423270e+02] [-5.70322129e-01 8.20332929e-01 -4.22676514e-02 -2.58676347e+02] [-7.37639856e-02 1.01506564e-04 9.97275721e-01 -2.91825841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.48, Y:-258.71, Z:-29.19 [[ 8.12847681e-01 5.79331471e-01 6.04457922e-02 4.99476515e+02] [-5.77787006e-01 8.15091856e-01 -4.22781495e-02 -2.58709189e+02] [-7.37619355e-02 -5.59097546e-04 9.97275721e-01 -2.91871314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.53, Y:-258.74, Z:-29.19 [[ 8.06104929e-01 5.88678675e-01 6.04339411e-02 4.99530188e+02] [-5.87158957e-01 8.08365935e-01 -4.22950831e-02 -2.58741918e+02] [-7.37509528e-02 -1.39005484e-03 9.97275722e-01 -2.91916675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.58, Y:-258.77, Z:-29.20 [[ 8.01267186e-01 5.95247911e-01 6.04220274e-02 4.99584678e+02] [-5.93745443e-01 8.03539692e-01 -4.23120960e-02 -2.58771663e+02] [-7.37376840e-02 -1.97200934e-03 9.97275722e-01 -2.91981335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.64, Y:-258.81, Z:-29.20 [[ 8.00899046e-01 5.95744265e-01 6.04110044e-02 4.99635580e+02] [-5.94242019e-01 8.03171699e-01 -4.23278282e-02 -2.58806971e+02] [-7.37369699e-02 -1.99844001e-03 9.97275722e-01 -2.92030813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.69, Y:-258.84, Z:-29.21 [[ 8.00762562e-01 5.95928755e-01 6.04006505e-02 4.99685552e+02] [-5.94425920e-01 8.03034825e-01 -4.23425977e-02 -2.58841808e+02] [-7.37369974e-02 -1.99734523e-03 9.97275722e-01 -2.92085720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.74, Y:-258.88, Z:-29.21 [[ 8.00598937e-01 5.96149519e-01 6.03911733e-02 4.99737287e+02] [-5.94646292e-01 8.02870940e-01 -4.23561104e-02 -2.58878193e+02] [-7.37368929e-02 -2.00113030e-03 9.97275722e-01 -2.92132558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.79, Y:-258.91, Z:-29.22 [[ 8.00417941e-01 5.96393691e-01 6.03795112e-02 4.99788635e+02] [-5.94889906e-01 8.02689574e-01 -4.23727284e-02 -2.58914697e+02] [-7.37368320e-02 -2.00326972e-03 9.97275722e-01 -2.92180453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.84, Y:-258.95, Z:-29.22 [[ 8.00896442e-01 5.95752166e-01 6.03675858e-02 4.99837958e+02] [-5.94245282e-01 8.03166021e-01 -4.23897115e-02 -2.58951476e+02] [-7.37389562e-02 -1.92338394e-03 9.97275723e-01 -2.92237029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.89, Y:-258.99, Z:-29.23 [[ 8.02752051e-01 5.93250492e-01 6.03572512e-02 4.99888159e+02] [-5.91735429e-01 8.05016178e-01 -4.24044215e-02 -2.58989594e+02] [-7.37450076e-02 -1.67528759e-03 9.97275723e-01 -2.92272933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.93, Y:-259.03, Z:-29.23 [[ 8.08046763e-01 5.86019541e-01 6.03450646e-02 4.99934488e+02] [-5.84482917e-01 8.10296312e-01 -4.24217571e-02 -2.59029197e+02] [-7.37573619e-02 -9.91895907e-04 9.97275723e-01 -2.92299215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:499.98, Y:-259.07, Z:-29.24 [[ 8.10656237e-01 5.82405454e-01 6.03353359e-02 4.99983393e+02] [-5.80857771e-01 8.12898192e-01 -4.24355894e-02 -2.59067093e+02] [-7.37612042e-02 -6.45573546e-04 9.97275723e-01 -2.92353109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.03, Y:-259.10, Z:-29.24 [[ 8.12592518e-01 5.79701899e-01 6.03250107e-02 5.00032875e+02] [-5.78145668e-01 8.14828548e-01 -4.24502623e-02 -2.59104247e+02] [-7.37630386e-02 -3.81878011e-04 9.97275723e-01 -2.92392169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.08, Y:-259.14, Z:-29.24 [[ 8.14863764e-01 5.76506015e-01 6.03146842e-02 5.00083721e+02] [-5.74939928e-01 8.17092901e-01 -4.24649295e-02 -2.59140859e+02] [-7.37639876e-02 -7.41878358e-05 9.97275723e-01 -2.92429738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.13, Y:-259.18, Z:-29.25 [[ 8.16182294e-01 5.74639043e-01 6.03028357e-02 5.00134900e+02] [-5.73066614e-01 8.18406963e-01 -4.24817485e-02 -2.59176084e+02] [-7.37639319e-02 1.15309103e-04 9.97275724e-01 -2.92489850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.19, Y:-259.21, Z:-29.25 [[ 8.16601275e-01 5.74044637e-01 6.02918894e-02 5.00186569e+02] [-5.72469442e-01 8.18823986e-01 -4.24972782e-02 -2.59212501e+02] [-7.37637799e-02 1.88067295e-04 9.97275724e-01 -2.92527520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.24, Y:-259.25, Z:-29.26 [[ 8.16253019e-01 5.74540975e-01 6.02799957e-02 5.00238854e+02] [-5.72965886e-01 8.18475804e-01 -4.25141421e-02 -2.59246643e+02] [-7.37638346e-02 1.63915714e-04 9.97275724e-01 -2.92580616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.29, Y:-259.28, Z:-29.26 [[ 8.15544715e-01 5.75547176e-01 6.02682817e-02 5.00291029e+02] [-5.73973603e-01 8.17768573e-01 -4.25307415e-02 -2.59281883e+02] [-7.37639549e-02 9.33186443e-05 9.97275724e-01 -2.92617226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:500.34, Y:-259.32, Z:-29.27 [[ 8.14610720e-01 5.76869615e-01 6.02563017e-02 5.00342297e+02] [-5.75298397e-01 8.16836242e-01 -4.25477076e-02 -2.59317988e+02] [-7.37640108e-02 -5.53503969e-06 9.97275725e-01 -2.92656512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:500.39, Y:-259.35, Z:-29.27 [[ 8.12533200e-01 5.79793418e-01 6.02444256e-02 5.00394183e+02] [-5.78228962e-01 8.14763481e-01 -4.25645168e-02 -2.59352887e+02] [-7.37635846e-02 -2.49988579e-04 9.97275725e-01 -2.92705413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:500.45, Y:-259.39, Z:-29.28 [[ 8.07670100e-01 5.86550121e-01 6.02325819e-02 5.00445384e+02] [-5.85003072e-01 8.09912490e-01 -4.25812700e-02 -2.59388228e+02] [-7.37591695e-02 -8.44626801e-04 9.97275725e-01 -2.92762614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:500.50, Y:-259.42, Z:-29.28 [[ 8.01865242e-01 5.94462451e-01 6.02206589e-02 5.00496742e+02] [-5.92936257e-01 8.04121878e-01 -4.25981256e-02 -2.59424765e+02] [-7.37477355e-02 -1.54905583e-03 9.97275725e-01 -2.92799247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:500.55, Y:-259.46, Z:-29.29 [[ 7.96492931e-01 6.01642708e-01 6.02085042e-02 5.00547289e+02] [-6.00135553e-01 7.98762326e-01 -4.26152982e-02 -2.59458854e+02] [-7.37314683e-02 -2.19048027e-03 9.97275725e-01 -2.92859159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:500.60, Y:-259.49, Z:-29.29 [[ 7.93334369e-01 6.05802138e-01 6.02025661e-02 5.00598724e+02] [-6.04306243e-01 7.95611203e-01 -4.26236853e-02 -2.59493165e+02] [-7.37193557e-02 -2.56595211e-03 9.97275725e-01 -2.92947317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:500.65, Y:-259.53, Z:-29.30 [[ 7.91094492e-01 6.08725281e-01 6.01916634e-02 5.00648284e+02] [-6.07236629e-01 7.93376068e-01 -4.26390762e-02 -2.59529990e+02] [-7.37101089e-02 -2.81904445e-03 9.97275726e-01 -2.93010412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:500.70, Y:-259.56, Z:-29.31 [[ 7.92894510e-01 6.06379936e-01 6.01803061e-02 5.00698915e+02] [-6.04883321e-01 7.95170869e-01 -4.26550998e-02 -2.59563344e+02] [-7.37188230e-02 -2.58106894e-03 9.97275726e-01 -2.93099279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:500.75, Y:-259.60, Z:-29.31 [[ 7.92713911e-01 6.06617040e-01 6.01699455e-02 5.00750471e+02] [-6.05119998e-01 7.94989990e-01 -4.26697096e-02 -2.59599971e+02] [-7.37186773e-02 -2.58516498e-03 9.97275726e-01 -2.93146118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:500.80, Y:-259.64, Z:-29.32 [[ 7.94435618e-01 6.04361780e-01 6.01572022e-02 5.00798917e+02] [-6.02856917e-01 7.96706533e-01 -4.26876680e-02 -2.59639940e+02] [-7.37264310e-02 -2.35358165e-03 9.97275726e-01 -2.93177726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:500.85, Y:-259.68, Z:-29.33 [[ 7.98550785e-01 5.98915097e-01 6.01444139e-02 5.00849773e+02] [-5.97393386e-01 8.00810444e-01 -4.27056784e-02 -2.59676568e+02] [-7.37413504e-02 -1.82722205e-03 9.97275726e-01 -2.93265166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:500.90, Y:-259.72, Z:-29.33 [[ 8.00582393e-01 5.96197971e-01 6.01316202e-02 5.00896652e+02] [-5.94667238e-01 8.02835950e-01 -4.27236851e-02 -2.59717119e+02] [-7.37476008e-02 -1.55447444e-03 9.97275727e-01 -2.93293575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:500.94, Y:-259.76, Z:-29.33 [[ 8.08708451e-01 5.85129256e-01 6.01198408e-02 5.00942609e+02] [-5.83566437e-01 8.10939877e-01 -4.27402543e-02 -2.59760118e+02] [-7.37621495e-02 -5.19516429e-04 9.97275727e-01 -2.93332820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:500.99, Y:-259.80, Z:-29.33 [[ 8.10571775e-01 5.82546598e-01 6.01070583e-02 5.00987108e+02] [-5.80975336e-01 8.12797264e-01 -4.27582233e-02 -2.59803067e+02] [-7.37635100e-02 -2.62109424e-04 9.97275727e-01 -2.93320658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:501.04, Y:-259.84, Z:-29.34 [[ 8.15903910e-01 5.75055941e-01 6.00955356e-02 5.01035020e+02] [-5.73463056e-01 8.18113973e-01 -4.27744120e-02 -2.59844082e+02] [-7.37626772e-02 4.37240518e-04 9.97275727e-01 -2.93377168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:501.08, Y:-259.88, Z:-29.34 [[ 8.19677906e-01 5.69664589e-01 6.00864910e-02 5.01083448e+02] [-5.68056237e-01 8.21876739e-01 -4.27871134e-02 -2.59883985e+02] [-7.37579927e-02 9.39145567e-04 9.97275727e-01 -2.93383076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters Centerline goodness : 0.997283 with order 1 Centerline is valid? [True, True] Translation: X:501.62, Y:-259.31, Z:-28.39 [[ 8.47329383e-01 5.27658900e-01 6.00749746e-02 5.01620998e+02] [-5.25940707e-01 8.49443496e-01 -4.28032768e-02 -2.59306472e+02] [-7.36158264e-02 4.67259949e-03 9.97275728e-01 -2.83941319e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:501.67, Y:-259.34, Z:-28.40 [[ 8.47449303e-01 5.27241625e-01 6.20157057e-02 5.01671890e+02] [-5.25740074e-01 8.49714685e-01 -3.97785090e-02 -2.59340736e+02] [-7.36685416e-02 1.10612803e-03 9.97282168e-01 -2.83963810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:501.72, Y:-259.37, Z:-28.40 [[ 8.44306831e-01 5.32260094e-01 6.20094230e-02 5.01723848e+02] [-5.30771289e-01 8.46580610e-01 -3.97883006e-02 -2.59374889e+02] [-7.36736997e-02 6.80712532e-04 9.97282168e-01 -2.84005231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:501.78, Y:-259.41, Z:-28.41 [[ 8.41666070e-01 5.36426609e-01 6.20057991e-02 5.01776604e+02] [-5.34948646e-01 8.43946911e-01 -3.97939473e-02 -2.59407635e+02] [-7.36761348e-02 3.23297001e-04 9.97282168e-01 -2.84056502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:501.83, Y:-259.44, Z:-28.41 [[ 8.39210025e-01 5.40262126e-01 6.19949185e-02 5.01830469e+02] [-5.38793335e-01 8.41496783e-01 -3.98108909e-02 -2.59440199e+02] [-7.36768410e-02 7.24987454e-06 9.97282168e-01 -2.84103837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:501.88, Y:-259.47, Z:-28.41 [[ 8.36932952e-01 5.43784241e-01 6.19833312e-02 5.01883926e+02] [-5.42323738e-01 8.39225011e-01 -3.98289235e-02 -2.59473705e+02] [-7.36763028e-02 -2.80893365e-04 9.97282168e-01 -2.84142603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:501.94, Y:-259.51, Z:-28.42 [[ 8.35193003e-01 5.46454109e-01 6.19722081e-02 5.01935467e+02] [-5.44999649e-01 8.37488902e-01 -3.98462231e-02 -2.59506828e+02] [-7.36751689e-02 -4.95544940e-04 9.97282169e-01 -2.84175800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:501.99, Y:-259.54, Z:-28.42 [[ 8.35475088e-01 5.46023334e-01 6.19668965e-02 5.01988330e+02] [-5.44567078e-01 8.37769848e-01 -3.98544819e-02 -2.59540572e+02] [-7.36754745e-02 -4.47704998e-04 9.97282169e-01 -2.84234038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:502.04, Y:-259.57, Z:-28.43 [[ 8.35823447e-01 5.45491206e-01 6.19556973e-02 5.02040329e+02] [-5.44032199e-01 8.38116459e-01 -3.98718840e-02 -2.59574462e+02] [-7.36758517e-02 -3.80038672e-04 9.97282169e-01 -2.84290892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.09, Y:-259.61, Z:-28.44 [[ 8.37836647e-01 5.42394777e-01 6.19488342e-02 5.02092297e+02] [-5.40926507e-01 8.40123739e-01 -3.98825443e-02 -2.59608809e+02] [-7.36767699e-02 -9.47093020e-05 9.97282169e-01 -2.84359678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:502.14, Y:-259.64, Z:-28.44 [[ 8.40365274e-01 5.38469979e-01 6.19377697e-02 5.02143568e+02] [-5.36989762e-01 8.42644651e-01 -3.98997201e-02 -2.59643512e+02] [-7.36763318e-02 2.70391012e-04 9.97282169e-01 -2.84412847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:502.20, Y:-259.68, Z:-28.45 [[ 8.43422005e-01 5.33670591e-01 6.19275554e-02 5.02195344e+02] [-5.32176240e-01 8.45692141e-01 -3.99155673e-02 -2.59679338e+02] [-7.36734113e-02 7.09294257e-04 9.97282169e-01 -2.84455522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.25, Y:-259.71, Z:-28.45 [[ 8.46978952e-01 5.28008514e-01 6.19165911e-02 5.02247098e+02] [-5.26497746e-01 8.49238196e-01 -3.99325678e-02 -2.59712321e+02] [-7.36666699e-02 1.22309872e-03 9.97282170e-01 -2.84493184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.30, Y:-259.75, Z:-28.45 [[ 8.49118312e-01 5.24562371e-01 6.19064690e-02 5.02299774e+02] [-5.23041292e-01 8.51370627e-01 -3.99482536e-02 -2.59746413e+02] [-7.36607000e-02 1.54115415e-03 9.97282170e-01 -2.84542077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.35, Y:-259.78, Z:-28.46 [[ 8.49852090e-01 5.23374046e-01 6.18953422e-02 5.02352810e+02] [-5.21848564e-01 8.52101424e-01 -3.99654859e-02 -2.59780461e+02] [-7.36580073e-02 1.66475628e-03 9.97282170e-01 -2.84590936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.41, Y:-259.81, Z:-28.47 [[ 8.49689275e-01 5.23639641e-01 6.18842574e-02 5.02406530e+02] [-5.22113613e-01 8.51938239e-01 -3.99826428e-02 -2.59811959e+02] [-7.36580620e-02 1.66220948e-03 9.97282170e-01 -2.84652230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.46, Y:-259.84, Z:-28.47 [[ 8.49558184e-01 5.23853597e-01 6.18732630e-02 5.02460561e+02] [-5.22326898e-01 8.51806692e-01 -3.99996495e-02 -2.59843206e+02] [-7.36580197e-02 1.66396005e-03 9.97282170e-01 -2.84701354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.51, Y:-259.87, Z:-28.47 [[ 8.48407282e-01 5.25716790e-01 6.18622704e-02 5.02514827e+02] [-5.24193791e-01 8.50658297e-01 -4.00166431e-02 -2.59874972e+02] [-7.36610748e-02 1.52259341e-03 9.97282171e-01 -2.84743953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.57, Y:-259.91, Z:-28.48 [[ 8.47581821e-01 5.27047884e-01 6.18513018e-02 5.02567809e+02] [-5.25527184e-01 8.49834390e-01 -4.00335894e-02 -2.59906549e+02] [-7.36629820e-02 1.42720220e-03 9.97282171e-01 -2.84792257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.62, Y:-259.94, Z:-28.48 [[ 8.47290268e-01 5.27517649e-01 6.18411802e-02 5.02622047e+02] [-5.25997057e-01 8.49542910e-01 -4.00492185e-02 -2.59937001e+02] [-7.36634058e-02 1.40503432e-03 9.97282171e-01 -2.84834733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.68, Y:-259.97, Z:-28.49 [[ 8.47864352e-01 5.26595221e-01 6.18345726e-02 5.02676806e+02] [-5.25071435e-01 8.50114834e-01 -4.00594179e-02 -2.59968254e+02] [-7.36615854e-02 1.49738459e-03 9.97282171e-01 -2.84871198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.73, Y:-260.00, Z:-28.49 [[ 8.48236699e-01 5.25996504e-01 6.18237919e-02 5.02731022e+02] [-5.24469918e-01 8.50485282e-01 -4.00760489e-02 -2.60000500e+02] [-7.36600867e-02 1.56925636e-03 9.97282171e-01 -2.84918169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.79, Y:-260.03, Z:-28.50 [[ 8.48349531e-01 5.25815784e-01 6.18129065e-02 5.02785830e+02] [-5.24287497e-01 8.50596958e-01 -4.00928314e-02 -2.60031131e+02] [-7.36593138e-02 1.60500069e-03 9.97282171e-01 -2.84974215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.84, Y:-260.06, Z:-28.50 [[ 8.47805309e-01 5.26694084e-01 6.18021004e-02 5.02839492e+02] [-5.25166912e-01 8.50053495e-01 -4.01094819e-02 -2.60062048e+02] [-7.36605182e-02 1.54861345e-03 9.97282172e-01 -2.85033861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.89, Y:-260.10, Z:-28.51 [[ 8.47433746e-01 5.27292879e-01 6.17921201e-02 5.02893119e+02] [-5.25766175e-01 8.49682250e-01 -4.01248514e-02 -2.60095235e+02] [-7.36612161e-02 1.51494648e-03 9.97282172e-01 -2.85083631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:502.95, Y:-260.13, Z:-28.51 [[ 8.45946003e-01 5.29677638e-01 6.17815437e-02 5.02947653e+02] [-5.28156086e-01 8.48197995e-01 -4.01411298e-02 -2.60126481e+02] [-7.36648403e-02 1.32693007e-03 9.97282172e-01 -2.85129186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.00, Y:-260.16, Z:-28.52 [[ 8.43825531e-01 5.33050469e-01 6.17711175e-02 5.03002072e+02] [-5.31536745e-01 8.46082792e-01 -4.01571677e-02 -2.60157174e+02] [-7.36692766e-02 1.05202456e-03 9.97282172e-01 -2.85172768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.06, Y:-260.19, Z:-28.52 [[ 8.41866076e-01 5.36140942e-01 6.17608249e-02 5.03055820e+02] [-5.34634344e-01 8.44128100e-01 -4.01729912e-02 -2.60189153e+02] [-7.36724332e-02 8.00820328e-04 9.97282172e-01 -2.85216659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.11, Y:-260.22, Z:-28.52 [[ 8.38081684e-01 5.42038696e-01 6.17506547e-02 5.03110501e+02] [-5.40546866e-01 8.40353473e-01 -4.01886180e-02 -2.60220252e+02] [-7.36761633e-02 3.02221739e-04 9.97282173e-01 -2.85249655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.16, Y:-260.25, Z:-28.53 [[ 8.34362122e-01 5.47748163e-01 6.17397721e-02 5.03164273e+02] [-5.46270642e-01 8.36643244e-01 -4.02053296e-02 -2.60250866e+02] [-7.36765586e-02 -1.80820807e-04 9.97282173e-01 -2.85291816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.22, Y:-260.28, Z:-28.53 [[ 8.31936662e-01 5.51426182e-01 6.17297021e-02 5.03218481e+02] [-5.49957599e-01 8.34223548e-01 -4.02207846e-02 -2.60282862e+02] [-7.36751648e-02 -4.87573421e-04 9.97282173e-01 -2.85339552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.27, Y:-260.31, Z:-28.54 [[ 8.29021493e-01 5.55800440e-01 6.17189989e-02 5.03272194e+02] [-5.54342701e-01 8.31315306e-01 -4.02372021e-02 -2.60314158e+02] [-7.36718031e-02 -8.55971233e-04 9.97282173e-01 -2.85395432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.33, Y:-260.35, Z:-28.55 [[ 8.27219366e-01 5.58480177e-01 6.17090995e-02 5.03325120e+02] [-5.57028736e-01 8.29517169e-01 -4.02523784e-02 -2.60345838e+02] [-7.36689130e-02 -1.07619474e-03 9.97282173e-01 -2.85460152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.38, Y:-260.38, Z:-28.55 [[ 8.26947457e-01 5.58883793e-01 6.16993427e-02 5.03377903e+02] [-5.57432358e-01 8.29245264e-01 -4.02673283e-02 -2.60379357e+02] [-7.36686449e-02 -1.09424536e-03 9.97282173e-01 -2.85511105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.43, Y:-260.41, Z:-28.56 [[ 8.28200239e-01 5.57026800e-01 6.16888115e-02 5.03429467e+02] [-5.55569011e-01 8.30494020e-01 -4.02834554e-02 -2.60412430e+02] [-7.36711533e-02 -9.09624633e-04 9.97282174e-01 -2.85564254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.48, Y:-260.45, Z:-28.56 [[ 8.29894698e-01 5.54500210e-01 6.16790712e-02 5.03481139e+02] [-5.53034329e-01 8.32183317e-01 -4.02983636e-02 -2.60447452e+02] [-7.36737451e-02 -6.67245426e-04 9.97282174e-01 -2.85602717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.53, Y:-260.48, Z:-28.57 [[ 8.31405197e-01 5.52233969e-01 6.16688096e-02 5.03533100e+02] [-5.50760686e-01 8.33689056e-01 -4.03140609e-02 -2.60482147e+02] [-7.36754055e-02 -4.47436213e-04 9.97282174e-01 -2.85652821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.58, Y:-260.52, Z:-28.57 [[ 8.32793789e-01 5.50138813e-01 6.16586725e-02 5.03584975e+02] [-5.48658636e-01 8.35073187e-01 -4.03295592e-02 -2.60516750e+02] [-7.36763600e-02 -2.43356790e-04 9.97282174e-01 -2.85703182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.64, Y:-260.55, Z:-28.57 [[ 8.34862859e-01 5.46994929e-01 6.16486321e-02 5.03635716e+02] [-5.45505036e-01 8.37135918e-01 -4.03449013e-02 -2.60552244e+02] [-7.36767407e-02 5.28203773e-05 9.97282174e-01 -2.85747006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.69, Y:-260.59, Z:-28.58 [[ 8.36115940e-01 5.45078292e-01 6.16424353e-02 5.03687675e+02] [-5.43582490e-01 8.38385115e-01 -4.03543671e-02 -2.60588075e+02] [-7.36763897e-02 2.33181072e-04 9.97282174e-01 -2.85788388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.74, Y:-260.62, Z:-28.58 [[ 8.38133821e-01 5.41971529e-01 6.16324533e-02 5.03737536e+02] [-5.40466196e-01 8.40396684e-01 -4.03696068e-02 -2.60622325e+02] [-7.36748869e-02 5.24875226e-04 9.97282175e-01 -2.85840760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.79, Y:-260.66, Z:-28.59 [[ 8.40491626e-01 5.38308339e-01 6.16275815e-02 5.03789620e+02] [-5.36792599e-01 8.42747531e-01 -4.03770426e-02 -2.60657928e+02] [-7.36717909e-02 8.55336578e-04 9.97282175e-01 -2.85882289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.84, Y:-260.69, Z:-28.59 [[ 8.42558219e-01 5.35069090e-01 6.16174934e-02 5.03840917e+02] [-5.33543553e-01 8.44807510e-01 -4.03924317e-02 -2.60693550e+02] [-7.36676629e-02 1.15735903e-03 9.97282175e-01 -2.85928178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.89, Y:-260.73, Z:-28.60 [[ 8.45658050e-01 5.30157499e-01 6.16075414e-02 5.03892653e+02] [-5.28617794e-01 8.47897667e-01 -4.04076051e-02 -2.60729843e+02] [-7.36592854e-02 1.60417390e-03 9.97282175e-01 -2.85973059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:503.94, Y:-260.76, Z:-28.60 [[ 8.47016516e-01 5.27985556e-01 6.15976803e-02 5.03944627e+02] [-5.26439017e-01 8.49251419e-01 -4.04226318e-02 -2.60764528e+02] [-7.36544831e-02 1.81121450e-03 9.97282175e-01 -2.86017401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.00, Y:-260.80, Z:-28.61 [[ 8.47608256e-01 5.27036224e-01 6.15878498e-02 5.03997682e+02] [-5.25486095e-01 8.49840670e-01 -4.04376040e-02 -2.60798788e+02] [-7.36519417e-02 1.91168829e-03 9.97282175e-01 -2.86068402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.05, Y:-260.83, Z:-28.61 [[ 8.46508280e-01 5.28802291e-01 6.15781495e-02 5.04050912e+02] [-5.27255746e-01 8.48743179e-01 -4.04523703e-02 -2.60831997e+02] [-7.36553404e-02 1.77583323e-03 9.97282175e-01 -2.86077895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.10, Y:-260.86, Z:-28.61 [[ 8.44214666e-01 5.32457639e-01 6.15667114e-02 5.04104493e+02] [-5.30919504e-01 8.46455361e-01 -4.04697710e-02 -2.60864034e+02] [-7.36619117e-02 1.47820631e-03 9.97282176e-01 -2.86136761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.16, Y:-260.90, Z:-28.62 [[ 8.41970368e-01 5.35999884e-01 6.15631651e-02 5.04157460e+02] [-5.34470783e-01 8.44217237e-01 -4.04751650e-02 -2.60897088e+02] [-7.36673689e-02 1.17517648e-03 9.97282176e-01 -2.86185848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.21, Y:-260.93, Z:-28.62 [[ 8.37907926e-01 5.42329859e-01 6.15518672e-02 5.04210650e+02] [-5.40816473e-01 8.40165408e-01 -4.04923388e-02 -2.60930764e+02] [-7.36739541e-02 6.40587936e-04 9.97282176e-01 -2.86218952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.26, Y:-260.96, Z:-28.63 [[ 8.33985183e-01 5.48344309e-01 6.15405041e-02 5.04264185e+02] [-5.46845930e-01 8.36252654e-01 -4.05096013e-02 -2.60963103e+02] [-7.36766192e-02 1.31233043e-04 9.97282176e-01 -2.86267236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.32, Y:-261.00, Z:-28.63 [[ 8.31416622e-01 5.52232332e-01 6.15292739e-02 5.04316701e+02] [-5.50743294e-01 8.33690239e-01 -4.05266514e-02 -2.60996977e+02] [-7.36764823e-02 -1.92303356e-04 9.97282176e-01 -2.86310283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.37, Y:-261.03, Z:-28.63 [[ 8.29149240e-01 5.55632123e-01 6.15181484e-02 5.04369722e+02] [-5.54151155e-01 8.31428121e-01 -4.05435325e-02 -2.61031016e+02] [-7.36752076e-02 -4.73713790e-04 9.97282176e-01 -2.86344275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.42, Y:-261.06, Z:-28.64 [[ 8.26263093e-01 5.59916264e-01 6.15067307e-02 5.04422317e+02] [-5.58445822e-01 8.28548780e-01 -4.05608464e-02 -2.61064916e+02] [-7.36720043e-02 -8.34246372e-04 9.97282177e-01 -2.86390038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.47, Y:-261.10, Z:-28.64 [[ 8.23814284e-01 5.63514279e-01 6.14953966e-02 5.04474680e+02] [-5.62052537e-01 8.26105544e-01 -4.05780232e-02 -2.61099369e+02] [-7.36679835e-02 -1.13488860e-03 9.97282177e-01 -2.86419817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.53, Y:-261.13, Z:-28.65 [[ 8.23073541e-01 5.64596905e-01 6.14839942e-02 5.04526984e+02] [-5.63136887e-01 8.25365900e-01 -4.05952928e-02 -2.61134530e+02] [-7.36667689e-02 -1.21099368e-03 9.97282177e-01 -2.86466459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.58, Y:-261.17, Z:-28.65 [[ 8.22345550e-01 5.65657966e-01 6.14724479e-02 5.04577876e+02] [-5.64199600e-01 8.24638960e-01 -4.06127696e-02 -2.61168980e+02] [-7.36655121e-02 -1.28500009e-03 9.97282177e-01 -2.86533132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.63, Y:-261.20, Z:-28.66 [[ 8.22395464e-01 5.65586496e-01 6.14623201e-02 5.04628632e+02] [-5.64126786e-01 8.24688018e-01 -4.06280910e-02 -2.61204125e+02] [-7.36659386e-02 -1.26018336e-03 9.97282177e-01 -2.86583640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.68, Y:-261.24, Z:-28.66 [[ 8.24094057e-01 5.63109776e-01 6.14521402e-02 5.04678358e+02] [-5.61642028e-01 8.26381473e-01 -4.06434829e-02 -2.61240512e+02] [-7.36696527e-02 -1.02005195e-03 9.97282178e-01 -2.86636537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.73, Y:-261.28, Z:-28.67 [[ 8.26420469e-01 5.59691069e-01 6.14419726e-02 5.04729147e+02] [-5.58212715e-01 8.28701045e-01 -4.06588478e-02 -2.61278299e+02] [-7.36734208e-02 -6.96386310e-04 9.97282178e-01 -2.86681165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.78, Y:-261.32, Z:-28.67 [[ 8.30978618e-01 5.52902194e-01 6.14304596e-02 5.04777393e+02] [-5.51403922e-01 8.33246157e-01 -4.06762350e-02 -2.61317048e+02] [-7.36766740e-02 -7.19147598e-05 9.97282178e-01 -2.86699919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:504.83, Y:-261.35, Z:-28.67 [[ 8.34901318e-01 5.46961836e-01 6.14210080e-02 5.04826364e+02] [-5.45446381e-01 8.37157410e-01 -4.06905019e-02 -2.61354542e+02] [-7.36752036e-02 4.70687165e-04 9.97282178e-01 -2.86729708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.88, Y:-261.39, Z:-28.68 [[ 8.36888693e-01 5.43917204e-01 6.14116569e-02 5.04877402e+02] [-5.42392506e-01 8.39138549e-01 -4.07046100e-02 -2.61391152e+02] [-7.36728263e-02 7.56005329e-04 9.97282178e-01 -2.86773175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.93, Y:-261.43, Z:-28.68 [[ 8.40278114e-01 5.38667521e-01 6.14002771e-02 5.04927358e+02] [-5.37127515e-01 8.42517519e-01 -4.07217686e-02 -2.61428305e+02] [-7.36663032e-02 1.23783261e-03 9.97282179e-01 -2.86817358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:504.98, Y:-261.46, Z:-28.69 [[ 8.42420880e-01 5.35311385e-01 6.13904079e-02 5.04978801e+02] [-5.33761376e-01 8.44653373e-01 -4.07366415e-02 -2.61464673e+02] [-7.36604031e-02 1.54956877e-03 9.97282179e-01 -2.86863724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.03, Y:-261.50, Z:-28.69 [[ 8.45157384e-01 5.30981738e-01 6.13790672e-02 5.05029415e+02] [-5.29419054e-01 8.47381024e-01 -4.07537218e-02 -2.61499615e+02] [-7.36509388e-02 1.94806119e-03 9.97282179e-01 -2.86914178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.08, Y:-261.53, Z:-28.70 [[ 8.46005273e-01 5.29630934e-01 6.13689728e-02 5.05081091e+02] [-5.28063599e-01 8.48225637e-01 -4.07689168e-02 -2.61534576e+02] [-7.36472155e-02 2.08399792e-03 9.97282179e-01 -2.86961119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.13, Y:-261.57, Z:-28.70 [[ 8.45758538e-01 5.30026183e-01 6.13574832e-02 5.05132526e+02] [-5.28458634e-01 8.47978749e-01 -4.07862014e-02 -2.61569177e+02] [-7.36475965e-02 2.07038630e-03 9.97282179e-01 -2.86993240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.19, Y:-261.60, Z:-28.70 [[ 8.43970623e-01 5.32869675e-01 6.13473397e-02 5.05185286e+02] [-5.31308499e-01 8.46195320e-01 -4.08014527e-02 -2.61602923e+02] [-7.36536887e-02 1.84086447e-03 9.97282179e-01 -2.87036996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.24, Y:-261.64, Z:-28.71 [[ 8.40488618e-01 5.38346377e-01 6.13356368e-02 5.05237118e+02] [-5.36798418e-01 8.42722532e-01 -4.08190378e-02 -2.61636654e+02] [-7.36637043e-02 1.38306392e-03 9.97282180e-01 -2.87081171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.29, Y:-261.67, Z:-28.71 [[ 8.35365741e-01 5.46263072e-01 6.13248310e-02 5.05290597e+02] [-5.44735096e-01 8.37613369e-01 -4.08352655e-02 -2.61669559e+02] [-7.36732960e-02 7.06594117e-04 9.97282180e-01 -2.87129023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.34, Y:-261.70, Z:-28.72 [[ 8.29199154e-01 5.55580253e-01 6.13134957e-02 5.05343889e+02] [-5.54076275e-01 8.31462911e-01 -4.08522783e-02 -2.61701884e+02] [-7.36766168e-02 -9.76786731e-05 9.97282180e-01 -2.87185712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.40, Y:-261.74, Z:-28.72 [[ 8.26839543e-01 5.59087135e-01 6.13020802e-02 5.05395428e+02] [-5.57591489e-01 8.29108813e-01 -4.08694011e-02 -2.61735672e+02] [-7.36756513e-02 -3.89081215e-04 9.97282180e-01 -2.87239251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.45, Y:-261.77, Z:-28.73 [[ 8.20902792e-01 5.67769282e-01 6.12915101e-02 5.05448019e+02] [-5.66296449e-01 8.23186934e-01 -4.08852467e-02 -2.61769292e+02] [-7.36677575e-02 -1.14635138e-03 9.97282180e-01 -2.87286233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.50, Y:-261.80, Z:-28.73 [[ 8.17290391e-01 5.72958269e-01 6.12800004e-02 5.05500150e+02] [-5.71498644e-01 8.19582996e-01 -4.09024906e-02 -2.61803803e+02] [-7.36594665e-02 -1.59222457e-03 9.97282181e-01 -2.87332429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.55, Y:-261.84, Z:-28.74 [[ 8.13337973e-01 5.78556404e-01 6.12684971e-02 5.05551125e+02] [-5.77111258e-01 8.15639732e-01 -4.09197143e-02 -2.61838104e+02] [-7.36473834e-02 -2.07718196e-03 9.97282181e-01 -2.87375588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.60, Y:-261.87, Z:-28.74 [[ 8.11200249e-01 5.81550920e-01 6.12591563e-02 5.05602719e+02] [-5.80113215e-01 8.13506663e-01 -4.09336933e-02 -2.61873880e+02] [-7.36397588e-02 -2.33182396e-03 9.97282181e-01 -2.87429864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.65, Y:-261.91, Z:-28.75 [[ 8.10706222e-01 5.82240619e-01 6.12477153e-02 5.05652899e+02] [-5.80803586e-01 8.13013054e-01 -4.09508050e-02 -2.61909513e+02] [-7.36384141e-02 -2.37382022e-03 9.97282181e-01 -2.87507926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.70, Y:-261.95, Z:-28.75 [[ 8.11143592e-01 5.81632259e-01 6.12371585e-02 5.05703628e+02] [-5.80192305e-01 8.13448602e-01 -4.09665853e-02 -2.61946126e+02] [-7.36407686e-02 -2.29954505e-03 9.97282181e-01 -2.87546864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.75, Y:-261.98, Z:-28.76 [[ 8.13293614e-01 5.78622455e-01 6.12335845e-02 5.05752107e+02] [-5.77173568e-01 8.15593020e-01 -4.09719268e-02 -2.61984682e+02] [-7.36489610e-02 -2.02020003e-03 9.97282181e-01 -2.87598058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.80, Y:-262.02, Z:-28.76 [[ 8.15591217e-01 5.75380454e-01 6.12233672e-02 5.05801255e+02] [-5.73921281e-01 8.17884108e-01 -4.09871886e-02 -2.62022627e+02] [-7.36568463e-02 -1.70860230e-03 9.97282182e-01 -2.87645562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.85, Y:-262.07, Z:-28.76 [[ 8.19869754e-01 5.69268484e-01 6.12125775e-02 5.05847016e+02] [-5.67791012e-01 8.22150897e-01 -4.10032962e-02 -2.62065548e+02] [-7.36678598e-02 -1.13858893e-03 9.97282182e-01 -2.87647866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.90, Y:-262.10, Z:-28.77 [[ 8.25078722e-01 5.61692648e-01 6.12084308e-02 5.05896155e+02] [-5.60193768e-01 8.27345856e-01 -4.10094854e-02 -2.62100932e+02] [-7.36752680e-02 -4.52527629e-04 9.97282182e-01 -2.87714904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.94, Y:-262.14, Z:-28.78 [[ 8.31456257e-01 5.52209506e-01 6.11976658e-02 5.05944432e+02] [-5.50683585e-01 8.33705280e-01 -4.10255435e-02 -2.62142173e+02] [-7.36755122e-02 4.10394860e-04 9.97282182e-01 -2.87756203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:505.99, Y:-262.18, Z:-28.78 [[ 8.37199908e-01 5.43463488e-01 6.11862047e-02 5.05992608e+02] [-5.41912829e-01 8.39431944e-01 -4.10426298e-02 -2.62181970e+02] [-7.36668255e-02 1.20329660e-03 9.97282182e-01 -2.87812754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.04, Y:-262.22, Z:-28.79 [[ 8.39433206e-01 5.40008835e-01 6.11747609e-02 5.06043852e+02] [-5.38447748e-01 8.41657962e-01 -4.10596799e-02 -2.62219035e+02] [-7.36608145e-02 1.52744651e-03 9.97282182e-01 -2.87854069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.10, Y:-262.25, Z:-28.79 [[ 8.39758826e-01 5.39503635e-01 6.11632358e-02 5.06095412e+02] [-5.37939961e-01 8.41981765e-01 -4.10768407e-02 -2.62253470e+02] [-7.36594341e-02 1.59249092e-03 9.97282183e-01 -2.87908857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.15, Y:-262.29, Z:-28.80 [[ 8.39863061e-01 5.39342564e-01 6.11525842e-02 5.06146756e+02] [-5.37777310e-01 8.42084886e-01 -4.10926921e-02 -2.62288479e+02] [-7.36587048e-02 1.62576196e-03 9.97282183e-01 -2.87962290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.20, Y:-262.32, Z:-28.80 [[ 8.40325349e-01 5.38623177e-01 6.11423052e-02 5.06198260e+02] [-5.37054909e-01 8.42545048e-01 -4.11079807e-02 -2.62323907e+02] [-7.36568576e-02 1.70730308e-03 9.97282183e-01 -2.88000688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.25, Y:-262.36, Z:-28.80 [[ 8.40117585e-01 5.38948486e-01 6.11307904e-02 5.06250460e+02] [-5.37379833e-01 8.42337012e-01 -4.11250970e-02 -2.62356685e+02] [-7.36570360e-02 1.69946319e-03 9.97282183e-01 -2.88044816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.30, Y:-262.39, Z:-28.81 [[ 8.38384951e-01 5.41641025e-01 6.11201658e-02 5.06304300e+02] [-5.40078350e-01 8.40608591e-01 -4.11408812e-02 -2.62387839e+02] [-7.36617255e-02 1.48221735e-03 9.97282183e-01 -2.88082789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.36, Y:-262.42, Z:-28.81 [[ 8.36432228e-01 5.44652798e-01 6.11102104e-02 5.06356982e+02] [-5.43097051e-01 8.38660721e-01 -4.11556635e-02 -2.62421375e+02] [-7.36662804e-02 1.23514825e-03 9.97282184e-01 -2.88117748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.41, Y:-262.45, Z:-28.82 [[ 8.32228836e-01 5.51055454e-01 6.10986920e-02 5.06411061e+02] [-5.49515600e-01 8.34468340e-01 -4.11727564e-02 -2.62452633e+02] [-7.36733961e-02 6.90470717e-04 9.97282184e-01 -2.88167266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.46, Y:-262.48, Z:-28.82 [[ 8.28851592e-01 5.56123529e-01 6.10873054e-02 5.06464029e+02] [-5.54596124e-01 8.31099605e-01 -4.11896436e-02 -2.62484235e+02] [-7.36761653e-02 2.61318831e-04 9.97282184e-01 -2.88221180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.52, Y:-262.52, Z:-28.83 [[ 8.23466325e-01 5.64068082e-01 6.10770848e-02 5.06517656e+02] [-5.62561241e-01 8.25728172e-01 -4.12047935e-02 -2.62515180e+02] [-7.36753784e-02 -4.28840759e-04 9.97282184e-01 -2.88286411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.57, Y:-262.55, Z:-28.83 [[ 8.18304445e-01 5.71531857e-01 6.10669516e-02 5.06570543e+02] [-5.70044523e-01 8.20579167e-01 -4.12198058e-02 -2.62548103e+02] [-7.36687004e-02 -1.08053104e-03 9.97282184e-01 -2.88340441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.62, Y:-262.58, Z:-28.84 [[ 8.15361692e-01 5.75723354e-01 6.10567739e-02 5.06622889e+02] [-5.74246585e-01 8.17643287e-01 -4.12348760e-02 -2.62582043e+02] [-7.36625424e-02 -1.44030556e-03 9.97282184e-01 -2.88389034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.68, Y:-262.62, Z:-28.84 [[ 8.11928299e-01 5.80556562e-01 6.10451870e-02 5.06675805e+02] [-5.79092084e-01 8.14217802e-01 -4.12520225e-02 -2.62616314e+02] [-7.36532103e-02 -1.85710009e-03 9.97282185e-01 -2.88441237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.73, Y:-262.65, Z:-28.85 [[ 8.10490193e-01 5.82563752e-01 6.10337689e-02 5.06727560e+02] [-5.81103673e-01 8.12782504e-01 -4.12689089e-02 -2.62651836e+02] [-7.36489500e-02 -2.01890133e-03 9.97282185e-01 -2.88491317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.78, Y:-262.69, Z:-28.85 [[ 8.09660797e-01 5.83717095e-01 6.10225041e-02 5.06777941e+02] [-5.82259028e-01 8.11954388e-01 -4.12855590e-02 -2.62687194e+02] [-7.36465766e-02 -2.10360528e-03 9.97282185e-01 -2.88530303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.83, Y:-262.73, Z:-28.85 [[ 8.07923951e-01 5.86119780e-01 6.10122342e-02 5.06826121e+02] [-5.84667388e-01 8.10221139e-01 -4.13007304e-02 -2.62727656e+02] [-7.36405770e-02 -2.30401433e-03 9.97282185e-01 -2.88459225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.88, Y:-262.76, Z:-28.86 [[ 8.10894198e-01 5.82003800e-01 6.10096412e-02 5.06876599e+02] [-5.80539457e-01 8.13183787e-01 -4.13045606e-02 -2.62759910e+02] [-7.36514623e-02 -1.92487545e-03 9.97282185e-01 -2.88622364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.93, Y:-262.80, Z:-28.87 [[ 8.12201483e-01 5.80178935e-01 6.10012605e-02 5.06926535e+02] [-5.78708519e-01 8.14487176e-01 -4.13169340e-02 -2.62799024e+02] [-7.36559592e-02 -1.74427407e-03 9.97282185e-01 -2.88660275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:506.98, Y:-262.84, Z:-28.86 [[ 8.13652368e-01 5.78143654e-01 6.09896633e-02 5.06975445e+02] [-5.76666238e-01 8.15933543e-01 -4.13340461e-02 -2.62837785e+02] [-7.36605285e-02 -1.53913516e-03 9.97282186e-01 -2.88624404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.03, Y:-262.87, Z:-28.87 [[ 8.16674091e-01 5.73867570e-01 6.09872267e-02 5.07025357e+02] [-5.72377940e-01 8.18947308e-01 -4.13376409e-02 -2.62873101e+02] [-7.36676566e-02 -1.14836285e-03 9.97282186e-01 -2.88697457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.07, Y:-262.91, Z:-28.88 [[ 8.20571022e-01 5.68282474e-01 6.09772689e-02 5.07073312e+02] [-5.66776278e-01 8.22833298e-01 -4.13523245e-02 -2.62909858e+02] [-7.36739285e-02 -6.27950357e-04 9.97282186e-01 -2.88765598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.12, Y:-262.95, Z:-28.88 [[ 8.23125477e-01 5.64576822e-01 6.09709817e-02 5.07124190e+02] [-5.63059755e-01 8.25380476e-01 -4.13615925e-02 -2.62945791e+02] [-7.36760543e-02 -2.84525483e-04 9.97282186e-01 -2.88816010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.17, Y:-262.98, Z:-28.89 [[ 8.25636284e-01 5.60899788e-01 6.09602749e-02 5.07172273e+02] [-5.59371513e-01 8.27883702e-01 -4.13773665e-02 -2.62983533e+02] [-7.36765741e-02 6.32138747e-05 9.97282186e-01 -2.88865563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.22, Y:-263.02, Z:-28.89 [[ 8.30635866e-01 5.53470049e-01 6.09504987e-02 5.07223950e+02] [-5.51920617e-01 8.32868750e-01 -4.13917623e-02 -2.63018271e+02] [-7.36728663e-02 7.41645460e-04 9.97282186e-01 -2.88870096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.27, Y:-263.05, Z:-28.89 [[ 8.34171850e-01 5.48127416e-01 6.09398142e-02 5.07273853e+02] [-5.46562536e-01 8.36393935e-01 -4.14074867e-02 -2.63053514e+02] [-7.36662697e-02 1.23354039e-03 9.97282186e-01 -2.88938705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.32, Y:-263.09, Z:-28.90 [[ 8.39535992e-01 5.39876693e-01 6.09300734e-02 5.07324760e+02] [-5.38288943e-01 8.41741794e-01 -4.14218151e-02 -2.63087406e+02] [-7.36500619e-02 1.97711984e-03 9.97282186e-01 -2.88986651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.37, Y:-263.12, Z:-28.89 [[ 8.42740619e-01 5.34861709e-01 6.09196259e-02 5.07374858e+02] [-5.33259728e-01 8.44936106e-01 -4.14371748e-02 -2.63124371e+02] [-7.36363496e-02 2.43480726e-03 9.97282187e-01 -2.88944066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.43, Y:-263.15, Z:-28.91 [[ 8.47629543e-01 5.27080514e-01 6.09121448e-02 5.07428622e+02] [-5.25457600e-01 8.49809602e-01 -4.14481690e-02 -2.63152054e+02] [-7.36102478e-02 3.12594311e-03 9.97282187e-01 -2.89065588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.48, Y:-263.18, Z:-28.91 [[ 8.48202802e-01 5.26158125e-01 6.09067718e-02 5.07482515e+02] [-5.24532274e-01 8.50380672e-01 -4.14560630e-02 -2.63184168e+02] [-7.36063859e-02 3.21558127e-03 9.97282187e-01 -2.89111799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.54, Y:-263.21, Z:-28.92 [[ 8.47159896e-01 5.27836981e-01 6.08952586e-02 5.07537695e+02] [-5.26214235e-01 8.49340080e-01 -4.14729679e-02 -2.63214131e+02] [-7.36117500e-02 3.09028326e-03 9.97282187e-01 -2.89153511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.59, Y:-263.25, Z:-28.91 [[ 8.43699043e-01 5.33352679e-01 6.08838668e-02 5.07588783e+02] [-5.31742987e-01 8.45888883e-01 -4.14896848e-02 -2.63249485e+02] [-7.36296206e-02 2.63023815e-03 9.97282187e-01 -2.89081104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.65, Y:-263.27, Z:-28.92 [[ 8.41687842e-01 5.36521309e-01 6.08807117e-02 5.07646616e+02] [-5.34919528e-01 8.43883475e-01 -4.14943140e-02 -2.63271872e+02] [-7.36388102e-02 2.35897802e-03 9.97282187e-01 -2.89224078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.70, Y:-263.30, Z:-28.93 [[ 8.36752691e-01 5.44187121e-01 6.08712728e-02 5.07703827e+02] [-5.42604456e-01 8.38962143e-01 -4.15081561e-02 -2.63299277e+02] [-7.36568974e-02 1.70303750e-03 9.97282187e-01 -2.89269354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.76, Y:-263.33, Z:-28.93 [[ 8.33333104e-01 5.49410666e-01 6.08593316e-02 5.07757811e+02] [-5.47840576e-01 8.35551509e-01 -4.15256568e-02 -2.63328890e+02] [-7.36657452e-02 1.26349323e-03 9.97282188e-01 -2.89324568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.81, Y:-263.36, Z:-28.94 [[ 8.30716222e-01 5.53360277e-01 6.08519617e-02 5.07810157e+02] [-5.51799945e-01 8.32941501e-01 -4.15364540e-02 -2.63360625e+02] [-7.36707480e-02 9.26897017e-04 9.97282188e-01 -2.89359761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.87, Y:-263.39, Z:-28.94 [[ 8.27689610e-01 5.57878290e-01 6.08417901e-02 5.07865922e+02] [-5.56329010e-01 8.29922597e-01 -4.15513478e-02 -2.63388024e+02] [-7.36745714e-02 5.43565958e-04 9.97282188e-01 -2.89427222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.92, Y:-263.42, Z:-28.95 [[ 8.25444744e-01 5.61195634e-01 6.08312058e-02 5.07921092e+02] [-5.59654187e-01 8.27683145e-01 -4.15668375e-02 -2.63416237e+02] [-7.36760915e-02 2.66688513e-04 9.97282188e-01 -2.89478069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:507.98, Y:-263.45, Z:-28.95 [[ 8.24900539e-01 5.61996435e-01 6.08202808e-02 5.07975017e+02] [-5.60455983e-01 8.27139626e-01 -4.15828168e-02 -2.63447747e+02] [-7.36762591e-02 2.14597758e-04 9.97282188e-01 -2.89520778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.03, Y:-263.48, Z:-28.96 [[ 8.25090460e-01 5.61718824e-01 6.08086739e-02 5.08029136e+02] [-5.60176368e-01 8.27328166e-01 -4.15997833e-02 -2.63477580e+02] [-7.36761100e-02 2.60002290e-04 9.97282188e-01 -2.89579381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.08, Y:-263.51, Z:-28.96 [[ 8.25728942e-01 5.60780917e-01 6.07986646e-02 5.08082446e+02] [-5.59234843e-01 8.27964149e-01 -4.16144069e-02 -2.63510220e+02] [-7.36756799e-02 3.61488533e-04 9.97282189e-01 -2.89630795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.14, Y:-263.54, Z:-28.97 [[ 8.26350888e-01 5.59864413e-01 6.07951400e-02 5.08136425e+02] [-5.58315480e-01 8.28584116e-01 -4.16195554e-02 -2.63542300e+02] [-7.36751953e-02 4.49488731e-04 9.97282189e-01 -2.89662908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.19, Y:-263.58, Z:-28.97 [[ 8.26451135e-01 5.59717670e-01 6.07836506e-02 5.08189595e+02] [-5.58167107e-01 8.28683231e-01 -4.16363284e-02 -2.63576006e+02] [-7.36749807e-02 4.82956475e-04 9.97282189e-01 -2.89690652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.24, Y:-263.61, Z:-28.97 [[ 8.26353957e-01 5.59862418e-01 6.07717987e-02 5.08243004e+02] [-5.58310974e-01 8.28585440e-01 -4.16536201e-02 -2.63609048e+02] [-7.36749241e-02 4.91071622e-04 9.97282189e-01 -2.89734210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.29, Y:-263.64, Z:-28.98 [[ 8.26311917e-01 5.59925752e-01 6.07599194e-02 5.08294793e+02] [-5.58373206e-01 8.28542633e-01 -4.16709412e-02 -2.63642154e+02] [-7.36748168e-02 5.06484338e-04 9.97282189e-01 -2.89790288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.35, Y:-263.68, Z:-28.98 [[ 8.25940912e-01 5.60473993e-01 6.07495956e-02 5.08347344e+02] [-5.58921821e-01 8.28171888e-01 -4.16859863e-02 -2.63676954e+02] [-7.36750185e-02 4.75886865e-04 9.97282189e-01 -2.89837652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.40, Y:-263.71, Z:-28.99 [[ 8.24496992e-01 5.62597223e-01 6.07377553e-02 5.08399060e+02] [-5.61049526e-01 8.26731075e-01 -4.17032308e-02 -2.63710506e+02] [-7.36759116e-02 3.07299547e-04 9.97282190e-01 -2.89885471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.45, Y:-263.74, Z:-28.99 [[ 8.21723426e-01 5.66641669e-01 6.07274996e-02 5.08451249e+02] [-5.65103865e-01 8.23964330e-01 -4.17181597e-02 -2.63744838e+02] [-7.36765412e-02 -3.65556346e-05 9.97282190e-01 -2.89931834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.50, Y:-263.78, Z:-29.00 [[ 8.18899536e-01 5.70716352e-01 6.07156952e-02 5.08503552e+02] [-5.69188424e-01 8.21147185e-01 -4.17353326e-02 -2.63780132e+02] [-7.36755590e-02 -3.81626349e-04 9.97282190e-01 -2.89978977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.56, Y:-263.81, Z:-29.00 [[ 8.14204173e-01 5.77396391e-01 6.07039735e-02 5.08555933e+02] [-5.75885631e-01 8.16463397e-01 -4.17523748e-02 -2.63814131e+02] [-7.36702430e-02 -9.63588283e-04 9.97282190e-01 -2.90027022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.61, Y:-263.85, Z:-29.01 [[ 8.08970014e-01 5.84708462e-01 6.06921042e-02 5.08607584e+02] [-5.83216825e-01 8.11241909e-01 -4.17696212e-02 -2.63848622e+02] [-7.36590294e-02 -1.60628524e-03 9.97282190e-01 -2.90085575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.66, Y:-263.88, Z:-29.01 [[ 8.06040823e-01 5.88741023e-01 6.06811259e-02 5.08658752e+02] [-5.87259551e-01 8.08319360e-01 -4.17855639e-02 -2.63884345e+02] [-7.36506045e-02 -1.95470035e-03 9.97282191e-01 -2.90121449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.71, Y:-263.92, Z:-29.02 [[ 8.02533478e-01 5.93514335e-01 6.06691927e-02 5.08708434e+02] [-5.92045104e-01 8.04819926e-01 -4.18028827e-02 -2.63919680e+02] [-7.36383854e-02 -2.37068569e-03 9.97282191e-01 -2.90161523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.76, Y:-263.96, Z:-29.02 [[ 8.01291370e-01 5.95190788e-01 6.06635538e-02 5.08759133e+02] [-5.93725721e-01 8.03580489e-01 -4.18110642e-02 -2.63956170e+02] [-7.36336085e-02 -2.51466733e-03 9.97282191e-01 -2.90215847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.81, Y:-263.99, Z:-29.03 [[ 8.00356113e-01 5.96449035e-01 6.06518080e-02 5.08808566e+02] [-5.94986279e-01 8.02646708e-01 -4.18280960e-02 -2.63994731e+02] [-7.36303015e-02 -2.60962128e-03 9.97282191e-01 -2.90266412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.86, Y:-264.03, Z:-29.03 [[ 8.00157143e-01 5.96717111e-01 6.06402098e-02 5.08858208e+02] [-5.95253851e-01 8.02447417e-01 -4.18449038e-02 -2.64032629e+02] [-7.36301498e-02 -2.61381969e-03 9.97282191e-01 -2.90318922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.91, Y:-264.07, Z:-29.04 [[ 8.00316574e-01 5.96504471e-01 6.06283535e-02 5.08907290e+02] [-5.95039304e-01 8.02605628e-01 -4.18620752e-02 -2.64072113e+02] [-7.36315727e-02 -2.57334065e-03 9.97282191e-01 -2.90371347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:508.96, Y:-264.11, Z:-29.04 [[ 8.00506008e-01 5.96251432e-01 6.06165054e-02 5.08956168e+02] [-5.94784244e-01 8.02793768e-01 -4.18792242e-02 -2.64109979e+02] [-7.36331002e-02 -2.52917172e-03 9.97282192e-01 -2.90435711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.00, Y:-264.15, Z:-29.05 [[ 8.00787772e-01 5.95874072e-01 6.06055688e-02 5.09004715e+02] [-5.94404611e-01 8.03074071e-01 -4.18950453e-02 -2.64150499e+02] [-7.36349320e-02 -2.47518955e-03 9.97282192e-01 -2.90488517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.05, Y:-264.19, Z:-29.05 [[ 8.01519569e-01 5.94890543e-01 6.05939057e-02 5.09053105e+02] [-5.93417004e-01 8.03803242e-01 -4.19119070e-02 -2.64191256e+02] [-7.36385750e-02 -2.36424032e-03 9.97282192e-01 -2.90537993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.10, Y:-264.23, Z:-29.06 [[ 8.02517958e-01 5.93544226e-01 6.05820042e-02 5.09100296e+02] [-5.92065558e-01 8.04798313e-01 -4.19291031e-02 -2.64229327e+02] [-7.36430719e-02 -2.21965995e-03 9.97282192e-01 -2.90581031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.15, Y:-264.27, Z:-29.06 [[ 8.05009198e-01 5.90161531e-01 6.05768799e-02 5.09146534e+02] [-5.88672723e-01 8.07282946e-01 -4.19365052e-02 -2.64271646e+02] [-7.36519942e-02 -1.90068451e-03 9.97282192e-01 -2.90607960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.19, Y:-264.31, Z:-29.07 [[ 8.06700282e-01 5.87848931e-01 6.05664009e-02 5.09194295e+02] [-5.86352469e-01 8.08968999e-01 -4.19516339e-02 -2.64311748e+02] [-7.36575639e-02 -1.67086385e-03 9.97282193e-01 -2.90659780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.24, Y:-264.35, Z:-29.07 [[ 8.09624847e-01 5.83815602e-01 6.05553427e-02 5.09241309e+02] [-5.82306643e-01 8.11885272e-01 -4.19675899e-02 -2.64354391e+02] [-7.36653247e-02 -1.28377480e-03 9.97282193e-01 -2.90708448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.29, Y:-264.40, Z:-29.08 [[ 8.11605377e-01 5.81060423e-01 6.05433547e-02 5.09287615e+02] [-5.79542500e-01 8.13859792e-01 -4.19848771e-02 -2.64396878e+02] [-7.36695524e-02 -1.01229515e-03 9.97282193e-01 -2.90752867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.34, Y:-264.44, Z:-29.08 [[ 8.12807824e-01 5.79378383e-01 6.05320663e-02 5.09335870e+02] [-5.77854584e-01 8.15058270e-01 -4.20011459e-02 -2.64437397e+02] [-7.36717172e-02 -8.39871954e-04 9.97282193e-01 -2.90801626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.38, Y:-264.48, Z:-29.09 [[ 8.14056196e-01 5.77624310e-01 6.05199699e-02 5.09383785e+02] [-5.76094366e-01 8.16302469e-01 -4.20185685e-02 -2.64478050e+02] [-7.36735475e-02 -6.59737618e-04 9.97282193e-01 -2.90853091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.43, Y:-264.52, Z:-29.09 [[ 8.15385856e-01 5.75747063e-01 6.05080615e-02 5.09431318e+02] [-5.74210675e-01 8.17627727e-01 -4.20357100e-02 -2.64518440e+02] [-7.36750054e-02 -4.69051446e-04 9.97282194e-01 -2.90901741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.48, Y:-264.56, Z:-29.09 [[ 8.16485478e-01 5.74187748e-01 6.04970599e-02 5.09480059e+02] [-5.72645906e-01 8.18723601e-01 -4.20515374e-02 -2.64558675e+02] [-7.36758483e-02 -3.08924106e-04 9.97282194e-01 -2.90944851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.53, Y:-264.60, Z:-29.10 [[ 8.17132019e-01 5.73268519e-01 6.04852695e-02 5.09527011e+02] [-5.71722905e-01 8.19367538e-01 -4.20684895e-02 -2.64600253e+02] [-7.36762070e-02 -2.05304219e-04 9.97282194e-01 -2.90986563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.57, Y:-264.64, Z:-29.10 [[ 8.16175509e-01 5.74630661e-01 6.04743031e-02 5.09573928e+02] [-5.73087610e-01 8.18412798e-01 -4.20842480e-02 -2.64640688e+02] [-7.36758428e-02 -3.08941265e-04 9.97282194e-01 -2.91036301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.62, Y:-264.68, Z:-29.11 [[ 8.14819443e-01 5.76553067e-01 6.04635042e-02 5.09623895e+02] [-5.75014143e-01 8.17059573e-01 -4.20997574e-02 -2.64679496e+02] [-7.36750291e-02 -4.63669186e-04 9.97282194e-01 -2.91082288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.67, Y:-264.72, Z:-29.11 [[ 8.12398703e-01 5.79960260e-01 6.04519950e-02 5.09673256e+02] [-5.78429502e-01 8.14644420e-01 -4.21162772e-02 -2.64718096e+02] [-7.36726475e-02 -7.52008372e-04 9.97282195e-01 -2.91130652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.72, Y:-264.76, Z:-29.12 [[ 8.11129617e-01 5.81735070e-01 6.04404936e-02 5.09723818e+02] [-5.80207996e-01 8.13377840e-01 -4.21327763e-02 -2.64755179e+02] [-7.36710717e-02 -8.92914919e-04 9.97282195e-01 -2.91175339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.78, Y:-264.79, Z:-29.12 [[ 8.10153565e-01 5.83094829e-01 6.04286545e-02 5.09775512e+02] [-5.81570262e-01 8.12403489e-01 -4.21497496e-02 -2.64790600e+02] [-7.36697508e-02 -9.95738569e-04 9.97282195e-01 -2.91221098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.83, Y:-264.82, Z:-29.13 [[ 8.10255217e-01 5.82954798e-01 6.04167688e-02 5.09828573e+02] [-5.81428573e-01 8.12504017e-01 -4.21667795e-02 -2.64824534e+02] [-7.36701938e-02 -9.62182627e-04 9.97282195e-01 -2.91276420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.88, Y:-264.86, Z:-29.13 [[ 8.10697753e-01 5.82340458e-01 6.04048375e-02 5.09880538e+02] [-5.80811255e-01 8.12944529e-01 -4.21838645e-02 -2.64856898e+02] [-7.36711531e-02 -8.85445378e-04 9.97282195e-01 -2.91341232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.93, Y:-264.89, Z:-29.14 [[ 8.10852917e-01 5.82125376e-01 6.03953083e-02 5.09931747e+02] [-5.80594562e-01 8.13098595e-01 -4.21975032e-02 -2.64892852e+02] [-7.36715778e-02 -8.49219043e-04 9.97282196e-01 -2.91372317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:509.98, Y:-264.93, Z:-29.14 [[ 8.11528272e-01 5.81184741e-01 6.03834410e-02 5.09983466e+02] [-5.79650061e-01 8.13771310e-01 -4.22144781e-02 -2.64927931e+02] [-7.36727224e-02 -7.43022821e-04 9.97282196e-01 -2.91424341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.04, Y:-264.96, Z:-29.15 [[ 8.12447545e-01 5.79900232e-01 6.03714079e-02 5.10035114e+02] [-5.78360727e-01 8.14687274e-01 -4.22316799e-02 -2.64963126e+02] [-7.36739787e-02 -6.05426671e-04 9.97282196e-01 -2.91488364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.09, Y:-265.00, Z:-29.15 [[ 8.14650701e-01 5.76802361e-01 6.03595151e-02 5.10085710e+02] [-5.75253080e-01 8.16883678e-01 -4.22486709e-02 -2.64999417e+02] [-7.36758358e-02 -3.04087623e-04 9.97282196e-01 -2.91538916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.14, Y:-265.04, Z:-29.16 [[ 8.15999199e-01 5.74894161e-01 6.03490740e-02 5.10136619e+02] [-5.73338555e-01 8.18227775e-01 -4.22635798e-02 -2.65036813e+02] [-7.36763738e-02 -1.13403602e-04 9.97282196e-01 -2.91578651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.19, Y:-265.07, Z:-29.16 [[ 8.18224763e-01 5.71723427e-01 6.03370565e-02 5.10185593e+02] [-5.70157920e-01 8.20446394e-01 -4.22807296e-02 -2.65072377e+02] [-7.36762041e-02 1.93489319e-04 9.97282197e-01 -2.91619973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.24, Y:-265.11, Z:-29.17 [[ 8.19516458e-01 5.69870953e-01 6.03313529e-02 5.10236328e+02] [-5.68299826e-01 8.21734117e-01 -4.22888667e-02 -2.65109156e+02] [-7.36755278e-02 3.70124897e-04 9.97282197e-01 -2.91662598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.29, Y:-265.15, Z:-29.17 [[ 8.21419372e-01 5.67125867e-01 6.03197038e-02 5.10286897e+02] [-5.65546109e-01 8.23630891e-01 -4.23054761e-02 -2.65147019e+02] [-7.36737012e-02 6.36963790e-04 9.97282197e-01 -2.91704951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.34, Y:-265.18, Z:-29.17 [[ 8.22168498e-01 5.66040541e-01 6.03080987e-02 5.10338933e+02] [-5.64456651e-01 8.24377060e-01 -4.23220133e-02 -2.65182682e+02] [-7.36725883e-02 7.54518671e-04 9.97282197e-01 -2.91747743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.39, Y:-265.22, Z:-29.18 [[ 8.22421851e-01 5.65673600e-01 6.02965710e-02 5.10390918e+02] [-5.64087521e-01 8.24628841e-01 -4.23384304e-02 -2.65218612e+02] [-7.36720239e-02 8.07507071e-04 9.97282197e-01 -2.91793899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.44, Y:-265.25, Z:-29.19 [[ 8.22544799e-01 5.65496085e-01 6.02845912e-02 5.10442544e+02] [-5.63908280e-01 8.24750547e-01 -4.23554814e-02 -2.65253081e+02] [-7.36716085e-02 8.44300861e-04 9.97282197e-01 -2.91857788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.49, Y:-265.29, Z:-29.19 [[ 8.22041015e-01 5.66229279e-01 6.02741518e-02 5.10494770e+02] [-5.64642353e-01 8.24247395e-01 -4.23703320e-02 -2.65286946e+02] [-7.36721352e-02 7.96811782e-04 9.97282198e-01 -2.91922448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.55, Y:-265.32, Z:-29.20 [[ 8.20701344e-01 5.68170381e-01 6.02637623e-02 5.10548554e+02] [-5.66587589e-01 8.22910692e-01 -4.23851040e-02 -2.65320220e+02] [-7.36736550e-02 6.40812040e-04 9.97282198e-01 -2.91980395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.60, Y:-265.35, Z:-29.20 [[ 8.19997629e-01 5.69186792e-01 6.02518466e-02 5.10600309e+02] [-5.67605494e-01 8.22208046e-01 -4.24020359e-02 -2.65353504e+02] [-7.36742318e-02 5.70289720e-04 9.97282198e-01 -2.92011605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.65, Y:-265.39, Z:-29.20 [[ 8.19505768e-01 5.69895745e-01 6.02423186e-02 5.10652351e+02] [-5.68315364e-01 8.21716841e-01 -4.24155684e-02 -2.65389015e+02] [-7.36745796e-02 5.23167718e-04 9.97282198e-01 -2.92044701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.71, Y:-265.42, Z:-29.21 [[ 8.18290737e-01 5.71640231e-01 6.02305206e-02 5.10705274e+02] [-5.70063332e-01 8.20504294e-01 -4.24323150e-02 -2.65422778e+02] [-7.36754191e-02 3.86759054e-04 9.97282198e-01 -2.92089892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.76, Y:-265.46, Z:-29.21 [[ 8.15801914e-01 5.75187778e-01 6.02184224e-02 5.10757886e+02] [-5.73619237e-01 8.18021401e-01 -4.24494775e-02 -2.65456349e+02] [-7.36763789e-02 8.79194565e-05 9.97282199e-01 -2.92136370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.81, Y:-265.49, Z:-29.22 [[ 8.13706923e-01 5.78148973e-01 6.02063816e-02 5.10809154e+02] [-5.76587246e-01 8.15931210e-01 -4.24665481e-02 -2.65490168e+02] [-7.36762570e-02 -1.58907606e-04 9.97282199e-01 -2.92191048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.86, Y:-265.52, Z:-29.22 [[ 8.10058100e-01 5.83251578e-01 6.01952744e-02 5.10862467e+02] [-5.81702692e-01 8.12291348e-01 -4.24822865e-02 -2.65523899e+02] [-7.36739612e-02 -6.02632804e-04 9.97282199e-01 -2.92236377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.92, Y:-265.56, Z:-29.23 [[ 8.07450401e-01 5.86857592e-01 6.01831947e-02 5.10915026e+02] [-5.85317404e-01 8.09689656e-01 -4.24993925e-02 -2.65558092e+02] [-7.36708014e-02 -9.10119714e-04 9.97282199e-01 -2.92288098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:510.97, Y:-265.59, Z:-29.23 [[ 8.04165289e-01 5.91352401e-01 6.01708114e-02 5.10965976e+02] [-5.89823416e-01 8.06412208e-01 -4.25169177e-02 -2.65591292e+02] [-7.36649582e-02 -1.29952416e-03 9.97282199e-01 -2.92346165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.02, Y:-265.63, Z:-29.24 [[ 8.03191890e-01 5.92674436e-01 6.01647771e-02 5.11017297e+02] [-5.91148511e-01 8.05440888e-01 -4.25254550e-02 -2.65627271e+02] [-7.36629215e-02 -1.41021783e-03 9.97282199e-01 -2.92386614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.07, Y:-265.66, Z:-29.24 [[ 8.01355351e-01 5.95156514e-01 6.01525130e-02 5.11067793e+02] [-5.93636253e-01 8.03608182e-01 -4.25427956e-02 -2.65662040e+02] [-7.36586735e-02 -1.61681550e-03 9.97282200e-01 -2.92429769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.12, Y:-265.70, Z:-29.25 [[ 8.00695060e-01 5.96045686e-01 6.01411803e-02 5.11119438e+02] [-5.94526725e-01 8.02948766e-01 -4.25588102e-02 -2.65697943e+02] [-7.36572818e-02 -1.67890990e-03 9.97282200e-01 -2.92468638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.17, Y:-265.73, Z:-29.25 [[ 8.00960659e-01 5.95689962e-01 6.01289631e-02 5.11168642e+02] [-5.94168705e-01 8.03212816e-01 -4.25760642e-02 -2.65733365e+02] [-7.36584879e-02 -1.62499569e-03 9.97282200e-01 -2.92517358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.22, Y:-265.77, Z:-29.26 [[ 8.02943236e-01 5.93015888e-01 6.01191880e-02 5.11217419e+02] [-5.91486097e-01 8.05189606e-01 -4.25898626e-02 -2.65770974e+02] [-7.36638105e-02 -1.36242177e-03 9.97282200e-01 -2.92569358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.27, Y:-265.81, Z:-29.26 [[ 8.04968664e-01 5.90264692e-01 6.01086034e-02 5.11266358e+02] [-5.88726108e-01 8.07209019e-01 -4.26047958e-02 -2.65808493e+02] [-7.36683135e-02 -1.09197863e-03 9.97282200e-01 -2.92619379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.32, Y:-265.85, Z:-29.27 [[ 8.10818979e-01 5.82203087e-01 6.01011529e-02 5.11315871e+02] [-5.80641446e-01 8.13043324e-01 -4.26153034e-02 -2.65845637e+02] [-7.36756024e-02 -3.43923493e-04 9.97282200e-01 -2.92653837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.36, Y:-265.89, Z:-29.27 [[ 8.16982591e-01 5.73522994e-01 6.00901166e-02 5.11362191e+02] [-5.71936576e-01 8.19189333e-01 -4.26308596e-02 -2.65886534e+02] [-7.36749608e-02 4.60934565e-04 9.97282201e-01 -2.92670096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.41, Y:-265.93, Z:-29.27 [[ 8.22243338e-01 5.65956083e-01 6.00799926e-02 5.11411705e+02] [-5.64348318e-01 8.24434575e-01 -4.26451226e-02 -2.65925179e+02] [-7.36672898e-02 1.15862516e-03 9.97282201e-01 -2.92706616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.46, Y:-265.96, Z:-29.27 [[ 8.30377194e-01 5.53954451e-01 6.00681494e-02 5.11461014e+02] [-5.52313826e-01 8.32543938e-01 -4.26617980e-02 -2.65963707e+02] [-7.36420666e-02 2.24891464e-03 9.97282201e-01 -2.92748250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.51, Y:-266.00, Z:-29.28 [[ 8.36737772e-01 5.44300602e-01 6.00562702e-02 5.11511441e+02] [-5.42633797e-01 8.38884442e-01 -4.26785142e-02 -2.66001023e+02] [-7.36102117e-02 3.12216295e-03 9.97282201e-01 -2.92791981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.56, Y:-266.04, Z:-29.28 [[ 8.39024447e-01 5.40770414e-01 6.00444646e-02 5.11562173e+02] [-5.39093395e-01 8.41163146e-01 -4.26951171e-02 -2.66036797e+02] [-7.35954469e-02 3.45267275e-03 9.97282201e-01 -2.92840100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.61, Y:-266.07, Z:-29.29 [[ 8.39523073e-01 5.39997202e-01 6.00335867e-02 5.11614863e+02] [-5.38317123e-01 8.41659370e-01 -4.27104071e-02 -2.66070202e+02] [-7.35913311e-02 3.53926457e-03 9.97282202e-01 -2.92892740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.67, Y:-266.10, Z:-29.30 [[ 8.38515544e-01 5.41561684e-01 6.00218733e-02 5.11667671e+02] [-5.39884418e-01 8.40654049e-01 -4.27268619e-02 -2.66104827e+02] [-7.35968621e-02 3.42226367e-03 9.97282202e-01 -2.92951059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.72, Y:-266.14, Z:-29.30 [[ 8.35875267e-01 5.45629291e-01 6.00101219e-02 5.11721137e+02] [-5.43961253e-01 8.38020978e-01 -4.27433604e-02 -2.66138201e+02] [-7.36117705e-02 3.08493673e-03 9.97282202e-01 -2.92991535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.77, Y:-266.17, Z:-29.30 [[ 8.32427027e-01 5.50877015e-01 5.99979948e-02 5.11774670e+02] [-5.49221285e-01 8.34582249e-01 -4.27603762e-02 -2.66169528e+02] [-7.36289699e-02 2.64271705e-03 9.97282202e-01 -2.93031642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.83, Y:-266.20, Z:-29.31 [[ 8.29301842e-01 5.55571748e-01 5.99874036e-02 5.11827044e+02] [-5.53927149e-01 8.31465570e-01 -4.27752291e-02 -2.66202008e+02] [-7.36421696e-02 2.24492482e-03 9.97282202e-01 -2.93077953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.88, Y:-266.23, Z:-29.31 [[ 8.23186266e-01 5.64594746e-01 5.99761885e-02 5.11882623e+02] [-5.62972729e-01 8.25366974e-01 -4.27909484e-02 -2.66232638e+02] [-7.36619098e-02 1.45996249e-03 9.97282203e-01 -2.93128583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.94, Y:-266.26, Z:-29.32 [[ 8.18441628e-01 5.71452161e-01 5.99644041e-02 5.11937102e+02] [-5.69847209e-01 8.20634925e-01 -4.28074560e-02 -2.66264744e+02] [-7.36712975e-02 8.64855609e-04 9.97282203e-01 -2.93184488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:511.99, Y:-266.29, Z:-29.32 [[ 8.11055947e-01 5.81888281e-01 5.99523109e-02 5.11991221e+02] [-5.80310302e-01 8.13268729e-01 -4.28243860e-02 -2.66294315e+02] [-7.36763480e-02 -5.79706877e-05 9.97282203e-01 -2.93246921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.04, Y:-266.33, Z:-29.33 [[ 8.04141498e-01 5.91408074e-01 5.99411424e-02 5.12044708e+02] [-5.89855123e-01 8.06371916e-01 -4.28400128e-02 -2.66326875e+02] [-7.36707833e-02 -9.07157791e-04 9.97282203e-01 -2.93301155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.10, Y:-266.36, Z:-29.34 [[ 8.00366918e-01 5.96507581e-01 5.99291424e-02 5.12096961e+02] [-5.94967583e-01 8.02606298e-01 -4.28567931e-02 -2.66361566e+02] [-7.36639091e-02 -1.35473757e-03 9.97282203e-01 -2.93351111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.15, Y:-266.40, Z:-29.34 [[ 7.96879315e-01 6.01159952e-01 5.99171830e-02 5.12149019e+02] [-5.99631770e-01 7.99126775e-01 -4.28735068e-02 -2.66396729e+02] [-7.36552605e-02 -1.76323569e-03 9.97282204e-01 -2.93397297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.20, Y:-266.43, Z:-29.34 [[ 7.96119317e-01 6.02167258e-01 5.99051491e-02 5.12199809e+02] [-6.00640656e-01 7.98367850e-01 -4.28903147e-02 -2.66434244e+02] [-7.36534882e-02 -1.83566003e-03 9.97282204e-01 -2.93444993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.25, Y:-266.47, Z:-29.35 [[ 7.96212185e-01 6.02045659e-01 5.98930752e-02 5.12249454e+02] [-6.00517446e-01 7.98459624e-01 -4.29071683e-02 -2.66471724e+02] [-7.36542767e-02 -1.80362639e-03 9.97282204e-01 -2.93495636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.30, Y:-266.51, Z:-29.35 [[ 7.96684489e-01 6.01421633e-01 5.98819199e-02 5.12298070e+02] [-5.99890491e-01 7.98929933e-01 -4.29227312e-02 -2.66509656e+02] [-7.36561174e-02 -1.72672008e-03 9.97282204e-01 -2.93541912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.35, Y:-266.55, Z:-29.36 [[ 7.97370039e-01 6.00513492e-01 5.98712550e-02 5.12346645e+02] [-5.98978677e-01 7.99612973e-01 -4.29376021e-02 -2.66547149e+02] [-7.36584416e-02 -1.62444763e-03 9.97282204e-01 -2.93590887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.39, Y:-266.59, Z:-29.36 [[ 7.99154350e-01 5.98138032e-01 5.98599947e-02 5.12393498e+02] [-5.96595374e-01 8.01391898e-01 -4.29532946e-02 -2.66586255e+02] [-7.36633139e-02 -1.38588373e-03 9.97282205e-01 -2.93630525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.44, Y:-266.63, Z:-29.37 [[ 8.01015206e-01 5.95644270e-01 5.98543456e-02 5.12442696e+02] [-5.94094058e-01 8.03247527e-01 -4.29611651e-02 -2.66626190e+02] [-7.36674268e-02 -1.14656454e-03 9.97282205e-01 -2.93658784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.49, Y:-266.67, Z:-29.36 [[ 8.01264240e-01 5.95310467e-01 5.98420129e-02 5.12485363e+02] [-5.93758042e-01 8.03495022e-01 -4.29783368e-02 -2.66672682e+02] [-7.36682132e-02 -1.09467207e-03 9.97282205e-01 -2.93621944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.54, Y:-266.71, Z:-29.38 [[ 8.09080457e-01 5.84643600e-01 5.98387524e-02 5.12535646e+02] [-5.83061424e-01 8.11290237e-01 -4.29828759e-02 -2.66705444e+02] [-7.36762589e-02 -1.13063309e-04 9.97282205e-01 -2.93750342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.59, Y:-266.74, Z:-29.38 [[ 8.12371480e-01 5.80062295e-01 5.98357151e-02 5.12585122e+02] [-5.78467346e-01 8.14572059e-01 -4.29871037e-02 -2.66744365e+02] [-7.36756997e-02 3.08489790e-04 9.97282205e-01 -2.93800404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.63, Y:-266.78, Z:-29.39 [[ 8.14000165e-01 5.77775790e-01 5.98236391e-02 5.12634848e+02] [-5.76173425e-01 8.16195350e-01 -4.30039029e-02 -2.66781858e+02] [-7.36743900e-02 5.36393060e-04 9.97282205e-01 -2.93851906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.68, Y:-266.82, Z:-29.39 [[ 8.19670673e-01 5.69703920e-01 5.98116387e-02 5.12683234e+02] [-5.68078724e-01 8.21849008e-01 -4.30205872e-02 -2.66821225e+02] [-7.36651331e-02 1.28499428e-03 9.97282205e-01 -2.93898292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.73, Y:-266.86, Z:-29.39 [[ 8.23089778e-01 5.64754111e-01 5.97997598e-02 5.12732867e+02] [-5.63114619e-01 8.25257375e-01 -4.30370927e-02 -2.66858994e+02] [-7.36555679e-02 1.74927213e-03 9.97282206e-01 -2.93937703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.78, Y:-266.90, Z:-29.40 [[ 8.26266928e-01 5.60096775e-01 5.97876728e-02 5.12782644e+02] [-5.58443855e-01 8.28424302e-01 -4.30538777e-02 -2.66896684e+02] [-7.36438992e-02 2.18593679e-03 9.97282206e-01 -2.93973478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.83, Y:-266.93, Z:-29.40 [[ 8.27068109e-01 5.58914334e-01 5.97754936e-02 5.12834052e+02] [-5.57257110e-01 8.29222178e-01 -4.30707805e-02 -2.66932847e+02] [-7.36400416e-02 2.31215015e-03 9.97282206e-01 -2.94008431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.88, Y:-266.97, Z:-29.41 [[ 8.24766760e-01 5.62306080e-01 5.97634073e-02 5.12884819e+02] [-5.60656502e-01 8.26926690e-01 -4.30875445e-02 -2.66967433e+02] [-7.36483448e-02 2.03043151e-03 9.97282206e-01 -2.94059040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.93, Y:-267.01, Z:-29.40 [[ 8.15897262e-01 5.75101145e-01 5.97522442e-02 5.12931021e+02] [-5.73484323e-01 8.18081818e-01 -4.31030196e-02 -2.67010328e+02] [-7.36708205e-02 9.00660389e-04 9.97282206e-01 -2.93961806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:512.98, Y:-267.04, Z:-29.41 [[ 8.12275202e-01 5.80205994e-01 5.97494867e-02 5.12982907e+02] [-5.78602620e-01 8.14469648e-01 -4.31068417e-02 -2.67043487e+02] [-7.36749914e-02 4.43409011e-04 9.97282206e-01 -2.94051734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.04, Y:-267.07, Z:-29.41 [[ 8.06272284e-01 5.88519913e-01 5.97437595e-02 5.13035823e+02] [-5.86938579e-01 8.08482665e-01 -4.31147779e-02 -2.67074996e+02] [-7.36756992e-02 -3.03666917e-04 9.97282206e-01 -2.94144583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.09, Y:-267.11, Z:-29.42 [[ 8.02061681e-01 5.94245922e-01 5.97398069e-02 5.13087843e+02] [-5.92679960e-01 8.04282978e-01 -4.31202539e-02 -2.67108243e+02] [-7.36717448e-02 -8.21483018e-04 9.97282206e-01 -2.94217730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.14, Y:-267.14, Z:-29.43 [[ 8.00009486e-01 5.97006931e-01 5.97289404e-02 5.13143363e+02] [-5.95447511e-01 8.02235382e-01 -4.31353006e-02 -2.67136196e+02] [-7.36687427e-02 -1.05679920e-03 9.97282207e-01 -2.94320776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.20, Y:-267.17, Z:-29.44 [[ 7.94151648e-01 6.04777611e-01 5.97260442e-02 5.13196172e+02] [-6.03239664e-01 7.96392433e-01 -4.31393103e-02 -2.67170000e+02] [-7.36550588e-02 -1.76996442e-03 9.97282207e-01 -2.94360029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.24, Y:-267.21, Z:-29.43 [[ 7.87365281e-01 6.13587954e-01 5.97137853e-02 5.13243536e+02] [-6.12073783e-01 7.89622201e-01 -4.31562726e-02 -2.67211151e+02] [-7.36314996e-02 -2.56949175e-03 9.97282207e-01 -2.94301125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.30, Y:-267.24, Z:-29.45 [[ 7.89302817e-01 6.11093760e-01 5.97116321e-02 5.13296719e+02] [-6.09572231e-01 7.91554783e-01 -4.31592516e-02 -2.67238677e+02] [-7.36393773e-02 -2.33283386e-03 9.97282207e-01 -2.94461105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.35, Y:-267.27, Z:-29.45 [[ 7.88601654e-01 6.11998797e-01 5.97068169e-02 5.13347373e+02] [-6.10479349e-01 7.90855024e-01 -4.31659119e-02 -2.67274835e+02] [-7.36369223e-02 -2.40906918e-03 9.97282207e-01 -2.94540348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.39, Y:-267.32, Z:-29.46 [[ 7.86887694e-01 6.14201352e-01 5.97030725e-02 5.13393160e+02] [-6.12687818e-01 7.89145040e-01 -4.31710902e-02 -2.67316051e+02] [-7.36301255e-02 -2.60854559e-03 9.97282207e-01 -2.94557191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.44, Y:-267.35, Z:-29.46 [[ 7.90327925e-01 6.09768507e-01 5.97004016e-02 5.13443630e+02] [-6.08242030e-01 7.92576540e-01 -4.31747834e-02 -2.67349661e+02] [-7.36437610e-02 -2.19005647e-03 9.97282207e-01 -2.94632885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.49, Y:-267.39, Z:-29.46 [[ 7.89343625e-01 6.11043272e-01 5.96888735e-02 5.13487908e+02] [-6.09519222e-01 7.91593886e-01 -4.31907151e-02 -2.67394130e+02] [-7.36407432e-02 -2.28920008e-03 9.97282207e-01 -2.94558704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.54, Y:-267.43, Z:-29.46 [[ 7.91518119e-01 6.08224699e-01 5.96806716e-02 5.13536972e+02] [-6.06691782e-01 7.93762348e-01 -4.32020455e-02 -2.67432534e+02] [-7.36488211e-02 -2.01257120e-03 9.97282207e-01 -2.94599709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.59, Y:-267.47, Z:-29.46 [[ 7.92097817e-01 6.07469863e-01 5.96775896e-02 5.13586941e+02] [-6.05934487e-01 7.94340364e-01 -4.32063025e-02 -2.67470932e+02] [-7.36508448e-02 -1.93709173e-03 9.97282207e-01 -2.94628249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.64, Y:-267.51, Z:-29.47 [[ 7.92722728e-01 6.06655420e-01 5.96647146e-02 5.13636865e+02] [-6.05116403e-01 7.94962778e-01 -4.32240746e-02 -2.67507770e+02] [-7.36533464e-02 -1.83939116e-03 9.97282207e-01 -2.94688443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.69, Y:-267.54, Z:-29.48 [[ 7.93318485e-01 6.05877256e-01 5.96534360e-02 5.13687489e+02] [-6.04334873e-01 7.95556218e-01 -4.32396346e-02 -2.67543283e+02] [-7.36555731e-02 -1.74785030e-03 9.97282208e-01 -2.94791844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.74, Y:-267.58, Z:-29.48 [[ 7.92059301e-01 6.07523087e-01 5.96469774e-02 5.13736996e+02] [-6.05984683e-01 7.94299772e-01 -4.32485420e-02 -2.67580585e+02] [-7.36520683e-02 -1.88974476e-03 9.97282208e-01 -2.94790120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.79, Y:-267.61, Z:-29.49 [[ 7.94662292e-01 6.04115521e-01 5.96345351e-02 5.13789512e+02] [-6.02566222e-01 7.96895243e-01 -4.32656917e-02 -2.67610784e+02] [-7.36599532e-02 -1.55214278e-03 9.97282208e-01 -2.94928996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.84, Y:-267.65, Z:-29.50 [[ 7.95116162e-01 6.03518541e-01 5.96293451e-02 5.13839886e+02] [-6.01967029e-01 7.97347576e-01 -4.32728435e-02 -2.67647500e+02] [-7.36612771e-02 -1.48796249e-03 9.97282208e-01 -2.94986221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.89, Y:-267.68, Z:-29.50 [[ 7.96189252e-01 6.02103300e-01 5.96178673e-02 5.13888661e+02] [-6.00546639e-01 7.98417076e-01 -4.32886509e-02 -2.67683594e+02] [-7.36641629e-02 -1.33735120e-03 9.97282208e-01 -2.95024952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:513.94, Y:-267.72, Z:-29.50 [[ 7.93912225e-01 6.05103082e-01 5.96124084e-02 5.13935256e+02] [-6.03554274e-01 7.96145515e-01 -4.32961670e-02 -2.67724750e+02] [-7.36587957e-02 -1.60596756e-03 9.97282208e-01 -2.94962216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:513.99, Y:-267.76, Z:-29.50 [[ 7.93764760e-01 6.05297335e-01 5.96040473e-02 5.13985436e+02] [-6.03748209e-01 7.95997830e-01 -4.33076743e-02 -2.67761385e+02] [-7.36587122e-02 -1.60973117e-03 9.97282208e-01 -2.94985702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.04, Y:-267.80, Z:-29.51 [[ 7.94257931e-01 6.04651173e-01 5.95927656e-02 5.14035126e+02] [-6.03099067e-01 7.96488930e-01 -4.33231927e-02 -2.67795843e+02] [-7.36603975e-02 -1.53055196e-03 9.97282208e-01 -2.95069269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.09, Y:-267.83, Z:-29.51 [[ 7.95472762e-01 6.03053219e-01 5.95810307e-02 5.14087547e+02] [-6.01495424e-01 7.97699792e-01 -4.33393254e-02 -2.67828183e+02] [-7.36636956e-02 -1.36246438e-03 9.97282209e-01 -2.95145788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.14, Y:-267.86, Z:-29.52 [[ 7.95559264e-01 6.02940229e-01 5.95696059e-02 5.14139615e+02] [-6.01380942e-01 7.97785249e-01 -4.33550231e-02 -2.67862885e+02] [-7.36642405e-02 -1.33253544e-03 9.97282209e-01 -2.95204976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.19, Y:-267.90, Z:-29.53 [[ 7.96734409e-01 6.01387808e-01 5.95565821e-02 5.14189801e+02] [-5.99822847e-01 7.98956409e-01 -4.33729065e-02 -2.67898986e+02] [-7.36670501e-02 -1.16671165e-03 9.97282209e-01 -2.95262479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.24, Y:-267.93, Z:-29.53 [[ 7.98270256e-01 5.99348075e-01 5.95523604e-02 5.14240834e+02] [-5.97777004e-01 8.00487940e-01 -4.33787022e-02 -2.67931494e+02] [-7.36698880e-02 -9.71103868e-04 9.97282209e-01 -2.95330106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.29, Y:-267.97, Z:-29.54 [[ 7.98883815e-01 5.98531096e-01 5.95413981e-02 5.14291106e+02] [-5.96956636e-01 8.01099094e-01 -4.33937439e-02 -2.67968517e+02] [-7.36710651e-02 -8.77073077e-04 9.97282209e-01 -2.95365305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.34, Y:-268.01, Z:-29.54 [[ 7.99572453e-01 5.97612053e-01 5.95292079e-02 5.14341782e+02] [-5.96033802e-01 8.01785033e-01 -4.34104604e-02 -2.68005838e+02] [-7.36722423e-02 -7.71611867e-04 9.97282209e-01 -2.95404997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.39, Y:-268.04, Z:-29.55 [[ 8.01034671e-01 5.95651895e-01 5.95170131e-02 5.14391326e+02] [-5.94066988e-01 8.03242488e-01 -4.34271734e-02 -2.68043284e+02] [-7.36740718e-02 -5.70421099e-04 9.97282210e-01 -2.95454913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.44, Y:-268.08, Z:-29.55 [[ 8.02640962e-01 5.93486705e-01 5.95064468e-02 5.14439437e+02] [-5.91894769e-01 8.04843715e-01 -4.34416472e-02 -2.68080081e+02] [-7.36754298e-02 -3.53509133e-04 9.97282210e-01 -2.95507368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.49, Y:-268.12, Z:-29.55 [[ 8.05103492e-01 5.90142401e-01 5.95005405e-02 5.14488052e+02] [-5.88540717e-01 8.07299167e-01 -4.34497354e-02 -2.68118034e+02] [-7.36762679e-02 -3.69571138e-05 9.97282210e-01 -2.95549670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.54, Y:-268.16, Z:-29.56 [[ 8.07535135e-01 5.86811703e-01 5.94897497e-02 5.14537308e+02] [-5.85199875e-01 8.09723375e-01 -4.34645047e-02 -2.68155940e+02] [-7.36757209e-02 2.85720642e-04 9.97282210e-01 -2.95598470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:514.59, Y:-268.19, Z:-29.56 [[ 8.08471320e-01 5.85522289e-01 5.94791887e-02 5.14585698e+02] [-5.83905908e-01 8.10656198e-01 -4.34789522e-02 -2.68194750e+02] [-7.36750686e-02 4.21236219e-04 9.97282210e-01 -2.95560632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.63, Y:-268.23, Z:-29.57 [[ 8.12790863e-01 5.79512187e-01 5.94696378e-02 5.14633449e+02] [-5.77878696e-01 8.14962979e-01 -4.34920118e-02 -2.68230785e+02] [-7.36697041e-02 9.83673063e-04 9.97282210e-01 -2.95697558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.68, Y:-268.27, Z:-29.57 [[ 8.17700299e-01 5.72564825e-01 5.94621153e-02 5.14683020e+02] [-5.70912136e-01 8.19857843e-01 -4.35022941e-02 -2.68267637e+02] [-7.36583650e-02 1.62419559e-03 9.97282210e-01 -2.95715539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:514.73, Y:-268.31, Z:-29.58 [[ 8.19786612e-01 5.69574800e-01 5.94513163e-02 5.14732731e+02] [-5.67913174e-01 8.21937281e-01 -4.35170474e-02 -2.68306261e+02] [-7.36514668e-02 1.91150711e-03 9.97282211e-01 -2.95750306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.78, Y:-268.34, Z:-29.58 [[ 8.20869209e-01 5.68014780e-01 5.94386334e-02 5.14781257e+02] [-5.66347815e-01 8.23015742e-01 -4.35343636e-02 -2.68343598e+02] [-7.36470930e-02 2.07307852e-03 9.97282211e-01 -2.95794074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.83, Y:-268.38, Z:-29.58 [[ 8.20925578e-01 5.67934371e-01 5.94284926e-02 5.14832474e+02] [-5.66266195e-01 8.23071170e-01 -4.35482025e-02 -2.68379759e+02] [-7.36463999e-02 2.09748694e-03 9.97282211e-01 -2.95844321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.88, Y:-268.41, Z:-29.59 [[ 8.21918854e-01 5.66497209e-01 5.94164118e-02 5.14884922e+02] [-5.64824092e-01 8.24060595e-01 -4.35646791e-02 -2.68413250e+02] [-7.36419927e-02 2.24681028e-03 9.97282211e-01 -2.95908880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.94, Y:-268.45, Z:-29.60 [[ 8.22199734e-01 5.66090637e-01 5.94052892e-02 5.14938192e+02] [-5.64415367e-01 8.24339791e-01 -4.35798407e-02 -2.68445344e+02] [-7.36402835e-02 2.30207539e-03 9.97282211e-01 -2.96007204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:514.99, Y:-268.48, Z:-29.60 [[ 8.17784788e-01 5.72451199e-01 5.93941498e-02 5.14985147e+02] [-5.70791478e-01 8.19936926e-01 -4.35950172e-02 -2.68484778e+02] [-7.36554765e-02 1.74966733e-03 9.97282212e-01 -2.95976694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.04, Y:-268.52, Z:-29.60 [[ 8.15166486e-01 5.76174578e-01 5.93839648e-02 5.15037387e+02] [-5.74523678e-01 8.17325399e-01 -4.36088864e-02 -2.68518862e+02] [-7.36623545e-02 1.43100879e-03 9.97282212e-01 -2.96023986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.09, Y:-268.55, Z:-29.61 [[ 8.13176973e-01 5.78980332e-01 5.93715954e-02 5.15088353e+02] [-5.77335653e-01 8.15340628e-01 -4.36257204e-02 -2.68552917e+02] [-7.36665080e-02 1.19809240e-03 9.97282212e-01 -2.96082323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.14, Y:-268.59, Z:-29.61 [[ 8.09903523e-01 5.83551371e-01 5.93639664e-02 5.15140125e+02] [-5.81918145e-01 8.12075836e-01 -4.36360991e-02 -2.68587251e+02] [-7.36719481e-02 7.96061198e-04 9.97282212e-01 -2.96120416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.19, Y:-268.62, Z:-29.62 [[ 8.07467983e-01 5.86917930e-01 5.93531803e-02 5.15191426e+02] [-5.85292683e-01 8.09646272e-01 -4.36507653e-02 -2.68621964e+02] [-7.36744980e-02 5.07613320e-04 9.97282212e-01 -2.96165541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.24, Y:-268.66, Z:-29.62 [[ 8.02953877e-01 5.93079781e-01 5.93417714e-02 5.15244415e+02] [-5.91470105e-01 8.05143697e-01 -4.36662698e-02 -2.68656410e+02] [-7.36762349e-02 -3.68831545e-05 9.97282212e-01 -2.96213168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.30, Y:-268.69, Z:-29.63 [[ 7.99981014e-01 5.97084915e-01 5.93294358e-02 5.15299353e+02] [-5.95484960e-01 8.02177946e-01 -4.36830239e-02 -2.68686087e+02] [-7.36752395e-02 -3.84196906e-04 9.97282213e-01 -2.96309774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.35, Y:-268.72, Z:-29.64 [[ 7.96903606e-01 6.01187163e-01 5.93181098e-02 5.15352208e+02] [-5.99597371e-01 7.99107904e-01 -4.36983982e-02 -2.68719627e+02] [-7.36724865e-02 -7.43571555e-04 9.97282213e-01 -2.96393287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.40, Y:-268.76, Z:-29.64 [[ 7.88664422e-01 6.11956966e-01 5.93051551e-02 5.15399599e+02] [-6.10395944e-01 7.90889186e-01 -4.37159727e-02 -2.68759737e+02] [-7.36560999e-02 -1.72239383e-03 9.97282213e-01 -2.96373228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.45, Y:-268.79, Z:-29.65 [[ 7.89060174e-01 6.11447676e-01 5.92940248e-02 5.15453465e+02] [-6.09884085e-01 7.91283133e-01 -4.37310640e-02 -2.68791033e+02] [-7.36576192e-02 -1.65604110e-03 9.97282213e-01 -2.96476761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.50, Y:-268.83, Z:-29.65 [[ 7.86688899e-01 6.14496665e-01 5.92825896e-02 5.15503797e+02] [-6.12940521e-01 7.88917078e-01 -4.37465603e-02 -2.68828440e+02] [-7.36511628e-02 -1.92176803e-03 9.97282213e-01 -2.96505322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.55, Y:-268.87, Z:-29.65 [[ 7.81156209e-01 6.21515974e-01 5.92694793e-02 5.15550903e+02] [-6.19978499e-01 7.83397310e-01 -4.37643154e-02 -2.68869584e+02] [-7.36317718e-02 -2.55903610e-03 9.97282214e-01 -2.96497472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.60, Y:-268.91, Z:-29.66 [[ 7.80051022e-01 6.22903657e-01 5.92573764e-02 5.15600589e+02] [-6.21368926e-01 7.82294003e-01 -4.37806968e-02 -2.68907437e+02] [-7.36278464e-02 -2.66951511e-03 9.97282214e-01 -2.96551999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.65, Y:-268.94, Z:-29.67 [[ 7.85630150e-01 6.15853285e-01 5.92452371e-02 5.15652460e+02] [-6.14297180e-01 7.87858355e-01 -4.37971180e-02 -2.68939506e+02] [-7.36494540e-02 -1.98584569e-03 9.97282214e-01 -2.96666756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.70, Y:-268.99, Z:-29.66 [[ 7.86719896e-01 6.14461662e-01 5.92340350e-02 5.15696535e+02] [-6.12900476e-01 7.88944543e-01 -4.38122631e-02 -2.68986973e+02] [-7.36533247e-02 -1.83658914e-03 9.97282214e-01 -2.96623301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.74, Y:-269.03, Z:-29.67 [[ 7.90595430e-01 6.09468287e-01 5.92222298e-02 5.15744742e+02] [-6.07891852e-01 7.92809298e-01 -4.38282148e-02 -2.69027524e+02] [-7.36638414e-02 -1.35032467e-03 9.97282214e-01 -2.96660871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.79, Y:-269.06, Z:-29.68 [[ 7.97264567e-01 6.00719074e-01 5.92098378e-02 5.15794669e+02] [-5.99117095e-01 7.99460022e-01 -4.38449494e-02 -2.69063258e+02] [-7.36743956e-02 -5.17601506e-04 9.97282215e-01 -2.96767375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.84, Y:-269.11, Z:-29.67 [[ 7.97194943e-01 6.00812599e-01 5.91983402e-02 5.15839985e+02] [-5.99209726e-01 7.99389745e-01 -4.38604678e-02 -2.69107322e+02] [-7.36744677e-02 -5.06878051e-04 9.97282215e-01 -2.96745056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.89, Y:-269.14, Z:-29.69 [[ 8.05731720e-01 5.89316170e-01 5.91848563e-02 5.15890599e+02] [-5.87680644e-01 8.07902299e-01 -4.38786552e-02 -2.69143949e+02] [-7.36739825e-02 5.72629895e-04 9.97282215e-01 -2.96871273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.94, Y:-269.19, Z:-29.69 [[ 8.11937264e-01 5.80738003e-01 5.91713759e-02 5.15938307e+02] [-5.79078226e-01 8.14089355e-01 -4.38968264e-02 -2.69185273e+02] [-7.36633425e-02 1.37661376e-03 9.97282215e-01 -2.96908747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.98, Y:-269.23, Z:-29.69 [[ 8.12057510e-01 5.80571202e-01 5.91580965e-02 5.15982950e+02] [-5.78909681e-01 8.14208253e-01 -4.39147153e-02 -2.69229797e+02] [-7.36626295e-02 1.41407957e-03 9.97282216e-01 -2.96893883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.03, Y:-269.27, Z:-29.69 [[ 8.12424729e-01 5.80058466e-01 5.91458804e-02 5.16032214e+02] [-5.78394390e-01 8.14573497e-01 -4.39311622e-02 -2.69268107e+02] [-7.36613092e-02 1.48111714e-03 9.97282216e-01 -2.96945206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.08, Y:-269.30, Z:-29.70 [[ 8.13108558e-01 5.79100769e-01 5.91335093e-02 5.16083764e+02] [-5.77432953e-01 8.15254424e-01 -4.39478080e-02 -2.69303854e+02] [-7.36590645e-02 1.58870194e-03 9.97282216e-01 -2.97009684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.13, Y:-269.34, Z:-29.71 [[ 8.08098578e-01 5.86072906e-01 5.91205323e-02 5.16130689e+02] [-5.84422332e-01 8.10257733e-01 -4.39652584e-02 -2.69343622e+02] [-7.36697152e-02 9.76903434e-04 9.97282216e-01 -2.97050382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.18, Y:-269.38, Z:-29.71 [[ 8.02796450e-01 5.93315974e-01 5.91101857e-02 5.16179422e+02] [-5.91683859e-01 8.04969592e-01 -4.39791648e-02 -2.69379781e+02] [-7.36754431e-02 3.31774620e-04 9.97282216e-01 -2.97095760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.23, Y:-269.42, Z:-29.71 [[ 7.96904752e-01 6.01206702e-01 5.91042943e-02 5.16229927e+02] [-5.99595517e-01 7.99093457e-01 -4.39870809e-02 -2.69417042e+02] [-7.36751827e-02 -3.85156063e-04 9.97282216e-01 -2.97133177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.28, Y:-269.45, Z:-29.72 [[ 7.91732578e-01 6.08002967e-01 5.90924392e-02 5.16280543e+02] [-6.06409379e-01 7.93934129e-01 -4.40030013e-02 -2.69453665e+02] [-7.36694596e-02 -9.95599708e-04 9.97282217e-01 -2.97164809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.33, Y:-269.49, Z:-29.72 [[ 7.89964151e-01 6.10300083e-01 5.90800251e-02 5.16329881e+02] [-6.08711651e-01 7.92169424e-01 -4.40196626e-02 -2.69490395e+02] [-7.36665932e-02 -1.18874427e-03 9.97282217e-01 -2.97218202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.38, Y:-269.53, Z:-29.73 [[ 7.85582642e-01 6.15930856e-01 5.90685451e-02 5.16379934e+02] [-6.14357069e-01 7.87798391e-01 -4.40350619e-02 -2.69527726e+02] [-7.36566582e-02 -1.69599795e-03 9.97282217e-01 -2.97266602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.43, Y:-269.57, Z:-29.73 [[ 7.81872186e-01 6.20635363e-01 5.90561688e-02 5.16429053e+02] [-6.19073654e-01 7.84096463e-01 -4.40516537e-02 -2.69566185e+02] [-7.36457472e-02 -2.11735540e-03 9.97282217e-01 -2.97327326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.48, Y:-269.60, Z:-29.74 [[ 7.79668850e-01 6.23401403e-01 5.90523067e-02 5.16477359e+02] [-6.21847192e-01 7.81898373e-01 -4.40568304e-02 -2.69603181e+02] [-7.36379924e-02 -2.37177285e-03 9.97282217e-01 -2.97390523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:516.52, Y:-269.64, Z:-29.73 [[ 7.76382106e-01 6.27490891e-01 5.90424161e-02 5.16524212e+02] [-6.25947415e-01 7.78619073e-01 -4.40700813e-02 -2.69644593e+02] [-7.36251259e-02 -2.74222518e-03 9.97282217e-01 -2.97346068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:517.06, Y:-269.10, Z:-28.78 [[ 8.61446119e-01 5.04405445e-01 5.90400745e-02 5.17061679e+02] [-5.02544759e-01 8.63427076e-01 -4.40732180e-02 -2.69103782e+02] [-7.32075701e-02 8.29642255e-03 9.97282217e-01 -2.87826914e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.11, Y:-269.15, Z:-28.78 [[ 8.62187417e-01 5.02506406e-01 6.41885513e-02 5.17109653e+02] [-5.01326262e-01 8.64570071e-01 -3.45046636e-02 -2.69145408e+02] [-7.28343148e-02 -2.42991971e-03 9.97341094e-01 -2.87787800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.16, Y:-269.18, Z:-28.79 [[ 8.66753117e-01 4.94590608e-01 6.41807148e-02 5.17161946e+02] [-4.93387618e-01 8.69124318e-01 -3.45192338e-02 -2.69175209e+02] [-7.28539088e-02 -1.74631650e-03 9.97341094e-01 -2.87894192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.21, Y:-269.21, Z:-28.79 [[ 8.66003093e-01 4.95903796e-01 6.41721721e-02 5.17210125e+02] [-4.94703227e-01 8.68375520e-01 -3.45351077e-02 -2.69212954e+02] [-7.28516343e-02 -1.83867051e-03 9.97341094e-01 -2.87868571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.26, Y:-269.25, Z:-28.78 [[ 8.66295806e-01 4.95392775e-01 6.41683310e-02 5.17260681e+02] [-4.94190277e-01 8.68667257e-01 -3.45422432e-02 -2.69248764e+02] [-7.28529057e-02 -1.78756486e-03 9.97341095e-01 -2.87841371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.32, Y:-269.28, Z:-28.79 [[ 8.67906817e-01 4.92565830e-01 6.41612091e-02 5.17316099e+02] [-4.91354630e-01 8.70273835e-01 -3.45554668e-02 -2.69276652e+02] [-7.28586637e-02 -1.53498194e-03 9.97341095e-01 -2.87917801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.37, Y:-269.31, Z:-28.79 [[ 8.67614348e-01 4.93081161e-01 6.41584898e-02 5.17370894e+02] [-4.91870994e-01 8.69981894e-01 -3.45605149e-02 -2.69305138e+02] [-7.28578633e-02 -1.57250162e-03 9.97341095e-01 -2.87936402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:517.43, Y:-269.33, Z:-28.81 [[ 8.68108145e-01 4.92212504e-01 6.41490442e-02 5.17426646e+02] [-4.90998674e-01 8.70473814e-01 -3.45780384e-02 -2.69329339e+02] [-7.28598061e-02 -1.47961894e-03 9.97341095e-01 -2.88064575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:517.48, Y:-269.36, Z:-28.81 [[ 8.66971057e-01 4.94213754e-01 6.41400986e-02 5.17483346e+02] [-4.93004158e-01 8.69338894e-01 -3.45946241e-02 -2.69356850e+02] [-7.28566214e-02 -1.62879753e-03 9.97341095e-01 -2.88129751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.54, Y:-269.38, Z:-28.82 [[ 8.66001218e-01 4.95912772e-01 6.41281000e-02 5.17539220e+02] [-4.94706176e-01 8.68370585e-01 -3.46168516e-02 -2.69381759e+02] [-7.28538946e-02 -1.74633154e-03 9.97341095e-01 -2.88209353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.60, Y:-269.41, Z:-28.82 [[ 8.65193608e-01 4.97321674e-01 6.41184327e-02 5.17595210e+02] [-4.96117611e-01 8.67564263e-01 -3.46347485e-02 -2.69410044e+02] [-7.28514719e-02 -1.84452065e-03 9.97341096e-01 -2.88249443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.65, Y:-269.44, Z:-28.83 [[ 8.65331310e-01 4.97083294e-01 6.41086739e-02 5.17649236e+02] [-4.95877242e-01 8.67700953e-01 -3.46528026e-02 -2.69437712e+02] [-7.28524867e-02 -1.80387726e-03 9.97341096e-01 -2.88291924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.70, Y:-269.47, Z:-28.83 [[ 8.65993847e-01 4.95929159e-01 6.41009058e-02 5.17703771e+02] [-4.94718885e-01 8.68361337e-01 -3.46671662e-02 -2.69467082e+02] [-7.28552068e-02 -1.69037603e-03 9.97341096e-01 -2.88307807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.76, Y:-269.50, Z:-28.83 [[ 8.67185124e-01 4.93844235e-01 6.40923762e-02 5.17759337e+02] [-4.92627105e-01 8.69549096e-01 -3.46829284e-02 -2.69496265e+02] [-7.28594320e-02 -1.49712219e-03 9.97341096e-01 -2.88344465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.81, Y:-269.53, Z:-28.84 [[ 8.68726678e-01 4.91128671e-01 6.40826642e-02 5.17814963e+02] [-4.89902828e-01 8.71086144e-01 -3.47008637e-02 -2.69525743e+02] [-7.28641099e-02 -1.24871234e-03 9.97341096e-01 -2.88395119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.87, Y:-269.56, Z:-28.84 [[ 8.70995490e-01 4.87094964e-01 6.40730313e-02 5.17869393e+02] [-4.85856885e-01 8.73348558e-01 -3.47186412e-02 -2.69555537e+02] [-7.28693648e-02 -8.90543552e-04 9.97341096e-01 -2.88448732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:517.92, Y:-269.59, Z:-28.85 [[ 8.70729345e-01 4.87571685e-01 6.40644949e-02 5.17920124e+02] [-4.86333736e-01 8.73082482e-01 -3.47343859e-02 -2.69588865e+02] [-7.28690912e-02 -9.12476022e-04 9.97341097e-01 -2.88481432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:517.98, Y:-269.62, Z:-28.85 [[ 8.75804455e-01 4.78395767e-01 6.40628432e-02 5.17975981e+02] [-4.77132938e-01 8.78144333e-01 -3.47374319e-02 -2.69615018e+02] [-7.28746631e-02 -1.43295002e-04 9.97341097e-01 -2.88547860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.03, Y:-269.65, Z:-28.86 [[ 8.78413195e-01 4.73589025e-01 6.40600823e-02 5.18031200e+02] [-4.72313022e-01 8.80745915e-01 -3.47425227e-02 -2.69645729e+02] [-7.28743332e-02 2.61879361e-04 9.97341097e-01 -2.88588070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.09, Y:-269.67, Z:-28.86 [[ 8.81345761e-01 4.68110219e-01 6.40505411e-02 5.18085845e+02] [-4.66818438e-01 8.83669781e-01 -3.47601038e-02 -2.69674934e+02] [-7.28710874e-02 7.35696657e-04 9.97341097e-01 -2.88613287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.14, Y:-269.70, Z:-28.87 [[ 8.82937268e-01 4.65102565e-01 6.40420568e-02 5.18141486e+02] [-4.63801734e-01 8.85256234e-01 -3.47757282e-02 -2.69703087e+02] [-7.28679104e-02 1.00196938e-03 9.97341097e-01 -2.88653137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.20, Y:-269.73, Z:-28.87 [[ 8.84356706e-01 4.62399105e-01 6.40334642e-02 5.18196205e+02] [-4.61090041e-01 8.86671034e-01 -3.47915429e-02 -2.69731350e+02] [-7.28641962e-02 1.24294168e-03 9.97341097e-01 -2.88695326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.25, Y:-269.76, Z:-28.87 [[ 8.84644709e-01 4.61849051e-01 6.40249440e-02 5.18251178e+02] [-4.60537414e-01 8.86957579e-01 -3.48072150e-02 -2.69759724e+02] [-7.28630886e-02 1.30613644e-03 9.97341097e-01 -2.88735066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.31, Y:-269.79, Z:-28.88 [[ 8.84161434e-01 4.62774753e-01 6.40163029e-02 5.18308056e+02] [-4.61464388e-01 8.86475025e-01 -3.48231002e-02 -2.69787040e+02] [-7.28641054e-02 1.24799814e-03 9.97341097e-01 -2.88784085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.36, Y:-269.81, Z:-28.88 [[ 8.82855283e-01 4.65263069e-01 6.40064514e-02 5.18363030e+02] [-4.63957913e-01 8.85171817e-01 -3.48411984e-02 -2.69814757e+02] [-7.28670298e-02 1.06343645e-03 9.97341098e-01 -2.88821466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.42, Y:-269.84, Z:-28.89 [[ 8.80267141e-01 4.70142563e-01 6.39979001e-02 5.18418750e+02] [-4.68849107e-01 8.82590228e-01 -3.48568988e-02 -2.69841804e+02] [-7.28716330e-02 6.78024311e-04 9.97341098e-01 -2.88858500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.48, Y:-269.87, Z:-28.89 [[ 8.77379717e-01 4.75510446e-01 6.39894354e-02 5.18475869e+02] [-4.74230071e-01 8.79710039e-01 -3.48724312e-02 -2.69868429e+02] [-7.28743540e-02 2.50649335e-04 9.97341098e-01 -2.88913047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.53, Y:-269.90, Z:-28.90 [[ 8.75239661e-01 4.79439389e-01 6.39797549e-02 5.18532423e+02] [-4.78168177e-01 8.77574994e-01 -3.48901828e-02 -2.69896544e+02] [-7.28747609e-02 -5.58110296e-05 9.97341098e-01 -2.88959192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.59, Y:-269.92, Z:-28.90 [[ 8.71999672e-01 4.85308573e-01 6.39700050e-02 5.18589937e+02] [-4.84051769e-01 8.74342789e-01 -3.49080497e-02 -2.69922794e+02] [-7.28728884e-02 -5.24986250e-04 9.97341098e-01 -2.89004249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.65, Y:-269.95, Z:-28.91 [[ 8.69233054e-01 4.90247894e-01 6.39601428e-02 5.18647129e+02] [-4.89003074e-01 8.71582561e-01 -3.49261104e-02 -2.69948777e+02] [-7.28689971e-02 -9.17776828e-04 9.97341099e-01 -2.89060897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.70, Y:-269.98, Z:-28.91 [[ 8.67946044e-01 4.92524147e-01 6.39502111e-02 5.18703137e+02] [-4.91284150e-01 8.70298099e-01 -3.49442861e-02 -2.69977636e+02] [-7.28666518e-02 -1.08797022e-03 9.97341099e-01 -2.89109698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.76, Y:-270.01, Z:-28.92 [[ 8.67276379e-01 4.93703678e-01 6.39402852e-02 5.18758425e+02] [-4.92465542e-01 8.69629414e-01 -3.49624388e-02 -2.70005771e+02] [-7.28654374e-02 -1.16628985e-03 9.97341099e-01 -2.89161798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.81, Y:-270.03, Z:-28.92 [[ 8.67439789e-01 4.93417699e-01 6.39311058e-02 5.18814189e+02] [-4.92177551e-01 8.69791764e-01 -3.49792160e-02 -2.70034739e+02] [-7.28661136e-02 -1.12309136e-03 9.97341099e-01 -2.89205428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.87, Y:-270.06, Z:-28.93 [[ 8.67955025e-01 4.92512099e-01 6.39210999e-02 5.18868236e+02] [-4.91268151e-01 8.70304992e-01 -3.49974913e-02 -2.70063957e+02] [-7.28675402e-02 -1.02615207e-03 9.97341099e-01 -2.89252247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.92, Y:-270.09, Z:-28.93 [[ 8.68661741e-01 4.91265191e-01 6.39162861e-02 5.18922777e+02] [-4.90017223e-01 8.71009576e-01 -3.50062806e-02 -2.70092897e+02] [-7.28690644e-02 -9.11464429e-04 9.97341099e-01 -2.89319111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:518.98, Y:-270.12, Z:-28.94 [[ 8.69562561e-01 4.89670127e-01 6.39071175e-02 5.18977991e+02] [-4.88416622e-01 8.71907444e-01 -3.50230107e-02 -2.70122254e+02] [-7.28708136e-02 -7.58599632e-04 9.97341100e-01 -2.89364005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.03, Y:-270.15, Z:-28.94 [[ 8.72326450e-01 4.84730538e-01 6.38973364e-02 5.19031408e+02] [-4.83462449e-01 8.74663478e-01 -3.50408466e-02 -2.70151562e+02] [-7.28740350e-02 -3.24905414e-04 9.97341100e-01 -2.89418454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.09, Y:-270.18, Z:-28.94 [[ 8.74822294e-01 4.80212540e-01 6.38895209e-02 5.19086032e+02] [-4.78931340e-01 8.77152160e-01 -3.50550909e-02 -2.70182101e+02] [-7.28747255e-02 6.82811509e-05 9.97341100e-01 -2.89440318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.14, Y:-270.21, Z:-28.95 [[ 8.79068892e-01 4.72395098e-01 6.38807829e-02 5.19140041e+02] [-4.71092024e-01 8.81386595e-01 -3.50710069e-02 -2.70211675e+02] [-7.28710374e-02 7.36103887e-04 9.97341100e-01 -2.89494209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.19, Y:-270.24, Z:-28.96 [[ 8.83775429e-01 4.63531461e-01 6.38715605e-02 5.19194185e+02] [-4.62203934e-01 8.86079212e-01 -3.50877947e-02 -2.70240787e+02] [-7.28595588e-02 1.48804422e-03 9.97341100e-01 -2.89550939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.25, Y:-270.27, Z:-28.96 [[ 8.86966859e-01 4.57395873e-01 6.38655289e-02 5.19249566e+02] [-4.56051623e-01 8.89260925e-01 -3.50987697e-02 -2.70270812e+02] [-7.28471518e-02 2.00546745e-03 9.97341100e-01 -2.89595307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.31, Y:-270.30, Z:-28.96 [[ 8.91619963e-01 4.48259196e-01 6.38555702e-02 5.19305473e+02] [-4.46890154e-01 8.93899320e-01 -3.51168785e-02 -2.70299594e+02] [-7.28219145e-02 2.77448427e-03 9.97341101e-01 -2.89641326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.36, Y:-270.33, Z:-28.97 [[ 8.94059008e-01 4.43375932e-01 6.38456937e-02 5.19361393e+02] [-4.41993166e-01 8.96330065e-01 -3.51348256e-02 -2.70328629e+02] [-7.28047509e-02 3.19324706e-03 9.97341101e-01 -2.89678741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.42, Y:-270.36, Z:-28.97 [[ 8.95570145e-01 4.40317064e-01 6.38357187e-02 5.19417632e+02] [-4.38925254e-01 8.97835671e-01 -3.51529397e-02 -2.70355278e+02] [-7.27924246e-02 3.46281429e-03 9.97341101e-01 -2.89718287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.47, Y:-270.38, Z:-28.98 [[ 8.94648040e-01 4.42188942e-01 6.38265160e-02 5.19474725e+02] [-4.40800685e-01 8.96915744e-01 -3.51696410e-02 -2.70382524e+02] [-7.27986335e-02 3.32967840e-03 9.97341101e-01 -2.89765645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.53, Y:-270.41, Z:-28.98 [[ 8.90508145e-01 4.50469379e-01 6.38167870e-02 5.19533867e+02] [-4.49100956e-01 8.92787873e-01 -3.51872859e-02 -2.70405137e+02] [-7.28256483e-02 2.67438473e-03 9.97341101e-01 -2.89818855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.59, Y:-270.43, Z:-28.99 [[ 8.83720299e-01 4.63645476e-01 6.38067896e-02 5.19593734e+02] [-4.62309754e-01 8.86019340e-01 -3.52054053e-02 -2.70427371e+02] [-7.28568765e-02 1.61323004e-03 9.97341102e-01 -2.89863896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.65, Y:-270.45, Z:-28.99 [[ 8.78447411e-01 4.73561099e-01 6.37967946e-02 5.19651859e+02] [-4.72250021e-01 8.80760593e-01 -3.52235084e-02 -2.70452031e+02] [-7.28701860e-02 8.13962182e-04 9.97341102e-01 -2.89925210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.71, Y:-270.48, Z:-29.00 [[ 8.75641136e-01 4.78731481e-01 6.37869146e-02 5.19708239e+02] [-4.77432759e-01 8.77961278e-01 -3.52413911e-02 -2.70479718e+02] [-7.28736044e-02 4.04849117e-04 9.97341102e-01 -2.89975062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.77, Y:-270.50, Z:-29.00 [[ 8.67615681e-01 4.93128295e-01 6.37770726e-02 5.19767699e+02] [-4.91866761e-01 8.69956251e-01 -3.52591935e-02 -2.70502351e+02] [-7.28705689e-02 -7.78392933e-04 9.97341102e-01 -2.90020014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.83, Y:-270.53, Z:-29.01 [[ 8.60766618e-01 5.04989733e-01 6.37667501e-02 5.19825313e+02] [-5.03759060e-01 8.63123562e-01 -3.52778520e-02 -2.70526651e+02] [-7.28535375e-02 -1.75708078e-03 9.97341103e-01 -2.90069172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.88, Y:-270.55, Z:-29.01 [[ 8.55900710e-01 5.13194890e-01 6.37571926e-02 5.19882195e+02] [-5.11985520e-01 8.58268654e-01 -3.52951168e-02 -2.70552995e+02] [-7.28340734e-02 -2.43364386e-03 9.97341103e-01 -2.90116305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.93, Y:-270.59, Z:-29.00 [[ 8.51413438e-01 5.20606791e-01 6.37473665e-02 5.19934387e+02] [-5.19416701e-01 8.53791130e-01 -3.53128551e-02 -2.70586268e+02] [-7.28110482e-02 -3.04560742e-03 9.97341103e-01 -2.90023716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:519.99, Y:-270.61, Z:-29.02 [[ 8.52812563e-01 5.18311773e-01 6.37466721e-02 5.19989903e+02] [-5.17115190e-01 8.55186994e-01 -3.53141085e-02 -2.70609249e+02] [-7.28190431e-02 -2.84805711e-03 9.97341103e-01 -2.90226734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.04, Y:-270.64, Z:-29.01 [[ 8.50508181e-01 5.22084681e-01 6.37449656e-02 5.20040916e+02] [-5.20898397e-01 8.52887774e-01 -3.53171885e-02 -2.70644898e+02] [-7.28058650e-02 -3.16709269e-03 9.97341103e-01 -2.90148101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.09, Y:-270.68, Z:-29.02 [[ 8.52817736e-01 5.18303595e-01 6.37439590e-02 5.20093348e+02] [-5.17106624e-01 8.55191971e-01 -3.53190053e-02 -2.70675720e+02] [-7.28192894e-02 -2.84174924e-03 9.97341103e-01 -2.90238742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.14, Y:-270.70, Z:-29.04 [[ 8.57195352e-01 5.11031706e-01 6.37394973e-02 5.20144526e+02] [-5.09813987e-01 8.59559013e-01 -3.53270555e-02 -2.70704682e+02] [-7.28411048e-02 -2.21309944e-03 9.97341103e-01 -2.90388357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters Centerline goodness : 0.997216 with order 1 Centerline is valid? [True, True] Translation: X:520.20, Y:-270.74, Z:-29.04 [[ 8.59634227e-01 5.06918753e-01 6.37367463e-02 5.20196767e+02] [-5.05689356e-01 8.61991835e-01 -3.53320181e-02 -2.70738552e+02] [-7.28510175e-02 -1.85838202e-03 9.97341103e-01 -2.90442344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:520.25, Y:-270.78, Z:-29.05 [[ 8.61849874e-01 5.03143004e-01 6.37331376e-02 5.20247630e+02] [-5.01902795e-01 8.64201813e-01 -3.53385263e-02 -2.70775352e+02] [-7.28586253e-02 -1.53133547e-03 9.97341103e-01 -2.90457180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:520.30, Y:-270.81, Z:-29.05 [[ 8.63691922e-01 4.99975731e-01 6.37223012e-02 5.20297876e+02] [-4.98725456e-01 8.66038525e-01 -3.53580557e-02 -2.70812262e+02] [-7.28641375e-02 -1.24146667e-03 9.97341103e-01 -2.90472746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.35, Y:-270.85, Z:-29.05 [[ 8.65147829e-01 4.97453564e-01 6.37117386e-02 5.20350194e+02] [-4.96195047e-01 8.67490022e-01 -3.53770784e-02 -2.70846318e+02] [-7.28677512e-02 -1.00704653e-03 9.97341104e-01 -2.90519191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.40, Y:-270.88, Z:-29.06 [[ 8.65394877e-01 4.97025294e-01 6.36990121e-02 5.20401591e+02] [-4.95763932e-01 8.67735539e-01 -3.53999785e-02 -2.70881681e+02] [-7.28685813e-02 -9.44712701e-04 9.97341104e-01 -2.90578357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.45, Y:-270.92, Z:-29.06 [[ 8.65276017e-01 4.97233325e-01 6.36901461e-02 5.20453294e+02] [-4.95971353e-01 8.67616349e-01 -3.54159227e-02 -2.70916744e+02] [-7.28685891e-02 -9.43939389e-04 9.97341104e-01 -2.90635737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.51, Y:-270.95, Z:-29.07 [[ 8.65533600e-01 4.96785935e-01 6.36814130e-02 5.20505281e+02] [-4.95521598e-01 8.67872655e-01 -3.54316188e-02 -2.70951538e+02] [-7.28692869e-02 -8.88258948e-04 9.97341104e-01 -2.90687267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.56, Y:-270.99, Z:-29.07 [[ 8.66093924e-01 4.95809690e-01 6.36715489e-02 5.20558285e+02] [-4.94541415e-01 8.68430846e-01 -3.54493360e-02 -2.70985393e+02] [-7.28704614e-02 -7.85763362e-04 9.97341104e-01 -2.90722180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.61, Y:-271.02, Z:-29.08 [[ 8.66353358e-01 4.95357493e-01 6.36617166e-02 5.20611800e+02] [-4.94086701e-01 8.68688912e-01 -3.54669845e-02 -2.71018245e+02] [-7.28710639e-02 -7.27466383e-04 9.97341105e-01 -2.90753764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.67, Y:-271.05, Z:-29.08 [[ 8.66246108e-01 4.95546319e-01 6.36516013e-02 5.20665104e+02] [-4.94274703e-01 8.68581213e-01 -3.54851289e-02 -2.71052107e+02] [-7.28711101e-02 -7.22521500e-04 9.97341105e-01 -2.90792355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.72, Y:-271.08, Z:-29.08 [[ 8.65487140e-01 4.96871982e-01 6.36415331e-02 5.20718463e+02] [-4.95602616e-01 8.67823468e-01 -3.55031770e-02 -2.71083837e+02] [-7.28701498e-02 -8.13367164e-04 9.97341105e-01 -2.90844832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.77, Y:-271.12, Z:-29.09 [[ 8.63069206e-01 5.01061357e-01 6.36322387e-02 5.20771512e+02] [-4.99802103e-01 8.65411001e-01 -3.55198274e-02 -2.71115437e+02] [-7.28656523e-02 -1.14745748e-03 9.97341105e-01 -2.90893075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.82, Y:-271.15, Z:-29.09 [[ 8.59037215e-01 5.07944018e-01 6.36234009e-02 5.20824048e+02] [-5.06702351e-01 8.61388382e-01 -3.55356507e-02 -2.71148528e+02] [-7.28545796e-02 -1.71168042e-03 9.97341105e-01 -2.90853966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.88, Y:-271.18, Z:-29.10 [[ 8.58024134e-01 5.09653684e-01 6.36215939e-02 5.20877664e+02] [-5.08416462e-01 8.60377643e-01 -3.55388856e-02 -2.71177402e+02] [-7.28511210e-02 -1.85304413e-03 9.97341105e-01 -2.90994589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.93, Y:-271.21, Z:-29.11 [[ 8.56354674e-01 5.12454118e-01 6.36195691e-02 5.20930523e+02] [-5.11224322e-01 8.58712072e-01 -3.55425100e-02 -2.71209227e+02] [-7.28447976e-02 -2.08687654e-03 9.97341105e-01 -2.91050574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.98, Y:-271.24, Z:-29.10 [[ 8.55684500e-01 5.13573529e-01 6.36102644e-02 5.20984433e+02] [-5.12345582e-01 8.58042861e-01 -3.55591546e-02 -2.71241192e+02] [-7.28425738e-02 -2.16302047e-03 9.97341106e-01 -2.91018504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.04, Y:-271.27, Z:-29.11 [[ 8.56240476e-01 5.12647206e-01 6.36010139e-02 5.21036216e+02] [-5.11415480e-01 8.58596865e-01 -3.55756925e-02 -2.71272927e+02] [-7.28454105e-02 -2.06519521e-03 9.97341106e-01 -2.91125918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:521.09, Y:-271.31, Z:-29.12 [[ 8.57026274e-01 5.11333002e-01 6.35965975e-02 5.21088969e+02] [-5.10097077e-01 8.59380463e-01 -3.55835856e-02 -2.71306324e+02] [-7.28487351e-02 -1.94437070e-03 9.97341106e-01 -2.91174230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.14, Y:-271.34, Z:-29.12 [[ 8.57512973e-01 5.10517499e-01 6.35876141e-02 5.21141662e+02] [-5.09278146e-01 8.59865359e-01 -3.55996317e-02 -2.71339265e+02] [-7.28510216e-02 -1.85663619e-03 9.97341106e-01 -2.91169496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.19, Y:-271.37, Z:-29.13 [[ 8.60007629e-01 5.06304007e-01 6.35856243e-02 5.21193562e+02] [-5.05052864e-01 8.62353766e-01 -3.56031854e-02 -2.71370757e+02] [-7.28593380e-02 -1.49509063e-03 9.97341106e-01 -2.91271578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.25, Y:-271.41, Z:-29.13 [[ 8.62076149e-01 5.02774512e-01 6.35806788e-02 5.21245646e+02] [-5.01513112e-01 8.64416788e-01 -3.56120149e-02 -2.71405956e+02] [-7.28650196e-02 -1.18627542e-03 9.97341106e-01 -2.91339430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.30, Y:-271.44, Z:-29.14 [[ 8.65988656e-01 4.96006487e-01 6.35705360e-02 5.21296518e+02] [-4.94725463e-01 8.68318612e-01 -3.56301117e-02 -2.71440778e+02] [-7.28722461e-02 -5.94690341e-04 9.97341106e-01 -2.91390433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.35, Y:-271.48, Z:-29.14 [[ 8.69347363e-01 4.90096989e-01 6.35618164e-02 5.21349689e+02] [-4.88798989e-01 8.71667904e-01 -3.56456601e-02 -2.71475522e+02] [-7.28746259e-02 -8.04909739e-05 9.97341106e-01 -2.91418505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.40, Y:-271.51, Z:-29.15 [[ 8.71014421e-01 4.87129407e-01 6.35517051e-02 5.21402594e+02] [-4.85822186e-01 8.73329780e-01 -3.56636782e-02 -2.71507764e+02] [-7.28744230e-02 1.88749746e-04 9.97341107e-01 -2.91474963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.45, Y:-271.54, Z:-29.15 [[ 8.75165444e-01 4.79632998e-01 6.35423768e-02 5.21454032e+02] [-4.78304740e-01 8.77468799e-01 -3.56802908e-02 -2.71542196e+02] [-7.28698979e-02 8.33537476e-04 9.97341107e-01 -2.91495107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.51, Y:-271.58, Z:-29.15 [[ 8.77715818e-01 4.74950959e-01 6.35336835e-02 5.21506940e+02] [-4.73609296e-01 8.80011390e-01 -3.56957636e-02 -2.71575066e+02] [-7.28641024e-02 1.24059322e-03 9.97341107e-01 -2.91526807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.56, Y:-271.61, Z:-29.16 [[ 8.78828072e-01 4.72890879e-01 6.35250910e-02 5.21560715e+02] [-4.71542730e-01 8.81119841e-01 -3.57110487e-02 -2.71606485e+02] [-7.28606473e-02 1.42907722e-03 9.97341107e-01 -2.91572913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.61, Y:-271.64, Z:-29.16 [[ 8.80307196e-01 4.70133003e-01 6.35153557e-02 5.21614690e+02] [-4.68776427e-01 8.82593987e-01 -3.57283554e-02 -2.71637895e+02] [-7.28553500e-02 1.67742690e-03 9.97341107e-01 -2.91610959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.67, Y:-271.67, Z:-29.17 [[ 8.81464041e-01 4.67961586e-01 6.35066871e-02 5.21670649e+02] [-4.66598269e-01 8.83746819e-01 -3.57437571e-02 -2.71666925e+02] [-7.28505379e-02 1.87472631e-03 9.97341107e-01 -2.91656299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.72, Y:-271.70, Z:-29.17 [[ 8.80975862e-01 4.68881353e-01 6.34965180e-02 5.21724224e+02] [-4.67519118e-01 8.83259286e-01 -3.57618128e-02 -2.71697215e+02] [-7.28519363e-02 1.81945770e-03 9.97341108e-01 -2.91700671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.78, Y:-271.72, Z:-29.17 [[ 8.80418698e-01 4.69927971e-01 6.34871457e-02 5.21779616e+02] [-4.68567253e-01 8.82703026e-01 -3.57784435e-02 -2.71724991e+02] [-7.28535870e-02 1.75201314e-03 9.97341108e-01 -2.91747516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.83, Y:-271.75, Z:-29.18 [[ 8.79550044e-01 4.71553024e-01 6.34780748e-02 5.21834392e+02] [-4.70195366e-01 8.81836192e-01 -3.57945298e-02 -2.71753356e+02] [-7.28562825e-02 1.63598368e-03 9.97341108e-01 -2.91772778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.89, Y:-271.78, Z:-29.18 [[ 8.77380752e-01 4.75578221e-01 6.34694509e-02 5.21890920e+02] [-4.74229948e-01 8.79672447e-01 -3.58098149e-02 -2.71779922e+02] [-7.28626953e-02 1.31972795e-03 9.97341108e-01 -2.91816921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.95, Y:-271.80, Z:-29.19 [[ 8.74025181e-01 4.81718480e-01 6.34609221e-02 5.21947874e+02] [-4.80385212e-01 8.76325638e-01 -3.58249230e-02 -2.71804686e+02] [-7.28699605e-02 8.26196235e-04 9.97341108e-01 -2.91874172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.00, Y:-271.83, Z:-29.19 [[ 8.71521214e-01 4.86235085e-01 6.34524737e-02 5.22004016e+02] [-4.84912650e-01 8.73827915e-01 -3.58398804e-02 -2.71831960e+02] [-7.28731501e-02 4.66308885e-04 9.97341108e-01 -2.91921837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.06, Y:-271.86, Z:-29.20 [[ 8.68288775e-01 4.91985264e-01 6.34436989e-02 5.22060198e+02] [-4.90676971e-01 8.70603526e-01 -3.58554068e-02 -2.71858511e+02] [-7.28746398e-02 2.48524953e-06 9.97341109e-01 -2.91978243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.12, Y:-271.89, Z:-29.20 [[ 8.66579544e-01 4.94990878e-01 6.34344091e-02 5.22116313e+02] [-4.93689411e-01 8.68898140e-01 -3.58718346e-02 -2.71887135e+02] [-7.28742710e-02 -2.31097968e-04 9.97341109e-01 -2.92017634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.17, Y:-271.91, Z:-29.21 [[ 8.64617956e-01 4.98410623e-01 6.34242970e-02 5.22171670e+02] [-4.97117015e-01 8.66940945e-01 -3.58897048e-02 -2.71914830e+02] [-7.28729301e-02 -4.98414003e-04 9.97341109e-01 -2.92050454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.23, Y:-271.94, Z:-29.21 [[ 8.62734961e-01 5.01664089e-01 6.34155198e-02 5.22225894e+02] [-5.00378102e-01 8.65062178e-01 -3.59052071e-02 -2.71943894e+02] [-7.28707206e-02 -7.55059946e-04 9.97341109e-01 -2.92103730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.28, Y:-271.97, Z:-29.21 [[ 8.61598329e-01 5.03614903e-01 6.34062293e-02 5.22280388e+02] [-5.02332978e-01 8.63927785e-01 -3.59216060e-02 -2.71974522e+02] [-7.28690593e-02 -9.01044259e-04 9.97341109e-01 -2.92140034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.33, Y:-272.00, Z:-29.22 [[ 8.60374175e-01 5.05703798e-01 6.34030605e-02 5.22334123e+02] [-5.04427116e-01 8.62706509e-01 -3.59271982e-02 -2.72004734e+02] [-7.28667536e-02 -1.07138949e-03 9.97341109e-01 -2.92195217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.39, Y:-272.04, Z:-29.22 [[ 8.60095292e-01 5.06179092e-01 6.33941335e-02 5.22387080e+02] [-5.04902539e-01 8.62427696e-01 -3.59429432e-02 -2.72035605e+02] [-7.28664228e-02 -1.09350277e-03 9.97341110e-01 -2.92241995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.44, Y:-272.07, Z:-29.23 [[ 8.60159149e-01 5.06071754e-01 6.33846886e-02 5.22439257e+02] [-5.04793683e-01 8.62490722e-01 -3.59595913e-02 -2.72067979e+02] [-7.28668393e-02 -1.06521893e-03 9.97341110e-01 -2.92293187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.49, Y:-272.10, Z:-29.23 [[ 8.60900759e-01 5.04810141e-01 6.33766940e-02 5.22491870e+02] [-5.03527616e-01 8.63229885e-01 -3.59736759e-02 -2.72102297e+02] [-7.28685326e-02 -9.42150773e-04 9.97341110e-01 -2.92314722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.54, Y:-272.14, Z:-29.23 [[ 8.61855505e-01 5.03179658e-01 6.33665470e-02 5.22544751e+02] [-5.01891414e-01 8.64181473e-01 -3.59915406e-02 -2.72135912e+02] [-7.28704070e-02 -7.83618509e-04 9.97341110e-01 -2.92349665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.60, Y:-272.17, Z:-29.24 [[ 8.64262686e-01 4.99035065e-01 6.33562402e-02 5.22596706e+02] [-4.97734336e-01 8.66581695e-01 -3.60096746e-02 -2.72170335e+02] [-7.28734484e-02 -4.12758039e-04 9.97341110e-01 -2.92392660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.65, Y:-272.21, Z:-29.24 [[ 8.66160165e-01 4.95735505e-01 6.33472846e-02 5.22649159e+02] [-4.94424790e-01 8.68473543e-01 -3.60254222e-02 -2.72205542e+02] [-7.28745216e-02 -1.16682289e-04 9.97341110e-01 -2.92376711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.70, Y:-272.24, Z:-29.24 [[ 8.70559840e-01 4.87968348e-01 6.33439527e-02 5.22700381e+02] [-4.86636567e-01 8.72861156e-01 -3.60312799e-02 -2.72242173e+02] [-7.28725999e-02 5.41901571e-04 9.97341110e-01 -2.92386487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.75, Y:-272.27, Z:-29.25 [[ 8.76254520e-01 4.77667232e-01 6.33405998e-02 5.22751428e+02] [-4.76307977e-01 8.78539716e-01 -3.60371730e-02 -2.72272442e+02] [-7.28610093e-02 1.40810276e-03 9.97341110e-01 -2.92534732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.81, Y:-272.30, Z:-29.26 [[ 8.78416398e-01 4.73680650e-01 6.33346144e-02 5.22805054e+02] [-4.72310268e-01 8.80694938e-01 -3.60476892e-02 -2.72304707e+02] [-7.28535672e-02 1.75129256e-03 9.97341111e-01 -2.92581492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.86, Y:-272.34, Z:-29.26 [[ 8.79111201e-01 4.72391271e-01 6.33244304e-02 5.22859537e+02] [-4.71016260e-01 8.81386951e-01 -3.60655704e-02 -2.72335134e+02] [-7.28503873e-02 1.87881050e-03 9.97341111e-01 -2.92622165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.91, Y:-272.37, Z:-29.27 [[ 8.78246518e-01 4.73998270e-01 6.33142364e-02 5.22913962e+02] [-4.72626135e-01 8.80524003e-01 -3.60834576e-02 -2.72365980e+02] [-7.28532014e-02 1.76620812e-03 9.97341111e-01 -2.92669472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:522.97, Y:-272.40, Z:-29.27 [[ 8.77390606e-01 4.75582098e-01 6.33039733e-02 5.22968712e+02] [-4.74212777e-01 8.79669783e-01 -3.61014540e-02 -2.72396663e+02] [-7.28557977e-02 1.65552366e-03 9.97341111e-01 -2.92718649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.02, Y:-272.42, Z:-29.28 [[ 8.76070545e-01 4.78010763e-01 6.32938422e-02 5.23024443e+02] [-4.76646479e-01 8.78352741e-01 -3.61192072e-02 -2.72424691e+02] [-7.28596896e-02 1.47418655e-03 9.97341111e-01 -2.92762266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.08, Y:-272.45, Z:-29.28 [[ 8.74999775e-01 4.79969334e-01 6.32837443e-02 5.23080056e+02] [-4.78608880e-01 8.77284256e-01 -3.61368911e-02 -2.72452895e+02] [-7.28624320e-02 1.33160962e-03 9.97341112e-01 -2.92810262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.13, Y:-272.48, Z:-29.29 [[ 8.74356722e-01 4.81141104e-01 6.32736997e-02 5.23134955e+02] [-4.79782440e-01 8.76642267e-01 -3.61544700e-02 -2.72483024e+02] [-7.28638012e-02 1.25429384e-03 9.97341112e-01 -2.92851719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.19, Y:-272.51, Z:-29.29 [[ 8.72643765e-01 4.84242260e-01 6.32636793e-02 5.23191124e+02] [-4.82890448e-01 8.74933370e-01 -3.61719955e-02 -2.72511545e+02] [-7.28675129e-02 1.01583985e-03 9.97341112e-01 -2.92894199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.25, Y:-272.54, Z:-29.30 [[ 8.71323736e-01 4.86614743e-01 6.32537645e-02 5.23247237e+02] [-4.85267908e-01 8.73616272e-01 -3.61893250e-02 -2.72537856e+02] [-7.28697771e-02 8.37595854e-04 9.97341112e-01 -2.92960936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.30, Y:-272.57, Z:-29.30 [[ 8.70730486e-01 4.87676657e-01 6.32447521e-02 5.23303387e+02] [-4.86331475e-01 8.73023991e-01 -3.62050684e-02 -2.72566361e+02] [-7.28705527e-02 7.66943244e-04 9.97341112e-01 -2.93021923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.36, Y:-272.59, Z:-29.31 [[ 8.69932369e-01 4.89100254e-01 6.32346006e-02 5.23358386e+02] [-4.87757536e-01 8.72227319e-01 -3.62227900e-02 -2.72594115e+02] [-7.28715219e-02 6.68224522e-04 9.97341113e-01 -2.93058584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.41, Y:-272.62, Z:-29.31 [[ 8.68997278e-01 4.90760942e-01 6.32252200e-02 5.23414414e+02] [-4.89421420e-01 8.71294094e-01 -3.62391561e-02 -2.72621841e+02] [-7.28725231e-02 5.47951078e-04 9.97341113e-01 -2.93093774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.47, Y:-272.65, Z:-29.31 [[ 8.67943515e-01 4.92623524e-01 6.32148565e-02 5.23469283e+02] [-4.91287615e-01 8.70242434e-01 -3.62572251e-02 -2.72650680e+02] [-7.28734125e-02 4.12547306e-04 9.97341113e-01 -2.93149152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.52, Y:-272.68, Z:-29.32 [[ 8.65602519e-01 4.96726657e-01 6.32052840e-02 5.23524517e+02] [-4.95400427e-01 8.67907035e-01 -3.62739045e-02 -2.72679653e+02] [-7.28745260e-02 8.68584332e-05 9.97341113e-01 -2.93195739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.58, Y:-272.71, Z:-29.32 [[ 8.63526471e-01 5.00328310e-01 6.31950612e-02 5.23579655e+02] [-4.99010389e-01 8.65835749e-01 -3.62917057e-02 -2.72709542e+02] [-7.28743109e-02 -1.96143419e-04 9.97341113e-01 -2.93238717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.64, Y:-272.74, Z:-29.33 [[ 8.59614141e-01 5.07021923e-01 6.31846374e-02 5.23635337e+02] [-5.05720650e-01 8.61932839e-01 -3.63098447e-02 -2.72738473e+02] [-7.28708012e-02 -7.41319959e-04 9.97341114e-01 -2.93288147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.69, Y:-272.77, Z:-29.33 [[ 8.56932760e-01 5.11542043e-01 6.31742253e-02 5.23690119e+02] [-5.10251664e-01 8.59257540e-01 -3.63279513e-02 -2.72769108e+02] [-7.28662038e-02 -1.10414201e-03 9.97341114e-01 -2.93331705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.75, Y:-272.80, Z:-29.34 [[ 8.54145570e-01 5.16183745e-01 6.31639571e-02 5.23745346e+02] [-5.14904680e-01 8.56476593e-01 -3.63457960e-02 -2.72799863e+02] [-7.28595599e-02 -1.47881646e-03 9.97341114e-01 -2.93377251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.80, Y:-272.83, Z:-29.34 [[ 8.53621569e-01 5.17051070e-01 6.31538387e-02 5.23799886e+02] [-5.15773073e-01 8.55953178e-01 -3.63633691e-02 -2.72831602e+02] [-7.28584479e-02 -1.53249326e-03 9.97341114e-01 -2.93422963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.85, Y:-272.86, Z:-29.35 [[ 8.55533024e-01 5.13883394e-01 6.31435075e-02 5.23853486e+02] [-5.12595440e-01 8.57859147e-01 -3.63813001e-02 -2.72864682e+02] [-7.28639814e-02 -1.24167028e-03 9.97341114e-01 -2.93470571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.91, Y:-272.90, Z:-29.35 [[ 8.57758441e-01 5.10161392e-01 6.31332818e-02 5.23905667e+02] [-5.08862039e-01 8.60078215e-01 -3.63990363e-02 -2.72897013e+02] [-7.28689434e-02 -9.04549841e-04 9.97341115e-01 -2.93521777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:523.96, Y:-272.93, Z:-29.36 [[ 8.62086547e-01 5.02814246e-01 6.31238410e-02 5.23958771e+02] [-5.01493922e-01 8.64394450e-01 -3.64154014e-02 -2.72931225e+02] [-7.28740804e-02 -2.62994880e-04 9.97341115e-01 -2.93583335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.01, Y:-272.97, Z:-29.36 [[ 8.64966515e-01 4.97844909e-01 6.31139845e-02 5.24012009e+02] [-4.96510079e-01 8.67266058e-01 -3.64324765e-02 -2.72965123e+02] [-7.28743394e-02 1.76142787e-04 9.97341115e-01 -2.93625057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.06, Y:-273.00, Z:-29.37 [[ 8.68966388e-01 4.90831260e-01 6.31038174e-02 5.24064299e+02] [-4.89476593e-01 8.71254301e-01 -3.64500780e-02 -2.73000402e+02] [-7.28703101e-02 7.86051072e-04 9.97341115e-01 -2.93673181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.12, Y:-273.03, Z:-29.37 [[ 8.71522020e-01 4.86280312e-01 6.30938028e-02 5.24117131e+02] [-4.84912445e-01 8.73802065e-01 -3.64674048e-02 -2.73034430e+02] [-7.28648762e-02 1.18717615e-03 9.97341115e-01 -2.93726182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.17, Y:-273.07, Z:-29.38 [[ 8.72186048e-01 4.85089605e-01 6.30838509e-02 5.24170880e+02] [-4.83717381e-01 8.74463474e-01 -3.64846123e-02 -2.73067351e+02] [-7.28628296e-02 1.30661463e-03 9.97341116e-01 -2.93768359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.22, Y:-273.10, Z:-29.38 [[ 8.71740111e-01 4.85891884e-01 6.30734120e-02 5.24224054e+02] [-4.84520452e-01 8.74018013e-01 -3.65026498e-02 -2.73100346e+02] [-7.28636395e-02 1.26046587e-03 9.97341116e-01 -2.93809243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.28, Y:-273.13, Z:-29.38 [[ 8.70230829e-01 4.88591192e-01 6.30630743e-02 5.24276778e+02] [-4.87225533e-01 8.72512197e-01 -3.65205008e-02 -2.73131905e+02] [-7.28668965e-02 1.05532572e-03 9.97341116e-01 -2.93848958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.33, Y:-273.16, Z:-29.39 [[ 8.66461136e-01 4.95246759e-01 6.30535265e-02 5.24330964e+02] [-4.93897426e-01 8.68752198e-01 -3.65369779e-02 -2.73163432e+02] [-7.28727096e-02 5.15896933e-04 9.97341116e-01 -2.93898496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.39, Y:-273.19, Z:-29.39 [[ 8.61291280e-01 5.04185346e-01 6.30433842e-02 5.24385773e+02] [-5.02858511e-01 8.63595443e-01 -3.65544697e-02 -2.73194020e+02] [-7.28742073e-02 -2.17856343e-04 9.97341116e-01 -2.93947646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.44, Y:-273.23, Z:-29.39 [[ 8.54026296e-01 5.16397036e-01 6.30332163e-02 5.24435045e+02] [-5.15101848e-01 8.56348396e-01 -3.65719945e-02 -2.73232234e+02] [-7.28640633e-02 -1.23508120e-03 9.97341117e-01 -2.93879277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.49, Y:-273.25, Z:-29.40 [[ 8.52878974e-01 5.18290042e-01 6.30308517e-02 5.24490392e+02] [-5.16999706e-01 8.55203774e-01 -3.65760694e-02 -2.73254616e+02] [-7.28612348e-02 -1.39197130e-03 9.97341117e-01 -2.94048747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.54, Y:-273.29, Z:-29.40 [[ 8.46798152e-01 5.28167096e-01 6.30270455e-02 5.24539096e+02] [-5.26903379e-01 8.49137528e-01 -3.65826271e-02 -2.73294413e+02] [-7.28403695e-02 -2.23106223e-03 9.97341117e-01 -2.93954967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.59, Y:-273.33, Z:-29.40 [[ 8.44445609e-01 5.31920533e-01 6.30250742e-02 5.24592160e+02] [-5.30666959e-01 8.46790436e-01 -3.65860229e-02 -2.73327474e+02] [-7.28298868e-02 -2.55041804e-03 9.97341117e-01 -2.93982230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:524.65, Y:-273.36, Z:-29.41 [[ 8.45754996e-01 5.29836568e-01 6.30214116e-02 5.24645227e+02] [-5.28576746e-01 8.48096471e-01 -3.65923308e-02 -2.73359088e+02] [-7.28361918e-02 -2.36350613e-03 9.97341117e-01 -2.94084373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.70, Y:-273.38, Z:-29.42 [[ 8.50176475e-01 5.22712777e-01 6.30183586e-02 5.24699590e+02] [-5.21432939e-01 8.52507071e-01 -3.65975878e-02 -2.73383562e+02] [-7.28536231e-02 -1.74543974e-03 9.97341117e-01 -2.94235051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.75, Y:-273.42, Z:-29.43 [[ 8.52212589e-01 5.19387083e-01 6.30139730e-02 5.24751787e+02] [-5.18097592e-01 8.54537857e-01 -3.66051375e-02 -2.73418487e+02] [-7.28600610e-02 -1.45202861e-03 9.97341117e-01 -2.94280957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.81, Y:-273.45, Z:-29.43 [[ 8.53216059e-01 5.17738250e-01 6.30036619e-02 5.24805220e+02] [-5.16442955e-01 8.55538099e-01 -3.66228761e-02 -2.73451101e+02] [-7.28630969e-02 -1.29057131e-03 9.97341117e-01 -2.94325370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.86, Y:-273.49, Z:-29.44 [[ 8.57442690e-01 5.10709205e-01 6.29931861e-02 5.24856666e+02] [-5.09393549e-01 8.59753254e-01 -3.66408862e-02 -2.73485548e+02] [-7.28714346e-02 -6.70862578e-04 9.97341117e-01 -2.94380315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.90, Y:-273.53, Z:-29.42 [[ 8.54658057e-01 5.15356777e-01 6.29841064e-02 5.24904626e+02] [-5.14052535e-01 8.56975084e-01 -3.66564872e-02 -2.73529653e+02] [-7.28669789e-02 -1.04837742e-03 9.97341117e-01 -2.94164986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:524.96, Y:-273.56, Z:-29.43 [[ 8.58852304e-01 5.08336509e-01 6.29818413e-02 5.24957896e+02] [-5.07013040e-01 8.61158402e-01 -3.66603785e-02 -2.73555965e+02] [-7.28731507e-02 -4.46764284e-04 9.97341117e-01 -2.94313112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.01, Y:-273.58, Z:-29.45 [[ 8.65535814e-01 4.96872257e-01 6.29739251e-02 5.25014232e+02] [-4.95517254e-01 8.67823525e-01 -3.66739716e-02 -2.73577470e+02] [-7.28725328e-02 5.37969417e-04 9.97341117e-01 -2.94496830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.07, Y:-273.61, Z:-29.45 [[ 8.66523882e-01 4.95147579e-01 6.29701336e-02 5.25068797e+02] [-4.93787550e-01 8.68808608e-01 -3.66804807e-02 -2.73607943e+02] [-7.28712453e-02 6.90644523e-04 9.97341118e-01 -2.94537722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.12, Y:-273.64, Z:-29.46 [[ 8.67771720e-01 4.92958702e-01 6.29599917e-02 5.25124300e+02] [-4.91591647e-01 8.70052250e-01 -3.66978803e-02 -2.73636219e+02] [-7.28690219e-02 8.94776700e-04 9.97341118e-01 -2.94597756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.18, Y:-273.67, Z:-29.46 [[ 8.68041447e-01 4.92484733e-01 6.29510428e-02 5.25178701e+02] [-4.91115321e-01 8.70320562e-01 -3.67132249e-02 -2.73665886e+02] [-7.28682897e-02 9.52379292e-04 9.97341118e-01 -2.94644297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.23, Y:-273.69, Z:-29.47 [[ 8.67998552e-01 4.92561481e-01 6.29420503e-02 5.25233876e+02] [-4.91191153e-01 8.70277116e-01 -3.67286354e-02 -2.73694787e+02] [-7.28681370e-02 9.63824046e-04 9.97341118e-01 -2.94683997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:525.29, Y:-273.72, Z:-29.47 [[ 8.67040258e-01 4.94247535e-01 6.29330138e-02 5.25289071e+02] [-4.92880515e-01 8.69320809e-01 -3.67441125e-02 -2.73724398e+02] [-7.28696655e-02 8.40168488e-04 9.97341118e-01 -2.94732327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.35, Y:-273.75, Z:-29.48 [[ 8.64810596e-01 4.98139899e-01 6.29227685e-02 5.25345133e+02] [-4.96781868e-01 8.67096510e-01 -3.67616488e-02 -2.73752394e+02] [-7.28725570e-02 5.32972873e-04 9.97341118e-01 -2.94769208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.40, Y:-273.78, Z:-29.48 [[ 8.62164434e-01 5.02707201e-01 6.29123178e-02 5.25401182e+02] [-5.01359975e-01 8.64456732e-01 -3.67795250e-02 -2.73780136e+02] [-7.28743088e-02 1.68280234e-04 9.97341119e-01 -2.94818775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.46, Y:-273.81, Z:-29.49 [[ 8.59820229e-01 5.06706845e-01 6.29074486e-02 5.25456773e+02] [-5.05369673e-01 8.62118407e-01 -3.67878514e-02 -2.73807225e+02] [-7.28743255e-02 -1.60577952e-04 9.97341119e-01 -2.94866665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.51, Y:-273.84, Z:-29.49 [[ 8.58571288e-01 5.08820987e-01 6.29010832e-02 5.25511976e+02] [-5.07488677e-01 8.60872288e-01 -3.67987319e-02 -2.73836837e+02] [-7.28737665e-02 -3.27252815e-04 9.97341119e-01 -2.94898288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.57, Y:-273.87, Z:-29.49 [[ 8.57671685e-01 5.10337187e-01 6.28906680e-02 5.25567936e+02] [-5.09007640e-01 8.59974282e-01 -3.68165234e-02 -2.73865559e+02] [-7.28731981e-02 -4.35340905e-04 9.97341119e-01 -2.94947729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.62, Y:-273.90, Z:-29.50 [[ 8.56795873e-01 5.11807472e-01 6.28803939e-02 5.25622328e+02] [-5.10480589e-01 8.59100006e-01 -3.68340626e-02 -2.73896789e+02] [-7.28724953e-02 -5.39947691e-04 9.97341119e-01 -2.94955007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:525.68, Y:-273.93, Z:-29.50 [[ 8.56884391e-01 5.11659707e-01 6.28767417e-02 5.25678488e+02] [-5.10331970e-01 8.59188031e-01 -3.68402960e-02 -2.73925489e+02] [-7.28726390e-02 -5.20136801e-04 9.97341119e-01 -2.95033155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters Centerline goodness : 0.996848 with order 1 Centerline is valid? [True, True] Translation: X:525.73, Y:-273.96, Z:-29.51 [[ 8.57580666e-01 5.10493364e-01 6.28643577e-02 5.25733377e+02] [-5.09160945e-01 8.59881601e-01 -3.68614160e-02 -2.73955972e+02] [-7.28734128e-02 -3.96438154e-04 9.97341119e-01 -2.95104909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.79, Y:-273.99, Z:-29.51 [[ 8.58530913e-01 5.08894359e-01 6.28585979e-02 5.25786213e+02] [-5.07556935e-01 8.60828943e-01 -3.68712355e-02 -2.73988447e+02] [-7.28740641e-02 -2.49221795e-04 9.97341120e-01 -2.95065872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.84, Y:-274.02, Z:-29.51 [[ 8.59718482e-01 5.06885726e-01 6.28569143e-02 5.25839646e+02] [-5.05542724e-01 8.62013257e-01 -3.68741054e-02 -2.74019917e+02] [-7.28744511e-02 -7.55057702e-05 9.97341120e-01 -2.95095798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.89, Y:-274.05, Z:-29.51 [[ 8.60967395e-01 5.04762706e-01 6.28470782e-02 5.25892365e+02] [-5.03412822e-01 8.63258128e-01 -3.68908622e-02 -2.74051876e+02] [-7.28743825e-02 1.23804576e-04 9.97341120e-01 -2.95128092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:525.95, Y:-274.08, Z:-29.52 [[ 8.62952945e-01 5.01361474e-01 6.28401664e-02 5.25945809e+02] [-5.00001705e-01 8.65237824e-01 -3.69026320e-02 -2.74082509e+02] [-7.28732468e-02 4.25044621e-04 9.97341120e-01 -2.95182176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.00, Y:-274.11, Z:-29.53 [[ 8.65014241e-01 4.97797820e-01 6.28306741e-02 5.25999261e+02] [-4.96427463e-01 8.67292786e-01 -3.69187866e-02 -2.74111452e+02] [-7.28706819e-02 7.44403969e-04 9.97341120e-01 -2.95298577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.05, Y:-274.14, Z:-29.53 [[ 8.65091079e-01 4.97664603e-01 6.28280798e-02 5.26052961e+02] [-4.96293576e-01 8.67369220e-01 -3.69232010e-02 -2.74143001e+02] [-7.28705128e-02 7.60759459e-04 9.97341120e-01 -2.95315174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.11, Y:-274.17, Z:-29.54 [[ 8.63762985e-01 4.99967410e-01 6.28179512e-02 5.26108168e+02] [-4.98601204e-01 8.66044020e-01 -3.69404250e-02 -2.74173246e+02] [-7.28721196e-02 5.86665671e-04 9.97341120e-01 -2.95381827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.16, Y:-274.20, Z:-29.54 [[ 8.62249381e-01 5.02574646e-01 6.28070818e-02 5.26162435e+02] [-5.01213992e-01 8.64533732e-01 -3.69588962e-02 -2.74203103e+02] [-7.28734450e-02 3.87997202e-04 9.97341120e-01 -2.95437344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.22, Y:-274.23, Z:-29.55 [[ 8.60299567e-01 5.05906235e-01 6.27975861e-02 5.26216972e+02] [-5.04553250e-01 8.62588468e-01 -3.69750235e-02 -2.74231653e+02] [-7.28743685e-02 1.24870526e-04 9.97341121e-01 -2.95508831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.27, Y:-274.26, Z:-29.55 [[ 8.59069804e-01 5.07992844e-01 6.27880730e-02 5.26270847e+02] [-5.06644238e-01 8.61361289e-01 -3.69911709e-02 -2.74262427e+02] [-7.28744656e-02 -3.32174620e-05 9.97341121e-01 -2.95538683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.33, Y:-274.29, Z:-29.56 [[ 8.58198626e-01 5.09464399e-01 6.27785424e-02 5.26325751e+02] [-5.08118539e-01 8.60491724e-01 -3.70073384e-02 -2.74293109e+02] [-7.28743376e-02 -1.39294287e-04 9.97341121e-01 -2.95579257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.38, Y:-274.32, Z:-29.56 [[ 8.57965409e-01 5.09858396e-01 6.27676074e-02 5.26379799e+02] [-5.08512233e-01 8.60258330e-01 -3.70258759e-02 -2.74324126e+02] [-7.28743108e-02 -1.51175385e-04 9.97341121e-01 -2.95622633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.43, Y:-274.36, Z:-29.57 [[ 8.55994506e-01 5.13161775e-01 6.27566579e-02 5.26432872e+02] [-5.11823101e-01 8.58291806e-01 -3.70444254e-02 -2.74355012e+02] [-7.28733083e-02 -4.10482599e-04 9.97341121e-01 -2.95670840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.49, Y:-274.39, Z:-29.57 [[ 8.54065593e-01 5.16366870e-01 6.27472542e-02 5.26485936e+02] [-5.15035647e-01 8.56367218e-01 -3.70603469e-02 -2.74386475e+02] [-7.28714269e-02 -6.65105471e-04 9.97341122e-01 -2.95701989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.54, Y:-274.42, Z:-29.58 [[ 8.52210869e-01 5.19423353e-01 6.27376743e-02 5.26539468e+02] [-5.18099191e-01 8.54516564e-01 -3.70765571e-02 -2.74416660e+02] [-7.28688115e-02 -9.07293361e-04 9.97341122e-01 -2.95762834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.59, Y:-274.45, Z:-29.58 [[ 8.49995693e-01 5.23041598e-01 6.27280543e-02 5.26591258e+02] [-5.21726049e-01 8.52306313e-01 -3.70928257e-02 -2.74447925e+02] [-7.28646075e-02 -1.19811789e-03 9.97341122e-01 -2.95820939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.65, Y:-274.48, Z:-29.59 [[ 8.47747961e-01 5.26677977e-01 6.27192435e-02 5.26645084e+02] [-5.25371238e-01 8.50063574e-01 -3.71077176e-02 -2.74480731e+02] [-7.28591620e-02 -1.49289468e-03 9.97341122e-01 -2.95872704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.70, Y:-274.51, Z:-29.59 [[ 8.47093974e-01 5.27730432e-01 6.27087692e-02 5.26699538e+02] [-5.26425261e-01 8.49410471e-01 -3.71254099e-02 -2.74512938e+02] [-7.28576938e-02 -1.56276914e-03 9.97341122e-01 -2.95905636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.75, Y:-274.55, Z:-29.60 [[ 8.46010628e-01 5.29466748e-01 6.26975275e-02 5.26750742e+02] [-5.28164925e-01 8.48329009e-01 -3.71443853e-02 -2.74545295e+02] [-7.28548482e-02 -1.69009014e-03 9.97341123e-01 -2.95975157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.80, Y:-274.58, Z:-29.60 [[ 8.46151726e-01 5.29242288e-01 6.26885692e-02 5.26801639e+02] [-5.27938731e-01 8.48469132e-01 -3.71594981e-02 -2.74579988e+02] [-7.28556937e-02 -1.65315024e-03 9.97341123e-01 -2.96030152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.85, Y:-274.61, Z:-29.61 [[ 8.47061991e-01 5.27785253e-01 6.26794268e-02 5.26853646e+02] [-5.26476570e-01 8.49376505e-01 -3.71749128e-02 -2.74614651e+02] [-7.28588032e-02 -1.50979398e-03 9.97341123e-01 -2.96074884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.90, Y:-274.65, Z:-29.61 [[ 8.49757529e-01 5.23435508e-01 6.26690615e-02 5.26904976e+02] [-5.22113688e-01 8.52064565e-01 -3.71923784e-02 -2.74650556e+02] [-7.28658981e-02 -1.11587126e-03 9.97341123e-01 -2.96104256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:526.96, Y:-274.69, Z:-29.61 [[ 8.53133587e-01 5.17915822e-01 6.26600675e-02 5.26955754e+02] [-5.16577962e-01 8.55431359e-01 -3.72075248e-02 -2.74687137e+02] [-7.28717525e-02 -6.25820874e-04 9.97341123e-01 -2.96137974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.01, Y:-274.72, Z:-29.62 [[ 8.55725919e-01 5.13622503e-01 6.26504276e-02 5.27006566e+02] [-5.12271926e-01 8.58016239e-01 -3.72237496e-02 -2.74721692e+02] [-7.28740397e-02 -2.40727937e-04 9.97341123e-01 -2.96188295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.06, Y:-274.76, Z:-29.62 [[ 8.59961425e-01 5.06500207e-01 6.26409436e-02 5.27057712e+02] [-5.05129499e-01 8.62239754e-01 -3.72397027e-02 -2.74757162e+02] [-7.28734289e-02 3.82919397e-04 9.97341124e-01 -2.96244837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.11, Y:-274.79, Z:-29.63 [[ 8.62205395e-01 5.02671929e-01 6.26321673e-02 5.27110166e+02] [-5.01290034e-01 8.64476956e-01 -3.72544574e-02 -2.74791897e+02] [-7.28708353e-02 7.24112836e-04 9.97341124e-01 -2.96288128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.16, Y:-274.83, Z:-29.63 [[ 8.64328446e-01 4.99013860e-01 6.26219184e-02 5.27162299e+02] [-4.97621104e-01 8.66593364e-01 -3.72716771e-02 -2.74827585e+02] [-7.28668224e-02 1.05298257e-03 9.97341124e-01 -2.96333781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.22, Y:-274.86, Z:-29.64 [[ 8.64537899e-01 4.98652164e-01 6.26118211e-02 5.27215557e+02] [-4.97257233e-01 8.66801478e-01 -3.72886317e-02 -2.74861248e+02] [-7.28660759e-02 1.10325435e-03 9.97341124e-01 -2.96375344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.27, Y:-274.89, Z:-29.64 [[ 8.63225054e-01 5.00922706e-01 6.26015112e-02 5.27269085e+02] [-4.99532474e-01 8.65491522e-01 -3.73059323e-02 -2.74894757e+02] [-7.28684657e-02 9.31927612e-04 9.97341124e-01 -2.96429689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.32, Y:-274.93, Z:-29.65 [[ 8.61434572e-01 5.03996865e-01 6.25910398e-02 5.27322199e+02] [-5.02613446e-01 8.63705205e-01 -3.73234926e-02 -2.74928513e+02] [-7.28711301e-02 6.92648666e-04 9.97341125e-01 -2.96469340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.37, Y:-274.96, Z:-29.65 [[ 8.60024778e-01 5.06400116e-01 6.25803717e-02 5.27374896e+02] [-5.05021742e-01 8.62298476e-01 -3.73413713e-02 -2.74961144e+02] [-7.28726340e-02 5.10056277e-04 9.97341125e-01 -2.96512551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.43, Y:-274.99, Z:-29.66 [[ 8.57679131e-01 5.10364024e-01 6.25705264e-02 5.27428512e+02] [-5.08994955e-01 8.59958444e-01 -3.73578612e-02 -2.74993394e+02] [-7.28741609e-02 1.92975623e-04 9.97341125e-01 -2.96557528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.48, Y:-275.03, Z:-29.66 [[ 8.56109225e-01 5.12994365e-01 6.25601838e-02 5.27482419e+02] [-5.11631034e-01 8.58391974e-01 -3.73751731e-02 -2.75025090e+02] [-7.28744129e-02 -1.05010363e-05 9.97341125e-01 -2.96606300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.54, Y:-275.05, Z:-29.67 [[ 8.55050813e-01 5.14757827e-01 6.25498697e-02 5.27536922e+02] [-5.13397942e-01 8.57335617e-01 -3.73924265e-02 -2.75054246e+02] [-7.28742754e-02 -1.40549646e-04 9.97341125e-01 -2.96692475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.59, Y:-275.09, Z:-29.67 [[ 8.51818815e-01 5.20089818e-01 6.25402917e-02 5.27588999e+02] [-5.18743058e-01 8.54111380e-01 -3.74084393e-02 -2.75086812e+02] [-7.28721232e-02 -5.77129783e-04 9.97341126e-01 -2.96699485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.64, Y:-275.12, Z:-29.68 [[ 8.51264463e-01 5.20997716e-01 6.25315401e-02 5.27642542e+02] [-5.19652327e-01 8.53557832e-01 -3.74230628e-02 -2.75118269e+02] [-7.28716160e-02 -6.37736902e-04 9.97341126e-01 -2.96779205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.70, Y:-275.15, Z:-29.69 [[ 8.49969313e-01 5.23109323e-01 6.25204275e-02 5.27696601e+02] [-5.21768267e-01 8.52265218e-01 -3.74416186e-02 -2.75149980e+02] [-7.28700455e-02 -7.96948266e-04 9.97341126e-01 -2.96854562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.75, Y:-275.18, Z:-29.69 [[ 8.48000577e-01 5.26296118e-01 6.25093372e-02 5.27748151e+02] [-5.24962325e-01 8.50300709e-01 -3.74601249e-02 -2.75182104e+02] [-7.28668521e-02 -1.04883943e-03 9.97341126e-01 -2.96877102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.80, Y:-275.21, Z:-29.69 [[ 8.46465163e-01 5.28763104e-01 6.25004601e-02 5.27801635e+02] [-5.27434921e-01 8.48768539e-01 -3.74749301e-02 -2.75214667e+02] [-7.28637846e-02 -1.24370245e-03 9.97341126e-01 -2.96944944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.85, Y:-275.25, Z:-29.70 [[ 8.45182288e-01 5.30812563e-01 6.24893785e-02 5.27853990e+02] [-5.29488601e-01 8.47488092e-01 -3.74933997e-02 -2.75248316e+02] [-7.28609718e-02 -1.39865620e-03 9.97341126e-01 -2.96971847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.90, Y:-275.28, Z:-29.70 [[ 8.43975048e-01 5.32731085e-01 6.24796709e-02 5.27904485e+02] [-5.31411168e-01 8.46283169e-01 -3.75095697e-02 -2.75281967e+02] [-7.28580077e-02 -1.54525398e-03 9.97341127e-01 -2.96996763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:527.96, Y:-275.31, Z:-29.71 [[ 8.44675429e-01 5.31620940e-01 6.24707573e-02 5.27958692e+02] [-5.30296892e-01 8.46981184e-01 -3.75244090e-02 -2.75311994e+02] [-7.28603176e-02 -1.43210210e-03 9.97341127e-01 -2.97069951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.01, Y:-275.35, Z:-29.71 [[ 8.43364661e-01 5.33698991e-01 6.24614755e-02 5.28010434e+02] [-5.32379480e-01 8.45673015e-01 -3.75398528e-02 -2.75347173e+02] [-7.28569659e-02 -1.59342259e-03 9.97341127e-01 -2.97092264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.06, Y:-275.37, Z:-29.72 [[ 8.44067692e-01 5.32587534e-01 6.24519767e-02 5.28064549e+02] [-5.31263816e-01 8.46373636e-01 -3.75556485e-02 -2.75374975e+02] [-7.28593768e-02 -1.47896591e-03 9.97341127e-01 -2.97185667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.12, Y:-275.41, Z:-29.72 [[ 8.43358657e-01 5.33710606e-01 6.24432860e-02 5.28118998e+02] [-5.32388890e-01 8.45665749e-01 -3.75700930e-02 -2.75406901e+02] [-7.28577053e-02 -1.55904851e-03 9.97341127e-01 -2.97222788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.17, Y:-275.44, Z:-29.73 [[ 8.42881697e-01 5.34464777e-01 6.24327431e-02 5.28172870e+02] [-5.33143828e-01 8.45189228e-01 -3.75876047e-02 -2.75437513e+02] [-7.28567326e-02 -1.60372765e-03 9.97341128e-01 -2.97256646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.23, Y:-275.47, Z:-29.73 [[ 8.42557228e-01 5.34977207e-01 6.24235995e-02 5.28227038e+02] [-5.33656538e-01 8.44864918e-01 -3.76027837e-02 -2.75469807e+02] [-7.28561415e-02 -1.63026480e-03 9.97341128e-01 -2.97299027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.28, Y:-275.50, Z:-29.73 [[ 8.41885822e-01 5.36034404e-01 6.24129817e-02 5.28279310e+02] [-5.34715328e-01 8.44194423e-01 -3.76203989e-02 -2.75501762e+02] [-7.28545192e-02 -1.70109755e-03 9.97341128e-01 -2.97348504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.33, Y:-275.53, Z:-29.74 [[ 8.40930662e-01 5.37532758e-01 6.24031749e-02 5.28332277e+02] [-5.36216589e-01 8.43240921e-01 -3.76366591e-02 -2.75533652e+02] [-7.28518478e-02 -1.81179694e-03 9.97341128e-01 -2.97407857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.39, Y:-275.57, Z:-29.75 [[ 8.39666492e-01 5.39506376e-01 6.23943354e-02 5.28386082e+02] [-5.38194549e-01 8.41979220e-01 -3.76513076e-02 -2.75565059e+02] [-7.28478543e-02 -1.96574982e-03 9.97341128e-01 -2.97460674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.44, Y:-275.60, Z:-29.75 [[ 8.38692269e-01 5.41020666e-01 6.23852246e-02 5.28439087e+02] [-5.39711894e-01 8.41006727e-01 -3.76663974e-02 -2.75597064e+02] [-7.28446929e-02 -2.07953137e-03 9.97341128e-01 -2.97490652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.49, Y:-275.63, Z:-29.76 [[ 8.38293755e-01 5.41639067e-01 6.23754882e-02 5.28491273e+02] [-5.40330804e-01 8.40608500e-01 -3.76825140e-02 -2.75629113e+02] [-7.28436873e-02 -2.11438150e-03 9.97341129e-01 -2.97552956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.54, Y:-275.66, Z:-29.75 [[ 8.38496018e-01 5.41327080e-01 6.23652088e-02 5.28542783e+02] [-5.40016693e-01 8.40809561e-01 -3.76995189e-02 -2.75663924e+02] [-7.28450343e-02 -2.06735733e-03 9.97341129e-01 -2.97526128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.60, Y:-275.70, Z:-29.75 [[ 8.38999385e-01 5.40547712e-01 6.23554548e-02 5.28595299e+02] [-5.39233977e-01 8.41311029e-01 -3.77156453e-02 -2.75696862e+02] [-7.28474376e-02 -1.98077666e-03 9.97341129e-01 -2.97544852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.65, Y:-275.73, Z:-29.76 [[ 8.41094093e-01 5.37283653e-01 6.23458409e-02 5.28648506e+02] [-5.35959770e-01 8.43399939e-01 -3.77315308e-02 -2.75730326e+02] [-7.28550131e-02 -1.67909488e-03 9.97341129e-01 -2.97564054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.70, Y:-275.76, Z:-29.76 [[ 8.44557774e-01 5.31823805e-01 6.23346390e-02 5.28700488e+02] [-5.30483648e-01 8.46854199e-01 -3.77500280e-02 -2.75763885e+02] [-7.28647143e-02 -1.18542706e-03 9.97341129e-01 -2.97604699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.75, Y:-275.80, Z:-29.77 [[ 8.50310870e-01 5.22577282e-01 6.23250275e-02 5.28750566e+02] [-5.21210985e-01 8.52591841e-01 -3.77658899e-02 -2.75797868e+02] [-7.28734060e-02 -3.71742331e-04 9.97341129e-01 -2.97653838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.80, Y:-275.83, Z:-29.77 [[ 8.53294369e-01 5.17692302e-01 6.23169410e-02 5.28803611e+02] [-5.16311973e-01 8.55566875e-01 -3.77792286e-02 -2.75830644e+02] [-7.28743263e-02 6.18202298e-05 9.97341130e-01 -2.97693972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.86, Y:-275.86, Z:-29.77 [[ 8.55629897e-01 5.13824174e-01 6.23072842e-02 5.28856720e+02] [-5.12432413e-01 8.57895419e-01 -3.77951484e-02 -2.75862557e+02] [-7.28731946e-02 4.10386962e-04 9.97341130e-01 -2.97729004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.91, Y:-275.89, Z:-29.79 [[ 8.58377256e-01 5.09222442e-01 6.22975918e-02 5.28908565e+02] [-5.07817377e-01 8.60634551e-01 -3.78111175e-02 -2.75891378e+02] [-7.28697296e-02 8.20403655e-04 9.97341130e-01 -2.97870018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:528.96, Y:-275.92, Z:-29.79 [[ 8.59741667e-01 5.06916265e-01 6.22909826e-02 5.28961622e+02] [-5.05504356e-01 8.61994688e-01 -3.78220027e-02 -2.75924065e+02] [-7.28670844e-02 1.02878860e-03 9.97341130e-01 -2.97907131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.02, Y:-275.96, Z:-29.80 [[ 8.59391424e-01 5.07511019e-01 6.22811858e-02 5.29016040e+02] [-5.06099501e-01 8.61644690e-01 -3.78381281e-02 -2.75955665e+02] [-7.28675199e-02 9.97285735e-04 9.97341130e-01 -2.97950667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:529.07, Y:-275.98, Z:-29.80 [[ 8.56495573e-01 5.12384334e-01 6.22706050e-02 5.29071596e+02] [-5.10984372e-01 8.58756036e-01 -3.78555331e-02 -2.75984049e+02] [-7.28718400e-02 6.03790501e-04 9.97341130e-01 -2.98010020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:529.13, Y:-276.01, Z:-29.80 [[ 8.51712056e-01 5.20298069e-01 6.22614868e-02 5.29126441e+02] [-5.18918015e-01 8.53984729e-01 -3.78705240e-02 -2.76013197e+02] [-7.28743194e-02 -5.38253251e-05 9.97341131e-01 -2.98039550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.18, Y:-276.04, Z:-29.80 [[ 8.47027766e-01 5.27890743e-01 6.22521278e-02 5.29179732e+02] [-5.26529930e-01 8.49312010e-01 -3.78859022e-02 -2.76044557e+02] [-7.28710969e-02 -6.87197457e-04 9.97341131e-01 -2.98011589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:529.23, Y:-276.07, Z:-29.81 [[ 8.43168140e-01 5.34034689e-01 6.22449905e-02 5.29234009e+02] [-5.32689654e-01 8.45461710e-01 -3.78976248e-02 -2.76069737e+02] [-7.28644024e-02 -1.20319263e-03 9.97341131e-01 -2.98122878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.29, Y:-276.10, Z:-29.81 [[ 8.40763547e-01 5.37812901e-01 6.22409984e-02 5.29287911e+02] [-5.36477686e-01 8.43062848e-01 -3.79041801e-02 -2.76099748e+02] [-7.28584305e-02 -1.52245394e-03 9.97341131e-01 -2.98139369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:529.34, Y:-276.13, Z:-29.82 [[ 8.38186009e-01 5.41822261e-01 6.22322389e-02 5.29342731e+02] [-5.40496976e-01 8.40491048e-01 -3.79185563e-02 -2.76130082e+02] [-7.28507576e-02 -1.85353360e-03 9.97341131e-01 -2.98154869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:529.40, Y:-276.16, Z:-29.82 [[ 8.36246180e-01 5.44812673e-01 6.22211944e-02 5.29397843e+02] [-5.43494284e-01 8.38555170e-01 -3.79366708e-02 -2.76159890e+02] [-7.28442833e-02 -2.09246744e-03 9.97341131e-01 -2.98199033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.45, Y:-276.19, Z:-29.83 [[ 8.35605180e-01 5.45796573e-01 6.22099978e-02 5.29451465e+02] [-5.44479537e-01 8.37914942e-01 -3.79550225e-02 -2.76190289e+02] [-7.28424079e-02 -2.15665740e-03 9.97341131e-01 -2.98291568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.50, Y:-276.22, Z:-29.84 [[ 8.35610954e-01 5.45788914e-01 6.21996467e-02 5.29504841e+02] [-5.44470596e-01 8.37919984e-01 -3.79719781e-02 -2.76221144e+02] [-7.28430116e-02 -2.13607784e-03 9.97341132e-01 -2.98357199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.56, Y:-276.25, Z:-29.84 [[ 8.36583706e-01 5.44297802e-01 6.21900804e-02 5.29557081e+02] [-5.42974205e-01 8.38889714e-01 -3.79876393e-02 -2.76254382e+02] [-7.28472073e-02 -1.98776941e-03 9.97341132e-01 -2.98361223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.61, Y:-276.29, Z:-29.84 [[ 8.38495470e-01 5.41349186e-01 6.21804227e-02 5.29608913e+02] [-5.40016308e-01 8.40796126e-01 -3.80034410e-02 -2.76285994e+02] [-7.28541904e-02 -1.71272922e-03 9.97341132e-01 -2.98442496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.66, Y:-276.32, Z:-29.85 [[ 8.40427581e-01 5.38345775e-01 6.21715972e-02 5.29661268e+02] [-5.37003607e-01 8.42722829e-01 -3.80178736e-02 -2.76319569e+02] [-7.28601859e-02 -1.43510236e-03 9.97341132e-01 -2.98471204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.71, Y:-276.35, Z:-29.85 [[ 8.44169003e-01 5.32460833e-01 6.21623347e-02 5.29712874e+02] [-5.31101547e-01 8.46454155e-01 -3.80330125e-02 -2.76353105e+02] [-7.28686560e-02 -9.08221852e-04 9.97341132e-01 -2.98479645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.77, Y:-276.39, Z:-29.85 [[ 8.49842138e-01 5.23359568e-01 6.21538683e-02 5.29765172e+02] [-5.21974795e-01 8.52111936e-01 -3.80468433e-02 -2.76385833e+02] [-7.28742325e-02 -1.08942030e-04 9.97341132e-01 -2.98542234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.82, Y:-276.42, Z:-29.86 [[ 8.53859272e-01 5.16780771e-01 6.21448266e-02 5.29817508e+02] [-5.15377436e-01 8.56117640e-01 -3.80616062e-02 -2.76419469e+02] [-7.28727885e-02 4.71213935e-04 9.97341133e-01 -2.98570158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.87, Y:-276.45, Z:-29.87 [[ 8.59408810e-01 5.07499492e-01 6.21350387e-02 5.29868385e+02] [-5.06070617e-01 8.61651106e-01 -3.80775782e-02 -2.76452769e+02] [-7.28630764e-02 1.27948884e-03 9.97341133e-01 -2.98653837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.92, Y:-276.49, Z:-29.87 [[ 8.60746794e-01 5.05227970e-01 6.21261202e-02 5.29921041e+02] [-5.03792128e-01 8.62984636e-01 -3.80921238e-02 -2.76485682e+02] [-7.28590935e-02 1.48902311e-03 9.97341133e-01 -2.98655731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:529.97, Y:-276.52, Z:-29.87 [[ 8.63537414e-01 5.00444489e-01 6.21164082e-02 5.29973137e+02] [-4.98995116e-01 8.65766515e-01 -3.81079545e-02 -2.76517434e+02] [-7.28492220e-02 1.91186017e-03 9.97341133e-01 -2.98732404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.03, Y:-276.55, Z:-29.87 [[ 8.65294978e-01 4.97400501e-01 6.21075070e-02 5.30025952e+02] [-4.95942247e-01 8.67518280e-01 -3.81224559e-02 -2.76549717e+02] [-7.28415263e-02 2.18543302e-03 9.97341133e-01 -2.98739111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.08, Y:-276.58, Z:-29.88 [[ 8.66550417e-01 4.95211308e-01 6.20977851e-02 5.30078729e+02] [-4.93746305e-01 8.68769277e-01 -3.81382854e-02 -2.76578636e+02] [-7.28351581e-02 2.38819523e-03 9.97341133e-01 -2.98835586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.13, Y:-276.61, Z:-29.88 [[ 8.64650371e-01 4.98521986e-01 6.20932069e-02 5.30131634e+02] [-4.97064946e-01 8.66874467e-01 -3.81457377e-02 -2.76611514e+02] [-7.28435046e-02 2.11836971e-03 9.97341133e-01 -2.98805861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.19, Y:-276.64, Z:-29.89 [[ 8.61585312e-01 5.03800995e-01 6.20911222e-02 5.30186416e+02] [-5.02357341e-01 8.63818121e-01 -3.81491308e-02 -2.76641417e+02] [-7.28550065e-02 1.67679971e-03 9.97341133e-01 -2.98862526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.24, Y:-276.67, Z:-29.90 [[ 8.59418456e-01 5.07488984e-01 6.20874238e-02 5.30241363e+02] [-5.06054479e-01 8.61657153e-01 -3.81551489e-02 -2.76667146e+02] [-7.28613906e-02 1.37162022e-03 9.97341133e-01 -2.98954516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.30, Y:-276.69, Z:-29.90 [[ 8.53021864e-01 5.18169369e-01 6.20822454e-02 5.30297867e+02] [-5.16762285e-01 8.55277898e-01 -3.81635728e-02 -2.76693793e+02] [-7.28727668e-02 4.72598984e-04 9.97341133e-01 -2.98997539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.35, Y:-276.72, Z:-29.90 [[ 8.48541618e-01 5.25475059e-01 6.20732149e-02 5.30353421e+02] [-5.24086326e-01 8.50808994e-01 -3.81782554e-02 -2.76723195e+02] [-7.28741705e-02 -1.35884536e-04 9.97341134e-01 -2.99044747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.41, Y:-276.75, Z:-29.91 [[ 8.43076498e-01 5.34200540e-01 6.20628903e-02 5.30408962e+02] [-5.32834036e-01 8.45357339e-01 -3.81950318e-02 -2.76752721e+02] [-7.28691264e-02 -8.67886720e-04 9.97341134e-01 -2.99097475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.46, Y:-276.78, Z:-29.91 [[ 8.40374981e-01 5.38441626e-01 6.20524623e-02 5.30463279e+02] [-5.37085381e-01 8.42661937e-01 -3.82119659e-02 -2.76783709e+02] [-7.28641611e-02 -1.21509021e-03 9.97341134e-01 -2.99138344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.52, Y:-276.81, Z:-29.92 [[ 8.37551163e-01 5.42824268e-01 6.20472748e-02 5.30516961e+02] [-5.41479365e-01 8.39844807e-01 -3.82203873e-02 -2.76813343e+02] [-7.28570353e-02 -1.58578909e-03 9.97341134e-01 -2.99210051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.57, Y:-276.85, Z:-29.93 [[ 8.36689037e-01 5.44153247e-01 6.20378820e-02 5.30570200e+02] [-5.42810858e-01 8.38984153e-01 -3.82356273e-02 -2.76845440e+02] [-7.28548406e-02 -1.68350578e-03 9.97341134e-01 -2.99270278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.62, Y:-276.88, Z:-29.93 [[ 8.37101171e-01 5.43520075e-01 6.20286844e-02 5.30622654e+02] [-5.42174845e-01 8.39394623e-01 -3.82505426e-02 -2.76879377e+02] [-7.28564819e-02 -1.61081837e-03 9.97341134e-01 -2.99316055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.67, Y:-276.92, Z:-29.94 [[ 8.38634599e-01 5.41151435e-01 6.20252735e-02 5.30672935e+02] [-5.39799318e-01 8.40923997e-01 -3.82560727e-02 -2.76915004e+02] [-7.28608695e-02 -1.39833420e-03 9.97341134e-01 -2.99350873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.72, Y:-276.95, Z:-29.94 [[ 8.40625040e-01 5.38055440e-01 6.20152054e-02 5.30723851e+02] [-5.36693687e-01 8.42908720e-01 -3.82723867e-02 -2.76951845e+02] [-7.28658233e-02 -1.11044265e-03 9.97341135e-01 -2.99375903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.78, Y:-276.99, Z:-29.94 [[ 8.41438206e-01 5.36784147e-01 6.20042320e-02 5.30775434e+02] [-5.35417635e-01 8.43719041e-01 -3.82901562e-02 -2.76986930e+02] [-7.28677000e-02 -9.79358861e-04 9.97341135e-01 -2.99421395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.83, Y:-277.02, Z:-29.95 [[ 8.42258651e-01 5.35497134e-01 6.19934268e-02 5.30827013e+02] [-5.34125850e-01 8.44536619e-01 -3.83076424e-02 -2.77023116e+02] [-7.28693518e-02 -8.47348536e-04 9.97341135e-01 -2.99470467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.88, Y:-277.06, Z:-29.95 [[ 8.42985010e-01 5.34354223e-01 6.19825609e-02 5.30877684e+02] [-5.32978558e-01 8.45260336e-01 -3.83252156e-02 -2.77057875e+02] [-7.28706410e-02 -7.27793639e-04 9.97341135e-01 -2.99532840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.93, Y:-277.10, Z:-29.96 [[ 8.44443547e-01 5.32047460e-01 6.19725439e-02 5.30928394e+02] [-5.30664391e-01 8.46714379e-01 -3.83414065e-02 -2.77095161e+02] [-7.28724920e-02 -5.09469010e-04 9.97341135e-01 -2.99572675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:530.98, Y:-277.13, Z:-29.96 [[ 8.46144272e-01 5.29339782e-01 6.19618186e-02 5.30979004e+02] [-5.27948177e-01 8.48409883e-01 -3.83587313e-02 -2.77132717e+02] [-7.28738217e-02 -2.55608404e-04 9.97341136e-01 -2.99614335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.03, Y:-277.17, Z:-29.97 [[ 8.47249709e-01 5.27569887e-01 6.19511569e-02 5.31030310e+02] [-5.26172290e-01 8.49511629e-01 -3.83759428e-02 -2.77168368e+02] [-7.28742200e-02 -8.29757765e-05 9.97341136e-01 -2.99658079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.08, Y:-277.20, Z:-29.97 [[ 8.48439219e-01 5.25656023e-01 6.19405946e-02 5.31079868e+02] [-5.24252080e-01 8.50697206e-01 -3.83929833e-02 -2.77204830e+02] [-7.28741936e-02 1.01627256e-04 9.97341136e-01 -2.99706547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.13, Y:-277.25, Z:-29.96 [[ 8.46330342e-01 5.29045863e-01 6.19308276e-02 5.31127822e+02] [-5.27649812e-01 8.48593216e-01 -3.84087317e-02 -2.77246316e+02] [-7.28740608e-02 -1.71314532e-04 9.97341136e-01 -2.99641779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.18, Y:-277.28, Z:-29.97 [[ 8.47037150e-01 5.27914222e-01 6.19244797e-02 5.31176741e+02] [-5.26514400e-01 8.49297692e-01 -3.84189635e-02 -2.77282654e+02] [-7.28742349e-02 -6.18409236e-05 9.97341136e-01 -2.99691796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.23, Y:-277.32, Z:-29.98 [[ 8.48496938e-01 5.25565389e-01 6.19190459e-02 5.31229030e+02] [-5.24158670e-01 8.50753195e-01 -3.84277190e-02 -2.77315054e+02] [-7.28741052e-02 1.50397183e-04 9.97341136e-01 -2.99775890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.28, Y:-277.35, Z:-29.98 [[ 8.48739891e-01 5.25173217e-01 6.19168000e-02 5.31278874e+02] [-5.23765192e-01 8.50995333e-01 -3.84313373e-02 -2.77349599e+02] [-7.28740169e-02 1.88344363e-04 9.97341136e-01 -2.99829235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.33, Y:-277.38, Z:-29.99 [[ 8.47474827e-01 5.27213252e-01 6.19080393e-02 5.31330182e+02] [-5.25809625e-01 8.49733009e-01 -3.84454446e-02 -2.77381617e+02] [-7.28742524e-02 2.97036065e-05 9.97341136e-01 -2.99885252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.38, Y:-277.41, Z:-30.00 [[ 8.45833872e-01 5.29842907e-01 6.18995569e-02 5.31382734e+02] [-5.28445301e-01 8.48095786e-01 -3.84590969e-02 -2.77413681e+02] [-7.28740331e-02 -1.80523128e-04 9.97341137e-01 -2.99952058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.44, Y:-277.45, Z:-30.00 [[ 8.45251322e-01 5.30772802e-01 6.18905070e-02 5.31436081e+02] [-5.29376619e-01 8.47514114e-01 -3.84736551e-02 -2.77447351e+02] [-7.28738479e-02 -2.43479439e-04 9.97341137e-01 -2.99999058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.49, Y:-277.48, Z:-30.01 [[ 8.44403652e-01 5.32121551e-01 6.18799367e-02 5.31488589e+02] [-5.30727737e-01 8.46667904e-01 -3.84906486e-02 -2.77482286e+02] [-7.28734599e-02 -3.39754558e-04 9.97341137e-01 -3.00061778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.54, Y:-277.52, Z:-30.01 [[ 8.42371102e-01 5.35334558e-01 6.18695167e-02 5.31540422e+02] [-5.33948150e-01 8.44639896e-01 -3.85073903e-02 -2.77515760e+02] [-7.28717989e-02 -5.97601197e-04 9.97341137e-01 -3.00075891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.60, Y:-277.54, Z:-30.02 [[ 8.42275030e-01 5.35486817e-01 6.18598597e-02 5.31595021e+02] [-5.34099681e-01 8.44543378e-01 -3.85228975e-02 -2.77542883e+02] [-7.28718387e-02 -5.92456719e-04 9.97341137e-01 -3.00163875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.65, Y:-277.58, Z:-30.02 [[ 8.38859963e-01 5.40821978e-01 6.18510391e-02 5.31647332e+02] [-5.39448223e-01 8.41136440e-01 -3.85370544e-02 -2.77577185e+02] [-7.28668488e-02 -1.03824113e-03 9.97341137e-01 -3.00151071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.70, Y:-277.61, Z:-30.02 [[ 8.39531775e-01 5.39779074e-01 6.18461774e-02 5.31699569e+02] [-5.38401917e-01 8.41806195e-01 -3.85448551e-02 -2.77607532e+02] [-7.28682015e-02 -9.38469779e-04 9.97341137e-01 -3.00227901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:531.75, Y:-277.64, Z:-30.03 [[ 8.40325479e-01 5.38543702e-01 6.18366345e-02 5.31752181e+02] [-5.37162075e-01 8.42597187e-01 -3.85601584e-02 -2.77638600e+02] [-7.28697048e-02 -8.13211294e-04 9.97341138e-01 -3.00322997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.81, Y:-277.67, Z:-30.04 [[ 8.41516815e-01 5.36681389e-01 6.18266662e-02 5.31806285e+02] [-5.35293560e-01 8.43784739e-01 -3.85761349e-02 -2.77668904e+02] [-7.28714911e-02 -6.32950058e-04 9.97341138e-01 -3.00398407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.86, Y:-277.70, Z:-30.04 [[ 8.41795672e-01 5.36245136e-01 6.18158641e-02 5.31860312e+02] [-5.34854862e-01 8.44062097e-01 -3.85934369e-02 -2.77701776e+02] [-7.28719707e-02 -5.74727285e-04 9.97341138e-01 -3.00435445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.91, Y:-277.74, Z:-30.05 [[ 8.41147049e-01 5.37263388e-01 6.18036681e-02 5.31913144e+02] [-5.35874423e-01 8.43414277e-01 -3.86129577e-02 -2.77736593e+02] [-7.28714245e-02 -6.39829570e-04 9.97341138e-01 -3.00473548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:531.96, Y:-277.77, Z:-30.05 [[ 8.38905030e-01 5.40758832e-01 6.17918774e-02 5.31964483e+02] [-5.39377924e-01 8.41177174e-01 -3.86318171e-02 -2.77772133e+02] [-7.28684131e-02 -9.20748932e-04 9.97341139e-01 -3.00492852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.02, Y:-277.80, Z:-30.05 [[ 8.37022655e-01 5.43669116e-01 6.17816075e-02 5.32016514e+02] [-5.42294896e-01 8.39298850e-01 -3.86482341e-02 -2.77803988e+02] [-7.28650834e-02 -1.15440286e-03 9.97341139e-01 -3.00528545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.07, Y:-277.84, Z:-30.06 [[ 8.35419865e-01 5.46129875e-01 6.17722276e-02 5.32070331e+02] [-5.44761252e-01 8.37699429e-01 -3.86632205e-02 -2.77835446e+02] [-7.28616996e-02 -1.35109350e-03 9.97341139e-01 -3.00608239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.12, Y:-277.87, Z:-30.06 [[ 8.33134886e-01 5.49610690e-01 6.17604324e-02 5.32123920e+02] [-5.48250194e-01 8.35419310e-01 -3.86820530e-02 -2.77868300e+02] [-7.28559276e-02 -1.63280118e-03 9.97341139e-01 -3.00647132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.18, Y:-277.90, Z:-30.07 [[ 8.31357022e-01 5.52297585e-01 6.17485213e-02 5.32177355e+02] [-5.50943061e-01 8.33644991e-01 -3.87010575e-02 -2.77898467e+02] [-7.28508461e-02 -1.84552340e-03 9.97341139e-01 -3.00714287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:532.23, Y:-277.93, Z:-30.08 [[ 8.30916943e-01 5.52960680e-01 6.17375063e-02 5.32229985e+02] [-5.51606678e-01 8.33205221e-01 -3.87186210e-02 -2.77930422e+02] [-7.28498876e-02 -1.88286259e-03 9.97341140e-01 -3.00775649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.71, Y:-277.37, Z:-29.09 [[ 8.95087962e-01 4.41596610e-01 6.17249837e-02 5.32714786e+02] [-4.39958418e-01 8.97182207e-01 -3.87385742e-02 -2.77365084e+02] [-7.24853802e-02 7.51800526e-03 9.97341140e-01 -2.90892356e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.77, Y:-277.40, Z:-29.09 [[ 8.95501004e-01 4.40191220e-01 6.56478589e-02 5.32768501e+02] [-4.39155779e-01 8.97902325e-01 -3.02260990e-02 -2.77397409e+02] [-7.22506285e-02 -1.76213462e-03 9.97384952e-01 -2.90917939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.82, Y:-277.42, Z:-29.10 [[ 8.96418451e-01 4.38321125e-01 6.56395709e-02 5.32824789e+02] [-4.37279357e-01 8.98817033e-01 -3.02440868e-02 -2.77424815e+02] [-7.22545865e-02 -1.59147195e-03 9.97384952e-01 -2.90969031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.88, Y:-277.45, Z:-29.10 [[ 8.98277346e-01 4.34499447e-01 6.56356642e-02 5.32883043e+02] [-4.33446855e-01 9.00671198e-01 -3.02525626e-02 -2.77449378e+02] [-7.22608741e-02 -1.27438058e-03 9.97384952e-01 -2.91016240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:532.94, Y:-277.48, Z:-29.11 [[ 8.98977373e-01 4.33050691e-01 6.56260831e-02 5.32939843e+02] [-4.31992725e-01 9.01368854e-01 -3.02733325e-02 -2.77477336e+02] [-7.22631949e-02 -1.13494957e-03 9.97384952e-01 -2.91050684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.00, Y:-277.50, Z:-29.11 [[ 8.99814969e-01 4.31308962e-01 6.56170817e-02 5.32995697e+02] [-4.30244945e-01 9.02203764e-01 -3.02928304e-02 -2.77504576e+02] [-7.22655473e-02 -9.73475484e-04 9.97384952e-01 -2.91089068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.05, Y:-277.53, Z:-29.12 [[ 9.00538806e-01 4.29796870e-01 6.56087597e-02 5.33052930e+02] [-4.28727530e-01 9.02925223e-01 -3.03108436e-02 -2.77529140e+02] [-7.22673097e-02 -8.32190536e-04 9.97384952e-01 -2.91151861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.11, Y:-277.55, Z:-29.12 [[ 9.00446295e-01 4.29992064e-01 6.55995065e-02 5.33109823e+02] [-4.28921783e-01 9.02832290e-01 -3.03308565e-02 -2.77554201e+02] [-7.22673803e-02 -8.25749945e-04 9.97384953e-01 -2.91213130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.17, Y:-277.58, Z:-29.13 [[ 9.00178262e-01 4.30554318e-01 6.55902166e-02 5.33165845e+02] [-4.29484065e-01 9.02564269e-01 -3.03509326e-02 -2.77578728e+02] [-7.22671110e-02 -8.48703079e-04 9.97384953e-01 -2.91277971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.22, Y:-277.61, Z:-29.13 [[ 8.98567705e-01 4.33906821e-01 6.55816334e-02 5.33219899e+02] [-4.32844117e-01 9.00957083e-01 -3.03694677e-02 -2.77607363e+02] [-7.22637563e-02 -1.09760126e-03 9.97384953e-01 -2.91307334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.28, Y:-277.63, Z:-29.13 [[ 8.99120879e-01 4.32760483e-01 6.55744560e-02 5.33277356e+02] [-4.31693603e-01 9.01508396e-01 -3.03849574e-02 -2.77631930e+02] [-7.22653315e-02 -9.88323599e-04 9.97384953e-01 -2.91342381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.33, Y:-277.66, Z:-29.14 [[ 8.99625998e-01 4.31710662e-01 6.55665193e-02 5.33334558e+02] [-4.30639748e-01 9.02011708e-01 -3.04020742e-02 -2.77658901e+02] [-7.22666676e-02 -8.85053028e-04 9.97384954e-01 -2.91382146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.39, Y:-277.68, Z:-29.15 [[ 9.02312074e-01 4.26069413e-01 6.55574305e-02 5.33391798e+02] [-4.24982160e-01 9.04690382e-01 -3.04216602e-02 -2.77681259e+02] [-7.22709157e-02 -4.10907134e-04 9.97384954e-01 -2.91469770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.45, Y:-277.71, Z:-29.15 [[ 9.01811254e-01 4.27129629e-01 6.55495477e-02 5.33445341e+02] [-4.26043938e-01 9.04190275e-01 -3.04386358e-02 -2.77710706e+02] [-7.22705067e-02 -4.77083095e-04 9.97384954e-01 -2.91464827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.50, Y:-277.74, Z:-29.15 [[ 9.02985187e-01 4.24643319e-01 6.55423739e-02 5.33501988e+02] [-4.23549957e-01 9.05360692e-01 -3.04540751e-02 -2.77736406e+02] [-7.22716085e-02 -2.60890917e-04 9.97384954e-01 -2.91522746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.56, Y:-277.76, Z:-29.16 [[ 9.02957150e-01 4.24704141e-01 6.55345561e-02 5.33558942e+02] [-4.23609718e-01 9.05332167e-01 -3.04708890e-02 -2.77761473e+02] [-7.22716544e-02 -2.47167794e-04 9.97384954e-01 -2.91586851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.62, Y:-277.79, Z:-29.17 [[ 9.01922945e-01 4.26897384e-01 6.55257555e-02 5.33617002e+02] [-4.25807362e-01 9.04299985e-01 -3.04898026e-02 -2.77785023e+02] [-7.22709566e-02 -4.01896565e-04 9.97384954e-01 -2.91659931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.67, Y:-277.81, Z:-29.17 [[ 8.97793795e-01 4.35515599e-01 6.55169073e-02 5.33670697e+02] [-4.34447006e-01 9.00180544e-01 -3.05088037e-02 -2.77813878e+02] [-7.22641052e-02 -1.07300955e-03 9.97384955e-01 -2.91681088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.73, Y:-277.84, Z:-29.17 [[ 8.96830325e-01 4.37497233e-01 6.55098453e-02 5.33727967e+02] [-4.36432807e-01 8.99218935e-01 -3.05239601e-02 -2.77840026e+02] [-7.22618414e-02 -1.21583261e-03 9.97384955e-01 -2.91725681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.79, Y:-277.86, Z:-29.18 [[ 8.95124574e-01 4.40977981e-01 6.55012831e-02 5.33785522e+02] [-4.39921499e-01 8.97516708e-01 -3.05423227e-02 -2.77864745e+02] [-7.22569878e-02 -1.47623908e-03 9.97384955e-01 -2.91764215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.84, Y:-277.89, Z:-29.18 [[ 8.96441898e-01 4.38295127e-01 6.54927818e-02 5.33843031e+02] [-4.37230155e-01 8.98830265e-01 -3.05605414e-02 -2.77887081e+02] [-7.22614308e-02 -1.23966944e-03 9.97384955e-01 -2.91822347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.90, Y:-277.91, Z:-29.18 [[ 8.97117700e-01 4.36911390e-01 6.54848872e-02 5.33899342e+02] [-4.35841500e-01 8.99503867e-01 -3.05774487e-02 -2.77914420e+02] [-7.22635449e-02 -1.10946105e-03 9.97384955e-01 -2.91835915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:533.96, Y:-277.94, Z:-29.18 [[ 8.98798415e-01 4.33444717e-01 6.54758490e-02 5.33956298e+02] [-4.32364214e-01 9.01179795e-01 -3.05967901e-02 -2.77942068e+02] [-7.22675292e-02 -8.09067549e-04 9.97384956e-01 -2.91839159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:534.01, Y:-277.97, Z:-29.19 [[ 9.00214926e-01 4.30496445e-01 6.54667725e-02 5.34011562e+02] [-4.29406731e-01 9.02592105e-01 -3.06161985e-02 -2.77969693e+02] [-7.22699566e-02 -5.50713886e-04 9.97384956e-01 -2.91883109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.07, Y:-278.00, Z:-29.19 [[ 9.01650607e-01 4.27482705e-01 6.54577683e-02 5.34066579e+02] [-4.26383648e-01 9.04023481e-01 -3.06354375e-02 -2.77995034e+02] [-7.22714792e-02 -2.87661267e-04 9.97384956e-01 -2.91925620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.12, Y:-278.02, Z:-29.19 [[ 9.01389318e-01 4.28034145e-01 6.54527900e-02 5.34121902e+02] [-4.26935768e-01 9.03762507e-01 -3.06460699e-02 -2.78022127e+02] [-7.22713419e-02 -3.20097099e-04 9.97384956e-01 -2.91874307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters Centerline goodness : 0.995467 with order 1 Centerline is valid? [True, True] Translation: X:534.18, Y:-278.04, Z:-29.20 [[ 9.02482796e-01 4.25724135e-01 6.54504648e-02 5.34176472e+02] [-4.24619324e-01 9.04852996e-01 -3.06510351e-02 -2.78044943e+02] [-7.22719345e-02 -1.29500226e-04 9.97384956e-01 -2.92042175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.23, Y:-278.07, Z:-29.21 [[ 9.03815629e-01 4.22887762e-01 6.54465406e-02 5.34234201e+02] [-4.21774905e-01 9.06182062e-01 -3.06594117e-02 -2.78067002e+02] [-7.22719711e-02 1.06746983e-04 9.97384956e-01 -2.92067472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.29, Y:-278.09, Z:-29.21 [[ 9.05034599e-01 4.20274137e-01 6.54371844e-02 5.34292153e+02] [-4.19153004e-01 9.07397121e-01 -3.06793681e-02 -2.78092486e+02] [-7.22712577e-02 3.37697228e-04 9.97384956e-01 -2.92092390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.35, Y:-278.12, Z:-29.20 [[ 9.03530600e-01 4.23499203e-01 6.54284362e-02 5.34346429e+02] [-4.22385152e-01 9.05896470e-01 -3.06980135e-02 -2.78124314e+02] [-7.22719737e-02 1.00594593e-04 9.97384957e-01 -2.91980181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.40, Y:-278.15, Z:-29.20 [[ 9.03145739e-01 4.24319665e-01 6.54262646e-02 5.34403797e+02] [-4.23207428e-01 9.05512463e-01 -3.07026412e-02 -2.78147395e+02] [-7.22720324e-02 4.00783656e-05 9.97384957e-01 -2.92037878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.46, Y:-278.17, Z:-29.21 [[ 9.02292657e-01 4.26131978e-01 6.54178835e-02 5.34462048e+02] [-4.25023201e-01 9.04661003e-01 -3.07204884e-02 -2.78168130e+02] [-7.22719906e-02 -8.52472054e-05 9.97384957e-01 -2.92116669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.52, Y:-278.19, Z:-29.22 [[ 9.01391874e-01 4.28034469e-01 6.54154580e-02 5.34518574e+02] [-4.26930316e-01 9.03762380e-01 -3.07256523e-02 -2.78193659e+02] [-7.22716683e-02 -2.31988822e-04 9.97384957e-01 -2.92152964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.58, Y:-278.22, Z:-29.22 [[ 8.99950729e-01 4.31057547e-01 6.54070015e-02 5.34575357e+02] [-4.29960049e-01 9.02324323e-01 -3.07436435e-02 -2.78216766e+02] [-7.22706079e-02 -4.54633159e-04 9.97384957e-01 -2.92240017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.63, Y:-278.23, Z:-29.23 [[ 8.98357833e-01 4.34367822e-01 6.54048876e-02 5.34634027e+02] [-4.33278743e-01 9.00735301e-01 -3.07481401e-02 -2.78234326e+02] [-7.22684938e-02 -7.15714978e-04 9.97384957e-01 -2.92333589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.69, Y:-278.26, Z:-29.24 [[ 8.95530361e-01 4.40168860e-01 6.53968453e-02 5.34693100e+02] [-4.39093931e-01 8.97914261e-01 -3.07652354e-02 -2.78256591e+02] [-7.22626586e-02 -1.16415557e-03 9.97384957e-01 -2.92382686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.75, Y:-278.28, Z:-29.24 [[ 8.93979650e-01 4.43311171e-01 6.53880127e-02 5.34750479e+02] [-4.42243249e-01 8.96366696e-01 -3.07839966e-02 -2.78281582e+02] [-7.22585265e-02 -1.39714072e-03 9.97384957e-01 -2.92424878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.81, Y:-278.30, Z:-29.25 [[ 8.92288739e-01 4.46706149e-01 6.53790748e-02 5.34807736e+02] [-4.45645920e-01 8.94679211e-01 -3.08029674e-02 -2.78304698e+02] [-7.22531740e-02 -1.65077698e-03 9.97384958e-01 -2.92470567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.87, Y:-278.33, Z:-29.25 [[ 8.91599202e-01 4.48082002e-01 6.53711100e-02 5.34865116e+02] [-4.47024224e-01 8.93990760e-01 -3.08198612e-02 -2.78327806e+02] [-7.22509935e-02 -1.74350609e-03 9.97384958e-01 -2.92541256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.92, Y:-278.35, Z:-29.26 [[ 8.92489456e-01 4.46307321e-01 6.53631801e-02 5.34922728e+02] [-4.45243557e-01 8.94878358e-01 -3.08366701e-02 -2.78353529e+02] [-7.22547268e-02 -1.58113187e-03 9.97384958e-01 -2.92570819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:534.98, Y:-278.38, Z:-29.26 [[ 8.93040203e-01 4.45205616e-01 6.53540781e-02 5.34979259e+02] [-4.44137494e-01 8.95427159e-01 -3.08559484e-02 -2.78379570e+02] [-7.22570580e-02 -1.47059397e-03 9.97384958e-01 -2.92617114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.03, Y:-278.41, Z:-29.27 [[ 8.93000006e-01 4.45287404e-01 6.53461295e-02 5.35033955e+02] [-4.44218270e-01 8.95386509e-01 -3.08727726e-02 -2.78405794e+02] [-7.22572996e-02 -1.45855847e-03 9.97384958e-01 -2.92666167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.09, Y:-278.43, Z:-29.27 [[ 8.94428523e-01 4.42412082e-01 6.53388635e-02 5.35089745e+02] [-4.41334153e-01 8.96811066e-01 -3.08881428e-02 -2.78432714e+02] [-7.22619034e-02 -1.20903607e-03 9.97384959e-01 -2.92701747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.14, Y:-278.46, Z:-29.27 [[ 8.95110297e-01 4.41032206e-01 6.53310688e-02 5.35144511e+02] [-4.39949402e-01 8.97490628e-01 -3.09046205e-02 -2.78463179e+02] [-7.22639549e-02 -1.07932057e-03 9.97384959e-01 -2.92743536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.20, Y:-278.49, Z:-29.28 [[ 8.96442176e-01 4.38319103e-01 6.53283215e-02 5.35198198e+02] [-4.37228671e-01 8.98819022e-01 -3.09104267e-02 -2.78491720e+02] [-7.22669686e-02 -8.54005076e-04 9.97384959e-01 -2.92806220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.25, Y:-278.52, Z:-29.28 [[ 8.97931032e-01 4.35261980e-01 6.53212842e-02 5.35252901e+02] [-4.34162374e-01 9.00303649e-01 -3.09252913e-02 -2.78520213e+02] [-7.22695939e-02 -5.91265089e-04 9.97384959e-01 -2.92833236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.31, Y:-278.55, Z:-29.29 [[ 8.99559887e-01 4.31886706e-01 6.53137207e-02 5.35306884e+02] [-4.30777038e-01 9.01927814e-01 -3.09412569e-02 -2.78551648e+02] [-7.22713789e-02 -3.02137609e-04 9.97384959e-01 -2.92861476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.36, Y:-278.58, Z:-29.29 [[ 9.04696930e-01 4.21020146e-01 6.53108111e-02 5.35361574e+02] [-4.19881594e-01 9.07051104e-01 -3.09473974e-02 -2.78581878e+02] [-7.22697211e-02 5.75207910e-04 9.97384959e-01 -2.92876807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.42, Y:-278.61, Z:-29.29 [[ 9.09551722e-01 4.10428164e-01 6.53022744e-02 5.35415639e+02] [-4.09260910e-01 9.11891798e-01 -3.09654001e-02 -2.78609779e+02] [-7.22576808e-02 1.43896479e-03 9.97384959e-01 -2.92928151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.47, Y:-278.64, Z:-29.29 [[ 9.10632890e-01 4.08024386e-01 6.52980900e-02 5.35470299e+02] [-4.06850323e-01 9.12969557e-01 -3.09742216e-02 -2.78639772e+02] [-7.22534060e-02 1.63959594e-03 9.97384959e-01 -2.92946242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.53, Y:-278.66, Z:-29.30 [[ 9.12152283e-01 4.04616795e-01 6.52951938e-02 5.35525871e+02] [-4.03433567e-01 9.14484323e-01 -3.09803256e-02 -2.78663712e+02] [-7.22465912e-02 1.91650181e-03 9.97384959e-01 -2.93019903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.58, Y:-278.69, Z:-29.31 [[ 9.12417401e-01 4.04019810e-01 6.52876685e-02 5.35582151e+02] [-4.02833923e-01 9.14748090e-01 -3.09961763e-02 -2.78691101e+02] [-7.22448393e-02 1.98136299e-03 9.97384960e-01 -2.93057466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.64, Y:-278.72, Z:-29.31 [[ 9.10667361e-01 4.07950562e-01 6.52786110e-02 5.35637585e+02] [-4.06773371e-01 9.13002453e-01 -3.10152400e-02 -2.78718215e+02] [-7.22522166e-02 1.69096611e-03 9.97384960e-01 -2.93097550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.69, Y:-278.74, Z:-29.32 [[ 9.08483230e-01 4.12792866e-01 6.52707446e-02 5.35692964e+02] [-4.11626935e-01 9.10823965e-01 -3.10317859e-02 -2.78742276e+02] [-7.22598582e-02 1.32466056e-03 9.97384960e-01 -2.93155639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.75, Y:-278.77, Z:-29.32 [[ 9.06686593e-01 4.16725274e-01 6.52646044e-02 5.35749549e+02] [-4.15568566e-01 9.09031899e-01 -3.10446942e-02 -2.78768633e+02] [-7.22647160e-02 1.02588997e-03 9.97384960e-01 -2.93184554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.81, Y:-278.79, Z:-29.32 [[ 9.03707034e-01 4.23149057e-01 6.52569745e-02 5.35806103e+02] [-4.22007864e-01 9.06059928e-01 -3.10607242e-02 -2.78794171e+02] [-7.22700458e-02 5.30838528e-04 9.97384960e-01 -2.93209617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.86, Y:-278.82, Z:-29.32 [[ 9.01315272e-01 4.28221085e-01 6.52493881e-02 5.35863563e+02] [-4.27091980e-01 9.03673991e-01 -3.10766530e-02 -2.78819534e+02] [-7.22718530e-02 1.42371593e-04 9.97384960e-01 -2.93246729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.92, Y:-278.84, Z:-29.33 [[ 8.97667311e-01 4.35817711e-01 6.52404927e-02 5.35919353e+02] [-4.34707210e-01 9.00034845e-01 -3.10953162e-02 -2.78842976e+02] [-7.22706063e-02 -4.47263731e-04 9.97384961e-01 -2.93299187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:535.98, Y:-278.87, Z:-29.33 [[ 8.95224955e-01 4.40813465e-01 6.52362582e-02 5.35976471e+02] [-4.39715528e-01 8.97598342e-01 -3.11041975e-02 -2.78868224e+02] [-7.22671062e-02 -8.40141879e-04 9.97384961e-01 -2.93340134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.03, Y:-278.89, Z:-29.34 [[ 8.91568824e-01 4.48163351e-01 6.52276256e-02 5.36033828e+02] [-4.47083653e-01 8.93950563e-01 -3.11222901e-02 -2.78891784e+02] [-7.22581425e-02 -1.41454155e-03 9.97384961e-01 -2.93399003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.09, Y:-278.92, Z:-29.34 [[ 8.90316343e-01 4.50647494e-01 6.52199749e-02 5.36090294e+02] [-4.49573268e-01 8.92700556e-01 -3.11383146e-02 -2.78918173e+02] [-7.22543113e-02 -1.59820689e-03 9.97384961e-01 -2.93448300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.15, Y:-278.95, Z:-29.35 [[ 8.89384870e-01 4.52484319e-01 6.52111516e-02 5.36145816e+02] [-4.51413664e-01 8.91770688e-01 -3.11567820e-02 -2.78945767e+02] [-7.22513487e-02 -1.72683436e-03 9.97384961e-01 -2.93493614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.20, Y:-278.97, Z:-29.36 [[ 8.88478698e-01 4.54262182e-01 6.52033177e-02 5.36199868e+02] [-4.53195099e-01 8.90866116e-01 -3.11731676e-02 -2.78974107e+02] [-7.22482175e-02 -1.85312864e-03 9.97384961e-01 -2.93571851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.26, Y:-279.00, Z:-29.36 [[ 8.88173376e-01 4.54859492e-01 6.51988987e-02 5.36255027e+02] [-4.53793337e-01 8.90561208e-01 -3.11824074e-02 -2.79003314e+02] [-7.22472239e-02 -1.89144179e-03 9.97384961e-01 -2.93608651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.31, Y:-279.03, Z:-29.36 [[ 8.88403825e-01 4.54410341e-01 6.51911433e-02 5.36308296e+02] [-4.53341790e-01 8.90790586e-01 -3.11986126e-02 -2.79034297e+02] [-7.22486290e-02 -1.83690285e-03 9.97384962e-01 -2.93640046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.36, Y:-279.07, Z:-29.37 [[ 8.88786935e-01 4.53661573e-01 6.51840564e-02 5.36362470e+02] [-4.52589927e-01 8.91172307e-01 -3.12134126e-02 -2.79065367e+02] [-7.22505518e-02 -1.75957399e-03 9.97384962e-01 -2.93667581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.42, Y:-279.10, Z:-29.37 [[ 8.88465716e-01 4.54291405e-01 6.51766108e-02 5.36415615e+02] [-4.53220310e-01 8.90851336e-01 -3.12289519e-02 -2.79096939e+02] [-7.22497153e-02 -1.79351063e-03 9.97384962e-01 -2.93718725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.47, Y:-279.13, Z:-29.37 [[ 8.88414685e-01 4.54391640e-01 6.51735035e-02 5.36469856e+02] [-4.53320339e-01 8.90800212e-01 -3.12354353e-02 -2.79127617e+02] [-7.22496914e-02 -1.79445530e-03 9.97384962e-01 -2.93738976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.52, Y:-279.16, Z:-29.38 [[ 8.87566492e-01 4.56047533e-01 6.51641720e-02 5.36524986e+02] [-4.54979255e-01 8.89953375e-01 -3.12548909e-02 -2.79157111e+02] [-7.22467907e-02 -1.90755262e-03 9.97384962e-01 -2.93777061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:536.58, Y:-279.19, Z:-29.38 [[ 8.86833096e-01 4.57473320e-01 6.51553579e-02 5.36579780e+02] [-4.56407532e-01 8.89221091e-01 -3.12732545e-02 -2.79186320e+02] [-7.22441980e-02 -2.00323895e-03 9.97384962e-01 -2.93827641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.63, Y:-279.22, Z:-29.39 [[ 8.85866793e-01 4.59342800e-01 6.51476529e-02 5.36632706e+02] [-4.58280872e-01 8.88256507e-01 -3.12892970e-02 -2.79216305e+02] [-7.22403399e-02 -2.13777398e-03 9.97384962e-01 -2.93892217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.69, Y:-279.25, Z:-29.39 [[ 8.85309970e-01 4.60416072e-01 6.51405953e-02 5.36686357e+02] [-4.59355962e-01 8.87700491e-01 -3.13039834e-02 -2.79247241e+02] [-7.22381954e-02 -2.20899219e-03 9.97384963e-01 -2.93927319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.74, Y:-279.28, Z:-29.40 [[ 8.85145035e-01 4.60734184e-01 6.51327780e-02 5.36741109e+02] [-4.59673738e-01 8.87535406e-01 -3.13202401e-02 -2.79276826e+02] [-7.22379518e-02 -2.21687249e-03 9.97384963e-01 -2.93977604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.80, Y:-279.31, Z:-29.40 [[ 8.85641232e-01 4.59780760e-01 6.51249708e-02 5.36795497e+02] [-4.58716548e-01 8.88029929e-01 -3.13364654e-02 -2.79308976e+02] [-7.22408270e-02 -2.12103599e-03 9.97384963e-01 -2.94016170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.85, Y:-279.34, Z:-29.40 [[ 8.85468018e-01 4.60115525e-01 6.51159966e-02 5.36849927e+02] [-4.59050847e-01 8.87856507e-01 -3.13551023e-02 -2.79338497e+02] [-7.22406307e-02 -2.12761312e-03 9.97384963e-01 -2.94047820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.90, Y:-279.37, Z:-29.41 [[ 8.85971635e-01 4.59146138e-01 6.51082612e-02 5.36903030e+02] [-4.58077669e-01 8.88358430e-01 -3.13711566e-02 -2.79367931e+02] [-7.22434181e-02 -2.03068553e-03 9.97384963e-01 -2.94069001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:536.96, Y:-279.40, Z:-29.41 [[ 8.86928953e-01 4.57294701e-01 6.51044476e-02 5.36958584e+02] [-4.56220669e-01 8.89313249e-01 -3.13790690e-02 -2.79396739e+02] [-7.22477298e-02 -1.87098983e-03 9.97384963e-01 -2.94103482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.01, Y:-279.42, Z:-29.42 [[ 8.87651984e-01 4.55890932e-01 6.50954142e-02 5.37014637e+02] [-4.54811756e-01 8.90033957e-01 -3.13977974e-02 -2.79424885e+02] [-7.22511002e-02 -1.73584244e-03 9.97384964e-01 -2.94159818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.07, Y:-279.45, Z:-29.42 [[ 8.88872359e-01 4.53508188e-01 6.50865075e-02 5.37070032e+02] [-4.52421276e-01 8.91250811e-01 -3.14162499e-02 -2.79453504e+02] [-7.22559292e-02 -1.52148461e-03 9.97384964e-01 -2.94216544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.13, Y:-279.48, Z:-29.43 [[ 8.89426917e-01 4.52420222e-01 6.50822762e-02 5.37125025e+02] [-4.51329759e-01 8.91803743e-01 -3.14250131e-02 -2.79482130e+02] [-7.22579289e-02 -1.42331553e-03 9.97384964e-01 -2.94263329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.18, Y:-279.51, Z:-29.43 [[ 8.90376896e-01 4.50548877e-01 6.50745079e-02 5.37179419e+02] [-4.49452244e-01 8.92750882e-01 -3.14410914e-02 -2.79510487e+02] [-7.22610728e-02 -1.25346220e-03 9.97384964e-01 -2.94306304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.24, Y:-279.54, Z:-29.43 [[ 8.90322773e-01 4.50657006e-01 6.50662985e-02 5.37235752e+02] [-4.49559420e-01 8.92696319e-01 -3.14580712e-02 -2.79537527e+02] [-7.22612454e-02 -1.24333027e-03 9.97384964e-01 -2.94337083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.29, Y:-279.56, Z:-29.44 [[ 8.89894298e-01 4.51503582e-01 6.50588447e-02 5.37293095e+02] [-4.50407129e-01 8.92268367e-01 -3.14734791e-02 -2.79563641e+02] [-7.22603377e-02 -1.29489779e-03 9.97384964e-01 -2.94368124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.35, Y:-279.59, Z:-29.44 [[ 8.89370540e-01 4.52535669e-01 6.50500664e-02 5.37349605e+02] [-4.51440644e-01 8.91745268e-01 -3.14916119e-02 -2.79588579e+02] [-7.22591665e-02 -1.35853197e-03 9.97384964e-01 -2.94421760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.41, Y:-279.62, Z:-29.44 [[ 8.88346049e-01 4.54544653e-01 6.50419478e-02 5.37406198e+02] [-4.53453773e-01 8.90722683e-01 -3.15083709e-02 -2.79615255e+02] [-7.22562998e-02 -1.50317975e-03 9.97384965e-01 -2.94448121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.46, Y:-279.64, Z:-29.45 [[ 8.86801292e-01 4.57552379e-01 6.50329855e-02 5.37462144e+02] [-4.56468204e-01 8.89180992e-01 -3.15268581e-02 -2.79638984e+02] [-7.22512835e-02 -1.72743160e-03 9.97384965e-01 -2.94516586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.52, Y:-279.66, Z:-29.46 [[ 8.85643840e-01 4.59789769e-01 6.50258240e-02 5.37518388e+02] [-4.58710522e-01 8.88025779e-01 -3.15416222e-02 -2.79664443e+02] [-7.22471232e-02 -1.89338629e-03 9.97384965e-01 -2.94576489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.58, Y:-279.69, Z:-29.46 [[ 8.84450835e-01 4.62080882e-01 6.50229097e-02 5.37575178e+02] [-4.61007363e-01 8.86835361e-01 -3.15476290e-02 -2.79688146e+02] [-7.22421718e-02 -2.07371332e-03 9.97384965e-01 -2.94607333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.63, Y:-279.71, Z:-29.46 [[ 8.84489876e-01 4.62007295e-01 6.50147621e-02 5.37632612e+02] [-4.60932345e-01 8.86873757e-01 -3.15644110e-02 -2.79714067e+02] [-7.22428745e-02 -2.04900480e-03 9.97384965e-01 -2.94636912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.69, Y:-279.74, Z:-29.46 [[ 8.85672879e-01 4.59736662e-01 6.50057929e-02 5.37688249e+02] [-4.58654246e-01 8.88053380e-01 -3.15828719e-02 -2.79740600e+02] [-7.22484182e-02 -1.84308983e-03 9.97384965e-01 -2.94644998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.74, Y:-279.77, Z:-29.47 [[ 8.87047535e-01 4.57079718e-01 6.49984855e-02 5.37744154e+02] [-4.55989070e-01 8.89424275e-01 -3.15979037e-02 -2.79767369e+02] [-7.22539917e-02 -1.60975644e-03 9.97384966e-01 -2.94694953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.80, Y:-279.79, Z:-29.47 [[ 8.87527477e-01 4.56147527e-01 6.49954665e-02 5.37799545e+02] [-4.55053929e-01 8.89902861e-01 -3.16041123e-02 -2.79793472e+02] [-7.22557893e-02 -1.52692431e-03 9.97384966e-01 -2.94744139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.86, Y:-279.82, Z:-29.48 [[ 8.89050660e-01 4.53172917e-01 6.49863989e-02 5.37855738e+02] [-4.52070008e-01 8.91421735e-01 -3.16227468e-02 -2.79816605e+02] [-7.22608609e-02 -1.26417804e-03 9.97384966e-01 -2.94773157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.91, Y:-279.84, Z:-29.48 [[ 8.90702764e-01 4.49918110e-01 6.49790777e-02 5.37912629e+02] [-4.48805440e-01 8.93069274e-01 -3.16377835e-02 -2.79841814e+02] [-7.22652295e-02 -9.83102369e-04 9.97384966e-01 -2.94827992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:537.97, Y:-279.87, Z:-29.49 [[ 8.92546354e-01 4.46250767e-01 6.49712145e-02 5.37970023e+02] [-4.45127197e-01 8.94907709e-01 -3.16539231e-02 -2.79868020e+02] [-7.22688282e-02 -6.67860982e-04 9.97384966e-01 -2.94866286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.03, Y:-279.89, Z:-29.49 [[ 8.93948738e-01 4.43436096e-01 6.49621664e-02 5.38025654e+02] [-4.42303743e-01 8.96305893e-01 -3.16724814e-02 -2.79894662e+02] [-7.22706940e-02 -4.19434555e-04 9.97384966e-01 -2.94903310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.08, Y:-279.92, Z:-29.49 [[ 8.94821026e-01 4.41674395e-01 6.49542892e-02 5.38080852e+02] [-4.40536229e-01 8.97175379e-01 -3.16886278e-02 -2.79920270e+02] [-7.22714446e-02 -2.59067220e-04 9.97384966e-01 -2.94944368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.14, Y:-279.95, Z:-29.50 [[ 8.94707628e-01 4.41905116e-01 6.49471196e-02 5.38137629e+02] [-4.40766491e-01 8.97061759e-01 -3.17033153e-02 -2.79945875e+02] [-7.22714346e-02 -2.61315962e-04 9.97384967e-01 -2.94987052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.19, Y:-279.97, Z:-29.50 [[ 8.93948362e-01 4.43440189e-01 6.49393866e-02 5.38193206e+02] [-4.42304457e-01 8.96303890e-01 -3.17191473e-02 -2.79971636e+02] [-7.22709695e-02 -3.67700278e-04 9.97384967e-01 -2.95035442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.25, Y:-280.00, Z:-29.51 [[ 8.92661616e-01 4.46025821e-01 6.49323133e-02 5.38249741e+02] [-4.44895859e-01 8.95019917e-01 -3.17336205e-02 -2.79997879e+02] [-7.22697278e-02 -5.60732300e-04 9.97384967e-01 -2.95075119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.31, Y:-280.02, Z:-29.51 [[ 8.90421467e-01 4.50482474e-01 6.49241998e-02 5.38306614e+02] [-4.49363105e-01 8.92784814e-01 -3.17502113e-02 -2.80023509e+02] [-7.22662534e-02 -9.03470304e-04 9.97384967e-01 -2.95125181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.36, Y:-280.05, Z:-29.52 [[ 8.88383430e-01 4.54489664e-01 6.49155328e-02 5.38363395e+02] [-4.53379660e-01 8.90751190e-01 -3.17679218e-02 -2.80048853e+02] [-7.22617802e-02 -1.20928685e-03 9.97384967e-01 -2.95168431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.42, Y:-280.07, Z:-29.52 [[ 8.86501622e-01 4.58150468e-01 6.49077994e-02 5.38420499e+02] [-4.57049085e-01 8.88873405e-01 -3.17837147e-02 -2.80074922e+02] [-7.22565404e-02 -1.48973568e-03 9.97384967e-01 -2.95217288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.48, Y:-280.10, Z:-29.53 [[ 8.85558804e-01 4.59971478e-01 6.48987175e-02 5.38477551e+02] [-4.58873614e-01 8.87932218e-01 -3.18022482e-02 -2.80101910e+02] [-7.22537893e-02 -1.61754818e-03 9.97384968e-01 -2.95269366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.53, Y:-280.13, Z:-29.53 [[ 8.84836054e-01 4.61361563e-01 6.48896371e-02 5.38533643e+02] [-4.60266071e-01 8.87210563e-01 -3.18207652e-02 -2.80129101e+02] [-7.22516494e-02 -1.71033799e-03 9.97384968e-01 -2.95318876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.59, Y:-280.16, Z:-29.54 [[ 8.84724105e-01 4.61577486e-01 6.48805221e-02 5.38588841e+02] [-4.60481212e-01 8.87098253e-01 -3.18393394e-02 -2.80156008e+02] [-7.22517200e-02 -1.70723042e-03 9.97384968e-01 -2.95371653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.64, Y:-280.18, Z:-29.54 [[ 8.85243051e-01 4.60582621e-01 6.48720971e-02 5.38644243e+02] [-4.59482422e-01 8.87615382e-01 -3.18564959e-02 -2.80182741e+02] [-7.22540197e-02 -1.60684666e-03 9.97384968e-01 -2.95419254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.70, Y:-280.21, Z:-29.55 [[ 8.86283835e-01 4.58577458e-01 6.48666210e-02 5.38700357e+02] [-4.57471076e-01 8.88653289e-01 -3.18676425e-02 -2.80209864e+02] [-7.22577186e-02 -1.43082646e-03 9.97384968e-01 -2.95460962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.76, Y:-280.24, Z:-29.55 [[ 8.89599387e-01 4.52113299e-01 6.48575073e-02 5.38755989e+02] [-4.50988346e-01 8.91960080e-01 -3.18861802e-02 -2.80237971e+02] [-7.22664735e-02 -8.84053534e-04 9.97384968e-01 -2.95515126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.81, Y:-280.27, Z:-29.56 [[ 8.92710882e-01 4.45939408e-01 6.48484865e-02 5.38811803e+02] [-4.44796795e-01 8.95063077e-01 -3.19045156e-02 -2.80266181e+02] [-7.22709667e-02 -3.62890707e-04 9.97384969e-01 -2.95573413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.87, Y:-280.29, Z:-29.56 [[ 8.97494118e-01 4.36234041e-01 6.48395709e-02 5.38867934e+02] [-4.35064684e-01 8.99833133e-01 -3.19226246e-02 -2.80294296e+02] [-7.22705297e-02 4.40960413e-04 9.97384969e-01 -2.95633610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.92, Y:-280.32, Z:-29.57 [[ 9.01629798e-01 4.27622119e-01 6.48307862e-02 5.38924608e+02] [-4.26429142e-01 9.03956854e-01 -3.19404552e-02 -2.80321023e+02] [-7.22626787e-02 1.15272966e-03 9.97384969e-01 -2.95673525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:538.98, Y:-280.35, Z:-29.57 [[ 9.03969967e-01 4.22654008e-01 6.48219757e-02 5.38982183e+02] [-4.21446962e-01 9.06289757e-01 -3.19583259e-02 -2.80347398e+02] [-7.22548071e-02 1.57034212e-03 9.97384969e-01 -2.95703648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.04, Y:-280.37, Z:-29.57 [[ 9.04391346e-01 4.21752947e-01 6.48131623e-02 5.39039180e+02] [-4.20542310e-01 9.06709264e-01 -3.19761899e-02 -2.80374566e+02] [-7.22527470e-02 1.66231242e-03 9.97384969e-01 -2.95749082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.10, Y:-280.40, Z:-29.58 [[ 9.04813483e-01 4.20847929e-01 6.48041767e-02 5.39096361e+02] [-4.19633672e-01 9.07129506e-01 -3.19943903e-02 -2.80400447e+02] [-7.22505537e-02 1.75494112e-03 9.97384970e-01 -2.95798573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.15, Y:-280.43, Z:-29.58 [[ 9.03196478e-01 4.24308481e-01 6.47953301e-02 5.39153100e+02] [-4.23101814e-01 9.05516465e-01 -3.20122964e-02 -2.80425261e+02] [-7.22563271e-02 1.49837166e-03 9.97384970e-01 -2.95804496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.21, Y:-280.45, Z:-29.59 [[ 9.01257957e-01 4.28411863e-01 6.47871222e-02 5.39210528e+02] [-4.27214567e-01 9.03582793e-01 -3.20288991e-02 -2.80445662e+02] [-7.22620892e-02 1.18829782e-03 9.97384970e-01 -2.95896196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.27, Y:-280.47, Z:-29.59 [[ 8.99353862e-01 4.32396006e-01 6.47790472e-02 5.39268341e+02] [-4.31207834e-01 9.01683374e-01 -3.20452228e-02 -2.80470356e+02] [-7.22664162e-02 8.86762243e-04 9.97384970e-01 -2.95945467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.33, Y:-280.50, Z:-29.60 [[ 8.96474502e-01 4.38335873e-01 6.47698198e-02 5.39326293e+02] [-4.37161790e-01 8.98811147e-01 -3.20638622e-02 -2.80495433e+02] [-7.22705771e-02 4.29544535e-04 9.97384970e-01 -2.96001127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.38, Y:-280.52, Z:-29.61 [[ 8.95452427e-01 4.40421379e-01 6.47607832e-02 5.39383802e+02] [-4.39251419e-01 8.97791139e-01 -3.20821037e-02 -2.80521160e+02] [-7.22713016e-02 2.81731683e-04 9.97384971e-01 -2.96050325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.44, Y:-280.55, Z:-29.61 [[ 8.94870434e-01 4.41604052e-01 6.47515910e-02 5.39439995e+02] [-4.40435841e-01 8.97210019e-01 -3.21006456e-02 -2.80546030e+02] [-7.22715514e-02 2.06997166e-04 9.97384971e-01 -2.96101514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.50, Y:-280.57, Z:-29.61 [[ 8.94995028e-01 4.41352729e-01 6.47430929e-02 5.39495997e+02] [-4.40182622e-01 8.97333666e-01 -3.21177760e-02 -2.80571413e+02] [-7.22714250e-02 2.46465456e-04 9.97384971e-01 -2.96149853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.55, Y:-280.60, Z:-29.62 [[ 8.95181736e-01 4.40975100e-01 6.47350055e-02 5.39553398e+02] [-4.39802828e-01 8.97519289e-01 -3.21340684e-02 -2.80597974e+02] [-7.22712402e-02 2.95192608e-04 9.97384971e-01 -2.96199067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.61, Y:-280.63, Z:-29.63 [[ 8.95467886e-01 4.40395054e-01 6.47260572e-02 5.39609449e+02] [-4.39219966e-01 8.97804024e-01 -3.21520826e-02 -2.80625121e+02] [-7.22709327e-02 3.62180765e-04 9.97384971e-01 -2.96253388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.67, Y:-280.65, Z:-29.63 [[ 8.96187834e-01 4.38929455e-01 6.47170822e-02 5.39665824e+02] [-4.37749242e-01 8.98521387e-01 -3.21701377e-02 -2.80653426e+02] [-7.22701035e-02 5.00632338e-04 9.97384972e-01 -2.96302316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.72, Y:-280.68, Z:-29.63 [[ 8.96657610e-01 4.37970308e-01 6.47081184e-02 5.39722190e+02] [-4.36786299e-01 8.98989239e-01 -3.21881576e-02 -2.80682041e+02] [-7.22693595e-02 5.98136946e-04 9.97384972e-01 -2.96344421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.78, Y:-280.71, Z:-29.64 [[ 8.96367410e-01 4.38565283e-01 6.46989900e-02 5.39777728e+02] [-4.37381498e-01 8.98699153e-01 -3.22064957e-02 -2.80710267e+02] [-7.22695783e-02 5.70711947e-04 9.97384972e-01 -2.96388529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.83, Y:-280.74, Z:-29.64 [[ 8.95555816e-01 4.40221527e-01 6.46899297e-02 5.39832834e+02] [-4.39040740e-01 8.97889079e-01 -3.22246838e-02 -2.80738441e+02] [-7.22703809e-02 4.57488367e-04 9.97384972e-01 -2.96430988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.89, Y:-280.77, Z:-29.65 [[ 8.93612977e-01 4.44153287e-01 6.46815604e-02 5.39889000e+02] [-4.42981552e-01 8.95950798e-01 -3.22414741e-02 -2.80767387e+02] [-7.22716523e-02 1.58661733e-04 9.97384972e-01 -2.96464105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:539.94, Y:-280.80, Z:-29.65 [[ 8.90172689e-01 4.51009315e-01 6.46775169e-02 5.39944501e+02] [-4.49854996e-01 8.92519158e-01 -3.22495834e-02 -2.80795381e+02] [-7.22707855e-02 -3.87805715e-04 9.97384972e-01 -2.96502243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.00, Y:-280.82, Z:-29.66 [[ 8.85494528e-01 4.60127568e-01 6.46688692e-02 5.39999884e+02] [-4.58996142e-01 8.87852121e-01 -3.22669150e-02 -2.80823596e+02] [-7.22632898e-02 -1.11058485e-03 9.97384973e-01 -2.96562784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.06, Y:-280.85, Z:-29.66 [[ 8.82090983e-01 4.66620214e-01 6.46612255e-02 5.40056175e+02] [-4.65505017e-01 8.84456295e-01 -3.22822255e-02 -2.80852402e+02] [-7.22535668e-02 -1.62426486e-03 9.97384973e-01 -2.96606612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.11, Y:-280.88, Z:-29.67 [[ 8.77655880e-01 4.74910791e-01 6.46521195e-02 5.40110570e+02] [-4.73816589e-01 8.80030977e-01 -3.23004518e-02 -2.80881538e+02] [-7.22357011e-02 -2.28456531e-03 9.97384973e-01 -2.96660132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.17, Y:-280.91, Z:-29.67 [[ 8.77276993e-01 4.75611405e-01 6.46441724e-02 5.40165777e+02] [-4.74517929e-01 8.79652425e-01 -3.23163490e-02 -2.80912434e+02] [-7.22344271e-02 -2.32442934e-03 9.97384973e-01 -2.96704227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.22, Y:-280.94, Z:-29.67 [[ 8.77921178e-01 4.74422495e-01 6.46351373e-02 5.40220663e+02] [-4.73324474e-01 8.80294512e-01 -3.23344097e-02 -2.80943263e+02] [-7.22381280e-02 -2.20632937e-03 9.97384973e-01 -2.96742088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.27, Y:-280.98, Z:-29.68 [[ 8.80160745e-01 4.70255808e-01 6.46261398e-02 5.40274445e+02] [-4.69145231e-01 8.82528229e-01 -3.23523829e-02 -2.80975752e+02] [-7.22482887e-02 -1.84374781e-03 9.97384974e-01 -2.96776533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.33, Y:-281.01, Z:-29.68 [[ 8.81955964e-01 4.66881453e-01 6.46172252e-02 5.40328442e+02] [-4.65760514e-01 8.84318560e-01 -3.23701781e-02 -2.81008032e+02] [-7.22552474e-02 -1.54708037e-03 9.97384974e-01 -2.96816141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.38, Y:-281.04, Z:-29.69 [[ 8.83699949e-01 4.63573242e-01 6.46084348e-02 5.40382119e+02] [-4.62442176e-01 8.86057713e-01 -3.23877137e-02 -2.81040084e+02] [-7.22608794e-02 -1.25664425e-03 9.97384974e-01 -2.96861490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.44, Y:-281.07, Z:-29.69 [[ 8.86435669e-01 4.58321449e-01 6.46007243e-02 5.40436101e+02] [-4.57175293e-01 8.88786134e-01 -3.24030858e-02 -2.81073386e+02] [-7.22672573e-02 -8.10603984e-04 9.97384974e-01 -2.96913427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.49, Y:-281.11, Z:-29.70 [[ 8.90154651e-01 4.51057180e-01 6.45919342e-02 5.40488191e+02] [-4.49890569e-01 8.92495031e-01 -3.24205984e-02 -2.81107234e+02] [-7.22715241e-02 -1.99955587e-04 9.97384974e-01 -2.96963881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.54, Y:-281.14, Z:-29.70 [[ 8.95119332e-01 4.41123879e-01 6.45840906e-02 5.40539011e+02] [-4.39930171e-01 8.97446008e-01 -3.24362160e-02 -2.81141387e+02] [-7.22691237e-02 6.21794014e-04 9.97384974e-01 -2.97017086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.59, Y:-281.18, Z:-29.70 [[ 9.00570307e-01 4.29886706e-01 6.45797375e-02 5.40592642e+02] [-4.28663351e-01 9.02881532e-01 -3.24448807e-02 -2.81175749e+02] [-7.22554752e-02 1.53592942e-03 9.97384974e-01 -2.97038475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.65, Y:-281.21, Z:-29.71 [[ 9.03720545e-01 4.23225456e-01 6.45708092e-02 5.40647354e+02] [-4.21983802e-01 9.06021991e-01 -3.24626398e-02 -2.81206903e+02] [-7.22415886e-02 2.08931894e-03 9.97384975e-01 -2.97074131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.70, Y:-281.24, Z:-29.71 [[ 9.07066292e-01 4.16007836e-01 6.45617792e-02 5.40701915e+02] [-4.14746599e-01 9.09357064e-01 -3.24805888e-02 -2.81238208e+02] [-7.22218894e-02 2.68526888e-03 9.97384975e-01 -2.97109579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.76, Y:-281.27, Z:-29.71 [[ 9.07830260e-01 4.14339418e-01 6.45528219e-02 5.40757245e+02] [-4.13072708e-01 9.10118010e-01 -3.24983810e-02 -2.81266766e+02] [-7.22160461e-02 2.83800470e-03 9.97384975e-01 -2.97147706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.81, Y:-281.29, Z:-29.72 [[ 9.06953565e-01 4.16256208e-01 6.45445541e-02 5.40813510e+02] [-4.14993169e-01 9.09243344e-01 -3.25147933e-02 -2.81294902e+02] [-7.22211908e-02 2.70385869e-03 9.97384975e-01 -2.97183396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.87, Y:-281.32, Z:-29.72 [[ 9.05250942e-01 4.19947497e-01 6.45355042e-02 5.40870160e+02] [-4.18692518e-01 9.07545148e-01 -3.25327457e-02 -2.81322658e+02] [-7.22309289e-02 2.42976597e-03 9.97384975e-01 -2.97228462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.93, Y:-281.35, Z:-29.73 [[ 9.02640312e-01 4.25531195e-01 6.45265024e-02 5.40926561e+02] [-4.24289136e-01 9.04941538e-01 -3.25505904e-02 -2.81349987e+02] [-7.22440040e-02 2.00358113e-03 9.97384976e-01 -2.97271673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:540.98, Y:-281.38, Z:-29.73 [[ 8.99523432e-01 4.32082253e-01 6.45176128e-02 5.40983782e+02] [-4.30855695e-01 9.01832957e-01 -3.25682007e-02 -2.81376138e+02] [-7.22562511e-02 1.49807875e-03 9.97384976e-01 -2.97318751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.04, Y:-281.40, Z:-29.74 [[ 8.94281033e-01 4.42831902e-01 6.45084531e-02 5.41040856e+02] [-4.41631804e-01 8.96604417e-01 -3.25863334e-02 -2.81400965e+02] [-7.22688320e-02 6.52355388e-04 9.97384976e-01 -2.97381778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.10, Y:-281.43, Z:-29.74 [[ 8.90015496e-01 4.51344933e-01 6.44993713e-02 5.41097299e+02] [-4.50165757e-01 8.92349568e-01 -3.26042996e-02 -2.81426757e+02] [-7.22717715e-02 -1.70764288e-05 9.97384976e-01 -2.97448923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.15, Y:-281.45, Z:-29.75 [[ 8.87551388e-01 4.56172609e-01 6.44909699e-02 5.41154106e+02] [-4.55004921e-01 8.89891228e-01 -3.26209090e-02 -2.81454119e+02] [-7.22707136e-02 -3.90975605e-04 9.97384976e-01 -2.97471287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.21, Y:-281.48, Z:-29.76 [[ 8.84012696e-01 4.62994212e-01 6.44818787e-02 5.41211266e+02] [-4.61843269e-01 8.86360818e-01 -3.26388698e-02 -2.81477646e+02] [-7.22658185e-02 -9.27346384e-04 9.97384977e-01 -2.97566728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.27, Y:-281.51, Z:-29.76 [[ 8.81479289e-01 4.67799810e-01 6.44794559e-02 5.41267050e+02] [-4.66661316e-01 8.83833473e-01 -3.26436554e-02 -2.81505379e+02] [-7.22597972e-02 -1.31536163e-03 9.97384977e-01 -2.97607448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.32, Y:-281.54, Z:-29.76 [[ 8.77501039e-01 4.75221612e-01 6.44697315e-02 5.41320093e+02] [-4.74101616e-01 8.79864078e-01 -3.26628495e-02 -2.81535610e+02] [-7.22466928e-02 -1.90351955e-03 9.97384977e-01 -2.97609136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.37, Y:-281.56, Z:-29.77 [[ 8.76989204e-01 4.76166158e-01 6.44649261e-02 5.41374931e+02] [-4.75048010e-01 8.79353118e-01 -3.26723307e-02 -2.81563089e+02] [-7.22448920e-02 -1.97065358e-03 9.97384977e-01 -2.97694105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.43, Y:-281.59, Z:-29.78 [[ 8.77303772e-01 4.75587487e-01 6.44564506e-02 5.41429758e+02] [-4.74466553e-01 8.79666367e-01 -3.26890429e-02 -2.81590566e+02] [-7.22466715e-02 -1.90420924e-03 9.97384977e-01 -2.97777589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.48, Y:-281.62, Z:-29.78 [[ 8.78757683e-01 4.72896794e-01 6.44480926e-02 5.41484031e+02] [-4.71767418e-01 8.81116254e-01 -3.27055128e-02 -2.81622876e+02] [-7.22525941e-02 -1.66428958e-03 9.97384977e-01 -2.97840473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.54, Y:-281.66, Z:-29.78 [[ 8.78562672e-01 4.73260318e-01 6.44383661e-02 5.41535022e+02] [-4.72130514e-01 8.80921037e-01 -3.27246655e-02 -2.81656910e+02] [-7.22523979e-02 -1.67264935e-03 9.97384977e-01 -2.97812679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.59, Y:-281.69, Z:-29.78 [[ 8.81565771e-01 4.67643140e-01 6.44335783e-02 5.41587735e+02] [-4.66497618e-01 8.83916541e-01 -3.27340898e-02 -2.81690397e+02] [-7.22617781e-02 -1.20085774e-03 9.97384978e-01 -2.97840632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.64, Y:-281.72, Z:-29.79 [[ 8.83405269e-01 4.64159908e-01 6.44260077e-02 5.41641480e+02] [-4.63004031e-01 8.85750965e-01 -3.27489830e-02 -2.81721690e+02] [-7.22661635e-02 -8.98877063e-04 9.97384978e-01 -2.97866383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.69, Y:-281.75, Z:-29.79 [[ 8.85623781e-01 4.59913920e-01 6.44182079e-02 5.41694296e+02] [-4.58745680e-01 8.87963344e-01 -3.27643183e-02 -2.81754012e+02] [-7.22697734e-02 -5.34715150e-04 9.97384978e-01 -2.97892945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.75, Y:-281.79, Z:-29.79 [[ 8.87439606e-01 4.56401439e-01 6.44101861e-02 5.41747207e+02] [-4.55222794e-01 8.89773945e-01 -3.27800806e-02 -2.81785479e+02] [-7.22713813e-02 -2.30643072e-04 9.97384978e-01 -2.97949643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.80, Y:-281.82, Z:-29.80 [[ 8.89445207e-01 4.52481651e-01 6.44017022e-02 5.41802384e+02] [-4.51291513e-01 8.91773707e-01 -3.27967401e-02 -2.81815512e+02] [-7.22716678e-02 1.06961623e-04 9.97384978e-01 -2.98029486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.86, Y:-281.84, Z:-29.81 [[ 8.89489762e-01 4.52395440e-01 6.43919898e-02 5.41855777e+02] [-4.51203697e-01 8.91817441e-01 -3.28157980e-02 -2.81844756e+02] [-7.22716170e-02 1.35412518e-04 9.97384978e-01 -2.98058100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.91, Y:-281.87, Z:-29.81 [[ 8.90614976e-01 4.50176913e-01 6.43871956e-02 5.41910826e+02] [-4.48978692e-01 8.92939326e-01 -3.28252020e-02 -2.81873646e+02] [-7.22710072e-02 3.26137621e-04 9.97384978e-01 -2.98092984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:541.97, Y:-281.90, Z:-29.81 [[ 8.92798550e-01 4.45831886e-01 6.43791785e-02 5.41965801e+02] [-4.44621220e-01 8.95116442e-01 -3.28409183e-02 -2.81902303e+02] [-7.22683897e-02 6.95975319e-04 9.97384979e-01 -2.98115414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.02, Y:-281.93, Z:-29.82 [[ 8.94722233e-01 4.41959805e-01 6.43712349e-02 5.42020924e+02] [-4.40737989e-01 8.97034267e-01 -3.28564810e-02 -2.81929361e+02] [-7.22644475e-02 1.02657543e-03 9.97384979e-01 -2.98156312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.08, Y:-281.96, Z:-29.82 [[ 8.95831082e-01 4.39708506e-01 6.43669353e-02 5.42077592e+02] [-4.38480275e-01 8.98139715e-01 -3.28649019e-02 -2.81957385e+02] [-7.22614778e-02 1.21776912e-03 9.97384979e-01 -2.98199732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.13, Y:-281.98, Z:-29.83 [[ 8.97317974e-01 4.36667525e-01 6.43577903e-02 5.42134173e+02] [-4.35430188e-01 8.99621739e-01 -3.28828005e-02 -2.81983264e+02] [-7.22565183e-02 1.48300325e-03 9.97384979e-01 -2.98269322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.19, Y:-282.01, Z:-29.83 [[ 8.96197827e-01 4.38962340e-01 6.43546348e-02 5.42190160e+02] [-4.37730459e-01 8.98504514e-01 -3.28889749e-02 -2.82006906e+02] [-7.22599512e-02 1.30504408e-03 9.97384979e-01 -2.98309218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.25, Y:-282.03, Z:-29.83 [[ 8.94702048e-01 4.42004277e-01 6.43464360e-02 5.42245770e+02] [-4.40779086e-01 8.97012295e-01 -3.29050078e-02 -2.82034754e+02] [-7.22636985e-02 1.07761459e-03 9.97384979e-01 -2.98349605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.30, Y:-282.06, Z:-29.84 [[ 8.93355041e-01 4.44720957e-01 6.43431440e-02 5.42302202e+02] [-4.43502329e-01 8.95668757e-01 -3.29114439e-02 -2.82057555e+02] [-7.22665526e-02 8.65270092e-04 9.97384979e-01 -2.98406006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.36, Y:-282.08, Z:-29.84 [[ 8.90985471e-01 4.49450721e-01 6.43345967e-02 5.42357662e+02] [-4.48243169e-01 8.93304986e-01 -3.29281436e-02 -2.82084554e+02] [-7.22699939e-02 5.00953985e-04 9.97384979e-01 -2.98426782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.41, Y:-282.11, Z:-29.85 [[ 8.88192183e-01 4.54946505e-01 6.43297986e-02 5.42414211e+02] [-4.53752628e-01 8.90518766e-01 -3.29375146e-02 -2.82106255e+02] [-7.22717000e-02 6.50279045e-05 9.97384979e-01 -2.98499176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.47, Y:-282.13, Z:-29.85 [[ 8.84772041e-01 4.61563305e-01 6.43253535e-02 5.42471817e+02] [-4.60386195e-01 8.87107152e-01 -3.29461934e-02 -2.82130013e+02] [-7.22702351e-02 -4.64633914e-04 9.97384979e-01 -2.98542574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.53, Y:-282.16, Z:-29.86 [[ 8.82461572e-01 4.65966754e-01 6.43160769e-02 5.42528866e+02] [-4.64799976e-01 8.84801863e-01 -3.29642929e-02 -2.82155878e+02] [-7.22672492e-02 -8.04389259e-04 9.97384980e-01 -2.98598279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.59, Y:-282.18, Z:-29.87 [[ 8.80513843e-01 4.69638164e-01 6.43068261e-02 5.42586213e+02] [-4.68479827e-01 8.82858322e-01 -3.29823295e-02 -2.82181599e+02] [-7.22635773e-02 -1.08505315e-03 9.97384980e-01 -2.98657308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.64, Y:-282.21, Z:-29.87 [[ 8.79001937e-01 4.72463126e-01 6.42976583e-02 5.42642885e+02] [-4.71311018e-01 8.81349484e-01 -3.30001920e-02 -2.82208226e+02] [-7.22600819e-02 -1.29696204e-03 9.97384980e-01 -2.98712053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.70, Y:-282.23, Z:-29.88 [[ 8.78012165e-01 4.74301246e-01 6.42881456e-02 5.42698227e+02] [-4.73152696e-01 8.80361455e-01 -3.30187136e-02 -2.82234884e+02] [-7.22576224e-02 -1.42727717e-03 9.97384980e-01 -2.98769744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.75, Y:-282.26, Z:-29.88 [[ 8.78412694e-01 4.73560243e-01 6.42793517e-02 5.42754371e+02] [-4.72408460e-01 8.80760400e-01 -3.30358243e-02 -2.82262981e+02] [-7.22591605e-02 -1.34702206e-03 9.97384980e-01 -2.98805958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.81, Y:-282.29, Z:-29.88 [[ 8.79250588e-01 4.72003992e-01 6.42700185e-02 5.42810123e+02] [-4.70846726e-01 8.81595596e-01 -3.30539718e-02 -2.82292011e+02] [-7.22617719e-02 -1.19860370e-03 9.97384981e-01 -2.98849035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.86, Y:-282.32, Z:-29.89 [[ 8.81995343e-01 4.66856264e-01 6.42607449e-02 5.42864780e+02] [-4.65683998e-01 8.84332888e-01 -3.30719910e-02 -2.82321812e+02] [-7.22677563e-02 -7.55858587e-04 9.97384981e-01 -2.98897568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:542.92, Y:-282.35, Z:-29.89 [[ 8.84710338e-01 4.61691847e-01 6.42515110e-02 5.42919947e+02] [-4.60504632e-01 8.87040326e-01 -3.30899206e-02 -2.82350740e+02] [-7.22710279e-02 -3.13123615e-04 9.97384981e-01 -2.98945777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:542.98, Y:-282.38, Z:-29.90 [[ 8.90397354e-01 4.50627875e-01 6.42422822e-02 5.42975338e+02] [-4.49410417e-01 8.92711683e-01 -3.31078282e-02 -2.82378929e+02] [-7.22691461e-02 6.07971792e-04 9.97384981e-01 -2.99038951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.03, Y:-282.41, Z:-29.91 [[ 8.94247041e-01 4.42940657e-01 6.42324196e-02 5.43028853e+02] [-4.41701934e-01 8.96550058e-01 -3.31269517e-02 -2.82411462e+02] [-7.22608532e-02 1.25209453e-03 9.97384982e-01 -2.99070060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.08, Y:-282.44, Z:-29.91 [[ 8.97682668e-01 4.35937278e-01 6.42224092e-02 5.43083312e+02] [-4.34679205e-01 8.99975171e-01 -3.31463471e-02 -2.82441502e+02] [-7.22483021e-02 1.83875552e-03 9.97384982e-01 -2.99105312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.14, Y:-282.47, Z:-29.91 [[ 9.00279237e-01 4.30550764e-01 6.42132034e-02 5.43138166e+02] [-4.29277707e-01 9.02563454e-01 -3.31641717e-02 -2.82470200e+02] [-7.22353501e-02 2.29171850e-03 9.97384982e-01 -2.99148196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.19, Y:-282.50, Z:-29.92 [[ 9.01183530e-01 4.28656107e-01 6.42042576e-02 5.43193204e+02] [-4.27377017e-01 9.03464374e-01 -3.31814813e-02 -2.82499501e+02] [-7.22297040e-02 2.46318038e-03 9.97384982e-01 -2.99190837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.25, Y:-282.53, Z:-29.92 [[ 9.00280224e-01 4.30551433e-01 6.41948810e-02 5.43246527e+02] [-4.29275854e-01 9.02563032e-01 -3.31996120e-02 -2.82530842e+02] [-7.22340670e-02 2.33164175e-03 9.97384982e-01 -2.99202260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.30, Y:-282.56, Z:-29.92 [[ 8.98642552e-01 4.33960430e-01 6.41865224e-02 5.43303638e+02] [-4.32692359e-01 9.00929540e-01 -3.32157642e-02 -2.82557768e+02] [-7.22418614e-02 2.07608126e-03 9.97384983e-01 -2.99242760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.36, Y:-282.58, Z:-29.93 [[ 8.95433799e-01 4.40544719e-01 6.41767983e-02 5.43361183e+02] [-4.39292124e-01 8.97729299e-01 -3.32345418e-02 -2.82583303e+02] [-7.22546941e-02 1.56697002e-03 9.97384983e-01 -2.99298554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.42, Y:-282.61, Z:-29.94 [[ 8.91770387e-01 4.47915366e-01 6.41669916e-02 5.43418594e+02] [-4.46680385e-01 8.94075411e-01 -3.32534651e-02 -2.82606582e+02] [-7.22648674e-02 9.92318912e-04 9.97384983e-01 -2.99369528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.48, Y:-282.63, Z:-29.94 [[ 8.88868329e-01 4.53648380e-01 6.41579371e-02 5.43475328e+02] [-4.52427008e-01 8.91180592e-01 -3.32709254e-02 -2.82632453e+02] [-7.22696098e-02 5.46688364e-04 9.97384983e-01 -2.99422754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:543.53, Y:-282.66, Z:-29.95 [[ 8.84658644e-01 4.61805192e-01 6.41486455e-02 5.43531203e+02] [-4.60603842e-01 8.86981372e-01 -3.32888307e-02 -2.82661118e+02] [-7.22716085e-02 -9.78607512e-05 9.97384983e-01 -2.99463204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.59, Y:-282.69, Z:-29.95 [[ 8.81873763e-01 4.67102851e-01 6.41372910e-02 5.43588216e+02] [-4.65913863e-01 8.84202844e-01 -3.33106930e-02 -2.82685371e+02] [-7.22698948e-02 -5.06626872e-04 9.97384984e-01 -2.99520787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.64, Y:-282.71, Z:-29.96 [[ 8.78478935e-01 4.73457581e-01 6.41301766e-02 5.43643992e+02] [-4.72284440e-01 8.80816038e-01 -3.33243841e-02 -2.82711391e+02] [-7.22645704e-02 -1.01291505e-03 9.97384984e-01 -2.99565061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.70, Y:-282.74, Z:-29.96 [[ 8.75780180e-01 4.78432441e-01 6.41207918e-02 5.43699740e+02] [-4.77271254e-01 8.78123245e-01 -3.33424320e-02 -2.82739279e+02] [-7.22580589e-02 -1.40236960e-03 9.97384984e-01 -2.99632760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.75, Y:-282.77, Z:-29.97 [[ 8.73982666e-01 4.81709506e-01 6.41112388e-02 5.43754669e+02] [-4.80555757e-01 8.76329403e-01 -3.33607905e-02 -2.82767080e+02] [-7.22527735e-02 -1.65227227e-03 9.97384984e-01 -2.99685206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.81, Y:-282.80, Z:-29.97 [[ 8.72377500e-01 4.84611545e-01 6.41026407e-02 5.43809136e+02] [-4.83464390e-01 8.74727466e-01 -3.33773037e-02 -2.82796675e+02] [-7.22473672e-02 -1.87373525e-03 9.97384984e-01 -2.99744118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.86, Y:-282.83, Z:-29.98 [[ 8.72021402e-01 4.85253116e-01 6.40943696e-02 5.43863801e+02] [-4.84106524e-01 8.74371643e-01 -3.33931790e-02 -2.82828112e+02] [-7.22464434e-02 -1.90893569e-03 9.97384985e-01 -2.99791355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.92, Y:-282.86, Z:-29.98 [[ 8.72183339e-01 4.84963253e-01 6.40848435e-02 5.43918288e+02] [-4.83814538e-01 8.74532543e-01 -3.34114507e-02 -2.82859435e+02] [-7.22476069e-02 -1.86426832e-03 9.97384985e-01 -2.99823815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:543.97, Y:-282.89, Z:-29.99 [[ 8.73911394e-01 4.81843572e-01 6.40753251e-02 5.43971677e+02] [-4.80685133e-01 8.76255818e-01 -3.34296948e-02 -2.82891800e+02] [-7.22542600e-02 -1.58546494e-03 9.97384985e-01 -2.99864833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.02, Y:-282.93, Z:-29.99 [[ 8.77710280e-01 4.74889702e-01 6.40658727e-02 5.44024873e+02] [-4.73711364e-01 8.80044765e-01 -3.34478000e-02 -2.82926078e+02] [-7.22648516e-02 -9.91253962e-04 9.97384985e-01 -2.99901256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.08, Y:-282.96, Z:-29.99 [[ 8.82779817e-01 4.65399366e-01 6.40564278e-02 5.44077678e+02] [-4.64194616e-01 8.85100782e-01 -3.34658783e-02 -2.82959960e+02] [-7.22713928e-02 -1.91647041e-04 9.97384985e-01 -2.99947083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.13, Y:-282.99, Z:-30.00 [[ 8.85980936e-01 4.59277434e-01 6.40470135e-02 5.44130732e+02] [-4.58055345e-01 8.88292818e-01 -3.34838856e-02 -2.82991430e+02] [-7.22708952e-02 3.29007430e-04 9.97384986e-01 -3.00002917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.18, Y:-283.02, Z:-30.01 [[ 8.89654265e-01 4.52122030e-01 6.40387310e-02 5.44184156e+02] [-4.50880208e-01 8.91955608e-01 -3.34997187e-02 -2.83024758e+02] [-7.22656661e-02 9.29371270e-04 9.97384986e-01 -3.00059942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.24, Y:-283.06, Z:-30.01 [[ 8.91355388e-01 4.48760301e-01 6.40293998e-02 5.44236867e+02] [-4.47508521e-01 8.93651329e-01 -3.35175444e-02 -2.83058924e+02] [-7.22613016e-02 1.22234182e-03 9.97384986e-01 -3.00099135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.29, Y:-283.09, Z:-30.01 [[ 8.93170448e-01 4.45137656e-01 6.40235796e-02 5.44289922e+02] [-4.43875768e-01 8.95460849e-01 -3.35286583e-02 -2.83089056e+02] [-7.22554772e-02 1.52829117e-03 9.97384986e-01 -3.00148767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.34, Y:-283.12, Z:-30.02 [[ 8.92970527e-01 4.45539799e-01 6.40150410e-02 5.44344668e+02] [-4.44277775e-01 8.95260853e-01 -3.35449527e-02 -2.83119333e+02] [-7.22557717e-02 1.51419409e-03 9.97384986e-01 -3.00188525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.40, Y:-283.15, Z:-30.02 [[ 8.92389811e-01 4.46703149e-01 6.40056354e-02 5.44399124e+02] [-4.45442825e-01 8.94681073e-01 -3.35628896e-02 -2.83149653e+02] [-7.22572790e-02 1.44032967e-03 9.97384986e-01 -3.00239205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.45, Y:-283.18, Z:-30.03 [[ 8.89953812e-01 4.51537266e-01 6.40024244e-02 5.44454203e+02] [-4.50288949e-01 8.92251637e-01 -3.35690116e-02 -2.83179286e+02] [-7.22639277e-02 1.05528546e-03 9.97384986e-01 -3.00286533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.51, Y:-283.21, Z:-30.03 [[ 8.86933924e-01 4.57442044e-01 6.39921202e-02 5.44508329e+02] [-4.56207610e-01 8.89239237e-01 -3.35886430e-02 -2.83208460e+02] [-7.22691616e-02 5.97214721e-04 9.97384987e-01 -3.00324996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.56, Y:-283.24, Z:-30.04 [[ 8.82189744e-01 4.66526890e-01 6.39837175e-02 5.44564224e+02] [-4.65315037e-01 8.84507007e-01 -3.36046418e-02 -2.83237507e+02] [-7.22715155e-02 -1.26915467e-04 9.97384987e-01 -3.00371505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.62, Y:-283.26, Z:-30.04 [[ 8.77369041e-01 4.75532184e-01 6.39742792e-02 5.44618647e+02] [-4.74342803e-01 8.79697918e-01 -3.36226003e-02 -2.83263957e+02] [-7.22666687e-02 -8.46310297e-04 9.97384987e-01 -3.00431242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.67, Y:-283.29, Z:-30.05 [[ 8.74340830e-01 4.81078343e-01 6.39667209e-02 5.44674651e+02] [-4.79902681e-01 8.76676662e-01 -3.36369739e-02 -2.83292239e+02] [-7.22601510e-02 -1.28762121e-03 9.97384987e-01 -3.00470909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.73, Y:-283.32, Z:-30.05 [[ 8.69908054e-01 4.89049529e-01 6.39572964e-02 5.44730515e+02] [-4.87893950e-01 8.72253886e-01 -3.36548841e-02 -2.83320995e+02] [-7.22459055e-02 -1.92772327e-03 9.97384987e-01 -3.00505139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.79, Y:-283.35, Z:-30.05 [[ 8.68985822e-01 4.90687591e-01 6.39478669e-02 5.44785406e+02] [-4.89535117e-01 8.71333181e-01 -3.36727916e-02 -2.83349297e+02] [-7.22427192e-02 -2.04354798e-03 9.97384988e-01 -3.00548138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.84, Y:-283.38, Z:-30.06 [[ 8.68038896e-01 4.92361923e-01 6.39391291e-02 5.44841425e+02] [-4.91212757e-01 8.70387875e-01 -3.36893750e-02 -2.83378093e+02] [-7.22392082e-02 -2.16402797e-03 9.97384988e-01 -3.00589949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.90, Y:-283.41, Z:-30.06 [[ 8.67211380e-01 4.93819228e-01 6.39295939e-02 5.44896261e+02] [-4.92672677e-01 8.69561637e-01 -3.37074596e-02 -2.83405875e+02] [-7.22361140e-02 -2.26487165e-03 9.97384988e-01 -3.00648177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:544.95, Y:-283.43, Z:-30.07 [[ 8.66251384e-01 4.95502382e-01 6.39212748e-02 5.44950308e+02] [-4.94359235e-01 8.68603299e-01 -3.37232282e-02 -2.83433143e+02] [-7.22321700e-02 -2.38727940e-03 9.97384988e-01 -3.00732657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.01, Y:-283.46, Z:-30.08 [[ 8.66965250e-01 4.94253273e-01 6.39136638e-02 5.45005054e+02] [-4.93105676e-01 8.69314997e-01 -3.37376468e-02 -2.83462624e+02] [-7.22360488e-02 -2.26682297e-03 9.97384988e-01 -3.00779366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.06, Y:-283.49, Z:-30.08 [[ 8.70165821e-01 4.88597543e-01 6.39052846e-02 5.45057886e+02] [-4.87433505e-01 8.72507466e-01 -3.37535110e-02 -2.83493612e+02] [-7.22497205e-02 -1.77842532e-03 9.97384988e-01 -3.00823412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.11, Y:-283.53, Z:-30.08 [[ 8.73292979e-01 4.82986601e-01 6.39008365e-02 5.45111722e+02] [-4.81806900e-01 8.75626772e-01 -3.37619299e-02 -2.83525141e+02] [-7.22598429e-02 -1.30380760e-03 9.97384988e-01 -3.00832076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.16, Y:-283.56, Z:-30.09 [[ 8.79141908e-01 4.72257606e-01 6.38925577e-02 5.45164359e+02] [-4.71048279e-01 8.81460489e-01 -3.37775898e-02 -2.83558253e+02] [-7.22704888e-02 -4.01184575e-04 9.97384989e-01 -3.00860397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.22, Y:-283.59, Z:-30.09 [[ 8.82832153e-01 4.65323740e-01 6.38843172e-02 5.45218065e+02] [-4.64095075e-01 8.85140544e-01 -3.37931680e-02 -2.83590625e+02] [-7.22713627e-02 1.85298292e-04 9.97384989e-01 -3.00908945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.27, Y:-283.62, Z:-30.10 [[ 8.86564510e-01 4.58173936e-01 6.38749915e-02 5.45270509e+02] [-4.56925387e-01 8.88862206e-01 -3.38107862e-02 -2.83620862e+02] [-7.22672868e-02 7.89337866e-04 9.97384989e-01 -3.00960108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.33, Y:-283.65, Z:-30.10 [[ 8.87018855e-01 4.57294750e-01 6.38675427e-02 5.45325797e+02] [-4.56042911e-01 8.89314760e-01 -3.38248509e-02 -2.83649638e+02] [-7.22662751e-02 8.76940476e-04 9.97384989e-01 -3.01005218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.38, Y:-283.68, Z:-30.10 [[ 8.86521155e-01 4.58260167e-01 6.38581363e-02 5.45381481e+02] [-4.57009550e-01 8.88817726e-01 -3.38426000e-02 -2.83677959e+02] [-7.22669590e-02 8.18402712e-04 9.97384989e-01 -3.01044630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.44, Y:-283.70, Z:-30.11 [[ 8.84750556e-01 4.61670671e-01 6.38486138e-02 5.45437113e+02] [-4.60427612e-01 8.87051226e-01 -3.38605560e-02 -2.83704625e+02] [-7.22694167e-02 5.60481018e-04 9.97384990e-01 -3.01091640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.49, Y:-283.73, Z:-30.11 [[ 8.82565410e-01 4.65835566e-01 6.38398178e-02 5.45494501e+02] [-4.64602164e-01 8.84871272e-01 -3.38771317e-02 -2.83730523e+02] [-7.22711936e-02 2.38667113e-04 9.97384990e-01 -3.01135845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.55, Y:-283.76, Z:-30.12 [[ 8.81165706e-01 4.68479129e-01 6.38302751e-02 5.45551438e+02] [-4.67251344e-01 8.83474563e-01 -3.38951022e-02 -2.83757939e+02] [-7.22715724e-02 4.24198637e-05 9.97384990e-01 -3.01184330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.61, Y:-283.78, Z:-30.12 [[ 8.79200515e-01 4.72158189e-01 6.38208390e-02 5.45607773e+02] [-4.70938776e-01 8.81513805e-01 -3.39128601e-02 -2.83784981e+02] [-7.22711852e-02 -2.39503699e-04 9.97384990e-01 -3.01225874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.66, Y:-283.81, Z:-30.12 [[ 8.78297546e-01 4.73837036e-01 6.38113118e-02 5.45664021e+02] [-4.72620743e-01 8.80612477e-01 -3.39307772e-02 -2.83811919e+02] [-7.22706963e-02 -3.57231246e-04 9.97384990e-01 -3.01248087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.72, Y:-283.84, Z:-30.13 [[ 8.78676256e-01 4.73135545e-01 6.38027732e-02 5.45718692e+02] [-4.71916238e-01 8.80989601e-01 -3.39468255e-02 -2.83839020e+02] [-7.22710295e-02 -2.81295232e-04 9.97384990e-01 -3.01327808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.77, Y:-283.87, Z:-30.14 [[ 8.79772705e-01 4.71094674e-01 6.37949599e-02 5.45773252e+02] [-4.69868936e-01 8.82082649e-01 -3.39615024e-02 -2.83868113e+02] [-7.22715101e-02 -9.68671653e-05 9.97384991e-01 -3.01373198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.83, Y:-283.90, Z:-30.14 [[ 8.82791272e-01 4.65414767e-01 6.37860930e-02 5.45827910e+02] [-4.64172964e-01 8.85092619e-01 -3.39781481e-02 -2.83898338e+02] [-7.22705320e-02 3.87832683e-04 9.97384991e-01 -3.01407459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.88, Y:-283.93, Z:-30.14 [[ 8.86226090e-01 4.58841858e-01 6.37767039e-02 5.45883162e+02] [-4.57581721e-01 8.88517449e-01 -3.39957622e-02 -2.83927669e+02] [-7.22653929e-02 9.44877496e-04 9.97384991e-01 -3.01444312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.94, Y:-283.96, Z:-30.15 [[ 8.88969916e-01 4.53504403e-01 6.37671126e-02 5.45937761e+02] [-4.52229221e-01 8.91252937e-01 -3.40137435e-02 -2.83956038e+02] [-7.22580088e-02 1.39984304e-03 9.97384991e-01 -3.01500413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:545.99, Y:-283.98, Z:-30.16 [[ 8.90065806e-01 4.51350945e-01 6.37588072e-02 5.45991915e+02] [-4.50069126e-01 8.92345106e-01 -3.40293049e-02 -2.83983984e+02] [-7.22540185e-02 1.59245008e-03 9.97384991e-01 -3.01552710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.05, Y:-284.01, Z:-30.16 [[ 8.90483066e-01 4.50528237e-01 6.37512122e-02 5.46047461e+02] [-4.49243295e-01 8.92760606e-01 -3.40435276e-02 -2.84011846e+02] [-7.22521413e-02 1.67538025e-03 9.97384991e-01 -3.01597614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.10, Y:-284.04, Z:-30.16 [[ 8.89939821e-01 4.51601535e-01 6.37429851e-02 5.46103894e+02] [-4.50318237e-01 8.92218289e-01 -3.40589249e-02 -2.84039753e+02] [-7.22537199e-02 1.60576486e-03 9.97384992e-01 -3.01635010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.16, Y:-284.07, Z:-30.17 [[ 8.87526573e-01 4.56327304e-01 6.37336153e-02 5.46160714e+02] [-4.55054881e-01 8.89811132e-01 -3.40764496e-02 -2.84066638e+02] [-7.22608947e-02 1.24146181e-03 9.97384992e-01 -3.01652970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.22, Y:-284.09, Z:-30.17 [[ 8.83162766e-01 4.64717944e-01 6.37240964e-02 5.46218735e+02] [-4.63465946e-01 8.85458582e-01 -3.40942410e-02 -2.84091060e+02] [-7.22692536e-02 5.76815565e-04 9.97384992e-01 -3.01698267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.28, Y:-284.12, Z:-30.17 [[ 8.79363995e-01 4.71868014e-01 6.37145368e-02 5.46276111e+02] [-4.70633390e-01 8.81669199e-01 -3.41120963e-02 -2.84116823e+02] [-7.22715518e-02 1.07607841e-05 9.97384992e-01 -3.01742586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.33, Y:-284.14, Z:-30.18 [[ 8.73369675e-01 4.82873785e-01 6.37049385e-02 5.46333157e+02] [-4.81666900e-01 8.75689523e-01 -3.41300119e-02 -2.84140847e+02] [-7.22662352e-02 -8.76442886e-04 9.97384992e-01 -3.01787881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.39, Y:-284.17, Z:-30.18 [[ 8.70081887e-01 4.88774306e-01 6.36960629e-02 5.46390406e+02] [-4.87581940e-01 8.72409230e-01 -3.41465682e-02 -2.84167357e+02] [-7.22589984e-02 -1.34673940e-03 9.97384993e-01 -3.01832667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.45, Y:-284.19, Z:-30.19 [[ 8.66705872e-01 4.94737205e-01 6.36869627e-02 5.46448083e+02] [-4.93559602e-01 8.69040720e-01 -3.41635328e-02 -2.84192874e+02] [-7.22485346e-02 -1.82357741e-03 9.97384993e-01 -3.01867152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.50, Y:-284.22, Z:-30.19 [[ 8.65379723e-01 4.97054428e-01 6.36775539e-02 5.46504980e+02] [-4.95881788e-01 8.67717067e-01 -3.41810608e-02 -2.84220032e+02] [-7.22439479e-02 -1.99694236e-03 9.97384993e-01 -3.01908741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.56, Y:-284.25, Z:-30.20 [[ 8.66001960e-01 4.95970786e-01 6.36677657e-02 5.46560265e+02] [-4.94793882e-01 8.68337160e-01 -3.41992832e-02 -2.84248101e+02] [-7.22469323e-02 -1.88577467e-03 9.97384993e-01 -3.01966862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.62, Y:-284.28, Z:-30.20 [[ 8.66856141e-01 4.94477428e-01 6.36592835e-02 5.46615176e+02] [-4.93295342e-01 8.69188722e-01 -3.42150650e-02 -2.84277222e+02] [-7.22505086e-02 -1.74328888e-03 9.97384993e-01 -3.02025108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.67, Y:-284.31, Z:-30.21 [[ 8.67860289e-01 4.92713688e-01 6.36532923e-02 5.46668841e+02] [-4.91526045e-01 8.70190045e-01 -3.42262073e-02 -2.84307571e+02] [-7.22541821e-02 -1.58368483e-03 9.97384993e-01 -3.02052782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.72, Y:-284.34, Z:-30.21 [[ 8.68761637e-01 4.91123778e-01 6.36447438e-02 5.46722791e+02] [-4.89930708e-01 8.71088618e-01 -3.42420962e-02 -2.84337713e+02] [-7.22573196e-02 -1.43329481e-03 9.97384994e-01 -3.02110403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.78, Y:-284.37, Z:-30.22 [[ 8.68981016e-01 4.90736603e-01 6.36363192e-02 5.46776910e+02] [-4.89541351e-01 8.71306876e-01 -3.42577456e-02 -2.84367991e+02] [-7.22582922e-02 -1.38327908e-03 9.97384994e-01 -3.02160306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.83, Y:-284.40, Z:-30.22 [[ 8.69268521e-01 4.90228246e-01 6.36278606e-02 5.46831328e+02] [-4.89030485e-01 8.71593091e-01 -3.42734488e-02 -2.84399675e+02] [-7.22594164e-02 -1.32313331e-03 9.97384994e-01 -3.02202548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.88, Y:-284.43, Z:-30.22 [[ 8.68217216e-01 4.92088999e-01 6.36182579e-02 5.46884676e+02] [-4.90894914e-01 8.70543676e-01 -3.42912641e-02 -2.84432815e+02] [-7.22568259e-02 -1.45761337e-03 9.97384994e-01 -3.02220593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.94, Y:-284.46, Z:-30.23 [[ 8.66807859e-01 4.94568580e-01 6.36086174e-02 5.46940085e+02] [-4.93379839e-01 8.69137054e-01 -3.43091375e-02 -2.84463359e+02] [-7.22528277e-02 -1.64377942e-03 9.97384994e-01 -3.02260048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:546.99, Y:-284.49, Z:-30.23 [[ 8.63777542e-01 4.99843501e-01 6.35989928e-02 5.46994847e+02] [-4.98667669e-01 8.66113281e-01 -3.43269694e-02 -2.84493591e+02] [-7.22420448e-02 -2.06389623e-03 9.97384995e-01 -3.02294074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.05, Y:-284.52, Z:-30.23 [[ 8.60510297e-01 5.05448724e-01 6.35894289e-02 5.47050317e+02] [-5.04286796e-01 8.62852983e-01 -3.43446770e-02 -2.84523757e+02] [-7.22278016e-02 -2.51336115e-03 9.97384995e-01 -3.02344452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.11, Y:-284.55, Z:-30.24 [[ 8.59202565e-01 5.07669724e-01 6.35798976e-02 5.47105598e+02] [-5.06512548e-01 8.61547602e-01 -3.43623126e-02 -2.84554099e+02] [-7.22218140e-02 -2.67982880e-03 9.97384995e-01 -3.02385019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.16, Y:-284.59, Z:-30.24 [[ 8.58311474e-01 5.09176061e-01 6.35700660e-02 5.47158611e+02] [-5.08021657e-01 8.60657875e-01 -3.43804914e-02 -2.84585002e+02] [-7.22178011e-02 -2.78580006e-03 9.97384995e-01 -3.02426190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.21, Y:-284.62, Z:-30.25 [[ 8.59483197e-01 5.07196841e-01 6.35609834e-02 5.47211176e+02] [-5.06035794e-01 8.61826318e-01 -3.43972747e-02 -2.84615074e+02] [-7.22247174e-02 -2.60025314e-03 9.97384995e-01 -3.02466621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.26, Y:-284.65, Z:-30.25 [[ 8.61325233e-01 5.04063312e-01 6.35532831e-02 5.47264981e+02] [-5.02892691e-01 8.63663586e-01 -3.44114962e-02 -2.84646630e+02] [-7.22342291e-02 -2.32099156e-03 9.97384995e-01 -3.02495853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.32, Y:-284.68, Z:-30.25 [[ 8.62998915e-01 5.01193470e-01 6.35450858e-02 5.47320213e+02] [-5.00013958e-01 8.65332797e-01 -3.44266269e-02 -2.84677269e+02] [-7.22420473e-02 -2.06328821e-03 9.97384996e-01 -3.02549414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.37, Y:-284.71, Z:-30.26 [[ 8.67884410e-01 4.92686381e-01 6.35356642e-02 5.47372881e+02] [-4.91482714e-01 8.70205925e-01 -3.44440061e-02 -2.84710340e+02] [-7.22592041e-02 -1.33326480e-03 9.97384996e-01 -3.02619874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.43, Y:-284.74, Z:-30.27 [[ 8.69837327e-01 4.89231319e-01 6.35274821e-02 5.47427450e+02] [-4.88017329e-01 8.72153460e-01 -3.44590902e-02 -2.84742092e+02] [-7.22641795e-02 -1.02870921e-03 9.97384996e-01 -3.02663248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.48, Y:-284.77, Z:-30.27 [[ 8.71081607e-01 4.87013667e-01 6.35178844e-02 5.47481938e+02] [-4.85792491e-01 8.73393959e-01 -3.44767724e-02 -2.84772833e+02] [-7.22667959e-02 -8.24428937e-04 9.97384996e-01 -3.02711240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.54, Y:-284.80, Z:-30.28 [[ 8.72416944e-01 4.84618785e-01 6.35083451e-02 5.47536204e+02] [-4.83389982e-01 8.74725252e-01 -3.44943356e-02 -2.84804496e+02] [-7.22689561e-02 -6.05854978e-04 9.97384996e-01 -3.02755997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.59, Y:-284.84, Z:-30.28 [[ 8.72935695e-01 4.83685021e-01 6.34986049e-02 5.47590532e+02] [-4.82452445e-01 8.75241991e-01 -3.45122563e-02 -2.84836104e+02] [-7.22697068e-02 -5.08076748e-04 9.97384997e-01 -3.02817086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.64, Y:-284.87, Z:-30.29 [[ 8.72715551e-01 4.84083382e-01 6.34889435e-02 5.47644324e+02] [-4.82850566e-01 8.75021719e-01 -3.45300204e-02 -2.84867263e+02] [-7.22696135e-02 -5.20786576e-04 9.97384997e-01 -3.02875040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:547.70, Y:-284.90, Z:-30.29 [[ 8.71462017e-01 4.86337502e-01 6.34806008e-02 5.47698059e+02] [-4.85109534e-01 8.73770770e-01 -3.45453510e-02 -2.84898623e+02] [-7.22681932e-02 -6.90083468e-04 9.97384997e-01 -3.02917470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.75, Y:-284.93, Z:-30.30 [[ 8.69992035e-01 4.88963329e-01 6.34722103e-02 5.47752231e+02] [-4.87741206e-01 8.72303886e-01 -3.45607606e-02 -2.84929264e+02] [-7.22660003e-02 -8.90425971e-04 9.97384997e-01 -3.02965511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.81, Y:-284.96, Z:-30.30 [[ 8.69115387e-01 4.90520997e-01 6.34633379e-02 5.47807335e+02] [-4.89301828e-01 8.71428797e-01 -3.45770452e-02 -2.84959466e+02] [-7.22645469e-02 -1.00128529e-03 9.97384997e-01 -3.03000492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.86, Y:-284.99, Z:-30.30 [[ 8.66064366e-01 4.95889261e-01 6.34535589e-02 5.47861014e+02] [-4.94683116e-01 8.68384593e-01 -3.45949818e-02 -2.84989072e+02] [-7.22573728e-02 -1.42792329e-03 9.97384997e-01 -3.02976790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.91, Y:-285.02, Z:-30.30 [[ 8.64057857e-01 4.99378123e-01 6.34469096e-02 5.47914977e+02] [-4.98180452e-01 8.66382468e-01 -3.46071721e-02 -2.85018866e+02] [-7.22513548e-02 -1.70541111e-03 9.97384998e-01 -3.03043146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:547.97, Y:-285.05, Z:-30.31 [[ 8.63606241e-01 5.00159860e-01 6.34379640e-02 5.47969327e+02] [-4.98963089e-01 8.65931317e-01 -3.46235625e-02 -2.85049487e+02] [-7.22502358e-02 -1.75207780e-03 9.97384998e-01 -3.03084246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.02, Y:-285.08, Z:-30.31 [[ 8.63322912e-01 5.00649895e-01 6.34289635e-02 5.48022324e+02] [-4.99453233e-01 8.65648043e-01 -3.46400432e-02 -2.85079101e+02] [-7.22496921e-02 -1.77425792e-03 9.97384998e-01 -3.03126543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.08, Y:-285.11, Z:-30.32 [[ 8.62996538e-01 5.01212912e-01 6.34239139e-02 5.48076072e+02] [-5.00017089e-01 8.65322101e-01 -3.46492862e-02 -2.85109250e+02] [-7.22487841e-02 -1.81082673e-03 9.97384998e-01 -3.03178365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.13, Y:-285.14, Z:-30.33 [[ 8.62913868e-01 5.01356361e-01 6.34149553e-02 5.48128958e+02] [-5.00159721e-01 8.65239010e-01 -3.46656745e-02 -2.85141006e+02] [-7.22489496e-02 -1.80411509e-03 9.97384998e-01 -3.03259237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.18, Y:-285.17, Z:-30.33 [[ 8.63638083e-01 5.00108222e-01 6.34115678e-02 5.48182063e+02] [-4.98907767e-01 8.65961258e-01 -3.46718699e-02 -2.85171949e+02] [-7.22516483e-02 -1.69257644e-03 9.97384998e-01 -3.03310626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.24, Y:-285.20, Z:-30.34 [[ 8.66940677e-01 4.94362269e-01 6.34019637e-02 5.48235365e+02] [-4.93145130e-01 8.69255155e-01 -3.46894235e-02 -2.85199549e+02] [-7.22616259e-02 -1.19269736e-03 9.97384998e-01 -3.03386876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters Centerline goodness : 0.996335 with order 1 Centerline is valid? [True, True] Translation: X:548.29, Y:-285.23, Z:-30.34 [[ 8.68000374e-01 4.92499827e-01 6.33977221e-02 5.48286842e+02] [-4.91277156e-01 8.70311934e-01 -3.46971736e-02 -2.85233956e+02] [-7.22641461e-02 -1.02869285e-03 9.97384998e-01 -3.03442948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.34, Y:-285.26, Z:-30.34 [[ 8.69136020e-01 4.90493410e-01 6.33939557e-02 5.48340209e+02] [-4.89264901e-01 8.71444482e-01 -3.47040537e-02 -2.85263262e+02] [-7.22664225e-02 -8.53894284e-04 9.97384998e-01 -3.03449850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.40, Y:-285.29, Z:-30.35 [[ 8.68753022e-01 4.91172713e-01 6.33841734e-02 5.48395081e+02] [-4.89944706e-01 8.71061751e-01 -3.47219112e-02 -2.85294460e+02] [-7.22659843e-02 -8.89974922e-04 9.97384999e-01 -3.03490287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.45, Y:-285.32, Z:-30.35 [[ 8.68162746e-01 4.92216552e-01 6.33743773e-02 5.48447561e+02] [-4.90990017e-01 8.70472258e-01 -3.47397817e-02 -2.85324758e+02] [-7.22651329e-02 -9.56402310e-04 9.97384999e-01 -3.03538815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.50, Y:-285.36, Z:-30.36 [[ 8.67056283e-01 4.94164024e-01 6.33665522e-02 5.48501629e+02] [-4.92941633e-01 8.69367990e-01 -3.47540492e-02 -2.85355958e+02] [-7.22630529e-02 -1.10229498e-03 9.97384999e-01 -3.03567489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.56, Y:-285.39, Z:-30.36 [[ 8.65155441e-01 4.97485498e-01 6.33580454e-02 5.48557073e+02] [-4.96270846e-01 8.67471225e-01 -3.47695506e-02 -2.85386130e+02] [-7.22586284e-02 -1.36168491e-03 9.97384999e-01 -3.03627006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.61, Y:-285.42, Z:-30.37 [[ 8.63576843e-01 5.00222004e-01 6.33481023e-02 5.48610320e+02] [-4.99013363e-01 8.65895769e-01 -3.47876568e-02 -2.85415942e+02] [-7.22544052e-02 -1.56973470e-03 9.97384999e-01 -3.03679276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.66, Y:-285.45, Z:-30.37 [[ 8.63528679e-01 5.00306150e-01 6.33401672e-02 5.48662951e+02] [-4.99096676e-01 8.65847170e-01 -3.48020988e-02 -2.85446431e+02] [-7.22546086e-02 -1.56025647e-03 9.97384999e-01 -3.03719761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.72, Y:-285.48, Z:-30.37 [[ 8.63579196e-01 5.00219934e-01 6.33323692e-02 5.48717431e+02] [-4.99009189e-01 8.65897024e-01 -3.48162838e-02 -2.85476802e+02] [-7.22551092e-02 -1.53681585e-03 9.97385000e-01 -3.03749778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.77, Y:-285.51, Z:-30.38 [[ 8.62869607e-01 5.01444056e-01 6.33237747e-02 5.48771175e+02] [-5.00235453e-01 8.65188552e-01 -3.48319085e-02 -2.85507437e+02] [-7.22532584e-02 -1.62140191e-03 9.97385000e-01 -3.03782697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.83, Y:-285.54, Z:-30.38 [[ 8.62157164e-01 5.02669084e-01 6.33152127e-02 5.48826333e+02] [-5.01462634e-01 8.64477230e-01 -3.48474650e-02 -2.85536984e+02] [-7.22513030e-02 -1.70622179e-03 9.97385000e-01 -3.03837339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.88, Y:-285.57, Z:-30.39 [[ 8.60690623e-01 5.05177283e-01 6.33053306e-02 5.48880796e+02] [-5.03976275e-01 8.63013510e-01 -3.48654080e-02 -2.85566479e+02] [-7.22465676e-02 -1.89605501e-03 9.97385000e-01 -3.03904498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.93, Y:-285.60, Z:-30.40 [[ 8.60190978e-01 5.06028671e-01 6.32966540e-02 5.48934998e+02] [-5.04828804e-01 8.62514454e-01 -3.48811529e-02 -2.85596334e+02] [-7.22451424e-02 -1.94952117e-03 9.97385000e-01 -3.03961588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:548.99, Y:-285.63, Z:-30.40 [[ 8.60429262e-01 5.05624549e-01 6.32874451e-02 5.48989699e+02] [-5.04422364e-01 8.62751539e-01 -3.48978533e-02 -2.85626702e+02] [-7.22465520e-02 -1.89646853e-03 9.97385000e-01 -3.04010947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.04, Y:-285.66, Z:-30.41 [[ 8.60527765e-01 5.05458123e-01 6.32775730e-02 5.49044471e+02] [-5.04254174e-01 8.62849128e-01 -3.49157446e-02 -2.85656982e+02] [-7.22474454e-02 -1.86201269e-03 9.97385001e-01 -3.04050241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.10, Y:-285.69, Z:-30.41 [[ 8.60500915e-01 5.05505064e-01 6.32677375e-02 5.49098836e+02] [-5.04299933e-01 8.62821664e-01 -3.49335574e-02 -2.85686536e+02] [-7.22478648e-02 -1.84555766e-03 9.97385001e-01 -3.04076641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.16, Y:-285.71, Z:-30.42 [[ 8.63204571e-01 5.00875369e-01 6.32592565e-02 5.49155854e+02] [-4.99656665e-01 8.65518221e-01 -3.49489086e-02 -2.85709876e+02] [-7.22570866e-02 -1.43985148e-03 9.97385001e-01 -3.04173509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.21, Y:-285.75, Z:-30.42 [[ 8.60729516e-01 5.05117924e-01 6.32501672e-02 5.49206210e+02] [-5.03909415e-01 8.63048507e-01 -3.49653506e-02 -2.85745609e+02] [-7.22495877e-02 -1.77664545e-03 9.97385001e-01 -3.04171923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.26, Y:-285.77, Z:-30.42 [[ 8.59545640e-01 5.07130907e-01 6.32418849e-02 5.49259211e+02] [-5.05926727e-01 8.61866883e-01 -3.49803243e-02 -2.85774470e+02] [-7.22456898e-02 -1.92857466e-03 9.97385001e-01 -3.04249761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.32, Y:-285.80, Z:-30.43 [[ 8.60882714e-01 5.04858797e-01 6.32340730e-02 5.49315184e+02] [-5.03647454e-01 8.63200227e-01 -3.49944402e-02 -2.85800071e+02] [-7.22509172e-02 -1.72157117e-03 9.97385001e-01 -3.04307840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.37, Y:-285.83, Z:-30.43 [[ 8.59331735e-01 5.07495313e-01 6.32256071e-02 5.49366486e+02] [-5.06289956e-01 8.61652366e-01 -3.50097293e-02 -2.85832958e+02] [-7.22457675e-02 -1.92551836e-03 9.97385002e-01 -3.04332799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.42, Y:-285.86, Z:-30.44 [[ 8.59681972e-01 5.06902355e-01 6.32211258e-02 5.49421344e+02] [-5.05694802e-01 8.62001461e-01 -3.50178198e-02 -2.85862406e+02] [-7.22473181e-02 -1.86640639e-03 9.97385002e-01 -3.04363168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.48, Y:-285.89, Z:-30.44 [[ 8.60432979e-01 5.05627540e-01 6.32129624e-02 5.49476101e+02] [-5.04415470e-01 8.62750111e-01 -3.50325500e-02 -2.85892341e+02] [-7.22504124e-02 -1.74243475e-03 9.97385002e-01 -3.04405388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.53, Y:-285.92, Z:-30.44 [[ 8.61201480e-01 5.04317873e-01 6.32099252e-02 5.49530598e+02] [-5.03101876e-01 8.63516554e-01 -3.50380291e-02 -2.85922162e+02] [-7.22531211e-02 -1.62622942e-03 9.97385002e-01 -3.04434876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.59, Y:-285.95, Z:-30.45 [[ 8.62365581e-01 5.02325867e-01 6.32006930e-02 5.49585178e+02] [-5.01103303e-01 8.64677194e-01 -3.50546741e-02 -2.85951884e+02] [-7.22570674e-02 -1.44013159e-03 9.97385002e-01 -3.04477022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.64, Y:-285.98, Z:-30.45 [[ 8.63535603e-01 5.00312998e-01 6.31915021e-02 5.49638867e+02] [-4.99083834e-01 8.65843713e-01 -3.50712344e-02 -2.85979529e+02] [-7.22605592e-02 -1.25259763e-03 9.97385002e-01 -3.04543627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.69, Y:-286.01, Z:-30.46 [[ 8.64373379e-01 4.98864786e-01 6.31869169e-02 5.49692526e+02] [-4.97631152e-01 8.66679102e-01 -3.50794934e-02 -2.86009154e+02] [-7.22627044e-02 -1.12199797e-03 9.97385002e-01 -3.04595741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.75, Y:-286.04, Z:-30.46 [[ 8.65951406e-01 4.96121570e-01 6.31787252e-02 5.49747645e+02] [-4.94879554e-01 8.68252625e-01 -3.50942406e-02 -2.86040001e+02] [-7.22661037e-02 -8.75952336e-04 9.97385002e-01 -3.04618103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.80, Y:-286.07, Z:-30.47 [[ 8.67104513e-01 4.94104636e-01 6.31693962e-02 5.49802362e+02] [-4.92856045e-01 8.69402171e-01 -3.51110248e-02 -2.86070635e+02] [-7.22681303e-02 -6.88490744e-04 9.97385003e-01 -3.04657231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.86, Y:-286.10, Z:-30.47 [[ 8.69725445e-01 4.89477727e-01 6.31601532e-02 5.49858853e+02] [-4.88215705e-01 8.72015753e-01 -3.51276438e-02 -2.86098787e+02] [-7.22708478e-02 -2.84373053e-04 9.97385003e-01 -3.04661844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:549.91, Y:-286.13, Z:-30.48 [[ 8.70029924e-01 4.88937617e-01 6.31501265e-02 5.49910488e+02] [-4.87672866e-01 8.72318725e-01 -3.51456600e-02 -2.86130117e+02] [-7.22710731e-02 -2.18827310e-04 9.97385003e-01 -3.04753388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:549.97, Y:-286.16, Z:-30.48 [[ 8.70335766e-01 4.88394029e-01 6.31421254e-02 5.49967240e+02] [-4.87126805e-01 8.72623199e-01 -3.51600287e-02 -2.86156900e+02] [-7.22712316e-02 -1.57191348e-04 9.97385003e-01 -3.04754423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.02, Y:-286.19, Z:-30.48 [[ 8.69431329e-01 4.90003424e-01 6.31332676e-02 5.50021224e+02] [-4.88739280e-01 8.71720466e-01 -3.51759267e-02 -2.86186327e+02] [-7.22708859e-02 -2.72655088e-04 9.97385003e-01 -3.04826095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.08, Y:-286.21, Z:-30.48 [[ 8.68624454e-01 4.91433542e-01 6.31239330e-02 5.50076769e+02] [-4.90171951e-01 8.70914999e-01 -3.51926698e-02 -2.86214050e+02] [-7.22704384e-02 -3.72367788e-04 9.97385003e-01 -3.04818177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.13, Y:-286.24, Z:-30.49 [[ 8.68950070e-01 4.90857811e-01 6.31219852e-02 5.50130655e+02] [-4.89594448e-01 8.71239638e-01 -3.51961631e-02 -2.86242162e+02] [-7.22706871e-02 -3.20465110e-04 9.97385003e-01 -3.04903978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.19, Y:-286.27, Z:-30.49 [[ 8.69198560e-01 4.90418724e-01 6.31136944e-02 5.50186611e+02] [-4.89153125e-01 8.71486893e-01 -3.52110239e-02 -2.86269659e+02] [-7.22709028e-02 -2.66889528e-04 9.97385004e-01 -3.04925063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.24, Y:-286.30, Z:-30.49 [[ 8.68877450e-01 4.90988580e-01 6.31046034e-02 5.50240850e+02] [-4.89723299e-01 8.71165958e-01 -3.52273091e-02 -2.86297801e+02] [-7.22707888e-02 -2.95580113e-04 9.97385004e-01 -3.04938192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.30, Y:-286.33, Z:-30.50 [[ 8.69260660e-01 4.90310882e-01 6.30963070e-02 5.50296080e+02] [-4.89042739e-01 8.71547583e-01 -3.52421627e-02 -2.86325323e+02] [-7.22710498e-02 -2.22165236e-04 9.97385004e-01 -3.04992975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.35, Y:-286.35, Z:-30.50 [[ 8.68380600e-01 4.91868983e-01 6.30875367e-02 5.50351736e+02] [-4.90603803e-01 8.70669164e-01 -3.52578555e-02 -2.86352181e+02] [-7.22706184e-02 -3.33747684e-04 9.97385004e-01 -3.05035882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.41, Y:-286.38, Z:-30.51 [[ 8.67745818e-01 4.92989097e-01 6.30788913e-02 5.50408208e+02] [-4.91725747e-01 8.70035392e-01 -3.52733160e-02 -2.86380479e+02] [-7.22702281e-02 -4.09242481e-04 9.97385004e-01 -3.05085444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.46, Y:-286.41, Z:-30.51 [[ 8.67799901e-01 4.92895142e-01 6.30690978e-02 5.50464108e+02] [-4.91630272e-01 8.70088636e-01 -3.52908184e-02 -2.86408572e+02] [-7.22703782e-02 -3.81308985e-04 9.97385004e-01 -3.05124336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.52, Y:-286.44, Z:-30.52 [[ 8.68169421e-01 4.92244383e-01 6.30660286e-02 5.50518848e+02] [-4.90977400e-01 8.70456986e-01 -3.52963023e-02 -2.86436853e+02] [-7.22706717e-02 -3.20824355e-04 9.97385004e-01 -3.05160992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.57, Y:-286.47, Z:-30.52 [[ 8.68325395e-01 4.91970299e-01 6.30573891e-02 5.50574541e+02] [-4.90701473e-01 8.70611938e-01 -3.53117301e-02 -2.86466068e+02] [-7.22708382e-02 -2.80281670e-04 9.97385005e-01 -3.05202234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.63, Y:-286.49, Z:-30.53 [[ 8.68591331e-01 4.91501916e-01 6.30473297e-02 5.50629472e+02] [-4.90230554e-01 8.70876465e-01 -3.53296816e-02 -2.86494822e+02] [-7.22710418e-02 -2.20672195e-04 9.97385005e-01 -3.05254856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.68, Y:-286.52, Z:-30.53 [[ 8.68194643e-01 4.92203481e-01 6.30380420e-02 5.50683449e+02] [-4.90932763e-01 8.70480135e-01 -3.53462457e-02 -2.86524600e+02] [-7.22709085e-02 -2.60018932e-04 9.97385005e-01 -3.05310674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.74, Y:-286.55, Z:-30.54 [[ 8.67883566e-01 4.92752868e-01 6.30295691e-02 5.50737954e+02] [-4.91482500e-01 8.70169252e-01 -3.53613483e-02 -2.86554746e+02] [-7.22707988e-02 -2.88397109e-04 9.97385005e-01 -3.05362542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.79, Y:-286.58, Z:-30.54 [[ 8.66310626e-01 4.95514120e-01 6.30210722e-02 5.50793229e+02] [-4.94249935e-01 8.68599739e-01 -3.53764850e-02 -2.86584355e+02] [-7.22696346e-02 -5.01135956e-04 9.97385005e-01 -3.05403777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.85, Y:-286.61, Z:-30.54 [[ 8.65375012e-01 4.97147550e-01 6.30111268e-02 5.50846865e+02] [-4.95886397e-01 8.67665795e-01 -3.53941905e-02 -2.86614361e+02] [-7.22687345e-02 -6.17112675e-04 9.97385006e-01 -3.05445456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.90, Y:-286.65, Z:-30.55 [[ 8.63855496e-01 4.99784254e-01 6.30030368e-02 5.50899335e+02] [-4.98529042e-01 8.66149540e-01 -3.54085851e-02 -2.86647782e+02] [-7.22667046e-02 -8.20942769e-04 9.97385006e-01 -3.05478822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:550.95, Y:-286.68, Z:-30.55 [[ 8.62713635e-01 5.01753839e-01 6.29942071e-02 5.50952820e+02] [-5.00502718e-01 8.65009913e-01 -3.54242867e-02 -2.86679550e+02] [-7.22648855e-02 -9.67756750e-04 9.97385006e-01 -3.05523969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.01, Y:-286.71, Z:-30.55 [[ 8.62942455e-01 5.01360857e-01 6.29889791e-02 5.51008346e+02] [-5.00108012e-01 8.65237792e-01 -3.54335804e-02 -2.86706235e+02] [-7.22654555e-02 -9.24152307e-04 9.97385006e-01 -3.05545052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.06, Y:-286.74, Z:-30.56 [[ 8.61729383e-01 5.03443648e-01 6.29838344e-02 5.51062165e+02] [-5.02195683e-01 8.64027378e-01 -3.54427228e-02 -2.86736614e+02] [-7.22631710e-02 -1.08817407e-03 9.97385006e-01 -3.05606957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.12, Y:-286.77, Z:-30.57 [[ 8.60391265e-01 5.05728266e-01 6.29745295e-02 5.51115617e+02] [-5.04485194e-01 8.62691909e-01 -3.54592482e-02 -2.86768373e+02] [-7.22603612e-02 -1.26089032e-03 9.97385006e-01 -3.05654998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.17, Y:-286.80, Z:-30.57 [[ 8.59664454e-01 5.06963827e-01 6.29658961e-02 5.51167125e+02] [-5.05722940e-01 8.61966277e-01 -3.54745720e-02 -2.86800224e+02] [-7.22588039e-02 -1.34706953e-03 9.97385006e-01 -3.05692001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.22, Y:-286.83, Z:-30.57 [[ 8.59364192e-01 5.07473474e-01 6.29591867e-02 5.51219902e+02] [-5.06233080e-01 8.61666281e-01 -3.54864757e-02 -2.86833482e+02] [-7.22582534e-02 -1.37621645e-03 9.97385006e-01 -3.05721965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.27, Y:-286.87, Z:-30.58 [[ 8.59045553e-01 5.08013723e-01 6.29507335e-02 5.51274283e+02] [-5.06773678e-01 8.61347831e-01 -3.55014649e-02 -2.86865524e+02] [-7.22577091e-02 -1.40439921e-03 9.97385007e-01 -3.05759036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.33, Y:-286.90, Z:-30.58 [[ 8.58011193e-01 5.09759954e-01 6.29410979e-02 5.51328127e+02] [-5.08523343e-01 8.60315316e-01 -3.55185398e-02 -2.86898563e+02] [-7.22551197e-02 -1.53171275e-03 9.97385007e-01 -3.05809961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.38, Y:-286.93, Z:-30.59 [[ 8.56127435e-01 5.12918575e-01 6.29313139e-02 5.51380927e+02] [-5.11689191e-01 8.58435422e-01 -3.55358665e-02 -2.86930221e+02] [-7.22494750e-02 -1.77804277e-03 9.97385007e-01 -3.05873406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.43, Y:-286.96, Z:-30.59 [[ 8.54244284e-01 5.16049890e-01 6.29222834e-02 5.51434205e+02] [-5.14827789e-01 8.56556136e-01 -3.55518493e-02 -2.86962476e+02] [-7.22429959e-02 -2.02417598e-03 9.97385007e-01 -3.05915785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.49, Y:-287.00, Z:-30.60 [[ 8.52524317e-01 5.18887414e-01 6.29137613e-02 5.51487757e+02] [-5.17671895e-01 8.54839636e-01 -3.55669241e-02 -2.86995834e+02] [-7.22364060e-02 -2.24701835e-03 9.97385007e-01 -3.05961191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.54, Y:-287.03, Z:-30.59 [[ 8.49132426e-01 5.24420815e-01 6.29041406e-02 5.51537050e+02] [-5.23219122e-01 8.51454951e-01 -3.55839311e-02 -2.87033687e+02] [-7.22209962e-02 -2.69717947e-03 9.97385007e-01 -3.05915018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.59, Y:-287.07, Z:-30.60 [[ 8.48705315e-01 5.25112596e-01 6.28971326e-02 5.51588238e+02] [-5.23911880e-01 8.51028345e-01 -3.55963141e-02 -2.87066319e+02] [-7.22193156e-02 -2.74177404e-03 9.97385008e-01 -3.05954814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.64, Y:-287.09, Z:-30.61 [[ 8.51287344e-01 5.20917347e-01 6.28886044e-02 5.51642768e+02] [-5.19704069e-01 8.53603837e-01 -3.56113746e-02 -2.87090973e+02] [-7.22325368e-02 -2.36795115e-03 9.97385008e-01 -3.06069799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:551.70, Y:-287.12, Z:-30.61 [[ 8.51195880e-01 5.21067230e-01 6.28849375e-02 5.51696347e+02] [-5.19853882e-01 8.53512337e-01 -3.56178488e-02 -2.87123882e+02] [-7.22323637e-02 -2.37321271e-03 9.97385008e-01 -3.06101718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.75, Y:-287.16, Z:-30.61 [[ 8.51257609e-01 5.20967570e-01 6.28750696e-02 5.51750540e+02] [-5.19752667e-01 8.53573250e-01 -3.56352597e-02 -2.87155899e+02] [-7.22332922e-02 -2.34469915e-03 9.97385008e-01 -3.06134130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.80, Y:-287.19, Z:-30.62 [[ 8.50588036e-01 5.22061307e-01 6.28648144e-02 5.51803574e+02] [-5.20848047e-01 8.52904538e-01 -3.56533419e-02 -2.87186971e+02] [-7.22309158e-02 -2.41670978e-03 9.97385008e-01 -3.06182242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.86, Y:-287.22, Z:-30.63 [[ 8.50252824e-01 5.22608132e-01 6.28559917e-02 5.51856226e+02] [-5.21395214e-01 8.52569505e-01 -3.56688895e-02 -2.87216375e+02] [-7.22299534e-02 -2.44523922e-03 9.97385008e-01 -3.06253645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.91, Y:-287.25, Z:-30.63 [[ 8.50014235e-01 5.22997076e-01 6.28479097e-02 5.51911336e+02] [-5.21784167e-01 8.52330921e-01 -3.56831241e-02 -2.87246677e+02] [-7.22293863e-02 -2.46188074e-03 9.97385008e-01 -3.06276211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:551.97, Y:-287.28, Z:-30.63 [[ 8.49557998e-01 5.23739048e-01 6.28380238e-02 5.51966593e+02] [-5.22526877e-01 8.51875070e-01 -3.57005248e-02 -2.87277339e+02] [-7.22279048e-02 -2.50488994e-03 9.97385009e-01 -3.06316655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.02, Y:-287.31, Z:-30.64 [[ 8.50172808e-01 5.22741659e-01 6.28279798e-02 5.52021753e+02] [-5.21525466e-01 8.52487771e-01 -3.57181920e-02 -2.87307665e+02] [-7.22314714e-02 -2.39975579e-03 9.97385009e-01 -3.06370859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.07, Y:-287.35, Z:-30.64 [[ 8.47006765e-01 5.27857434e-01 6.28177568e-02 5.52071470e+02] [-5.26653888e-01 8.49328328e-01 -3.57361622e-02 -2.87345363e+02] [-7.22164993e-02 -2.81444477e-03 9.97385009e-01 -3.06364938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.13, Y:-287.37, Z:-30.65 [[ 8.51246512e-01 5.20992962e-01 6.28148755e-02 5.52128704e+02] [-5.19770315e-01 8.53558073e-01 -3.57412261e-02 -2.87366844e+02] [-7.22370714e-02 -2.22471355e-03 9.97385009e-01 -3.06479476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.18, Y:-287.40, Z:-30.65 [[ 8.52177362e-01 5.19470070e-01 6.28059776e-02 5.52182437e+02] [-5.18242141e-01 8.54486121e-01 -3.57568550e-02 -2.87398337e+02] [-7.22414522e-02 -2.07752195e-03 9.97385009e-01 -3.06524181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.24, Y:-287.43, Z:-30.66 [[ 8.54830361e-01 5.15093917e-01 6.27957915e-02 5.52235746e+02] [-5.13852854e-01 8.57132086e-01 -3.57747349e-02 -2.87429605e+02] [-7.22516361e-02 -1.68646715e-03 9.97385009e-01 -3.06554214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.29, Y:-287.46, Z:-30.66 [[ 8.56978867e-01 5.11512481e-01 6.27869585e-02 5.52290158e+02] [-5.10260663e-01 8.59274761e-01 -3.57902306e-02 -2.87460150e+02] [-7.22583985e-02 -1.36624384e-03 9.97385010e-01 -3.06591519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.34, Y:-287.49, Z:-30.66 [[ 8.58978321e-01 5.08148741e-01 6.27781983e-02 5.52344932e+02] [-5.06886809e-01 8.61268670e-01 -3.58055901e-02 -2.87490144e+02] [-7.22634609e-02 -1.06521494e-03 9.97385010e-01 -3.06639677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.40, Y:-287.53, Z:-30.66 [[ 8.57801990e-01 5.10133228e-01 6.27681078e-02 5.52396886e+02] [-5.08875301e-01 8.60094542e-01 -3.58232703e-02 -2.87525533e+02] [-7.22611474e-02 -1.21186725e-03 9.97385010e-01 -3.06639810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.45, Y:-287.55, Z:-30.67 [[ 8.59693956e-01 5.06939453e-01 6.27590060e-02 5.52452714e+02] [-5.05671845e-01 8.61981169e-01 -3.58392087e-02 -2.87554479e+02] [-7.22653902e-02 -9.24711247e-04 9.97385010e-01 -3.06708030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.51, Y:-287.58, Z:-30.68 [[ 8.61445440e-01 5.03958703e-01 6.27485435e-02 5.52508220e+02] [-5.02681847e-01 8.63727503e-01 -3.58575174e-02 -2.87580910e+02] [-7.22683508e-02 -6.53258938e-04 9.97385010e-01 -3.06809568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.56, Y:-287.61, Z:-30.69 [[ 8.62524849e-01 5.02110209e-01 6.27393246e-02 5.52562761e+02] [-5.00827290e-01 8.64803508e-01 -3.58736403e-02 -2.87610806e+02] [-7.22697091e-02 -4.79659720e-04 9.97385010e-01 -3.06867119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.62, Y:-287.64, Z:-30.69 [[ 8.64182535e-01 4.99253109e-01 6.27286139e-02 5.52617619e+02] [-4.97961297e-01 8.66456165e-01 -3.58923594e-02 -2.87639063e+02] [-7.22709662e-02 -2.18871781e-04 9.97385011e-01 -3.06928990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.67, Y:-287.67, Z:-30.70 [[ 8.66117947e-01 4.95889163e-01 6.27187320e-02 5.52672067e+02] [-4.94587271e-01 8.68385819e-01 -3.59096189e-02 -2.87667519e+02] [-7.22712483e-02 8.20789435e-05 9.97385011e-01 -3.07010381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.73, Y:-287.70, Z:-30.70 [[ 8.67045335e-01 4.94266999e-01 6.27098098e-02 5.52726868e+02] [-4.92959737e-01 8.69310116e-01 -3.59251933e-02 -2.87697529e+02] [-7.22709095e-02 2.35359910e-04 9.97385011e-01 -3.07049573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.78, Y:-287.73, Z:-30.71 [[ 8.66222142e-01 4.95709555e-01 6.26995833e-02 5.52781143e+02] [-4.94404774e-01 8.68488352e-01 -3.59430324e-02 -2.87729169e+02] [-7.22711624e-02 1.35677195e-04 9.97385011e-01 -3.07063769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.84, Y:-287.76, Z:-30.71 [[ 8.64576899e-01 4.98574860e-01 6.26888727e-02 5.52836435e+02] [-4.97276235e-01 8.66846643e-01 -3.59617034e-02 -2.87756403e+02] [-7.22712401e-02 -8.20286107e-05 9.97385012e-01 -3.07134794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.89, Y:-287.78, Z:-30.72 [[ 8.62882513e-01 5.01502857e-01 6.26789717e-02 5.52892628e+02] [-5.00210680e-01 8.65155934e-01 -3.59789519e-02 -2.87784894e+02] [-7.22706315e-02 -3.07082627e-04 9.97385012e-01 -3.07188016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:552.95, Y:-287.81, Z:-30.72 [[ 8.61220027e-01 5.04353814e-01 6.26681371e-02 5.52948002e+02] [-5.03067791e-01 8.63496934e-01 -3.59978138e-02 -2.87813806e+02] [-7.22693789e-02 -5.24283093e-04 9.97385012e-01 -3.07248107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.00, Y:-287.84, Z:-30.73 [[ 8.59010561e-01 5.08109174e-01 6.26571869e-02 5.53002551e+02] [-5.06831714e-01 8.61292284e-01 -3.60168635e-02 -2.87844318e+02] [-7.22666504e-02 -8.17783291e-04 9.97385012e-01 -3.07285380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.06, Y:-287.87, Z:-30.73 [[ 8.57219529e-01 5.11126314e-01 6.26463873e-02 5.53057748e+02] [-5.09855513e-01 8.59504967e-01 -3.60356381e-02 -2.87873667e+02] [-7.22636439e-02 -1.05015322e-03 9.97385012e-01 -3.07339544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.11, Y:-287.90, Z:-30.74 [[ 8.54739352e-01 5.15264425e-01 6.26355540e-02 5.53112542e+02] [-5.14003309e-01 8.57030148e-01 -3.60544583e-02 -2.87903718e+02] [-7.22581378e-02 -1.37771774e-03 9.97385013e-01 -3.07389863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.17, Y:-287.93, Z:-30.74 [[ 8.53149096e-01 5.17894548e-01 6.26247277e-02 5.53165338e+02] [-5.16639115e-01 8.55443011e-01 -3.60732532e-02 -2.87934193e+02] [-7.22540268e-02 -1.57852055e-03 9.97385013e-01 -3.07413192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.22, Y:-287.97, Z:-30.74 [[ 8.52975966e-01 5.18180833e-01 6.26149011e-02 5.53219474e+02] [-5.16924919e-01 8.55269617e-01 -3.60903020e-02 -2.87965550e+02] [-7.22539252e-02 -1.58304251e-03 9.97385013e-01 -3.07436319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.27, Y:-288.00, Z:-30.75 [[ 8.54104927e-01 5.16319137e-01 6.26044982e-02 5.53273272e+02] [-5.15056902e-01 8.56395105e-01 -3.61083385e-02 -2.87996781e+02] [-7.22576120e-02 -1.40456906e-03 9.97385013e-01 -3.07509061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.33, Y:-288.03, Z:-30.75 [[ 8.53604397e-01 5.17146605e-01 6.26012985e-02 5.53327881e+02] [-5.15886183e-01 8.55895574e-01 -3.61138849e-02 -2.88028598e+02] [-7.22563473e-02 -1.46817399e-03 9.97385013e-01 -3.07531583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.38, Y:-288.06, Z:-30.76 [[ 8.53322209e-01 5.17613461e-01 6.25900462e-02 5.53381062e+02] [-5.16352863e-01 8.55613289e-01 -3.61333761e-02 -2.88059096e+02] [-7.22559972e-02 -1.48513726e-03 9.97385014e-01 -3.07593213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.44, Y:-288.09, Z:-30.76 [[ 8.52790165e-01 5.18490837e-01 6.25794390e-02 5.53435665e+02] [-5.17231250e-01 8.55081801e-01 -3.61517376e-02 -2.88090085e+02] [-7.22548840e-02 -1.53819523e-03 9.97385014e-01 -3.07634121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.49, Y:-288.12, Z:-30.77 [[ 8.51016481e-01 5.21397500e-01 6.25747164e-02 5.53489058e+02] [-5.20145139e-01 8.53312074e-01 -3.61599100e-02 -2.88120625e+02] [-7.22494477e-02 -1.77525518e-03 9.97385014e-01 -3.07679531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.55, Y:-288.15, Z:-30.78 [[ 8.49646442e-01 5.23628295e-01 6.25646196e-02 5.53545106e+02] [-5.22380676e-01 8.51944615e-01 -3.61773712e-02 -2.88148703e+02] [-7.22450860e-02 -1.94457358e-03 9.97385014e-01 -3.07757320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.60, Y:-288.18, Z:-30.78 [[ 8.46698584e-01 5.28382942e-01 6.25537720e-02 5.53597150e+02] [-5.27146842e-01 8.49002973e-01 -3.61961180e-02 -2.88180079e+02] [-7.22337497e-02 -2.32782144e-03 9.97385014e-01 -3.07777142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.65, Y:-288.21, Z:-30.78 [[ 8.44438168e-01 5.31988993e-01 6.25451226e-02 5.53651019e+02] [-5.30761627e-01 8.46747220e-01 -3.62110576e-02 -2.88211536e+02] [-7.22237928e-02 -2.61855188e-03 9.97385014e-01 -3.07820970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.71, Y:-288.24, Z:-30.79 [[ 8.42890731e-01 5.34438549e-01 6.25352153e-02 5.53705229e+02] [-5.33216626e-01 8.45202668e-01 -3.62281591e-02 -2.88242999e+02] [-7.22166556e-02 -2.80843708e-03 9.97385015e-01 -3.07871280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.76, Y:-288.27, Z:-30.79 [[ 8.42731297e-01 5.34691118e-01 6.25249445e-02 5.53757761e+02] [-5.33468577e-01 8.45042907e-01 -3.62458765e-02 -2.88274751e+02] [-7.22166091e-02 -2.80955864e-03 9.97385015e-01 -3.07913468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.81, Y:-288.31, Z:-30.79 [[ 8.43072535e-01 5.34154016e-01 6.25155044e-02 5.53811232e+02] [-5.32928797e-01 8.45382727e-01 -3.62621512e-02 -2.88307578e+02] [-7.22191012e-02 -2.74468874e-03 9.97385015e-01 -3.07941596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.86, Y:-288.34, Z:-30.80 [[ 8.44943184e-01 5.31191142e-01 6.25058939e-02 5.53864240e+02] [-5.29956598e-01 8.47248405e-01 -3.62787095e-02 -2.88341489e+02] [-7.22289480e-02 -2.47196256e-03 9.97385015e-01 -3.07978616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.92, Y:-288.38, Z:-30.80 [[ 8.46748446e-01 5.28309887e-01 6.24958563e-02 5.53916720e+02] [-5.27066223e-01 8.49048760e-01 -3.62959926e-02 -2.88375551e+02] [-7.22375611e-02 -2.20587959e-03 9.97385015e-01 -3.08039130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:553.97, Y:-288.41, Z:-30.81 [[ 8.47585359e-01 5.26967350e-01 6.24857681e-02 5.53969260e+02] [-5.25718764e-01 8.49883005e-01 -3.63133518e-02 -2.88409115e+02] [-7.22415431e-02 -2.07127540e-03 9.97385016e-01 -3.08092288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.02, Y:-288.44, Z:-30.81 [[ 8.48407125e-01 5.25644360e-01 6.24768521e-02 5.54020281e+02] [-5.24391062e-01 8.50702204e-01 -3.63286852e-02 -2.88441802e+02] [-7.22451643e-02 -1.94078748e-03 9.97385016e-01 -3.08141931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.07, Y:-288.48, Z:-30.82 [[ 8.48405879e-01 5.25647341e-01 6.24686999e-02 5.54073290e+02] [-5.24393020e-01 8.50700399e-01 -3.63426980e-02 -2.88475520e+02] [-7.22455904e-02 -1.92479160e-03 9.97385016e-01 -3.08192129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.13, Y:-288.51, Z:-30.82 [[ 8.49144814e-01 5.24453993e-01 6.24587365e-02 5.54127998e+02] [-5.23195190e-01 8.51436878e-01 -3.63598130e-02 -2.88507357e+02] [-7.22487207e-02 -1.80336384e-03 9.97385016e-01 -3.08225093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.18, Y:-288.54, Z:-30.83 [[ 8.47960917e-01 5.26367252e-01 6.24483698e-02 5.54179032e+02] [-5.25112311e-01 8.50255098e-01 -3.63776092e-02 -2.88543046e+02] [-7.22450270e-02 -1.94561686e-03 9.97385016e-01 -3.08297085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.23, Y:-288.58, Z:-30.83 [[ 8.47604924e-01 5.26941520e-01 6.24381841e-02 5.54231334e+02] [-5.25686848e-01 8.49899251e-01 -3.63950836e-02 -2.88575406e+02] [-7.22442465e-02 -1.97428013e-03 9.97385016e-01 -3.08347200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.28, Y:-288.61, Z:-30.83 [[ 8.46110200e-01 5.29339329e-01 6.24291960e-02 5.54283295e+02] [-5.28090022e-01 8.48407452e-01 -3.64104945e-02 -2.88610440e+02] [-7.22389019e-02 -2.16094469e-03 9.97385017e-01 -3.08340001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.34, Y:-288.64, Z:-30.84 [[ 8.46069912e-01 5.29404148e-01 6.24255788e-02 5.54335921e+02] [-5.28154560e-01 8.48367011e-01 -3.64166952e-02 -2.88640117e+02] [-7.22389512e-02 -2.15928399e-03 9.97385017e-01 -3.08418230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.39, Y:-288.67, Z:-30.84 [[ 8.44981550e-01 5.31140659e-01 6.24161833e-02 5.54389971e+02] [-5.29894604e-01 8.47280568e-01 -3.64327914e-02 -2.88672558e+02] [-7.22349561e-02 -2.28896218e-03 9.97385017e-01 -3.08420527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.44, Y:-288.70, Z:-30.85 [[ 8.44400351e-01 5.32065432e-01 6.24053086e-02 5.54442062e+02] [-5.30820520e-01 8.46699988e-01 -3.64514091e-02 -2.88703528e+02] [-7.22331088e-02 -2.34643568e-03 9.97385017e-01 -3.08491603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.49, Y:-288.74, Z:-30.85 [[ 8.43912716e-01 5.32839555e-01 6.23966020e-02 5.54494787e+02] [-5.31595653e-01 8.46212899e-01 -3.64663068e-02 -2.88735004e+02] [-7.22315001e-02 -2.39538235e-03 9.97385017e-01 -3.08539180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.55, Y:-288.77, Z:-30.86 [[ 8.43597702e-01 5.33338881e-01 6.23903420e-02 5.54548800e+02] [-5.32095550e-01 8.45898193e-01 -3.64770138e-02 -2.88767189e+02] [-7.22304874e-02 -2.42569826e-03 9.97385017e-01 -3.08584219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.60, Y:-288.80, Z:-30.86 [[ 8.43570711e-01 5.33382742e-01 6.23803336e-02 5.54603031e+02] [-5.32138267e-01 8.45870584e-01 -3.64941216e-02 -2.88799748e+02] [-7.22310238e-02 -2.40959047e-03 9.97385017e-01 -3.08628383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.66, Y:-288.83, Z:-30.87 [[ 8.43640332e-01 5.33273822e-01 6.23700328e-02 5.54656567e+02] [-5.32027751e-01 8.45939340e-01 -3.65117175e-02 -2.88831634e+02] [-7.22320076e-02 -2.37983078e-03 9.97385018e-01 -3.08676917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.71, Y:-288.86, Z:-30.87 [[ 8.43764476e-01 5.33078573e-01 6.23597872e-02 5.54708653e+02] [-5.31830679e-01 8.46062495e-01 -3.65292080e-02 -2.88862976e+02] [-7.22332153e-02 -2.34279993e-03 9.97385018e-01 -3.08731903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.76, Y:-288.89, Z:-30.88 [[ 8.44183929e-01 5.32415039e-01 6.23515809e-02 5.54762798e+02] [-5.31164305e-01 8.46480404e-01 -3.65432100e-02 -2.88894924e+02] [-7.22355460e-02 -2.26974352e-03 9.97385018e-01 -3.08771719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.82, Y:-288.93, Z:-30.88 [[ 8.44948803e-01 5.31201560e-01 6.23411761e-02 5.54816273e+02] [-5.29946221e-01 8.47242763e-01 -3.65609516e-02 -2.88927615e+02] [-7.22393448e-02 -2.14533835e-03 9.97385018e-01 -3.08816933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:554.87, Y:-288.97, Z:-30.88 [[ 8.45012710e-01 5.31101113e-01 6.23308033e-02 5.54865264e+02] [-5.29844198e-01 8.47305807e-01 -3.65786271e-02 -2.88965830e+02] [-7.22402011e-02 -2.11620964e-03 9.97385018e-01 -3.08815788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.92, Y:-288.99, Z:-30.89 [[ 8.48501763e-01 5.25509867e-01 6.23228515e-02 5.54918712e+02] [-5.24236845e-01 8.50785957e-01 -3.65921704e-02 -2.88993790e+02] [-7.22529535e-02 -1.62341393e-03 9.97385019e-01 -3.08904487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:554.97, Y:-289.03, Z:-30.90 [[ 8.49534660e-01 5.23839190e-01 6.23166475e-02 5.54970681e+02] [-5.22560901e-01 8.51815910e-01 -3.66027328e-02 -2.89026411e+02] [-7.22562577e-02 -1.46895334e-03 9.97385019e-01 -3.08969085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.02, Y:-289.06, Z:-30.90 [[ 8.50461544e-01 5.22333785e-01 6.23103477e-02 5.55024015e+02] [-5.21050672e-01 8.52740085e-01 -3.66134542e-02 -2.89060119e+02] [-7.22589753e-02 -1.32851381e-03 9.97385019e-01 -3.08996438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.07, Y:-289.10, Z:-30.90 [[ 8.50648232e-01 5.22030933e-01 6.23000045e-02 5.55074396e+02] [-5.20745721e-01 8.52925589e-01 -3.66310453e-02 -2.89096477e+02] [-7.22598068e-02 -1.28232678e-03 9.97385019e-01 -3.09005546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.13, Y:-289.13, Z:-30.91 [[ 8.51749279e-01 5.20233658e-01 6.22905004e-02 5.55127305e+02] [-5.18942459e-01 8.54023247e-01 -3.66471997e-02 -2.89126466e+02] [-7.22626422e-02 -1.11095952e-03 9.97385019e-01 -3.09082140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.18, Y:-289.16, Z:-30.91 [[ 8.51658346e-01 5.20383125e-01 6.22853438e-02 5.55180635e+02] [-5.19091685e-01 8.53932177e-01 -3.66559617e-02 -2.89158807e+02] [-7.22626032e-02 -1.11344834e-03 9.97385019e-01 -3.09121721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:555.23, Y:-289.19, Z:-30.92 [[ 8.51228510e-01 5.21087194e-01 6.22748708e-02 5.55233280e+02] [-5.19796334e-01 8.53502670e-01 -3.66737459e-02 -2.89193611e+02] [-7.22619878e-02 -1.15251145e-03 9.97385019e-01 -3.09185911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.29, Y:-289.22, Z:-30.92 [[ 8.50966746e-01 5.21516024e-01 6.22626200e-02 5.55287168e+02] [-5.20224790e-01 8.53240693e-01 -3.66945328e-02 -2.89223393e+02] [-7.22617879e-02 -1.16473117e-03 9.97385020e-01 -3.09223335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.34, Y:-289.25, Z:-30.93 [[ 8.50647188e-01 5.22038466e-01 6.22511178e-02 5.55340754e+02] [-5.20747201e-01 8.52921117e-01 -3.67140356e-02 -2.89254465e+02] [-7.22614318e-02 -1.18640425e-03 9.97385020e-01 -3.09278924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.40, Y:-289.29, Z:-30.93 [[ 8.50758348e-01 5.21858345e-01 6.22422748e-02 5.55395094e+02] [-5.20565503e-01 8.53031381e-01 -3.67290212e-02 -2.89286603e+02] [-7.22619599e-02 -1.15365971e-03 9.97385020e-01 -3.09326855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.45, Y:-289.32, Z:-30.94 [[ 8.51213515e-01 5.21116795e-01 6.22321286e-02 5.55448824e+02] [-5.19820716e-01 8.53484704e-01 -3.67462046e-02 -2.89318302e+02] [-7.22632342e-02 -1.07068365e-03 9.97385020e-01 -3.09362389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:555.50, Y:-289.35, Z:-30.94 [[ 8.51337864e-01 5.20914874e-01 6.22216660e-02 5.55501058e+02] [-5.19616962e-01 8.53608006e-01 -3.67639122e-02 -2.89352502e+02] [-7.22637809e-02 -1.03292261e-03 9.97385020e-01 -3.09354714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.55, Y:-289.38, Z:-30.95 [[ 8.53767627e-01 5.16924032e-01 6.22124108e-02 5.55554918e+02] [-5.15614367e-01 8.56031009e-01 -3.67795673e-02 -2.89381104e+02] [-7.22679950e-02 -6.76408881e-04 9.97385021e-01 -3.09451991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.61, Y:-289.41, Z:-30.95 [[ 8.55518772e-01 5.14021202e-01 6.22079888e-02 5.55606837e+02] [-5.12703314e-01 8.57777375e-01 -3.67870449e-02 -2.89412287e+02] [-7.22699265e-02 -4.22234509e-04 9.97385021e-01 -3.09502278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.66, Y:-289.44, Z:-30.95 [[ 8.56545650e-01 5.12309228e-01 6.21997120e-02 5.55660427e+02] [-5.10985809e-01 8.58801017e-01 -3.68010341e-02 -2.89444616e+02] [-7.22706853e-02 -2.61404480e-04 9.97385021e-01 -3.09537782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.71, Y:-289.48, Z:-30.96 [[ 8.57373870e-01 5.10923176e-01 6.21896696e-02 5.55714640e+02] [-5.09594881e-01 8.59626368e-01 -3.68179969e-02 -2.89476380e+02] [-7.22710477e-02 -1.24748766e-04 9.97385021e-01 -3.09582652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.77, Y:-289.51, Z:-30.96 [[ 8.57622532e-01 5.10506886e-01 6.21796698e-02 5.55768764e+02] [-5.09176274e-01 8.59873662e-01 -3.68348773e-02 -2.89506424e+02] [-7.22711189e-02 -6.99918597e-05 9.97385021e-01 -3.09589754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.82, Y:-289.54, Z:-30.96 [[ 8.55963385e-01 5.13285027e-01 6.21704430e-02 5.55820601e+02] [-5.11960590e-01 8.58218153e-01 -3.68504439e-02 -2.89540285e+02] [-7.22705839e-02 -2.86185944e-04 9.97385021e-01 -3.09623186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.87, Y:-289.57, Z:-30.97 [[ 8.56132720e-01 5.13002978e-01 6.21667933e-02 5.55874275e+02] [-5.11677351e-01 8.58386789e-01 -3.68565999e-02 -2.89568500e+02] [-7.22706996e-02 -2.55199019e-04 9.97385021e-01 -3.09705231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.93, Y:-289.60, Z:-30.96 [[ 8.52829528e-01 5.18476827e-01 6.21576687e-02 5.55925682e+02] [-5.17164546e-01 8.55091393e-01 -3.68719818e-02 -2.89604236e+02] [-7.22677556e-02 -7.00227669e-04 9.97385022e-01 -3.09601025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:555.98, Y:-289.63, Z:-30.97 [[ 8.52329354e-01 5.19299035e-01 6.21545256e-02 5.55980224e+02] [-5.17988549e-01 8.54592259e-01 -3.68772793e-02 -2.89633185e+02] [-7.22671120e-02 -7.63744914e-04 9.97385022e-01 -3.09653756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters Centerline goodness : 0.997901 with order 1 Centerline is valid? [True, True] Translation: X:556.03, Y:-289.66, Z:-30.98 [[ 8.52226117e-01 5.19468772e-01 6.21517620e-02 5.56033914e+02] [-5.18158397e-01 8.54489086e-01 -3.68819365e-02 -2.89661642e+02] [-7.22670165e-02 -7.72707904e-04 9.97385022e-01 -3.09810829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:556.09, Y:-289.69, Z:-30.98 [[ 8.49769064e-01 5.23479651e-01 6.21417155e-02 5.56087507e+02] [-5.22178720e-01 8.52037475e-01 -3.68988559e-02 -2.89693785e+02] [-7.22628706e-02 -1.09357524e-03 9.97385022e-01 -3.09833053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.14, Y:-289.72, Z:-30.99 [[ 8.49638817e-01 5.23692404e-01 6.21300831e-02 5.56141411e+02] [-5.22390610e-01 8.51906732e-01 -3.69184321e-02 -2.89721707e+02] [-7.22629385e-02 -1.08883906e-03 9.97385022e-01 -3.09931577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.20, Y:-289.75, Z:-31.00 [[ 8.47384961e-01 5.27332768e-01 6.21198742e-02 5.56196446e+02] [-5.26039458e-01 8.49657725e-01 -3.69356019e-02 -2.89752585e+02] [-7.22579842e-02 -1.37883141e-03 9.97385022e-01 -3.09971327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.25, Y:-289.78, Z:-31.00 [[ 8.45907988e-01 5.29700006e-01 6.21094145e-02 5.56249816e+02] [-5.28411765e-01 8.48183629e-01 -3.69531822e-02 -2.89783563e+02] [-7.22542894e-02 -1.56035337e-03 9.97385022e-01 -3.10022872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.30, Y:-289.82, Z:-31.01 [[ 8.44867531e-01 5.31359028e-01 6.21002332e-02 5.56303797e+02] [-5.30074122e-01 8.47145057e-01 -3.69686051e-02 -2.89816078e+02] [-7.22515076e-02 -1.68415244e-03 9.97385023e-01 -3.10067131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.36, Y:-289.85, Z:-31.01 [[ 8.44838108e-01 5.31407038e-01 6.20897021e-02 5.56357627e+02] [-5.30120963e-01 8.47114974e-01 -3.69862839e-02 -2.89848125e+02] [-7.22518879e-02 -1.66763052e-03 9.97385023e-01 -3.10114325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.41, Y:-289.88, Z:-31.01 [[ 8.43349744e-01 5.33767145e-01 6.20793460e-02 5.56408140e+02] [-5.32486163e-01 8.45629479e-01 -3.70036578e-02 -2.89884494e+02] [-7.22474618e-02 -1.84936747e-03 9.97385023e-01 -3.10060859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.46, Y:-289.91, Z:-31.02 [[ 8.45689874e-01 5.30052510e-01 6.20723273e-02 5.56461697e+02] [-5.28760650e-01 8.47963462e-01 -3.70154278e-02 -2.89912239e+02] [-7.22551859e-02 -1.51783169e-03 9.97385023e-01 -3.10198426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.51, Y:-289.95, Z:-31.02 [[ 8.45100242e-01 5.30993076e-01 6.20639523e-02 5.56513798e+02] [-5.29702716e-01 8.47374682e-01 -3.70294648e-02 -2.89945167e+02] [-7.22538113e-02 -1.58183441e-03 9.97385023e-01 -3.10249443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.57, Y:-289.98, Z:-31.03 [[ 8.44147753e-01 5.32507068e-01 6.20547727e-02 5.56566906e+02] [-5.31219657e-01 8.46423863e-01 -3.70448418e-02 -2.89976108e+02] [-7.22512805e-02 -1.69339515e-03 9.97385023e-01 -3.10321928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.62, Y:-290.01, Z:-31.04 [[ 8.44016649e-01 5.32715972e-01 6.20450626e-02 5.56620395e+02] [-5.31427931e-01 8.46292402e-01 -3.70610978e-02 -2.90008452e+02] [-7.22513038e-02 -1.69229563e-03 9.97385024e-01 -3.10351891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.67, Y:-290.05, Z:-31.03 [[ 8.44189095e-01 5.32443889e-01 6.20344818e-02 5.56670975e+02] [-5.31153815e-01 8.46463696e-01 -3.70788001e-02 -2.90045407e+02] [-7.22523172e-02 -1.64833293e-03 9.97385024e-01 -3.10312690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.72, Y:-290.08, Z:-31.04 [[ 8.46012170e-01 5.29543475e-01 6.20251343e-02 5.56723666e+02] [-5.28244456e-01 8.48281674e-01 -3.70944298e-02 -2.90078577e+02] [-7.22578980e-02 -1.38209431e-03 9.97385024e-01 -3.10352768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.78, Y:-290.11, Z:-31.04 [[ 8.47151241e-01 5.27720438e-01 6.20154370e-02 5.56775647e+02] [-5.26415349e-01 8.49417260e-01 -3.71106349e-02 -2.90109500e+02] [-7.22610231e-02 -1.20755745e-03 9.97385024e-01 -3.10414206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.83, Y:-290.14, Z:-31.05 [[ 8.49124623e-01 5.24540328e-01 6.20065979e-02 5.56828847e+02] [-5.23225674e-01 8.51385106e-01 -3.71253981e-02 -2.90138067e+02] [-7.22652624e-02 -9.19354267e-04 9.97385024e-01 -3.10528435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.88, Y:-290.17, Z:-31.05 [[ 8.48781926e-01 5.25095243e-01 6.20018345e-02 5.56880720e+02] [-5.23781486e-01 8.51042930e-01 -3.71333515e-02 -2.90173224e+02] [-7.22647692e-02 -9.57295410e-04 9.97385024e-01 -3.10516625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.93, Y:-290.20, Z:-31.06 [[ 8.49690941e-01 5.23624174e-01 6.19921660e-02 5.56934400e+02] [-5.22305325e-01 8.51948979e-01 -3.71494855e-02 -2.90201420e+02] [-7.22665313e-02 -8.13257115e-04 9.97385025e-01 -3.10617624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:556.99, Y:-290.23, Z:-31.07 [[ 8.49369958e-01 5.24145724e-01 6.19833441e-02 5.56987296e+02] [-5.22827188e-01 8.51628178e-01 -3.71641989e-02 -2.90231207e+02] [-7.22662184e-02 -8.40423451e-04 9.97385025e-01 -3.10694351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.04, Y:-290.26, Z:-31.07 [[ 8.48976544e-01 5.24783704e-01 6.19749287e-02 5.57041388e+02] [-5.23465841e-01 8.51235157e-01 -3.71782272e-02 -2.90263402e+02] [-7.22657660e-02 -8.78315335e-04 9.97385025e-01 -3.10731807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.10, Y:-290.30, Z:-31.08 [[ 8.49277239e-01 5.24298164e-01 6.19645568e-02 5.57095493e+02] [-5.22977749e-01 8.51534361e-01 -3.71955060e-02 -2.90296106e+02] [-7.22664848e-02 -8.16787791e-04 9.97385025e-01 -3.10762377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.15, Y:-290.33, Z:-31.08 [[ 8.50450940e-01 5.22393399e-01 6.19542980e-02 5.57148439e+02] [-5.21066685e-01 8.52704365e-01 -3.72125856e-02 -2.90328980e+02] [-7.22683094e-02 -6.34842289e-04 9.97385025e-01 -3.10786131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.20, Y:-290.36, Z:-31.08 [[ 8.52950983e-01 5.18301781e-01 6.19506687e-02 5.57200850e+02] [-5.16963817e-01 8.55197746e-01 -3.72186265e-02 -2.90360065e+02] [-7.22705527e-02 -2.80590113e-04 9.97385025e-01 -3.10826326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.25, Y:-290.39, Z:-31.09 [[ 8.54805044e-01 5.15239381e-01 6.19412398e-02 5.57252980e+02] [-5.13892231e-01 8.57046312e-01 -3.72343121e-02 -2.90394599e+02] [-7.22710950e-02 -3.04416944e-06 9.97385025e-01 -3.10867644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.31, Y:-290.42, Z:-31.09 [[ 8.56761997e-01 5.11979200e-01 6.19368880e-02 5.57307606e+02] [-5.10622999e-01 8.58997800e-01 -3.72415497e-02 -2.90423608e+02] [-7.22705493e-02 2.80744951e-04 9.97385025e-01 -3.10934225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.36, Y:-290.45, Z:-31.10 [[ 8.57609472e-01 5.10559587e-01 6.19265906e-02 5.57361369e+02] [-5.09198449e-01 8.59842271e-01 -3.72586646e-02 -2.90454300e+02] [-7.22698688e-02 4.20459801e-04 9.97385026e-01 -3.10970051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.42, Y:-290.49, Z:-31.10 [[ 8.58321898e-01 5.09362183e-01 6.19167713e-02 5.57415070e+02] [-5.07996754e-01 8.60552075e-01 -3.72749754e-02 -2.90486451e+02] [-7.22690689e-02 5.40408772e-04 9.97385026e-01 -3.11007732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.47, Y:-290.52, Z:-31.10 [[ 8.59249976e-01 5.07796323e-01 6.19061583e-02 5.57469624e+02] [-5.06425560e-01 8.61476880e-01 -3.72925931e-02 -2.90517402e+02] [-7.22677658e-02 6.92798879e-04 9.97385026e-01 -3.11049715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.53, Y:-290.55, Z:-31.11 [[ 8.59323904e-01 5.07672482e-01 6.18957051e-02 5.57525133e+02] [-5.06300150e-01 8.61549840e-01 -3.73099345e-02 -2.90547414e+02] [-7.22674620e-02 7.23513824e-04 9.97385026e-01 -3.11106648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.58, Y:-290.58, Z:-31.12 [[ 8.58588410e-01 5.08916653e-01 6.18852409e-02 5.57580202e+02] [-5.07546295e-01 8.60815562e-01 -3.73272834e-02 -2.90577392e+02] [-7.22682545e-02 6.39148141e-04 9.97385026e-01 -3.11157511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.63, Y:-290.61, Z:-31.12 [[ 8.57046710e-01 5.11510034e-01 6.18742470e-02 5.57634645e+02] [-5.10145101e-01 8.59277191e-01 -3.73454981e-02 -2.90608352e+02] [-7.22697261e-02 4.41992359e-04 9.97385027e-01 -3.11197931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.69, Y:-290.64, Z:-31.12 [[ 8.53975131e-01 5.16623088e-01 6.18632477e-02 5.57690447e+02] [-5.15270190e-01 8.56212932e-01 -3.73637096e-02 -2.90638201e+02] [-7.22710678e-02 3.13913868e-05 9.97385027e-01 -3.11239403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.74, Y:-290.67, Z:-31.13 [[ 8.50435936e-01 5.22429923e-01 6.18522052e-02 5.57743027e+02] [-5.21090976e-01 8.52682111e-01 -3.73819807e-02 -2.90668804e+02] [-7.22697342e-02 -4.39646241e-04 9.97385027e-01 -3.11283525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.80, Y:-290.70, Z:-31.13 [[ 8.46661384e-01 5.28526154e-01 6.18433979e-02 5.57798298e+02] [-5.27202314e-01 8.48916497e-01 -3.73965455e-02 -2.90697066e+02] [-7.22649330e-02 -9.41771468e-04 9.97385027e-01 -3.11336158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.85, Y:-290.73, Z:-31.14 [[ 8.44357944e-01 5.32199434e-01 6.18338503e-02 5.57852976e+02] [-5.30884250e-01 8.46618114e-01 -3.74123254e-02 -2.90726607e+02] [-7.22604762e-02 -1.23722306e-03 9.97385027e-01 -3.11388796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.90, Y:-290.76, Z:-31.14 [[ 8.40023732e-01 5.39015683e-01 6.18241391e-02 5.57904227e+02] [-5.37717654e-01 8.42293798e-01 -3.74283665e-02 -2.90759179e+02] [-7.22485654e-02 -1.80321490e-03 9.97385028e-01 -3.11410754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:557.96, Y:-290.79, Z:-31.15 [[ 8.38006706e-01 5.42146854e-01 6.18186756e-02 5.57958622e+02] [-5.40856641e-01 8.40281224e-01 -3.74373881e-02 -2.90791553e+02] [-7.22416346e-02 -2.06225895e-03 9.97385028e-01 -3.11456280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.01, Y:-290.82, Z:-31.15 [[ 8.36995451e-01 5.43707314e-01 6.18140131e-02 5.58012273e+02] [-5.42420774e-01 8.39272048e-01 -3.74450849e-02 -2.90823791e+02] [-7.22379399e-02 -2.18783909e-03 9.97385028e-01 -3.11502948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.07, Y:-290.86, Z:-31.16 [[ 8.36483835e-01 5.44495307e-01 6.18033517e-02 5.58065753e+02] [-5.43209613e-01 8.38760910e-01 -3.74626734e-02 -2.90855876e+02] [-7.22364854e-02 -2.23525398e-03 9.97385028e-01 -3.11551925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.12, Y:-290.89, Z:-31.16 [[ 8.36826699e-01 5.43969432e-01 6.17926628e-02 5.58118040e+02] [-5.42681008e-01 8.39102229e-01 -3.74802959e-02 -2.90888154e+02] [-7.22384964e-02 -2.16919222e-03 9.97385028e-01 -3.11617795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.17, Y:-290.92, Z:-31.17 [[ 8.40095193e-01 5.38909040e-01 6.17828015e-02 5.58169756e+02] [-5.37605711e-01 8.42362220e-01 -3.74965443e-02 -2.90923323e+02] [-7.22507245e-02 -1.71412031e-03 9.97385028e-01 -3.11654472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.22, Y:-290.96, Z:-31.17 [[ 8.43587526e-01 5.33426944e-01 6.17720056e-02 5.58221618e+02] [-5.32107579e-01 8.45845258e-01 -3.75143211e-02 -2.90958240e+02] [-7.22607077e-02 -1.22273904e-03 9.97385029e-01 -3.11696391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.27, Y:-290.99, Z:-31.17 [[ 8.49935873e-01 5.23253813e-01 6.17613127e-02 5.58272042e+02] [-5.21906140e-01 8.52176822e-01 -3.75319171e-02 -2.90993440e+02] [-7.22702779e-02 -3.33885585e-04 9.97385029e-01 -3.11730069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.32, Y:-291.03, Z:-31.18 [[ 8.54598626e-01 5.15604288e-01 6.17527783e-02 5.58323520e+02] [-5.14235543e-01 8.56826767e-01 -3.75459538e-02 -2.91027254e+02] [-7.22702882e-02 3.31247113e-04 9.97385029e-01 -3.11765219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.38, Y:-291.06, Z:-31.18 [[ 8.61076587e-01 5.04712621e-01 6.17436754e-02 5.58376012e+02] [-5.03314624e-01 8.63286492e-01 -3.75609174e-02 -2.91062493e+02] [-7.22599500e-02 1.26633184e-03 9.97385029e-01 -3.11792945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.43, Y:-291.09, Z:-31.19 [[ 8.65810720e-01 4.96548936e-01 6.17329006e-02 5.58430002e+02] [-4.95128847e-01 8.68006494e-01 -3.75786179e-02 -2.91093068e+02] [-7.22441813e-02 1.97023032e-03 9.97385029e-01 -3.11873960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.48, Y:-291.13, Z:-31.19 [[ 8.70155536e-01 4.88896280e-01 6.17233332e-02 5.58482664e+02] [-4.87455775e-01 8.72337970e-01 -3.75943259e-02 -2.91126430e+02] [-7.22233333e-02 2.62551559e-03 9.97385029e-01 -3.11916410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.54, Y:-291.16, Z:-31.19 [[ 8.72077331e-01 4.85461149e-01 6.17138689e-02 5.58535388e+02] [-4.84010953e-01 8.74253337e-01 -3.76098559e-02 -2.91159302e+02] [-7.22116797e-02 2.92851423e-03 9.97385030e-01 -3.11934687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.59, Y:-291.19, Z:-31.20 [[ 8.75051633e-01 4.80080400e-01 6.17045266e-02 5.58590027e+02] [-4.78615751e-01 8.77217937e-01 -3.76251771e-02 -2.91188993e+02] [-7.21914276e-02 3.39121438e-03 9.97385030e-01 -3.11965173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.65, Y:-291.22, Z:-31.20 [[ 8.75541406e-01 4.79187840e-01 6.16948895e-02 5.58645301e+02] [-4.77719873e-01 8.77705463e-01 -3.76409727e-02 -2.91218224e+02] [-7.21870380e-02 3.48335538e-03 9.97385030e-01 -3.11995093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.70, Y:-291.25, Z:-31.20 [[ 8.74701950e-01 4.80719740e-01 6.16849314e-02 5.58700818e+02] [-4.79254416e-01 8.76867797e-01 -3.76572848e-02 -2.91246443e+02] [-7.21921300e-02 3.37612465e-03 9.97385030e-01 -3.12049637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.76, Y:-291.27, Z:-31.21 [[ 8.70933417e-01 4.87515381e-01 6.16744317e-02 5.58759027e+02] [-4.86065750e-01 8.73109799e-01 -3.76744731e-02 -2.91271715e+02] [-7.22154358e-02 2.83412871e-03 9.97385030e-01 -3.12077148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.82, Y:-291.29, Z:-31.22 [[ 8.64526434e-01 4.98790204e-01 6.16634185e-02 5.58815987e+02] [-4.97367689e-01 8.66720635e-01 -3.76924903e-02 -2.91294041e+02] [-7.22456021e-02 1.91676223e-03 9.97385030e-01 -3.12167165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.87, Y:-291.32, Z:-31.22 [[ 8.60168057e-01 5.06270307e-01 6.16546092e-02 5.58873959e+02] [-5.04865846e-01 8.62373856e-01 -3.77068944e-02 -2.91319431e+02] [-7.22592041e-02 1.30695970e-03 9.97385031e-01 -3.12208928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.93, Y:-291.34, Z:-31.23 [[ 8.53678164e-01 5.17139894e-01 6.16435121e-02 5.58932719e+02] [-5.15762215e-01 8.55900789e-01 -3.77250273e-02 -2.91342918e+02] [-7.22698473e-02 4.11637673e-04 9.97385031e-01 -3.12259604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:558.99, Y:-291.37, Z:-31.23 [[ 8.49256009e-01 5.24371700e-01 6.16323856e-02 5.58989311e+02] [-5.23011629e-01 8.51489452e-01 -3.77431963e-02 -2.91369379e+02] [-7.22707903e-02 -1.80818075e-04 9.97385031e-01 -3.12313601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.05, Y:-291.40, Z:-31.24 [[ 8.48154375e-01 5.26152899e-01 6.16220977e-02 5.59045219e+02] [-5.24796298e-01 8.50389928e-01 -3.77599856e-02 -2.91398941e+02] [-7.22703371e-02 -3.12751736e-04 9.97385031e-01 -3.12359998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.10, Y:-291.43, Z:-31.24 [[ 8.48267823e-01 5.25971248e-01 6.16112557e-02 5.59100590e+02] [-5.24612884e-01 8.50502304e-01 -3.77776677e-02 -2.91425861e+02] [-7.22704820e-02 -2.76478671e-04 9.97385031e-01 -3.12426314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.16, Y:-291.46, Z:-31.25 [[ 8.49434320e-01 5.24086384e-01 6.16019411e-02 5.59155991e+02] [-5.22721960e-01 8.51665106e-01 -3.77928505e-02 -2.91456028e+02] [-7.22709420e-02 -9.81431197e-05 9.97385032e-01 -3.12484528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.21, Y:-291.49, Z:-31.25 [[ 8.53035241e-01 5.18205934e-01 6.15912962e-02 5.59210803e+02] [-5.16824881e-01 8.55255770e-01 -3.78101907e-02 -2.91485979e+02] [-7.22697766e-02 4.21510801e-04 9.97385032e-01 -3.12530588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.26, Y:-291.52, Z:-31.26 [[ 8.59315037e-01 5.07725822e-01 6.15804935e-02 5.59264952e+02] [-5.06316433e-01 8.61517689e-01 -3.78277765e-02 -2.91516123e+02] [-7.22588234e-02 1.32676138e-03 9.97385032e-01 -3.12550346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.32, Y:-291.55, Z:-31.26 [[ 8.62023675e-01 5.03114543e-01 6.15706117e-02 5.59316025e+02] [-5.01692225e-01 8.64218001e-01 -3.78438539e-02 -2.91548327e+02] [-7.22502242e-02 1.73280089e-03 9.97385032e-01 -3.12615835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.37, Y:-291.58, Z:-31.27 [[ 8.64865244e-01 4.98215091e-01 6.15616211e-02 5.59370471e+02] [-4.96779305e-01 8.67050782e-01 -3.78584735e-02 -2.91580393e+02] [-7.22387145e-02 2.15993859e-03 9.97385032e-01 -3.12658098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.42, Y:-291.61, Z:-31.27 [[ 8.66407630e-01 4.95529332e-01 6.15507980e-02 5.59424568e+02] [-4.94085524e-01 8.68587876e-01 -3.78760617e-02 -2.91609740e+02] [-7.22309765e-02 2.40475052e-03 9.97385033e-01 -3.12704391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.48, Y:-291.64, Z:-31.28 [[ 8.64570016e-01 4.98729801e-01 6.15408170e-02 5.59479205e+02] [-4.97292913e-01 8.66754829e-01 -3.78922719e-02 -2.91638384e+02] [-7.22388056e-02 2.15670996e-03 9.97385033e-01 -3.12756742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.53, Y:-291.67, Z:-31.28 [[ 8.61933928e-01 5.03273126e-01 6.15310025e-02 5.59534131e+02] [-5.01846620e-01 8.64125534e-01 -3.79082024e-02 -2.91668975e+02] [-7.22486899e-02 1.79524018e-03 9.97385033e-01 -3.12797697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.59, Y:-291.70, Z:-31.28 [[ 8.56581127e-01 5.12331925e-01 6.15204917e-02 5.59589505e+02] [-5.10927379e-01 8.58786870e-01 -3.79252525e-02 -2.91697568e+02] [-7.22633082e-02 1.05355191e-03 9.97385033e-01 -3.12810822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.64, Y:-291.73, Z:-31.29 [[ 8.52318581e-01 5.19393316e-01 6.15111323e-02 5.59644294e+02] [-5.18005951e-01 8.54535171e-01 -3.79404266e-02 -2.91727118e+02] [-7.22694299e-02 4.74197924e-04 9.97385033e-01 -3.12887945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.70, Y:-291.76, Z:-31.29 [[ 8.46910794e-01 5.28166297e-01 6.15017837e-02 5.59698420e+02] [-5.26800793e-01 8.49140918e-01 -3.79555746e-02 -2.91756339e+02] [-7.22705364e-02 -2.54202609e-04 9.97385033e-01 -3.12935216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.75, Y:-291.79, Z:-31.30 [[ 8.45298167e-01 5.30744526e-01 6.14919292e-02 5.59752265e+02] [-5.29384663e-01 8.47531734e-01 -3.79715333e-02 -2.91788554e+02] [-7.22695448e-02 -4.55616724e-04 9.97385034e-01 -3.12981404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.81, Y:-291.82, Z:-31.30 [[ 8.41668698e-01 5.36482837e-01 6.14814537e-02 5.59805027e+02] [-5.35136963e-01 8.43910721e-01 -3.79884872e-02 -2.91820165e+02] [-7.22650293e-02 -9.27277884e-04 9.97385034e-01 -3.13036765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.86, Y:-291.85, Z:-31.31 [[ 8.39561856e-01 5.39774690e-01 6.14749917e-02 5.59859164e+02] [-5.38436841e-01 8.41808677e-01 -3.79989415e-02 -2.91852902e+02] [-7.22610483e-02 -1.19793848e-03 9.97385034e-01 -3.13076659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.91, Y:-291.89, Z:-31.31 [[ 8.37151205e-01 5.43507116e-01 6.14644190e-02 5.59912460e+02] [-5.42178029e-01 8.39403220e-01 -3.80160354e-02 -2.91886840e+02] [-7.22554170e-02 -1.49948766e-03 9.97385034e-01 -3.13124564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:559.96, Y:-291.92, Z:-31.32 [[ 8.35171597e-01 5.46545375e-01 6.14536889e-02 5.59964476e+02] [-5.45223205e-01 8.37427680e-01 -3.80333728e-02 -2.91921368e+02] [-7.22499842e-02 -1.74158446e-03 9.97385034e-01 -3.13173492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.02, Y:-291.96, Z:-31.32 [[ 8.33958218e-01 5.48396263e-01 6.14428921e-02 5.60015759e+02] [-5.47077816e-01 8.36216479e-01 -3.80508072e-02 -2.91955418e+02] [-7.22464794e-02 -1.88125982e-03 9.97385035e-01 -3.13225871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.07, Y:-291.99, Z:-31.33 [[ 8.32540449e-01 5.50547362e-01 6.14329208e-02 5.60065714e+02] [-5.49233563e-01 8.34801416e-01 -3.80668991e-02 -2.91991537e+02] [-7.22419201e-02 -2.04878871e-03 9.97385035e-01 -3.13276713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.12, Y:-292.03, Z:-31.33 [[ 8.32101404e-01 5.51211775e-01 6.14233898e-02 5.60117038e+02] [-5.49898647e-01 8.34362762e-01 -3.80822717e-02 -2.92028350e+02] [-7.22407857e-02 -2.08832719e-03 9.97385035e-01 -3.13318064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.17, Y:-292.07, Z:-31.33 [[ 8.32385989e-01 5.50783127e-01 6.14126464e-02 5.60166436e+02] [-5.49467559e-01 8.34645927e-01 -3.80995890e-02 -2.92066761e+02] [-7.22424260e-02 -2.03069280e-03 9.97385035e-01 -3.13349907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.22, Y:-292.11, Z:-31.34 [[ 8.33276453e-01 5.49436127e-01 6.14027283e-02 5.60215825e+02] [-5.48115729e-01 8.35533573e-01 -3.81155667e-02 -2.92105515e+02] [-7.22461103e-02 -1.89499697e-03 9.97385035e-01 -3.13379806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.27, Y:-292.14, Z:-31.34 [[ 8.33790860e-01 5.48655917e-01 6.13961423e-02 5.60266667e+02] [-5.47332626e-01 8.36046286e-01 -3.81261725e-02 -2.92143167e+02] [-7.22481668e-02 -1.81485759e-03 9.97385035e-01 -3.13421805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.32, Y:-292.18, Z:-31.35 [[ 8.35491741e-01 5.46063534e-01 6.13854035e-02 5.60316690e+02] [-5.44731975e-01 8.37742295e-01 -3.81434547e-02 -2.92181556e+02] [-7.22538985e-02 -1.57005074e-03 9.97385036e-01 -3.13472405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.37, Y:-292.22, Z:-31.35 [[ 8.35992085e-01 5.45298511e-01 6.13740053e-02 5.60365117e+02] [-5.43963548e-01 8.38240620e-01 -3.81617861e-02 -2.92220288e+02] [-7.22557493e-02 -1.48227057e-03 9.97385036e-01 -3.13499598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.42, Y:-292.26, Z:-31.35 [[ 8.36731268e-01 5.44164778e-01 6.13634964e-02 5.60415148e+02] [-5.42825530e-01 8.38977254e-01 -3.81786767e-02 -2.92256663e+02] [-7.22580689e-02 -1.36437985e-03 9.97385036e-01 -3.13537726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.46, Y:-292.30, Z:-31.36 [[ 8.39752922e-01 5.39491181e-01 6.13538564e-02 5.60464502e+02] [-5.38138301e-01 8.41990722e-01 -3.81941620e-02 -2.92295292e+02] [-7.22647915e-02 -9.43200866e-04 9.97385036e-01 -3.13587407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.51, Y:-292.34, Z:-31.36 [[ 8.44845117e-01 5.31482629e-01 6.13428392e-02 5.60513109e+02] [-5.30107248e-01 8.47069159e-01 -3.82118484e-02 -2.92335033e+02] [-7.22705609e-02 -2.35190157e-04 9.97385036e-01 -3.13628064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.56, Y:-292.37, Z:-31.37 [[ 8.48380000e-01 5.25822463e-01 6.13360580e-02 5.60563195e+02] [-5.24431458e-01 8.50594303e-01 -3.82227303e-02 -2.92372735e+02] [-7.22704717e-02 2.60841671e-04 9.97385036e-01 -3.13673336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.61, Y:-292.41, Z:-31.37 [[ 8.52545098e-01 5.19043417e-01 6.13252578e-02 5.60613039e+02] [-5.17633560e-01 8.54747446e-01 -3.82400505e-02 -2.92412180e+02] [-7.22658539e-02 8.57356123e-04 9.97385037e-01 -3.13718418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.66, Y:-292.45, Z:-31.37 [[ 8.52649504e-01 5.18873160e-01 6.13144988e-02 5.60660332e+02] [-5.17461624e-01 8.54850775e-01 -3.82572939e-02 -2.92453908e+02] [-7.22654298e-02 8.92162536e-04 9.97385037e-01 -3.13692421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.71, Y:-292.49, Z:-31.38 [[ 8.52439040e-01 5.19219201e-01 6.13115296e-02 5.60711256e+02] [-5.17808216e-01 8.54640665e-01 -3.82620517e-02 -2.92488435e+02] [-7.22657184e-02 8.68452838e-04 9.97385037e-01 -3.13764150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.76, Y:-292.52, Z:-31.39 [[ 8.52164807e-01 5.19669618e-01 6.13076760e-02 5.60762845e+02] [-5.18259352e-01 8.54366893e-01 -3.82682254e-02 -2.92519447e+02] [-7.22660827e-02 8.37558493e-04 9.97385037e-01 -3.13864189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:560.81, Y:-292.56, Z:-31.39 [[ 8.49698458e-01 5.23693073e-01 6.13033097e-02 5.60814045e+02] [-5.22292731e-01 8.51906867e-01 -3.82752186e-02 -2.92555984e+02] [-7.22691774e-02 5.04121133e-04 9.97385037e-01 -3.13874399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.87, Y:-292.59, Z:-31.39 [[ 8.47850222e-01 5.26680643e-01 6.12984645e-02 5.60865373e+02] [-5.25287522e-01 8.50063194e-01 -3.82829767e-02 -2.92588487e+02] [-7.22704713e-02 2.58911801e-04 9.97385037e-01 -3.13943738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.92, Y:-292.62, Z:-31.40 [[ 8.45697716e-01 5.30131264e-01 6.12879689e-02 5.60917012e+02] [-5.28745955e-01 8.47915587e-01 -3.82997721e-02 -2.92624198e+02] [-7.22709307e-02 -1.57358379e-05 9.97385037e-01 -3.13991751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:560.97, Y:-292.66, Z:-31.40 [[ 8.44721759e-01 5.31685610e-01 6.12826350e-02 5.60969803e+02] [-5.30303763e-01 8.46941788e-01 -3.83083048e-02 -2.92657427e+02] [-7.22707989e-02 -1.38553308e-04 9.97385037e-01 -3.14011452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.02, Y:-292.69, Z:-31.41 [[ 8.44808677e-01 5.31548740e-01 6.12718287e-02 5.61020822e+02] [-5.30165280e-01 8.47027701e-01 -3.83255810e-02 -2.92691984e+02] [-7.22708505e-02 -1.06412839e-04 9.97385037e-01 -3.14076950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.07, Y:-292.73, Z:-31.41 [[ 8.46178290e-01 5.29366929e-01 6.12613796e-02 5.61073011e+02] [-5.27976539e-01 8.48392978e-01 -3.83422761e-02 -2.92726052e+02] [-7.22708572e-02 9.98304464e-05 9.97385038e-01 -3.14121690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.13, Y:-292.76, Z:-31.42 [[ 8.49869618e-01 5.23421423e-01 6.12506947e-02 5.61125397e+02] [-5.22014310e-01 8.52073718e-01 -3.83593373e-02 -2.92760622e+02] [-7.22682061e-02 6.26696219e-04 9.97385038e-01 -3.14173674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.18, Y:-292.80, Z:-31.42 [[ 8.52365274e-01 5.19348053e-01 6.12457284e-02 5.61177627e+02] [-5.17929838e-01 8.54562248e-01 -3.83672652e-02 -2.92795839e+02] [-7.22642518e-02 9.81934300e-04 9.97385038e-01 -3.14226584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.23, Y:-292.83, Z:-31.43 [[ 8.56273126e-01 5.12880388e-01 6.12375836e-02 5.61228289e+02] [-5.11444653e-01 8.58458690e-01 -3.83802605e-02 -2.92830782e+02] [-7.22544187e-02 1.54435090e-03 9.97385038e-01 -3.14278793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.28, Y:-292.86, Z:-31.43 [[ 8.58877733e-01 5.08507097e-01 6.12337516e-02 5.61280440e+02] [-5.07059799e-01 8.61055658e-01 -3.83863734e-02 -2.92863897e+02] [-7.22454115e-02 1.92002754e-03 9.97385038e-01 -3.14319090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.33, Y:-292.90, Z:-31.44 [[ 8.59812679e-01 5.06925929e-01 6.12230276e-02 5.61333097e+02] [-5.05473411e-01 8.61987125e-01 -3.84034697e-02 -2.92895619e+02] [-7.22411761e-02 2.07317757e-03 9.97385038e-01 -3.14351709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.39, Y:-292.93, Z:-31.44 [[ 8.59925751e-01 5.06735278e-01 6.12132484e-02 5.61386512e+02] [-5.05281169e-01 8.62099134e-01 -3.84190510e-02 -2.92928491e+02] [-7.22401768e-02 2.10762953e-03 9.97385038e-01 -3.14397722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.44, Y:-292.96, Z:-31.44 [[ 8.56726956e-01 5.12126190e-01 6.12020234e-02 5.61438224e+02] [-5.10684485e-01 8.58908586e-01 -3.84369242e-02 -2.92960855e+02] [-7.22514989e-02 1.67502524e-03 9.97385039e-01 -3.14446953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.49, Y:-292.99, Z:-31.46 [[ 8.56286322e-01 5.12863670e-01 6.11930704e-02 5.61493754e+02] [-5.11422826e-01 8.58468520e-01 -3.84511724e-02 -2.92987366e+02] [-7.22525340e-02 1.62968003e-03 9.97385039e-01 -3.14569351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.54, Y:-293.02, Z:-31.45 [[ 8.47592373e-01 5.27108490e-01 6.11866720e-02 5.61544936e+02] [-5.25703598e-01 8.49797889e-01 -3.84613513e-02 -2.93022700e+02] [-7.22696096e-02 4.33494418e-04 9.97385039e-01 -3.14526277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.60, Y:-293.05, Z:-31.46 [[ 8.41999828e-01 5.35997823e-01 6.11769896e-02 5.61599350e+02] [-5.34615097e-01 8.44219307e-01 -3.84767462e-02 -2.93050786e+02] [-7.22702480e-02 -3.08728531e-04 9.97385039e-01 -3.14640680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.65, Y:-293.08, Z:-31.46 [[ 8.33953511e-01 5.48434338e-01 6.11663188e-02 5.61650971e+02] [-5.47083459e-01 8.36192516e-01 -3.84937021e-02 -2.93083734e+02] [-7.22580860e-02 -1.36112324e-03 9.97385039e-01 -3.14613311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.70, Y:-293.11, Z:-31.47 [[ 8.31722220e-01 5.51813414e-01 6.11564005e-02 5.61704356e+02] [-5.50470473e-01 8.33965995e-01 -3.85094533e-02 -2.93113690e+02] [-7.22523913e-02 -1.63562469e-03 9.97385039e-01 -3.14741154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.76, Y:-293.15, Z:-31.47 [[ 8.27622363e-01 5.57944054e-01 6.11527373e-02 5.61756054e+02] [-5.56617300e-01 8.29875747e-01 -3.85152695e-02 -2.93149890e+02] [-7.22385392e-02 -2.16257316e-03 9.97385039e-01 -3.14707396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.81, Y:-293.18, Z:-31.48 [[ 8.27203400e-01 5.58565422e-01 6.11490327e-02 5.61807589e+02] [-5.57239926e-01 8.29457525e-01 -3.85211502e-02 -2.93184330e+02] [-7.22371079e-02 -2.20985602e-03 9.97385039e-01 -3.14764588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.86, Y:-293.22, Z:-31.49 [[ 8.31252405e-01 5.52522816e-01 6.11389980e-02 5.61859807e+02] [-5.51179759e-01 8.33496111e-01 -3.85370703e-02 -2.93216509e+02] [-7.22517277e-02 -1.66454579e-03 9.97385040e-01 -3.14903866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.91, Y:-293.26, Z:-31.49 [[ 8.30098386e-01 5.54256185e-01 6.11289784e-02 5.61906572e+02] [-5.52916644e-01 8.32344192e-01 -3.85529572e-02 -2.93257223e+02] [-7.22485651e-02 -1.79648206e-03 9.97385040e-01 -3.14870276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:561.95, Y:-293.30, Z:-31.49 [[ 8.33124297e-01 5.49698354e-01 6.11197662e-02 5.61954930e+02] [-5.48345454e-01 8.35362081e-01 -3.85675563e-02 -2.93297007e+02] [-7.22576573e-02 -1.38317772e-03 9.97385040e-01 -3.14897007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.00, Y:-293.34, Z:-31.49 [[ 8.37121983e-01 5.43592064e-01 6.11101818e-02 5.62002878e+02] [-5.42221730e-01 8.39349134e-01 -3.85827368e-02 -2.93337408e+02] [-7.22660476e-02 -8.36811374e-04 9.97385040e-01 -3.14917297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.05, Y:-293.38, Z:-31.50 [[ 8.41065016e-01 5.37472202e-01 6.11005020e-02 5.62050797e+02] [-5.36084548e-01 8.43281417e-01 -3.85980599e-02 -2.93377152e+02] [-7.22703021e-02 -2.91557147e-04 9.97385040e-01 -3.14953146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.10, Y:-293.41, Z:-31.50 [[ 8.42969563e-01 5.34481332e-01 6.10902785e-02 5.62101651e+02] [-5.33084642e-01 8.45180280e-01 -3.86142342e-02 -2.93414559e+02] [-7.22708860e-02 -1.56651195e-05 9.97385040e-01 -3.14997467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.15, Y:-293.45, Z:-31.50 [[ 8.42503415e-01 5.35217061e-01 6.10793997e-02 5.62154062e+02] [-5.33821054e-01 8.44714564e-01 -3.86314344e-02 -2.93448318e+02] [-7.22708613e-02 -5.83540863e-05 9.97385041e-01 -3.15044643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.21, Y:-293.48, Z:-31.51 [[ 8.39740419e-01 5.39543001e-01 6.10686407e-02 5.62207812e+02] [-5.38157149e-01 8.41957945e-01 -3.86484348e-02 -2.93481312e+02] [-7.22697198e-02 -4.09872738e-04 9.97385041e-01 -3.15094636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.26, Y:-293.52, Z:-31.51 [[ 8.38455735e-01 5.41538507e-01 6.10575645e-02 5.62260983e+02] [-5.40156658e-01 8.40675758e-01 -3.86659253e-02 -2.93515151e+02] [-7.22687018e-02 -5.60983232e-04 9.97385041e-01 -3.15140137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.31, Y:-293.55, Z:-31.52 [[ 8.38246603e-01 5.41863402e-01 6.10465949e-02 5.62314340e+02] [-5.40481153e-01 8.40466377e-01 -3.86832366e-02 -2.93548663e+02] [-7.22686406e-02 -5.68442293e-04 9.97385041e-01 -3.15182588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.37, Y:-293.58, Z:-31.52 [[ 8.38451344e-01 5.41547766e-01 6.10357285e-02 5.62367507e+02] [-5.40163434e-01 8.40669820e-01 -3.87003744e-02 -2.93581337e+02] [-7.22689962e-02 -5.20887762e-04 9.97385041e-01 -3.15227867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.42, Y:-293.62, Z:-31.53 [[ 8.38194051e-01 5.41947131e-01 6.10249125e-02 5.62420489e+02] [-5.40562614e-01 8.40412412e-01 -3.87174222e-02 -2.93615302e+02] [-7.22688898e-02 -5.35073319e-04 9.97385042e-01 -3.15262335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.47, Y:-293.65, Z:-31.53 [[ 8.37262356e-01 5.43386636e-01 6.10140220e-02 5.62473422e+02] [-5.42004684e-01 8.39482314e-01 -3.87345768e-02 -2.93649375e+02] [-7.22680438e-02 -6.38882666e-04 9.97385042e-01 -3.15299050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.53, Y:-293.68, Z:-31.53 [[ 8.35727345e-01 5.45745741e-01 6.10031991e-02 5.62526529e+02] [-5.44368812e-01 8.37950422e-01 -3.87516143e-02 -2.93683064e+02] [-7.22661849e-02 -8.22455260e-04 9.97385042e-01 -3.15329639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.58, Y:-293.72, Z:-31.54 [[ 8.34601111e-01 5.47467750e-01 6.09921985e-02 5.62578935e+02] [-5.46094143e-01 8.36826241e-01 -3.87689208e-02 -2.93716530e+02] [-7.22646061e-02 -9.50898014e-04 9.97385042e-01 -3.15373450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.63, Y:-293.75, Z:-31.54 [[ 8.33146425e-01 5.49680110e-01 6.09820526e-02 5.62631362e+02] [-5.48311243e-01 8.35374475e-01 -3.87848733e-02 -2.93750335e+02] [-7.22621236e-02 -1.12366654e-03 9.97385042e-01 -3.15409636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.68, Y:-293.78, Z:-31.55 [[ 8.32447242e-01 5.50739576e-01 6.09713783e-02 5.62684105e+02] [-5.49372317e-01 8.34676279e-01 -3.88016465e-02 -2.93784275e+02] [-7.22609655e-02 -1.19566377e-03 9.97385043e-01 -3.15455235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.74, Y:-293.82, Z:-31.55 [[ 8.33309202e-01 5.49435667e-01 6.09608265e-02 5.62735878e+02] [-5.48063708e-01 8.35535348e-01 -3.88182174e-02 -2.93818472e+02] [-7.22630385e-02 -1.06283882e-03 9.97385043e-01 -3.15502528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.79, Y:-293.85, Z:-31.55 [[ 8.34653471e-01 5.47392480e-01 6.09512575e-02 5.62786712e+02] [-5.46013974e-01 8.36875570e-01 -3.88332365e-02 -2.93853493e+02] [-7.22656400e-02 -8.67942631e-04 9.97385043e-01 -3.15549177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.84, Y:-293.88, Z:-31.57 [[ 8.40858320e-01 5.37813213e-01 6.09445119e-02 5.62840879e+02] [-5.36408623e-01 8.43064023e-01 -3.88438200e-02 -2.93883476e+02] [-7.22708451e-02 -2.90124398e-05 9.97385043e-01 -3.15664826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.89, Y:-293.92, Z:-31.57 [[ 8.42696764e-01 5.34929093e-01 6.09346340e-02 5.62894304e+02] [-5.33515834e-01 8.44896922e-01 -3.88593095e-02 -2.93916548e+02] [-7.22704599e-02 2.37022270e-04 9.97385043e-01 -3.15692871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:562.95, Y:-293.95, Z:-31.57 [[ 8.43365769e-01 5.33875002e-01 6.09234181e-02 5.62946889e+02] [-5.32457723e-01 8.45563339e-01 -3.88768858e-02 -2.93950337e+02] [-7.22700063e-02 3.48290172e-04 9.97385043e-01 -3.15727273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.00, Y:-293.98, Z:-31.58 [[ 8.43116178e-01 5.34270397e-01 6.09118472e-02 5.63000000e+02] [-5.32852839e-01 8.45313569e-01 -3.88950065e-02 -2.93984064e+02] [-7.22700615e-02 3.35958496e-04 9.97385044e-01 -3.15780523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.05, Y:-294.02, Z:-31.58 [[ 8.42984184e-01 5.34479939e-01 6.09004197e-02 5.63052621e+02] [-5.33061635e-01 8.45181093e-01 -3.89128911e-02 -2.94017557e+02] [-7.22700429e-02 3.39274466e-04 9.97385044e-01 -3.15833893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.11, Y:-294.05, Z:-31.59 [[ 8.42499651e-01 5.35244697e-01 6.08888515e-02 5.63105559e+02] [-5.33827080e-01 8.44697003e-01 -3.89309841e-02 -2.94051052e+02] [-7.22702332e-02 2.95222674e-04 9.97385044e-01 -3.15890940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.16, Y:-294.09, Z:-31.59 [[ 8.40711385e-01 5.38050481e-01 6.08773209e-02 5.63157955e+02] [-5.36638892e-01 8.42912614e-01 -3.89490064e-02 -2.94085572e+02] [-7.22707933e-02 7.57350719e-05 9.97385044e-01 -3.15919286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.21, Y:-294.12, Z:-31.60 [[ 8.39429101e-01 5.40050132e-01 6.08657523e-02 5.63211061e+02] [-5.38642477e-01 8.41632847e-01 -3.89670763e-02 -2.94119008e+02] [-7.22707911e-02 -7.47818122e-05 9.97385045e-01 -3.15950396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.26, Y:-294.16, Z:-31.59 [[ 8.38118658e-01 5.42082917e-01 6.08541351e-02 5.63260208e+02] [-5.40679290e-01 8.40324972e-01 -3.89852102e-02 -2.94156081e+02] [-7.22704659e-02 -2.28338519e-04 9.97385045e-01 -3.15919161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.31, Y:-294.19, Z:-31.60 [[ 8.40434821e-01 5.38486040e-01 6.08448517e-02 5.63311704e+02] [-5.37071922e-01 8.42634425e-01 -3.89996937e-02 -2.94190991e+02] [-7.22707573e-02 9.86391375e-05 9.97385045e-01 -3.15950117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.37, Y:-294.22, Z:-31.60 [[ 8.43817197e-01 5.33171357e-01 6.08345507e-02 5.63365278e+02] [-5.31742227e-01 8.46007077e-01 -3.90157554e-02 -2.94222165e+02] [-7.22685437e-02 5.73865925e-04 9.97385045e-01 -3.16031338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.41, Y:-294.26, Z:-31.60 [[ 8.43555016e-01 5.33587236e-01 6.08243199e-02 5.63414951e+02] [-5.32158036e-01 8.45744850e-01 -3.90316984e-02 -2.94257454e+02] [-7.22686713e-02 5.57234361e-04 9.97385045e-01 -3.16023902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.47, Y:-294.29, Z:-31.61 [[ 8.44150260e-01 5.32646107e-01 6.08149973e-02 5.63466910e+02] [-5.31213420e-01 8.46337814e-01 -3.90462184e-02 -2.94290755e+02] [-7.22678481e-02 6.55132686e-04 9.97385045e-01 -3.16069990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.52, Y:-294.32, Z:-31.61 [[ 8.44286696e-01 5.32430602e-01 6.08081330e-02 5.63519638e+02] [-5.30996587e-01 8.46473380e-01 -3.90569055e-02 -2.94323905e+02] [-7.22675576e-02 6.86314606e-04 9.97385046e-01 -3.16116703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.57, Y:-294.36, Z:-31.60 [[ 8.40365645e-01 5.38599392e-01 6.07970225e-02 5.63569453e+02] [-5.37180178e-01 8.42561964e-01 -3.90741928e-02 -2.94362266e+02] [-7.22705952e-02 1.77653848e-04 9.97385046e-01 -3.16022653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:563.62, Y:-294.40, Z:-31.60 [[ 8.38385781e-01 5.41676347e-01 6.07948762e-02 5.63621370e+02] [-5.40264952e-01 8.40587133e-01 -3.90775320e-02 -2.94397635e+02] [-7.22707654e-02 -8.32936532e-05 9.97385046e-01 -3.16031223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:564.16, Y:-293.77, Z:-30.70 [[ 8.76643954e-01 4.77283765e-01 6.07913291e-02 5.64163382e+02] [-4.75710893e-01 8.78732987e-01 -3.90830493e-02 -2.93767758e+02] [-7.20730511e-02 5.34282145e-03 9.97385046e-01 -3.06966642e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.22, Y:-293.80, Z:-30.70 [[ 8.78499296e-01 4.73538506e-01 6.32476838e-02 5.64217081e+02] [-4.72273475e-01 8.80772963e-01 -3.45941151e-02 -2.93796213e+02] [-7.20884954e-02 5.20702312e-04 9.97398104e-01 -3.07041995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.27, Y:-293.82, Z:-30.71 [[ 8.80173170e-01 4.70421274e-01 6.32377714e-02 5.64272421e+02] [-4.69146890e-01 8.82441607e-01 -3.46122255e-02 -2.93823996e+02] [-7.20859678e-02 7.96948464e-04 9.97398104e-01 -3.07072677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.33, Y:-293.85, Z:-30.71 [[ 8.81304528e-01 4.68299467e-01 6.32292521e-02 5.64326566e+02] [-4.67018505e-01 8.83569257e-01 -3.46277814e-02 -2.93850843e+02] [-7.20835949e-02 9.88389789e-04 9.97398104e-01 -3.07071372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.38, Y:-293.88, Z:-30.71 [[ 8.81861265e-01 4.67250712e-01 6.32256443e-02 5.64381055e+02] [-4.65966585e-01 8.84124201e-01 -3.46343676e-02 -2.93879733e+02] [-7.20822551e-02 1.08166962e-03 9.97398104e-01 -3.07129885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.43, Y:-293.91, Z:-30.71 [[ 8.82824176e-01 4.65430013e-01 6.32169089e-02 5.64434699e+02] [-4.64140079e-01 8.85083806e-01 -3.46503046e-02 -2.93907648e+02] [-7.20795541e-02 1.24862555e-03 9.97398105e-01 -3.07149705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:564.49, Y:-293.94, Z:-30.72 [[ 8.83661828e-01 4.63838362e-01 6.32119368e-02 5.64489399e+02] [-4.62543709e-01 8.85918758e-01 -3.46593728e-02 -2.93936749e+02] [-7.20769872e-02 1.38888104e-03 9.97398105e-01 -3.07218769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.54, Y:-293.97, Z:-30.73 [[ 8.84621469e-01 4.62006716e-01 6.32032527e-02 5.64543401e+02] [-4.60706260e-01 8.86875060e-01 -3.46752014e-02 -2.93966080e+02] [-7.20735645e-02 1.55629341e-03 9.97398105e-01 -3.07278462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.60, Y:-294.00, Z:-30.73 [[ 8.85572441e-01 4.60182448e-01 6.31946701e-02 5.64597148e+02] [-4.58876235e-01 8.87822700e-01 -3.46908361e-02 -2.93996624e+02] [-7.20697765e-02 1.72271610e-03 9.97398105e-01 -3.07332403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.65, Y:-294.03, Z:-30.74 [[ 8.86522267e-01 4.58350328e-01 6.31921506e-02 5.64651351e+02] [-4.57039138e-01 8.88769629e-01 -3.46954250e-02 -2.94026355e+02] [-7.20659236e-02 1.87698080e-03 9.97398105e-01 -3.07398337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.71, Y:-294.05, Z:-30.74 [[ 8.89010030e-01 4.53507516e-01 6.31830630e-02 5.64705069e+02] [-4.52182912e-01 8.91249513e-01 -3.47119664e-02 -2.94054805e+02] [-7.20540117e-02 2.28898488e-03 9.97398105e-01 -3.07430966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.76, Y:-294.08, Z:-30.76 [[ 8.92172123e-01 4.47255917e-01 6.31747449e-02 5.64761350e+02] [-4.45914556e-01 8.94401609e-01 -3.47270985e-02 -2.94079320e+02] [-7.20354937e-02 2.81201088e-03 9.97398105e-01 -3.07550415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.82, Y:-294.11, Z:-30.76 [[ 8.92953535e-01 4.45695045e-01 6.31657494e-02 5.64816813e+02] [-4.44348632e-01 8.95179974e-01 -3.47434527e-02 -2.94106160e+02] [-7.20296986e-02 2.95667456e-03 9.97398105e-01 -3.07628741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.87, Y:-294.13, Z:-30.78 [[ 8.95156752e-01 4.41253681e-01 6.31631138e-02 5.64874199e+02] [-4.39895888e-01 8.97376268e-01 -3.47482436e-02 -2.94126233e+02] [-7.20138698e-02 3.31993077e-03 9.97398105e-01 -3.07777758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.93, Y:-294.15, Z:-30.79 [[ 8.96142950e-01 4.39248549e-01 6.31547753e-02 5.64930630e+02] [-4.37884726e-01 8.98358767e-01 -3.47633922e-02 -2.94150922e+02] [-7.20054156e-02 3.49845731e-03 9.97398106e-01 -3.07900974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:564.99, Y:-294.18, Z:-30.80 [[ 8.95813250e-01 4.39921780e-01 6.31462550e-02 5.64987461e+02] [-4.38558535e-01 8.98029421e-01 -3.47788621e-02 -2.94176363e+02] [-7.20071738e-02 3.46203637e-03 9.97398106e-01 -3.07983084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.05, Y:-294.19, Z:-30.81 [[ 8.95254494e-01 4.41059170e-01 6.31363609e-02 5.65048357e+02] [-4.39697478e-01 8.97471620e-01 -3.47968143e-02 -2.94194233e+02] [-7.20105462e-02 3.39110573e-03 9.97398106e-01 -3.08124121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.11, Y:-294.22, Z:-30.82 [[ 8.91347560e-01 4.48903782e-01 6.31262309e-02 5.65106440e+02] [-4.47560314e-01 8.93575776e-01 -3.48151820e-02 -2.94216295e+02] [-7.20367376e-02 2.77963178e-03 9.97398106e-01 -3.08186941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.16, Y:-294.24, Z:-30.83 [[ 8.86788427e-01 4.57845463e-01 6.31174939e-02 5.65162481e+02] [-4.56523347e-01 8.89029378e-01 -3.48310143e-02 -2.94240420e+02] [-7.20605282e-02 2.07313080e-03 9.97398106e-01 -3.08262541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.22, Y:-294.26, Z:-30.84 [[ 8.82931686e-01 4.65240615e-01 6.31094972e-02 5.65221400e+02] [-4.63936239e-01 8.85183008e-01 -3.48454973e-02 -2.94261209e+02] [-7.20749952e-02 1.48741087e-03 9.97398106e-01 -3.08353970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.28, Y:-294.28, Z:-30.84 [[ 8.79334537e-01 4.72005335e-01 6.31009962e-02 5.65280075e+02] [-4.70717177e-01 8.81595178e-01 -3.48608848e-02 -2.94281783e+02] [-7.20840576e-02 9.51657173e-04 9.97398107e-01 -3.08427836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.34, Y:-294.30, Z:-30.85 [[ 8.76191865e-01 4.77814096e-01 6.30991768e-02 5.65339235e+02] [-4.76540689e-01 8.78460848e-01 -3.48641777e-02 -2.94302588e+02] [-7.20887519e-02 4.78383707e-04 9.97398107e-01 -3.08490961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.40, Y:-294.32, Z:-30.86 [[ 8.72902603e-01 4.83798106e-01 6.30907202e-02 5.65400151e+02] [-4.82539149e-01 8.75179634e-01 -3.48794742e-02 -2.94318575e+02] [-7.20903370e-02 2.64146259e-06 9.97398107e-01 -3.08559005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.46, Y:-294.34, Z:-30.86 [[ 8.72095510e-01 4.85251620e-01 6.30895180e-02 5.65461103e+02] [-4.83996300e-01 8.74374549e-01 -3.48816485e-02 -2.94335839e+02] [-7.20902453e-02 -1.14964257e-04 9.97398107e-01 -3.08588182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.52, Y:-294.36, Z:-30.86 [[ 8.72501868e-01 4.84521696e-01 6.30810348e-02 5.65518763e+02] [-4.83263361e-01 8.74779244e-01 -3.48969832e-02 -2.94358300e+02] [-7.20903253e-02 -3.70698331e-05 9.97398107e-01 -3.08649902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.58, Y:-294.38, Z:-30.87 [[ 8.73749774e-01 4.82268854e-01 6.30720666e-02 5.65577702e+02] [-4.81003477e-01 8.76023244e-01 -3.49131846e-02 -2.94382937e+02] [-7.20901379e-02 1.67503817e-04 9.97398107e-01 -3.08661466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.63, Y:-294.41, Z:-30.87 [[ 8.74331214e-01 4.81215204e-01 6.30623168e-02 5.65633829e+02] [-4.79945818e-01 8.76602448e-01 -3.49307864e-02 -2.94410186e+02] [-7.20898068e-02 2.74581706e-04 9.97398107e-01 -3.08713820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.69, Y:-294.44, Z:-30.88 [[ 8.73043561e-01 4.83548500e-01 6.30538626e-02 5.65689706e+02] [-4.82284082e-01 8.75317565e-01 -3.49460405e-02 -2.94437319e+02] [-7.20902589e-02 9.95413728e-05 9.97398107e-01 -3.08764380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.74, Y:-294.47, Z:-30.88 [[ 8.69176081e-01 4.90467342e-01 6.30454436e-02 5.65744356e+02] [-4.89219924e-01 8.71459454e-01 -3.49612225e-02 -2.94466034e+02] [-7.20888857e-02 -4.55628702e-04 9.97398108e-01 -3.08782757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.80, Y:-294.50, Z:-30.88 [[ 8.66588765e-01 4.95025420e-01 6.30376596e-02 5.65798972e+02] [-4.93788991e-01 8.68878107e-01 -3.49752521e-02 -2.94496517e+02] [-7.20856811e-02 -8.18141845e-04 9.97398108e-01 -3.08802109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.85, Y:-294.53, Z:-30.88 [[ 8.65153395e-01 4.97530061e-01 6.30352378e-02 5.65851601e+02] [-4.96299942e-01 8.67446133e-01 -3.49796162e-02 -2.94528931e+02] [-7.20830839e-02 -1.02165112e-03 9.97398108e-01 -3.08810799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.90, Y:-294.56, Z:-30.88 [[ 8.65696391e-01 4.96585669e-01 6.30272303e-02 5.65903574e+02] [-4.95351999e-01 8.67987220e-01 -3.49940385e-02 -2.94564191e+02] [-7.20843684e-02 -9.26451622e-04 9.97398108e-01 -3.08828060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:565.95, Y:-294.60, Z:-30.88 [[ 8.67973215e-01 4.92596358e-01 6.30184564e-02 5.65953605e+02] [-4.91351011e-01 8.70257718e-01 -3.50098317e-02 -2.94601613e+02] [-7.20880136e-02 -5.76586111e-04 9.97398108e-01 -3.08840418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.00, Y:-294.64, Z:-30.89 [[ 8.69851587e-01 4.89272916e-01 6.30097577e-02 5.66004748e+02] [-4.88017707e-01 8.72130686e-01 -3.50254803e-02 -2.94636462e+02] [-7.20897621e-02 -2.82907814e-04 9.97398108e-01 -3.08863284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.05, Y:-294.67, Z:-30.89 [[ 8.71767969e-01 4.85851195e-01 6.30017825e-02 5.66054704e+02] [-4.84586004e-01 8.74041541e-01 -3.50398199e-02 -2.94673557e+02] [-7.20903134e-02 1.68105913e-05 9.97398108e-01 -3.08877352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.11, Y:-294.71, Z:-30.89 [[ 8.72115699e-01 4.85227760e-01 6.29938746e-02 5.66106686e+02] [-4.83959917e-01 8.74387794e-01 -3.50540308e-02 -2.94708488e+02] [-7.20902639e-02 8.46602191e-05 9.97398108e-01 -3.08911898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.16, Y:-294.75, Z:-30.89 [[ 8.71971438e-01 4.85488058e-01 6.29853682e-02 5.66157849e+02] [-4.84219790e-01 8.74243295e-01 -3.50693084e-02 -2.94746251e+02] [-7.20902663e-02 8.06735283e-05 9.97398109e-01 -3.08944619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.21, Y:-294.78, Z:-30.90 [[ 8.71397588e-01 4.86518574e-01 6.29755515e-02 5.66210211e+02] [-4.85251719e-01 8.73670234e-01 -3.50869281e-02 -2.94781288e+02] [-7.20903069e-02 1.56699064e-05 9.97398109e-01 -3.08984411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters Centerline goodness : 0.997129 with order 1 Centerline is valid? [True, True] Translation: X:566.26, Y:-294.82, Z:-30.90 [[ 8.70238512e-01 4.88590058e-01 6.29657686e-02 5.66260265e+02] [-4.87327343e-01 8.72513459e-01 -3.51044753e-02 -2.94819910e+02] [-7.20901782e-02 -1.35674337e-04 9.97398109e-01 -3.09049830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.31, Y:-294.86, Z:-30.90 [[ 8.69463147e-01 4.89970009e-01 6.29541588e-02 5.66311568e+02] [-4.88709398e-01 8.71739261e-01 -3.51252832e-02 -2.94855496e+02] [-7.20899472e-02 -2.26149807e-04 9.97398109e-01 -3.09046885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.36, Y:-294.90, Z:-30.91 [[ 8.67580560e-01 4.93297130e-01 6.29437296e-02 5.66360300e+02] [-4.92043892e-01 8.69860742e-01 -3.51439623e-02 -2.94896020e+02] [-7.20886951e-02 -4.80859248e-04 9.97398110e-01 -3.09096882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.41, Y:-294.93, Z:-30.91 [[ 8.67405203e-01 4.93605860e-01 6.29401992e-02 5.66413005e+02] [-4.92352974e-01 8.69685579e-01 -3.51502839e-02 -2.94927759e+02] [-7.20885696e-02 -4.99255100e-04 9.97398110e-01 -3.09112255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.46, Y:-294.97, Z:-30.92 [[ 8.67543410e-01 4.93364175e-01 6.29302996e-02 5.66462891e+02] [-4.92109370e-01 8.69822729e-01 -3.51679983e-02 -2.94965081e+02] [-7.20888355e-02 -4.58824889e-04 9.97398110e-01 -3.09188131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.51, Y:-295.00, Z:-30.92 [[ 8.67828844e-01 4.92863100e-01 6.29210752e-02 5.66513253e+02] [-4.91605783e-01 8.70106778e-01 -3.51844946e-02 -2.95000592e+02] [-7.20891931e-02 -3.98245125e-04 9.97398110e-01 -3.09192617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.56, Y:-295.04, Z:-30.92 [[ 8.70108852e-01 4.88827779e-01 6.29125416e-02 5.66563245e+02] [-4.87558794e-01 8.72380307e-01 -3.51997467e-02 -2.95037014e+02] [-7.20902764e-02 -4.59517098e-05 9.97398110e-01 -3.09233825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.61, Y:-295.07, Z:-30.93 [[ 8.71845119e-01 4.85725450e-01 6.29037126e-02 5.66614822e+02] [-4.84447244e-01 8.74111398e-01 -3.52155175e-02 -2.95071992e+02] [-7.20899252e-02 2.28946782e-04 9.97398110e-01 -3.09311789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.67, Y:-295.11, Z:-30.94 [[ 8.73774328e-01 4.82247025e-01 6.28985727e-02 5.66666999e+02] [-4.80959137e-01 8.76035119e-01 -3.52246955e-02 -2.95106582e+02] [-7.20883632e-02 5.26791432e-04 9.97398110e-01 -3.09370543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.72, Y:-295.14, Z:-30.94 [[ 8.74537665e-01 4.80862839e-01 6.28872160e-02 5.66720085e+02] [-4.79569916e-01 8.76795580e-01 -3.52449592e-02 -2.95138648e+02] [-7.20872242e-02 6.64227473e-04 9.97398111e-01 -3.09436935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.77, Y:-295.17, Z:-30.95 [[ 8.75392603e-01 4.79305379e-01 6.28819938e-02 5.66771619e+02] [-4.78007769e-01 8.77647827e-01 -3.52542740e-02 -2.95171784e+02] [-7.20858083e-02 8.03249109e-04 9.97398111e-01 -3.09465336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.82, Y:-295.21, Z:-30.95 [[ 8.76020058e-01 4.78158352e-01 6.28764501e-02 5.66824188e+02] [-4.76857081e-01 8.78273172e-01 -3.52641585e-02 -2.95207349e+02] [-7.20845511e-02 9.09029750e-04 9.97398111e-01 -3.09502510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.88, Y:-295.24, Z:-30.95 [[ 8.75927034e-01 4.78330022e-01 6.28666979e-02 5.66876468e+02] [-4.77027945e-01 8.78179681e-01 -3.52815356e-02 -2.95239825e+02] [-7.20844744e-02 9.14879092e-04 9.97398111e-01 -3.09549634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:566.93, Y:-295.27, Z:-30.97 [[ 8.76889881e-01 4.76563746e-01 6.28580352e-02 5.66930189e+02] [-4.75256026e-01 8.79139258e-01 -3.52969623e-02 -2.95269096e+02] [-7.20822190e-02 1.07788907e-03 9.97398111e-01 -3.09658978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:566.98, Y:-295.30, Z:-30.97 [[ 8.74291222e-01 4.81315005e-01 6.28547954e-02 5.66983299e+02] [-4.80019096e-01 8.76547423e-01 -3.53027306e-02 -2.95302220e+02] [-7.20869429e-02 6.93365413e-04 9.97398111e-01 -3.09693412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.04, Y:-295.33, Z:-30.97 [[ 8.72632945e-01 4.84316559e-01 6.28427672e-02 5.67035302e+02] [-4.83026869e-01 8.74892708e-01 -3.53241293e-02 -2.95334037e+02] [-7.20887395e-02 4.70253954e-04 9.97398111e-01 -3.09683063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:567.09, Y:-295.36, Z:-30.98 [[ 8.73475407e-01 4.82796775e-01 6.28330039e-02 5.67088750e+02] [-4.81501905e-01 8.75732205e-01 -3.53414873e-02 -2.95363912e+02] [-7.20876411e-02 6.15708902e-04 9.97398112e-01 -3.09776329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.14, Y:-295.40, Z:-30.97 [[ 8.74635472e-01 4.80692446e-01 6.28296469e-02 5.67142491e+02] [-4.79391717e-01 8.76888898e-01 -3.53474542e-02 -2.95395582e+02] [-7.20858741e-02 7.96124969e-04 9.97398112e-01 -3.09742070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.20, Y:-295.42, Z:-30.98 [[ 8.77609055e-01 4.75243102e-01 6.28199049e-02 5.67198650e+02] [-4.73927145e-01 8.79853621e-01 -3.53647595e-02 -2.95421482e+02] [-7.20791788e-02 1.26437501e-03 9.97398112e-01 -3.09825111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.25, Y:-295.45, Z:-30.99 [[ 8.79770047e-01 4.71231848e-01 6.28109072e-02 5.67254438e+02] [-4.69904518e-01 8.82007907e-01 -3.53807330e-02 -2.95449788e+02] [-7.20722450e-02 1.61178009e-03 9.97398112e-01 -3.09900471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.31, Y:-295.48, Z:-30.99 [[ 8.78231887e-01 4.74093692e-01 6.28006667e-02 5.67306062e+02] [-4.72772357e-01 8.80473291e-01 -3.53989006e-02 -2.95482882e+02] [-7.20767051e-02 1.39802408e-03 9.97398112e-01 -3.09886891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.36, Y:-295.51, Z:-30.99 [[ 8.78255866e-01 4.74050353e-01 6.27924829e-02 5.67361411e+02] [-4.72727870e-01 8.80496593e-01 -3.54134114e-02 -2.95512405e+02] [-7.20763075e-02 1.41827961e-03 9.97398112e-01 -3.09929234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.42, Y:-295.54, Z:-31.00 [[ 8.77525923e-01 4.75401476e-01 6.27828961e-02 5.67415565e+02] [-4.74081228e-01 8.79767967e-01 -3.54303993e-02 -2.95542305e+02] [-7.20780450e-02 1.32690139e-03 9.97398112e-01 -3.09963391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.47, Y:-295.57, Z:-31.01 [[ 8.77600581e-01 4.75264765e-01 6.27743883e-02 5.67471738e+02] [-4.73943091e-01 8.79841784e-01 -3.54454667e-02 -2.95568206e+02] [-7.20775113e-02 1.35547452e-03 9.97398113e-01 -3.10065551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.52, Y:-295.60, Z:-31.01 [[ 8.74167370e-01 4.81551569e-01 6.27654033e-02 5.67524652e+02] [-4.80244874e-01 8.76417339e-01 -3.54613700e-02 -2.95597724e+02] [-7.20851661e-02 8.56409371e-04 9.97398113e-01 -3.10098020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.58, Y:-295.63, Z:-31.01 [[ 8.70950822e-01 4.87346077e-01 6.27571974e-02 5.67578608e+02] [-4.86053306e-01 8.73208821e-01 -3.54758863e-02 -2.95629013e+02] [-7.20891724e-02 3.94409043e-04 9.97398113e-01 -3.10114822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:567.63, Y:-295.66, Z:-31.02 [[ 8.67623032e-01 4.93246632e-01 6.27537599e-02 5.67632947e+02] [-4.91968777e-01 8.69889506e-01 -3.54819658e-02 -2.95658027e+02] [-7.20901974e-02 -8.79197525e-05 9.97398113e-01 -3.10160197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.69, Y:-295.69, Z:-31.02 [[ 8.64869364e-01 4.98059646e-01 6.27500848e-02 5.67686996e+02] [-4.96793932e-01 8.67142640e-01 -3.54884642e-02 -2.95689602e+02] [-7.20886461e-02 -4.80975875e-04 9.97398113e-01 -3.10187062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.74, Y:-295.72, Z:-31.02 [[ 8.61422387e-01 5.03998637e-01 6.27442845e-02 5.67740963e+02] [-5.02747848e-01 8.63703909e-01 -3.54987163e-02 -2.95720304e+02] [-7.20837884e-02 -9.65165033e-04 9.97398113e-01 -3.10223506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.79, Y:-295.75, Z:-31.03 [[ 8.59278036e-01 5.07647290e-01 6.27334503e-02 5.67794218e+02] [-5.06404792e-01 8.61564083e-01 -3.55178522e-02 -2.95751327e+02] [-7.20794290e-02 -1.24880961e-03 9.97398113e-01 -3.10256609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:567.85, Y:-295.78, Z:-31.03 [[ 8.58605072e-01 5.08785734e-01 6.27248542e-02 5.67847870e+02] [-5.07545159e-01 8.60892163e-01 -3.55330266e-02 -2.95783089e+02] [-7.20780324e-02 -1.32685921e-03 9.97398113e-01 -3.10299355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.90, Y:-295.81, Z:-31.03 [[ 8.57054123e-01 5.11394432e-01 6.27213311e-02 5.67900713e+02] [-5.10160363e-01 8.59344731e-01 -3.55392443e-02 -2.95814629e+02] [-7.20738170e-02 -1.53888121e-03 9.97398113e-01 -3.10341405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:567.95, Y:-295.85, Z:-31.04 [[ 8.57217239e-01 5.11122218e-01 6.27111041e-02 5.67952446e+02] [-5.09886102e-01 8.59506744e-01 -3.55572813e-02 -2.95846243e+02] [-7.20747334e-02 -1.49520594e-03 9.97398114e-01 -3.10408434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.01, Y:-295.88, Z:-31.04 [[ 8.60169688e-01 5.06138362e-01 6.27061856e-02 5.68005018e+02] [-5.04888347e-01 8.62451634e-01 -3.55659531e-02 -2.95881676e+02] [-7.20823455e-02 -1.06686760e-03 9.97398114e-01 -3.10438290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.06, Y:-295.91, Z:-31.05 [[ 8.62866964e-01 5.01527459e-01 6.26961737e-02 5.68056784e+02] [-5.00263967e-01 8.65141475e-01 -3.55835934e-02 -2.95914615e+02] [-7.20872094e-02 -6.60729367e-04 9.97398114e-01 -3.10489175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.11, Y:-295.95, Z:-31.05 [[ 8.67226936e-01 4.93951204e-01 6.26869162e-02 5.68109650e+02] [-4.92666662e-01 8.69489625e-01 -3.55998948e-02 -2.95948292e+02] [-7.20902342e-02 -1.05660825e-05 9.97398114e-01 -3.10528401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.16, Y:-295.98, Z:-31.06 [[ 8.69268988e-01 4.90349868e-01 6.26772198e-02 5.68163918e+02] [-4.89054721e-01 8.71525623e-01 -3.56169582e-02 -2.95978072e+02] [-7.20895738e-02 3.08126912e-04 9.97398114e-01 -3.10567172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.22, Y:-296.01, Z:-31.06 [[ 8.71294738e-01 4.86742336e-01 6.26687885e-02 5.68218101e+02] [-4.85436780e-01 8.73545367e-01 -3.56317871e-02 -2.96007331e+02] [-7.20875291e-02 6.24053732e-04 9.97398114e-01 -3.10612717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.27, Y:-296.04, Z:-31.06 [[ 8.73318651e-01 4.83102726e-01 6.26601248e-02 5.68272225e+02] [-4.81786697e-01 8.75563172e-01 -3.56470161e-02 -2.96038629e+02] [-7.20840683e-02 9.42389419e-04 9.97398115e-01 -3.10645739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.33, Y:-296.07, Z:-31.07 [[ 8.74382516e-01 4.81174935e-01 6.26569872e-02 5.68328708e+02] [-4.79853564e-01 8.76623896e-01 -3.56525302e-02 -2.96066949e+02] [-7.20817161e-02 1.10777041e-03 9.97398115e-01 -3.10688644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.39, Y:-296.09, Z:-31.08 [[ 8.78483090e-01 4.73648411e-01 6.26469718e-02 5.68386279e+02] [-4.72306587e-01 8.80712286e-01 -3.56701201e-02 -2.96090561e+02] [-7.20690535e-02 1.74701992e-03 9.97398115e-01 -3.10760652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.44, Y:-296.12, Z:-31.08 [[ 8.78803930e-01 4.73054041e-01 6.26380644e-02 5.68437700e+02] [-4.71709595e-01 8.81031546e-01 -3.56857550e-02 -2.96122800e+02] [-7.20674013e-02 1.81380573e-03 9.97398115e-01 -3.10779376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.49, Y:-296.15, Z:-31.08 [[ 8.80822145e-01 4.69285953e-01 6.26342048e-02 5.68494177e+02] [-4.67931498e-01 8.83043689e-01 -3.56925280e-02 -2.96149513e+02] [-7.20587413e-02 2.13025175e-03 9.97398115e-01 -3.10824807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.55, Y:-296.17, Z:-31.09 [[ 8.82530749e-01 4.66066007e-01 6.26255110e-02 5.68551047e+02] [-4.64702368e-01 8.84746667e-01 -3.57077754e-02 -2.96173643e+02] [-7.20498925e-02 2.41098652e-03 9.97398115e-01 -3.10897439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.61, Y:-296.20, Z:-31.10 [[ 8.83984873e-01 4.63303185e-01 6.26171195e-02 5.68606590e+02] [-4.61931581e-01 8.86195869e-01 -3.57224848e-02 -2.96198168e+02] [-7.20413736e-02 2.65331125e-03 9.97398115e-01 -3.10974911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.66, Y:-296.23, Z:-31.10 [[ 8.83129718e-01 4.64931818e-01 6.26123477e-02 5.68657779e+02] [-4.63563700e-01 8.85342873e-01 -3.57308466e-02 -2.96230040e+02] [-7.20458033e-02 2.53016098e-03 9.97398115e-01 -3.10971464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.71, Y:-296.25, Z:-31.11 [[ 8.85730326e-01 4.59958632e-01 6.26086808e-02 5.68714879e+02] [-4.58577638e-01 8.87935469e-01 -3.57372708e-02 -2.96252916e+02] [-7.20301345e-02 2.94264351e-03 9.97398115e-01 -3.11067945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.77, Y:-296.28, Z:-31.11 [[ 8.85707468e-01 4.60003790e-01 6.26002725e-02 5.68771031e+02] [-4.58621870e-01 8.87912032e-01 -3.57519933e-02 -2.96281166e+02] [-7.20295875e-02 2.95595352e-03 9.97398116e-01 -3.11088619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.83, Y:-296.31, Z:-31.11 [[ 8.84884194e-01 4.61586902e-01 6.25899027e-02 5.68826583e+02] [-4.60207645e-01 8.87090424e-01 -3.57701381e-02 -2.96307410e+02] [-7.20339306e-02 2.84807804e-03 9.97398116e-01 -3.11071941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.88, Y:-296.34, Z:-31.11 [[ 8.83032486e-01 4.65120599e-01 6.25816107e-02 5.68881073e+02] [-4.63749147e-01 8.85243576e-01 -3.57846395e-02 -2.96336533e+02] [-7.20441418e-02 2.57683060e-03 9.97398116e-01 -3.11129781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:568.94, Y:-296.36, Z:-31.12 [[ 8.80421343e-01 4.70044903e-01 6.25783413e-02 5.68937703e+02] [-4.68685414e-01 8.82639809e-01 -3.57903560e-02 -2.96359552e+02] [-7.20572096e-02 2.18103749e-03 9.97398116e-01 -3.11192807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.00, Y:-296.38, Z:-31.12 [[ 8.75071476e-01 4.79932209e-01 6.25698503e-02 5.68996481e+02] [-4.78596736e-01 8.77304481e-01 -3.58051942e-02 -2.96382777e+02] [-7.20768760e-02 1.38637806e-03 9.97398116e-01 -3.11249407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.05, Y:-296.41, Z:-31.13 [[ 8.69030180e-01 4.90787953e-01 6.25598213e-02 5.69054792e+02] [-4.89479119e-01 8.71278902e-01 -3.58227086e-02 -2.96407244e+02] [-7.20884062e-02 5.09288692e-04 9.97398116e-01 -3.11294509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.11, Y:-296.44, Z:-31.13 [[ 8.65691313e-01 4.96654894e-01 6.25497190e-02 5.69110252e+02] [-4.95360026e-01 8.67948106e-01 -3.58403394e-02 -2.96435165e+02] [-7.20901901e-02 4.20400140e-05 9.97398116e-01 -3.11344749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.17, Y:-296.46, Z:-31.14 [[ 8.61365448e-01 5.04121283e-01 6.25403576e-02 5.69165573e+02] [-5.02844791e-01 8.63632686e-01 -3.58566673e-02 -2.96463421e+02] [-7.20880062e-02 -5.62398717e-04 9.97398117e-01 -3.11372291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.22, Y:-296.49, Z:-31.14 [[ 8.57082630e-01 5.11369900e-01 6.25315165e-02 5.69221176e+02] [-5.10111455e-01 8.59359935e-01 -3.58720791e-02 -2.96492123e+02] [-7.20809814e-02 -1.15270694e-03 9.97398117e-01 -3.11401679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.28, Y:-296.52, Z:-31.14 [[ 8.54951318e-01 5.14926374e-01 6.25225916e-02 5.69275904e+02] [-5.13676265e-01 8.57233208e-01 -3.58876278e-02 -2.96522390e+02] [-7.20759278e-02 -1.43419668e-03 9.97398117e-01 -3.11442638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.33, Y:-296.55, Z:-31.15 [[ 8.53512953e-01 5.17308264e-01 6.25123848e-02 5.69328096e+02] [-5.16063223e-01 8.55797612e-01 -3.59053982e-02 -2.96554763e+02] [-7.20721089e-02 -1.61462031e-03 9.97398117e-01 -3.11485506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.38, Y:-296.59, Z:-31.15 [[ 8.53595249e-01 5.17173600e-01 6.25029504e-02 5.69382231e+02] [-5.15926997e-01 8.55879055e-01 -3.59218138e-02 -2.96586895e+02] [-7.20727799e-02 -1.58426991e-03 9.97398117e-01 -3.11541979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.43, Y:-296.62, Z:-31.16 [[ 8.54755611e-01 5.15254774e-01 6.24929058e-02 5.69434854e+02] [-5.14001767e-01 8.57035910e-01 -3.59392799e-02 -2.96618797e+02] [-7.20765500e-02 -1.40216283e-03 9.97398118e-01 -3.11611010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.49, Y:-296.65, Z:-31.17 [[ 8.55779666e-01 5.13553235e-01 6.24839033e-02 5.69488081e+02] [-5.12294551e-01 8.58056837e-01 -3.59549249e-02 -2.96653004e+02] [-7.20795084e-02 -1.24066960e-03 9.97398118e-01 -3.11656200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.54, Y:-296.69, Z:-31.17 [[ 8.58478723e-01 5.09029793e-01 6.24736076e-02 5.69538216e+02] [-5.07757809e-01 8.60748491e-01 -3.59728053e-02 -2.96689497e+02] [-7.20852931e-02 -8.39574156e-04 9.97398118e-01 -3.11677013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.59, Y:-296.72, Z:-31.17 [[ 8.61867517e-01 5.03271773e-01 6.24652363e-02 5.69589386e+02] [-5.01983570e-01 8.64128120e-01 -3.59873359e-02 -2.96724522e+02] [-7.20893775e-02 -3.40206508e-04 9.97398118e-01 -3.11704678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.64, Y:-296.76, Z:-31.18 [[ 8.64053693e-01 4.99510183e-01 6.24563271e-02 5.69641619e+02] [-4.98211022e-01 8.66308015e-01 -3.60027913e-02 -2.96759706e+02] [-7.20901776e-02 -8.08576534e-06 9.97398118e-01 -3.11750390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.69, Y:-296.80, Z:-31.18 [[ 8.67863403e-01 4.92862649e-01 6.24461651e-02 5.69692747e+02] [-4.91544953e-01 8.70106941e-01 -3.60204085e-02 -2.96796287e+02] [-7.20879556e-02 5.65696998e-04 9.97398118e-01 -3.11776106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.75, Y:-296.83, Z:-31.18 [[ 8.70300904e-01 4.88546918e-01 6.24359318e-02 5.69746392e+02] [-4.87216826e-01 8.72537115e-01 -3.60381376e-02 -2.96829382e+02] [-7.20839889e-02 9.44187166e-04 9.97398119e-01 -3.11826240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.80, Y:-296.86, Z:-31.19 [[ 8.73503824e-01 4.82798193e-01 6.24257487e-02 5.69796987e+02] [-4.81452126e-01 8.75730456e-01 -3.60557683e-02 -2.96863871e+02] [-7.20757892e-02 1.43984210e-03 9.97398119e-01 -3.11887860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.85, Y:-296.90, Z:-31.19 [[ 8.76273549e-01 4.77753816e-01 6.24176224e-02 5.69849076e+02] [-4.76393933e-01 8.78491769e-01 -3.60698307e-02 -2.96899205e+02] [-7.20658667e-02 1.87166192e-03 9.97398119e-01 -3.11931837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.90, Y:-296.93, Z:-31.20 [[ 8.77533203e-01 4.75437480e-01 6.24073726e-02 5.69901406e+02] [-4.74070483e-01 8.79747046e-01 -3.60875560e-02 -2.96931236e+02] [-7.20600784e-02 2.08253535e-03 9.97398119e-01 -3.11975381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:569.95, Y:-296.97, Z:-31.20 [[ 8.75496250e-01 4.79179317e-01 6.23979112e-02 5.69951514e+02] [-4.77820618e-01 8.77715196e-01 -3.61039080e-02 -2.96968671e+02] [-7.20678408e-02 1.79382757e-03 9.97398119e-01 -3.11969056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.00, Y:-297.00, Z:-31.20 [[ 8.72698250e-01 4.84256841e-01 6.23945259e-02 5.70004200e+02] [-4.82910636e-01 8.74924798e-01 -3.61097575e-02 -2.97000568e+02] [-7.20769151e-02 1.38194194e-03 9.97398119e-01 -3.12001627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.06, Y:-297.03, Z:-31.21 [[ 8.72048196e-01 4.85427771e-01 6.23844708e-02 5.70059485e+02] [-4.84083315e-01 8.74275800e-01 -3.61271207e-02 -2.97025383e+02] [-7.20783408e-02 1.30530901e-03 9.97398120e-01 -3.12098593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.11, Y:-297.05, Z:-31.21 [[ 8.66241316e-01 4.95716411e-01 6.23796672e-02 5.70114319e+02] [-4.94397821e-01 8.68484327e-01 -3.61354131e-02 -2.97054940e+02] [-7.20886806e-02 4.61616250e-04 9.97398120e-01 -3.12149547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.17, Y:-297.08, Z:-31.22 [[ 8.61703811e-01 5.03563884e-01 6.23695137e-02 5.70167202e+02] [-5.02264453e-01 8.63957976e-01 -3.61529294e-02 -2.97084602e+02] [-7.20899484e-02 -1.72872628e-04 9.97398120e-01 -3.12218094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.22, Y:-297.11, Z:-31.23 [[ 8.55960482e-01 5.13266322e-01 6.23645408e-02 5.70221741e+02] [-5.11991815e-01 8.58228832e-01 -3.61615059e-02 -2.97114880e+02] [-7.20835301e-02 -9.77314412e-04 9.97398120e-01 -3.12286526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.27, Y:-297.15, Z:-31.23 [[ 8.52785411e-01 5.18525768e-01 6.23543882e-02 5.70274580e+02] [-5.17263969e-01 8.55060855e-01 -3.61790039e-02 -2.97147613e+02] [-7.20765422e-02 -1.40075165e-03 9.97398120e-01 -3.12347299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.33, Y:-297.18, Z:-31.24 [[ 8.51307939e-01 5.20948975e-01 6.23454815e-02 5.70327480e+02] [-5.19692530e-01 8.53586342e-01 -3.61943458e-02 -2.97181261e+02] [-7.20726589e-02 -1.58794712e-03 9.97398120e-01 -3.12388283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.38, Y:-297.21, Z:-31.24 [[ 8.49519030e-01 5.23862338e-01 6.23351263e-02 5.70380658e+02] [-5.22612399e-01 8.51801009e-01 -3.62121712e-02 -2.97214921e+02] [-7.20673161e-02 -1.81418134e-03 9.97398120e-01 -3.12424892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.43, Y:-297.25, Z:-31.25 [[ 8.47592380e-01 5.26975110e-01 6.23248802e-02 5.70432670e+02] [-5.25732255e-01 8.49878226e-01 -3.62297972e-02 -2.97246717e+02] [-7.20607599e-02 -2.05809977e-03 9.97398121e-01 -3.12473008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.49, Y:-297.28, Z:-31.25 [[ 8.47430360e-01 5.27236188e-01 6.23200391e-02 5.70485398e+02] [-5.25993426e-01 8.49716255e-01 -3.62381226e-02 -2.97281592e+02] [-7.20603999e-02 -2.07064565e-03 9.97398121e-01 -3.12523845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.54, Y:-297.32, Z:-31.26 [[ 8.47483075e-01 5.27152641e-01 6.23099598e-02 5.70536240e+02] [-5.25908381e-01 8.49768155e-01 -3.62554453e-02 -2.97317242e+02] [-7.20611733e-02 -2.04345382e-03 9.97398121e-01 -3.12575584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.59, Y:-297.35, Z:-31.26 [[ 8.47807674e-01 5.26631502e-01 6.23009620e-02 5.70587902e+02] [-5.25384702e-01 8.50091369e-01 -3.62709005e-02 -2.97351046e+02] [-7.20629089e-02 -1.98122458e-03 9.97398121e-01 -3.12647966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.64, Y:-297.39, Z:-31.27 [[ 8.48141476e-01 5.26094809e-01 6.22919583e-02 5.70639434e+02] [-5.24845430e-01 8.50423762e-01 -3.62863569e-02 -2.97385578e+02] [-7.20646255e-02 -1.91768534e-03 9.97398121e-01 -3.12714298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.69, Y:-297.43, Z:-31.28 [[ 8.49572802e-01 5.23781344e-01 6.22828813e-02 5.70688133e+02] [-5.22524609e-01 8.51851045e-01 -3.63019303e-02 -2.97425181e+02] [-7.20700113e-02 -1.70320555e-03 9.97398121e-01 -3.12750806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.73, Y:-297.47, Z:-31.27 [[ 8.51989215e-01 5.19842684e-01 6.22732848e-02 5.70734316e+02] [-5.18574213e-01 8.54260944e-01 -3.63183849e-02 -2.97470623e+02] [-7.20774817e-02 -1.35044740e-03 9.97398122e-01 -3.12710080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.79, Y:-297.50, Z:-31.28 [[ 8.55963191e-01 5.13273536e-01 6.22679136e-02 5.70788175e+02] [-5.11986958e-01 8.58224715e-01 -3.63275915e-02 -2.97499048e+02] [-7.20858537e-02 -7.85278594e-04 9.97398122e-01 -3.12757547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.84, Y:-297.53, Z:-31.28 [[ 8.55798067e-01 5.13549261e-01 6.22641563e-02 5.70841948e+02] [-5.12262944e-01 8.58059738e-01 -3.63340303e-02 -2.97530891e+02] [-7.20856801e-02 -8.01027150e-04 9.97398122e-01 -3.12785301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.90, Y:-297.56, Z:-31.28 [[ 8.55952734e-01 5.13292637e-01 6.22542084e-02 5.70896135e+02] [-5.12004403e-01 8.58213313e-01 -3.63510668e-02 -2.97560918e+02] [-7.20861255e-02 -7.59633804e-04 9.97398122e-01 -3.12849581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:570.95, Y:-297.59, Z:-31.29 [[ 8.56493262e-01 5.12391288e-01 6.22451522e-02 5.70949749e+02] [-5.11099549e-01 8.58751841e-01 -3.63665675e-02 -2.97590385e+02] [-7.20870514e-02 -6.65749184e-04 9.97398122e-01 -3.12922960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.00, Y:-297.62, Z:-31.30 [[ 8.58261831e-01 5.09424380e-01 6.22368921e-02 5.71004227e+02] [-5.08123808e-01 8.60515335e-01 -3.63806981e-02 -2.97621118e+02] [-7.20890147e-02 -3.99882014e-04 9.97398122e-01 -3.12952889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.06, Y:-297.65, Z:-31.30 [[ 8.59599250e-01 5.07165625e-01 6.22266748e-02 5.71058889e+02] [-5.05857866e-01 8.61848590e-01 -3.63981658e-02 -2.97651038e+02] [-7.20898705e-02 -1.90016918e-04 9.97398122e-01 -3.12999597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.11, Y:-297.68, Z:-31.31 [[ 8.61766226e-01 5.03476015e-01 6.22163534e-02 5.71113395e+02] [-5.02157353e-01 8.64009191e-01 -3.64157999e-02 -2.97679509e+02] [-7.20899830e-02 1.39507141e-04 9.97398123e-01 -3.13085401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.16, Y:-297.72, Z:-31.30 [[ 8.60695483e-01 5.05304694e-01 6.22129535e-02 5.71162651e+02] [-5.03990377e-01 8.62940998e-01 -3.64216075e-02 -2.97717658e+02] [-7.20901174e-02 -6.81684984e-06 9.97398123e-01 -3.13021527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.22, Y:-297.74, Z:-31.32 [[ 8.64611271e-01 4.98575115e-01 6.22109661e-02 5.71220040e+02] [-4.97243077e-01 8.66846320e-01 -3.64250017e-02 -2.97737980e+02] [-7.20879464e-02 5.59494794e-04 9.97398123e-01 -3.13150842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.27, Y:-297.77, Z:-31.32 [[ 8.60550490e-01 5.05552364e-01 6.22065997e-02 5.71272304e+02] [-5.04237909e-01 8.62795924e-01 -3.64324572e-02 -2.97771983e+02] [-7.20901155e-02 -1.49568278e-05 9.97398123e-01 -3.13164598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.33, Y:-297.80, Z:-31.32 [[ 8.59586644e-01 5.07189879e-01 6.22031260e-02 5.71329371e+02] [-5.05879273e-01 8.61834326e-01 -3.64383871e-02 -2.97796264e+02] [-7.20899703e-02 -1.45321205e-04 9.97398123e-01 -3.13240378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.38, Y:-297.83, Z:-31.33 [[ 8.55525270e-01 5.14011313e-01 6.22003356e-02 5.71384258e+02] [-5.12718281e-01 8.57783109e-01 -3.64431496e-02 -2.97826970e+02] [-7.20865884e-02 -7.13213735e-04 9.97398123e-01 -3.13291403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.44, Y:-297.86, Z:-31.33 [[ 8.51665518e-01 5.20382770e-01 6.21901823e-02 5.71439648e+02] [-5.19105362e-01 8.53932232e-01 -3.64604681e-02 -2.97857230e+02] [-7.20796005e-02 -1.23113365e-03 9.97398123e-01 -3.13331124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.49, Y:-297.89, Z:-31.34 [[ 8.48905968e-01 5.24873612e-01 6.21799699e-02 5.71494472e+02] [-5.23606920e-01 8.51178688e-01 -3.64778761e-02 -2.97886267e+02] [-7.20725398e-02 -1.59157573e-03 9.97398123e-01 -3.13397228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.55, Y:-297.92, Z:-31.34 [[ 8.48282801e-01 5.25881274e-01 6.21705319e-02 5.71546692e+02] [-5.24616103e-01 8.50556368e-01 -3.64939545e-02 -2.97919319e+02] [-7.20710291e-02 -1.65846820e-03 9.97398123e-01 -3.13440925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.60, Y:-297.95, Z:-31.35 [[ 8.49033924e-01 5.24668360e-01 6.21651628e-02 5.71599670e+02] [-5.23399273e-01 8.51305307e-01 -3.65030981e-02 -2.97951926e+02] [-7.20735536e-02 -1.54483234e-03 9.97398123e-01 -3.13476844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:571.65, Y:-297.98, Z:-31.36 [[ 8.52516542e-01 5.18991253e-01 6.21580710e-02 5.71652556e+02] [-5.17706157e-01 8.54778906e-01 -3.65151702e-02 -2.97982318e+02] [-7.20824618e-02 -1.04982947e-03 9.97398123e-01 -3.13581501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.70, Y:-298.02, Z:-31.36 [[ 8.53240212e-01 5.17801660e-01 6.21496784e-02 5.71703693e+02] [-5.16512370e-01 8.55500188e-01 -3.65294491e-02 -2.98017801e+02] [-7.20840709e-02 -9.32682746e-04 9.97398124e-01 -3.13575761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.75, Y:-298.06, Z:-31.36 [[ 8.56651369e-01 5.12139605e-01 6.21406228e-02 5.71754118e+02] [-5.10834260e-01 8.58902109e-01 -3.65448472e-02 -2.98055374e+02] [-7.20887756e-02 -4.37365655e-04 9.97398124e-01 -3.13624822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.80, Y:-298.09, Z:-31.37 [[ 8.59990567e-01 5.06513677e-01 6.21298649e-02 5.71804562e+02] [-5.05192286e-01 8.62231924e-01 -3.65631276e-02 -2.98089331e+02] [-7.20900772e-02 5.64162882e-05 9.97398124e-01 -3.13680177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.86, Y:-298.12, Z:-31.37 [[ 8.59335122e-01 5.07625539e-01 6.21245530e-02 5.71856552e+02] [-5.06306396e-01 8.61577804e-01 -3.65721508e-02 -2.98124092e+02] [-7.20900937e-02 -2.63248991e-05 9.97398124e-01 -3.13685814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.91, Y:-298.15, Z:-31.38 [[ 8.59167665e-01 5.07910031e-01 6.21154149e-02 5.71910417e+02] [-5.06590508e-01 8.61410123e-01 -3.65876646e-02 -2.98151555e+02] [-7.20900891e-02 -3.21412555e-05 9.97398124e-01 -3.13750561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:571.96, Y:-298.18, Z:-31.38 [[ 8.58087355e-01 5.09733690e-01 6.21100420e-02 5.71963636e+02] [-5.08418273e-01 8.60332224e-01 -3.65967832e-02 -2.98183078e+02] [-7.20898839e-02 -1.74643405e-04 9.97398124e-01 -3.13768580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.02, Y:-298.21, Z:-31.38 [[ 8.59332120e-01 5.07633502e-01 6.21010104e-02 5.72017923e+02] [-5.06311492e-01 8.61573112e-01 -3.66121026e-02 -2.98210341e+02] [-7.20900907e-02 1.95005827e-05 9.97398124e-01 -3.13845151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.07, Y:-298.24, Z:-31.39 [[ 8.59876163e-01 5.06712418e-01 6.20927479e-02 5.72072258e+02] [-5.05386996e-01 8.62115139e-01 -3.66261103e-02 -2.98242133e+02] [-7.20900028e-02 1.13051849e-04 9.97398125e-01 -3.13892697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.13, Y:-298.27, Z:-31.39 [[ 8.61358376e-01 5.04189921e-01 6.20827816e-02 5.72126082e+02] [-5.02856725e-01 8.63592731e-01 -3.66429958e-02 -2.98272102e+02] [-7.20892680e-02 3.44007133e-04 9.97398125e-01 -3.13932345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.18, Y:-298.30, Z:-31.40 [[ 8.62247853e-01 5.02668373e-01 6.20737243e-02 5.72179683e+02] [-5.01330130e-01 8.64479189e-01 -3.66583324e-02 -2.98302342e+02] [-7.20884272e-02 4.89140152e-04 9.97398125e-01 -3.13982084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.23, Y:-298.33, Z:-31.40 [[ 8.64834125e-01 4.98206688e-01 6.20647479e-02 5.72234017e+02] [-4.96855844e-01 8.67057854e-01 -3.66735239e-02 -2.98332421e+02] [-7.20847220e-02 8.79282236e-04 9.97398125e-01 -3.14014101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.29, Y:-298.36, Z:-31.40 [[ 8.66753267e-01 4.94861441e-01 6.20558487e-02 5.72288273e+02] [-4.93500938e-01 8.68971100e-01 -3.66885761e-02 -2.98363275e+02] [-7.20805008e-02 1.17532369e-03 9.97398125e-01 -3.14048038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.34, Y:-298.40, Z:-31.41 [[ 8.67881002e-01 4.92882226e-01 6.20457740e-02 5.72341935e+02] [-4.91515448e-01 8.70094973e-01 -3.67056060e-02 -2.98395441e+02] [-7.20772569e-02 1.35964162e-03 9.97398125e-01 -3.14081921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.40, Y:-298.42, Z:-31.41 [[ 8.65587918e-01 4.96898851e-01 6.20410131e-02 5.72396916e+02] [-4.95541772e-01 8.67807848e-01 -3.67136514e-02 -2.98424027e+02] [-7.20826492e-02 1.03497957e-03 9.97398125e-01 -3.14105656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.45, Y:-298.45, Z:-31.42 [[ 8.62139481e-01 5.02859380e-01 6.20319241e-02 5.72452853e+02] [-5.01516545e-01 8.64368055e-01 -3.67290018e-02 -2.98449752e+02] [-7.20879367e-02 5.55486273e-04 9.97398126e-01 -3.14178647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.51, Y:-298.48, Z:-31.42 [[ 8.59767813e-01 5.06904710e-01 6.20235723e-02 5.72508484e+02] [-5.05571344e-01 8.62002065e-01 -3.67430999e-02 -2.98479381e+02] [-7.20896979e-02 2.33193806e-04 9.97398126e-01 -3.14228986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.56, Y:-298.51, Z:-31.43 [[ 8.56869404e-01 5.11790152e-01 6.20134272e-02 5.72563029e+02] [-5.10468286e-01 8.59110479e-01 -3.67602145e-02 -2.98511040e+02] [-7.20899009e-02 -1.57184824e-04 9.97398126e-01 -3.14256625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.62, Y:-298.54, Z:-31.43 [[ 8.54877121e-01 5.15112311e-01 6.20033461e-02 5.72617342e+02] [-5.13797922e-01 8.57122589e-01 -3.67772105e-02 -2.98539967e+02] [-7.20888624e-02 -4.17194562e-04 9.97398126e-01 -3.14314306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.67, Y:-298.57, Z:-31.44 [[ 8.51365891e-01 5.20896147e-01 6.19945400e-02 5.72670499e+02] [-5.19595930e-01 8.53619596e-01 -3.67920487e-02 -2.98568862e+02] [-7.20845906e-02 -8.88615380e-04 9.97398126e-01 -3.14374036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.72, Y:-298.60, Z:-31.44 [[ 8.48459350e-01 5.25618120e-01 6.19864821e-02 5.72724780e+02] [-5.24329453e-01 8.50719678e-01 -3.68056196e-02 -2.98599914e+02] [-7.20788206e-02 -1.27326619e-03 9.97398126e-01 -3.14389956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.78, Y:-298.63, Z:-31.44 [[ 8.48151800e-01 5.26115317e-01 6.19774009e-02 5.72777501e+02] [-5.24826859e-01 8.50412247e-01 -3.68209051e-02 -2.98631969e+02] [-7.20783829e-02 -1.29768773e-03 9.97398127e-01 -3.14409932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.83, Y:-298.66, Z:-31.45 [[ 8.50630430e-01 5.22099398e-01 6.19684581e-02 5.72830225e+02] [-5.20799171e-01 8.52884128e-01 -3.68359494e-02 -2.98664577e+02] [-7.20839414e-02 -9.39342159e-04 9.97398127e-01 -3.14452995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.88, Y:-298.70, Z:-31.45 [[ 8.54898409e-01 5.15082317e-01 6.19589941e-02 5.72880390e+02] [-5.13762436e-01 8.57140653e-01 -3.68518613e-02 -2.98700798e+02] [-7.20893148e-02 -3.27606190e-04 9.97398127e-01 -3.14501666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.93, Y:-298.74, Z:-31.46 [[ 8.59265073e-01 5.07765493e-01 6.19494889e-02 5.72931654e+02] [-5.06425367e-01 8.61495276e-01 -3.68678331e-02 -2.98737233e+02] [-7.20894054e-02 3.06448644e-04 9.97398127e-01 -3.14557878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:572.98, Y:-298.77, Z:-31.46 [[ 8.62599301e-01 5.02081715e-01 6.19386567e-02 5.72984145e+02] [-5.00725589e-01 8.64819811e-01 -3.68860224e-02 -2.98770686e+02] [-7.20855748e-02 8.03586755e-04 9.97398127e-01 -3.14618919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.03, Y:-298.81, Z:-31.47 [[ 8.65817409e-01 4.96512831e-01 6.19291825e-02 5.73033712e+02] [-4.95141288e-01 8.68028429e-01 -3.69019220e-02 -2.98808358e+02] [-7.20785688e-02 1.28663132e-03 9.97398127e-01 -3.14653336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.08, Y:-298.85, Z:-31.47 [[ 8.68701788e-01 4.91450051e-01 6.19197087e-02 5.73083712e+02] [-4.90064492e-01 8.70904052e-01 -3.69178119e-02 -2.98845917e+02] [-7.20693858e-02 1.72591861e-03 9.97398128e-01 -3.14711327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.14, Y:-298.88, Z:-31.48 [[ 8.69586833e-01 4.89883507e-01 6.19103377e-02 5.73135785e+02] [-4.88492864e-01 8.71785890e-01 -3.69335202e-02 -2.98879637e+02] [-7.20656812e-02 1.87414468e-03 9.97398128e-01 -3.14760271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.19, Y:-298.91, Z:-31.48 [[ 8.68617551e-01 4.91601283e-01 6.19009563e-02 5.73187628e+02] [-4.90213870e-01 8.70818647e-01 -3.69492369e-02 -2.98913673e+02] [-7.20687992e-02 1.75004835e-03 9.97398128e-01 -3.14779609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.24, Y:-298.94, Z:-31.48 [[ 8.66957367e-01 4.94524376e-01 6.18915578e-02 5.73241568e+02] [-4.93143262e-01 8.69162421e-01 -3.69649730e-02 -2.98942961e+02] [-7.20738964e-02 1.52565087e-03 9.97398128e-01 -3.14809580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.30, Y:-298.97, Z:-31.48 [[ 8.64120693e-01 4.99465641e-01 6.18829594e-02 5.73295666e+02] [-4.98096108e-01 8.66332958e-01 -3.69793620e-02 -2.98973351e+02] [-7.20811680e-02 1.13097075e-03 9.97398128e-01 -3.14848930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.35, Y:-299.00, Z:-31.49 [[ 8.62324104e-01 5.02562193e-01 6.18739204e-02 5.73349208e+02] [-5.01199520e-01 8.64540601e-01 -3.69944800e-02 -2.99003753e+02] [-7.20845433e-02 8.90052611e-04 9.97398128e-01 -3.14895663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.40, Y:-299.03, Z:-31.49 [[ 8.60115201e-01 5.06333982e-01 6.18687205e-02 5.73402848e+02] [-5.04980404e-01 8.62337264e-01 -3.70031741e-02 -2.99033532e+02] [-7.20876676e-02 5.84501080e-04 9.97398128e-01 -3.14945109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.46, Y:-299.06, Z:-31.50 [[ 8.60218787e-01 5.06158646e-01 6.18632626e-02 5.73457608e+02] [-5.04803959e-01 8.62440173e-01 -3.70122966e-02 -2.99061115e+02] [-7.20874569e-02 6.09852989e-04 9.97398128e-01 -3.15043001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.51, Y:-299.09, Z:-31.51 [[ 8.57326649e-01 5.11043177e-01 6.18537560e-02 5.73514624e+02] [-5.09700001e-01 8.59555015e-01 -3.70281769e-02 -2.99087422e+02] [-7.20897033e-02 2.18383311e-04 9.97398129e-01 -3.15138187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.57, Y:-299.12, Z:-31.51 [[ 8.50368289e-01 5.22541115e-01 6.18430066e-02 5.73565118e+02] [-5.21226761e-01 8.52613775e-01 -3.70461214e-02 -2.99123863e+02] [-7.20863209e-02 -7.31383190e-04 9.97398129e-01 -3.15101308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.62, Y:-299.16, Z:-31.51 [[ 8.49054653e-01 5.24673976e-01 6.18337669e-02 5.73618334e+02] [-5.23364140e-01 8.51302778e-01 -3.70615370e-02 -2.99155846e+02] [-7.20844815e-02 -8.94305801e-04 9.97398129e-01 -3.15135985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.67, Y:-299.19, Z:-31.52 [[ 8.48248323e-01 5.25977663e-01 6.18245980e-02 5.73668934e+02] [-5.24670168e-01 8.50497810e-01 -3.70768259e-02 -2.99189752e+02] [-7.20832674e-02 -9.87166833e-04 9.97398129e-01 -3.15179346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.72, Y:-299.22, Z:-31.52 [[ 8.47334198e-01 5.27449610e-01 6.18196267e-02 5.73720948e+02] [-5.26145418e-01 8.49585601e-01 -3.70851129e-02 -2.99224477e+02] [-7.20815931e-02 -1.10262895e-03 9.97398129e-01 -3.15201733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.77, Y:-299.26, Z:-31.52 [[ 8.45282586e-01 5.30732319e-01 6.18106356e-02 5.73774404e+02] [-5.29435775e-01 8.47538402e-01 -3.71000926e-02 -2.99258160e+02] [-7.20771055e-02 -1.36469961e-03 9.97398129e-01 -3.15234583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.83, Y:-299.29, Z:-31.53 [[ 8.41402599e-01 5.36863488e-01 6.18001744e-02 5.73826778e+02] [-5.35582099e-01 8.43667058e-01 -3.71175104e-02 -2.99290141e+02] [-7.20658074e-02 -1.86829746e-03 9.97398130e-01 -3.15315952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.88, Y:-299.32, Z:-31.54 [[ 8.37515145e-01 5.42909052e-01 6.17911238e-02 5.73877499e+02] [-5.41642896e-01 8.39788155e-01 -3.71325713e-02 -2.99324903e+02] [-7.20510629e-02 -2.36963234e-03 9.97398130e-01 -3.15379662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.93, Y:-299.36, Z:-31.54 [[ 8.36873452e-01 5.43898722e-01 6.17819125e-02 5.73929077e+02] [-5.42634124e-01 8.39147330e-01 -3.71478909e-02 -2.99358659e+02] [-7.20488173e-02 -2.43689028e-03 9.97398130e-01 -3.15440631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:573.98, Y:-299.39, Z:-31.55 [[ 8.40490677e-01 5.38293194e-01 6.17726495e-02 5.73979103e+02] [-5.37012296e-01 8.42755412e-01 -3.71632878e-02 -2.99393097e+02] [-7.20639796e-02 -1.93727539e-03 9.97398130e-01 -3.15463744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.03, Y:-299.43, Z:-31.55 [[ 8.46032633e-01 5.29541133e-01 6.17654581e-02 5.74030088e+02] [-5.28235927e-01 8.48283448e-01 -3.71752361e-02 -2.99427989e+02] [-7.20804324e-02 -1.17527110e-03 9.97398130e-01 -3.15460950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.08, Y:-299.46, Z:-31.55 [[ 8.49423651e-01 5.24085401e-01 6.17572154e-02 5.74082985e+02] [-5.22764741e-01 8.51665433e-01 -3.71889243e-02 -2.99460640e+02] [-7.20866579e-02 -6.95342828e-04 9.97398130e-01 -3.15488896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.14, Y:-299.49, Z:-31.55 [[ 8.50432365e-01 5.22448072e-01 6.17479135e-02 5.74137828e+02] [-5.21121976e-01 8.52670934e-01 -3.72043625e-02 -2.99492110e+02] [-7.20879986e-02 -5.38400668e-04 9.97398130e-01 -3.15533092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.19, Y:-299.52, Z:-31.56 [[ 8.50470456e-01 5.22387378e-01 6.17367930e-02 5.74190450e+02] [-5.21059783e-01 8.52708136e-01 -3.72228068e-02 -2.99522399e+02] [-7.20881901e-02 -5.11662443e-04 9.97398131e-01 -3.15626917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.24, Y:-299.55, Z:-31.57 [[ 8.53012505e-01 5.18226688e-01 6.17314106e-02 5.74244347e+02] [-5.16887531e-01 8.55243286e-01 -3.72317310e-02 -2.99554560e+02] [-7.20898511e-02 -1.49064375e-04 9.97398131e-01 -3.15677705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.30, Y:-299.59, Z:-31.57 [[ 8.56690198e-01 5.12125422e-01 6.17207983e-02 5.74297788e+02] [-5.10769111e-01 8.58910591e-01 -3.72493152e-02 -2.99587030e+02] [-7.20889686e-02 3.86045936e-04 9.97398131e-01 -3.15720871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.35, Y:-299.62, Z:-31.58 [[ 8.59789563e-01 5.06906072e-01 6.17101441e-02 5.74352146e+02] [-5.05535018e-01 8.62000881e-01 -3.72669575e-02 -2.99618007e+02] [-7.20850457e-02 8.45102257e-04 9.97398131e-01 -3.15771730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.41, Y:-299.65, Z:-31.58 [[ 8.63368059e-01 5.00788128e-01 6.16996474e-02 5.74405478e+02] [-4.99400165e-01 8.65568804e-01 -3.72843279e-02 -2.99651380e+02] [-7.20768388e-02 1.37728372e-03 9.97398131e-01 -3.15810161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.46, Y:-299.68, Z:-31.59 [[ 8.66290116e-01 4.95717552e-01 6.16890865e-02 5.74460025e+02] [-4.94315468e-01 8.68481891e-01 -3.73017933e-02 -2.99681635e+02] [-7.20670082e-02 1.82030520e-03 9.97398132e-01 -3.15853463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.51, Y:-299.71, Z:-31.59 [[ 8.66136139e-01 4.95987831e-01 6.16786840e-02 5.74514932e+02] [-4.94585206e-01 8.68327569e-01 -3.73189861e-02 -2.99708902e+02] [-7.20670647e-02 1.81795790e-03 9.97398132e-01 -3.15910882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.57, Y:-299.74, Z:-31.60 [[ 8.64019966e-01 4.99666153e-01 6.16703719e-02 5.74569483e+02] [-4.98271879e-01 8.66216718e-01 -3.73327169e-02 -2.99737821e+02] [-7.20738022e-02 1.52760061e-03 9.97398132e-01 -3.15976306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.62, Y:-299.77, Z:-31.60 [[ 8.62406467e-01 5.02446961e-01 6.16614716e-02 5.74623169e+02] [-5.01058722e-01 8.64607037e-01 -3.73474116e-02 -2.99768978e+02] [-7.20780357e-02 1.31263114e-03 9.97398132e-01 -3.16022647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.68, Y:-299.80, Z:-31.61 [[ 8.60990476e-01 5.04870661e-01 6.16523850e-02 5.74676922e+02] [-5.03487543e-01 8.63194268e-01 -3.73624055e-02 -2.99799010e+02] [-7.20811677e-02 1.12746746e-03 9.97398132e-01 -3.16076163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.73, Y:-299.83, Z:-31.61 [[ 8.58232933e-01 5.09545290e-01 6.16427689e-02 5.74732506e+02] [-5.08173038e-01 8.60443507e-01 -3.73782641e-02 -2.99828230e+02] [-7.20860387e-02 7.54064084e-04 9.97398132e-01 -3.16103461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.79, Y:-299.86, Z:-31.62 [[ 8.55533540e-01 5.14065979e-01 6.16322189e-02 5.74787211e+02] [-5.12704156e-01 8.57750555e-01 -3.73956517e-02 -2.99858004e+02] [-7.20889022e-02 3.94139523e-04 9.97398133e-01 -3.16179346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.84, Y:-299.88, Z:-31.63 [[ 8.52892058e-01 5.18437088e-01 6.16289097e-02 5.74843480e+02] [-5.17086234e-01 8.55115773e-01 -3.74011045e-02 -2.99882787e+02] [-7.20899725e-02 3.16442306e-05 9.97398133e-01 -3.16283457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.90, Y:-299.91, Z:-31.63 [[ 8.49882217e-01 5.23357611e-01 6.16200282e-02 5.74899018e+02] [-5.22018570e-01 8.52113065e-01 -3.74157315e-02 -2.99911546e+02] [-7.20890390e-02 -3.67834142e-04 9.97398133e-01 -3.16333865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:574.95, Y:-299.95, Z:-31.63 [[ 8.45601687e-01 5.30247212e-01 6.16090964e-02 5.74949732e+02] [-5.28925034e-01 8.47842571e-01 -3.74337234e-02 -2.99947180e+02] [-7.20839421e-02 -9.32573735e-04 9.97398133e-01 -3.16328604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.00, Y:-299.98, Z:-31.64 [[ 8.46195927e-01 5.29299472e-01 6.15996855e-02 5.75003660e+02] [-5.27973658e-01 8.48434661e-01 -3.74492032e-02 -2.99977121e+02] [-7.20851518e-02 -8.33648036e-04 9.97398133e-01 -3.16399744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.06, Y:-300.01, Z:-31.65 [[ 8.44701939e-01 5.31680782e-01 6.15969211e-02 5.75056976e+02] [-5.30360948e-01 8.46944202e-01 -3.74537496e-02 -3.00009530e+02] [-7.20825941e-02 -1.03134653e-03 9.97398133e-01 -3.16451891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.11, Y:-300.05, Z:-31.64 [[ 8.42115013e-01 5.35769991e-01 6.15858901e-02 5.75105223e+02] [-5.34459718e-01 8.44362877e-01 -3.74718792e-02 -3.00046878e+02] [-7.20771478e-02 -1.35954541e-03 9.97398133e-01 -3.16444458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.16, Y:-300.08, Z:-31.65 [[ 8.43507178e-01 5.33575974e-01 6.15818191e-02 5.75158337e+02] [-5.32259365e-01 8.45751338e-01 -3.74785685e-02 -3.00078067e+02] [-7.20805695e-02 -1.16405837e-03 9.97398133e-01 -3.16538271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.21, Y:-300.11, Z:-31.65 [[ 8.41658834e-01 5.36487906e-01 6.15721906e-02 5.75207350e+02] [-5.35177904e-01 8.43906856e-01 -3.74943801e-02 -3.00114821e+02] [-7.20764753e-02 -1.39459968e-03 9.97398134e-01 -3.16548395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.26, Y:-300.15, Z:-31.66 [[ 8.43039290e-01 5.34316657e-01 6.15667510e-02 5.75258725e+02] [-5.33000214e-01 8.45283546e-01 -3.75033099e-02 -3.00152066e+02] [-7.20800048e-02 -1.19832764e-03 9.97398134e-01 -3.16566469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.31, Y:-300.19, Z:-31.67 [[ 8.47057257e-01 5.27925034e-01 6.15561619e-02 5.75310112e+02] [-5.26590392e-01 8.49290738e-01 -3.75206823e-02 -3.00186039e+02] [-7.20871857e-02 -6.32717198e-04 9.97398134e-01 -3.16667042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.36, Y:-300.22, Z:-31.67 [[ 8.47685874e-01 5.26915637e-01 6.15513694e-02 5.75360316e+02] [-5.25577764e-01 8.49917421e-01 -3.75285426e-02 -3.00222036e+02] [-7.20879571e-02 -5.37615683e-04 9.97398134e-01 -3.16711699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.41, Y:-300.26, Z:-31.67 [[ 8.46437754e-01 5.28919476e-01 6.15411751e-02 5.75410048e+02] [-5.27585671e-01 8.48671735e-01 -3.75452524e-02 -3.00260298e+02] [-7.20866711e-02 -6.88523029e-04 9.97398134e-01 -3.16682710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.46, Y:-300.29, Z:-31.67 [[ 8.48819053e-01 5.25090509e-01 6.15318866e-02 5.75460628e+02] [-5.23745523e-01 8.51046320e-01 -3.75604689e-02 -3.00294119e+02] [-7.20891314e-02 -3.45008485e-04 9.97398134e-01 -3.16717746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.51, Y:-300.33, Z:-31.68 [[ 8.50481841e-01 5.22394019e-01 6.15233877e-02 5.75514212e+02] [-5.21040965e-01 8.52704215e-01 -3.75743849e-02 -3.00326394e+02] [-7.20898859e-02 -9.98732642e-05 9.97398134e-01 -3.16750586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.57, Y:-300.36, Z:-31.68 [[ 8.51953942e-01 5.19991000e-01 6.15129284e-02 5.75567539e+02] [-5.18630441e-01 8.54171730e-01 -3.75914999e-02 -3.00358192e+02] [-7.20898461e-02 1.23749297e-04 9.97398135e-01 -3.16789439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.62, Y:-300.39, Z:-31.68 [[ 8.53366018e-01 5.17671462e-01 6.15036369e-02 5.75621530e+02] [-5.16303779e-01 8.55579420e-01 -3.76066957e-02 -3.00390546e+02] [-7.20891591e-02 3.37715965e-04 9.97398135e-01 -3.16842856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.68, Y:-300.42, Z:-31.69 [[ 8.56764132e-01 5.12029124e-01 6.14930729e-02 5.75677073e+02] [-5.10645627e-01 8.58967683e-01 -3.76239617e-02 -3.00420335e+02] [-7.20851265e-02 8.33692097e-04 9.97398135e-01 -3.16917109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.73, Y:-300.45, Z:-31.70 [[ 8.62850812e-01 5.01705486e-01 6.14823726e-02 5.75731427e+02] [-5.00294387e-01 8.65036790e-01 -3.76414392e-02 -3.00449437e+02] [-7.20694308e-02 1.71966048e-03 9.97398135e-01 -3.16991930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.78, Y:-300.48, Z:-31.70 [[ 8.66099677e-01 4.96077058e-01 6.14727738e-02 5.75781780e+02] [-4.94650646e-01 8.68275694e-01 -3.76571086e-02 -3.00483694e+02] [-7.20561430e-02 2.20726231e-03 9.97398135e-01 -3.16989365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.84, Y:-300.51, Z:-31.70 [[ 8.67006627e-01 4.94490911e-01 6.14674552e-02 5.75836994e+02] [-4.93059904e-01 8.69179624e-01 -3.76657881e-02 -3.00512878e+02] [-7.20516495e-02 2.34935032e-03 9.97398135e-01 -3.17026804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.89, Y:-300.54, Z:-31.71 [[ 8.65720300e-01 4.96740649e-01 6.14580334e-02 5.75893252e+02] [-4.95314200e-01 8.67896292e-01 -3.76811552e-02 -3.00542280e+02] [-7.20569608e-02 2.18030442e-03 9.97398136e-01 -3.17059454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:575.95, Y:-300.57, Z:-31.71 [[ 8.63474804e-01 5.00635074e-01 6.14474174e-02 5.75947710e+02] [-4.99217211e-01 8.65656400e-01 -3.76984589e-02 -3.00571615e+02] [-7.20655209e-02 1.87606106e-03 9.97398136e-01 -3.17085587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.00, Y:-300.60, Z:-31.71 [[ 8.62588523e-01 5.02161764e-01 6.14378019e-02 5.76002010e+02] [-5.00746647e-01 8.64771901e-01 -3.77141230e-02 -3.00602340e+02] [-7.20682753e-02 1.76699632e-03 9.97398136e-01 -3.17128757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.06, Y:-300.63, Z:-31.72 [[ 8.59862023e-01 5.06817579e-01 6.14267311e-02 5.76058073e+02] [-5.05412999e-01 8.62052194e-01 -3.77321459e-02 -3.00628448e+02] [-7.20763632e-02 1.39857097e-03 9.97398136e-01 -3.17205648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.12, Y:-300.65, Z:-31.72 [[ 8.56973113e-01 5.11688687e-01 6.14147439e-02 5.76115508e+02] [-5.10295160e-01 8.59170334e-01 -3.77516469e-02 -3.00654501e+02] [-7.20828166e-02 1.01249974e-03 9.97398136e-01 -3.17243356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.17, Y:-300.68, Z:-31.73 [[ 8.53469197e-01 5.17513337e-01 6.14025731e-02 5.76168880e+02] [-5.16133384e-01 8.55674967e-01 -3.77714322e-02 -3.00684584e+02] [-7.20878646e-02 5.44836033e-04 9.97398137e-01 -3.17256398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.23, Y:-300.71, Z:-31.73 [[ 8.49782743e-01 5.23545366e-01 6.13965720e-02 5.76225077e+02] [-5.22180366e-01 8.51997798e-01 -3.77811843e-02 -3.00711710e+02] [-7.20899081e-02 4.57140765e-05 9.97398137e-01 -3.17328855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.28, Y:-300.74, Z:-31.74 [[ 8.48143980e-01 5.26196433e-01 6.13930178e-02 5.76278708e+02] [-5.24837938e-01 8.50363031e-01 -3.77869589e-02 -3.00743527e+02] [-7.20897157e-02 -1.72603110e-04 9.97398137e-01 -3.17360633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.33, Y:-300.78, Z:-31.74 [[ 8.45959475e-01 5.29702685e-01 6.13810413e-02 5.76331795e+02] [-5.28351977e-01 8.48183273e-01 -3.78064036e-02 -3.00776551e+02] [-7.20885260e-02 -4.48109170e-04 9.97398137e-01 -3.17401876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.38, Y:-300.81, Z:-31.74 [[ 8.44882763e-01 5.31419786e-01 6.13687845e-02 5.76383978e+02] [-5.30072153e-01 8.47108426e-01 -3.78262889e-02 -3.00809972e+02] [-7.20876527e-02 -5.71104204e-04 9.97398137e-01 -3.17431036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.44, Y:-300.84, Z:-31.75 [[ 8.46042015e-01 5.29573558e-01 6.13576074e-02 5.76435331e+02] [-5.28219753e-01 8.48263929e-01 -3.78444105e-02 -3.00843298e+02] [-7.20888442e-02 -3.92338894e-04 9.97398137e-01 -3.17459668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.49, Y:-300.88, Z:-31.75 [[ 8.46925095e-01 5.28161137e-01 6.13489675e-02 5.76485706e+02] [-5.26802613e-01 8.49144127e-01 -3.78584112e-02 -3.00880342e+02] [-7.20894570e-02 -2.55557899e-04 9.97398138e-01 -3.17514939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.54, Y:-300.91, Z:-31.76 [[ 8.47347079e-01 5.27484314e-01 6.13451388e-02 5.76536632e+02] [-5.26123568e-01 8.49564749e-01 -3.78646143e-02 -3.00913493e+02] [-7.20896575e-02 -1.90652996e-04 9.97398138e-01 -3.17553181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.59, Y:-300.95, Z:-31.76 [[ 8.46275090e-01 5.29203614e-01 6.13351919e-02 5.76587621e+02] [-5.27846207e-01 8.48494805e-01 -3.78807198e-02 -3.00949498e+02] [-7.20892056e-02 -3.18038780e-04 9.97398138e-01 -3.17604787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.64, Y:-300.99, Z:-31.77 [[ 8.44266517e-01 5.32403354e-01 6.13246915e-02 5.76638256e+02] [-5.31053124e-01 8.46490604e-01 -3.78977113e-02 -3.00986209e+02] [-7.20876438e-02 -5.70900280e-04 9.97398138e-01 -3.17664343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.69, Y:-301.02, Z:-31.77 [[ 8.41543393e-01 5.36697684e-01 6.13213886e-02 5.76689451e+02] [-5.35358414e-01 8.43774097e-01 -3.79030549e-02 -3.01022412e+02] [-7.20838811e-02 -9.31855848e-04 9.97398138e-01 -3.17706691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.74, Y:-301.06, Z:-31.78 [[ 8.39816288e-01 5.39397459e-01 6.13105556e-02 5.76739299e+02] [-5.38064081e-01 8.42050518e-01 -3.79205699e-02 -3.01058533e+02] [-7.20808442e-02 -1.14269555e-03 9.97398138e-01 -3.17784114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.79, Y:-301.10, Z:-31.78 [[ 8.36862715e-01 5.43969004e-01 6.13067562e-02 5.76786891e+02] [-5.42647380e-01 8.39103919e-01 -3.79267115e-02 -3.01097798e+02] [-7.20736948e-02 -1.52849982e-03 9.97398138e-01 -3.17795671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.84, Y:-301.13, Z:-31.78 [[ 8.36655767e-01 5.44288360e-01 6.12968923e-02 5.76837398e+02] [-5.42966424e-01 8.38896786e-01 -3.79426467e-02 -3.01133809e+02] [-7.20735069e-02 -1.53722025e-03 9.97398138e-01 -3.17822741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.89, Y:-301.17, Z:-31.79 [[ 8.38522260e-01 5.41409506e-01 6.12875767e-02 5.76886885e+02] [-5.40078776e-01 8.40758068e-01 -3.79576880e-02 -3.01171587e+02] [-7.20786777e-02 -1.27175306e-03 9.97398139e-01 -3.17876051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.94, Y:-301.20, Z:-31.79 [[ 8.40133964e-01 5.38906194e-01 6.12783498e-02 5.76938688e+02] [-5.37567716e-01 8.42365143e-01 -3.79725780e-02 -3.01203891e+02] [-7.20824034e-02 -1.03921008e-03 9.97398139e-01 -3.17910009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:576.99, Y:-301.24, Z:-31.79 [[ 8.39679981e-01 5.39614240e-01 6.12699084e-02 5.76992678e+02] [-5.38276650e-01 8.41911692e-01 -3.79861935e-02 -3.01235449e+02] [-7.20817432e-02 -1.08391479e-03 9.97398139e-01 -3.17929237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.05, Y:-301.27, Z:-31.80 [[ 8.38875100e-01 5.40865676e-01 6.12608071e-02 5.77045945e+02] [-5.39530344e-01 8.41108163e-01 -3.80008657e-02 -3.01266435e+02] [-7.20803288e-02 -1.17408425e-03 9.97398139e-01 -3.17954100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.10, Y:-301.30, Z:-31.80 [[ 8.38103261e-01 5.42061875e-01 6.12523245e-02 5.77097844e+02] [-5.40728732e-01 8.40337631e-01 -3.80145336e-02 -3.01301630e+02] [-7.20788626e-02 -1.26078719e-03 9.97398139e-01 -3.17961924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.15, Y:-301.33, Z:-31.80 [[ 8.40475602e-01 5.38376606e-01 6.12486171e-02 5.77150494e+02] [-5.37033229e-01 8.42703834e-01 -3.80205060e-02 -3.01334278e+02] [-7.20837954e-02 -9.37234999e-04 9.97398139e-01 -3.17972958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.20, Y:-301.37, Z:-31.80 [[ 8.42751255e-01 5.34808606e-01 6.12378674e-02 5.77202293e+02] [-5.33454537e-01 8.44973006e-01 -3.80378123e-02 -3.01366337e+02] [-7.20872942e-02 -6.11204155e-04 9.97398139e-01 -3.18035260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.25, Y:-301.40, Z:-31.81 [[ 8.43817026e-01 5.33126484e-01 6.12289076e-02 5.77254720e+02] [-5.31766940e-01 8.46035430e-01 -3.80522291e-02 -3.01398942e+02] [-7.20884764e-02 -4.50390062e-04 9.97398140e-01 -3.18084628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.31, Y:-301.43, Z:-31.81 [[ 8.43943437e-01 5.32927511e-01 6.12188104e-02 5.77307457e+02] [-5.31566266e-01 8.46160798e-01 -3.80684668e-02 -3.01432184e+02] [-7.20886907e-02 -4.14221801e-04 9.97398140e-01 -3.18136204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.36, Y:-301.47, Z:-31.82 [[ 8.46151105e-01 5.29416567e-01 6.12078923e-02 5.77360269e+02] [-5.28044852e-01 8.48362004e-01 -3.80860132e-02 -3.01465219e+02] [-7.20898166e-02 -9.39903152e-05 9.97398140e-01 -3.18207179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.41, Y:-301.50, Z:-31.82 [[ 8.46271059e-01 5.29225212e-01 6.12043268e-02 5.77413586e+02] [-5.27852582e-01 8.48481391e-01 -3.80917422e-02 -3.01499006e+02] [-7.20898426e-02 -7.09228797e-05 9.97398140e-01 -3.18244611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.47, Y:-301.53, Z:-31.83 [[ 8.47270675e-01 5.27624710e-01 6.11928863e-02 5.77467082e+02] [-5.26246578e-01 8.49477580e-01 -3.81101120e-02 -3.01530949e+02] [-7.20898217e-02 8.70332712e-05 9.97398140e-01 -3.18284060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.52, Y:-301.56, Z:-31.83 [[ 8.47259126e-01 5.27644403e-01 6.11829802e-02 5.77518489e+02] [-5.26265175e-01 8.49465345e-01 -3.81260090e-02 -3.01563057e+02] [-7.20897966e-02 1.04137245e-04 9.97398140e-01 -3.18308386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.57, Y:-301.59, Z:-31.84 [[ 8.48311615e-01 5.25951507e-01 6.11752852e-02 5.77570241e+02] [-5.24566986e-01 8.50514517e-01 -3.81383520e-02 -3.01594963e+02] [-7.20893919e-02 2.62671968e-04 9.97398140e-01 -3.18384236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.62, Y:-301.62, Z:-31.85 [[ 8.49442504e-01 5.24124104e-01 6.11666265e-02 5.77624763e+02] [-5.22733844e-01 8.51641788e-01 -3.81522339e-02 -3.01623236e+02] [-7.20885606e-02 4.34263318e-04 9.97398141e-01 -3.18484553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.68, Y:-301.65, Z:-31.85 [[ 8.49803257e-01 5.23540133e-01 6.11567998e-02 5.77678302e+02] [-5.22147229e-01 8.52000867e-01 -3.81679793e-02 -3.01654285e+02] [-7.20881154e-02 5.02419566e-04 9.97398141e-01 -3.18534749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.73, Y:-301.68, Z:-31.86 [[ 8.50199963e-01 5.22896793e-01 6.11470960e-02 5.77732756e+02] [-5.21501109e-01 8.52395807e-01 -3.81835189e-02 -3.01684909e+02] [-7.20875679e-02 5.75348004e-04 9.97398141e-01 -3.18618652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.79, Y:-301.71, Z:-31.87 [[ 8.50827750e-01 5.21876001e-01 6.11357417e-02 5.77787837e+02] [-5.20476377e-01 8.53021086e-01 -3.82016897e-02 -3.01714693e+02] [-7.20866219e-02 6.83348371e-04 9.97398141e-01 -3.18719921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.84, Y:-301.74, Z:-31.88 [[ 8.51805608e-01 5.20279740e-01 6.11244431e-02 5.77843488e+02] [-5.18874709e-01 8.53995484e-01 -3.82197595e-02 -3.01743556e+02] [-7.20849649e-02 8.39877851e-04 9.97398141e-01 -3.18815199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.90, Y:-301.78, Z:-31.89 [[ 8.53123892e-01 5.18116586e-01 6.11132339e-02 5.77896768e+02] [-5.16704719e-01 8.55309367e-01 -3.82376746e-02 -3.01775571e+02] [-7.20822948e-02 1.04397745e-03 9.97398142e-01 -3.18885278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:577.95, Y:-301.81, Z:-31.90 [[ 8.53484137e-01 5.17524102e-01 6.11034538e-02 5.77950297e+02] [-5.16109600e-01 8.55667907e-01 -3.82532968e-02 -3.01805567e+02] [-7.20812675e-02 1.11250292e-03 9.97398142e-01 -3.18950881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.00, Y:-301.83, Z:-31.91 [[ 8.53205378e-01 5.17983789e-01 6.11013651e-02 5.78004856e+02] [-5.16570224e-01 8.55389755e-01 -3.82566328e-02 -3.01833523e+02] [-7.20817973e-02 1.07761895e-03 9.97398142e-01 -3.19058171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.06, Y:-301.86, Z:-31.91 [[ 8.53065342e-01 5.18214625e-01 6.10993000e-02 5.78059484e+02] [-5.16801415e-01 8.55249949e-01 -3.82599306e-02 -3.01862287e+02] [-7.20820288e-02 1.06201609e-03 9.97398142e-01 -3.19118459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.11, Y:-301.89, Z:-31.92 [[ 8.53032280e-01 5.18270211e-01 6.10894295e-02 5.78114309e+02] [-5.16856016e-01 8.55216248e-01 -3.82756844e-02 -3.01890175e+02] [-7.20818197e-02 1.07595516e-03 9.97398142e-01 -3.19164218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.17, Y:-301.92, Z:-31.92 [[ 8.53589661e-01 5.17352923e-01 6.10789941e-02 5.78169566e+02] [-5.15935190e-01 8.55771335e-01 -3.82923295e-02 -3.01918496e+02] [-7.20803009e-02 1.17313412e-03 9.97398142e-01 -3.19181258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.22, Y:-301.95, Z:-31.92 [[ 8.52557775e-01 5.19052764e-01 6.10693741e-02 5.78222432e+02] [-5.17638283e-01 8.54741558e-01 -3.83076655e-02 -3.01948106e+02] [-7.20822317e-02 1.04765210e-03 9.97398142e-01 -3.19240532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.28, Y:-301.98, Z:-31.93 [[ 8.50166516e-01 5.22961281e-01 6.10605779e-02 5.78278456e+02] [-5.21555834e-01 8.52356123e-01 -3.83216812e-02 -3.01975080e+02] [-7.20861130e-02 7.33309544e-04 9.97398142e-01 -3.19300729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.33, Y:-302.00, Z:-31.93 [[ 8.48213865e-01 5.26123604e-01 6.10507324e-02 5.78333924e+02] [-5.24725192e-01 8.50407972e-01 -3.83373598e-02 -3.02003020e+02] [-7.20882195e-02 4.83422873e-04 9.97398143e-01 -3.19304108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.39, Y:-302.03, Z:-31.93 [[ 8.47900465e-01 5.26629120e-01 6.10456500e-02 5.78390405e+02] [-5.25231434e-01 8.50095035e-01 -3.83454510e-02 -3.02029388e+02] [-7.20884350e-02 4.50031447e-04 9.97398143e-01 -3.19316710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.44, Y:-302.06, Z:-31.94 [[ 8.51965866e-01 5.20026939e-01 6.10421642e-02 5.78443501e+02] [-5.18611850e-01 8.54149255e-01 -3.83509992e-02 -3.02059804e+02] [-7.20826718e-02 1.01655255e-03 9.97398143e-01 -3.19385578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.49, Y:-302.10, Z:-31.93 [[ 8.51924583e-01 5.20095644e-01 6.10329874e-02 5.78493046e+02] [-5.18679686e-01 8.54107408e-01 -3.83655978e-02 -3.02098519e+02] [-7.20825070e-02 1.02802521e-03 9.97398143e-01 -3.19316233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.55, Y:-302.13, Z:-31.93 [[ 8.54543682e-01 5.15781358e-01 6.10302059e-02 5.78545313e+02] [-5.14354065e-01 8.56719112e-01 -3.83700222e-02 -3.02131872e+02] [-7.20762859e-02 1.39772555e-03 9.97398143e-01 -3.19329388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.60, Y:-302.17, Z:-31.94 [[ 8.57422397e-01 5.10982713e-01 6.10204866e-02 5.78597066e+02] [-5.09542149e-01 8.59589061e-01 -3.83854726e-02 -3.02166288e+02] [-7.20668558e-02 1.82005407e-03 9.97398143e-01 -3.19366936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.65, Y:-302.20, Z:-31.94 [[ 8.62160713e-01 5.02947899e-01 6.10107835e-02 5.78646453e+02] [-5.01486061e-01 8.64313081e-01 -3.84008888e-02 -3.02201838e+02] [-7.20460646e-02 2.51168016e-03 9.97398143e-01 -3.19432522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.70, Y:-302.24, Z:-31.94 [[ 8.64783002e-01 4.98426650e-01 6.10019181e-02 5.78698841e+02] [-4.96952571e-01 8.66927005e-01 -3.84149668e-02 -3.02235867e+02] [-7.20312534e-02 2.90555023e-03 9.97398143e-01 -3.19436154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.75, Y:-302.27, Z:-31.94 [[ 8.63064895e-01 5.01396992e-01 6.09921673e-02 5.78752856e+02] [-4.99929202e-01 8.65213208e-01 -3.84304421e-02 -3.02266722e+02] [-7.20401368e-02 2.67619996e-03 9.97398144e-01 -3.19447789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.80, Y:-302.30, Z:-31.95 [[ 8.61487126e-01 5.04104238e-01 6.09823630e-02 5.78804416e+02] [-5.02642101e-01 8.63639290e-01 -3.84459936e-02 -3.02298883e+02] [-7.20475530e-02 2.46842551e-03 9.97398144e-01 -3.19504820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.86, Y:-302.33, Z:-31.95 [[ 8.58714583e-01 5.08813823e-01 6.09734267e-02 5.78856848e+02] [-5.07362487e-01 8.60874046e-01 -3.84601609e-02 -3.02331437e+02] [-7.20595020e-02 2.09067157e-03 9.97398144e-01 -3.19515776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.91, Y:-302.36, Z:-31.96 [[ 8.56801048e-01 5.12030582e-01 6.09643173e-02 5.78910520e+02] [-5.10586329e-01 8.58965253e-01 -3.84745951e-02 -3.02362635e+02] [-7.20663996e-02 1.83752647e-03 9.97398144e-01 -3.19583404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:578.96, Y:-302.39, Z:-31.96 [[ 8.54377679e-01 5.16065239e-01 6.09545017e-02 5.78963317e+02] [-5.14630099e-01 8.56547938e-01 -3.84901395e-02 -3.02394618e+02] [-7.20738758e-02 1.51609487e-03 9.97398144e-01 -3.19649903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.01, Y:-302.43, Z:-31.97 [[ 8.53794538e-01 5.17030589e-01 6.09447025e-02 5.79014597e+02] [-5.15596797e-01 8.55965688e-01 -3.85056492e-02 -3.02427266e+02] [-7.20751727e-02 1.45301963e-03 9.97398144e-01 -3.19680949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.07, Y:-302.46, Z:-31.97 [[ 8.52969156e-01 5.18392182e-01 6.09357420e-02 5.79065316e+02] [-5.16960843e-01 8.55141924e-01 -3.85198240e-02 -3.02462241e+02] [-7.20770833e-02 1.35482919e-03 9.97398144e-01 -3.19705162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.12, Y:-302.50, Z:-31.98 [[ 8.50101612e-01 5.23082408e-01 6.09265418e-02 5.79116311e+02] [-5.21662015e-01 8.52281552e-01 -3.85343705e-02 -3.02495076e+02] [-7.20832189e-02 9.75067867e-04 9.97398145e-01 -3.19757697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.17, Y:-302.53, Z:-31.98 [[ 8.47089167e-01 5.27947917e-01 6.09174863e-02 5.79169704e+02] [-5.26539017e-01 8.49276552e-01 -3.85486806e-02 -3.02527446e+02] [-7.20874884e-02 5.78736378e-04 9.97398145e-01 -3.19807272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.22, Y:-302.56, Z:-31.99 [[ 8.41018952e-01 5.37566283e-01 6.09065969e-02 5.79223543e+02] [-5.36181155e-01 8.43221467e-01 -3.85658781e-02 -3.02560401e+02] [-7.20894658e-02 -2.22335110e-04 9.97398145e-01 -3.19856852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.28, Y:-302.59, Z:-31.99 [[ 8.36478440e-01 5.44605851e-01 6.08957027e-02 5.79276188e+02] [-5.43238006e-01 8.38691729e-01 -3.85830726e-02 -3.02594319e+02] [-7.20852892e-02 -8.06951736e-04 9.97398145e-01 -3.19912553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.33, Y:-302.63, Z:-32.00 [[ 8.34466697e-01 5.47684570e-01 6.08846645e-02 5.79327445e+02] [-5.46323620e-01 8.36684233e-01 -3.86004832e-02 -3.02628825e+02] [-7.20821278e-02 -1.05191261e-03 9.97398145e-01 -3.19958494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.38, Y:-302.67, Z:-32.00 [[ 8.32548286e-01 5.50597489e-01 6.08749183e-02 5.79375153e+02] [-5.49243174e-01 8.34769880e-01 -3.86158474e-02 -3.02666689e+02] [-7.20783368e-02 -1.28557577e-03 9.97398146e-01 -3.19999462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.43, Y:-302.70, Z:-32.01 [[ 8.32122537e-01 5.51241702e-01 6.08659950e-02 5.79427140e+02] [-5.49888079e-01 8.34344552e-01 -3.86299072e-02 -3.02700396e+02] [-7.20776271e-02 -1.32466867e-03 9.97398146e-01 -3.20079956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.48, Y:-302.74, Z:-32.01 [[ 8.29642632e-01 5.54967453e-01 6.08623749e-02 5.79476294e+02] [-5.53623389e-01 8.31870442e-01 -3.86356098e-02 -3.02737439e+02] [-7.20711167e-02 -1.64108522e-03 9.97398146e-01 -3.20114571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.53, Y:-302.78, Z:-32.01 [[ 8.29560509e-01 5.55091234e-01 6.08529739e-02 5.79525042e+02] [-5.53746417e-01 8.31787864e-01 -3.86504112e-02 -3.02777141e+02] [-7.20712696e-02 -1.63426148e-03 9.97398146e-01 -3.20126473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.57, Y:-302.82, Z:-32.02 [[ 8.30277709e-01 5.54018973e-01 6.08432684e-02 5.79573551e+02] [-5.52670161e-01 8.32502648e-01 -3.86656835e-02 -3.02815552e+02] [-7.20737043e-02 -1.52300381e-03 9.97398146e-01 -3.20153811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.62, Y:-302.85, Z:-32.02 [[ 8.29410276e-01 5.55317728e-01 6.08343298e-02 5.79624101e+02] [-5.53971369e-01 8.31636699e-01 -3.86797418e-02 -3.02853432e+02] [-7.20716076e-02 -1.61910166e-03 9.97398146e-01 -3.20213969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.67, Y:-302.89, Z:-32.03 [[ 8.28176752e-01 5.57156891e-01 6.08232365e-02 5.79674126e+02] [-5.55814197e-01 8.30405387e-01 -3.86971780e-02 -3.02890063e+02] [-7.20683427e-02 -1.75831517e-03 9.97398146e-01 -3.20257762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.72, Y:-302.93, Z:-32.03 [[ 8.26014699e-01 5.60357996e-01 6.08163970e-02 5.79724589e+02] [-5.59023147e-01 8.28248041e-01 -3.87079240e-02 -3.02925839e+02] [-7.20613564e-02 -2.02445947e-03 9.97398146e-01 -3.20323958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.77, Y:-302.97, Z:-32.04 [[ 8.24345275e-01 5.62812036e-01 6.08069042e-02 5.79773575e+02] [-5.61482736e-01 8.26581925e-01 -3.87228307e-02 -3.02965185e+02] [-7.20555631e-02 -2.22104441e-03 9.97398147e-01 -3.20368555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.82, Y:-303.00, Z:-32.04 [[ 8.25155762e-01 5.61623452e-01 6.08035114e-02 5.79823988e+02] [-5.60290539e-01 8.27390260e-01 -3.87281575e-02 -3.03002032e+02] [-7.20588746e-02 -2.11086983e-03 9.97398147e-01 -3.20432098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.87, Y:-303.04, Z:-32.05 [[ 8.27615375e-01 5.57993764e-01 6.07926852e-02 5.79872838e+02] [-5.56649802e-01 8.29843246e-01 -3.87451443e-02 -3.03040954e+02] [-7.20679480e-02 -1.77415901e-03 9.97398147e-01 -3.20467322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.92, Y:-303.08, Z:-32.05 [[ 8.33769391e-01 5.48756837e-01 6.07827049e-02 5.79921379e+02] [-5.47387045e-01 8.35981473e-01 -3.87607949e-02 -3.03080040e+02] [-7.20834664e-02 -9.54100843e-04 9.97398147e-01 -3.20497946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:579.97, Y:-303.11, Z:-32.05 [[ 8.36156396e-01 5.45113793e-01 6.07736349e-02 5.79974918e+02] [-5.43733330e-01 8.38361834e-01 -3.87750106e-02 -3.03113420e+02] [-7.20870892e-02 -6.22677760e-04 9.97398147e-01 -3.20542239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.03, Y:-303.15, Z:-32.06 [[ 8.39324650e-01 5.40224045e-01 6.07627548e-02 5.80026410e+02] [-5.38829499e-01 8.41521211e-01 -3.87920529e-02 -3.03147080e+02] [-7.20895467e-02 -1.81638477e-04 9.97398147e-01 -3.20586773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.08, Y:-303.18, Z:-32.06 [[ 8.44090684e-01 5.32747616e-01 6.07527362e-02 5.80079527e+02] [-5.31332485e-01 8.46274039e-01 -3.88077368e-02 -3.03181477e+02] [-7.20881928e-02 4.77346790e-04 9.97398148e-01 -3.20617608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.13, Y:-303.22, Z:-32.06 [[ 8.47296507e-01 5.27635307e-01 6.07421860e-02 5.80132552e+02] [-5.26205820e-01 8.49470490e-01 -3.88242431e-02 -3.03215586e+02] [-7.20837359e-02 9.32753787e-04 9.97398148e-01 -3.20630603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.19, Y:-303.24, Z:-32.07 [[ 8.53602969e-01 5.17371963e-01 6.07307546e-02 5.80187959e+02] [-5.15915074e-01 8.55758684e-01 -3.88421164e-02 -3.03244077e+02] [-7.20666927e-02 1.82383410e-03 9.97398148e-01 -3.20723091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.24, Y:-303.28, Z:-32.08 [[ 8.56355626e-01 5.12804084e-01 6.07207853e-02 5.80241128e+02] [-5.11334596e-01 8.58502773e-01 -3.88576950e-02 -3.03275021e+02] [-7.20553472e-02 2.22736754e-03 9.97398148e-01 -3.20770482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.30, Y:-303.31, Z:-32.08 [[ 8.60911292e-01 5.05119728e-01 6.07108490e-02 5.80295751e+02] [-5.03629992e-01 8.63044440e-01 -3.88732133e-02 -3.03305442e+02] [-7.20317875e-02 2.89058388e-03 9.97398148e-01 -3.20844894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.35, Y:-303.34, Z:-32.09 [[ 8.61563066e-01 5.04008588e-01 6.06994800e-02 5.80349766e+02] [-5.02514853e-01 8.63693415e-01 -3.88909575e-02 -3.03335034e+02] [-7.20271178e-02 3.00462236e-03 9.97398148e-01 -3.20907789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.40, Y:-303.37, Z:-32.09 [[ 8.60661126e-01 5.05547654e-01 6.06959218e-02 5.80402248e+02] [-5.04057339e-01 8.62793869e-01 -3.88965098e-02 -3.03368198e+02] [-7.20321086e-02 2.88248913e-03 9.97398149e-01 -3.20925068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.46, Y:-303.40, Z:-32.09 [[ 8.58408650e-01 5.09364133e-01 6.06858233e-02 5.80456955e+02] [-5.07882191e-01 8.60547219e-01 -3.89122590e-02 -3.03396297e+02] [-7.20435256e-02 2.58137084e-03 9.97398149e-01 -3.20915991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.51, Y:-303.43, Z:-32.10 [[ 8.56349628e-01 5.12819392e-01 6.06760722e-02 5.80511015e+02] [-5.11345005e-01 8.58493413e-01 -3.89274582e-02 -3.03427428e+02] [-7.20527637e-02 2.30910796e-03 9.97398149e-01 -3.20965284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.57, Y:-303.46, Z:-32.10 [[ 8.51548482e-01 5.20754160e-01 6.06653780e-02 5.80566446e+02] [-5.19298569e-01 8.53705073e-01 -3.89441171e-02 -3.03457897e+02] [-7.20706519e-02 1.65935987e-03 9.97398149e-01 -3.21008878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.62, Y:-303.49, Z:-32.10 [[ 8.45301505e-01 5.30835579e-01 6.06543863e-02 5.80622177e+02] [-5.29404488e-01 8.47474431e-01 -3.89612289e-02 -3.03487578e+02] [-7.20850480e-02 8.23281029e-04 9.97398149e-01 -3.21044414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.68, Y:-303.52, Z:-32.11 [[ 8.41455953e-01 5.36911769e-01 6.06434805e-02 5.80675213e+02] [-5.35495148e-01 8.43638339e-01 -3.89781965e-02 -3.03520021e+02] [-7.20890176e-02 3.24145942e-04 9.97398149e-01 -3.21111816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.73, Y:-303.55, Z:-32.12 [[ 8.37470447e-01 5.43108446e-01 6.06338743e-02 5.80728852e+02] [-5.41706891e-01 8.39662539e-01 -3.89931340e-02 -3.03552309e+02] [-7.20894933e-02 -1.90190271e-04 9.97398150e-01 -3.21174670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.78, Y:-303.58, Z:-32.12 [[ 8.33542280e-01 5.49119415e-01 6.06229011e-02 5.80782446e+02] [-5.47732426e-01 8.35743618e-01 -3.90101868e-02 -3.03584575e+02] [-7.20864536e-02 -6.88488683e-04 9.97398150e-01 -3.21229146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.83, Y:-303.62, Z:-32.13 [[ 8.33142007e-01 5.49727737e-01 6.06119750e-02 5.80832881e+02] [-5.48341122e-01 8.35343579e-01 -3.90271558e-02 -3.03622156e+02] [-7.20861342e-02 -7.20875471e-04 9.97398150e-01 -3.21270459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.88, Y:-303.66, Z:-32.13 [[ 8.33372941e-01 5.49378807e-01 6.06008909e-02 5.80884091e+02] [-5.47990019e-01 8.35573143e-01 -3.90443595e-02 -3.03659248e+02] [-7.20866205e-02 -6.70170612e-04 9.97398150e-01 -3.21313375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.94, Y:-303.70, Z:-32.14 [[ 8.34599024e-01 5.47515609e-01 6.05898223e-02 5.80935311e+02] [-5.46120663e-01 8.36795327e-01 -3.90615284e-02 -3.03696110e+02] [-7.20880767e-02 -4.88640449e-04 9.97398150e-01 -3.21363596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:580.98, Y:-303.73, Z:-32.14 [[ 8.37867896e-01 5.42501240e-01 6.05788178e-02 5.80984592e+02] [-5.41091916e-01 8.40055000e-01 -3.90785874e-02 -3.03734891e+02] [-7.20897209e-02 -3.60146962e-05 9.97398151e-01 -3.21408169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.03, Y:-303.77, Z:-32.14 [[ 8.40776552e-01 5.37983568e-01 6.05679055e-02 5.81032686e+02] [-5.36561274e-01 8.42955243e-01 -3.90954930e-02 -3.03773930e+02] [-7.20887664e-02 3.72181313e-04 9.97398151e-01 -3.21448547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:581.08, Y:-303.81, Z:-32.15 [[ 8.45585269e-01 5.30394403e-01 6.05584812e-02 5.81080045e+02] [-5.28951512e-01 8.47750376e-01 -3.91100857e-02 -3.03814659e+02] [-7.20822458e-02 1.03841219e-03 9.97398151e-01 -3.21483416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.13, Y:-303.85, Z:-32.15 [[ 8.48596478e-01 5.25564511e-01 6.05471920e-02 5.81130987e+02] [-5.24108053e-01 8.50752481e-01 -3.91275551e-02 -3.03848188e+02] [-7.20747281e-02 1.47023454e-03 9.97398151e-01 -3.21530619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.18, Y:-303.88, Z:-32.16 [[ 8.47860493e-01 5.26752211e-01 6.05367011e-02 5.81183107e+02] [-5.25297615e-01 8.50017753e-01 -3.91437795e-02 -3.03882995e+02] [-7.20763430e-02 1.38867950e-03 9.97398151e-01 -3.21550578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.24, Y:-303.92, Z:-32.16 [[ 8.45920912e-01 5.29862394e-01 6.05281281e-02 5.81235179e+02] [-5.28414782e-01 8.48082864e-01 -3.91570314e-02 -3.03916021e+02] [-7.20807067e-02 1.13979411e-03 9.97398152e-01 -3.21589441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.29, Y:-303.95, Z:-32.16 [[ 8.44494610e-01 5.32133574e-01 6.05203482e-02 5.81287584e+02] [-5.30690916e-01 8.46659871e-01 -3.91690523e-02 -3.03948479e+02] [-7.20833180e-02 9.60454492e-04 9.97398152e-01 -3.21647615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.34, Y:-303.98, Z:-32.17 [[ 8.41891251e-01 5.36244012e-01 6.05101766e-02 5.81342106e+02] [-5.34810798e-01 8.44062773e-01 -3.91847596e-02 -3.03980073e+02] [-7.20869801e-02 6.27810421e-04 9.97398152e-01 -3.21693488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.40, Y:-304.01, Z:-32.17 [[ 8.35569805e-01 5.46042993e-01 6.04991723e-02 5.81397057e+02] [-5.44634016e-01 8.37757132e-01 -3.92017423e-02 -3.04009883e+02] [-7.20894497e-02 -1.94114978e-04 9.97398152e-01 -3.21744588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.45, Y:-304.04, Z:-32.18 [[ 8.30589827e-01 5.53589860e-01 6.04880714e-02 5.81449647e+02] [-5.52199509e-01 8.32789039e-01 -3.92188635e-02 -3.04044170e+02] [-7.20849680e-02 -8.26694288e-04 9.97398152e-01 -3.21792358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.50, Y:-304.08, Z:-32.18 [[ 8.29196317e-01 5.55676160e-01 6.04770427e-02 5.81502341e+02] [-5.54290102e-01 8.31398238e-01 -3.92358627e-02 -3.04077967e+02] [-7.20829403e-02 -9.87593281e-04 9.97398152e-01 -3.21838239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.55, Y:-304.11, Z:-32.19 [[ 8.27186063e-01 5.58665450e-01 6.04659621e-02 5.81553745e+02] [-5.57286102e-01 8.29392192e-01 -3.92529316e-02 -3.04110202e+02] [-7.20792535e-02 -1.22736234e-03 9.97398153e-01 -3.21914516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.61, Y:-304.15, Z:-32.19 [[ 8.25714019e-01 5.60839444e-01 6.04605434e-02 5.81605201e+02] [-5.59465293e-01 8.27923389e-01 -3.92612761e-02 -3.04147156e+02] [-7.20759703e-02 -1.40698952e-03 9.97398153e-01 -3.21940016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.66, Y:-304.18, Z:-32.20 [[ 8.26785233e-01 5.59260256e-01 6.04495297e-02 5.81655048e+02] [-5.57880645e-01 8.28991198e-01 -3.92782264e-02 -3.04183644e+02] [-7.20788790e-02 -1.24896505e-03 9.97398153e-01 -3.21966927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.71, Y:-304.22, Z:-32.20 [[ 8.27779386e-01 5.57788822e-01 6.04393751e-02 5.81705796e+02] [-5.56404151e-01 8.29982178e-01 -3.92938455e-02 -3.04220427e+02] [-7.20812720e-02 -1.10208392e-03 9.97398153e-01 -3.22015279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.75, Y:-304.26, Z:-32.21 [[ 8.28845888e-01 5.56204083e-01 6.04277493e-02 5.81753502e+02] [-5.54813897e-01 8.31045203e-01 -3.93117160e-02 -3.04258891e+02] [-7.20835282e-02 -9.42800907e-04 9.97398153e-01 -3.22075435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.80, Y:-304.29, Z:-32.21 [[ 8.26817520e-01 5.59215879e-01 6.04184532e-02 5.81804380e+02] [-5.57832660e-01 8.29021224e-01 -3.93259982e-02 -3.04291832e+02] [-7.20799026e-02 -1.18796219e-03 9.97398153e-01 -3.22116624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.86, Y:-304.33, Z:-32.22 [[ 8.25887863e-01 5.60588899e-01 6.04096404e-02 5.81857915e+02] [-5.59208354e-01 8.28093242e-01 -3.93395311e-02 -3.04325464e+02] [-7.20781194e-02 -1.29153437e-03 9.97398154e-01 -3.22163675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.91, Y:-304.36, Z:-32.22 [[ 8.26221192e-01 5.60098714e-01 6.03984581e-02 5.81909239e+02] [-5.58715606e-01 8.28424965e-01 -3.93566920e-02 -3.04361927e+02] [-7.20792231e-02 -1.22822813e-03 9.97398154e-01 -3.22210792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:581.96, Y:-304.39, Z:-32.23 [[ 8.26036707e-01 5.60371957e-01 6.03873201e-02 5.81960944e+02] [-5.58988330e-01 8.28240154e-01 -3.93737743e-02 -3.04393760e+02] [-7.20791622e-02 -1.23162438e-03 9.97398154e-01 -3.22250545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.01, Y:-304.42, Z:-32.23 [[ 8.27092587e-01 5.58813294e-01 6.03784346e-02 5.82013380e+02] [-5.57424520e-01 8.29292794e-01 -3.93873952e-02 -3.04424937e+02] [-7.20816008e-02 -1.07939739e-03 9.97398154e-01 -3.22332473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.07, Y:-304.46, Z:-32.24 [[ 8.27343704e-01 5.58442383e-01 6.03696999e-02 5.82065127e+02] [-5.57051647e-01 8.29542670e-01 -3.94007785e-02 -3.04459230e+02] [-7.20823067e-02 -1.03105469e-03 9.97398154e-01 -3.22377955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.12, Y:-304.49, Z:-32.24 [[ 8.29003234e-01 5.55976879e-01 6.03601603e-02 5.82116658e+02] [-5.54578538e-01 8.31197373e-01 -3.94153874e-02 -3.04494329e+02] [-7.20852507e-02 -7.98965868e-04 9.97398154e-01 -3.22377535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.17, Y:-304.53, Z:-32.25 [[ 8.31072785e-01 5.52878939e-01 6.03564808e-02 5.82167548e+02] [-5.51472011e-01 8.33261426e-01 -3.94210210e-02 -3.04527879e+02] [-7.20877795e-02 -5.23172114e-04 9.97398154e-01 -3.22454325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.22, Y:-304.56, Z:-32.25 [[ 8.32950503e-01 5.50047005e-01 6.03469275e-02 5.82219431e+02] [-5.48631576e-01 8.35133656e-01 -3.94356400e-02 -3.04562196e+02] [-7.20892059e-02 -2.60293823e-04 9.97398155e-01 -3.22477316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.27, Y:-304.60, Z:-32.25 [[ 8.33909646e-01 5.48592850e-01 6.03372821e-02 5.82271447e+02] [-5.47172546e-01 8.36089631e-01 -3.94503922e-02 -3.04597631e+02] [-7.20895790e-02 -1.16841635e-04 9.97398155e-01 -3.22516280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.32, Y:-304.63, Z:-32.26 [[ 8.36041374e-01 5.45339856e-01 6.03262980e-02 5.82323330e+02] [-5.43909858e-01 8.38215013e-01 -3.94671816e-02 -3.04631810e+02] [-7.20894358e-02 1.84128600e-04 9.97398155e-01 -3.22564927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.37, Y:-304.67, Z:-32.26 [[ 8.38252116e-01 5.41936666e-01 6.03161669e-02 5.82374684e+02] [-5.40496730e-01 8.40419184e-01 -3.94826585e-02 -3.04668504e+02] [-7.20879641e-02 4.95731048e-04 9.97398155e-01 -3.22615513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.42, Y:-304.71, Z:-32.26 [[ 8.38296884e-01 5.41868645e-01 6.03051005e-02 5.82424979e+02] [-5.40427318e-01 8.40463027e-01 -3.94995540e-02 -3.04705304e+02] [-7.20877770e-02 5.21829339e-04 9.97398155e-01 -3.22578078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.48, Y:-304.73, Z:-32.27 [[ 8.41558827e-01 5.36789775e-01 6.02949293e-02 5.82477457e+02] [-5.35334265e-01 8.43715464e-01 -3.95150738e-02 -3.04734582e+02] [-7.20830519e-02 9.76317518e-04 9.97398155e-01 -3.22679349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.53, Y:-304.77, Z:-32.27 [[ 8.42818432e-01 5.34810567e-01 6.02888704e-02 5.82530253e+02] [-5.33349331e-01 8.44971194e-01 -3.95243159e-02 -3.04768717e+02] [-7.20803806e-02 1.15679326e-03 9.97398156e-01 -3.22717893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.58, Y:-304.80, Z:-32.28 [[ 8.45451026e-01 5.30640314e-01 6.02778538e-02 5.82583025e+02] [-5.29167265e-01 8.47595721e-01 -3.95411100e-02 -3.04802496e+02] [-7.20733580e-02 1.53300504e-03 9.97398156e-01 -3.22772383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.64, Y:-304.84, Z:-32.28 [[ 8.47285009e-01 5.27708279e-01 6.02667978e-02 5.82635131e+02] [-5.26226611e-01 8.49423759e-01 -3.95579540e-02 -3.04837779e+02] [-7.20671097e-02 1.80286862e-03 9.97398156e-01 -3.22819185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.68, Y:-304.88, Z:-32.28 [[ 8.47085430e-01 5.28029839e-01 6.02558155e-02 5.82683851e+02] [-5.26547795e-01 8.49223919e-01 -3.95746754e-02 -3.04875292e+02] [-7.20672893e-02 1.79556413e-03 9.97398156e-01 -3.22830179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.74, Y:-304.91, Z:-32.29 [[ 8.46308133e-01 5.29275033e-01 6.02534995e-02 5.82735452e+02] [-5.27795884e-01 8.48448626e-01 -3.95782012e-02 -3.04906798e+02] [-7.20697526e-02 1.69380454e-03 9.97398156e-01 -3.22889758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.79, Y:-304.94, Z:-32.30 [[ 8.45283464e-01 5.30911091e-01 6.02434984e-02 5.82789345e+02] [-5.29435002e-01 8.47426068e-01 -3.95934185e-02 -3.04937689e+02] [-7.20724960e-02 1.57264518e-03 9.97398156e-01 -3.22974987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.84, Y:-304.97, Z:-32.30 [[ 8.42675413e-01 5.35042144e-01 6.02333174e-02 5.82841596e+02] [-5.33575454e-01 8.44824461e-01 -3.96089008e-02 -3.04970998e+02] [-7.20790111e-02 1.23842713e-03 9.97398156e-01 -3.23017692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.89, Y:-305.00, Z:-32.30 [[ 8.41365884e-01 5.37100218e-01 6.02229658e-02 5.82893772e+02] [-5.35637659e-01 8.43517746e-01 -3.96246336e-02 -3.05004255e+02] [-7.20815397e-02 1.08112653e-03 9.97398157e-01 -3.23024481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:582.95, Y:-305.04, Z:-32.31 [[ 8.38721297e-01 5.41221740e-01 6.02130788e-02 5.82946242e+02] [-5.39768678e-01 8.40879583e-01 -3.96396520e-02 -3.05036966e+02] [-7.20857900e-02 7.45486376e-04 9.97398157e-01 -3.23096172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.00, Y:-305.07, Z:-32.31 [[ 8.37573259e-01 5.42997864e-01 6.02026220e-02 5.82999485e+02] [-5.41548237e-01 8.39733854e-01 -3.96555270e-02 -3.05071236e+02] [-7.20870462e-02 6.11785196e-04 9.97398157e-01 -3.23131490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.05, Y:-305.10, Z:-32.32 [[ 8.37058045e-01 5.43792982e-01 6.01915487e-02 5.83052122e+02] [-5.42344200e-01 8.39219206e-01 -3.96723276e-02 -3.05104695e+02] [-7.20874370e-02 5.63503567e-04 9.97398157e-01 -3.23187892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.10, Y:-305.14, Z:-32.32 [[ 8.36879406e-01 5.44069119e-01 6.01801795e-02 5.83102597e+02] [-5.42619811e-01 8.39040213e-01 -3.96895665e-02 -3.05139904e+02] [-7.20874581e-02 5.60423190e-04 9.97398157e-01 -3.23210974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.16, Y:-305.17, Z:-32.33 [[ 8.37127249e-01 5.43688858e-01 6.01697105e-02 5.83155038e+02] [-5.42237428e-01 8.39286632e-01 -3.97054312e-02 -3.05173905e+02] [-7.20870342e-02 6.12229271e-04 9.97398158e-01 -3.23264513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.21, Y:-305.21, Z:-32.33 [[ 8.37326104e-01 5.43383786e-01 6.01585992e-02 5.83206224e+02] [-5.41930360e-01 8.39484143e-01 -3.97222590e-02 -3.05209226e+02] [-7.20866216e-02 6.58713047e-04 9.97398158e-01 -3.23331503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.26, Y:-305.25, Z:-32.34 [[ 8.36793146e-01 5.44205232e-01 6.01489522e-02 5.83256399e+02] [-5.42752874e-01 8.38951905e-01 -3.97368616e-02 -3.05245538e+02] [-7.20870860e-02 6.05516785e-04 9.97398158e-01 -3.23392016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.31, Y:-305.28, Z:-32.34 [[ 8.35790330e-01 5.45745177e-01 6.01392266e-02 5.83307906e+02] [-5.44295738e-01 8.37951050e-01 -3.97515753e-02 -3.05280426e+02] [-7.20879585e-02 4.90457478e-04 9.97398158e-01 -3.23448282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.36, Y:-305.31, Z:-32.35 [[ 8.33852296e-01 5.48702817e-01 6.01295873e-02 5.83359664e+02] [-5.47259992e-01 8.36017437e-01 -3.97661507e-02 -3.05314374e+02] [-7.20891823e-02 2.52578634e-04 9.97398158e-01 -3.23503202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.41, Y:-305.35, Z:-32.35 [[ 8.31450556e-01 5.52336461e-01 6.01199381e-02 5.83412232e+02] [-5.50902043e-01 8.33621276e-01 -3.97807334e-02 -3.05348881e+02] [-7.20896090e-02 -4.44838540e-05 9.97398158e-01 -3.23544837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.46, Y:-305.39, Z:-32.36 [[ 8.31335984e-01 5.52510126e-01 6.01085940e-02 5.83462332e+02] [-5.51074923e-01 8.33506184e-01 -3.97978668e-02 -3.05385578e+02] [-7.20896093e-02 -3.89400510e-05 9.97398159e-01 -3.23556661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.51, Y:-305.42, Z:-32.36 [[ 8.32368394e-01 5.50954617e-01 6.00988035e-02 5.83514529e+02] [-5.49514292e-01 8.34535198e-01 -3.98126460e-02 -3.05419343e+02] [-7.20895281e-02 1.13636813e-04 9.97398159e-01 -3.23587116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.57, Y:-305.45, Z:-32.36 [[ 8.32815609e-01 5.50279439e-01 6.00891068e-02 5.83567596e+02] [-5.48836300e-01 8.34980541e-01 -3.98272760e-02 -3.05453681e+02] [-7.20893659e-02 1.89694034e-04 9.97398159e-01 -3.23626710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.62, Y:-305.49, Z:-32.37 [[ 8.33265149e-01 5.49599704e-01 6.00779221e-02 5.83620126e+02] [-5.48153583e-01 8.35428090e-01 -3.98441405e-02 -3.05487086e+02] [-7.20891115e-02 2.68805343e-04 9.97398159e-01 -3.23687813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.67, Y:-305.52, Z:-32.37 [[ 8.32951472e-01 5.50076199e-01 6.00667962e-02 5.83670376e+02] [-5.48630107e-01 8.35114432e-01 -3.98609062e-02 -3.05523104e+02] [-7.20891842e-02 2.47747658e-04 9.97398159e-01 -3.23736221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.72, Y:-305.56, Z:-32.38 [[ 8.33483173e-01 5.49271349e-01 6.00565297e-02 5.83722983e+02] [-5.47822054e-01 8.35643987e-01 -3.98763683e-02 -3.05556166e+02] [-7.20888245e-02 3.35990484e-04 9.97398159e-01 -3.23795905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.78, Y:-305.59, Z:-32.39 [[ 8.34275934e-01 5.48067682e-01 6.00456733e-02 5.83776940e+02] [-5.46614093e-01 8.36433862e-01 -3.98927092e-02 -3.05588368e+02] [-7.20881390e-02 4.59715975e-04 9.97398160e-01 -3.23863381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.83, Y:-305.62, Z:-32.39 [[ 8.34865526e-01 5.47170352e-01 6.00346538e-02 5.83828765e+02] [-5.45713252e-01 8.37021084e-01 -3.99092856e-02 -3.05623191e+02] [-7.20874489e-02 5.57180616e-04 9.97398160e-01 -3.23914747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.88, Y:-305.66, Z:-32.39 [[ 8.35481748e-01 5.46230165e-01 6.00237984e-02 5.83880424e+02] [-5.44769467e-01 8.37634869e-01 -3.99256055e-02 -3.05657143e+02] [-7.20865966e-02 6.57981962e-04 9.97398160e-01 -3.23943136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.93, Y:-305.69, Z:-32.40 [[ 8.35408051e-01 5.46343899e-01 6.00144342e-02 5.83933408e+02] [-5.44882483e-01 8.37560686e-01 -3.99396765e-02 -3.05689023e+02] [-7.20865292e-02 6.65113391e-04 9.97398160e-01 -3.23972417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:583.99, Y:-305.72, Z:-32.40 [[ 8.35144328e-01 5.46748008e-01 6.00047344e-02 5.83986407e+02] [-5.45286587e-01 8.37296958e-01 -3.99542440e-02 -3.05723009e+02] [-7.20866849e-02 6.47783468e-04 9.97398160e-01 -3.24023055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.04, Y:-305.76, Z:-32.41 [[ 8.34314422e-01 5.48014790e-01 5.99936329e-02 5.84038166e+02] [-5.46555440e-01 8.36468456e-01 -3.99709067e-02 -3.05758610e+02] [-7.20874295e-02 5.58457493e-04 9.97398161e-01 -3.24057465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.09, Y:-305.79, Z:-32.41 [[ 8.33497952e-01 5.49256999e-01 5.99826036e-02 5.84091904e+02] [-5.47799669e-01 8.35653353e-01 -3.99874510e-02 -3.05790303e+02] [-7.20880512e-02 4.71008110e-04 9.97398161e-01 -3.24137746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.14, Y:-305.82, Z:-32.42 [[ 8.31261499e-01 5.52636472e-01 5.99770883e-02 5.84144265e+02] [-5.51187307e-01 8.33422399e-01 -3.99957217e-02 -3.05824722e+02] [-7.20893433e-02 1.88293724e-04 9.97398161e-01 -3.24163809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.19, Y:-305.86, Z:-32.42 [[ 8.28860934e-01 5.56231798e-01 5.99644848e-02 5.84194749e+02] [-5.54790641e-01 8.31027181e-01 -4.00146088e-02 -3.05858267e+02] [-7.20895146e-02 -1.01188921e-04 9.97398161e-01 -3.24240593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.25, Y:-305.89, Z:-32.43 [[ 8.27818653e-01 5.57782800e-01 5.99552027e-02 5.84246726e+02] [-5.56344694e-01 8.29986927e-01 -4.00285117e-02 -3.05893581e+02] [-7.20892498e-02 -2.19410230e-04 9.97398161e-01 -3.24296124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.30, Y:-305.93, Z:-32.43 [[ 8.25962041e-01 5.60528961e-01 5.99499038e-02 5.84297090e+02] [-5.59097488e-01 8.28134700e-01 -4.00364463e-02 -3.05930223e+02] [-7.20881832e-02 -4.49255748e-04 9.97398161e-01 -3.24338068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.35, Y:-305.97, Z:-32.44 [[ 8.25067063e-01 5.61846695e-01 5.99385781e-02 5.84348323e+02] [-5.60417461e-01 8.27241195e-01 -4.00533948e-02 -3.05965781e+02] [-7.20875285e-02 -5.43888939e-04 9.97398161e-01 -3.24379707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.40, Y:-306.00, Z:-32.44 [[ 8.21517035e-01 5.67025987e-01 5.99273816e-02 5.84399710e+02] [-5.65609237e-01 8.23699323e-01 -4.00701398e-02 -3.06002687e+02] [-7.20829543e-02 -9.77178150e-04 9.97398162e-01 -3.24406679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.45, Y:-306.03, Z:-32.45 [[ 8.19701807e-01 5.69648152e-01 5.99160266e-02 5.84452534e+02] [-5.68237142e-01 8.21887811e-01 -4.00871116e-02 -3.06034598e+02] [-7.20798010e-02 -1.18703391e-03 9.97398162e-01 -3.24457734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.50, Y:-306.07, Z:-32.45 [[ 8.18545185e-01 5.71309993e-01 5.99055197e-02 5.84504112e+02] [-5.69902273e-01 8.20733309e-01 -4.01028068e-02 -3.06069532e+02] [-7.20775897e-02 -1.31433239e-03 9.97398162e-01 -3.24509204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.56, Y:-306.10, Z:-32.46 [[ 8.17821113e-01 5.72347172e-01 5.98944249e-02 5.84558028e+02] [-5.70941014e-01 8.20010241e-01 -4.01193703e-02 -3.06101846e+02] [-7.20762499e-02 -1.38571562e-03 9.97398162e-01 -3.24572079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.61, Y:-306.14, Z:-32.46 [[ 8.17586447e-01 5.72683503e-01 5.98832815e-02 5.84610785e+02] [-5.71277029e-01 8.19775371e-01 -4.01359964e-02 -3.06135534e+02] [-7.20760623e-02 -1.39529641e-03 9.97398162e-01 -3.24629607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.66, Y:-306.17, Z:-32.47 [[ 8.18061665e-01 5.72005649e-01 5.98719468e-02 5.84660958e+02] [-5.70596124e-01 8.20248626e-01 -4.01528976e-02 -3.06171728e+02] [-7.20775663e-02 -1.31515452e-03 9.97398163e-01 -3.24671509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.71, Y:-306.21, Z:-32.47 [[ 8.18179169e-01 5.71838658e-01 5.98614784e-02 5.84712199e+02] [-5.70427546e-01 8.20365106e-01 -4.01684982e-02 -3.06208440e+02] [-7.20781682e-02 -1.28160768e-03 9.97398163e-01 -3.24709452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.76, Y:-306.24, Z:-32.48 [[ 8.19261396e-01 5.70288277e-01 5.98502048e-02 5.84763677e+02] [-5.68871801e-01 8.21443861e-01 -4.01852887e-02 -3.06244656e+02] [-7.20807823e-02 -1.12483808e-03 9.97398163e-01 -3.24765087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.82, Y:-306.28, Z:-32.48 [[ 8.20146362e-01 5.69016044e-01 5.98388477e-02 5.84816101e+02] [-5.67594950e-01 8.22325822e-01 -4.02021931e-02 -3.06279436e+02] [-7.20827225e-02 -9.92545407e-04 9.97398163e-01 -3.24831394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.87, Y:-306.32, Z:-32.49 [[ 8.21016933e-01 5.67760398e-01 5.98274637e-02 5.84867758e+02] [-5.66334737e-01 8.23193408e-01 -4.02191272e-02 -3.06315194e+02] [-7.20844015e-02 -8.61786459e-04 9.97398163e-01 -3.24868767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.92, Y:-306.35, Z:-32.49 [[ 8.20953567e-01 5.67853216e-01 5.98161056e-02 5.84919782e+02] [-5.66426570e-01 8.23129397e-01 -4.02360127e-02 -3.06351322e+02] [-7.20845441e-02 -8.49533419e-04 9.97398164e-01 -3.24892010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:584.97, Y:-306.39, Z:-32.49 [[ 8.20303605e-01 5.68792912e-01 5.98048486e-02 5.84973158e+02] [-5.67367540e-01 8.22480268e-01 -4.02527375e-02 -3.06385224e+02] [-7.20837797e-02 -9.11864140e-04 9.97398164e-01 -3.24946548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.02, Y:-306.42, Z:-32.50 [[ 8.19047341e-01 5.70601232e-01 5.97970541e-02 5.85024922e+02] [-5.69179820e-01 8.21226593e-01 -4.02643133e-02 -3.06418856e+02] [-7.20817978e-02 -1.05689779e-03 9.97398164e-01 -3.25022644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.08, Y:-306.45, Z:-32.51 [[ 8.19166836e-01 5.70430709e-01 5.97871223e-02 5.85076305e+02] [-5.69007769e-01 8.21345090e-01 -4.02790553e-02 -3.06452763e+02] [-7.20822694e-02 -1.02407071e-03 9.97398164e-01 -3.25124792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.12, Y:-306.49, Z:-32.51 [[ 8.18479774e-01 5.71416526e-01 5.97830531e-02 5.85124936e+02] [-5.69995767e-01 8.20659452e-01 -4.02850940e-02 -3.06489545e+02] [-7.20810960e-02 -1.10355258e-03 9.97398164e-01 -3.25141826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.18, Y:-306.52, Z:-32.51 [[ 8.19826747e-01 5.69483411e-01 5.97724846e-02 5.85176253e+02] [-5.68056370e-01 8.22002316e-01 -4.03007688e-02 -3.06524538e+02] [-7.20837401e-02 -9.14492420e-04 9.97398164e-01 -3.25144945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.23, Y:-306.56, Z:-32.52 [[ 8.20324643e-01 5.68767011e-01 5.97625947e-02 5.85227024e+02] [-5.67337003e-01 8.22498262e-01 -4.03154294e-02 -3.06558883e+02] [-7.20847166e-02 -8.33791130e-04 9.97398164e-01 -3.25171329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.28, Y:-306.59, Z:-32.52 [[ 8.20943408e-01 5.67874488e-01 5.97535484e-02 5.85278833e+02] [-5.66441141e-01 8.23114828e-01 -4.03288329e-02 -3.06593919e+02] [-7.20857470e-02 -7.39178581e-04 9.97398165e-01 -3.25205264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.33, Y:-306.63, Z:-32.53 [[ 8.21655159e-01 5.66845357e-01 5.97422955e-02 5.85331445e+02] [-5.65408078e-01 8.23823978e-01 -4.03454959e-02 -3.06626084e+02] [-7.20867925e-02 -6.28691617e-04 9.97398165e-01 -3.25274592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.38, Y:-306.66, Z:-32.53 [[ 8.21931976e-01 5.66444988e-01 5.97319120e-02 5.85383455e+02] [-5.65005536e-01 8.24099354e-01 -4.03608629e-02 -3.06660857e+02] [-7.20872386e-02 -5.74977190e-04 9.97398165e-01 -3.25329773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.44, Y:-306.70, Z:-32.54 [[ 8.23304353e-01 5.64449595e-01 5.97210008e-02 5.85435758e+02] [-5.63003719e-01 8.25467449e-01 -4.03770015e-02 -3.06695044e+02] [-7.20885243e-02 -3.80584497e-04 9.97398165e-01 -3.25393589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.49, Y:-306.73, Z:-32.54 [[ 8.24590953e-01 5.62569531e-01 5.97099860e-02 5.85486747e+02] [-5.61117544e-01 8.26749953e-01 -4.03932838e-02 -3.06731480e+02] [-7.20892588e-02 -1.96384276e-04 9.97398165e-01 -3.25442627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.54, Y:-306.76, Z:-32.55 [[ 8.25565067e-01 5.61140238e-01 5.96988549e-02 5.85539992e+02] [-5.59683324e-01 8.27720744e-01 -4.04097282e-02 -3.06764782e+02] [-7.20895051e-02 -5.15935481e-05 9.97398166e-01 -3.25508476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.59, Y:-306.80, Z:-32.56 [[ 8.26974396e-01 5.59062359e-01 5.96877392e-02 5.85592042e+02] [-5.57598844e-01 8.29125597e-01 -4.04261402e-02 -3.06800178e+02] [-7.20893657e-02 1.49568513e-04 9.97398166e-01 -3.25559314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.64, Y:-306.83, Z:-32.56 [[ 8.28221324e-01 5.57214623e-01 5.96766507e-02 5.85644103e+02] [-5.55745130e-01 8.30368445e-01 -4.04425023e-02 -3.06832788e+02] [-7.20887613e-02 3.30334845e-04 9.97398166e-01 -3.25607184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.70, Y:-306.87, Z:-32.57 [[ 8.29777155e-01 5.54896200e-01 5.96664162e-02 5.85695795e+02] [-5.53419622e-01 8.31919410e-01 -4.04575960e-02 -3.06868835e+02] [-7.20874161e-02 5.50223378e-04 9.97398166e-01 -3.25651725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.75, Y:-306.90, Z:-32.57 [[ 8.29953881e-01 5.54633065e-01 5.96549879e-02 5.85748097e+02] [-5.53154598e-01 8.32094833e-01 -4.04744401e-02 -3.06902414e+02] [-7.20870700e-02 5.93487827e-04 9.97398166e-01 -3.25712689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.80, Y:-306.94, Z:-32.58 [[ 8.28315066e-01 5.57078788e-01 5.96437365e-02 5.85800515e+02] [-5.55605448e-01 8.30459550e-01 -4.04910136e-02 -3.06935300e+02] [-7.20883953e-02 4.00931634e-04 9.97398167e-01 -3.25784138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.85, Y:-306.97, Z:-32.58 [[ 8.26831996e-01 5.59278700e-01 5.96337733e-02 5.85853832e+02] [-5.57810008e-01 8.28979665e-01 -4.05056817e-02 -3.06968121e+02] [-7.20891504e-02 2.27078036e-04 9.97398167e-01 -3.25846899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.90, Y:-307.00, Z:-32.59 [[ 8.23723144e-01 5.63848744e-01 5.96219363e-02 5.85904541e+02] [-5.62390707e-01 8.25878061e-01 -4.05230977e-02 -3.07002625e+02] [-7.20893469e-02 -1.51009473e-04 9.97398167e-01 -3.25887211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:585.96, Y:-307.04, Z:-32.59 [[ 8.21226048e-01 5.67480509e-01 5.96125086e-02 5.85957264e+02] [-5.66030995e-01 8.23386706e-01 -4.05369618e-02 -3.07035912e+02] [-7.20880828e-02 -4.52518691e-04 9.97398167e-01 -3.25901616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.01, Y:-307.07, Z:-32.59 [[ 8.19608526e-01 5.69815224e-01 5.96026399e-02 5.86008770e+02] [-5.68370810e-01 8.21772597e-01 -4.05514669e-02 -3.07072796e+02] [-7.20866593e-02 -6.40072708e-04 9.97398167e-01 -3.25927434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.06, Y:-307.11, Z:-32.60 [[ 8.18557210e-01 5.71325615e-01 5.95914063e-02 5.86060731e+02] [-5.69883993e-01 8.20723141e-01 -4.05679683e-02 -3.07108831e+02] [-7.20855656e-02 -7.52985623e-04 9.97398167e-01 -3.25956738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.11, Y:-307.14, Z:-32.60 [[ 8.17835550e-01 5.72359348e-01 5.95801044e-02 5.86112168e+02] [-5.70919255e-01 8.20002499e-01 -4.05845600e-02 -3.07142456e+02] [-7.20847868e-02 -8.23932911e-04 9.97398168e-01 -3.26007867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.16, Y:-307.18, Z:-32.61 [[ 8.17211557e-01 5.73251013e-01 5.95696891e-02 5.86164082e+02] [-5.71812171e-01 8.19379335e-01 -4.05998418e-02 -3.07178275e+02] [-7.20840727e-02 -8.84013332e-04 9.97398168e-01 -3.26053037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.22, Y:-307.21, Z:-32.62 [[ 8.17964833e-01 5.72176807e-01 5.95586539e-02 5.86216331e+02] [-5.70733939e-01 8.20129935e-01 -4.06160236e-02 -3.07211526e+02] [-7.20853816e-02 -7.69666130e-04 9.97398168e-01 -3.26163298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.27, Y:-307.25, Z:-32.62 [[ 8.19036462e-01 5.70643078e-01 5.95462214e-02 5.86266310e+02] [-5.69194831e-01 8.21197968e-01 -4.06342425e-02 -3.07248440e+02] [-7.20868852e-02 -6.12475263e-04 9.97398168e-01 -3.26207681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.32, Y:-307.28, Z:-32.62 [[ 8.21529632e-01 5.67049225e-01 5.95335192e-02 5.86317008e+02] [-5.65590174e-01 8.23683860e-01 -4.06528441e-02 -3.07284816e+02] [-7.20889626e-02 -2.74057382e-04 9.97398168e-01 -3.26226555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.37, Y:-307.32, Z:-32.63 [[ 8.28868306e-01 5.56268353e-01 5.95218486e-02 5.86368396e+02] [-5.54780057e-01 8.31002434e-01 -4.06699245e-02 -3.07319978e+02] [-7.20861929e-02 6.88476860e-04 9.97398169e-01 -3.26326476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.42, Y:-307.36, Z:-32.64 [[ 8.32397147e-01 5.50975125e-01 5.95096724e-02 5.86418337e+02] [-5.49471986e-01 8.34520847e-01 -4.06877334e-02 -3.07355609e+02] [-7.20799912e-02 1.16945531e-03 9.97398169e-01 -3.26378450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.47, Y:-307.39, Z:-32.64 [[ 8.35626668e-01 5.46065944e-01 5.94983736e-02 5.86470801e+02] [-5.44549156e-01 8.37740640e-01 -4.07042490e-02 -3.07389390e+02] [-7.20714098e-02 1.61376680e-03 9.97398169e-01 -3.26416009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.52, Y:-307.42, Z:-32.64 [[ 8.35675958e-01 5.45991810e-01 5.94864423e-02 5.86522550e+02] [-5.44473595e-01 8.37788905e-01 -4.07216783e-02 -3.07423208e+02] [-7.20707843e-02 1.64133044e-03 9.97398169e-01 -3.26400267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.58, Y:-307.46, Z:-32.64 [[ 8.35257427e-01 5.46632905e-01 5.94768731e-02 5.86575626e+02] [-5.45115317e-01 8.37370825e-01 -4.07356501e-02 -3.07457193e+02] [-7.20716450e-02 1.60299972e-03 9.97398169e-01 -3.26429833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.63, Y:-307.49, Z:-32.65 [[ 8.34426517e-01 5.47901644e-01 5.94657526e-02 5.86630664e+02] [-5.46386115e-01 8.36541391e-01 -4.07518774e-02 -3.07488769e+02] [-7.20735840e-02 1.51318561e-03 9.97398170e-01 -3.26460157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.68, Y:-307.52, Z:-32.65 [[ 8.32440428e-01 5.50915736e-01 5.94540582e-02 5.86684985e+02] [-5.49406647e-01 8.34559902e-01 -4.07689316e-02 -3.07519047e+02] [-7.20782189e-02 1.27325206e-03 9.97398170e-01 -3.26519863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.74, Y:-307.55, Z:-32.66 [[ 8.30861589e-01 5.53295146e-01 5.94432576e-02 5.86737057e+02] [-5.51791001e-01 8.32984575e-01 -4.07846733e-02 -3.07553473e+02] [-7.20812784e-02 1.08616386e-03 9.97398170e-01 -3.26560377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.79, Y:-307.59, Z:-32.66 [[ 8.28566740e-01 5.56727076e-01 5.94316375e-02 5.86789999e+02] [-5.55230511e-01 8.30695076e-01 -4.08015992e-02 -3.07587634e+02] [-7.20849236e-02 8.08589629e-04 9.97398170e-01 -3.26590658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.84, Y:-307.62, Z:-32.66 [[ 8.24419063e-01 5.62852078e-01 5.94200867e-02 5.86843744e+02] [-5.61370115e-01 8.26557591e-01 -4.08184139e-02 -3.07619646e+02] [-7.20888528e-02 2.94817679e-04 9.97398170e-01 -3.26639751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.90, Y:-307.66, Z:-32.67 [[ 8.21977941e-01 5.66412301e-01 5.94084999e-02 5.86895819e+02] [-5.64938382e-01 8.24122021e-01 -4.08352708e-02 -3.07655511e+02] [-7.20894527e-02 3.55002592e-06 9.97398171e-01 -3.26676052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:586.95, Y:-307.69, Z:-32.67 [[ 8.18892007e-01 5.70865900e-01 5.93970142e-02 5.86947493e+02] [-5.69402430e-01 8.21043232e-01 -4.08519706e-02 -3.07690961e+02] [-7.20885135e-02 -3.67452006e-04 9.97398171e-01 -3.26723893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.00, Y:-307.72, Z:-32.68 [[ 8.18538804e-01 5.71373430e-01 5.93854335e-02 5.86998909e+02] [-5.69910073e-01 8.20690106e-01 -4.08687982e-02 -3.07724661e+02] [-7.20883831e-02 -3.91659565e-04 9.97398171e-01 -3.26812291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.05, Y:-307.76, Z:-32.68 [[ 8.16066123e-01 5.74899926e-01 5.93814537e-02 5.87049245e+02] [-5.73445445e-01 8.18223436e-01 -4.08745799e-02 -3.07760183e+02] [-7.20860901e-02 -6.95664147e-04 9.97398171e-01 -3.26825844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.10, Y:-307.80, Z:-32.69 [[ 8.14290384e-01 5.77413406e-01 5.93711146e-02 5.87097979e+02] [-5.75964489e-01 8.16451437e-01 -4.08895921e-02 -3.07796029e+02] [-7.20838305e-02 -8.99652019e-04 9.97398171e-01 -3.26892037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.15, Y:-307.83, Z:-32.70 [[ 8.13859807e-01 5.78021096e-01 5.93618316e-02 5.87148474e+02] [-5.76572809e-01 8.16021283e-01 -4.09030645e-02 -3.07830473e+02] [-7.20833521e-02 -9.37057850e-04 9.97398171e-01 -3.27012918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.20, Y:-307.87, Z:-32.70 [[ 8.11669055e-01 5.81093788e-01 5.93578448e-02 5.87196819e+02] [-5.79653261e-01 8.13835710e-01 -4.09088492e-02 -3.07869090e+02] [-7.20794119e-02 -1.20252134e-03 9.97398171e-01 -3.27024565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.24, Y:-307.91, Z:-32.71 [[ 8.12444977e-01 5.80009593e-01 5.93467019e-02 5.87244154e+02] [-5.78564994e-01 8.14608919e-01 -4.09250079e-02 -3.07908061e+02] [-7.20812499e-02 -1.08660715e-03 9.97398172e-01 -3.27089526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.29, Y:-307.95, Z:-32.71 [[ 8.14920944e-01 5.76526600e-01 5.93374581e-02 5.87290969e+02] [-5.75071776e-01 8.17078025e-01 -4.09384061e-02 -3.07951545e+02] [-7.20854132e-02 -7.61732846e-04 9.97398172e-01 -3.27130516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.34, Y:-307.99, Z:-32.72 [[ 8.18175098e-01 5.71900282e-01 5.93260228e-02 5.87340621e+02] [-5.70432059e-01 8.20323081e-01 -4.09549710e-02 -3.07987440e+02] [-7.20886653e-02 -3.33127954e-04 9.97398172e-01 -3.27231165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.39, Y:-308.03, Z:-32.72 [[ 8.16393487e-01 5.74441754e-01 5.93156492e-02 5.87387045e+02] [-5.72979126e-01 8.18545284e-01 -4.09699898e-02 -3.08028002e+02] [-7.20874177e-02 -5.38996014e-04 9.97398172e-01 -3.27193363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.44, Y:-308.06, Z:-32.72 [[ 8.15226901e-01 5.76097114e-01 5.93061046e-02 5.87437208e+02] [-5.74637851e-01 8.17380981e-01 -4.09838014e-02 -3.08064660e+02] [-7.20863317e-02 -6.68435076e-04 9.97398172e-01 -3.27231689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.49, Y:-308.10, Z:-32.73 [[ 8.15090892e-01 5.76290619e-01 5.92955407e-02 5.87488906e+02] [-5.74830756e-01 8.17244564e-01 -4.09990796e-02 -3.08098736e+02] [-7.20863433e-02 -6.66924138e-04 9.97398172e-01 -3.27325537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.54, Y:-308.14, Z:-32.73 [[ 8.13518014e-01 5.78509257e-01 5.92914965e-02 5.87537837e+02] [-5.77054841e-01 8.15675369e-01 -4.10049273e-02 -3.08136458e+02] [-7.20843433e-02 -8.56198043e-04 9.97398172e-01 -3.27325506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.59, Y:-308.17, Z:-32.74 [[ 8.13095194e-01 5.79104536e-01 5.92801934e-02 5.87590418e+02] [-5.77650509e-01 8.15252811e-01 -4.10212616e-02 -3.08171443e+02] [-7.20839430e-02 -8.89043250e-04 9.97398173e-01 -3.27373845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.64, Y:-308.21, Z:-32.74 [[ 8.13726668e-01 5.78218035e-01 5.92689950e-02 5.87641688e+02] [-5.76760479e-01 8.15881902e-01 -4.10374352e-02 -3.08207044e+02] [-7.20850855e-02 -7.90758568e-04 9.97398173e-01 -3.27417985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.69, Y:-308.24, Z:-32.75 [[ 8.14131408e-01 5.77649044e-01 5.92590287e-02 5.87693993e+02] [-5.76188935e-01 8.16284913e-01 -4.10518217e-02 -3.08242396e+02] [-7.20857966e-02 -7.22819203e-04 9.97398173e-01 -3.27474013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.74, Y:-308.28, Z:-32.74 [[ 8.13388780e-01 5.78695443e-01 5.92475990e-02 5.87742496e+02] [-5.77236903e-01 8.15543348e-01 -4.10683109e-02 -3.08280400e+02] [-7.20850296e-02 -7.95397214e-04 9.97398173e-01 -3.27447738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.79, Y:-308.31, Z:-32.75 [[ 8.16394723e-01 5.74447928e-01 5.92387928e-02 5.87794080e+02] [-5.72977256e-01 8.18541028e-01 -4.10810094e-02 -3.08311071e+02] [-7.20882831e-02 -4.04161677e-04 9.97398173e-01 -3.27533505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.84, Y:-308.35, Z:-32.75 [[ 8.15668917e-01 5.75478530e-01 5.92341175e-02 5.87840818e+02] [-5.74010080e-01 8.17816743e-01 -4.10877495e-02 -3.08352036e+02] [-7.20877707e-02 -4.86980420e-04 9.97398173e-01 -3.27500710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.89, Y:-308.38, Z:-32.76 [[ 8.20513487e-01 5.68550110e-01 5.92316679e-02 5.87894141e+02] [-5.67063268e-01 8.22648623e-01 -4.10912806e-02 -3.08380795e+02] [-7.20893021e-02 1.27846712e-04 9.97398173e-01 -3.27595139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.95, Y:-308.42, Z:-32.76 [[ 8.21414882e-01 5.67248085e-01 5.92216336e-02 5.87946335e+02] [-5.65756817e-01 8.23546928e-01 -4.11057372e-02 -3.08415930e+02] [-7.20889451e-02 2.59821399e-04 9.97398174e-01 -3.27634860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:587.99, Y:-308.46, Z:-32.76 [[ 8.17373871e-01 5.73056793e-01 5.92103561e-02 5.87993642e+02] [-5.71579500e-01 8.19515624e-01 -4.11219754e-02 -3.08455438e+02] [-7.20890393e-02 -2.31397523e-04 9.97398174e-01 -3.27610507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.05, Y:-308.48, Z:-32.78 [[ 8.19781812e-01 5.69607036e-01 5.92081566e-02 5.88047962e+02] [-5.68120501e-01 8.21917160e-01 -4.11251419e-02 -3.08481358e+02] [-7.20893702e-02 7.62757010e-05 9.97398174e-01 -3.27805854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.10, Y:-308.51, Z:-32.79 [[ 8.16656553e-01 5.74079447e-01 5.92018771e-02 5.88100994e+02] [-5.72603951e-01 8.18799545e-01 -4.11341797e-02 -3.08513021e+02] [-7.20887571e-02 -3.06731344e-04 9.97398174e-01 -3.27902984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.15, Y:-308.55, Z:-32.80 [[ 8.14968595e-01 5.76474184e-01 5.91921048e-02 5.88150866e+02] [-5.75003964e-01 8.17115209e-01 -4.11482373e-02 -3.08547727e+02] [-7.20876655e-02 -5.01173782e-04 9.97398174e-01 -3.27965913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.20, Y:-308.59, Z:-32.78 [[ 8.10957993e-01 5.82103502e-01 5.91831639e-02 5.88197283e+02] [-5.80647243e-01 8.13114102e-01 -4.11610929e-02 -3.08590795e+02] [-7.20826815e-02 -9.84623678e-04 9.97398174e-01 -3.27823087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.25, Y:-308.63, Z:-32.79 [[ 8.15954533e-01 5.75079094e-01 5.91796855e-02 5.88246558e+02] [-5.73603909e-01 8.18097738e-01 -4.11660933e-02 -3.08625823e+02] [-7.20885265e-02 -3.56038448e-04 9.97398174e-01 -3.27868386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.30, Y:-308.66, Z:-32.80 [[ 8.26108080e-01 5.60396601e-01 5.91700025e-02 5.88300584e+02] [-5.58882331e-01 8.28223851e-01 -4.11800065e-02 -3.08655506e+02] [-7.20831430e-02 9.50067210e-04 9.97398174e-01 -3.27969502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.35, Y:-308.69, Z:-32.80 [[ 8.29017856e-01 5.56083300e-01 5.91672040e-02 5.88349928e+02] [-5.54557736e-01 8.31125498e-01 -4.11840269e-02 -3.08691223e+02] [-7.20771215e-02 1.33066300e-03 9.97398174e-01 -3.27973803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.40, Y:-308.72, Z:-32.80 [[ 8.30164256e-01 5.54371410e-01 5.91578273e-02 5.88402675e+02] [-5.52840541e-01 8.32268047e-01 -4.11974916e-02 -3.08724445e+02] [-7.20738809e-02 1.49583969e-03 9.97398174e-01 -3.28018879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.45, Y:-308.76, Z:-32.81 [[ 8.27991426e-01 5.57612691e-01 5.91463015e-02 5.88451486e+02] [-5.56088878e-01 8.30100333e-01 -4.12140323e-02 -3.08762463e+02] [-7.20788320e-02 1.23426490e-03 9.97398175e-01 -3.28082479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:588.50, Y:-308.80, Z:-32.82 [[ 8.25310515e-01 5.61573470e-01 5.91421315e-02 5.88502280e+02] [-5.60059351e-01 8.27426392e-01 -4.12200154e-02 -3.08797544e+02] [-7.20838275e-02 8.96208388e-04 9.97398175e-01 -3.28191897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.56, Y:-308.83, Z:-32.82 [[ 8.23868623e-01 5.63687150e-01 5.91378842e-02 5.88555257e+02] [-5.62178022e-01 8.25988063e-01 -4.12261079e-02 -3.08829124e+02] [-7.20858137e-02 7.18877995e-04 9.97398175e-01 -3.28241005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.61, Y:-308.87, Z:-32.83 [[ 8.22355938e-01 5.65892981e-01 5.91256778e-02 5.88606492e+02] [-5.64388280e-01 8.24478523e-01 -4.12436068e-02 -3.08865955e+02] [-7.20873191e-02 5.47085392e-04 9.97398175e-01 -3.28260407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters Centerline goodness : 0.997579 with order 1 Centerline is valid? [True, True] Translation: X:588.66, Y:-308.90, Z:-32.84 [[ 8.09709979e-01 5.83845317e-01 5.91134205e-02 5.88656520e+02] [-5.82386388e-01 8.11864281e-01 -4.12611674e-02 -3.08902609e+02] [-7.20822140e-02 -1.01727246e-03 9.97398175e-01 -3.28350582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.71, Y:-308.94, Z:-32.84 [[ 8.03152727e-01 5.92833971e-01 5.91065110e-02 5.88707134e+02] [-5.91398417e-01 8.05322676e-01 -4.12710629e-02 -3.08936735e+02] [-7.20667017e-02 -1.80853028e-03 9.97398175e-01 -3.28398277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.76, Y:-308.97, Z:-32.85 [[ 8.02207939e-01 5.94112535e-01 5.90992249e-02 5.88757255e+02] [-5.92679671e-01 8.04379665e-01 -4.12814938e-02 -3.08971713e+02] [-7.20640676e-02 -1.91056714e-03 9.97398175e-01 -3.28464300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.81, Y:-309.01, Z:-32.85 [[ 8.02043954e-01 5.94334818e-01 5.90899253e-02 5.88809053e+02] [-5.92901577e-01 8.04215431e-01 -4.12948009e-02 -3.09008007e+02] [-7.20639677e-02 -1.91426444e-03 9.97398175e-01 -3.28510072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.86, Y:-309.04, Z:-32.86 [[ 8.01426096e-01 5.95168836e-01 5.90784969e-02 5.88859833e+02] [-5.93736651e-01 8.03598270e-01 -4.13111445e-02 -3.09043772e+02] [-7.20624837e-02 -1.96923960e-03 9.97398176e-01 -3.28567939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:588.91, Y:-309.08, Z:-32.86 [[ 8.01262736e-01 5.95389732e-01 5.90685670e-02 5.88911610e+02] [-5.93957100e-01 8.03434615e-01 -4.13253379e-02 -3.09080093e+02] [-7.20624132e-02 -1.97174146e-03 9.97398176e-01 -3.28613713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:588.96, Y:-309.12, Z:-32.87 [[ 8.02020923e-01 5.94369150e-01 5.90571941e-02 5.88961564e+02] [-5.92932560e-01 8.04190185e-01 -4.13415842e-02 -3.09116199e+02] [-7.20653781e-02 -1.86011772e-03 9.97398176e-01 -3.28730589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.47, Y:-308.58, Z:-31.83 [[ 8.71273858e-01 4.87232550e-01 5.90449502e-02 5.89470000e+02] [-4.85529874e-01 8.73241186e-01 -4.13590639e-02 -3.08578865e+02] [-7.17119645e-02 7.36698397e-03 9.97398176e-01 -3.18297327e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.52, Y:-308.61, Z:-31.83 [[ 8.72060994e-01 4.85287195e-01 6.32926574e-02 5.89522165e+02] [-4.84146758e-01 8.74353325e-01 -3.32893307e-02 -3.08611840e+02] [-7.14950314e-02 -1.61260804e-03 9.97439652e-01 -3.18315161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.58, Y:-308.64, Z:-31.83 [[ 8.72695954e-01 4.84145394e-01 6.32851447e-02 5.89578179e+02] [-4.83000923e-01 8.74986273e-01 -3.33036067e-02 -3.08640801e+02] [-7.14974207e-02 -1.50286047e-03 9.97439652e-01 -3.18336690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.63, Y:-308.67, Z:-31.84 [[ 8.75589736e-01 4.78893301e-01 6.32757445e-02 5.89633535e+02] [-4.77733799e-01 8.77872484e-01 -3.33214572e-02 -3.08668947e+02] [-7.15054576e-02 -1.05303591e-03 9.97439653e-01 -3.18391123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.69, Y:-308.70, Z:-31.84 [[ 8.74538751e-01 4.80811014e-01 6.32672235e-02 5.89685932e+02] [-4.79655348e-01 8.76823443e-01 -3.33376282e-02 -3.08700844e+02] [-7.15032835e-02 -1.19141441e-03 9.97439653e-01 -3.18415680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.74, Y:-308.73, Z:-31.85 [[ 8.76009682e-01 4.78126847e-01 6.32594369e-02 5.89742572e+02] [-4.76963114e-01 8.78290274e-01 -3.33523971e-02 -3.08725522e+02] [-7.15068246e-02 -9.55395243e-04 9.97439653e-01 -3.18482172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.80, Y:-308.75, Z:-31.85 [[ 8.74053060e-01 4.81695514e-01 6.32509316e-02 5.89795762e+02] [-4.80539926e-01 8.76337790e-01 -3.33685190e-02 -3.08754732e+02] [-7.15026476e-02 -1.22874183e-03 9.97439653e-01 -3.18513768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.85, Y:-308.78, Z:-31.86 [[ 8.73639204e-01 4.82446725e-01 6.32431770e-02 5.89852653e+02] [-4.81292038e-01 8.75924389e-01 -3.33832099e-02 -3.08780658e+02] [-7.15018615e-02 -1.27355658e-03 9.97439653e-01 -3.18572871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.91, Y:-308.81, Z:-31.86 [[ 8.73794926e-01 4.82165008e-01 6.32402827e-02 5.89906797e+02] [-4.81009187e-01 8.76079538e-01 -3.33886920e-02 -3.08809023e+02] [-7.15023766e-02 -1.24428736e-03 9.97439653e-01 -3.18610732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:589.96, Y:-308.84, Z:-31.86 [[ 8.75745658e-01 4.78613774e-01 6.32328861e-02 5.89961635e+02] [-4.77447677e-01 8.78025043e-01 -3.34026941e-02 -3.08840045e+02] [-7.15070470e-02 -9.38130243e-04 9.97439653e-01 -3.18634774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.02, Y:-308.87, Z:-31.87 [[ 8.76914699e-01 4.76469737e-01 6.32234221e-02 5.90015368e+02] [-4.75296777e-01 8.79190558e-01 -3.34205976e-02 -3.08869359e+02] [-7.15093391e-02 -7.42875460e-04 9.97439654e-01 -3.18705443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.07, Y:-308.90, Z:-31.87 [[ 8.80083448e-01 4.70592052e-01 6.32158613e-02 5.90070097e+02] [-4.69402864e-01 8.82350871e-01 -3.34348929e-02 -3.08898360e+02] [-7.15127651e-02 -2.48210575e-04 9.97439654e-01 -3.18736488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.12, Y:-308.93, Z:-31.88 [[ 8.80470424e-01 4.69868786e-01 6.32072554e-02 5.90122113e+02] [-4.68676568e-01 8.82736254e-01 -3.34511541e-02 -3.08930666e+02] [-7.15129891e-02 -1.71007705e-04 9.97439654e-01 -3.18771381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.18, Y:-308.96, Z:-31.88 [[ 8.81346205e-01 4.68225057e-01 6.31993959e-02 5.90176485e+02] [-4.67027549e-01 8.83609244e-01 -3.34659966e-02 -3.08959826e+02] [-7.15131886e-02 -2.07299343e-05 9.97439654e-01 -3.18784020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.23, Y:-308.99, Z:-31.88 [[ 8.79221912e-01 4.72203000e-01 6.31914248e-02 5.90230055e+02] [-4.71014650e-01 8.81489773e-01 -3.34810410e-02 -3.08989518e+02] [-7.15124427e-02 -3.26821933e-04 9.97439654e-01 -3.18838942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.29, Y:-309.01, Z:-31.89 [[ 8.78374169e-01 4.73779277e-01 6.31823942e-02 5.90286535e+02] [-4.72593771e-01 8.80643518e-01 -3.34980741e-02 -3.09014292e+02] [-7.15118593e-02 -4.35762898e-04 9.97439654e-01 -3.18915424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.34, Y:-309.04, Z:-31.89 [[ 8.74396848e-01 4.81081307e-01 6.31738002e-02 5.90340105e+02] [-4.79913580e-01 8.76675396e-01 -3.35142738e-02 -3.09042850e+02] [-7.15060069e-02 -1.01318925e-03 9.97439655e-01 -3.18935276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.40, Y:-309.07, Z:-31.90 [[ 8.74541558e-01 4.80819220e-01 6.31659780e-02 5.90396884e+02] [-4.79649746e-01 8.76819210e-01 -3.35290101e-02 -3.09067463e+02] [-7.15065354e-02 -9.75032628e-04 9.97439655e-01 -3.19015921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.45, Y:-309.10, Z:-31.90 [[ 8.72436433e-01 4.84629561e-01 6.31574079e-02 5.90449675e+02] [-4.83468866e-01 8.74718571e-01 -3.35451455e-02 -3.09099658e+02] [-7.15019268e-02 -1.26863329e-03 9.97439655e-01 -3.19015907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.50, Y:-309.13, Z:-31.91 [[ 8.73132705e-01 4.83375097e-01 6.31489841e-02 5.90504928e+02] [-4.82209977e-01 8.75412587e-01 -3.35609959e-02 -3.09128241e+02] [-7.15039653e-02 -1.14786701e-03 9.97439655e-01 -3.19083399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.56, Y:-309.16, Z:-31.91 [[ 8.73491545e-01 4.82727635e-01 6.31391484e-02 5.90557295e+02] [-4.81559488e-01 8.75769877e-01 -3.35794900e-02 -3.09158759e+02] [-7.15051120e-02 -1.07385540e-03 9.97439655e-01 -3.19129645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.61, Y:-309.19, Z:-31.92 [[ 8.77049334e-01 4.76234085e-01 6.31313127e-02 5.90611800e+02] [-4.75048008e-01 8.79318383e-01 -3.35942151e-02 -3.09188750e+02] [-7.15112341e-02 -5.26620398e-04 9.97439655e-01 -3.19183415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.67, Y:-309.22, Z:-31.92 [[ 8.79347655e-01 4.71977989e-01 6.31227300e-02 5.90665893e+02] [-4.70779772e-01 8.81610318e-01 -3.36103341e-02 -3.09221143e+02] [-7.15129879e-02 -1.61735898e-04 9.97439656e-01 -3.19217996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.72, Y:-309.25, Z:-31.92 [[ 8.76861231e-01 4.76582818e-01 6.31125996e-02 5.90719296e+02] [-4.75395114e-01 8.79129429e-01 -3.36293460e-02 -3.09251724e+02] [-7.15113121e-02 -5.15151764e-04 9.97439656e-01 -3.19240373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.78, Y:-309.28, Z:-31.93 [[ 8.78047093e-01 4.74395122e-01 6.31076175e-02 5.90775651e+02] [-4.73201095e-01 8.80311969e-01 -3.36386926e-02 -3.09279216e+02] [-7.15124227e-02 -3.26237429e-04 9.97439656e-01 -3.19303611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.83, Y:-309.31, Z:-31.93 [[ 8.77642964e-01 4.75143658e-01 6.30978001e-02 5.90829179e+02] [-4.73950240e-01 8.79908160e-01 -3.36570975e-02 -3.09310065e+02] [-7.15122256e-02 -3.66302671e-04 9.97439656e-01 -3.19335549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.88, Y:-309.34, Z:-31.94 [[ 8.76424425e-01 4.77388705e-01 6.30892271e-02 5.90882466e+02] [-4.76199933e-01 8.78692063e-01 -3.36731597e-02 -3.09338400e+02] [-7.15111893e-02 -5.31106127e-04 9.97439656e-01 -3.19397207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.94, Y:-309.37, Z:-31.94 [[ 8.77329633e-01 4.75723979e-01 6.30825746e-02 5.90937653e+02] [-4.74530008e-01 8.79594538e-01 -3.36856178e-02 -3.09368478e+02] [-7.15121442e-02 -3.81183943e-04 9.97439656e-01 -3.19423869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:590.99, Y:-309.40, Z:-31.95 [[ 8.78948867e-01 4.72726814e-01 6.30733518e-02 5.90991697e+02] [-4.71523881e-01 8.81209025e-01 -3.37028778e-02 -3.09399855e+02] [-7.15130609e-02 -1.17485382e-04 9.97439657e-01 -3.19453638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.05, Y:-309.43, Z:-31.95 [[ 8.79681164e-01 4.71363965e-01 6.30639596e-02 5.91045892e+02] [-4.70156271e-01 8.81938780e-01 -3.37204432e-02 -3.09427697e+02] [-7.15131534e-02 1.33225909e-05 9.97439657e-01 -3.19510729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.10, Y:-309.46, Z:-31.95 [[ 8.79822008e-01 4.71102025e-01 6.30564536e-02 5.91101160e+02] [-4.69892653e-01 8.82078727e-01 -3.37344735e-02 -3.09456892e+02] [-7.15131350e-02 5.05679135e-05 9.97439657e-01 -3.19545635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.16, Y:-309.49, Z:-31.96 [[ 8.80213767e-01 4.70370857e-01 6.30474543e-02 5.91156069e+02] [-4.69158407e-01 8.82468833e-01 -3.37512842e-02 -3.09487782e+02] [-7.15130338e-02 1.29101792e-04 9.97439657e-01 -3.19568153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.21, Y:-309.52, Z:-31.96 [[ 8.80050216e-01 4.70677976e-01 6.30385676e-02 5.91211902e+02] [-4.69465124e-01 8.82305065e-01 -3.37678741e-02 -3.09516420e+02] [-7.15130421e-02 1.23016003e-04 9.97439657e-01 -3.19605459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.27, Y:-309.54, Z:-31.97 [[ 8.82002775e-01 4.67010020e-01 6.30297278e-02 5.91270503e+02] [-4.65786612e-01 8.84251915e-01 -3.37843660e-02 -3.09538418e+02] [-7.15117949e-02 4.39501160e-04 9.97439657e-01 -3.19674120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.32, Y:-309.57, Z:-31.97 [[ 8.78655562e-01 4.73277896e-01 6.30272641e-02 5.91324793e+02] [-4.72070204e-01 8.80913179e-01 -3.37889616e-02 -3.09566903e+02] [-7.15131163e-02 -6.44343624e-05 9.97439657e-01 -3.19686460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.38, Y:-309.60, Z:-31.97 [[ 8.75913494e-01 4.78334718e-01 6.30194315e-02 5.91379344e+02] [-4.77139008e-01 8.78177480e-01 -3.38035639e-02 -3.09597467e+02] [-7.15116637e-02 -4.60031330e-04 9.97439658e-01 -3.19690338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.43, Y:-309.63, Z:-31.97 [[ 8.74865312e-01 4.80250271e-01 6.30108232e-02 5.91433712e+02] [-4.79058363e-01 8.77131301e-01 -3.38196024e-02 -3.09626707e+02] [-7.15106386e-02 -5.98264874e-04 9.97439658e-01 -3.19732575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.49, Y:-309.66, Z:-31.98 [[ 8.72784378e-01 4.84022893e-01 6.30021386e-02 5.91489352e+02] [-4.82839612e-01 8.75054884e-01 -3.38357731e-02 -3.09656177e+02] [-7.15076179e-02 -8.88594054e-04 9.97439658e-01 -3.19794913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.54, Y:-309.69, Z:-31.98 [[ 8.70158456e-01 4.88729211e-01 6.29922199e-02 5.91541308e+02] [-4.87556874e-01 8.72434632e-01 -3.38542288e-02 -3.09687466e+02] [-7.15021447e-02 -1.25374633e-03 9.97439658e-01 -3.19828185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.60, Y:-309.72, Z:-31.99 [[ 8.69579055e-01 4.89760180e-01 6.29859801e-02 5.91595896e+02] [-4.88589700e-01 8.71856187e-01 -3.38658340e-02 -3.09717304e+02] [-7.15008534e-02 -1.32528118e-03 9.97439658e-01 -3.19882967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.65, Y:-309.74, Z:-32.00 [[ 8.73355595e-01 4.82994624e-01 6.29777514e-02 5.91651674e+02] [-4.81805399e-01 8.75622993e-01 -3.38811294e-02 -3.09741139e+02] [-7.15091706e-02 -7.52746686e-04 9.97439658e-01 -3.20005058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.71, Y:-309.77, Z:-32.01 [[ 8.74874391e-01 4.80239071e-01 6.29701084e-02 5.91705692e+02] [-4.79041682e-01 8.77137489e-01 -3.38953284e-02 -3.09774013e+02] [-7.15113038e-02 -5.11151884e-04 9.97439658e-01 -3.20051308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.76, Y:-309.81, Z:-32.01 [[ 8.75699852e-01 4.78733521e-01 6.29601836e-02 5.91758980e+02] [-4.77530916e-01 8.77960182e-01 -3.39137537e-02 -3.09808302e+02] [-7.15121850e-02 -3.67165013e-04 9.97439659e-01 -3.20078719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.81, Y:-309.84, Z:-32.01 [[ 8.76902457e-01 4.76528434e-01 6.29502332e-02 5.91812481e+02] [-4.75318820e-01 8.79159044e-01 -3.39322135e-02 -3.09840284e+02] [-7.15129314e-02 -1.66189172e-04 9.97439659e-01 -3.20121484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:591.87, Y:-309.87, Z:-32.01 [[ 8.75505664e-01 4.79091172e-01 6.29403051e-02 5.91866441e+02] [-4.77886840e-01 8.77765073e-01 -3.39506189e-02 -3.09871124e+02] [-7.15122433e-02 -3.54384375e-04 9.97439659e-01 -3.20138810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:591.92, Y:-309.90, Z:-32.02 [[ 8.73575989e-01 4.82601906e-01 6.29316394e-02 5.91922466e+02] [-4.81405497e-01 8.75839604e-01 -3.39666744e-02 -3.09899788e+02] [-7.15104039e-02 -6.23165970e-04 9.97439659e-01 -3.20196728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:591.97, Y:-309.93, Z:-32.02 [[ 8.68712672e-01 4.91303521e-01 6.29217263e-02 5.91973850e+02] [-4.90128454e-01 8.70987438e-01 -3.39850280e-02 -3.09932133e+02] [-7.15009971e-02 -1.31650398e-03 9.97439659e-01 -3.20160135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.03, Y:-309.96, Z:-32.02 [[ 8.68017011e-01 4.92531774e-01 6.29199537e-02 5.92029099e+02] [-4.91359688e-01 8.70293314e-01 -3.39883095e-02 -3.09962295e+02] [-7.14991374e-02 -1.41389798e-03 9.97439659e-01 -3.20195811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.08, Y:-309.99, Z:-32.03 [[ 8.69535648e-01 4.89846947e-01 6.29104464e-02 5.92083562e+02] [-4.88666560e-01 8.71807658e-01 -3.40058978e-02 -3.09991357e+02] [-7.15034942e-02 -1.17289100e-03 9.97439660e-01 -3.20251089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.14, Y:-310.02, Z:-32.04 [[ 8.74660139e-01 4.80637758e-01 6.29045860e-02 5.92139053e+02] [-4.79432665e-01 8.76919142e-01 -3.40167351e-02 -3.10016369e+02] [-7.15119629e-02 -4.05431070e-04 9.97439660e-01 -3.20358030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.19, Y:-310.05, Z:-32.03 [[ 8.75633760e-01 4.78862126e-01 6.29013691e-02 5.92190894e+02] [-4.77652025e-01 8.77890084e-01 -3.40226825e-02 -3.10051946e+02] [-7.15126623e-02 -2.53556931e-04 9.97439660e-01 -3.20306487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.25, Y:-310.08, Z:-32.04 [[ 8.79889169e-01 4.70997555e-01 6.28995535e-02 5.92247628e+02] [-4.69767047e-01 8.82134429e-01 -3.40260388e-02 -3.10075182e+02] [-7.15120428e-02 3.91005449e-04 9.97439660e-01 -3.20409431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.30, Y:-310.11, Z:-32.04 [[ 8.80131740e-01 4.70545211e-01 6.28913789e-02 5.92300599e+02] [-4.69312470e-01 8.82375774e-01 -3.40411415e-02 -3.10105280e+02] [-7.15117252e-02 4.44980762e-04 9.97439660e-01 -3.20417827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:592.36, Y:-310.13, Z:-32.05 [[ 8.81267001e-01 4.68416649e-01 6.28833570e-02 5.92357407e+02] [-4.67177431e-01 8.83507465e-01 -3.40559537e-02 -3.10130414e+02] [-7.15102910e-02 6.34702926e-04 9.97439660e-01 -3.20509325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.41, Y:-310.16, Z:-32.05 [[ 8.78866170e-01 4.72906996e-01 6.28747085e-02 5.92409178e+02] [-4.71678084e-01 8.81112303e-01 -3.40719133e-02 -3.10161924e+02] [-7.15125254e-02 2.88029875e-04 9.97439660e-01 -3.20488260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.47, Y:-310.18, Z:-32.06 [[ 8.80362885e-01 4.70114996e-01 6.28735412e-02 5.92466679e+02] [-4.68878806e-01 8.82605021e-01 -3.40740672e-02 -3.10184880e+02] [-7.15112331e-02 5.17473121e-04 9.97439660e-01 -3.20571416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.52, Y:-310.22, Z:-32.06 [[ 8.77897413e-01 4.74703433e-01 6.28711616e-02 5.92518940e+02] [-4.73478648e-01 8.80145800e-01 -3.40784572e-02 -3.10216008e+02] [-7.15129495e-02 1.49236831e-04 9.97439660e-01 -3.20565750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.57, Y:-310.24, Z:-32.06 [[ 8.77245277e-01 4.75908153e-01 6.28661680e-02 5.92574688e+02] [-4.74685795e-01 8.79494984e-01 -3.40876668e-02 -3.10243526e+02] [-7.15130779e-02 6.15677743e-05 9.97439660e-01 -3.20614397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.63, Y:-310.27, Z:-32.06 [[ 8.76475575e-01 4.77325306e-01 6.28579217e-02 5.92629588e+02] [-4.76105496e-01 8.78726665e-01 -3.41028662e-02 -3.10273673e+02] [-7.15130929e-02 -3.66727335e-05 9.97439660e-01 -3.20643442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.68, Y:-310.30, Z:-32.07 [[ 8.75560239e-01 4.79003521e-01 6.28481879e-02 5.92684223e+02] [-4.77786739e-01 8.77812966e-01 -3.41207952e-02 -3.10302010e+02] [-7.15129353e-02 -1.53219177e-04 9.97439661e-01 -3.20701078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.74, Y:-310.33, Z:-32.07 [[ 8.74668877e-01 4.80630411e-01 6.28391923e-02 5.92739458e+02] [-4.79416629e-01 8.76923222e-01 -3.41373543e-02 -3.10331569e+02] [-7.15125975e-02 -2.67272450e-04 9.97439661e-01 -3.20747238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.79, Y:-310.36, Z:-32.08 [[ 8.74144621e-01 4.81584475e-01 6.28297270e-02 5.92792646e+02] [-4.80371903e-01 8.76399616e-01 -3.41547662e-02 -3.10362734e+02] [-7.15123538e-02 -3.25430311e-04 9.97439661e-01 -3.20768650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.85, Y:-310.39, Z:-32.08 [[ 8.73484729e-01 4.82780914e-01 6.28252895e-02 5.92847731e+02] [-4.81570843e-01 8.75741068e-01 -3.41629267e-02 -3.10393518e+02] [-7.15118951e-02 -4.14032866e-04 9.97439661e-01 -3.20813505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.90, Y:-310.42, Z:-32.09 [[ 8.72319100e-01 4.84885118e-01 6.28156823e-02 5.92902790e+02] [-4.83679218e-01 8.74577671e-01 -3.41805826e-02 -3.10424420e+02] [-7.15108489e-02 -5.66265049e-04 9.97439661e-01 -3.20857002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:592.96, Y:-310.46, Z:-32.09 [[ 8.71702166e-01 4.85994599e-01 6.28059166e-02 5.92956441e+02] [-4.84790282e-01 8.73961580e-01 -3.41985174e-02 -3.10455751e+02] [-7.15102528e-02 -6.36776319e-04 9.97439661e-01 -3.20901516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.01, Y:-310.49, Z:-32.10 [[ 8.71674814e-01 4.86044742e-01 6.27975088e-02 5.93009089e+02] [-4.84839443e-01 8.73933705e-01 -3.42139492e-02 -3.10486294e+02] [-7.15103697e-02 -6.23271363e-04 9.97439662e-01 -3.20967617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:593.06, Y:-310.52, Z:-32.11 [[ 8.72521123e-01 4.84524849e-01 6.27898080e-02 5.93062453e+02] [-4.83314599e-01 8.74777365e-01 -3.42280761e-02 -3.10517140e+02] [-7.15114562e-02 -4.82511393e-04 9.97439662e-01 -3.21110100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:593.12, Y:-310.55, Z:-32.12 [[ 8.72791813e-01 4.84037538e-01 6.27862476e-02 5.93115045e+02] [-4.82825558e-01 8.75047126e-01 -3.42346058e-02 -3.10550930e+02] [-7.15117598e-02 -4.35121378e-04 9.97439662e-01 -3.21151518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.17, Y:-310.58, Z:-32.12 [[ 8.73708607e-01 4.82382269e-01 6.27743358e-02 5.93170491e+02] [-4.81164448e-01 8.75960770e-01 -3.42564340e-02 -3.10579138e+02] [-7.15125519e-02 -2.74637422e-04 9.97439662e-01 -3.21216348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.22, Y:-310.61, Z:-32.12 [[ 8.67759621e-01 4.93005007e-01 6.27638747e-02 5.93221989e+02] [-4.91813366e-01 8.70025745e-01 -3.42755901e-02 -3.10613025e+02] [-7.15042243e-02 -1.12513943e-03 9.97439662e-01 -3.21151788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.28, Y:-310.64, Z:-32.12 [[ 8.65769585e-01 4.96492272e-01 6.27570637e-02 5.93276550e+02] [-4.95308855e-01 8.68040015e-01 -3.42880561e-02 -3.10643596e+02] [-7.14993974e-02 -1.39857323e-03 9.97439662e-01 -3.21197635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.33, Y:-310.67, Z:-32.12 [[ 8.63682922e-01 5.00114573e-01 6.27473072e-02 5.93330366e+02] [-4.98939381e-01 8.65957620e-01 -3.43059014e-02 -3.10673373e+02] [-7.14933900e-02 -1.67768141e-03 9.97439663e-01 -3.21241293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters Centerline goodness : 0.997450 with order 1 Centerline is valid? [True, True] Translation: X:593.39, Y:-310.70, Z:-32.14 [[ 8.64418025e-01 4.98843973e-01 6.27388937e-02 5.93385731e+02] [-4.97664322e-01 8.66690413e-01 -3.43212811e-02 -3.10700506e+02] [-7.14961619e-02 -1.55497496e-03 9.97439663e-01 -3.21383320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.44, Y:-310.73, Z:-32.14 [[ 8.65941969e-01 4.96194305e-01 6.27353106e-02 5.93441937e+02] [-4.95007225e-01 8.68210486e-01 -3.43278294e-02 -3.10727380e+02] [-7.15007279e-02 -1.32852385e-03 9.97439663e-01 -3.21429876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.49, Y:-310.76, Z:-32.14 [[ 8.63867151e-01 4.99799124e-01 6.27246414e-02 5.93492261e+02] [-4.98620096e-01 8.66139863e-01 -3.43473133e-02 -3.10763260e+02] [-7.14950694e-02 -1.60425110e-03 9.97439663e-01 -3.21373766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.55, Y:-310.79, Z:-32.15 [[ 8.67111304e-01 4.94150405e-01 6.27165323e-02 5.93548494e+02] [-4.92955499e-01 8.69375708e-01 -3.43621138e-02 -3.10787095e+02] [-7.15042821e-02 -1.12068219e-03 9.97439663e-01 -3.21534424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.60, Y:-310.82, Z:-32.16 [[ 8.67548900e-01 4.93382784e-01 6.27083250e-02 5.93603389e+02] [-4.92184792e-01 8.69811673e-01 -3.43770850e-02 -3.10817871e+02] [-7.15054950e-02 -1.04028163e-03 9.97439663e-01 -3.21573941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.66, Y:-310.85, Z:-32.16 [[ 8.68467287e-01 4.91765683e-01 6.26983641e-02 5.93658190e+02] [-4.90562167e-01 8.70727126e-01 -3.43952427e-02 -3.10848830e+02] [-7.15075663e-02 -8.86302297e-04 9.97439664e-01 -3.21600956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.71, Y:-310.88, Z:-32.17 [[ 8.68760924e-01 4.91248069e-01 6.26880456e-02 5.93713921e+02] [-4.90041851e-01 8.71019322e-01 -3.44140385e-02 -3.10877504e+02] [-7.15083290e-02 -8.22193978e-04 9.97439664e-01 -3.21654992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.76, Y:-310.91, Z:-32.16 [[ 8.67242106e-01 4.93925715e-01 6.26778918e-02 5.93764720e+02] [-4.92725133e-01 8.69503505e-01 -3.44325217e-02 -3.10913835e+02] [-7.15057545e-02 -1.02163997e-03 9.97439664e-01 -3.21589831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.82, Y:-310.94, Z:-32.16 [[ 8.68301526e-01 4.92061943e-01 6.26698036e-02 5.93818444e+02] [-4.90855445e-01 8.70559774e-01 -3.44472366e-02 -3.10944479e+02] [-7.15079842e-02 -8.51226211e-04 9.97439664e-01 -3.21636356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters Centerline goodness : 0.996746 with order 1 Centerline is valid? [True, True] Translation: X:593.87, Y:-310.97, Z:-32.17 [[ 8.68849727e-01 4.91094383e-01 6.26614613e-02 5.93872594e+02] [-4.89884277e-01 8.71106043e-01 -3.44624051e-02 -3.10974357e+02] [-7.15090712e-02 -7.54213340e-04 9.97439664e-01 -3.21728826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.93, Y:-311.00, Z:-32.18 [[ 8.71803736e-01 4.85832422e-01 6.26506466e-02 5.93930692e+02] [-4.84607284e-01 8.74051925e-01 -3.44820543e-02 -3.10995551e+02] [-7.15124183e-02 -2.99375936e-04 9.97439665e-01 -3.21844540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:593.98, Y:-311.03, Z:-32.18 [[ 8.66855947e-01 4.94608002e-01 6.26393767e-02 5.93981521e+02] [-4.93404142e-01 8.69115602e-01 -3.45025150e-02 -3.11032003e+02] [-7.15060795e-02 -9.97817649e-04 9.97439665e-01 -3.21751597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.04, Y:-311.05, Z:-32.19 [[ 8.69363322e-01 4.90188500e-01 6.26310624e-02 5.94038886e+02] [-4.88972065e-01 8.71616231e-01 -3.45176010e-02 -3.11053583e+02] [-7.15103816e-02 -6.16503727e-04 9.97439665e-01 -3.21915081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.09, Y:-311.08, Z:-32.20 [[ 8.69024151e-01 4.90790583e-01 6.26229058e-02 5.94093886e+02] [-4.89574643e-01 8.71277328e-01 -3.45323926e-02 -3.11081817e+02] [-7.15100912e-02 -6.49103606e-04 9.97439665e-01 -3.21980813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.14, Y:-311.12, Z:-32.19 [[ 8.67927819e-01 4.92727951e-01 6.26136299e-02 5.94143487e+02] [-4.91515828e-01 8.70183051e-01 -3.45492033e-02 -3.11120881e+02] [-7.15086777e-02 -7.89375486e-04 9.97439665e-01 -3.21899647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.20, Y:-311.15, Z:-32.20 [[ 8.70828325e-01 4.87584477e-01 6.26051569e-02 5.94199972e+02] [-4.86357929e-01 8.73075745e-01 -3.45645503e-02 -3.11146095e+02] [-7.15121821e-02 -3.48725041e-04 9.97439665e-01 -3.22004709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.25, Y:-311.18, Z:-32.20 [[ 8.70818006e-01 4.87603994e-01 6.25966838e-02 5.94251359e+02] [-4.86376395e-01 8.73064851e-01 -3.45798883e-02 -3.11182097e+02] [-7.15122560e-02 -3.32759957e-04 9.97439666e-01 -3.21980514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters Centerline goodness : 0.996408 with order 1 Centerline is valid? [True, True] Translation: X:594.30, Y:-311.21, Z:-32.20 [[ 8.72922248e-01 4.83827916e-01 6.25883185e-02 5.94304353e+02] [-4.82589511e-01 8.75163155e-01 -3.45950225e-02 -3.11214500e+02] [-7.15130279e-02 -5.70127449e-06 9.97439666e-01 -3.22038868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.36, Y:-311.24, Z:-32.20 [[ 8.75282527e-01 4.79545480e-01 6.25829891e-02 5.94360159e+02] [-4.78295422e-01 8.77516955e-01 -3.46046608e-02 -3.11243346e+02] [-7.15121427e-02 3.55697705e-04 9.97439666e-01 -3.22020799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.41, Y:-311.27, Z:-32.21 [[ 8.74350502e-01 4.81244369e-01 6.25704204e-02 5.94413286e+02] [-4.79997028e-01 8.76586447e-01 -3.46273721e-02 -3.11272586e+02] [-7.15126103e-02 2.42844424e-04 9.97439666e-01 -3.22074129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.47, Y:-311.30, Z:-32.21 [[ 8.73597560e-01 4.82610880e-01 6.25623070e-02 5.94468224e+02] [-4.81365987e-01 8.75834868e-01 -3.46420246e-02 -3.11302083e+02] [-7.15128679e-02 1.47821488e-04 9.97439666e-01 -3.22130343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.52, Y:-311.33, Z:-32.22 [[ 8.73946585e-01 4.81978945e-01 6.25592715e-02 5.94522863e+02] [-4.80732042e-01 8.76182774e-01 -3.46475055e-02 -3.11331007e+02] [-7.15127242e-02 2.05822831e-04 9.97439666e-01 -3.22181330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.58, Y:-311.36, Z:-32.22 [[ 8.74539360e-01 4.80903632e-01 6.25508156e-02 5.94578178e+02] [-4.79652888e-01 8.76773403e-01 -3.46627646e-02 -3.11360226e+02] [-7.15123409e-02 3.11272580e-04 9.97439666e-01 -3.22182432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.63, Y:-311.39, Z:-32.22 [[ 8.76194173e-01 4.77883119e-01 6.25419601e-02 5.94634019e+02] [-4.76623533e-01 8.78423242e-01 -3.46787353e-02 -3.11388254e+02] [-7.15106935e-02 5.76335789e-04 9.97439667e-01 -3.22246686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.69, Y:-311.42, Z:-32.23 [[ 8.77536262e-01 4.75415470e-01 6.25319155e-02 5.94688104e+02] [-4.74148327e-01 8.79761043e-01 -3.46968381e-02 -3.11419350e+02] [-7.15085568e-02 7.98330487e-04 9.97439667e-01 -3.22291763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.74, Y:-311.45, Z:-32.23 [[ 8.80422410e-01 4.70050251e-01 6.25231266e-02 5.94741305e+02] [-4.68768428e-01 8.82638766e-01 -3.47126684e-02 -3.11450531e+02] [-7.15020338e-02 1.25294337e-03 9.97439667e-01 -3.22320541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.79, Y:-311.48, Z:-32.24 [[ 8.83976823e-01 4.63332426e-01 6.25143134e-02 5.94794813e+02] [-4.62032642e-01 8.86182694e-01 -3.47285329e-02 -3.11479076e+02] [-7.14899580e-02 1.81556475e-03 9.97439667e-01 -3.22390099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.85, Y:-311.51, Z:-32.24 [[ 8.85153565e-01 4.61081482e-01 6.25062682e-02 5.94850273e+02] [-4.59775067e-01 8.87355516e-01 -3.47430071e-02 -3.11509270e+02] [-7.14846390e-02 2.01407292e-03 9.97439667e-01 -3.22411310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.91, Y:-311.54, Z:-32.24 [[ 8.84985033e-01 4.61406177e-01 6.24966581e-02 5.94905330e+02] [-4.60099351e-01 8.87186739e-01 -3.47602853e-02 -3.11539262e+02] [-7.14848166e-02 2.00766036e-03 9.97439668e-01 -3.22438393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:594.96, Y:-311.57, Z:-32.25 [[ 8.82184572e-01 4.66739523e-01 6.24867856e-02 5.94959919e+02] [-4.65444756e-01 8.84393390e-01 -3.47780237e-02 -3.11566899e+02] [-7.14951783e-02 1.59648929e-03 9.97439668e-01 -3.22483756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.02, Y:-311.59, Z:-32.25 [[ 8.79148303e-01 4.72434809e-01 6.24788970e-02 5.95016799e+02] [-4.71153346e-01 8.81364867e-01 -3.47921898e-02 -3.11593600e+02] [-7.15037462e-02 1.15035331e-03 9.97439668e-01 -3.22535021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.07, Y:-311.62, Z:-32.26 [[ 8.74427389e-01 4.81117798e-01 6.24692375e-02 5.95073066e+02] [-4.79857111e-01 8.76655834e-01 -3.48095248e-02 -3.11621067e+02] [-7.15115034e-02 4.62094066e-04 9.97439668e-01 -3.22570154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.13, Y:-311.65, Z:-32.26 [[ 8.69745370e-01 4.89532210e-01 6.24596390e-02 5.95128700e+02] [-4.88291845e-01 8.71985191e-01 -3.48267391e-02 -3.11648377e+02] [-7.15126908e-02 -2.08137214e-04 9.97439668e-01 -3.22615448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.18, Y:-311.67, Z:-32.27 [[ 8.65894414e-01 4.96313123e-01 6.24511657e-02 5.95184903e+02] [-4.95089202e-01 8.68143261e-01 -3.48419267e-02 -3.11674582e+02] [-7.15090642e-02 -7.49468120e-04 9.97439668e-01 -3.22658572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.24, Y:-311.70, Z:-32.27 [[ 8.64967206e-01 4.97928366e-01 6.24425827e-02 5.95239720e+02] [-4.96707534e-01 8.67217732e-01 -3.48573023e-02 -3.11703555e+02] [-7.15077544e-02 -8.65277937e-04 9.97439669e-01 -3.22694489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.29, Y:-311.73, Z:-32.27 [[ 8.66132553e-01 4.95899581e-01 6.24340150e-02 5.95293726e+02] [-4.94672373e-01 8.68379608e-01 -3.48726414e-02 -3.11733260e+02] [-7.15097537e-02 -6.80052408e-04 9.97439669e-01 -3.22722064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.35, Y:-311.76, Z:-32.28 [[ 8.68601642e-01 4.91563061e-01 6.24255212e-02 5.95348091e+02] [-4.90323540e-01 8.70841929e-01 -3.48878395e-02 -3.11762165e+02] [-7.15123344e-02 -3.05067880e-04 9.97439669e-01 -3.22758215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.40, Y:-311.79, Z:-32.28 [[ 8.70186202e-01 4.88753620e-01 6.24169192e-02 5.95403180e+02] [-4.87505764e-01 8.72421856e-01 -3.49032224e-02 -3.11792352e+02] [-7.15129608e-02 -5.63052784e-05 9.97439669e-01 -3.22805851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.46, Y:-311.82, Z:-32.29 [[ 8.72310517e-01 4.84953313e-01 6.24071014e-02 5.95458034e+02] [-4.83694461e-01 8.74539998e-01 -3.49207678e-02 -3.11822973e+02] [-7.15124484e-02 2.75783678e-04 9.97439669e-01 -3.22857138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.51, Y:-311.85, Z:-32.29 [[ 8.73294957e-01 4.83179577e-01 6.23972259e-02 5.95511696e+02] [-4.81914937e-01 8.75521160e-01 -3.49384048e-02 -3.11852823e+02] [-7.15116152e-02 4.41377548e-04 9.97439669e-01 -3.22919399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.57, Y:-311.88, Z:-32.30 [[ 8.74162433e-01 4.81609482e-01 6.23886877e-02 5.95566090e+02] [-4.80339755e-01 8.76385738e-01 -3.49536445e-02 -3.11882833e+02] [-7.15105628e-02 5.87395892e-04 9.97439670e-01 -3.22972978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.62, Y:-311.91, Z:-32.30 [[ 8.74949380e-01 4.80179509e-01 6.23796583e-02 5.95619420e+02] [-4.78905001e-01 8.77169948e-01 -3.49697515e-02 -3.11914800e+02] [-7.15093196e-02 7.22832075e-04 9.97439670e-01 -3.23001038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.67, Y:-311.95, Z:-32.30 [[ 8.74437567e-01 4.81111996e-01 6.23713716e-02 5.95673047e+02] [-4.79838802e-01 8.76658888e-01 -3.49845253e-02 -3.11945174e+02] [-7.15098920e-02 6.63578929e-04 9.97439670e-01 -3.23034703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.73, Y:-311.98, Z:-32.31 [[ 8.73055559e-01 4.83616407e-01 6.23631362e-02 5.95727240e+02] [-4.82348537e-01 8.75279924e-01 -3.49991994e-02 -3.11976193e+02] [-7.15113882e-02 4.75478056e-04 9.97439670e-01 -3.23058938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.78, Y:-312.01, Z:-32.31 [[ 8.70339085e-01 4.88489282e-01 6.23546135e-02 5.95781895e+02] [-4.87232779e-01 8.72569890e-01 -3.50143769e-02 -3.12005964e+02] [-7.15129061e-02 9.31691910e-05 9.97439670e-01 -3.23105851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.84, Y:-312.04, Z:-32.32 [[ 8.67889725e-01 4.92828955e-01 6.23461876e-02 5.95837013e+02] [-4.91582528e-01 8.70126175e-01 -3.50293736e-02 -3.12036601e+02] [-7.15125393e-02 -2.46663126e-04 9.97439670e-01 -3.23151406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.89, Y:-312.07, Z:-32.32 [[ 8.64222612e-01 4.99232877e-01 6.23362704e-02 5.95892067e+02] [-4.98001750e-01 8.66467520e-01 -3.50470128e-02 -3.12067280e+02] [-7.15089747e-02 -7.55150800e-04 9.97439671e-01 -3.23205894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:595.95, Y:-312.10, Z:-32.33 [[ 8.63115725e-01 5.01145364e-01 6.23263165e-02 5.95946547e+02] [-4.99917933e-01 8.65362656e-01 -3.50647056e-02 -3.12098416e+02] [-7.15073814e-02 -8.93144503e-04 9.97439671e-01 -3.23255038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.00, Y:-312.13, Z:-32.33 [[ 8.61366884e-01 5.04146555e-01 6.23164641e-02 5.96000702e+02] [-5.02925687e-01 8.63617388e-01 -3.50822063e-02 -3.12129658e+02] [-7.15041554e-02 -1.12189976e-03 9.97439671e-01 -3.23310727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.05, Y:-312.16, Z:-32.34 [[ 8.60928392e-01 5.04896234e-01 6.23064781e-02 5.96053665e+02] [-5.03676043e-01 8.63179262e-01 -3.50999326e-02 -3.12161941e+02] [-7.15034836e-02 -1.16375179e-03 9.97439671e-01 -3.23363664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.11, Y:-312.20, Z:-32.34 [[ 8.61172617e-01 5.04480636e-01 6.22977673e-02 5.96106757e+02] [-5.03258241e-01 8.63422291e-01 -3.51153864e-02 -3.12195710e+02] [-7.15043135e-02 -1.11145566e-03 9.97439671e-01 -3.23394826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.16, Y:-312.23, Z:-32.34 [[ 8.61893224e-01 5.03249739e-01 6.22878075e-02 5.96158560e+02] [-5.02022855e-01 8.64140453e-01 -3.51330444e-02 -3.12229250e+02] [-7.15061096e-02 -9.88970076e-04 9.97439672e-01 -3.23445980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.21, Y:-312.26, Z:-32.35 [[ 8.61723018e-01 5.03542266e-01 6.22786253e-02 5.96211318e+02] [-5.02314970e-01 8.63970021e-01 -3.51493136e-02 -3.12262779e+02] [-7.15060303e-02 -9.94513214e-04 9.97439672e-01 -3.23501399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.26, Y:-312.30, Z:-32.35 [[ 8.61338427e-01 5.04201055e-01 6.22688562e-02 5.96264216e+02] [-5.02974227e-01 8.63585686e-01 -3.51666116e-02 -3.12295858e+02] [-7.15055356e-02 -1.02927590e-03 9.97439672e-01 -3.23547787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.32, Y:-312.33, Z:-32.36 [[ 8.61105991e-01 5.04599125e-01 6.22591034e-02 5.96316845e+02] [-5.03372088e-01 8.63353136e-01 -3.51838696e-02 -3.12329116e+02] [-7.15053419e-02 -1.04245395e-03 9.97439672e-01 -3.23606027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.37, Y:-312.36, Z:-32.36 [[ 8.60907562e-01 5.04938335e-01 6.22530874e-02 5.96370539e+02] [-5.03711414e-01 8.63154770e-01 -3.51945108e-02 -3.12362513e+02] [-7.15051071e-02 -1.05837020e-03 9.97439672e-01 -3.23647403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.42, Y:-312.40, Z:-32.37 [[ 8.60232018e-01 5.06089591e-01 6.22430806e-02 5.96421448e+02] [-5.04864398e-01 8.62480168e-01 -3.52121995e-02 -3.12396985e+02] [-7.15039503e-02 -1.13365395e-03 9.97439672e-01 -3.23702209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.47, Y:-312.43, Z:-32.38 [[ 8.59571852e-01 5.07211179e-01 6.22338410e-02 5.96473129e+02] [-5.05987737e-01 8.61820956e-01 -3.52285220e-02 -3.12428580e+02] [-7.15027285e-02 -1.20811446e-03 9.97439673e-01 -3.23771391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.53, Y:-312.46, Z:-32.38 [[ 8.57810591e-01 5.10185177e-01 6.22259947e-02 5.96525188e+02] [-5.08968529e-01 8.60063377e-01 -3.52423759e-02 -3.12460888e+02] [-7.14984369e-02 -1.43978964e-03 9.97439673e-01 -3.23842561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.58, Y:-312.49, Z:-32.39 [[ 8.57006427e-01 5.11535834e-01 6.22179645e-02 5.96578795e+02] [-5.10321707e-01 8.59260572e-01 -3.52565470e-02 -3.12493539e+02] [-7.14964309e-02 -1.53609052e-03 9.97439673e-01 -3.23856450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.63, Y:-312.52, Z:-32.39 [[ 8.57348036e-01 5.10964302e-01 6.22079375e-02 5.96633994e+02] [-5.09747390e-01 8.59600679e-01 -3.52742301e-02 -3.12523944e+02] [-7.14978577e-02 -1.46804191e-03 9.97439673e-01 -3.23902787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.69, Y:-312.55, Z:-32.40 [[ 8.57680384e-01 5.10407475e-01 6.21978208e-02 5.96688124e+02] [-5.09187808e-01 8.59931536e-01 -3.52920596e-02 -3.12553678e+02] [-7.14991986e-02 -1.40106480e-03 9.97439673e-01 -3.23950153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.74, Y:-312.59, Z:-32.40 [[ 8.56779936e-01 5.11918683e-01 6.21884456e-02 5.96741027e+02] [-5.10701789e-01 8.59032588e-01 -3.53085720e-02 -3.12585995e+02] [-7.14970191e-02 -1.50807430e-03 9.97439673e-01 -3.23970084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.79, Y:-312.62, Z:-32.40 [[ 8.55989084e-01 5.13241029e-01 6.21798589e-02 5.96794526e+02] [-5.12026517e-01 8.58243021e-01 -3.53236870e-02 -3.12616924e+02] [-7.14949954e-02 -1.60104610e-03 9.97439674e-01 -3.23996607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.85, Y:-312.65, Z:-32.41 [[ 8.55583898e-01 5.13917246e-01 6.21712076e-02 5.96848631e+02] [-5.12703410e-01 8.57838199e-01 -3.53389072e-02 -3.12647171e+02] [-7.14941106e-02 -1.63999012e-03 9.97439674e-01 -3.24063697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.90, Y:-312.68, Z:-32.41 [[ 8.57190861e-01 5.11233514e-01 6.21620624e-02 5.96902753e+02] [-5.10011454e-01 8.59440715e-01 -3.53549865e-02 -3.12678578e+02] [-7.14992613e-02 -1.39739251e-03 9.97439674e-01 -3.24105479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:596.96, Y:-312.71, Z:-32.42 [[ 8.58223502e-01 5.09499290e-01 6.21521863e-02 5.96956908e+02] [-5.08271428e-01 8.60470193e-01 -3.53723397e-02 -3.12709468e+02] [-7.15022857e-02 -1.23280720e-03 9.97439674e-01 -3.24154756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.01, Y:-312.74, Z:-32.42 [[ 8.58282073e-01 5.09401810e-01 6.21424175e-02 5.97011123e+02] [-5.08172451e-01 8.60527945e-01 -3.53894933e-02 -3.12739296e+02] [-7.15027588e-02 -1.20489693e-03 9.97439674e-01 -3.24202932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.07, Y:-312.77, Z:-32.42 [[ 8.57671193e-01 5.10430765e-01 6.21333939e-02 5.97065259e+02] [-5.09202953e-01 8.59917912e-01 -3.54053290e-02 -3.12770373e+02] [-7.15015875e-02 -1.27237698e-03 9.97439674e-01 -3.24241673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.12, Y:-312.80, Z:-32.43 [[ 8.57799484e-01 5.10216298e-01 6.21238645e-02 5.97119007e+02] [-5.08986714e-01 8.60045234e-01 -3.54220420e-02 -3.12802559e+02] [-7.15022366e-02 -1.23521231e-03 9.97439675e-01 -3.24286336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.17, Y:-312.83, Z:-32.43 [[ 8.58424248e-01 5.09165650e-01 6.21140278e-02 5.97172960e+02] [-5.07932070e-01 8.60667804e-01 -3.54392825e-02 -3.12834522e+02] [-7.15040093e-02 -1.12776730e-03 9.97439675e-01 -3.24332721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.23, Y:-312.87, Z:-32.44 [[ 8.58371923e-01 5.09255064e-01 6.21041185e-02 5.97227267e+02] [-5.08020463e-01 8.60614918e-01 -3.54566393e-02 -3.12865774e+02] [-7.15042039e-02 -1.11517936e-03 9.97439675e-01 -3.24370398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.28, Y:-312.89, Z:-32.44 [[ 8.58841509e-01 5.08463960e-01 6.20939848e-02 5.97281783e+02] [-5.07226011e-01 8.61082657e-01 -3.54743773e-02 -3.12893517e+02] [-7.15054958e-02 -1.02881650e-03 9.97439675e-01 -3.24439082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.34, Y:-312.92, Z:-32.45 [[ 8.60082139e-01 5.06363714e-01 6.20846450e-02 5.97335101e+02] [-5.05119112e-01 8.62319600e-01 -3.54907156e-02 -3.12924925e+02] [-7.15080168e-02 -8.35210175e-04 9.97439675e-01 -3.24483917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.39, Y:-312.95, Z:-32.46 [[ 8.63937971e-01 4.99757697e-01 6.20759759e-02 5.97391391e+02] [-4.98494896e-01 8.66165211e-01 -3.55058721e-02 -3.12950228e+02] [-7.15123836e-02 -2.69685995e-04 9.97439676e-01 -3.24568213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.44, Y:-312.99, Z:-32.46 [[ 8.65508428e-01 4.97034075e-01 6.20668159e-02 5.97441446e+02] [-4.95763118e-01 8.67731022e-01 -3.55218772e-02 -3.12985358e+02] [-7.15128850e-02 -2.59540195e-05 9.97439676e-01 -3.24552734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.49, Y:-313.02, Z:-32.46 [[ 8.70114426e-01 4.88927020e-01 6.20584816e-02 5.97494884e+02] [-4.87634316e-01 8.72324444e-01 -3.55364317e-02 -3.13016021e+02] [-7.15098521e-02 6.58916610e-04 9.97439676e-01 -3.24586152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.55, Y:-313.05, Z:-32.46 [[ 8.73489309e-01 4.82872945e-01 6.20495384e-02 5.97549522e+02] [-4.81563818e-01 8.75689638e-01 -3.55520403e-02 -3.13047807e+02] [-7.15032563e-02 1.17351453e-03 9.97439676e-01 -3.24630621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.60, Y:-313.08, Z:-32.47 [[ 8.74728795e-01 4.80625255e-01 6.20395005e-02 5.97604920e+02] [-4.79309233e-01 8.76925006e-01 -3.55695484e-02 -3.13078157e+02] [-7.14996126e-02 1.37760283e-03 9.97439676e-01 -3.24682090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.66, Y:-313.11, Z:-32.47 [[ 8.74902428e-01 4.80310401e-01 6.20295039e-02 5.97659755e+02] [-4.78992354e-01 8.77097425e-01 -3.55869728e-02 -3.13108639e+02] [-7.14987113e-02 1.42347081e-03 9.97439676e-01 -3.24737619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.71, Y:-313.14, Z:-32.48 [[ 8.74520184e-01 4.81007302e-01 6.20195316e-02 5.97714478e+02] [-4.79689773e-01 8.76715491e-01 -3.56043436e-02 -3.13138335e+02] [-7.14994334e-02 1.38658213e-03 9.97439677e-01 -3.24803856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.77, Y:-313.17, Z:-32.49 [[ 8.73308164e-01 4.83204946e-01 6.20147543e-02 5.97769405e+02] [-4.81892351e-01 8.75506425e-01 -3.56126627e-02 -3.13166766e+02] [-7.15025306e-02 1.21639331e-03 9.97439677e-01 -3.24860661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.83, Y:-313.19, Z:-32.49 [[ 8.70487132e-01 4.88269811e-01 6.20060108e-02 5.97825914e+02] [-4.86968924e-01 8.72692341e-01 -3.56278797e-02 -3.13192025e+02] [-7.15081888e-02 8.18610422e-04 9.97439677e-01 -3.24917907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.88, Y:-313.22, Z:-32.50 [[ 8.67494115e-01 4.93568618e-01 6.19998386e-02 5.97881677e+02] [-4.92280434e-01 8.69706768e-01 -3.56386174e-02 -3.13218700e+02] [-7.15117824e-02 3.94983415e-04 9.97439677e-01 -3.24957831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.94, Y:-313.25, Z:-32.50 [[ 8.63266789e-01 5.00926659e-01 6.19913989e-02 5.97938001e+02] [-4.99656280e-01 8.65489714e-01 -3.56532918e-02 -3.13246236e+02] [-7.15126024e-02 -1.96089006e-04 9.97439677e-01 -3.24980105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.99, Y:-313.27, Z:-32.50 [[ 8.59564716e-01 5.07254189e-01 6.19813472e-02 5.97994191e+02] [-5.05998914e-01 8.61796204e-01 -3.56707576e-02 -3.13274452e+02] [-7.15094309e-02 -7.01169700e-04 9.97439677e-01 -3.25021805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.05, Y:-313.30, Z:-32.51 [[ 8.55828307e-01 5.13534287e-01 6.19713332e-02 5.98050811e+02] [-5.12294125e-01 8.58068229e-01 -3.56881467e-02 -3.13302425e+02] [-7.15027190e-02 -1.20462377e-03 9.97439677e-01 -3.25061664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.11, Y:-313.33, Z:-32.52 [[ 8.51783792e-01 5.20216472e-01 6.19612271e-02 5.98106208e+02] [-5.18992604e-01 8.54032658e-01 -3.57056841e-02 -3.13328521e+02] [-7.14915965e-02 -1.74389562e-03 9.97439678e-01 -3.25152153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.16, Y:-313.36, Z:-32.52 [[ 8.49162401e-01 5.24485599e-01 6.19521849e-02 5.98162358e+02] [-5.23271892e-01 8.51416767e-01 -3.57213662e-02 -3.13357274e+02] [-7.14824711e-02 -2.08459587e-03 9.97439678e-01 -3.25194519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.22, Y:-313.38, Z:-32.53 [[ 8.51542418e-01 5.20613839e-01 6.19414313e-02 5.98219452e+02] [-5.19388526e-01 8.53790496e-01 -3.57400034e-02 -3.13380210e+02] [-7.14917457e-02 -1.73753969e-03 9.97439678e-01 -3.25346733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.27, Y:-313.41, Z:-32.54 [[ 8.52110678e-01 5.19684318e-01 6.19322389e-02 5.98273568e+02] [-5.18455395e-01 8.54356785e-01 -3.57559255e-02 -3.13412917e+02] [-7.14940222e-02 -1.64109748e-03 9.97439678e-01 -3.25369004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.32, Y:-313.45, Z:-32.53 [[ 8.52836685e-01 5.18493286e-01 6.19217310e-02 5.98323476e+02] [-5.17259907e-01 8.55080348e-01 -3.57741137e-02 -3.13450801e+02] [-7.14966930e-02 -1.52015224e-03 9.97439678e-01 -3.25324130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.38, Y:-313.48, Z:-32.54 [[ 8.55983440e-01 5.13282738e-01 6.19127004e-02 5.98375595e+02] [-5.12034569e-01 8.58218908e-01 -3.57897356e-02 -3.13484208e+02] [-7.15049037e-02 -1.06602189e-03 9.97439679e-01 -3.25351744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.43, Y:-313.52, Z:-32.54 [[ 8.60806598e-01 5.05153357e-01 6.19038564e-02 5.98427184e+02] [-5.03882974e-01 8.63029518e-01 -3.58050263e-02 -3.13518193e+02] [-7.15118845e-02 -3.71096388e-04 9.97439679e-01 -3.25410012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.48, Y:-313.55, Z:-32.55 [[ 8.66513360e-01 4.95301204e-01 6.18976205e-02 5.98481742e+02] [-4.94004777e-01 8.68721192e-01 -3.58158033e-02 -3.13545966e+02] [-7.15113851e-02 4.57151800e-04 9.97439679e-01 -3.25496935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.53, Y:-313.58, Z:-32.55 [[ 8.68965328e-01 4.90987332e-01 6.18926414e-02 5.98533590e+02] [-4.89679333e-01 8.71166324e-01 -3.58244055e-02 -3.13580619e+02] [-7.15081141e-02 8.22618971e-04 9.97439679e-01 -3.25547406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.58, Y:-313.62, Z:-32.56 [[ 8.70651904e-01 4.87991532e-01 6.18831664e-02 5.98584112e+02] [-4.86674798e-01 8.72847685e-01 -3.58407652e-02 -3.13615665e+02] [-7.15045685e-02 1.08785300e-03 9.97439679e-01 -3.25606645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.64, Y:-313.65, Z:-32.56 [[ 8.71166682e-01 4.87073137e-01 6.18738415e-02 5.98636406e+02] [-4.85752945e-01 8.73360385e-01 -3.58568561e-02 -3.13650486e+02] [-7.15030734e-02 1.18189765e-03 9.97439679e-01 -3.25626479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.69, Y:-313.69, Z:-32.56 [[ 8.69324169e-01 4.90355426e-01 6.18631184e-02 5.98686828e+02] [-4.89042201e-01 8.71522051e-01 -3.58753470e-02 -3.13686213e+02] [-7.15067428e-02 9.33630653e-04 9.97439679e-01 -3.25625958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.74, Y:-313.72, Z:-32.56 [[ 8.68082505e-01 4.92551296e-01 6.18545517e-02 5.98738913e+02] [-4.91242579e-01 8.70283074e-01 -3.58901112e-02 -3.13719911e+02] [-7.15086901e-02 7.69988128e-04 9.97439680e-01 -3.25645513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.79, Y:-313.75, Z:-32.57 [[ 8.65264139e-01 4.97486756e-01 6.18457617e-02 5.98791800e+02] [-4.96189510e-01 8.67471488e-01 -3.59052518e-02 -3.13752957e+02] [-7.15118221e-02 3.80308552e-04 9.97439680e-01 -3.25674504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.85, Y:-313.78, Z:-32.57 [[ 8.60876390e-01 5.05042592e-01 6.18370607e-02 5.98845664e+02] [-5.03763644e-01 8.63094391e-01 -3.59202305e-02 -3.13784927e+02] [-7.15124666e-02 -2.28384647e-04 9.97439680e-01 -3.25707242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.90, Y:-313.82, Z:-32.58 [[ 8.55224407e-01 5.14556732e-01 6.18270461e-02 5.98900731e+02] [-5.13301209e-01 8.57455752e-01 -3.59374598e-02 -3.13815131e+02] [-7.15058182e-02 -1.00130484e-03 9.97439680e-01 -3.25756990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:598.96, Y:-313.85, Z:-32.58 [[ 8.51062868e-01 5.21412170e-01 6.18170243e-02 5.98955512e+02] [-5.20173367e-01 8.53303538e-01 -3.59546904e-02 -3.13845495e+02] [-7.14958987e-02 -1.55586776e-03 9.97439680e-01 -3.25794784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.01, Y:-313.88, Z:-32.58 [[ 8.49662682e-01 5.23691926e-01 6.18068999e-02 5.99008542e+02] [-5.22457870e-01 8.51905971e-01 -3.59720860e-02 -3.13876536e+02] [-7.14919581e-02 -1.72736223e-03 9.97439680e-01 -3.25844607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.06, Y:-313.91, Z:-32.59 [[ 8.49305077e-01 5.24272784e-01 6.17975214e-02 5.99061208e+02] [-5.23039092e-01 8.51548565e-01 -3.59881905e-02 -3.13910484e+02] [-7.14912195e-02 -1.75756652e-03 9.97439681e-01 -3.25878751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.12, Y:-313.94, Z:-32.60 [[ 8.51670550e-01 5.20422480e-01 6.17876814e-02 5.99116096e+02] [-5.19177419e-01 8.53907748e-01 -3.60050767e-02 -3.13937794e+02] [-7.14988312e-02 -1.41430547e-03 9.97439681e-01 -3.26013999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.17, Y:-313.97, Z:-32.60 [[ 8.48627391e-01 5.25371282e-01 6.17783752e-02 5.99165961e+02] [-5.24138104e-01 8.50871161e-01 -3.60210374e-02 -3.13974688e+02] [-7.14898565e-02 -1.81196146e-03 9.97439681e-01 -3.25975824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.22, Y:-314.00, Z:-32.61 [[ 8.50969529e-01 5.21569692e-01 6.17731059e-02 5.99220839e+02] [-5.20325834e-01 8.53207396e-01 -3.60300717e-02 -3.14001287e+02] [-7.14974642e-02 -1.48164967e-03 9.97439681e-01 -3.26129500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:599.27, Y:-314.04, Z:-32.62 [[ 8.48970721e-01 5.24817475e-01 6.17683869e-02 5.99270558e+02] [-5.23581588e-01 8.51213000e-01 -3.60381599e-02 -3.14036284e+02] [-7.14915100e-02 -1.74544749e-03 9.97439681e-01 -3.26190529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.32, Y:-314.07, Z:-32.61 [[ 8.48284780e-01 5.25926608e-01 6.17586938e-02 5.99321242e+02] [-5.24692445e-01 8.50528008e-01 -3.60547634e-02 -3.14072939e+02] [-7.14896582e-02 -1.81961306e-03 9.97439681e-01 -3.26148030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.38, Y:-314.10, Z:-32.62 [[ 8.51892971e-01 5.20062975e-01 6.17484236e-02 5.99375146e+02] [-5.18812095e-01 8.54126920e-01 -3.60723438e-02 -3.14102656e+02] [-7.15008814e-02 -1.30605285e-03 9.97439682e-01 -3.26244679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.42, Y:-314.14, Z:-32.62 [[ 8.51665061e-01 5.20436441e-01 6.17457186e-02 5.99423058e+02] [-5.19186205e-01 8.53899371e-01 -3.60769735e-02 -3.14140379e+02] [-7.15004020e-02 -1.33202742e-03 9.97439682e-01 -3.26210797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.48, Y:-314.17, Z:-32.62 [[ 8.52987146e-01 5.18267508e-01 6.17391237e-02 5.99475251e+02] [-5.17010774e-01 8.55217807e-01 -3.60882559e-02 -3.14173342e+02] [-7.15037684e-02 -1.13697369e-03 9.97439682e-01 -3.26220375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.53, Y:-314.21, Z:-32.63 [[ 8.53429009e-01 5.17540538e-01 6.17310135e-02 5.99529646e+02] [-5.16280901e-01 8.55658032e-01 -3.61021235e-02 -3.14205372e+02] [-7.15049500e-02 -1.05994377e-03 9.97439682e-01 -3.26254922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.58, Y:-314.24, Z:-32.63 [[ 8.54213857e-01 5.16245322e-01 6.17207740e-02 5.99583494e+02] [-5.14981041e-01 8.56440249e-01 -3.61196208e-02 -3.14236508e+02] [-7.15067403e-02 -9.31147852e-04 9.97439682e-01 -3.26305492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.64, Y:-314.27, Z:-32.64 [[ 8.54519085e-01 5.15741063e-01 6.17113298e-02 5.99636957e+02] [-5.14474304e-01 8.56744068e-01 -3.61357493e-02 -3.14266693e+02] [-7.15075055e-02 -8.70206017e-04 9.97439682e-01 -3.26366359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.69, Y:-314.30, Z:-32.64 [[ 8.54281927e-01 5.16134847e-01 6.17025788e-02 5.99691331e+02] [-5.14868035e-01 8.56506879e-01 -3.61506856e-02 -3.14297994e+02] [-7.15073118e-02 -8.85808071e-04 9.97439682e-01 -3.26400685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.75, Y:-314.33, Z:-32.64 [[ 8.54006589e-01 5.16591517e-01 6.16923831e-02 5.99746470e+02] [-5.15324638e-01 8.56231504e-01 -3.61680766e-02 -3.14328070e+02] [-7.15070835e-02 -9.03829200e-04 9.97439682e-01 -3.26434983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.80, Y:-314.36, Z:-32.65 [[ 8.54710764e-01 5.15426839e-01 6.16821233e-02 5.99802088e+02] [-5.14155666e-01 8.56933227e-01 -3.61855655e-02 -3.14357717e+02] [-7.15084726e-02 -7.86020839e-04 9.97439683e-01 -3.26484362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.85, Y:-314.39, Z:-32.65 [[ 8.55626676e-01 5.13906203e-01 6.16717621e-02 5.99854884e+02] [-5.12629808e-01 8.57846144e-01 -3.62032157e-02 -3.14388714e+02] [-7.15099404e-02 -6.38346453e-04 9.97439683e-01 -3.26541787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.91, Y:-314.42, Z:-32.66 [[ 8.57703156e-01 5.10433813e-01 6.16653807e-02 5.99908110e+02] [-5.09147651e-01 8.59916979e-01 -3.62140820e-02 -3.14422658e+02] [-7.15119998e-02 -3.35851309e-04 9.97439683e-01 -3.26591376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:599.96, Y:-314.45, Z:-32.66 [[ 8.59437068e-01 5.07510266e-01 6.16543334e-02 5.99961813e+02] [-5.06215224e-01 8.61645707e-01 -3.62328802e-02 -3.14453656e+02] [-7.15127504e-02 -7.04818855e-05 9.97439683e-01 -3.26616440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.02, Y:-314.48, Z:-32.67 [[ 8.60229743e-01 5.06166781e-01 6.16439670e-02 6.00015872e+02] [-5.04867027e-01 8.62435613e-01 -3.62505084e-02 -3.14483610e+02] [-7.15127556e-02 6.17591963e-05 9.97439683e-01 -3.26653451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.07, Y:-314.51, Z:-32.67 [[ 8.60710014e-01 5.05350734e-01 6.16352742e-02 6.00069122e+02] [-5.04047830e-01 8.62914025e-01 -3.62652824e-02 -3.14514690e+02] [-7.15126296e-02 1.46765538e-04 9.97439684e-01 -3.26677605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.12, Y:-314.55, Z:-32.67 [[ 8.61032306e-01 5.04802503e-01 6.16262986e-02 6.00122514e+02] [-5.03497105e-01 8.63234840e-01 -3.62805284e-02 -3.14546487e+02] [-7.15124695e-02 2.10044154e-04 9.97439684e-01 -3.26728715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.18, Y:-314.57, Z:-32.68 [[ 8.61596812e-01 5.03839560e-01 6.16168123e-02 6.00176419e+02] [-5.02530548e-01 8.63797200e-01 -3.62966322e-02 -3.14574415e+02] [-7.15121091e-02 3.08732124e-04 9.97439684e-01 -3.26805312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.23, Y:-314.61, Z:-32.68 [[ 8.62545282e-01 5.02215090e-01 6.16087614e-02 6.00229821e+02] [-5.00900959e-01 8.64742616e-01 -3.63102924e-02 -3.14606255e+02] [-7.15112983e-02 4.59383774e-04 9.97439684e-01 -3.26828586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.28, Y:-314.64, Z:-32.69 [[ 8.63254129e-01 5.00996731e-01 6.16001995e-02 6.00284442e+02] [-4.99678462e-01 8.65448983e-01 -3.63248118e-02 -3.14637079e+02] [-7.15104420e-02 5.77250808e-04 9.97439684e-01 -3.26879186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.34, Y:-314.67, Z:-32.69 [[ 8.63777508e-01 5.00095070e-01 6.15900697e-02 6.00339766e+02] [-4.98773287e-01 8.65970247e-01 -3.63419792e-02 -3.14667137e+02] [-7.15096126e-02 6.71902717e-04 9.97439684e-01 -3.26939383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.40, Y:-314.70, Z:-32.70 [[ 8.64320805e-01 4.99156745e-01 6.15799401e-02 6.00395376e+02] [-4.97831359e-01 8.66511368e-01 -3.63591354e-02 -3.14696126e+02] [-7.15086258e-02 7.69531908e-04 9.97439685e-01 -3.26984161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.45, Y:-314.73, Z:-32.70 [[ 8.63986704e-01 4.99736080e-01 6.15696806e-02 6.00448828e+02] [-4.98410925e-01 8.66177407e-01 -3.63765003e-02 -3.14726512e+02] [-7.15089159e-02 7.41811148e-04 9.97439685e-01 -3.27041783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.50, Y:-314.76, Z:-32.71 [[ 8.62682251e-01 5.01985656e-01 6.15608305e-02 6.00503358e+02] [-5.00665145e-01 8.64875756e-01 -3.63914714e-02 -3.14756878e+02] [-7.15104664e-02 5.72914281e-04 9.97439685e-01 -3.27086770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.55, Y:-314.79, Z:-32.71 [[ 8.59161277e-01 5.07989425e-01 6.15519709e-02 6.00554816e+02] [-5.06683170e-01 8.61363301e-01 -3.64064503e-02 -3.14791740e+02] [-7.15127005e-02 9.16645520e-05 9.97439685e-01 -3.27082857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.61, Y:-314.82, Z:-32.72 [[ 8.57703880e-01 5.10446746e-01 6.15481396e-02 6.00610938e+02] [-5.09146335e-01 8.59909361e-01 -3.64129261e-02 -3.14815532e+02] [-7.15126811e-02 -1.05501693e-04 9.97439685e-01 -3.27172981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.66, Y:-314.85, Z:-32.72 [[ 8.55734928e-01 5.13741943e-01 6.15381890e-02 6.00664892e+02] [-5.12448816e-01 8.57944687e-01 -3.64297352e-02 -3.14845524e+02] [-7.15118452e-02 -3.60975258e-04 9.97439685e-01 -3.27206026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.72, Y:-314.88, Z:-32.73 [[ 8.54769894e-01 5.15347105e-01 6.15287731e-02 6.00720294e+02] [-5.14056983e-01 8.56981408e-01 -3.64456314e-02 -3.14875011e+02] [-7.15111652e-02 -4.76666997e-04 9.97439685e-01 -3.27269412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.78, Y:-314.90, Z:-32.73 [[ 8.52856633e-01 5.18508519e-01 6.15181290e-02 6.00775782e+02] [-5.17225299e-01 8.55072159e-01 -3.64635892e-02 -3.14904897e+02] [-7.15091210e-02 -7.20518730e-04 9.97439686e-01 -3.27329181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.83, Y:-314.93, Z:-32.74 [[ 8.51972371e-01 5.19961472e-01 6.15072835e-02 6.00829853e+02] [-5.18680711e-01 8.54189319e-01 -3.64818744e-02 -3.14934104e+02] [-7.15080337e-02 -8.21092429e-04 9.97439686e-01 -3.27396538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.88, Y:-314.96, Z:-32.75 [[ 8.51942636e-01 5.20010982e-01 6.15006017e-02 6.00882637e+02] [-5.18729537e-01 8.54159188e-01 -3.64931350e-02 -3.14963627e+02] [-7.15081350e-02 -8.12120950e-04 9.97439686e-01 -3.27485595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.94, Y:-315.00, Z:-32.75 [[ 8.52909249e-01 5.18425042e-01 6.14921936e-02 6.00936787e+02] [-5.17138453e-01 8.55122820e-01 -3.65072975e-02 -3.14996537e+02] [-7.15096752e-02 -6.62566175e-04 9.97439686e-01 -3.27511506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:600.99, Y:-315.03, Z:-32.76 [[ 8.53733589e-01 5.17067732e-01 6.14810539e-02 6.00991027e+02] [-5.15776274e-01 8.55944323e-01 -3.65260479e-02 -3.15028867e+02] [-7.15107998e-02 -5.26954919e-04 9.97439686e-01 -3.27557417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.04, Y:-315.06, Z:-32.76 [[ 8.54473545e-01 5.15845335e-01 6.14699277e-02 6.01043129e+02] [-5.14549368e-01 8.56681638e-01 -3.65447628e-02 -3.15061451e+02] [-7.15116037e-02 -4.02779498e-04 9.97439687e-01 -3.27601918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.10, Y:-315.10, Z:-32.76 [[ 8.58459130e-01 5.09186244e-01 6.14596780e-02 6.01095916e+02] [-5.07871915e-01 8.60656342e-01 -3.65619922e-02 -3.15095973e+02] [-7.15125251e-02 1.73331601e-04 9.97439687e-01 -3.27641693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.15, Y:-315.13, Z:-32.77 [[ 8.60231877e-01 5.06186871e-01 6.14489101e-02 6.01149500e+02] [-5.04863589e-01 8.62423709e-01 -3.65800807e-02 -3.15128920e+02] [-7.15113536e-02 4.44034213e-04 9.97439687e-01 -3.27683282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.20, Y:-315.16, Z:-32.77 [[ 8.62210662e-01 5.02810229e-01 6.14381697e-02 6.01203027e+02] [-5.01477078e-01 8.64396505e-01 -3.65981109e-02 -3.15162112e+02] [-7.15088437e-02 7.45447590e-04 9.97439687e-01 -3.27727948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.25, Y:-315.20, Z:-32.77 [[ 8.63695654e-01 5.00256426e-01 6.14273966e-02 6.01254728e+02] [-4.98915527e-01 8.65876753e-01 -3.66161838e-02 -3.15197060e+02] [-7.15060360e-02 9.78156890e-04 9.97439687e-01 -3.27741472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.31, Y:-315.23, Z:-32.78 [[ 8.64078384e-01 4.99596207e-01 6.14180423e-02 6.01307106e+02] [-4.98252527e-01 8.66257771e-01 -3.66318676e-02 -3.15228855e+02] [-7.15049985e-02 1.05111015e-03 9.97439688e-01 -3.27801611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.36, Y:-315.26, Z:-32.78 [[ 8.62428705e-01 5.02439650e-01 6.14095065e-02 6.01359775e+02] [-5.01102138e-01 8.64611881e-01 -3.66461715e-02 -3.15261258e+02] [-7.15078785e-02 8.32275230e-04 9.97439688e-01 -3.27821049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.41, Y:-315.29, Z:-32.79 [[ 8.58598161e-01 5.08958957e-01 6.14001575e-02 6.01412590e+02] [-5.07636903e-01 8.60790733e-01 -3.66618289e-02 -3.15292832e+02] [-7.15120527e-02 3.08793086e-04 9.97439688e-01 -3.27856728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.47, Y:-315.33, Z:-32.79 [[ 8.54669345e-01 5.15530352e-01 6.13902807e-02 6.01466077e+02] [-5.14223969e-01 8.56871290e-01 -3.66783602e-02 -3.15325364e+02] [-7.15123769e-02 -2.20483635e-04 9.97439688e-01 -3.27897633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.52, Y:-315.36, Z:-32.79 [[ 8.51086276e-01 5.21425592e-01 6.13799865e-02 6.01520780e+02] [-5.20133218e-01 8.53296472e-01 -3.66955791e-02 -3.15357011e+02] [-7.15093400e-02 -6.94666115e-04 9.97439688e-01 -3.27945623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.57, Y:-315.39, Z:-32.80 [[ 8.48773346e-01 5.25183368e-01 6.13696813e-02 6.01574277e+02] [-5.23899533e-01 8.50988513e-01 -3.67128055e-02 -3.15389667e+02] [-7.15058486e-02 -9.90696603e-04 9.97439688e-01 -3.27979786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.63, Y:-315.42, Z:-32.80 [[ 8.46051095e-01 5.29558833e-01 6.13594840e-02 6.01628257e+02] [-5.28285219e-01 8.48272154e-01 -3.67298408e-02 -3.15421856e+02] [-7.15001532e-02 -1.33998640e-03 9.97439689e-01 -3.28004764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.68, Y:-315.45, Z:-32.81 [[ 8.44726065e-01 5.31671109e-01 6.13490613e-02 6.01682585e+02] [-5.30401784e-01 8.46949578e-01 -3.67472413e-02 -3.15452688e+02] [-7.14970081e-02 -1.49829910e-03 9.97439689e-01 -3.28061765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.74, Y:-315.49, Z:-32.81 [[ 8.44152166e-01 5.32583043e-01 6.13385875e-02 6.01735115e+02] [-5.31314852e-01 8.46376325e-01 -3.67647159e-02 -3.15485082e+02] [-7.14957926e-02 -1.55508798e-03 9.97439689e-01 -3.28120437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.79, Y:-315.52, Z:-32.82 [[ 8.45449352e-01 5.30522460e-01 6.13295412e-02 6.01789092e+02] [-5.29247754e-01 8.47669783e-01 -3.67798005e-02 -3.15515767e+02] [-7.14997091e-02 -1.36306343e-03 9.97439689e-01 -3.28177665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.84, Y:-315.55, Z:-32.82 [[ 8.46151204e-01 5.29403433e-01 6.13200193e-02 6.01841560e+02] [-5.28124640e-01 8.48369285e-01 -3.67956688e-02 -3.15547894e+02] [-7.15017742e-02 -1.24991365e-03 9.97439689e-01 -3.28247506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.89, Y:-315.58, Z:-32.83 [[ 8.45290715e-01 5.30777377e-01 6.13105466e-02 6.01893964e+02] [-5.29501046e-01 8.47510212e-01 -3.68114457e-02 -3.15580490e+02] [-7.14999970e-02 -1.34762529e-03 9.97439690e-01 -3.28310495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.95, Y:-315.61, Z:-32.84 [[ 8.44830797e-01 5.31510211e-01 6.13010589e-02 6.01945386e+02] [-5.30234660e-01 8.47050742e-01 -3.68272387e-02 -3.15612307e+02] [-7.14991608e-02 -1.39116065e-03 9.97439690e-01 -3.28385957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:601.99, Y:-315.65, Z:-32.84 [[ 8.43911379e-01 5.32969819e-01 6.12923864e-02 6.01994211e+02] [-5.31697059e-01 8.46132926e-01 -3.68416669e-02 -3.15650248e+02] [-7.14970028e-02 -1.49787972e-03 9.97439690e-01 -3.28381950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.05, Y:-315.68, Z:-32.84 [[ 8.46987199e-01 5.28069093e-01 6.12839156e-02 6.02046703e+02] [-5.26782459e-01 8.49200739e-01 -3.68557522e-02 -3.15682384e+02] [-7.15047300e-02 -1.06694146e-03 9.97439690e-01 -3.28418419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.10, Y:-315.72, Z:-32.85 [[ 8.48417535e-01 5.25769019e-01 6.12749987e-02 6.02098392e+02] [-5.24475313e-01 8.50626949e-01 -3.68705711e-02 -3.15716210e+02] [-7.15075692e-02 -8.55585138e-04 9.97439690e-01 -3.28450285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.15, Y:-315.75, Z:-32.85 [[ 8.49966731e-01 5.23261973e-01 6.12655179e-02 6.02150599e+02] [-5.21960615e-01 8.52171647e-01 -3.68863180e-02 -3.15751889e+02] [-7.15099449e-02 -6.26044250e-04 9.97439690e-01 -3.28492418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.20, Y:-315.78, Z:-32.85 [[ 8.48940197e-01 5.24927031e-01 6.12548250e-02 6.02204048e+02] [-5.23628717e-01 8.51146906e-01 -3.69040666e-02 -3.15784481e+02] [-7.15087969e-02 -7.45439838e-04 9.97439691e-01 -3.28538314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.26, Y:-315.82, Z:-32.86 [[ 8.45759466e-01 5.30037810e-01 6.12441471e-02 6.02255350e+02] [-5.28751547e-01 8.47973221e-01 -3.69217787e-02 -3.15816476e+02] [-7.15033354e-02 -1.15599367e-03 9.97439691e-01 -3.28593037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.31, Y:-315.84, Z:-32.87 [[ 8.44909850e-01 5.31392083e-01 6.12356056e-02 6.02311857e+02] [-5.30108343e-01 8.47125068e-01 -3.69359395e-02 -3.15841559e+02] [-7.15016824e-02 -1.25396632e-03 9.97439691e-01 -3.28685403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.37, Y:-315.87, Z:-32.87 [[ 8.43108652e-01 5.34246352e-01 6.12261102e-02 6.02365695e+02] [-5.32968968e-01 8.45327542e-01 -3.69516727e-02 -3.15872799e+02] [-7.14974136e-02 -1.47734183e-03 9.97439691e-01 -3.28736527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.42, Y:-315.91, Z:-32.87 [[ 8.40334261e-01 5.38600976e-01 6.12153416e-02 6.02416755e+02] [-5.37333791e-01 8.42558991e-01 -3.69695037e-02 -3.15907112e+02] [-7.14893472e-02 -1.82633096e-03 9.97439691e-01 -3.28745186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.47, Y:-315.94, Z:-32.88 [[ 8.40821717e-01 5.37840663e-01 6.12067135e-02 6.02470657e+02] [-5.36570427e-01 8.43044706e-01 -3.69837829e-02 -3.15938947e+02] [-7.14913781e-02 -1.74494452e-03 9.97439691e-01 -3.28783999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.52, Y:-315.97, Z:-32.89 [[ 8.43417224e-01 5.33762489e-01 6.11963362e-02 6.02523830e+02] [-5.32480258e-01 8.45633316e-01 -3.70009461e-02 -3.15968707e+02] [-7.14993778e-02 -1.37860559e-03 9.97439692e-01 -3.28863762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.57, Y:-316.01, Z:-32.88 [[ 8.45684116e-01 5.30164622e-01 6.11870154e-02 6.02573715e+02] [-5.28871847e-01 8.47894073e-01 -3.70163532e-02 -3.16006035e+02] [-7.15048686e-02 -1.05594796e-03 9.97439692e-01 -3.28837829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.63, Y:-316.04, Z:-32.89 [[ 8.49708636e-01 5.23691285e-01 6.11773779e-02 6.02627050e+02] [-5.22380526e-01 8.51907974e-01 -3.70322743e-02 -3.16037669e+02] [-7.15109754e-02 -4.91227634e-04 9.97439692e-01 -3.28930627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.68, Y:-316.07, Z:-32.89 [[ 8.49379563e-01 5.24226074e-01 6.11668349e-02 6.02678451e+02] [-5.22915447e-01 8.51578979e-01 -3.70496802e-02 -3.16071148e+02] [-7.15107992e-02 -5.15841694e-04 9.97439692e-01 -3.28945716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.73, Y:-316.10, Z:-32.90 [[ 8.50931191e-01 5.21704826e-01 6.11570375e-02 6.02732923e+02] [-5.20386519e-01 8.53126013e-01 -3.70658455e-02 -3.16099799e+02] [-7.15120900e-02 -2.84813797e-04 9.97439692e-01 -3.29030558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.78, Y:-316.13, Z:-32.90 [[ 8.49530088e-01 5.23984346e-01 6.11476424e-02 6.02783795e+02] [-5.22670814e-01 8.51727770e-01 -3.70813383e-02 -3.16133302e+02] [-7.15111859e-02 -4.58375423e-04 9.97439693e-01 -3.29048769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.84, Y:-316.17, Z:-32.91 [[ 8.49993691e-01 5.23232968e-01 6.11390819e-02 6.02836786e+02] [-5.21916478e-01 8.52189602e-01 -3.70954473e-02 -3.16166172e+02] [-7.15116509e-02 -3.78598076e-04 9.97439693e-01 -3.29080165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.89, Y:-316.20, Z:-32.91 [[ 8.50004831e-01 5.23216076e-01 6.11287560e-02 6.02891074e+02] [-5.21898319e-01 8.52199982e-01 -3.71124553e-02 -3.16197788e+02] [-7.15117580e-02 -3.57228789e-04 9.97439693e-01 -3.29124716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:602.94, Y:-316.23, Z:-32.92 [[ 8.49960767e-01 5.23288849e-01 6.11185364e-02 6.02944588e+02] [-5.21970070e-01 8.52155304e-01 -3.71292779e-02 -3.16230032e+02] [-7.15118220e-02 -3.43617193e-04 9.97439693e-01 -3.29154523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.00, Y:-316.26, Z:-32.92 [[ 8.49400900e-01 5.24198369e-01 6.11079432e-02 6.02998076e+02] [-5.22880687e-01 8.51596096e-01 -3.71467042e-02 -3.16259530e+02] [-7.15115276e-02 -3.99719336e-04 9.97439693e-01 -3.29212110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.05, Y:-316.29, Z:-32.93 [[ 8.47634644e-01 5.27050626e-01 6.10994838e-02 6.03051162e+02] [-5.25739328e-01 8.49833659e-01 -3.71606130e-02 -3.16291306e+02] [-7.15099223e-02 -6.23778532e-04 9.97439693e-01 -3.29265217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.10, Y:-316.32, Z:-32.93 [[ 8.46560368e-01 5.28775474e-01 6.10904371e-02 6.03104945e+02] [-5.27467583e-01 8.48761411e-01 -3.71754796e-02 -3.16323620e+02] [-7.15086874e-02 -7.51937516e-04 9.97439694e-01 -3.29296394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.16, Y:-316.36, Z:-32.93 [[ 8.45005303e-01 5.31258194e-01 6.10800313e-02 6.03158299e+02] [-5.29955534e-01 8.47209446e-01 -3.71925687e-02 -3.16355470e+02] [-7.15064363e-02 -9.41782816e-04 9.97439694e-01 -3.29319064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.21, Y:-316.39, Z:-32.93 [[ 8.43115627e-01 5.34253089e-01 6.10710776e-02 6.03210406e+02] [-5.32957194e-01 8.45323754e-01 -3.72072650e-02 -3.16389281e+02] [-7.15029289e-02 -1.17824357e-03 9.97439694e-01 -3.29341742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.26, Y:-316.42, Z:-32.94 [[ 8.42598166e-01 5.35069910e-01 6.10616293e-02 6.03263725e+02] [-5.33775032e-01 8.44806890e-01 -3.72227644e-02 -3.16418723e+02] [-7.15020663e-02 -1.22934011e-03 9.97439694e-01 -3.29446612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.32, Y:-316.45, Z:-32.94 [[ 8.40138527e-01 5.38924658e-01 6.10529912e-02 6.03315294e+02] [-5.37638885e-01 8.42352563e-01 -3.72369273e-02 -3.16453499e+02] [-7.14960419e-02 -1.54028487e-03 9.97439694e-01 -3.29430351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.37, Y:-316.48, Z:-32.95 [[ 8.37876816e-01 5.42435378e-01 6.10434408e-02 6.03368355e+02] [-5.41157742e-01 8.40095557e-01 -3.72525770e-02 -3.16484956e+02] [-7.14894391e-02 -1.82105991e-03 9.97439694e-01 -3.29451588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.42, Y:-316.51, Z:-32.96 [[ 8.38839523e-01 5.40946502e-01 6.10338907e-02 6.03422932e+02] [-5.39663790e-01 8.41055333e-01 -3.72682171e-02 -3.16511577e+02] [-7.14929910e-02 -1.67572736e-03 9.97439695e-01 -3.29588362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.48, Y:-316.54, Z:-32.96 [[ 8.39085981e-01 5.40565121e-01 6.10251330e-02 6.03475480e+02] [-5.39280360e-01 8.41300603e-01 -3.72825519e-02 -3.16544683e+02] [-7.14941284e-02 -1.62638909e-03 9.97439695e-01 -3.29632379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.52, Y:-316.58, Z:-32.96 [[ 8.37681158e-01 5.42740585e-01 6.10158621e-02 6.03524481e+02] [-5.41460471e-01 8.39898469e-01 -3.72977184e-02 -3.16583935e+02] [-7.14901147e-02 -1.79408142e-03 9.97439695e-01 -3.29568664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.58, Y:-316.62, Z:-32.96 [[ 8.38450337e-01 5.41551782e-01 6.10139330e-02 6.03577078e+02] [-5.40268294e-01 8.40665698e-01 -3.73008740e-02 -3.16619386e+02] [-7.14926753e-02 -1.68896314e-03 9.97439695e-01 -3.29581884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.63, Y:-316.65, Z:-32.96 [[ 8.39373645e-01 5.40120846e-01 6.10029223e-02 6.03628551e+02] [-5.38832274e-01 8.41586052e-01 -3.73188724e-02 -3.16653698e+02] [-7.14959095e-02 -1.54586537e-03 9.97439695e-01 -3.29609325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.68, Y:-316.68, Z:-32.97 [[ 8.40747635e-01 5.37980697e-01 6.09933106e-02 6.03682269e+02] [-5.36685355e-01 8.42956084e-01 -3.73345751e-02 -3.16682974e+02] [-7.14999630e-02 -1.34526087e-03 9.97439695e-01 -3.29748015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.73, Y:-316.72, Z:-32.97 [[ 8.39087553e-01 5.40566704e-01 6.09894860e-02 6.03733871e+02] [-5.39277713e-01 8.41299716e-01 -3.73408219e-02 -3.16716312e+02] [-7.14956422e-02 -1.55805169e-03 9.97439695e-01 -3.29721132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.79, Y:-316.74, Z:-32.98 [[ 8.39321937e-01 5.40203756e-01 6.09802279e-02 6.03789497e+02] [-5.38912712e-01 8.41532901e-01 -3.73559349e-02 -3.16742533e+02] [-7.14966845e-02 -1.50936434e-03 9.97439695e-01 -3.29831754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.85, Y:-316.77, Z:-32.99 [[ 8.40384401e-01 5.38549695e-01 6.09777479e-02 6.03845589e+02] [-5.37254005e-01 8.42592646e-01 -3.73599826e-02 -3.16766594e+02] [-7.14996092e-02 -1.36379265e-03 9.97439695e-01 -3.29933819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.90, Y:-316.80, Z:-33.00 [[ 8.40775022e-01 5.37940772e-01 6.09679294e-02 6.03899261e+02] [-5.36642322e-01 8.42981645e-01 -3.73759988e-02 -3.16798738e+02] [-7.15009190e-02 -1.29316501e-03 9.97439696e-01 -3.29971732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:603.95, Y:-316.83, Z:-33.00 [[ 8.43455395e-01 5.33729505e-01 6.09574675e-02 6.03951071e+02] [-5.32418803e-01 8.45654762e-01 -3.73930536e-02 -3.16831788e+02] [-7.15067487e-02 -9.15529141e-04 9.97439696e-01 -3.30022960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:604.00, Y:-316.87, Z:-33.01 [[ 8.47849294e-01 5.26722761e-01 6.09483942e-02 6.04001910e+02] [-5.25392819e-01 8.50037081e-01 -3.74078366e-02 -3.16868855e+02] [-7.15119541e-02 -3.05640837e-04 9.97439696e-01 -3.30057017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.05, Y:-316.90, Z:-33.01 [[ 8.52678480e-01 5.18870133e-01 6.09359970e-02 6.04054016e+02] [-5.17518600e-01 8.54852994e-01 -3.74280203e-02 -3.16900153e+02] [-7.15116014e-02 3.78555585e-04 9.97439696e-01 -3.30083823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters Centerline goodness : 0.997080 with order 1 Centerline is valid? [True, True] Translation: X:604.10, Y:-316.94, Z:-33.01 [[ 8.56823846e-01 5.11996999e-01 6.09259328e-02 6.04102948e+02] [-5.10626861e-01 8.58986686e-01 -3.74443958e-02 -3.16940400e+02] [-7.15059834e-02 9.72833455e-04 9.97439696e-01 -3.30122505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.16, Y:-316.97, Z:-33.01 [[ 8.58077213e-01 5.09895201e-01 6.09128972e-02 6.04156801e+02] [-5.08518261e-01 8.60235728e-01 -3.74655896e-02 -3.16971438e+02] [-7.15029749e-02 1.17304815e-03 9.97439697e-01 -3.30110558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.21, Y:-317.01, Z:-33.02 [[ 8.57132781e-01 5.11482594e-01 6.09011675e-02 6.04209649e+02] [-5.10108298e-01 8.59292980e-01 -3.74846468e-02 -3.17005369e+02] [-7.15046902e-02 1.06312863e-03 9.97439697e-01 -3.30150432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.26, Y:-317.03, Z:-33.02 [[ 8.55081433e-01 5.14905940e-01 6.08901952e-02 6.04262155e+02] [-5.13539024e-01 8.57246310e-01 -3.75024619e-02 -3.17034939e+02] [-7.15081356e-02 7.98167383e-04 9.97439697e-01 -3.30224492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.31, Y:-317.07, Z:-33.02 [[ 8.51106700e-01 5.21450552e-01 6.08827323e-02 6.04313704e+02] [-5.20099418e-01 8.53281461e-01 -3.75145736e-02 -3.17069408e+02] [-7.15121019e-02 2.63831300e-04 9.97439697e-01 -3.30240208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.37, Y:-317.09, Z:-33.03 [[ 8.46553081e-01 5.28811750e-01 6.08770377e-02 6.04369001e+02] [-5.27478862e-01 8.48739073e-01 -3.75238123e-02 -3.17094726e+02] [-7.15117533e-02 -3.45451682e-04 9.97439697e-01 -3.30334793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.42, Y:-317.13, Z:-33.04 [[ 8.44518684e-01 5.32055302e-01 6.08715772e-02 6.04422819e+02] [-5.30730171e-01 8.46709386e-01 -3.75326682e-02 -3.17127572e+02] [-7.15099909e-02 -6.09343022e-04 9.97439697e-01 -3.30383982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.48, Y:-317.16, Z:-33.04 [[ 8.38422956e-01 5.41611343e-01 6.08613152e-02 6.04476897e+02] [-5.40309968e-01 8.40627854e-01 -3.75493012e-02 -3.17158546e+02] [-7.14988443e-02 -1.40177915e-03 9.97439698e-01 -3.30436119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.53, Y:-317.19, Z:-33.05 [[ 8.34213929e-01 5.48073121e-01 6.08520698e-02 6.04529942e+02] [-5.46787730e-01 8.36428182e-01 -3.75642783e-02 -3.17189805e+02] [-7.14863574e-02 -1.93652087e-03 9.97439698e-01 -3.30459750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.58, Y:-317.22, Z:-33.05 [[ 8.32416587e-01 5.50800061e-01 6.08433997e-02 6.04583158e+02] [-5.49520897e-01 8.34634443e-01 -3.75783162e-02 -3.17222568e+02] [-7.14801359e-02 -2.15390583e-03 9.97439698e-01 -3.30495722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.64, Y:-317.26, Z:-33.06 [[ 8.32846242e-01 5.50151374e-01 6.08325782e-02 6.04635263e+02] [-5.48869205e-01 8.35062363e-01 -3.75958261e-02 -3.17255044e+02] [-7.14823919e-02 -2.07758640e-03 9.97439698e-01 -3.30550700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.69, Y:-317.29, Z:-33.06 [[ 8.31314844e-01 5.52463712e-01 6.08233362e-02 6.04685907e+02] [-5.51186614e-01 8.33533890e-01 -3.76107721e-02 -3.17288753e+02] [-7.14768988e-02 -2.25861565e-03 9.97439698e-01 -3.30572141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.74, Y:-317.32, Z:-33.06 [[ 8.30561349e-01 5.53596850e-01 6.08142477e-02 6.04739841e+02] [-5.52321706e-01 8.32781518e-01 -3.76254620e-02 -3.17321601e+02] [-7.14743188e-02 -2.33877461e-03 9.97439698e-01 -3.30622771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.79, Y:-317.35, Z:-33.07 [[ 8.29255144e-01 5.55552736e-01 6.08034865e-02 6.04791041e+02] [-5.54281555e-01 8.31477585e-01 -3.76428443e-02 -3.17354590e+02] [-7.14693212e-02 -2.48672880e-03 9.97439699e-01 -3.30699445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.84, Y:-317.39, Z:-33.08 [[ 8.30453607e-01 5.53760587e-01 6.07948931e-02 6.04841440e+02] [-5.52483595e-01 8.32672714e-01 -3.76567180e-02 -3.17390476e+02] [-7.14750548e-02 -2.31602381e-03 9.97439699e-01 -3.30756674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.89, Y:-317.43, Z:-33.08 [[ 8.32120985e-01 5.51252913e-01 6.07856253e-02 6.04893096e+02] [-5.49968142e-01 8.34335597e-01 -3.76716721e-02 -3.17426461e+02] [-7.14822299e-02 -2.08276850e-03 9.97439699e-01 -3.30787814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:604.94, Y:-317.46, Z:-33.08 [[ 8.34423038e-01 5.47763277e-01 6.07748855e-02 6.04943030e+02] [-5.46467982e-01 8.36631511e-01 -3.76889905e-02 -3.17462690e+02] [-7.14908292e-02 -1.76296712e-03 9.97439699e-01 -3.30819980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.00, Y:-317.49, Z:-33.09 [[ 8.38951990e-01 5.40802203e-01 6.07662433e-02 6.04996778e+02] [-5.39487571e-01 8.41149006e-01 -3.77029193e-02 -3.17493244e+02] [-7.15032869e-02 -1.15169385e-03 9.97439699e-01 -3.30900108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.05, Y:-317.53, Z:-33.09 [[ 8.41948632e-01 5.36125269e-01 6.07634539e-02 6.05048589e+02] [-5.34798107e-01 8.44138102e-01 -3.77074142e-02 -3.17528826e+02] [-7.15086442e-02 -7.48474382e-04 9.97439699e-01 -3.30948572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.10, Y:-317.56, Z:-33.10 [[ 8.42067055e-01 5.35940510e-01 6.07523233e-02 6.05102147e+02] [-5.34611575e-01 8.44255449e-01 -3.77253387e-02 -3.17561204e+02] [-7.15090173e-02 -7.11630380e-04 9.97439699e-01 -3.31003803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.15, Y:-317.60, Z:-33.10 [[ 8.38604396e-01 5.41343882e-01 6.07409904e-02 6.05151596e+02] [-5.40027724e-01 8.40800499e-01 -3.77435769e-02 -3.17597127e+02] [-7.15033095e-02 -1.14988934e-03 9.97439700e-01 -3.30997157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.21, Y:-317.62, Z:-33.11 [[ 8.41782504e-01 5.36389560e-01 6.07326671e-02 6.05206686e+02] [-5.35059510e-01 8.43970220e-01 -3.77569650e-02 -3.17624015e+02] [-7.15090043e-02 -7.12438531e-04 9.97439700e-01 -3.31100457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.26, Y:-317.66, Z:-33.11 [[ 8.39972679e-01 5.39219814e-01 6.07280064e-02 6.05255956e+02] [-5.37896593e-01 8.42164533e-01 -3.77644598e-02 -3.17659059e+02] [-7.15063181e-02 -9.44273315e-04 9.97439700e-01 -3.31082004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.31, Y:-317.69, Z:-33.11 [[ 8.41269470e-01 5.37195037e-01 6.07220856e-02 6.05309211e+02] [-5.35865854e-01 8.43457713e-01 -3.77739776e-02 -3.17690444e+02] [-7.15085047e-02 -7.60798183e-04 9.97439700e-01 -3.31132910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.36, Y:-317.72, Z:-33.12 [[ 8.46305436e-01 5.29226933e-01 6.07121274e-02 6.05363283e+02] [-5.27875997e-01 8.48480318e-01 -3.77899761e-02 -3.17719760e+02] [-7.15125183e-02 -6.66126315e-05 9.97439700e-01 -3.31212556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.42, Y:-317.75, Z:-33.12 [[ 8.48798178e-01 5.25220783e-01 6.07024103e-02 6.05415752e+02] [-5.23858467e-01 8.50965948e-01 -3.78055783e-02 -3.17754019e+02] [-7.15119596e-02 2.89834368e-04 9.97439700e-01 -3.31245368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.47, Y:-317.79, Z:-33.13 [[ 8.52806485e-01 5.18688405e-01 6.06913315e-02 6.05468452e+02] [-5.17308220e-01 8.54962923e-01 -3.78233554e-02 -3.17785989e+02] [-7.15073741e-02 8.59878047e-04 9.97439700e-01 -3.31287644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.52, Y:-317.82, Z:-33.13 [[ 8.55163935e-01 5.14793596e-01 6.06811140e-02 6.05521783e+02] [-5.13402428e-01 8.57313304e-01 -3.78397406e-02 -3.17819270e+02] [-7.15023825e-02 1.20535016e-03 9.97439701e-01 -3.31318872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.57, Y:-317.85, Z:-33.13 [[ 8.56321408e-01 5.12867229e-01 6.06700224e-02 6.05572580e+02] [-5.11469968e-01 8.58466820e-01 -3.78575159e-02 -3.17854562e+02] [-7.14990805e-02 1.38730694e-03 9.97439701e-01 -3.31319717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.63, Y:-317.88, Z:-33.14 [[ 8.61515069e-01 5.04095319e-01 6.06604968e-02 6.05629219e+02] [-5.02675147e-01 8.63645384e-01 -3.78727730e-02 -3.17880338e+02] [-7.14806456e-02 2.13544045e-03 9.97439701e-01 -3.31438651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.68, Y:-317.92, Z:-33.14 [[ 8.62267671e-01 5.02808038e-01 6.06509805e-02 6.05682176e+02] [-5.01383616e-01 8.64395146e-01 -3.78880067e-02 -3.17915352e+02] [-7.14768074e-02 2.26019542e-03 9.97439701e-01 -3.31446450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.74, Y:-317.94, Z:-33.15 [[ 8.65002692e-01 4.98089492e-01 6.06399335e-02 6.05737732e+02] [-4.96652231e-01 8.67121515e-01 -3.79056792e-02 -3.17944377e+02] [-7.14626115e-02 2.67155623e-03 9.97439701e-01 -3.31530946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.79, Y:-317.98, Z:-33.16 [[ 8.64202281e-01 4.99478289e-01 6.06288479e-02 6.05792886e+02] [-4.98043192e-01 8.66322570e-01 -3.79234021e-02 -3.17975397e+02] [-7.14660552e-02 2.57770566e-03 9.97439702e-01 -3.31570394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.85, Y:-318.01, Z:-33.16 [[ 8.59734813e-01 5.07130706e-01 6.06176436e-02 6.05845211e+02] [-5.05713228e-01 8.61866921e-01 -3.79413028e-02 -3.18007156e+02] [-7.14855415e-02 1.96431471e-03 9.97439702e-01 -3.31565838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.90, Y:-318.04, Z:-33.16 [[ 8.56722848e-01 5.12203621e-01 6.06086784e-02 6.05901340e+02] [-5.10797758e-01 8.58862633e-01 -3.79556187e-02 -3.18036279e+02] [-7.14955344e-02 1.55866873e-03 9.97439702e-01 -3.31612109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:605.96, Y:-318.06, Z:-33.17 [[ 8.56668939e-01 5.12295031e-01 6.05981018e-02 6.05959142e+02] [-5.10888203e-01 8.58808089e-01 -3.79724973e-02 -3.18060565e+02] [-7.14952617e-02 1.57100358e-03 9.97439702e-01 -3.31709824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.01, Y:-318.09, Z:-33.17 [[ 8.51754422e-01 5.20426218e-01 6.05884169e-02 6.06012708e+02] [-5.19038718e-01 8.53906157e-01 -3.79879441e-02 -3.18090585e+02] [-7.15067444e-02 9.08665125e-04 9.97439702e-01 -3.31686560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.07, Y:-318.12, Z:-33.17 [[ 8.50738880e-01 5.22085698e-01 6.05795513e-02 6.06066540e+02] [-5.20701389e-01 8.52892670e-01 -3.80020770e-02 -3.18122332e+02] [-7.15081961e-02 7.85987954e-04 9.97439703e-01 -3.31728919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.12, Y:-318.16, Z:-33.18 [[ 8.50593657e-01 5.22323493e-01 6.05689566e-02 6.06120083e+02] [-5.20938584e-01 8.52747061e-01 -3.80189556e-02 -3.18156021e+02] [-7.15081935e-02 7.85976038e-04 9.97439703e-01 -3.31774341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.18, Y:-318.18, Z:-33.18 [[ 8.47605925e-01 5.27159257e-01 6.05583509e-02 6.06176470e+02] [-5.25785428e-01 8.49766414e-01 -3.80358414e-02 -3.18184686e+02] [-7.15113986e-02 3.98706089e-04 9.97439703e-01 -3.31820095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.23, Y:-318.21, Z:-33.19 [[ 8.44935042e-01 5.31430886e-01 6.05474006e-02 6.06230416e+02] [-5.30066731e-01 8.47101653e-01 -3.80532648e-02 -3.18214859e+02] [-7.15124833e-02 5.83742345e-05 9.97439703e-01 -3.31882821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.28, Y:-318.25, Z:-33.19 [[ 8.43610505e-01 5.33532073e-01 6.05379551e-02 6.06283622e+02] [-5.32172236e-01 8.45779828e-01 -3.80682854e-02 -3.18247698e+02] [-7.15124325e-02 -1.01813528e-04 9.97439703e-01 -3.31921120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.34, Y:-318.28, Z:-33.20 [[ 8.41976297e-01 5.36108562e-01 6.05270607e-02 6.06336836e+02] [-5.34754118e-01 8.44148992e-01 -3.80855993e-02 -3.18278778e+02] [-7.15118731e-02 -2.99923111e-04 9.97439703e-01 -3.31988858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.39, Y:-318.31, Z:-33.20 [[ 8.41715790e-01 5.36518614e-01 6.05169958e-02 6.06389764e+02] [-5.35164079e-01 8.43888427e-01 -3.81015854e-02 -3.18312920e+02] [-7.15118022e-02 -3.15816249e-04 9.97439704e-01 -3.32030149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.44, Y:-318.35, Z:-33.21 [[ 8.41520770e-01 5.36825642e-01 6.05063926e-02 6.06441955e+02] [-5.35470690e-01 8.43693147e-01 -3.81184161e-02 -3.18347318e+02] [-7.15117720e-02 -3.21960945e-04 9.97439704e-01 -3.32073443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.49, Y:-318.38, Z:-33.21 [[ 8.40382979e-01 5.38606275e-01 6.04956998e-02 6.06494175e+02] [-5.37254705e-01 8.42557461e-01 -3.81353787e-02 -3.18382282e+02] [-7.15110575e-02 -4.53276202e-04 9.97439704e-01 -3.32107711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.55, Y:-318.41, Z:-33.22 [[ 8.39089268e-01 5.40620715e-01 6.04850654e-02 6.06546162e+02] [-5.39273149e-01 8.41266234e-01 -3.81522380e-02 -3.18414946e+02] [-7.15099334e-02 -6.04838231e-04 9.97439704e-01 -3.32167834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.60, Y:-318.45, Z:-33.22 [[ 8.36699301e-01 5.44313353e-01 6.04752359e-02 6.06596911e+02] [-5.42974269e-01 8.38881494e-01 -3.81678124e-02 -3.18452170e+02] [-7.15068062e-02 -9.01515098e-04 9.97439704e-01 -3.32198160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.65, Y:-318.49, Z:-33.22 [[ 8.34295370e-01 5.47992005e-01 6.04648509e-02 6.06648739e+02] [-5.46661351e-01 8.36482714e-01 -3.81842572e-02 -3.18488066e+02] [-7.15024702e-02 -1.19684813e-03 9.97439705e-01 -3.32244265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.70, Y:-318.52, Z:-33.23 [[ 8.33081980e-01 5.49836059e-01 6.04543111e-02 6.06700630e+02] [-5.48509036e-01 8.35271528e-01 -3.82009367e-02 -3.18522615e+02] [-7.15000173e-02 -1.33522397e-03 9.97439705e-01 -3.32284171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.75, Y:-318.56, Z:-33.23 [[ 8.31221092e-01 5.52646424e-01 6.04435756e-02 6.06751479e+02] [-5.51325570e-01 8.33414367e-01 -3.82179156e-02 -3.18560093e+02] [-7.14955387e-02 -1.55655118e-03 9.97439705e-01 -3.32329332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.80, Y:-318.60, Z:-33.24 [[ 8.29546559e-01 5.55157972e-01 6.04328717e-02 6.06800670e+02] [-5.53842526e-01 8.31743082e-01 -3.82348338e-02 -3.18597256e+02] [-7.14909958e-02 -1.75271950e-03 9.97439705e-01 -3.32373561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.85, Y:-318.63, Z:-33.24 [[ 8.27923241e-01 5.57577054e-01 6.04229692e-02 6.06851762e+02] [-5.56266885e-01 8.30122915e-01 -3.82504766e-02 -3.18633869e+02] [-7.14860793e-02 -1.94283829e-03 9.97439705e-01 -3.32422975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.90, Y:-318.67, Z:-33.25 [[ 8.26835913e-01 5.59189321e-01 6.04125517e-02 6.06903817e+02] [-5.57882240e-01 8.29037423e-01 -3.82669227e-02 -3.18669433e+02] [-7.14827208e-02 -2.06262368e-03 9.97439706e-01 -3.32477842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:606.95, Y:-318.71, Z:-33.25 [[ 8.24432251e-01 5.62728216e-01 6.04021483e-02 6.06953650e+02] [-5.61429382e-01 8.26638636e-01 -3.82833370e-02 -3.18707763e+02] [-7.14738634e-02 -2.34952312e-03 9.97439706e-01 -3.32511642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.01, Y:-318.74, Z:-33.26 [[ 8.23973460e-01 5.63400941e-01 6.03913633e-02 6.07005688e+02] [-5.62102664e-01 8.26180174e-01 -3.83003426e-02 -3.18743302e+02] [-7.14725961e-02 -2.38768041e-03 9.97439706e-01 -3.32561101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.06, Y:-318.78, Z:-33.26 [[ 8.23877817e-01 5.63541936e-01 6.03807049e-02 6.07057029e+02] [-5.62242808e-01 8.26084029e-01 -3.83171383e-02 -3.18777596e+02] [-7.14728502e-02 -2.37997683e-03 9.97439706e-01 -3.32621992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.11, Y:-318.82, Z:-33.26 [[ 8.24807770e-01 5.62180962e-01 6.03714157e-02 6.07106059e+02] [-5.60877124e-01 8.27011201e-01 -3.83317685e-02 -3.18815751e+02] [-7.14772276e-02 -2.24460551e-03 9.97439706e-01 -3.32625704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters Centerline goodness : 0.998505 with order 1 Centerline is valid? [True, True] Translation: X:607.16, Y:-318.85, Z:-33.27 [[ 8.27170645e-01 5.58698733e-01 6.03692823e-02 6.07156773e+02] [-5.57385372e-01 8.29368414e-01 -3.83351281e-02 -3.18849398e+02] [-7.14861634e-02 -1.93926217e-03 9.97439706e-01 -3.32732931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.21, Y:-318.88, Z:-33.28 [[ 8.30272604e-01 5.54079709e-01 6.03579260e-02 6.07206366e+02] [-5.52752820e-01 8.32462232e-01 -3.83530001e-02 -3.18884423e+02] [-7.14963129e-02 -1.51956859e-03 9.97439707e-01 -3.32750954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.26, Y:-318.92, Z:-33.28 [[ 8.32198736e-01 5.51183171e-01 6.03521018e-02 6.07258462e+02] [-5.49847996e-01 8.34383321e-01 -3.83621628e-02 -3.18919550e+02] [-7.15013657e-02 -1.25953883e-03 9.97439707e-01 -3.32791654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.31, Y:-318.95, Z:-33.28 [[ 8.33430872e-01 5.49319497e-01 6.03412947e-02 6.07311326e+02] [-5.47978207e-01 8.35611708e-01 -3.83791543e-02 -3.18953485e+02] [-7.15043100e-02 -1.07934236e-03 9.97439707e-01 -3.32838183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.36, Y:-318.99, Z:-33.28 [[ 8.31455311e-01 5.52306359e-01 6.03303627e-02 6.07362346e+02] [-5.50971656e-01 8.33640184e-01 -3.83963312e-02 -3.18988965e+02] [-7.15003525e-02 -1.31548637e-03 9.97439707e-01 -3.32818305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.42, Y:-319.02, Z:-33.29 [[ 8.32471920e-01 5.50773171e-01 6.03275859e-02 6.07416663e+02] [-5.49434128e-01 8.34654135e-01 -3.84006935e-02 -3.19015021e+02] [-7.15027408e-02 -1.17853552e-03 9.97439707e-01 -3.32931840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.47, Y:-319.05, Z:-33.29 [[ 8.29818189e-01 5.54763815e-01 6.03231545e-02 6.07466906e+02] [-5.53434759e-01 8.32006502e-01 -3.84076535e-02 -3.19051019e+02] [-7.14964332e-02 -1.51356100e-03 9.97439707e-01 -3.32874556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.52, Y:-319.08, Z:-33.29 [[ 8.30278847e-01 5.54074958e-01 6.03156520e-02 6.07518317e+02] [-5.52743232e-01 8.32465535e-01 -3.84194319e-02 -3.19084082e+02] [-7.14979467e-02 -1.44022680e-03 9.97439707e-01 -3.32926745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.57, Y:-319.12, Z:-33.30 [[ 8.30713921e-01 5.53423441e-01 6.03065273e-02 6.07570230e+02] [-5.52088961e-01 8.32898929e-01 -3.84337496e-02 -3.19117009e+02] [-7.14993799e-02 -1.36711718e-03 9.97439707e-01 -3.32988891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.62, Y:-319.15, Z:-33.31 [[ 8.33267273e-01 5.49572531e-01 6.02966448e-02 6.07622530e+02] [-5.48226831e-01 8.35445389e-01 -3.84492475e-02 -3.19145244e+02] [-7.15052041e-02 -1.01773887e-03 9.97439707e-01 -3.33144927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.67, Y:-319.18, Z:-33.31 [[ 8.31343099e-01 5.52479637e-01 6.02901588e-02 6.07672323e+02] [-5.51140816e-01 8.33525449e-01 -3.84594152e-02 -3.19183105e+02] [-7.15014254e-02 -1.25539791e-03 9.97439708e-01 -3.33095689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.73, Y:-319.21, Z:-33.32 [[ 8.32893346e-01 5.50139992e-01 6.02881715e-02 6.07725136e+02] [-5.48794814e-01 8.35071785e-01 -3.84625301e-02 -3.19211108e+02] [-7.15047270e-02 -1.05065048e-03 9.97439708e-01 -3.33235659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.78, Y:-319.25, Z:-33.33 [[ 8.31828168e-01 5.51749753e-01 6.02835777e-02 6.07777454e+02] [-5.50408270e-01 8.34008883e-01 -3.84697289e-02 -3.19245340e+02] [-7.15027027e-02 -1.18037562e-03 9.97439708e-01 -3.33273868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.83, Y:-319.28, Z:-33.33 [[ 8.30276771e-01 5.54082731e-01 6.02728098e-02 6.07829753e+02] [-5.52746151e-01 8.32460495e-01 -3.84865921e-02 -3.19279782e+02] [-7.14994891e-02 -1.36104020e-03 9.97439708e-01 -3.33311090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:607.88, Y:-319.31, Z:-33.34 [[ 8.29400076e-01 5.55395374e-01 6.02618703e-02 6.07881695e+02] [-5.54061006e-01 8.31585152e-01 -3.85037135e-02 -3.19312543e+02] [-7.14976609e-02 -1.45376956e-03 9.97439708e-01 -3.33359702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters Centerline goodness : 0.998589 with order 1 Centerline is valid? [True, True] Translation: X:607.93, Y:-319.35, Z:-33.34 [[ 8.27036329e-01 5.58910222e-01 6.02517628e-02 6.07932518e+02] [-5.57583988e-01 8.29226352e-01 -3.85195236e-02 -3.19348884e+02] [-7.14913049e-02 -1.73837286e-03 9.97439708e-01 -3.33413284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters Centerline goodness : 0.997573 with order 1 Centerline is valid? [True, True] Translation: X:608.43, Y:-318.77, Z:-32.35 [[ 8.90726973e-01 4.50528218e-01 6.02476942e-02 6.08433627e+02] [-4.48936816e-01 8.92732598e-01 -3.85258862e-02 -3.18767593e+02] [-7.11420794e-02 7.26863795e-03 9.97439708e-01 -3.23468696e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.49, Y:-318.79, Z:-32.35 [[ 8.92078245e-01 4.47311542e-01 6.40998465e-02 6.08489050e+02] [-4.46278827e-01 8.94376995e-01 -3.04137987e-02 -3.18794837e+02] [-7.09338713e-02 -1.47491618e-03 9.97479930e-01 -3.23455409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.54, Y:-318.82, Z:-32.35 [[ 8.92764980e-01 4.45940035e-01 6.40950490e-02 6.08543945e+02] [-4.44903064e-01 8.95061813e-01 -3.04239059e-02 -3.18823513e+02] [-7.09362684e-02 -1.35468595e-03 9.97479930e-01 -3.23500393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.60, Y:-318.85, Z:-32.35 [[ 8.92029702e-01 4.47410091e-01 6.40876105e-02 6.08597880e+02] [-4.46375780e-01 8.94327734e-01 -3.04395668e-02 -3.18853056e+02] [-7.09342969e-02 -1.45415942e-03 9.97479930e-01 -3.23476994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.65, Y:-318.88, Z:-32.35 [[ 8.93246369e-01 4.44976847e-01 6.40822155e-02 6.08654907e+02] [-4.43935461e-01 8.95541204e-01 -3.04509203e-02 -3.18879709e+02] [-7.09382190e-02 -1.24819390e-03 9.97479930e-01 -3.23544413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.71, Y:-318.91, Z:-32.36 [[ 8.94809049e-01 4.41827328e-01 6.40732283e-02 6.08711202e+02] [-4.40776512e-01 8.97099580e-01 -3.04698191e-02 -3.18906466e+02] [-7.09424650e-02 -9.77304257e-04 9.97479930e-01 -3.23569828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.77, Y:-318.93, Z:-32.36 [[ 8.95309990e-01 4.40812487e-01 6.40653782e-02 6.08766281e+02] [-4.39757894e-01 8.97598785e-01 -3.04863157e-02 -3.18932945e+02] [-7.09437543e-02 -8.78552753e-04 9.97479931e-01 -3.23637032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.82, Y:-318.96, Z:-32.37 [[ 8.99743250e-01 4.31692748e-01 6.40582266e-02 6.08822083e+02] [-4.30613884e-01 9.02020705e-01 -3.05013354e-02 -3.18958964e+02] [-7.09490520e-02 -1.40991134e-04 9.97479931e-01 -3.23705362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.88, Y:-318.99, Z:-32.37 [[ 9.01536998e-01 4.27934403e-01 6.40561269e-02 6.08879209e+02] [-4.26845731e-01 9.03809782e-01 -3.05057442e-02 -3.18985361e+02] [-7.09490115e-02 1.59972708e-04 9.97479931e-01 -3.23746179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.94, Y:-319.01, Z:-32.38 [[ 9.04464538e-01 4.21712912e-01 6.40477875e-02 6.08935619e+02] [-4.20607368e-01 9.06729162e-01 -3.05232432e-02 -3.19011376e+02] [-7.09460424e-02 6.68219726e-04 9.97479931e-01 -3.23768005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:608.99, Y:-319.04, Z:-32.38 [[ 9.07141786e-01 4.15923814e-01 6.40403032e-02 6.08991093e+02] [-4.14802712e-01 9.09398748e-01 -3.05389378e-02 -3.19039092e+02] [-7.09400430e-02 1.13905520e-03 9.97479931e-01 -3.23805025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.05, Y:-319.07, Z:-32.37 [[ 9.05653124e-01 4.19156549e-01 6.40328630e-02 6.09045053e+02] [-4.18042401e-01 9.07913526e-01 -3.05545301e-02 -3.19070766e+02] [-7.09434339e-02 9.03353781e-04 9.97479931e-01 -3.23716692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.10, Y:-319.09, Z:-32.38 [[ 9.05980078e-01 4.18449771e-01 6.40303624e-02 6.09102355e+02] [-4.17333490e-01 9.08239428e-01 -3.05597696e-02 -3.19093239e+02] [-7.09426283e-02 9.64527800e-04 9.97479931e-01 -3.23799445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.16, Y:-319.11, Z:-32.39 [[ 9.05725182e-01 4.19001560e-01 6.40280197e-02 6.09158178e+02] [-4.17886308e-01 9.07985041e-01 -3.05646770e-02 -3.19113794e+02] [-7.09431315e-02 9.26764901e-04 9.97479931e-01 -3.23909963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.22, Y:-319.14, Z:-32.39 [[ 9.04290938e-01 4.22088401e-01 6.40256373e-02 6.09215103e+02] [-4.20980510e-01 9.06554414e-01 -3.05696670e-02 -3.19139936e+02] [-7.09458259e-02 6.90327350e-04 9.97479931e-01 -3.23948389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.27, Y:-319.16, Z:-32.40 [[ 9.01921438e-01 4.27129419e-01 6.40170202e-02 6.09272563e+02] [-4.26032900e-01 9.04190445e-01 -3.05877016e-02 -3.19163318e+02] [-7.09484852e-02 3.14347078e-04 9.97479931e-01 -3.23984037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:609.33, Y:-319.19, Z:-32.40 [[ 8.97688457e-01 4.35956675e-01 6.40094680e-02 6.09326680e+02] [-4.34881342e-01 8.99967580e-01 -3.06034975e-02 -3.19192199e+02] [-7.09482451e-02 -3.64116858e-04 9.97479932e-01 -3.23961830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters Centerline goodness : 0.995455 with order 1 Centerline is valid? [True, True] Translation: X:609.38, Y:-319.22, Z:-32.41 [[ 8.97400266e-01 4.36549830e-01 6.40078821e-02 6.09383416e+02] [-4.35475766e-01 8.99679987e-01 -3.06068143e-02 -3.19215337e+02] [-7.09480101e-02 -4.07318266e-04 9.97479932e-01 -3.24065075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:609.44, Y:-319.24, Z:-32.41 [[ 8.95955778e-01 4.39508115e-01 6.39989093e-02 6.09439537e+02] [-4.38440239e-01 8.98238405e-01 -3.06255650e-02 -3.19240873e+02] [-7.09464625e-02 -6.20545169e-04 9.97479932e-01 -3.24062829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters Centerline goodness : 0.995363 with order 1 Centerline is valid? [True, True] Translation: X:609.50, Y:-319.27, Z:-32.42 [[ 8.95393582e-01 4.40652534e-01 6.39974879e-02 6.09495765e+02] [-4.39587362e-01 8.97677472e-01 -3.06285350e-02 -3.19265286e+02] [-7.09456446e-02 -7.07893238e-04 9.97479932e-01 -3.24180460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.55, Y:-319.29, Z:-32.42 [[ 8.96252451e-01 4.38904429e-01 6.39878622e-02 6.09550847e+02] [-4.37833368e-01 8.98533585e-01 -3.06486314e-02 -3.19290557e+02] [-7.09470633e-02 -5.47110219e-04 9.97479932e-01 -3.24227456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.61, Y:-319.32, Z:-32.43 [[ 8.96786046e-01 4.37814443e-01 6.39789150e-02 6.09607191e+02] [-4.36739279e-01 8.99065248e-01 -3.06672973e-02 -3.19318226e+02] [-7.09478047e-02 -4.40100951e-04 9.97479932e-01 -3.24271750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.66, Y:-319.35, Z:-32.43 [[ 8.97191153e-01 4.36984934e-01 6.39703229e-02 6.09663100e+02] [-4.35906385e-01 8.99468755e-01 -3.06852094e-02 -3.19346360e+02] [-7.09482810e-02 -3.54573800e-04 9.97479933e-01 -3.24315273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.72, Y:-319.38, Z:-32.42 [[ 8.96207722e-01 4.38999549e-01 6.39618217e-02 6.09717732e+02] [-4.37924855e-01 8.98487146e-01 -3.07029196e-02 -3.19377423e+02] [-7.09474425e-02 -4.94277887e-04 9.97479933e-01 -3.24223352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.77, Y:-319.41, Z:-32.43 [[ 8.96767232e-01 4.37855826e-01 6.39594208e-02 6.09773021e+02] [-4.36777869e-01 8.99045114e-01 -3.07079203e-02 -3.19405169e+02] [-7.09480466e-02 -3.98202817e-04 9.97479933e-01 -3.24292913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.83, Y:-319.43, Z:-32.45 [[ 8.96704391e-01 4.37984836e-01 6.39571607e-02 6.09826587e+02] [-4.36906871e-01 8.98982269e-01 -3.07126268e-02 -3.19430248e+02] [-7.09480183e-02 -4.03175711e-04 9.97479933e-01 -3.24464497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.88, Y:-319.46, Z:-32.45 [[ 8.96035816e-01 4.39351492e-01 6.39537569e-02 6.09881030e+02] [-4.38276495e-01 8.98315097e-01 -3.07197130e-02 -3.19459273e+02] [-7.09473771e-02 -5.03465335e-04 9.97479933e-01 -3.24521826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.94, Y:-319.49, Z:-32.45 [[ 8.96970712e-01 4.37440802e-01 6.39459641e-02 6.09936682e+02] [-4.36359794e-01 8.99247148e-01 -3.07359260e-02 -3.19487293e+02] [-7.09483739e-02 -3.34222289e-04 9.97479933e-01 -3.24538865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:609.99, Y:-319.52, Z:-32.46 [[ 8.96411329e-01 4.38586287e-01 6.39437102e-02 6.09989561e+02] [-4.37507853e-01 8.98688986e-01 -3.07406143e-02 -3.19518395e+02] [-7.09479199e-02 -4.19640457e-04 9.97479933e-01 -3.24601595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.05, Y:-319.54, Z:-32.47 [[ 8.97611217e-01 4.36126387e-01 6.39365058e-02 6.10045405e+02] [-4.35040645e-01 8.99885399e-01 -3.07555912e-02 -3.19543383e+02] [-7.09488529e-02 -2.08415083e-04 9.97479933e-01 -3.24685424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.10, Y:-319.57, Z:-32.47 [[ 8.97394804e-01 4.36571931e-01 6.39336714e-02 6.10100445e+02] [-4.35486898e-01 8.99669324e-01 -3.07614822e-02 -3.19574741e+02] [-7.09487626e-02 -2.37081871e-04 9.97479933e-01 -3.24715310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.16, Y:-319.60, Z:-32.48 [[ 8.97519898e-01 4.36316030e-01 6.39246024e-02 6.10156788e+02] [-4.35229007e-01 8.99793467e-01 -3.07803168e-02 -3.19602654e+02] [-7.09488852e-02 -1.95894407e-04 9.97479933e-01 -3.24771910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.21, Y:-319.63, Z:-32.48 [[ 8.95331618e-01 4.40790314e-01 6.39155133e-02 6.10213545e+02] [-4.39713306e-01 8.97609948e-01 -3.07991787e-02 -3.19628488e+02] [-7.09471803e-02 -5.29023142e-04 9.97479934e-01 -3.24837063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.27, Y:-319.66, Z:-32.49 [[ 8.92741861e-01 4.46013383e-01 6.39064362e-02 6.10270050e+02] [-4.44948356e-01 8.95025816e-01 -3.08180018e-02 -3.19656221e+02] [-7.09431514e-02 -9.22543424e-04 9.97479934e-01 -3.24872596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.33, Y:-319.68, Z:-32.49 [[ 8.91505805e-01 4.48480288e-01 6.38970343e-02 6.10325109e+02] [-4.47420185e-01 8.93792050e-01 -3.08374831e-02 -3.19682149e+02] [-7.09406645e-02 -1.09702771e-03 9.97479934e-01 -3.24914233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.38, Y:-319.71, Z:-32.50 [[ 8.92243091e-01 4.47012746e-01 6.38895214e-02 6.10381567e+02] [-4.45947768e-01 8.94527069e-01 -3.08530405e-02 -3.19707392e+02] [-7.09426087e-02 -9.62977277e-04 9.97479934e-01 -3.24950815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:610.44, Y:-319.73, Z:-32.50 [[ 8.92768488e-01 4.45963647e-01 6.38815558e-02 6.10436922e+02] [-4.44894806e-01 8.95050660e-01 -3.08695246e-02 -3.19733766e+02] [-7.09439145e-02 -8.61233666e-04 9.97479934e-01 -3.24963331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.49, Y:-319.76, Z:-32.50 [[ 8.96359353e-01 4.38702184e-01 6.38772523e-02 6.10493707e+02] [-4.37614219e-01 8.98632471e-01 -3.08784272e-02 -3.19761183e+02] [-7.09486065e-02 -2.75426793e-04 9.97479934e-01 -3.25005229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.55, Y:-319.79, Z:-32.50 [[ 8.98444613e-01 4.34417054e-01 6.38678457e-02 6.10548159e+02] [-4.33316865e-01 9.00711839e-01 -3.08978713e-02 -3.19790102e+02] [-7.09490869e-02 8.50114165e-05 9.97479935e-01 -3.25042494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.60, Y:-319.82, Z:-32.51 [[ 9.00022032e-01 4.31140751e-01 6.38591792e-02 6.10604512e+02] [-4.30031039e-01 9.02284612e-01 -3.09157727e-02 -3.19816032e+02] [-7.09482042e-02 3.63447420e-04 9.97479935e-01 -3.25114657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.66, Y:-319.84, Z:-32.51 [[ 8.99085104e-01 4.33092031e-01 6.38534929e-02 6.10661400e+02] [-4.31986395e-01 9.01349679e-01 -3.09275128e-02 -3.19842168e+02] [-7.09487846e-02 2.22625864e-04 9.97479935e-01 -3.25141522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.72, Y:-319.87, Z:-32.52 [[ 8.98119700e-01 4.35091868e-01 6.38441171e-02 6.10717973e+02] [-4.33989900e-01 9.00386061e-01 -3.09468553e-02 -3.19867647e+02] [-7.09490782e-02 8.62783689e-05 9.97479935e-01 -3.25187454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.77, Y:-319.90, Z:-32.52 [[ 8.97400930e-01 4.36573290e-01 6.38383442e-02 6.10773921e+02] [-4.35474216e-01 8.99668696e-01 -3.09587594e-02 -3.19895435e+02] [-7.09491273e-02 -1.75334499e-05 9.97479935e-01 -3.25229687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.83, Y:-319.92, Z:-32.53 [[ 8.95450974e-01 4.40560328e-01 6.38290829e-02 6.10829807e+02] [-4.39469991e-01 8.97722953e-01 -3.09778421e-02 -3.19921090e+02] [-7.09484410e-02 -3.11827600e-04 9.97479935e-01 -3.25259617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.88, Y:-319.95, Z:-32.53 [[ 8.93344116e-01 4.44818035e-01 6.38216750e-02 6.10884715e+02] [-4.43737437e-01 8.95620743e-01 -3.09930965e-02 -3.19947212e+02] [-7.09463043e-02 -6.32566044e-04 9.97479936e-01 -3.25296204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.94, Y:-319.98, Z:-32.53 [[ 8.91882826e-01 4.47741816e-01 6.38145114e-02 6.10939242e+02] [-4.46667625e-01 8.94162483e-01 -3.10078393e-02 -3.19978046e+02] [-7.09440483e-02 -8.48516972e-04 9.97479936e-01 -3.25295823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:610.99, Y:-320.01, Z:-32.53 [[ 8.90219399e-01 4.51040500e-01 6.38113516e-02 6.10994074e+02] [-4.49974290e-01 8.92502800e-01 -3.10143405e-02 -3.20008045e+02] [-7.09405337e-02 -1.10390009e-03 9.97479936e-01 -3.25253865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters Centerline goodness : 0.998214 with order 1 Centerline is valid? [True, True] Translation: X:611.05, Y:-320.03, Z:-32.54 [[ 8.90261653e-01 4.50957368e-01 6.38094198e-02 6.11050966e+02] [-4.49890661e-01 8.92544821e-01 -3.10183145e-02 -3.20031667e+02] [-7.09407047e-02 -1.09284614e-03 9.97479936e-01 -3.25383672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.11, Y:-320.06, Z:-32.54 [[ 8.90651479e-01 4.50187326e-01 6.38068561e-02 6.11106491e+02] [-4.49118267e-01 8.92933547e-01 -3.10235874e-02 -3.20055604e+02] [-7.09417082e-02 -1.02562059e-03 9.97479936e-01 -3.25447039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.16, Y:-320.09, Z:-32.54 [[ 8.87969845e-01 4.55455121e-01 6.37980114e-02 6.11158888e+02] [-4.54398293e-01 8.90257603e-01 -3.10417653e-02 -3.20090396e+02] [-7.09347957e-02 -1.42555598e-03 9.97479936e-01 -3.25406283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.22, Y:-320.11, Z:-32.55 [[ 8.91064340e-01 4.49371056e-01 6.37965245e-02 6.11215660e+02] [-4.48298387e-01 8.93344713e-01 -3.10448208e-02 -3.20110173e+02] [-7.09429318e-02 -9.36946320e-04 9.97479936e-01 -3.25539539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:611.27, Y:-320.14, Z:-32.55 [[ 8.89562984e-01 4.52336323e-01 6.37930173e-02 6.11267637e+02] [-4.51270737e-01 8.91846676e-01 -3.10520260e-02 -3.20143711e+02] [-7.09395497e-02 -1.16518908e-03 9.97479936e-01 -3.25520846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.32, Y:-320.16, Z:-32.56 [[ 8.91204292e-01 4.49094405e-01 6.37897011e-02 6.11323416e+02] [-4.48020024e-01 8.93483859e-01 -3.10588370e-02 -3.20164790e+02] [-7.09434182e-02 -8.99294568e-04 9.97479936e-01 -3.25635865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.38, Y:-320.19, Z:-32.57 [[ 8.90613176e-01 4.50265746e-01 6.37881604e-02 6.11379388e+02] [-4.49194137e-01 8.92894047e-01 -3.10620010e-02 -3.20192700e+02] [-7.09422237e-02 -9.89040327e-04 9.97479936e-01 -3.25671476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.44, Y:-320.22, Z:-32.57 [[ 8.90262151e-01 4.50960607e-01 6.37795745e-02 6.11435072e+02] [-4.49889515e-01 8.92543266e-01 -3.10796204e-02 -3.20219839e+02] [-7.09417142e-02 -1.02475214e-03 9.97479936e-01 -3.25721989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.49, Y:-320.25, Z:-32.58 [[ 8.89983992e-01 4.51510064e-01 6.37742603e-02 6.11489363e+02] [-4.50439600e-01 8.92265401e-01 -3.10905212e-02 -3.20246961e+02] [-7.09412491e-02 -1.05638614e-03 9.97479936e-01 -3.25772478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.55, Y:-320.28, Z:-32.58 [[ 8.89968185e-01 4.51542169e-01 6.37675400e-02 6.11545479e+02] [-4.50470801e-01 8.92249169e-01 -3.11042986e-02 -3.20275967e+02] [-7.09414370e-02 -1.04357865e-03 9.97479936e-01 -3.25807717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.60, Y:-320.30, Z:-32.58 [[ 8.90204145e-01 4.51077964e-01 6.37593135e-02 6.11601768e+02] [-4.50004199e-01 8.92484002e-01 -3.11211525e-02 -3.20302948e+02] [-7.09422334e-02 -9.87779837e-04 9.97479937e-01 -3.25827762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.65, Y:-320.33, Z:-32.58 [[ 8.88484449e-01 4.54456888e-01 6.37520279e-02 6.11654838e+02] [-4.53390723e-01 8.90767869e-01 -3.11360701e-02 -3.20334943e+02] [-7.09382596e-02 -1.24066396e-03 9.97479937e-01 -3.25777871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:611.71, Y:-320.36, Z:-32.58 [[ 8.87970017e-01 4.55462257e-01 6.37446591e-02 6.11708340e+02] [-4.54397595e-01 8.90254139e-01 -3.11511488e-02 -3.20363760e+02] [-7.09371192e-02 -1.30413366e-03 9.97479937e-01 -3.25790958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.77, Y:-320.38, Z:-32.60 [[ 8.92131912e-01 4.47256161e-01 6.37383622e-02 6.11766219e+02] [-4.46169565e-01 8.94405681e-01 -3.11640276e-02 -3.20380707e+02] [-7.09462566e-02 -6.35693820e-04 9.97479937e-01 -3.25966854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:611.82, Y:-320.41, Z:-32.59 [[ 8.90912573e-01 4.49680747e-01 6.37339191e-02 6.11819451e+02] [-4.48599689e-01 8.93188981e-01 -3.11731116e-02 -3.20412968e+02] [-7.09443824e-02 -8.18499242e-04 9.97479937e-01 -3.25913605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:611.88, Y:-320.43, Z:-32.60 [[ 8.92329773e-01 4.46862127e-01 6.37323781e-02 6.11877176e+02] [-4.45773653e-01 8.94602644e-01 -3.11762619e-02 -3.20434182e+02] [-7.09466446e-02 -5.90708327e-04 9.97479937e-01 -3.26014119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:611.93, Y:-320.46, Z:-32.61 [[ 8.91787287e-01 4.47944438e-01 6.37276687e-02 6.11932395e+02] [-4.46858035e-01 8.94061148e-01 -3.11858853e-02 -3.20462646e+02] [-7.09459766e-02 -6.66044774e-04 9.97479937e-01 -3.26053452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:611.99, Y:-320.49, Z:-32.62 [[ 8.93655811e-01 4.44206328e-01 6.37183616e-02 6.11988410e+02] [-4.43109059e-01 8.95924448e-01 -3.12048899e-02 -3.20485253e+02] [-7.09482476e-02 -3.47752015e-04 9.97479937e-01 -3.26153601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.04, Y:-320.51, Z:-32.62 [[ 8.93819650e-01 4.43877656e-01 6.37107485e-02 6.12043969e+02] [-4.42778445e-01 8.96087347e-01 -3.12204259e-02 -3.20510871e+02] [-7.09484451e-02 -3.04315974e-04 9.97479937e-01 -3.26203704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.10, Y:-320.54, Z:-32.62 [[ 8.94109013e-01 4.43295501e-01 6.37037857e-02 6.12100745e+02] [-4.42193802e-01 8.96375502e-01 -3.12346268e-02 -3.20538487e+02] [-7.09486823e-02 -2.42257872e-04 9.97479938e-01 -3.26241162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.16, Y:-320.57, Z:-32.63 [[ 8.94892814e-01 4.41712322e-01 6.36951860e-02 6.12156239e+02] [-4.40605365e-01 8.97156740e-01 -3.12521537e-02 -3.20566560e+02] [-7.09490268e-02 -9.71128973e-05 9.97479938e-01 -3.26280038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.21, Y:-320.59, Z:-32.63 [[ 8.94991556e-01 4.41513363e-01 6.36872359e-02 6.12212988e+02] [-4.40404751e-01 8.97254672e-01 -3.12683465e-02 -3.20593665e+02] [-7.09490628e-02 -6.32552128e-05 9.97479938e-01 -3.26313147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.27, Y:-320.62, Z:-32.64 [[ 8.94638368e-01 4.42229861e-01 6.36784146e-02 6.12268246e+02] [-4.41121782e-01 8.96901745e-01 -3.12863010e-02 -3.20618222e+02] [-7.09490177e-02 -1.00010488e-04 9.97479938e-01 -3.26391520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.32, Y:-320.65, Z:-32.64 [[ 8.93598186e-01 4.44328581e-01 6.36741270e-02 6.12321467e+02] [-4.43225197e-01 8.95863855e-01 -3.12950247e-02 -3.20648941e+02] [-7.09486228e-02 -2.56800139e-04 9.97479938e-01 -3.26364329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.38, Y:-320.68, Z:-32.64 [[ 8.93782587e-01 4.43958365e-01 6.36683444e-02 6.12376800e+02] [-4.42853204e-01 8.96047390e-01 -3.13067848e-02 -3.20676956e+02] [-7.09487628e-02 -2.14271177e-04 9.97479938e-01 -3.26408303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.43, Y:-320.70, Z:-32.65 [[ 8.94646115e-01 4.42216763e-01 6.36605269e-02 6.12432742e+02] [-4.41106063e-01 8.96908207e-01 -3.13226731e-02 -3.20703378e+02] [-7.09490601e-02 -5.83365905e-05 9.97479938e-01 -3.26471596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.49, Y:-320.73, Z:-32.65 [[ 8.94286963e-01 4.42943775e-01 6.36524910e-02 6.12487119e+02] [-4.41833752e-01 8.96549387e-01 -3.13389948e-02 -3.20732742e+02] [-7.09490144e-02 -9.77644211e-05 9.97479939e-01 -3.26492416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.54, Y:-320.76, Z:-32.65 [[ 8.93858698e-01 4.43808533e-01 6.36444303e-02 6.12543399e+02] [-4.42699534e-01 8.96121624e-01 -3.13553564e-02 -3.20759488e+02] [-7.09489249e-02 -1.48101582e-04 9.97479939e-01 -3.26541087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.60, Y:-320.79, Z:-32.66 [[ 8.92226570e-01 4.47081867e-01 6.36360909e-02 6.12598618e+02] [-4.45979963e-01 8.94492959e-01 -3.13722721e-02 -3.20785326e+02] [-7.09480092e-02 -3.89246711e-04 9.97479939e-01 -3.26603687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.65, Y:-320.81, Z:-32.67 [[ 8.89999043e-01 4.51500963e-01 6.36284821e-02 6.12654755e+02] [-4.50409209e-01 8.92270338e-01 -3.13876965e-02 -3.20813132e+02] [-7.09453825e-02 -7.23834431e-04 9.97479939e-01 -3.26660200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.71, Y:-320.84, Z:-32.67 [[ 8.88860507e-01 4.53739564e-01 6.36192316e-02 6.12710561e+02] [-4.52652190e-01 8.91133902e-01 -3.14064350e-02 -3.20839459e+02] [-7.09435963e-02 -8.81444725e-04 9.97479939e-01 -3.26711276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.77, Y:-320.87, Z:-32.68 [[ 8.88051594e-01 4.55321855e-01 6.36111176e-02 6.12766820e+02] [-4.54237354e-01 8.90326361e-01 -3.14228608e-02 -3.20865858e+02] [-7.09421701e-02 -9.89424134e-04 9.97479939e-01 -3.26768193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.82, Y:-320.89, Z:-32.68 [[ 8.89881307e-01 4.51736557e-01 6.36030107e-02 6.12821652e+02] [-4.50641719e-01 8.92151116e-01 -3.14392614e-02 -3.20894080e+02] [-7.09457607e-02 -6.84959094e-04 9.97479940e-01 -3.26803751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.87, Y:-320.92, Z:-32.68 [[ 8.92796439e-01 4.45948665e-01 6.35948691e-02 6.12874683e+02] [-4.44837938e-01 8.95058515e-01 -3.14557216e-02 -3.20924937e+02] [-7.09487661e-02 -2.05854268e-04 9.97479940e-01 -3.26839395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.93, Y:-320.95, Z:-32.69 [[ 8.96651478e-01 4.38146969e-01 6.35874304e-02 6.12929074e+02] [-4.37015495e-01 8.98903248e-01 -3.14707516e-02 -3.20953993e+02] [-7.09477621e-02 4.29603511e-04 9.97479940e-01 -3.26875247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:612.99, Y:-320.98, Z:-32.69 [[ 8.97981313e-01 4.35416160e-01 6.35793074e-02 6.12985846e+02] [-4.34276677e-01 9.00229041e-01 -3.14871538e-02 -3.20981934e+02] [-7.09459545e-02 6.63865401e-04 9.97479940e-01 -3.26907146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.04, Y:-321.01, Z:-32.70 [[ 8.98972740e-01 4.33366891e-01 6.35700512e-02 6.13042473e+02] [-4.32220964e-01 9.01217189e-01 -3.15058302e-02 -3.21008095e+02] [-7.09440065e-02 8.46573728e-04 9.97479940e-01 -3.26960116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.10, Y:-321.04, Z:-32.70 [[ 8.99212707e-01 4.32870110e-01 6.35608049e-02 6.13098041e+02] [-4.31721625e-01 9.01455848e-01 -3.15244731e-02 -3.21035885e+02] [-7.09432614e-02 9.06632798e-04 9.97479941e-01 -3.27006708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.15, Y:-321.06, Z:-32.71 [[ 8.99336841e-01 4.32613339e-01 6.35527002e-02 6.13154996e+02] [-4.31463060e-01 9.01579062e-01 -3.15408034e-02 -3.21060965e+02] [-7.09427561e-02 9.45164055e-04 9.97479941e-01 -3.27073959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.21, Y:-321.09, Z:-32.71 [[ 8.97971771e-01 4.35440906e-01 6.35446046e-02 6.13212052e+02] [-4.34296534e-01 9.00217012e-01 -3.15571052e-02 -3.21086015e+02] [-7.09451885e-02 7.40188083e-04 9.97479941e-01 -3.27096574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.27, Y:-321.11, Z:-32.71 [[ 8.97255880e-01 4.36915317e-01 6.35365367e-02 6.13267208e+02] [-4.35773485e-01 8.99502415e-01 -3.15733406e-02 -3.21111789e+02] [-7.09461443e-02 6.41827507e-04 9.97479941e-01 -3.27126837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.32, Y:-321.13, Z:-32.72 [[ 8.97714241e-01 4.35973838e-01 6.35291506e-02 6.13324468e+02] [-4.34828599e-01 8.99959041e-01 -3.15881953e-02 -3.21134002e+02] [-7.09452602e-02 7.32881257e-04 9.97479941e-01 -3.27214993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.38, Y:-321.16, Z:-32.72 [[ 8.95569085e-01 4.40363895e-01 6.35268047e-02 6.13381220e+02] [-4.39229326e-01 8.97819295e-01 -3.15929124e-02 -3.21160299e+02] [-7.09479690e-02 3.90800004e-04 9.97479941e-01 -3.27221411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.44, Y:-321.18, Z:-32.73 [[ 8.93642132e-01 4.44262547e-01 6.35179515e-02 6.13439374e+02] [-4.43136530e-01 8.95896634e-01 -3.16107019e-02 -3.21184322e+02] [-7.09489699e-02 1.01530423e-04 9.97479941e-01 -3.27258430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.50, Y:-321.21, Z:-32.73 [[ 8.93551174e-01 4.44446799e-01 6.35085959e-02 6.13495757e+02] [-4.43319912e-01 8.95805242e-01 -3.16294869e-02 -3.21209105e+02] [-7.09489573e-02 1.07939988e-04 9.97479942e-01 -3.27328076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.55, Y:-321.23, Z:-32.74 [[ 8.92979207e-01 4.45596043e-01 6.35004147e-02 6.13553229e+02] [-4.44470890e-01 8.95234140e-01 -3.16459033e-02 -3.21232438e+02] [-7.09490284e-02 3.50478039e-05 9.97479942e-01 -3.27397589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.61, Y:-321.26, Z:-32.74 [[ 8.90300250e-01 4.50926004e-01 6.34917704e-02 6.13608827e+02] [-4.49813113e-01 8.92561260e-01 -3.16632369e-02 -3.21258255e+02] [-7.09480715e-02 -3.69643187e-04 9.97479942e-01 -3.27415668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.67, Y:-321.28, Z:-32.75 [[ 8.89046849e-01 4.53393238e-01 6.34844207e-02 6.13665536e+02] [-4.52285570e-01 8.91310423e-01 -3.16779663e-02 -3.21282882e+02] [-7.09469015e-02 -5.49891250e-04 9.97479942e-01 -3.27466698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.72, Y:-321.31, Z:-32.75 [[ 8.87801976e-01 4.55827180e-01 6.34762480e-02 6.13723884e+02] [-4.54724548e-01 8.90068006e-01 -3.16943343e-02 -3.21306470e+02] [-7.09453165e-02 -7.25915535e-04 9.97479942e-01 -3.27512435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.78, Y:-321.33, Z:-32.76 [[ 8.87494533e-01 4.56426704e-01 6.34674558e-02 6.13780411e+02] [-4.55324344e-01 8.89760696e-01 -3.17119308e-02 -3.21333287e+02] [-7.09450197e-02 -7.54112438e-04 9.97479942e-01 -3.27555873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.84, Y:-321.36, Z:-32.76 [[ 8.87641076e-01 4.56142905e-01 6.34584077e-02 6.13836089e+02] [-4.55038527e-01 8.89906256e-01 -3.17300266e-02 -3.21360275e+02] [-7.09454605e-02 -7.11145371e-04 9.97479943e-01 -3.27602003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.89, Y:-321.39, Z:-32.77 [[ 8.87606177e-01 4.56211589e-01 6.34528296e-02 6.13892535e+02] [-4.55106589e-01 8.89871053e-01 -3.17411775e-02 -3.21386560e+02] [-7.09455293e-02 -7.04135651e-04 9.97479943e-01 -3.27652112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:613.95, Y:-321.41, Z:-32.77 [[ 8.88127979e-01 4.55196123e-01 6.34443337e-02 6.13947819e+02] [-4.54087321e-01 8.90390996e-01 -3.17581501e-02 -3.21414344e+02] [-7.09464503e-02 -6.03965877e-04 9.97479943e-01 -3.27690721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.00, Y:-321.44, Z:-32.77 [[ 8.89197335e-01 4.53104382e-01 6.34390881e-02 6.14003871e+02] [-4.51989509e-01 8.91457367e-01 -3.17686252e-02 -3.21443404e+02] [-7.09477457e-02 -4.25225446e-04 9.97479943e-01 -3.27717642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.06, Y:-321.47, Z:-32.78 [[ 8.89971961e-01 4.51582217e-01 6.34303530e-02 6.14059964e+02] [-4.50462236e-01 8.92229467e-01 -3.17860564e-02 -3.21470444e+02] [-7.09484478e-02 -2.84279649e-04 9.97479943e-01 -3.27769441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.12, Y:-321.50, Z:-32.78 [[ 8.91251329e-01 4.49053229e-01 6.34213328e-02 6.14115037e+02] [-4.47925563e-01 8.93505005e-01 -3.18040439e-02 -3.21498776e+02] [-7.09489869e-02 -6.26397345e-05 9.97479943e-01 -3.27814877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.17, Y:-321.53, Z:-32.79 [[ 8.92013022e-01 4.47538671e-01 6.34185021e-02 6.14170671e+02] [-4.46406777e-01 8.94264577e-01 -3.18096874e-02 -3.21526156e+02] [-7.09489852e-02 6.42063226e-05 9.97479943e-01 -3.27853241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.23, Y:-321.55, Z:-32.79 [[ 8.91801008e-01 4.47962142e-01 6.34104259e-02 6.14226722e+02] [-4.46830172e-01 8.94052525e-01 -3.18257787e-02 -3.21554668e+02] [-7.09489953e-02 4.85700043e-05 9.97479944e-01 -3.27898896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.28, Y:-321.58, Z:-32.79 [[ 8.91677640e-01 4.48208945e-01 6.34013273e-02 6.14280598e+02] [-4.47076311e-01 8.93928822e-01 -3.18438939e-02 -3.21582413e+02] [-7.09489920e-02 4.92566603e-05 9.97479944e-01 -3.27931140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.34, Y:-321.61, Z:-32.80 [[ 8.91074451e-01 4.49407960e-01 6.33940671e-02 6.14335197e+02] [-4.48277327e-01 8.93326639e-01 -3.18583409e-02 -3.21610182e+02] [-7.09490009e-02 -2.99693765e-05 9.97479944e-01 -3.27983963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.39, Y:-321.64, Z:-32.80 [[ 8.90487182e-01 4.50571497e-01 6.33869450e-02 6.14391093e+02] [-4.49442798e-01 8.92740340e-01 -3.18725052e-02 -3.21637727e+02] [-7.09489252e-02 -1.06748505e-04 9.97479944e-01 -3.28029041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.45, Y:-321.67, Z:-32.80 [[ 8.90089482e-01 4.51357847e-01 6.33782926e-02 6.14445519e+02] [-4.50229914e-01 8.92343023e-01 -3.18897012e-02 -3.21666858e+02] [-7.09488441e-02 -1.50115594e-04 9.97479944e-01 -3.28044474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.50, Y:-321.70, Z:-32.81 [[ 8.89819228e-01 4.51891503e-01 6.33704297e-02 6.14501411e+02] [-4.50763809e-01 8.92072889e-01 -3.19053185e-02 -3.21695444e+02] [-7.09487846e-02 -1.75130433e-04 9.97479944e-01 -3.28091106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.56, Y:-321.72, Z:-32.81 [[ 8.88623559e-01 4.54239470e-01 6.33614649e-02 6.14557621e+02] [-4.53116462e-01 8.90879558e-01 -3.19231119e-02 -3.21724305e+02] [-7.09481713e-02 -3.42493466e-04 9.97479945e-01 -3.28143786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.61, Y:-321.75, Z:-32.82 [[ 8.87674533e-01 4.56092529e-01 6.33524181e-02 6.14612969e+02] [-4.54972950e-01 8.89932236e-01 -3.19410557e-02 -3.21751623e+02] [-7.09474359e-02 -4.70374834e-04 9.97479945e-01 -3.28191650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.67, Y:-321.78, Z:-32.83 [[ 8.86740683e-01 4.57906640e-01 6.33440642e-02 6.14668510e+02] [-4.56790497e-01 8.89000086e-01 -3.19576141e-02 -3.21780493e+02] [-7.09464822e-02 -5.96850020e-04 9.97479945e-01 -3.28250169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.72, Y:-321.81, Z:-32.83 [[ 8.85535446e-01 4.60234321e-01 6.33351702e-02 6.14722791e+02] [-4.59122857e-01 8.87797154e-01 -3.19752309e-02 -3.21810385e+02] [-7.09448826e-02 -7.63423969e-04 9.97479945e-01 -3.28304579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.78, Y:-321.84, Z:-32.84 [[ 8.84149947e-01 4.62891532e-01 6.33269425e-02 6.14778707e+02] [-4.61785698e-01 8.86414413e-01 -3.19915177e-02 -3.21839883e+02] [-7.09425172e-02 -9.58177694e-04 9.97479945e-01 -3.28350912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.83, Y:-321.87, Z:-32.84 [[ 8.82823745e-01 4.65417090e-01 6.33179916e-02 6.14832164e+02] [-4.64316465e-01 8.85090747e-01 -3.20092236e-02 -3.21870519e+02] [-7.09398082e-02 -1.14108341e-03 9.97479945e-01 -3.28405741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.89, Y:-321.90, Z:-32.85 [[ 8.82533707e-01 4.65967955e-01 6.33097227e-02 6.14886883e+02] [-4.64867573e-01 8.84800827e-01 -3.20255700e-02 -3.21900734e+02] [-7.09393844e-02 -1.16699208e-03 9.97479946e-01 -3.28461739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.94, Y:-321.93, Z:-32.85 [[ 8.81583866e-01 4.67763790e-01 6.33002662e-02 6.14940007e+02] [-4.66666685e-01 8.83852573e-01 -3.20442504e-02 -3.21930295e+02] [-7.09372432e-02 -1.29043123e-03 9.97479946e-01 -3.28489048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:614.99, Y:-321.96, Z:-32.85 [[ 8.81189250e-01 4.68507778e-01 6.32927150e-02 6.14994197e+02] [-4.67411518e-01 8.83458365e-01 -3.20591584e-02 -3.21961663e+02] [-7.09364436e-02 -1.33355828e-03 9.97479946e-01 -3.28519818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.05, Y:-321.99, Z:-32.85 [[ 8.81123871e-01 4.68631941e-01 6.32837115e-02 6.15048770e+02] [-4.67534725e-01 8.83392524e-01 -3.20769213e-02 -3.21992922e+02] [-7.09366275e-02 -1.32359157e-03 9.97479946e-01 -3.28544850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.10, Y:-322.02, Z:-32.86 [[ 8.81478846e-01 4.67965154e-01 6.32744737e-02 6.15101650e+02] [-4.66864915e-01 8.83746035e-01 -3.20951333e-02 -3.22024227e+02] [-7.09379692e-02 -1.24945073e-03 9.97479946e-01 -3.28593484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.15, Y:-322.06, Z:-32.87 [[ 8.82143790e-01 4.66711088e-01 6.32700027e-02 6.15154499e+02] [-4.65606994e-01 8.84409104e-01 -3.21039447e-02 -3.22057033e+02] [-7.09398334e-02 -1.13866027e-03 9.97479946e-01 -3.28650815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.21, Y:-322.09, Z:-32.87 [[ 8.82878144e-01 4.65321472e-01 6.32622347e-02 6.15208156e+02] [-4.64212716e-01 8.85141180e-01 -3.21192446e-02 -3.22089473e+02] [-7.09417832e-02 -1.00975476e-03 9.97479947e-01 -3.28687534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.26, Y:-322.12, Z:-32.87 [[ 8.83392165e-01 4.64345471e-01 6.32579406e-02 6.15261664e+02] [-4.63233610e-01 8.85653676e-01 -3.21276995e-02 -3.22120834e+02] [-7.09429794e-02 -9.21846177e-04 9.97479947e-01 -3.28725620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.32, Y:-322.15, Z:-32.88 [[ 8.82966488e-01 4.65155476e-01 6.32500137e-02 6.15315811e+02] [-4.64044572e-01 8.85228470e-01 -3.21432976e-02 -3.22152657e+02] [-7.09423438e-02 -9.69371013e-04 9.97479947e-01 -3.28770512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.37, Y:-322.18, Z:-32.88 [[ 8.82375559e-01 4.66276683e-01 6.32410226e-02 6.15370399e+02] [-4.65167387e-01 8.84638329e-01 -3.21609776e-02 -3.22182846e+02] [-7.09413466e-02 -1.03960063e-03 9.97479947e-01 -3.28810827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.42, Y:-322.21, Z:-32.89 [[ 8.81503974e-01 4.67923428e-01 6.32329777e-02 6.15423031e+02] [-4.66817225e-01 8.83768258e-01 -3.21767873e-02 -3.22212838e+02] [-7.09395712e-02 -1.15427733e-03 9.97479947e-01 -3.28866609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.48, Y:-322.24, Z:-32.89 [[ 8.80734224e-01 4.69371651e-01 6.32256235e-02 6.15477992e+02] [-4.68268135e-01 8.82999818e-01 -3.21912314e-02 -3.22243381e+02] [-7.09378655e-02 -1.25462560e-03 9.97479947e-01 -3.28910001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.53, Y:-322.27, Z:-32.89 [[ 8.80647937e-01 4.69534736e-01 6.32166364e-02 6.15532431e+02] [-4.68430373e-01 8.82913118e-01 -3.22088705e-02 -3.22273197e+02] [-7.09379811e-02 -1.24791716e-03 9.97479947e-01 -3.28937488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.59, Y:-322.30, Z:-32.90 [[ 8.80839639e-01 4.69176069e-01 6.32087478e-02 6.15586246e+02] [-4.68069674e-01 8.83103829e-01 -3.22243442e-02 -3.22304037e+02] [-7.09387784e-02 -1.20161828e-03 9.97479948e-01 -3.28964168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.64, Y:-322.34, Z:-32.89 [[ 8.79112952e-01 4.72404572e-01 6.32007829e-02 6.15637841e+02] [-4.71305369e-01 8.81380641e-01 -3.22399580e-02 -3.22338648e+02] [-7.09342501e-02 -1.44430364e-03 9.97479948e-01 -3.28905055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.69, Y:-322.36, Z:-32.91 [[ 8.82209418e-01 4.66597426e-01 6.31932356e-02 6.15693730e+02] [-4.65482235e-01 8.84469288e-01 -3.22547448e-02 -3.22360066e+02] [-7.09424569e-02 -9.59888905e-04 9.97479948e-01 -3.29068050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.75, Y:-322.39, Z:-32.91 [[ 8.83175450e-01 4.64767091e-01 6.31876327e-02 6.15748887e+02] [-4.63646431e-01 8.85432612e-01 -3.22657172e-02 -3.22387172e+02] [-7.09444342e-02 -8.00431075e-04 9.97479948e-01 -3.29122630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.81, Y:-322.41, Z:-32.92 [[ 8.82900149e-01 4.65290936e-01 6.31796789e-02 6.15805634e+02] [-4.64170502e-01 8.85157423e-01 -3.22812840e-02 -3.22414388e+02] [-7.09441507e-02 -8.24992850e-04 9.97479948e-01 -3.29160471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.86, Y:-322.44, Z:-32.92 [[ 8.81896887e-01 4.67190916e-01 6.31706372e-02 6.15861605e+02] [-4.66074078e-01 8.84155942e-01 -3.22989679e-02 -3.22441302e+02] [-7.09424787e-02 -9.57837285e-04 9.97479948e-01 -3.29224331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.92, Y:-322.47, Z:-32.92 [[ 8.80414021e-01 4.69980508e-01 6.31622850e-02 6.15918346e+02] [-4.68869657e-01 8.82676026e-01 -3.23152928e-02 -3.22469388e+02] [-7.09393925e-02 -1.16404199e-03 9.97479948e-01 -3.29245230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:615.97, Y:-322.50, Z:-32.93 [[ 8.79807990e-01 4.71115231e-01 6.31533013e-02 6.15974543e+02] [-4.70006038e-01 8.82070809e-01 -3.23328401e-02 -3.22497300e+02] [-7.09381770e-02 -1.23574184e-03 9.97479949e-01 -3.29287974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.03, Y:-322.52, Z:-32.93 [[ 8.79709178e-01 4.71300944e-01 6.31441474e-02 6.16029044e+02] [-4.70190946e-01 8.81971602e-01 -3.23507072e-02 -3.22524745e+02] [-7.09382637e-02 -1.23059240e-03 9.97479949e-01 -3.29336605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.08, Y:-322.55, Z:-32.94 [[ 8.79952247e-01 4.70847941e-01 6.31368274e-02 6.16084002e+02] [-4.69735754e-01 8.82213596e-01 -3.23649869e-02 -3.22553186e+02] [-7.09391550e-02 -1.17798226e-03 9.97479949e-01 -3.29373039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.14, Y:-322.58, Z:-32.94 [[ 8.80103887e-01 4.70565552e-01 6.31285193e-02 6.16138990e+02] [-4.69451478e-01 8.82364306e-01 -3.23811841e-02 -3.22581728e+02] [-7.09398218e-02 -1.13697072e-03 9.97479949e-01 -3.29412333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters Centerline goodness : 0.996658 with order 1 Centerline is valid? [True, True] Translation: X:616.19, Y:-322.61, Z:-32.95 [[ 8.79616440e-01 4.71477135e-01 6.31207575e-02 6.16193177e+02] [-4.70364319e-01 8.81877478e-01 -3.23963070e-02 -3.22612014e+02] [-7.09388925e-02 -1.19342785e-03 9.97479949e-01 -3.29482922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.25, Y:-322.64, Z:-32.95 [[ 8.80564320e-01 4.69704912e-01 6.31171498e-02 6.16249127e+02] [-4.68587041e-01 8.82822864e-01 -3.24033343e-02 -3.22638857e+02] [-7.09412682e-02 -1.04265844e-03 9.97479949e-01 -3.29490104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.30, Y:-322.67, Z:-32.95 [[ 8.81108163e-01 4.68685393e-01 6.31063176e-02 6.16302921e+02] [-4.67563399e-01 8.83364661e-01 -3.24244167e-02 -3.22667144e+02] [-7.09427413e-02 -9.36786157e-04 9.97479950e-01 -3.29545639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.36, Y:-322.70, Z:-32.96 [[ 8.81297426e-01 4.68330417e-01 6.30988723e-02 6.16356946e+02] [-4.67206477e-01 8.83552956e-01 -3.24388991e-02 -3.22695857e+02] [-7.09433182e-02 -8.91883596e-04 9.97479950e-01 -3.29602067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.41, Y:-322.73, Z:-32.96 [[ 8.81283097e-01 4.68358351e-01 6.30916661e-02 6.16412383e+02] [-4.67233480e-01 8.83538162e-01 -3.24529085e-02 -3.22725357e+02] [-7.09434854e-02 -8.78339008e-04 9.97479950e-01 -3.29628949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.47, Y:-322.76, Z:-32.96 [[ 8.80308677e-01 4.70188508e-01 6.30824839e-02 6.16465833e+02] [-4.69067047e-01 8.82565440e-01 -3.24707473e-02 -3.22756702e+02] [-7.09417924e-02 -1.00563378e-03 9.97479950e-01 -3.29645640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.52, Y:-322.79, Z:-32.97 [[ 8.80275414e-01 4.70251014e-01 6.30807401e-02 6.16519563e+02] [-4.69129471e-01 8.82532135e-01 -3.24741347e-02 -3.22786331e+02] [-7.09417750e-02 -1.00685185e-03 9.97479950e-01 -3.29736325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters Centerline goodness : 0.996760 with order 1 Centerline is valid? [True, True] Translation: X:616.57, Y:-322.81, Z:-32.98 [[ 8.81696380e-01 4.67581782e-01 6.30774979e-02 6.16574152e+02] [-4.66452956e-01 8.83949468e-01 -3.24804311e-02 -3.22814591e+02] [-7.09445785e-02 -7.84806861e-04 9.97479950e-01 -3.29823798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.63, Y:-322.84, Z:-32.98 [[ 8.83445594e-01 4.64268847e-01 6.30739233e-02 6.16629621e+02] [-4.63131077e-01 8.85694178e-01 -3.24873711e-02 -3.22841839e+02] [-7.09470810e-02 -5.10669133e-04 9.97479950e-01 -3.29785839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.68, Y:-322.87, Z:-32.98 [[ 8.84073085e-01 4.63074111e-01 6.30646413e-02 6.16683428e+02] [-4.61932017e-01 8.86319475e-01 -3.25053794e-02 -3.22869688e+02] [-7.09478194e-02 -3.94445948e-04 9.97479950e-01 -3.29824250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.74, Y:-322.90, Z:-32.98 [[ 8.85273815e-01 4.60775493e-01 6.30572471e-02 6.16739366e+02] [-4.59626545e-01 8.87516708e-01 -3.25197171e-02 -3.22897497e+02] [-7.09486491e-02 -1.93930560e-04 9.97479950e-01 -3.29841948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.79, Y:-322.93, Z:-32.99 [[ 8.86280572e-01 4.58837151e-01 6.30493159e-02 6.16794450e+02] [-4.57682204e-01 8.88520381e-01 -3.25350869e-02 -3.22925050e+02] [-7.09489088e-02 -2.13344662e-05 9.97479951e-01 -3.29903020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.85, Y:-322.95, Z:-33.00 [[ 8.87477428e-01 4.56519014e-01 6.30412940e-02 6.16850080e+02] [-4.55357113e-01 8.89713637e-01 -3.25506230e-02 -3.22951935e+02] [-7.09486774e-02 1.81641535e-04 9.97479951e-01 -3.29957217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.90, Y:-322.98, Z:-33.00 [[ 8.88385426e-01 4.54750700e-01 6.30328186e-02 6.16904809e+02] [-4.53583184e-01 8.90618708e-01 -3.25670271e-02 -3.22978122e+02] [-7.09480859e-02 3.41445658e-04 9.97479951e-01 -3.30016223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:616.96, Y:-323.01, Z:-33.01 [[ 8.88569183e-01 4.54392538e-01 6.30256150e-02 6.16960905e+02] [-4.53223133e-01 8.90801478e-01 -3.25809619e-02 -3.23006508e+02] [-7.09478570e-02 3.85771974e-04 9.97479951e-01 -3.30052462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.02, Y:-323.03, Z:-33.01 [[ 8.88873906e-01 4.53797425e-01 6.30164683e-02 6.17017709e+02] [-4.52625272e-01 8.91104759e-01 -3.25986435e-02 -3.23033666e+02] [-7.09474553e-02 4.53237516e-04 9.97479951e-01 -3.30111438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.07, Y:-323.06, Z:-33.02 [[ 8.89137304e-01 4.53282386e-01 6.30074036e-02 6.17073295e+02] [-4.52107700e-01 8.91366824e-01 -3.26161545e-02 -3.23060229e+02] [-7.09470376e-02 5.14107343e-04 9.97479951e-01 -3.30189933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.13, Y:-323.09, Z:-33.02 [[ 8.88062841e-01 4.55384292e-01 6.30042634e-02 6.17128446e+02] [-4.54214453e-01 8.90294907e-01 -3.26222193e-02 -3.23086472e+02] [-7.09480211e-02 3.53133682e-04 9.97479952e-01 -3.30184074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.19, Y:-323.11, Z:-33.02 [[ 8.85943920e-01 4.59494137e-01 6.29961063e-02 6.17185815e+02] [-4.58333532e-01 8.88180802e-01 -3.26379637e-02 -3.23112213e+02] [-7.09488852e-02 4.21775422e-05 9.97479952e-01 -3.30225913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.24, Y:-323.14, Z:-33.03 [[ 8.83954058e-01 4.63311800e-01 6.29873032e-02 6.17241979e+02] [-4.62159646e-01 8.86195304e-01 -3.26549438e-02 -3.23139590e+02] [-7.09484731e-02 -2.44719642e-04 9.97479952e-01 -3.30264919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.30, Y:-323.17, Z:-33.03 [[ 8.80639641e-01 4.69582291e-01 6.29785231e-02 6.17298834e+02] [-4.68444884e-01 8.82888407e-01 -3.26718684e-02 -3.23165514e+02] [-7.09451388e-02 -7.29824504e-04 9.97479952e-01 -3.30305731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.36, Y:-323.19, Z:-33.03 [[ 8.76801366e-01 4.76711679e-01 6.29709487e-02 6.17355667e+02] [-4.75591507e-01 8.79058766e-01 -3.26864607e-02 -3.23192412e+02] [-7.09371820e-02 -1.28891505e-03 9.97479952e-01 -3.30346509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.41, Y:-323.22, Z:-33.04 [[ 8.74725836e-01 4.80510667e-01 6.29619806e-02 6.17410129e+02] [-4.79399055e-01 8.76987464e-01 -3.27037263e-02 -3.23219918e+02] [-7.09313570e-02 -1.57711971e-03 9.97479952e-01 -3.30424442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.47, Y:-323.25, Z:-33.05 [[ 8.72629532e-01 4.84308158e-01 6.29548041e-02 6.17466571e+02] [-4.83205392e-01 8.74895486e-01 -3.27175353e-02 -3.23248404e+02] [-7.09242432e-02 -1.86981334e-03 9.97479952e-01 -3.30469837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.52, Y:-323.28, Z:-33.05 [[ 8.73516664e-01 4.82707434e-01 6.29457782e-02 6.17522865e+02] [-4.81599265e-01 8.75779981e-01 -3.27348913e-02 -3.23275335e+02] [-7.09280277e-02 -1.72016752e-03 9.97479953e-01 -3.30516714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.58, Y:-323.31, Z:-33.05 [[ 8.76269270e-01 4.77693395e-01 6.29379606e-02 6.17576856e+02] [-4.76571195e-01 8.78525662e-01 -3.27499149e-02 -3.23305432e+02] [-7.09370315e-02 -1.29667506e-03 9.97479953e-01 -3.30523645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.63, Y:-323.33, Z:-33.06 [[ 8.76777926e-01 4.76760199e-01 6.29299715e-02 6.17632971e+02] [-4.75634496e-01 8.79032573e-01 -3.27652589e-02 -3.23333975e+02] [-7.09386661e-02 -1.20380956e-03 9.97479953e-01 -3.30570694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.69, Y:-323.36, Z:-33.06 [[ 8.76910066e-01 4.76518350e-01 6.29205639e-02 6.17687735e+02] [-4.75390731e-01 8.79163755e-01 -3.27833150e-02 -3.23362089e+02] [-7.09393303e-02 -1.16383390e-03 9.97479953e-01 -3.30622105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.74, Y:-323.39, Z:-33.07 [[ 8.77032766e-01 4.76293629e-01 6.29118922e-02 6.17742136e+02] [-4.75164239e-01 8.79285568e-01 -3.27999476e-02 -3.23390388e+02] [-7.09399249e-02 -1.12685257e-03 9.97479953e-01 -3.30668347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.80, Y:-323.42, Z:-33.07 [[ 8.76797912e-01 4.76726946e-01 6.29034264e-02 6.17797240e+02] [-4.75597506e-01 8.79050687e-01 -3.28161753e-02 -3.23418413e+02] [-7.09396553e-02 -1.14355870e-03 9.97479954e-01 -3.30691641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.85, Y:-323.45, Z:-33.07 [[ 8.77656330e-01 4.75145798e-01 6.28954388e-02 6.17853371e+02] [-4.74011203e-01 8.79906514e-01 -3.28314772e-02 -3.23446589e+02] [-7.09418448e-02 -9.98388831e-04 9.97479954e-01 -3.30740541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.91, Y:-323.48, Z:-33.08 [[ 8.79110078e-01 4.72451911e-01 6.28861038e-02 6.17907487e+02] [-4.71309141e-01 8.81356122e-01 -3.28493479e-02 -3.23477467e+02] [-7.09447898e-02 -7.60602796e-04 9.97479954e-01 -3.30759109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.96, Y:-323.50, Z:-33.08 [[ 8.77530784e-01 4.75379999e-01 6.28774957e-02 6.17964145e+02] [-4.74243544e-01 8.79780029e-01 -3.28658166e-02 -3.23503504e+02] [-7.09421169e-02 -9.78480587e-04 9.97479954e-01 -3.30805094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.03, Y:-323.52, Z:-33.09 [[ 8.71439637e-01 4.86457133e-01 6.28682511e-02 6.18025001e+02] [-4.85347985e-01 8.73702472e-01 -3.28834909e-02 -3.23521527e+02] [-7.09245551e-02 -1.85700169e-03 9.97479954e-01 -3.30919805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.08, Y:-323.55, Z:-33.10 [[ 8.71298905e-01 4.86710383e-01 6.28587314e-02 6.18081019e+02] [-4.85600582e-01 8.73561420e-01 -3.29016784e-02 -3.23550917e+02] [-7.09245512e-02 -1.85704022e-03 9.97479954e-01 -3.30964871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.14, Y:-323.58, Z:-33.10 [[ 8.71084105e-01 4.87095947e-01 6.28491885e-02 6.18135606e+02] [-4.85985834e-01 8.73346466e-01 -3.29198974e-02 -3.23578871e+02] [-7.09242652e-02 -1.86781594e-03 9.97479955e-01 -3.31010343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.19, Y:-323.61, Z:-33.11 [[ 8.70948715e-01 4.87339125e-01 6.28403798e-02 6.18191605e+02] [-4.86228432e-01 8.73210791e-01 -3.29367036e-02 -3.23608307e+02] [-7.09242421e-02 -1.86859969e-03 9.97479955e-01 -3.31055406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.25, Y:-323.64, Z:-33.11 [[ 8.70826923e-01 4.87557904e-01 6.28312014e-02 6.18246994e+02] [-4.86446518e-01 8.73088659e-01 -3.29542034e-02 -3.23636615e+02] [-7.09242917e-02 -1.86661155e-03 9.97479955e-01 -3.31096250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.30, Y:-323.67, Z:-33.11 [[ 8.70645046e-01 4.87883705e-01 6.28227238e-02 6.18303314e+02] [-4.86772000e-01 8.72906625e-01 -3.29703568e-02 -3.23665056e+02] [-7.09240716e-02 -1.87486508e-03 9.97479955e-01 -3.31127917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.36, Y:-323.69, Z:-33.12 [[ 8.71258397e-01 4.86788715e-01 6.28136304e-02 6.18360585e+02] [-4.85672920e-01 8.73517961e-01 -3.29876722e-02 -3.23691748e+02] [-7.09268609e-02 -1.76609286e-03 9.97479955e-01 -3.31180474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.42, Y:-323.72, Z:-33.12 [[ 8.72174722e-01 4.85146246e-01 6.28042510e-02 6.18416080e+02] [-4.84024912e-01 8.74431541e-01 -3.30055197e-02 -3.23720186e+02] [-7.09305220e-02 -1.61224207e-03 9.97479956e-01 -3.31214820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.47, Y:-323.75, Z:-33.13 [[ 8.72037443e-01 4.85394171e-01 6.27948873e-02 6.18472041e+02] [-4.84272197e-01 8.74293944e-01 -3.30233251e-02 -3.23749694e+02] [-7.09305191e-02 -1.61224201e-03 9.97479956e-01 -3.31259885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.53, Y:-323.78, Z:-33.13 [[ 8.71746556e-01 4.85917608e-01 6.27855185e-02 6.18527189e+02] [-4.84795707e-01 8.74003093e-01 -3.30411279e-02 -3.23778050e+02] [-7.09300032e-02 -1.63466039e-03 9.97479956e-01 -3.31308925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.58, Y:-323.81, Z:-33.14 [[ 8.70994558e-01 4.87265374e-01 6.27768676e-02 6.18582905e+02] [-4.86145781e-01 8.73252242e-01 -3.30575560e-02 -3.23806397e+02] [-7.09278428e-02 -1.72575795e-03 9.97479956e-01 -3.31370961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.64, Y:-323.83, Z:-33.14 [[ 8.70192618e-01 4.88697278e-01 6.27676556e-02 6.18637540e+02] [-4.87580141e-01 8.72451516e-01 -3.30750382e-02 -3.23834551e+02] [-7.09254174e-02 -1.82260828e-03 9.97479956e-01 -3.31411828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.69, Y:-323.86, Z:-33.15 [[ 8.68459944e-01 4.91770536e-01 6.27619781e-02 6.18694186e+02] [-4.90660613e-01 8.70722397e-01 -3.30858080e-02 -3.23861151e+02] [-7.09188855e-02 -2.06113169e-03 9.97479956e-01 -3.31456160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.75, Y:-323.89, Z:-33.15 [[ 8.67665432e-01 4.93172172e-01 6.27527436e-02 6.18748502e+02] [-4.92064639e-01 8.69929055e-01 -3.31033135e-02 -3.23890005e+02] [-7.09160680e-02 -2.15580538e-03 9.97479957e-01 -3.31506640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.80, Y:-323.92, Z:-33.16 [[ 8.65910125e-01 4.96248747e-01 6.27442166e-02 6.18803715e+02] [-4.95148087e-01 8.68177098e-01 -3.31194678e-02 -3.23919027e+02] [-7.09085863e-02 -2.38919630e-03 9.97479957e-01 -3.31566710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.86, Y:-323.95, Z:-33.16 [[ 8.64644275e-01 4.98452206e-01 6.27349773e-02 6.18860025e+02] [-4.97356055e-01 8.66913431e-01 -3.31369598e-02 -3.23946212e+02] [-7.09029851e-02 -2.54993822e-03 9.97479957e-01 -3.31639378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.92, Y:-323.98, Z:-33.17 [[ 8.64238633e-01 4.99156344e-01 6.27258214e-02 6.18915204e+02] [-4.98060787e-01 8.66508076e-01 -3.31542821e-02 -3.23975300e+02] [-7.09016011e-02 -2.58806060e-03 9.97479957e-01 -3.31689094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:618.97, Y:-324.01, Z:-33.17 [[ 8.64357686e-01 4.98951306e-01 6.27167088e-02 6.18968258e+02] [-4.97853962e-01 8.66626265e-01 -3.31715112e-02 -3.24006588e+02] [-7.09029159e-02 -2.55171137e-03 9.97479957e-01 -3.31722072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.02, Y:-324.04, Z:-33.18 [[ 8.65579533e-01 4.96829692e-01 6.27082817e-02 6.19022910e+02] [-4.95725635e-01 8.67844853e-01 -3.31874344e-02 -3.24037100e+02] [-7.09095623e-02 -2.35973875e-03 9.97479958e-01 -3.31757942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.08, Y:-324.07, Z:-33.18 [[ 8.67428657e-01 4.93595311e-01 6.26992310e-02 6.19078022e+02] [-4.92481572e-01 8.69689232e-01 -3.32045246e-02 -3.24068444e+02] [-7.09184437e-02 -2.07565973e-03 9.97479958e-01 -3.31785136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.13, Y:-324.10, Z:-33.18 [[ 8.68979201e-01 4.90861605e-01 6.26899780e-02 6.19132003e+02] [-4.89739495e-01 8.71235632e-01 -3.32219851e-02 -3.24100798e+02] [-7.09251395e-02 -1.83254414e-03 9.97479958e-01 -3.31841598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.18, Y:-324.14, Z:-33.18 [[ 8.67961325e-01 4.92660380e-01 6.26808414e-02 6.19183862e+02] [-4.91541703e-01 8.70219460e-01 -3.32392145e-02 -3.24136132e+02] [-7.09217320e-02 -1.95989487e-03 9.97479958e-01 -3.31849990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.24, Y:-324.16, Z:-33.20 [[ 8.69980879e-01 4.89085851e-01 6.26761653e-02 6.19238531e+02] [-4.87957260e-01 8.72234075e-01 -3.32480294e-02 -3.24161401e+02] [-7.09294278e-02 -1.65814005e-03 9.97479958e-01 -3.31958633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.29, Y:-324.19, Z:-33.20 [[ 8.71741212e-01 4.85941902e-01 6.26715808e-02 6.19291742e+02] [-4.84804563e-01 8.73990006e-01 -3.32566688e-02 -3.24194335e+02] [-7.09351441e-02 -1.39225956e-03 9.97479958e-01 -3.32006389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.34, Y:-324.23, Z:-33.20 [[ 8.74826476e-01 4.80366589e-01 6.26624008e-02 6.19344823e+02] [-4.79213678e-01 8.77067326e-01 -3.32739569e-02 -3.24229064e+02] [-7.09428415e-02 -9.19741130e-04 9.97479958e-01 -3.32047177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.40, Y:-324.26, Z:-33.21 [[ 8.77416301e-01 4.75620885e-01 6.26530789e-02 6.19398423e+02] [-4.74454600e-01 8.79650219e-01 -3.32915002e-02 -3.24261636e+02] [-7.09469274e-02 -5.15536575e-04 9.97479959e-01 -3.32090133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.45, Y:-324.30, Z:-33.21 [[ 8.81390748e-01 4.68215872e-01 6.26438095e-02 6.19451730e+02] [-4.67029580e-01 8.83614105e-01 -3.33089332e-02 -3.24295049e+02] [-7.09487249e-02 1.01673500e-04 9.97479959e-01 -3.32133146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.50, Y:-324.33, Z:-33.22 [[ 8.85551578e-01 4.60299182e-01 6.26343852e-02 6.19504200e+02] [-4.59091762e-01 8.87763532e-01 -3.33266453e-02 -3.24329320e+02] [-7.09447506e-02 7.57533049e-04 9.97479959e-01 -3.32174655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.56, Y:-324.36, Z:-33.22 [[ 8.89416092e-01 4.52788169e-01 6.26249939e-02 6.19557009e+02] [-4.51560830e-01 8.91617056e-01 -3.33442834e-02 -3.24362472e+02] [-7.09354098e-02 1.37794798e-03 9.97479959e-01 -3.32226220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.61, Y:-324.40, Z:-33.22 [[ 8.90418972e-01 4.50813904e-01 6.26169136e-02 6.19608926e+02] [-4.49580620e-01 8.92616610e-01 -3.33594505e-02 -3.24396582e+02] [-7.09318013e-02 1.55253676e-03 9.97479959e-01 -3.32236757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.66, Y:-324.42, Z:-33.23 [[ 8.91893162e-01 4.47891478e-01 6.26083971e-02 6.19663166e+02] [-4.46649873e-01 8.94086110e-01 -3.33754265e-02 -3.24423181e+02] [-7.09258673e-02 1.80328208e-03 9.97479959e-01 -3.32305867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.72, Y:-324.46, Z:-33.23 [[ 8.91889089e-01 4.47900678e-01 6.26005987e-02 6.19717152e+02] [-4.46658070e-01 8.94081469e-01 -3.33900472e-02 -3.24455196e+02] [-7.09254600e-02 1.81915616e-03 9.97479960e-01 -3.32332381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.77, Y:-324.48, Z:-33.24 [[ 8.90311901e-01 4.51028949e-01 6.25907886e-02 6.19771123e+02] [-4.49792753e-01 8.92507903e-01 -3.34084265e-02 -3.24483731e+02] [-7.09309409e-02 1.59103655e-03 9.97479960e-01 -3.32410695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.83, Y:-324.51, Z:-33.24 [[ 8.86181906e-01 4.59091637e-01 6.25819292e-02 6.19826356e+02] [-4.57874255e-01 8.88388392e-01 -3.34250140e-02 -3.24512585e+02] [-7.09422039e-02 9.65988445e-04 9.97479960e-01 -3.32429225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.88, Y:-324.54, Z:-33.25 [[ 8.79709641e-01 4.71376135e-01 6.25738559e-02 6.19883182e+02] [-4.70188493e-01 8.81932276e-01 -3.34401209e-02 -3.24540257e+02] [-7.09487781e-02 -3.91030232e-06 9.97479960e-01 -3.32470065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.94, Y:-324.57, Z:-33.25 [[ 8.75129041e-01 4.79827882e-01 6.25648993e-02 6.19938278e+02] [-4.78660506e-01 8.77362387e-01 -3.34568700e-02 -3.24568829e+02] [-7.09456284e-02 -6.68267861e-04 9.97479960e-01 -3.32533144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:619.99, Y:-324.60, Z:-33.26 [[ 8.68255920e-01 4.92156339e-01 6.25603271e-02 6.19992915e+02] [-4.91020050e-01 8.70505242e-01 -3.34654173e-02 -3.24595072e+02] [-7.09293099e-02 -1.66182819e-03 9.97479960e-01 -3.32581355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.05, Y:-324.62, Z:-33.26 [[ 8.63747870e-01 5.00026423e-01 6.25555226e-02 6.20048567e+02] [-4.98909973e-01 8.66007104e-01 -3.34743957e-02 -3.24622889e+02] [-7.09116093e-02 -2.29613611e-03 9.97479960e-01 -3.32624908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.10, Y:-324.65, Z:-33.27 [[ 8.62177604e-01 5.02730167e-01 6.25472544e-02 6.20103290e+02] [-5.01619681e-01 8.64439776e-01 -3.34898377e-02 -3.24652331e+02] [-7.09046863e-02 -2.50074579e-03 9.97479961e-01 -3.32666226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.16, Y:-324.68, Z:-33.27 [[ 8.62350608e-01 5.02434378e-01 6.25389880e-02 6.20158230e+02] [-5.01322000e-01 8.64611849e-01 -3.35052674e-02 -3.24683469e+02] [-7.09061483e-02 -2.45888288e-03 9.97479961e-01 -3.32703183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.21, Y:-324.72, Z:-33.27 [[ 8.62998931e-01 5.01321144e-01 6.25296467e-02 6.20211415e+02] [-5.00204587e-01 8.65258112e-01 -3.35226917e-02 -3.24715618e+02] [-7.09099182e-02 -2.34756906e-03 9.97479961e-01 -3.32717225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.26, Y:-324.75, Z:-33.28 [[ 8.64732895e-01 4.98325341e-01 6.25209863e-02 6.20264971e+02] [-4.97199791e-01 8.66987609e-01 -3.35388359e-02 -3.24745631e+02] [-7.09181723e-02 -2.08328663e-03 9.97479961e-01 -3.32810983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.32, Y:-324.78, Z:-33.28 [[ 8.65564724e-01 4.96880249e-01 6.25118065e-02 6.20316929e+02] [-4.95749701e-01 8.67816936e-01 -3.35559370e-02 -3.24779440e+02] [-7.09220867e-02 -1.94537398e-03 9.97479961e-01 -3.32828219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.37, Y:-324.81, Z:-33.29 [[ 8.68668349e-01 4.91435291e-01 6.25032379e-02 6.20369314e+02] [-4.90289475e-01 8.70912831e-01 -3.35718899e-02 -3.24810636e+02] [-7.09332834e-02 -1.48184156e-03 9.97479961e-01 -3.32907475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.42, Y:-324.84, Z:-33.29 [[ 8.69532656e-01 4.89905398e-01 6.24952847e-02 6.20422219e+02] [-4.88754570e-01 8.71774572e-01 -3.35866886e-02 -3.24843371e+02] [-7.09361001e-02 -1.34013344e-03 9.97479962e-01 -3.32927091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.48, Y:-324.87, Z:-33.30 [[ 8.68628923e-01 4.91507043e-01 6.24869590e-02 6.20476448e+02] [-4.90359235e-01 8.70872387e-01 -3.36021712e-02 -3.24874398e+02] [-7.09338710e-02 -1.45323962e-03 9.97479962e-01 -3.32952136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.53, Y:-324.90, Z:-33.30 [[ 8.68273762e-01 4.92135237e-01 6.24786649e-02 6.20533710e+02] [-4.90987943e-01 8.70517488e-01 -3.36175859e-02 -3.24898581e+02] [-7.09331690e-02 -1.48700336e-03 9.97479962e-01 -3.33003517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.59, Y:-324.93, Z:-33.30 [[ 8.68137452e-01 4.92376692e-01 6.24704479e-02 6.20589159e+02] [-4.91228925e-01 8.70380937e-01 -3.36328484e-02 -3.24926370e+02] [-7.09331176e-02 -1.48935566e-03 9.97479962e-01 -3.33044699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.64, Y:-324.96, Z:-33.31 [[ 8.68753771e-01 4.91289543e-01 6.24617529e-02 6.20642853e+02] [-4.90137809e-01 8.70995221e-01 -3.36489887e-02 -3.24955803e+02] [-7.09352845e-02 -1.38218083e-03 9.97479962e-01 -3.33096094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.70, Y:-324.99, Z:-33.31 [[ 8.70018323e-01 4.89047687e-01 6.24538035e-02 6.20697931e+02] [-4.87889118e-01 8.72256248e-01 -3.36637367e-02 -3.24985926e+02] [-7.09388928e-02 -1.18246336e-03 9.97479962e-01 -3.33137483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.75, Y:-325.01, Z:-33.32 [[ 8.72053235e-01 4.85410959e-01 6.24448255e-02 6.20752407e+02] [-4.84241865e-01 8.74285679e-01 -3.36803822e-02 -3.25013917e+02] [-7.09434433e-02 -8.67312518e-04 9.97479963e-01 -3.33180132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.81, Y:-325.04, Z:-33.32 [[ 8.75136955e-01 4.79830021e-01 6.24376534e-02 6.20806804e+02] [-4.78645741e-01 8.77361380e-01 -3.36936729e-02 -3.25042745e+02] [-7.09476215e-02 -3.98938588e-04 9.97479963e-01 -3.33222382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.86, Y:-325.07, Z:-33.32 [[ 8.77392817e-01 4.75693247e-01 6.24322048e-02 6.20861347e+02] [-4.74497760e-01 8.79611239e-01 -3.37037658e-02 -3.25073651e+02] [-7.09487228e-02 -5.24993449e-05 9.97479963e-01 -3.33247099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:620.92, Y:-325.10, Z:-33.33 [[ 8.80193486e-01 4.70492058e-01 6.24231493e-02 6.20916191e+02] [-4.69282274e-01 8.82404144e-01 -3.37205293e-02 -3.25103273e+02] [-7.09476868e-02 3.86512818e-04 9.97479963e-01 -3.33300742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:620.97, Y:-325.13, Z:-33.33 [[ 8.81942952e-01 4.67204847e-01 6.24200383e-02 6.20973499e+02] [-4.65986416e-01 8.84148855e-01 -3.37262870e-02 -3.25130304e+02] [-7.09456902e-02 6.57771177e-04 9.97479963e-01 -3.33330117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.03, Y:-325.16, Z:-33.34 [[ 8.80791176e-01 4.69374007e-01 6.24095050e-02 6.21029030e+02] [-4.68159627e-01 8.82999313e-01 -3.37457673e-02 -3.25158411e+02] [-7.09469361e-02 5.05363458e-04 9.97479963e-01 -3.33382454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.08, Y:-325.19, Z:-33.34 [[ 8.79053825e-01 4.72620883e-01 6.24009099e-02 6.21083265e+02] [-4.71413532e-01 8.81265813e-01 -3.37616536e-02 -3.25187180e+02] [-7.09482511e-02 2.61677405e-04 9.97479963e-01 -3.33438687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.14, Y:-325.21, Z:-33.35 [[ 8.75800447e-01 4.78623903e-01 6.23917966e-02 6.21137929e+02] [-4.77430515e-01 8.78019998e-01 -3.37784867e-02 -3.25213877e+02] [-7.09484363e-02 -2.04533818e-04 9.97479964e-01 -3.33481434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.19, Y:-325.24, Z:-33.35 [[ 8.72262564e-01 4.85042096e-01 6.23873813e-02 6.21193185e+02] [-4.83864455e-01 8.74490510e-01 -3.37866396e-02 -3.25241226e+02] [-7.09451153e-02 -7.16215358e-04 9.97479964e-01 -3.33529615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.25, Y:-325.27, Z:-33.35 [[ 8.68524733e-01 4.91704861e-01 6.23788262e-02 6.21246647e+02] [-4.90543176e-01 8.70761040e-01 -3.38024271e-02 -3.25273036e+02] [-7.09378693e-02 -1.24126354e-03 9.97479964e-01 -3.33546798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.30, Y:-325.30, Z:-33.36 [[ 8.66666454e-01 4.94974077e-01 6.23692249e-02 6.21302617e+02] [-4.93819552e-01 8.68906467e-01 -3.38201334e-02 -3.25298708e+02] [-7.09331121e-02 -1.48836762e-03 9.97479964e-01 -3.33588572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.36, Y:-325.33, Z:-33.37 [[ 8.65407992e-01 4.97172225e-01 6.23601240e-02 6.21356695e+02] [-4.96022183e-01 8.67650309e-01 -3.38369060e-02 -3.25325462e+02] [-7.09295507e-02 -1.64927593e-03 9.97479964e-01 -3.33674793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.41, Y:-325.36, Z:-33.37 [[ 8.64923569e-01 4.98015496e-01 6.23521097e-02 6.21412282e+02] [-4.96866576e-01 8.67166461e-01 -3.38516676e-02 -3.25355331e+02] [-7.09283133e-02 -1.70157407e-03 9.97479964e-01 -3.33730230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.47, Y:-325.39, Z:-33.38 [[ 8.65695230e-01 4.96674065e-01 6.23429398e-02 6.21466594e+02] [-4.95520454e-01 8.67935713e-01 -3.38685470e-02 -3.25387930e+02] [-7.09312928e-02 -1.57236221e-03 9.97479964e-01 -3.33763330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.52, Y:-325.42, Z:-33.38 [[ 8.68283321e-01 4.92136773e-01 6.23335517e-02 6.21519705e+02] [-4.90970213e-01 8.70517088e-01 -3.38858166e-02 -3.25422364e+02] [-7.09388784e-02 -1.18142777e-03 9.97479965e-01 -3.33789868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.57, Y:-325.46, Z:-33.38 [[ 8.71376502e-01 4.86640211e-01 6.23241271e-02 6.21572163e+02] [-4.85458320e-01 8.73602196e-01 -3.39031419e-02 -3.25456392e+02] [-7.09451264e-02 -7.13364827e-04 9.97479965e-01 -3.33837874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.62, Y:-325.49, Z:-33.39 [[ 8.74383342e-01 4.81217886e-01 6.23146693e-02 6.21624535e+02] [-4.80020954e-01 8.76600982e-01 -3.39205167e-02 -3.25490175e+02] [-7.09482596e-02 -2.52812249e-04 9.97479965e-01 -3.33891826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.68, Y:-325.52, Z:-33.39 [[ 8.75778423e-01 4.78675325e-01 6.23064003e-02 6.21676830e+02] [-4.77470875e-01 8.77991989e-01 -3.39356987e-02 -3.25520671e+02] [-7.09487019e-02 -2.93387932e-05 9.97479965e-01 -3.33943115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.73, Y:-325.55, Z:-33.40 [[ 8.77425479e-01 4.75650098e-01 6.23017902e-02 6.21731435e+02] [-4.74437414e-01 8.79634546e-01 -3.39441601e-02 -3.25550323e+02] [-7.09483500e-02 2.25170711e-04 9.97479965e-01 -3.33985347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters Centerline goodness : 0.996924 with order 1 Centerline is valid? [True, True] Translation: X:621.79, Y:-325.58, Z:-33.40 [[ 8.78989413e-01 4.72754157e-01 6.22986365e-02 6.21786127e+02] [-4.71533785e-01 8.81194241e-01 -3.39499473e-02 -3.25581867e+02] [-7.09471784e-02 4.65732364e-04 9.97479965e-01 -3.34049409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.84, Y:-325.61, Z:-33.41 [[ 8.80921043e-01 4.69145659e-01 6.22933911e-02 6.21841851e+02] [-4.67915576e-01 8.83120468e-01 -3.39595690e-02 -3.25611909e+02] [-7.09445531e-02 7.67651023e-04 9.97479965e-01 -3.34074343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.90, Y:-325.64, Z:-33.41 [[ 8.81970033e-01 4.67172258e-01 6.22811628e-02 6.21897288e+02] [-4.65935671e-01 8.84165808e-01 -3.39819808e-02 -3.25638817e+02] [-7.09423133e-02 9.52073320e-04 9.97479966e-01 -3.34104889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:621.95, Y:-325.67, Z:-33.41 [[ 8.82661213e-01 4.65866388e-01 6.22711139e-02 6.21952420e+02] [-4.64625255e-01 8.84854421e-01 -3.40003852e-02 -3.25666425e+02] [-7.09405071e-02 1.07808902e-03 9.97479966e-01 -3.34145198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.01, Y:-325.69, Z:-33.42 [[ 8.81985294e-01 4.67145972e-01 6.22622100e-02 6.22009318e+02] [-4.65906871e-01 8.84179650e-01 -3.40166824e-02 -3.25693660e+02] [-7.09417352e-02 9.93822156e-04 9.97479966e-01 -3.34185013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.07, Y:-325.72, Z:-33.42 [[ 8.80041005e-01 4.70799763e-01 6.22528113e-02 6.22066771e+02] [-4.69568557e-01 8.82239800e-01 -3.40338740e-02 -3.25719930e+02] [-7.09450477e-02 7.19241911e-04 9.97479966e-01 -3.34223622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.12, Y:-325.74, Z:-33.43 [[ 8.77310017e-01 4.75870694e-01 6.22432056e-02 6.22123670e+02] [-4.74650952e-01 8.79515192e-01 -3.40514325e-02 -3.25744767e+02] [-7.09479238e-02 3.29866067e-04 9.97479966e-01 -3.34267579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.18, Y:-325.77, Z:-33.43 [[ 8.76124944e-01 4.78050100e-01 6.22349065e-02 6.22179225e+02] [-4.76834767e-01 8.78332552e-01 -3.40665937e-02 -3.25773442e+02] [-7.09484829e-02 1.70825427e-04 9.97479967e-01 -3.34304968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.24, Y:-325.80, Z:-33.43 [[ 8.73639137e-01 4.82579163e-01 6.22254738e-02 6.22235212e+02] [-4.81374048e-01 8.75852339e-01 -3.40838148e-02 -3.25801259e+02] [-7.09484656e-02 -1.76773602e-04 9.97479967e-01 -3.34336825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.29, Y:-325.82, Z:-33.44 [[ 8.68237144e-01 4.92233119e-01 6.22159020e-02 6.22293543e+02] [-4.91051358e-01 8.70462904e-01 -3.41012781e-02 -3.25824253e+02] [-7.09424132e-02 -9.43206867e-04 9.97479967e-01 -3.34388516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.35, Y:-325.85, Z:-33.45 [[ 8.67192624e-01 4.94072095e-01 6.22070541e-02 6.22351100e+02] [-4.92893896e-01 8.69420272e-01 -3.41174107e-02 -3.25849010e+02] [-7.09405344e-02 -1.07511036e-03 9.97479967e-01 -3.34497378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.41, Y:-325.88, Z:-33.45 [[ 8.64277890e-01 4.99153889e-01 6.22022907e-02 6.22405509e+02] [-4.97988162e-01 8.66512089e-01 -3.41260929e-02 -3.25878303e+02] [-7.09332089e-02 -1.48157685e-03 9.97479967e-01 -3.34503881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.46, Y:-325.91, Z:-33.45 [[ 8.64414764e-01 4.98918086e-01 6.21921102e-02 6.22459463e+02] [-4.97750417e-01 8.66647948e-01 -3.41446361e-02 -3.25907568e+02] [-7.09340412e-02 -1.44102117e-03 9.97479967e-01 -3.34548944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.51, Y:-325.94, Z:-33.46 [[ 8.64903131e-01 4.98071732e-01 6.21861950e-02 6.22514479e+02] [-4.96901103e-01 8.67134766e-01 -3.41554057e-02 -3.25937931e+02] [-7.09356538e-02 -1.35927154e-03 9.97479967e-01 -3.34596815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.57, Y:-325.97, Z:-33.46 [[ 8.66588695e-01 4.95134426e-01 6.21766322e-02 6.22568813e+02] [-4.93954984e-01 8.68815684e-01 -3.41728052e-02 -3.25969269e+02] [-7.09401655e-02 -1.09869064e-03 9.97479968e-01 -3.34642605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.62, Y:-326.00, Z:-33.47 [[ 8.68135048e-01 4.92419345e-01 6.21669351e-02 6.22623427e+02] [-4.91231675e-01 8.70357659e-01 -3.41904369e-02 -3.25999492e+02] [-7.09435007e-02 -8.56451077e-04 9.97479968e-01 -3.34726198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.68, Y:-326.03, Z:-33.48 [[ 8.69871938e-01 4.89345828e-01 6.21568283e-02 6.22676889e+02] [-4.88148993e-01 8.72089628e-01 -3.42088009e-02 -3.26031900e+02] [-7.09462592e-02 -5.84517112e-04 9.97479968e-01 -3.34779357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.73, Y:-326.07, Z:-33.48 [[ 8.71958666e-01 4.85619069e-01 6.21466390e-02 6.22727767e+02] [-4.84411436e-01 8.74170494e-01 -3.42273016e-02 -3.26067027e+02] [-7.09481885e-02 -2.59750391e-04 9.97479968e-01 -3.34802686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.78, Y:-326.10, Z:-33.48 [[ 8.74393816e-01 4.81221795e-01 6.21372533e-02 6.22780474e+02] [-4.80001828e-01 8.76598865e-01 -3.42443322e-02 -3.26101535e+02] [-7.09485648e-02 1.17037136e-04 9.97479968e-01 -3.34828163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.83, Y:-326.13, Z:-33.49 [[ 8.77162345e-01 4.76158019e-01 6.21269713e-02 6.22832088e+02] [-4.74924003e-01 8.79359562e-01 -3.42629760e-02 -3.26134870e+02] [-7.09465371e-02 5.48602467e-04 9.97479969e-01 -3.34891846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.88, Y:-326.17, Z:-33.49 [[ 8.79221563e-01 4.72346056e-01 6.21179999e-02 6.22884986e+02] [-4.71101366e-01 8.81412751e-01 -3.42792333e-02 -3.26168773e+02] [-7.09432578e-02 8.75166528e-04 9.97479969e-01 -3.34933732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.94, Y:-326.20, Z:-33.50 [[ 8.82603589e-01 4.65997251e-01 6.21085037e-02 6.22937689e+02] [-4.64735592e-01 8.84785050e-01 -3.42964304e-02 -3.26203313e+02] [-7.09347178e-02 1.40612035e-03 9.97479969e-01 -3.34968973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.99, Y:-326.24, Z:-33.50 [[ 8.85017471e-01 4.61397660e-01 6.20989235e-02 6.22990655e+02] [-4.60123449e-01 8.87191624e-01 -3.43137680e-02 -3.26236713e+02] [-7.09259370e-02 1.79511338e-03 9.97479969e-01 -3.35007011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.04, Y:-326.27, Z:-33.50 [[ 8.87459397e-01 4.56684511e-01 6.20892566e-02 6.23042352e+02] [-4.55397534e-01 8.89626018e-01 -3.43312510e-02 -3.26271053e+02] [-7.09147686e-02 2.19229703e-03 9.97479969e-01 -3.35028663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.10, Y:-326.30, Z:-33.51 [[ 8.87542810e-01 4.56523190e-01 6.20833012e-02 6.23096652e+02] [-4.55235067e-01 8.89708750e-01 -3.43420170e-02 -3.26301675e+02] [-7.09139835e-02 2.21751447e-03 9.97479970e-01 -3.35062974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.15, Y:-326.33, Z:-33.51 [[ 8.86059387e-01 4.59397027e-01 6.20736264e-02 6.23152454e+02] [-4.58114706e-01 8.88228766e-01 -3.43594956e-02 -3.26331352e+02] [-7.09202307e-02 2.00771248e-03 9.97479970e-01 -3.35111117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.21, Y:-326.36, Z:-33.51 [[ 8.81952177e-01 4.67234854e-01 6.20640771e-02 6.23208244e+02] [-4.65970605e-01 8.84132137e-01 -3.43767360e-02 -3.26360634e+02] [-7.09348543e-02 1.39860163e-03 9.97479970e-01 -3.35149634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.26, Y:-326.39, Z:-33.52 [[ 8.76896679e-01 4.76656524e-01 6.20545937e-02 6.23263890e+02] [-4.75414491e-01 8.79089373e-01 -3.43938463e-02 -3.26388965e+02] [-7.09455850e-02 6.58196512e-04 9.97479970e-01 -3.35193221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.32, Y:-326.42, Z:-33.52 [[ 8.70616091e-01 4.88034871e-01 6.20450372e-02 6.23318793e+02] [-4.86820269e-01 8.72824097e-01 -3.44110773e-02 -3.26418125e+02] [-7.09482092e-02 -2.45944085e-04 9.97479970e-01 -3.35219520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.37, Y:-326.44, Z:-33.53 [[ 8.65180218e-01 4.97608956e-01 6.20364180e-02 6.23374854e+02] [-4.96417670e-01 8.67400891e-01 -3.44266089e-02 -3.26444341e+02] [-7.09414332e-02 -1.01075312e-03 9.97479970e-01 -3.35288563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.43, Y:-326.47, Z:-33.53 [[ 8.57983414e-01 5.09918672e-01 6.20274907e-02 6.23427874e+02] [-5.08758073e-01 8.60220277e-01 -3.44426860e-02 -3.26474673e+02] [-7.09202740e-02 -2.00573334e-03 9.97479971e-01 -3.35301373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.48, Y:-326.50, Z:-33.54 [[ 8.57151965e-01 5.11316157e-01 6.20185192e-02 6.23481499e+02] [-5.10158037e-01 8.59390113e-01 -3.44588329e-02 -3.26504767e+02] [-7.09174602e-02 -2.10278965e-03 9.97479971e-01 -3.35372918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.53, Y:-326.54, Z:-33.55 [[ 8.57026459e-01 5.11526899e-01 6.20151691e-02 6.23532762e+02] [-5.10368894e-01 8.59264666e-01 -3.44648610e-02 -3.26537485e+02] [-7.09171470e-02 -2.11331549e-03 9.97479971e-01 -3.35461332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.59, Y:-326.57, Z:-33.55 [[ 8.56860570e-01 5.11805161e-01 6.20116247e-02 6.23587968e+02] [-5.10647422e-01 8.59098914e-01 -3.44712371e-02 -3.26568311e+02] [-7.09166765e-02 -2.12903238e-03 9.97479971e-01 -3.35506332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.64, Y:-326.60, Z:-33.56 [[ 8.57134490e-01 5.11347645e-01 6.20004148e-02 6.23641724e+02] [-5.10187255e-01 8.59371462e-01 -3.44913876e-02 -3.26599360e+02] [-7.09184769e-02 -2.06806349e-03 9.97479971e-01 -3.35558199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.70, Y:-326.62, Z:-33.57 [[ 8.60419501e-01 5.05801782e-01 6.19906406e-02 6.23696994e+02] [-5.04625706e-01 8.62648266e-01 -3.45089457e-02 -3.26623981e+02] [-7.09308048e-02 -1.58990094e-03 9.97479971e-01 -3.35653349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.75, Y:-326.66, Z:-33.57 [[ 8.62493164e-01 5.02258198e-01 6.19858357e-02 6.23748039e+02] [-5.01072344e-01 8.64716741e-01 -3.45175741e-02 -3.26659349e+02] [-7.09369245e-02 -1.28821632e-03 9.97479971e-01 -3.35690603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.80, Y:-326.70, Z:-33.57 [[ 8.62937863e-01 5.01494881e-01 6.19768426e-02 6.23797000e+02] [-5.00305901e-01 8.65159770e-01 -3.45337140e-02 -3.26698737e+02] [-7.09383516e-02 -1.20693071e-03 9.97479972e-01 -3.35676737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters Centerline goodness : 0.998585 with order 1 Centerline is valid? [True, True] Translation: X:623.85, Y:-326.73, Z:-33.57 [[ 8.61615286e-01 5.03764204e-01 6.19735941e-02 6.23849541e+02] [-5.02580657e-01 8.63840091e-01 -3.45395427e-02 -3.26731254e+02] [-7.09350604e-02 -1.38693165e-03 9.97479972e-01 -3.35718410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:623.90, Y:-326.76, Z:-33.58 [[ 8.61380246e-01 5.04166438e-01 6.19699436e-02 6.23903981e+02] [-5.02983459e-01 8.63605354e-01 -3.45460910e-02 -3.26760944e+02] [-7.09345547e-02 -1.41253624e-03 9.97479972e-01 -3.35754579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.96, Y:-326.79, Z:-33.58 [[ 8.61839130e-01 5.03382905e-01 6.19593858e-02 6.23959263e+02] [-5.02196543e-01 8.64062435e-01 -3.45650164e-02 -3.26789239e+02] [-7.09362162e-02 -1.32630575e-03 9.97479972e-01 -3.35760843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.01, Y:-326.82, Z:-33.58 [[ 8.61361380e-01 5.04201268e-01 6.19488075e-02 6.24013578e+02] [-5.03015656e-01 8.63585085e-01 -3.45839648e-02 -3.26816427e+02] [-7.09353452e-02 -1.37192840e-03 9.97479972e-01 -3.35785209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:624.07, Y:-326.84, Z:-33.59 [[ 8.61717048e-01 5.03594284e-01 6.19396926e-02 6.24069085e+02] [-5.02405933e-01 8.63939291e-01 -3.46002819e-02 -3.26843865e+02] [-7.09366383e-02 -1.30321625e-03 9.97479972e-01 -3.35890929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters Centerline goodness : 0.998152 with order 1 Centerline is valid? [True, True] Translation: X:624.12, Y:-326.87, Z:-33.60 [[ 8.61408381e-01 5.04122430e-01 6.19368761e-02 6.24123168e+02] [-5.02935080e-01 8.63631158e-01 -3.46053231e-02 -3.26874397e+02] [-7.09359356e-02 -1.34091237e-03 9.97479972e-01 -3.35954009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters Centerline goodness : 0.997131 with order 1 Centerline is valid? [True, True] Translation: X:624.18, Y:-326.90, Z:-33.60 [[ 8.64244021e-01 4.99247014e-01 6.19248793e-02 6.24179104e+02] [-4.98045586e-01 8.66459220e-01 -3.46267775e-02 -3.26901279e+02] [-7.09426979e-02 -9.15427425e-04 9.97479973e-01 -3.36027729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.23, Y:-326.93, Z:-33.60 [[ 8.67233782e-01 4.94036641e-01 6.19141752e-02 6.24232658e+02] [-4.92820536e-01 8.69440958e-01 -3.46459064e-02 -3.26929943e+02] [-7.09470670e-02 -4.66476569e-04 9.97479973e-01 -3.36043432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.29, Y:-326.96, Z:-33.61 [[ 8.68000081e-01 4.92690295e-01 6.19042270e-02 6.24286028e+02] [-4.91469500e-01 8.70204666e-01 -3.46636725e-02 -3.26960409e+02] [-7.09478022e-02 -3.35968895e-04 9.97479973e-01 -3.36079333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.34, Y:-326.99, Z:-33.61 [[ 8.68283541e-01 4.92191721e-01 6.18950852e-02 6.24340636e+02] [-4.90968498e-01 8.70486779e-01 -3.46799882e-02 -3.26990996e+02] [-7.09480565e-02 -2.76474003e-04 9.97479973e-01 -3.36118735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.39, Y:-327.02, Z:-33.62 [[ 8.68123975e-01 4.92474324e-01 6.18854061e-02 6.24394172e+02] [-4.91250587e-01 8.70326928e-01 -3.46972517e-02 -3.27021923e+02] [-7.09480410e-02 -2.79725962e-04 9.97479973e-01 -3.36175711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters Centerline goodness : 0.997314 with order 1 Centerline is valid? [True, True] Translation: X:624.45, Y:-327.06, Z:-33.62 [[ 8.66906780e-01 4.94614940e-01 6.18764647e-02 6.24446941e+02] [-4.93395504e-01 8.69112117e-01 -3.47131900e-02 -3.27055454e+02] [-7.09472475e-02 -4.36469733e-04 9.97479974e-01 -3.36201682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.50, Y:-327.09, Z:-33.62 [[ 8.66044073e-01 4.96125281e-01 6.18657308e-02 6.24502573e+02] [-4.94908326e-01 8.68250779e-01 -3.47323093e-02 -3.27085085e+02] [-7.09465457e-02 -5.38154632e-04 9.97479974e-01 -3.36207240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.56, Y:-327.11, Z:-33.63 [[ 8.65593142e-01 4.96913170e-01 6.18531717e-02 6.24557105e+02] [-4.95696626e-01 8.67800074e-01 -3.47546609e-02 -3.27111860e+02] [-7.09462357e-02 -5.77012377e-04 9.97479974e-01 -3.36305921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.61, Y:-327.14, Z:-33.64 [[ 8.64849503e-01 4.98207327e-01 6.18449384e-02 6.24612403e+02] [-4.96993038e-01 8.67057677e-01 -3.47693056e-02 -3.27141608e+02] [-7.09454515e-02 -6.66287140e-04 9.97479974e-01 -3.36371638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.67, Y:-327.17, Z:-33.64 [[ 8.62854373e-01 5.01656066e-01 6.18346434e-02 6.24667846e+02] [-5.00449291e-01 8.65066662e-01 -3.47876049e-02 -3.27171718e+02] [-7.09425016e-02 -9.28466457e-04 9.97479974e-01 -3.36438375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.72, Y:-327.20, Z:-33.65 [[ 8.61997820e-01 5.03127042e-01 6.18299132e-02 6.24722625e+02] [-5.01923439e-01 8.64211837e-01 -3.47960103e-02 -3.27202479e+02] [-7.09409565e-02 -1.03979766e-03 9.97479975e-01 -3.36495274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:624.78, Y:-327.23, Z:-33.65 [[ 8.61953631e-01 5.03204086e-01 6.18189750e-02 6.24776967e+02] [-5.01999289e-01 8.64166998e-01 -3.48154323e-02 -3.27233525e+02] [-7.09411858e-02 -1.02379317e-03 9.97479975e-01 -3.36521530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.83, Y:-327.27, Z:-33.66 [[ 8.62377934e-01 5.02477903e-01 6.18082168e-02 6.24830891e+02] [-5.01269874e-01 8.64589538e-01 -3.48345211e-02 -3.27265087e+02] [-7.09423147e-02 -9.42074654e-04 9.97479975e-01 -3.36560609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.88, Y:-327.30, Z:-33.66 [[ 8.66243831e-01 4.95783993e-01 6.18050044e-02 6.24884089e+02] [-4.94558465e-01 8.68445786e-01 -3.48402196e-02 -3.27297298e+02] [-7.09475189e-02 -3.86062823e-04 9.97479975e-01 -3.36624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.94, Y:-327.33, Z:-33.67 [[ 8.69169812e-01 4.90637430e-01 6.17960312e-02 6.24938363e+02] [-4.89397733e-01 8.71363821e-01 -3.48561283e-02 -3.27329871e+02] [-7.09485471e-02 5.30568950e-05 9.97479975e-01 -3.36663256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:624.99, Y:-327.36, Z:-33.67 [[ 8.71756023e-01 4.86028758e-01 6.17857854e-02 6.24992096e+02] [-4.84776175e-01 8.73942701e-01 -3.48742805e-02 -3.27360434e+02] [-7.09471394e-02 4.49587328e-04 9.97479975e-01 -3.36697371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.05, Y:-327.39, Z:-33.67 [[ 8.75402695e-01 4.79430643e-01 6.17768534e-02 6.25046783e+02] [-4.78160465e-01 8.77579200e-01 -3.48900955e-02 -3.27388683e+02] [-7.09414625e-02 1.00363473e-03 9.97479976e-01 -3.36742656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.10, Y:-327.42, Z:-33.68 [[ 8.77394543e-01 4.75776774e-01 6.17679299e-02 6.25101124e+02] [-4.74496422e-01 8.79565077e-01 -3.49058863e-02 -3.27420016e+02] [-7.09363240e-02 1.31757243e-03 9.97479976e-01 -3.36774859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.16, Y:-327.45, Z:-33.69 [[ 8.81023273e-01 4.69024504e-01 6.17576460e-02 6.25157877e+02] [-4.67726246e-01 8.83183145e-01 -3.49240718e-02 -3.27445057e+02] [-7.09235574e-02 1.88324816e-03 9.97479976e-01 -3.36871030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.21, Y:-327.47, Z:-33.69 [[ 8.80803450e-01 4.69438363e-01 6.17487323e-02 6.25214302e+02] [-4.68140017e-01 8.82963268e-01 -3.49398248e-02 -3.27471904e+02] [-7.09239567e-02 1.86806566e-03 9.97479976e-01 -3.36939873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.27, Y:-327.50, Z:-33.70 [[ 8.79289309e-01 4.72269691e-01 6.17385668e-02 6.25270405e+02] [-4.70977040e-01 8.81452541e-01 -3.49577781e-02 -3.27501131e+02] [-7.09291156e-02 1.66055308e-03 9.97479976e-01 -3.36980993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.33, Y:-327.53, Z:-33.70 [[ 8.75998825e-01 4.78346806e-01 6.17283767e-02 6.25327880e+02] [-4.77067898e-01 8.78170210e-01 -3.49757624e-02 -3.27527449e+02] [-7.09385658e-02 1.19009989e-03 9.97479977e-01 -3.37039044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.38, Y:-327.56, Z:-33.71 [[ 8.72483998e-01 4.84729367e-01 6.17180206e-02 6.25384145e+02] [-4.83465053e-01 8.74663913e-01 -3.49940272e-02 -3.27555440e+02] [-7.09451581e-02 6.93222652e-04 9.97479977e-01 -3.37086190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.44, Y:-327.58, Z:-33.71 [[ 8.65682505e-01 4.96775594e-01 6.17074477e-02 6.25438512e+02] [-4.95540288e-01 8.67878987e-01 -3.50126614e-02 -3.27584640e+02] [-7.09480329e-02 -2.68677949e-04 9.97479977e-01 -3.37073163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.49, Y:-327.61, Z:-33.71 [[ 8.60583112e-01 5.05559039e-01 6.16989889e-02 6.25494910e+02] [-5.04345080e-01 8.62791464e-01 -3.50275611e-02 -3.27610174e+02] [-7.09418611e-02 -9.73453959e-04 9.97479977e-01 -3.37099241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.55, Y:-327.63, Z:-33.72 [[ 8.58957662e-01 5.08316855e-01 6.16904332e-02 6.25552476e+02] [-5.07108904e-01 8.61169306e-01 -3.50426229e-02 -3.27634633e+02] [-7.09386634e-02 -1.18363857e-03 9.97479977e-01 -3.37183721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.61, Y:-327.67, Z:-33.72 [[ 8.56114199e-01 5.13092642e-01 6.16799742e-02 6.25606026e+02] [-5.11895702e-01 8.58331821e-01 -3.50610225e-02 -3.27666682e+02] [-7.09314373e-02 -1.55747455e-03 9.97479978e-01 -3.37167336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.66, Y:-327.69, Z:-33.73 [[ 8.58702976e-01 5.08749418e-01 6.16703174e-02 6.25662996e+02] [-5.07540041e-01 8.60913840e-01 -3.50780002e-02 -3.27690030e+02] [-7.09387419e-02 -1.17857229e-03 9.97479978e-01 -3.37309591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.71, Y:-327.72, Z:-33.73 [[ 8.55491542e-01 5.14132398e-01 6.16611653e-02 6.25713752e+02] [-5.12935772e-01 8.57709333e-01 -3.50940806e-02 -3.27724091e+02] [-7.09303608e-02 -1.60552830e-03 9.97479978e-01 -3.37294115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.77, Y:-327.75, Z:-33.74 [[ 8.55667169e-01 5.13840557e-01 6.16569304e-02 6.25767935e+02] [-5.12642639e-01 8.57884263e-01 -3.51015194e-02 -3.27754938e+02] [-7.09310945e-02 -1.57275378e-03 9.97479978e-01 -3.37357610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.82, Y:-327.79, Z:-33.74 [[ 8.56976518e-01 5.11654219e-01 6.16539389e-02 6.25820872e+02] [-5.10450266e-01 8.59190340e-01 -3.51067729e-02 -3.27787476e+02] [-7.09349972e-02 -1.38558953e-03 9.97479978e-01 -3.37426445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.87, Y:-327.82, Z:-33.76 [[ 8.61586054e-01 5.03854463e-01 6.16453658e-02 6.25874340e+02] [-5.02629388e-01 8.63788259e-01 -3.51218204e-02 -3.27816647e+02] [-7.09448291e-02 -7.24301856e-04 9.97479978e-01 -3.37551885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.93, Y:-327.85, Z:-33.76 [[ 8.65711984e-01 4.96732973e-01 6.16369521e-02 6.25926523e+02] [-4.95488731e-01 8.67903415e-01 -3.51365797e-02 -3.27852721e+02] [-7.09484190e-02 -1.22257035e-04 9.97479978e-01 -3.37575064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:625.98, Y:-327.89, Z:-33.75 [[ 8.69649529e-01 4.89807988e-01 6.16265511e-02 6.25976839e+02] [-4.88545004e-01 8.71830212e-01 -3.51548127e-02 -3.27889903e+02] [-7.09469973e-02 4.65022648e-04 9.97479978e-01 -3.37524615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.03, Y:-327.92, Z:-33.76 [[ 8.73535771e-01 4.82844288e-01 6.16169670e-02 6.26029414e+02] [-4.81562738e-01 8.75705594e-01 -3.51716031e-02 -3.27922867e+02] [-7.09407304e-02 1.05121810e-03 9.97479979e-01 -3.37570412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.08, Y:-327.96, Z:-33.76 [[ 8.75273455e-01 4.79688292e-01 6.16078096e-02 6.26082667e+02] [-4.78397790e-01 8.77437966e-01 -3.51876363e-02 -3.27955228e+02] [-7.09361283e-02 1.32576406e-03 9.97479979e-01 -3.37621997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.14, Y:-327.99, Z:-33.77 [[ 8.75863008e-01 4.78612252e-01 6.15979148e-02 6.26136744e+02] [-4.77317874e-01 8.78025204e-01 -3.52049492e-02 -3.27987659e+02] [-7.09340417e-02 1.43292698e-03 9.97479979e-01 -3.37669396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.19, Y:-328.02, Z:-33.77 [[ 8.75884071e-01 4.78574961e-01 6.15881589e-02 6.26190748e+02] [-4.77279292e-01 8.78045493e-01 -3.52220082e-02 -3.28018874e+02] [-7.09335765e-02 1.45564302e-03 9.97479979e-01 -3.37718276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.25, Y:-328.05, Z:-33.78 [[ 8.75116598e-01 4.79978187e-01 6.15782471e-02 6.26245439e+02] [-4.78684765e-01 8.77279366e-01 -3.52393283e-02 -3.28050254e+02] [-7.09354345e-02 1.36195232e-03 9.97479979e-01 -3.37757290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.30, Y:-328.08, Z:-33.78 [[ 8.73981290e-01 4.82043598e-01 6.15684511e-02 6.26298824e+02] [-4.80754083e-01 8.76146389e-01 -3.52564352e-02 -3.28080990e+02] [-7.09381150e-02 1.21418049e-03 9.97479980e-01 -3.37797288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.35, Y:-328.11, Z:-33.78 [[ 8.72637197e-01 4.84473697e-01 6.15594053e-02 6.26353379e+02] [-4.83189098e-01 8.74805216e-01 -3.52722225e-02 -3.28112914e+02] [-7.09409529e-02 1.03501990e-03 9.97479980e-01 -3.37827567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.40, Y:-328.15, Z:-33.78 [[ 8.68262578e-01 4.92272039e-01 6.15494552e-02 6.26404332e+02] [-4.91005684e-01 8.70441304e-01 -3.52895768e-02 -3.28149182e+02] [-7.09472600e-02 4.19486599e-04 9.97479980e-01 -3.37815102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.46, Y:-328.17, Z:-33.79 [[ 8.68004283e-01 4.92727996e-01 6.15441790e-02 6.26460953e+02] [-4.91462134e-01 8.70183295e-01 -3.52987760e-02 -3.28171659e+02] [-7.09474116e-02 3.92855255e-04 9.97479980e-01 -3.37899606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.52, Y:-328.20, Z:-33.79 [[ 8.64507920e-01 4.98837618e-01 6.15393158e-02 6.26515954e+02] [-4.97586552e-01 8.66695461e-01 -3.53072524e-02 -3.28200582e+02] [-7.09484313e-02 -9.77365702e-05 9.97479980e-01 -3.37945674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.57, Y:-328.23, Z:-33.80 [[ 8.62515515e-01 5.02275833e-01 6.15302646e-02 6.26571568e+02] [-5.01032362e-01 8.64707382e-01 -3.53230189e-02 -3.28229886e+02] [-7.09475728e-02 -3.62001921e-04 9.97479980e-01 -3.38002518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.63, Y:-328.26, Z:-33.81 [[ 8.60733305e-01 5.05325033e-01 6.15206444e-02 6.26626647e+02] [-5.04088129e-01 8.62928884e-01 -3.53397661e-02 -3.28259930e+02] [-7.09460095e-02 -5.93712925e-04 9.97479980e-01 -3.38054226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.68, Y:-328.29, Z:-33.81 [[ 8.58530455e-01 5.09059817e-01 6.15106534e-02 6.26679416e+02] [-5.07831220e-01 8.60730692e-01 -3.53571475e-02 -3.28291200e+02] [-7.09430103e-02 -8.81842169e-04 9.97479981e-01 -3.38096518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:626.73, Y:-328.33, Z:-33.82 [[ 8.56797300e-01 5.11972619e-01 6.15014232e-02 6.26732683e+02] [-5.10750349e-01 8.59001058e-01 -3.53731955e-02 -3.28325007e+02] [-7.09398952e-02 -1.10421498e-03 9.97479981e-01 -3.38162790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.79, Y:-328.35, Z:-33.82 [[ 8.55157863e-01 5.14707701e-01 6.14899380e-02 6.26786608e+02] [-5.13491044e-01 8.57364726e-01 -3.53931492e-02 -3.28354172e+02] [-7.09364303e-02 -1.30780265e-03 9.97479981e-01 -3.38209411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.84, Y:-328.39, Z:-33.83 [[ 8.54250300e-01 5.16213242e-01 6.14842636e-02 6.26840017e+02] [-5.14999766e-01 8.56458913e-01 -3.54030040e-02 -3.28386766e+02] [-7.09342450e-02 -1.42135461e-03 9.97479981e-01 -3.38261228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.89, Y:-328.42, Z:-33.83 [[ 8.53318562e-01 5.17753139e-01 6.14745380e-02 6.26893814e+02] [-5.16542433e-01 8.55528694e-01 -3.54198837e-02 -3.28419225e+02] [-7.09319872e-02 -1.52976321e-03 9.97479981e-01 -3.38310508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:626.95, Y:-328.45, Z:-33.84 [[ 8.53559790e-01 5.17356525e-01 6.14647154e-02 6.26947177e+02] [-5.16143566e-01 8.55768686e-01 -3.54369208e-02 -3.28451640e+02] [-7.09331010e-02 -1.47708667e-03 9.97479981e-01 -3.38364530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.00, Y:-328.48, Z:-33.84 [[ 8.57318014e-01 5.11105774e-01 6.14549596e-02 6.27000143e+02] [-5.09875494e-01 8.59517310e-01 -3.54538313e-02 -3.28484682e+02] [-7.09422595e-02 -9.39169640e-04 9.97479982e-01 -3.38400283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.05, Y:-328.52, Z:-33.84 [[ 8.59135621e-01 5.08045644e-01 6.14459795e-02 6.27050387e+02] [-5.06806418e-01 8.61329889e-01 -3.54693883e-02 -3.28518842e+02] [-7.09453269e-02 -6.68201847e-04 9.97479982e-01 -3.38433095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.10, Y:-328.55, Z:-33.85 [[ 8.63476866e-01 5.00632305e-01 6.14409989e-02 6.27103008e+02] [-4.99373626e-01 8.65660033e-01 -3.54780136e-02 -3.28552506e+02] [-7.09484569e-02 -4.75703502e-05 9.97479982e-01 -3.38490524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.15, Y:-328.58, Z:-33.86 [[ 8.66161800e-01 4.95973730e-01 6.14312248e-02 6.27154507e+02] [-4.94702109e-01 8.68337454e-01 -3.54949298e-02 -3.28584675e+02] [-7.09475860e-02 3.54195864e-04 9.97479982e-01 -3.38556668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.20, Y:-328.62, Z:-33.86 [[ 8.69629010e-01 4.89869931e-01 6.14234230e-02 6.27204981e+02] [-4.88582087e-01 8.71795100e-01 -3.55084256e-02 -3.28618441e+02] [-7.09431491e-02 8.68772840e-04 9.97479982e-01 -3.38640712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.26, Y:-328.65, Z:-33.87 [[ 8.73407470e-01 4.83101577e-01 6.14187083e-02 6.27258657e+02] [-4.81796377e-01 8.75563147e-01 -3.55165786e-02 -3.28647426e+02] [-7.09340727e-02 1.42913388e-03 9.97479982e-01 -3.38746172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.31, Y:-328.68, Z:-33.88 [[ 8.73518244e-01 4.82902160e-01 6.14115716e-02 6.27311530e+02] [-4.81595601e-01 8.75673097e-01 -3.55289144e-02 -3.28680398e+02] [-7.09334506e-02 1.45961211e-03 9.97479982e-01 -3.38752006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.36, Y:-328.71, Z:-33.87 [[ 8.72450933e-01 4.84828832e-01 6.14033629e-02 6.27363973e+02] [-4.83526034e-01 8.74608062e-01 -3.55430956e-02 -3.28713990e+02] [-7.09361938e-02 1.31948245e-03 9.97479982e-01 -3.38748911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.42, Y:-328.74, Z:-33.88 [[ 8.71202136e-01 4.87070333e-01 6.13948658e-02 6.27417971e+02] [-4.85772052e-01 8.73361986e-01 -3.55577668e-02 -3.28743562e+02] [-7.09390753e-02 1.15409245e-03 9.97479983e-01 -3.38803592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.47, Y:-328.77, Z:-33.89 [[ 8.67507579e-01 4.93621319e-01 6.13888722e-02 6.27472825e+02] [-4.92338618e-01 8.69676719e-01 -3.55681117e-02 -3.28771596e+02] [-7.09456511e-02 6.31493963e-04 9.97479983e-01 -3.38857540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.53, Y:-328.80, Z:-33.89 [[ 8.65678045e-01 4.96823886e-01 6.13803636e-02 6.27528585e+02] [-4.95548169e-01 8.67851299e-01 -3.55827889e-02 -3.28798236e+02] [-7.09474078e-02 3.86312283e-04 9.97479983e-01 -3.38927798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.58, Y:-328.82, Z:-33.90 [[ 8.61457906e-01 5.04106822e-01 6.13725315e-02 6.27584521e+02] [-5.02848516e-01 8.63641288e-01 -3.55962925e-02 -3.28824563e+02] [-7.09481860e-02 -1.96378771e-04 9.97479983e-01 -3.38982743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.64, Y:-328.85, Z:-33.90 [[ 8.57910387e-01 5.10121747e-01 6.13642495e-02 6.27639667e+02] [-5.08877728e-01 8.60101939e-01 -3.56105641e-02 -3.28853974e+02] [-7.09452332e-02 -6.76227020e-04 9.97479983e-01 -3.38965293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.70, Y:-328.88, Z:-33.90 [[ 8.57996883e-01 5.09977253e-01 6.13559294e-02 6.27695013e+02] [-5.08731840e-01 8.60187643e-01 -3.56248936e-02 -3.28880842e+02] [-7.09454977e-02 -6.47667266e-04 9.97479983e-01 -3.39028649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.75, Y:-328.91, Z:-33.90 [[ 8.57929354e-01 5.10091945e-01 6.13468054e-02 6.27747804e+02] [-5.08845702e-01 8.60119643e-01 -3.56405985e-02 -3.28911404e+02] [-7.09455745e-02 -6.38942551e-04 9.97479983e-01 -3.39040313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.80, Y:-328.94, Z:-33.91 [[ 8.60342719e-01 5.06011855e-01 6.13384797e-02 6.27802529e+02] [-5.04754203e-01 8.62526476e-01 -3.56549214e-02 -3.28941973e+02] [-7.09478757e-02 -2.85403404e-04 9.97479984e-01 -3.39091567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.86, Y:-328.97, Z:-33.91 [[ 8.61595657e-01 5.03876689e-01 6.13286768e-02 6.27856268e+02] [-5.02612426e-01 8.63775592e-01 -3.56717751e-02 -3.28973538e+02] [-7.09483901e-02 -8.99085679e-05 9.97479984e-01 -3.39131510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.91, Y:-329.00, Z:-33.92 [[ 8.62264954e-01 5.02731711e-01 6.13186361e-02 6.27909350e+02] [-5.01463326e-01 8.64442494e-01 -3.56890264e-02 -3.29004101e+02] [-7.09484401e-02 2.43495065e-05 9.97479984e-01 -3.39187096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:627.96, Y:-329.04, Z:-33.92 [[ 8.61388217e-01 5.04233580e-01 6.13093585e-02 6.27963354e+02] [-5.02967857e-01 8.63567305e-01 -3.57049572e-02 -3.29036171e+02] [-7.09483959e-02 -8.08072631e-05 9.97479984e-01 -3.39223867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.02, Y:-329.07, Z:-33.93 [[ 8.59174566e-01 5.07997495e-01 6.12993536e-02 6.28016958e+02] [-5.06740093e-01 8.61358466e-01 -3.57221257e-02 -3.29067354e+02] [-7.09474675e-02 -3.71298347e-04 9.97479984e-01 -3.39281374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.07, Y:-329.10, Z:-33.93 [[ 8.56180510e-01 5.13028637e-01 6.12907163e-02 6.28070866e+02] [-5.11783008e-01 8.58371146e-01 -3.57369390e-02 -3.29099023e+02] [-7.09442555e-02 -7.70276514e-04 9.97479984e-01 -3.39323046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.12, Y:-329.13, Z:-33.94 [[ 8.54405697e-01 5.15980214e-01 6.12806976e-02 6.28124043e+02] [-5.14740921e-01 8.56599923e-01 -3.57541106e-02 -3.29130502e+02] [-7.09414545e-02 -9.95166897e-04 9.97479985e-01 -3.39375789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.18, Y:-329.16, Z:-33.94 [[ 8.52696764e-01 5.18800214e-01 6.12745119e-02 6.28178099e+02] [-5.17567416e-01 8.54894646e-01 -3.57647083e-02 -3.29161725e+02] [-7.09379905e-02 -1.21723969e-03 9.97479985e-01 -3.39420337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.23, Y:-329.20, Z:-33.95 [[ 8.50934354e-01 5.21687039e-01 6.12646660e-02 6.28229616e+02] [-5.20460483e-01 8.53135725e-01 -3.57815665e-02 -3.29195014e+02] [-7.09338547e-02 -1.43807346e-03 9.97479985e-01 -3.39466148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.28, Y:-329.23, Z:-33.95 [[ 8.50350130e-01 5.22639707e-01 6.12567840e-02 6.28282402e+02] [-5.21414646e-01 8.52552333e-01 -3.57950551e-02 -3.29228436e+02] [-7.09325312e-02 -1.50185464e-03 9.97479985e-01 -3.39491069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.33, Y:-329.26, Z:-33.95 [[ 8.50789634e-01 5.21925150e-01 6.12465262e-02 6.28334330e+02] [-5.20696977e-01 8.52990103e-01 -3.58125980e-02 -3.29261147e+02] [-7.09341763e-02 -1.42189392e-03 9.97479985e-01 -3.39528423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.39, Y:-329.30, Z:-33.96 [[ 8.51648016e-01 5.20524355e-01 6.12376752e-02 6.28387001e+02] [-5.19291475e-01 8.53845851e-01 -3.58277263e-02 -3.29295616e+02] [-7.09367391e-02 -1.28759068e-03 9.97479985e-01 -3.39557383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.44, Y:-329.33, Z:-33.96 [[ 8.53280045e-01 5.17845864e-01 6.12276581e-02 6.28438530e+02] [-5.16604857e-01 8.55473301e-01 -3.58448368e-02 -3.29330286e+02] [-7.09407273e-02 -1.04482160e-03 9.97479986e-01 -3.39606215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.49, Y:-329.36, Z:-33.96 [[ 8.54919563e-01 5.15135756e-01 6.12184069e-02 6.28490819e+02] [-5.13886665e-01 8.57108226e-01 -3.58606298e-02 -3.29364556e+02] [-7.09438928e-02 -8.01368945e-04 9.97479986e-01 -3.39638868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.54, Y:-329.40, Z:-33.97 [[ 8.55520110e-01 5.14138961e-01 6.12084226e-02 6.28544011e+02] [-5.12886101e-01 8.57706617e-01 -3.58776634e-02 -3.29398414e+02] [-7.09449736e-02 -6.98886691e-04 9.97479986e-01 -3.39680417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.60, Y:-329.43, Z:-33.97 [[ 8.56146104e-01 5.13097089e-01 6.11982446e-02 6.28595951e+02] [-5.11840328e-01 8.58330371e-01 -3.58950161e-02 -3.29432876e+02] [-7.09459403e-02 -5.92351420e-04 9.97479986e-01 -3.39720636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.65, Y:-329.47, Z:-33.98 [[ 8.56417882e-01 5.12644394e-01 6.11893490e-02 6.28648769e+02] [-5.11385396e-01 8.58600860e-01 -3.59101738e-02 -3.29465807e+02] [-7.09463770e-02 -5.37224476e-04 9.97479986e-01 -3.39773291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.70, Y:-329.50, Z:-33.98 [[ 8.56504371e-01 5.12500951e-01 6.11803689e-02 6.28701077e+02] [-5.11240495e-01 8.58686507e-01 -3.59254668e-02 -3.29498402e+02] [-7.09465932e-02 -5.07562721e-04 9.97479986e-01 -3.39824013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.75, Y:-329.53, Z:-33.99 [[ 8.55799330e-01 5.13678458e-01 6.11714678e-02 6.28754327e+02] [-5.12419921e-01 8.57982573e-01 -3.59406167e-02 -3.29531003e+02] [-7.09459739e-02 -5.87523035e-04 9.97479987e-01 -3.39855606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.81, Y:-329.56, Z:-33.99 [[ 8.54255389e-01 5.16243171e-01 6.11614128e-02 6.28806516e+02] [-5.14989964e-01 8.56441696e-01 -3.59577195e-02 -3.29561800e+02] [-7.09441112e-02 -7.80438121e-04 9.97479987e-01 -3.39897238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.86, Y:-329.59, Z:-33.99 [[ 8.55919120e-01 5.13481138e-01 6.11521106e-02 6.28860596e+02] [-5.12219746e-01 8.58100715e-01 -3.59735325e-02 -3.29593228e+02] [-7.09464002e-02 -5.32884207e-04 9.97479987e-01 -3.39912535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.92, Y:-329.62, Z:-34.00 [[ 8.56137656e-01 5.13117830e-01 6.11425067e-02 6.28915861e+02] [-5.11854347e-01 8.58318040e-01 -3.59898483e-02 -3.29623891e+02] [-7.09467494e-02 -4.83793525e-04 9.97479987e-01 -3.39953299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:628.97, Y:-329.65, Z:-34.00 [[ 8.56630756e-01 5.12295405e-01 6.11323655e-02 6.28972288e+02] [-5.11028600e-01 8.58809211e-01 -3.60070661e-02 -3.29652370e+02] [-7.09472931e-02 -3.95626942e-04 9.97479987e-01 -3.40017694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.03, Y:-329.68, Z:-34.01 [[ 8.55459632e-01 5.14249833e-01 6.11222305e-02 6.29025260e+02] [-5.12986776e-01 8.57640262e-01 -3.60242621e-02 -3.29684788e+02] [-7.09463566e-02 -5.37593948e-04 9.97479988e-01 -3.40055252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.08, Y:-329.72, Z:-34.01 [[ 8.55086132e-01 5.14871686e-01 6.11134567e-02 6.29079845e+02] [-5.13609151e-01 8.57267065e-01 -3.60391402e-02 -3.29715064e+02] [-7.09460865e-02 -5.71861627e-04 9.97479988e-01 -3.40107653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.13, Y:-329.75, Z:-34.02 [[ 8.55142376e-01 5.14778824e-01 6.11087454e-02 6.29134061e+02] [-5.13515482e-01 8.57322841e-01 -3.60471270e-02 -3.29745225e+02] [-7.09462209e-02 -5.54860987e-04 9.97479988e-01 -3.40163176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.19, Y:-329.78, Z:-34.02 [[ 8.55061827e-01 5.14913700e-01 6.10995428e-02 6.29189365e+02] [-5.13649588e-01 8.57241845e-01 -3.60627187e-02 -3.29776358e+02] [-7.09462727e-02 -5.47900760e-04 9.97479988e-01 -3.40175864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.24, Y:-329.81, Z:-34.02 [[ 8.54605269e-01 5.15672296e-01 6.10894156e-02 6.29243693e+02] [-5.14408893e-01 8.56785699e-01 -3.60798658e-02 -3.29806804e+02] [-7.09459249e-02 -5.90895272e-04 9.97479988e-01 -3.40201005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.30, Y:-329.83, Z:-34.03 [[ 8.55347999e-01 5.14440451e-01 6.10804561e-02 6.29298804e+02] [-5.13172825e-01 8.57525976e-01 -3.60950272e-02 -3.29833206e+02] [-7.09468198e-02 -4.71020901e-04 9.97479988e-01 -3.40314805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.35, Y:-329.87, Z:-34.03 [[ 8.54908296e-01 5.15171133e-01 6.10778893e-02 6.29352162e+02] [-5.13905058e-01 8.57087176e-01 -3.60993701e-02 -3.29865078e+02] [-7.09464290e-02 -5.26585281e-04 9.97479988e-01 -3.40347717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.41, Y:-329.90, Z:-34.04 [[ 8.55474661e-01 5.14231214e-01 6.10685174e-02 6.29406847e+02] [-5.12961614e-01 8.57651487e-01 -3.61152173e-02 -3.29896146e+02] [-7.09470768e-02 -4.30151979e-04 9.97479988e-01 -3.40379861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.46, Y:-329.93, Z:-34.04 [[ 8.55979364e-01 5.13391950e-01 6.10576302e-02 6.29460888e+02] [-5.12118904e-01 8.58154176e-01 -3.61336142e-02 -3.29927667e+02] [-7.09475671e-02 -3.39138526e-04 9.97479989e-01 -3.40390073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.51, Y:-329.96, Z:-34.04 [[ 8.56607748e-01 5.12343940e-01 6.10479626e-02 6.29513462e+02] [-5.11067069e-01 8.58780317e-01 -3.61499404e-02 -3.29958735e+02] [-7.09479916e-02 -2.33284239e-04 9.97479989e-01 -3.40415082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.57, Y:-329.99, Z:-34.04 [[ 8.58684499e-01 5.08856282e-01 6.10427329e-02 6.29568925e+02] [-5.07569960e-01 8.60851485e-01 -3.61587691e-02 -3.29988378e+02] [-7.09483441e-02 6.55170614e-05 9.97479989e-01 -3.40430200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.62, Y:-330.02, Z:-34.05 [[ 8.58978407e-01 5.08361235e-01 6.10323709e-02 6.29622113e+02] [-5.07072421e-01 8.61143913e-01 -3.61762507e-02 -3.30021326e+02] [-7.09482582e-02 1.26786109e-04 9.97479989e-01 -3.40459580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.68, Y:-330.05, Z:-34.05 [[ 8.61872596e-01 5.03439617e-01 6.10260627e-02 6.29677942e+02] [-5.02137684e-01 8.64030240e-01 -3.61868890e-02 -3.30047439e+02] [-7.09462771e-02 5.45002195e-04 9.97479989e-01 -3.40502639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.73, Y:-330.08, Z:-34.05 [[ 8.60861904e-01 5.05166539e-01 6.10209002e-02 6.29730979e+02] [-5.03868318e-01 8.63021783e-01 -3.61955922e-02 -3.30078575e+02] [-7.09471681e-02 4.12908058e-04 9.97479989e-01 -3.40508790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.79, Y:-330.10, Z:-34.06 [[ 8.62697247e-01 5.02026122e-01 6.10183087e-02 6.29786447e+02] [-5.00719729e-01 8.64852193e-01 -3.61999605e-02 -3.30101892e+02] [-7.09451438e-02 6.76535290e-04 9.97479989e-01 -3.40641519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:629.84, Y:-330.13, Z:-34.07 [[ 8.62237008e-01 5.02816530e-01 6.10154007e-02 6.29840083e+02] [-5.01511766e-01 8.64392941e-01 -3.62048613e-02 -3.30132063e+02] [-7.09456844e-02 6.17229961e-04 9.97479989e-01 -3.40652729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.90, Y:-330.16, Z:-34.07 [[ 8.63269796e-01 5.01041472e-01 6.10139615e-02 6.29896592e+02] [-4.99732104e-01 8.65422935e-01 -3.62072865e-02 -3.30158719e+02] [-7.09442338e-02 7.66021448e-04 9.97479989e-01 -3.40684195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:629.95, Y:-330.19, Z:-34.07 [[ 8.62915068e-01 5.01652507e-01 6.10110400e-02 6.29952719e+02] [-5.00344316e-01 8.65068923e-01 -3.62122088e-02 -3.30185344e+02] [-7.09447000e-02 7.21533543e-04 9.97479989e-01 -3.40722380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.01, Y:-330.21, Z:-34.08 [[ 8.61929143e-01 5.03345706e-01 6.10020759e-02 6.30008555e+02] [-5.02040678e-01 8.64084915e-01 -3.62273031e-02 -3.30214669e+02] [-7.09458310e-02 5.99844789e-04 9.97479989e-01 -3.40769709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.06, Y:-330.24, Z:-34.08 [[ 8.58936956e-01 5.08436120e-01 6.09919432e-02 6.30064553e+02] [-5.07142658e-01 8.61099687e-01 -3.62443544e-02 -3.30240796e+02] [-7.09480822e-02 1.99999256e-04 9.97479990e-01 -3.40839099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.12, Y:-330.27, Z:-34.09 [[ 8.54126229e-01 5.16477985e-01 6.09825831e-02 6.30122450e+02] [-5.15203761e-01 8.56300350e-01 -3.62600964e-02 -3.30266097e+02] [-7.09469488e-02 -4.47756795e-04 9.97479990e-01 -3.40857765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.18, Y:-330.30, Z:-34.08 [[ 8.48598281e-01 5.25512462e-01 6.09721959e-02 6.30175395e+02] [-5.24260126e-01 8.50785084e-01 -3.62775543e-02 -3.30298242e+02] [-7.09385417e-02 -1.18022085e-03 9.97479990e-01 -3.40811161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.23, Y:-330.32, Z:-34.10 [[ 8.47151116e-01 5.27842407e-01 6.09703210e-02 6.30231596e+02] [-5.26595859e-01 8.49341222e-01 -3.62807052e-02 -3.30319184e+02] [-7.09351017e-02 -1.37147867e-03 9.97479990e-01 -3.40952270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.28, Y:-330.35, Z:-34.09 [[ 8.43452655e-01 5.33732412e-01 6.09699170e-02 6.30284305e+02] [-5.32501105e-01 8.45651367e-01 -3.62813840e-02 -3.30351821e+02] [-7.09238443e-02 -1.86491854e-03 9.97479990e-01 -3.40904520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.34, Y:-330.38, Z:-34.10 [[ 8.45251215e-01 5.30879716e-01 6.09681105e-02 6.30339259e+02] [-5.29640768e-01 8.47445631e-01 -3.62844194e-02 -3.30375404e+02] [-7.09298212e-02 -1.62174730e-03 9.97479990e-01 -3.41045717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.39, Y:-330.41, Z:-34.10 [[ 8.43655384e-01 5.33412162e-01 6.09676802e-02 6.30390824e+02] [-5.32179749e-01 8.45853476e-01 -3.62851425e-02 -3.30408581e+02] [-7.09246605e-02 -1.83360888e-03 9.97479990e-01 -3.41045530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.44, Y:-330.44, Z:-34.11 [[ 8.45225909e-01 5.30920232e-01 6.09661320e-02 6.30444245e+02] [-5.29681151e-01 8.47420249e-01 -3.62877435e-02 -3.30436044e+02] [-7.09298320e-02 -1.62126997e-03 9.97479990e-01 -3.41123249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.50, Y:-330.47, Z:-34.12 [[ 8.45629908e-01 5.30276606e-01 6.09654012e-02 6.30497997e+02] [-5.29035766e-01 8.47823253e-01 -3.62889714e-02 -3.30469316e+02] [-7.09310773e-02 -1.56583821e-03 9.97479990e-01 -3.41156704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.55, Y:-330.50, Z:-34.12 [[ 8.45826500e-01 5.29964170e-01 6.09549941e-02 6.30550103e+02] [-5.28721260e-01 8.48018674e-01 -3.63064439e-02 -3.30502973e+02] [-7.09320876e-02 -1.51924896e-03 9.97479990e-01 -3.41177191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.60, Y:-330.54, Z:-34.12 [[ 8.46009438e-01 5.29673122e-01 6.09459966e-02 6.30603576e+02] [-5.28428371e-01 8.48200567e-01 -3.63215413e-02 -3.30536058e+02] [-7.09329730e-02 -1.47722696e-03 9.97479990e-01 -3.41218401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.65, Y:-330.57, Z:-34.13 [[ 8.46666728e-01 5.28623019e-01 6.09356700e-02 6.30654030e+02] [-5.27374305e-01 8.48855600e-01 -3.63388578e-02 -3.30569531e+02] [-7.09351414e-02 -1.36900479e-03 9.97479991e-01 -3.41270455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.71, Y:-330.60, Z:-34.13 [[ 8.47334297e-01 5.27553258e-01 6.09274169e-02 6.30706049e+02] [-5.26300786e-01 8.49521021e-01 -3.63526900e-02 -3.30603650e+02] [-7.09371014e-02 -1.26326645e-03 9.97479991e-01 -3.41317416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.76, Y:-330.64, Z:-34.14 [[ 8.47963409e-01 5.26542465e-01 6.09187170e-02 6.30757697e+02] [-5.25286340e-01 8.50148036e-01 -3.63672632e-02 -3.30637525e+02] [-7.09388360e-02 -1.16166141e-03 9.97479991e-01 -3.41361760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.81, Y:-330.67, Z:-34.14 [[ 8.48606906e-01 5.25505739e-01 6.09100699e-02 6.30809991e+02] [-5.24245907e-01 8.50789397e-01 -3.63817401e-02 -3.30671810e+02] [-7.09404549e-02 -1.05805892e-03 9.97479991e-01 -3.41404699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.86, Y:-330.71, Z:-34.14 [[ 8.48216453e-01 5.26136899e-01 6.09000230e-02 6.30861557e+02] [-5.24877484e-01 8.50399184e-01 -3.63985500e-02 -3.30707151e+02] [-7.09399502e-02 -1.09120186e-03 9.97479991e-01 -3.41441899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.91, Y:-330.74, Z:-34.15 [[ 8.47029505e-01 5.28046801e-01 6.08900062e-02 6.30914424e+02] [-5.26791103e-01 8.49214378e-01 -3.64152992e-02 -3.30740961e+02] [-7.09376510e-02 -1.23148064e-03 9.97479991e-01 -3.41469616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:630.97, Y:-330.78, Z:-34.15 [[ 8.44808516e-01 5.31594058e-01 6.08796196e-02 6.30965588e+02] [-5.30346284e-01 8.46997923e-01 -3.64326554e-02 -3.30776488e+02] [-7.09322945e-02 -1.50866251e-03 9.97479992e-01 -3.41522513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.02, Y:-330.81, Z:-34.16 [[ 8.44654197e-01 5.31840250e-01 6.08706573e-02 6.31017305e+02] [-5.30592035e-01 8.46843352e-01 -3.64476232e-02 -3.30812746e+02] [-7.09322245e-02 -1.51184809e-03 9.97479992e-01 -3.41554019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.07, Y:-330.85, Z:-34.16 [[ 8.45848854e-01 5.29939390e-01 6.08601618e-02 6.31066968e+02] [-5.28684996e-01 8.48034474e-01 -3.64651402e-02 -3.30847875e+02] [-7.09358295e-02 -1.33185729e-03 9.97479992e-01 -3.41586805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.12, Y:-330.89, Z:-34.15 [[ 8.45590703e-01 5.30351770e-01 6.08552576e-02 6.31115039e+02] [-5.29097853e-01 8.47776597e-01 -3.64733228e-02 -3.30888755e+02] [-7.09353545e-02 -1.35688348e-03 9.97479992e-01 -3.41486735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.17, Y:-330.92, Z:-34.16 [[ 8.48795971e-01 5.25207619e-01 6.08469961e-02 6.31166282e+02] [-5.23939465e-01 8.50973636e-01 -3.64871000e-02 -3.30919333e+02] [-7.09424924e-02 -9.10039098e-04 9.97479992e-01 -3.41645800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.22, Y:-330.95, Z:-34.17 [[ 8.49874938e-01 5.23460500e-01 6.08415481e-02 6.31217048e+02] [-5.22187219e-01 8.52049610e-01 -3.64961821e-02 -3.30954083e+02] [-7.09443271e-02 -7.53488281e-04 9.97479992e-01 -3.41710829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.27, Y:-330.99, Z:-34.17 [[ 8.51544915e-01 5.20740545e-01 6.08320792e-02 6.31267363e+02] [-5.19459191e-01 8.53714839e-01 -3.65119582e-02 -3.30991642e+02] [-7.09465057e-02 -5.08210304e-04 9.97479992e-01 -3.41733713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:631.32, Y:-331.03, Z:-34.17 [[ 8.49064052e-01 5.24776876e-01 6.08232472e-02 6.31315891e+02] [-5.23504782e-01 8.51239417e-01 -3.65266649e-02 -3.31030079e+02] [-7.09434946e-02 -8.27782692e-04 9.97479992e-01 -3.41721894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:631.37, Y:-331.06, Z:-34.18 [[ 8.48172423e-01 5.26217068e-01 6.08205357e-02 6.31367459e+02] [-5.24948345e-01 8.50349756e-01 -3.65311794e-02 -3.31062713e+02] [-7.09420578e-02 -9.42900590e-04 9.97479992e-01 -3.41764989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.42, Y:-331.09, Z:-34.18 [[ 8.49175721e-01 5.24597617e-01 6.08106433e-02 6.31420978e+02] [-5.23323563e-01 8.51349939e-01 -3.65476390e-02 -3.31092230e+02] [-7.09439418e-02 -7.88274772e-04 9.97479993e-01 -3.41834212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.47, Y:-331.13, Z:-34.19 [[ 8.47880610e-01 5.26689029e-01 6.08040945e-02 6.31472365e+02] [-5.25419556e-01 8.50057506e-01 -3.65585310e-02 -3.31125325e+02] [-7.09419542e-02 -9.50390721e-04 9.97479993e-01 -3.41884071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.52, Y:-331.16, Z:-34.19 [[ 8.46901637e-01 5.28262344e-01 6.07989653e-02 6.31524313e+02] [-5.26996303e-01 8.49080530e-01 -3.65670592e-02 -3.31158589e+02] [-7.09402181e-02 -1.07212766e-03 9.97479993e-01 -3.41933405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.58, Y:-331.19, Z:-34.20 [[ 8.46122282e-01 5.29510760e-01 6.07901200e-02 6.31576012e+02] [-5.28246878e-01 8.48302429e-01 -3.65817580e-02 -3.31192448e+02] [-7.09388409e-02 -1.15955057e-03 9.97479993e-01 -3.41959914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.63, Y:-331.23, Z:-34.20 [[ 8.43667413e-01 5.33414423e-01 6.07811631e-02 6.31625765e+02] [-5.32159556e-01 8.45852761e-01 -3.65966340e-02 -3.31228945e+02] [-7.09330870e-02 -1.46988924e-03 9.97479993e-01 -3.41958419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.68, Y:-331.26, Z:-34.20 [[ 8.45355104e-01 5.30735967e-01 6.07789634e-02 6.31679748e+02] [-5.29473913e-01 8.47536309e-01 -3.66002869e-02 -3.31256740e+02] [-7.09374669e-02 -1.24063622e-03 9.97479993e-01 -3.42040300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.73, Y:-331.29, Z:-34.21 [[ 8.46469851e-01 5.28957281e-01 6.07699413e-02 6.31731340e+02] [-5.27689569e-01 8.48647772e-01 -3.66152607e-02 -3.31289594e+02] [-7.09401841e-02 -1.07394987e-03 9.97479993e-01 -3.42087849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.78, Y:-331.32, Z:-34.21 [[ 8.47769437e-01 5.26872841e-01 6.07617563e-02 6.31783898e+02] [-5.25598800e-01 8.49943662e-01 -3.66288385e-02 -3.31322151e+02] [-7.09428099e-02 -8.83496438e-04 9.97479993e-01 -3.42105786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.84, Y:-331.36, Z:-34.22 [[ 8.49626793e-01 5.23873467e-01 6.07528057e-02 6.31836673e+02] [-5.22590689e-01 8.51795875e-01 -3.66436780e-02 -3.31355371e+02] [-7.09456399e-02 -6.15400000e-04 9.97479994e-01 -3.42161477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.89, Y:-331.39, Z:-34.22 [[ 8.51404697e-01 5.20979578e-01 6.07480154e-02 6.31888215e+02] [-5.19688862e-01 8.53569063e-01 -3.66516177e-02 -3.31387508e+02] [-7.09473709e-02 -3.64707577e-04 9.97479994e-01 -3.42237167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.94, Y:-331.42, Z:-34.22 [[ 8.52910678e-01 5.18511367e-01 6.07399266e-02 6.31940975e+02] [-5.17213432e-01 8.55070723e-01 -3.66650177e-02 -3.31419996e+02] [-7.09481614e-02 -1.43520811e-04 9.97479994e-01 -3.42243910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:631.99, Y:-331.45, Z:-34.23 [[ 8.54784138e-01 5.15418105e-01 6.07309989e-02 6.31993704e+02] [-5.14111303e-01 8.56938831e-01 -3.66797995e-02 -3.31452781e+02] [-7.09481839e-02 1.30817784e-04 9.97479994e-01 -3.42276116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.05, Y:-331.49, Z:-34.23 [[ 8.53872176e-01 5.16927801e-01 6.07285499e-02 6.32045111e+02] [-5.15624520e-01 8.56029000e-01 -3.66838536e-02 -3.31485994e+02] [-7.09483036e-02 1.01925100e-05 9.97479994e-01 -3.42327297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.10, Y:-331.52, Z:-34.24 [[ 8.53462153e-01 5.17605165e-01 6.07227120e-02 6.32099157e+02] [-5.16302909e-01 8.55619596e-01 -3.66935145e-02 -3.31517950e+02] [-7.09482949e-02 -3.47869983e-05 9.97479994e-01 -3.42358610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.15, Y:-331.55, Z:-34.24 [[ 8.51618354e-01 5.20634561e-01 6.07110621e-02 6.32153079e+02] [-5.19338606e-01 8.53779588e-01 -3.67127797e-02 -3.31548881e+02] [-7.09478075e-02 -2.64321307e-04 9.97479994e-01 -3.42408267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.21, Y:-331.58, Z:-34.24 [[ 8.48710848e-01 5.25361316e-01 6.07073666e-02 6.32208234e+02] [-5.24076961e-01 8.50878994e-01 -3.67188895e-02 -3.31579333e+02] [-7.09453072e-02 -6.51612307e-04 9.97479994e-01 -3.42438800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.26, Y:-331.61, Z:-34.24 [[ 8.48520177e-01 5.25670584e-01 6.06955181e-02 6.32262818e+02] [-5.24385618e-01 8.50687962e-01 -3.67384644e-02 -3.31606493e+02] [-7.09452767e-02 -6.54528398e-04 9.97479994e-01 -3.42446930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.32, Y:-331.64, Z:-34.25 [[ 8.47542834e-01 5.27245272e-01 6.06924054e-02 6.32317935e+02] [-5.25963966e-01 8.49712783e-01 -3.67436059e-02 -3.31637598e+02] [-7.09440052e-02 -7.80238378e-04 9.97479994e-01 -3.42482185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.37, Y:-331.67, Z:-34.25 [[ 8.47722253e-01 5.26957944e-01 6.06820152e-02 6.32372503e+02] [-5.25674675e-01 8.49891042e-01 -3.67607574e-02 -3.31668407e+02] [-7.09444743e-02 -7.36086496e-04 9.97479995e-01 -3.42529049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.43, Y:-331.70, Z:-34.26 [[ 8.47797510e-01 5.26838069e-01 6.06714990e-02 6.32425285e+02] [-5.25553251e-01 8.49965382e-01 -3.67781056e-02 -3.31700013e+02] [-7.09447800e-02 -7.05717148e-04 9.97479995e-01 -3.42582991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.48, Y:-331.73, Z:-34.26 [[ 8.48361442e-01 5.25930617e-01 6.06617714e-02 6.32479577e+02] [-5.24642334e-01 8.50527256e-01 -3.67941434e-02 -3.31732419e+02] [-7.09456565e-02 -6.11000767e-04 9.97479995e-01 -3.42625647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.53, Y:-331.76, Z:-34.27 [[ 8.49782789e-01 5.23632128e-01 6.06515051e-02 6.32532607e+02] [-5.22336779e-01 8.51944385e-01 -3.68110586e-02 -3.31764800e+02] [-7.09471621e-02 -3.99107782e-04 9.97479995e-01 -3.42667556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.59, Y:-331.80, Z:-34.27 [[ 8.50800717e-01 5.21977619e-01 6.06424336e-02 6.32586050e+02] [-5.20677002e-01 8.52959147e-01 -3.68259969e-02 -3.31796629e+02] [-7.09478646e-02 -2.43535946e-04 9.97479995e-01 -3.42714121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.64, Y:-331.83, Z:-34.27 [[ 8.50890454e-01 5.21832363e-01 6.06334983e-02 6.32639363e+02] [-5.20530329e-01 8.53048029e-01 -3.68407029e-02 -3.31828612e+02] [-7.09479572e-02 -2.14172396e-04 9.97479996e-01 -3.42746920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.69, Y:-331.86, Z:-34.28 [[ 8.50046304e-01 5.23207391e-01 6.06243169e-02 6.32692791e+02] [-5.21907770e-01 8.52205333e-01 -3.68558055e-02 -3.31861796e+02] [-7.09475960e-02 -3.11160831e-04 9.97479996e-01 -3.42782714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.75, Y:-331.89, Z:-34.28 [[ 8.48684991e-01 5.25413873e-01 6.06139255e-02 6.32746323e+02] [-5.24118646e-01 8.50846658e-01 -3.68728876e-02 -3.31892919e+02] [-7.09466826e-02 -4.75422275e-04 9.97479996e-01 -3.42833455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.80, Y:-331.92, Z:-34.29 [[ 8.46072758e-01 5.29611182e-01 6.06043231e-02 6.32800764e+02] [-5.28325548e-01 8.48240144e-01 -3.68886633e-02 -3.31924802e+02] [-7.09436683e-02 -8.08319154e-04 9.97479996e-01 -3.42865335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.85, Y:-331.96, Z:-34.29 [[ 8.43913193e-01 5.33046808e-01 6.05939122e-02 6.32853821e+02] [-5.31768770e-01 8.46085067e-01 -3.69057565e-02 -3.31956954e+02] [-7.09401000e-02 -1.07669531e-03 9.97479996e-01 -3.42903394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.91, Y:-331.99, Z:-34.29 [[ 8.41711382e-01 5.36517935e-01 6.05842886e-02 6.32907591e+02] [-5.35247715e-01 8.43887838e-01 -3.69215479e-02 -3.31988444e+02] [-7.09354169e-02 -1.35031498e-03 9.97479996e-01 -3.42944474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:632.96, Y:-332.02, Z:-34.30 [[ 8.40190052e-01 5.38898362e-01 6.05741857e-02 6.32961368e+02] [-5.37633114e-01 8.42369402e-01 -3.69381154e-02 -3.32020295e+02] [-7.09317305e-02 -1.53165098e-03 9.97479997e-01 -3.42977442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.01, Y:-332.05, Z:-34.30 [[ 8.38336473e-01 5.41778560e-01 6.05636123e-02 6.33012190e+02] [-5.40519548e-01 8.40519431e-01 -3.69554434e-02 -3.32053085e+02] [-7.09265598e-02 -1.75472029e-03 9.97479997e-01 -3.43034827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.06, Y:-332.09, Z:-34.31 [[ 8.37729422e-01 5.42717325e-01 6.05584066e-02 6.33064790e+02] [-5.41460144e-01 8.39913434e-01 -3.69639720e-02 -3.32086564e+02] [-7.09248073e-02 -1.82415662e-03 9.97479997e-01 -3.43072732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.12, Y:-332.12, Z:-34.31 [[ 8.36464190e-01 5.44666340e-01 6.05494575e-02 6.33116331e+02] [-5.43413188e-01 8.38650516e-01 -3.69786255e-02 -3.32118812e+02] [-7.09208464e-02 -1.97207769e-03 9.97479997e-01 -3.43114793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.17, Y:-332.15, Z:-34.31 [[ 8.35119388e-01 5.46726955e-01 6.05412697e-02 6.33169346e+02] [-5.45478226e-01 8.37308244e-01 -3.69920257e-02 -3.32152840e+02] [-7.09162417e-02 -2.13118655e-03 9.97479997e-01 -3.43143849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.22, Y:-332.19, Z:-34.32 [[ 8.33965017e-01 5.48487359e-01 6.05307123e-02 6.33219187e+02] [-5.47241999e-01 8.36155791e-01 -3.70092929e-02 -3.32189570e+02] [-7.09122349e-02 -2.26049240e-03 9.97479997e-01 -3.43199659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.27, Y:-332.22, Z:-34.32 [[ 8.34229777e-01 5.48084971e-01 6.05272124e-02 6.33272294e+02] [-5.46838139e-01 8.36419714e-01 -3.70150159e-02 -3.32222366e+02] [-7.09135276e-02 -2.21955978e-03 9.97479997e-01 -3.43214045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.32, Y:-332.26, Z:-34.33 [[ 8.34866884e-01 5.47115175e-01 6.05167019e-02 6.33322337e+02] [-5.45864555e-01 8.37054660e-01 -3.70321918e-02 -3.32257096e+02] [-7.09166614e-02 -2.11697195e-03 9.97479998e-01 -3.43250783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.37, Y:-332.29, Z:-34.33 [[ 8.36200954e-01 5.45074967e-01 6.05082272e-02 6.33372854e+02] [-5.43818009e-01 8.38385093e-01 -3.70460337e-02 -3.32291862e+02] [-7.09220613e-02 -1.92753494e-03 9.97479998e-01 -3.43284191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.42, Y:-332.33, Z:-34.33 [[ 8.39346096e-01 5.40219830e-01 6.05034407e-02 6.33423898e+02] [-5.38949672e-01 8.41522586e-01 -3.70538494e-02 -3.32326989e+02] [-7.09322361e-02 -1.50730571e-03 9.97479998e-01 -3.43333838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.47, Y:-332.36, Z:-34.34 [[ 8.43344379e-01 5.33957529e-01 6.04947523e-02 6.33474971e+02] [-5.32670190e-01 8.45510751e-01 -3.70680288e-02 -3.32364442e+02] [-7.09417166e-02 -9.62637425e-04 9.97479998e-01 -3.43360160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.53, Y:-332.40, Z:-34.34 [[ 8.46293378e-01 5.29272299e-01 6.04843100e-02 6.33526781e+02] [-5.27971748e-01 8.48451844e-01 -3.70850599e-02 -3.32400366e+02] [-7.09461193e-02 -5.49166273e-04 9.97479998e-01 -3.43399092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.58, Y:-332.44, Z:-34.34 [[ 8.49611219e-01 5.23930984e-01 6.04739713e-02 6.33578427e+02] [-5.22615663e-01 8.51760716e-01 -3.71019114e-02 -3.32435714e+02] [-7.09481940e-02 -8.24444743e-05 9.97479998e-01 -3.43445426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.63, Y:-332.47, Z:-34.35 [[ 8.51673288e-01 5.20573508e-01 6.04634861e-02 6.33630382e+02] [-5.19248500e-01 8.53816828e-01 -3.71189908e-02 -3.32470059e+02] [-7.09479052e-02 2.17678436e-04 9.97479999e-01 -3.43493484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.68, Y:-332.50, Z:-34.35 [[ 8.53298473e-01 5.17906415e-01 6.04537963e-02 6.33682141e+02] [-5.16573590e-01 8.55437161e-01 -3.71347654e-02 -3.32504871e+02] [-7.09467571e-02 4.58203991e-04 9.97479999e-01 -3.43536662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.73, Y:-332.54, Z:-34.35 [[ 8.52015640e-01 5.20015309e-01 6.04435928e-02 6.33731806e+02] [-5.18686600e-01 8.54156887e-01 -3.71513660e-02 -3.32543682e+02] [-7.09475902e-02 3.02263268e-04 9.97479999e-01 -3.43536048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.78, Y:-332.58, Z:-34.36 [[ 8.51826239e-01 5.20325927e-01 6.04399612e-02 6.33784812e+02] [-5.18997580e-01 8.53967710e-01 -3.71572733e-02 -3.32576367e+02] [-7.09476679e-02 2.83346775e-04 9.97479999e-01 -3.43597630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.84, Y:-332.61, Z:-34.36 [[ 8.51254576e-01 5.21261072e-01 6.04362646e-02 6.33838459e+02] [-5.19934650e-01 8.53397241e-01 -3.71632849e-02 -3.32608823e+02] [-7.09479151e-02 2.12508254e-04 9.97479999e-01 -3.43632185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.89, Y:-332.64, Z:-34.37 [[ 8.48990796e-01 5.24941443e-01 6.04244184e-02 6.33891433e+02] [-5.23622939e-01 8.51138342e-01 -3.71825358e-02 -3.32641361e+02] [-7.09481933e-02 -7.19809267e-05 9.97479999e-01 -3.43674937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:633.94, Y:-332.67, Z:-34.37 [[ 8.46252327e-01 5.29345376e-01 6.04191373e-02 6.33943575e+02] [-5.28037436e-01 8.48406322e-01 -3.71911153e-02 -3.32672163e+02] [-7.09469230e-02 -4.30498455e-04 9.97479999e-01 -3.43734306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.00, Y:-332.70, Z:-34.38 [[ 8.44455540e-01 5.32207683e-01 6.04137576e-02 6.33998014e+02] [-5.30906419e-01 8.46613575e-01 -3.71998520e-02 -3.32700801e+02] [-7.09451544e-02 -6.60430543e-04 9.97479999e-01 -3.43786918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.05, Y:-332.73, Z:-34.39 [[ 8.39705247e-01 5.39672431e-01 6.04050081e-02 6.34050018e+02] [-5.38389326e-01 8.41874128e-01 -3.72140541e-02 -3.32732043e+02] [-7.09368126e-02 -1.27257504e-03 9.97479999e-01 -3.43851549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.10, Y:-332.76, Z:-34.39 [[ 8.37982336e-01 5.42344762e-01 6.03967127e-02 6.34103365e+02] [-5.41067604e-01 8.40154724e-01 -3.72275124e-02 -3.32764415e+02] [-7.09327298e-02 -1.48270683e-03 9.97480000e-01 -3.43891854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.16, Y:-332.80, Z:-34.39 [[ 8.33486325e-01 5.49230398e-01 6.03863866e-02 6.34157406e+02] [-5.47969969e-01 8.35668462e-01 -3.72442546e-02 -3.32795680e+02] [-7.09186756e-02 -2.04734949e-03 9.97480000e-01 -3.43939826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.21, Y:-332.83, Z:-34.40 [[ 8.30702403e-01 5.53433164e-01 6.03759202e-02 6.34210896e+02] [-5.52182542e-01 8.32890174e-01 -3.72612138e-02 -3.32828528e+02] [-7.09081022e-02 -2.38554920e-03 9.97480000e-01 -3.44002356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.26, Y:-332.86, Z:-34.40 [[ 8.30019460e-01 5.54457692e-01 6.03685618e-02 6.34263660e+02] [-5.53208905e-01 8.32208280e-01 -3.72731316e-02 -3.32861578e+02] [-7.09055916e-02 -2.45900141e-03 9.97480000e-01 -3.44044752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.31, Y:-332.90, Z:-34.41 [[ 8.29167627e-01 5.55731798e-01 6.03590468e-02 6.34313659e+02] [-5.54485255e-01 8.31357725e-01 -3.72885337e-02 -3.32899639e+02] [-7.09023837e-02 -2.54975645e-03 9.97480000e-01 -3.44063269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.37, Y:-332.93, Z:-34.41 [[ 8.30067844e-01 5.54386747e-01 6.03548529e-02 6.34365623e+02] [-5.53136162e-01 8.32255637e-01 -3.72953207e-02 -3.32933369e+02] [-7.09066981e-02 -2.42680519e-03 9.97480000e-01 -3.44105581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.42, Y:-332.96, Z:-34.42 [[ 8.33860349e-01 5.48667001e-01 6.03443510e-02 6.34417464e+02] [-5.47400177e-01 8.36038778e-01 -3.73123051e-02 -3.32964556e+02] [-7.09222481e-02 -1.91925666e-03 9.97480000e-01 -3.44202051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.47, Y:-333.00, Z:-34.42 [[ 8.35359341e-01 5.46383078e-01 6.03349307e-02 6.34468333e+02] [-5.45109198e-01 8.37533652e-01 -3.73275318e-02 -3.33000585e+02] [-7.09276666e-02 -1.70722330e-03 9.97480001e-01 -3.44202708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.52, Y:-333.03, Z:-34.42 [[ 8.35983575e-01 5.45428528e-01 6.03256490e-02 6.34520672e+02] [-5.44151084e-01 8.38155793e-01 -3.73425262e-02 -3.33034796e+02] [-7.09299713e-02 -1.60852876e-03 9.97480001e-01 -3.44248522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.57, Y:-333.07, Z:-34.43 [[ 8.36629359e-01 5.44438543e-01 6.03157409e-02 6.34573675e+02] [-5.43157376e-01 8.38799384e-01 -3.73585229e-02 -3.33068903e+02] [-7.09322261e-02 -1.50570249e-03 9.97480001e-01 -3.44301087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.63, Y:-333.10, Z:-34.43 [[ 8.35772059e-01 5.45754819e-01 6.03054195e-02 6.34625126e+02] [-5.44475868e-01 8.37943390e-01 -3.73751767e-02 -3.33103245e+02] [-7.09302104e-02 -1.59771720e-03 9.97480001e-01 -3.44328510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.68, Y:-333.13, Z:-34.44 [[ 8.36983441e-01 5.43895593e-01 6.03017730e-02 6.34678583e+02] [-5.42611395e-01 8.39151673e-01 -3.73810590e-02 -3.33133315e+02] [-7.09337270e-02 -1.43310177e-03 9.97480001e-01 -3.44384771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.73, Y:-333.17, Z:-34.44 [[ 8.37405169e-01 5.43247110e-01 6.02923018e-02 6.34732153e+02] [-5.41960134e-01 8.39571753e-01 -3.73963290e-02 -3.33165044e+02] [-7.09351612e-02 -1.36014475e-03 9.97480001e-01 -3.44424954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.79, Y:-333.20, Z:-34.45 [[ 8.37405574e-01 5.43247212e-01 6.02857408e-02 6.34785439e+02] [-5.41959476e-01 8.39571706e-01 -3.74069030e-02 -3.33197560e+02] [-7.09353980e-02 -1.34767938e-03 9.97480001e-01 -3.44458009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.84, Y:-333.23, Z:-34.45 [[ 8.37805616e-01 5.42631229e-01 6.02751889e-02 6.34839647e+02] [-5.41340678e-01 8.39970072e-01 -3.74238979e-02 -3.33228369e+02] [-7.09367305e-02 -1.27545971e-03 9.97480002e-01 -3.44507045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.89, Y:-333.26, Z:-34.46 [[ 8.38667873e-01 5.41298804e-01 6.02644538e-02 6.34892729e+02] [-5.40003572e-01 8.40829531e-01 -3.74411768e-02 -3.33259547e+02] [-7.09389967e-02 -1.14230823e-03 9.97480002e-01 -3.44566998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:634.95, Y:-333.29, Z:-34.46 [[ 8.39463077e-01 5.40065781e-01 6.02552518e-02 6.34946752e+02] [-5.38766312e-01 8.41622190e-01 -3.74559801e-02 -3.33291827e+02] [-7.09408501e-02 -1.02058754e-03 9.97480002e-01 -3.44618045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.00, Y:-333.32, Z:-34.47 [[ 8.41678767e-01 5.36607339e-01 6.02446434e-02 6.35001264e+02] [-5.35297776e-01 8.43831774e-01 -3.74730351e-02 -3.33322947e+02] [-7.09446499e-02 -7.08565609e-04 9.97480002e-01 -3.44666839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.05, Y:-333.35, Z:-34.47 [[ 8.44748882e-01 5.31762335e-01 6.02340870e-02 6.35054785e+02] [-5.30439214e-01 8.46893583e-01 -3.74899957e-02 -3.33354570e+02] [-7.09476294e-02 -2.80889771e-04 9.97480002e-01 -3.44702885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.11, Y:-333.39, Z:-34.47 [[ 8.47256268e-01 5.27759197e-01 6.02249746e-02 6.35108647e+02] [-5.26424902e-01 8.49394034e-01 -3.75046285e-02 -3.33387394e+02] [-7.09481467e-02 7.21052001e-05 9.97480002e-01 -3.44749136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.16, Y:-333.42, Z:-34.48 [[ 8.49919298e-01 5.23460986e-01 6.02144798e-02 6.35163095e+02] [-5.22114688e-01 8.52049525e-01 -3.75214706e-02 -3.33419276e+02] [-7.09467449e-02 4.51357690e-04 9.97480003e-01 -3.44798382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.22, Y:-333.45, Z:-34.49 [[ 8.50142565e-01 5.23099518e-01 6.02039329e-02 6.35217678e+02] [-5.21751116e-01 8.52271461e-01 -3.75383857e-02 -3.33450219e+02] [-7.09464053e-02 5.01510330e-04 9.97480003e-01 -3.44876148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.27, Y:-333.48, Z:-34.49 [[ 8.50084286e-01 5.23194772e-01 6.01991454e-02 6.35271375e+02] [-5.21846065e-01 8.52212988e-01 -3.75460616e-02 -3.33481676e+02] [-7.09463968e-02 5.02629833e-04 9.97480003e-01 -3.44920393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.33, Y:-333.51, Z:-34.50 [[ 8.48793307e-01 5.25287747e-01 6.01889098e-02 6.35325088e+02] [-5.23943126e-01 8.50924592e-01 -3.75624629e-02 -3.33513218e+02] [-7.09473251e-02 3.47201506e-04 9.97480003e-01 -3.44998070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.38, Y:-333.54, Z:-34.50 [[ 8.46815205e-01 5.28471873e-01 6.01788111e-02 6.35380147e+02] [-5.27134116e-01 8.48950805e-01 -3.75786351e-02 -3.33543219e+02] [-7.09481018e-02 9.98551320e-05 9.97480003e-01 -3.45020030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.43, Y:-333.57, Z:-34.50 [[ 8.44619851e-01 5.31974689e-01 6.01684090e-02 6.35434594e+02] [-5.30644603e-01 8.46760238e-01 -3.75952828e-02 -3.33572964e+02] [-7.09479552e-02 -1.74319327e-04 9.97480003e-01 -3.45046858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.49, Y:-333.61, Z:-34.51 [[ 8.43306180e-01 5.34055808e-01 6.01587967e-02 6.35488880e+02] [-5.32729908e-01 8.45449161e-01 -3.76106579e-02 -3.33605298e+02] [-7.09473945e-02 -3.31089995e-04 9.97480004e-01 -3.45078622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.54, Y:-333.64, Z:-34.51 [[ 8.41714636e-01 5.36561876e-01 6.01483532e-02 6.35544440e+02] [-5.35241162e-01 8.43860818e-01 -3.76273522e-02 -3.33635431e+02] [-7.09462412e-02 -5.22381436e-04 9.97480004e-01 -3.45128038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.60, Y:-333.66, Z:-34.52 [[ 8.40050117e-01 5.39165298e-01 6.01380279e-02 6.35599764e+02] [-5.37850055e-01 8.42199655e-01 -3.76438473e-02 -3.33664544e+02] [-7.09444826e-02 -7.22523241e-04 9.97480004e-01 -3.45187312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.65, Y:-333.70, Z:-34.52 [[ 8.38970556e-01 5.40844762e-01 6.01277858e-02 6.35654593e+02] [-5.39532649e-01 8.41122006e-01 -3.76601998e-02 -3.33695769e+02] [-7.09431256e-02 -8.45104865e-04 9.97480004e-01 -3.45238400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.71, Y:-333.73, Z:-34.53 [[ 8.38525732e-01 5.41535328e-01 6.01172704e-02 6.35708894e+02] [-5.40223784e-01 8.40677529e-01 -3.76769782e-02 -3.33727646e+02] [-7.09426531e-02 -8.83663596e-04 9.97480004e-01 -3.45285750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:635.76, Y:-333.76, Z:-34.53 [[ 8.38089197e-01 5.42211859e-01 6.01065560e-02 6.35762606e+02] [-5.40900828e-01 8.40241306e-01 -3.76940633e-02 -3.33760707e+02] [-7.09421793e-02 -9.20698674e-04 9.97480005e-01 -3.45329688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.82, Y:-333.79, Z:-34.54 [[ 8.37113795e-01 5.43717731e-01 6.00959465e-02 6.35816737e+02] [-5.42409358e-01 8.39267521e-01 -3.77109706e-02 -3.33791602e+02] [-7.09406994e-02 -1.02822997e-03 9.97480005e-01 -3.45385659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.87, Y:-333.82, Z:-34.54 [[ 8.36367953e-01 5.44865474e-01 6.00854587e-02 6.35870622e+02] [-5.43558857e-01 8.38522744e-01 -3.77276736e-02 -3.33823711e+02] [-7.09395305e-02 -1.10576610e-03 9.97480005e-01 -3.45432785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.92, Y:-333.86, Z:-34.55 [[ 8.36262271e-01 5.45028848e-01 6.00746954e-02 6.35924105e+02] [-5.43721421e-01 8.38416571e-01 -3.77448045e-02 -3.33856726e+02] [-7.09396274e-02 -1.09934284e-03 9.97480005e-01 -3.45473166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:635.98, Y:-333.89, Z:-34.55 [[ 8.36723966e-01 5.44320970e-01 6.00640222e-02 6.35976522e+02] [-5.43010502e-01 8.38876417e-01 -3.77617813e-02 -3.33888633e+02] [-7.09408212e-02 -1.01920741e-03 9.97480005e-01 -3.45506785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.03, Y:-333.92, Z:-34.56 [[ 8.36797831e-01 5.44208495e-01 6.00541755e-02 6.36030103e+02] [-5.42896615e-01 8.38949421e-01 -3.77774345e-02 -3.33921708e+02] [-7.09412166e-02 -9.91133283e-04 9.97480006e-01 -3.45559870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.09, Y:-333.95, Z:-34.57 [[ 8.39858754e-01 5.39473866e-01 6.00434995e-02 6.36085561e+02] [-5.38148642e-01 8.42002151e-01 -3.77943953e-02 -3.33949414e+02] [-7.09458443e-02 -5.70373970e-04 9.97480006e-01 -3.45703560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.14, Y:-333.98, Z:-34.57 [[ 8.40796537e-01 5.38011496e-01 6.00400956e-02 6.36135570e+02] [-5.36682158e-01 8.42937385e-01 -3.77998019e-02 -3.33984254e+02] [-7.09467692e-02 -4.40505563e-04 9.97480006e-01 -3.45718103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.19, Y:-334.02, Z:-34.58 [[ 8.42548728e-01 5.35263895e-01 6.00350185e-02 6.36188514e+02] [-5.33927001e-01 8.44684866e-01 -3.78078639e-02 -3.34018035e+02] [-7.09478561e-02 -1.99349772e-04 9.97480006e-01 -3.45778251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.24, Y:-334.06, Z:-34.58 [[ 8.41971387e-01 5.36172777e-01 6.00244696e-02 6.36238128e+02] [-5.34836995e-01 8.44108221e-01 -3.78246042e-02 -3.34056478e+02] [-7.09476713e-02 -2.56072509e-04 9.97480006e-01 -3.45750397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.29, Y:-334.09, Z:-34.58 [[ 8.44331280e-01 5.32449871e-01 6.00151982e-02 6.36290015e+02] [-5.31103622e-01 8.46461534e-01 -3.78393091e-02 -3.34092049e+02] [-7.09480920e-02 7.46231463e-05 9.97480006e-01 -3.45792831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.34, Y:-334.13, Z:-34.58 [[ 8.46556250e-01 5.28906370e-01 6.00047190e-02 6.36341728e+02] [-5.27550027e-01 8.48680092e-01 -3.78559196e-02 -3.34128077e+02] [-7.09470474e-02 3.91674221e-04 9.97480006e-01 -3.45838928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.39, Y:-334.16, Z:-34.59 [[ 8.48978286e-01 5.25011019e-01 5.99941769e-02 6.36393271e+02] [-5.23643751e-01 8.51095110e-01 -3.78726193e-02 -3.34163067e+02] [-7.09442931e-02 7.37455538e-04 9.97480007e-01 -3.45890608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.45, Y:-334.19, Z:-34.60 [[ 8.52772553e-01 5.18826488e-01 5.99837348e-02 6.36447238e+02] [-5.17442709e-01 8.54878620e-01 -3.78891506e-02 -3.34192495e+02] [-7.09367074e-02 1.27268148e-03 9.97480007e-01 -3.46019615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.49, Y:-334.23, Z:-34.60 [[ 8.50837801e-01 5.21994371e-01 5.99742666e-02 6.36494899e+02] [-5.20617378e-01 8.52948312e-01 -3.79041319e-02 -3.34232364e+02] [-7.09406929e-02 1.02662282e-03 9.97480007e-01 -3.45980109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.55, Y:-334.27, Z:-34.60 [[ 8.50711305e-01 5.22201497e-01 5.99655907e-02 6.36548215e+02] [-5.20824051e-01 8.52821520e-01 -3.79178525e-02 -3.34265907e+02] [-7.09407055e-02 1.02562390e-03 9.97480007e-01 -3.46026748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.60, Y:-334.30, Z:-34.61 [[ 8.50435674e-01 5.22651438e-01 5.99553092e-02 6.36602828e+02] [-5.21273963e-01 8.52545869e-01 -3.79341026e-02 -3.34296026e+02] [-7.09409644e-02 1.00737243e-03 9.97480007e-01 -3.46114386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.65, Y:-334.33, Z:-34.61 [[ 8.45507813e-01 5.30587625e-01 5.99442185e-02 6.36653871e+02] [-5.29228717e-01 8.47630013e-01 -3.79516202e-02 -3.34330984e+02] [-7.09471788e-02 3.64189479e-04 9.97480007e-01 -3.46101723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.71, Y:-334.36, Z:-34.61 [[ 8.43318952e-01 5.34060922e-01 5.99339319e-02 6.36707015e+02] [-5.32709601e-01 8.45445991e-01 -3.79678581e-02 -3.34363843e+02] [-7.09480517e-02 9.16333320e-05 9.97480008e-01 -3.46147185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.76, Y:-334.40, Z:-34.62 [[ 8.40695955e-01 5.38181666e-01 5.99233332e-02 6.36759896e+02] [-5.36839579e-01 8.42828831e-01 -3.79845783e-02 -3.34395896e+02] [-7.09477165e-02 -2.35735624e-04 9.97480008e-01 -3.46203775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.81, Y:-334.43, Z:-34.63 [[ 8.39493473e-01 5.40056550e-01 5.99135368e-02 6.36813364e+02] [-5.38718123e-01 8.41628648e-01 -3.80000241e-02 -3.34428419e+02] [-7.09471109e-02 -3.75735924e-04 9.97480008e-01 -3.46287454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.87, Y:-334.46, Z:-34.63 [[ 8.39140637e-01 5.40605185e-01 5.99084798e-02 6.36865379e+02] [-5.39267585e-01 8.41276330e-01 -3.80079949e-02 -3.34461115e+02] [-7.09469052e-02 -4.12648208e-04 9.97480008e-01 -3.46298387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.92, Y:-334.49, Z:-34.64 [[ 8.42061096e-01 5.36045899e-01 5.98991277e-02 6.36918720e+02] [-5.34695687e-01 8.44188838e-01 -3.80227278e-02 -3.34491358e+02] [-7.09481023e-02 -1.03453572e-05 9.97480008e-01 -3.46406916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:636.97, Y:-334.53, Z:-34.64 [[ 8.42450700e-01 5.35434484e-01 5.98893275e-02 6.36967488e+02] [-5.34081631e-01 8.44576764e-01 -3.80381577e-02 -3.34529173e+02] [-7.09480758e-02 5.94828799e-05 9.97480008e-01 -3.46398670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.02, Y:-334.56, Z:-34.65 [[ 8.44412601e-01 5.32336006e-01 5.98810205e-02 6.37021587e+02] [-5.30974425e-01 8.46533085e-01 -3.80512305e-02 -3.34561407e+02] [-7.09473051e-02 3.35648051e-04 9.97480008e-01 -3.46482014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.07, Y:-334.60, Z:-34.65 [[ 8.44146045e-01 5.32759793e-01 5.98703359e-02 6.37073886e+02] [-5.31398085e-01 8.46266448e-01 -3.80680344e-02 -3.34596003e+02] [-7.09473746e-02 3.19998884e-04 9.97480009e-01 -3.46515763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.12, Y:-334.63, Z:-34.65 [[ 8.42464645e-01 5.35415894e-01 5.98593589e-02 6.37124197e+02] [-5.34059644e-01 8.44588543e-01 -3.80852871e-02 -3.34630404e+02] [-7.09479968e-02 1.17039910e-04 9.97480009e-01 -3.46545685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.18, Y:-334.66, Z:-34.66 [[ 8.40972023e-01 5.37758277e-01 5.98505927e-02 6.37176319e+02] [-5.36406963e-01 8.43099064e-01 -3.80990581e-02 -3.34664793e+02] [-7.09480625e-02 -6.40327348e-05 9.97480009e-01 -3.46590591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.23, Y:-334.70, Z:-34.66 [[ 8.38851256e-01 5.41061719e-01 5.98396724e-02 6.37228065e+02] [-5.39717558e-01 8.40982825e-01 -3.81162023e-02 -3.34698070e+02] [-7.09473547e-02 -3.22697619e-04 9.97480009e-01 -3.46630190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.28, Y:-334.73, Z:-34.67 [[ 8.35447892e-01 5.46302882e-01 5.98329452e-02 6.37280980e+02] [-5.44971337e-01 8.37587364e-01 -3.81267595e-02 -3.34732468e+02] [-7.09440774e-02 -7.54319320e-04 9.97480009e-01 -3.46673148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.33, Y:-334.77, Z:-34.67 [[ 8.31608945e-01 5.52130218e-01 5.98229452e-02 6.37333851e+02] [-5.50812535e-01 8.33756982e-01 -3.81424435e-02 -3.34766585e+02] [-7.09373939e-02 -1.23163084e-03 9.97480009e-01 -3.46715029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.39, Y:-334.80, Z:-34.68 [[ 8.29704315e-01 5.54989365e-01 5.98126535e-02 6.37386343e+02] [-5.53677921e-01 8.31856167e-01 -3.81585755e-02 -3.34800790e+02] [-7.09331283e-02 -1.45661091e-03 9.97480010e-01 -3.46751414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.44, Y:-334.83, Z:-34.68 [[ 8.29543904e-01 5.55230258e-01 5.98019329e-02 6.37437901e+02] [-5.53918229e-01 8.31695399e-01 -3.81753694e-02 -3.34834441e+02] [-7.09331127e-02 -1.45723582e-03 9.97480010e-01 -3.46797123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.49, Y:-334.87, Z:-34.69 [[ 8.30606266e-01 5.53640810e-01 5.97920047e-02 6.37488311e+02] [-5.52323545e-01 8.32754559e-01 -3.81909131e-02 -3.34869979e+02] [-7.09361126e-02 -1.30292033e-03 9.97480010e-01 -3.46861059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.54, Y:-334.91, Z:-34.69 [[ 8.30631531e-01 5.53603270e-01 5.97886195e-02 6.37540460e+02] [-5.52285527e-01 8.32779530e-01 -3.81962120e-02 -3.34905914e+02] [-7.09362863e-02 -1.29341117e-03 9.97480010e-01 -3.46886114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.59, Y:-334.94, Z:-34.69 [[ 8.31394681e-01 5.52457700e-01 5.97776984e-02 6.37591199e+02] [-5.51135769e-01 8.33540106e-01 -3.82132961e-02 -3.34941916e+02] [-7.09383387e-02 -1.17529661e-03 9.97480010e-01 -3.46945544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.64, Y:-334.98, Z:-34.70 [[ 8.31542144e-01 5.52236776e-01 5.97679326e-02 6.37642390e+02] [-5.50913177e-01 8.33686541e-01 -3.82285644e-02 -3.34978590e+02] [-7.09389401e-02 -1.13827926e-03 9.97480010e-01 -3.46999338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.69, Y:-335.02, Z:-34.70 [[ 8.30927889e-01 5.53161704e-01 5.97576117e-02 6.37692057e+02] [-5.51839333e-01 8.33073042e-01 -3.82446908e-02 -3.35016303e+02] [-7.09379537e-02 -1.19802045e-03 9.97480011e-01 -3.47049351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.74, Y:-335.05, Z:-34.71 [[ 8.28981724e-01 5.56075057e-01 5.97480732e-02 6.37742967e+02] [-5.54759151e-01 8.31130849e-01 -3.82595866e-02 -3.35051876e+02] [-7.09336686e-02 -1.42929226e-03 9.97480011e-01 -3.47103194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.79, Y:-335.09, Z:-34.71 [[ 8.26715926e-01 5.59439062e-01 5.97387145e-02 6.37793406e+02] [-5.58130845e-01 8.28869740e-01 -3.82741938e-02 -3.35089832e+02] [-7.09276918e-02 -1.70013359e-03 9.97480011e-01 -3.47149191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.84, Y:-335.13, Z:-34.72 [[ 8.25774691e-01 5.60828519e-01 5.97288196e-02 6.37844074e+02] [-5.59522811e-01 8.27930026e-01 -3.82896290e-02 -3.35126269e+02] [-7.09251992e-02 -1.80103048e-03 9.97480011e-01 -3.47187384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.89, Y:-335.16, Z:-34.72 [[ 8.25060740e-01 5.61879293e-01 5.97196381e-02 6.37894768e+02] [-5.60575294e-01 8.27217110e-01 -3.83039439e-02 -3.35163129e+02] [-7.09232994e-02 -1.87427340e-03 9.97480011e-01 -3.47220230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:637.95, Y:-335.20, Z:-34.73 [[ 8.25622012e-01 5.61055292e-01 5.97097423e-02 6.37945869e+02] [-5.59748027e-01 8.27776403e-01 -3.83193637e-02 -3.35199823e+02] [-7.09255975e-02 -1.78510029e-03 9.97480011e-01 -3.47261426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.00, Y:-335.24, Z:-34.73 [[ 8.27087209e-01 5.58894253e-01 5.96989359e-02 6.37997742e+02] [-5.57580145e-01 8.29237432e-01 -3.83361921e-02 -3.35235592e+02] [-7.09304697e-02 -1.57956720e-03 9.97480012e-01 -3.47317364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.05, Y:-335.27, Z:-34.74 [[ 8.30188096e-01 5.54278844e-01 5.96882512e-02 6.38049010e+02] [-5.52951585e-01 8.32330227e-01 -3.83528206e-02 -3.35270528e+02] [-7.09384927e-02 -1.16465798e-03 9.97480012e-01 -3.47370343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.10, Y:-335.30, Z:-34.74 [[ 8.31355280e-01 5.52527724e-01 5.96784069e-02 6.38102445e+02] [-5.51194854e-01 8.33493923e-01 -3.83681325e-02 -3.35303164e+02] [-7.09410465e-02 -9.96881236e-04 9.97480012e-01 -3.47416193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.16, Y:-335.34, Z:-34.75 [[ 8.32440980e-01 5.50891785e-01 5.96678836e-02 6.38156483e+02] [-5.49553539e-01 8.34576263e-01 -3.83844909e-02 -3.35335399e+02] [-7.09431000e-02 -8.37873382e-04 9.97480012e-01 -3.47463871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.21, Y:-335.37, Z:-34.75 [[ 8.35353759e-01 5.46466012e-01 5.96573092e-02 6.38208546e+02] [-5.45115279e-01 8.37481165e-01 -3.84009186e-02 -3.35370899e+02] [-7.09466697e-02 -4.41759071e-04 9.97480012e-01 -3.47505459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.26, Y:-335.41, Z:-34.75 [[ 8.37523276e-01 5.43136290e-01 5.96467329e-02 6.38260570e+02] [-5.41775929e-01 8.39644538e-01 -3.84173394e-02 -3.35405633e+02] [-7.09479047e-02 -1.39748170e-04 9.97480013e-01 -3.47540745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.31, Y:-335.44, Z:-34.76 [[ 8.40187773e-01 5.39006564e-01 5.96358175e-02 6.38312605e+02] [-5.37634574e-01 8.42301532e-01 -3.84342762e-02 -3.35438353e+02] [-7.09476676e-02 2.29731589e-04 9.97480013e-01 -3.47588751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.36, Y:-335.47, Z:-34.76 [[ 8.39398468e-01 5.40236044e-01 5.96257397e-02 6.38362774e+02] [-5.38866040e-01 8.41513515e-01 -3.84499041e-02 -3.35474366e+02] [-7.09478899e-02 1.44504330e-04 9.97480013e-01 -3.47573230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.42, Y:-335.50, Z:-34.77 [[ 8.40799405e-01 5.38053431e-01 5.96227025e-02 6.38416030e+02] [-5.36677602e-01 8.42910668e-01 -3.84546132e-02 -3.35502742e+02] [-7.09472486e-02 3.34446856e-04 9.97480013e-01 -3.47677014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.47, Y:-335.53, Z:-34.77 [[ 8.38553026e-01 5.41548287e-01 5.96177466e-02 6.38468359e+02] [-5.40180712e-01 8.40669644e-01 -3.84622950e-02 -3.35533914e+02] [-7.09480198e-02 4.83170967e-05 9.97480013e-01 -3.47728469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.52, Y:-335.57, Z:-34.78 [[ 8.36301427e-01 5.45019877e-01 5.96092048e-02 6.38521247e+02] [-5.43660145e-01 8.38423092e-01 -3.84755286e-02 -3.35566308e+02] [-7.09476617e-02 -2.30009519e-04 9.97480013e-01 -3.47761753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.57, Y:-335.60, Z:-34.78 [[ 8.32497549e-01 5.50813684e-01 5.95996422e-02 6.38572382e+02] [-5.49467656e-01 8.34627934e-01 -3.84903357e-02 -3.35598558e+02] [-7.09445299e-02 -7.04965561e-04 9.97480013e-01 -3.47808358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.63, Y:-335.63, Z:-34.78 [[ 8.29060902e-01 5.55973871e-01 5.95909044e-02 6.38625320e+02] [-5.54640129e-01 8.31199001e-01 -3.85038589e-02 -3.35632631e+02] [-7.09390397e-02 -1.12946288e-03 9.97480013e-01 -3.47820126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.68, Y:-335.67, Z:-34.79 [[ 8.26612035e-01 5.59609472e-01 5.95800432e-02 6.38678032e+02] [-5.58283924e-01 8.28755223e-01 -3.85206579e-02 -3.35665600e+02] [-7.09337971e-02 -1.42094087e-03 9.97480014e-01 -3.47864901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.73, Y:-335.70, Z:-34.79 [[ 8.24217432e-01 5.63131463e-01 5.95699721e-02 6.38730545e+02] [-5.61813946e-01 8.26365566e-01 -3.85362261e-02 -3.35698519e+02] [-7.09275351e-02 -1.70501178e-03 9.97480014e-01 -3.47896724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.78, Y:-335.73, Z:-34.79 [[ 8.22333460e-01 5.65880052e-01 5.95604587e-02 6.38781110e+02] [-5.64568651e-01 8.24485333e-01 -3.85509242e-02 -3.35734064e+02] [-7.09219236e-02 -1.92425298e-03 9.97480014e-01 -3.47923194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.83, Y:-335.77, Z:-34.80 [[ 8.24342267e-01 5.62950094e-01 5.95568582e-02 6.38833602e+02] [-5.61630642e-01 8.26489213e-01 -3.85564857e-02 -3.35765446e+02] [-7.09284781e-02 -1.66521567e-03 9.97480014e-01 -3.47982151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.88, Y:-335.80, Z:-34.80 [[ 8.26882122e-01 5.59213779e-01 5.95475060e-02 6.38884997e+02] [-5.57883585e-01 8.29022430e-01 -3.85709240e-02 -3.35800951e+02] [-7.09356103e-02 -1.32696865e-03 9.97480014e-01 -3.48025548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.93, Y:-335.84, Z:-34.81 [[ 8.29276891e-01 5.55656855e-01 5.95424005e-02 6.38934577e+02] [-5.54316915e-01 8.31411110e-01 -3.85788039e-02 -3.35837189e+02] [-7.09407901e-02 -1.01284919e-03 9.97480014e-01 -3.48076868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:638.99, Y:-335.87, Z:-34.81 [[ 8.35052671e-01 5.46939647e-01 5.95320033e-02 6.38985569e+02] [-5.45576281e-01 8.37172002e-01 -3.85948414e-02 -3.35871354e+02] [-7.09475753e-02 -2.50523543e-04 9.97480014e-01 -3.48115463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.04, Y:-335.91, Z:-34.81 [[ 8.37992813e-01 5.42425317e-01 5.95216018e-02 6.39039117e+02] [-5.41049395e-01 8.40104013e-01 -3.86108761e-02 -3.35905170e+02] [-7.09478533e-02 1.51510027e-04 9.97480014e-01 -3.48147742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.09, Y:-335.94, Z:-34.82 [[ 8.40817749e-01 5.38037148e-01 5.95108459e-02 6.39091698e+02] [-5.36649035e-01 8.42920953e-01 -3.86274471e-02 -3.35938600e+02] [-7.09459404e-02 5.42205098e-04 9.97480015e-01 -3.48176619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.14, Y:-335.97, Z:-34.82 [[ 8.44182763e-01 5.32742963e-01 5.95012476e-02 6.39143399e+02] [-5.31340620e-01 8.46276506e-01 -3.86422265e-02 -3.35970926e+02] [-7.09408822e-02 1.00567171e-03 9.97480015e-01 -3.48227384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.20, Y:-336.00, Z:-34.83 [[ 8.49835231e-01 5.23679984e-01 5.94924816e-02 6.39196860e+02] [-5.22254375e-01 8.51913202e-01 -3.86557178e-02 -3.36002574e+02] [-7.09256561e-02 1.78078205e-03 9.97480015e-01 -3.48258310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.25, Y:-336.03, Z:-34.83 [[ 8.54036066e-01 5.16801856e-01 5.94831026e-02 6.39250695e+02] [-5.15358514e-01 8.56101759e-01 -3.86701448e-02 -3.36033305e+02] [-7.09083913e-02 2.37057501e-03 9.97480015e-01 -3.48284470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.31, Y:-336.06, Z:-34.83 [[ 8.55044864e-01 5.15132188e-01 5.94735945e-02 6.39305886e+02] [-5.13683798e-01 8.57107021e-01 -3.86847625e-02 -3.36064390e+02] [-7.09030017e-02 2.52658558e-03 9.97480015e-01 -3.48329879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.36, Y:-336.09, Z:-34.84 [[ 8.54618900e-01 5.15839810e-01 5.94628180e-02 6.39361169e+02] [-5.14391976e-01 8.56681447e-01 -3.87013201e-02 -3.36092564e+02] [-7.09043745e-02 2.48768316e-03 9.97480015e-01 -3.48362697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.42, Y:-336.12, Z:-34.84 [[ 8.52011846e-01 5.20135648e-01 5.94535341e-02 6.39417560e+02] [-5.18697223e-01 8.54080965e-01 -3.87155769e-02 -3.36119956e+02] [-7.09154834e-02 2.14774710e-03 9.97480016e-01 -3.48382893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.47, Y:-336.15, Z:-34.84 [[ 8.49042674e-01 5.24969485e-01 5.94439009e-02 6.39474059e+02] [-5.23541808e-01 8.51119225e-01 -3.87303620e-02 -3.36148827e+02] [-7.09261050e-02 1.76236277e-03 9.97480016e-01 -3.48439395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.53, Y:-336.17, Z:-34.85 [[ 8.44163368e-01 5.32781320e-01 5.94329224e-02 6.39530468e+02] [-5.31371680e-01 8.46252204e-01 -3.87472017e-02 -3.36174009e+02] [-7.09390268e-02 1.12799649e-03 9.97480016e-01 -3.48491934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.59, Y:-336.20, Z:-34.85 [[ 8.40956378e-01 5.37830030e-01 5.94241442e-02 6.39585137e+02] [-5.36431980e-01 8.43052989e-01 -3.87606595e-02 -3.36203728e+02] [-7.09443490e-02 7.19012529e-04 9.97480016e-01 -3.48524674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.64, Y:-336.23, Z:-34.86 [[ 8.36226304e-01 5.45156369e-01 5.94146667e-02 6.39641127e+02] [-5.43775657e-01 8.38334372e-01 -3.87751818e-02 -3.36229779e+02] [-7.09478946e-02 1.16577533e-04 9.97480016e-01 -3.48578001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.70, Y:-336.26, Z:-34.86 [[ 8.31057808e-01 5.53004003e-01 5.94095359e-02 6.39697456e+02] [-5.51642635e-01 8.33178420e-01 -3.87830414e-02 -3.36256484e+02] [-7.09459204e-02 -5.41883544e-04 9.97480016e-01 -3.48637309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.75, Y:-336.29, Z:-34.87 [[ 8.27635748e-01 5.58113563e-01 5.93996630e-02 6.39752382e+02] [-5.56764201e-01 8.29764019e-01 -3.87981567e-02 -3.36287335e+02] [-7.09414806e-02 -9.60864492e-04 9.97480016e-01 -3.48690921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.81, Y:-336.32, Z:-34.87 [[ 8.24011406e-01 5.63451963e-01 5.93892951e-02 6.39807723e+02] [-5.62115244e-01 8.26147641e-01 -3.88140206e-02 -3.36317774e+02] [-7.09341622e-02 -1.40043243e-03 9.97480017e-01 -3.48738814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.86, Y:-336.35, Z:-34.88 [[ 8.22673438e-01 5.65404762e-01 5.93790357e-02 6.39860846e+02] [-5.64071982e-01 8.24812132e-01 -3.88297094e-02 -3.36348740e+02] [-7.09310517e-02 -1.54987980e-03 9.97480017e-01 -3.48801621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.91, Y:-336.38, Z:-34.88 [[ 8.23863487e-01 5.63670305e-01 5.93695397e-02 6.39912852e+02] [-5.62331977e-01 8.25998713e-01 -3.88442232e-02 -3.36383918e+02] [-7.09344986e-02 -1.38305343e-03 9.97480017e-01 -3.48827220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:639.96, Y:-336.42, Z:-34.89 [[ 8.27354385e-01 5.58534943e-01 5.93585679e-02 6.39964498e+02] [-5.57182157e-01 8.29480481e-01 -3.88609822e-02 -3.36419404e+02] [-7.09419899e-02 -9.21730842e-04 9.97480017e-01 -3.48863874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.02, Y:-336.46, Z:-34.89 [[ 8.30145285e-01 5.54379536e-01 5.93475870e-02 6.40016222e+02] [-5.53014908e-01 8.32263800e-01 -3.88777448e-02 -3.36455687e+02] [-7.09458744e-02 -5.45923842e-04 9.97480017e-01 -3.48901715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.07, Y:-336.49, Z:-34.90 [[ 8.34442987e-01 5.47890595e-01 5.93363050e-02 6.40065212e+02] [-5.46508268e-01 8.36549996e-01 -3.88949562e-02 -3.36492617e+02] [-7.09479663e-02 2.78421649e-05 9.97480018e-01 -3.48954641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.12, Y:-336.53, Z:-34.90 [[ 8.36901198e-01 5.44129416e-01 5.93259152e-02 6.40116004e+02] [-5.42736497e-01 8.39001218e-01 -3.89107972e-02 -3.36528933e+02] [-7.09470244e-02 3.66153344e-04 9.97480018e-01 -3.48997579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.17, Y:-336.57, Z:-34.90 [[ 8.40295596e-01 5.38873846e-01 5.93151755e-02 6.40167349e+02] [-5.37466639e-01 8.42386069e-01 -3.89271618e-02 -3.36565263e+02] [-7.09431068e-02 8.30394595e-04 9.97480018e-01 -3.49037839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.22, Y:-336.60, Z:-34.91 [[ 8.43719452e-01 5.33498355e-01 5.93042337e-02 6.40218406e+02] [-5.32076660e-01 8.45800099e-01 -3.89438240e-02 -3.36602277e+02] [-7.09359928e-02 1.30326328e-03 9.97480018e-01 -3.49076807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.27, Y:-336.64, Z:-34.91 [[ 8.45662061e-01 5.30414901e-01 5.92934372e-02 6.40270571e+02] [-5.28984469e-01 8.47736710e-01 -3.89602553e-02 -3.36638070e+02] [-7.09303233e-02 1.58190243e-03 9.97480018e-01 -3.49119211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.32, Y:-336.67, Z:-34.92 [[ 8.46871223e-01 5.28483410e-01 5.92825115e-02 6.40322038e+02] [-5.27047084e-01 8.48941797e-01 -3.89768730e-02 -3.36672094e+02] [-7.09260325e-02 1.76371729e-03 9.97480018e-01 -3.49166732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.37, Y:-336.71, Z:-34.92 [[ 8.46973863e-01 5.28320029e-01 5.92724391e-02 6.40374814e+02] [-5.26882233e-01 8.49043416e-01 -3.89921840e-02 -3.36705413e+02] [-7.09252260e-02 1.79576568e-03 9.97480019e-01 -3.49218114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.43, Y:-336.74, Z:-34.93 [[ 8.44257195e-01 5.32651681e-01 5.92619183e-02 6.40428646e+02] [-5.31223384e-01 8.46333315e-01 -3.90081674e-02 -3.36737134e+02] [-7.09331017e-02 1.45160921e-03 9.97480019e-01 -3.49270150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.48, Y:-336.77, Z:-34.93 [[ 8.41923074e-01 5.36334619e-01 5.92512752e-02 6.40482058e+02] [-5.34914268e-01 8.44004638e-01 -3.90243272e-02 -3.36769846e+02] [-7.09384487e-02 1.16112905e-03 9.97480019e-01 -3.49322933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.54, Y:-336.80, Z:-34.94 [[ 8.38702477e-01 5.41358207e-01 5.92405884e-02 6.40535550e+02] [-5.39949179e-01 8.40791722e-01 -3.90405434e-02 -3.36801745e+02] [-7.09439149e-02 7.56493290e-04 9.97480019e-01 -3.49379104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.59, Y:-336.84, Z:-34.94 [[ 8.36738272e-01 5.44390401e-01 5.92296839e-02 6.40588465e+02] [-5.42987774e-01 8.38831820e-01 -3.90570800e-02 -3.36835164e+02] [-7.09460430e-02 5.19559365e-04 9.97480019e-01 -3.49425216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.64, Y:-336.87, Z:-34.95 [[ 8.34218131e-01 5.48245606e-01 5.92187867e-02 6.40641979e+02] [-5.46851483e-01 8.36317350e-01 -3.90735956e-02 -3.36868296e+02] [-7.09476258e-02 2.12020579e-04 9.97480020e-01 -3.49481830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.69, Y:-336.90, Z:-34.95 [[ 8.32022856e-01 5.51572693e-01 5.92075285e-02 6.40694128e+02] [-5.50185750e-01 8.34126826e-01 -3.90906475e-02 -3.36902338e+02] [-7.09479215e-02 -5.08262477e-05 9.97480020e-01 -3.49534204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.75, Y:-336.94, Z:-34.96 [[ 8.30391011e-01 5.54027589e-01 5.91962723e-02 6.40745470e+02] [-5.52645652e-01 8.32498272e-01 -3.91076857e-02 -3.36936372e+02] [-7.09475312e-02 -2.39891844e-04 9.97480020e-01 -3.49584403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.80, Y:-336.97, Z:-34.96 [[ 8.29760655e-01 5.54972331e-01 5.91858706e-02 6.40797495e+02] [-5.53591670e-01 8.31868752e-01 -3.91234215e-02 -3.36970777e+02] [-7.09472927e-02 -3.01729137e-04 9.97480020e-01 -3.49636417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.85, Y:-337.01, Z:-34.97 [[ 8.28024617e-01 5.57560379e-01 5.91748078e-02 6.40848555e+02] [-5.56185112e-01 8.30136236e-01 -3.91401470e-02 -3.37005286e+02] [-7.09461474e-02 -5.03141879e-04 9.97480020e-01 -3.49697400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.90, Y:-337.04, Z:-34.98 [[ 8.25054078e-01 5.61947790e-01 5.91645883e-02 6.40900135e+02] [-5.60582644e-01 8.27172255e-01 -3.91555887e-02 -3.37041056e+02] [-7.09427025e-02 -8.61163142e-04 9.97480021e-01 -3.49760830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:640.95, Y:-337.08, Z:-34.98 [[ 8.23375724e-01 5.64405235e-01 5.91535932e-02 6.40950489e+02] [-5.63045217e-01 8.25497197e-01 -3.91721924e-02 -3.37076407e+02] [-7.09401158e-02 -1.05271541e-03 9.97480021e-01 -3.49822758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.00, Y:-337.11, Z:-34.99 [[ 8.23309041e-01 5.64503567e-01 5.91434327e-02 6.41001453e+02] [-5.63142701e-01 8.25429970e-01 -3.91875270e-02 -3.37113605e+02] [-7.09402607e-02 -1.04274717e-03 9.97480021e-01 -3.49885289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.05, Y:-337.15, Z:-34.99 [[ 8.24223236e-01 5.63169119e-01 5.91320608e-02 6.41050696e+02] [-5.61803590e-01 8.26341164e-01 -3.92046792e-02 -3.37153423e+02] [-7.09421206e-02 -9.07196521e-04 9.97480021e-01 -3.49934287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.10, Y:-337.19, Z:-35.00 [[ 8.25468915e-01 5.61342849e-01 5.91208612e-02 6.41099883e+02] [-5.59971424e-01 8.27583031e-01 -3.92215610e-02 -3.37191393e+02] [-7.09441643e-02 -7.29813422e-04 9.97480021e-01 -3.49996340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.15, Y:-337.23, Z:-35.00 [[ 8.24937663e-01 5.62124001e-01 5.91139576e-02 6.41148956e+02] [-5.60753832e-01 8.27052594e-01 -3.92319633e-02 -3.37231466e+02] [-7.09435801e-02 -7.84454145e-04 9.97480021e-01 -3.50009033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.20, Y:-337.27, Z:-35.01 [[ 8.25430982e-01 5.61400585e-01 5.91022657e-02 6.41197070e+02] [-5.60027302e-01 8.27543891e-01 -3.92495689e-02 -3.37268167e+02] [-7.09444499e-02 -7.01072221e-04 9.97480022e-01 -3.50099710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.25, Y:-337.31, Z:-35.01 [[ 8.25389147e-01 5.61463070e-01 5.90929444e-02 6.41246921e+02] [-5.60088944e-01 8.27501508e-01 -3.92635979e-02 -3.37305740e+02] [-7.09445608e-02 -6.89557181e-04 9.97480022e-01 -3.50149488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.29, Y:-337.35, Z:-35.02 [[ 8.26603511e-01 5.59674888e-01 5.90817639e-02 6.41294705e+02] [-5.58294990e-01 8.28712105e-01 -3.92804145e-02 -3.37347153e+02] [-7.09460346e-02 -5.15724246e-04 9.97480022e-01 -3.50165343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.34, Y:-337.38, Z:-35.02 [[ 8.29323242e-01 5.55638090e-01 5.90700817e-02 6.41343105e+02] [-5.54246676e-01 8.31424255e-01 -3.92979744e-02 -3.37383890e+02] [-7.09477501e-02 -1.48672936e-04 9.97480022e-01 -3.50240236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.39, Y:-337.43, Z:-35.02 [[ 8.32597558e-01 5.50720557e-01 5.90607728e-02 6.41389712e+02] [-5.49315743e-01 8.34689634e-01 -3.93119598e-02 -3.37426615e+02] [-7.09473192e-02 2.88029485e-04 9.97480022e-01 -3.50228470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.44, Y:-337.46, Z:-35.03 [[ 8.36397437e-01 5.44932661e-01 5.90569488e-02 6.41437943e+02] [-5.43512964e-01 8.38479443e-01 -3.93177036e-02 -3.37463438e+02] [-7.09435384e-02 7.87009208e-04 9.97480022e-01 -3.50320665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.49, Y:-337.50, Z:-35.04 [[ 8.37608914e-01 5.43069754e-01 5.90470167e-02 6.41487287e+02] [-5.41644376e-01 8.39687034e-01 -3.93326140e-02 -3.37500793e+02] [-7.09413673e-02 9.62863523e-04 9.97480023e-01 -3.50366973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.54, Y:-337.54, Z:-35.04 [[ 8.39542523e-01 5.40076861e-01 5.90367381e-02 6.41536549e+02] [-5.38642992e-01 8.41614793e-01 -3.93480357e-02 -3.37538983e+02] [-7.09371557e-02 1.23462388e-03 9.97480023e-01 -3.50435200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.59, Y:-337.58, Z:-35.05 [[ 8.40588405e-01 5.38448829e-01 5.90253425e-02 6.41585765e+02] [-5.37009747e-01 8.42657059e-01 -3.93651226e-02 -3.37575848e+02] [-7.09342257e-02 1.39268140e-03 9.97480023e-01 -3.50479416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.64, Y:-337.61, Z:-35.05 [[ 8.39708606e-01 5.39820613e-01 5.90183289e-02 6.41638646e+02] [-5.38384172e-01 8.41779094e-01 -3.93756350e-02 -3.37609654e+02] [-7.09361749e-02 1.28952539e-03 9.97480023e-01 -3.50517711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.69, Y:-337.64, Z:-35.06 [[ 8.38865851e-01 5.41130509e-01 5.90072612e-02 6.41691190e+02] [-5.39696135e-01 8.40937771e-01 -3.93922138e-02 -3.37644415e+02] [-7.09377634e-02 1.19879211e-03 9.97480023e-01 -3.50558960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.74, Y:-337.68, Z:-35.06 [[ 8.38210352e-01 5.42146513e-01 5.89963168e-02 6.41744152e+02] [-5.40713497e-01 8.40283212e-01 -3.94085981e-02 -3.37678663e+02] [-7.09388486e-02 1.13259006e-03 9.97480023e-01 -3.50608582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.80, Y:-337.71, Z:-35.06 [[ 8.36447094e-01 5.44864181e-01 5.89854541e-02 6.41796350e+02] [-5.43436755e-01 8.38523807e-01 -3.94248504e-02 -3.37713625e+02] [-7.09418963e-02 9.21937736e-04 9.97480024e-01 -3.50636865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.85, Y:-337.74, Z:-35.07 [[ 8.36439932e-01 5.44875730e-01 5.89803264e-02 6.41850133e+02] [-5.43447792e-01 8.38516293e-01 -3.94325199e-02 -3.37743197e+02] [-7.09417878e-02 9.30206142e-04 9.97480024e-01 -3.50705594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.90, Y:-337.78, Z:-35.08 [[ 8.34326603e-01 5.48107411e-01 5.89693643e-02 6.41903442e+02] [-5.46686358e-01 8.36407682e-01 -3.94489064e-02 -3.37775898e+02] [-7.09446673e-02 6.75525127e-04 9.97480024e-01 -3.50755659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:641.96, Y:-337.81, Z:-35.08 [[ 8.31513065e-01 5.52367592e-01 5.89581766e-02 6.41956278e+02] [-5.50956016e-01 8.33600584e-01 -3.94656199e-02 -3.37807673e+02] [-7.09470999e-02 3.32816407e-04 9.97480024e-01 -3.50815294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.01, Y:-337.84, Z:-35.09 [[ 8.29064005e-01 5.56037793e-01 5.89478424e-02 6.42009655e+02] [-5.54634362e-01 8.31157008e-01 -3.94810496e-02 -3.37840063e+02] [-7.09478680e-02 3.78181194e-05 9.97480024e-01 -3.50877316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.06, Y:-337.87, Z:-35.09 [[ 8.25261460e-01 5.61667113e-01 5.89370563e-02 6.42063262e+02] [-5.60276809e-01 8.27363205e-01 -3.94971445e-02 -3.37872205e+02] [-7.09465989e-02 -4.25594632e-04 9.97480024e-01 -3.50935589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.12, Y:-337.91, Z:-35.10 [[ 8.22752405e-01 5.65337208e-01 5.89264068e-02 6.42115593e+02] [-5.63955141e-01 8.24859576e-01 -3.95130262e-02 -3.37906452e+02] [-7.09441949e-02 -7.22412734e-04 9.97480025e-01 -3.50989133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.17, Y:-337.94, Z:-35.10 [[ 8.20608770e-01 5.68445461e-01 5.89152312e-02 6.42165667e+02] [-5.67070179e-01 8.22720375e-01 -3.95296825e-02 -3.37944022e+02] [-7.09412297e-02 -9.70666581e-04 9.97480025e-01 -3.51019025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.22, Y:-337.98, Z:-35.11 [[ 8.21905878e-01 5.66569087e-01 5.89083837e-02 6.42217751e+02] [-5.65188253e-01 8.24013857e-01 -3.95398843e-02 -3.37975723e+02] [-7.09434005e-02 -7.96263171e-04 9.97480025e-01 -3.51094978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.27, Y:-338.01, Z:-35.11 [[ 8.22570785e-01 5.65604357e-01 5.88983462e-02 6.42269042e+02] [-5.64219981e-01 8.24676439e-01 -3.95548303e-02 -3.38012258e+02] [-7.09444628e-02 -6.94976003e-04 9.97480025e-01 -3.51149961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.32, Y:-338.05, Z:-35.12 [[ 8.24540162e-01 5.62730667e-01 5.88873368e-02 6.42318975e+02] [-5.61337782e-01 8.26640196e-01 -3.95712139e-02 -3.38049943e+02] [-7.09465752e-02 -4.27631832e-04 9.97480025e-01 -3.51214641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.37, Y:-338.09, Z:-35.13 [[ 8.25286967e-01 5.61636007e-01 5.88762934e-02 6.42370134e+02] [-5.60239165e-01 8.27384371e-01 -3.95876380e-02 -3.38086238e+02] [-7.09471680e-02 -3.13643789e-04 9.97480025e-01 -3.51262398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.42, Y:-338.12, Z:-35.13 [[ 8.28057173e-01 5.57544792e-01 5.88652894e-02 6.42420636e+02] [-5.56136424e-01 8.30146855e-01 -3.96039938e-02 -3.38123375e+02] [-7.09478354e-02 5.72396348e-05 9.97480026e-01 -3.51302139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.47, Y:-338.16, Z:-35.13 [[ 8.29408800e-01 5.55533269e-01 5.88543152e-02 6.42472563e+02] [-5.54118676e-01 8.31494273e-01 -3.96202956e-02 -3.38157683e+02] [-7.09474183e-02 2.49146580e-04 9.97480026e-01 -3.51342598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.52, Y:-338.19, Z:-35.14 [[ 8.32719711e-01 5.50559030e-01 5.88441832e-02 6.42523944e+02] [-5.49130917e-01 8.34795949e-01 -3.96353381e-02 -3.38191890e+02] [-7.09444790e-02 6.91967009e-04 9.97480026e-01 -3.51376446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.58, Y:-338.23, Z:-35.14 [[ 8.35109526e-01 5.46928332e-01 5.88343311e-02 6.42575369e+02] [-5.45490164e-01 8.37178811e-01 -3.96499570e-02 -3.38225452e+02] [-7.09405402e-02 1.01850797e-03 9.97480026e-01 -3.51425913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.63, Y:-338.26, Z:-35.15 [[ 8.38893730e-01 5.41107172e-01 5.88246445e-02 6.42628336e+02] [-5.39653640e-01 8.40952252e-01 -3.96643229e-02 -3.38258615e+02] [-7.09313668e-02 1.52921822e-03 9.97480026e-01 -3.51492903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.68, Y:-338.29, Z:-35.15 [[ 8.41983501e-01 5.36287919e-01 5.88137113e-02 6.42680221e+02] [-5.34821477e-01 8.44032845e-01 -3.96805278e-02 -3.38291486e+02] [-7.09208918e-02 1.95551382e-03 9.97480026e-01 -3.51547771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.73, Y:-338.32, Z:-35.16 [[ 8.43302374e-01 5.34212700e-01 5.88038892e-02 6.42733469e+02] [-5.32740201e-01 8.45347372e-01 -3.96950783e-02 -3.38322623e+02] [-7.09153281e-02 2.14775799e-03 9.97480027e-01 -3.51598490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.79, Y:-338.35, Z:-35.16 [[ 8.43137632e-01 5.34473815e-01 5.87934973e-02 6.42787178e+02] [-5.33000878e-01 8.45182313e-01 -3.97104640e-02 -3.38354716e+02] [-7.09154273e-02 2.14440083e-03 9.97480027e-01 -3.51625296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.84, Y:-338.39, Z:-35.17 [[ 8.40199351e-01 5.39082248e-01 5.87824791e-02 6.42841395e+02] [-5.37619389e-01 8.42251255e-01 -3.97267673e-02 -3.38386374e+02] [-7.09256118e-02 1.77580362e-03 9.97480027e-01 -3.51658295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.90, Y:-338.42, Z:-35.17 [[ 8.36932458e-01 5.44141499e-01 5.87715064e-02 6.42895137e+02] [-5.42689907e-01 8.38992347e-01 -3.97429937e-02 -3.38417974e+02] [-7.09346563e-02 1.36749800e-03 9.97480027e-01 -3.51712183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:642.95, Y:-338.45, Z:-35.18 [[ 8.30082100e-01 5.54536649e-01 5.87606346e-02 6.42948471e+02] [-5.53109721e-01 8.32159151e-01 -3.97590613e-02 -3.38448613e+02] [-7.09460564e-02 5.02206920e-04 9.97480027e-01 -3.51759618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.00, Y:-338.48, Z:-35.18 [[ 8.24759669e-01 5.62423203e-01 5.87505739e-02 6.43000600e+02] [-5.61015079e-01 8.26849513e-01 -3.97739221e-02 -3.38481287e+02] [-7.09476601e-02 -1.56030994e-04 9.97480027e-01 -3.51809422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.05, Y:-338.51, Z:-35.19 [[ 8.17765204e-01 5.72545978e-01 5.87467050e-02 6.43054110e+02] [-5.71163308e-01 8.19871975e-01 -3.97796357e-02 -3.38513642e+02] [-7.09404475e-02 -1.02356047e-03 9.97480028e-01 -3.51853706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.11, Y:-338.55, Z:-35.19 [[ 8.14545514e-01 5.77118612e-01 5.87342641e-02 6.43106681e+02] [-5.75746444e-01 8.16659140e-01 -3.97979962e-02 -3.38548285e+02] [-7.09340379e-02 -1.39876444e-03 9.97480028e-01 -3.51893445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.16, Y:-338.58, Z:-35.19 [[ 8.11908214e-01 5.80824107e-01 5.87231482e-02 6.43157483e+02] [-5.79460400e-01 8.14027309e-01 -3.98143914e-02 -3.38584227e+02] [-7.09274046e-02 -1.70210754e-03 9.97480028e-01 -3.51915591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.21, Y:-338.62, Z:-35.20 [[ 8.13881669e-01 5.78056596e-01 5.87128705e-02 6.43209142e+02] [-5.76684589e-01 8.15995400e-01 -3.98295417e-02 -3.38617267e+02] [-7.09331615e-02 -1.44227375e-03 9.97480028e-01 -3.52022270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.26, Y:-338.65, Z:-35.21 [[ 8.15330564e-01 5.76012226e-01 5.87025260e-02 6.43259837e+02] [-5.74633823e-01 8.17440128e-01 -3.98447821e-02 -3.38654935e+02] [-7.09368820e-02 -1.24578827e-03 9.97480028e-01 -3.52081941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.31, Y:-338.69, Z:-35.21 [[ 8.18941763e-01 5.70867563e-01 5.86908446e-02 6.43307182e+02] [-5.69474672e-01 8.21041789e-01 -3.98619813e-02 -3.38693447e+02] [-7.09435481e-02 -7.78308263e-04 9.97480029e-01 -3.52131714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.35, Y:-338.73, Z:-35.22 [[ 8.25702530e-01 5.61045284e-01 5.86815294e-02 6.43354996e+02] [-5.59626435e-01 8.27785106e-01 -3.98756896e-02 -3.38733171e+02] [-7.09477636e-02 8.57226361e-05 9.97480029e-01 -3.52205872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.40, Y:-338.77, Z:-35.23 [[ 8.31457002e-01 5.52482467e-01 5.86717859e-02 6.43402646e+02] [-5.51041162e-01 8.33524100e-01 -3.98900208e-02 -3.38772145e+02] [-7.09428846e-02 8.36268014e-04 9.97480029e-01 -3.52257359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.45, Y:-338.81, Z:-35.23 [[ 8.38195748e-01 5.42205418e-01 5.86615071e-02 6.43452592e+02] [-5.40737719e-01 8.40244190e-01 -3.99051309e-02 -3.38808494e+02] [-7.09267687e-02 1.72782149e-03 9.97480029e-01 -3.52262555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.50, Y:-338.84, Z:-35.23 [[ 8.41619102e-01 5.36877219e-01 5.86527006e-02 6.43504150e+02] [-5.35395655e-01 8.43657537e-01 -3.99180705e-02 -3.38844567e+02] [-7.09138956e-02 2.19340956e-03 9.97480029e-01 -3.52284015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.56, Y:-338.88, Z:-35.23 [[ 8.45635354e-01 5.30529928e-01 5.86416606e-02 6.43556769e+02] [-5.29031947e-01 8.47661756e-01 -3.99342823e-02 -3.38879277e+02] [-7.08946249e-02 2.74652904e-03 9.97480029e-01 -3.52307293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.61, Y:-338.91, Z:-35.24 [[ 8.47669180e-01 5.27275543e-01 5.86298872e-02 6.43609464e+02] [-5.25768592e-01 8.49688920e-01 -3.99515601e-02 -3.38912326e+02] [-7.08826460e-02 3.03995297e-03 9.97480029e-01 -3.52355621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.67, Y:-338.94, Z:-35.24 [[ 8.49852546e-01 5.23749974e-01 5.86226512e-02 6.43665210e+02] [-5.22233916e-01 8.51865460e-01 -3.99621748e-02 -3.38941719e+02] [-7.08687998e-02 3.34721930e-03 9.97480030e-01 -3.52407840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.72, Y:-338.97, Z:-35.25 [[ 8.49577460e-01 5.24197326e-01 5.86114542e-02 6.43720292e+02] [-5.22681200e-01 8.51590321e-01 -3.99785905e-02 -3.38971631e+02] [-7.08696174e-02 3.32980413e-03 9.97480030e-01 -3.52451047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.78, Y:-339.00, Z:-35.25 [[ 8.46687995e-01 5.28852949e-01 5.86003269e-02 6.43777097e+02] [-5.27346769e-01 8.48708309e-01 -3.99948943e-02 -3.39000361e+02] [-7.08860021e-02 2.96050381e-03 9.97480030e-01 -3.52484429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.83, Y:-339.03, Z:-35.25 [[ 8.40890088e-01 5.38025235e-01 5.85893065e-02 6.43833764e+02] [-5.36539982e-01 8.42925836e-01 -4.00110317e-02 -3.39028888e+02] [-7.09133849e-02 2.20937453e-03 9.97480030e-01 -3.52529644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.89, Y:-339.06, Z:-35.26 [[ 8.36038501e-01 5.45534804e-01 5.85781701e-02 6.43889792e+02] [-5.44066702e-01 8.38086652e-01 -4.00273294e-02 -3.39058029e+02] [-7.09298838e-02 1.59395664e-03 9.97480030e-01 -3.52594075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:643.95, Y:-339.08, Z:-35.27 [[ 8.29207346e-01 5.55864276e-01 5.85669125e-02 6.43946289e+02] [-5.54420533e-01 8.31272740e-01 -4.00437944e-02 -3.39084984e+02] [-7.09439926e-02 7.33909649e-04 9.97480031e-01 -3.52662619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.00, Y:-339.12, Z:-35.27 [[ 8.25465497e-01 5.61407025e-01 5.85565124e-02 6.44000821e+02] [-5.59976072e-01 8.27539773e-01 -4.00589968e-02 -3.39116334e+02] [-7.09472452e-02 2.77073936e-04 9.97480031e-01 -3.52678760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.05, Y:-339.15, Z:-35.27 [[ 8.24760902e-01 5.62442802e-01 5.85452828e-02 6.44053834e+02] [-5.61013289e-01 8.26836170e-01 -4.00754020e-02 -3.39150540e+02] [-7.09474788e-02 2.07942985e-04 9.97480031e-01 -3.52717738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.11, Y:-339.18, Z:-35.28 [[ 8.24867581e-01 5.62287503e-01 5.85340785e-02 6.44107886e+02] [-5.60856439e-01 8.26941779e-01 -4.00917603e-02 -3.39182966e+02] [-7.09473708e-02 2.41178459e-04 9.97480031e-01 -3.52757545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.16, Y:-339.21, Z:-35.28 [[ 8.27541035e-01 5.58346603e-01 5.85227058e-02 6.44161662e+02] [-5.56904488e-01 8.29607565e-01 -4.01083544e-02 -3.39214732e+02] [-7.09452429e-02 5.99751521e-04 9.97480031e-01 -3.52786847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.21, Y:-339.25, Z:-35.29 [[ 8.31912148e-01 5.51813827e-01 5.85122083e-02 6.44214080e+02] [-5.50354410e-01 8.33966495e-01 -4.01236629e-02 -3.39248767e+02] [-7.09380133e-02 1.17691071e-03 9.97480031e-01 -3.52865536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.27, Y:-339.28, Z:-35.29 [[ 8.34956638e-01 5.47197455e-01 5.85009305e-02 6.44266338e+02] [-5.45725530e-01 8.37002042e-01 -4.01400995e-02 -3.39282028e+02] [-7.09299585e-02 1.58979121e-03 9.97480032e-01 -3.52932645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.32, Y:-339.32, Z:-35.30 [[ 8.38209601e-01 5.42202475e-01 5.84905167e-02 6.44318301e+02] [-5.40717307e-01 8.40245410e-01 -4.01552683e-02 -3.39315204e+02] [-7.09186740e-02 2.03169672e-03 9.97480032e-01 -3.53001922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.37, Y:-339.35, Z:-35.31 [[ 8.38900285e-01 5.41134266e-01 5.84809177e-02 6.44370190e+02] [-5.39645533e-01 8.40933488e-01 -4.01692431e-02 -3.39349593e+02] [-7.09155160e-02 2.13902354e-03 9.97480032e-01 -3.53059609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.42, Y:-339.38, Z:-35.31 [[ 8.37550912e-01 5.43221471e-01 5.84713938e-02 6.44422693e+02] [-5.41736839e-01 8.39587110e-01 -4.01831016e-02 -3.39383557e+02] [-7.09201521e-02 1.97928532e-03 9.97480032e-01 -3.53100278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.48, Y:-339.42, Z:-35.31 [[ 8.34467411e-01 5.47946939e-01 5.84661601e-02 6.44475812e+02] [-5.46473307e-01 8.36511585e-01 -4.01907152e-02 -3.39416732e+02] [-7.09299996e-02 1.58764616e-03 9.97480032e-01 -3.53134012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.53, Y:-339.45, Z:-35.31 [[ 8.29917927e-01 5.54814624e-01 5.84548386e-02 6.44526365e+02] [-5.53356752e-01 8.31973370e-01 -4.02071748e-02 -3.39453682e+02] [-7.09403976e-02 1.02227548e-03 9.97480032e-01 -3.53145016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.58, Y:-339.49, Z:-35.32 [[ 8.27093389e-01 5.59016988e-01 5.84511205e-02 6.44577018e+02] [-5.57569178e-01 8.29155932e-01 -4.02125792e-02 -3.39486825e+02] [-7.09446083e-02 6.69015188e-04 9.97480032e-01 -3.53216403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.63, Y:-339.52, Z:-35.32 [[ 8.23094571e-01 5.64889301e-01 5.84414630e-02 6.44629254e+02] [-5.63455212e-01 8.25166677e-01 -4.02266097e-02 -3.39522385e+02] [-7.09475293e-02 1.81157165e-04 9.97480033e-01 -3.53247760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.68, Y:-339.56, Z:-35.33 [[ 8.16616910e-01 5.74214836e-01 5.84306862e-02 6.44680570e+02] [-5.72803288e-01 8.18704436e-01 -4.02422574e-02 -3.39558242e+02] [-7.09451633e-02 -6.06781284e-04 9.97480033e-01 -3.53278270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.73, Y:-339.60, Z:-35.33 [[ 8.12840117e-01 5.79549905e-01 5.84196176e-02 6.44730771e+02] [-5.78150903e-01 8.14936072e-01 -4.02583194e-02 -3.39596344e+02] [-7.09399588e-02 -1.05177764e-03 9.97480033e-01 -3.53307555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.78, Y:-339.63, Z:-35.34 [[ 8.09525876e-01 5.84171478e-01 5.84084003e-02 6.44779246e+02] [-5.82783266e-01 8.11628993e-01 -4.02745873e-02 -3.39634596e+02] [-7.09332163e-02 -1.43611771e-03 9.97480033e-01 -3.53352635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.83, Y:-339.67, Z:-35.34 [[ 8.08224467e-01 5.85971740e-01 5.83980360e-02 6.44827072e+02] [-5.84587128e-01 8.10329956e-01 -4.02896099e-02 -3.39673909e+02] [-7.09302507e-02 -1.57569162e-03 9.97480033e-01 -3.53415514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.88, Y:-339.71, Z:-35.35 [[ 8.08169223e-01 5.86048876e-01 5.83885428e-02 6.44875735e+02] [-5.84663472e-01 8.10274190e-01 -4.03033630e-02 -3.39712234e+02] [-7.09304698e-02 -1.56571060e-03 9.97480033e-01 -3.53453679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.92, Y:-339.75, Z:-35.35 [[ 8.07431854e-01 5.87065404e-01 5.83781851e-02 6.44921603e+02] [-5.85681567e-01 8.09537851e-01 -4.03183603e-02 -3.39752093e+02] [-7.09288650e-02 -1.63669852e-03 9.97480034e-01 -3.53529202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:644.97, Y:-339.79, Z:-35.36 [[ 8.09241390e-01 5.84569104e-01 5.83723851e-02 6.44969172e+02] [-5.83178164e-01 8.11342703e-01 -4.03267556e-02 -3.39794171e+02] [-7.09337841e-02 -1.40742069e-03 9.97480034e-01 -3.53562866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.02, Y:-339.83, Z:-35.36 [[ 8.12567617e-01 5.79937790e-01 5.83611812e-02 6.45016932e+02] [-5.78533708e-01 8.14660171e-01 -4.03429635e-02 -3.39834749e+02] [-7.09409390e-02 -9.82524865e-04 9.97480034e-01 -3.53596716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.06, Y:-339.88, Z:-35.36 [[ 8.19070719e-01 5.70717517e-01 5.83495705e-02 6.45061390e+02] [-5.69288679e-01 8.21146449e-01 -4.03597495e-02 -3.39880606e+02] [-7.09475587e-02 -1.60260876e-04 9.97480034e-01 -3.53609413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.11, Y:-339.92, Z:-35.36 [[ 8.24401992e-01 5.62989625e-01 5.83441406e-02 6.45109042e+02] [-5.61540774e-01 8.26463802e-01 -4.03675975e-02 -3.39922610e+02] [-7.09458588e-02 5.16513831e-04 9.97480034e-01 -3.53637731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.15, Y:-339.96, Z:-35.37 [[ 8.33066705e-01 5.50088350e-01 5.83324368e-02 6.45154762e+02] [-5.48606397e-01 8.35104852e-01 -4.03845029e-02 -3.39962757e+02] [-7.09287455e-02 1.64143675e-03 9.97480034e-01 -3.53710261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.20, Y:-340.01, Z:-35.38 [[ 8.37986131e-01 5.42565811e-01 5.83231038e-02 6.45199823e+02] [-5.41064632e-01 8.40010159e-01 -4.03979770e-02 -3.40005233e+02] [-7.09105609e-02 2.29637568e-03 9.97480034e-01 -3.53760023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.25, Y:-340.04, Z:-35.38 [[ 8.39189304e-01 5.40703976e-01 5.83140039e-02 6.45248079e+02] [-5.39197396e-01 8.41209314e-01 -4.04111083e-02 -3.40044428e+02] [-7.09047302e-02 2.46981074e-03 9.97480035e-01 -3.53803225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.30, Y:-340.08, Z:-35.38 [[ 8.36337363e-01 5.45105917e-01 5.83039898e-02 6.45295583e+02] [-5.43608966e-01 8.38364519e-01 -4.04255512e-02 -3.40084792e+02] [-7.09162036e-02 2.11482732e-03 9.97480035e-01 -3.53808862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.35, Y:-340.12, Z:-35.38 [[ 8.32852160e-01 5.50416529e-01 5.83002984e-02 6.45347039e+02] [-5.48932135e-01 8.34888529e-01 -4.04308742e-02 -3.40120014e+02] [-7.09280718e-02 1.67003370e-03 9.97480035e-01 -3.53836998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.40, Y:-340.15, Z:-35.39 [[ 8.27377834e-01 5.58612769e-01 5.82897355e-02 6.45398743e+02] [-5.57147481e-01 8.29427994e-01 -4.04460971e-02 -3.40152707e+02] [-7.09408447e-02 9.88224870e-04 9.97480035e-01 -3.53901700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.45, Y:-340.19, Z:-35.40 [[ 8.20594903e-01 5.68530947e-01 5.82800785e-02 6.45450478e+02] [-5.67089453e-01 8.22661863e-01 -4.04600075e-02 -3.40187070e+02] [-7.09475643e-02 1.51258138e-04 9.97480035e-01 -3.53956090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.50, Y:-340.22, Z:-35.40 [[ 8.16228303e-01 5.74783375e-01 5.82703177e-02 6.45503044e+02] [-5.73356711e-01 8.18305525e-01 -4.04740600e-02 -3.40219869e+02] [-7.09467398e-02 -3.73604391e-04 9.97480035e-01 -3.54030927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.56, Y:-340.25, Z:-35.41 [[ 8.10691105e-01 5.82568199e-01 5.82599832e-02 6.45556179e+02] [-5.81160411e-01 8.12781166e-01 -4.04889305e-02 -3.40253905e+02] [-7.09401804e-02 -1.03438001e-03 9.97480035e-01 -3.54077713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.61, Y:-340.29, Z:-35.41 [[ 8.08157911e-01 5.86078336e-01 5.82492544e-02 6.45608093e+02] [-5.84678513e-01 8.10253314e-01 -4.05043596e-02 -3.40288930e+02] [-7.09353791e-02 -1.32316875e-03 9.97480036e-01 -3.54115346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.66, Y:-340.32, Z:-35.42 [[ 8.07207653e-01 5.87387554e-01 5.82380051e-02 6.45659216e+02] [-5.85989964e-01 8.09304547e-01 -4.05205276e-02 -3.40324658e+02] [-7.09335359e-02 -1.41840649e-03 9.97480036e-01 -3.54165146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.71, Y:-340.36, Z:-35.42 [[ 8.07267278e-01 5.87306712e-01 5.82268719e-02 6.45709095e+02] [-5.85907758e-01 8.09363262e-01 -4.05365195e-02 -3.40360744e+02] [-7.09340609e-02 -1.39177024e-03 9.97480036e-01 -3.54198691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.76, Y:-340.40, Z:-35.42 [[ 8.08915612e-01 5.85035364e-01 5.82164543e-02 6.45757303e+02] [-5.83629449e-01 8.11006932e-01 -4.05514752e-02 -3.40397328e+02] [-7.09379951e-02 -1.17411578e-03 9.97480036e-01 -3.54249189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.81, Y:-340.43, Z:-35.43 [[ 8.10180564e-01 5.83282928e-01 5.82106509e-02 6.45807053e+02] [-5.81871891e-01 8.12268432e-01 -4.05598041e-02 -3.40433212e+02] [-7.09405154e-02 -1.01037651e-03 9.97480036e-01 -3.54295715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.86, Y:-340.47, Z:-35.43 [[ 8.11037923e-01 5.82091240e-01 5.82003079e-02 6.45856808e+02] [-5.80676070e-01 8.13122992e-01 -4.05746401e-02 -3.40469401e+02] [-7.09421511e-02 -8.87954204e-04 9.97480036e-01 -3.54346615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.91, Y:-340.50, Z:-35.44 [[ 8.10449667e-01 5.82910959e-01 5.81906506e-02 6.45907596e+02] [-5.81496904e-01 8.12535492e-01 -4.05884856e-02 -3.40504770e+02] [-7.09414419e-02 -9.42758515e-04 9.97480036e-01 -3.54413940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:645.96, Y:-340.54, Z:-35.45 [[ 8.08336941e-01 5.85838166e-01 5.81810356e-02 6.45958012e+02] [-5.84430673e-01 8.10427199e-01 -4.06022634e-02 -3.40540735e+02] [-7.09378493e-02 -1.18247238e-03 9.97480037e-01 -3.54490110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.01, Y:-340.58, Z:-35.45 [[ 8.07854221e-01 5.86504031e-01 5.81771364e-02 6.46009206e+02] [-5.85097858e-01 8.09945368e-01 -4.06078496e-02 -3.40575572e+02] [-7.09369696e-02 -1.23409520e-03 9.97480037e-01 -3.54548989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.06, Y:-340.61, Z:-35.45 [[ 8.08551234e-01 5.85543864e-01 5.81660133e-02 6.46059663e+02] [-5.84134063e-01 8.10639936e-01 -4.06237760e-02 -3.40609672e+02] [-7.09386960e-02 -1.13034538e-03 9.97480037e-01 -3.54545492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.11, Y:-340.64, Z:-35.46 [[ 8.10419529e-01 5.82956337e-01 5.81557944e-02 6.46108926e+02] [-5.81538817e-01 8.12503000e-01 -4.06383997e-02 -3.40644882e+02] [-7.09421701e-02 -8.85699145e-04 9.97480037e-01 -3.54570664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.16, Y:-340.68, Z:-35.46 [[ 8.12445602e-01 5.80129798e-01 5.81511855e-02 6.46159125e+02] [-5.78704558e-01 8.14523799e-01 -4.06449938e-02 -3.40681478e+02] [-7.09448966e-02 -6.30509589e-04 9.97480037e-01 -3.54606638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.21, Y:-340.72, Z:-35.46 [[ 8.15071074e-01 5.76436169e-01 5.81419578e-02 6.46209736e+02] [-5.75000568e-01 8.17142128e-01 -4.06581896e-02 -3.40719517e+02] [-7.09470942e-02 -2.92344489e-04 9.97480037e-01 -3.54632636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.26, Y:-340.75, Z:-35.47 [[ 8.15272406e-01 5.76152536e-01 5.81305354e-02 6.46261691e+02] [-5.74715051e-01 8.17342152e-01 -4.06745141e-02 -3.40754279e+02] [-7.09472614e-02 -2.47684622e-04 9.97480037e-01 -3.54679314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.31, Y:-340.79, Z:-35.47 [[ 8.14946604e-01 5.76614441e-01 5.81190032e-02 6.46312658e+02] [-5.75176954e-01 8.17016349e-01 -4.06909856e-02 -3.40789358e+02] [-7.09471857e-02 -2.67730754e-04 9.97480038e-01 -3.54730384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.36, Y:-340.82, Z:-35.48 [[ 8.13897195e-01 5.78095818e-01 5.81083557e-02 6.46363262e+02] [-5.76661013e-01 8.15968800e-01 -4.07061849e-02 -3.40823908e+02] [-7.09466806e-02 -3.78173545e-04 9.97480038e-01 -3.54816998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.41, Y:-340.86, Z:-35.48 [[ 8.14383194e-01 5.77412143e-01 5.80967416e-02 6.46414832e+02] [-5.75974417e-01 8.16452772e-01 -4.07227541e-02 -3.40858954e+02] [-7.09470584e-02 -2.98310372e-04 9.97480038e-01 -3.54824451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.47, Y:-340.89, Z:-35.49 [[ 8.15369758e-01 5.76019317e-01 5.80853173e-02 6.46465950e+02] [-5.74576895e-01 8.17436066e-01 -4.07390428e-02 -3.40894563e+02] [-7.09475089e-02 -1.57097807e-04 9.97480038e-01 -3.54860705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.51, Y:-340.93, Z:-35.49 [[ 8.16306617e-01 5.74691904e-01 5.80751557e-02 6.46514677e+02] [-5.73245092e-01 8.18369852e-01 -4.07535235e-02 -3.40930604e+02] [-7.09476766e-02 -2.39271044e-05 9.97480038e-01 -3.54894358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.57, Y:-340.96, Z:-35.50 [[ 8.18107925e-01 5.72125665e-01 5.80658777e-02 6.46566354e+02] [-5.70671443e-01 8.20165945e-01 -4.07667385e-02 -3.40963950e+02] [-7.09473529e-02 2.15053584e-04 9.97480038e-01 -3.54978151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.61, Y:-341.00, Z:-35.50 [[ 8.18048840e-01 5.72211201e-01 5.80554545e-02 6.46614599e+02] [-5.70756142e-01 8.20106267e-01 -4.07815767e-02 -3.41001331e+02] [-7.09473171e-02 2.25814348e-04 9.97480039e-01 -3.54997082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.67, Y:-341.04, Z:-35.50 [[ 8.18783763e-01 5.71159696e-01 5.80495631e-02 6.46665234e+02] [-5.69701399e-01 8.20838897e-01 -4.07899610e-02 -3.41038384e+02] [-7.09469211e-02 3.27240369e-04 9.97480039e-01 -3.55036822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.72, Y:-341.08, Z:-35.51 [[ 8.19347018e-01 5.70352525e-01 5.80384511e-02 6.46715806e+02] [-5.68891084e-01 8.21399917e-01 -4.08057657e-02 -3.41075361e+02] [-7.09464504e-02 4.16524991e-04 9.97480039e-01 -3.55076097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.77, Y:-341.11, Z:-35.51 [[ 8.19035246e-01 5.70801303e-01 5.80270456e-02 6.46767916e+02] [-5.69339838e-01 8.21088129e-01 -4.08219783e-02 -3.41110465e+02] [-7.09465567e-02 3.97530355e-04 9.97480039e-01 -3.55133261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.82, Y:-341.15, Z:-35.52 [[ 8.18181140e-01 5.72026110e-01 5.80150923e-02 6.46818909e+02] [-5.70566515e-01 8.20235351e-01 -4.08389590e-02 -3.41145970e+02] [-7.09469805e-02 3.12197047e-04 9.97480039e-01 -3.55194913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.87, Y:-341.18, Z:-35.52 [[ 8.16063920e-01 5.75042947e-01 5.80110984e-02 6.46868633e+02] [-5.73590542e-01 8.18123222e-01 -4.08446315e-02 -3.41181556e+02] [-7.09476439e-02 5.72127150e-05 9.97480039e-01 -3.55216669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.92, Y:-341.22, Z:-35.53 [[ 8.15264537e-01 5.76176753e-01 5.80007299e-02 6.46920677e+02] [-5.74726165e-01 8.17325118e-01 -4.08593497e-02 -3.41216580e+02] [-7.09476609e-02 -2.33582422e-05 9.97480039e-01 -3.55267350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:646.97, Y:-341.25, Z:-35.53 [[ 8.14362499e-01 5.77452129e-01 5.79892997e-02 6.46972994e+02] [-5.76003613e-01 8.16424538e-01 -4.08755655e-02 -3.41251053e+02] [-7.09475696e-02 -1.14518495e-04 9.97480040e-01 -3.55320328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.03, Y:-341.29, Z:-35.54 [[ 8.13423112e-01 5.78775782e-01 5.79778802e-02 6.47025065e+02] [-5.77329467e-01 8.15486695e-01 -4.08917566e-02 -3.41286715e+02] [-7.09473483e-02 -2.10038826e-04 9.97480040e-01 -3.55364373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.08, Y:-341.32, Z:-35.54 [[ 8.12798487e-01 5.79653792e-01 5.79663769e-02 6.47076869e+02] [-5.78208544e-01 8.14862817e-01 -4.09080568e-02 -3.41322151e+02] [-7.09471554e-02 -2.66647723e-04 9.97480040e-01 -3.55405696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.13, Y:-341.36, Z:-35.54 [[ 8.13460643e-01 5.78725355e-01 5.79546938e-02 6.47127632e+02] [-5.77276572e-01 8.15522493e-01 -4.09246015e-02 -3.41357947e+02] [-7.09474609e-02 -1.65334360e-04 9.97480040e-01 -3.55447074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.18, Y:-341.40, Z:-35.55 [[ 8.14559514e-01 5.77178383e-01 5.79475002e-02 6.47178721e+02] [-5.75724960e-01 8.16618095e-01 -4.09347849e-02 -3.41395078e+02] [-7.09476502e-02 -1.80038108e-05 9.97480040e-01 -3.55482295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.23, Y:-341.43, Z:-35.55 [[ 8.16046661e-01 5.75075013e-01 5.79359595e-02 6.47229210e+02] [-5.73615125e-01 8.18100663e-01 -4.09511122e-02 -3.41433316e+02] [-7.09474083e-02 1.85075781e-04 9.97480040e-01 -3.55518676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.28, Y:-341.47, Z:-35.56 [[ 8.16192389e-01 5.74869314e-01 5.79245794e-02 6.47280476e+02] [-5.73407766e-01 8.18245209e-01 -4.09672028e-02 -3.41469685e+02] [-7.09472974e-02 2.22715427e-04 9.97480041e-01 -3.55563994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.33, Y:-341.51, Z:-35.56 [[ 8.15350244e-01 5.76064261e-01 5.79132643e-02 6.47332283e+02] [-5.74604586e-01 8.17404397e-01 -4.09831922e-02 -3.41505557e+02] [-7.09475092e-02 1.38428472e-04 9.97480041e-01 -3.55606723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.38, Y:-341.54, Z:-35.56 [[ 8.13569600e-01 5.78577483e-01 5.79016674e-02 6.47383648e+02] [-5.77122987e-01 8.15627423e-01 -4.09995699e-02 -3.41542156e+02] [-7.09476157e-02 -6.03795784e-05 9.97480041e-01 -3.55643221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.43, Y:-341.58, Z:-35.57 [[ 8.10011234e-01 5.83549948e-01 5.78900531e-02 6.47434043e+02] [-5.82106913e-01 8.12077110e-01 -4.10159625e-02 -3.41577099e+02] [-7.09460498e-02 -4.74809682e-04 9.97480041e-01 -3.55696607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.49, Y:-341.61, Z:-35.58 [[ 8.06260930e-01 5.88721749e-01 5.78793181e-02 6.47485261e+02] [-5.87290877e-01 8.08335249e-01 -4.10311054e-02 -3.41611507e+02] [-7.09417972e-02 -9.10218256e-04 9.97480041e-01 -3.55756883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.54, Y:-341.65, Z:-35.58 [[ 8.04660709e-01 5.90908017e-01 5.78693322e-02 6.47535787e+02] [-5.89481768e-01 8.06738209e-01 -4.10451845e-02 -3.41647913e+02] [-7.09393300e-02 -1.08546905e-03 9.97480042e-01 -3.55800200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.58, Y:-341.69, Z:-35.58 [[ 8.03544327e-01 5.92426357e-01 5.78578110e-02 6.47584374e+02] [-5.91002865e-01 8.05623717e-01 -4.10614186e-02 -3.41685606e+02] [-7.09374914e-02 -1.19946203e-03 9.97480042e-01 -3.55835022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.63, Y:-341.72, Z:-35.59 [[ 8.03624923e-01 5.92317922e-01 5.78486103e-02 6.47634144e+02] [-5.90893218e-01 8.05703482e-01 -4.10743768e-02 -3.41722182e+02] [-7.09379162e-02 -1.17395860e-03 9.97480042e-01 -3.55860131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.68, Y:-341.76, Z:-35.59 [[ 8.04118640e-01 5.91648479e-01 5.78384843e-02 6.47682898e+02] [-5.90221019e-01 8.06195307e-01 -4.10886307e-02 -3.41758108e+02] [-7.09391404e-02 -1.09735525e-03 9.97480042e-01 -3.55908368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.73, Y:-341.80, Z:-35.59 [[ 8.04258686e-01 5.91458998e-01 5.78292289e-02 6.47732023e+02] [-5.90030113e-01 8.06334372e-01 -4.11016529e-02 -3.41795367e+02] [-7.09396374e-02 -1.06462511e-03 9.97480042e-01 -3.55948305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.78, Y:-341.83, Z:-35.60 [[ 8.03921231e-01 5.91918585e-01 5.78190616e-02 6.47782707e+02] [-5.90489858e-01 8.05997026e-01 -4.11159505e-02 -3.41833375e+02] [-7.09392870e-02 -1.08758394e-03 9.97480042e-01 -3.55981343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.83, Y:-341.87, Z:-35.61 [[ 8.02687306e-01 5.93591942e-01 5.78074015e-02 6.47833113e+02] [-5.92166363e-01 8.04765264e-01 -4.11323377e-02 -3.41868487e+02] [-7.09372129e-02 -1.21519335e-03 9.97480043e-01 -3.56053213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.88, Y:-341.90, Z:-35.61 [[ 8.01674927e-01 5.94959485e-01 5.77972612e-02 6.47882239e+02] [-5.93536424e-01 8.03754610e-01 -4.11465815e-02 -3.41904480e+02] [-7.09353640e-02 -1.31859700e-03 9.97480043e-01 -3.56114259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.93, Y:-341.94, Z:-35.61 [[ 8.02329459e-01 5.94077426e-01 5.77879824e-02 6.47932290e+02] [-5.92651140e-01 8.04406932e-01 -4.11596089e-02 -3.41941448e+02] [-7.09370481e-02 -1.22454687e-03 9.97480043e-01 -3.56132324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:647.98, Y:-341.98, Z:-35.62 [[ 8.03294497e-01 5.92772858e-01 5.77779386e-02 6.47982583e+02] [-5.91342185e-01 8.05368950e-01 -4.11737030e-02 -3.41978220e+02] [-7.09392114e-02 -1.09192341e-03 9.97480043e-01 -3.56174229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.03, Y:-342.02, Z:-35.62 [[ 8.05720296e-01 5.89472508e-01 5.77664899e-02 6.48031620e+02] [-5.88032186e-01 8.07788061e-01 -4.11897593e-02 -3.42015373e+02] [-7.09433116e-02 -7.81130336e-04 9.97480043e-01 -3.56208004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.08, Y:-342.05, Z:-35.62 [[ 8.07326385e-01 5.87272030e-01 5.77552717e-02 6.48081314e+02] [-5.85824947e-01 8.09389424e-01 -4.12054832e-02 -3.42053487e+02] [-7.09453339e-02 -5.68205205e-04 9.97480043e-01 -3.56241022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.13, Y:-342.09, Z:-35.63 [[ 8.07843510e-01 5.86561674e-01 5.77430990e-02 6.48130974e+02] [-5.85111558e-01 8.09904419e-01 -4.12225344e-02 -3.42089522e+02] [-7.09459498e-02 -4.84797703e-04 9.97480044e-01 -3.56281377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.18, Y:-342.13, Z:-35.63 [[ 8.08432177e-01 5.85751035e-01 5.77333656e-02 6.48181181e+02] [-5.84297879e-01 8.10490943e-01 -4.12361618e-02 -3.42125148e+02] [-7.09464943e-02 -3.96843000e-04 9.97480044e-01 -3.56316156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.23, Y:-342.16, Z:-35.64 [[ 8.08393351e-01 5.85805636e-01 5.77230192e-02 6.48232356e+02] [-5.84351585e-01 8.10451485e-01 -4.12506398e-02 -3.42160390e+02] [-7.09465639e-02 -3.83794814e-04 9.97480044e-01 -3.56366641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.28, Y:-342.19, Z:-35.65 [[ 8.09503027e-01 5.84272310e-01 5.77123660e-02 6.48284826e+02] [-5.82813299e-01 8.11557647e-01 -4.12655389e-02 -3.42191797e+02] [-7.09472237e-02 -2.30955827e-04 9.97480044e-01 -3.56464724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.33, Y:-342.23, Z:-35.65 [[ 8.09328973e-01 5.84514346e-01 5.77026318e-02 6.48334935e+02] [-5.83054978e-01 8.11383340e-01 -4.12791460e-02 -3.42227930e+02] [-7.09472071e-02 -2.35397884e-04 9.97480044e-01 -3.56481678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.39, Y:-342.26, Z:-35.65 [[ 8.09549035e-01 5.84210566e-01 5.76920605e-02 6.48385851e+02] [-5.82749375e-01 8.11602106e-01 -4.12939153e-02 -3.42260854e+02] [-7.09473394e-02 -1.90562871e-04 9.97480044e-01 -3.56540903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.44, Y:-342.30, Z:-35.66 [[ 8.08330034e-01 5.85897002e-01 5.76823997e-02 6.48437177e+02] [-5.84439131e-01 8.10385464e-01 -4.13074058e-02 -3.42295700e+02] [-7.09468635e-02 -3.21834783e-04 9.97480044e-01 -3.56578854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.49, Y:-342.33, Z:-35.66 [[ 8.06436440e-01 5.88501692e-01 5.76717163e-02 6.48489301e+02] [-5.87049394e-01 8.08495810e-01 -4.13223161e-02 -3.42330234e+02] [-7.09455940e-02 -5.32324644e-04 9.97480045e-01 -3.56632351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.54, Y:-342.37, Z:-35.67 [[ 8.05305421e-01 5.90049535e-01 5.76604275e-02 6.48540762e+02] [-5.88600068e-01 8.07366784e-01 -4.13380625e-02 -3.42366257e+02] [-7.09446184e-02 -6.49165739e-04 9.97480045e-01 -3.56681153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.59, Y:-342.40, Z:-35.67 [[ 8.04054144e-01 5.91754592e-01 5.76492427e-02 6.48592252e+02] [-5.90308379e-01 8.06117791e-01 -4.13536546e-02 -3.42402216e+02] [-7.09432953e-02 -7.80253574e-04 9.97480045e-01 -3.56713831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.64, Y:-342.44, Z:-35.67 [[ 8.02137008e-01 5.94351860e-01 5.76375568e-02 6.48641073e+02] [-5.92911158e-01 8.04204506e-01 -4.13699358e-02 -3.42440473e+02] [-7.09406811e-02 -9.89593990e-04 9.97480045e-01 -3.56738105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.69, Y:-342.48, Z:-35.68 [[ 8.02011647e-01 5.94522042e-01 5.76269003e-02 6.48692182e+02] [-5.93080713e-01 8.04078708e-01 -4.13847746e-02 -3.42476648e+02] [-7.09407242e-02 -9.86331870e-04 9.97480045e-01 -3.56789098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.74, Y:-342.51, Z:-35.68 [[ 8.01008821e-01 5.95873660e-01 5.76146652e-02 6.48743305e+02] [-5.94434594e-01 8.03077458e-01 -4.14018010e-02 -3.42513686e+02] [-7.09392816e-02 -1.08494227e-03 9.97480046e-01 -3.56838826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.79, Y:-342.55, Z:-35.69 [[ 7.99727879e-01 5.97592888e-01 5.76026041e-02 6.48793609e+02] [-5.96157061e-01 8.01798765e-01 -4.14185748e-02 -3.42550478e+02] [-7.09371426e-02 -1.21661023e-03 9.97480046e-01 -3.56879931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.85, Y:-342.58, Z:-35.70 [[ 8.00970049e-01 5.95927978e-01 5.75918926e-02 6.48845189e+02] [-5.94486776e-01 8.03037198e-01 -4.14334637e-02 -3.42582362e+02] [-7.09397923e-02 -1.05065508e-03 9.97480046e-01 -3.56966851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.89, Y:-342.62, Z:-35.70 [[ 7.98850626e-01 5.98767047e-01 5.75821209e-02 6.48892023e+02] [-5.97332213e-01 8.00922200e-01 -4.14470396e-02 -3.42622037e+02] [-7.09359204e-02 -1.28566215e-03 9.97480046e-01 -3.56994145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.94, Y:-342.66, Z:-35.71 [[ 8.00977221e-01 5.95920161e-01 5.75730253e-02 6.48942133e+02] [-5.94477055e-01 8.03043042e-01 -4.14596701e-02 -3.42655423e+02] [-7.09402706e-02 -1.01759117e-03 9.97480046e-01 -3.57090964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:648.99, Y:-342.69, Z:-35.71 [[ 8.03199274e-01 5.92922406e-01 5.75668826e-02 6.48989567e+02] [-5.91470979e-01 8.05259256e-01 -4.14681976e-02 -3.42694695e+02] [-7.09436885e-02 -7.41914165e-04 9.97480046e-01 -3.57136295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.04, Y:-342.74, Z:-35.71 [[ 8.02849192e-01 5.93397472e-01 5.75553199e-02 6.49036771e+02] [-5.91946114e-01 8.04909223e-01 -4.14842397e-02 -3.42735130e+02] [-7.09434507e-02 -7.64059621e-04 9.97480046e-01 -3.57121766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.09, Y:-342.77, Z:-35.72 [[ 8.06002365e-01 5.89108511e-01 5.75443415e-02 6.49086331e+02] [-5.87645103e-01 8.08053852e-01 -4.14994626e-02 -3.42770214e+02] [-7.09466135e-02 -3.66985483e-04 9.97480047e-01 -3.57179921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.14, Y:-342.81, Z:-35.72 [[ 8.06966940e-01 5.87787483e-01 5.75346173e-02 6.49136790e+02] [-5.86319756e-01 8.09015340e-01 -4.15129399e-02 -3.42807713e+02] [-7.09471744e-02 -2.34112675e-04 9.97480047e-01 -3.57211572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.19, Y:-342.85, Z:-35.73 [[ 8.06725205e-01 5.88120349e-01 5.75230226e-02 6.49187293e+02] [-5.86652322e-01 8.08773390e-01 -4.15290000e-02 -3.42845345e+02] [-7.09471400e-02 -2.43523754e-04 9.97480047e-01 -3.57252758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.24, Y:-342.88, Z:-35.73 [[ 8.05561508e-01 5.89714481e-01 5.75107653e-02 6.49238281e+02] [-5.88249295e-01 8.07611725e-01 -4.15459674e-02 -3.42881853e+02] [-7.09466270e-02 -3.62835007e-04 9.97480047e-01 -3.57299525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.29, Y:-342.92, Z:-35.73 [[ 8.04653760e-01 5.90953675e-01 5.74985374e-02 6.49288610e+02] [-5.89490437e-01 8.06705368e-01 -4.15628838e-02 -3.42918062e+02] [-7.09461176e-02 -4.51107253e-04 9.97480047e-01 -3.57330376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.34, Y:-342.95, Z:-35.74 [[ 8.04063283e-01 5.91757873e-01 5.74878761e-02 6.49340458e+02] [-5.90295634e-01 8.06115603e-01 -4.15776248e-02 -3.42952512e+02] [-7.09457607e-02 -5.03800746e-04 9.97480048e-01 -3.57375637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.39, Y:-342.99, Z:-35.74 [[ 8.04186663e-01 5.91591230e-01 5.74771861e-02 6.49391723e+02] [-5.90127510e-01 8.06237927e-01 -4.15923974e-02 -3.42987853e+02] [-7.09459849e-02 -4.70817387e-04 9.97480048e-01 -3.57405735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.44, Y:-343.02, Z:-35.75 [[ 8.06900699e-01 5.87885071e-01 5.74665518e-02 6.49442729e+02] [-5.86410883e-01 8.08944452e-01 -4.16070852e-02 -3.43020525e+02] [-7.09474325e-02 -1.26225280e-04 9.97480048e-01 -3.57496207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.49, Y:-343.06, Z:-35.75 [[ 8.07906874e-01 5.86502079e-01 5.74612500e-02 6.49492921e+02] [-5.85023871e-01 8.09947722e-01 -4.16144059e-02 -3.43057261e+02] [-7.09475441e-02 4.36168155e-06 9.97480048e-01 -3.57475993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.54, Y:-343.09, Z:-35.76 [[ 8.10002290e-01 5.83605794e-01 5.74505656e-02 6.49543835e+02] [-5.82119243e-01 8.12037068e-01 -4.16291511e-02 -3.43090512e+02] [-7.09470026e-02 2.76627984e-04 9.97480048e-01 -3.57576150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.60, Y:-343.13, Z:-35.76 [[ 8.10609146e-01 5.82763131e-01 5.74451606e-02 6.49595387e+02] [-5.81273936e-01 8.12641990e-01 -4.16366083e-02 -3.43126556e+02] [-7.09466298e-02 3.59640881e-04 9.97480048e-01 -3.57616675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.65, Y:-343.16, Z:-35.77 [[ 8.10443602e-01 5.82994498e-01 5.74332887e-02 6.49647129e+02] [-5.81504724e-01 8.12476022e-01 -4.16529778e-02 -3.43161242e+02] [-7.09466268e-02 3.59660706e-04 9.97480048e-01 -3.57663457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.70, Y:-343.20, Z:-35.77 [[ 8.10043998e-01 5.83550752e-01 5.74216084e-02 6.49699563e+02] [-5.82061232e-01 8.12076604e-01 -4.16690738e-02 -3.43196745e+02] [-7.09467641e-02 3.30891055e-04 9.97480049e-01 -3.57672327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.75, Y:-343.23, Z:-35.78 [[ 8.07799344e-01 5.86655254e-01 5.74093505e-02 6.49750718e+02] [-5.85172346e-01 8.09836778e-01 -4.16859552e-02 -3.43231091e+02] [-7.09474881e-02 7.95230043e-05 9.97480049e-01 -3.57753413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.80, Y:-343.26, Z:-35.78 [[ 8.04919328e-01 5.90601677e-01 5.73980469e-02 6.49802673e+02] [-5.89127648e-01 8.06963195e-01 -4.17015136e-02 -3.43264910e+02] [-7.09470951e-02 -2.48422083e-04 9.97480049e-01 -3.57814465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.85, Y:-343.30, Z:-35.79 [[ 8.03087210e-01 5.93091527e-01 5.73879247e-02 6.49853885e+02] [-5.91622840e-01 8.05134919e-01 -4.17154386e-02 -3.43300546e+02] [-7.09460953e-02 -4.50871799e-04 9.97480049e-01 -3.57860493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.90, Y:-343.34, Z:-35.79 [[ 8.01490936e-01 5.95248050e-01 5.73762890e-02 6.49904783e+02] [-5.93783727e-01 8.03541768e-01 -4.17314365e-02 -3.43335364e+02] [-7.09448009e-02 -6.21738651e-04 9.97480049e-01 -3.57902944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:649.96, Y:-343.37, Z:-35.80 [[ 8.00642265e-01 5.96390059e-01 5.73660218e-02 6.49956137e+02] [-5.94927651e-01 8.02694462e-01 -4.17455456e-02 -3.43371649e+02] [-7.09440164e-02 -7.05384310e-04 9.97480049e-01 -3.57950100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.01, Y:-343.41, Z:-35.80 [[ 8.01127158e-01 5.95739667e-01 5.73543903e-02 6.50008469e+02] [-5.94274448e-01 8.03177350e-01 -4.17615201e-02 -3.43406894e+02] [-7.09447412e-02 -6.27960757e-04 9.97480050e-01 -3.57986214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.06, Y:-343.44, Z:-35.80 [[ 8.00853776e-01 5.96108300e-01 5.73421737e-02 6.50057723e+02] [-5.94642825e-01 8.02903784e-01 -4.17782878e-02 -3.43444241e+02] [-7.09446323e-02 -6.39812618e-04 9.97480050e-01 -3.58042364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.11, Y:-343.48, Z:-35.81 [[ 8.02577632e-01 5.93786418e-01 5.73309279e-02 6.50106275e+02] [-5.92313910e-01 8.04622593e-01 -4.17937143e-02 -3.43481473e+02] [-7.09462998e-02 -4.15205832e-04 9.97480050e-01 -3.58079705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.16, Y:-343.52, Z:-35.81 [[ 8.03644709e-01 5.92342309e-01 5.73216505e-02 6.50155711e+02] [-5.90865219e-01 8.05686363e-01 -4.18064349e-02 -3.43519034e+02] [-7.09469922e-02 -2.71849368e-04 9.97480050e-01 -3.58072969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.21, Y:-343.56, Z:-35.81 [[ 8.05349333e-01 5.90023635e-01 5.73110962e-02 6.50205583e+02] [-5.88539638e-01 8.07385972e-01 -4.18208984e-02 -3.43556323e+02] [-7.09474936e-02 -4.94190969e-05 9.97480050e-01 -3.58138460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.25, Y:-343.59, Z:-35.82 [[ 8.05297954e-01 5.90094943e-01 5.72989038e-02 6.50253859e+02] [-5.88609937e-01 8.07333858e-01 -4.18375965e-02 -3.43593672e+02] [-7.09474992e-02 -3.49733253e-05 9.97480051e-01 -3.58221240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.30, Y:-343.63, Z:-35.83 [[ 8.05677475e-01 5.89577609e-01 5.72891734e-02 6.50302412e+02] [-5.88090349e-01 8.07711732e-01 -4.18509163e-02 -3.43631532e+02] [-7.09475007e-02 2.71305843e-05 9.97480051e-01 -3.58269920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.35, Y:-343.67, Z:-35.83 [[ 8.05693883e-01 5.89556176e-01 5.72789814e-02 6.50350520e+02] [-5.88067871e-01 8.07727376e-01 -4.18648609e-02 -3.43668891e+02] [-7.09474887e-02 4.63337394e-05 9.97480051e-01 -3.58317134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.40, Y:-343.71, Z:-35.83 [[ 8.04927179e-01 5.90603438e-01 5.72696704e-02 6.50400392e+02] [-5.89116872e-01 8.06961943e-01 -4.18775942e-02 -3.43706496e+02] [-7.09474957e-02 -3.01153371e-05 9.97480051e-01 -3.58348621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.45, Y:-343.74, Z:-35.84 [[ 8.04389592e-01 5.91336538e-01 5.72580513e-02 6.50450445e+02] [-5.89850696e-01 8.06424884e-01 -4.18934748e-02 -3.43743798e+02] [-7.09474597e-02 -7.50263138e-05 9.97480051e-01 -3.58391292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.50, Y:-343.78, Z:-35.84 [[ 8.02754450e-01 5.93555516e-01 5.72463390e-02 6.50499240e+02] [-5.92074159e-01 8.04793009e-01 -4.19094732e-02 -3.43781677e+02] [-7.09470524e-02 -2.51061893e-04 9.97480051e-01 -3.58435774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.55, Y:-343.82, Z:-35.85 [[ 8.00676634e-01 5.96356112e-01 5.72391174e-02 6.50547670e+02] [-5.94881180e-01 8.02719846e-01 -4.19193340e-02 -3.43819825e+02] [-7.09458265e-02 -4.86642462e-04 9.97480051e-01 -3.58482491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.60, Y:-343.86, Z:-35.85 [[ 7.99019797e-01 5.98575198e-01 5.72284579e-02 6.50598041e+02] [-5.97104899e-01 8.01066345e-01 -4.19338813e-02 -3.43858066e+02] [-7.09443730e-02 -6.65391309e-04 9.97480052e-01 -3.58515821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.65, Y:-343.90, Z:-35.86 [[ 7.96528832e-01 6.01887096e-01 5.72166328e-02 6.50646613e+02] [-6.00424147e-01 7.98580641e-01 -4.19500099e-02 -3.43896855e+02] [-7.09412650e-02 -9.39855527e-04 9.97480052e-01 -3.58577642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.70, Y:-343.94, Z:-35.86 [[ 7.95097606e-01 6.03777529e-01 5.72057066e-02 6.50696329e+02] [-6.02318387e-01 7.97152123e-01 -4.19649044e-02 -3.43936025e+02] [-7.09391167e-02 -1.08985391e-03 9.97480052e-01 -3.58613408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.74, Y:-343.97, Z:-35.87 [[ 7.93624636e-01 6.05713435e-01 5.71941616e-02 6.50744584e+02] [-6.04258171e-01 7.95681902e-01 -4.19806332e-02 -3.43974404e+02] [-7.09365928e-02 -1.24317475e-03 9.97480052e-01 -3.58656915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.79, Y:-344.01, Z:-35.87 [[ 7.92869657e-01 6.06702363e-01 5.71834728e-02 6.50793317e+02] [-6.05248615e-01 7.94927995e-01 -4.19951878e-02 -3.44013009e+02] [-7.09353231e-02 -1.31350755e-03 9.97480052e-01 -3.58678337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.84, Y:-344.05, Z:-35.87 [[ 7.92505772e-01 6.07178593e-01 5.71730593e-02 6.50841686e+02] [-6.05725060e-01 7.94564261e-01 -4.20093602e-02 -3.44050912e+02] [-7.09348538e-02 -1.33849433e-03 9.97480052e-01 -3.58733021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.89, Y:-344.09, Z:-35.88 [[ 7.92374028e-01 6.07351545e-01 5.71620593e-02 6.50890052e+02] [-6.05897383e-01 7.94432072e-01 -4.20243225e-02 -3.44090104e+02] [-7.09349104e-02 -1.33536051e-03 9.97480053e-01 -3.58792199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.94, Y:-344.13, Z:-35.88 [[ 7.92370174e-01 6.07357505e-01 5.71521576e-02 6.50939544e+02] [-6.05902388e-01 7.94427543e-01 -4.20377843e-02 -3.44126967e+02] [-7.09352119e-02 -1.31914233e-03 9.97480053e-01 -3.58843715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:650.99, Y:-344.16, Z:-35.89 [[ 7.92556295e-01 6.07115583e-01 5.71418150e-02 6.50989401e+02] [-6.05658826e-01 7.94612503e-01 -4.20518383e-02 -3.44163025e+02] [-7.09359270e-02 -1.27999537e-03 9.97480053e-01 -3.58894068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.04, Y:-344.20, Z:-35.89 [[ 7.94286629e-01 6.04851067e-01 5.71308843e-02 6.51039764e+02] [-6.03387379e-01 7.96337909e-01 -4.20666834e-02 -3.44198678e+02] [-7.09395672e-02 -1.05905038e-03 9.97480053e-01 -3.58912884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.09, Y:-344.23, Z:-35.89 [[ 7.96712718e-01 6.01652343e-01 5.71253282e-02 6.51089367e+02] [-6.00179878e-01 7.98757706e-01 -4.20742271e-02 -3.44234355e+02] [-7.09433534e-02 -7.64400704e-04 9.97480053e-01 -3.58949886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.14, Y:-344.27, Z:-35.90 [[ 8.02109537e-01 5.94439275e-01 5.71160127e-02 6.51138780e+02] [-5.92947517e-01 8.04140496e-01 -4.20868691e-02 -3.44273350e+02] [-7.09473867e-02 -1.08518812e-04 9.97480053e-01 -3.58982576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.19, Y:-344.31, Z:-35.90 [[ 8.04549633e-01 5.91133625e-01 5.71045028e-02 6.51189269e+02] [-5.89632416e-01 8.06573615e-01 -4.21024802e-02 -3.44309979e+02] [-7.09471770e-02 2.02869088e-04 9.97480053e-01 -3.59018768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.24, Y:-344.35, Z:-35.91 [[ 8.07113513e-01 5.87629309e-01 5.70926720e-02 6.51240419e+02] [-5.86118177e-01 8.09130097e-01 -4.21185172e-02 -3.44346172e+02] [-7.09454744e-02 5.31371534e-04 9.97480054e-01 -3.59057618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.29, Y:-344.38, Z:-35.91 [[ 8.09630797e-01 5.84157296e-01 5.70808683e-02 6.51292642e+02] [-5.82636390e-01 8.11640019e-01 -4.21345081e-02 -3.44381774e+02] [-7.09422973e-02 8.56004300e-04 9.97480054e-01 -3.59102505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.34, Y:-344.42, Z:-35.92 [[ 8.10597111e-01 5.82816836e-01 5.70689003e-02 6.51343573e+02] [-5.81291466e-01 8.12602947e-01 -4.21507118e-02 -3.44416637e+02] [-7.09405010e-02 9.93580448e-04 9.97480054e-01 -3.59159875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.39, Y:-344.45, Z:-35.92 [[ 8.09793085e-01 5.83934550e-01 5.70578660e-02 6.51394969e+02] [-5.82410897e-01 8.11800225e-01 -4.21656433e-02 -3.44453080e+02] [-7.09415644e-02 9.14323454e-04 9.97480054e-01 -3.59199521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.45, Y:-344.49, Z:-35.92 [[ 8.06595062e-01 5.88345272e-01 5.70460045e-02 6.51447909e+02] [-5.86831461e-01 8.08609635e-01 -4.21816847e-02 -3.44486970e+02] [-7.09453436e-02 5.47148401e-04 9.97480054e-01 -3.59239895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.50, Y:-344.52, Z:-35.93 [[ 8.00962802e-01 5.95991356e-01 5.70341443e-02 6.51499002e+02] [-5.94495635e-01 8.02990842e-01 -4.21977149e-02 -3.44522538e+02] [-7.09473688e-02 -1.07749869e-04 9.97480055e-01 -3.59260555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.55, Y:-344.56, Z:-35.93 [[ 7.97698096e-01 6.00354964e-01 5.70233753e-02 6.51550865e+02] [-5.98869297e-01 7.99733512e-01 -4.22122624e-02 -3.44555241e+02] [-7.09458455e-02 -4.76907373e-04 9.97480055e-01 -3.59332341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.60, Y:-344.59, Z:-35.94 [[ 7.93158236e-01 6.06341054e-01 5.70134977e-02 6.51601995e+02] [-6.04869788e-01 7.95204086e-01 -4.22255993e-02 -3.44589804e+02] [-7.09404807e-02 -9.94160433e-04 9.97480055e-01 -3.59357280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.65, Y:-344.63, Z:-35.94 [[ 7.90986587e-01 6.09172289e-01 5.70029964e-02 6.51652622e+02] [-6.07707325e-01 7.93036953e-01 -4.22397710e-02 -3.44625358e+02] [-7.09367805e-02 -1.23004615e-03 9.97480055e-01 -3.59385367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.70, Y:-344.66, Z:-35.94 [[ 7.90869640e-01 6.09325081e-01 5.69926064e-02 6.51702947e+02] [-6.07859504e-01 7.92919568e-01 -4.22537852e-02 -3.44662474e+02] [-7.09368439e-02 -1.22626154e-03 9.97480055e-01 -3.59423747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.75, Y:-344.70, Z:-35.95 [[ 7.91312036e-01 6.08751547e-01 5.69808334e-02 6.51754323e+02] [-6.07283341e-01 7.93360082e-01 -4.22696555e-02 -3.44699311e+02] [-7.09380369e-02 -1.15502365e-03 9.97480055e-01 -3.59472011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.80, Y:-344.74, Z:-35.95 [[ 7.90887078e-01 6.09304667e-01 5.69688654e-02 6.51804911e+02] [-6.07836733e-01 7.92935319e-01 -4.22857793e-02 -3.44735959e+02] [-7.09375481e-02 -1.18449258e-03 9.97480056e-01 -3.59522103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.85, Y:-344.77, Z:-35.96 [[ 7.90329646e-01 6.10028652e-01 5.69569483e-02 6.51853897e+02] [-6.08561438e-01 7.92378402e-01 -4.23018250e-02 -3.44771338e+02] [-7.09367810e-02 -1.22941597e-03 9.97480056e-01 -3.59589037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.91, Y:-344.81, Z:-35.97 [[ 7.92381449e-01 6.07362026e-01 5.69474198e-02 6.51905058e+02] [-6.05886995e-01 7.94424584e-01 -4.23146486e-02 -3.44806265e+02] [-7.09407410e-02 -9.74358462e-04 9.97480056e-01 -3.59688143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:651.95, Y:-344.85, Z:-35.97 [[ 7.91577004e-01 6.08411105e-01 5.69365682e-02 6.51951023e+02] [-6.06937732e-01 7.93621335e-01 -4.23292448e-02 -3.44846484e+02] [-7.09396580e-02 -1.05009478e-03 9.97480056e-01 -3.59697479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.00, Y:-344.88, Z:-35.98 [[ 7.95763060e-01 6.02926620e-01 5.69266518e-02 6.51999133e+02] [-6.01438202e-01 7.97796463e-01 -4.23425769e-02 -3.44884879e+02] [-7.09453482e-02 -5.43204526e-04 9.97480056e-01 -3.59765382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.05, Y:-344.92, Z:-35.98 [[ 7.96135592e-01 6.02435014e-01 5.69225147e-02 6.52046576e+02] [-6.00944943e-01 7.98167784e-01 -4.23481378e-02 -3.44923156e+02] [-7.09457184e-02 -4.92437570e-04 9.97480056e-01 -3.59769186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.09, Y:-344.96, Z:-35.98 [[ 7.99642123e-01 5.97773808e-01 5.69117697e-02 6.52094635e+02] [-5.96270862e-01 8.01664812e-01 -4.23625731e-02 -3.44963107e+02] [-7.09473998e-02 -5.99321369e-05 9.97480056e-01 -3.59798080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.14, Y:-345.00, Z:-35.98 [[ 8.01321861e-01 5.95521209e-01 5.69013635e-02 6.52143520e+02] [-5.94011585e-01 8.03339570e-01 -4.23765461e-02 -3.45002180e+02] [-7.09472488e-02 1.57183663e-04 9.97480057e-01 -3.59836425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.19, Y:-345.04, Z:-35.99 [[ 8.02841969e-01 5.93471445e-01 5.68895249e-02 6.52192629e+02] [-5.91955544e-01 8.04854966e-01 -4.23924332e-02 -3.45041976e+02] [-7.09465152e-02 3.58354915e-04 9.97480057e-01 -3.59873762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.24, Y:-345.08, Z:-35.99 [[ 8.02850253e-01 5.93461368e-01 5.68777261e-02 6.52242834e+02] [-5.91944321e-01 8.04862386e-01 -4.24082577e-02 -3.45080124e+02] [-7.09464050e-02 3.79033523e-04 9.97480057e-01 -3.59916584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.29, Y:-345.12, Z:-36.00 [[ 8.01854410e-01 5.94807369e-01 5.68656149e-02 6.52292062e+02] [-5.93292548e-01 8.03868220e-01 -4.24244916e-02 -3.45117450e+02] [-7.09468608e-02 2.80320120e-04 9.97480057e-01 -3.59971750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.34, Y:-345.15, Z:-36.00 [[ 8.00134552e-01 5.97119982e-01 5.68544345e-02 6.52341372e+02] [-5.95609917e-01 8.02151930e-01 -4.24394694e-02 -3.45154079e+02] [-7.09473496e-02 9.42208171e-05 9.97480057e-01 -3.60021592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.39, Y:-345.19, Z:-36.01 [[ 7.99047075e-01 5.98575107e-01 5.68472813e-02 6.52391575e+02] [-5.97068034e-01 8.01066689e-01 -4.24490489e-02 -3.45191639e+02] [-7.09474075e-02 -2.29061659e-05 9.97480057e-01 -3.60064230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.44, Y:-345.23, Z:-36.01 [[ 7.99062905e-01 5.98555094e-01 5.68354952e-02 6.52441692e+02] [-5.97046849e-01 8.01081643e-01 -4.24648237e-02 -3.45228949e+02] [-7.09474084e-02 -1.38792632e-06 9.97480058e-01 -3.60104557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.49, Y:-345.27, Z:-36.01 [[ 7.99776718e-01 5.97602124e-01 5.68234394e-02 6.52489956e+02] [-5.96090327e-01 8.01792798e-01 -4.24809498e-02 -3.45265961e+02] [-7.09473303e-02 1.03371999e-04 9.97480058e-01 -3.60139019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.54, Y:-345.30, Z:-36.02 [[ 8.02211427e-01 5.94330730e-01 5.68138089e-02 6.52542008e+02] [-5.92809800e-01 8.04220626e-01 -4.24938256e-02 -3.45299985e+02] [-7.09462234e-02 4.09249767e-04 9.97480058e-01 -3.60221066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.59, Y:-345.34, Z:-36.02 [[ 8.00183813e-01 5.97058872e-01 5.68028937e-02 6.52589346e+02] [-5.95543757e-01 8.02197400e-01 -4.25084113e-02 -3.45338620e+02] [-7.09471578e-02 1.85933926e-04 9.97480058e-01 -3.60216486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.64, Y:-345.37, Z:-36.03 [[ 7.98703127e-01 5.99039132e-01 5.67929079e-02 6.52639584e+02] [-5.97528060e-01 8.00719750e-01 -4.25217487e-02 -3.45373681e+02] [-7.09473944e-02 2.68975172e-05 9.97480058e-01 -3.60273983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.69, Y:-345.41, Z:-36.03 [[ 7.96833014e-01 6.01525388e-01 5.67834051e-02 6.52690876e+02] [-6.00019705e-01 7.98853664e-01 -4.25344349e-02 -3.45408558e+02] [-7.09471736e-02 -1.78320050e-04 9.97480058e-01 -3.60330254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.74, Y:-345.44, Z:-36.04 [[ 7.95416431e-01 6.03398316e-01 5.67729984e-02 6.52741620e+02] [-6.01896400e-01 7.97439882e-01 -4.25483207e-02 -3.45444771e+02] [-7.09466382e-02 -3.27829933e-04 9.97480059e-01 -3.60380992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.79, Y:-345.48, Z:-36.04 [[ 7.93106148e-01 6.06432724e-01 5.67625652e-02 6.52792329e+02] [-6.04937553e-01 7.95134588e-01 -4.25622348e-02 -3.45479986e+02] [-7.09450109e-02 -5.81437203e-04 9.97480059e-01 -3.60432362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.84, Y:-345.51, Z:-36.05 [[ 7.91618901e-01 6.08373816e-01 5.67522320e-02 6.52842076e+02] [-6.06882631e-01 7.93650273e-01 -4.25760086e-02 -3.45514772e+02] [-7.09435533e-02 -7.37970700e-04 9.97480059e-01 -3.60497388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.89, Y:-345.55, Z:-36.05 [[ 7.90511961e-01 6.09812345e-01 5.67427791e-02 6.52892501e+02] [-6.08323953e-01 7.92545380e-01 -4.25886033e-02 -3.45550698e+02] [-7.09422834e-02 -8.51191331e-04 9.97480059e-01 -3.60541713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.94, Y:-345.59, Z:-36.06 [[ 7.90957311e-01 6.09235571e-01 5.67322823e-02 6.52940604e+02] [-6.07744694e-01 7.92988908e-01 -4.26025815e-02 -3.45590572e+02] [-7.09430786e-02 -7.81920214e-04 9.97480059e-01 -3.60562118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:652.99, Y:-345.63, Z:-36.06 [[ 7.91875775e-01 6.08041878e-01 5.67259325e-02 6.52988851e+02] [-6.06547333e-01 7.93904675e-01 -4.26110346e-02 -3.45627491e+02] [-7.09442765e-02 -6.64317043e-04 9.97480059e-01 -3.60614175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.04, Y:-345.67, Z:-36.06 [[ 7.92230084e-01 6.07580751e-01 5.67197078e-02 6.53037794e+02] [-6.06084432e-01 7.94257676e-01 -4.26193187e-02 -3.45665622e+02] [-7.09447410e-02 -6.12625396e-04 9.97480059e-01 -3.60636537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.09, Y:-345.71, Z:-36.07 [[ 7.92409474e-01 6.07347887e-01 5.67077620e-02 6.53087087e+02] [-6.05849835e-01 7.94435785e-01 -4.26352075e-02 -3.45705114e+02] [-7.09450786e-02 -5.71845933e-04 9.97480059e-01 -3.60685722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.14, Y:-345.74, Z:-36.07 [[ 7.92734387e-01 6.06924845e-01 5.66958928e-02 6.53136058e+02] [-6.05424583e-01 7.94759063e-01 -4.26509852e-02 -3.45744323e+02] [-7.09455172e-02 -5.14184641e-04 9.97480060e-01 -3.60733039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.19, Y:-345.78, Z:-36.08 [[ 7.92663013e-01 6.07019192e-01 5.66837648e-02 6.53185210e+02] [-6.05518018e-01 7.94687013e-01 -4.26670974e-02 -3.45783402e+02] [-7.09455987e-02 -5.02410969e-04 9.97480060e-01 -3.60778274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.23, Y:-345.82, Z:-36.08 [[ 7.92226754e-01 6.07589575e-01 5.66716711e-02 6.53233423e+02] [-6.06088710e-01 7.94250983e-01 -4.26831547e-02 -3.45822393e+02] [-7.09453703e-02 -5.33322917e-04 9.97480060e-01 -3.60828368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.28, Y:-345.86, Z:-36.09 [[ 7.90863072e-01 6.09364578e-01 5.66604974e-02 6.53282682e+02] [-6.07867194e-01 7.92889877e-01 -4.26979822e-02 -3.45861900e+02] [-7.09441727e-02 -6.73800192e-04 9.97480060e-01 -3.60876068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.33, Y:-345.90, Z:-36.09 [[ 7.89264373e-01 6.11434949e-01 5.66485052e-02 6.53332043e+02] [-6.09941740e-01 7.91294255e-01 -4.27138866e-02 -3.45900820e+02] [-7.09423998e-02 -8.39738912e-04 9.97480060e-01 -3.60931388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.38, Y:-345.94, Z:-36.10 [[ 7.87313819e-01 6.13945646e-01 5.66365188e-02 6.53380449e+02] [-6.12457767e-01 7.89347611e-01 -4.27297742e-02 -3.45940217e+02] [-7.09396596e-02 -1.04573408e-03 9.97480061e-01 -3.60991077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.43, Y:-345.98, Z:-36.10 [[ 7.85872337e-01 6.15790835e-01 5.66243550e-02 6.53430014e+02] [-6.14306570e-01 7.87908768e-01 -4.27458873e-02 -3.45979227e+02] [-7.09373514e-02 -1.19190294e-03 9.97480061e-01 -3.61021896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.48, Y:-346.02, Z:-36.11 [[ 7.84942930e-01 6.16976217e-01 5.66122389e-02 6.53476967e+02] [-6.15493871e-01 7.86980758e-01 -4.27619278e-02 -3.46019883e+02] [-7.09358350e-02 -1.27881315e-03 9.97480061e-01 -3.61052364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.53, Y:-346.06, Z:-36.11 [[ 7.85188305e-01 6.16664887e-01 5.66016186e-02 6.53525230e+02] [-6.15180720e-01 7.87224807e-01 -4.27759806e-02 -3.46058778e+02] [-7.09366435e-02 -1.23302477e-03 9.97480061e-01 -3.61109023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.57, Y:-346.10, Z:-36.11 [[ 7.85721719e-01 6.15986126e-01 5.65903960e-02 6.53574861e+02] [-6.14499131e-01 7.87756157e-01 -4.27908224e-02 -3.46097725e+02] [-7.09379858e-02 -1.15307068e-03 9.97480061e-01 -3.61136486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.62, Y:-346.14, Z:-36.12 [[ 7.85842777e-01 6.15832807e-01 5.65781225e-02 6.53623844e+02] [-6.14344248e-01 7.87876070e-01 -4.28070443e-02 -3.46136337e+02] [-7.09385311e-02 -1.11883754e-03 9.97480061e-01 -3.61170610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.67, Y:-346.17, Z:-36.12 [[ 7.85102587e-01 6.16777147e-01 5.65674719e-02 6.53673853e+02] [-6.15290020e-01 7.87136928e-01 -4.28211140e-02 -3.46173189e+02] [-7.09374306e-02 -1.18643351e-03 9.97480062e-01 -3.61179019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.72, Y:-346.21, Z:-36.12 [[ 7.84757269e-01 6.17217459e-01 5.65564931e-02 6.53724889e+02] [-6.15730429e-01 7.86791681e-01 -4.28356095e-02 -3.46208613e+02] [-7.09370643e-02 -1.20799782e-03 9.97480062e-01 -3.61230191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.78, Y:-346.24, Z:-36.13 [[ 7.84107411e-01 6.18043828e-01 5.65455208e-02 6.53775269e+02] [-6.16557898e-01 7.86142626e-01 -4.28500887e-02 -3.46243107e+02] [-7.09360770e-02 -1.26451540e-03 9.97480062e-01 -3.61313977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:653.82, Y:-346.28, Z:-36.14 [[ 7.83721311e-01 6.18533876e-01 5.65398193e-02 6.53823883e+02] [-6.17048676e-01 7.85757059e-01 -4.28576104e-02 -3.46280446e+02] [-7.09354460e-02 -1.29939801e-03 9.97480062e-01 -3.61381680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:654.36, Y:-345.75, Z:-35.13 [[ 8.48701760e-01 5.25841946e-01 5.65293822e-02 6.54359056e+02] [-5.24134945e-01 8.50555468e-01 -4.28713725e-02 -3.45751435e+02] [-7.06249411e-02 6.75598463e-03 9.97480062e-01 -3.51305810e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.41, Y:-345.78, Z:-35.13 [[ 8.50902561e-01 5.21815122e-01 6.06119624e-02 6.54410629e+02] [-5.20572454e-01 8.53058108e-01 -3.60025705e-02 -3.45784096e+02] [-7.04922116e-02 -9.18238555e-04 9.97511907e-01 -3.51311960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.46, Y:-345.82, Z:-35.13 [[ 8.51464077e-01 5.20899535e-01 6.06019782e-02 6.54460746e+02] [-5.19653354e-01 8.53617594e-01 -3.60193688e-02 -3.45821287e+02] [-7.04933873e-02 -8.22822596e-04 9.97511907e-01 -3.51252344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.51, Y:-345.85, Z:-35.14 [[ 8.57404693e-01 5.11062498e-01 6.05996300e-02 6.54514345e+02] [-5.09791327e-01 8.59543555e-01 -3.60233189e-02 -3.45847746e+02] [-7.04981888e-02 -6.60317622e-06 9.97511907e-01 -3.51378838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.57, Y:-345.88, Z:-35.14 [[ 8.58404251e-01 5.09382522e-01 6.05936304e-02 6.54569061e+02] [-5.08106453e-01 8.60540194e-01 -3.60334078e-02 -3.45879371e+02] [-7.04980426e-02 1.43215881e-04 9.97511907e-01 -3.51411635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.62, Y:-345.91, Z:-35.15 [[ 8.58517319e-01 5.09193128e-01 6.05835984e-02 6.54623223e+02] [-5.07915398e-01 8.60652268e-01 -3.60502670e-02 -3.45908853e+02] [-7.04979596e-02 1.78436036e-04 9.97511908e-01 -3.51463065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:654.68, Y:-345.94, Z:-35.15 [[ 8.57910141e-01 5.10216524e-01 6.05746566e-02 6.54677663e+02] [-5.08940280e-01 8.60045979e-01 -3.60652855e-02 -3.45939531e+02] [-7.04980944e-02 1.11891421e-04 9.97511908e-01 -3.51502002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.73, Y:-345.97, Z:-35.15 [[ 8.57487295e-01 5.10928062e-01 6.05644646e-02 6.54732106e+02] [-5.09652383e-01 8.59623470e-01 -3.60823928e-02 -3.45970212e+02] [-7.04981423e-02 7.33697221e-05 9.97511908e-01 -3.51541343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:654.79, Y:-346.00, Z:-35.16 [[ 8.56681499e-01 5.12279208e-01 6.05542915e-02 6.54785944e+02] [-5.11005691e-01 8.58818964e-01 -3.60994576e-02 -3.45998565e+02] [-7.04981754e-02 -1.78501349e-05 9.97511908e-01 -3.51600315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.84, Y:-346.03, Z:-35.16 [[ 8.55900101e-01 5.13584637e-01 6.05461613e-02 6.54840566e+02] [-5.12313416e-01 8.58038932e-01 -3.61130883e-02 -3.46029641e+02] [-7.04980910e-02 -1.09414814e-04 9.97511908e-01 -3.51626115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.89, Y:-346.06, Z:-35.17 [[ 8.56117546e-01 5.13223290e-01 6.05359558e-02 6.54894009e+02] [-5.11949957e-01 8.58255120e-01 -3.61301876e-02 -3.46060003e+02] [-7.04981478e-02 -5.96924105e-05 9.97511909e-01 -3.51672279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:654.95, Y:-346.09, Z:-35.17 [[ 8.56356629e-01 5.12825373e-01 6.05265325e-02 6.54947961e+02] [-5.11549931e-01 8.58492945e-01 -3.61459671e-02 -3.46091372e+02] [-7.04981702e-02 -8.50498236e-06 9.97511909e-01 -3.51719103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.00, Y:-346.12, Z:-35.17 [[ 8.56439787e-01 5.12687661e-01 6.05165510e-02 6.55001729e+02] [-5.11410696e-01 8.58575193e-01 -3.61626707e-02 -3.46124629e+02] [-7.04981645e-02 2.23385438e-05 9.97511909e-01 -3.51748770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.05, Y:-346.16, Z:-35.17 [[ 8.52738755e-01 5.18821321e-01 6.05066301e-02 6.55050946e+02] [-5.17558537e-01 8.54882578e-01 -3.61792624e-02 -3.46164028e+02] [-7.04966367e-02 -4.64263758e-04 9.97511909e-01 -3.51687901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.11, Y:-346.19, Z:-35.18 [[ 8.55717306e-01 5.13894075e-01 6.05043117e-02 6.55107693e+02] [-5.12618673e-01 8.57853645e-01 -3.61831393e-02 -3.46185457e+02] [-7.04981452e-02 -5.31014398e-05 9.97511909e-01 -3.51814681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.16, Y:-346.22, Z:-35.19 [[ 8.54205623e-01 5.16403429e-01 6.05000246e-02 6.55161232e+02] [-5.15133795e-01 8.56345395e-01 -3.61903061e-02 -3.46216038e+02] [-7.04977156e-02 -2.51644275e-04 9.97511909e-01 -3.51862771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.21, Y:-346.25, Z:-35.19 [[ 8.50967501e-01 5.21723301e-01 6.04905796e-02 6.55211911e+02] [-5.20465921e-01 8.53114497e-01 -3.62060862e-02 -3.46251800e+02] [-7.04949491e-02 -6.73082592e-04 9.97511909e-01 -3.51877277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.27, Y:-346.28, Z:-35.19 [[ 8.50458957e-01 5.22553023e-01 6.04805799e-02 6.55268489e+02] [-5.21296550e-01 8.52606484e-01 -3.62227826e-02 -3.46276654e+02] [-7.04944591e-02 -7.22327725e-04 9.97511909e-01 -3.51945137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.32, Y:-346.31, Z:-35.20 [[ 8.48596025e-01 5.25573982e-01 6.04712801e-02 6.55321117e+02] [-5.24324049e-01 8.50747364e-01 -3.62383012e-02 -3.46307908e+02] [-7.04916904e-02 -9.54868039e-04 9.97511910e-01 -3.52012144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.37, Y:-346.34, Z:-35.21 [[ 8.47807016e-01 5.26846804e-01 6.04624526e-02 6.55374021e+02] [-5.25599051e-01 8.49959620e-01 -3.62530236e-02 -3.46341106e+02] [-7.04904329e-02 -1.04343994e-03 9.97511910e-01 -3.52068307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.43, Y:-346.37, Z:-35.21 [[ 8.48064152e-01 5.26433161e-01 6.04592436e-02 6.55426808e+02] [-5.25183977e-01 8.50215926e-01 -3.62583746e-02 -3.46374280e+02] [-7.04910225e-02 -1.00279827e-03 9.97511910e-01 -3.52115818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.48, Y:-346.41, Z:-35.21 [[ 8.49577837e-01 5.23987982e-01 6.04491001e-02 6.55478760e+02] [-5.22731402e-01 8.51725300e-01 -3.62752777e-02 -3.46408722e+02] [-7.04938375e-02 -7.79970884e-04 9.97511910e-01 -3.52136599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.53, Y:-346.45, Z:-35.22 [[ 8.50498023e-01 5.22494095e-01 6.04403257e-02 6.55528732e+02] [-5.21232704e-01 8.52642664e-01 -3.62898914e-02 -3.46445064e+02] [-7.04952543e-02 -6.38993502e-04 9.97511910e-01 -3.52151508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.58, Y:-346.48, Z:-35.22 [[ 8.50595478e-01 5.22336431e-01 6.04316551e-02 6.55581956e+02] [-5.21073617e-01 8.52739281e-01 -3.63043243e-02 -3.46478391e+02] [-7.04955173e-02 -6.09047039e-04 9.97511910e-01 -3.52198243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.63, Y:-346.51, Z:-35.22 [[ 8.48741210e-01 5.25345285e-01 6.04209338e-02 6.55634077e+02] [-5.24088801e-01 8.50888729e-01 -3.63221590e-02 -3.46511210e+02] [-7.04931665e-02 -8.37821593e-04 9.97511910e-01 -3.52249916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.69, Y:-346.54, Z:-35.23 [[ 8.46325115e-01 5.29229849e-01 6.04116359e-02 6.55687216e+02] [-5.27982118e-01 8.48477731e-01 -3.63376169e-02 -3.46541771e+02] [-7.04888792e-02 -1.14282568e-03 9.97511911e-01 -3.52308625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.74, Y:-346.58, Z:-35.23 [[ 8.43866262e-01 5.33142900e-01 6.04018223e-02 6.55738162e+02] [-5.31903983e-01 8.46023962e-01 -3.63539221e-02 -3.46577088e+02] [-7.04832245e-02 -1.45012152e-03 9.97511911e-01 -3.52311586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.79, Y:-346.61, Z:-35.24 [[ 8.41482844e-01 5.36897089e-01 6.03998191e-02 6.55792161e+02] [-5.35667559e-01 8.43645907e-01 -3.63572499e-02 -3.46607965e+02] [-7.04761619e-02 -1.76022161e-03 9.97511911e-01 -3.52375042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.85, Y:-346.64, Z:-35.25 [[ 8.41709265e-01 5.36543136e-01 6.03902018e-02 6.55845466e+02] [-5.35311550e-01 8.43871159e-01 -3.63732176e-02 -3.46637347e+02] [-7.04773498e-02 -1.71189832e-03 9.97511911e-01 -3.52472720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.90, Y:-346.68, Z:-35.24 [[ 8.41400803e-01 5.37027274e-01 6.03853956e-02 6.55895248e+02] [-5.35796361e-01 8.43563079e-01 -3.63811948e-02 -3.46675423e+02] [-7.04765841e-02 -1.74310873e-03 9.97511911e-01 -3.52441742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:655.95, Y:-346.71, Z:-35.24 [[ 8.43271201e-01 5.34086520e-01 6.03760762e-02 6.55946378e+02] [-5.32846959e-01 8.45428532e-01 -3.63966543e-02 -3.46712928e+02] [-7.04826198e-02 -1.47895814e-03 9.97511911e-01 -3.52406946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.00, Y:-346.74, Z:-35.25 [[ 8.47661037e-01 5.27092817e-01 6.03649639e-02 6.55999965e+02] [-5.25834141e-01 8.49807271e-01 -3.64150750e-02 -3.46740092e+02] [-7.04927097e-02 -8.74318696e-04 9.97511911e-01 -3.52537501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.05, Y:-346.78, Z:-35.25 [[ 8.46610629e-01 5.28779053e-01 6.03585704e-02 6.56050110e+02] [-5.27523897e-01 8.48758923e-01 -3.64256693e-02 -3.46776438e+02] [-7.04910061e-02 -1.00222945e-03 9.97511912e-01 -3.52521231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.11, Y:-346.80, Z:-35.26 [[ 8.46508557e-01 5.28943294e-01 6.03510929e-02 6.56105169e+02] [-5.27687672e-01 8.48656579e-01 -3.64380541e-02 -3.46801351e+02] [-7.04910164e-02 -1.00140312e-03 9.97511912e-01 -3.52649143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:656.16, Y:-346.83, Z:-35.27 [[ 8.44729840e-01 5.31780014e-01 6.03449589e-02 6.56159110e+02] [-5.30530880e-01 8.46881641e-01 -3.64482098e-02 -3.46831546e+02] [-7.04874673e-02 -1.22597375e-03 9.97511912e-01 -3.52709438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.21, Y:-346.87, Z:-35.27 [[ 8.42738702e-01 5.34930878e-01 6.03360289e-02 6.56211609e+02] [-5.33688731e-01 8.44894543e-01 -3.64629863e-02 -3.46865090e+02] [-7.04827589e-02 -1.47188898e-03 9.97511912e-01 -3.52728633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.26, Y:-346.90, Z:-35.27 [[ 8.41531224e-01 5.36829481e-01 6.03266711e-02 6.56263885e+02] [-5.35591088e-01 8.43689225e-01 -3.64784620e-02 -3.46898738e+02] [-7.04796762e-02 -1.61266263e-03 9.97511912e-01 -3.52739357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.32, Y:-346.93, Z:-35.27 [[ 8.42069018e-01 5.35986562e-01 6.03172808e-02 6.56316461e+02] [-5.34744898e-01 8.44225138e-01 -3.64939822e-02 -3.46932950e+02] [-7.04816488e-02 -1.52390638e-03 9.97511912e-01 -3.52748950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.37, Y:-346.97, Z:-35.28 [[ 8.43398686e-01 5.33892401e-01 6.03121910e-02 6.56368617e+02] [-5.32644782e-01 8.45551365e-01 -3.65023921e-02 -3.46967192e+02] [-7.04854052e-02 -1.33890435e-03 9.97511912e-01 -3.52769551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.42, Y:-347.00, Z:-35.28 [[ 8.43755465e-01 5.33329458e-01 6.03026088e-02 6.56421258e+02] [-5.32079272e-01 8.45906654e-01 -3.65182151e-02 -3.46997863e+02] [-7.04866180e-02 -1.27332464e-03 9.97511912e-01 -3.52839733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.48, Y:-347.03, Z:-35.29 [[ 8.43610655e-01 5.33559478e-01 6.02938365e-02 6.56475295e+02] [-5.32308845e-01 8.45761584e-01 -3.65326931e-02 -3.47027425e+02] [-7.04865753e-02 -1.27557336e-03 9.97511913e-01 -3.52923121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.53, Y:-347.06, Z:-35.30 [[ 8.42432772e-01 5.35418323e-01 6.02846908e-02 6.56529921e+02] [-5.34171356e-01 8.44585829e-01 -3.65477788e-02 -3.47057669e+02] [-7.04839459e-02 -1.41330842e-03 9.97511913e-01 -3.53001501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.58, Y:-347.09, Z:-35.30 [[ 8.41161273e-01 5.37414883e-01 6.02740177e-02 6.56582898e+02] [-5.36171766e-01 8.43316554e-01 -3.65653722e-02 -3.47089879e+02] [-7.04808521e-02 -1.55985151e-03 9.97511913e-01 -3.53032847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.64, Y:-347.12, Z:-35.31 [[ 8.40421839e-01 5.38571552e-01 6.02645409e-02 6.56636709e+02] [-5.37330283e-01 8.42578185e-01 -3.65809846e-02 -3.47121825e+02] [-7.04790652e-02 -1.63850445e-03 9.97511913e-01 -3.53087767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.69, Y:-347.15, Z:-35.31 [[ 8.40856581e-01 5.37893761e-01 6.02537255e-02 6.56688752e+02] [-5.36649479e-01 8.43011189e-01 -3.65987904e-02 -3.47152556e+02] [-7.04808258e-02 -1.56079664e-03 9.97511913e-01 -3.53147473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.74, Y:-347.19, Z:-35.32 [[ 8.41212027e-01 5.37338678e-01 6.02450900e-02 6.56740706e+02] [-5.36091957e-01 8.43365225e-01 -3.66129997e-02 -3.47185891e+02] [-7.04821947e-02 -1.49761253e-03 9.97511913e-01 -3.53187247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.79, Y:-347.22, Z:-35.31 [[ 8.39281100e-01 5.40350715e-01 6.02357089e-02 6.56790633e+02] [-5.39110613e-01 8.41438117e-01 -3.66284269e-02 -3.47222832e+02] [-7.04768182e-02 -1.73216354e-03 9.97511914e-01 -3.53121240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.85, Y:-347.25, Z:-35.33 [[ 8.41717245e-01 5.36548804e-01 6.02283961e-02 6.56845011e+02] [-5.35298099e-01 8.43868131e-01 -3.66404475e-02 -3.47249270e+02] [-7.04842124e-02 -1.39924940e-03 9.97511914e-01 -3.53268537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.90, Y:-347.28, Z:-35.33 [[ 8.41608292e-01 5.36720691e-01 6.02194471e-02 6.56898599e+02] [-5.35469374e-01 8.43758822e-01 -3.66551495e-02 -3.47282326e+02] [-7.04842670e-02 -1.39639184e-03 9.97511914e-01 -3.53304031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:656.95, Y:-347.31, Z:-35.33 [[ 8.43232793e-01 5.34166017e-01 6.02089978e-02 6.56952849e+02] [-5.32906959e-01 8.45378800e-01 -3.66723054e-02 -3.47314908e+02] [-7.04885096e-02 -1.16250344e-03 9.97511914e-01 -3.53334907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.00, Y:-347.35, Z:-35.34 [[ 8.46200310e-01 5.29453640e-01 6.01986672e-02 6.57004633e+02] [-5.28181424e-01 8.48338542e-01 -3.66892555e-02 -3.47347838e+02] [-7.04941094e-02 -7.49358448e-04 9.97511914e-01 -3.53375983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.06, Y:-347.38, Z:-35.34 [[ 8.48588868e-01 5.25617925e-01 6.01891257e-02 6.57057279e+02] [-5.24334934e-01 8.50720652e-01 -3.67049019e-02 -3.47381482e+02] [-7.04968866e-02 -4.11890054e-04 9.97511914e-01 -3.53410146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.11, Y:-347.41, Z:-35.35 [[ 8.51604382e-01 5.20719211e-01 6.01787250e-02 6.57109502e+02] [-5.19422753e-01 8.53728003e-01 -3.67219462e-02 -3.47414046e+02] [-7.04980856e-02 1.43713004e-05 9.97511915e-01 -3.53456908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.16, Y:-347.45, Z:-35.35 [[ 8.53152764e-01 5.18179541e-01 6.01691391e-02 6.57163139e+02] [-5.16875653e-01 8.55271831e-01 -3.67376460e-02 -3.47445837e+02] [-7.04976663e-02 2.42861140e-04 9.97511915e-01 -3.53509014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.22, Y:-347.48, Z:-35.36 [[ 8.53061502e-01 5.18330784e-01 6.01603893e-02 6.57217400e+02] [-5.17026262e-01 8.55180178e-01 -3.67519689e-02 -3.47477770e+02] [-7.04976493e-02 2.47188659e-04 9.97511915e-01 -3.53552090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.27, Y:-347.51, Z:-35.36 [[ 8.51810510e-01 5.20385263e-01 6.01500941e-02 6.57270855e+02] [-5.19084661e-01 8.53931595e-01 -3.67688109e-02 -3.47508494e+02] [-7.04980131e-02 9.70682968e-05 9.97511915e-01 -3.53599410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.33, Y:-347.54, Z:-35.37 [[ 8.51413971e-01 5.21034894e-01 6.01405821e-02 6.57325212e+02] [-5.19734812e-01 8.53535375e-01 -3.67843625e-02 -3.47537297e+02] [-7.04980507e-02 6.15660270e-05 9.97511915e-01 -3.53688083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.38, Y:-347.57, Z:-35.37 [[ 8.48967314e-01 5.25013010e-01 6.01318550e-02 6.57380628e+02] [-5.23721858e-01 8.51094164e-01 -3.67986232e-02 -3.47568240e+02] [-7.04976268e-02 -2.51538585e-04 9.97511915e-01 -3.53708877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.43, Y:-347.60, Z:-35.37 [[ 8.46813967e-01 5.28480384e-01 6.01214522e-02 6.57432817e+02] [-5.27196735e-01 8.48945353e-01 -3.68156115e-02 -3.47599386e+02] [-7.04961560e-02 -5.19859260e-04 9.97511916e-01 -3.53724850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.49, Y:-347.63, Z:-35.38 [[ 8.44617092e-01 5.31985319e-01 6.01131372e-02 6.57487278e+02] [-5.30709548e-01 8.46753203e-01 -3.68291834e-02 -3.47627918e+02] [-7.04935763e-02 -7.96058071e-04 9.97511916e-01 -3.53786578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.54, Y:-347.66, Z:-35.38 [[ 8.41682674e-01 5.36616971e-01 6.01040894e-02 6.57541992e+02] [-5.35351900e-01 8.43825140e-01 -3.68439432e-02 -3.47656601e+02] [-7.04884269e-02 -1.16592984e-03 9.97511916e-01 -3.53831569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.59, Y:-347.69, Z:-35.39 [[ 8.40965600e-01 5.37741034e-01 6.00952570e-02 6.57594630e+02] [-5.36477798e-01 8.43109148e-01 -3.68583439e-02 -3.47688127e+02] [-7.04871049e-02 -1.24317179e-03 9.97511916e-01 -3.53897780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.65, Y:-347.72, Z:-35.39 [[ 8.40179713e-01 5.38969139e-01 6.00859161e-02 6.57647938e+02] [-5.37707948e-01 8.42324464e-01 -3.68735650e-02 -3.47720633e+02] [-7.04855507e-02 -1.32825340e-03 9.97511916e-01 -3.53925323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.70, Y:-347.75, Z:-35.40 [[ 8.39478309e-01 5.40062086e-01 6.00758838e-02 6.57700789e+02] [-5.38802519e-01 8.41624014e-01 -3.68899028e-02 -3.47752796e+02] [-7.04841444e-02 -1.40076429e-03 9.97511916e-01 -3.53975369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.75, Y:-347.79, Z:-35.40 [[ 8.39869923e-01 5.39453862e-01 6.00669862e-02 6.57752729e+02] [-5.38191705e-01 8.42014106e-01 -3.69043850e-02 -3.47785836e+02] [-7.04854627e-02 -1.33267076e-03 9.97511917e-01 -3.54026809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.80, Y:-347.82, Z:-35.41 [[ 8.43292968e-01 5.34088009e-01 6.00580499e-02 6.57804360e+02] [-5.32811172e-01 8.45428441e-01 -3.69189222e-02 -3.47818052e+02] [-7.04927371e-02 -8.66132455e-04 9.97511917e-01 -3.54114470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.85, Y:-347.86, Z:-35.41 [[ 8.44000645e-01 5.32969909e-01 6.00498756e-02 6.57854964e+02] [-5.31689298e-01 8.46133856e-01 -3.69322132e-02 -3.47855556e+02] [-7.04939911e-02 -7.57064407e-04 9.97511917e-01 -3.54107984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:657.90, Y:-347.89, Z:-35.42 [[ 8.46686244e-01 5.28693653e-01 6.00451971e-02 6.57904169e+02] [-5.27401727e-01 8.48812622e-01 -3.69398180e-02 -3.47891435e+02] [-7.04969685e-02 -3.91504980e-04 9.97511917e-01 -3.54174486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:657.96, Y:-347.93, Z:-35.42 [[ 8.48644769e-01 5.25545136e-01 6.00363771e-02 6.57955890e+02] [-5.24244307e-01 8.50765713e-01 -3.69541471e-02 -3.47926110e+02] [-7.04979634e-02 -1.12785256e-04 9.97511917e-01 -3.54155442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.01, Y:-347.96, Z:-35.42 [[ 8.49879932e-01 5.23546523e-01 6.00261606e-02 6.58008412e+02] [-5.22239535e-01 8.51997085e-01 -3.69707348e-02 -3.47959197e+02] [-7.04980135e-02 7.26513130e-05 9.97511917e-01 -3.54214164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.06, Y:-347.99, Z:-35.43 [[ 8.49294756e-01 5.24496327e-01 6.00168375e-02 6.58059088e+02] [-5.23190638e-01 8.51412710e-01 -3.69858634e-02 -3.47993946e+02] [-7.04980478e-02 1.16522878e-05 9.97511917e-01 -3.54250664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.11, Y:-348.03, Z:-35.43 [[ 8.49086589e-01 5.24833852e-01 6.00116013e-02 6.58111575e+02] [-5.23528404e-01 8.51204692e-01 -3.69943575e-02 -3.48027101e+02] [-7.04980477e-02 -6.36508501e-06 9.97511917e-01 -3.54293902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.16, Y:-348.06, Z:-35.43 [[ 8.47095736e-01 5.28042195e-01 6.00021204e-02 6.58162163e+02] [-5.26743681e-01 8.49218096e-01 -3.70097284e-02 -3.48060637e+02] [-7.04975847e-02 -2.54954596e-04 9.97511918e-01 -3.54347795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.21, Y:-348.09, Z:-35.44 [[ 8.45561075e-01 5.30496798e-01 5.99967946e-02 6.58214991e+02] [-5.29203832e-01 8.47686820e-01 -3.70183601e-02 -3.48094090e+02] [-7.04966136e-02 -4.49249251e-04 9.97511918e-01 -3.54390815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.27, Y:-348.13, Z:-35.44 [[ 8.43524368e-01 5.33730555e-01 5.99861332e-02 6.58266462e+02] [-5.32444510e-01 8.45654307e-01 -3.70356282e-02 -3.48126791e+02] [-7.04945783e-02 -6.98832399e-04 9.97511918e-01 -3.54417369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.32, Y:-348.16, Z:-35.45 [[ 8.42262645e-01 5.35719991e-01 5.99810644e-02 6.58320434e+02] [-5.34438392e-01 8.44395263e-01 -3.70438356e-02 -3.48159495e+02] [-7.04928499e-02 -8.55544675e-04 9.97511918e-01 -3.54461414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.37, Y:-348.19, Z:-35.45 [[ 8.41333506e-01 5.37179145e-01 5.99708107e-02 6.58373483e+02] [-5.35900062e-01 8.43467633e-01 -3.70604282e-02 -3.48192487e+02] [-7.04915268e-02 -9.58181215e-04 9.97511918e-01 -3.54508975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:658.43, Y:-348.22, Z:-35.46 [[ 8.40702261e-01 5.38167678e-01 5.99604767e-02 6.58427068e+02] [-5.36889912e-01 8.42837177e-01 -3.70771401e-02 -3.48222502e+02] [-7.04906373e-02 -1.02133957e-03 9.97511918e-01 -3.54585380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.48, Y:-348.25, Z:-35.46 [[ 8.39838307e-01 5.39516086e-01 5.99500670e-02 6.58481951e+02] [-5.38240548e-01 8.41974555e-01 -3.70939640e-02 -3.48253069e+02] [-7.04892212e-02 -1.11462497e-03 9.97511918e-01 -3.54623126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.53, Y:-348.29, Z:-35.46 [[ 8.37874780e-01 5.42561839e-01 5.99374992e-02 6.58532447e+02] [-5.41292614e-01 8.40014784e-01 -3.71142603e-02 -3.48287287e+02] [-7.04851668e-02 -1.34662295e-03 9.97511919e-01 -3.54648132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.59, Y:-348.32, Z:-35.47 [[ 8.38605668e-01 5.41432429e-01 5.99287719e-02 6.58585495e+02] [-5.40159316e-01 8.40743361e-01 -3.71283470e-02 -3.48320283e+02] [-7.04872082e-02 -1.23504225e-03 9.97511919e-01 -3.54701266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.64, Y:-348.35, Z:-35.48 [[ 8.40415846e-01 5.38619527e-01 5.99183638e-02 6.58637312e+02] [-5.37338062e-01 8.42548542e-01 -3.71451363e-02 -3.48353668e+02] [-7.04912258e-02 -9.79056269e-04 9.97511919e-01 -3.54761277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.69, Y:-348.39, Z:-35.48 [[ 8.41717486e-01 5.36584142e-01 5.99093652e-02 6.58689152e+02] [-5.35296486e-01 8.43846451e-01 -3.71596439e-02 -3.48387001e+02] [-7.04935808e-02 -7.91350629e-04 9.97511919e-01 -3.54791230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.74, Y:-348.42, Z:-35.49 [[ 8.44215625e-01 5.32646184e-01 5.99001005e-02 6.58741324e+02] [-5.31347537e-01 8.46337903e-01 -3.71745724e-02 -3.48419450e+02] [-7.04966195e-02 -4.44416014e-04 9.97511919e-01 -3.54858638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.79, Y:-348.45, Z:-35.49 [[ 8.44981470e-01 5.31431497e-01 5.98905534e-02 6.58792010e+02] [-5.30128711e-01 8.47101209e-01 -3.71899469e-02 -3.48453076e+02] [-7.04972694e-02 -3.24885862e-04 9.97511919e-01 -3.54882334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.85, Y:-348.49, Z:-35.49 [[ 8.45544181e-01 5.30536715e-01 5.98818204e-02 6.58845150e+02] [-5.29230690e-01 8.47661925e-01 -3.72040032e-02 -3.48486042e+02] [-7.04976288e-02 -2.33668730e-04 9.97511920e-01 -3.54925203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:658.90, Y:-348.52, Z:-35.50 [[ 8.45661483e-01 5.30350824e-01 5.98720260e-02 6.58898698e+02] [-5.29043218e-01 8.47778251e-01 -3.72197587e-02 -3.48518544e+02] [-7.04977312e-02 -1.99572986e-04 9.97511920e-01 -3.54957346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:658.95, Y:-348.55, Z:-35.51 [[ 8.46106024e-01 5.29642522e-01 5.98614653e-02 6.58952256e+02] [-5.28331942e-01 8.48220953e-01 -3.72367360e-02 -3.48548340e+02] [-7.04979079e-02 -1.20497572e-04 9.97511920e-01 -3.55058064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.01, Y:-348.58, Z:-35.51 [[ 8.45728495e-01 5.30246229e-01 5.98519023e-02 6.59006713e+02] [-5.28936071e-01 8.47843685e-01 -3.72521006e-02 -3.48580180e+02] [-7.04978432e-02 -1.52667109e-04 9.97511920e-01 -3.55121774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:659.06, Y:-348.61, Z:-35.52 [[ 8.45861928e-01 5.30034582e-01 5.98409684e-02 6.59060276e+02] [-5.28722653e-01 8.47976019e-01 -3.72696563e-02 -3.48613396e+02] [-7.04979129e-02 -1.14292244e-04 9.97511920e-01 -3.55160591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:659.11, Y:-348.65, Z:-35.52 [[ 8.46478706e-01 5.29050255e-01 5.98299861e-02 6.59114391e+02] [-5.27734623e-01 8.48590494e-01 -3.72872781e-02 -3.48645821e+02] [-7.04980015e-02 -1.14682044e-05 9.97511921e-01 -3.55217479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.17, Y:-348.68, Z:-35.52 [[ 8.45765148e-01 5.30191474e-01 5.98190238e-02 6.59165827e+02] [-5.28877447e-01 8.47877935e-01 -3.73048564e-02 -3.48679588e+02] [-7.04979472e-02 -8.57851868e-05 9.97511921e-01 -3.55200596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:659.22, Y:-348.71, Z:-35.53 [[ 8.46745103e-01 5.28626012e-01 5.98102823e-02 6.59218586e+02] [-5.27307089e-01 8.48854838e-01 -3.73188663e-02 -3.48710371e+02] [-7.04979710e-02 6.11814720e-05 9.97511921e-01 -3.55292189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.27, Y:-348.74, Z:-35.53 [[ 8.45409145e-01 5.30761154e-01 5.97994545e-02 6.59272299e+02] [-5.29446333e-01 8.47521438e-01 -3.73362087e-02 -3.48741030e+02] [-7.04979289e-02 -9.62295947e-05 9.97511921e-01 -3.55272991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.33, Y:-348.77, Z:-35.53 [[ 8.44281159e-01 5.32554311e-01 5.97932300e-02 6.59326699e+02] [-5.31243271e-01 8.46395800e-01 -3.73461745e-02 -3.48772995e+02] [-7.04976050e-02 -2.34079605e-04 9.97511921e-01 -3.55315090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.38, Y:-348.80, Z:-35.54 [[ 8.42169155e-01 5.35889063e-01 5.97831687e-02 6.59381097e+02] [-5.34585252e-01 8.44288262e-01 -3.73622735e-02 -3.48802913e+02] [-7.04962613e-02 -4.93846080e-04 9.97511921e-01 -3.55371470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.44, Y:-348.83, Z:-35.54 [[ 8.40583112e-01 5.38374513e-01 5.97738720e-02 6.59435274e+02] [-5.37075911e-01 8.42705414e-01 -3.73771409e-02 -3.48834653e+02] [-7.04946656e-02 -6.84513323e-04 9.97511922e-01 -3.55412743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.49, Y:-348.87, Z:-35.55 [[ 8.39724579e-01 5.39713709e-01 5.97640666e-02 6.59488492e+02] [-5.38417377e-01 8.41848268e-01 -3.73928126e-02 -3.48867320e+02] [-7.04936896e-02 -7.78348138e-04 9.97511922e-01 -3.55451842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.54, Y:-348.90, Z:-35.55 [[ 8.38512241e-01 5.41596395e-01 5.97542202e-02 6.59541579e+02] [-5.40303710e-01 8.40638152e-01 -3.74085407e-02 -3.48898055e+02] [-7.04920080e-02 -9.17907547e-04 9.97511922e-01 -3.55510745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.59, Y:-348.93, Z:-35.56 [[ 8.37930609e-01 5.42496836e-01 5.97451098e-02 6.59594568e+02] [-5.41205398e-01 8.40057278e-01 -3.74230853e-02 -3.48930108e+02] [-7.04912197e-02 -9.76427294e-04 9.97511922e-01 -3.55563807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.65, Y:-348.96, Z:-35.57 [[ 8.38704844e-01 5.41300042e-01 5.97365090e-02 6.59647779e+02] [-5.40004592e-01 8.40829071e-01 -3.74368093e-02 -3.48961877e+02] [-7.04927398e-02 -8.59555846e-04 9.97511922e-01 -3.55654608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:659.70, Y:-348.99, Z:-35.57 [[ 8.41625770e-01 5.36747680e-01 5.97326664e-02 6.59701829e+02] [-5.35440304e-01 8.43742678e-01 -3.74429395e-02 -3.48993447e+02] [-7.04964108e-02 -4.70334296e-04 9.97511922e-01 -3.55709884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.75, Y:-349.03, Z:-35.57 [[ 8.42185906e-01 5.35869762e-01 5.97201584e-02 6.59750922e+02] [-5.34558766e-01 8.44300574e-01 -3.74628786e-02 -3.49030024e+02] [-7.04969879e-02 -3.73225803e-04 9.97511922e-01 -3.55689274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.80, Y:-349.07, Z:-35.57 [[ 8.45976468e-01 5.29866370e-01 5.97113473e-02 6.59800766e+02] [-5.28539376e-01 8.48081133e-01 -3.74769172e-02 -3.49066627e+02] [-7.04978252e-02 1.44791776e-04 9.97511923e-01 -3.55740247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.85, Y:-349.10, Z:-35.58 [[ 8.48707856e-01 5.25480705e-01 5.97076637e-02 6.59853308e+02] [-5.24142422e-01 8.50805361e-01 -3.74827850e-02 -3.49100765e+02] [-7.04960806e-02 5.16614576e-04 9.97511923e-01 -3.55771568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.90, Y:-349.14, Z:-35.58 [[ 8.50596693e-01 5.22419074e-01 5.96957129e-02 6.59903016e+02] [-5.21071907e-01 8.52688503e-01 -3.75018084e-02 -3.49135651e+02] [-7.04935080e-02 7.93155235e-04 9.97511923e-01 -3.55828946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:659.95, Y:-349.17, Z:-35.59 [[ 8.50889722e-01 5.21942670e-01 5.96869373e-02 6.59954632e+02] [-5.20593353e-01 8.52980145e-01 -3.75157702e-02 -3.49170197e+02] [-7.04928537e-02 8.49160433e-04 9.97511923e-01 -3.55894165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.01, Y:-349.20, Z:-35.59 [[ 8.50270610e-01 5.22951669e-01 5.96778109e-02 6.60007487e+02] [-5.21603814e-01 8.52361976e-01 -3.75302823e-02 -3.49204929e+02] [-7.04936207e-02 7.82722191e-04 9.97511923e-01 -3.55938668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.06, Y:-349.24, Z:-35.60 [[ 8.48656402e-01 5.25568401e-01 5.96671413e-02 6.60059380e+02] [-5.24225802e-01 8.50751146e-01 -3.75472377e-02 -3.49239443e+02] [-7.04955305e-02 5.85648659e-04 9.97511923e-01 -3.55981049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.11, Y:-349.27, Z:-35.61 [[ 8.48726524e-01 5.25456347e-01 5.96566463e-02 6.60113364e+02] [-5.24112301e-01 8.50820339e-01 -3.75639052e-02 -3.49268471e+02] [-7.04952804e-02 6.14700493e-04 9.97511924e-01 -3.56088209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.17, Y:-349.30, Z:-35.62 [[ 8.45682432e-01 5.30342774e-01 5.96470173e-02 6.60167125e+02] [-5.29009748e-01 8.47783281e-01 -3.75791887e-02 -3.49301217e+02] [-7.04975952e-02 2.26206076e-04 9.97511924e-01 -3.56150131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.22, Y:-349.34, Z:-35.62 [[ 8.41183457e-01 5.37451333e-01 5.96360279e-02 6.60219546e+02] [-5.36134825e-01 8.43294696e-01 -3.75966201e-02 -3.49336743e+02] [-7.04970997e-02 -3.47296493e-04 9.97511924e-01 -3.56157811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.27, Y:-349.37, Z:-35.62 [[ 8.39193782e-01 5.40554032e-01 5.96249522e-02 6.60273579e+02] [-5.39244082e-01 8.41309095e-01 -3.76141771e-02 -3.49368553e+02] [-7.04955097e-02 -5.86819104e-04 9.97511924e-01 -3.56210019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.33, Y:-349.40, Z:-35.62 [[ 8.36594902e-01 5.44568777e-01 5.96139024e-02 6.60326546e+02] [-5.43267730e-01 8.38715703e-01 -3.76316817e-02 -3.49402402e+02] [-7.04921549e-02 -9.03836358e-04 9.97511924e-01 -3.56234705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.38, Y:-349.44, Z:-35.63 [[ 8.34064566e-01 5.48437607e-01 5.96027765e-02 6.60378932e+02] [-5.47145138e-01 8.36190605e-01 -3.76492951e-02 -3.49435336e+02] [-7.04875711e-02 -1.20942642e-03 9.97511925e-01 -3.56267428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.43, Y:-349.47, Z:-35.63 [[ 8.33737572e-01 5.48935630e-01 5.95930783e-02 6.60430513e+02] [-5.47643335e-01 8.35863717e-01 -3.76646397e-02 -3.49469042e+02] [-7.04871546e-02 -1.23332693e-03 9.97511925e-01 -3.56320512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.48, Y:-349.50, Z:-35.64 [[ 8.34136015e-01 5.48330382e-01 5.95894400e-02 6.60483083e+02] [-5.47036133e-01 8.36260970e-01 -3.76703950e-02 -3.49502349e+02] [-7.04881450e-02 -1.17534365e-03 9.97511925e-01 -3.56364401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.54, Y:-349.54, Z:-35.64 [[ 8.35247780e-01 5.46636576e-01 5.95785177e-02 6.60535637e+02] [-5.45336786e-01 8.37369351e-01 -3.76876614e-02 -3.49536098e+02] [-7.04906789e-02 -1.01182180e-03 9.97511925e-01 -3.56411838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.59, Y:-349.57, Z:-35.64 [[ 8.35266760e-01 5.46608472e-01 5.95702759e-02 6.60585613e+02] [-5.45307682e-01 8.37387718e-01 -3.77006842e-02 -3.49571837e+02] [-7.04909308e-02 -9.94000758e-04 9.97511925e-01 -3.56396450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.64, Y:-349.60, Z:-35.65 [[ 8.36559711e-01 5.44628446e-01 5.95626226e-02 6.60636615e+02] [-5.43321776e-01 8.38677050e-01 -3.77127717e-02 -3.49603814e+02] [-7.04932529e-02 -8.12684533e-04 9.97511925e-01 -3.56509900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.69, Y:-349.64, Z:-35.65 [[ 8.35975853e-01 5.45525163e-01 5.95539189e-02 6.60689217e+02] [-5.44219785e-01 8.38093990e-01 -3.77265110e-02 -3.49638115e+02] [-7.04925426e-02 -8.71968663e-04 9.97511925e-01 -3.56537127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.74, Y:-349.67, Z:-35.66 [[ 8.34484285e-01 5.47805219e-01 5.95434235e-02 6.60741684e+02] [-5.46504447e-01 8.36605253e-01 -3.77430686e-02 -3.49670827e+02] [-7.04901909e-02 -1.04474808e-03 9.97511926e-01 -3.56561849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.79, Y:-349.70, Z:-35.66 [[ 8.33885097e-01 5.48717874e-01 5.95343579e-02 6.60794471e+02] [-5.47418403e-01 8.36006862e-01 -3.77573630e-02 -3.49704160e+02] [-7.04892717e-02 -1.10490080e-03 9.97511926e-01 -3.56598435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.85, Y:-349.74, Z:-35.66 [[ 8.32723706e-01 5.50479924e-01 5.95237953e-02 6.60847487e+02] [-5.49183753e-01 8.34847489e-01 -3.77740074e-02 -3.49738033e+02] [-7.04871238e-02 -1.23418992e-03 9.97511926e-01 -3.56635578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.90, Y:-349.77, Z:-35.67 [[ 8.31547371e-01 5.52256427e-01 5.95130998e-02 6.60900221e+02] [-5.50963587e-01 8.33673184e-01 -3.77908506e-02 -3.49771437e+02] [-7.04847155e-02 -1.36466850e-03 9.97511926e-01 -3.56675882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:660.95, Y:-349.81, Z:-35.67 [[ 8.29949131e-01 5.54656564e-01 5.95024140e-02 6.60952932e+02] [-5.53368666e-01 8.32077941e-01 -3.78076682e-02 -3.49805225e+02] [-7.04809174e-02 -1.54833015e-03 9.97511926e-01 -3.56680952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.01, Y:-349.84, Z:-35.68 [[ 8.29784492e-01 5.54903888e-01 5.94926292e-02 6.61005102e+02] [-5.53615522e-01 8.31913018e-01 -3.78230589e-02 -3.49836187e+02] [-7.04808552e-02 -1.55105531e-03 9.97511926e-01 -3.56774281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.06, Y:-349.87, Z:-35.68 [[ 8.29671315e-01 5.55074048e-01 5.94836985e-02 6.61057267e+02] [-5.53785113e-01 8.31799497e-01 -3.78370990e-02 -3.49868923e+02] [-7.04809021e-02 -1.54883098e-03 9.97511927e-01 -3.56813805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.11, Y:-349.90, Z:-35.68 [[ 8.29815569e-01 5.54859361e-01 5.94744511e-02 6.61111244e+02] [-5.53568835e-01 8.31942786e-01 -3.78516290e-02 -3.49901499e+02] [-7.04816712e-02 -1.51333153e-03 9.97511927e-01 -3.56842422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.16, Y:-349.93, Z:-35.68 [[ 8.30039016e-01 5.54526194e-01 5.94637073e-02 6.61164099e+02] [-5.53233606e-01 8.32164980e-01 -3.78684996e-02 -3.49934596e+02] [-7.04826898e-02 -1.46498909e-03 9.97511927e-01 -3.56830577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.22, Y:-349.97, Z:-35.69 [[ 8.30112275e-01 5.54417576e-01 5.94538699e-02 6.61217216e+02] [-5.53123604e-01 8.32237398e-01 -3.78839382e-02 -3.49967770e+02] [-7.04832551e-02 -1.43741666e-03 9.97511927e-01 -3.56852969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.27, Y:-350.00, Z:-35.70 [[ 8.31951707e-01 5.51654082e-01 5.94485609e-02 6.61270391e+02] [-5.50352456e-01 8.34072149e-01 -3.78922673e-02 -3.49996362e+02] [-7.04878129e-02 -1.19312506e-03 9.97511927e-01 -3.56954042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.32, Y:-350.03, Z:-35.70 [[ 8.32954559e-01 5.50139653e-01 5.94395870e-02 6.61323874e+02] [-5.48833168e-01 8.35072011e-01 -3.79063390e-02 -3.50029305e+02] [-7.04901157e-02 -1.04815896e-03 9.97511927e-01 -3.56952179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.38, Y:-350.06, Z:-35.70 [[ 8.34468049e-01 5.47841608e-01 5.94360852e-02 6.61376376e+02] [-5.46528900e-01 8.36581648e-01 -3.79118290e-02 -3.50061743e+02] [-7.04928155e-02 -8.47328327e-04 9.97511927e-01 -3.56973112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.43, Y:-350.09, Z:-35.70 [[ 8.37456512e-01 5.43263388e-01 5.94262689e-02 6.61430185e+02] [-5.41938033e-01 8.39562204e-01 -3.79272097e-02 -3.50092052e+02] [-7.04965137e-02 -4.42966546e-04 9.97511927e-01 -3.57032765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.48, Y:-350.12, Z:-35.70 [[ 8.40008109e-01 5.39310728e-01 5.94164532e-02 6.61482958e+02] [-5.37974377e-01 8.42106840e-01 -3.79425807e-02 -3.50124489e+02] [-7.04978425e-02 -9.24539170e-05 9.97511928e-01 -3.57041457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.54, Y:-350.15, Z:-35.71 [[ 8.42772454e-01 5.34981716e-01 5.94066885e-02 6.61536861e+02] [-5.33633508e-01 8.44863587e-01 -3.79578631e-02 -3.50154939e+02] [-7.04973107e-02 2.88441811e-04 9.97511928e-01 -3.57138247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.59, Y:-350.18, Z:-35.72 [[ 8.46090914e-01 5.29718275e-01 5.94029875e-02 6.61592216e+02] [-5.28356652e-01 8.48173337e-01 -3.79636542e-02 -3.50183995e+02] [-7.04940715e-02 7.34739236e-04 9.97511928e-01 -3.57191382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.65, Y:-350.22, Z:-35.72 [[ 8.47102439e-01 5.28100357e-01 5.93925184e-02 6.61645849e+02] [-5.26733609e-01 8.49181502e-01 -3.79800256e-02 -3.50215082e+02] [-7.04922931e-02 8.88936786e-04 9.97511928e-01 -3.57207555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.70, Y:-350.24, Z:-35.73 [[ 8.49572906e-01 5.24117888e-01 5.93828054e-02 6.61701895e+02] [-5.22740334e-01 8.51644824e-01 -3.79952062e-02 -3.50241828e+02] [-7.04870261e-02 1.23791016e-03 9.97511928e-01 -3.57317206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.75, Y:-350.27, Z:-35.73 [[ 8.48861771e-01 5.25269958e-01 5.93731020e-02 6.61754945e+02] [-5.23894157e-01 8.50934853e-01 -3.80103631e-02 -3.50273339e+02] [-7.04883437e-02 1.16032292e-03 9.97511928e-01 -3.57341833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.81, Y:-350.30, Z:-35.74 [[ 8.48026669e-01 5.26618223e-01 5.93634261e-02 6.61811582e+02] [-5.25244661e-01 8.50101235e-01 -3.80254686e-02 -3.50299840e+02] [-7.04898266e-02 1.06628892e-03 9.97511928e-01 -3.57415125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.86, Y:-350.33, Z:-35.74 [[ 8.42996948e-01 5.34633781e-01 5.93537285e-02 6.61864351e+02] [-5.33278882e-01 8.45083752e-01 -3.80405996e-02 -3.50330462e+02] [-7.04966611e-02 4.16019466e-04 9.97511929e-01 -3.57423018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.92, Y:-350.36, Z:-35.75 [[ 8.40692675e-01 5.38250884e-01 5.93448633e-02 6.61919074e+02] [-5.36903987e-01 8.42784652e-01 -3.80544246e-02 -3.50359135e+02] [-7.04977676e-02 1.29582199e-04 9.97511929e-01 -3.57466619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:661.97, Y:-350.39, Z:-35.75 [[ 8.35979373e-01 5.45543612e-01 5.93351200e-02 6.61974186e+02] [-5.44213886e-01 8.38082306e-01 -3.80696105e-02 -3.50388932e+02] [-7.04963470e-02 -4.65587100e-04 9.97511929e-01 -3.57486546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.03, Y:-350.42, Z:-35.75 [[ 8.33417914e-01 5.49449809e-01 5.93252674e-02 6.62028953e+02] [-5.48128847e-01 8.35526363e-01 -3.80849579e-02 -3.50419697e+02] [-7.04935978e-02 -7.77204243e-04 9.97511929e-01 -3.57528809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.08, Y:-350.45, Z:-35.76 [[ 8.29961191e-01 5.54658695e-01 5.93140206e-02 6.62084045e+02] [-5.53349713e-01 8.32077098e-01 -3.81024659e-02 -3.50448133e+02] [-7.04877022e-02 -1.19782833e-03 9.97511929e-01 -3.57588381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.14, Y:-350.48, Z:-35.77 [[ 8.27321120e-01 5.58589989e-01 5.93041988e-02 6.62138976e+02] [-5.57289966e-01 8.29442543e-01 -3.81177468e-02 -3.50477366e+02] [-7.04816172e-02 -1.51401791e-03 9.97511929e-01 -3.57654225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.19, Y:-350.51, Z:-35.77 [[ 8.26986324e-01 5.59086632e-01 5.92938197e-02 6.62192101e+02] [-5.57786726e-01 8.29107819e-01 -3.81338852e-02 -3.50510019e+02] [-7.04811149e-02 -1.53710402e-03 9.97511930e-01 -3.57701317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.25, Y:-350.54, Z:-35.77 [[ 8.28477879e-01 5.56875135e-01 5.92831155e-02 6.62245072e+02] [-5.55568375e-01 8.30595159e-01 -3.81505187e-02 -3.50543563e+02] [-7.04853440e-02 -1.32896329e-03 9.97511930e-01 -3.57737784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.30, Y:-350.58, Z:-35.78 [[ 8.31003758e-01 5.53099955e-01 5.92721957e-02 6.62297477e+02] [-5.51782367e-01 8.33114316e-01 -3.81674767e-02 -3.50578620e+02] [-7.04909444e-02 -9.88035839e-04 9.97511930e-01 -3.57781413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.35, Y:-350.61, Z:-35.78 [[ 8.32960547e-01 5.50149829e-01 5.92612289e-02 6.62349692e+02] [-5.48823554e-01 8.35065657e-01 -3.81844969e-02 -3.50613816e+02] [-7.04942114e-02 -7.17778845e-04 9.97511930e-01 -3.57826053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.40, Y:-350.65, Z:-35.79 [[ 8.35350506e-01 5.46515254e-01 5.92504027e-02 6.62400649e+02] [-5.45178628e-01 8.37449058e-01 -3.82012884e-02 -3.50649816e+02] [-7.04967807e-02 -3.90587626e-04 9.97511930e-01 -3.57863477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.45, Y:-350.68, Z:-35.79 [[ 8.35901549e-01 5.45673159e-01 5.92402147e-02 6.62451957e+02] [-5.44333301e-01 8.37998039e-01 -3.82170808e-02 -3.50683999e+02] [-7.04972189e-02 -3.00704493e-04 9.97511931e-01 -3.57907283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.50, Y:-350.72, Z:-35.79 [[ 8.35595432e-01 5.46142531e-01 5.92335239e-02 6.62501031e+02] [-5.44803115e-01 8.37692204e-01 -3.82274482e-02 -3.50722635e+02] [-7.04970965e-02 -3.27927224e-04 9.97511931e-01 -3.57863209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.55, Y:-350.75, Z:-35.80 [[ 8.37024401e-01 5.43950206e-01 5.92311209e-02 6.62551894e+02] [-5.42605034e-01 8.39117486e-01 -3.82311712e-02 -3.50753700e+02] [-7.04977226e-02 -1.38681224e-04 9.97511931e-01 -3.57994707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.60, Y:-350.79, Z:-35.80 [[ 8.35531170e-01 5.46241486e-01 5.92275512e-02 6.62602375e+02] [-5.44901662e-01 8.37627682e-01 -3.82367005e-02 -3.50789351e+02] [-7.04971085e-02 -3.25235961e-04 9.97511931e-01 -3.58035265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.65, Y:-350.83, Z:-35.80 [[ 8.31389869e-01 5.52525257e-01 5.92176120e-02 6.62651880e+02] [-5.51200182e-01 8.33495733e-01 -3.82520873e-02 -3.50826619e+02] [-7.04928713e-02 -8.38360677e-04 9.97511931e-01 -3.57986033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.70, Y:-350.86, Z:-35.80 [[ 8.28595525e-01 5.56707193e-01 5.92161992e-02 6.62703502e+02] [-5.55392588e-01 8.30707941e-01 -3.82542743e-02 -3.50861998e+02] [-7.04877965e-02 -1.19091767e-03 9.97511931e-01 -3.58044623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.75, Y:-350.89, Z:-35.82 [[ 8.26390678e-01 5.59976091e-01 5.92049456e-02 6.62753287e+02] [-5.58668595e-01 8.28507501e-01 -3.82716831e-02 -3.50894939e+02] [-7.04829691e-02 -1.44858163e-03 9.97511931e-01 -3.58157945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.80, Y:-350.93, Z:-35.82 [[ 8.23424866e-01 5.64328235e-01 5.92041722e-02 6.62803159e+02] [-5.63031839e-01 8.25548506e-01 -3.82728796e-02 -3.50932129e+02] [-7.04743824e-02 -1.81899316e-03 9.97511931e-01 -3.58180766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.85, Y:-350.97, Z:-35.82 [[ 8.20964095e-01 5.67903092e-01 5.91948678e-02 6.62851890e+02] [-5.66614906e-01 8.23092725e-01 -3.82872648e-02 -3.50970391e+02] [-7.04663211e-02 -2.10822479e-03 9.97511931e-01 -3.58203246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.90, Y:-351.01, Z:-35.82 [[ 8.19711638e-01 5.69710360e-01 5.91855989e-02 6.62902319e+02] [-5.68425834e-01 8.21842478e-01 -3.83015877e-02 -3.51007161e+02] [-7.04620506e-02 -2.24636618e-03 9.97511931e-01 -3.58243748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:662.95, Y:-351.04, Z:-35.83 [[ 8.18122379e-01 5.71991286e-01 5.91755096e-02 6.62952158e+02] [-5.70711575e-01 8.20256114e-01 -3.83171693e-02 -3.51044253e+02] [-7.04561605e-02 -2.42401458e-03 9.97511932e-01 -3.58299585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.00, Y:-351.08, Z:-35.84 [[ 8.16672639e-01 5.74060306e-01 5.91655734e-02 6.63002755e+02] [-5.72784891e-01 8.18808945e-01 -3.83325056e-02 -3.51081853e+02] [-7.04504706e-02 -2.58403804e-03 9.97511932e-01 -3.58353201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.05, Y:-351.12, Z:-35.84 [[ 8.15686908e-01 5.75461193e-01 5.91547411e-02 6.63052200e+02] [-5.74188237e-01 8.17824680e-01 -3.83492147e-02 -3.51120076e+02] [-7.04466920e-02 -2.68500407e-03 9.97511932e-01 -3.58409905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.10, Y:-351.16, Z:-35.85 [[ 8.16480901e-01 5.74335069e-01 5.91453080e-02 6.63101100e+02] [-5.73058113e-01 8.18616285e-01 -3.83637578e-02 -3.51157697e+02] [-7.04509637e-02 -2.57042300e-03 9.97511932e-01 -3.58486947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.15, Y:-351.20, Z:-35.85 [[ 8.18133047e-01 5.71980117e-01 5.91359795e-02 6.63149796e+02] [-5.70695976e-01 8.20264117e-01 -3.83781318e-02 -3.51195594e+02] [-7.04586504e-02 -2.35024760e-03 9.97511932e-01 -3.58533503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.20, Y:-351.23, Z:-35.86 [[ 8.20367741e-01 5.68771323e-01 5.91265729e-02 6.63198481e+02] [-5.67477802e-01 8.22493132e-01 -3.83926186e-02 -3.51233983e+02] [-7.04678205e-02 -2.05695180e-03 9.97511932e-01 -3.58570783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.25, Y:-351.27, Z:-35.87 [[ 8.25846915e-01 5.60787033e-01 5.91166387e-02 6.63248234e+02] [-5.59471863e-01 8.27958977e-01 -3.84079090e-02 -3.51271069e+02] [-7.04848090e-02 -1.35504291e-03 9.97511933e-01 -3.58663606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.29, Y:-351.31, Z:-35.86 [[ 8.28716947e-01 5.56537392e-01 5.91130584e-02 6.63294415e+02] [-5.55210996e-01 8.30821978e-01 -3.84134186e-02 -3.51312425e+02] [-7.04909319e-02 -9.86369011e-04 9.97511933e-01 -3.58616443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.34, Y:-351.35, Z:-35.87 [[ 8.33148501e-01 5.49882098e-01 5.91037565e-02 6.63343733e+02] [-5.48537871e-01 8.35242189e-01 -3.84277254e-02 -3.51352549e+02] [-7.04966693e-02 -4.04646947e-04 9.97511933e-01 -3.58654913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.40, Y:-351.39, Z:-35.88 [[ 8.37801475e-01 5.42767625e-01 5.90930944e-02 6.63395195e+02] [-5.41404461e-01 8.39882884e-01 -3.84441144e-02 -3.51385575e+02] [-7.04974992e-02 2.15270805e-04 9.97511933e-01 -3.58756694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.44, Y:-351.43, Z:-35.87 [[ 8.39092507e-01 5.40770686e-01 5.90832468e-02 6.63443039e+02] [-5.39401504e-01 8.41169962e-01 -3.84592429e-02 -3.51425074e+02] [-7.04966836e-02 4.01270357e-04 9.97511933e-01 -3.58729526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.49, Y:-351.46, Z:-35.88 [[ 8.41066989e-01 5.37695596e-01 5.90742387e-02 6.63493652e+02] [-5.36317848e-01 8.43138772e-01 -3.84730745e-02 -3.51461138e+02] [-7.04945838e-02 6.75864336e-04 9.97511933e-01 -3.58758836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.54, Y:-351.49, Z:-35.88 [[ 8.41066979e-01 5.37696651e-01 5.90647815e-02 6.63544967e+02] [-5.36317886e-01 8.43138085e-01 -3.84875880e-02 -3.51494822e+02] [-7.04944139e-02 6.93140588e-04 9.97511933e-01 -3.58804687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.60, Y:-351.53, Z:-35.89 [[ 8.39532137e-01 5.40091031e-01 5.90547966e-02 6.63596822e+02] [-5.38717096e-01 8.41606450e-01 -3.85029026e-02 -3.51528043e+02] [-7.04959701e-02 5.10595621e-04 9.97511934e-01 -3.58857798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.65, Y:-351.56, Z:-35.89 [[ 8.36530107e-01 5.44730221e-01 5.90454508e-02 6.63649732e+02] [-5.43366779e-01 8.38611333e-01 -3.85172294e-02 -3.51559421e+02] [-7.04976830e-02 1.37485652e-04 9.97511934e-01 -3.58925586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.70, Y:-351.59, Z:-35.90 [[ 8.34802250e-01 5.47375500e-01 5.90361303e-02 6.63702372e+02] [-5.46017642e-01 8.36887123e-01 -3.85315098e-02 -3.51591873e+02] [-7.04977817e-02 -6.85775733e-05 9.97511934e-01 -3.58981990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.76, Y:-351.63, Z:-35.90 [[ 8.33829148e-01 5.48857707e-01 5.90268491e-02 6.63755657e+02] [-5.47502549e-01 8.35915777e-01 -3.85457225e-02 -3.51625406e+02] [-7.04975913e-02 -1.76803331e-04 9.97511934e-01 -3.59014649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.81, Y:-351.66, Z:-35.90 [[ 8.34582004e-01 5.47713423e-01 5.90159712e-02 6.63808293e+02] [-5.46354227e-01 8.36666004e-01 -3.85623701e-02 -3.51658289e+02] [-7.04977846e-02 -6.01651912e-05 9.97511934e-01 -3.59042013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.86, Y:-351.69, Z:-35.91 [[ 8.36306013e-01 5.45078421e-01 5.90065047e-02 6.63861945e+02] [-5.43711637e-01 8.38385044e-01 -3.85768499e-02 -3.51690677e+02] [-7.04975795e-02 1.79528282e-04 9.97511934e-01 -3.59079286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.91, Y:-351.72, Z:-35.91 [[ 8.38346655e-01 5.41935810e-01 5.89954629e-02 6.63914696e+02] [-5.40560045e-01 8.40419754e-01 -3.85937287e-02 -3.51723165e+02] [-7.04962761e-02 4.64333312e-04 9.97511935e-01 -3.59132116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:663.97, Y:-351.75, Z:-35.93 [[ 8.46463970e-01 5.29168674e-01 5.89852670e-02 6.63970343e+02] [-5.27760564e-01 8.48515238e-01 -3.86093055e-02 -3.51750417e+02] [-7.04807329e-02 1.55128821e-03 9.97511935e-01 -3.59260375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.02, Y:-351.79, Z:-35.92 [[ 8.47087623e-01 5.28170869e-01 5.89753564e-02 6.64017824e+02] [-5.26759291e-01 8.49136504e-01 -3.86244380e-02 -3.51789691e+02] [-7.04784309e-02 1.65246653e-03 9.97511935e-01 -3.59240454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.07, Y:-351.82, Z:-35.93 [[ 8.52046255e-01 5.20134742e-01 5.89663468e-02 6.64071078e+02] [-5.18702896e-01 8.54081024e-01 -3.86381878e-02 -3.51820088e+02] [-7.04591017e-02 2.33550833e-03 9.97511935e-01 -3.59316547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.12, Y:-351.85, Z:-35.94 [[ 8.55716489e-01 5.14075227e-01 5.89571943e-02 6.64124009e+02] [-5.12628019e-01 8.57740361e-01 -3.86521482e-02 -3.51851078e+02] [-7.04400770e-02 2.85217087e-03 9.97511935e-01 -3.59393969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.17, Y:-351.89, Z:-35.94 [[ 8.55700808e-01 5.14101946e-01 5.89518181e-02 6.64172584e+02] [-5.12654237e-01 8.57724321e-01 -3.86603462e-02 -3.51888400e+02] [-7.04397674e-02 2.85979012e-03 9.97511935e-01 -3.59390084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.23, Y:-351.92, Z:-35.95 [[ 8.56264636e-01 5.13163338e-01 5.89428717e-02 6.64226547e+02] [-5.11712475e-01 8.58285888e-01 -3.86739815e-02 -3.51918153e+02] [-7.04359044e-02 2.95335993e-03 9.97511935e-01 -3.59450828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.28, Y:-351.95, Z:-35.95 [[ 8.50584138e-01 5.22526017e-01 5.89337468e-02 6.64280152e+02] [-5.21096453e-01 8.52620510e-01 -3.86878815e-02 -3.51951804e+02] [-7.04635459e-02 2.19713188e-03 9.97511935e-01 -3.59465307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.33, Y:-351.98, Z:-35.95 [[ 8.44283416e-01 5.32647775e-01 5.89225047e-02 6.64331499e+02] [-5.31241441e-01 8.46335900e-01 -3.87049960e-02 -3.51984616e+02] [-7.04843610e-02 1.37590994e-03 9.97511936e-01 -3.59492702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.38, Y:-352.02, Z:-35.95 [[ 8.38236056e-01 5.42115775e-01 5.89134990e-02 6.64384668e+02] [-5.40731666e-01 8.40303593e-01 -3.87186988e-02 -3.52016899e+02] [-7.04952423e-02 5.99014922e-04 9.97511936e-01 -3.59543940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.44, Y:-352.04, Z:-35.97 [[ 8.31625390e-01 5.52203947e-01 5.89068097e-02 6.64440228e+02] [-5.50844199e-01 8.33709028e-01 -3.87288733e-02 -3.52044525e+02] [-7.04973758e-02 -2.40560050e-04 9.97511936e-01 -3.59653301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.49, Y:-352.08, Z:-35.97 [[ 8.25590127e-01 5.61188115e-01 5.88968777e-02 6.64492739e+02] [-5.59849961e-01 8.27687698e-01 -3.87439716e-02 -3.52078237e+02] [-7.04908775e-02 -9.86774202e-04 9.97511936e-01 -3.59699429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.54, Y:-352.11, Z:-35.97 [[ 8.23476356e-01 5.64286447e-01 5.88854481e-02 6.64544974e+02] [-5.62954944e-01 8.25578155e-01 -3.87613352e-02 -3.52113730e+02] [-7.04870358e-02 -1.23081106e-03 9.97511936e-01 -3.59736690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.59, Y:-352.15, Z:-35.97 [[ 8.20607839e-01 5.68451079e-01 5.88739856e-02 6.64593150e+02] [-5.67128992e-01 8.22715574e-01 -3.87787377e-02 -3.52153112e+02] [-7.04803601e-02 -1.56700799e-03 9.97511936e-01 -3.59721006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.64, Y:-352.19, Z:-35.98 [[ 8.21365998e-01 5.67356076e-01 5.88640867e-02 6.64643461e+02] [-5.66030104e-01 8.23471290e-01 -3.87937578e-02 -3.52191026e+02] [-7.04827597e-02 -1.45497158e-03 9.97511937e-01 -3.59764467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.69, Y:-352.22, Z:-35.99 [[ 8.24320741e-01 5.63055623e-01 5.88530581e-02 6.64694599e+02] [-5.61717472e-01 8.26418313e-01 -3.88104819e-02 -3.52224701e+02] [-7.04897050e-02 -1.06650584e-03 9.97511937e-01 -3.59876652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.74, Y:-352.26, Z:-35.99 [[ 8.25007770e-01 5.62049522e-01 5.88431351e-02 6.64744922e+02] [-5.60707740e-01 8.27103022e-01 -3.88255210e-02 -3.52262816e+02] [-7.04912004e-02 -9.62444857e-04 9.97511937e-01 -3.59921063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.79, Y:-352.30, Z:-36.00 [[ 8.27444941e-01 5.58456516e-01 5.88318658e-02 6.64792662e+02] [-5.57104423e-01 8.29533553e-01 -3.88425898e-02 -3.52303712e+02] [-7.04949040e-02 -6.35388156e-04 9.97511937e-01 -3.59966490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.84, Y:-352.35, Z:-35.99 [[ 8.30632675e-01 5.53704600e-01 5.88266545e-02 6.64838150e+02] [-5.52339998e-01 8.32713136e-01 -3.88504806e-02 -3.52346336e+02] [-7.04974178e-02 -2.21835679e-04 9.97511937e-01 -3.59948541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.89, Y:-352.38, Z:-36.01 [[ 8.36693846e-01 5.44503412e-01 5.88170217e-02 6.64890498e+02] [-5.43114907e-01 8.38758431e-01 -3.88650585e-02 -3.52379015e+02] [-7.04954298e-02 5.73754007e-04 9.97511937e-01 -3.60058058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.94, Y:-352.42, Z:-36.00 [[ 8.34797867e-01 5.47406846e-01 5.88070292e-02 6.64938573e+02] [-5.46024457e-01 8.36866552e-01 -3.88801725e-02 -3.52418916e+02] [-7.04969083e-02 3.47008924e-04 9.97511938e-01 -3.60000835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:664.99, Y:-352.45, Z:-36.01 [[ 8.37714779e-01 5.42933558e-01 5.87971137e-02 6.64990022e+02] [-5.41539071e-01 8.39775328e-01 -3.88951616e-02 -3.52452436e+02] [-7.04938539e-02 7.42117369e-04 9.97511938e-01 -3.60096179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.04, Y:-352.49, Z:-36.01 [[ 8.38623664e-01 5.41529047e-01 5.87932148e-02 6.65041322e+02] [-5.40130696e-01 8.40681592e-01 -3.89010542e-02 -3.52486740e+02] [-7.04924242e-02 8.67324567e-04 9.97511938e-01 -3.60145496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.10, Y:-352.52, Z:-36.02 [[ 8.40293826e-01 5.38935081e-01 5.87815078e-02 6.65095800e+02] [-5.37529141e-01 8.42346576e-01 -3.89187360e-02 -3.52517623e+02] [-7.04890740e-02 1.10640012e-03 9.97511938e-01 -3.60193396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.15, Y:-352.55, Z:-36.02 [[ 8.39633729e-01 5.39964266e-01 5.87689697e-02 6.65148378e+02] [-5.38559519e-01 8.41687296e-01 -3.89376599e-02 -3.52552708e+02] [-7.04900402e-02 1.04278451e-03 9.97511938e-01 -3.60196739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.20, Y:-352.59, Z:-36.02 [[ 8.38402123e-01 5.41875847e-01 5.87575225e-02 6.65201525e+02] [-5.40474572e-01 8.40458060e-01 -3.89549263e-02 -3.52585483e+02] [-7.04919671e-02 9.02946064e-04 9.97511938e-01 -3.60236499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.25, Y:-352.62, Z:-36.03 [[ 8.37519044e-01 5.43240977e-01 5.87459984e-02 6.65254546e+02] [-5.41841835e-01 8.39576433e-01 -3.89722975e-02 -3.52618292e+02] [-7.04931048e-02 8.09001748e-04 9.97511939e-01 -3.60288190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.31, Y:-352.65, Z:-36.03 [[ 8.35821688e-01 5.45850127e-01 5.87345338e-02 6.65308251e+02] [-5.44456194e-01 8.37882609e-01 -3.89895680e-02 -3.52651543e+02] [-7.04951051e-02 6.09945830e-04 9.97511939e-01 -3.60328442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.36, Y:-352.68, Z:-36.04 [[ 8.35011208e-01 5.47090379e-01 5.87230772e-02 6.65361712e+02] [-5.45698293e-01 8.37073379e-01 -3.90068155e-02 -3.52684576e+02] [-7.04957781e-02 5.26045091e-04 9.97511939e-01 -3.60387126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.41, Y:-352.72, Z:-36.04 [[ 8.29951595e-01 5.54737141e-01 5.87116257e-02 6.65411835e+02] [-5.53362838e-01 8.32025657e-01 -3.90240443e-02 -3.52720471e+02] [-7.04976657e-02 -1.00764039e-04 9.97511939e-01 -3.60356777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.46, Y:-352.75, Z:-36.04 [[ 8.27628072e-01 5.58198703e-01 5.87024874e-02 6.65464785e+02] [-5.56832100e-01 8.29707216e-01 -3.90377859e-02 -3.52754743e+02] [-7.04967188e-02 -3.78661828e-04 9.97511939e-01 -3.60387702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.52, Y:-352.79, Z:-36.04 [[ 8.25133327e-01 5.61881037e-01 5.86915083e-02 6.65517457e+02] [-5.60522538e-01 8.27217775e-01 -3.90542854e-02 -3.52788789e+02] [-7.04945213e-02 -6.72920760e-04 9.97511940e-01 -3.60426634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.57, Y:-352.82, Z:-36.05 [[ 8.23116137e-01 5.64833103e-01 5.86804124e-02 6.65570572e+02] [-5.63480891e-01 8.25204669e-01 -3.90709503e-02 -3.52822564e+02] [-7.04919164e-02 -9.05361434e-04 9.97511940e-01 -3.60484469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.63, Y:-352.85, Z:-36.06 [[ 8.22943241e-01 5.65086131e-01 5.86693023e-02 6.65625277e+02] [-5.63733372e-01 8.25031419e-01 -3.90876263e-02 -3.52850521e+02] [-7.04918932e-02 -9.06945736e-04 9.97511940e-01 -3.60617984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.68, Y:-352.88, Z:-36.07 [[ 8.22150371e-01 5.66240115e-01 5.86591841e-02 6.65677797e+02] [-5.64889205e-01 8.24239745e-01 -3.91028050e-02 -3.52884829e+02] [-7.04908077e-02 -9.87554289e-04 9.97511940e-01 -3.60691730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.73, Y:-352.92, Z:-36.07 [[ 8.21881330e-01 5.66631746e-01 5.86476295e-02 6.65727565e+02] [-5.65280596e-01 8.23970548e-01 -3.91201272e-02 -3.52919541e+02] [-7.04906254e-02 -1.00026484e-03 9.97511940e-01 -3.60732213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.78, Y:-352.96, Z:-36.08 [[ 8.23284667e-01 5.64591417e-01 5.86420374e-02 6.65778718e+02] [-5.63234492e-01 8.25370139e-01 -3.91285082e-02 -3.52956247e+02] [-7.04930064e-02 -8.15317299e-04 9.97511940e-01 -3.60772975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.83, Y:-353.00, Z:-36.08 [[ 8.25995208e-01 5.60619640e-01 5.86305047e-02 6.65825899e+02] [-5.59251460e-01 8.28073313e-01 -3.91457812e-02 -3.52997056e+02] [-7.04962501e-02 -4.54967713e-04 9.97511941e-01 -3.60787669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.88, Y:-353.03, Z:-36.08 [[ 8.30676093e-01 5.53660681e-01 5.86266064e-02 6.65875367e+02] [-5.52274679e-01 8.32742355e-01 -3.91516187e-02 -3.53034280e+02] [-7.04975701e-02 1.44323428e-04 9.97511941e-01 -3.60802586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.93, Y:-353.07, Z:-36.09 [[ 8.32852509e-01 5.50382586e-01 5.86149002e-02 6.65925922e+02] [-5.48987219e-01 8.34912458e-01 -3.91691365e-02 -3.53072017e+02] [-7.04963210e-02 4.43282594e-04 9.97511941e-01 -3.60851143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:665.97, Y:-353.11, Z:-36.09 [[ 8.30400995e-01 5.54075657e-01 5.86033586e-02 6.65973310e+02] [-5.52688233e-01 8.32466301e-01 -3.91863971e-02 -3.53112055e+02] [-7.04975499e-02 1.51036418e-04 9.97511941e-01 -3.60853298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.02, Y:-353.15, Z:-36.09 [[ 8.28550970e-01 5.56839382e-01 5.85934498e-02 6.66022447e+02] [-5.55457800e-01 8.30620189e-01 -3.92012075e-02 -3.53147227e+02] [-7.04976785e-02 -6.59902113e-05 9.97511941e-01 -3.60918962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.08, Y:-353.18, Z:-36.10 [[ 8.28687216e-01 5.56637520e-01 5.85847138e-02 6.66075581e+02] [-5.55254511e-01 8.30755481e-01 -3.92142589e-02 -3.53178102e+02] [-7.04976999e-02 -3.30715569e-05 9.97511941e-01 -3.61003094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.13, Y:-353.21, Z:-36.11 [[ 8.25140533e-01 5.61882650e-01 5.85746361e-02 6.66127590e+02] [-5.60511719e-01 8.27216824e-01 -3.92293062e-02 -3.53212777e+02] [-7.04961910e-02 -4.62079387e-04 9.97511942e-01 -3.61052346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.18, Y:-353.25, Z:-36.11 [[ 8.22775470e-01 5.65341389e-01 5.85631354e-02 6.66178606e+02] [-5.63977964e-01 8.24856697e-01 -3.92464674e-02 -3.53248537e+02] [-7.04938469e-02 -7.37287268e-04 9.97511942e-01 -3.61103407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.23, Y:-353.29, Z:-36.11 [[ 8.20400598e-01 5.68783409e-01 5.85516136e-02 6.66226714e+02] [-5.67427490e-01 8.22486723e-01 -3.92636492e-02 -3.53286441e+02] [-7.04904371e-02 -1.01187384e-03 9.97511942e-01 -3.61084498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.28, Y:-353.32, Z:-36.11 [[ 8.20710603e-01 5.68336958e-01 5.85423685e-02 6.66277424e+02] [-5.66978921e-01 8.22795349e-01 -3.92774290e-02 -3.53320137e+02] [-7.04912030e-02 -9.56886436e-04 9.97511942e-01 -3.61114811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.33, Y:-353.35, Z:-36.11 [[ 8.23207529e-01 5.64715148e-01 5.85334587e-02 6.66329928e+02] [-5.63346995e-01 8.25285650e-01 -3.92907024e-02 -3.53353309e+02] [-7.04948783e-02 -6.30246013e-04 9.97511942e-01 -3.61133213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.38, Y:-353.38, Z:-36.13 [[ 8.27654865e-01 5.58177723e-01 5.85239594e-02 6.66384122e+02] [-5.56792153e-01 8.29721415e-01 -3.93048466e-02 -3.53384537e+02] [-7.04976722e-02 -5.48338914e-05 9.97511942e-01 -3.61260258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.44, Y:-353.42, Z:-36.13 [[ 8.28375815e-01 5.57108445e-01 5.85123095e-02 6.66436233e+02] [-5.55718984e-01 8.30439749e-01 -3.93221821e-02 -3.53419192e+02] [-7.04976673e-02 5.71434624e-05 9.97511943e-01 -3.61310135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.49, Y:-353.46, Z:-36.13 [[ 8.28054629e-01 5.57586950e-01 5.85006348e-02 6.66485173e+02] [-5.56197455e-01 8.30118541e-01 -3.93395431e-02 -3.53456238e+02] [-7.04976775e-02 3.73865389e-05 9.97511943e-01 -3.61288679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.54, Y:-353.49, Z:-36.14 [[ 8.32121886e-01 5.51499709e-01 5.84913462e-02 6.66538500e+02] [-5.50094145e-01 8.34174889e-01 -3.93533490e-02 -3.53486356e+02] [-7.04953727e-02 5.71035891e-04 9.97511943e-01 -3.61413428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.59, Y:-353.52, Z:-36.15 [[ 8.32586445e-01 5.50799197e-01 5.84812423e-02 6.66588946e+02] [-5.49390852e-01 8.34637541e-01 -3.93683582e-02 -3.53521041e+02] [-7.04947003e-02 6.48501904e-04 9.97511943e-01 -3.61464717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.64, Y:-353.56, Z:-36.14 [[ 8.31364505e-01 5.52643094e-01 5.84694001e-02 6.66639810e+02] [-5.51238062e-01 8.33417870e-01 -3.93859381e-02 -3.53557658e+02] [-7.04958097e-02 5.13512119e-04 9.97511943e-01 -3.61440036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.69, Y:-353.59, Z:-36.16 [[ 8.33095857e-01 5.50030750e-01 5.84591105e-02 6.66694010e+02] [-5.48618208e-01 8.35144064e-01 -3.94012047e-02 -3.53586188e+02] [-7.04936533e-02 7.53247919e-04 9.97511944e-01 -3.61566839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.74, Y:-353.62, Z:-36.15 [[ 8.30048599e-01 5.54619617e-01 5.84500089e-02 6.66744343e+02] [-5.53217448e-01 8.32103921e-01 -3.94147020e-02 -3.53623797e+02] [-7.04966485e-02 3.80553424e-04 9.97511944e-01 -3.61531125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.80, Y:-353.66, Z:-36.16 [[ 8.28897207e-01 5.56339956e-01 5.84403462e-02 6.66796152e+02] [-5.54941044e-01 8.30954746e-01 -3.94290238e-02 -3.53657494e+02] [-7.04972244e-02 2.51660989e-04 9.97511944e-01 -3.61550576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.85, Y:-353.69, Z:-36.16 [[ 8.27345750e-01 5.58645576e-01 5.84305603e-02 6.66848539e+02] [-5.57251373e-01 8.29406484e-01 -3.94435204e-02 -3.53690019e+02] [-7.04976337e-02 7.29190391e-05 9.97511944e-01 -3.61597097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.90, Y:-353.72, Z:-36.17 [[ 8.27723216e-01 5.58086869e-01 5.84236644e-02 6.66902766e+02] [-5.56690555e-01 8.29782519e-01 -3.94537319e-02 -3.53721313e+02] [-7.04975451e-02 1.32867765e-04 9.97511944e-01 -3.61701556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:666.96, Y:-353.76, Z:-36.17 [[ 8.26155324e-01 5.60406438e-01 5.84123595e-02 6.66955177e+02] [-5.59014723e-01 8.28217738e-01 -3.94704620e-02 -3.53755259e+02] [-7.04976533e-02 -4.46366778e-05 9.97511944e-01 -3.61742336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.01, Y:-353.79, Z:-36.18 [[ 8.25622855e-01 5.61191820e-01 5.84007038e-02 6.67007809e+02] [-5.59800848e-01 8.27685769e-01 -3.94877003e-02 -3.53790047e+02] [-7.04976059e-02 -9.08156199e-05 9.97511944e-01 -3.61796098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.06, Y:-353.83, Z:-36.19 [[ 8.25512340e-01 5.61355569e-01 5.83892207e-02 6.67060172e+02] [-5.59963805e-01 8.27574720e-01 -3.95046728e-02 -3.53825117e+02] [-7.04976111e-02 -8.42553004e-05 9.97511945e-01 -3.61858438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.11, Y:-353.86, Z:-36.19 [[ 8.23817304e-01 5.63840711e-01 5.83841002e-02 6.67110828e+02] [-5.62454632e-01 8.25883509e-01 -3.95122390e-02 -3.53862127e+02] [-7.04970744e-02 -2.87541338e-04 9.97511945e-01 -3.61902549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.16, Y:-353.90, Z:-36.19 [[ 8.22085180e-01 5.66363758e-01 5.83785135e-02 6.67161425e+02] [-5.64983434e-01 8.24155234e-01 -3.95204914e-02 -3.53895999e+02] [-7.04959315e-02 -4.93682722e-04 9.97511945e-01 -3.61907374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.21, Y:-353.93, Z:-36.20 [[ 8.21017300e-01 5.67911743e-01 5.83681895e-02 6.67212884e+02] [-5.66534238e-01 8.23089231e-01 -3.95357333e-02 -3.53931205e+02] [-7.04950354e-02 -6.08056802e-04 9.97511945e-01 -3.61952357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.26, Y:-353.96, Z:-36.20 [[ 8.21071024e-01 5.67835185e-01 5.83573181e-02 6.67264324e+02] [-5.66456347e-01 8.23142068e-01 -3.95517737e-02 -3.53964214e+02] [-7.04952522e-02 -5.82057861e-04 9.97511945e-01 -3.62047508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.31, Y:-354.00, Z:-36.20 [[ 8.19993803e-01 5.69390762e-01 5.83465805e-02 6.67313980e+02] [-5.68014727e-01 8.22066709e-01 -3.95676075e-02 -3.54000940e+02] [-7.04942116e-02 -6.96524060e-04 9.97511945e-01 -3.62027647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.37, Y:-354.03, Z:-36.21 [[ 8.21460170e-01 5.67274211e-01 5.83366004e-02 6.67365952e+02] [-5.65891790e-01 8.23528823e-01 -3.95823162e-02 -3.54034484e+02] [-7.04958990e-02 -4.96907040e-04 9.97511945e-01 -3.62125638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:667.42, Y:-354.07, Z:-36.22 [[ 8.21460304e-01 5.67275062e-01 5.83264330e-02 6.67416035e+02] [-5.65891580e-01 8.23528248e-01 -3.95972926e-02 -3.54071825e+02] [-7.04960218e-02 -4.78833268e-04 9.97511946e-01 -3.62162048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.47, Y:-354.11, Z:-36.22 [[ 8.24148361e-01 5.63363275e-01 5.83206565e-02 6.67467580e+02] [-5.61969375e-01 8.26209297e-01 -3.96057987e-02 -3.54106435e+02] [-7.04975211e-02 -1.33368802e-04 9.97511946e-01 -3.62229727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.52, Y:-354.15, Z:-36.22 [[ 8.25268815e-01 5.61722013e-01 5.83074856e-02 6.67516741e+02] [-5.60322645e-01 8.27326041e-01 -3.96251793e-02 -3.54145928e+02] [-7.04976368e-02 3.04202301e-05 9.97511946e-01 -3.62240155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.57, Y:-354.18, Z:-36.23 [[ 8.26137297e-01 5.60445152e-01 5.82957843e-02 6.67566137e+02] [-5.59041390e-01 8.28191527e-01 -3.96423867e-02 -3.54182315e+02] [-7.04974581e-02 1.60297931e-04 9.97511946e-01 -3.62288849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.62, Y:-354.22, Z:-36.23 [[ 8.25440984e-01 5.61471316e-01 5.82850174e-02 6.67616717e+02] [-5.60068990e-01 8.27496195e-01 -3.96582106e-02 -3.54216790e+02] [-7.04975778e-02 9.18815606e-05 9.97511946e-01 -3.62309164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.67, Y:-354.25, Z:-36.24 [[ 8.24071549e-01 5.63480253e-01 5.82759425e-02 6.67668802e+02] [-5.62081995e-01 8.26129530e-01 -3.96715414e-02 -3.54252251e+02] [-7.04976071e-02 -6.36694216e-05 9.97511946e-01 -3.62355450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.72, Y:-354.29, Z:-36.24 [[ 8.21585863e-01 5.67099513e-01 5.82650142e-02 6.67720560e+02] [-5.65709183e-01 8.23649207e-01 -3.96875852e-02 -3.54285273e+02] [-7.04967429e-02 -3.54294629e-04 9.97511947e-01 -3.62409993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:667.77, Y:-354.32, Z:-36.25 [[ 8.19184223e-01 5.70564190e-01 5.82555906e-02 6.67772258e+02] [-5.69181602e-01 8.21252763e-01 -3.97014128e-02 -3.54321325e+02] [-7.04947692e-02 -6.35239384e-04 9.97511947e-01 -3.62477282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.83, Y:-354.35, Z:-36.25 [[ 8.19663970e-01 5.69876168e-01 5.82419864e-02 6.67825285e+02] [-5.68490427e-01 8.21730399e-01 -3.97213602e-02 -3.54354072e+02] [-7.04954672e-02 -5.51843885e-04 9.97511947e-01 -3.62482607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.88, Y:-354.39, Z:-36.25 [[ 8.21083522e-01 5.67829828e-01 5.82334631e-02 6.67877552e+02] [-5.66438050e-01 8.23145890e-01 -3.97338519e-02 -3.54388956e+02] [-7.04967021e-02 -3.60838263e-04 9.97511947e-01 -3.62510720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.93, Y:-354.42, Z:-36.26 [[ 8.22238074e-01 5.66157848e-01 5.82223425e-02 6.67929612e+02] [-5.64760723e-01 8.24296823e-01 -3.97501403e-02 -3.54424317e+02] [-7.04973458e-02 -1.97613526e-04 9.97511947e-01 -3.62552364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:667.98, Y:-354.46, Z:-36.26 [[ 8.23325317e-01 5.64576736e-01 5.82111002e-02 6.67981531e+02] [-5.63174494e-01 8.25380584e-01 -3.97665969e-02 -3.54459425e+02] [-7.04976074e-02 -4.21609001e-05 9.97511948e-01 -3.62597923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.03, Y:-354.49, Z:-36.26 [[ 8.23980265e-01 5.63621587e-01 5.81999041e-02 6.68033390e+02] [-5.62215806e-01 8.26033112e-01 -3.97829762e-02 -3.54494468e+02] [-7.04975921e-02 5.94812768e-05 9.97511948e-01 -3.62629652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.09, Y:-354.53, Z:-36.27 [[ 8.24194915e-01 5.63308125e-01 5.81953472e-02 6.68085199e+02] [-5.61901092e-01 8.26246905e-01 -3.97896410e-02 -3.54527628e+02] [-7.04975535e-02 9.43906499e-05 9.97511948e-01 -3.62719968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.14, Y:-354.56, Z:-36.27 [[ 8.24719428e-01 5.62541105e-01 5.81839345e-02 6.68137269e+02] [-5.61130986e-01 8.26769299e-01 -3.98063227e-02 -3.54562100e+02] [-7.04973834e-02 1.80239206e-04 9.97511948e-01 -3.62728005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.19, Y:-354.60, Z:-36.28 [[ 8.24705799e-01 5.62562142e-01 5.81737239e-02 6.68189851e+02] [-5.61151024e-01 8.26754980e-01 -3.98212391e-02 -3.54596351e+02] [-7.04973375e-02 1.96562109e-04 9.97511948e-01 -3.62776450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.24, Y:-354.63, Z:-36.29 [[ 8.24990988e-01 5.62145039e-01 5.81620587e-02 6.68242198e+02] [-5.60731684e-01 8.27038627e-01 -3.98382698e-02 -3.54628202e+02] [-7.04971549e-02 2.52904403e-04 9.97511948e-01 -3.62867654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.29, Y:-354.66, Z:-36.29 [[ 8.24216142e-01 5.63281554e-01 5.81518872e-02 6.68293859e+02] [-5.61869975e-01 8.26265007e-01 -3.98531115e-02 -3.54662539e+02] [-7.04973921e-02 1.73778446e-04 9.97511949e-01 -3.62929887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.34, Y:-354.70, Z:-36.29 [[ 8.21538466e-01 5.67180833e-01 5.81416527e-02 6.68343355e+02] [-5.65777922e-01 8.23593275e-01 -3.98680371e-02 -3.54699297e+02] [-7.04974607e-02 -1.42137404e-04 9.97511949e-01 -3.62942293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.40, Y:-354.73, Z:-36.30 [[ 8.18782974e-01 5.71152484e-01 5.81315856e-02 6.68396354e+02] [-5.69758499e-01 8.20843848e-01 -3.98827106e-02 -3.54733754e+02] [-7.04960636e-02 -4.65680535e-04 9.97511949e-01 -3.62981582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.45, Y:-354.77, Z:-36.31 [[ 8.18940791e-01 5.70927340e-01 5.81201646e-02 6.68449234e+02] [-5.69531607e-01 8.21000482e-01 -3.98993473e-02 -3.54765844e+02] [-7.04963113e-02 -4.26067717e-04 9.97511949e-01 -3.63074112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.50, Y:-354.80, Z:-36.31 [[ 8.17268248e-01 5.73320024e-01 5.81099038e-02 6.68500781e+02] [-5.71929258e-01 8.19331296e-01 -3.99142855e-02 -3.54801549e+02] [-7.04949220e-02 -6.14075984e-04 9.97511949e-01 -3.63109985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.55, Y:-354.84, Z:-36.31 [[ 8.16195026e-01 5.74848054e-01 5.80981458e-02 6.68550432e+02] [-5.73459933e-01 8.18259854e-01 -3.99313929e-02 -3.54837806e+02] [-7.04938638e-02 -7.25154515e-04 9.97511949e-01 -3.63122814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.60, Y:-354.87, Z:-36.32 [[ 8.16269183e-01 5.74743697e-01 5.80887565e-02 6.68602041e+02] [-5.73354341e-01 8.18333180e-01 -3.99450471e-02 -3.54874294e+02] [-7.04941208e-02 -6.99529729e-04 9.97511950e-01 -3.63162685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.65, Y:-354.91, Z:-36.32 [[ 8.16254973e-01 5.74765031e-01 5.80773459e-02 6.68652120e+02] [-5.73374549e-01 8.18318211e-01 -3.99616304e-02 -3.54910489e+02] [-7.04942975e-02 -6.81192438e-04 9.97511950e-01 -3.63235227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.70, Y:-354.94, Z:-36.33 [[ 8.17328034e-01 5.73239286e-01 5.80655316e-02 6.68703652e+02] [-5.71843733e-01 8.19387846e-01 -3.99787895e-02 -3.54943982e+02] [-7.04956036e-02 -5.28624883e-04 9.97511950e-01 -3.63287946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.75, Y:-354.98, Z:-36.33 [[ 8.16690024e-01 5.74148989e-01 5.80546541e-02 6.68754353e+02] [-5.72754608e-01 8.18750629e-01 -3.99945790e-02 -3.54980374e+02] [-7.04951317e-02 -5.87896994e-04 9.97511950e-01 -3.63320476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.80, Y:-355.02, Z:-36.34 [[ 8.16019672e-01 5.75102378e-01 5.80443737e-02 6.68803075e+02] [-5.73709343e-01 8.18081188e-01 -4.00094935e-02 -3.55017933e+02] [-7.04945650e-02 -6.52065723e-04 9.97511950e-01 -3.63352006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.85, Y:-355.05, Z:-36.34 [[ 8.17840268e-01 5.72511341e-01 5.80349918e-02 6.68853936e+02] [-5.71110810e-01 8.19896698e-01 -4.00230975e-02 -3.55054383e+02] [-7.04963754e-02 -4.11910343e-04 9.97511951e-01 -3.63394571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.90, Y:-355.09, Z:-36.34 [[ 8.19849808e-01 5.69631107e-01 5.80232257e-02 6.68902824e+02] [-5.68222144e-01 8.21900469e-01 -4.00401482e-02 -3.55092250e+02] [-7.04974304e-02 -1.43173942e-04 9.97511951e-01 -3.63412383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:668.95, Y:-355.13, Z:-36.35 [[ 8.21517720e-01 5.67224056e-01 5.80129719e-02 6.68953738e+02] [-5.65808036e-01 8.23563515e-01 -4.00549992e-02 -3.55126924e+02] [-7.04975261e-02 8.16859336e-05 9.97511951e-01 -3.63469001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.00, Y:-355.17, Z:-36.35 [[ 8.26081428e-01 5.60557905e-01 5.80026759e-02 6.69003253e+02] [-5.59124330e-01 8.28114960e-01 -4.00699030e-02 -3.55166336e+02] [-7.04943845e-02 6.70295341e-04 9.97511951e-01 -3.63486046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:669.05, Y:-355.20, Z:-36.35 [[ 8.29552787e-01 5.55409111e-01 5.79904655e-02 6.69052895e+02] [-5.53961682e-01 8.31576480e-01 -4.00875666e-02 -3.55201767e+02] [-7.04885068e-02 1.13025678e-03 9.97511951e-01 -3.63546139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.11, Y:-355.24, Z:-36.36 [[ 8.30621605e-01 5.53810001e-01 5.79847641e-02 6.69105440e+02] [-5.52358101e-01 8.32642093e-01 -4.00958117e-02 -3.55237114e+02] [-7.04860168e-02 1.27609330e-03 9.97511951e-01 -3.63580488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.16, Y:-355.27, Z:-36.36 [[ 8.32736044e-01 5.50626706e-01 5.79733753e-02 6.69157878e+02] [-5.49165937e-01 8.34750130e-01 -4.01122717e-02 -3.55270446e+02] [-7.04801705e-02 1.56593146e-03 9.97511952e-01 -3.63628011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.21, Y:-355.30, Z:-36.37 [[ 8.33034175e-01 5.50176672e-01 5.79628611e-02 6.69209636e+02] [-5.48713760e-01 8.35046703e-01 -4.01274591e-02 -3.55304426e+02] [-7.04788880e-02 1.62252537e-03 9.97511952e-01 -3.63687485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.26, Y:-355.33, Z:-36.38 [[ 8.32222421e-01 5.51404963e-01 5.79517818e-02 6.69264438e+02] [-5.49943908e-01 8.34236298e-01 -4.01434534e-02 -3.55333242e+02] [-7.04807793e-02 1.53805262e-03 9.97511952e-01 -3.63764834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.32, Y:-355.37, Z:-36.38 [[ 8.27100430e-01 5.59059658e-01 5.79411610e-02 6.69317080e+02] [-5.57616172e-01 8.29126937e-01 -4.01587772e-02 -3.55365813e+02] [-7.04917295e-02 9.06413488e-04 9.97511952e-01 -3.63786937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.37, Y:-355.40, Z:-36.38 [[ 8.23365408e-01 5.64547188e-01 5.79299444e-02 6.69369954e+02] [-5.63116071e-01 8.25400669e-01 -4.01749508e-02 -3.55399915e+02] [-7.04960703e-02 4.57382041e-04 9.97511952e-01 -3.63823971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.42, Y:-355.43, Z:-36.39 [[ 8.18214166e-01 5.71988695e-01 5.79181427e-02 6.69424818e+02] [-5.70574885e-01 8.20261487e-01 -4.01919575e-02 -3.55430819e+02] [-7.04973672e-02 -1.61008701e-04 9.97511952e-01 -3.63892967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.48, Y:-355.46, Z:-36.39 [[ 8.11908669e-01 5.80905478e-01 5.79062969e-02 6.69477350e+02] [-5.79512934e-01 8.13970512e-01 -4.02090171e-02 -3.55464466e+02] [-7.04916564e-02 -9.11398420e-04 9.97511953e-01 -3.63885935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.53, Y:-355.50, Z:-36.39 [[ 8.09774227e-01 5.83878214e-01 5.78958714e-02 6.69530248e+02] [-5.82492166e-01 8.11840443e-01 -4.02240229e-02 -3.55497196e+02] [-7.04881405e-02 -1.15151449e-03 9.97511953e-01 -3.63934428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.58, Y:-355.53, Z:-36.39 [[ 8.05663853e-01 5.89537984e-01 5.78854125e-02 6.69581511e+02] [-5.88165367e-01 8.07739016e-01 -4.02390684e-02 -3.55531219e+02] [-7.04787654e-02 -1.62703206e-03 9.97511953e-01 -3.63939816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.63, Y:-355.56, Z:-36.40 [[ 8.03957201e-01 5.91864177e-01 5.78758546e-02 6.69633930e+02] [-5.90496575e-01 8.06035673e-01 -4.02528109e-02 -3.55563340e+02] [-7.04742002e-02 -1.81395668e-03 9.97511953e-01 -3.63988292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.69, Y:-355.60, Z:-36.40 [[ 8.03381297e-01 5.92646679e-01 5.78654120e-02 6.69685559e+02] [-5.91280022e-01 8.05460389e-01 -4.02678171e-02 -3.55597671e+02] [-7.04728853e-02 -1.86425093e-03 9.97511953e-01 -3.64046144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.74, Y:-355.63, Z:-36.41 [[ 8.04055682e-01 5.91732399e-01 5.78552338e-02 6.69736249e+02] [-5.90362327e-01 8.06132525e-01 -4.02824355e-02 -3.55632963e+02] [-7.04754079e-02 -1.76622928e-03 9.97511954e-01 -3.64108716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.79, Y:-355.67, Z:-36.42 [[ 8.06556186e-01 5.88320502e-01 5.78455247e-02 6.69786673e+02] [-5.86940644e-01 8.08626541e-01 -4.02963729e-02 -3.55670547e+02] [-7.04826089e-02 -1.45060073e-03 9.97511954e-01 -3.64150256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.84, Y:-355.71, Z:-36.42 [[ 8.09297622e-01 5.84544778e-01 5.78339148e-02 6.69836947e+02] [-5.83154070e-01 8.11360703e-01 -4.03130287e-02 -3.55708354e+02] [-7.04889362e-02 -1.10084457e-03 9.97511954e-01 -3.64194358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.89, Y:-355.75, Z:-36.42 [[ 8.14785779e-01 5.76871479e-01 5.78224107e-02 6.69885757e+02] [-5.75460168e-01 8.16834821e-01 -4.03295228e-02 -3.55748355e+02] [-7.04963099e-02 -4.14572493e-04 9.97511954e-01 -3.64234262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.93, Y:-355.79, Z:-36.43 [[ 8.18845670e-01 5.71095135e-01 5.78110353e-02 6.69934805e+02] [-5.69668218e-01 8.20883875e-01 -4.03458224e-02 -3.55786331e+02] [-7.04974496e-02 1.03892510e-04 9.97511954e-01 -3.64285950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:669.98, Y:-355.83, Z:-36.43 [[ 8.23980866e-01 5.63661804e-01 5.78005409e-02 6.69983138e+02] [-5.62215447e-01 8.26005323e-01 -4.03608514e-02 -3.55826183e+02] [-7.04934247e-02 7.60212374e-04 9.97511954e-01 -3.64318996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.03, Y:-355.87, Z:-36.44 [[ 8.26422464e-01 5.60077056e-01 5.77893021e-02 6.70031944e+02] [-5.58620793e-01 8.28439806e-01 -4.03769368e-02 -3.55865189e+02] [-7.04891542e-02 1.08610180e-03 9.97511955e-01 -3.64362397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.08, Y:-355.90, Z:-36.44 [[ 8.26747645e-01 5.59598082e-01 5.77781796e-02 6.70081309e+02] [-5.58139539e-01 8.28763339e-01 -4.03928466e-02 -3.55901751e+02] [-7.04881966e-02 1.14640425e-03 9.97511955e-01 -3.64419132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.13, Y:-355.94, Z:-36.45 [[ 8.24606940e-01 5.62748183e-01 5.77743655e-02 6.70130024e+02] [-5.61296959e-01 8.26627909e-01 -4.03983012e-02 -3.55939148e+02] [-7.04919736e-02 8.84143866e-04 9.97511955e-01 -3.64456966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.18, Y:-355.98, Z:-36.45 [[ 8.22612912e-01 5.65660026e-01 5.77644567e-02 6.70179181e+02] [-5.64214961e-01 8.24638290e-01 -4.04124647e-02 -3.55977378e+02] [-7.04944986e-02 6.52244578e-04 9.97511955e-01 -3.64503205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.23, Y:-356.01, Z:-36.45 [[ 8.20680038e-01 5.68461059e-01 5.77607112e-02 6.70228415e+02] [-5.67022531e-01 8.22710064e-01 -4.04178173e-02 -3.56013711e+02] [-7.04962736e-02 4.18471242e-04 9.97511955e-01 -3.64535479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.28, Y:-356.05, Z:-36.46 [[ 8.18044775e-01 5.72247822e-01 5.77509868e-02 6.70278864e+02] [-5.70817710e-01 8.20080739e-01 -4.04317072e-02 -3.56052021e+02] [-7.04974283e-02 1.09660803e-04 9.97511955e-01 -3.64565008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.33, Y:-356.09, Z:-36.46 [[ 8.16443168e-01 5.74531699e-01 5.77397670e-02 6.70328919e+02] [-5.73106150e-01 8.18482329e-01 -4.04477237e-02 -3.56087818e+02] [-7.04974784e-02 -6.77479084e-05 9.97511955e-01 -3.64601804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.38, Y:-356.13, Z:-36.46 [[ 8.14921973e-01 5.76688343e-01 5.77298357e-02 6.70378862e+02] [-5.75267186e-01 8.16964197e-01 -4.04618934e-02 -3.56125245e+02] [-7.04971111e-02 -2.36794222e-04 9.97511955e-01 -3.64632675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.43, Y:-356.16, Z:-36.47 [[ 8.14341583e-01 5.77508768e-01 5.77183585e-02 6.70429778e+02] [-5.76088509e-01 8.16384432e-01 -4.04782588e-02 -3.56162392e+02] [-7.04969187e-02 -2.87753729e-04 9.97511956e-01 -3.64669713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:670.48, Y:-356.20, Z:-36.48 [[ 8.14553689e-01 5.77210705e-01 5.77069259e-02 6.70480370e+02] [-5.75788545e-01 8.16595214e-01 -4.04945510e-02 -3.56197769e+02] [-7.04970878e-02 -2.42000949e-04 9.97511956e-01 -3.64783895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.53, Y:-356.23, Z:-36.49 [[ 8.15134858e-01 5.76390884e-01 5.76949951e-02 6.70532566e+02] [-5.74965468e-01 8.17174110e-01 -4.05115424e-02 -3.56231633e+02] [-7.04973400e-02 -1.50259481e-04 9.97511956e-01 -3.64872069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:670.58, Y:-356.27, Z:-36.49 [[ 8.13719998e-01 5.78388025e-01 5.76806407e-02 6.70583118e+02] [-5.76966166e-01 8.15761732e-01 -4.05319701e-02 -3.56269734e+02] [-7.04968655e-02 -2.98103418e-04 9.97511956e-01 -3.64910462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.64, Y:-356.30, Z:-36.50 [[ 8.13278660e-01 5.79009027e-01 5.76746673e-02 6.70635974e+02] [-5.77588123e-01 8.15321060e-01 -4.05404681e-02 -3.56302888e+02] [-7.04966678e-02 -3.41505215e-04 9.97511956e-01 -3.64984240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.69, Y:-356.34, Z:-36.50 [[ 8.12534590e-01 5.80054114e-01 5.76607675e-02 6.70686865e+02] [-5.78634435e-01 8.14577841e-01 -4.05602282e-02 -3.56338946e+02] [-7.04963107e-02 -4.07917177e-04 9.97511957e-01 -3.65028914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.73, Y:-356.38, Z:-36.50 [[ 8.09680139e-01 5.84033117e-01 5.76488496e-02 6.70733976e+02] [-5.82622273e-01 8.11729500e-01 -4.05771602e-02 -3.56378259e+02] [-7.04936772e-02 -7.32983136e-04 9.97511957e-01 -3.64990156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:670.79, Y:-356.41, Z:-36.50 [[ 8.08501690e-01 5.85664344e-01 5.76393448e-02 6.70785849e+02] [-5.84256672e-01 8.10553231e-01 -4.05906572e-02 -3.56413866e+02] [-7.04922577e-02 -8.58556803e-04 9.97511957e-01 -3.65031810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.84, Y:-356.45, Z:-36.51 [[ 8.07596178e-01 5.86913459e-01 5.76281634e-02 6.70837710e+02] [-5.85507829e-01 8.09649117e-01 -4.06065256e-02 -3.56449232e+02] [-7.04911081e-02 -9.48065927e-04 9.97511957e-01 -3.65066640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.89, Y:-356.48, Z:-36.51 [[ 8.06488139e-01 5.88436225e-01 5.76167656e-02 6.70889371e+02] [-5.87033316e-01 8.08542939e-01 -4.06226917e-02 -3.56484081e+02] [-7.04894923e-02 -1.06124197e-03 9.97511957e-01 -3.65097036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.94, Y:-356.51, Z:-36.52 [[ 8.08659855e-01 5.85449148e-01 5.76067243e-02 6.70943063e+02] [-5.84037634e-01 8.10708753e-01 -4.06369262e-02 -3.56514296e+02] [-7.04931294e-02 -7.83044099e-04 9.97511958e-01 -3.65228040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:670.99, Y:-356.55, Z:-36.52 [[ 8.04174792e-01 5.91595790e-01 5.75962200e-02 6.70990235e+02] [-5.90198869e-01 8.06233667e-01 -4.06518088e-02 -3.56553841e+02] [-7.04854507e-02 -1.30206402e-03 9.97511958e-01 -3.65187886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.04, Y:-356.59, Z:-36.53 [[ 8.04491807e-01 5.91165556e-01 5.75866196e-02 6.71042061e+02] [-5.89766561e-01 8.06549273e-01 -4.06654041e-02 -3.56586175e+02] [-7.04864324e-02 -1.24767818e-03 9.97511958e-01 -3.65312901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.10, Y:-356.62, Z:-36.54 [[ 8.05161033e-01 5.90254347e-01 5.75805229e-02 6.71095207e+02] [-5.88852407e-01 8.07216493e-01 -4.06740349e-02 -3.56619839e+02] [-7.04879737e-02 -1.15728151e-03 9.97511958e-01 -3.65371277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.15, Y:-356.66, Z:-36.54 [[ 8.04383493e-01 5.91314828e-01 5.75671033e-02 6.71146218e+02] [-5.89914238e-01 8.06439873e-01 -4.06930192e-02 -3.56655522e+02] [-7.04867932e-02 -1.22686098e-03 9.97511958e-01 -3.65429172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.19, Y:-356.70, Z:-36.54 [[ 8.03372376e-01 5.92688360e-01 5.75615712e-02 6.71193342e+02] [-5.91290726e-01 8.05430766e-01 -4.07008431e-02 -3.56696156e+02] [-7.04847763e-02 -1.33769017e-03 9.97511958e-01 -3.65397373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.24, Y:-356.73, Z:-36.54 [[ 8.06436164e-01 5.88513926e-01 5.75506005e-02 6.71241621e+02] [-5.87104530e-01 8.08486518e-01 -4.07163497e-02 -3.56734260e+02] [-7.04910234e-02 -9.53081371e-04 9.97511958e-01 -3.65446031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.29, Y:-356.77, Z:-36.55 [[ 8.11448656e-01 5.81583720e-01 5.75452422e-02 6.71293227e+02] [-5.80156273e-01 8.13486485e-01 -4.07239213e-02 -3.56768443e+02] [-7.04966464e-02 -3.39861973e-04 9.97511959e-01 -3.65528485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.34, Y:-356.81, Z:-36.55 [[ 8.15389902e-01 5.76045328e-01 5.75420545e-02 6.71343100e+02] [-5.74603722e-01 8.17417738e-01 -4.07284250e-02 -3.56807197e+02] [-7.04973150e-02 1.45667825e-04 9.97511959e-01 -3.65538886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.39, Y:-356.85, Z:-36.55 [[ 8.15451140e-01 5.75959876e-01 5.75296435e-02 6.71391181e+02] [-5.74516820e-01 8.17477945e-01 -4.07459482e-02 -3.56845761e+02] [-7.04972460e-02 1.74582136e-04 9.97511959e-01 -3.65531742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.44, Y:-356.88, Z:-36.56 [[ 8.20365063e-01 5.68939928e-01 5.75197468e-02 6.71443751e+02] [-5.67478551e-01 8.22378698e-01 -4.07599143e-02 -3.56877510e+02] [-7.04929572e-02 7.96787088e-04 9.97511959e-01 -3.65630301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.50, Y:-356.91, Z:-36.57 [[ 8.23235062e-01 5.64780236e-01 5.75092917e-02 6.71495300e+02] [-5.63307655e-01 8.25240518e-01 -4.07746603e-02 -3.56911918e+02] [-7.04877200e-02 1.17170571e-03 9.97511959e-01 -3.65671064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.54, Y:-356.95, Z:-36.57 [[ 8.23782594e-01 5.63982435e-01 5.74982711e-02 6.71543818e+02] [-5.62506829e-01 8.25785824e-01 -4.07901951e-02 -3.56949525e+02] [-7.04862108e-02 1.25908250e-03 9.97511959e-01 -3.65677037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.60, Y:-356.98, Z:-36.57 [[ 8.29304753e-01 5.55831497e-01 5.74888957e-02 6.71597818e+02] [-5.54335294e-01 8.31292647e-01 -4.08034044e-02 -3.56980467e+02] [-7.04699136e-02 1.97033337e-03 9.97511959e-01 -3.65737025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.65, Y:-357.01, Z:-36.58 [[ 8.32109873e-01 5.51624312e-01 5.74785044e-02 6.71651597e+02] [-5.50117050e-01 8.34089395e-01 -4.08180371e-02 -3.57012006e+02] [-7.04584326e-02 2.34518632e-03 9.97511960e-01 -3.65781580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.70, Y:-357.05, Z:-36.58 [[ 8.30489547e-01 5.54061885e-01 5.74677362e-02 6.71702737e+02] [-5.52559387e-01 8.32472687e-01 -4.08331920e-02 -3.57046124e+02] [-7.04644361e-02 2.15720200e-03 9.97511960e-01 -3.65790376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.76, Y:-357.08, Z:-36.58 [[ 8.28992527e-01 5.56299865e-01 5.74617289e-02 6.71755921e+02] [-5.54802136e-01 8.30979272e-01 -4.08416439e-02 -3.57078356e+02] [-7.04697066e-02 1.97752764e-03 9.97511960e-01 -3.65822741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.81, Y:-357.11, Z:-36.59 [[ 8.25295875e-01 5.61770475e-01 5.74512990e-02 6.71808747e+02] [-5.60284899e-01 8.27291722e-01 -4.08563102e-02 -3.57111483e+02] [-7.04808529e-02 1.52944903e-03 9.97511960e-01 -3.65852310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.87, Y:-357.14, Z:-36.59 [[ 8.16842318e-01 5.73994056e-01 5.74408532e-02 6.71865698e+02] [-5.72537323e-01 8.18859314e-01 -4.08709909e-02 -3.57139117e+02] [-7.04956835e-02 4.98122586e-04 9.97511960e-01 -3.65892301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.92, Y:-357.17, Z:-36.60 [[ 8.14195079e-01 5.77744150e-01 5.74288304e-02 6.71919681e+02] [-5.76295516e-01 8.16217900e-01 -4.08878775e-02 -3.57168322e+02] [-7.04971714e-02 1.94731204e-04 9.97511960e-01 -3.65989260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.97, Y:-357.20, Z:-36.60 [[ 8.08444439e-01 5.85764990e-01 5.74192163e-02 6.71971944e+02] [-5.84335466e-01 8.10480808e-01 -4.09013743e-02 -3.57203296e+02] [-7.04957659e-02 -4.85595899e-04 9.97511960e-01 -3.65983103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.03, Y:-357.23, Z:-36.61 [[ 8.09194154e-01 5.84729353e-01 5.74143249e-02 6.72025824e+02] [-5.83296736e-01 8.11228349e-01 -4.09082393e-02 -3.57231429e+02] [-7.04963763e-02 -3.86880228e-04 9.97511960e-01 -3.66067875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.08, Y:-357.27, Z:-36.61 [[ 8.07290153e-01 5.87355639e-01 5.74104830e-02 6.72076866e+02] [-5.85929255e-01 8.09328723e-01 -4.09136304e-02 -3.57267686e+02] [-7.04948044e-02 -6.09310643e-04 9.97511961e-01 -3.66055150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.13, Y:-357.30, Z:-36.62 [[ 8.07338767e-01 5.87289849e-01 5.73998998e-02 6.72128986e+02] [-5.85862244e-01 8.09376483e-01 -4.09284726e-02 -3.57298124e+02] [-7.04950056e-02 -5.85291503e-04 9.97511961e-01 -3.66153870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.18, Y:-357.33, Z:-36.62 [[ 8.06439129e-01 5.88525047e-01 5.73951151e-02 6.72180391e+02] [-5.87100086e-01 8.08478695e-01 -4.09351813e-02 -3.57331881e+02] [-7.04941073e-02 -6.84945038e-04 9.97511961e-01 -3.66210822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.23, Y:-357.37, Z:-36.63 [[ 8.06078141e-01 5.89020087e-01 5.73878713e-02 6.72232176e+02] [-5.87595656e-01 8.08118076e-01 -4.09453340e-02 -3.57367791e+02] [-7.04938004e-02 -7.15725208e-04 9.97511961e-01 -3.66270765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.28, Y:-357.40, Z:-36.63 [[ 8.07110503e-01 5.87605797e-01 5.73765056e-02 6.72282949e+02] [-5.86176660e-01 8.09147143e-01 -4.09612546e-02 -3.57403079e+02] [-7.04951062e-02 -5.72509611e-04 9.97511961e-01 -3.66346228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.33, Y:-357.44, Z:-36.64 [[ 8.10842504e-01 5.82446157e-01 5.73664348e-02 6.72332954e+02] [-5.81003061e-01 8.12869278e-01 -4.09753539e-02 -3.57441447e+02] [-7.04973499e-02 -1.05515665e-04 9.97511961e-01 -3.66390526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.38, Y:-357.48, Z:-36.64 [[ 8.15945003e-01 5.75277483e-01 5.73547735e-02 6.72382526e+02] [-5.73815434e-01 8.17958147e-01 -4.09916703e-02 -3.57479662e+02] [-7.04953891e-02 5.35894278e-04 9.97511961e-01 -3.66402544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.43, Y:-357.52, Z:-36.64 [[ 8.18664986e-01 5.71401306e-01 5.73427290e-02 6.72431692e+02] [-5.69928547e-01 8.20670308e-01 -4.10085123e-02 -3.57517934e+02] [-7.04917925e-02 8.90974969e-04 9.97511962e-01 -3.66437430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.48, Y:-357.56, Z:-36.65 [[ 8.21544354e-01 5.67254699e-01 5.73322052e-02 6.72479551e+02] [-5.65770793e-01 8.23541441e-01 -4.10232198e-02 -3.57555320e+02] [-7.04860611e-02 1.26550740e-03 9.97511962e-01 -3.66483696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.53, Y:-357.59, Z:-36.65 [[ 8.22217906e-01 5.66278541e-01 5.73265068e-02 6.72528532e+02] [-5.64791710e-01 8.24212816e-01 -4.10311813e-02 -3.57591175e+02] [-7.04843192e-02 1.35903614e-03 9.97511962e-01 -3.66546567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.58, Y:-357.63, Z:-36.66 [[ 8.21022967e-01 5.68010584e-01 5.73172156e-02 6.72579226e+02] [-5.66527056e-01 8.23020335e-01 -4.10441563e-02 -3.57628400e+02] [-7.04867492e-02 1.22644154e-03 9.97511962e-01 -3.66594940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.63, Y:-357.66, Z:-36.67 [[ 8.20120996e-01 5.69313293e-01 5.73055605e-02 6.72629893e+02] [-5.67831801e-01 8.22119874e-01 -4.10604226e-02 -3.57662901e+02] [-7.04882846e-02 1.13459504e-03 9.97511962e-01 -3.66665446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.68, Y:-357.70, Z:-36.67 [[ 8.14564094e-01 5.77236978e-01 5.72957961e-02 6.72678751e+02] [-5.75773976e-01 8.16576544e-01 -4.10740435e-02 -3.57700140e+02] [-7.04958599e-02 4.68012693e-04 9.97511962e-01 -3.66681008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.73, Y:-357.74, Z:-36.67 [[ 8.10183993e-01 5.83369687e-01 5.72861738e-02 6.72729869e+02] [-5.81920970e-01 8.12206751e-01 -4.10874593e-02 -3.57736540e+02] [-7.04973954e-02 -4.76240278e-05 9.97511962e-01 -3.66718093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.78, Y:-357.77, Z:-36.68 [[ 8.03355301e-01 5.92739303e-01 5.72745947e-02 6.72779336e+02] [-5.91313024e-01 8.05393942e-01 -4.11035940e-02 -3.57771730e+02] [-7.04923272e-02 -8.46423663e-04 9.97511963e-01 -3.66753237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.83, Y:-357.81, Z:-36.68 [[ 7.96650029e-01 6.01722039e-01 5.72653381e-02 6.72830299e+02] [-6.00317814e-01 7.98703923e-01 -4.11164861e-02 -3.57808287e+02] [-7.04787461e-02 -1.62195276e-03 9.97511963e-01 -3.66787346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.88, Y:-357.85, Z:-36.68 [[ 7.92406407e-01 6.07300642e-01 5.72539673e-02 6.72881312e+02] [-6.05909730e-01 7.94469340e-01 -4.11323138e-02 -3.57845544e+02] [-7.04662021e-02 -2.09722691e-03 9.97511963e-01 -3.66827516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.93, Y:-357.88, Z:-36.69 [[ 7.88044697e-01 6.12950943e-01 5.72424374e-02 6.72932210e+02] [-6.11573654e-01 7.90116750e-01 -4.11483533e-02 -3.57882883e+02] [-7.04501305e-02 -2.58122499e-03 9.97511963e-01 -3.66881697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:672.98, Y:-357.92, Z:-36.69 [[ 7.86902503e-01 6.14417672e-01 5.72308834e-02 6.72982096e+02] [-6.13043079e-01 7.88976345e-01 -4.11644168e-02 -3.57920764e+02] [-7.04459584e-02 -2.69261439e-03 9.97511963e-01 -3.66932914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.03, Y:-357.96, Z:-36.70 [[ 7.88246310e-01 6.12693802e-01 5.72194017e-02 6.73031589e+02] [-6.11313517e-01 7.90316368e-01 -4.11803704e-02 -3.57958645e+02] [-7.04523874e-02 -2.51871871e-03 9.97511963e-01 -3.66988983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.08, Y:-358.00, Z:-36.70 [[ 7.93028610e-01 6.06492280e-01 5.72078514e-02 6.73079864e+02] [-6.05094645e-01 7.95086993e-01 -4.11964099e-02 -3.57999061e+02] [-7.04705231e-02 -1.94623287e-03 9.97511964e-01 -3.67047983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.13, Y:-358.04, Z:-36.71 [[ 7.98775911e-01 5.98903702e-01 5.71961502e-02 6.73127966e+02] [-5.97485343e-01 8.00820069e-01 -4.12126492e-02 -3.58039655e+02] [-7.04862331e-02 -1.25418999e-03 9.97511964e-01 -3.67099317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.18, Y:-358.08, Z:-36.72 [[ 8.03757651e-01 5.92202296e-01 5.71846006e-02 6.73175380e+02] [-5.90765751e-01 8.05789070e-01 -4.12286686e-02 -3.58079453e+02] [-7.04944383e-02 -6.44845632e-04 9.97511964e-01 -3.67152103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.22, Y:-358.12, Z:-36.72 [[ 8.06439790e-01 5.88545668e-01 5.71739611e-02 6.73223655e+02] [-5.87098866e-01 8.08463915e-01 -4.12434178e-02 -3.58118554e+02] [-7.04967193e-02 -3.06434516e-04 9.97511964e-01 -3.67200088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.27, Y:-358.16, Z:-36.72 [[ 8.10353713e-01 5.83145942e-01 5.71635434e-02 6.73271808e+02] [-5.81684633e-01 8.12367391e-01 -4.12578516e-02 -3.58159913e+02] [-7.04971474e-02 1.82298495e-04 9.97511964e-01 -3.67241484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.32, Y:-358.20, Z:-36.72 [[ 8.11946439e-01 5.80927444e-01 5.71514145e-02 6.73317805e+02] [-5.79459452e-01 8.13955249e-01 -4.12746461e-02 -3.58202862e+02] [-7.04962685e-02 3.95874583e-04 9.97511965e-01 -3.67217365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.37, Y:-358.24, Z:-36.73 [[ 8.15097064e-01 5.76498854e-01 5.71476070e-02 6.73367840e+02] [-5.75019578e-01 8.17097579e-01 -4.12799173e-02 -3.58237810e+02] [-7.04929963e-02 7.86146537e-04 9.97511965e-01 -3.67295363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.42, Y:-358.28, Z:-36.73 [[ 8.15052231e-01 5.76563215e-01 5.71377193e-02 6.73417354e+02] [-5.75083138e-01 8.17052154e-01 -4.12935988e-02 -3.58276432e+02] [-7.04928667e-02 7.97500943e-04 9.97511965e-01 -3.67333028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.47, Y:-358.31, Z:-36.74 [[ 8.12405719e-01 5.80287473e-01 5.71261442e-02 6.73467306e+02] [-5.78815439e-01 8.14411569e-01 -4.13096058e-02 -3.58313422e+02] [-7.04956395e-02 4.94665738e-04 9.97511965e-01 -3.67391771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.52, Y:-358.35, Z:-36.74 [[ 8.09804136e-01 5.83913664e-01 5.71147472e-02 6.73516942e+02] [-5.82449501e-01 8.11815739e-01 -4.13253573e-02 -3.58350377e+02] [-7.04970915e-02 1.98989206e-04 9.97511965e-01 -3.67443241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.57, Y:-358.39, Z:-36.75 [[ 8.06508732e-01 5.88457920e-01 5.71046612e-02 6.73565852e+02] [-5.87004105e-01 8.08527825e-01 -4.13392898e-02 -3.58387778e+02] [-7.04971400e-02 -1.80172338e-04 9.97511965e-01 -3.67493902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.62, Y:-358.43, Z:-36.75 [[ 8.05397327e-01 5.89979106e-01 5.70946625e-02 6.73616178e+02] [-5.88528125e-01 8.07418459e-01 -4.13530946e-02 -3.58425854e+02] [-7.04967462e-02 -2.96142887e-04 9.97511965e-01 -3.67532048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.66, Y:-358.46, Z:-36.76 [[ 8.05858404e-01 5.89350291e-01 5.70829801e-02 6.73664494e+02] [-5.87896592e-01 8.07877581e-01 -4.13692146e-02 -3.58463803e+02] [-7.04970185e-02 -2.21160213e-04 9.97511966e-01 -3.67577396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.71, Y:-358.50, Z:-36.76 [[ 8.07194975e-01 5.87519393e-01 5.70721936e-02 6.73713194e+02] [-5.86060062e-01 8.09210084e-01 -4.13840900e-02 -3.58501541e+02] [-7.04973501e-02 -4.27038220e-05 9.97511966e-01 -3.67608435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.76, Y:-358.54, Z:-36.76 [[ 8.08073982e-01 5.86310792e-01 5.70621995e-02 6.73763017e+02] [-5.84847474e-01 8.10086198e-01 -4.13978658e-02 -3.58540237e+02] [-7.04973157e-02 7.98550550e-05 9.97511966e-01 -3.67642720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.81, Y:-358.57, Z:-36.77 [[ 8.09766836e-01 5.83971701e-01 5.70501839e-02 6.73814318e+02] [-5.82501405e-01 8.11773958e-01 -4.14144177e-02 -3.58574035e+02] [-7.04967016e-02 3.04209723e-04 9.97511966e-01 -3.67701026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.86, Y:-358.61, Z:-36.78 [[ 8.11984475e-01 5.80885322e-01 5.70390741e-02 6.73864930e+02] [-5.79406322e-01 8.13985192e-01 -4.14297135e-02 -3.58610588e+02] [-7.04948741e-02 5.91484001e-04 9.97511966e-01 -3.67753270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.92, Y:-358.65, Z:-36.78 [[ 8.15963643e-01 5.75283523e-01 5.70280800e-02 6.73915455e+02] [-5.73789732e-01 8.17953342e-01 -4.14448413e-02 -3.58647240e+02] [-7.04888429e-02 1.09535692e-03 9.97511966e-01 -3.67829161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:673.97, Y:-358.68, Z:-36.79 [[ 8.21543817e-01 5.67287353e-01 5.70159333e-02 6.73968661e+02] [-5.65773044e-01 8.23517944e-01 -4.14615448e-02 -3.58678696e+02] [-7.04742542e-02 1.80439764e-03 9.97511967e-01 -3.67923409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.02, Y:-358.71, Z:-36.79 [[ 8.23768536e-01 5.64052514e-01 5.70101780e-02 6.74017974e+02] [-5.62529907e-01 8.25736270e-01 -4.14694570e-02 -3.58714499e+02] [-7.04663232e-02 2.09130372e-03 9.97511967e-01 -3.67923634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.07, Y:-358.75, Z:-36.80 [[ 8.27467630e-01 5.58612439e-01 5.70040698e-02 6.74069363e+02] [-5.57076322e-01 8.29424836e-01 -4.14778516e-02 -3.58747969e+02] [-7.04506351e-02 2.56596199e-03 9.97511967e-01 -3.67978608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.12, Y:-358.78, Z:-36.80 [[ 8.27541218e-01 5.58504365e-01 5.69947884e-02 6.74122293e+02] [-5.56967117e-01 8.29497535e-01 -4.14906013e-02 -3.58779966e+02] [-7.04497185e-02 2.59095980e-03 9.97511967e-01 -3.68019193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.18, Y:-358.81, Z:-36.81 [[ 8.25286657e-01 5.61831540e-01 5.69846867e-02 6.74175479e+02] [-5.60301224e-01 8.27248401e-01 -4.15044708e-02 -3.58814190e+02] [-7.04590117e-02 2.32449625e-03 9.97511967e-01 -3.68064819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.23, Y:-358.85, Z:-36.81 [[ 8.18299056e-01 5.71962157e-01 5.69732018e-02 6.74228873e+02] [-5.70455043e-01 8.20278681e-01 -4.15202302e-02 -3.58847477e+02] [-7.04819032e-02 1.47531490e-03 9.97511967e-01 -3.68088896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.28, Y:-358.88, Z:-36.81 [[ 8.08662476e-01 5.85508640e-01 5.69616862e-02 6.74282679e+02] [-5.84033586e-01 8.10666103e-01 -4.15360224e-02 -3.58878087e+02] [-7.04966081e-02 3.21084882e-04 9.97511967e-01 -3.68130992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.34, Y:-358.91, Z:-36.82 [[ 8.01908743e-01 5.94725459e-01 5.69560868e-02 6.74335431e+02] [-5.93272888e-01 8.03928729e-01 -4.15436992e-02 -3.58912680e+02] [-7.04957300e-02 -4.76246523e-04 9.97511967e-01 -3.68171775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.39, Y:-358.95, Z:-36.82 [[ 7.93943122e-01 6.05319456e-01 5.69444909e-02 6.74386882e+02] [-6.03892692e-01 7.95981418e-01 -4.15595877e-02 -3.58947737e+02] [-7.04835837e-02 -1.39241310e-03 9.97511968e-01 -3.68186019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.44, Y:-358.98, Z:-36.82 [[ 7.90397748e-01 6.09942533e-01 5.69342273e-02 6.74436409e+02] [-6.08526677e-01 7.92443635e-01 -4.15736436e-02 -3.58984865e+02] [-7.04746995e-02 -1.78628194e-03 9.97511968e-01 -3.68228816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.49, Y:-359.02, Z:-36.83 [[ 7.88707840e-01 6.12126536e-01 5.69301978e-02 6.74488427e+02] [-6.10715947e-01 7.90757362e-01 -4.15791608e-02 -3.59019159e+02] [-7.04696807e-02 -1.97436955e-03 9.97511968e-01 -3.68252652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.54, Y:-359.06, Z:-36.83 [[ 7.88768376e-01 6.12049654e-01 5.69181042e-02 6.74538320e+02] [-6.10637672e-01 7.90816939e-01 -4.15957092e-02 -3.59055557e+02] [-7.04704404e-02 -1.94695867e-03 9.97511968e-01 -3.68329812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.59, Y:-359.09, Z:-36.84 [[ 7.92154684e-01 6.07661482e-01 5.69076395e-02 6.74586806e+02] [-6.06237122e-01 7.94194660e-01 -4.16100213e-02 -3.59094624e+02] [-7.04805506e-02 -1.53795030e-03 9.97511968e-01 -3.68411412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.63, Y:-359.13, Z:-36.85 [[ 7.96378358e-01 6.02116000e-01 5.69019695e-02 6.74633640e+02] [-6.00676878e-01 7.98407946e-01 -4.16177736e-02 -3.59133568e+02] [-7.04897120e-02 -1.03620325e-03 9.97511968e-01 -3.68479494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.68, Y:-359.18, Z:-36.85 [[ 8.03771107e-01 5.92212175e-01 5.68924148e-02 6.74677705e+02] [-5.90747117e-01 8.05782054e-01 -4.16308310e-02 -3.59178606e+02] [-7.04971718e-02 -1.47370853e-04 9.97511968e-01 -3.68512140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.73, Y:-359.22, Z:-36.85 [[ 8.11556477e-01 5.81497905e-01 5.68882309e-02 6.74725424e+02] [-5.80005900e-01 8.13547512e-01 -4.16365475e-02 -3.59216226e+02] [-7.04928438e-02 7.94900317e-04 9.97511968e-01 -3.68540401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.77, Y:-359.26, Z:-36.86 [[ 8.24588756e-01 5.62866191e-01 5.68773621e-02 6.74769673e+02] [-5.61328210e-01 8.26544495e-01 -4.16513895e-02 -3.59261249e+02] [-7.04558295e-02 2.41839963e-03 9.97511969e-01 -3.68569783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.82, Y:-359.30, Z:-36.86 [[ 8.29849216e-01 5.55082360e-01 5.68669710e-02 6.74817785e+02] [-5.53525076e-01 8.31789619e-01 -4.16655716e-02 -3.59301509e+02] [-7.04291800e-02 3.09884749e-03 9.97511969e-01 -3.68604185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.87, Y:-359.34, Z:-36.86 [[ 8.33336690e-01 5.49834050e-01 5.68548946e-02 6.74865587e+02] [-5.48263431e-01 8.35266315e-01 -4.16820441e-02 -3.59341681e+02] [-7.04071854e-02 3.56371711e-03 9.97511969e-01 -3.68619574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.92, Y:-359.38, Z:-36.87 [[ 8.33553632e-01 5.49506196e-01 5.68443744e-02 6.74915835e+02] [-5.47933844e-01 8.35481845e-01 -4.16963862e-02 -3.59376182e+02] [-7.04048654e-02 3.60921756e-03 9.97511969e-01 -3.68671071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:674.97, Y:-359.41, Z:-36.87 [[ 8.31696654e-01 5.52313756e-01 5.68347669e-02 6.74967345e+02] [-5.50747023e-01 8.33629436e-01 -4.17094778e-02 -3.59412689e+02] [-7.04158530e-02 3.38805447e-03 9.97511969e-01 -3.68705808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.02, Y:-359.44, Z:-36.88 [[ 8.26749329e-01 5.59693374e-01 5.68231835e-02 6.75020186e+02] [-5.58142822e-01 8.28695115e-01 -4.17252525e-02 -3.59444918e+02] [-7.04424420e-02 2.78087252e-03 9.97511969e-01 -3.68757773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.07, Y:-359.48, Z:-36.88 [[ 8.20638206e-01 5.68616987e-01 5.68124745e-02 6.75074700e+02] [-5.67086597e-01 8.22599889e-01 -4.17398286e-02 -3.59476546e+02] [-7.04679109e-02 2.03570521e-03 9.97511970e-01 -3.68797483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.13, Y:-359.51, Z:-36.88 [[ 8.14329478e-01 5.77616786e-01 5.68009589e-02 6.75128154e+02] [-5.76106993e-01 8.16307057e-01 -4.17554936e-02 -3.59509086e+02] [-7.04856976e-02 1.27929968e-03 9.97511970e-01 -3.68837333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.18, Y:-359.54, Z:-36.89 [[ 8.09479426e-01 5.84395440e-01 5.67893349e-02 6.75180607e+02] [-5.82901101e-01 8.11468709e-01 -4.17712969e-02 -3.59542997e+02] [-7.04937236e-02 7.10439553e-04 9.97511970e-01 -3.68873500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.23, Y:-359.57, Z:-36.90 [[ 8.02473574e-01 5.93980199e-01 5.67775213e-02 6.75233569e+02] [-5.92508486e-01 8.04479653e-01 -4.17873482e-02 -3.59572962e+02] [-7.04972181e-02 -1.07920549e-04 9.97511970e-01 -3.68956570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.29, Y:-359.61, Z:-36.90 [[ 7.96606595e-01 6.01826652e-01 5.67680676e-02 6.75287081e+02] [-6.00373782e-01 7.98626362e-01 -4.18001871e-02 -3.59606270e+02] [-7.04929420e-02 -7.83754719e-04 9.97511970e-01 -3.69006620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.34, Y:-359.64, Z:-36.90 [[ 7.93795610e-01 6.05530543e-01 5.67564214e-02 6.75338131e+02] [-6.04085966e-01 7.95821317e-01 -4.18159945e-02 -3.59641934e+02] [-7.04888319e-02 -1.09240480e-03 9.97511971e-01 -3.69047894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.39, Y:-359.68, Z:-36.91 [[ 7.91832573e-01 6.08096298e-01 5.67456470e-02 6.75389886e+02] [-6.06657238e-01 7.93862202e-01 -4.18306107e-02 -3.59678277e+02] [-7.04852638e-02 -1.30231736e-03 9.97511971e-01 -3.69083520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.44, Y:-359.71, Z:-36.91 [[ 7.90200372e-01 6.10216880e-01 5.67338672e-02 6.75439754e+02] [-6.08782120e-01 7.92233043e-01 -4.18465812e-02 -3.59714503e+02] [-7.04819345e-02 -1.47137989e-03 9.97511971e-01 -3.69144528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.49, Y:-359.75, Z:-36.92 [[ 7.88264689e-01 6.12716315e-01 5.67229826e-02 6.75490739e+02] [-6.11286939e-01 7.90301150e-01 -4.18613300e-02 -3.59751843e+02] [-7.04773583e-02 -1.67621008e-03 9.97511971e-01 -3.69197629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.54, Y:-359.79, Z:-36.93 [[ 7.86610725e-01 6.14839264e-01 5.67119653e-02 6.75540662e+02] [-6.13414309e-01 7.88650281e-01 -4.18762505e-02 -3.59788118e+02] [-7.04730704e-02 -1.84762323e-03 9.97511971e-01 -3.69272078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.59, Y:-359.83, Z:-36.93 [[ 7.86243262e-01 6.15310017e-01 5.67019966e-02 6.75589566e+02] [-6.13885310e-01 7.88282992e-01 -4.18897443e-02 -3.59826489e+02] [-7.04723987e-02 -1.87299357e-03 9.97511971e-01 -3.69342617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.64, Y:-359.87, Z:-36.94 [[ 7.87394202e-01 6.13837416e-01 5.66921395e-02 6.75638114e+02] [-6.12407935e-01 7.89430588e-01 -4.19030802e-02 -3.59865517e+02] [-7.04761875e-02 -1.72447370e-03 9.97511971e-01 -3.69380842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.69, Y:-359.91, Z:-36.94 [[ 7.91737767e-01 6.08225678e-01 5.66818557e-02 6.75685276e+02] [-6.06780765e-01 7.93763233e-01 -4.19169865e-02 -3.59906525e+02] [-7.04869605e-02 -1.20619842e-03 9.97511972e-01 -3.69407896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.73, Y:-359.95, Z:-36.94 [[ 7.98568232e-01 5.99230421e-01 5.66716995e-02 6.75731315e+02] [-5.97761714e-01 8.00576511e-01 -4.19307131e-02 -3.59948414e+02] [-7.04961903e-02 -3.91636828e-04 9.97511972e-01 -3.69430782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.78, Y:-359.99, Z:-36.94 [[ 8.06178595e-01 5.88952916e-01 5.66615890e-02 6.75776466e+02] [-5.87457647e-01 8.08167175e-01 -4.19443712e-02 -3.59990173e+02] [-7.04952960e-02 5.28370546e-04 9.97511972e-01 -3.69448325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.82, Y:-360.03, Z:-36.95 [[ 8.13152307e-01 5.79286977e-01 5.66561857e-02 6.75824089e+02] [-5.77767567e-01 8.15122504e-01 -4.19516684e-02 -3.60031823e+02] [-7.04837871e-02 1.37898936e-03 9.97511972e-01 -3.69489683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.87, Y:-360.07, Z:-36.96 [[ 8.18473757e-01 5.71744794e-01 5.66445043e-02 6.75871070e+02] [-5.70206144e-01 8.20428966e-01 -4.19674351e-02 -3.60071585e+02] [-7.04674546e-02 2.05019997e-03 9.97511972e-01 -3.69553481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.92, Y:-360.11, Z:-36.96 [[ 8.20985523e-01 5.68133177e-01 5.66344900e-02 6.75918233e+02] [-5.66584997e-01 8.22933194e-01 -4.19809449e-02 -3.60111311e+02] [-7.04571693e-02 2.37749567e-03 9.97511972e-01 -3.69590791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:675.97, Y:-360.15, Z:-36.96 [[ 8.21321276e-01 5.67648709e-01 5.66242372e-02 6.75968537e+02] [-5.66098429e-01 8.23267276e-01 -4.19947694e-02 -3.60147010e+02] [-7.04551582e-02 2.43630581e-03 9.97511972e-01 -3.69649876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.02, Y:-360.18, Z:-36.97 [[ 8.19503990e-01 5.70269534e-01 5.66204026e-02 6.76016498e+02] [-5.68725122e-01 8.21454649e-01 -4.19999388e-02 -3.60183851e+02] [-7.04623785e-02 2.21767204e-03 9.97511972e-01 -3.69697306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.07, Y:-360.22, Z:-36.97 [[ 8.16233535e-01 5.74941800e-01 5.66104426e-02 6.76066346e+02] [-5.73407627e-01 8.18192258e-01 -4.20133593e-02 -3.60221852e+02] [-7.04734623e-02 1.83185323e-03 9.97511973e-01 -3.69733778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.12, Y:-360.26, Z:-36.98 [[ 8.11702771e-01 5.81321906e-01 5.65990624e-02 6.76117420e+02] [-5.79802065e-01 8.13672634e-01 -4.20286849e-02 -3.60259024e+02] [-7.04853034e-02 1.29854677e-03 9.97511973e-01 -3.69769561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.17, Y:-360.29, Z:-36.98 [[ 8.06933242e-01 5.87925670e-01 5.65875333e-02 6.76167905e+02] [-5.86420864e-01 8.08914615e-01 -4.20442020e-02 -3.60294559e+02] [-7.04933483e-02 7.42754070e-04 9.97511973e-01 -3.69795116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.22, Y:-360.33, Z:-36.99 [[ 8.03273474e-01 5.92917139e-01 5.65773059e-02 6.76218576e+02] [-5.91423677e-01 8.05263412e-01 -4.20579601e-02 -3.60331725e+02] [-7.04965198e-02 3.22885453e-04 9.97511973e-01 -3.69865535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.27, Y:-360.37, Z:-36.99 [[ 8.00014904e-01 5.97307756e-01 5.65649937e-02 6.76268448e+02] [-5.95824045e-01 8.02012121e-01 -4.20745127e-02 -3.60366527e+02] [-7.04972433e-02 -4.25460871e-05 9.97511973e-01 -3.69909014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.32, Y:-360.40, Z:-36.99 [[ 7.96572346e-01 6.01891677e-01 5.65588806e-02 6.76320726e+02] [-6.00418875e-01 7.98577622e-01 -4.20827286e-02 -3.60401391e+02] [-7.04959005e-02 -4.37081659e-04 9.97511973e-01 -3.69933977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.37, Y:-360.44, Z:-37.00 [[ 7.96355647e-01 6.02179478e-01 5.65469732e-02 6.76371750e+02] [-6.00706265e-01 7.98360621e-01 -4.20987227e-02 -3.60438336e+02] [-7.04958635e-02 -4.42565518e-04 9.97511974e-01 -3.69981554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.42, Y:-360.48, Z:-37.00 [[ 7.97407854e-01 6.00786562e-01 5.65351338e-02 6.76421127e+02] [-5.99308720e-01 7.99409418e-01 -4.21146160e-02 -3.60477376e+02] [-7.04966138e-02 -2.99473106e-04 9.97511974e-01 -3.70018890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.47, Y:-360.51, Z:-37.01 [[ 7.98955133e-01 5.98728487e-01 5.65234029e-02 6.76469851e+02] [-5.97244375e-01 8.00952052e-01 -4.21303547e-02 -3.60514504e+02] [-7.04971790e-02 -9.80212949e-05 9.97511974e-01 -3.70069885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.52, Y:-360.55, Z:-37.01 [[ 7.99508910e-01 5.97989827e-01 5.65125666e-02 6.76519458e+02] [-5.96502844e-01 8.01503691e-01 -4.21448851e-02 -3.60551023e+02] [-7.04972433e-02 -1.46955410e-05 9.97511974e-01 -3.70138703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.57, Y:-360.59, Z:-37.02 [[ 7.99099794e-01 5.98537375e-01 5.65024795e-02 6.76567590e+02] [-5.97050802e-01 8.01094882e-01 -4.21584044e-02 -3.60590080e+02] [-7.04972278e-02 -4.60784091e-05 9.97511974e-01 -3.70170207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.62, Y:-360.63, Z:-37.02 [[ 7.98129614e-01 5.99831471e-01 5.64918172e-02 6.76616784e+02] [-5.98347122e-01 8.00126356e-01 -4.21726869e-02 -3.60626725e+02] [-7.04970967e-02 -1.42445870e-04 9.97511974e-01 -3.70230990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.67, Y:-360.66, Z:-37.02 [[ 7.94739314e-01 6.04317135e-01 5.64820563e-02 6.76665135e+02] [-6.02843127e-01 7.96743702e-01 -4.21857557e-02 -3.60664220e+02] [-7.04952976e-02 -5.23140830e-04 9.97511975e-01 -3.70220774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.71, Y:-360.70, Z:-37.03 [[ 7.92777829e-01 6.06888593e-01 5.64760936e-02 6.76714115e+02] [-6.05420517e-01 7.94786566e-01 -4.21937367e-02 -3.60701919e+02] [-7.04933380e-02 -7.41526766e-04 9.97511975e-01 -3.70284424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.76, Y:-360.74, Z:-37.03 [[ 7.92286513e-01 6.07530221e-01 5.64722159e-02 6.76764596e+02] [-6.06063403e-01 7.94296168e-01 -4.21989260e-02 -3.60739910e+02] [-7.04927875e-02 -7.92103379e-04 9.97511975e-01 -3.70313886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.81, Y:-360.78, Z:-37.03 [[ 7.91877648e-01 6.08064275e-01 5.64590745e-02 6.76813004e+02] [-6.06597559e-01 7.93887378e-01 -4.22165009e-02 -3.60776343e+02] [-7.04924927e-02 -8.17633291e-04 9.97511975e-01 -3.70348467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.86, Y:-360.81, Z:-37.04 [[ 7.93974857e-01 6.05323878e-01 5.64528921e-02 6.76862445e+02] [-6.03849637e-01 7.95979073e-01 -4.22247666e-02 -3.60813335e+02] [-7.04949802e-02 -5.63655392e-04 9.97511975e-01 -3.70428932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.91, Y:-360.85, Z:-37.04 [[ 7.94141695e-01 6.05105565e-01 5.64466423e-02 6.76909720e+02] [-6.03630179e-01 7.96145069e-01 -4.22331197e-02 -3.60852788e+02] [-7.04952117e-02 -5.33815506e-04 9.97511975e-01 -3.70446818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:676.96, Y:-360.89, Z:-37.05 [[ 7.93979195e-01 6.05319399e-01 5.64399117e-02 6.76960313e+02] [-6.03843913e-01 7.95982495e-01 -4.22421125e-02 -3.60890764e+02] [-7.04951519e-02 -5.41538666e-04 9.97511975e-01 -3.70491566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.01, Y:-360.93, Z:-37.05 [[ 7.94934527e-01 6.04065325e-01 5.64285376e-02 6.77009626e+02] [-6.02585601e-01 7.96934699e-01 -4.22573010e-02 -3.60928082e+02] [-7.04960299e-02 -4.11236658e-04 9.97511975e-01 -3.70540486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.06, Y:-360.97, Z:-37.06 [[ 7.95349899e-01 6.03518972e-01 5.64215235e-02 6.77059878e+02] [-6.02037210e-01 7.97348561e-01 -4.22666642e-02 -3.60966731e+02] [-7.04963542e-02 -3.51069438e-04 9.97511975e-01 -3.70557344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.11, Y:-361.00, Z:-37.06 [[ 7.95048879e-01 6.03916548e-01 5.64099566e-02 6.77110020e+02] [-6.02434690e-01 7.97047469e-01 -4.22820960e-02 -3.61002549e+02] [-7.04962706e-02 -3.66981745e-04 9.97511975e-01 -3.70591454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.16, Y:-361.04, Z:-37.06 [[ 7.95124082e-01 6.03818498e-01 5.63996051e-02 6.77160689e+02] [-6.02335414e-01 7.97121763e-01 -4.22958992e-02 -3.61038974e+02] [-7.04963990e-02 -3.40991459e-04 9.97511976e-01 -3.70639999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.21, Y:-361.08, Z:-37.07 [[ 7.95475214e-01 6.03356945e-01 5.63877679e-02 6.77211301e+02] [-6.01871585e-01 7.97471202e-01 -4.23116743e-02 -3.61075831e+02] [-7.04966636e-02 -2.80307015e-04 9.97511976e-01 -3.70676569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.26, Y:-361.11, Z:-37.07 [[ 7.96745641e-01 6.01679419e-01 5.63760667e-02 6.77261473e+02] [-6.00188753e-01 7.98737669e-01 -4.23272593e-02 -3.61111979e+02] [-7.04971289e-02 -1.12221814e-04 9.97511976e-01 -3.70695117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.31, Y:-361.15, Z:-37.07 [[ 7.97600115e-01 6.00547227e-01 5.63656347e-02 6.77313061e+02] [-5.99052752e-01 7.99589287e-01 -4.23411467e-02 -3.61148057e+02] [-7.04972159e-02 5.31493967e-06 9.97511976e-01 -3.70735449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.36, Y:-361.19, Z:-37.08 [[ 7.97506427e-01 6.00672757e-01 5.63536762e-02 6.77363450e+02] [-5.99177471e-01 7.99494990e-01 -4.23570569e-02 -3.61185026e+02] [-7.04972119e-02 1.41719590e-05 9.97511976e-01 -3.70785357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.41, Y:-361.22, Z:-37.08 [[ 7.96821143e-01 6.01582643e-01 5.63417322e-02 6.77414014e+02] [-6.00088503e-01 7.98810567e-01 -4.23729384e-02 -3.61220732e+02] [-7.04971953e-02 -4.63725784e-05 9.97511977e-01 -3.70836410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.47, Y:-361.26, Z:-37.09 [[ 7.95606191e-01 6.03189504e-01 5.63312585e-02 6.77465901e+02] [-6.01698398e-01 7.97597889e-01 -4.23868578e-02 -3.61256177e+02] [-7.04970005e-02 -1.71181488e-04 9.97511977e-01 -3.70886417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.52, Y:-361.29, Z:-37.09 [[ 7.93782746e-01 6.05588207e-01 5.63194087e-02 6.77517448e+02] [-6.04102002e-01 7.95778104e-01 -4.24025967e-02 -3.61291486e+02] [-7.04962648e-02 -3.64217980e-04 9.97511977e-01 -3.70933968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.57, Y:-361.33, Z:-37.10 [[ 7.92289597e-01 6.07541493e-01 5.63074490e-02 6.77567101e+02] [-6.06059079e-01 7.94287773e-01 -4.24184724e-02 -3.61326439e+02] [-7.04953003e-02 -5.17926314e-04 9.97511977e-01 -3.70992441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.62, Y:-361.36, Z:-37.10 [[ 7.90282795e-01 6.10150169e-01 5.63016483e-02 6.77618727e+02] [-6.08673802e-01 7.92285443e-01 -4.24261702e-02 -3.61360349e+02] [-7.04933113e-02 -7.40666013e-04 9.97511977e-01 -3.71040942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.67, Y:-361.40, Z:-37.11 [[ 7.89375710e-01 6.11324204e-01 5.62912731e-02 6.77669903e+02] [-6.09849834e-01 7.91379828e-01 -4.24399316e-02 -3.61396828e+02] [-7.04923354e-02 -8.28172427e-04 9.97511977e-01 -3.71086101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.72, Y:-361.43, Z:-37.11 [[ 7.88876476e-01 6.11969399e-01 5.62793058e-02 6.77721002e+02] [-6.10495537e-01 7.90880967e-01 -4.24557955e-02 -3.61433408e+02] [-7.04918795e-02 -8.65886675e-04 9.97511977e-01 -3.71129653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.78, Y:-361.46, Z:-37.12 [[ 7.92255101e-01 6.07590182e-01 5.62674426e-02 6.77775195e+02] [-6.06104123e-01 7.94250567e-01 -4.24715122e-02 -3.61463449e+02] [-7.04957220e-02 -4.55656751e-04 9.97511978e-01 -3.71234708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.83, Y:-361.50, Z:-37.13 [[ 7.92302267e-01 6.07529687e-01 5.62565360e-02 6.77825291e+02] [-6.06042450e-01 7.94296854e-01 -4.24859538e-02 -3.61500614e+02] [-7.04958678e-02 -4.32131392e-04 9.97511978e-01 -3.71274489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.88, Y:-361.54, Z:-37.13 [[ 7.93364506e-01 6.06142878e-01 5.62456385e-02 6.77875722e+02] [-6.04651132e-01 7.95355723e-01 -4.25003758e-02 -3.61537727e+02] [-7.04965906e-02 -2.90699281e-04 9.97511978e-01 -3.71313267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.93, Y:-361.57, Z:-37.14 [[ 7.95182252e-01 6.03757415e-01 5.62331652e-02 6.77926091e+02] [-6.02258529e-01 7.97168100e-01 -4.25168731e-02 -3.61574680e+02] [-7.04971629e-02 -5.82404164e-05 9.97511978e-01 -3.71358895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:677.97, Y:-361.61, Z:-37.14 [[ 7.96301585e-01 6.02281510e-01 5.62207109e-02 6.77974231e+02] [-6.00777780e-01 7.98283768e-01 -4.25333353e-02 -3.61613348e+02] [-7.04971223e-02 9.32084638e-05 9.97511978e-01 -3.71390523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.02, Y:-361.65, Z:-37.14 [[ 7.98204471e-01 5.99758347e-01 5.62098492e-02 6.78023423e+02] [-5.98247341e-01 8.00181113e-01 -4.25476847e-02 -3.61652431e+02] [-7.04963887e-02 3.34359343e-04 9.97511979e-01 -3.71422693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.07, Y:-361.69, Z:-37.15 [[ 7.98564444e-01 5.99280138e-01 5.61973827e-02 6.78073008e+02] [-5.97766790e-01 8.00539292e-01 -4.25641443e-02 -3.61689783e+02] [-7.04960592e-02 3.97283159e-04 9.97511979e-01 -3.71459202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.12, Y:-361.73, Z:-37.15 [[ 7.98199159e-01 5.99767605e-01 5.61865055e-02 6.78124272e+02] [-5.98254453e-01 8.00174157e-01 -4.25784978e-02 -3.61726601e+02] [-7.04961933e-02 3.72294021e-04 9.97511979e-01 -3.71526027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.17, Y:-361.76, Z:-37.16 [[ 7.96833646e-01 6.01581760e-01 5.61740788e-02 6.78174697e+02] [-6.00071949e-01 7.98811199e-01 -4.25948861e-02 -3.61763936e+02] [-7.04967898e-02 2.32549480e-04 9.97511979e-01 -3.71573794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.22, Y:-361.80, Z:-37.16 [[ 7.95176752e-01 6.03771322e-01 5.61615889e-02 6.78224836e+02] [-6.02265793e-01 7.97157567e-01 -4.26113478e-02 -3.61801787e+02] [-7.04971454e-02 5.93492667e-05 9.97511979e-01 -3.71619432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.28, Y:-361.84, Z:-37.17 [[ 7.95856425e-01 6.02876294e-01 5.61491321e-02 6.78275626e+02] [-6.01367380e-01 7.97834663e-01 -4.26277559e-02 -3.61837197e+02] [-7.04969873e-02 1.59316954e-04 9.97511980e-01 -3.71690995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.32, Y:-361.88, Z:-37.17 [[ 7.95134813e-01 6.03828726e-01 5.61382185e-02 6.78324307e+02] [-6.02321167e-01 7.97114083e-01 -4.26421236e-02 -3.61876684e+02] [-7.04971037e-02 9.29997256e-05 9.97511980e-01 -3.71707900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.37, Y:-361.92, Z:-37.17 [[ 7.94647428e-01 6.04471150e-01 5.61257036e-02 6.78373106e+02] [-6.02964028e-01 7.96627031e-01 -4.26585894e-02 -3.61915407e+02] [-7.04971392e-02 5.67579703e-05 9.97511980e-01 -3.71734739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.42, Y:-361.95, Z:-37.18 [[ 7.95681282e-01 6.03110687e-01 5.61141368e-02 6.78422682e+02] [-6.01599108e-01 7.97657483e-01 -4.26737992e-02 -3.61953197e+02] [-7.04968855e-02 1.96528629e-04 9.97511980e-01 -3.71770363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.47, Y:-361.99, Z:-37.18 [[ 7.94944035e-01 6.04083263e-01 5.61016270e-02 6.78471097e+02] [-6.02572941e-01 7.96921197e-01 -4.26902391e-02 -3.61991295e+02] [-7.04970347e-02 1.31028544e-04 9.97511980e-01 -3.71810814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.52, Y:-362.03, Z:-37.19 [[ 7.94945940e-01 6.04081830e-01 5.60900675e-02 6.78519986e+02] [-6.02570433e-01 7.96922280e-01 -4.27054215e-02 -3.62030545e+02] [-7.04969937e-02 1.50285185e-04 9.97511981e-01 -3.71871737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.57, Y:-362.07, Z:-37.19 [[ 7.95353216e-01 6.03546040e-01 5.60842152e-02 6.78570376e+02] [-6.02032770e-01 7.97328123e-01 -4.27131059e-02 -3.62067485e+02] [-7.04968479e-02 2.07470749e-04 9.97511981e-01 -3.71907482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.62, Y:-362.11, Z:-37.19 [[ 7.94484642e-01 6.04690197e-01 5.60706635e-02 6.78618463e+02] [-6.03178516e-01 7.96460764e-01 -4.27308882e-02 -3.62105094e+02] [-7.04970327e-02 1.28414792e-04 9.97511981e-01 -3.71940806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.67, Y:-362.14, Z:-37.20 [[ 7.94356171e-01 6.04859886e-01 5.60606120e-02 6.78667715e+02] [-6.03347696e-01 7.96331904e-01 -4.27440713e-02 -3.62144762e+02] [-7.04970279e-02 1.29975713e-04 9.97511981e-01 -3.71987931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.72, Y:-362.18, Z:-37.20 [[ 7.93899149e-01 6.05460731e-01 5.60485984e-02 6.78715887e+02] [-6.03948925e-01 7.95875175e-01 -4.27598183e-02 -3.62184838e+02] [-7.04970790e-02 9.64926094e-05 9.97511981e-01 -3.72027603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.76, Y:-362.22, Z:-37.21 [[ 7.92590585e-01 6.07173825e-01 5.60366950e-02 6.78763854e+02] [-6.05665187e-01 7.94569031e-01 -4.27754122e-02 -3.62223302e+02] [-7.04971330e-02 -3.60863964e-05 9.97511981e-01 -3.72071853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:678.81, Y:-362.26, Z:-37.21 [[ 7.90750762e-01 6.09568915e-01 5.60265065e-02 6.78812858e+02] [-6.08065325e-01 7.92733047e-01 -4.27887527e-02 -3.62263379e+02] [-7.04967568e-02 -2.32537023e-04 9.97511982e-01 -3.72107655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.86, Y:-362.30, Z:-37.21 [[ 7.87802362e-01 6.13375806e-01 5.60139167e-02 6.78861655e+02] [-6.11880623e-01 7.89790995e-01 -4.28052275e-02 -3.62303884e+02] [-7.04949779e-02 -5.51770888e-04 9.97511982e-01 -3.72135998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.91, Y:-362.34, Z:-37.22 [[ 7.84647824e-01 6.17407199e-01 5.60012768e-02 6.78910715e+02] [-6.15921052e-01 7.86643219e-01 -4.28217576e-02 -3.62343045e+02] [-7.04914861e-02 -8.92366419e-04 9.97511982e-01 -3.72176706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:678.96, Y:-362.38, Z:-37.22 [[ 7.81805671e-01 6.21003359e-01 5.59885785e-02 6.78959111e+02] [-6.19525201e-01 7.83806992e-01 -4.28383539e-02 -3.62381578e+02] [-7.04870010e-02 -1.19506733e-03 9.97511982e-01 -3.72224722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.01, Y:-362.42, Z:-37.23 [[ 7.78963558e-01 6.24565393e-01 5.59807555e-02 6.79007683e+02] [-6.23095652e-01 7.80971068e-01 -4.28485746e-02 -3.62421382e+02] [-7.04810872e-02 -1.50388716e-03 9.97511982e-01 -3.72274785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.06, Y:-362.46, Z:-37.23 [[ 7.77865149e-01 6.25933954e-01 5.59687053e-02 6.79056225e+02] [-6.24466613e-01 7.79874413e-01 -4.28643087e-02 -3.62460806e+02] [-7.04787875e-02 -1.60793597e-03 9.97511982e-01 -3.72314506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.10, Y:-362.50, Z:-37.24 [[ 7.77369222e-01 6.26550894e-01 5.59559706e-02 6.79102254e+02] [-6.25083952e-01 7.79378777e-01 -4.28809265e-02 -3.62500557e+02] [-7.04779788e-02 -1.64286683e-03 9.97511983e-01 -3.72375109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.15, Y:-362.54, Z:-37.24 [[ 7.77265066e-01 6.26680654e-01 5.59497534e-02 6.79149523e+02] [-6.25213465e-01 7.79274440e-01 -4.28890369e-02 -3.62539913e+02] [-7.04779425e-02 -1.64438911e-03 9.97511983e-01 -3.72429439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.20, Y:-362.58, Z:-37.25 [[ 7.77968130e-01 6.25808598e-01 5.59391379e-02 6.79195848e+02] [-6.24338162e-01 7.79975129e-01 -4.29028781e-02 -3.62580567e+02] [-7.04801263e-02 -1.54786676e-03 9.97511983e-01 -3.72482472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.24, Y:-362.62, Z:-37.25 [[ 7.79771038e-01 6.23561662e-01 5.59283641e-02 6.79241129e+02] [-6.22084436e-01 7.81773044e-01 -4.29169183e-02 -3.62622731e+02] [-7.04846324e-02 -1.32679494e-03 9.97511983e-01 -3.72521291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.29, Y:-362.66, Z:-37.26 [[ 7.81312172e-01 6.21630581e-01 5.59169909e-02 6.79288605e+02] [-6.20147346e-01 7.83309731e-01 -4.29317314e-02 -3.62663902e+02] [-7.04880003e-02 -1.13368917e-03 9.97511983e-01 -3.72556850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.34, Y:-362.70, Z:-37.26 [[ 7.84774925e-01 6.17254363e-01 5.59050049e-02 6.79336327e+02] [-6.15758876e-01 7.86763327e-01 -4.29473338e-02 -3.62702681e+02] [-7.04934368e-02 -7.20012368e-04 9.97511983e-01 -3.72618323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.39, Y:-362.74, Z:-37.27 [[ 7.84871599e-01 6.17132403e-01 5.58942738e-02 6.79385299e+02] [-6.15635613e-01 7.86859021e-01 -4.29612954e-02 -3.62742039e+02] [-7.04937210e-02 -6.91404876e-04 9.97511984e-01 -3.72659947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.43, Y:-362.78, Z:-37.27 [[ 7.83019913e-01 6.19481282e-01 5.58816332e-02 6.79434780e+02] [-6.17989281e-01 7.85010932e-01 -4.29777313e-02 -3.62779877e+02] [-7.04915931e-02 -8.81830913e-04 9.97511984e-01 -3.72711089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.48, Y:-362.82, Z:-37.27 [[ 7.80320630e-01 6.22878486e-01 5.58758071e-02 6.79483747e+02] [-6.21394610e-01 7.82317712e-01 -4.29853046e-02 -3.62817128e+02] [-7.04872550e-02 -1.17860541e-03 9.97511984e-01 -3.72729837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.53, Y:-362.85, Z:-37.28 [[ 7.79028131e-01 6.24495285e-01 5.58642093e-02 6.79534275e+02] [-6.23014473e-01 7.81027486e-01 -4.30003719e-02 -3.62854095e+02] [-7.04850125e-02 -1.30571154e-03 9.97511984e-01 -3.72773795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.59, Y:-362.89, Z:-37.28 [[ 7.78410560e-01 6.25265908e-01 5.58528756e-02 6.79586346e+02] [-6.23786021e-01 7.80410599e-01 -4.30150882e-02 -3.62888241e+02] [-7.04840443e-02 -1.35684408e-03 9.97511984e-01 -3.72833518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.63, Y:-362.93, Z:-37.28 [[ 7.75012102e-01 6.29474333e-01 5.58417881e-02 6.79634826e+02] [-6.28004268e-01 7.77019372e-01 -4.30294770e-02 -3.62925726e+02] [-7.04761025e-02 -1.72051583e-03 9.97511984e-01 -3.72840163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.69, Y:-362.96, Z:-37.29 [[ 7.76359581e-01 6.27812574e-01 5.58316502e-02 6.79685909e+02] [-6.26337266e-01 7.78363001e-01 -4.30426272e-02 -3.62960154e+02] [-7.04799933e-02 -1.55288717e-03 9.97511984e-01 -3.72929530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.74, Y:-363.00, Z:-37.30 [[ 7.76409778e-01 6.27751478e-01 5.58205867e-02 6.79735556e+02] [-6.26274983e-01 7.78412322e-01 -4.30569703e-02 -3.62998421e+02] [-7.04805093e-02 -1.52918424e-03 9.97511985e-01 -3.72958242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.79, Y:-363.04, Z:-37.30 [[ 7.76808339e-01 6.27259345e-01 5.58078792e-02 6.79785928e+02] [-6.25780398e-01 7.78809073e-01 -4.30734348e-02 -3.63036573e+02] [-7.04818971e-02 -1.46367352e-03 9.97511985e-01 -3.73008233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.83, Y:-363.08, Z:-37.30 [[ 7.74866289e-01 6.29657951e-01 5.57951602e-02 6.79832726e+02] [-6.28184012e-01 7.76870715e-01 -4.30899041e-02 -3.63076648e+02] [-7.04775267e-02 -1.66071353e-03 9.97511985e-01 -3.73007736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.88, Y:-363.11, Z:-37.31 [[ 7.78326994e-01 6.25375985e-01 5.57850124e-02 6.79882637e+02] [-6.23890076e-01 7.80322562e-01 -4.31030376e-02 -3.63113442e+02] [-7.04859084e-02 -1.25545788e-03 9.97511985e-01 -3.73088211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.93, Y:-363.16, Z:-37.31 [[ 7.80338839e-01 6.22864803e-01 5.57739514e-02 6.79928421e+02] [-6.21371449e-01 7.82328842e-01 -4.31173454e-02 -3.63155294e+02] [-7.04898477e-02 -1.01020171e-03 9.97511985e-01 -3.73085379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:679.98, Y:-363.19, Z:-37.31 [[ 7.84649079e-01 6.17427162e-01 5.57630966e-02 6.79977641e+02] [-6.15919019e-01 7.86627896e-01 -4.31313793e-02 -3.63192281e+02] [-7.04952925e-02 -5.02554662e-04 9.97511986e-01 -3.73147238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.02, Y:-363.23, Z:-37.32 [[ 7.85863514e-01 6.15881689e-01 5.57519766e-02 6.80023543e+02] [-6.14368634e-01 7.87838579e-01 -4.31457483e-02 -3.63233432e+02] [-7.04962343e-02 -3.45596315e-04 9.97511986e-01 -3.73154967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.07, Y:-363.27, Z:-37.32 [[ 7.86462007e-01 6.15117814e-01 5.57457318e-02 6.80071710e+02] [-6.13602269e-01 7.88435161e-01 -4.31538153e-02 -3.63271708e+02] [-7.04965756e-02 -2.66871317e-04 9.97511986e-01 -3.73204135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.12, Y:-363.31, Z:-37.33 [[ 7.86527336e-01 6.15035287e-01 5.57346008e-02 6.80120729e+02] [-6.13518516e-01 7.88499548e-01 -4.31681866e-02 -3.63309121e+02] [-7.04966656e-02 -2.41250796e-04 9.97511986e-01 -3.73250567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.17, Y:-363.35, Z:-37.33 [[ 7.86059822e-01 6.15633659e-01 5.57239162e-02 6.80169102e+02] [-6.14117412e-01 7.88032437e-01 -4.31819745e-02 -3.63345769e+02] [-7.04965304e-02 -2.77412073e-04 9.97511986e-01 -3.73310238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.22, Y:-363.38, Z:-37.34 [[ 7.85558374e-01 6.16274269e-01 5.57141472e-02 6.80218735e+02] [-6.14758737e-01 7.87531538e-01 -4.31945750e-02 -3.63382230e+02] [-7.04963531e-02 -3.18898651e-04 9.97511986e-01 -3.73362030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.27, Y:-363.42, Z:-37.34 [[ 7.86011135e-01 6.15697672e-01 5.57034368e-02 6.80268829e+02] [-6.14179714e-01 7.87982433e-01 -4.32083827e-02 -3.63420831e+02] [-7.04966302e-02 -2.49650995e-04 9.97511986e-01 -3.73405225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.32, Y:-363.46, Z:-37.35 [[ 7.88700803e-01 6.12249560e-01 5.56912928e-02 6.80318713e+02] [-6.10721879e-01 7.90664575e-01 -4.32240293e-02 -3.63456263e+02] [-7.04970253e-02 7.89356633e-05 9.97511987e-01 -3.73491964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.37, Y:-363.50, Z:-37.35 [[ 7.87663432e-01 6.13583934e-01 5.56872836e-02 6.80366137e+02] [-6.12059214e-01 7.89629505e-01 -4.32291940e-02 -3.63496049e+02] [-7.04970611e-02 -3.38596990e-05 9.97511987e-01 -3.73487675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.42, Y:-363.53, Z:-37.35 [[ 7.86499118e-01 6.15076700e-01 5.56757666e-02 6.80415704e+02] [-6.13554662e-01 7.88467267e-01 -4.32440218e-02 -3.63534267e+02] [-7.04969098e-02 -1.48741152e-04 9.97511987e-01 -3.73519771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.47, Y:-363.57, Z:-37.36 [[ 7.84385221e-01 6.17771360e-01 5.56630251e-02 6.80466092e+02] [-6.16254920e-01 7.86357686e-01 -4.32604164e-02 -3.63571142e+02] [-7.04960938e-02 -3.69781813e-04 9.97511987e-01 -3.73568661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.51, Y:-363.61, Z:-37.36 [[ 7.82317694e-01 6.20388649e-01 5.56502509e-02 6.80514862e+02] [-6.18877639e-01 7.84294322e-01 -4.32768429e-02 -3.63608516e+02] [-7.04946379e-02 -5.84455956e-04 9.97511987e-01 -3.73635684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.57, Y:-363.64, Z:-37.37 [[ 7.79256909e-01 6.24229284e-01 5.56459347e-02 6.80565825e+02] [-6.22727619e-01 7.81240646e-01 -4.32823920e-02 -3.63644622e+02] [-7.04910025e-02 -9.24157377e-04 9.97511987e-01 -3.73663302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.62, Y:-363.68, Z:-37.38 [[ 7.77584414e-01 6.26312521e-01 5.56336715e-02 6.80615734e+02] [-6.24815044e-01 7.79571313e-01 -4.32981490e-02 -3.63680403e+02] [-7.04885872e-02 -1.09278903e-03 9.97511987e-01 -3.73753274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.67, Y:-363.72, Z:-37.38 [[ 7.75957184e-01 6.28327810e-01 5.56292321e-02 6.80666846e+02] [-6.26835084e-01 7.77947655e-01 -4.33038519e-02 -3.63717631e+02] [-7.04856451e-02 -1.26841943e-03 9.97511987e-01 -3.73791611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.72, Y:-363.76, Z:-37.38 [[ 7.74748692e-01 6.29818598e-01 5.56147259e-02 6.80715049e+02] [-6.28328365e-01 7.76741030e-01 -4.33224741e-02 -3.63756273e+02] [-7.04835394e-02 -1.38027964e-03 9.97511988e-01 -3.73842431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.76, Y:-363.79, Z:-37.38 [[ 7.74273166e-01 6.30403483e-01 5.56103612e-02 6.80763083e+02] [-6.28914354e-01 7.76266329e-01 -4.33280761e-02 -3.63793850e+02] [-7.04826211e-02 -1.42638773e-03 9.97511988e-01 -3.73848681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:680.81, Y:-363.83, Z:-37.39 [[ 7.74236622e-01 6.30449365e-01 5.55990284e-02 6.80811616e+02] [-6.28959310e-01 7.76229093e-01 -4.33426136e-02 -3.63833258e+02] [-7.04829066e-02 -1.41208780e-03 9.97511988e-01 -3.73881817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:680.86, Y:-363.87, Z:-37.40 [[ 7.74304622e-01 6.30366936e-01 5.55866740e-02 6.80859075e+02] [-6.28875533e-01 7.76296083e-01 -4.33584524e-02 -3.63871877e+02] [-7.04834521e-02 -1.38444911e-03 9.97511988e-01 -3.73956601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.39, Y:-363.36, Z:-36.40 [[ 8.42984080e-01 5.35060163e-01 5.55739340e-02 6.81391644e+02] [-5.33344121e-01 8.44785581e-01 -4.33747754e-02 -3.63357201e+02] [-7.01561725e-02 6.92421418e-03 9.97511988e-01 -3.64042336e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.44, Y:-363.39, Z:-36.41 [[ 8.44526025e-01 5.32153699e-01 5.99018713e-02 6.81443268e+02] [-5.30920877e-01 8.46646898e-01 -3.62222592e-02 -3.63391979e+02] [-6.99915427e-02 -1.21251349e-03 9.97546848e-01 -3.64104641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.49, Y:-363.43, Z:-36.41 [[ 8.42965202e-01 5.34623751e-01 5.98925101e-02 6.81493662e+02] [-5.33396044e-01 8.45089041e-01 -3.62377310e-02 -3.63427062e+02] [-6.99880556e-02 -1.39928169e-03 9.97546848e-01 -3.64098276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.55, Y:-363.46, Z:-36.41 [[ 8.43850583e-01 5.33226130e-01 5.98839638e-02 6.81546834e+02] [-5.31993903e-01 8.45971802e-01 -3.62518486e-02 -3.63460962e+02] [-6.99905777e-02 -1.26676009e-03 9.97546848e-01 -3.64140008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:681.60, Y:-363.49, Z:-36.42 [[ 8.44831401e-01 5.31671927e-01 5.98737570e-02 6.81599080e+02] [-5.30434604e-01 8.46949651e-01 -3.62686983e-02 -3.63493576e+02] [-6.99931064e-02 -1.11817743e-03 9.97546848e-01 -3.64225690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.65, Y:-363.53, Z:-36.43 [[ 8.45477953e-01 5.30644346e-01 5.98632562e-02 6.81653246e+02] [-5.29403223e-01 8.47593979e-01 -3.62860222e-02 -3.63525292e+02] [-6.99947080e-02 -1.01276902e-03 9.97546849e-01 -3.64259380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.71, Y:-363.56, Z:-36.43 [[ 8.45476072e-01 5.30648730e-01 5.98509516e-02 6.81706144e+02] [-5.29406182e-01 8.47591261e-01 -3.63063064e-02 -3.63558485e+02] [-6.99950389e-02 -9.89350421e-04 9.97546849e-01 -3.64301137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.76, Y:-363.59, Z:-36.43 [[ 8.44541150e-01 5.32136631e-01 5.98402233e-02 6.81755818e+02] [-5.30896558e-01 8.46657790e-01 -3.63239802e-02 -3.63594123e+02] [-6.99935117e-02 -1.09187252e-03 9.97546849e-01 -3.64310980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.81, Y:-363.63, Z:-36.43 [[ 8.44839612e-01 5.31663615e-01 5.98316766e-02 6.81809211e+02] [-5.30421360e-01 8.46954973e-01 -3.63380526e-02 -3.63628059e+02] [-6.99943565e-02 -1.03617302e-03 9.97546849e-01 -3.64342419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.86, Y:-363.66, Z:-36.44 [[ 8.46226819e-01 5.29454038e-01 5.98213384e-02 6.81863472e+02] [-5.28205056e-01 8.48338215e-01 -3.63550639e-02 -3.63657969e+02] [-6.99970628e-02 -8.33303307e-04 9.97546849e-01 -3.64428319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.92, Y:-363.69, Z:-36.45 [[ 8.45534679e-01 5.30559740e-01 5.98119474e-02 6.81917841e+02] [-5.29312428e-01 8.47647061e-01 -3.63705076e-02 -3.63690178e+02] [-6.99961485e-02 -9.06681612e-04 9.97546850e-01 -3.64476408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:681.97, Y:-363.72, Z:-36.45 [[ 8.43414150e-01 5.33925452e-01 5.98012002e-02 6.81968210e+02] [-5.32685317e-01 8.45530753e-01 -3.63881699e-02 -3.63724381e+02] [-6.99923239e-02 -1.16492382e-03 9.97546850e-01 -3.64480829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.02, Y:-363.76, Z:-36.45 [[ 8.43363580e-01 5.34006287e-01 5.97926302e-02 6.82021291e+02] [-5.32765356e-01 8.45479717e-01 -3.64022465e-02 -3.63756436e+02] [-6.99924846e-02 -1.15511300e-03 9.97546850e-01 -3.64516622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.08, Y:-363.79, Z:-36.46 [[ 8.43080721e-01 5.34453728e-01 5.97838716e-02 6.82075429e+02] [-5.33212902e-01 8.45196919e-01 -3.64166253e-02 -3.63788498e+02] [-6.99921452e-02 -1.17537692e-03 9.97546850e-01 -3.64560105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.13, Y:-363.82, Z:-36.47 [[ 8.43466168e-01 5.33846350e-01 5.97737223e-02 6.82128969e+02] [-5.32602819e-01 8.45580779e-01 -3.64332765e-02 -3.63818013e+02] [-6.99932823e-02 -1.10541692e-03 9.97546850e-01 -3.64652347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.18, Y:-363.85, Z:-36.47 [[ 8.42861638e-01 5.34801253e-01 5.97652024e-02 6.82182365e+02] [-5.33559128e-01 8.44977074e-01 -3.64472472e-02 -3.63851190e+02] [-6.99922594e-02 -1.16828276e-03 9.97546850e-01 -3.64684584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.23, Y:-363.88, Z:-36.47 [[ 8.41687334e-01 5.36648713e-01 5.97544270e-02 6.82234510e+02] [-5.35409978e-01 8.43804756e-01 -3.64649048e-02 -3.63883244e+02] [-6.99899139e-02 -1.30106792e-03 9.97546851e-01 -3.64708890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.29, Y:-363.92, Z:-36.47 [[ 8.41840103e-01 5.36409991e-01 5.97458170e-02 6.82288207e+02] [-5.35169655e-01 8.43956588e-01 -3.64790063e-02 -3.63915631e+02] [-6.99905793e-02 -1.26465785e-03 9.97546851e-01 -3.64735909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.34, Y:-363.95, Z:-36.48 [[ 8.43349023e-01 5.34035671e-01 5.97354869e-02 6.82342124e+02] [-5.32788179e-01 8.45461297e-01 -3.64959145e-02 -3.63948334e+02] [-6.99941624e-02 -1.04756749e-03 9.97546851e-01 -3.64764258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.40, Y:-363.98, Z:-36.48 [[ 8.44728767e-01 5.31851695e-01 5.97250807e-02 6.82395918e+02] [-5.30597538e-01 8.46837091e-01 -3.65129361e-02 -3.63981282e+02] [-6.99968805e-02 -8.46453358e-04 9.97546851e-01 -3.64815058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.45, Y:-364.01, Z:-36.49 [[ 8.48386496e-01 5.25998570e-01 5.97148118e-02 6.82449457e+02] [-5.24728684e-01 8.50485383e-01 -3.65297227e-02 -3.64012145e+02] [-7.00011565e-02 -3.42751192e-04 9.97546851e-01 -3.64922491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.50, Y:-364.04, Z:-36.50 [[ 8.50122601e-01 5.23188624e-01 5.97095166e-02 6.82502519e+02] [-5.21911193e-01 8.52216905e-01 -3.65383758e-02 -3.64044138e+02] [-7.00019220e-02 -1.00965930e-04 9.97546851e-01 -3.64960602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.55, Y:-364.08, Z:-36.50 [[ 8.49444926e-01 5.24288979e-01 5.97024713e-02 6.82553795e+02] [-5.23013452e-01 8.51540390e-01 -3.65498841e-02 -3.64078100e+02] [-7.00017670e-02 -1.78082024e-04 9.97546852e-01 -3.64964822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.61, Y:-364.11, Z:-36.50 [[ 8.51059024e-01 5.21665759e-01 5.96940018e-02 6.82608045e+02] [-5.20382804e-01 8.53149947e-01 -3.65637114e-02 -3.64108181e+02] [-7.00019707e-02 5.41445369e-05 9.97546852e-01 -3.65034539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.66, Y:-364.14, Z:-36.50 [[ 8.50272527e-01 5.22947779e-01 5.96845878e-02 6.82659582e+02] [-5.21666898e-01 8.52364722e-01 -3.65790719e-02 -3.64141468e+02] [-7.00019815e-02 -3.32938870e-05 9.97546852e-01 -3.65049425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.71, Y:-364.17, Z:-36.51 [[ 8.51331677e-01 5.21222371e-01 5.96792744e-02 6.82712734e+02] [-5.19936642e-01 8.53420896e-01 -3.65877386e-02 -3.64172579e+02] [-7.00018877e-02 1.18859330e-04 9.97546852e-01 -3.65099441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.77, Y:-364.20, Z:-36.51 [[ 8.50877460e-01 5.21964617e-01 5.96698167e-02 6.82765093e+02] [-5.20679629e-01 8.52967135e-01 -3.66031565e-02 -3.64204099e+02] [-7.00019451e-02 7.59428170e-05 9.97546852e-01 -3.65129517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.82, Y:-364.23, Z:-36.52 [[ 8.52281769e-01 5.19669442e-01 5.96611924e-02 6.82819680e+02] [-5.18377843e-01 8.54367364e-01 -3.66172082e-02 -3.64233050e+02] [-7.00014198e-02 2.81138711e-04 9.97546852e-01 -3.65203343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.87, Y:-364.26, Z:-36.53 [[ 8.52526472e-01 5.19268972e-01 5.96519100e-02 6.82874880e+02] [-5.17975335e-01 8.54610803e-01 -3.66323237e-02 -3.64263281e+02] [-7.00011958e-02 3.31807647e-04 9.97546852e-01 -3.65265267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.93, Y:-364.30, Z:-36.52 [[ 8.50161089e-01 5.23133881e-01 5.96411377e-02 6.82926572e+02] [-5.21848490e-01 8.52250516e-01 -3.66498537e-02 -3.64296130e+02] [-7.00019706e-02 3.46418650e-05 9.97546853e-01 -3.65246090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:682.98, Y:-364.32, Z:-36.53 [[ 8.51653386e-01 5.20701902e-01 5.96325299e-02 6.82981633e+02] [-5.19409565e-01 8.53738523e-01 -3.66638539e-02 -3.64323402e+02] [-7.00015265e-02 2.51188932e-04 9.97546853e-01 -3.65329694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.03, Y:-364.36, Z:-36.53 [[ 8.50390031e-01 5.22763174e-01 5.96276705e-02 6.83033192e+02] [-5.21475337e-01 8.52477950e-01 -3.66717554e-02 -3.64355926e+02] [-7.00019175e-02 9.09356775e-05 9.97546853e-01 -3.65327746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.09, Y:-364.39, Z:-36.54 [[ 8.51554245e-01 5.20865170e-01 5.96225010e-02 6.83087870e+02] [-5.19572091e-01 8.53638922e-01 -3.66801581e-02 -3.64385045e+02] [-7.00015043e-02 2.56956857e-04 9.97546853e-01 -3.65397410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.14, Y:-364.42, Z:-36.54 [[ 8.51525103e-01 5.20913862e-01 5.96133125e-02 6.83142733e+02] [-5.19619857e-01 8.53609205e-01 -3.66950855e-02 -3.64415328e+02] [-7.00014510e-02 2.70525545e-04 9.97546853e-01 -3.65444483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:683.20, Y:-364.45, Z:-36.55 [[ 8.50713146e-01 5.22240065e-01 5.96025026e-02 6.83195043e+02] [-5.20948079e-01 8.52798500e-01 -3.67126352e-02 -3.64446298e+02] [-7.00017338e-02 1.82112112e-04 9.97546853e-01 -3.65482080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.25, Y:-364.48, Z:-36.55 [[ 8.50910115e-01 5.21920060e-01 5.95938545e-02 6.83249726e+02] [-5.20626307e-01 8.52994373e-01 -3.67266680e-02 -3.64475903e+02] [-7.00016073e-02 2.24964931e-04 9.97546853e-01 -3.65530958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.30, Y:-364.51, Z:-36.56 [[ 8.50728612e-01 5.22216932e-01 5.95844272e-02 6.83302129e+02] [-5.20922836e-01 8.52812657e-01 -3.67419563e-02 -3.64506469e+02] [-7.00016253e-02 2.18544725e-04 9.97546853e-01 -3.65560313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.36, Y:-364.54, Z:-36.56 [[ 8.50636619e-01 5.22367748e-01 5.95758178e-02 6.83356322e+02] [-5.21073043e-01 8.52720286e-01 -3.67559108e-02 -3.64537586e+02] [-7.00016107e-02 2.22570956e-04 9.97546854e-01 -3.65595900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.41, Y:-364.56, Z:-36.57 [[ 8.51811465e-01 5.20450934e-01 5.95655468e-02 6.83412413e+02] [-5.19150377e-01 8.53891484e-01 -3.67725481e-02 -3.64563050e+02] [-7.00008202e-02 3.99801968e-04 9.97546854e-01 -3.65683215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters Centerline goodness : 0.996247 with order 1 Centerline is valid? [True, True] Translation: X:683.46, Y:-364.60, Z:-36.57 [[ 8.47929384e-01 5.26753028e-01 5.95567548e-02 6.83464495e+02] [-5.25466931e-01 8.50018375e-01 -3.67867822e-02 -3.64596160e+02] [-7.00018848e-02 -1.02511550e-04 9.97546854e-01 -3.65699214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.52, Y:-364.63, Z:-36.57 [[ 8.46406180e-01 5.29197564e-01 5.95526446e-02 6.83517611e+02] [-5.27917032e-01 8.48498586e-01 -3.67934348e-02 -3.64627008e+02] [-7.00013308e-02 -2.96664798e-04 9.97546854e-01 -3.65713523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.57, Y:-364.66, Z:-36.58 [[ 8.45420254e-01 5.30772406e-01 5.95419732e-02 6.83572271e+02] [-5.29494556e-01 8.47514300e-01 -3.68106961e-02 -3.64658555e+02] [-7.00007754e-02 -4.06642628e-04 9.97546854e-01 -3.65765811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.63, Y:-364.69, Z:-36.58 [[ 8.44430129e-01 5.32347385e-01 5.95316594e-02 6.83626664e+02] [-5.31072266e-01 8.46525838e-01 -3.68273683e-02 -3.64689123e+02] [-7.00000411e-02 -5.17473872e-04 9.97546854e-01 -3.65806492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.68, Y:-364.72, Z:-36.59 [[ 8.44099661e-01 5.32871942e-01 5.95252633e-02 6.83681426e+02] [-5.31597396e-01 8.46195718e-01 -3.68377037e-02 -3.64720220e+02] [-6.99998016e-02 -5.48781789e-04 9.97546854e-01 -3.65852823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.74, Y:-364.75, Z:-36.59 [[ 8.44551175e-01 5.32157210e-01 5.95148473e-02 6.83735481e+02] [-5.30879704e-01 8.46645430e-01 -3.68545242e-02 -3.64751801e+02] [-7.00003742e-02 -4.69692818e-04 9.97546855e-01 -3.65891636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.79, Y:-364.78, Z:-36.59 [[ 8.44899491e-01 5.31605235e-01 5.95039849e-02 6.83788534e+02] [-5.30325127e-01 8.46992156e-01 -3.68720539e-02 -3.64783191e+02] [-7.00007853e-02 -4.03278737e-04 9.97546855e-01 -3.65940672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.84, Y:-364.82, Z:-36.60 [[ 8.44868581e-01 5.31655108e-01 5.94972885e-02 6.83841241e+02] [-5.30374363e-01 8.46960855e-01 -3.68828561e-02 -3.64815037e+02] [-7.00008332e-02 -3.94670195e-04 9.97546855e-01 -3.65998036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.89, Y:-364.85, Z:-36.60 [[ 8.44699558e-01 5.31924675e-01 5.94877973e-02 6.83893954e+02] [-5.30643519e-01 8.46791581e-01 -3.68981580e-02 -3.64847904e+02] [-7.00008066e-02 -3.98956369e-04 9.97546855e-01 -3.66036643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:683.95, Y:-364.88, Z:-36.61 [[ 8.44768276e-01 5.31816126e-01 5.94825068e-02 6.83947523e+02] [-5.30534101e-01 8.46859767e-01 -3.69066846e-02 -3.64879533e+02] [-7.00009119e-02 -3.79901922e-04 9.97546855e-01 -3.66104517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.00, Y:-364.91, Z:-36.61 [[ 8.43082730e-01 5.34485287e-01 5.94725875e-02 6.83998773e+02] [-5.33208756e-01 8.45177579e-01 -3.69226621e-02 -3.64914211e+02] [-6.99995171e-02 -5.82445654e-04 9.97546855e-01 -3.66115499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.05, Y:-364.95, Z:-36.62 [[ 8.42111439e-01 5.36015395e-01 5.94627668e-02 6.84049951e+02] [-5.34741555e-01 8.44207924e-01 -3.69384712e-02 -3.64949594e+02] [-6.99985282e-02 -6.90903235e-04 9.97546855e-01 -3.66171661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.10, Y:-364.98, Z:-36.62 [[ 8.42511971e-01 5.35386030e-01 5.94590453e-02 6.84102378e+02] [-5.34110201e-01 8.44607246e-01 -3.69444606e-02 -3.64982651e+02] [-6.99990886e-02 -6.31532280e-04 9.97546855e-01 -3.66223548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.15, Y:-365.02, Z:-36.62 [[ 8.41140868e-01 5.37538827e-01 5.94478731e-02 6.84153161e+02] [-5.36267090e-01 8.43238630e-01 -3.69624294e-02 -3.65018875e+02] [-6.99974839e-02 -7.89327949e-04 9.97546856e-01 -3.66246029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.21, Y:-365.05, Z:-36.63 [[ 8.39752045e-01 5.39706915e-01 5.94386118e-02 6.84205459e+02] [-5.38439541e-01 8.41852445e-01 -3.69773163e-02 -3.65054504e+02] [-6.99954540e-02 -9.52321822e-04 9.97546856e-01 -3.66291603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.26, Y:-365.09, Z:-36.64 [[ 8.38618018e-01 5.41468481e-01 5.94281396e-02 6.84256586e+02] [-5.40204327e-01 8.40720357e-01 -3.69941391e-02 -3.65089651e+02] [-6.99936070e-02 -1.07938646e-03 9.97546856e-01 -3.66378144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.31, Y:-365.13, Z:-36.64 [[ 8.36445563e-01 5.44818842e-01 5.94243144e-02 6.84306785e+02] [-5.43562672e-01 8.38552682e-01 -3.70002825e-02 -3.65125874e+02] [-6.99888693e-02 -1.35211695e-03 9.97546856e-01 -3.66373102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.36, Y:-365.16, Z:-36.64 [[ 8.35467054e-01 5.46319341e-01 5.94136216e-02 6.84357747e+02] [-5.45065735e-01 8.37575700e-01 -3.70174447e-02 -3.65162224e+02] [-6.99867517e-02 -1.45747383e-03 9.97546856e-01 -3.66411760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.41, Y:-365.20, Z:-36.65 [[ 8.36162935e-01 5.45254822e-01 5.94030811e-02 6.84408482e+02] [-5.43997330e-01 8.38269265e-01 -3.70343516e-02 -3.65197026e+02] [-6.99889360e-02 -1.34836542e-03 9.97546856e-01 -3.66505047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.46, Y:-365.24, Z:-36.65 [[ 8.32890392e-01 5.50241135e-01 5.93993953e-02 6.84456426e+02] [-5.48995830e-01 8.35003950e-01 -3.70402624e-02 -3.65236846e+02] [-6.99798057e-02 -1.75954163e-03 9.97546856e-01 -3.66498841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.51, Y:-365.27, Z:-36.66 [[ 8.30680616e-01 5.53572624e-01 5.93890934e-02 6.84507134e+02] [-5.52334615e-01 8.32798456e-01 -3.70567728e-02 -3.65274122e+02] [-6.99727602e-02 -2.02030919e-03 9.97546857e-01 -3.66553494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.56, Y:-365.31, Z:-36.66 [[ 8.29107410e-01 5.55927193e-01 5.93789494e-02 6.84557620e+02] [-5.54694036e-01 8.31228078e-01 -3.70730201e-02 -3.65311425e+02] [-6.99673500e-02 -2.19963346e-03 9.97546857e-01 -3.66595437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.61, Y:-365.35, Z:-36.66 [[ 8.29767873e-01 5.54942028e-01 5.93685370e-02 6.84609472e+02] [-5.53705162e-01 8.31886380e-01 -3.70896871e-02 -3.65346478e+02] [-6.99705035e-02 -2.09683468e-03 9.97546857e-01 -3.66645031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.66, Y:-365.38, Z:-36.67 [[ 8.33391274e-01 5.49486666e-01 5.93581338e-02 6.84661266e+02] [-5.48234744e-01 8.35500919e-01 -3.71063288e-02 -3.65381413e+02] [-6.99832083e-02 -1.61810064e-03 9.97546857e-01 -3.66695572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.71, Y:-365.42, Z:-36.67 [[ 8.35319968e-01 5.46551375e-01 5.93476585e-02 6.84713497e+02] [-5.45290850e-01 8.37424484e-01 -3.71230754e-02 -3.65415995e+02] [-6.99888502e-02 -1.35208899e-03 9.97546857e-01 -3.66740626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.77, Y:-365.45, Z:-36.68 [[ 8.36345545e-01 5.44981851e-01 5.93372624e-02 6.84765544e+02] [-5.43716198e-01 8.38446981e-01 -3.71396851e-02 -3.65450856e+02] [-6.99916028e-02 -1.20102052e-03 9.97546858e-01 -3.66783596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.82, Y:-365.49, Z:-36.68 [[ 8.35972104e-01 5.45555642e-01 5.93269118e-02 6.84817737e+02] [-5.44290259e-01 8.38073702e-01 -3.71562118e-02 -3.65485376e+02] [-6.99911056e-02 -1.22950360e-03 9.97546858e-01 -3.66819785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.87, Y:-365.52, Z:-36.69 [[ 8.36172257e-01 5.45249965e-01 5.93163747e-02 6.84870711e+02] [-5.43982622e-01 8.38272673e-01 -3.71730257e-02 -3.65518847e+02] [-6.99918869e-02 -1.18402426e-03 9.97546858e-01 -3.66862285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:684.92, Y:-365.55, Z:-36.69 [[ 8.37095713e-01 5.43832307e-01 5.93058947e-02 6.84924444e+02] [-5.42560222e-01 8.39193261e-01 -3.71897380e-02 -3.65551725e+02] [-6.99940882e-02 -1.04564918e-03 9.97546858e-01 -3.66901358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:684.98, Y:-365.58, Z:-36.69 [[ 8.38750110e-01 5.41278397e-01 5.92954444e-02 6.84977928e+02] [-5.39998748e-01 8.40843051e-01 -3.72063926e-02 -3.65583724e+02] [-6.99971789e-02 -8.12599853e-04 9.97546858e-01 -3.66943068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.03, Y:-365.62, Z:-36.70 [[ 8.41132579e-01 5.37569801e-01 5.92848555e-02 6.85030897e+02] [-5.36279735e-01 8.43219115e-01 -3.72232574e-02 -3.65618111e+02] [-7.00002224e-02 -4.83572054e-04 9.97546859e-01 -3.66980907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.08, Y:-365.65, Z:-36.70 [[ 8.44097351e-01 5.32903625e-01 5.92738426e-02 6.85083429e+02] [-5.31600793e-01 8.46175940e-01 -3.72407860e-02 -3.65650508e+02] [-7.00018493e-02 -7.51729057e-05 9.97546859e-01 -3.67025064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.14, Y:-365.68, Z:-36.71 [[ 8.47855963e-01 5.26903866e-01 5.92670511e-02 6.85136797e+02] [-5.25585570e-01 8.49924778e-01 -3.72515912e-02 -3.65683688e+02] [-7.00005426e-02 4.34076927e-04 9.97546859e-01 -3.67072482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.19, Y:-365.71, Z:-36.71 [[ 8.50861772e-01 5.22037321e-01 5.92560620e-02 6.85189820e+02] [-5.20705976e-01 8.52922214e-01 -3.72690634e-02 -3.65713735e+02] [-6.99966536e-02 8.55835780e-04 9.97546859e-01 -3.67130869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.24, Y:-365.75, Z:-36.72 [[ 8.52658830e-01 5.19097945e-01 5.92473051e-02 6.85242429e+02] [-5.17758531e-01 8.54714036e-01 -3.72829792e-02 -3.65746121e+02] [-6.99930211e-02 1.11386374e-03 9.97546859e-01 -3.67181688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.30, Y:-365.78, Z:-36.72 [[ 8.56312606e-01 5.13049356e-01 5.92374844e-02 6.85295745e+02] [-5.11694349e-01 8.58357565e-01 -3.72985765e-02 -3.65777063e+02] [-6.99829535e-02 1.62775522e-03 9.97546859e-01 -3.67242900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.35, Y:-365.81, Z:-36.73 [[ 8.58157354e-01 5.09958824e-01 5.92279789e-02 6.85349909e+02] [-5.08595414e-01 8.60196719e-01 -3.73136645e-02 -3.65808130e+02] [-6.99761456e-02 1.89791710e-03 9.97546860e-01 -3.67290249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.40, Y:-365.84, Z:-36.73 [[ 8.57842703e-01 5.10489208e-01 5.92171018e-02 6.85403297e+02] [-5.09125868e-01 8.59882116e-01 -3.73309186e-02 -3.65839842e+02] [-6.99767579e-02 1.87509780e-03 9.97546860e-01 -3.67335268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.46, Y:-365.87, Z:-36.73 [[ 8.54035925e-01 5.16833786e-01 5.92070670e-02 6.85457719e+02] [-5.15484498e-01 8.56084661e-01 -3.73468272e-02 -3.65871236e+02] [-6.99883639e-02 1.37520686e-03 9.97546860e-01 -3.67318978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.51, Y:-365.90, Z:-36.74 [[ 8.51096578e-01 5.21661028e-01 5.91978642e-02 6.85512451e+02] [-5.20322348e-01 8.53152261e-01 -3.73614087e-02 -3.65899552e+02] [-6.99947825e-02 9.96195382e-04 9.97546860e-01 -3.67422440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.57, Y:-365.93, Z:-36.74 [[ 8.45746937e-01 5.30291308e-01 5.91882427e-02 6.85565453e+02] [-5.28972541e-01 8.47815450e-01 -3.73766449e-02 -3.65929986e+02] [-7.00012166e-02 3.02227837e-04 9.97546860e-01 -3.67417242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.62, Y:-365.96, Z:-36.75 [[ 8.39545207e-01 5.40056696e-01 5.91828572e-02 6.85621076e+02] [-5.38761388e-01 8.41628491e-01 -3.73851705e-02 -3.65959653e+02] [-7.00000904e-02 -4.98897582e-04 9.97546860e-01 -3.67463720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.68, Y:-365.99, Z:-36.75 [[ 8.36666892e-01 5.44506331e-01 5.91723597e-02 6.85675464e+02] [-5.43220927e-01 8.38756301e-01 -3.74017783e-02 -3.65990680e+02] [-6.99966946e-02 -8.50834460e-04 9.97546860e-01 -3.67509675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.73, Y:-366.02, Z:-36.76 [[ 8.35654074e-01 5.46060577e-01 5.91617621e-02 6.85728412e+02] [-5.44777873e-01 8.37745142e-01 -3.74185340e-02 -3.66021899e+02] [-6.99952651e-02 -9.61068587e-04 9.97546861e-01 -3.67561658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.78, Y:-366.06, Z:-36.76 [[ 8.37372363e-01 5.43423010e-01 5.91519820e-02 6.85781412e+02] [-5.42132628e-01 8.39458701e-01 -3.74339883e-02 -3.66055977e+02] [-6.99981366e-02 -7.22032148e-04 9.97546861e-01 -3.67607316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.83, Y:-366.09, Z:-36.77 [[ 8.39802362e-01 5.39661268e-01 5.91414322e-02 6.85834533e+02] [-5.38360366e-01 8.41882157e-01 -3.74506483e-02 -3.66089455e+02] [-7.00007808e-02 -3.88260146e-04 9.97546861e-01 -3.67689364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.88, Y:-366.12, Z:-36.77 [[ 8.41329895e-01 5.37277964e-01 5.91303348e-02 6.85884906e+02] [-5.35969940e-01 8.43405217e-01 -3.74681618e-02 -3.66124750e+02] [-7.00016505e-02 -1.68997333e-04 9.97546861e-01 -3.67714505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.94, Y:-366.16, Z:-36.78 [[ 8.43437058e-01 5.33964960e-01 5.91214843e-02 6.85936635e+02] [-5.32647805e-01 8.45506597e-01 -3.74821219e-02 -3.66160542e+02] [-7.00017447e-02 1.22881778e-04 9.97546861e-01 -3.67753163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:685.99, Y:-366.20, Z:-36.78 [[ 8.45673239e-01 5.30417451e-01 5.91109210e-02 6.85987873e+02] [-5.29090451e-01 8.47736479e-01 -3.74987733e-02 -3.66196278e+02] [-7.00004877e-02 4.36685252e-04 9.97546862e-01 -3.67787451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.04, Y:-366.23, Z:-36.78 [[ 8.47314927e-01 5.27792156e-01 5.91003749e-02 6.86040403e+02] [-5.26457605e-01 8.49373290e-01 -3.75153872e-02 -3.66231032e+02] [-6.99986070e-02 6.73505755e-04 9.97546862e-01 -3.67838434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.09, Y:-366.27, Z:-36.79 [[ 8.50029173e-01 5.23410719e-01 5.90899774e-02 6.86092227e+02] [-5.22064421e-01 8.52079872e-01 -3.75317570e-02 -3.66266012e+02] [-6.99939043e-02 1.05431357e-03 9.97546862e-01 -3.67896120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.14, Y:-366.30, Z:-36.79 [[ 8.51283071e-01 5.21370134e-01 5.90789029e-02 6.86143218e+02] [-5.20017711e-01 8.53329736e-01 -3.75491815e-02 -3.66300211e+02] [-6.99908064e-02 1.24290670e-03 9.97546862e-01 -3.67928329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.20, Y:-366.33, Z:-36.80 [[ 8.53676440e-01 5.17443163e-01 5.90686838e-02 6.86196440e+02] [-5.16080216e-01 8.55716111e-01 -3.75652503e-02 -3.66332058e+02] [-6.99839063e-02 1.58439003e-03 9.97546862e-01 -3.68015889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.25, Y:-366.37, Z:-36.80 [[ 8.51635052e-01 5.20797402e-01 5.90576333e-02 6.86247571e+02] [-5.19441285e-01 8.53679271e-01 -3.75826152e-02 -3.66367968e+02] [-6.99892057e-02 1.32969953e-03 9.97546863e-01 -3.67997740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.30, Y:-366.40, Z:-36.80 [[ 8.50075125e-01 5.23340503e-01 5.90508173e-02 6.86300198e+02] [-5.21989759e-01 8.52122898e-01 -3.75933215e-02 -3.66401335e+02] [-6.99926614e-02 1.13322560e-03 9.97546863e-01 -3.68039711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.35, Y:-366.43, Z:-36.81 [[ 8.48109078e-01 5.26521819e-01 5.90403819e-02 6.86354336e+02] [-5.25177617e-01 8.50161150e-01 -3.76097032e-02 -3.66430998e+02] [-6.99961684e-02 8.90443649e-04 9.97546863e-01 -3.68133772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.41, Y:-366.47, Z:-36.81 [[ 8.42835294e-01 5.34924335e-01 5.90307010e-02 6.86405937e+02] [-5.33599529e-01 8.44899941e-01 -3.76248919e-02 -3.66465306e+02] [-7.00015061e-02 2.12832568e-04 9.97546863e-01 -3.68135209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.46, Y:-366.50, Z:-36.82 [[ 8.41151347e-01 5.37569538e-01 5.90203714e-02 6.86459872e+02] [-5.36250088e-01 8.43219421e-01 -3.76410885e-02 -3.66497780e+02] [-7.00018260e-02 1.21729511e-05 9.97546863e-01 -3.68207480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.51, Y:-366.53, Z:-36.82 [[ 8.36342634e-01 5.45021899e-01 5.90095683e-02 6.86511691e+02] [-5.43719681e-01 8.38421602e-01 -3.76580169e-02 -3.66532134e+02] [-6.99993406e-02 -5.89658611e-04 9.97546863e-01 -3.68240132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.56, Y:-366.57, Z:-36.83 [[ 8.33415152e-01 5.49489064e-01 5.89996018e-02 6.86564700e+02] [-5.48196884e-01 8.35500374e-01 -3.76736252e-02 -3.66565097e+02] [-6.99954344e-02 -9.45627795e-04 9.97546864e-01 -3.68291381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.62, Y:-366.60, Z:-36.83 [[ 8.29912636e-01 5.54765986e-01 5.89891328e-02 6.86617097e+02] [-5.53485899e-01 8.32005302e-01 -3.76900103e-02 -3.66598919e+02] [-6.99884070e-02 -1.37023737e-03 9.97546864e-01 -3.68339399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.67, Y:-366.63, Z:-36.84 [[ 8.28341744e-01 5.57109968e-01 5.89782954e-02 6.86668158e+02] [-5.55834595e-01 8.30437287e-01 -3.77069614e-02 -3.66634087e+02] [-6.99846997e-02 -1.54792679e-03 9.97546864e-01 -3.68385652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.72, Y:-366.67, Z:-36.85 [[ 8.30176583e-01 5.54373143e-01 5.89682826e-02 6.86721522e+02] [-5.53089751e-01 8.32267224e-01 -3.77226134e-02 -3.66667056e+02] [-6.99897727e-02 -1.29832241e-03 9.97546864e-01 -3.68456923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.77, Y:-366.71, Z:-36.85 [[ 8.29677339e-01 5.55121228e-01 5.89570600e-02 6.86770419e+02] [-5.53838475e-01 8.31768372e-01 -3.77401452e-02 -3.66705897e+02] [-6.99889736e-02 -1.34054494e-03 9.97546864e-01 -3.68480943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.82, Y:-366.74, Z:-36.85 [[ 8.30286100e-01 5.54211411e-01 5.89466278e-02 6.86819160e+02] [-5.52925211e-01 8.32375014e-01 -3.77564323e-02 -3.66742471e+02] [-6.99907458e-02 -1.24443568e-03 9.97546865e-01 -3.68541082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.87, Y:-366.78, Z:-36.86 [[ 8.30440553e-01 5.53980857e-01 5.89380799e-02 6.86868473e+02] [-5.52693130e-01 8.32528527e-01 -3.77697710e-02 -3.66780053e+02] [-6.99913630e-02 -1.20912234e-03 9.97546865e-01 -3.68616775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.92, Y:-366.82, Z:-36.87 [[ 8.30720694e-01 5.53561658e-01 5.89289445e-02 6.86918332e+02] [-5.52271867e-01 8.32807392e-01 -3.77840188e-02 -3.66816931e+02] [-6.99922447e-02 -1.15683192e-03 9.97546865e-01 -3.68665107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:686.97, Y:-366.85, Z:-36.87 [[ 8.30712149e-01 5.53575466e-01 5.89196797e-02 6.86969157e+02] [-5.52284686e-01 8.32798236e-01 -3.77984607e-02 -3.66852430e+02] [-6.99925058e-02 -1.14079622e-03 9.97546865e-01 -3.68719211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.02, Y:-366.89, Z:-36.87 [[ 8.30226397e-01 5.54304748e-01 5.89098996e-02 6.87021479e+02] [-5.53014720e-01 8.32312948e-01 -3.78136971e-02 -3.66885813e+02] [-6.99917841e-02 -1.18411213e-03 9.97546865e-01 -3.68722128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.07, Y:-366.92, Z:-36.87 [[ 8.31790412e-01 5.51955991e-01 5.89007154e-02 6.87074361e+02] [-5.50659058e-01 8.33872679e-01 -3.78279977e-02 -3.66917399e+02] [-6.99950872e-02 -9.69246679e-04 9.97546865e-01 -3.68749294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.13, Y:-366.95, Z:-36.88 [[ 8.33323693e-01 5.49639301e-01 5.88919480e-02 6.87125961e+02] [-5.48335614e-01 8.35401738e-01 -3.78416421e-02 -3.66951161e+02] [-6.99976894e-02 -7.58215581e-04 9.97546865e-01 -3.68799756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.18, Y:-366.98, Z:-36.88 [[ 8.35849960e-01 5.45790948e-01 5.88819645e-02 6.87178676e+02] [-5.44476600e-01 8.37921277e-01 -3.78571702e-02 -3.66984901e+02] [-7.00005517e-02 -4.16937657e-04 9.97546866e-01 -3.68816559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.23, Y:-367.02, Z:-36.89 [[ 8.35255927e-01 5.46699984e-01 5.88783780e-02 6.87229150e+02] [-5.45387497e-01 8.37328425e-01 -3.78627474e-02 -3.67018444e+02] [-7.00001029e-02 -4.86447008e-04 9.97546866e-01 -3.68879903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.28, Y:-367.05, Z:-36.89 [[ 8.35374975e-01 5.46519062e-01 5.88690622e-02 6.87282790e+02] [-5.45205105e-01 8.37446541e-01 -3.78772260e-02 -3.67049673e+02] [-7.00003185e-02 -4.54026534e-04 9.97546866e-01 -3.68908073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.34, Y:-367.08, Z:-36.90 [[ 8.34902600e-01 5.47241018e-01 5.88635391e-02 6.87335306e+02] [-5.45928248e-01 8.36974918e-01 -3.78858074e-02 -3.67081152e+02] [-6.99999736e-02 -5.04309678e-04 9.97546866e-01 -3.68980657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.39, Y:-367.11, Z:-36.90 [[ 8.35309002e-01 5.46621272e-01 5.88562340e-02 6.87387592e+02] [-5.45306165e-01 8.37379838e-01 -3.78971525e-02 -3.67113706e+02] [-7.00004134e-02 -4.38834602e-04 9.97546866e-01 -3.69029130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.44, Y:-367.15, Z:-36.91 [[ 8.35919407e-01 5.45688410e-01 5.88464541e-02 6.87439741e+02] [-5.44369923e-01 8.37988092e-01 -3.79123326e-02 -3.67147946e+02] [-7.00009483e-02 -3.42585140e-04 9.97546866e-01 -3.69065975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.49, Y:-367.18, Z:-36.91 [[ 8.37350862e-01 5.43490429e-01 5.88361105e-02 6.87491784e+02] [-5.42165385e-01 8.39415352e-01 -3.79283780e-02 -3.67183363e+02] [-7.00016449e-02 -1.39542485e-04 9.97546866e-01 -3.69078267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.54, Y:-367.22, Z:-36.91 [[ 8.38403024e-01 5.41867139e-01 5.88249376e-02 6.87543404e+02] [-5.40536882e-01 8.40464160e-01 -3.79456988e-02 -3.67216238e+02] [-7.00017790e-02 1.67403028e-05 9.97546866e-01 -3.69138147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.59, Y:-367.25, Z:-36.92 [[ 8.39846607e-01 5.39627977e-01 5.88160095e-02 6.87594342e+02] [-5.38291256e-01 8.41903556e-01 -3.79595323e-02 -3.67250910e+02] [-7.00014332e-02 2.20040745e-04 9.97546867e-01 -3.69195839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.65, Y:-367.29, Z:-36.92 [[ 8.40550948e-01 5.38531207e-01 5.88068283e-02 6.87646236e+02] [-5.37190807e-01 8.42605501e-01 -3.79737506e-02 -3.67286526e+02] [-7.00010068e-02 3.28384445e-04 9.97546867e-01 -3.69210470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.70, Y:-367.32, Z:-36.93 [[ 8.41887606e-01 5.36440387e-01 5.87960011e-02 6.87699710e+02] [-5.35093714e-01 8.43938054e-01 -3.79905074e-02 -3.67316176e+02] [-6.99998252e-02 5.22366734e-04 9.97546867e-01 -3.69330980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.75, Y:-367.35, Z:-36.94 [[ 8.40400691e-01 5.38767904e-01 5.87862518e-02 6.87752461e+02] [-5.37425856e-01 8.42454168e-01 -3.80055874e-02 -3.67349536e+02] [-7.00009135e-02 3.46670253e-04 9.97546867e-01 -3.69392573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.80, Y:-367.39, Z:-36.94 [[ 8.35050613e-01 5.47024647e-01 5.87750718e-02 6.87802422e+02] [-5.45701686e-01 8.37116439e-01 -3.80228692e-02 -3.67385889e+02] [-7.00010254e-02 -3.22635477e-04 9.97546867e-01 -3.69358933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.85, Y:-367.42, Z:-36.94 [[ 8.32469467e-01 5.50945302e-01 5.87695488e-02 6.87854449e+02] [-5.49631468e-01 8.34541109e-01 -3.80314039e-02 -3.67418295e+02] [-6.99988277e-02 -6.41610841e-04 9.97546867e-01 -3.69414252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.91, Y:-367.45, Z:-36.95 [[ 8.29161234e-01 5.55912382e-01 5.87628370e-02 6.87907535e+02] [-5.54610222e-01 8.31240233e-01 -3.80417715e-02 -3.67451019e+02] [-6.99939262e-02 -1.04770790e-03 9.97546867e-01 -3.69479455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:687.96, Y:-367.48, Z:-36.95 [[ 8.26836628e-01 5.59365210e-01 5.87516121e-02 6.87959117e+02] [-5.58070500e-01 8.28920275e-01 -3.80590994e-02 -3.67484822e+02] [-6.99893386e-02 -1.31888409e-03 9.97546868e-01 -3.69513873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.01, Y:-367.52, Z:-36.96 [[ 8.27478662e-01 5.58416029e-01 5.87418315e-02 6.88010547e+02] [-5.57117858e-01 8.29560154e-01 -3.80741891e-02 -3.67517512e+02] [-6.99911203e-02 -1.22054433e-03 9.97546868e-01 -3.69564822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.06, Y:-367.55, Z:-36.96 [[ 8.29505970e-01 5.55400632e-01 5.87365573e-02 6.88062480e+02] [-5.54094318e-01 8.31582361e-01 -3.80823239e-02 -3.67552274e+02] [-6.99952318e-02 -9.56077572e-04 9.97546868e-01 -3.69591839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.11, Y:-367.59, Z:-36.96 [[ 8.32379465e-01 5.51085802e-01 5.87270371e-02 6.88114301e+02] [-5.49767687e-01 8.34448386e-01 -3.80969994e-02 -3.67586128e+02] [-6.99993968e-02 -5.75067396e-04 9.97546868e-01 -3.69617491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.17, Y:-367.62, Z:-36.97 [[ 8.34056035e-01 5.48546047e-01 5.87176706e-02 6.88166255e+02] [-5.47220616e-01 8.36120276e-01 -3.81114303e-02 -3.67619814e+02] [-7.00009093e-02 -3.44451428e-04 9.97546868e-01 -3.69657910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.22, Y:-367.66, Z:-36.96 [[ 8.33746082e-01 5.49018094e-01 5.87077774e-02 6.88215186e+02] [-5.47692760e-01 8.35810384e-01 -3.81266640e-02 -3.67658025e+02] [-7.00007983e-02 -3.65867931e-04 9.97546868e-01 -3.69632345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.27, Y:-367.69, Z:-36.98 [[ 8.36214205e-01 5.45252391e-01 5.86995196e-02 6.88268364e+02] [-5.43916868e-01 8.38271930e-01 -3.81393734e-02 -3.67685998e+02] [-7.00017441e-02 -3.49730823e-05 9.97546868e-01 -3.69755668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.32, Y:-367.72, Z:-36.98 [[ 8.35718571e-01 5.46012478e-01 5.86928022e-02 6.88320105e+02] [-5.44678100e-01 8.37777039e-01 -3.81497080e-02 -3.67717848e+02] [-7.00016986e-02 -8.62645180e-05 9.97546868e-01 -3.69819782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.37, Y:-367.75, Z:-36.99 [[ 8.34575005e-01 5.47759729e-01 5.86842447e-02 6.88371653e+02] [-5.46428736e-01 8.36635663e-01 -3.81628670e-02 -3.67749432e+02] [-7.00014137e-02 -2.16982761e-04 9.97546869e-01 -3.69877889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.42, Y:-367.78, Z:-36.99 [[ 8.33843279e-01 5.48873869e-01 5.86759021e-02 6.88424623e+02] [-5.47544727e-01 8.35905131e-01 -3.81756897e-02 -3.67782896e+02] [-7.00011262e-02 -2.95138526e-04 9.97546869e-01 -3.69910001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.48, Y:-367.82, Z:-37.00 [[ 8.33831437e-01 5.48893031e-01 5.86649374e-02 6.88476495e+02] [-5.47562751e-01 8.35892556e-01 -3.81925318e-02 -3.67817226e+02] [-7.00011990e-02 -2.76600777e-04 9.97546869e-01 -3.69951511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.53, Y:-367.86, Z:-37.00 [[ 8.33519457e-01 5.49367754e-01 5.86548070e-02 6.88526754e+02] [-5.48037554e-01 8.35580626e-01 -3.82080834e-02 -3.67855306e+02] [-7.00011093e-02 -2.97856064e-04 9.97546869e-01 -3.69996808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.58, Y:-367.89, Z:-37.00 [[ 8.34937347e-01 5.47210983e-01 5.86495293e-02 6.88578062e+02] [-5.45874889e-01 8.36994701e-01 -3.82161830e-02 -3.67889795e+02] [-7.00016603e-02 -1.07186830e-04 9.97546869e-01 -3.70023222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.63, Y:-367.92, Z:-37.00 [[ 8.36068627e-01 5.45482117e-01 5.86388222e-02 6.88629290e+02] [-5.44140617e-01 8.38122459e-01 -3.82326050e-02 -3.67922155e+02] [-7.00017161e-02 5.73166232e-05 9.97546869e-01 -3.70048645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.68, Y:-367.96, Z:-37.01 [[ 8.35846175e-01 5.45823468e-01 5.86337235e-02 6.88681450e+02] [-5.44482259e-01 8.37900197e-01 -3.82404227e-02 -3.67956829e+02] [-7.00017286e-02 3.80888198e-05 9.97546869e-01 -3.70086491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.73, Y:-367.99, Z:-37.01 [[ 8.35193171e-01 5.46823299e-01 5.86229176e-02 6.88734354e+02] [-5.45483386e-01 8.37248039e-01 -3.82569811e-02 -3.67990670e+02] [-7.00017314e-02 -2.58583007e-05 9.97546870e-01 -3.70141222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.79, Y:-368.02, Z:-37.02 [[ 8.35373664e-01 5.46548683e-01 5.86121005e-02 6.88787138e+02] [-5.45206932e-01 8.37427332e-01 -3.82735464e-02 -3.68023814e+02] [-7.00017314e-02 1.69892342e-05 9.97546870e-01 -3.70213558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.84, Y:-368.06, Z:-37.02 [[ 8.34205523e-01 5.48331170e-01 5.86009763e-02 6.88837750e+02] [-5.46992611e-01 8.36261273e-01 -3.82905712e-02 -3.68059469e+02] [-7.00016407e-02 -1.12095058e-04 9.97546870e-01 -3.70230336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.89, Y:-368.09, Z:-37.03 [[ 8.34100528e-01 5.48491920e-01 5.85911478e-02 6.88888718e+02] [-5.47152701e-01 8.36155848e-01 -3.83056047e-02 -3.68092092e+02] [-7.00016455e-02 -1.07579694e-04 9.97546870e-01 -3.70303188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.94, Y:-368.13, Z:-37.04 [[ 8.33266909e-01 5.49758097e-01 5.85857820e-02 6.88941250e+02] [-5.48421424e-01 8.35323885e-01 -3.83138095e-02 -3.68126800e+02] [-7.00014301e-02 -2.04068383e-04 9.97546870e-01 -3.70356009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:688.99, Y:-368.16, Z:-37.04 [[ 8.31180938e-01 5.52907947e-01 5.85751748e-02 6.88993764e+02] [-5.51577927e-01 8.33242222e-01 -3.83300193e-02 -3.68160581e+02] [-7.00002811e-02 -4.49592117e-04 9.97546870e-01 -3.70411020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.05, Y:-368.19, Z:-37.05 [[ 8.29131530e-01 5.55977628e-01 5.85643608e-02 6.89045792e+02] [-5.54654072e-01 8.31196970e-01 -3.83465348e-02 -3.68194739e+02] [-6.99983348e-02 -6.88640129e-04 9.97546871e-01 -3.70457819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.10, Y:-368.23, Z:-37.05 [[ 8.28087042e-01 5.57533172e-01 5.85543625e-02 6.89098452e+02] [-5.56212417e-01 8.30154275e-01 -3.83617961e-02 -3.68229444e+02] [-6.99971281e-02 -8.01757245e-04 9.97546871e-01 -3.70492854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.15, Y:-368.26, Z:-37.05 [[ 8.26355046e-01 5.60098193e-01 5.85435909e-02 6.89150878e+02] [-5.58782691e-01 8.28425625e-01 -3.83782274e-02 -3.68263626e+02] [-6.99945867e-02 -9.99103401e-04 9.97546871e-01 -3.70543628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.20, Y:-368.30, Z:-37.06 [[ 8.24114826e-01 5.63390385e-01 5.85322768e-02 6.89202363e+02] [-5.62081929e-01 8.26189864e-01 -3.83954753e-02 -3.68298350e+02] [-6.99904155e-02 -1.25765463e-03 9.97546871e-01 -3.70576282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.25, Y:-368.33, Z:-37.06 [[ 8.24262590e-01 5.63174555e-01 5.85286602e-02 6.89254319e+02] [-5.61865164e-01 8.26337038e-01 -3.84009876e-02 -3.68329947e+02] [-6.99908588e-02 -1.23271783e-03 9.97546871e-01 -3.70630471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.31, Y:-368.37, Z:-37.07 [[ 8.23763898e-01 5.63904722e-01 5.85192663e-02 6.89306035e+02] [-5.62596154e-01 8.25838866e-01 -3.84152976e-02 -3.68366049e+02] [-6.99900522e-02 -1.27757882e-03 9.97546871e-01 -3.70684340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.36, Y:-368.40, Z:-37.07 [[ 8.23942021e-01 5.63645602e-01 5.85079630e-02 6.89356824e+02] [-5.62335160e-01 8.26015805e-01 -3.84325054e-02 -3.68400546e+02] [-6.99908148e-02 -1.23492859e-03 9.97546872e-01 -3.70736823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.41, Y:-368.44, Z:-37.08 [[ 8.24225761e-01 5.63231172e-01 5.85024863e-02 6.89409130e+02] [-5.61919096e-01 8.26298512e-01 -3.84408403e-02 -3.68436067e+02] [-6.99915969e-02 -1.18973337e-03 9.97546872e-01 -3.70775983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.46, Y:-368.47, Z:-37.08 [[ 8.24566776e-01 5.62732905e-01 5.84919575e-02 6.89461997e+02] [-5.61418441e-01 8.26638013e-01 -3.84568543e-02 -3.68469888e+02] [-6.99926129e-02 -1.12821923e-03 9.97546872e-01 -3.70809407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.51, Y:-368.50, Z:-37.09 [[ 8.24142639e-01 5.63355018e-01 5.84810612e-02 6.89514094e+02] [-5.62040943e-01 8.26214122e-01 -3.84734171e-02 -3.68502377e+02] [-6.99920712e-02 -1.16116724e-03 9.97546872e-01 -3.70855561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.57, Y:-368.54, Z:-37.09 [[ 8.23131346e-01 5.64832655e-01 5.84710054e-02 6.89567465e+02] [-5.63521213e-01 8.25204498e-01 -3.84886936e-02 -3.68535854e+02] [-6.99902077e-02 -1.26840175e-03 9.97546872e-01 -3.70897856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.62, Y:-368.57, Z:-37.10 [[ 8.21302413e-01 5.67489892e-01 5.84599688e-02 6.89619862e+02] [-5.66183965e-01 8.23379043e-01 -3.85054498e-02 -3.68569182e+02] [-6.99861667e-02 -1.47447809e-03 9.97546872e-01 -3.70958387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.67, Y:-368.60, Z:-37.10 [[ 8.21362687e-01 5.67403701e-01 5.84497805e-02 6.89672113e+02] [-5.66096456e-01 8.23438487e-01 -3.85209090e-02 -3.68602014e+02] [-6.99867051e-02 -1.44857632e-03 9.97546872e-01 -3.71015241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.72, Y:-368.64, Z:-37.11 [[ 8.22542468e-01 5.65693085e-01 5.84398998e-02 6.89724520e+02] [-5.64380459e-01 8.24614869e-01 -3.85358931e-02 -3.68636432e+02] [-6.99898986e-02 -1.28492887e-03 9.97546873e-01 -3.71069749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.77, Y:-368.67, Z:-37.11 [[ 8.22410706e-01 5.65885791e-01 5.84286156e-02 6.89774071e+02] [-5.64572436e-01 8.24482645e-01 -3.85529948e-02 -3.68673120e+02] [-6.99899715e-02 -1.28079017e-03 9.97546873e-01 -3.71102256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.83, Y:-368.71, Z:-37.11 [[ 8.24065018e-01 5.63475080e-01 5.84181499e-02 6.89825648e+02] [-5.62154540e-01 8.26132385e-01 -3.85688466e-02 -3.68709330e+02] [-6.99937095e-02 -1.05679097e-03 9.97546873e-01 -3.71139402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.88, Y:-368.74, Z:-37.12 [[ 8.24287539e-01 5.63150659e-01 5.84070835e-02 6.89877535e+02] [-5.61828119e-01 8.26353627e-01 -3.85855979e-02 -3.68743285e+02] [-6.99944102e-02 -1.00911425e-03 9.97546873e-01 -3.71189463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.93, Y:-368.78, Z:-37.12 [[ 8.25353755e-01 5.61587913e-01 5.83968764e-02 6.89928718e+02] [-5.60260368e-01 8.27416630e-01 -3.86010395e-02 -3.68777830e+02] [-6.99964239e-02 -8.57942570e-04 9.97546873e-01 -3.71239912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:689.98, Y:-368.81, Z:-37.13 [[ 8.27964124e-01 5.57733195e-01 5.83874366e-02 6.89979624e+02] [-5.56395039e-01 8.30020131e-01 -3.86153129e-02 -3.68812375e+02] [-6.99997896e-02 -5.14386342e-04 9.97546874e-01 -3.71280034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.03, Y:-368.85, Z:-37.13 [[ 8.30133410e-01 5.54499961e-01 5.83807829e-02 6.90031195e+02] [-5.53153089e-01 8.32183718e-01 -3.86253697e-02 -3.68846326e+02] [-7.00013029e-02 -2.29300570e-04 9.97546874e-01 -3.71308094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.08, Y:-368.88, Z:-37.13 [[ 8.32838139e-01 5.50430209e-01 5.83713912e-02 6.90084035e+02] [-5.49072323e-01 8.34881170e-01 -3.86395573e-02 -3.68880740e+02] [-7.00015550e-02 1.30381643e-04 9.97546874e-01 -3.71342641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.14, Y:-368.91, Z:-37.14 [[ 8.35356065e-01 5.46602483e-01 5.83606939e-02 6.90138428e+02] [-5.45234108e-01 8.37392085e-01 -3.86557078e-02 -3.68912804e+02] [-7.00000890e-02 4.71039040e-04 9.97546874e-01 -3.71395453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.19, Y:-368.94, Z:-37.14 [[ 8.36670493e-01 5.44589565e-01 5.83497373e-02 6.90191009e+02] [-5.43215139e-01 8.38702433e-01 -3.86722394e-02 -3.68944930e+02] [-6.99985646e-02 6.59460952e-04 9.97546874e-01 -3.71448646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.24, Y:-368.98, Z:-37.15 [[ 8.37627802e-01 5.43117041e-01 5.83399070e-02 6.90243545e+02] [-5.41738010e-01 8.39656620e-01 -3.86870634e-02 -3.68978834e+02] [-6.99970925e-02 8.00414797e-04 9.97546874e-01 -3.71492041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.30, Y:-369.01, Z:-37.15 [[ 8.38182233e-01 5.42262220e-01 5.83286315e-02 6.90296260e+02] [-5.40879938e-01 8.40208836e-01 -3.87040561e-02 -3.69013076e+02] [-6.99959790e-02 8.92265635e-04 9.97546875e-01 -3.71549823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.35, Y:-369.05, Z:-37.16 [[ 8.36975488e-01 5.44124160e-01 5.83174968e-02 6.90347194e+02] [-5.42745218e-01 8.39004366e-01 -3.87208261e-02 -3.69046236e+02] [-6.99975714e-02 7.56839825e-04 9.97546875e-01 -3.71558837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.40, Y:-369.08, Z:-37.16 [[ 8.37326068e-01 5.43585468e-01 5.83086090e-02 6.90400156e+02] [-5.42204290e-01 8.39353424e-01 -3.87342054e-02 -3.69078021e+02] [-6.99968818e-02 8.17981956e-04 9.97546875e-01 -3.71614132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.45, Y:-369.11, Z:-37.16 [[ 8.36453844e-01 5.44927718e-01 5.82987857e-02 6.90452274e+02] [-5.43548763e-01 8.38482712e-01 -3.87489848e-02 -3.69110828e+02] [-6.99979198e-02 7.23504512e-04 9.97546875e-01 -3.71634382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.50, Y:-369.15, Z:-37.16 [[ 8.34804843e-01 5.47451526e-01 5.82897984e-02 6.90503064e+02] [-5.46077761e-01 8.36837229e-01 -3.87624996e-02 -3.69146660e+02] [-6.99996629e-02 5.28359708e-04 9.97546875e-01 -3.71638821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.56, Y:-369.18, Z:-37.17 [[ 8.32201210e-01 5.51402410e-01 5.82797426e-02 6.90556794e+02] [-5.50037235e-01 8.34239376e-01 -3.87776127e-02 -3.69178523e+02] [-7.00013252e-02 2.14747692e-04 9.97546875e-01 -3.71687908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.61, Y:-369.21, Z:-37.17 [[ 8.27946850e-01 5.57771212e-01 5.82691053e-02 6.90611336e+02] [-5.56420591e-01 8.29994689e-01 -3.87935903e-02 -3.69210455e+02] [-7.00009958e-02 -3.03099099e-04 9.97546875e-01 -3.71744324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.66, Y:-369.24, Z:-37.18 [[ 8.25582549e-01 5.61265942e-01 5.82580198e-02 6.90663430e+02] [-5.59922815e-01 8.27635311e-01 -3.88102307e-02 -3.69242939e+02] [-6.99992550e-02 -5.78945213e-04 9.97546876e-01 -3.71796820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.72, Y:-369.28, Z:-37.19 [[ 8.23857868e-01 5.63795539e-01 5.82477761e-02 6.90716140e+02] [-5.62457628e-01 8.25914033e-01 -3.88255988e-02 -3.69276078e+02] [-6.99973551e-02 -7.75130951e-04 9.97546876e-01 -3.71852894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.77, Y:-369.31, Z:-37.19 [[ 8.23958425e-01 5.63649561e-01 5.82381877e-02 6.90767228e+02] [-5.62310270e-01 8.26013690e-01 -3.88399760e-02 -3.69310870e+02] [-6.99976758e-02 -7.45405560e-04 9.97546876e-01 -3.71906579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.82, Y:-369.35, Z:-37.20 [[ 8.24498148e-01 5.62860749e-01 5.82286957e-02 6.90817557e+02] [-5.61518487e-01 8.26551474e-01 -3.88542012e-02 -3.69347188e+02] [-6.99985191e-02 -6.61272192e-04 9.97546876e-01 -3.71950022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.87, Y:-369.38, Z:-37.20 [[ 8.25375977e-01 5.61573688e-01 5.82193229e-02 6.90868481e+02] [-5.60227234e-01 8.27426557e-01 -3.88682405e-02 -3.69383983e+02] [-6.99995950e-02 -5.35138272e-04 9.97546876e-01 -3.71979508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.92, Y:-369.42, Z:-37.20 [[ 8.25482169e-01 5.61418714e-01 5.82083892e-02 6.90919162e+02] [-5.60070721e-01 8.27531737e-01 -3.88846076e-02 -3.69420086e+02] [-6.99998358e-02 -5.02264310e-04 9.97546876e-01 -3.72024706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:690.97, Y:-369.46, Z:-37.21 [[ 8.25102226e-01 5.61978002e-01 5.81982954e-02 6.90969654e+02] [-5.60630333e-01 8.27152007e-01 -3.88997091e-02 -3.69457979e+02] [-6.99996177e-02 -5.31493207e-04 9.97546877e-01 -3.72064884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.02, Y:-369.50, Z:-37.21 [[ 8.24605371e-01 5.62707913e-01 5.81875171e-02 6.91020548e+02] [-5.61360920e-01 8.26655597e-01 -3.89158250e-02 -3.69495356e+02] [-6.99992793e-02 -5.73999834e-04 9.97546877e-01 -3.72107429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.07, Y:-369.53, Z:-37.21 [[ 8.23662410e-01 5.64088367e-01 5.81768671e-02 6.91071575e+02] [-5.62743687e-01 8.25714153e-01 -3.89317396e-02 -3.69531155e+02] [-6.99984040e-02 -6.72054255e-04 9.97546877e-01 -3.72149444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.12, Y:-369.57, Z:-37.22 [[ 8.21797461e-01 5.66802972e-01 5.81663413e-02 6.91122355e+02] [-5.65463957e-01 8.23852905e-01 -3.89474595e-02 -3.69566948e+02] [-6.99960451e-02 -8.84046196e-04 9.97546877e-01 -3.72197018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.17, Y:-369.60, Z:-37.22 [[ 8.20080427e-01 5.69285103e-01 5.81598272e-02 6.91173165e+02] [-5.67951618e-01 8.22139463e-01 -3.89571846e-02 -3.69603171e+02] [-6.99932339e-02 -1.08394344e-03 9.97546877e-01 -3.72224377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.22, Y:-369.64, Z:-37.23 [[ 8.19825199e-01 5.69653587e-01 5.81501083e-02 6.91224398e+02] [-5.68319999e-01 8.21884168e-01 -3.89716862e-02 -3.69637514e+02] [-6.99930142e-02 -1.09789917e-03 9.97546877e-01 -3.72300511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.27, Y:-369.68, Z:-37.23 [[ 8.19050828e-01 5.70767438e-01 5.81401213e-02 6.91272114e+02] [-5.69435594e-01 8.21110925e-01 -3.89865797e-02 -3.69675317e+02] [-6.99917590e-02 -1.17506418e-03 9.97546878e-01 -3.72339939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.32, Y:-369.71, Z:-37.24 [[ 8.19148974e-01 5.70627505e-01 5.81309757e-02 6.91323276e+02] [-5.69294342e-01 8.21208217e-01 -3.90002115e-02 -3.69712569e+02] [-6.99922283e-02 -1.14665230e-03 9.97546878e-01 -3.72377022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.37, Y:-369.75, Z:-37.24 [[ 8.19810106e-01 5.69678401e-01 5.81197856e-02 6.91373268e+02] [-5.68341672e-01 8.21867037e-01 -3.90168805e-02 -3.69749861e+02] [-6.99938100e-02 -1.04546316e-03 9.97546878e-01 -3.72411470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.42, Y:-369.79, Z:-37.25 [[ 8.20919077e-01 5.68080181e-01 5.81100364e-02 6.91423635e+02] [-5.66738421e-01 8.22972729e-01 -3.90313951e-02 -3.69786181e+02] [-6.99959372e-02 -8.91573418e-04 9.97546878e-01 -3.72453506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.48, Y:-369.82, Z:-37.26 [[ 8.23350554e-01 5.64551335e-01 5.81003972e-02 6.91475197e+02] [-5.63199760e-01 8.25397759e-01 -3.90457383e-02 -3.69819133e+02] [-6.99992613e-02 -5.73799434e-04 9.97546878e-01 -3.72554990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.52, Y:-369.86, Z:-37.25 [[ 8.23148837e-01 5.64846440e-01 5.80903726e-02 6.91524278e+02] [-5.63494547e-01 8.25195832e-01 -3.90606467e-02 -3.69855758e+02] [-6.99992006e-02 -5.80882245e-04 9.97546878e-01 -3.72538301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.58, Y:-369.89, Z:-37.26 [[ 8.23322821e-01 5.64593393e-01 5.80847068e-02 6.91577531e+02] [-5.63240277e-01 8.25369007e-01 -3.90690703e-02 -3.69889239e+02] [-6.99994557e-02 -5.49189185e-04 9.97546878e-01 -3.72585602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.63, Y:-369.92, Z:-37.26 [[ 8.22160812e-01 5.66285301e-01 5.80737220e-02 6.91629770e+02] [-5.64935243e-01 8.24209017e-01 -3.90853915e-02 -3.69922095e+02] [-6.99983681e-02 -6.73415016e-04 9.97546879e-01 -3.72635045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.68, Y:-369.96, Z:-37.27 [[ 8.20619648e-01 5.68517039e-01 5.80669518e-02 6.91682761e+02] [-5.67171838e-01 8.22671047e-01 -3.90954471e-02 -3.69955983e+02] [-6.99964279e-02 -8.51447798e-04 9.97546879e-01 -3.72672423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.74, Y:-369.99, Z:-37.27 [[ 8.18608887e-01 5.71409665e-01 5.80558774e-02 6.91735678e+02] [-5.70070548e-01 8.20664262e-01 -3.91118855e-02 -3.69988028e+02] [-6.99932932e-02 -1.07860879e-03 9.97546879e-01 -3.72723546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.79, Y:-370.02, Z:-37.28 [[ 8.19083863e-01 5.70729642e-01 5.80456820e-02 6.91788732e+02] [-5.69387746e-01 8.21137426e-01 -3.91270107e-02 -3.70019837e+02] [-6.99944266e-02 -1.00219699e-03 9.97546879e-01 -3.72822875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.84, Y:-370.05, Z:-37.28 [[ 8.18674598e-01 5.71316925e-01 5.80420038e-02 6.91839481e+02] [-5.69976115e-01 8.20728870e-01 -3.91324662e-02 -3.70054943e+02] [-6.99937884e-02 -1.04579978e-03 9.97546879e-01 -3.72819794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.89, Y:-370.09, Z:-37.29 [[ 8.19627170e-01 5.69950543e-01 5.80317247e-02 6.91891343e+02] [-5.68605231e-01 8.21678495e-01 -3.91477037e-02 -3.70090155e+02] [-6.99956752e-02 -9.10620627e-04 9.97546879e-01 -3.72851306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:691.94, Y:-370.12, Z:-37.29 [[ 8.21760024e-01 5.66872188e-01 5.80205657e-02 6.91943486e+02] [-5.65518023e-01 8.23805516e-01 -3.91642354e-02 -3.70124724e+02] [-6.99987779e-02 -6.28072590e-04 9.97546879e-01 -3.72903309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.00, Y:-370.16, Z:-37.30 [[ 8.24141261e-01 5.63405787e-01 5.80094895e-02 6.91995173e+02] [-5.62041865e-01 8.26180259e-01 -3.91806345e-02 -3.70160382e+02] [-7.00008913e-02 -3.13384103e-04 9.97546880e-01 -3.72958218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.05, Y:-370.20, Z:-37.30 [[ 8.25748361e-01 5.61048853e-01 5.79985268e-02 6.92047001e+02] [-5.59677971e-01 8.27782686e-01 -3.91968558e-02 -3.70195986e+02] [-7.00015273e-02 -9.37583800e-05 9.97546880e-01 -3.73010495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.10, Y:-370.23, Z:-37.31 [[ 8.27780169e-01 5.58047894e-01 5.79874114e-02 6.92098228e+02] [-5.56668485e-01 8.29808722e-01 -3.92132929e-02 -3.70232490e+02] [-7.00013553e-02 1.80221743e-04 9.97546880e-01 -3.73056158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.15, Y:-370.27, Z:-37.31 [[ 8.28083559e-01 5.57598740e-01 5.79764102e-02 6.92149670e+02] [-5.56217092e-01 8.30110588e-01 -3.92295513e-02 -3.70267699e+02] [-7.00011803e-02 2.37876128e-04 9.97546880e-01 -3.73097557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.20, Y:-370.30, Z:-37.31 [[ 8.28014889e-01 5.57701863e-01 5.79652951e-02 6.92200056e+02] [-5.56319319e-01 8.30041306e-01 -3.92459681e-02 -3.70303025e+02] [-7.00011388e-02 2.49032419e-04 9.97546880e-01 -3.73138795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.25, Y:-370.34, Z:-37.32 [[ 8.26314193e-01 5.60219308e-01 5.79584428e-02 6.92251907e+02] [-5.58842228e-01 8.28344327e-01 -3.92560849e-02 -3.70337634e+02] [-7.00015640e-02 4.82348406e-05 9.97546880e-01 -3.73196640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.30, Y:-370.37, Z:-37.33 [[ 8.24311386e-01 5.63163215e-01 5.79476691e-02 6.92303695e+02] [-5.61792267e-01 8.26345666e-01 -3.92719820e-02 -3.70371587e+02] [-7.00013409e-02 -1.82210440e-04 9.97546881e-01 -3.73256551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.36, Y:-370.41, Z:-37.33 [[ 8.21159296e-01 5.67750454e-01 5.79381872e-02 6.92356162e+02] [-5.66389883e-01 8.23200531e-01 -3.92859658e-02 -3.70405529e+02] [-6.99993713e-02 -5.55567070e-04 9.97546881e-01 -3.73305222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.41, Y:-370.44, Z:-37.33 [[ 8.19440365e-01 5.70229723e-01 5.79271186e-02 6.92408654e+02] [-5.68874174e-01 8.21484939e-01 -3.93022797e-02 -3.70440655e+02] [-6.99975835e-02 -7.47367351e-04 9.97546881e-01 -3.73342610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.46, Y:-370.47, Z:-37.34 [[ 8.19705706e-01 5.69849371e-01 5.79158823e-02 6.92461099e+02] [-5.68491704e-01 8.21748874e-01 -3.93188306e-02 -3.70472581e+02] [-6.99981219e-02 -6.94828802e-04 9.97546881e-01 -3.73422445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.51, Y:-370.51, Z:-37.34 [[ 8.18346423e-01 5.71800679e-01 5.79060976e-02 6.92510835e+02] [-5.70446864e-01 8.20392145e-01 -3.93332355e-02 -3.70508184e+02] [-6.99964784e-02 -8.44139216e-04 9.97546881e-01 -3.73420437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.56, Y:-370.54, Z:-37.35 [[ 8.20878584e-01 5.68160426e-01 5.78971573e-02 6.92562489e+02] [-5.66796612e-01 8.22917652e-01 -3.93463910e-02 -3.70539269e+02] [-6.99996550e-02 -5.17302869e-04 9.97546881e-01 -3.73534015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.61, Y:-370.58, Z:-37.35 [[ 8.21363946e-01 5.67459516e-01 5.78875245e-02 6.92611996e+02] [-5.66092963e-01 8.23401180e-01 -3.93605579e-02 -3.70577313e+02] [-7.00001792e-02 -4.40377144e-04 9.97546882e-01 -3.73501538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.66, Y:-370.61, Z:-37.35 [[ 8.24556926e-01 5.62810883e-01 5.78773241e-02 6.92661848e+02] [-5.61431792e-01 8.26585694e-01 -3.93755513e-02 -3.70613616e+02] [-7.00015569e-02 -2.67862376e-05 9.97546882e-01 -3.73548344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.71, Y:-370.65, Z:-37.36 [[ 8.27082778e-01 5.59093448e-01 5.78670416e-02 6.92714131e+02] [-5.57704181e-01 8.29104591e-01 -3.93906569e-02 -3.70648640e+02] [-7.00008880e-02 3.06642885e-04 9.97546882e-01 -3.73592824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.77, Y:-370.68, Z:-37.37 [[ 8.28858523e-01 5.56458648e-01 5.78560441e-02 6.92767356e+02] [-5.55061828e-01 8.30875124e-01 -3.94068032e-02 -3.70681469e+02] [-6.99994042e-02 5.48983080e-04 9.97546882e-01 -3.73663592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.82, Y:-370.72, Z:-37.37 [[ 8.30005880e-01 5.54747023e-01 5.78444492e-02 6.92817305e+02] [-5.53344858e-01 8.32018768e-01 -3.94238157e-02 -3.70715772e+02] [-6.99979118e-02 7.14070311e-04 9.97546882e-01 -3.73701335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.87, Y:-370.75, Z:-37.38 [[ 8.32002095e-01 5.51749583e-01 5.78352010e-02 6.92868768e+02] [-5.50339225e-01 8.34009251e-01 -3.94373783e-02 -3.70750757e+02] [-6.99946497e-02 9.83001634e-04 9.97546882e-01 -3.73758724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.92, Y:-370.78, Z:-37.38 [[ 8.32908829e-01 5.50380243e-01 5.78313951e-02 6.92921269e+02] [-5.48966198e-01 8.34913389e-01 -3.94429586e-02 -3.70783630e+02] [-6.99928312e-02 1.10490737e-03 9.97546883e-01 -3.73795150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:692.97, Y:-370.82, Z:-37.38 [[ 8.32412029e-01 5.51132530e-01 5.78199656e-02 6.92972962e+02] [-5.49719133e-01 8.34417046e-01 -3.94597061e-02 -3.70817141e+02] [-6.99934926e-02 1.06199265e-03 9.97546883e-01 -3.73847709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.03, Y:-370.85, Z:-37.39 [[ 8.29365289e-01 5.55707835e-01 5.78101922e-02 6.93025677e+02] [-5.54304503e-01 8.31377363e-01 -3.94740194e-02 -3.70850461e+02] [-6.99981070e-02 6.93931678e-04 9.97546883e-01 -3.73898741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.08, Y:-370.88, Z:-37.40 [[ 8.27518722e-01 5.58455027e-01 5.77992034e-02 6.93079685e+02] [-5.57057250e-01 8.29534660e-01 -3.94901031e-02 -3.70882933e+02] [-6.99998891e-02 4.81334372e-04 9.97546883e-01 -3.73952822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.13, Y:-370.92, Z:-37.40 [[ 8.23143579e-01 5.64885145e-01 5.77877200e-02 6.93132014e+02] [-5.63501938e-01 8.25169541e-01 -3.95069002e-02 -3.70916446e+02] [-7.00015274e-02 -4.36410012e-05 9.97546883e-01 -3.73981642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.18, Y:-370.95, Z:-37.40 [[ 8.21450860e-01 5.67344946e-01 5.77771364e-02 6.93183475e+02] [-5.65966717e-01 8.23480211e-01 -3.95223722e-02 -3.70950123e+02] [-7.00011466e-02 -2.34249606e-04 9.97546883e-01 -3.74020379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.23, Y:-370.99, Z:-37.41 [[ 8.19257958e-01 5.70507919e-01 5.77677530e-02 6.93234970e+02] [-5.69136558e-01 8.21291956e-01 -3.95360827e-02 -3.70985040e+02] [-6.99998391e-02 -4.87489734e-04 9.97546884e-01 -3.74055529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.29, Y:-371.02, Z:-37.41 [[ 8.19049165e-01 5.70808711e-01 5.77570795e-02 6.93287164e+02] [-5.69436998e-01 8.21082926e-01 -3.95516692e-02 -3.71019855e+02] [-6.99997891e-02 -4.94256334e-04 9.97546884e-01 -3.74105348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.34, Y:-371.05, Z:-37.42 [[ 8.19173959e-01 5.70630745e-01 5.77458082e-02 6.93338416e+02] [-5.69257430e-01 8.21206638e-01 -3.95681185e-02 -3.71054388e+02] [-7.00000259e-02 -4.59058110e-04 9.97546884e-01 -3.74157152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.39, Y:-371.09, Z:-37.42 [[ 8.19683476e-01 5.69899637e-01 5.77356306e-02 6.93390640e+02] [-5.68523463e-01 8.21714221e-01 -3.95829635e-02 -3.71089417e+02] [-7.00005053e-02 -3.78559581e-04 9.97546884e-01 -3.74220938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.44, Y:-371.13, Z:-37.43 [[ 8.18016767e-01 5.72290582e-01 5.77239870e-02 6.93439457e+02] [-5.70919146e-01 8.20050714e-01 -3.95999363e-02 -3.71125906e+02] [-6.99992673e-02 -5.62317529e-04 9.97546884e-01 -3.74260757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.49, Y:-371.16, Z:-37.43 [[ 8.17276050e-01 5.73348464e-01 5.77182508e-02 6.93490191e+02] [-5.71979071e-01 8.19311373e-01 -3.96082951e-02 -3.71161828e+02] [-6.99985745e-02 -6.42720515e-04 9.97546884e-01 -3.74319662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.54, Y:-371.20, Z:-37.44 [[ 8.16257420e-01 5.74798718e-01 5.77083897e-02 6.93540383e+02] [-5.73431925e-01 8.18294490e-01 -3.96226574e-02 -3.71196943e+02] [-6.99975100e-02 -7.49544946e-04 9.97546885e-01 -3.74394072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.59, Y:-371.23, Z:-37.44 [[ 8.17475899e-01 5.73065456e-01 5.76986872e-02 6.93590755e+02] [-5.71693347e-01 8.19509391e-01 -3.96367812e-02 -3.71234283e+02] [-6.99990861e-02 -5.83842316e-04 9.97546885e-01 -3.74418677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.64, Y:-371.27, Z:-37.45 [[ 8.19728672e-01 5.69839505e-01 5.76874623e-02 6.93641042e+02] [-5.68458244e-01 8.21755959e-01 -3.96531112e-02 -3.71271294e+02] [-7.00009251e-02 -2.88121332e-04 9.97546885e-01 -3.74452753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.69, Y:-371.31, Z:-37.45 [[ 8.24777898e-01 5.62507672e-01 5.76761411e-02 6.93690681e+02] [-5.61107238e-01 8.26791988e-01 -3.96695712e-02 -3.71310626e+02] [-7.00006096e-02 3.56085297e-04 9.97546885e-01 -3.74487206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.74, Y:-371.35, Z:-37.45 [[ 8.27733315e-01 5.58150819e-01 5.76647505e-02 6.93739158e+02] [-5.56738631e-01 8.29739181e-01 -3.96861221e-02 -3.71349660e+02] [-6.99975444e-02 7.45331112e-04 9.97546885e-01 -3.74484661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.79, Y:-371.38, Z:-37.45 [[ 8.28363802e-01 5.57215712e-01 5.76546836e-02 6.93791060e+02] [-5.55800243e-01 8.30367353e-01 -3.97007416e-02 -3.71383952e+02] [-6.99964440e-02 8.42170150e-04 9.97546885e-01 -3.74525671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.84, Y:-371.42, Z:-37.46 [[ 8.29035592e-01 5.56216764e-01 5.76445874e-02 6.93842698e+02] [-5.54797862e-01 8.31036714e-01 -3.97153957e-02 -3.71416806e+02] [-6.99951373e-02 9.44382797e-04 9.97546886e-01 -3.74593526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:693.89, Y:-371.45, Z:-37.46 [[ 8.27258398e-01 5.58857503e-01 5.76353597e-02 6.93891821e+02] [-5.57444056e-01 8.29263377e-01 -3.97287825e-02 -3.71454963e+02] [-6.99976212e-02 7.37480312e-04 9.97546886e-01 -3.74554297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:693.94, Y:-371.49, Z:-37.47 [[ 8.25964653e-01 5.60768053e-01 5.76331798e-02 6.93943232e+02] [-5.59359024e-01 8.27972738e-01 -3.97319445e-02 -3.71488062e+02] [-6.99991069e-02 5.79542491e-04 9.97546886e-01 -3.74665604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.00, Y:-371.52, Z:-37.47 [[ 8.25280422e-01 5.61775636e-01 5.76225621e-02 6.93997866e+02] [-5.60367984e-01 8.27289473e-01 -3.97473372e-02 -3.71515196e+02] [-6.99996247e-02 5.12860268e-04 9.97546886e-01 -3.74722412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.05, Y:-371.55, Z:-37.48 [[ 8.23264442e-01 5.64726783e-01 5.76135313e-02 6.94050166e+02] [-5.63325418e-01 8.25277882e-01 -3.97604230e-02 -3.71549365e+02] [-7.00009489e-02 2.78175875e-04 9.97546886e-01 -3.74763231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.10, Y:-371.58, Z:-37.48 [[ 8.19785164e-01 5.69766836e-01 5.76024065e-02 6.94103155e+02] [-5.68376717e-01 8.21806386e-01 -3.97765335e-02 -3.71582189e+02] [-7.00013751e-02 -1.31654645e-04 9.97546886e-01 -3.74810610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.15, Y:-371.61, Z:-37.49 [[ 8.17155247e-01 5.73533268e-01 5.75924743e-02 6.94154959e+02] [-5.72151452e-01 8.19182153e-01 -3.97909091e-02 -3.71614720e+02] [-7.00001373e-02 -4.36267669e-04 9.97546886e-01 -3.74865153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.21, Y:-371.65, Z:-37.49 [[ 8.13085501e-01 5.79289326e-01 5.75833759e-02 6.94208367e+02] [-5.77920925e-01 8.15121488e-01 -3.98040715e-02 -3.71646378e+02] [-6.99955208e-02 -9.14524424e-04 9.97546887e-01 -3.74918354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.26, Y:-371.68, Z:-37.49 [[ 8.08755969e-01 5.85319621e-01 5.75736441e-02 6.94257864e+02] [-5.83965396e-01 8.10801413e-01 -3.98181429e-02 -3.71684185e+02] [-6.99871323e-02 -1.41785518e-03 9.97546887e-01 -3.74888265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.31, Y:-371.72, Z:-37.49 [[ 8.08156264e-01 5.86147657e-01 5.75706330e-02 6.94309326e+02] [-5.84795218e-01 8.10202889e-01 -3.98224960e-02 -3.71715494e+02] [-6.99857559e-02 -1.48423124e-03 9.97546887e-01 -3.74933972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.36, Y:-371.75, Z:-37.50 [[ 8.09091919e-01 5.84855885e-01 5.75661482e-02 6.94360612e+02] [-5.83499718e-01 8.11136075e-01 -3.98289781e-02 -3.71747641e+02] [-6.99881917e-02 -1.36452691e-03 9.97546887e-01 -3.74995108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.41, Y:-371.78, Z:-37.50 [[ 8.09247791e-01 5.84640372e-01 5.75642986e-02 6.94412239e+02] [-5.83283470e-01 8.11291460e-01 -3.98316510e-02 -3.71783502e+02] [-6.99886151e-02 -1.34262824e-03 9.97546887e-01 -3.75040066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.46, Y:-371.82, Z:-37.51 [[ 8.09789479e-01 5.83890934e-01 5.75532542e-02 6.94462770e+02] [-5.82531008e-01 8.11831136e-01 -3.98476029e-02 -3.71818789e+02] [-6.99901778e-02 -1.25838561e-03 9.97546887e-01 -3.75098297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.51, Y:-371.86, Z:-37.52 [[ 8.09921214e-01 5.83709138e-01 5.75436398e-02 6.94514090e+02] [-5.82347767e-01 8.11961908e-01 -3.98614822e-02 -3.71855100e+02] [-6.99907549e-02 -1.22575008e-03 9.97546887e-01 -3.75152308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.56, Y:-371.89, Z:-37.52 [[ 8.10546455e-01 5.82841754e-01 5.75320251e-02 6.94563817e+02] [-5.81477011e-01 8.12584895e-01 -3.98782386e-02 -3.71889679e+02] [-6.99923571e-02 -1.13038511e-03 9.97546887e-01 -3.75203596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.62, Y:-371.93, Z:-37.52 [[ 8.12725058e-01 5.79800577e-01 5.75262646e-02 6.94615212e+02] [-5.78427617e-01 8.14757973e-01 -3.98865467e-02 -3.71926594e+02] [-6.99962255e-02 -8.57984206e-04 9.97546887e-01 -3.75235193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.67, Y:-371.96, Z:-37.53 [[ 8.15426892e-01 5.75995652e-01 5.75151610e-02 6.94665603e+02] [-5.74612076e-01 8.17452597e-01 -3.99025514e-02 -3.71962833e+02] [-6.99996138e-02 -5.11292655e-04 9.97546887e-01 -3.75257661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.72, Y:-372.00, Z:-37.53 [[ 8.21263605e-01 5.67643571e-01 5.75053791e-02 6.94716270e+02] [-5.66238407e-01 8.23274394e-01 -3.99166435e-02 -3.71998060e+02] [-7.00011322e-02 2.20332272e-04 9.97546888e-01 -3.75284983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.77, Y:-372.03, Z:-37.53 [[ 8.27238904e-01 5.58900752e-01 5.74956047e-02 6.94767978e+02] [-5.57473362e-01 8.29233977e-01 -3.99307176e-02 -3.72033299e+02] [-6.99946170e-02 9.79975053e-04 9.97546888e-01 -3.75319463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.82, Y:-372.07, Z:-37.54 [[ 8.30354430e-01 5.54262654e-01 5.74841859e-02 6.94818921e+02] [-5.52822984e-01 8.32340660e-01 -3.99471492e-02 -3.72067937e+02] [-6.99876382e-02 1.39171315e-03 9.97546888e-01 -3.75362759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.87, Y:-372.10, Z:-37.54 [[ 8.33575386e-01 5.49407730e-01 5.74736638e-02 6.94872510e+02] [-5.47955452e-01 8.35552415e-01 -3.99622821e-02 -3.72100519e+02] [-6.99778453e-02 1.81856730e-03 9.97546888e-01 -3.75385054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.92, Y:-372.14, Z:-37.54 [[ 8.33068841e-01 5.50176665e-01 5.74625364e-02 6.94923255e+02] [-5.48725110e-01 8.35046401e-01 -3.99782760e-02 -3.72136803e+02] [-6.99789988e-02 1.77351949e-03 9.97546888e-01 -3.75375523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:694.98, Y:-372.17, Z:-37.54 [[ 8.34102592e-01 5.48609237e-01 5.74523461e-02 6.94976757e+02] [-5.47152958e-01 8.36076676e-01 -3.99929151e-02 -3.72165810e+02] [-6.99750492e-02 1.92297297e-03 9.97546888e-01 -3.75445211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.03, Y:-372.20, Z:-37.55 [[ 8.32255544e-01 5.51408206e-01 5.74430159e-02 6.95028982e+02] [-5.49957643e-01 8.34233832e-01 -4.00063119e-02 -3.72200232e+02] [-6.99807159e-02 1.70424928e-03 9.97546889e-01 -3.75467521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.08, Y:-372.23, Z:-37.55 [[ 8.28710601e-01 5.56722157e-01 5.74384928e-02 6.95083883e+02] [-5.55283832e-01 8.30697804e-01 -4.00128048e-02 -3.72229289e+02] [-6.99900448e-02 1.26436917e-03 9.97546889e-01 -3.75533582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.14, Y:-372.26, Z:-37.55 [[ 8.25548443e-01 5.61400972e-01 5.74344535e-02 6.95137265e+02] [-5.59973508e-01 8.27543462e-01 -4.00186020e-02 -3.72258964e+02] [-6.99959886e-02 8.75522169e-04 9.97546889e-01 -3.75543982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.19, Y:-372.28, Z:-37.57 [[ 8.21747107e-01 5.66951656e-01 5.74239677e-02 6.95194789e+02] [-5.65536618e-01 8.23750959e-01 -4.00336427e-02 -3.72282407e+02] [-7.00001885e-02 4.22173644e-04 9.97546889e-01 -3.75655035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.25, Y:-372.31, Z:-37.57 [[ 8.18114751e-01 5.72181164e-01 5.74192521e-02 6.95249474e+02] [-5.70778460e-01 8.20127256e-01 -4.00404051e-02 -3.72314193e+02] [-7.00014592e-02 -1.60263143e-05 9.97546889e-01 -3.75684108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.30, Y:-372.34, Z:-37.57 [[ 8.13520386e-01 5.78695858e-01 5.74080584e-02 6.95304380e+02] [-5.77308137e-01 8.15543252e-01 -4.00564476e-02 -3.72343258e+02] [-6.99992550e-02 -5.55402554e-04 9.97546889e-01 -3.75720356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.36, Y:-372.37, Z:-37.58 [[ 8.11023027e-01 5.82191616e-01 5.73983618e-02 6.95359012e+02] [-5.80811632e-01 8.13051177e-01 -4.00703376e-02 -3.72372815e+02] [-6.99964202e-02 -8.39669686e-04 9.97546889e-01 -3.75766866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.41, Y:-372.41, Z:-37.58 [[ 8.10478420e-01 5.82950545e-01 5.73880934e-02 6.95411737e+02] [-5.81571418e-01 8.12507154e-01 -4.00850384e-02 -3.72407691e+02] [-6.99958314e-02 -8.87216332e-04 9.97546889e-01 -3.75804746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.46, Y:-372.44, Z:-37.59 [[ 8.10228756e-01 5.83298617e-01 5.73767081e-02 6.95463081e+02] [-5.81919209e-01 8.12257298e-01 -4.01013284e-02 -3.72440863e+02] [-6.99956993e-02 -8.97359191e-04 9.97546890e-01 -3.75856037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.52, Y:-372.47, Z:-37.59 [[ 8.10358078e-01 5.83119836e-01 5.73676138e-02 6.95516101e+02] [-5.81739059e-01 8.12385689e-01 -4.01143343e-02 -3.72473803e+02] [-6.99960924e-02 -8.66006888e-04 9.97546890e-01 -3.75919389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.57, Y:-372.51, Z:-37.60 [[ 8.09848697e-01 5.83827586e-01 5.73623375e-02 6.95567757e+02] [-5.82448047e-01 8.11877150e-01 -4.01218777e-02 -3.72507675e+02] [-6.99954301e-02 -9.17931083e-04 9.97546890e-01 -3.75980876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.62, Y:-372.54, Z:-37.60 [[ 8.10156672e-01 5.83401097e-01 5.73526611e-02 6.95619224e+02] [-5.82019511e-01 8.12183731e-01 -4.01357050e-02 -3.72543022e+02] [-6.99961126e-02 -8.64158654e-04 9.97546890e-01 -3.76032042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.67, Y:-372.58, Z:-37.61 [[ 8.13089440e-01 5.79307030e-01 5.73491730e-02 6.95669585e+02] [-5.77914885e-01 8.15109263e-01 -4.01406885e-02 -3.72579583e+02] [-6.99996252e-02 -5.04970834e-04 9.97546890e-01 -3.76056999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.72, Y:-372.62, Z:-37.61 [[ 8.18907147e-01 5.71054536e-01 5.73393612e-02 6.95719622e+02] [-5.69641055e-01 8.20912096e-01 -4.01546994e-02 -3.72617097e+02] [-7.00010984e-02 2.20116154e-04 9.97546890e-01 -3.76078283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.77, Y:-372.65, Z:-37.61 [[ 8.23312990e-01 5.64684897e-01 5.73296407e-02 6.95770483e+02] [-5.63254940e-01 8.25306221e-01 -4.01685727e-02 -3.72654538e+02] [-6.99970955e-02 7.80104418e-04 9.97546890e-01 -3.76113476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.82, Y:-372.69, Z:-37.61 [[ 8.29462810e-01 5.55613208e-01 5.73184882e-02 6.95820940e+02] [-5.54160359e-01 8.31439417e-01 -4.01844805e-02 -3.72691885e+02] [-6.99838786e-02 1.56789817e-03 9.97546890e-01 -3.76147696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.87, Y:-372.73, Z:-37.62 [[ 8.32441984e-01 5.51140812e-01 5.73074848e-02 6.95871265e+02] [-5.49676267e-01 8.34409940e-01 -4.02001665e-02 -3.72727831e+02] [-6.99738874e-02 1.96374208e-03 9.97546891e-01 -3.76179927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.92, Y:-372.76, Z:-37.62 [[ 8.34937746e-01 5.47353591e-01 5.72975371e-02 6.95922384e+02] [-5.45879149e-01 8.36898298e-01 -4.02143401e-02 -3.72763503e+02] [-6.99636747e-02 2.29893967e-03 9.97546891e-01 -3.76219317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:695.97, Y:-372.80, Z:-37.63 [[ 8.35348945e-01 5.46727032e-01 5.72860657e-02 6.95973618e+02] [-5.45250001e-01 8.37307548e-01 -4.02306747e-02 -3.72798770e+02] [-6.99612525e-02 2.37142427e-03 9.97546891e-01 -3.76265264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.03, Y:-372.83, Z:-37.63 [[ 8.33653464e-01 5.49309948e-01 5.72754972e-02 6.96025001e+02] [-5.47837955e-01 8.35615855e-01 -4.02457151e-02 -3.72834122e+02] [-6.99676853e-02 2.17328859e-03 9.97546891e-01 -3.76257553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.08, Y:-372.86, Z:-37.63 [[ 8.30115773e-01 5.54642660e-01 5.72653792e-02 6.96077861e+02] [-5.53182285e-01 8.32086825e-01 -4.02601069e-02 -3.72864428e+02] [-6.99797403e-02 1.74235645e-03 9.97546891e-01 -3.76330950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.13, Y:-372.90, Z:-37.64 [[ 8.23472051e-01 5.64460377e-01 5.72561278e-02 6.96131210e+02] [-5.63022594e-01 8.25459644e-01 -4.02732596e-02 -3.72896450e+02] [-6.99952821e-02 9.27410104e-04 9.97546891e-01 -3.76376046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.19, Y:-372.93, Z:-37.64 [[ 8.18180031e-01 5.72105212e-01 5.72456322e-02 6.96185093e+02] [-5.70684960e-01 8.20180188e-01 -4.02881728e-02 -3.72929706e+02] [-7.00008070e-02 2.93757217e-04 9.97546892e-01 -3.76419915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.24, Y:-372.96, Z:-37.65 [[ 8.10299586e-01 5.83214195e-01 5.72344640e-02 6.96239655e+02] [-5.81820242e-01 8.12318159e-01 -4.03040325e-02 -3.72960919e+02] [-6.99984782e-02 -6.41828827e-04 9.97546892e-01 -3.76456521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.29, Y:-372.99, Z:-37.65 [[ 8.04163585e-01 5.91647254e-01 5.72228566e-02 6.96291804e+02] [-5.90273293e-01 8.06195818e-01 -4.03205057e-02 -3.72992528e+02] [-6.99883441e-02 -1.35284158e-03 9.97546892e-01 -3.76504155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.34, Y:-373.03, Z:-37.65 [[ 8.00491679e-01 5.96606805e-01 5.72135643e-02 6.96344203e+02] [-5.95244491e-01 8.02531738e-01 -4.03336868e-02 -3.73027106e+02] [-6.99790532e-02 -1.76927824e-03 9.97546892e-01 -3.76548811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.39, Y:-373.06, Z:-37.66 [[ 8.00034067e-01 5.97221390e-01 5.72022969e-02 6.96394945e+02] [-5.95859502e-01 8.02074410e-01 -4.03496602e-02 -3.73064732e+02] [-6.99781787e-02 -1.80342938e-03 9.97546892e-01 -3.76593250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.45, Y:-373.10, Z:-37.66 [[ 8.00566652e-01 5.96508365e-01 5.71909565e-02 6.96445763e+02] [-5.95143513e-01 8.02605013e-01 -4.03657277e-02 -3.73102128e+02] [-6.99802426e-02 -1.72137129e-03 9.97546892e-01 -3.76633568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.49, Y:-373.14, Z:-37.67 [[ 8.03629338e-01 5.92376903e-01 5.71794689e-02 6.96493616e+02] [-5.91000412e-01 8.05659858e-01 -4.03819936e-02 -3.73142384e+02] [-6.99885631e-02 -1.34093493e-03 9.97546893e-01 -3.76682743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.54, Y:-373.18, Z:-37.67 [[ 8.05934605e-01 5.89237826e-01 5.71681401e-02 6.96541946e+02] [-5.87852290e-01 8.07958963e-01 -4.03980253e-02 -3.73181231e+02] [-6.99935558e-02 -1.04825547e-03 9.97546893e-01 -3.76736063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.59, Y:-373.22, Z:-37.68 [[ 8.09324814e-01 5.84573596e-01 5.71581703e-02 6.96587771e+02] [-5.83175396e-01 8.11340445e-01 -4.04121264e-02 -3.73221919e+02] [-6.99985974e-02 -6.26701891e-04 9.97546893e-01 -3.76794855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.63, Y:-373.26, Z:-37.67 [[ 8.10725587e-01 5.82630250e-01 5.71490521e-02 6.96634322e+02] [-5.81226309e-01 8.12737225e-01 -4.04250169e-02 -3.73262967e+02] [-6.99999997e-02 -4.42937070e-04 9.97546893e-01 -3.76744447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.68, Y:-373.30, Z:-37.69 [[ 8.15727040e-01 5.75607101e-01 5.71477168e-02 6.96679908e+02] [-5.74185708e-01 8.17726384e-01 -4.04269045e-02 -3.73301839e+02] [-7.00012091e-02 1.63916952e-04 9.97546893e-01 -3.76882611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.73, Y:-373.34, Z:-37.69 [[ 8.20116926e-01 5.69335136e-01 5.71465779e-02 6.96725630e+02] [-5.67898341e-01 8.22105230e-01 -4.04285143e-02 -3.73344435e+02] [-6.99978743e-02 7.02662025e-04 9.97546893e-01 -3.76917410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.77, Y:-373.39, Z:-37.69 [[ 8.23837582e-01 5.63938545e-01 5.71397989e-02 6.96771451e+02] [-5.62488063e-01 8.25815924e-01 -4.04380932e-02 -3.73386499e+02] [-6.99915552e-02 1.17396616e-03 9.97546893e-01 -3.76947614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.82, Y:-373.43, Z:-37.70 [[ 8.25775530e-01 5.61097929e-01 5.71304454e-02 6.96819920e+02] [-5.59639729e-01 8.27748190e-01 -4.04513034e-02 -3.73426741e+02] [-6.99867653e-02 1.43122953e-03 9.97546893e-01 -3.76985229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.87, Y:-373.47, Z:-37.70 [[ 8.28343345e-01 5.57301192e-01 5.71199027e-02 6.96867033e+02] [-5.55832927e-01 8.30308524e-01 -4.04661849e-02 -3.73467376e+02] [-6.99789952e-02 1.77077224e-03 9.97546893e-01 -3.76996651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.92, Y:-373.51, Z:-37.70 [[ 8.29726086e-01 5.55241429e-01 5.71102302e-02 6.96915150e+02] [-5.53767347e-01 8.31686905e-01 -4.04798313e-02 -3.73505203e+02] [-6.99739100e-02 1.96139130e-03 9.97546894e-01 -3.77035936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.97, Y:-373.54, Z:-37.71 [[ 8.29238876e-01 5.55969709e-01 5.71013891e-02 6.96966086e+02] [-5.54496492e-01 8.31200346e-01 -4.04922988e-02 -3.73542616e+02] [-6.99751859e-02 1.91526845e-03 9.97546894e-01 -3.77079427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.02, Y:-373.58, Z:-37.71 [[ 8.27552644e-01 5.58477647e-01 5.70906194e-02 6.97017179e+02] [-5.57009328e-01 8.29517783e-01 -4.05074775e-02 -3.73579858e+02] [-6.99802047e-02 1.72206260e-03 9.97546894e-01 -3.77125488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.07, Y:-373.61, Z:-37.72 [[ 8.22195615e-01 5.66335817e-01 5.70798864e-02 6.97067296e+02] [-5.64885236e-01 8.24173883e-01 -4.05225959e-02 -3.73614045e+02] [-6.99931491e-02 1.07391557e-03 9.97546894e-01 -3.77187921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.12, Y:-373.65, Z:-37.72 [[ 8.20732274e-01 5.68455283e-01 5.70712354e-02 6.97118318e+02] [-5.67008965e-01 8.22713660e-01 -4.05347762e-02 -3.73648990e+02] [-6.99954926e-02 9.08296983e-04 9.97546894e-01 -3.77234653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.17, Y:-373.68, Z:-37.73 [[ 8.18494766e-01 5.71673272e-01 5.70612760e-02 6.97169986e+02] [-5.70233767e-01 8.20481107e-01 -4.05487914e-02 -3.73684284e+02] [-6.99983591e-02 6.50707162e-04 9.97546894e-01 -3.77272495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.22, Y:-373.72, Z:-37.73 [[ 8.16257987e-01 5.74863594e-01 5.70503896e-02 6.97222536e+02] [-5.73430782e-01 8.18249162e-01 -4.05641022e-02 -3.73719486e+02] [-7.00002591e-02 3.96322878e-04 9.97546894e-01 -3.77306102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.27, Y:-373.76, Z:-37.73 [[ 8.15043795e-01 5.76584918e-01 5.70389703e-02 6.97274514e+02] [-5.75155189e-01 8.17037184e-01 -4.05801531e-02 -3.73755602e+02] [-7.00008639e-02 2.68342309e-04 9.97546895e-01 -3.77347108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.32, Y:-373.79, Z:-37.74 [[ 8.15280546e-01 5.76251224e-01 5.70277090e-02 6.97324962e+02] [-5.74819571e-01 8.17272554e-01 -4.05959725e-02 -3.73791261e+02] [-7.00006602e-02 3.16463383e-04 9.97546895e-01 -3.77402011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.38, Y:-373.83, Z:-37.75 [[ 8.16012875e-01 5.75214755e-01 5.70173037e-02 6.97375439e+02] [-5.73779552e-01 8.18002326e-01 -4.06105817e-02 -3.73827072e+02] [-7.00000929e-02 4.23394551e-04 9.97546895e-01 -3.77452186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.43, Y:-373.86, Z:-37.75 [[ 8.17470111e-01 5.73142899e-01 5.70073154e-02 6.97426519e+02] [-5.71701677e-01 8.19455206e-01 -4.06245980e-02 -3.73864302e+02] [-6.99986412e-02 6.18216864e-04 9.97546895e-01 -3.77492466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.48, Y:-373.90, Z:-37.75 [[ 8.18676787e-01 5.71419069e-01 5.69962007e-02 6.97478311e+02] [-5.69972581e-01 8.20658048e-01 -4.06401859e-02 -3.73900514e+02] [-6.99969680e-02 7.84905159e-04 9.97546895e-01 -3.77529869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.53, Y:-373.94, Z:-37.76 [[ 8.18744254e-01 5.71323544e-01 5.69846947e-02 6.97528754e+02] [-5.69875703e-01 8.20724526e-01 -4.06563130e-02 -3.73936644e+02] [-6.99966453e-02 8.12929731e-04 9.97546896e-01 -3.77586710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.58, Y:-373.97, Z:-37.76 [[ 8.18244406e-01 5.72040249e-01 5.69740779e-02 6.97580322e+02] [-5.70593107e-01 8.20225189e-01 -4.06711855e-02 -3.73973328e+02] [-6.99971289e-02 7.69953923e-04 9.97546896e-01 -3.77622043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.63, Y:-374.01, Z:-37.77 [[ 8.16569082e-01 5.74430314e-01 5.69626928e-02 6.97632140e+02] [-5.72987858e-01 8.18553280e-01 -4.06871248e-02 -3.74009364e+02] [-6.99989169e-02 5.84916878e-04 9.97546896e-01 -3.77668224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.68, Y:-374.05, Z:-37.77 [[ 8.14841000e-01 5.76880160e-01 5.69510795e-02 6.97682597e+02] [-5.75442534e-01 8.16828700e-01 -4.07033739e-02 -3.74045350e+02] [-7.00002451e-02 3.94704351e-04 9.97546896e-01 -3.77716041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.73, Y:-374.08, Z:-37.78 [[ 8.11398417e-01 5.81712987e-01 5.69439252e-02 6.97734195e+02] [-5.80286498e-01 8.13394124e-01 -4.07133802e-02 -3.74081979e+02] [-7.00013562e-02 -9.01873705e-06 9.97546896e-01 -3.77756472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.79, Y:-374.12, Z:-37.78 [[ 8.07724547e-01 5.86804686e-01 5.69325642e-02 6.97785316e+02] [-5.85389658e-01 8.09728396e-01 -4.07292610e-02 -3.74116164e+02] [-7.00000351e-02 -4.29710397e-04 9.97546896e-01 -3.77819493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.84, Y:-374.15, Z:-37.78 [[ 8.05744857e-01 5.89521080e-01 5.69220677e-02 6.97836637e+02] [-5.88111771e-01 8.07752733e-01 -4.07439255e-02 -3.74152955e+02] [-6.99983586e-02 -6.47329629e-04 9.97546897e-01 -3.77847557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.89, Y:-374.19, Z:-37.79 [[ 8.04290530e-01 5.91504771e-01 5.69108912e-02 6.97887602e+02] [-5.90099310e-01 8.06301101e-01 -4.07595307e-02 -3.74190222e+02] [-6.99967711e-02 -8.00573117e-04 9.97546897e-01 -3.77869377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.94, Y:-374.23, Z:-37.79 [[ 8.03559992e-01 5.92497915e-01 5.68995691e-02 6.97937727e+02] [-5.91093820e-01 8.05571517e-01 -4.07753301e-02 -3.74226296e+02] [-6.99959702e-02 -8.67559738e-04 9.97546897e-01 -3.77915990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.99, Y:-374.26, Z:-37.80 [[ 8.02048314e-01 5.94543300e-01 5.68925892e-02 6.97988256e+02] [-5.93143645e-01 8.04062930e-01 -4.07850666e-02 -3.74262718e+02] [-6.99937101e-02 -1.03388380e-03 9.97546897e-01 -3.77974627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.04, Y:-374.30, Z:-37.80 [[ 7.99492634e-01 5.97976463e-01 5.68830169e-02 6.98037837e+02] [-5.96584509e-01 8.01512578e-01 -4.07984128e-02 -3.74299884e+02] [-6.99889441e-02 -1.31749617e-03 9.97546897e-01 -3.78036308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.09, Y:-374.34, Z:-37.81 [[ 7.96409712e-01 6.02077213e-01 5.68735503e-02 6.98087520e+02] [-6.00694716e-01 7.98436141e-01 -4.08116051e-02 -3.74337672e+02] [-6.99816355e-02 -1.66088244e-03 9.97546897e-01 -3.78072811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.14, Y:-374.38, Z:-37.81 [[ 7.94312426e-01 6.04842365e-01 5.68637291e-02 6.98137811e+02] [-6.03465943e-01 7.96342986e-01 -4.08252845e-02 -3.74376080e+02] [-6.99758935e-02 -1.88729316e-03 9.97546897e-01 -3.78110261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.19, Y:-374.42, Z:-37.82 [[ 7.92694571e-01 6.06962222e-01 5.68522397e-02 6.98186473e+02] [-6.05590084e-01 7.94728029e-01 -4.08412782e-02 -3.74416735e+02] [-6.99711814e-02 -2.05449310e-03 9.97546898e-01 -3.78156801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.23, Y:-374.46, Z:-37.82 [[ 7.91537892e-01 6.08470935e-01 5.68408883e-02 6.98234420e+02] [-6.07101540e-01 7.93573198e-01 -4.08570705e-02 -3.74458282e+02] [-6.99677453e-02 -2.16827130e-03 9.97546898e-01 -3.78175687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.28, Y:-374.50, Z:-37.82 [[ 7.91013075e-01 6.09154141e-01 5.68291217e-02 6.98281851e+02] [-6.07785330e-01 7.93048773e-01 -4.08734304e-02 -3.74496383e+02] [-6.99664846e-02 -2.20848866e-03 9.97546898e-01 -3.78217476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.33, Y:-374.54, Z:-37.83 [[ 7.90002587e-01 6.10464932e-01 5.68197167e-02 6.98329114e+02] [-6.09098560e-01 7.92039923e-01 -4.08865004e-02 -3.74537843e+02] [-6.99632587e-02 -2.30836654e-03 9.97546898e-01 -3.78263211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.37, Y:-374.58, Z:-37.83 [[ 7.89623004e-01 6.10956901e-01 5.68082367e-02 6.98374174e+02] [-6.09590653e-01 7.91660423e-01 -4.09024447e-02 -3.74579074e+02] [-6.99624636e-02 -2.33225888e-03 9.97546898e-01 -3.78313724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.42, Y:-374.62, Z:-37.84 [[ 7.89627844e-01 6.10951502e-01 5.67990444e-02 6.98422186e+02] [-6.09584323e-01 7.91664638e-01 -4.09152055e-02 -3.74619293e+02] [-6.99630012e-02 -2.31602155e-03 9.97546898e-01 -3.78358816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.47, Y:-374.66, Z:-37.84 [[ 7.88886883e-01 6.11909004e-01 5.67878157e-02 6.98468587e+02] [-6.10543178e-01 7.90924585e-01 -4.09307845e-02 -3.74660673e+02] [-6.99607951e-02 -2.38165447e-03 9.97546899e-01 -3.78379306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.52, Y:-374.70, Z:-37.84 [[ 7.87946616e-01 6.13120228e-01 5.67777841e-02 6.98516680e+02] [-6.11756534e-01 7.89985744e-01 -4.09446952e-02 -3.74699513e+02] [-6.99576609e-02 -2.47194634e-03 9.97546899e-01 -3.78419299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.57, Y:-374.73, Z:-37.85 [[ 7.89882770e-01 6.10624790e-01 5.67677357e-02 6.98566629e+02] [-6.09253653e-01 7.91916901e-01 -4.09586221e-02 -3.74734227e+02] [-6.99656793e-02 -2.23344048e-03 9.97546899e-01 -3.78548516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.61, Y:-374.78, Z:-37.85 [[ 7.86908942e-01 6.14453285e-01 5.67580632e-02 6.98611741e+02] [-6.13091077e-01 7.88949063e-01 -4.09720213e-02 -3.74776127e+02] [-6.99546139e-02 -2.55661220e-03 9.97546899e-01 -3.78522001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.66, Y:-374.82, Z:-37.86 [[ 7.87776402e-01 6.13341622e-01 5.67485356e-02 6.98658677e+02] [-6.11975586e-01 7.89813962e-01 -4.09852134e-02 -3.74816678e+02] [-6.99587229e-02 -2.44153445e-03 9.97546899e-01 -3.78567876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.71, Y:-374.86, Z:-37.86 [[ 7.91231302e-01 6.08879129e-01 5.67382972e-02 6.98707348e+02] [-6.07500583e-01 7.93260419e-01 -4.09993822e-02 -3.74855196e+02] [-6.99719134e-02 -2.02855412e-03 9.97546899e-01 -3.78641206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.76, Y:-374.90, Z:-37.87 [[ 7.91962190e-01 6.07929152e-01 5.67277372e-02 6.98755450e+02] [-6.06547128e-01 7.93988939e-01 -4.10139879e-02 -3.74895482e+02] [-6.99747948e-02 -1.92651840e-03 9.97546899e-01 -3.78671068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.80, Y:-374.94, Z:-37.87 [[ 7.92694053e-01 6.06975693e-01 5.67154951e-02 6.98803450e+02] [-6.05590021e-01 7.94718309e-01 -4.10309099e-02 -3.74936897e+02] [-6.99776073e-02 -1.82137960e-03 9.97546900e-01 -3.78722116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.85, Y:-374.98, Z:-37.88 [[ 7.93449293e-01 6.05989237e-01 5.67032998e-02 6.98851267e+02] [-6.04599846e-01 7.95470998e-01 -4.10477564e-02 -3.74977893e+02] [-6.99803291e-02 -1.71349307e-03 9.97546900e-01 -3.78759606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.90, Y:-375.02, Z:-37.88 [[ 7.94574646e-01 6.04514048e-01 5.66912469e-02 6.98900046e+02] [-6.03119716e-01 7.96592947e-01 -4.10643960e-02 -3.75017551e+02] [-6.99838517e-02 -1.56288089e-03 9.97546900e-01 -3.78797886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:698.95, Y:-375.06, Z:-37.88 [[ 7.97520020e-01 6.00624096e-01 5.66790308e-02 6.98948203e+02] [-5.99218721e-01 7.99530647e-01 -4.10812503e-02 -3.75055796e+02] [-6.99910110e-02 -1.20001675e-03 9.97546900e-01 -3.78849579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.00, Y:-375.09, Z:-37.89 [[ 7.98674152e-01 5.99089616e-01 5.66677260e-02 6.98998504e+02] [-5.97679272e-01 8.00681296e-01 -4.10968383e-02 -3.75093539e+02] [-6.99934774e-02 -1.04614272e-03 9.97546901e-01 -3.78880685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.05, Y:-375.13, Z:-37.89 [[ 7.98012859e-01 5.99971362e-01 5.66554702e-02 6.99047805e+02] [-5.98562037e-01 8.00020718e-01 -4.11137271e-02 -3.75130520e+02] [-6.99926088e-02 -1.10253072e-03 9.97546901e-01 -3.78930580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.10, Y:-375.17, Z:-37.90 [[ 7.98461163e-01 5.99375005e-01 5.66513452e-02 6.99099669e+02] [-5.97963777e-01 8.00467685e-01 -4.11194103e-02 -3.75165181e+02] [-6.99935179e-02 -1.04320023e-03 9.97546901e-01 -3.78993346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.15, Y:-375.20, Z:-37.90 [[ 7.98472182e-01 5.99360803e-01 5.66462928e-02 6.99151191e+02] [-5.97949047e-01 8.00478332e-01 -4.11263693e-02 -3.75200259e+02] [-6.99936637e-02 -1.03333489e-03 9.97546901e-01 -3.79045572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.20, Y:-375.24, Z:-37.91 [[ 7.99555721e-01 5.97915882e-01 5.66325657e-02 6.99203013e+02] [-5.96499162e-01 8.01558368e-01 -4.11452634e-02 -3.75236561e+02] [-6.99957134e-02 -8.83347210e-04 9.97546901e-01 -3.79074385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.25, Y:-375.27, Z:-37.91 [[ 8.00315805e-01 5.96899362e-01 5.66194720e-02 6.99254454e+02] [-5.95478823e-01 8.02315746e-01 -4.11632736e-02 -3.75271739e+02] [-6.99970256e-02 -7.72078160e-04 9.97546901e-01 -3.79123985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.31, Y:-375.31, Z:-37.92 [[ 8.01155680e-01 5.95772001e-01 5.66153542e-02 6.99306453e+02] [-5.94348248e-01 8.03153334e-01 -4.11689364e-02 -3.75307236e+02] [-6.99981101e-02 -6.66509328e-04 9.97546901e-01 -3.79153777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.36, Y:-375.34, Z:-37.92 [[ 8.02160976e-01 5.94419034e-01 5.66019482e-02 6.99358270e+02] [-5.92990611e-01 8.04155294e-01 -4.11873597e-02 -3.75343218e+02] [-6.99993068e-02 -5.25531223e-04 9.97546902e-01 -3.79191786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.41, Y:-375.38, Z:-37.92 [[ 8.00978446e-01 5.96012691e-01 5.65897646e-02 6.99406721e+02] [-5.94587054e-01 8.02974755e-01 -4.12040927e-02 -3.75382411e+02] [-6.99983145e-02 -6.43951281e-04 9.97546902e-01 -3.79194703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.46, Y:-375.42, Z:-37.92 [[ 7.99861664e-01 5.97510992e-01 5.65856300e-02 6.99455976e+02] [-5.96088693e-01 8.01860352e-01 -4.12097699e-02 -3.75419955e+02] [-6.99970637e-02 -7.67939163e-04 9.97546902e-01 -3.79197531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.51, Y:-375.45, Z:-37.93 [[ 8.01586283e-01 5.95196463e-01 5.65738604e-02 6.99509307e+02] [-5.93767253e-01 8.03580035e-01 -4.12259213e-02 -3.75451898e+02] [-6.99991472e-02 -5.45572695e-04 9.97546902e-01 -3.79280629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.56, Y:-375.49, Z:-37.93 [[ 7.99995017e-01 5.97333858e-01 5.65706170e-02 6.99560157e+02] [-5.95909660e-01 8.01992353e-01 -4.12303714e-02 -3.75486413e+02] [-6.99974990e-02 -7.26885470e-04 9.97546902e-01 -3.79330902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.61, Y:-375.52, Z:-37.94 [[ 7.99126702e-01 5.98496094e-01 5.65591724e-02 6.99609931e+02] [-5.97073690e-01 8.01125315e-01 -4.12460649e-02 -3.75522330e+02] [-6.99965936e-02 -8.09161950e-04 9.97546902e-01 -3.79378386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.66, Y:-375.56, Z:-37.94 [[ 7.98059717e-01 5.99918801e-01 5.65519228e-02 6.99659432e+02] [-5.98499256e-01 8.00060362e-01 -4.12560024e-02 -3.75558873e+02] [-6.99952033e-02 -9.21530170e-04 9.97546902e-01 -3.79411040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.71, Y:-375.60, Z:-37.95 [[ 7.97247267e-01 6.00999071e-01 5.65412487e-02 6.99710247e+02] [-5.99581200e-01 7.99249098e-01 -4.12706261e-02 -3.75595746e+02] [-6.99941499e-02 -9.98175801e-04 9.97546902e-01 -3.79451036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.76, Y:-375.63, Z:-37.95 [[ 7.96010242e-01 6.02637625e-01 5.65295326e-02 6.99760340e+02] [-6.01222735e-01 7.98014182e-01 -4.12866677e-02 -3.75631960e+02] [-6.99922681e-02 -1.12222988e-03 9.97546903e-01 -3.79514414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.81, Y:-375.67, Z:-37.96 [[ 7.93981988e-01 6.05307727e-01 5.65257348e-02 6.99812017e+02] [-6.03899206e-01 7.95990409e-01 -4.12918667e-02 -3.75667864e+02] [-6.99882287e-02 -1.35084787e-03 9.97546903e-01 -3.79559656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.86, Y:-375.70, Z:-37.96 [[ 7.92463462e-01 6.07295557e-01 5.65134272e-02 6.99862885e+02] [-6.05890873e-01 7.94474569e-01 -4.13087045e-02 -3.75704458e+02] [-6.99850734e-02 -1.50533078e-03 9.97546903e-01 -3.79604761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.91, Y:-375.74, Z:-37.96 [[ 7.92075082e-01 6.07803111e-01 5.65017104e-02 6.99912555e+02] [-6.06398574e-01 7.94086291e-01 -4.13247244e-02 -3.75742141e+02] [-6.99845297e-02 -1.53027214e-03 9.97546903e-01 -3.79641046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:699.96, Y:-375.78, Z:-37.97 [[ 7.91848226e-01 6.08099727e-01 5.64899021e-02 6.99960871e+02] [-6.06694793e-01 7.93859158e-01 -4.13408598e-02 -3.75779889e+02] [-6.99843916e-02 -1.53644296e-03 9.97546903e-01 -3.79671180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.01, Y:-375.82, Z:-37.97 [[ 7.91676809e-01 6.08323751e-01 5.64804680e-02 7.00011910e+02] [-6.06918468e-01 7.93687496e-01 -4.13537448e-02 -3.75816661e+02] [-6.99843064e-02 -1.54023831e-03 9.97546903e-01 -3.79721058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.06, Y:-375.85, Z:-37.98 [[ 7.92115143e-01 6.07754017e-01 5.64681832e-02 7.00060084e+02] [-6.06346092e-01 7.94123981e-01 -4.13705128e-02 -3.75854242e+02] [-6.99858338e-02 -1.46905262e-03 9.97546904e-01 -3.79775560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.11, Y:-375.89, Z:-37.98 [[ 7.94685375e-01 6.04390278e-01 5.64583612e-02 7.00108734e+02] [-6.02972898e-01 7.96687553e-01 -4.13839125e-02 -3.75894089e+02] [-6.99917080e-02 -1.15567165e-03 9.97546904e-01 -3.79819181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.16, Y:-375.93, Z:-37.99 [[ 7.97184396e-01 6.01091357e-01 5.64465972e-02 7.00158077e+02] [-5.99664555e-01 7.99179870e-01 -4.13999522e-02 -3.75933677e+02] [-6.99961377e-02 -8.45627694e-04 9.97546904e-01 -3.79858913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.21, Y:-375.97, Z:-37.99 [[ 7.99696406e-01 5.97746404e-01 5.64348733e-02 7.00207355e+02] [-5.96310127e-01 8.01685071e-01 -4.14159277e-02 -3.75972806e+02] [-6.99992172e-02 -5.32517946e-04 9.97546904e-01 -3.79898690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.26, Y:-376.01, Z:-37.99 [[ 8.01725989e-01 5.95022584e-01 5.64230812e-02 7.00256209e+02] [-5.93578420e-01 8.03708933e-01 -4.14319864e-02 -3.76011606e+02] [-7.00007020e-02 -2.74423151e-04 9.97546904e-01 -3.79943619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.31, Y:-376.05, Z:-38.00 [[ 8.04519658e-01 5.91241018e-01 5.64107984e-02 7.00306428e+02] [-5.89786362e-01 8.06494918e-01 -4.14487030e-02 -3.76049696e+02] [-7.00011956e-02 7.59768034e-05 9.97546905e-01 -3.79993369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.36, Y:-376.09, Z:-38.00 [[ 8.06199409e-01 5.88949677e-01 5.63985029e-02 7.00357697e+02] [-5.87488236e-01 8.08169655e-01 -4.14654266e-02 -3.76086392e+02] [-7.00006082e-02 2.95945398e-04 9.97546905e-01 -3.80043290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.41, Y:-376.12, Z:-38.01 [[ 8.06860798e-01 5.88044423e-01 5.63862543e-02 7.00409142e+02] [-5.86579608e-01 8.08828536e-01 -4.14820760e-02 -3.76122009e+02] [-7.00001150e-02 3.95233937e-04 9.97546905e-01 -3.80086058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.46, Y:-376.16, Z:-38.01 [[ 8.07533780e-01 5.87121079e-01 5.63740461e-02 7.00460398e+02] [-5.85652857e-01 8.09498976e-01 -4.14986604e-02 -3.76156285e+02] [-6.99994708e-02 4.95948902e-04 9.97546905e-01 -3.80132112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.51, Y:-376.19, Z:-38.02 [[ 8.06589599e-01 5.88418606e-01 5.63627758e-02 7.00511664e+02] [-5.86952476e-01 8.08556357e-01 -4.15139618e-02 -3.76192239e+02] [-7.00000682e-02 4.02458990e-04 9.97546905e-01 -3.80169273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.56, Y:-376.22, Z:-38.02 [[ 8.06193342e-01 5.88962537e-01 5.63509054e-02 7.00564557e+02] [-5.87496608e-01 8.08160250e-01 -4.15300685e-02 -3.76224972e+02] [-7.00002163e-02 3.75298934e-04 9.97546906e-01 -3.80231011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.62, Y:-376.26, Z:-38.03 [[ 8.03032630e-01 5.93265824e-01 5.63405497e-02 7.00617962e+02] [-5.91809450e-01 8.05006622e-01 -4.15441125e-02 -3.76258502e+02] [-7.00012177e-02 1.84081972e-05 9.97546906e-01 -3.80282146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.67, Y:-376.29, Z:-38.03 [[ 8.00022832e-01 5.97318882e-01 5.63349130e-02 7.00670059e+02] [-5.95871970e-01 8.02003770e-01 -4.15517546e-02 -3.76291193e+02] [-7.00004602e-02 -3.26043143e-04 9.97546906e-01 -3.80296171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.72, Y:-376.33, Z:-38.03 [[ 7.97059429e-01 6.01268507e-01 5.63244924e-02 7.00722004e+02] [-5.99830413e-01 7.99046778e-01 -4.15658753e-02 -3.76325720e+02] [-6.99981559e-02 -6.54670670e-04 9.97546906e-01 -3.80342843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.78, Y:-376.36, Z:-38.04 [[ 7.94506492e-01 6.04638962e-01 5.63130485e-02 7.00775315e+02] [-6.03208199e-01 7.96499126e-01 -4.15813736e-02 -3.76358314e+02] [-6.99950124e-02 -9.31821299e-04 9.97546906e-01 -3.80413672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.83, Y:-376.39, Z:-38.05 [[ 7.90170405e-01 6.10295798e-01 5.63007183e-02 7.00828698e+02] [-6.08878109e-01 7.92172361e-01 -4.15980619e-02 -3.76392031e+02] [-6.99869953e-02 -1.41071750e-03 9.97546906e-01 -3.80463198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.88, Y:-376.42, Z:-38.05 [[ 7.88364925e-01 6.12627415e-01 5.62885133e-02 7.00880379e+02] [-6.11214469e-01 7.90370230e-01 -4.16145706e-02 -3.76424884e+02] [-6.99829920e-02 -1.59688592e-03 9.97546907e-01 -3.80535782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.93, Y:-376.46, Z:-38.05 [[ 7.85669327e-01 6.16081361e-01 5.62802341e-02 7.00930687e+02] [-6.14676428e-01 7.87680255e-01 -4.16257645e-02 -3.76461848e+02] [-6.99756868e-02 -1.89004686e-03 9.97546907e-01 -3.80522319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:700.98, Y:-376.50, Z:-38.06 [[ 7.83171214e-01 6.19254945e-01 5.62686634e-02 7.00982519e+02] [-6.17857038e-01 7.85187032e-01 -4.16413995e-02 -3.76497086e+02] [-6.99680674e-02 -2.15364431e-03 9.97546907e-01 -3.80577342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.03, Y:-376.53, Z:-38.06 [[ 7.80918803e-01 6.22094026e-01 5.62569630e-02 7.01032828e+02] [-6.20702310e-01 7.82938900e-01 -4.16572007e-02 -3.76531463e+02] [-6.99604604e-02 -2.38793556e-03 9.97546907e-01 -3.80640817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.08, Y:-376.57, Z:-38.07 [[ 7.80236185e-01 6.22950803e-01 5.62476012e-02 7.01083588e+02] [-6.21560395e-01 7.82257182e-01 -4.16698377e-02 -3.76567175e+02] [-6.99583489e-02 -2.44896606e-03 9.97546907e-01 -3.80694737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.13, Y:-376.61, Z:-38.07 [[ 7.81124422e-01 6.21837590e-01 5.62374293e-02 7.01133992e+02] [-6.20443316e-01 7.83142754e-01 -4.16835611e-02 -3.76605382e+02] [-6.99623404e-02 -2.33208949e-03 9.97546907e-01 -3.80735388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.18, Y:-376.64, Z:-38.08 [[ 7.84726830e-01 6.17286361e-01 5.62258897e-02 7.01181618e+02] [-6.15879264e-01 7.86736243e-01 -4.16991208e-02 -3.76644914e+02] [-6.99752437e-02 -1.90594071e-03 9.97546908e-01 -3.80750769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.23, Y:-376.68, Z:-38.08 [[ 7.87702492e-01 6.13485616e-01 5.62155130e-02 7.01230026e+02] [-6.12067824e-01 7.89704373e-01 -4.17131051e-02 -3.76684098e+02] [-6.99840264e-02 -1.55018986e-03 9.97546908e-01 -3.80793023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.28, Y:-376.72, Z:-38.09 [[ 7.95635248e-01 6.03162995e-01 5.62045649e-02 7.01281930e+02] [-6.01718180e-01 7.97617714e-01 -4.17278516e-02 -3.76718331e+02] [-6.99984525e-02 -6.19158916e-04 9.97546908e-01 -3.80932950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.33, Y:-376.76, Z:-38.10 [[ 7.97964035e-01 6.00079862e-01 5.61921562e-02 7.01327957e+02] [-5.98626211e-01 7.99940030e-01 -4.17445549e-02 -3.76758011e+02] [-7.00004218e-02 -3.27444110e-04 9.97546908e-01 -3.80981145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.38, Y:-376.80, Z:-38.10 [[ 7.97980572e-01 6.00058797e-01 5.61822708e-02 7.01375911e+02] [-5.98604157e-01 7.99955839e-01 -4.17578549e-02 -3.76798529e+02] [-7.00005038e-02 -3.08983939e-04 9.97546908e-01 -3.81008783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.43, Y:-376.83, Z:-38.11 [[ 7.97838407e-01 6.00248959e-01 5.61699611e-02 7.01426824e+02] [-5.98793624e-01 7.99813162e-01 -4.17744067e-02 -3.76834700e+02] [-7.00005183e-02 -3.04988490e-04 9.97546908e-01 -3.81067899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.48, Y:-376.87, Z:-38.11 [[ 7.94837734e-01 6.04217925e-01 5.61575975e-02 7.01475093e+02] [-6.02771276e-01 7.96818862e-01 -4.17910205e-02 -3.76873870e+02] [-6.99983166e-02 -6.33106674e-04 9.97546909e-01 -3.81091956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.52, Y:-376.91, Z:-38.11 [[ 7.92688953e-01 6.07034926e-01 5.61499977e-02 7.01523637e+02] [-6.05594595e-01 7.94674678e-01 -4.18012291e-02 -3.76912177e+02] [-6.99957873e-02 -8.68762524e-04 9.97546909e-01 -3.81133960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.57, Y:-376.95, Z:-38.12 [[ 7.91127959e-01 6.09068909e-01 5.61392560e-02 7.01572527e+02] [-6.07632660e-01 7.93116638e-01 -4.18156503e-02 -3.76949562e+02] [-6.99935905e-02 -1.03051540e-03 9.97546909e-01 -3.81172713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.62, Y:-376.99, Z:-38.12 [[ 7.89570289e-01 6.11087223e-01 5.61352306e-02 7.01620491e+02] [-6.09655673e-01 7.91562354e-01 -4.18210534e-02 -3.76988038e+02] [-6.99908467e-02 -1.20250051e-03 9.97546909e-01 -3.81155858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.67, Y:-377.02, Z:-38.12 [[ 7.92573040e-01 6.07188592e-01 5.61247756e-02 7.01671300e+02] [-6.05746249e-01 7.94557303e-01 -4.18350796e-02 -3.77022418e+02] [-6.99961334e-02 -8.40016065e-04 9.97546909e-01 -3.81235589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.72, Y:-377.06, Z:-38.13 [[ 7.93439806e-01 6.06056509e-01 5.61140102e-02 7.01721222e+02] [-6.04610314e-01 7.95421264e-01 -4.18495144e-02 -3.77060797e+02] [-6.99974475e-02 -7.22038685e-04 9.97546909e-01 -3.81269052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.77, Y:-377.10, Z:-38.13 [[ 7.92887830e-01 6.06779599e-01 5.61017563e-02 7.01768284e+02] [-6.05334050e-01 7.94869758e-01 -4.18659351e-02 -3.77099681e+02] [-6.99969848e-02 -7.65312909e-04 9.97546909e-01 -3.81262953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.82, Y:-377.13, Z:-38.14 [[ 7.96736324e-01 6.01718308e-01 5.60919646e-02 7.01819914e+02] [-6.00259243e-01 7.98708324e-01 -4.18790500e-02 -3.77133712e+02] [-7.00005101e-02 -3.03159891e-04 9.97546910e-01 -3.81390727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.87, Y:-377.17, Z:-38.14 [[ 7.95724386e-01 6.03056250e-01 5.60879798e-02 7.01866862e+02] [-6.01600125e-01 7.97698557e-01 -4.18843860e-02 -3.77174036e+02] [-6.99999413e-02 -4.14108390e-04 9.97546910e-01 -3.81369691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.92, Y:-377.21, Z:-38.14 [[ 7.96487392e-01 6.02049112e-01 5.60776304e-02 7.01915803e+02] [-6.00589515e-01 7.98458998e-01 -4.18982380e-02 -3.77209696e+02] [-7.00004855e-02 -3.08218532e-04 9.97546910e-01 -3.81427501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:701.97, Y:-377.25, Z:-38.15 [[ 7.97014331e-01 6.01352227e-01 5.60683042e-02 7.01966046e+02] [-5.99890029e-01 7.98984008e-01 -4.19107145e-02 -3.77246215e+02] [-7.00007800e-02 -2.31376484e-04 9.97546910e-01 -3.81468490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.01, Y:-377.28, Z:-38.15 [[ 7.98060376e-01 5.99964268e-01 5.60581254e-02 7.02014733e+02] [-5.98497688e-01 8.00026792e-01 -4.19243249e-02 -3.77283543e+02] [-7.00010992e-02 -9.25159490e-05 9.97546910e-01 -3.81506693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.06, Y:-377.32, Z:-38.15 [[ 7.98601953e-01 5.99243713e-01 5.60525828e-02 7.02063682e+02] [-5.97774839e-01 8.00566657e-01 -4.19317340e-02 -3.77320912e+02] [-7.00011568e-02 -2.00590144e-05 9.97546910e-01 -3.81532523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.11, Y:-377.36, Z:-38.16 [[ 7.98431635e-01 5.99471484e-01 5.60434049e-02 7.02113895e+02] [-5.98002309e-01 8.00396114e-01 -4.19439970e-02 -3.77358489e+02] [-7.00011537e-02 -2.46714245e-05 9.97546910e-01 -3.81558038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.16, Y:-377.39, Z:-38.16 [[ 7.97116521e-01 6.01220160e-01 5.60318789e-02 7.02163183e+02] [-5.99754213e-01 7.99083408e-01 -4.19593887e-02 -3.77394632e+02] [-7.00009752e-02 -1.58833541e-04 9.97546910e-01 -3.81611186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.21, Y:-377.43, Z:-38.17 [[ 7.98003989e-01 6.00042577e-01 5.60226613e-02 7.02214528e+02] [-5.98572864e-01 7.99968064e-01 -4.19716921e-02 -3.77427495e+02] [-7.00011422e-02 -4.00670707e-05 9.97546910e-01 -3.81746657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.26, Y:-377.47, Z:-38.17 [[ 7.95353123e-01 6.03552909e-01 5.60115708e-02 7.02261727e+02] [-6.02090822e-01 7.97322881e-01 -4.19864873e-02 -3.77467121e+02] [-7.00003736e-02 -3.29968965e-04 9.97546911e-01 -3.81700674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.31, Y:-377.50, Z:-38.18 [[ 7.96028910e-01 6.02661922e-01 5.60051990e-02 7.02310594e+02] [-6.01197033e-01 7.97996585e-01 -4.19949849e-02 -3.77504164e+02] [-7.00007358e-02 -2.40937404e-04 9.97546911e-01 -3.81758751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.36, Y:-377.54, Z:-38.17 [[ 7.95134081e-01 6.03843118e-01 5.59935902e-02 7.02359129e+02] [-6.02380061e-01 7.97103120e-01 -4.20104576e-02 -3.77541649e+02] [-7.00003912e-02 -3.25475668e-04 9.97546911e-01 -3.81741145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.41, Y:-377.58, Z:-38.18 [[ 7.94182190e-01 6.05095509e-01 5.59828008e-02 7.02409412e+02] [-6.03634544e-01 7.96152781e-01 -4.20248306e-02 -3.77579145e+02] [-6.99998988e-02 -4.17780478e-04 9.97546911e-01 -3.81785818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.46, Y:-377.62, Z:-38.18 [[ 7.91593081e-01 6.08479778e-01 5.59710171e-02 7.02460137e+02] [-6.07026128e-01 7.93569073e-01 -4.20405189e-02 -3.77615339e+02] [-6.99976738e-02 -6.96885951e-04 9.97546911e-01 -3.81841588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.51, Y:-377.65, Z:-38.19 [[ 7.89931332e-01 6.10636478e-01 5.59605461e-02 7.02508883e+02] [-6.09187236e-01 7.91910560e-01 -4.20544525e-02 -3.77651099e+02] [-6.99957301e-02 -8.70320725e-04 9.97546911e-01 -3.81900149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.56, Y:-377.69, Z:-38.19 [[ 7.87812294e-01 6.13368454e-01 5.59547075e-02 7.02558148e+02] [-6.11925524e-01 7.89796128e-01 -4.20622195e-02 -3.77688586e+02] [-6.99924498e-02 -1.10298006e-03 9.97546911e-01 -3.81944952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.61, Y:-377.73, Z:-38.20 [[ 7.86403478e-01 6.15174626e-01 5.59441715e-02 7.02607964e+02] [-6.13735255e-01 7.88389896e-01 -4.20762280e-02 -3.77726632e+02] [-6.99900474e-02 -1.24601832e-03 9.97546912e-01 -3.81979940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.66, Y:-377.76, Z:-38.20 [[ 7.85802657e-01 6.15942998e-01 5.59321783e-02 7.02656060e+02] [-6.14504436e-01 7.87789660e-01 -4.20921647e-02 -3.77764662e+02] [-6.99891658e-02 -1.29443682e-03 9.97546912e-01 -3.82004241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.71, Y:-377.80, Z:-38.20 [[ 7.85818624e-01 6.15923497e-01 5.59225924e-02 7.02705357e+02] [-6.14483980e-01 7.87804935e-01 -4.21048963e-02 -3.77803584e+02] [-6.99894893e-02 -1.27672548e-03 9.97546912e-01 -3.82038737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:702.75, Y:-377.84, Z:-38.21 [[ 7.85892032e-01 6.15830893e-01 5.59108589e-02 7.02754829e+02] [-6.14390035e-01 7.87877370e-01 -4.21204715e-02 -3.77842913e+02] [-6.99899881e-02 -1.24893166e-03 9.97546912e-01 -3.82086716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.80, Y:-377.88, Z:-38.21 [[ 7.84125397e-01 6.18079832e-01 5.58988604e-02 7.02803070e+02] [-6.16643533e-01 7.86114036e-01 -4.21363889e-02 -3.77881401e+02] [-6.99865310e-02 -1.42945812e-03 9.97546912e-01 -3.82145349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.85, Y:-377.92, Z:-38.22 [[ 7.82004991e-01 6.20761368e-01 5.58884548e-02 7.02850595e+02] [-6.19330902e-01 7.83997829e-01 -4.21501861e-02 -3.77918648e+02] [-6.99816344e-02 -1.65179126e-03 9.97546912e-01 -3.82203990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.90, Y:-377.96, Z:-38.23 [[ 7.79462071e-01 6.23952262e-01 5.58789360e-02 7.02898065e+02] [-6.22529049e-01 7.81460096e-01 -4.21628015e-02 -3.77956380e+02] [-6.99747341e-02 -1.92195629e-03 9.97546913e-01 -3.82270644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.95, Y:-378.00, Z:-38.23 [[ 7.79947237e-01 6.23346519e-01 5.58697212e-02 7.02945910e+02] [-6.21920881e-01 7.81943532e-01 -4.21750085e-02 -3.77997209e+02] [-6.99766118e-02 -1.85226486e-03 9.97546913e-01 -3.82303997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:702.99, Y:-378.04, Z:-38.23 [[ 7.84004149e-01 6.18237328e-01 5.58578680e-02 7.02991963e+02] [-6.16797560e-01 7.85990277e-01 -4.21907014e-02 -3.78039705e+02] [-6.99876076e-02 -1.37531172e-03 9.97546913e-01 -3.82332340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.04, Y:-378.08, Z:-38.24 [[ 7.87648209e-01 6.13588902e-01 5.58476347e-02 7.03038310e+02] [-6.12136451e-01 7.89625081e-01 -4.22042428e-02 -3.78080404e+02] [-6.99947481e-02 -9.44276626e-04 9.97546913e-01 -3.82366508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.09, Y:-378.12, Z:-38.24 [[ 7.92181618e-01 6.07725707e-01 5.58368199e-02 7.03085325e+02] [-6.06257614e-01 7.94146901e-01 -4.22185462e-02 -3.78122446e+02] [-6.99999333e-02 -4.06740914e-04 9.97546913e-01 -3.82403162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.13, Y:-378.16, Z:-38.25 [[ 7.94674474e-01 6.04463446e-01 5.58249255e-02 7.03131403e+02] [-6.02986181e-01 7.96632872e-01 -4.22342681e-02 -3.78162601e+02] [-7.00010420e-02 -9.91637766e-05 9.97546913e-01 -3.82463136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.18, Y:-378.20, Z:-38.25 [[ 7.95377457e-01 6.03539011e-01 5.58154379e-02 7.03179279e+02] [-6.02058590e-01 7.97333470e-01 -4.22468029e-02 -3.78201246e+02] [-7.00011104e-02 -2.00918634e-06 9.97546913e-01 -3.82520163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.23, Y:-378.24, Z:-38.26 [[ 7.95657383e-01 6.03170852e-01 5.58054867e-02 7.03227040e+02] [-6.01688604e-01 7.97612012e-01 -4.22599438e-02 -3.78239777e+02] [-7.00010928e-02 4.69109367e-05 9.97546914e-01 -3.82567640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.28, Y:-378.28, Z:-38.26 [[ 7.94377604e-01 6.04856299e-01 5.57949747e-02 7.03275656e+02] [-6.03377224e-01 7.96334635e-01 -4.22738181e-02 -3.78279477e+02] [-7.00010559e-02 -8.40426145e-05 9.97546914e-01 -3.82556969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters Centerline goodness : 0.998514 with order 1 Centerline is valid? [True, True] Translation: X:703.84, Y:-377.72, Z:-37.28 [[ 8.40350448e-01 5.39164773e-01 5.57895268e-02 7.03835077e+02] [-5.37532961e-01 8.42182066e-01 -4.22810066e-02 -3.77718803e+02] [-6.97813682e-02 5.54215330e-03 9.97546914e-01 -3.72809893e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.89, Y:-377.75, Z:-37.29 [[ 8.39751461e-01 5.39775041e-01 5.88250678e-02 7.03886359e+02] [-5.38469164e-01 8.41809288e-01 -3.75244124e-02 -3.77753911e+02] [-6.97742297e-02 -1.64305003e-04 9.97562795e-01 -3.72868109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:703.94, Y:-377.79, Z:-37.29 [[ 8.38018384e-01 5.42462674e-01 5.88169631e-02 7.03938637e+02] [-5.41162505e-01 8.40079823e-01 -3.75371116e-02 -3.77787315e+02] [-6.97734259e-02 -3.72745486e-04 9.97562795e-01 -3.72903401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:703.99, Y:-377.82, Z:-37.29 [[ 8.37491208e-01 5.43276619e-01 5.88131988e-02 7.03990987e+02] [-5.41978040e-01 8.39553648e-01 -3.75430087e-02 -3.77818781e+02] [-6.97730744e-02 -4.33522489e-04 9.97562795e-01 -3.72938548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.04, Y:-377.85, Z:-37.30 [[ 8.37219933e-01 5.43695633e-01 5.88034238e-02 7.04043997e+02] [-5.42397010e-01 8.39282346e-01 -3.75583129e-02 -3.77851928e+02] [-6.97729662e-02 -4.50233073e-04 9.97562795e-01 -3.72977966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.10, Y:-377.89, Z:-37.30 [[ 8.37560785e-01 5.43171539e-01 5.87929543e-02 7.04097546e+02] [-5.41870476e-01 8.39621659e-01 -3.75746946e-02 -3.77885573e+02] [-6.97733425e-02 -3.87075437e-04 9.97562795e-01 -3.73015270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.15, Y:-377.92, Z:-37.31 [[ 8.37644988e-01 5.43042826e-01 5.87823275e-02 7.04150659e+02] [-5.41740281e-01 8.39704925e-01 -3.75913119e-02 -3.77918840e+02] [-6.97735022e-02 -3.56580590e-04 9.97562796e-01 -3.73066367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.20, Y:-377.95, Z:-37.31 [[ 8.37457097e-01 5.43333693e-01 5.87716700e-02 7.04204331e+02] [-5.42030694e-01 8.39516747e-01 -3.76079669e-02 -3.77951996e+02] [-6.97734767e-02 -3.60990230e-04 9.97562796e-01 -3.73118659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.26, Y:-377.98, Z:-37.32 [[ 8.37011295e-01 5.44021340e-01 5.87611587e-02 7.04256594e+02] [-5.42718881e-01 8.39071286e-01 -3.76243834e-02 -3.77984290e+02] [-6.97732684e-02 -3.98756436e-04 9.97562796e-01 -3.73166678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.31, Y:-378.02, Z:-37.32 [[ 8.36420935e-01 5.44929269e-01 5.87546758e-02 7.04308925e+02] [-5.43628335e-01 8.38481889e-01 -3.76345044e-02 -3.78017390e+02] [-6.97728745e-02 -4.62419204e-04 9.97562796e-01 -3.73217251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.36, Y:-378.05, Z:-37.33 [[ 8.35972881e-01 5.45617367e-01 5.87454846e-02 7.04361578e+02] [-5.44317121e-01 8.38034269e-01 -3.76488460e-02 -3.78050580e+02] [-6.97725934e-02 -5.02758788e-04 9.97562796e-01 -3.73269319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.41, Y:-378.08, Z:-37.33 [[ 8.35982620e-01 5.45603439e-01 5.87362427e-02 7.04414507e+02] [-5.44302146e-01 8.38043348e-01 -3.76632588e-02 -3.78084152e+02] [-6.97727210e-02 -4.84433214e-04 9.97562796e-01 -3.73306216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.47, Y:-378.12, Z:-37.34 [[ 8.36653252e-01 5.44575656e-01 5.87255569e-02 7.04467174e+02] [-5.43270663e-01 8.38711638e-01 -3.76799131e-02 -3.78116355e+02] [-6.97733714e-02 -3.78850362e-04 9.97562797e-01 -3.73367913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:704.52, Y:-378.15, Z:-37.34 [[ 8.36329522e-01 5.45073734e-01 5.87158829e-02 7.04517687e+02] [-5.43768909e-01 8.38388014e-01 -3.76949818e-02 -3.78150157e+02] [-6.97732370e-02 -4.02445489e-04 9.97562797e-01 -3.73386947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:704.57, Y:-378.18, Z:-37.34 [[ 8.36577580e-01 5.44693891e-01 5.87070505e-02 7.04570220e+02] [-5.43387166e-01 8.38634867e-01 -3.77087326e-02 -3.78184192e+02] [-6.97734958e-02 -3.54377594e-04 9.97562797e-01 -3.73421706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:704.62, Y:-378.22, Z:-37.35 [[ 8.36710043e-01 5.44491534e-01 5.86964457e-02 7.04623156e+02] [-5.43183154e-01 8.38766278e-01 -3.77252326e-02 -3.78217234e+02] [-6.97736690e-02 -3.17839427e-04 9.97562797e-01 -3.73466017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:704.68, Y:-378.25, Z:-37.35 [[ 8.36125203e-01 5.45390319e-01 5.86859877e-02 7.04675503e+02] [-5.44083008e-01 8.38182116e-01 -3.77414942e-02 -3.78249401e+02] [-6.97733910e-02 -3.73434183e-04 9.97562797e-01 -3.73523801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.73, Y:-378.28, Z:-37.36 [[ 8.36516962e-01 5.44790291e-01 5.86763263e-02 7.04727808e+02] [-5.43480451e-01 8.38572266e-01 -3.77565087e-02 -3.78281951e+02] [-6.97737193e-02 -3.05476363e-04 9.97562797e-01 -3.73570108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.78, Y:-378.32, Z:-37.36 [[ 8.36638279e-01 5.44605011e-01 5.86666192e-02 7.04779202e+02] [-5.43293659e-01 8.38692618e-01 -3.77715858e-02 -3.78315300e+02] [-6.97738554e-02 -2.72047649e-04 9.97562798e-01 -3.73595824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:704.83, Y:-378.35, Z:-37.36 [[ 8.37612127e-01 5.43106983e-01 5.86577379e-02 7.04832326e+02] [-5.41790991e-01 8.39663497e-01 -3.77853730e-02 -3.78349009e+02] [-6.97742613e-02 -1.30747319e-04 9.97562798e-01 -3.73634246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.89, Y:-378.38, Z:-37.37 [[ 8.39399774e-01 5.40341125e-01 5.86471489e-02 7.04886003e+02] [-5.39017226e-01 8.41446050e-01 -3.78018013e-02 -3.78382512e+02] [-6.97742796e-02 1.18999995e-04 9.97562798e-01 -3.73673373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:704.94, Y:-378.42, Z:-37.37 [[ 8.39547470e-01 5.40112823e-01 5.86360335e-02 7.04937390e+02] [-5.38787163e-01 8.41592605e-01 -3.78190350e-02 -3.78416247e+02] [-6.97741980e-02 1.58532958e-04 9.97562798e-01 -3.73701563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:704.99, Y:-378.45, Z:-37.37 [[ 8.40238866e-01 5.39037721e-01 5.86257954e-02 7.04990041e+02] [-5.37708337e-01 8.42281583e-01 -3.78348991e-02 -3.78449552e+02] [-6.97738655e-02 2.66773788e-04 9.97562798e-01 -3.73744493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.04, Y:-378.48, Z:-37.38 [[ 8.40672285e-01 5.38362707e-01 5.86148816e-02 7.05041737e+02] [-5.37030505e-01 8.42713165e-01 -3.78517996e-02 -3.78482976e+02] [-6.97735297e-02 3.42979367e-04 9.97562799e-01 -3.73794835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:705.09, Y:-378.52, Z:-37.39 [[ 8.41393578e-01 5.37235453e-01 5.86081473e-02 7.05094269e+02] [-5.35899790e-01 8.43432194e-01 -3.78622238e-02 -3.78515656e+02] [-6.97729273e-02 4.48938102e-04 9.97562799e-01 -3.73895118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:705.15, Y:-378.55, Z:-37.39 [[ 8.40740268e-01 5.38257664e-01 5.86045095e-02 7.05146830e+02] [-5.36924088e-01 8.42780250e-01 -3.78678538e-02 -3.78549300e+02] [-6.97733857e-02 3.70856746e-04 9.97562799e-01 -3.73930241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.20, Y:-378.58, Z:-37.39 [[ 8.38719343e-01 5.41401733e-01 5.86005779e-02 7.05198194e+02] [-5.40075379e-01 8.40764027e-01 -3.78739370e-02 -3.78582074e+02] [-6.97742730e-02 1.16874221e-04 9.97562799e-01 -3.73921431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.25, Y:-378.62, Z:-37.40 [[ 8.37688348e-01 5.42996686e-01 5.85903717e-02 7.05251043e+02] [-5.41673121e-01 8.39734839e-01 -3.78897192e-02 -3.78615467e+02] [-6.97743683e-02 2.94679912e-06 9.97562799e-01 -3.73962421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.30, Y:-378.65, Z:-37.40 [[ 8.36715888e-01 5.44495122e-01 5.85797302e-02 7.05303623e+02] [-5.43174070e-01 8.38764003e-01 -3.79061645e-02 -3.78648007e+02] [-6.97742906e-02 -1.02300411e-04 9.97562799e-01 -3.74020358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.36, Y:-378.68, Z:-37.41 [[ 8.36516706e-01 5.44802136e-01 5.85699011e-02 7.05356879e+02] [-5.43480774e-01 8.38564619e-01 -3.79213456e-02 -3.78681591e+02] [-6.97742769e-02 -1.09776060e-04 9.97562799e-01 -3.74053086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.41, Y:-378.71, Z:-37.41 [[ 8.36881788e-01 5.44242295e-01 5.85593419e-02 7.05409737e+02] [-5.42918422e-01 8.38928079e-01 -3.79376445e-02 -3.78714718e+02] [-6.97743469e-02 -4.36216925e-05 9.97562799e-01 -3.74092069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.46, Y:-378.75, Z:-37.41 [[ 8.37349715e-01 5.43523224e-01 5.85487781e-02 7.05462677e+02] [-5.42196454e-01 8.39394129e-01 -3.79539405e-02 -3.78748455e+02] [-6.97743487e-02 3.57814471e-05 9.97562800e-01 -3.74132410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.52, Y:-378.78, Z:-37.42 [[ 8.37816201e-01 5.42805040e-01 5.85380388e-02 7.05515723e+02] [-5.41475360e-01 8.39858723e-01 -3.79704970e-02 -3.78782824e+02] [-6.97742597e-02 1.15391829e-04 9.97562800e-01 -3.74178182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.57, Y:-378.82, Z:-37.42 [[ 8.38894167e-01 5.41138730e-01 5.85273604e-02 7.05567613e+02] [-5.39803845e-01 8.40933291e-01 -3.79869495e-02 -3.78817231e+02] [-6.97738154e-02 2.73736171e-04 9.97562800e-01 -3.74233519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.62, Y:-378.85, Z:-37.42 [[ 8.38629661e-01 5.41548951e-01 5.85237179e-02 7.05618961e+02] [-5.40214672e-01 8.40669182e-01 -3.79925603e-02 -3.78850248e+02] [-6.97739173e-02 2.46316906e-04 9.97562800e-01 -3.74247082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.67, Y:-378.88, Z:-37.43 [[ 8.37042059e-01 5.44000619e-01 5.85142592e-02 7.05672875e+02] [-5.42671296e-01 8.39084813e-01 -3.80071227e-02 -3.78883094e+02] [-6.97743245e-02 5.95513352e-05 9.97562800e-01 -3.74299837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.73, Y:-378.92, Z:-37.43 [[ 8.35066420e-01 5.47029618e-01 5.85036054e-02 7.05726211e+02] [-5.45706556e-01 8.37113234e-01 -3.80235148e-02 -3.78915306e+02] [-6.97741311e-02 -1.73640647e-04 9.97562800e-01 -3.74347836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.78, Y:-378.95, Z:-37.44 [[ 8.33948796e-01 5.48733083e-01 5.84928201e-02 7.05779498e+02] [-5.47413039e-01 8.35997557e-01 -3.80400990e-02 -3.78949258e+02] [-6.97737155e-02 -2.96237648e-04 9.97562800e-01 -3.74390427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.83, Y:-378.98, Z:-37.44 [[ 8.33571939e-01 5.49306539e-01 5.84820327e-02 7.05832342e+02] [-5.47986741e-01 8.35620860e-01 -3.80566761e-02 -3.78983849e+02] [-6.97735875e-02 -3.24401252e-04 9.97562801e-01 -3.74434717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.88, Y:-379.02, Z:-37.45 [[ 8.33753217e-01 5.49032492e-01 5.84713327e-02 7.05884923e+02] [-5.47710868e-01 8.35800959e-01 -3.80731088e-02 -3.79018397e+02] [-6.97737698e-02 -2.81807435e-04 9.97562801e-01 -3.74472579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.94, Y:-379.05, Z:-37.45 [[ 8.34148887e-01 5.48432292e-01 5.84607249e-02 7.05936415e+02] [-5.47108053e-01 8.36194939e-01 -3.80893900e-02 -3.79052370e+02] [-6.97740138e-02 -2.12111081e-04 9.97562801e-01 -3.74503341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:705.99, Y:-379.09, Z:-37.45 [[ 8.34182587e-01 5.48382017e-01 5.84514860e-02 7.05988835e+02] [-5.47056662e-01 8.36227916e-01 -3.81035626e-02 -3.79086453e+02] [-6.97740728e-02 -1.90946453e-04 9.97562801e-01 -3.74529301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.04, Y:-379.12, Z:-37.46 [[ 8.34136095e-01 5.48453734e-01 5.84420697e-02 7.06041721e+02] [-5.47127544e-01 8.36180883e-01 -3.81179996e-02 -3.79120813e+02] [-6.97741007e-02 -1.79666731e-04 9.97562801e-01 -3.74570829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.09, Y:-379.15, Z:-37.46 [[ 8.33840985e-01 5.48903449e-01 5.84312868e-02 7.06093790e+02] [-5.47577203e-01 8.35885737e-01 -3.81345217e-02 -3.79154427e+02] [-6.97740497e-02 -1.97513429e-04 9.97562802e-01 -3.74625977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.15, Y:-379.19, Z:-37.47 [[ 8.33226221e-01 5.49837204e-01 5.84218564e-02 7.06145513e+02] [-5.48512237e-01 8.35271802e-01 -3.81489635e-02 -3.79187885e+02] [-6.97738487e-02 -2.58386444e-04 9.97562802e-01 -3.74679517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.20, Y:-379.22, Z:-37.47 [[ 8.30181698e-01 5.54424320e-01 5.84125085e-02 7.06195619e+02] [-5.53109648e-01 8.32233910e-01 -3.81632714e-02 -3.79224271e+02] [-6.97715161e-02 -6.26072576e-04 9.97562802e-01 -3.74712651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.25, Y:-379.25, Z:-37.48 [[ 8.30316918e-01 5.54222180e-01 5.84088309e-02 7.06250117e+02] [-5.52906613e-01 8.32368556e-01 -3.81688990e-02 -3.79254372e+02] [-6.97717247e-02 -6.02346265e-04 9.97562802e-01 -3.74772683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.30, Y:-379.29, Z:-37.48 [[ 8.28107468e-01 5.57519179e-01 5.83985149e-02 7.06302884e+02] [-5.56210667e-01 8.30163613e-01 -3.81846762e-02 -3.79287883e+02] [-6.97690114e-02 -8.60861413e-04 9.97562802e-01 -3.74818006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.35, Y:-379.32, Z:-37.49 [[ 8.26015015e-01 5.60615812e-01 5.83875505e-02 7.06354736e+02] [-5.59313824e-01 8.28075297e-01 -3.82014342e-02 -3.79321171e+02] [-6.97656163e-02 -1.10200587e-03 9.97562802e-01 -3.74858372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.41, Y:-379.35, Z:-37.49 [[ 8.24839099e-01 5.62345568e-01 5.83774180e-02 7.06407355e+02] [-5.61046806e-01 8.26901415e-01 -3.82169120e-02 -3.79354914e+02] [-6.97634806e-02 -1.22966068e-03 9.97562802e-01 -3.74892765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.46, Y:-379.39, Z:-37.49 [[ 8.24009406e-01 5.63561760e-01 5.83664444e-02 7.06458695e+02] [-5.62264855e-01 8.26072890e-01 -3.82336640e-02 -3.79388191e+02] [-6.97619684e-02 -1.31250167e-03 9.97562803e-01 -3.74924013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.51, Y:-379.42, Z:-37.50 [[ 8.24668573e-01 5.62597659e-01 5.83576804e-02 7.06511218e+02] [-5.61297396e-01 8.26729943e-01 -3.82470362e-02 -3.79422560e+02] [-6.97637348e-02 -1.21488521e-03 9.97562803e-01 -3.74966964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.56, Y:-379.46, Z:-37.50 [[ 8.26948899e-01 5.59241588e-01 5.83469386e-02 7.06562037e+02] [-5.57931802e-01 8.29004231e-01 -3.82634162e-02 -3.79457250e+02] [-6.97683526e-02 -9.11722716e-04 9.97562803e-01 -3.75019983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.61, Y:-379.49, Z:-37.51 [[ 8.28990862e-01 5.56211178e-01 5.83376062e-02 7.06613421e+02] [-5.54892877e-01 8.31040743e-01 -3.82776393e-02 -3.79492771e+02] [-6.97713785e-02 -6.39309029e-04 9.97562803e-01 -3.75065061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.66, Y:-379.53, Z:-37.51 [[ 8.32021775e-01 5.51668154e-01 5.83267862e-02 7.06664668e+02] [-5.50337505e-01 8.34063661e-01 -3.82941197e-02 -3.79529230e+02] [-6.97738991e-02 -2.37876557e-04 9.97562803e-01 -3.75103850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.71, Y:-379.56, Z:-37.52 [[ 8.34464936e-01 5.47966711e-01 5.83159905e-02 7.06714816e+02] [-5.46625856e-01 8.36500135e-01 -3.83105528e-02 -3.79564581e+02] [-6.97742415e-02 9.17847704e-05 9.97562803e-01 -3.75150337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.77, Y:-379.60, Z:-37.52 [[ 8.35785676e-01 5.45951199e-01 5.83060195e-02 7.06765825e+02] [-5.44604378e-01 8.37816932e-01 -3.83257219e-02 -3.79601245e+02] [-6.97737442e-02 2.78375944e-04 9.97562804e-01 -3.75194577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.82, Y:-379.64, Z:-37.52 [[ 8.35509938e-01 5.46374223e-01 5.82953900e-02 7.06817447e+02] [-5.45027302e-01 8.37541127e-01 -3.83418831e-02 -3.79636899e+02] [-6.97738033e-02 2.62445242e-04 9.97562804e-01 -3.75243003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.87, Y:-379.67, Z:-37.53 [[ 8.33938509e-01 5.48770841e-01 5.82848773e-02 7.06868799e+02] [-5.47428641e-01 8.35972821e-01 -3.83578572e-02 -3.79671694e+02] [-6.97742469e-02 8.12830520e-05 9.97562804e-01 -3.75302587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.92, Y:-379.70, Z:-37.54 [[ 8.32738920e-01 5.50590156e-01 5.82783958e-02 7.06921992e+02] [-5.49251712e-01 8.34775704e-01 -3.83677023e-02 -3.79703317e+02] [-6.97742681e-02 -5.92296690e-05 9.97562804e-01 -3.75363176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:706.97, Y:-379.74, Z:-37.54 [[ 8.30039986e-01 5.54651709e-01 5.82675109e-02 7.06971869e+02] [-5.53322071e-01 8.32082530e-01 -3.83842257e-02 -3.79738216e+02] [-6.97732543e-02 -3.80257638e-04 9.97562804e-01 -3.75365252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.02, Y:-379.77, Z:-37.54 [[ 8.29511791e-01 5.55442404e-01 5.82573959e-02 7.07023354e+02] [-5.54113635e-01 8.31554901e-01 -3.83995715e-02 -3.79772119e+02] [-6.97729734e-02 -4.28320079e-04 9.97562804e-01 -3.75415450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.08, Y:-379.81, Z:-37.54 [[ 8.29869178e-01 5.54909344e-01 5.82474651e-02 7.07076104e+02] [-5.53578206e-01 8.31910744e-01 -3.84146294e-02 -3.79806908e+02] [-6.97733289e-02 -3.65410332e-04 9.97562805e-01 -3.75444035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.13, Y:-379.84, Z:-37.55 [[ 8.30217733e-01 5.54388849e-01 5.82367570e-02 7.07128269e+02] [-5.53055292e-01 8.32257720e-01 -3.84308561e-02 -3.79841951e+02] [-6.97736287e-02 -3.02168458e-04 9.97562805e-01 -3.75479837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.18, Y:-379.88, Z:-37.55 [[ 8.30113767e-01 5.54545637e-01 5.82260275e-02 7.07180579e+02] [-5.53211326e-01 8.32153261e-01 -3.84471054e-02 -3.79876587e+02] [-6.97736532e-02 -2.95826431e-04 9.97562805e-01 -3.75523467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.23, Y:-379.91, Z:-37.56 [[ 8.29323509e-01 5.55727886e-01 5.82154142e-02 7.07232914e+02] [-5.54395355e-01 8.31364165e-01 -3.84631691e-02 -3.79911256e+02] [-6.97732649e-02 -3.75944830e-04 9.97562805e-01 -3.75576504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.28, Y:-379.95, Z:-37.56 [[ 8.27788670e-01 5.58012663e-01 5.82046861e-02 7.07283884e+02] [-5.56684623e-01 8.29832252e-01 -3.84793966e-02 -3.79946596e+02] [-6.97721163e-02 -5.48845192e-04 9.97562805e-01 -3.75636991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.34, Y:-379.98, Z:-37.57 [[ 8.27170411e-01 5.58929730e-01 5.81950887e-02 7.07335402e+02] [-5.57602935e-01 8.29214801e-01 -3.84939059e-02 -3.79978699e+02] [-6.97716174e-02 -6.08732299e-04 9.97562805e-01 -3.75706040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.39, Y:-380.01, Z:-37.57 [[ 8.26851714e-01 5.59402001e-01 5.81862987e-02 7.07386346e+02] [-5.58075439e-01 8.28896255e-01 -3.85071882e-02 -3.80013329e+02] [-6.97714032e-02 -6.32609605e-04 9.97562806e-01 -3.75748929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.44, Y:-380.05, Z:-37.58 [[ 8.25040443e-01 5.62070976e-01 5.81763288e-02 7.07436212e+02] [-5.60749966e-01 8.27088576e-01 -3.85222446e-02 -3.80050554e+02] [-6.97692126e-02 -8.39964640e-04 9.97562806e-01 -3.75763338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.49, Y:-380.08, Z:-37.58 [[ 8.25173847e-01 5.61876263e-01 5.81651762e-02 7.07488617e+02] [-5.60553583e-01 8.27220901e-01 -3.85390768e-02 -3.80084045e+02] [-6.97696419e-02 -8.03259709e-04 9.97562806e-01 -3.75785786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.54, Y:-380.12, Z:-37.58 [[ 8.25422822e-01 5.61511684e-01 5.81531941e-02 7.07540082e+02] [-5.60186827e-01 8.27468468e-01 -3.85571486e-02 -3.80119364e+02] [-6.97702239e-02 -7.50702843e-04 9.97562806e-01 -3.75831020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.59, Y:-380.15, Z:-37.59 [[ 8.25754437e-01 5.61025025e-01 5.81423389e-02 7.07591317e+02] [-5.59697810e-01 8.27798554e-01 -3.85735109e-02 -3.80154365e+02] [-6.97708489e-02 -6.89892016e-04 9.97562806e-01 -3.75896524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.64, Y:-380.19, Z:-37.59 [[ 8.25750404e-01 5.61032000e-01 5.81323105e-02 7.07642790e+02] [-5.59703739e-01 8.27793841e-01 -3.85886183e-02 -3.80189687e+02] [-6.97710183e-02 -6.72304344e-04 9.97562807e-01 -3.75935641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.69, Y:-380.23, Z:-37.60 [[ 8.26150611e-01 5.60443469e-01 5.81230282e-02 7.07693994e+02] [-5.59112769e-01 8.28192461e-01 -3.86025944e-02 -3.80225229e+02] [-6.97716257e-02 -6.05770270e-04 9.97562807e-01 -3.75974645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.75, Y:-380.26, Z:-37.60 [[ 8.27287800e-01 5.58764575e-01 5.81123643e-02 7.07745345e+02] [-5.57428604e-01 8.29326204e-01 -3.86186413e-02 -3.80260612e+02] [-6.97728351e-02 -4.44763276e-04 9.97562807e-01 -3.76013300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.80, Y:-380.30, Z:-37.61 [[ 8.29192986e-01 5.55934534e-01 5.81015208e-02 7.07797088e+02] [-5.54590463e-01 8.31226058e-01 -3.86349483e-02 -3.80296705e+02] [-6.97740001e-02 -1.86721198e-04 9.97562807e-01 -3.76051992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.85, Y:-380.33, Z:-37.61 [[ 8.30745175e-01 5.53613550e-01 5.80903747e-02 7.07847994e+02] [-5.52262628e-01 8.32773701e-01 -3.86517001e-02 -3.80331678e+02] [-6.97742412e-02 2.85703862e-05 9.97562807e-01 -3.76103180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.90, Y:-380.37, Z:-37.62 [[ 8.33432309e-01 5.49560998e-01 5.80800902e-02 7.07898111e+02] [-5.48199135e-01 8.35453506e-01 -3.86671479e-02 -3.80365391e+02] [-6.97731714e-02 3.86995125e-04 9.97562807e-01 -3.76169896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:707.95, Y:-380.40, Z:-37.62 [[ 8.35557472e-01 5.46325384e-01 5.80713888e-02 7.07949859e+02] [-5.44954787e-01 8.37572756e-01 -3.86802116e-02 -3.80400758e+02] [-6.97709946e-02 6.73258568e-04 9.97562808e-01 -3.76183279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.00, Y:-380.44, Z:-37.62 [[ 8.36189268e-01 5.45359042e-01 5.80605108e-02 7.08002326e+02] [-5.43984983e-01 8.38202193e-01 -3.86965329e-02 -3.80435132e+02] [-6.97699517e-02 7.73579543e-04 9.97562808e-01 -3.76219638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.06, Y:-380.47, Z:-37.63 [[ 8.36192010e-01 5.45356001e-01 5.80495817e-02 7.08056245e+02] [-5.43980797e-01 8.38204153e-01 -3.87129210e-02 -3.80468179e+02] [-6.97697243e-02 7.93577494e-04 9.97562808e-01 -3.76261120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.11, Y:-380.50, Z:-37.64 [[ 8.36342977e-01 5.45125620e-01 5.80386453e-02 7.08110924e+02] [-5.43748724e-01 8.38353962e-01 -3.87293101e-02 -3.80497129e+02] [-6.97692674e-02 8.32547133e-04 9.97562808e-01 -3.76352544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.16, Y:-380.53, Z:-37.64 [[ 8.32279021e-01 5.51311443e-01 5.80286462e-02 7.08161808e+02] [-5.49948451e-01 8.34299456e-01 -3.87442861e-02 -3.80531040e+02] [-6.97734362e-02 3.33292423e-04 9.97562808e-01 -3.76353795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.22, Y:-380.56, Z:-37.64 [[ 8.28409137e-01 5.57110451e-01 5.80193641e-02 7.08215888e+02] [-5.55760629e-01 8.30438394e-01 -3.87581811e-02 -3.80561372e+02] [-6.97740953e-02 -1.37246929e-04 9.97562808e-01 -3.76418469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.27, Y:-380.59, Z:-37.65 [[ 8.25375311e-01 5.61596319e-01 5.80100917e-02 7.08268816e+02] [-5.60256550e-01 8.27411219e-01 -3.87720543e-02 -3.80594413e+02] [-6.97724436e-02 -4.99037413e-04 9.97562809e-01 -3.76477192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.32, Y:-380.62, Z:-37.65 [[ 8.24056451e-01 5.63530433e-01 5.80035936e-02 7.08323251e+02] [-5.62194758e-01 8.26095048e-01 -3.87817731e-02 -3.80623797e+02] [-6.97711908e-02 -6.50945968e-04 9.97562809e-01 -3.76524841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.38, Y:-380.66, Z:-37.65 [[ 8.23609187e-01 5.64184987e-01 5.79931733e-02 7.08375459e+02] [-5.62849836e-01 8.25648126e-01 -3.87973491e-02 -3.80658667e+02] [-6.97708367e-02 -6.87594952e-04 9.97562809e-01 -3.76534165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.43, Y:-380.69, Z:-37.66 [[ 8.23838129e-01 5.63851769e-01 5.79820567e-02 7.08427592e+02] [-5.62514625e-01 8.25875761e-01 -3.88139556e-02 -3.80692983e+02] [-6.97712928e-02 -6.39338361e-04 9.97562809e-01 -3.76557923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.48, Y:-380.73, Z:-37.66 [[ 8.23051687e-01 5.65000105e-01 5.79724282e-02 7.08480863e+02] [-5.63664791e-01 8.25090519e-01 -3.88283314e-02 -3.80726375e+02] [-6.97705122e-02 -7.19293034e-04 9.97562809e-01 -3.76608125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.53, Y:-380.76, Z:-37.67 [[ 8.21759045e-01 5.66879643e-01 5.79615616e-02 7.08533122e+02] [-5.65547849e-01 8.23800177e-01 -3.88445460e-02 -3.80760313e+02] [-6.97689270e-02 -8.59179446e-04 9.97562809e-01 -3.76675656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.58, Y:-380.79, Z:-37.67 [[ 8.20999993e-01 5.67978933e-01 5.79563972e-02 7.08583798e+02] [-5.66649328e-01 8.23042552e-01 -3.88522498e-02 -3.80794188e+02] [-6.97678404e-02 -9.43256704e-04 9.97562809e-01 -3.76737138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.63, Y:-380.83, Z:-37.68 [[ 8.21336458e-01 5.67493164e-01 5.79476656e-02 7.08634499e+02] [-5.66161432e-01 8.23377631e-01 -3.88652685e-02 -3.80829023e+02] [-6.97685858e-02 -8.86271349e-04 9.97562810e-01 -3.76787178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.68, Y:-380.86, Z:-37.68 [[ 8.22975521e-01 5.65114567e-01 5.79380525e-02 7.08684229e+02] [-5.63775927e-01 8.25012170e-01 -3.88795939e-02 -3.80864433e+02] [-6.97710233e-02 -6.67125232e-04 9.97562810e-01 -3.76841048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.73, Y:-380.90, Z:-37.69 [[ 8.27271041e-01 5.58808044e-01 5.79326792e-02 7.08733547e+02] [-5.57453317e-01 8.29297024e-01 -3.88875987e-02 -3.80902708e+02] [-6.97741014e-02 -1.24179918e-04 9.97562810e-01 -3.76856158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.78, Y:-380.94, Z:-37.69 [[ 8.30470885e-01 5.54042436e-01 5.79231249e-02 7.08783843e+02] [-5.52675091e-01 8.32488374e-01 -3.89018246e-02 -3.80939523e+02] [-6.97735897e-02 2.94164420e-04 9.97562810e-01 -3.76875372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.83, Y:-380.97, Z:-37.69 [[ 8.33194094e-01 5.49939701e-01 5.79131000e-02 7.08833753e+02] [-5.48561385e-01 8.35204104e-01 -3.89167429e-02 -3.80974998e+02] [-6.97711208e-02 6.56310031e-04 9.97562810e-01 -3.76904008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.88, Y:-381.01, Z:-37.69 [[ 8.36076642e-01 5.45547934e-01 5.79076924e-02 7.08883695e+02] [-5.44158504e-01 8.38078984e-01 -3.89247879e-02 -3.81012651e+02] [-6.97665576e-02 1.03314268e-03 9.97562810e-01 -3.76903164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.93, Y:-381.05, Z:-37.70 [[ 8.39513302e-01 5.40245571e-01 5.78976663e-02 7.08933997e+02] [-5.38842468e-01 8.41506087e-01 -3.89396951e-02 -3.81045944e+02] [-6.97582365e-02 1.49267061e-03 9.97562810e-01 -3.76991176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:708.99, Y:-381.08, Z:-37.70 [[ 8.40757572e-01 5.38308114e-01 5.78885173e-02 7.08985934e+02] [-5.36899483e-01 8.42746454e-01 -3.89532915e-02 -3.81080644e+02] [-6.97542156e-02 1.66995974e-03 9.97562810e-01 -3.77042449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.04, Y:-381.11, Z:-37.71 [[ 8.40774547e-01 5.38282740e-01 5.78779126e-02 7.09039245e+02] [-5.36872967e-01 8.42762619e-01 -3.89690420e-02 -3.81114132e+02] [-6.97537039e-02 1.69109198e-03 9.97562811e-01 -3.77085051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.09, Y:-381.15, Z:-37.71 [[ 8.40478298e-01 5.38746366e-01 5.78669481e-02 7.09092118e+02] [-5.37336569e-01 8.42466354e-01 -3.89853169e-02 -3.81148199e+02] [-6.97541545e-02 1.67228543e-03 9.97562811e-01 -3.77129306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.14, Y:-381.18, Z:-37.72 [[ 8.39950724e-01 5.39569706e-01 5.78559724e-02 7.09144478e+02] [-5.38160737e-01 8.41939366e-01 -3.90015985e-02 -3.81182068e+02] [-6.97553018e-02 1.62360811e-03 9.97562811e-01 -3.77167451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.20, Y:-381.21, Z:-37.72 [[ 8.38542133e-01 5.41757363e-01 5.78450600e-02 7.09198670e+02] [-5.40352467e-01 8.40533655e-01 -3.90177765e-02 -3.81214476e+02] [-6.97588874e-02 1.46132872e-03 9.97562811e-01 -3.77210959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.25, Y:-381.25, Z:-37.72 [[ 8.35098079e-01 5.47052466e-01 5.78342387e-02 7.09250740e+02] [-5.45659090e-01 8.37097676e-01 -3.90338099e-02 -3.81247743e+02] [-6.97664488e-02 1.03928163e-03 9.97562811e-01 -3.77233967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.30, Y:-381.28, Z:-37.73 [[ 8.33629048e-01 5.49289512e-01 5.78242336e-02 7.09303963e+02] [-5.47900474e-01 8.35631662e-01 -3.90486256e-02 -3.81277675e+02] [-6.97687610e-02 8.70143581e-04 9.97562812e-01 -3.77293603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.36, Y:-381.31, Z:-37.73 [[ 8.29139694e-01 5.56043871e-01 5.78150649e-02 7.09359800e+02] [-5.54670203e-01 8.31152881e-01 -3.90621961e-02 -3.81306184e+02] [-6.97734525e-02 3.19723539e-04 9.97562812e-01 -3.77334775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.41, Y:-381.34, Z:-37.74 [[ 8.27059508e-01 5.59134253e-01 5.78053311e-02 7.09412941e+02] [-5.57767101e-01 8.29077126e-01 -3.90765952e-02 -3.81339030e+02] [-6.97741406e-02 7.67577008e-05 9.97562812e-01 -3.77382262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.47, Y:-381.37, Z:-37.74 [[ 8.24185780e-01 5.63362776e-01 5.77943122e-02 7.09465784e+02] [-5.62004832e-01 8.26209607e-01 -3.90928853e-02 -3.81370682e+02] [-6.97736924e-02 -2.60882574e-04 9.97562812e-01 -3.77439033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.52, Y:-381.40, Z:-37.75 [[ 8.21201163e-01 5.67705537e-01 5.77847182e-02 7.09518933e+02] [-5.66357298e-01 8.23231467e-01 -3.91070615e-02 -3.81402800e+02] [-6.97714937e-02 -6.12032564e-04 9.97562812e-01 -3.77495576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.57, Y:-381.44, Z:-37.75 [[ 8.19593210e-01 5.70025435e-01 5.77752012e-02 7.09571499e+02] [-5.68681952e-01 8.21626664e-01 -3.91211164e-02 -3.81436498e+02] [-6.97696773e-02 -7.92312845e-04 9.97562812e-01 -3.77549391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.62, Y:-381.47, Z:-37.76 [[ 8.18331658e-01 5.71835390e-01 5.77718322e-02 7.09624286e+02] [-5.70496053e-01 8.20367846e-01 -3.91260910e-02 -3.81470974e+02] [-6.97678370e-02 -9.40483394e-04 9.97562812e-01 -3.77589049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.67, Y:-381.51, Z:-37.76 [[ 8.18358397e-01 5.71798216e-01 5.77610173e-02 7.09674512e+02] [-5.70457661e-01 8.20393782e-01 -3.91420503e-02 -3.81505725e+02] [-6.97681340e-02 -9.17989333e-04 9.97562812e-01 -3.77624126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.72, Y:-381.54, Z:-37.76 [[ 8.17061630e-01 5.73650198e-01 5.77558921e-02 7.09723773e+02] [-5.72313722e-01 8.19099696e-01 -3.91496114e-02 -3.81544476e+02] [-6.97660160e-02 -1.06684425e-03 9.97562813e-01 -3.77616836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.77, Y:-381.58, Z:-37.77 [[ 8.15698223e-01 5.75588256e-01 5.77457321e-02 7.09773818e+02] [-5.74255561e-01 8.17738764e-01 -3.91645916e-02 -3.81581466e+02] [-6.97636026e-02 -1.21432004e-03 9.97562813e-01 -3.77685628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.82, Y:-381.62, Z:-37.77 [[ 8.14335815e-01 5.77514754e-01 5.77398363e-02 7.09824244e+02] [-5.76186271e-01 8.16379100e-01 -3.91732818e-02 -3.81616545e+02] [-6.97607438e-02 -1.36869454e-03 9.97562813e-01 -3.77748020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.88, Y:-381.65, Z:-37.78 [[ 8.14209929e-01 5.77693326e-01 5.77287856e-02 7.09875299e+02] [-5.76364137e-01 8.16252755e-01 -3.91895603e-02 -3.81649418e+02] [-6.97608277e-02 -1.36427259e-03 9.97562813e-01 -3.77792468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.93, Y:-381.69, Z:-37.78 [[ 8.13860764e-01 5.78186147e-01 5.77186002e-02 7.09925273e+02] [-5.76857132e-01 8.15903703e-01 -3.92045557e-02 -3.81687518e+02] [-6.97603506e-02 -1.38833652e-03 9.97562813e-01 -3.77833456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:709.98, Y:-381.72, Z:-37.79 [[ 8.14177259e-01 5.77741494e-01 5.77075182e-02 7.09975773e+02] [-5.76410208e-01 8.16218718e-01 -3.92208611e-02 -3.81724733e+02] [-6.97614755e-02 -1.33046935e-03 9.97562813e-01 -3.77874298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.03, Y:-381.76, Z:-37.79 [[ 8.15438768e-01 5.75960721e-01 5.76963081e-02 7.10025683e+02] [-5.74623810e-01 8.17476549e-01 -3.92373449e-02 -3.81761691e+02] [-6.97645483e-02 -1.15802021e-03 9.97562813e-01 -3.77928970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.08, Y:-381.80, Z:-37.80 [[ 8.16523375e-01 5.74423092e-01 5.76861351e-02 7.10076290e+02] [-5.73081288e-01 8.18557936e-01 -3.92522956e-02 -3.81797914e+02] [-6.97668686e-02 -1.00842771e-03 9.97562814e-01 -3.77985296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.13, Y:-381.83, Z:-37.80 [[ 8.15976556e-01 5.75200762e-01 5.76744653e-02 7.10125539e+02] [-5.73859686e-01 8.18011597e-01 -3.92694348e-02 -3.81834655e+02] [-6.97661903e-02 -1.05411241e-03 9.97562814e-01 -3.78007698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.18, Y:-381.87, Z:-37.81 [[ 8.15982036e-01 5.75193922e-01 5.76651511e-02 7.10176755e+02] [-5.73851863e-01 8.18016428e-01 -3.92831075e-02 -3.81870919e+02] [-6.97664456e-02 -1.03694431e-03 9.97562814e-01 -3.78054380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.23, Y:-381.91, Z:-37.81 [[ 8.16210876e-01 5.74870256e-01 5.76540862e-02 7.10227471e+02] [-5.73526244e-01 8.18243979e-01 -3.92993403e-02 -3.81907649e+02] [-6.97671307e-02 -9.89582482e-04 9.97562814e-01 -3.78103274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.28, Y:-381.95, Z:-37.81 [[ 8.16808535e-01 5.74021857e-01 5.76430878e-02 7.10277914e+02] [-5.72674595e-01 8.18839485e-01 -3.93154658e-02 -3.81945908e+02] [-6.97683730e-02 -8.97523915e-04 9.97562814e-01 -3.78132163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.33, Y:-381.98, Z:-37.82 [[ 8.17513365e-01 5.73018722e-01 5.76319646e-02 7.10328849e+02] [-5.71667819e-01 8.19541895e-01 -3.93317644e-02 -3.81982865e+02] [-6.97696468e-02 -7.92096461e-04 9.97562815e-01 -3.78160745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.38, Y:-382.02, Z:-37.82 [[ 8.17591528e-01 5.72908329e-01 5.76206641e-02 7.10377976e+02] [-5.71555986e-01 8.19619098e-01 -3.93483125e-02 -3.82018492e+02] [-6.97699727e-02 -7.62588544e-04 9.97562815e-01 -3.78224348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.43, Y:-382.06, Z:-37.83 [[ 8.17084764e-01 5.73631750e-01 5.76116587e-02 7.10428867e+02] [-5.72280273e-01 8.19112912e-01 -3.93614934e-02 -3.82055305e+02] [-6.97694558e-02 -8.08339186e-04 9.97562815e-01 -3.78267391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.48, Y:-382.09, Z:-37.83 [[ 8.16626475e-01 5.74285057e-01 5.76009869e-02 7.10480236e+02] [-5.72934102e-01 8.18654969e-01 -3.93771041e-02 -3.82091145e+02] [-6.97690167e-02 -8.45183979e-04 9.97562815e-01 -3.78304781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.53, Y:-382.13, Z:-37.84 [[ 8.14924451e-01 5.76698890e-01 5.75893223e-02 7.10529928e+02] [-5.75352738e-01 8.16956136e-01 -3.93941565e-02 -3.82126682e+02] [-6.97665165e-02 -1.03091293e-03 9.97562815e-01 -3.78365065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.58, Y:-382.16, Z:-37.84 [[ 8.13554225e-01 5.78630835e-01 5.75836780e-02 7.10579717e+02] [-5.77288924e-01 8.15588713e-01 -3.94024051e-02 -3.82163861e+02] [-6.97640444e-02 -1.18642638e-03 9.97562815e-01 -3.78431366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.63, Y:-382.20, Z:-37.85 [[ 8.12195937e-01 5.80536231e-01 5.75798871e-02 7.10627810e+02] [-5.79198700e-01 8.14233308e-01 -3.94079441e-02 -3.82201311e+02] [-6.97612013e-02 -1.34322365e-03 9.97562815e-01 -3.78457803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.68, Y:-382.24, Z:-37.85 [[ 8.11475487e-01 5.81543828e-01 5.75700452e-02 7.10676586e+02] [-5.80207808e-01 8.13513848e-01 -3.94223167e-02 -3.82238442e+02] [-6.97598340e-02 -1.41234609e-03 9.97562816e-01 -3.78508407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.73, Y:-382.27, Z:-37.86 [[ 8.11021059e-01 5.82178364e-01 5.75603583e-02 7.10725937e+02] [-5.80842935e-01 8.13059808e-01 -3.94364553e-02 -3.82274909e+02] [-6.97590649e-02 -1.44973169e-03 9.97562816e-01 -3.78563370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.77, Y:-382.31, Z:-37.86 [[ 8.10852611e-01 5.82413961e-01 5.75501683e-02 7.10774757e+02] [-5.81078070e-01 8.12891056e-01 -3.94513203e-02 -3.82313900e+02] [-6.97590168e-02 -1.45193469e-03 9.97562816e-01 -3.78615531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.83, Y:-382.35, Z:-37.87 [[ 8.09309176e-01 5.84557701e-01 5.75408734e-02 7.10826608e+02] [-5.83226246e-01 8.11350522e-01 -3.94648725e-02 -3.82348576e+02] [-6.97553128e-02 -1.62006408e-03 9.97562816e-01 -3.78658840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.88, Y:-382.38, Z:-37.87 [[ 8.09076336e-01 5.84880968e-01 5.75303015e-02 7.10879267e+02] [-5.83549234e-01 8.11117500e-01 -3.94802778e-02 -3.82382600e+02] [-6.97550974e-02 -1.62920485e-03 9.97562816e-01 -3.78703621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.93, Y:-382.42, Z:-37.87 [[ 8.10512474e-01 5.82890230e-01 5.75196526e-02 7.10932302e+02] [-5.81552382e-01 8.12549635e-01 -3.94957863e-02 -3.82417030e+02] [-6.97592807e-02 -1.43886347e-03 9.97562816e-01 -3.78742228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:710.98, Y:-382.45, Z:-37.88 [[ 8.12067212e-01 5.80723350e-01 5.75085576e-02 7.10984104e+02] [-5.79378923e-01 8.14100037e-01 -3.95119348e-02 -3.82452663e+02] [-6.97632220e-02 -1.23289937e-03 9.97562817e-01 -3.78785522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.03, Y:-382.49, Z:-37.88 [[ 8.15260577e-01 5.76232786e-01 5.74975491e-02 7.11034689e+02] [-5.74876031e-01 8.17285195e-01 -3.95279478e-02 -3.82489081e+02] [-6.97691951e-02 -8.28385322e-04 9.97562817e-01 -3.78829406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.09, Y:-382.52, Z:-37.89 [[ 8.18821483e-01 5.71162579e-01 5.74864031e-02 7.11085527e+02] [-5.69792149e-01 8.20836870e-01 -3.95441511e-02 -3.82524230e+02] [-6.97730985e-02 -3.75700656e-04 9.97562817e-01 -3.78895025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.14, Y:-382.56, Z:-37.89 [[ 8.20333477e-01 5.68989822e-01 5.74766941e-02 7.11136219e+02] [-5.67613065e-01 8.22344546e-01 -3.95582580e-02 -3.82559303e+02] [-6.97738921e-02 -1.73559209e-04 9.97562817e-01 -3.78918346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.19, Y:-382.59, Z:-37.90 [[ 8.21478503e-01 5.67336465e-01 5.74665547e-02 7.11187496e+02] [-5.65954630e-01 8.23486087e-01 -3.95729821e-02 -3.82592740e+02] [-6.97741040e-02 -1.51086762e-05 9.97562817e-01 -3.78968357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.24, Y:-382.63, Z:-37.90 [[ 8.21704167e-01 5.67010513e-01 5.74572864e-02 7.11239408e+02] [-5.65626941e-01 8.23710554e-01 -3.95864344e-02 -3.82628370e+02] [-6.97740977e-02 2.89488988e-05 9.97562817e-01 -3.79010308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.29, Y:-382.66, Z:-37.91 [[ 8.21637292e-01 5.67108550e-01 5.74460815e-02 7.11290913e+02] [-5.65724082e-01 8.23643060e-01 -3.96026878e-02 -3.82664645e+02] [-6.97740893e-02 4.04134465e-05 9.97562818e-01 -3.79055978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.34, Y:-382.70, Z:-37.91 [[ 8.21015292e-01 5.68009783e-01 5.74349835e-02 7.11343200e+02] [-5.66626391e-01 8.23021802e-01 -3.96187765e-02 -3.82699954e+02] [-6.97740963e-02 -1.65560258e-05 9.97562818e-01 -3.79090315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.40, Y:-382.73, Z:-37.91 [[ 8.20214407e-01 5.69166779e-01 5.74238985e-02 7.11395067e+02] [-5.67785092e-01 8.22222092e-01 -3.96348368e-02 -3.82734840e+02] [-6.97740303e-02 -9.53692898e-05 9.97562818e-01 -3.79120698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.45, Y:-382.77, Z:-37.92 [[ 8.19410826e-01 5.70324190e-01 5.74126839e-02 7.11447104e+02] [-5.68944202e-01 8.21419678e-01 -3.96510749e-02 -3.82769908e+02] [-6.97738756e-02 -1.74093549e-04 9.97562818e-01 -3.79153656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.50, Y:-382.80, Z:-37.92 [[ 8.19245937e-01 5.70562134e-01 5.74016247e-02 7.11497655e+02] [-5.69181607e-01 8.21254419e-01 -3.96670785e-02 -3.82804663e+02] [-6.97738709e-02 -1.74856099e-04 9.97562818e-01 -3.79202052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.55, Y:-382.84, Z:-37.92 [[ 8.19323915e-01 5.70451180e-01 5.73914066e-02 7.11549900e+02] [-5.69069347e-01 8.21331498e-01 -3.96818569e-02 -3.82839077e+02] [-6.97739321e-02 -1.47395942e-04 9.97562818e-01 -3.79244658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.60, Y:-382.87, Z:-37.93 [[ 8.18938557e-01 5.71005398e-01 5.73800985e-02 7.11601125e+02] [-5.69623777e-01 8.20946286e-01 -3.96982018e-02 -3.82872735e+02] [-6.97738663e-02 -1.74680359e-04 9.97562819e-01 -3.79287789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:711.65, Y:-382.91, Z:-37.93 [[ 8.17756744e-01 5.72697678e-01 5.73696627e-02 7.11651473e+02] [-5.71319154e-01 8.19766601e-01 -3.97132773e-02 -3.82909710e+02] [-6.97734351e-02 -3.00586848e-04 9.97562819e-01 -3.79320418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.70, Y:-382.94, Z:-37.94 [[ 8.17454101e-01 5.73129993e-01 5.73655370e-02 7.11703926e+02] [-5.71752114e-01 8.19464400e-01 -3.97192359e-02 -3.82942849e+02] [-6.97733008e-02 -3.30214817e-04 9.97562819e-01 -3.79385098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.76, Y:-382.98, Z:-37.94 [[ 8.15105282e-01 5.76466820e-01 5.73531491e-02 7.11755103e+02] [-5.75095913e-01 8.17120342e-01 -3.97371156e-02 -3.82976983e+02] [-6.97715535e-02 -5.93628813e-04 9.97562819e-01 -3.79438197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.81, Y:-383.01, Z:-37.95 [[ 8.12222996e-01 5.80521766e-01 5.73435636e-02 7.11807511e+02] [-5.79159942e-01 8.14244204e-01 -3.97509434e-02 -3.83011496e+02] [-6.97679522e-02 -9.24464583e-04 9.97562819e-01 -3.79477019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.86, Y:-383.05, Z:-37.95 [[ 8.09282835e-01 5.84614635e-01 5.73325444e-02 7.11859684e+02] [-5.83261907e-01 8.11310143e-01 -3.97668300e-02 -3.83046803e+02] [-6.97627456e-02 -1.25727622e-03 9.97562819e-01 -3.79505369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.91, Y:-383.08, Z:-37.95 [[ 8.07566329e-01 5.86984548e-01 5.73215905e-02 7.11910790e+02] [-5.85636648e-01 8.09596850e-01 -3.97826132e-02 -3.83082311e+02] [-6.97591583e-02 -1.44252518e-03 9.97562820e-01 -3.79527154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:711.96, Y:-383.12, Z:-37.96 [[ 8.05596612e-01 5.89685901e-01 5.73117506e-02 7.11962832e+02] [-5.88343802e-01 8.07630972e-01 -3.97967837e-02 -3.83117582e+02] [-6.97543471e-02 -1.65885907e-03 9.97562820e-01 -3.79558222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.02, Y:-383.15, Z:-37.96 [[ 8.04135563e-01 5.91677849e-01 5.73002637e-02 7.12015483e+02] [-5.90339612e-01 8.06172464e-01 -3.98133160e-02 -3.83151905e+02] [-6.97505520e-02 -1.81131217e-03 9.97562820e-01 -3.79613650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.07, Y:-383.19, Z:-37.97 [[ 8.03737743e-01 5.92219252e-01 5.72887302e-02 7.12066391e+02] [-5.90881205e-01 8.05774770e-01 -3.98299050e-02 -3.83186628e+02] [-6.97498499e-02 -1.83803604e-03 9.97562820e-01 -3.79666440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.12, Y:-383.22, Z:-37.97 [[ 8.03175920e-01 5.92981667e-01 5.72816249e-02 7.12117797e+02] [-5.91644827e-01 8.05213738e-01 -3.98401210e-02 -3.83222127e+02] [-6.97484126e-02 -1.89175119e-03 9.97562820e-01 -3.79723283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.17, Y:-383.26, Z:-37.98 [[ 8.02707906e-01 5.93616144e-01 5.72703426e-02 7.12166820e+02] [-5.92279759e-01 8.04746022e-01 -3.98563327e-02 -3.83257315e+02] [-6.97474429e-02 -1.92707137e-03 9.97562820e-01 -3.79790564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.22, Y:-383.29, Z:-37.98 [[ 8.03160840e-01 5.93004053e-01 5.72613178e-02 7.12217089e+02] [-5.91665192e-01 8.05197330e-01 -3.98692944e-02 -3.83293837e+02] [-6.97493134e-02 -1.85807265e-03 9.97562821e-01 -3.79837755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.27, Y:-383.33, Z:-37.99 [[ 8.06063368e-01 5.89053586e-01 5.72513695e-02 7.12267856e+02] [-5.87703728e-01 8.08092586e-01 -3.98835748e-02 -3.83330985e+02] [-6.97579700e-02 -1.49815463e-03 9.97562821e-01 -3.79888997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.32, Y:-383.37, Z:-37.99 [[ 8.08744239e-01 5.85368592e-01 5.72395593e-02 7.12315655e+02] [-5.84008288e-01 8.10766469e-01 -3.99005172e-02 -3.83370425e+02] [-6.97644250e-02 -1.15906362e-03 9.97562821e-01 -3.79924591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.37, Y:-383.41, Z:-38.00 [[ 8.11106009e-01 5.82092726e-01 5.72284994e-02 7.12365117e+02] [-5.80723136e-01 8.13121961e-01 -3.99163739e-02 -3.83408689e+02] [-6.97687806e-02 -8.57502934e-04 9.97562821e-01 -3.79954247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.42, Y:-383.45, Z:-38.00 [[ 8.13520768e-01 5.78714014e-01 5.72193168e-02 7.12415389e+02] [-5.77335124e-01 8.15530371e-01 -3.99295327e-02 -3.83446770e+02] [-6.97718708e-02 -5.51217327e-04 9.97562821e-01 -3.79990792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.46, Y:-383.48, Z:-38.01 [[ 8.12482211e-01 5.80172350e-01 5.72075222e-02 7.12464158e+02] [-5.78795878e-01 8.14493471e-01 -3.99464239e-02 -3.83483567e+02] [-6.97709639e-02 -6.55719260e-04 9.97562821e-01 -3.80052397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.51, Y:-383.52, Z:-38.01 [[ 8.11053748e-01 5.82168529e-01 5.71980908e-02 7.12514804e+02] [-5.80796056e-01 8.13067738e-01 -3.99599238e-02 -3.83519798e+02] [-6.97693324e-02 -8.10779569e-04 9.97562822e-01 -3.80104264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.57, Y:-383.56, Z:-38.01 [[ 8.08575734e-01 5.85606318e-01 5.71884873e-02 7.12565945e+02] [-5.84241435e-01 8.10594876e-01 -3.99736631e-02 -3.83555633e+02] [-6.97655244e-02 -1.09014987e-03 9.97562822e-01 -3.80145523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.62, Y:-383.59, Z:-38.02 [[ 8.07162587e-01 5.87553675e-01 5.71772486e-02 7.12617021e+02] [-5.86192525e-01 8.09184247e-01 -3.99897322e-02 -3.83591399e+02] [-6.97630430e-02 -1.23866003e-03 9.97562822e-01 -3.80179739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.67, Y:-383.63, Z:-38.02 [[ 8.06383434e-01 5.88623532e-01 5.71672521e-02 7.12666929e+02] [-5.87264052e-01 8.08406217e-01 -4.00040177e-02 -3.83625646e+02] [-6.97616682e-02 -1.31369499e-03 9.97562822e-01 -3.80222851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.72, Y:-383.66, Z:-38.03 [[ 8.07252249e-01 5.87431979e-01 5.71618410e-02 7.12718744e+02] [-5.86068966e-01 8.09272653e-01 -4.00117480e-02 -3.83660421e+02] [-6.97636951e-02 -1.20120752e-03 9.97562822e-01 -3.80278121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.77, Y:-383.70, Z:-38.03 [[ 8.07837970e-01 5.86626746e-01 5.71565798e-02 7.12770328e+02] [-5.85261187e-01 8.09856655e-01 -4.00192623e-02 -3.83695909e+02] [-6.97650061e-02 -1.12244809e-03 9.97562822e-01 -3.80323861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.82, Y:-383.73, Z:-38.04 [[ 8.08000536e-01 5.86403915e-01 5.71452801e-02 7.12822262e+02] [-5.85036660e-01 8.10018070e-01 -4.00353912e-02 -3.83731478e+02] [-6.97656196e-02 -1.08346629e-03 9.97562822e-01 -3.80360830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.87, Y:-383.77, Z:-38.04 [[ 8.07665986e-01 5.86865713e-01 5.71339703e-02 7.12873666e+02] [-5.85498470e-01 8.09683529e-01 -4.00515247e-02 -3.83766790e+02] [-6.97653013e-02 -1.10359802e-03 9.97562823e-01 -3.80389299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.92, Y:-383.81, Z:-38.04 [[ 8.06823349e-01 5.88024586e-01 5.71241586e-02 7.12923603e+02] [-5.86659251e-01 8.08842183e-01 -4.00655139e-02 -3.83805434e+02] [-6.97639365e-02 -1.18662397e-03 9.97562823e-01 -3.80406175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:712.98, Y:-383.84, Z:-38.05 [[ 8.09121422e-01 5.84859569e-01 5.71122535e-02 7.12975272e+02] [-5.83485139e-01 8.11134075e-01 -4.00824773e-02 -3.83838166e+02] [-6.97683153e-02 -8.92560151e-04 9.97562823e-01 -3.80465271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.02, Y:-383.87, Z:-38.05 [[ 8.11679252e-01 5.81305491e-01 5.71027045e-02 7.13024641e+02] [-5.79921291e-01 8.13685198e-01 -4.00960763e-02 -3.83874971e+02] [-6.97716948e-02 -5.69920879e-04 9.97562823e-01 -3.80498882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.08, Y:-383.91, Z:-38.06 [[ 8.14299006e-01 5.77631023e-01 5.70922942e-02 7.13075404e+02] [-5.76236731e-01 8.16297952e-01 -4.01108940e-02 -3.83911802e+02] [-6.97736196e-02 -2.36415902e-04 9.97562823e-01 -3.80550971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.13, Y:-383.95, Z:-38.06 [[ 8.15170686e-01 5.76401406e-01 5.70804000e-02 7.13125590e+02] [-5.75002915e-01 8.17166695e-01 -4.01278131e-02 -3.83947146e+02] [-6.97739297e-02 -1.10379440e-04 9.97562823e-01 -3.80593152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:713.17, Y:-383.98, Z:-38.07 [[ 8.16352034e-01 5.74728139e-01 5.70694495e-02 7.13174729e+02] [-5.73324468e-01 8.18344404e-01 -4.01433808e-02 -3.83983937e+02] [-6.97739952e-02 5.18188005e-05 9.97562824e-01 -3.80689178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.23, Y:-384.02, Z:-38.07 [[ 8.16509909e-01 5.74504232e-01 5.70653613e-02 7.13228438e+02] [-5.73099608e-01 8.18501608e-01 -4.01491915e-02 -3.84017583e+02] [-6.97739704e-02 7.80764571e-05 9.97562824e-01 -3.80713107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.28, Y:-384.05, Z:-38.08 [[ 8.16061138e-01 5.75142838e-01 5.70520395e-02 7.13280601e+02] [-5.73738450e-01 8.18053002e-01 -4.01681130e-02 -3.84051614e+02] [-6.97739946e-02 4.66872488e-05 9.97562824e-01 -3.80758866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.33, Y:-384.09, Z:-38.08 [[ 8.15804958e-01 5.75507205e-01 5.70414594e-02 7.13332007e+02] [-5.74102656e-01 8.17796709e-01 -4.01831318e-02 -3.84086656e+02] [-6.97739996e-02 3.39448192e-05 9.97562824e-01 -3.80782802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.38, Y:-384.13, Z:-38.08 [[ 8.13453899e-01 5.78826539e-01 5.70314937e-02 7.13381058e+02] [-5.77429127e-01 8.15450663e-01 -4.01972711e-02 -3.84125563e+02] [-6.97736166e-02 -2.33018668e-04 9.97562824e-01 -3.80801071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.43, Y:-384.16, Z:-38.09 [[ 8.12039570e-01 5.80809435e-01 5.70275034e-02 7.13433929e+02] [-5.79416501e-01 8.14039460e-01 -4.02029313e-02 -3.84155580e+02] [-6.97728799e-02 -3.96305447e-04 9.97562824e-01 -3.80861036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.49, Y:-384.19, Z:-38.09 [[ 8.07183441e-01 5.87540584e-01 5.70171446e-02 7.13485181e+02] [-5.86163287e-01 8.09194133e-01 -4.02176172e-02 -3.84191031e+02] [-6.97674211e-02 -9.58362229e-04 9.97562824e-01 -3.80900614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.54, Y:-384.22, Z:-38.10 [[ 8.03988728e-01 5.91905844e-01 5.70052355e-02 7.13538560e+02] [-5.90538268e-01 8.06006042e-01 -4.02344902e-02 -3.84222794e+02] [-6.97615942e-02 -1.31569643e-03 9.97562825e-01 -3.80954622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.59, Y:-384.26, Z:-38.10 [[ 8.02491638e-01 5.93934692e-01 5.69978367e-02 7.13589197e+02] [-5.92571471e-01 8.04511898e-01 -4.02449690e-02 -3.84258333e+02] [-6.97583210e-02 -1.47904088e-03 9.97562825e-01 -3.81004287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.64, Y:-384.29, Z:-38.10 [[ 8.02124756e-01 5.94431088e-01 5.69873463e-02 7.13640457e+02] [-5.93068063e-01 8.04145149e-01 -4.02598181e-02 -3.84294729e+02] [-6.97577855e-02 -1.50397826e-03 9.97562825e-01 -3.81037989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.69, Y:-384.33, Z:-38.11 [[ 8.02322817e-01 5.94164806e-01 5.69761296e-02 7.13691357e+02] [-5.92799985e-01 8.04341996e-01 -4.02756859e-02 -3.84330993e+02] [-6.97586889e-02 -1.46134698e-03 9.97562825e-01 -3.81074090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.74, Y:-384.37, Z:-38.11 [[ 8.03611346e-01 5.92421995e-01 5.69647672e-02 7.13742644e+02] [-5.91051656e-01 8.05626784e-01 -4.02917501e-02 -3.84367826e+02] [-6.97620612e-02 -1.29021251e-03 9.97562825e-01 -3.81109038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.79, Y:-384.41, Z:-38.12 [[ 8.07186698e-01 5.87542278e-01 5.69535416e-02 7.13792345e+02] [-5.86158634e-01 8.09193025e-01 -4.03076115e-02 -3.84405911e+02] [-6.97688346e-02 -8.48042333e-04 9.97562825e-01 -3.81155166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.84, Y:-384.44, Z:-38.12 [[ 8.10856621e-01 5.82468141e-01 5.69421145e-02 7.13841501e+02] [-5.81070808e-01 8.12853438e-01 -4.03237481e-02 -3.84443478e+02] [-6.97728921e-02 -3.90622328e-04 9.97562826e-01 -3.81217734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.89, Y:-384.48, Z:-38.13 [[ 8.12955812e-01 5.79535712e-01 5.69315896e-02 7.13890637e+02] [-5.78130135e-01 8.14946835e-01 -4.03386024e-02 -3.84480350e+02] [-6.97738794e-02 -1.20366297e-04 9.97562826e-01 -3.81284352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.94, Y:-384.52, Z:-38.14 [[ 8.13815559e-01 5.78328755e-01 5.69217730e-02 7.13939396e+02] [-5.76919256e-01 8.15803807e-01 -4.03524497e-02 -3.84516355e+02] [-6.97739812e-02 1.84451545e-07 9.97562826e-01 -3.81350508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:713.99, Y:-384.55, Z:-38.14 [[ 8.14400928e-01 5.77505031e-01 5.69127991e-02 7.13990315e+02] [-5.76092638e-01 8.16387121e-01 -4.03651026e-02 -3.84552920e+02] [-6.97739260e-02 8.63325355e-05 9.97562826e-01 -3.81392159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.04, Y:-384.59, Z:-38.14 [[ 8.13999588e-01 5.78071691e-01 5.69015828e-02 7.14041512e+02] [-5.76659575e-01 8.15985978e-01 -4.03809077e-02 -3.84588737e+02] [-6.97739533e-02 5.71996766e-05 9.97562826e-01 -3.81432546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.09, Y:-384.62, Z:-38.15 [[ 8.13625972e-01 5.78598562e-01 5.68900855e-02 7.14091762e+02] [-5.77186600e-01 8.15612471e-01 -4.03970991e-02 -3.84624246e+02] [-6.97739666e-02 3.19340348e-05 9.97562826e-01 -3.81469094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.14, Y:-384.66, Z:-38.15 [[ 8.13090636e-01 5.79351154e-01 5.68846023e-02 7.14142951e+02] [-5.77940491e-01 8.15078057e-01 -4.04048187e-02 -3.84659371e+02] [-6.97739695e-02 -2.31353107e-05 9.97562826e-01 -3.81499694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.20, Y:-384.69, Z:-38.15 [[ 8.11971311e-01 5.80919826e-01 5.68748259e-02 7.14195803e+02] [-5.79512038e-01 8.13960771e-01 -4.04185756e-02 -3.84693618e+02] [-6.97738290e-02 -1.40922427e-04 9.97562827e-01 -3.81547098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.25, Y:-384.73, Z:-38.16 [[ 8.10984407e-01 5.82297891e-01 5.68635021e-02 7.14247619e+02] [-5.80892367e-01 8.12975466e-01 -4.04345003e-02 -3.84729367e+02] [-6.97735564e-02 -2.39825040e-04 9.97562827e-01 -3.81596741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.30, Y:-384.77, Z:-38.16 [[ 8.09950796e-01 5.83735842e-01 5.68522285e-02 7.14299284e+02] [-5.82332741e-01 8.11943562e-01 -4.04503451e-02 -3.84765120e+02] [-6.97731172e-02 -3.44124834e-04 9.97562827e-01 -3.81644998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.35, Y:-384.80, Z:-38.17 [[ 8.09293276e-01 5.84648209e-01 5.68406987e-02 7.14349765e+02] [-5.83246217e-01 8.11286823e-01 -4.04665404e-02 -3.84801094e+02] [-6.97728002e-02 -4.02823389e-04 9.97562827e-01 -3.81681769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.40, Y:-384.84, Z:-38.17 [[ 8.08613716e-01 5.85588716e-01 5.68305692e-02 7.14400159e+02] [-5.84188043e-01 8.10608190e-01 -4.04807611e-02 -3.84835732e+02] [-6.97724018e-02 -4.66440363e-04 9.97562827e-01 -3.81734823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.45, Y:-384.87, Z:-38.18 [[ 8.07582214e-01 5.87010973e-01 5.68250462e-02 7.14451910e+02] [-5.85613267e-01 8.09578768e-01 -4.04885126e-02 -3.84871622e+02] [-6.97715520e-02 -5.79698367e-04 9.97562827e-01 -3.81784879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.50, Y:-384.91, Z:-38.18 [[ 8.06122092e-01 5.89015597e-01 5.68137275e-02 7.14501463e+02] [-5.87621737e-01 8.08121333e-01 -4.05043888e-02 -3.84909398e+02] [-6.97701020e-02 -7.33498627e-04 9.97562828e-01 -3.81785174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.55, Y:-384.94, Z:-38.19 [[ 8.05698989e-01 5.89595224e-01 5.68032655e-02 7.14552126e+02] [-5.88201768e-01 8.07698512e-01 -4.05190554e-02 -3.84942626e+02] [-6.97697546e-02 -7.65619271e-04 9.97562828e-01 -3.81887297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.60, Y:-384.98, Z:-38.19 [[ 8.04636757e-01 5.91044988e-01 5.67935856e-02 7.14602319e+02] [-5.89654178e-01 8.06638120e-01 -4.05326187e-02 -3.84979098e+02] [-6.97684723e-02 -8.74540164e-04 9.97562828e-01 -3.81936991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.65, Y:-385.02, Z:-38.19 [[ 8.02535273e-01 5.93895978e-01 5.67864710e-02 7.14649992e+02] [-5.92511572e-01 8.04541072e-01 -4.05425839e-02 -3.85018683e+02] [-6.97651257e-02 -1.10978758e-03 9.97562828e-01 -3.81904269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.70, Y:-385.05, Z:-38.20 [[ 8.03419639e-01 5.92699815e-01 5.67786411e-02 7.14699621e+02] [-5.91311648e-01 8.05422836e-01 -4.05535464e-02 -3.85052747e+02] [-6.97668936e-02 -9.92356229e-04 9.97562828e-01 -3.82038163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.75, Y:-385.09, Z:-38.20 [[ 8.02042653e-01 5.94562298e-01 5.67737368e-02 7.14747946e+02] [-5.93178297e-01 8.04048730e-01 -4.05604111e-02 -3.85091880e+02] [-6.97645423e-02 -1.14576880e-03 9.97562828e-01 -3.82037596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.80, Y:-385.13, Z:-38.21 [[ 8.01244791e-01 5.95637296e-01 5.67714415e-02 7.14796313e+02] [-5.94255759e-01 8.03252567e-01 -4.05636236e-02 -3.85129745e+02] [-6.97630132e-02 -1.23536398e-03 9.97562828e-01 -3.82109726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.85, Y:-385.16, Z:-38.22 [[ 8.03325650e-01 5.92828270e-01 5.67674387e-02 7.14847848e+02] [-5.91439316e-01 8.05328302e-01 -4.05692247e-02 -3.85161640e+02] [-6.97670083e-02 -9.84196342e-04 9.97562828e-01 -3.82181011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.90, Y:-385.20, Z:-38.22 [[ 8.03048197e-01 5.93205051e-01 5.67570399e-02 7.14898832e+02] [-5.91816009e-01 8.05050787e-01 -4.05837675e-02 -3.85196900e+02] [-6.97667955e-02 -9.99003493e-04 9.97562828e-01 -3.82239132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:714.95, Y:-385.23, Z:-38.23 [[ 8.01678102e-01 5.95056444e-01 5.67454849e-02 7.14950573e+02] [-5.93670884e-01 8.03683102e-01 -4.05999178e-02 -3.85233233e+02] [-6.97646300e-02 -1.14007714e-03 9.97562828e-01 -3.82272449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:715.00, Y:-385.27, Z:-38.23 [[ 8.01102122e-01 5.95832729e-01 5.67340157e-02 7.15001763e+02] [-5.94447978e-01 8.03107681e-01 -4.06159384e-02 -3.85269129e+02] [-6.97638292e-02 -1.18790643e-03 9.97562829e-01 -3.82314356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.05, Y:-385.30, Z:-38.24 [[ 8.01617256e-01 5.95140585e-01 5.67226518e-02 7.15052856e+02] [-5.93752979e-01 8.03620841e-01 -4.06318026e-02 -3.85304859e+02] [-6.97651399e-02 -1.10808942e-03 9.97562829e-01 -3.82360676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.10, Y:-385.34, Z:-38.24 [[ 8.04277359e-01 5.91541723e-01 5.67126088e-02 7.15103575e+02] [-5.90144163e-01 8.06274013e-01 -4.06458155e-02 -3.85342588e+02] [-6.97695984e-02 -7.78105963e-04 9.97562829e-01 -3.82402179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:715.15, Y:-385.38, Z:-38.24 [[ 8.07071447e-01 5.87724988e-01 5.67011295e-02 7.15154188e+02] [-5.86316860e-01 8.09060663e-01 -4.06618229e-02 -3.85380303e+02] [-6.97726228e-02 -4.27832001e-04 9.97562829e-01 -3.82437548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.21, Y:-385.41, Z:-38.25 [[ 8.13470528e-01 5.78836737e-01 5.66897886e-02 7.15207644e+02] [-5.77405773e-01 8.15443379e-01 -4.06776280e-02 -3.85411546e+02] [-6.97730182e-02 3.57040358e-04 9.97562829e-01 -3.82494892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:715.26, Y:-385.45, Z:-38.25 [[ 8.13719428e-01 5.78487169e-01 5.66858750e-02 7.15256453e+02] [-5.77054977e-01 8.15691388e-01 -4.06830810e-02 -3.85448507e+02] [-6.97728204e-02 3.93747142e-04 9.97562829e-01 -3.82519013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:715.31, Y:-385.49, Z:-38.26 [[ 8.16346764e-01 5.74774664e-01 5.66749255e-02 7.15305218e+02] [-5.73332446e-01 8.18311403e-01 -4.06983289e-02 -3.85486040e+02] [-6.97701061e-02 7.30375474e-04 9.97562830e-01 -3.82569771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.36, Y:-385.51, Z:-38.27 [[ 8.23097895e-01 5.65065596e-01 5.66632780e-02 7.15362740e+02] [-5.63599095e-01 8.25044475e-01 -4.07145390e-02 -3.85510476e+02] [-6.97561097e-02 1.57667915e-03 9.97562830e-01 -3.82737005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:715.41, Y:-385.54, Z:-38.28 [[ 8.22089027e-01 5.66532746e-01 5.66593261e-02 7.15413213e+02] [-5.65069340e-01 8.24037936e-01 -4.07200378e-02 -3.85544582e+02] [-6.97586689e-02 1.45904832e-03 9.97562830e-01 -3.82807783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:715.46, Y:-385.59, Z:-38.27 [[ 8.14957772e-01 5.76744929e-01 5.66490665e-02 7.15459774e+02] [-5.75304960e-01 8.16924060e-01 -4.07343058e-02 -3.85587784e+02] [-6.97712897e-02 6.06250117e-04 9.97562830e-01 -3.82743457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters Centerline goodness : 0.997706 with order 1 Centerline is valid? [True, True] Translation: X:715.51, Y:-385.63, Z:-38.28 [[ 8.09316768e-01 5.84635023e-01 5.66415016e-02 7.15508008e+02] [-5.83213488e-01 8.11296424e-01 -4.07448222e-02 -3.85626757e+02] [-6.97738977e-02 -5.86199545e-05 9.97562830e-01 -3.82810523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:715.56, Y:-385.66, Z:-38.28 [[ 8.07105997e-01 5.87684476e-01 5.66292053e-02 7.15559797e+02] [-5.86269222e-01 8.09090147e-01 -4.07619051e-02 -3.85661372e+02] [-6.97732709e-02 -3.00782090e-04 9.97562830e-01 -3.82787773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:715.61, Y:-385.69, Z:-38.29 [[ 8.07286543e-01 5.87437653e-01 5.66166283e-02 7.15613483e+02] [-5.86020567e-01 8.09269385e-01 -4.07793665e-02 -3.85691354e+02] [-6.97734393e-02 -2.57874875e-04 9.97562830e-01 -3.82858545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:715.66, Y:-385.73, Z:-38.29 [[ 8.05717148e-01 5.89589361e-01 5.66062071e-02 7.15664744e+02] [-5.88176555e-01 8.07703042e-01 -4.07938272e-02 -3.85727458e+02] [-6.97726122e-02 -4.26157701e-04 9.97562831e-01 -3.82883928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:715.72, Y:-385.76, Z:-38.29 [[ 8.03149824e-01 5.93082945e-01 5.65948785e-02 7.15715811e+02] [-5.91677670e-01 8.05141054e-01 -4.08095378e-02 -3.85762675e+02] [-6.97703010e-02 -7.09752806e-04 9.97562831e-01 -3.82923249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:715.77, Y:-385.80, Z:-38.29 [[ 8.01314729e-01 5.95561004e-01 5.65844186e-02 7.15767900e+02] [-5.94160863e-01 8.03309571e-01 -4.08240358e-02 -3.85797723e+02] [-6.97680088e-02 -9.07345859e-04 9.97562831e-01 -3.82948996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:715.82, Y:-385.83, Z:-38.30 [[ 7.98431991e-01 5.99421288e-01 5.65727506e-02 7.15820728e+02] [-5.98029645e-01 8.00432772e-01 -4.08401986e-02 -3.85832551e+02] [-6.97631680e-02 -1.22406095e-03 9.97562831e-01 -3.82989701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:715.87, Y:-385.87, Z:-38.31 [[ 7.95776172e-01 6.02943709e-01 5.65611952e-02 7.15871036e+02] [-6.01559785e-01 7.97782299e-01 -4.08561959e-02 -3.85869394e+02] [-6.97575066e-02 -1.51255333e-03 9.97562831e-01 -3.83056544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:715.92, Y:-385.91, Z:-38.31 [[ 7.95238681e-01 6.03653057e-01 5.65546279e-02 7.15922447e+02] [-6.02270277e-01 7.97245597e-01 -4.08652846e-02 -3.85905751e+02] [-6.97563820e-02 -1.56351643e-03 9.97562831e-01 -3.83111485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters Centerline goodness : 0.997361 with order 1 Centerline is valid? [True, True] Translation: X:716.42, Y:-385.40, Z:-37.31 [[ 8.62445793e-01 5.02981516e-01 5.65406859e-02 7.16418244e+02] [-5.01364787e-01 8.64269519e-01 -4.08845654e-02 -3.85399656e+02] [-6.94305722e-02 6.91321244e-03 9.97562832e-01 -3.73114740e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:716.47, Y:-385.43, Z:-37.31 [[ 8.63883017e-01 5.00033069e-01 6.06057997e-02 7.16470167e+02] [-4.98908180e-01 8.66005397e-01 -3.35451961e-02 -3.85433174e+02] [-6.92586570e-02 -1.25760399e-03 9.97597944e-01 -3.73100100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:716.52, Y:-385.46, Z:-37.31 [[ 8.65838414e-01 4.96640652e-01 6.05962379e-02 7.16523696e+02] [-4.95506238e-01 8.67955718e-01 -3.35624596e-02 -3.85464866e+02] [-6.92633331e-02 -9.66147166e-04 9.97597944e-01 -3.73122106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:716.58, Y:-385.50, Z:-37.32 [[ 8.67718688e-01 4.93349132e-01 6.05880519e-02 7.16577355e+02] [-4.92205654e-01 8.69831112e-01 -3.35772308e-02 -3.85495886e+02] [-6.92666702e-02 -6.86191017e-04 9.97597944e-01 -3.73171450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:716.63, Y:-385.53, Z:-37.32 [[ 8.68404506e-01 4.92142002e-01 6.05794094e-02 7.16631688e+02] [-4.90994501e-01 8.70514746e-01 -3.35928163e-02 -3.85526791e+02] [-6.92677050e-02 -5.72003832e-04 9.97597944e-01 -3.73206524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:716.69, Y:-385.56, Z:-37.33 [[ 8.68731410e-01 4.91565904e-01 6.05697894e-02 7.16685865e+02] [-4.90415795e-01 8.70840230e-01 -3.36101527e-02 -3.85556727e+02] [-6.92682144e-02 -5.06186136e-04 9.97597944e-01 -3.73250205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:716.74, Y:-385.59, Z:-37.33 [[ 8.68279341e-01 4.92365073e-01 6.05608962e-02 7.16741217e+02] [-4.91215787e-01 8.70388609e-01 -3.36261694e-02 -3.85585751e+02] [-6.92678656e-02 -5.51560142e-04 9.97597944e-01 -3.73292100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:716.80, Y:-385.62, Z:-37.33 [[ 8.67437671e-01 4.93846762e-01 6.05579227e-02 7.16795622e+02] [-4.92700706e-01 8.69548696e-01 -3.36315236e-02 -3.85615819e+02] [-6.92668818e-02 -6.63680719e-04 9.97597944e-01 -3.73346488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:716.85, Y:-385.65, Z:-37.34 [[ 8.66318611e-01 4.95808293e-01 6.05491576e-02 7.16850429e+02] [-4.94665914e-01 8.68431628e-01 -3.36472967e-02 -3.85646209e+02] [-6.92654122e-02 -8.02325098e-04 9.97597945e-01 -3.73378751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:716.90, Y:-385.68, Z:-37.34 [[ 8.65488436e-01 4.97257189e-01 6.05397096e-02 7.16904778e+02] [-4.96117159e-01 8.67602721e-01 -3.36642874e-02 -3.85675460e+02] [-6.92642256e-02 -8.98737289e-04 9.97597945e-01 -3.73405513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:716.96, Y:-385.70, Z:-37.34 [[ 8.65321066e-01 4.97549391e-01 6.05314475e-02 7.16959236e+02] [-4.96409036e-01 8.67435176e-01 -3.36791369e-02 -3.85704469e+02] [-6.92641408e-02 -9.05090901e-04 9.97597945e-01 -3.73436843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:717.01, Y:-385.73, Z:-37.35 [[ 8.65749635e-01 4.96804301e-01 6.05231854e-02 7.17013846e+02] [-4.95661090e-01 8.67862201e-01 -3.36939777e-02 -3.85734864e+02] [-6.92650980e-02 -8.28439123e-04 9.97597945e-01 -3.73477979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:717.07, Y:-385.76, Z:-37.35 [[ 8.66290060e-01 4.95862519e-01 6.05135830e-02 7.17068318e+02] [-4.94715807e-01 8.68400728e-01 -3.37112146e-02 -3.85764167e+02] [-6.92661674e-02 -7.33335955e-04 9.97597945e-01 -3.73535659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:717.12, Y:-385.79, Z:-37.36 [[ 8.66499308e-01 4.95497794e-01 6.05052519e-02 7.17123375e+02] [-4.94349149e-01 8.68608925e-01 -3.37261608e-02 -3.85794513e+02] [-6.92666401e-02 -6.87024848e-04 9.97597945e-01 -3.73579275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:717.18, Y:-385.82, Z:-37.36 [[ 8.67104146e-01 4.94439773e-01 6.04955482e-02 7.17177679e+02] [-4.93287341e-01 8.69211696e-01 -3.37435577e-02 -3.85824479e+02] [-6.92675950e-02 -5.82509290e-04 9.97597946e-01 -3.73633979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.23, Y:-385.86, Z:-37.37 [[ 8.67101595e-01 4.94445342e-01 6.04865956e-02 7.17232518e+02] [-4.93291804e-01 8.69208540e-01 -3.37595979e-02 -3.85855161e+02] [-6.92677414e-02 -5.64540706e-04 9.97597946e-01 -3.73677543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:717.29, Y:-385.88, Z:-37.37 [[ 8.67038997e-01 4.94556269e-01 6.04770628e-02 7.17287869e+02] [-4.93401810e-01 8.69145437e-01 -3.37766665e-02 -3.85884308e+02] [-6.92678253e-02 -5.53805218e-04 9.97597946e-01 -3.73743149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.34, Y:-385.91, Z:-37.38 [[ 8.65950772e-01 4.96460455e-01 6.04671518e-02 7.17340064e+02] [-4.95309390e-01 8.68059069e-01 -3.37943998e-02 -3.85914963e+02] [-6.92666426e-02 -6.85661461e-04 9.97597946e-01 -3.73788781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.39, Y:-385.95, Z:-37.38 [[ 8.66071705e-01 4.96250424e-01 6.04592349e-02 7.17393653e+02] [-4.95097860e-01 8.68179181e-01 -3.38085575e-02 -3.85945285e+02] [-6.92669601e-02 -6.52602797e-04 9.97597946e-01 -3.73824196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:717.45, Y:-385.98, Z:-37.39 [[ 8.66356014e-01 4.95754918e-01 6.04509559e-02 7.17447920e+02] [-4.94600116e-01 8.68462265e-01 -3.38233543e-02 -3.85976879e+02] [-6.92674683e-02 -5.95983387e-04 9.97597946e-01 -3.73859295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.50, Y:-386.01, Z:-37.39 [[ 8.66953846e-01 4.94709871e-01 6.04414815e-02 7.17502553e+02] [-4.93551350e-01 8.69058054e-01 -3.38402763e-02 -3.86008681e+02] [-6.92682750e-02 -4.93017079e-04 9.97597947e-01 -3.73895553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.56, Y:-386.04, Z:-37.39 [[ 8.67083163e-01 4.94484359e-01 6.04318433e-02 7.17557022e+02] [-4.93324092e-01 8.69186408e-01 -3.38574794e-02 -3.86040475e+02] [-6.92685308e-02 -4.55233947e-04 9.97597947e-01 -3.73931822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.61, Y:-386.07, Z:-37.40 [[ 8.68235673e-01 4.92459109e-01 6.04222051e-02 7.17610381e+02] [-4.91292739e-01 8.70335540e-01 -3.38746712e-02 -3.86071268e+02] [-6.92694828e-02 -2.73792706e-04 9.97597947e-01 -3.73963144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:717.66, Y:-386.10, Z:-37.40 [[ 8.68606763e-01 4.91805351e-01 6.04134815e-02 7.17664100e+02] [-4.90636319e-01 8.70705149e-01 -3.38902220e-02 -3.86103044e+02] [-6.92697219e-02 -2.03772102e-04 9.97597947e-01 -3.74010120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.72, Y:-386.13, Z:-37.41 [[ 8.68805490e-01 4.91455429e-01 6.04034928e-02 7.17718728e+02] [-4.90284315e-01 8.70902714e-01 -3.39080158e-02 -3.86134387e+02] [-6.92698443e-02 -1.55414785e-04 9.97597947e-01 -3.74056511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.77, Y:-386.17, Z:-37.41 [[ 8.69083991e-01 4.90963989e-01 6.03935269e-02 7.17771628e+02] [-4.89790456e-01 8.71179862e-01 -3.39257569e-02 -3.86166576e+02] [-6.92699494e-02 -9.58408520e-05 9.97597948e-01 -3.74107881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.82, Y:-386.20, Z:-37.41 [[ 8.68979730e-01 4.91149572e-01 6.03848206e-02 7.17823468e+02] [-4.89975411e-01 8.71075249e-01 -3.39412462e-02 -3.86199193e+02] [-6.92699512e-02 -9.28223320e-05 9.97597948e-01 -3.74145751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.88, Y:-386.23, Z:-37.42 [[ 8.69066672e-01 4.90996694e-01 6.03768601e-02 7.17877848e+02] [-4.89821180e-01 8.71161433e-01 -3.39554010e-02 -3.86231650e+02] [-6.92699816e-02 -6.43575407e-05 9.97597948e-01 -3.74180354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:717.93, Y:-386.26, Z:-37.42 [[ 8.69848580e-01 4.89611358e-01 6.03669245e-02 7.17931710e+02] [-4.88431283e-01 8.71940774e-01 -3.39730556e-02 -3.86262677e+02] [-6.92699768e-02 6.63197947e-05 9.97597948e-01 -3.74235227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:717.98, Y:-386.30, Z:-37.43 [[ 8.69084512e-01 4.90967406e-01 6.03582405e-02 7.17983764e+02] [-4.89789524e-01 8.71177942e-01 -3.39884770e-02 -3.86295341e+02] [-6.92700022e-02 -2.39748844e-05 9.97597948e-01 -3.74281470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.04, Y:-386.33, Z:-37.43 [[ 8.68747835e-01 4.91564022e-01 6.03490873e-02 7.18037731e+02] [-4.90386449e-01 8.70841438e-01 -3.40047215e-02 -3.86326748e+02] [-6.92699836e-02 -5.28464288e-05 9.97597948e-01 -3.74310709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.09, Y:-386.36, Z:-37.44 [[ 8.68320176e-01 4.92320242e-01 6.03394700e-02 7.18091960e+02] [-4.91143307e-01 8.70414137e-01 -3.40217784e-02 -3.86357786e+02] [-6.92699379e-02 -9.35302447e-05 9.97597949e-01 -3.74354169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:718.15, Y:-386.39, Z:-37.44 [[ 8.67524729e-01 4.93720927e-01 6.03364816e-02 7.18147069e+02] [-4.92547004e-01 8.69620381e-01 -3.40270774e-02 -3.86386347e+02] [-6.92697143e-02 -1.99222167e-04 9.97597949e-01 -3.74421410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.20, Y:-386.42, Z:-37.44 [[ 8.64131258e-01 4.99637121e-01 6.03317130e-02 7.18199299e+02] [-4.98476955e-01 8.66234557e-01 -3.40355302e-02 -3.86417324e+02] [-6.92668290e-02 -6.62803079e-04 9.97597949e-01 -3.74444077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.25, Y:-386.45, Z:-37.45 [[ 8.61237341e-01 5.04609694e-01 6.03265995e-02 7.18252300e+02] [-5.03461036e-01 8.63346947e-01 -3.40445913e-02 -3.86448437e+02] [-6.92620163e-02 -1.05161894e-03 9.97597949e-01 -3.74493086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.31, Y:-386.48, Z:-37.46 [[ 8.60871539e-01 5.05234501e-01 6.03182590e-02 7.18307744e+02] [-5.04086340e-01 8.62981415e-01 -3.40593622e-02 -3.86476530e+02] [-6.92615013e-02 -1.08487479e-03 9.97597949e-01 -3.74578029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.36, Y:-386.51, Z:-37.46 [[ 8.59100920e-01 5.08240429e-01 6.03098343e-02 7.18361998e+02] [-5.07098603e-01 8.61214230e-01 -3.40742735e-02 -3.86507412e+02] [-6.92576109e-02 -1.30979297e-03 9.97597949e-01 -3.74630268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.41, Y:-386.54, Z:-37.46 [[ 8.58844437e-01 5.08674075e-01 6.03068688e-02 7.18412734e+02] [-5.07532947e-01 8.60958125e-01 -3.40795213e-02 -3.86543170e+02] [-6.92570576e-02 -1.33871561e-03 9.97597949e-01 -3.74627278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.46, Y:-386.57, Z:-37.47 [[ 8.63429556e-01 5.00852741e-01 6.02987030e-02 7.18464633e+02] [-4.99691455e-01 8.65532236e-01 -3.40939633e-02 -3.86573484e+02] [-6.92665262e-02 -6.93011111e-04 9.97597949e-01 -3.74710629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.52, Y:-386.61, Z:-37.47 [[ 8.64693791e-01 4.98667881e-01 6.02908910e-02 7.18515862e+02] [-4.97500319e-01 8.66792993e-01 -3.41077723e-02 -3.86609004e+02] [-6.92681724e-02 -5.01958563e-04 9.97597949e-01 -3.74682805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.57, Y:-386.64, Z:-37.47 [[ 8.66563618e-01 4.95412474e-01 6.02824676e-02 7.18569837e+02] [-4.94235991e-01 8.68657832e-01 -3.41226535e-02 -3.86642064e+02] [-6.92696258e-02 -2.24315027e-04 9.97597949e-01 -3.74725657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.62, Y:-386.67, Z:-37.48 [[ 8.68528354e-01 4.91960974e-01 6.02735296e-02 7.18622391e+02] [-4.90775073e-01 8.70617249e-01 -3.41384341e-02 -3.86673512e+02] [-6.92699518e-02 6.94521153e-05 9.97597950e-01 -3.74839007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.67, Y:-386.71, Z:-37.49 [[ 8.67638548e-01 4.93529115e-01 6.02690914e-02 7.18674403e+02] [-4.92346445e-01 8.69729274e-01 -3.41462676e-02 -3.86705807e+02] [-6.92699703e-02 -4.66548536e-05 9.97597950e-01 -3.74852479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.73, Y:-386.73, Z:-37.50 [[ 8.68601729e-01 4.91832534e-01 6.02643794e-02 7.18729946e+02] [-4.90645204e-01 8.70689812e-01 -3.41545818e-02 -3.86732776e+02] [-6.92699157e-02 9.83000889e-05 9.97597950e-01 -3.74971620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.78, Y:-386.77, Z:-37.50 [[ 8.67586078e-01 4.93622834e-01 6.02569146e-02 7.18781210e+02] [-4.92438898e-01 8.69676087e-01 -3.41677464e-02 -3.86768467e+02] [-6.92699775e-02 -2.93875507e-05 9.97597950e-01 -3.74966851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.84, Y:-386.80, Z:-37.51 [[ 8.70155419e-01 4.89080297e-01 6.02495586e-02 7.18836096e+02] [-4.87884553e-01 8.72238696e-01 -3.41807126e-02 -3.86796598e+02] [-6.92691095e-02 3.47703319e-04 9.97597950e-01 -3.75052902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.89, Y:-386.83, Z:-37.50 [[ 8.70386371e-01 4.88669426e-01 6.02474642e-02 7.18886365e+02] [-4.87472443e-01 8.72468936e-01 -3.41844039e-02 -3.86832642e+02] [-6.92689140e-02 3.84660718e-04 9.97597950e-01 -3.75023102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.94, Y:-386.86, Z:-37.51 [[ 8.71048914e-01 4.87488301e-01 6.02407308e-02 7.18940876e+02] [-4.86287673e-01 8.73129380e-01 -3.41962656e-02 -3.86864577e+02] [-6.92682313e-02 4.92295228e-04 9.97597950e-01 -3.75068834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:718.99, Y:-386.90, Z:-37.51 [[ 8.71108145e-01 4.87383457e-01 6.02325940e-02 7.18994337e+02] [-4.86181588e-01 8.73187894e-01 -3.42105916e-02 -3.86895778e+02] [-6.92680483e-02 5.17146787e-04 9.97597950e-01 -3.75122281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.05, Y:-386.93, Z:-37.52 [[ 8.70118174e-01 4.89149573e-01 6.02250695e-02 7.19048116e+02] [-4.87951010e-01 8.72199829e-01 -3.42238327e-02 -3.86926661e+02] [-6.92688685e-02 3.91895336e-04 9.97597950e-01 -3.75176081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.10, Y:-386.96, Z:-37.52 [[ 8.69523527e-01 4.90206719e-01 6.02180109e-02 7.19102624e+02] [-4.89009826e-01 8.71606144e-01 -3.42362480e-02 -3.86957471e+02] [-6.92692271e-02 3.22024106e-04 9.97597950e-01 -3.75225750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.16, Y:-386.99, Z:-37.53 [[ 8.67989241e-01 4.92919301e-01 6.02099650e-02 7.19157041e+02] [-4.91727936e-01 8.70075024e-01 -3.42503924e-02 -3.86986942e+02] [-6.92698662e-02 1.22050316e-04 9.97597950e-01 -3.75275394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.21, Y:-387.01, Z:-37.54 [[ 8.67893856e-01 4.93087837e-01 6.02049910e-02 7.19211973e+02] [-4.91896270e-01 8.69979524e-01 -3.42591334e-02 -3.87013842e+02] [-6.92698713e-02 1.18680862e-04 9.97597951e-01 -3.75366703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.27, Y:-387.05, Z:-37.53 [[ 8.65581912e-01 4.97135966e-01 6.01978892e-02 7.19266468e+02] [-4.95953286e-01 8.67672632e-01 -3.42716075e-02 -3.87045045e+02] [-6.92697097e-02 -1.90457387e-04 9.97597951e-01 -3.75341398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.32, Y:-387.07, Z:-37.54 [[ 8.65128686e-01 4.97925123e-01 6.01907729e-02 7.19320321e+02] [-4.96743481e-01 8.67219992e-01 -3.42841014e-02 -3.87073782e+02] [-6.92695570e-02 -2.39214438e-04 9.97597951e-01 -3.75429762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.38, Y:-387.10, Z:-37.54 [[ 8.65026268e-01 4.98103993e-01 6.01827888e-02 7.19375595e+02] [-4.96921809e-01 8.67117268e-01 -3.42981111e-02 -3.87103250e+02] [-6.92695614e-02 -2.37373256e-04 9.97597951e-01 -3.75409506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.43, Y:-387.13, Z:-37.55 [[ 8.66584874e-01 4.95388432e-01 6.01743955e-02 7.19429333e+02] [-4.94198673e-01 8.68671573e-01 -3.43128304e-02 -3.87133544e+02] [-6.92699660e-02 -3.12667263e-06 9.97597951e-01 -3.75469452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.48, Y:-387.16, Z:-37.55 [[ 8.67380245e-01 4.93994895e-01 6.01710402e-02 7.19484245e+02] [-4.92801375e-01 8.69464796e-01 -3.43187133e-02 -3.87164256e+02] [-6.92698703e-02 1.15002647e-04 9.97597951e-01 -3.75484984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.54, Y:-387.20, Z:-37.55 [[ 8.68604388e-01 4.91840597e-01 6.01601586e-02 7.19536880e+02] [-4.90640587e-01 8.70685208e-01 -3.43377779e-02 -3.87195267e+02] [-6.92692734e-02 3.08929052e-04 9.97597951e-01 -3.75524545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.59, Y:-387.23, Z:-37.55 [[ 8.70360974e-01 4.88726402e-01 6.01521382e-02 7.19592095e+02] [-4.87517976e-01 8.72436918e-01 -3.43518221e-02 -3.87226306e+02] [-6.92675885e-02 5.73236679e-04 9.97597951e-01 -3.75546925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:719.65, Y:-387.26, Z:-37.56 [[ 8.71092112e-01 4.87423243e-01 6.01424571e-02 7.19645812e+02] [-4.86210541e-01 8.73165561e-01 -3.43687633e-02 -3.87257808e+02] [-6.92664564e-02 6.96461928e-04 9.97597952e-01 -3.75592117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:719.70, Y:-387.29, Z:-37.57 [[ 8.70812867e-01 4.87923204e-01 6.01323301e-02 7.19699821e+02] [-4.86710470e-01 8.72886298e-01 -3.43864726e-02 -3.87289543e+02] [-6.92666449e-02 6.77148153e-04 9.97597952e-01 -3.75678153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.76, Y:-387.32, Z:-37.57 [[ 8.70186853e-01 4.89039417e-01 6.01272813e-02 7.19755301e+02] [-4.87828733e-01 8.72261481e-01 -3.43952986e-02 -3.87318956e+02] [-6.92673682e-02 5.98521247e-04 9.97597952e-01 -3.75705342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.81, Y:-387.35, Z:-37.57 [[ 8.68028859e-01 4.92861031e-01 6.01157517e-02 7.19810740e+02] [-4.91658087e-01 8.70107984e-01 -3.44154381e-02 -3.87347527e+02] [-6.92692238e-02 3.17197931e-04 9.97597952e-01 -3.75748122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.86, Y:-387.38, Z:-37.58 [[ 8.63981064e-01 4.99923922e-01 6.01065134e-02 7.19864814e+02] [-4.98736852e-01 8.66069293e-01 -3.44315653e-02 -3.87376524e+02] [-6.92695687e-02 -2.29112845e-04 9.97597952e-01 -3.75751945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.92, Y:-387.41, Z:-37.58 [[ 8.61406627e-01 5.04347942e-01 6.00980541e-02 7.19919572e+02] [-5.03170566e-01 8.63500337e-01 -3.44463242e-02 -3.87406827e+02] [-6.92676226e-02 -5.67279975e-04 9.97597952e-01 -3.75794307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:719.97, Y:-387.44, Z:-37.58 [[ 8.57606951e-01 5.10783441e-01 6.00882192e-02 7.19973877e+02] [-5.09620574e-01 8.59708753e-01 -3.44634717e-02 -3.87436177e+02] [-6.92617386e-02 -1.06607986e-03 9.97597953e-01 -3.75838704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.03, Y:-387.47, Z:-37.59 [[ 8.54417119e-01 5.16102591e-01 6.00791391e-02 7.20029208e+02] [-5.14951695e-01 8.56525499e-01 -3.44792935e-02 -3.87466182e+02] [-6.92541673e-02 -1.47815591e-03 9.97597953e-01 -3.75863782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.08, Y:-387.49, Z:-37.59 [[ 8.53512332e-01 5.17598653e-01 6.00694056e-02 7.20083991e+02] [-5.16450259e-01 8.55622077e-01 -3.44962428e-02 -3.87494436e+02] [-6.92519184e-02 -1.57989140e-03 9.97597953e-01 -3.75909751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.14, Y:-387.53, Z:-37.60 [[ 8.51292754e-01 5.21241511e-01 6.00660833e-02 7.20137947e+02] [-5.20101737e-01 8.53407168e-01 -3.45020267e-02 -3.87525107e+02] [-6.92447145e-02 -1.86914894e-03 9.97597953e-01 -3.75973568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.19, Y:-387.56, Z:-37.60 [[ 8.51931464e-01 5.20198081e-01 6.00561095e-02 7.20191711e+02] [-5.19054495e-01 8.54043818e-01 -3.45193789e-02 -3.87556079e+02] [-6.92474638e-02 -1.76424855e-03 9.97597953e-01 -3.76000404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.24, Y:-387.59, Z:-37.61 [[ 8.52920183e-01 5.18576359e-01 6.00476696e-02 7.20244841e+02] [-5.17427723e-01 8.55029795e-01 -3.45340542e-02 -3.87587209e+02] [-6.92510907e-02 -1.61553721e-03 9.97597953e-01 -3.76057898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.30, Y:-387.62, Z:-37.61 [[ 8.55351287e-01 5.14557600e-01 6.00387501e-02 7.20299599e+02] [-5.13397964e-01 8.57454873e-01 -3.45495542e-02 -3.87617293e+02] [-6.92582545e-02 -1.27176639e-03 9.97597954e-01 -3.76050054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.35, Y:-387.65, Z:-37.61 [[ 8.56429726e-01 5.12761223e-01 6.00337713e-02 7.20351709e+02] [-5.11596568e-01 8.58530537e-01 -3.45582033e-02 -3.87648014e+02] [-6.92609324e-02 -1.11639880e-03 9.97597954e-01 -3.76115998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.41, Y:-387.68, Z:-37.62 [[ 8.58012323e-01 5.10109199e-01 6.00288192e-02 7.20406799e+02] [-5.08937449e-01 8.60109185e-01 -3.45668032e-02 -3.87677062e+02] [-6.92641830e-02 -8.92170990e-04 9.97597954e-01 -3.76178914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.46, Y:-387.71, Z:-37.62 [[ 8.57723325e-01 5.10595361e-01 6.00256170e-02 7.20458637e+02] [-5.09424410e-01 8.59820634e-01 -3.45723628e-02 -3.87709116e+02] [-6.92637521e-02 -9.24992580e-04 9.97597954e-01 -3.76206274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.51, Y:-387.74, Z:-37.62 [[ 8.58519742e-01 5.09256100e-01 6.00173010e-02 7.20512347e+02] [-5.08080869e-01 8.60614655e-01 -3.45867934e-02 -3.87739914e+02] [-6.92653043e-02 -8.00197514e-04 9.97597954e-01 -3.76235551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.57, Y:-387.77, Z:-37.62 [[ 8.59943535e-01 5.06849133e-01 6.00089392e-02 7.20566464e+02] [-5.05667026e-01 8.62034575e-01 -3.46012952e-02 -3.87771051e+02] [-6.92674169e-02 -5.89381701e-04 9.97597954e-01 -3.76240459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.62, Y:-387.80, Z:-37.63 [[ 8.59844060e-01 5.07018856e-01 6.00005959e-02 7.20621665e+02] [-5.05836153e-01 8.61934763e-01 -3.46157570e-02 -3.87800299e+02] [-6.92674409e-02 -5.86317602e-04 9.97597954e-01 -3.76274076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.68, Y:-387.83, Z:-37.63 [[ 8.60046645e-01 5.06676296e-01 5.99908238e-02 7.20677228e+02] [-5.05491579e-01 8.62136208e-01 -3.46326842e-02 -3.87827868e+02] [-6.92678215e-02 -5.39132465e-04 9.97597954e-01 -3.76325655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.73, Y:-387.86, Z:-37.64 [[ 8.60079011e-01 5.06622358e-01 5.99823393e-02 7.20731613e+02] [-5.05436485e-01 8.62167918e-01 -3.46473728e-02 -3.87857223e+02] [-6.92679823e-02 -5.17784619e-04 9.97597954e-01 -3.76377470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.79, Y:-387.88, Z:-37.64 [[ 8.60785867e-01 5.05421494e-01 5.99733669e-02 7.20787234e+02] [-5.04231626e-01 8.62872500e-01 -3.46628967e-02 -3.87884604e+02] [-6.92687421e-02 -4.03136741e-04 9.97597955e-01 -3.76411917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.84, Y:-387.91, Z:-37.65 [[ 8.60768407e-01 5.05452232e-01 5.99649163e-02 7.20840521e+02] [-5.04261421e-01 8.62854501e-01 -3.46775096e-02 -3.87913728e+02] [-6.92688226e-02 -3.88689211e-04 9.97597955e-01 -3.76458409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.90, Y:-387.94, Z:-37.65 [[ 8.59888787e-01 5.06948133e-01 5.99571887e-02 7.20897003e+02] [-5.05760019e-01 8.61976419e-01 -3.46908656e-02 -3.87940964e+02] [-6.92681523e-02 -4.93662567e-04 9.97597955e-01 -3.76498848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:720.95, Y:-387.97, Z:-37.65 [[ 8.59086530e-01 5.08306825e-01 5.99541973e-02 7.20952866e+02] [-5.07121652e-01 8.61175833e-01 -3.46960346e-02 -3.87969049e+02] [-6.92673370e-02 -5.97175559e-04 9.97597955e-01 -3.76535955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.01, Y:-388.00, Z:-37.66 [[ 8.57945484e-01 5.10231537e-01 5.99443556e-02 7.21008422e+02] [-5.09049863e-01 8.60036768e-01 -3.47130298e-02 -3.87996499e+02] [-6.92660324e-02 -7.32778893e-04 9.97597955e-01 -3.76580246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.06, Y:-388.03, Z:-37.65 [[ 8.57647462e-01 5.10732963e-01 5.99388947e-02 7.21064190e+02] [-5.09551854e-01 8.59739065e-01 -3.47224566e-02 -3.88025366e+02] [-6.92657124e-02 -7.62348197e-04 9.97597955e-01 -3.76546971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.12, Y:-388.05, Z:-37.66 [[ 8.58416232e-01 5.09440988e-01 5.99287351e-02 7.21119416e+02] [-5.08255507e-01 8.60505359e-01 -3.47399826e-02 -3.88053191e+02] [-6.92669688e-02 -6.37744724e-04 9.97597955e-01 -3.76571697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.18, Y:-388.08, Z:-37.67 [[ 8.61111048e-01 5.04873634e-01 5.99197511e-02 7.21175047e+02] [-5.03675994e-01 8.63193229e-01 -3.47554715e-02 -3.88076657e+02] [-6.92694446e-02 -2.51819691e-04 9.97597955e-01 -3.76679959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.23, Y:-388.11, Z:-37.67 [[ 8.63797262e-01 5.00264104e-01 5.99175750e-02 7.21230216e+02] [-4.99055093e-01 8.65872861e-01 -3.47592225e-02 -3.88105719e+02] [-6.92697934e-02 1.22750283e-04 9.97597955e-01 -3.76731044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.28, Y:-388.14, Z:-37.68 [[ 8.65151303e-01 4.97919857e-01 5.99085902e-02 7.21283404e+02] [-4.96704150e-01 8.67222986e-01 -3.47747013e-02 -3.88136206e+02] [-6.92691208e-02 3.28532794e-04 9.97597956e-01 -3.76766355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.34, Y:-388.17, Z:-37.68 [[ 8.67528737e-01 4.93766985e-01 5.99003796e-02 7.21337859e+02] [-4.92540385e-01 8.69593989e-01 -3.47888385e-02 -3.88166138e+02] [-6.92665900e-02 6.76961159e-04 9.97597956e-01 -3.76817045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.39, Y:-388.20, Z:-37.69 [[ 8.68260061e-01 4.92480900e-01 5.98918169e-02 7.21392726e+02] [-4.91250225e-01 8.70322887e-01 -3.48035737e-02 -3.88197437e+02] [-6.92653143e-02 7.96684532e-04 9.97597956e-01 -3.76855757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.45, Y:-388.23, Z:-37.69 [[ 8.65921800e-01 4.96581918e-01 5.98818425e-02 7.21446729e+02] [-4.95359826e-01 8.67989723e-01 -3.48207269e-02 -3.88227083e+02] [-6.92681672e-02 4.88967481e-04 9.97597956e-01 -3.76903982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.50, Y:-388.26, Z:-37.69 [[ 8.64722070e-01 4.98668872e-01 5.98756892e-02 7.21501527e+02] [-4.97451039e-01 8.66792504e-01 -3.48313046e-02 -3.88258372e+02] [-6.92690859e-02 3.34173992e-04 9.97597956e-01 -3.76944127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.56, Y:-388.29, Z:-37.70 [[ 8.60983818e-01 5.05096968e-01 5.98658406e-02 7.21556477e+02] [-5.03893416e-01 8.63062586e-01 -3.48482234e-02 -3.88288270e+02] [-6.92696992e-02 -1.62246534e-04 9.97597956e-01 -3.76990800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.61, Y:-388.32, Z:-37.70 [[ 8.57109896e-01 5.11644297e-01 5.98559933e-02 7.21609131e+02] [-5.10455443e-01 8.59197104e-01 -3.48651292e-02 -3.88318283e+02] [-6.92666406e-02 -6.70570299e-04 9.97597957e-01 -3.77027519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.66, Y:-388.35, Z:-37.70 [[ 8.53607803e-01 5.17466832e-01 5.98481178e-02 7.21663345e+02] [-5.16291266e-01 8.55702524e-01 -3.48786428e-02 -3.88348219e+02] [-6.92607262e-02 -1.12637882e-03 9.97597957e-01 -3.77037774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.72, Y:-388.38, Z:-37.71 [[ 8.51647087e-01 5.20688453e-01 5.98395616e-02 7.21717154e+02] [-5.19519780e-01 8.53745662e-01 -3.48933161e-02 -3.88379167e+02] [-6.92563129e-02 -1.37104486e-03 9.97597957e-01 -3.77067956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.77, Y:-388.41, Z:-37.71 [[ 8.49968677e-01 5.23424787e-01 5.98309366e-02 7.21770811e+02] [-5.22261829e-01 8.52070424e-01 -3.49080990e-02 -3.88411691e+02] [-6.92519357e-02 -1.57662368e-03 9.97597957e-01 -3.77113347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.82, Y:-388.44, Z:-37.72 [[ 8.49545531e-01 5.24112440e-01 5.98208992e-02 7.21823269e+02] [-5.22949974e-01 8.51647550e-01 -3.49252913e-02 -3.88443447e+02] [-6.92511019e-02 -1.61271249e-03 9.97597957e-01 -3.77172121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.88, Y:-388.48, Z:-37.72 [[ 8.49800088e-01 5.23700659e-01 5.98116230e-02 7.21875654e+02] [-5.22536057e-01 8.51900924e-01 -3.49411701e-02 -3.88477014e+02] [-6.92522907e-02 -1.56072017e-03 9.97597957e-01 -3.77232956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.93, Y:-388.51, Z:-37.73 [[ 8.51039622e-01 5.21684909e-01 5.98031514e-02 7.21928240e+02] [-5.20514312e-01 8.53137124e-01 -3.49556635e-02 -3.88512165e+02] [-6.92561308e-02 -1.37974156e-03 9.97597957e-01 -3.77277304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:721.98, Y:-388.55, Z:-37.73 [[ 8.52802823e-01 5.18798699e-01 5.97934379e-02 7.21980364e+02] [-5.17619839e-01 8.54895691e-01 -3.49722712e-02 -3.88547370e+02] [-6.92607212e-02 -1.12581806e-03 9.97597958e-01 -3.77318498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.03, Y:-388.58, Z:-37.74 [[ 8.54361636e-01 5.16228747e-01 5.97835820e-02 7.22032519e+02] [-5.15042413e-01 8.56450276e-01 -3.49891113e-02 -3.88582000e+02] [-6.92640504e-02 -8.97725969e-04 9.97597958e-01 -3.77356668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.08, Y:-388.62, Z:-37.74 [[ 8.58009078e-01 5.10144608e-01 5.97737443e-02 7.22083644e+02] [-5.08942292e-01 8.60088559e-01 -3.50059095e-02 -3.88618497e+02] [-6.92687896e-02 -3.85998288e-04 9.97597958e-01 -3.77396273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.14, Y:-388.66, Z:-37.74 [[ 8.61590293e-01 5.04073830e-01 5.97640448e-02 7.22135495e+02] [-5.02855713e-01 8.63660558e-01 -3.50224612e-02 -3.88655021e+02] [-6.92697545e-02 1.22321250e-04 9.97597958e-01 -3.77430433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.19, Y:-388.69, Z:-37.75 [[ 8.63885484e-01 5.00131294e-01 5.97541556e-02 7.22187290e+02] [-4.98902563e-01 8.65949466e-01 -3.50393258e-02 -3.88689881e+02] [-6.92683425e-02 4.58463531e-04 9.97597958e-01 -3.77469449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.24, Y:-388.73, Z:-37.74 [[ 8.62479265e-01 5.02553535e-01 5.97449731e-02 7.22237698e+02] [-5.01329516e-01 8.64546046e-01 -3.50549758e-02 -3.88727074e+02] [-6.92692822e-02 2.82271358e-04 9.97597959e-01 -3.77445832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.29, Y:-388.76, Z:-37.75 [[ 8.63245478e-01 5.01236630e-01 5.97418305e-02 7.22290223e+02] [-5.00009087e-01 8.65310167e-01 -3.50603306e-02 -3.88758718e+02] [-6.92687353e-02 3.94213715e-04 9.97597959e-01 -3.77500674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.34, Y:-388.79, Z:-37.75 [[ 8.64461641e-01 4.99137289e-01 5.97330653e-02 7.22341921e+02] [-4.97903701e-01 8.66522724e-01 -3.50752578e-02 -3.88792311e+02] [-6.92674275e-02 5.79900582e-04 9.97597959e-01 -3.77539370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.40, Y:-388.82, Z:-37.76 [[ 8.67942777e-01 4.93060213e-01 5.97240517e-02 7.22395968e+02] [-4.91811140e-01 8.69994513e-01 -3.50905990e-02 -3.88820891e+02] [-6.92613754e-02 1.08367799e-03 9.97597959e-01 -3.77642184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.45, Y:-388.86, Z:-37.77 [[ 8.66578733e-01 4.95454680e-01 5.97156602e-02 7.22447496e+02] [-4.94210294e-01 8.68633314e-01 -3.51048734e-02 -3.88856177e+02] [-6.92638856e-02 9.09042793e-04 9.97597959e-01 -3.77667263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.50, Y:-388.89, Z:-37.77 [[ 8.67331181e-01 4.94137480e-01 5.97057187e-02 7.22501170e+02] [-4.92888811e-01 8.69383162e-01 -3.51217737e-02 -3.88885006e+02] [-6.92621312e-02 1.03392877e-03 9.97597959e-01 -3.77700719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.55, Y:-388.92, Z:-37.77 [[ 8.65321122e-01 4.97650165e-01 5.96964798e-02 7.22554434e+02] [-4.96408743e-01 8.67377495e-01 -3.51374700e-02 -3.88917797e+02] [-6.92655508e-02 7.71340431e-04 9.97597959e-01 -3.77721956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.61, Y:-388.95, Z:-37.78 [[ 8.64531940e-01 4.99020483e-01 5.96915608e-02 7.22607858e+02] [-4.97781744e-01 8.66589930e-01 -3.51458245e-02 -3.88946559e+02] [-6.92665918e-02 6.71318604e-04 9.97597959e-01 -3.77805746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.66, Y:-388.98, Z:-37.79 [[ 8.60868523e-01 5.05315043e-01 5.96832741e-02 7.22662465e+02] [-5.04090377e-01 8.62934919e-01 -3.51598910e-02 -3.88978069e+02] [-6.92696031e-02 1.82279290e-04 9.97597960e-01 -3.77853489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.72, Y:-389.01, Z:-37.79 [[ 8.59884777e-01 5.06988415e-01 5.96734280e-02 7.22716568e+02] [-5.05766611e-01 8.61952866e-01 -3.51765939e-02 -3.89007634e+02] [-6.92698078e-02 6.69902284e-05 9.97597960e-01 -3.77927207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.77, Y:-389.04, Z:-37.80 [[ 8.57200954e-01 5.11513456e-01 5.96700015e-02 7.22768976e+02] [-5.10302164e-01 8.59275218e-01 -3.51824053e-02 -3.89040024e+02] [-6.92692272e-02 -2.91339523e-04 9.97597960e-01 -3.77959282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.82, Y:-389.07, Z:-37.80 [[ 8.56333267e-01 5.12965876e-01 5.96602486e-02 7.22822467e+02] [-5.11756951e-01 8.58408911e-01 -3.51989360e-02 -3.89071929e+02] [-6.92687420e-02 -3.89527019e-04 9.97597960e-01 -3.77997544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.87, Y:-389.10, Z:-37.80 [[ 8.55527390e-01 5.14309884e-01 5.96508866e-02 7.22874968e+02] [-5.13103114e-01 8.57604287e-01 -3.52147943e-02 -3.89103600e+02] [-6.92681729e-02 -4.79834617e-04 9.97597960e-01 -3.78033027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.93, Y:-389.14, Z:-37.81 [[ 8.54215559e-01 5.16486765e-01 5.96422722e-02 7.22928243e+02] [-5.15284270e-01 8.56294933e-01 -3.52293783e-02 -3.89136136e+02] [-6.92668831e-02 -6.39241647e-04 9.97597960e-01 -3.78077487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:722.98, Y:-389.17, Z:-37.81 [[ 8.51562268e-01 5.20850917e-01 5.96324281e-02 7.22981291e+02] [-5.19657911e-01 8.53647101e-01 -3.52460334e-02 -3.89167476e+02] [-6.92629782e-02 -9.74270869e-04 9.97597960e-01 -3.78135408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.03, Y:-389.20, Z:-37.82 [[ 8.49143288e-01 5.24786320e-01 5.96237742e-02 7.23033948e+02] [-5.23601948e-01 8.51233038e-01 -3.52606667e-02 -3.89199459e+02] [-6.92580420e-02 -1.27776582e-03 9.97597961e-01 -3.78187313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.09, Y:-389.23, Z:-37.82 [[ 8.48312461e-01 5.26129285e-01 5.96149656e-02 7.23086499e+02] [-5.24947175e-01 8.50403492e-01 -3.52755531e-02 -3.89232038e+02] [-6.92562765e-02 -1.37001650e-03 9.97597961e-01 -3.78232093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.14, Y:-389.27, Z:-37.83 [[ 8.48694290e-01 5.25513842e-01 5.96087487e-02 7.23137133e+02] [-5.24329479e-01 8.50784045e-01 -3.52860553e-02 -3.89267203e+02] [-6.92574829e-02 -1.30755049e-03 9.97597961e-01 -3.78260734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.19, Y:-389.30, Z:-37.83 [[ 8.49239503e-01 5.24633212e-01 5.96008322e-02 7.23189335e+02] [-5.23445744e-01 8.51327495e-01 -3.52994219e-02 -3.89301428e+02] [-6.92590763e-02 -1.22013845e-03 9.97597961e-01 -3.78273617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.24, Y:-389.34, Z:-37.83 [[ 8.50202590e-01 5.23072037e-01 5.95919414e-02 7.23241476e+02] [-5.21879683e-01 8.52287796e-01 -3.53144249e-02 -3.89335303e+02] [-6.92614725e-02 -1.07540794e-03 9.97597961e-01 -3.78311330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.29, Y:-389.37, Z:-37.84 [[ 8.52717001e-01 5.18963932e-01 5.95831710e-02 7.23292622e+02] [-5.17760498e-01 8.54795831e-01 -3.53292163e-02 -3.89370657e+02] [-6.92660352e-02 -7.23988931e-04 9.97597961e-01 -3.78368373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.34, Y:-389.41, Z:-37.84 [[ 8.55020684e-01 5.15160676e-01 5.95743851e-02 7.23343797e+02] [-5.13946963e-01 8.57093530e-01 -3.53440255e-02 -3.89407065e+02] [-6.92686721e-02 -3.98201421e-04 9.97597961e-01 -3.78400960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.40, Y:-389.44, Z:-37.85 [[ 8.56984920e-01 5.11886821e-01 5.95712126e-02 7.23396632e+02] [-5.10664818e-01 8.59052889e-01 -3.53493717e-02 -3.89436524e+02] [-6.92696998e-02 -1.27043954e-04 9.97597961e-01 -3.78458671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.45, Y:-389.47, Z:-37.85 [[ 8.59969738e-01 5.06857263e-01 5.95631080e-02 7.23446370e+02] [-5.05622220e-01 8.62029946e-01 -3.53630226e-02 -3.89474000e+02] [-6.92691876e-02 2.94698387e-04 9.97597962e-01 -3.78464501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.50, Y:-389.51, Z:-37.85 [[ 8.66819812e-01 4.95052261e-01 5.95539522e-02 7.23497622e+02] [-4.93788106e-01 8.68862286e-01 -3.53784350e-02 -3.89508839e+02] [-6.92583573e-02 1.25969511e-03 9.97597962e-01 -3.78530886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.55, Y:-389.54, Z:-37.86 [[ 8.69117150e-01 4.91008953e-01 5.95448351e-02 7.23548882e+02] [-4.89734247e-01 8.71153057e-01 -3.53937731e-02 -3.89543344e+02] [-6.92513246e-02 1.60019020e-03 9.97597962e-01 -3.78552480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.60, Y:-389.58, Z:-37.86 [[ 8.73013028e-01 4.84049325e-01 5.95357397e-02 7.23601061e+02] [-4.82757352e-01 8.75038020e-01 -3.54090659e-02 -3.89576304e+02] [-6.92357703e-02 2.17125982e-03 9.97597962e-01 -3.78602541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.65, Y:-389.61, Z:-37.86 [[ 8.73884216e-01 4.82475862e-01 5.95266340e-02 7.23654599e+02] [-4.81179203e-01 8.75906210e-01 -3.54243671e-02 -3.89609974e+02] [-6.92311504e-02 2.31381693e-03 9.97597962e-01 -3.78640494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.71, Y:-389.64, Z:-37.87 [[ 8.74071098e-01 4.82138502e-01 5.95162107e-02 7.23707620e+02] [-4.80839873e-01 8.76091828e-01 -3.54418705e-02 -3.89641715e+02] [-6.92295562e-02 2.36094742e-03 9.97597962e-01 -3.78684748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.76, Y:-389.67, Z:-37.87 [[ 8.72646321e-01 4.84713630e-01 5.95070966e-02 7.23762005e+02] [-4.83419923e-01 8.74670205e-01 -3.54571666e-02 -3.89672103e+02] [-6.92356563e-02 2.17464994e-03 9.97597963e-01 -3.78733889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.82, Y:-389.70, Z:-37.88 [[ 8.71132517e-01 4.87430291e-01 5.94966410e-02 7.23816755e+02] [-4.86141699e-01 8.73159661e-01 -3.54747022e-02 -3.89703621e+02] [-6.92415113e-02 1.97936849e-03 9.97597963e-01 -3.78782906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.87, Y:-389.74, Z:-37.88 [[ 8.68679849e-01 4.91788596e-01 5.94919880e-02 7.23870326e+02] [-4.90509643e-01 8.70713088e-01 -3.54825037e-02 -3.89735166e+02] [-6.92503433e-02 1.64154215e-03 9.97597963e-01 -3.78834806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.92, Y:-389.76, Z:-37.89 [[ 8.64652944e-01 4.98835057e-01 5.94884206e-02 7.23924497e+02] [-4.97572266e-01 8.66696261e-01 -3.54884838e-02 -3.89764828e+02] [-6.92612915e-02 1.08543381e-03 9.97597963e-01 -3.78855528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:723.98, Y:-389.79, Z:-37.89 [[ 8.61326618e-01 5.04558024e-01 5.94782158e-02 7.23980440e+02] [-5.03307630e-01 8.63377544e-01 -3.55055787e-02 -3.89790805e+02] [-6.92667805e-02 6.46060166e-04 9.97597963e-01 -3.78911457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.04, Y:-389.82, Z:-37.90 [[ 8.59730271e-01 5.07274388e-01 5.94689551e-02 7.24035379e+02] [-5.06029402e-01 8.61784484e-01 -3.55210829e-02 -3.89816995e+02] [-6.92683583e-02 4.45510415e-04 9.97597963e-01 -3.78976117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.09, Y:-389.85, Z:-37.90 [[ 8.58092150e-01 5.10041478e-01 5.94605180e-02 7.24089102e+02] [-5.08802139e-01 8.60149774e-01 -3.55352005e-02 -3.89846274e+02] [-6.92693773e-02 2.38837835e-04 9.97597963e-01 -3.79032535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters Centerline goodness : 0.996297 with order 1 Centerline is valid? [True, True] Translation: X:724.14, Y:-389.88, Z:-37.91 [[ 8.57668610e-01 5.10754270e-01 5.94527713e-02 7.24140685e+02] [-5.09515742e-01 8.59726722e-01 -3.55481564e-02 -3.89880095e+02] [-6.92695089e-02 1.96414988e-04 9.97597963e-01 -3.79078270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.19, Y:-389.91, Z:-37.91 [[ 8.58202235e-01 5.09858428e-01 5.94416404e-02 7.24194351e+02] [-5.08616463e-01 8.60258275e-01 -3.55667592e-02 -3.89909026e+02] [-6.92691750e-02 2.90475347e-04 9.97597964e-01 -3.79108951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.25, Y:-389.94, Z:-37.91 [[ 8.58671870e-01 5.09068307e-01 5.94312954e-02 7.24249117e+02] [-5.07823255e-01 8.60726041e-01 -3.55840372e-02 -3.89940729e+02] [-6.92687692e-02 3.74417831e-04 9.97597964e-01 -3.79148832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.30, Y:-389.97, Z:-37.92 [[ 8.58952999e-01 5.08594991e-01 5.94212095e-02 7.24303264e+02] [-5.07347642e-01 8.61005777e-01 -3.56008715e-02 -3.89973204e+02] [-6.92684296e-02 4.32264832e-04 9.97597964e-01 -3.79200188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.35, Y:-390.01, Z:-37.92 [[ 8.57526578e-01 5.10997541e-01 5.94111275e-02 7.24354150e+02] [-5.09754778e-01 8.59582135e-01 -3.56176886e-02 -3.90009893e+02] [-6.92692951e-02 2.58008540e-04 9.97597964e-01 -3.79197381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.41, Y:-390.04, Z:-37.93 [[ 8.57042846e-01 5.11808844e-01 5.94076393e-02 7.24408043e+02] [-5.10567623e-01 8.59099335e-01 -3.56235056e-02 -3.90038492e+02] [-6.92694887e-02 1.99253398e-04 9.97597964e-01 -3.79270461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.46, Y:-390.07, Z:-37.93 [[ 8.55224460e-01 5.14842628e-01 5.93985833e-02 7.24461751e+02] [-5.13607655e-01 8.57284706e-01 -3.56385992e-02 -3.90071065e+02] [-6.92697671e-02 -2.85652763e-05 9.97597964e-01 -3.79315114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.51, Y:-390.10, Z:-37.94 [[ 8.51585763e-01 5.20840362e-01 5.93885959e-02 7.24514184e+02] [-5.19618738e-01 8.53653953e-01 -3.56552346e-02 -3.90103985e+02] [-6.92679950e-02 -4.95937066e-04 9.97597965e-01 -3.79361727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.57, Y:-390.14, Z:-37.94 [[ 8.49190221e-01 5.24738086e-01 5.93793727e-02 7.24567637e+02] [-5.23524881e-01 8.51263360e-01 -3.56705881e-02 -3.90137147e+02] [-6.92652005e-02 -7.95464402e-04 9.97597965e-01 -3.79395383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.62, Y:-390.17, Z:-37.95 [[ 8.47368477e-01 5.27675994e-01 5.93692684e-02 7.24621054e+02] [-5.26468798e-01 8.49445121e-01 -3.56873976e-02 -3.90167509e+02] [-6.92623184e-02 -1.01569170e-03 9.97597965e-01 -3.79482493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.67, Y:-390.20, Z:-37.95 [[ 8.42642369e-01 5.35191122e-01 5.93658128e-02 7.24670563e+02] [-5.34002039e-01 8.44729437e-01 -3.56931451e-02 -3.90203538e+02] [-6.92507040e-02 -1.62490866e-03 9.97597965e-01 -3.79471729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.72, Y:-390.23, Z:-37.96 [[ 8.41090621e-01 5.37627505e-01 5.93568368e-02 7.24723854e+02] [-5.36443414e-01 8.43180525e-01 -3.57080657e-02 -3.90233369e+02] [-6.92461671e-02 -1.80786507e-03 9.97597965e-01 -3.79569840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.78, Y:-390.27, Z:-37.96 [[ 8.38519698e-01 5.41629497e-01 5.93481621e-02 7.24776326e+02] [-5.40454360e-01 8.40614650e-01 -3.57224776e-02 -3.90268161e+02] [-6.92372821e-02 -2.12097188e-03 9.97597965e-01 -3.79617647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.83, Y:-390.30, Z:-37.96 [[ 8.36506149e-01 5.44735285e-01 5.93374408e-02 7.24825817e+02] [-5.43566664e-01 8.38604743e-01 -3.57402775e-02 -3.90304448e+02] [-6.92296496e-02 -2.35689286e-03 9.97597965e-01 -3.79619806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.88, Y:-390.34, Z:-37.97 [[ 8.39221235e-01 5.40543990e-01 5.93288663e-02 7.24877675e+02] [-5.39363881e-01 8.41313390e-01 -3.57545055e-02 -3.90338297e+02] [-6.92410527e-02 -1.99390727e-03 9.97597966e-01 -3.79702638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.93, Y:-390.37, Z:-37.97 [[ 8.37985351e-01 5.42458981e-01 5.93195147e-02 7.24927256e+02] [-5.41282556e-01 8.40079580e-01 -3.57700139e-02 -3.90373861e+02] [-6.92368783e-02 -2.13387092e-03 9.97597966e-01 -3.79703162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:724.98, Y:-390.41, Z:-37.98 [[ 8.40151968e-01 5.39098214e-01 5.93109266e-02 7.24979749e+02] [-5.37912407e-01 8.42240898e-01 -3.57842484e-02 -3.90406556e+02] [-6.92453125e-02 -1.83987659e-03 9.97597966e-01 -3.79776199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.03, Y:-390.44, Z:-37.98 [[ 8.40839223e-01 5.38026698e-01 5.93015517e-02 7.25030320e+02] [-5.36837134e-01 8.42926015e-01 -3.57997778e-02 -3.90444572e+02] [-6.92480569e-02 -1.73341776e-03 9.97597966e-01 -3.79813331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.08, Y:-390.48, Z:-37.98 [[ 8.41899956e-01 5.36366627e-01 5.92900156e-02 7.25083026e+02] [-5.35171604e-01 8.43983627e-01 -3.58188731e-02 -3.90478830e+02] [-6.92518506e-02 -1.57442505e-03 9.97597966e-01 -3.79842426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.13, Y:-390.51, Z:-37.99 [[ 8.43393069e-01 5.34017082e-01 5.92780510e-02 7.25134746e+02] [-5.32814863e-01 8.45472597e-01 -3.58386630e-02 -3.90514996e+02] [-6.92564259e-02 -1.35814666e-03 9.97597967e-01 -3.79870633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.19, Y:-390.55, Z:-37.99 [[ 8.44189284e-01 5.32758703e-01 5.92673380e-02 7.25188435e+02] [-5.31552141e-01 8.46266295e-01 -3.58563706e-02 -3.90546953e+02] [-6.92587440e-02 -1.23411662e-03 9.97597967e-01 -3.79925348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:725.24, Y:-390.58, Z:-38.00 [[ 8.42638181e-01 5.35209156e-01 5.92625896e-02 7.25241208e+02] [-5.34008083e-01 8.44718370e-01 -3.58642169e-02 -3.90580021e+02] [-6.92550554e-02 -1.42614334e-03 9.97597967e-01 -3.79972871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.30, Y:-390.61, Z:-38.00 [[ 8.41949621e-01 5.36292849e-01 5.92521294e-02 7.25295624e+02] [-5.35093239e-01 8.44030654e-01 -3.58814901e-02 -3.90608536e+02] [-6.92536001e-02 -1.49500685e-03 9.97597967e-01 -3.80019571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.35, Y:-390.64, Z:-38.01 [[ 8.41120596e-01 5.37592811e-01 5.92462031e-02 7.25348169e+02] [-5.36395728e-01 8.43203083e-01 -3.58912728e-02 -3.90639436e+02] [-6.92514714e-02 -1.59052143e-03 9.97597967e-01 -3.80077633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.40, Y:-390.67, Z:-38.01 [[ 8.40516385e-01 5.38537872e-01 5.92382155e-02 7.25402474e+02] [-5.37342202e-01 8.42599684e-01 -3.59044515e-02 -3.90670514e+02] [-6.92500086e-02 -1.65291342e-03 9.97597967e-01 -3.80089886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.46, Y:-390.70, Z:-38.02 [[ 8.41129363e-01 5.37580972e-01 5.92291599e-02 7.25457385e+02] [-5.36381881e-01 8.43210695e-01 -3.59193836e-02 -3.90698892e+02] [-6.92522382e-02 -1.55659999e-03 9.97597967e-01 -3.80174345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.51, Y:-390.73, Z:-38.02 [[ 8.39450368e-01 5.40200009e-01 5.92201848e-02 7.25509868e+02] [-5.39006369e-01 8.41534830e-01 -3.59341747e-02 -3.90732347e+02] [-6.92474897e-02 -1.75510057e-03 9.97597968e-01 -3.80169797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.56, Y:-390.76, Z:-38.03 [[ 8.39524944e-01 5.40085089e-01 5.92111979e-02 7.25563992e+02] [-5.38890120e-01 8.41608644e-01 -3.59489771e-02 -3.90762261e+02] [-6.92481625e-02 -1.72826655e-03 9.97597968e-01 -3.80252631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.62, Y:-390.79, Z:-38.03 [[ 8.39162389e-01 5.40648824e-01 5.92058620e-02 7.25618391e+02] [-5.39454636e-01 8.41246537e-01 -3.59577628e-02 -3.90793646e+02] [-6.92472486e-02 -1.76447461e-03 9.97597968e-01 -3.80284935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.67, Y:-390.82, Z:-38.03 [[ 8.38890973e-01 5.41071150e-01 5.91941344e-02 7.25671036e+02] [-5.39876650e-01 8.40974942e-01 -3.59770587e-02 -3.90824613e+02] [-6.92469323e-02 -1.77670120e-03 9.97597968e-01 -3.80307301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.72, Y:-390.86, Z:-38.04 [[ 8.39801302e-01 5.39658086e-01 5.91855031e-02 7.25724927e+02] [-5.38459080e-01 8.41882681e-01 -3.59912524e-02 -3.90857101e+02] [-6.92502204e-02 -1.64347090e-03 9.97597968e-01 -3.80354944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.78, Y:-390.89, Z:-38.04 [[ 8.41185291e-01 5.37499386e-01 5.91753055e-02 7.25777820e+02] [-5.36293860e-01 8.43262901e-01 -3.60080110e-02 -3.90888254e+02] [-6.92546236e-02 -1.44594375e-03 9.97597968e-01 -3.80409877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.83, Y:-390.92, Z:-38.05 [[ 8.44485018e-01 5.32300745e-01 5.91690103e-02 7.25831441e+02] [-5.31081702e-01 8.46554726e-01 -3.60183524e-02 -3.90920099e+02] [-6.92624011e-02 -1.00661971e-03 9.97597968e-01 -3.80450243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.88, Y:-390.95, Z:-38.05 [[ 8.45812126e-01 5.30190589e-01 5.91590040e-02 7.25884061e+02] [-5.28965233e-01 8.47878102e-01 -3.60347800e-02 -3.90952810e+02] [-6.92649253e-02 -8.14402538e-04 9.97597969e-01 -3.80497021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.94, Y:-390.99, Z:-38.05 [[ 8.50411217e-01 5.22782655e-01 5.91528357e-02 7.25935048e+02] [-5.21538597e-01 8.52465985e-01 -3.60449028e-02 -3.90988451e+02] [-6.92694303e-02 -1.97497316e-04 9.97597969e-01 -3.80505828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:725.99, Y:-391.02, Z:-38.06 [[ 8.53329588e-01 5.18006404e-01 5.91437176e-02 7.25987892e+02] [-5.16749808e-01 8.55376714e-01 -3.60598578e-02 -3.91020788e+02] [-6.92693961e-02 2.08438929e-04 9.97597969e-01 -3.80551586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.04, Y:-391.05, Z:-38.07 [[ 8.58302833e-01 5.09724770e-01 5.91346395e-02 7.26041501e+02] [-5.08447399e-01 8.60337059e-01 -3.60747390e-02 -3.91049130e+02] [-6.92639098e-02 8.96196997e-04 9.97597969e-01 -3.80657846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.10, Y:-391.08, Z:-38.07 [[ 8.60755790e-01 5.05572579e-01 5.91256133e-02 7.26095458e+02] [-5.04284381e-01 8.62783177e-01 -3.60895266e-02 -3.91082253e+02] [-6.92584595e-02 1.24814569e-03 9.97597969e-01 -3.80688398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.15, Y:-391.12, Z:-38.07 [[ 8.61222836e-01 5.04777857e-01 5.91146479e-02 7.26148265e+02] [-5.03486556e-01 8.63248248e-01 -3.61074790e-02 -3.91116227e+02] [-6.92568721e-02 1.33315495e-03 9.97597969e-01 -3.80693490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.20, Y:-391.15, Z:-38.08 [[ 8.63571965e-01 5.00748752e-01 5.91113205e-02 7.26203213e+02] [-4.99447630e-01 8.65591082e-01 -3.61129255e-02 -3.91145104e+02] [-6.92497342e-02 1.66310112e-03 9.97597969e-01 -3.80751381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.26, Y:-391.17, Z:-38.09 [[ 8.64664969e-01 4.98860146e-01 5.91019925e-02 7.26258405e+02] [-4.97553572e-01 8.66680562e-01 -3.61281851e-02 -3.91171449e+02] [-6.92454598e-02 1.83236858e-03 9.97597970e-01 -3.80859224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.31, Y:-391.20, Z:-38.09 [[ 8.62471000e-01 5.02644837e-01 5.90926628e-02 7.26312477e+02] [-5.01346064e-01 8.64491628e-01 -3.61434387e-02 -3.91202925e+02] [-6.92524251e-02 1.54679383e-03 9.97597970e-01 -3.80883303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.37, Y:-391.23, Z:-38.09 [[ 8.58279909e-01 5.09769524e-01 5.90815558e-02 7.26368730e+02] [-5.08486279e-01 8.60310434e-01 -3.61615857e-02 -3.91232168e+02] [-6.92625532e-02 9.94601971e-04 9.97597970e-01 -3.80914055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.42, Y:-391.26, Z:-38.09 [[ 8.54477502e-01 5.16118992e-01 5.90710165e-02 7.26424969e+02] [-5.14849648e-01 8.56516745e-01 -3.61787937e-02 -3.91261740e+02] [-6.92678773e-02 5.01273250e-04 9.97597970e-01 -3.80931722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.48, Y:-391.29, Z:-38.10 [[ 8.52904510e-01 5.18715509e-01 5.90602880e-02 7.26480120e+02] [-5.17451161e-01 8.54946854e-01 -3.61962991e-02 -3.91290461e+02] [-6.92689891e-02 3.11172177e-04 9.97597970e-01 -3.80975512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.54, Y:-391.32, Z:-38.10 [[ 8.49985384e-01 5.23486292e-01 5.90503892e-02 7.26536233e+02] [-5.22232286e-01 8.52034095e-01 -3.62124407e-02 -3.91319595e+02] [-6.92696612e-02 -5.79744190e-05 9.97597970e-01 -3.81009800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.59, Y:-391.35, Z:-38.10 [[ 8.48228413e-01 5.26328991e-01 5.90453541e-02 7.26591296e+02] [-5.25081279e-01 8.50280963e-01 -3.62206488e-02 -3.91346045e+02] [-6.92691180e-02 -2.80226597e-04 9.97597971e-01 -3.81046496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.65, Y:-391.37, Z:-38.11 [[ 8.47030555e-01 5.28255605e-01 5.90360417e-02 7.26647666e+02] [-5.27011504e-01 8.49085296e-01 -3.62358206e-02 -3.91374952e+02] [-6.92684103e-02 -4.19825876e-04 9.97597971e-01 -3.81092168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.70, Y:-391.41, Z:-38.11 [[ 8.45025197e-01 5.31458713e-01 5.90258674e-02 7.26701152e+02] [-5.30221243e-01 8.47083938e-01 -3.62523865e-02 -3.91406511e+02] [-6.92665108e-02 -6.62588748e-04 9.97597971e-01 -3.81068762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.76, Y:-391.43, Z:-38.12 [[ 8.44663638e-01 5.32034234e-01 5.90162091e-02 7.26755256e+02] [-5.30797070e-01 8.46722561e-01 -3.62681026e-02 -3.91433568e+02] [-6.92662279e-02 -6.91283390e-04 9.97597971e-01 -3.81191939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.81, Y:-391.47, Z:-38.12 [[ 8.41073356e-01 5.37692977e-01 5.90073984e-02 7.26808495e+02] [-5.36468658e-01 8.43139944e-01 -3.62824318e-02 -3.91465798e+02] [-6.92603033e-02 -1.13943319e-03 9.97597971e-01 -3.81161897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.86, Y:-391.49, Z:-38.13 [[ 8.41295984e-01 5.37344772e-01 5.90056164e-02 7.26861666e+02] [-5.36119394e-01 8.43361945e-01 -3.62853296e-02 -3.91492790e+02] [-6.92608236e-02 -1.10735327e-03 9.97597971e-01 -3.81294385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.92, Y:-391.53, Z:-38.13 [[ 8.40935373e-01 5.37909397e-01 5.90015209e-02 7.26915073e+02] [-5.36684940e-01 8.43001879e-01 -3.62919879e-02 -3.91525490e+02] [-6.92601943e-02 -1.14601130e-03 9.97597971e-01 -3.81327736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:726.96, Y:-391.56, Z:-38.13 [[ 8.38657235e-01 5.41455522e-01 5.89911875e-02 7.26964521e+02] [-5.40238621e-01 8.40728199e-01 -3.63087767e-02 -3.91562530e+02] [-6.92551425e-02 -1.41869950e-03 9.97597971e-01 -3.81284316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.02, Y:-391.60, Z:-38.13 [[ 8.38010887e-01 5.42455574e-01 5.89890146e-02 7.27016481e+02] [-5.41240896e-01 8.40083156e-01 -3.63123066e-02 -3.91595112e+02] [-6.92534906e-02 -1.49715886e-03 9.97597971e-01 -3.81306237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.07, Y:-391.62, Z:-38.15 [[ 8.40225867e-01 5.39019384e-01 5.89796319e-02 7.27070342e+02] [-5.37795161e-01 8.42292511e-01 -3.63275399e-02 -3.91621297e+02] [-6.92593504e-02 -1.19562196e-03 9.97597972e-01 -3.81455606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.12, Y:-391.66, Z:-38.14 [[ 8.37315821e-01 5.43529066e-01 5.89777097e-02 7.27118928e+02] [-5.42315753e-01 8.39388889e-01 -3.63306602e-02 -3.91660154e+02] [-6.92520041e-02 -1.56430450e-03 9.97597972e-01 -3.81395214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.17, Y:-391.69, Z:-38.15 [[ 8.39593874e-01 5.40003766e-01 5.89750712e-02 7.27172998e+02] [-5.38781447e-01 8.41661645e-01 -3.63349428e-02 -3.91686432e+02] [-6.92580614e-02 -1.26807884e-03 9.97597972e-01 -3.81545600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.22, Y:-391.72, Z:-38.16 [[ 8.38235540e-01 5.42110697e-01 5.89675487e-02 7.27223645e+02] [-5.40892716e-01 8.40305870e-01 -3.63471468e-02 -3.91719331e+02] [-6.92549544e-02 -1.42764737e-03 9.97597972e-01 -3.81605013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.28, Y:-391.75, Z:-38.16 [[ 8.37436676e-01 5.43344837e-01 5.89593202e-02 7.27275581e+02] [-5.42128969e-01 8.39508247e-01 -3.63604896e-02 -3.91753340e+02] [-6.92531198e-02 -1.51394788e-03 9.97597972e-01 -3.81646795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.33, Y:-391.79, Z:-38.17 [[ 8.36188286e-01 5.45265079e-01 5.89503488e-02 7.27326696e+02] [-5.44052943e-01 8.38262043e-01 -3.63750289e-02 -3.91788317e+02] [-6.92498728e-02 -1.65573769e-03 9.97597972e-01 -3.81689638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.38, Y:-391.82, Z:-38.17 [[ 8.34137627e-01 5.48397396e-01 5.89467249e-02 7.27377275e+02] [-5.47192632e-01 8.36215674e-01 -3.63809005e-02 -3.91823471e+02] [-6.92433664e-02 -1.90853554e-03 9.97597972e-01 -3.81715991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.43, Y:-391.86, Z:-38.17 [[ 8.33318156e-01 5.49642833e-01 5.89373125e-02 7.27429819e+02] [-5.48440097e-01 8.35397379e-01 -3.63961424e-02 -3.91858584e+02] [-6.92409552e-02 -1.99401910e-03 9.97597972e-01 -3.81744012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.48, Y:-391.89, Z:-38.18 [[ 8.32380778e-01 5.51062478e-01 5.89269520e-02 7.27480052e+02] [-5.49862103e-01 8.34461364e-01 -3.64129088e-02 -3.91893530e+02] [-6.92380525e-02 -2.09229245e-03 9.97597972e-01 -3.81780645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.53, Y:-391.93, Z:-38.18 [[ 8.31652558e-01 5.52161406e-01 5.89220182e-02 7.27532125e+02] [-5.50963215e-01 8.33734403e-01 -3.64208908e-02 -3.91928082e+02] [-6.92355239e-02 -2.17433757e-03 9.97597972e-01 -3.81825338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.58, Y:-391.96, Z:-38.19 [[ 8.31171827e-01 5.52885896e-01 5.89116225e-02 7.27584374e+02] [-5.51688330e-01 8.33254031e-01 -3.64376983e-02 -3.91960821e+02] [-6.92342364e-02 -2.21486632e-03 9.97597973e-01 -3.81877108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.64, Y:-391.99, Z:-38.19 [[ 8.30148006e-01 5.54422979e-01 5.89020309e-02 7.27636395e+02] [-5.53228170e-01 8.32231792e-01 -3.64531967e-02 -3.91993770e+02] [-6.92306326e-02 -2.32471425e-03 9.97597973e-01 -3.81927013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.69, Y:-392.03, Z:-38.20 [[ 8.29528809e-01 5.55349948e-01 5.88930447e-02 7.27687884e+02] [-5.54156439e-01 8.31613340e-01 -3.64677088e-02 -3.92028146e+02] [-6.92285818e-02 -2.38494493e-03 9.97597973e-01 -3.81990613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.74, Y:-392.06, Z:-38.21 [[ 8.30767703e-01 5.53495869e-01 5.88841779e-02 7.27740706e+02] [-5.52296695e-01 8.32848980e-01 -3.64820203e-02 -3.92059733e+02] [-6.92342751e-02 -2.21345258e-03 9.97597973e-01 -3.82076359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.79, Y:-392.09, Z:-38.22 [[ 8.33186998e-01 5.49848337e-01 5.88747148e-02 7.27794488e+02] [-5.48638972e-01 8.35262370e-01 -3.64972856e-02 -3.92089695e+02] [-6.92438056e-02 -1.89189912e-03 9.97597973e-01 -3.82175965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.84, Y:-392.13, Z:-38.21 [[ 8.30832523e-01 5.53400565e-01 5.88653795e-02 7.27840466e+02] [-5.52199006e-01 8.32912425e-01 -3.65123361e-02 -3.92131149e+02] [-6.92356533e-02 -2.16976774e-03 9.97597973e-01 -3.82129682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.89, Y:-392.16, Z:-38.22 [[ 8.35033679e-01 5.47041230e-01 5.88612560e-02 7.27892493e+02] [-5.45823359e-01 8.37104071e-01 -3.65189823e-02 -3.92163911e+02] [-6.92503860e-02 -1.63326827e-03 9.97597973e-01 -3.82178798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.94, Y:-392.20, Z:-38.22 [[ 8.35550820e-01 5.46251547e-01 5.88563973e-02 7.27941961e+02] [-5.45031167e-01 8.37619734e-01 -3.65268112e-02 -3.92200538e+02] [-6.92521070e-02 -1.55856389e-03 9.97597973e-01 -3.82182178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:727.99, Y:-392.24, Z:-38.22 [[ 8.38797468e-01 5.41253514e-01 5.88510174e-02 7.27994461e+02] [-5.40020197e-01 8.40858696e-01 -3.65354771e-02 -3.92235522e+02] [-6.92603451e-02 -1.13487231e-03 9.97597973e-01 -3.82224210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.05, Y:-392.27, Z:-38.23 [[ 8.39637741e-01 5.39950249e-01 5.88404014e-02 7.28045026e+02] [-5.38712535e-01 8.41696331e-01 -3.65525663e-02 -3.92270695e+02] [-6.92623172e-02 -1.00714765e-03 9.97597974e-01 -3.82276088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.10, Y:-392.31, Z:-38.23 [[ 8.40387340e-01 5.38783886e-01 5.88306382e-02 7.28096669e+02] [-5.37542216e-01 8.42443546e-01 -3.65682731e-02 -3.92305745e+02] [-6.92638878e-02 -8.92437873e-04 9.97597974e-01 -3.82329350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.15, Y:-392.34, Z:-38.24 [[ 8.40387434e-01 5.38784859e-01 5.88203742e-02 7.28148194e+02] [-5.37542036e-01 8.42442944e-01 -3.65847754e-02 -3.92340362e+02] [-6.92641323e-02 -8.73038227e-04 9.97597974e-01 -3.82388492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.20, Y:-392.38, Z:-38.24 [[ 8.40535567e-01 5.38554718e-01 5.88113637e-02 7.28199472e+02] [-5.37310319e-01 8.42590123e-01 -3.65992545e-02 -3.92375238e+02] [-6.92645753e-02 -8.36977468e-04 9.97597974e-01 -3.82442751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.25, Y:-392.41, Z:-38.25 [[ 8.40657217e-01 5.38365849e-01 5.88018442e-02 7.28250141e+02] [-5.37119920e-01 8.42710844e-01 -3.66145425e-02 -3.92411584e+02] [-6.92649710e-02 -8.03362437e-04 9.97597974e-01 -3.82462591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.30, Y:-392.45, Z:-38.25 [[ 8.40522554e-01 5.38577048e-01 5.87928504e-02 7.28301682e+02] [-5.37330625e-01 8.42575883e-01 -3.66289784e-02 -3.92447744e+02] [-6.92649649e-02 -8.03716595e-04 9.97597975e-01 -3.82492269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.35, Y:-392.48, Z:-38.25 [[ 8.41044994e-01 5.37762006e-01 5.87821734e-02 7.28352884e+02] [-5.36512396e-01 8.43096384e-01 -3.66461049e-02 -3.92484629e+02] [-6.92659207e-02 -7.16341562e-04 9.97597975e-01 -3.82544029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.40, Y:-392.52, Z:-38.26 [[ 8.41369932e-01 5.37254029e-01 5.87770914e-02 7.28404917e+02] [-5.36002612e-01 8.43420219e-01 -3.66542541e-02 -3.92519789e+02] [-6.92664330e-02 -6.64887204e-04 9.97597975e-01 -3.82575985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.46, Y:-392.55, Z:-38.26 [[ 8.42484354e-01 5.35506077e-01 5.87652520e-02 7.28456607e+02] [-5.34249082e-01 8.44531227e-01 -3.66732256e-02 -3.92553266e+02] [-6.92678256e-02 -4.98663162e-04 9.97597975e-01 -3.82611055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.51, Y:-392.59, Z:-38.27 [[ 8.43492243e-01 5.33918262e-01 5.87547920e-02 7.28508604e+02] [-5.32656247e-01 8.45536024e-01 -3.66899762e-02 -3.92587465e+02] [-6.92687415e-02 -3.48396617e-04 9.97597975e-01 -3.82665092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:728.56, Y:-392.62, Z:-38.27 [[ 8.44742256e-01 5.31939329e-01 5.87458197e-02 7.28559094e+02] [-5.30671527e-01 8.46782452e-01 -3.67043365e-02 -3.92624981e+02] [-6.92694094e-02 -1.69029870e-04 9.97597975e-01 -3.82730693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.61, Y:-392.66, Z:-38.27 [[ 8.45324907e-01 5.31014229e-01 5.87340580e-02 7.28612418e+02] [-5.29742888e-01 8.47362899e-01 -3.67231480e-02 -3.92655807e+02] [-6.92695757e-02 -7.09578324e-05 9.97597976e-01 -3.82743435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.66, Y:-392.69, Z:-38.28 [[ 8.45806801e-01 5.30247546e-01 5.87230390e-02 7.28664883e+02] [-5.28973134e-01 8.47842875e-01 -3.67407596e-02 -3.92688346e+02] [-6.92696078e-02 1.26743855e-05 9.97597976e-01 -3.82798744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.72, Y:-392.72, Z:-38.29 [[ 8.46050466e-01 5.29859722e-01 5.87135756e-02 7.28717274e+02] [-5.28583328e-01 8.48085297e-01 -3.67558765e-02 -3.92721853e+02] [-6.92695787e-02 6.23092363e-05 9.97597976e-01 -3.82853096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.77, Y:-392.76, Z:-38.29 [[ 8.45836688e-01 5.30201965e-01 5.87041215e-02 7.28769668e+02] [-5.28925346e-01 8.47871378e-01 -3.67709697e-02 -3.92756118e+02] [-6.92695848e-02 5.21374003e-05 9.97597976e-01 -3.82886487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.82, Y:-392.79, Z:-38.29 [[ 8.45938179e-01 5.30041222e-01 5.86932747e-02 7.28823051e+02] [-5.28763016e-01 8.47971872e-01 -3.67882751e-02 -3.92786394e+02] [-6.92695483e-02 8.57734901e-05 9.97597976e-01 -3.82949547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.88, Y:-392.82, Z:-38.30 [[ 8.45441511e-01 5.30834047e-01 5.86844547e-02 7.28877235e+02] [-5.29556772e-01 8.47475789e-01 -3.68023394e-02 -3.92817552e+02] [-6.92695893e-02 3.74750366e-05 9.97597976e-01 -3.83005840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.93, Y:-392.85, Z:-38.30 [[ 8.42856478e-01 5.34930246e-01 5.86735834e-02 7.28930187e+02] [-5.33661651e-01 8.44896180e-01 -3.68196633e-02 -3.92849495e+02] [-6.92690380e-02 -2.78149620e-04 9.97597977e-01 -3.83040083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:728.98, Y:-392.88, Z:-38.31 [[ 8.40655471e-01 5.38383661e-01 5.86635560e-02 7.28984093e+02] [-5.37122331e-01 8.42699672e-01 -3.68356326e-02 -3.92881105e+02] [-6.92674622e-02 -5.43429860e-04 9.97597977e-01 -3.83067369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.04, Y:-392.91, Z:-38.31 [[ 8.37028450e-01 5.44006661e-01 5.86525921e-02 7.29035808e+02] [-5.42757839e-01 8.39080317e-01 -3.68530821e-02 -3.92914380e+02] [-6.92625577e-02 -9.87075997e-04 9.97597977e-01 -3.83068091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.09, Y:-392.95, Z:-38.31 [[ 8.35590657e-01 5.46213467e-01 5.86438529e-02 7.29089518e+02] [-5.44969089e-01 8.37645222e-01 -3.68669834e-02 -3.92946896e+02] [-6.92599860e-02 -1.15338015e-03 9.97597977e-01 -3.83113258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.14, Y:-392.98, Z:-38.32 [[ 8.33311666e-01 5.49685154e-01 5.86335974e-02 7.29143740e+02] [-5.48448187e-01 8.35370702e-01 -3.68832866e-02 -3.92978099e+02] [-6.92549845e-02 -1.42221718e-03 9.97597977e-01 -3.83166388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.20, Y:-393.01, Z:-38.32 [[ 8.32432801e-01 5.51016261e-01 5.86234800e-02 7.29196900e+02] [-5.49781455e-01 8.34493133e-01 -3.68993606e-02 -3.93011063e+02] [-6.92530392e-02 -1.51386405e-03 9.97597978e-01 -3.83210521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.25, Y:-393.04, Z:-38.33 [[ 8.31349812e-01 5.52649982e-01 5.86130330e-02 7.29249701e+02] [-5.51418056e-01 8.33411867e-01 -3.69159477e-02 -3.93043274e+02] [-6.92503951e-02 -1.63021854e-03 9.97597978e-01 -3.83266892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.30, Y:-393.08, Z:-38.33 [[ 8.30428530e-01 5.54034047e-01 5.86065878e-02 7.29302791e+02] [-5.52804836e-01 8.32492204e-01 -3.69261772e-02 -3.93076300e+02] [-6.92478868e-02 -1.73345413e-03 9.97597978e-01 -3.83310099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.36, Y:-393.11, Z:-38.33 [[ 8.30705962e-01 5.53619071e-01 5.85963294e-02 7.29356212e+02] [-5.52387682e-01 8.32768337e-01 -3.69424485e-02 -3.93109810e+02] [-6.92492118e-02 -1.67957844e-03 9.97597978e-01 -3.83336765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.41, Y:-393.14, Z:-38.34 [[ 8.31334008e-01 5.52676626e-01 5.85859545e-02 7.29408999e+02] [-5.51441741e-01 8.33394292e-01 -3.69588945e-02 -3.93143635e+02] [-6.92515172e-02 -1.58155492e-03 9.97597978e-01 -3.83370611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.46, Y:-393.18, Z:-38.34 [[ 8.33387677e-01 5.49576104e-01 5.85754714e-02 7.29461700e+02] [-5.48332387e-01 8.35442641e-01 -3.69755015e-02 -3.93177981e+02] [-6.92572986e-02 -1.30390070e-03 9.97597978e-01 -3.83409811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.51, Y:-393.21, Z:-38.35 [[ 8.34802683e-01 5.47425440e-01 5.85650756e-02 7.29513630e+02] [-5.46175274e-01 8.36853730e-01 -3.69919601e-02 -3.93211205e+02] [-6.92607419e-02 -1.10580868e-03 9.97597979e-01 -3.83457386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.57, Y:-393.24, Z:-38.35 [[ 8.38795975e-01 5.41287535e-01 5.85586597e-02 7.29567230e+02] [-5.40021649e-01 8.40837358e-01 -3.70021136e-02 -3.93241009e+02] [-6.92670916e-02 -5.85720017e-04 9.97597979e-01 -3.83535907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.62, Y:-393.28, Z:-38.36 [[ 8.39323315e-01 5.40470421e-01 5.85499596e-02 7.29616629e+02] [-5.39201588e-01 8.41362866e-01 -3.70158750e-02 -3.93278009e+02] [-6.92677474e-02 -5.01944280e-04 9.97597979e-01 -3.83553825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.67, Y:-393.31, Z:-38.36 [[ 8.40492348e-01 5.38651569e-01 5.85414308e-02 7.29669331e+02] [-5.37377384e-01 8.42528560e-01 -3.70293586e-02 -3.93312403e+02] [-6.92687495e-02 -3.35948380e-04 9.97597979e-01 -3.83595890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.72, Y:-393.35, Z:-38.36 [[ 8.41767508e-01 5.36657793e-01 5.85309842e-02 7.29722806e+02] [-5.35377636e-01 8.43799971e-01 -3.70458639e-02 -3.93345779e+02] [-6.92693943e-02 -1.52175459e-04 9.97597979e-01 -3.83646162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.78, Y:-393.37, Z:-38.37 [[ 8.44807612e-01 5.31860357e-01 5.85205863e-02 7.29778002e+02] [-5.30567522e-01 8.46832033e-01 -3.70622821e-02 -3.93373742e+02] [-6.92690656e-02 2.61375596e-04 9.97597979e-01 -3.83745298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.83, Y:-393.41, Z:-38.37 [[ 8.43548611e-01 5.33855975e-01 5.85110221e-02 7.29827231e+02] [-5.32566882e-01 8.45575416e-01 -3.70773750e-02 -3.93410788e+02] [-6.92694601e-02 1.15535570e-04 9.97597979e-01 -3.83731533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.88, Y:-393.44, Z:-38.38 [[ 8.43794883e-01 5.33467232e-01 5.85056261e-02 7.29879975e+02] [-5.32176615e-01 8.45820718e-01 -3.70858876e-02 -3.93443365e+02] [-6.92693765e-02 1.57556148e-04 9.97597980e-01 -3.83777807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.93, Y:-393.48, Z:-38.38 [[ 8.42792530e-01 5.35050415e-01 5.84961921e-02 7.29933415e+02] [-5.33762571e-01 8.44820130e-01 -3.71007621e-02 -3.93475745e+02] [-6.92695388e-02 4.51673228e-05 9.97597980e-01 -3.83826801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:729.99, Y:-393.51, Z:-38.39 [[ 8.39866848e-01 5.39632315e-01 5.84862569e-02 7.29986612e+02] [-5.38354442e-01 8.41900746e-01 -3.71164175e-02 -3.93506329e+02] [-6.92688417e-02 -3.13487677e-04 9.97597980e-01 -3.83884663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:730.04, Y:-393.54, Z:-38.39 [[ 8.36298287e-01 5.45147325e-01 5.84770782e-02 7.30039570e+02] [-5.43881853e-01 8.38339924e-01 -3.71308730e-02 -3.93537691e+02] [-6.92654654e-02 -7.52136180e-04 9.97597980e-01 -3.83933762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.09, Y:-393.57, Z:-38.40 [[ 8.34170032e-01 5.48399350e-01 5.84680304e-02 7.30093336e+02] [-5.47140838e-01 8.36215967e-01 -3.71451147e-02 -3.93570468e+02] [-6.92622573e-02 -1.00490564e-03 9.97597980e-01 -3.83968636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.15, Y:-393.60, Z:-38.41 [[ 8.34158786e-01 5.48417546e-01 5.84578011e-02 7.30148047e+02] [-5.47157952e-01 8.36204054e-01 -3.71612063e-02 -3.93598601e+02] [-6.92625078e-02 -9.87303929e-04 9.97597980e-01 -3.84053506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.20, Y:-393.63, Z:-38.40 [[ 8.30814848e-01 5.53470667e-01 5.84543323e-02 7.30198313e+02] [-5.52223127e-01 8.32867491e-01 -3.71666619e-02 -3.93634345e+02] [-6.92553702e-02 -1.40121958e-03 9.97597980e-01 -3.84046791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.25, Y:-393.67, Z:-38.41 [[ 8.29806573e-01 5.54982158e-01 5.84453202e-02 7.30251056e+02] [-5.53737359e-01 8.31860880e-01 -3.71808282e-02 -3.93666993e+02] [-6.92530717e-02 -1.51046169e-03 9.97597980e-01 -3.84104667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.30, Y:-393.70, Z:-38.41 [[ 8.29554849e-01 5.55359357e-01 5.84357551e-02 7.30304501e+02] [-5.54114435e-01 8.31609080e-01 -3.71958552e-02 -3.93700450e+02] [-6.92527708e-02 -1.52409336e-03 9.97597981e-01 -3.84144411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:730.36, Y:-393.73, Z:-38.42 [[ 8.30578718e-01 5.53828034e-01 5.84251841e-02 7.30355875e+02] [-5.52578157e-01 8.32629938e-01 -3.72124522e-02 -3.93733909e+02] [-6.92558567e-02 -1.37660973e-03 9.97597981e-01 -3.84215260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.41, Y:-393.77, Z:-38.42 [[ 8.30956161e-01 5.53262214e-01 5.84190163e-02 7.30406488e+02] [-5.52010260e-01 8.33006114e-01 -3.72221325e-02 -3.93768614e+02] [-6.92569971e-02 -1.31793611e-03 9.97597981e-01 -3.84229562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.46, Y:-393.80, Z:-38.43 [[ 8.32017114e-01 5.51666108e-01 5.84125556e-02 7.30457810e+02] [-5.50409510e-01 8.34064224e-01 -3.72322684e-02 -3.93803349e+02] [-6.92596035e-02 -1.17294162e-03 9.97597981e-01 -3.84277104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.51, Y:-393.84, Z:-38.43 [[ 8.32966095e-01 5.50233222e-01 5.84027834e-02 7.30509628e+02] [-5.48972029e-01 8.35010376e-01 -3.72475908e-02 -3.93838029e+02] [-6.92617921e-02 -1.03551420e-03 9.97597981e-01 -3.84321365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.56, Y:-393.87, Z:-38.44 [[ 8.33784060e-01 5.48994060e-01 5.83923175e-02 7.30561868e+02] [-5.47728680e-01 8.35825753e-01 -3.72639909e-02 -3.93873078e+02] [-6.92635124e-02 -9.13025290e-04 9.97597981e-01 -3.84366039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.61, Y:-393.91, Z:-38.44 [[ 8.35205171e-01 5.46830765e-01 5.83818240e-02 7.30613262e+02] [-5.45558948e-01 8.37242859e-01 -3.72804240e-02 -3.93909204e+02] [-6.92658480e-02 -7.13923573e-04 9.97597981e-01 -3.84409123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.66, Y:-393.94, Z:-38.45 [[ 8.36042253e-01 5.45551229e-01 5.83712976e-02 7.30664876e+02] [-5.44275143e-01 8.38077270e-01 -3.72968983e-02 -3.93944590e+02] [-6.92670264e-02 -5.88263470e-04 9.97597982e-01 -3.84452678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.72, Y:-393.98, Z:-38.45 [[ 8.35832780e-01 5.45873221e-01 5.83608710e-02 7.30717472e+02] [-5.44596780e-01 8.37867574e-01 -3.73132063e-02 -3.93979374e+02] [-6.92669615e-02 -5.95541507e-04 9.97597982e-01 -3.84487995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.77, Y:-394.01, Z:-38.45 [[ 8.34338239e-01 5.48155954e-01 5.83502667e-02 7.30769762e+02] [-5.46883920e-01 8.36375792e-01 -3.73297819e-02 -3.94013555e+02] [-6.92652927e-02 -7.65158074e-04 9.97597982e-01 -3.84538944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.82, Y:-394.05, Z:-38.46 [[ 8.31864045e-01 5.51904592e-01 5.83397942e-02 7.30821144e+02] [-5.50640592e-01 8.33906592e-01 -3.73461414e-02 -3.94047359e+02] [-6.92614459e-02 -1.05734660e-03 9.97597982e-01 -3.84587884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.87, Y:-394.08, Z:-38.46 [[ 8.31087688e-01 5.53073951e-01 5.83306004e-02 7.30872553e+02] [-5.51811819e-01 8.33131388e-01 -3.73604956e-02 -3.94080648e+02] [-6.92601710e-02 -1.13766673e-03 9.97597982e-01 -3.84640368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.92, Y:-394.12, Z:-38.47 [[ 8.30046418e-01 5.54636477e-01 5.83208595e-02 7.30923698e+02] [-5.53377124e-01 8.32091831e-01 -3.73756953e-02 -3.94115685e+02] [-6.92582348e-02 -1.24986758e-03 9.97597983e-01 -3.84655689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:730.97, Y:-394.15, Z:-38.47 [[ 8.30195015e-01 5.54414392e-01 5.83173939e-02 7.30974086e+02] [-5.53154112e-01 8.32239858e-01 -3.73811020e-02 -3.94149583e+02] [-6.92586805e-02 -1.22490171e-03 9.97597983e-01 -3.84706460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.03, Y:-394.18, Z:-38.48 [[ 8.32520976e-01 5.50916469e-01 5.83083919e-02 7.31025410e+02] [-5.49646614e-01 8.34559886e-01 -3.73951384e-02 -3.94183229e+02] [-6.92634425e-02 -9.16773017e-04 9.97597983e-01 -3.84750359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.08, Y:-394.22, Z:-38.48 [[ 8.35364669e-01 5.46595962e-01 5.82985792e-02 7.31077177e+02] [-5.45314494e-01 8.37396300e-01 -3.74104299e-02 -3.94217199e+02] [-6.92674045e-02 -5.39708845e-04 9.97597983e-01 -3.84783401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.13, Y:-394.25, Z:-38.48 [[ 8.36031312e-01 5.45576805e-01 5.82888936e-02 7.31129358e+02] [-5.44291808e-01 8.38060713e-01 -3.74255149e-02 -3.94251128e+02] [-6.92681246e-02 -4.37264938e-04 9.97597983e-01 -3.84824209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:731.18, Y:-394.29, Z:-38.49 [[ 8.35862355e-01 5.45836716e-01 5.82786664e-02 7.31180407e+02] [-5.44551240e-01 8.37891452e-01 -3.74414340e-02 -3.94286200e+02] [-6.92681058e-02 -4.39834868e-04 9.97597983e-01 -3.84867514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.23, Y:-394.32, Z:-38.49 [[ 8.36207260e-01 5.45308609e-01 5.82746846e-02 7.31234450e+02] [-5.44021420e-01 8.38235271e-01 -3.74476302e-02 -3.94317958e+02] [-6.92684112e-02 -3.88696454e-04 9.97597983e-01 -3.84902845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.29, Y:-394.35, Z:-38.50 [[ 8.36502272e-01 5.44857341e-01 5.82617187e-02 7.31288109e+02] [-5.43567653e-01 8.38528694e-01 -3.74677920e-02 -3.94348641e+02] [-6.92687244e-02 -3.27292608e-04 9.97597984e-01 -3.84964131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.34, Y:-394.38, Z:-38.50 [[ 8.36524955e-01 5.44823609e-01 5.82514749e-02 7.31340598e+02] [-5.43532731e-01 8.38550620e-01 -3.74837113e-02 -3.94381025e+02] [-6.92688213e-02 -3.05523356e-04 9.97597984e-01 -3.85012730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.39, Y:-394.41, Z:-38.51 [[ 8.36668301e-01 5.44604504e-01 5.82416391e-02 7.31393631e+02] [-5.43312032e-01 8.38692949e-01 -3.74989879e-02 -3.94413294e+02] [-6.92689697e-02 -2.69168802e-04 9.97597984e-01 -3.85063139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.45, Y:-394.45, Z:-38.51 [[ 8.35917864e-01 5.45756031e-01 5.82381292e-02 7.31447524e+02] [-5.44465968e-01 8.37944047e-01 -3.75044382e-02 -3.94445997e+02] [-6.92685670e-02 -3.58049564e-04 9.97597984e-01 -3.85092371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.50, Y:-394.48, Z:-38.51 [[ 8.34457231e-01 5.47987977e-01 5.82263419e-02 7.31499406e+02] [-5.46702058e-01 8.36486046e-01 -3.75227294e-02 -3.94480638e+02] [-6.92675270e-02 -5.21348068e-04 9.97597984e-01 -3.85089574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.55, Y:-394.52, Z:-38.51 [[ 8.31873549e-01 5.51903269e-01 5.82166771e-02 7.31549602e+02] [-5.50625848e-01 8.33907726e-01 -3.75377183e-02 -3.94516402e+02] [-6.92645262e-02 -8.28972352e-04 9.97597984e-01 -3.85053841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.60, Y:-394.54, Z:-38.52 [[ 8.33291952e-01 5.49760127e-01 5.82093297e-02 7.31603050e+02] [-5.48476679e-01 8.35322331e-01 -3.75491085e-02 -3.94543916e+02] [-6.92665556e-02 -6.37089958e-04 9.97597984e-01 -3.85210984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.65, Y:-394.58, Z:-38.53 [[ 8.32169414e-01 5.51458256e-01 5.82053056e-02 7.31654552e+02] [-5.50178515e-01 8.34202132e-01 -3.75553451e-02 -3.94577352e+02] [-6.92651952e-02 -7.70899060e-04 9.97597984e-01 -3.85255075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.71, Y:-394.61, Z:-38.53 [[ 8.31817342e-01 5.51990186e-01 5.81957318e-02 7.31706878e+02] [-5.50710708e-01 8.33850225e-01 -3.75701749e-02 -3.94612387e+02] [-6.92648919e-02 -7.97489671e-04 9.97597985e-01 -3.85292209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.76, Y:-394.65, Z:-38.54 [[ 8.31744201e-01 5.52101493e-01 5.81852619e-02 7.31758337e+02] [-5.50821153e-01 8.33776541e-01 -3.75863827e-02 -3.94646884e+02] [-6.92650045e-02 -7.87417193e-04 9.97597985e-01 -3.85352508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.81, Y:-394.68, Z:-38.54 [[ 8.31535644e-01 5.52416576e-01 5.81755925e-02 7.31810496e+02] [-5.51135960e-01 8.33567809e-01 -3.76013429e-02 -3.94680910e+02] [-6.92649063e-02 -7.95804160e-04 9.97597985e-01 -3.85396381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.86, Y:-394.71, Z:-38.55 [[ 8.31465691e-01 5.52522970e-01 5.81650439e-02 7.31861139e+02] [-5.51241472e-01 8.33497301e-01 -3.76176534e-02 -3.94713936e+02] [-6.92650247e-02 -7.85196304e-04 9.97597985e-01 -3.85452162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.91, Y:-394.75, Z:-38.55 [[ 8.31462207e-01 5.52528752e-01 5.81599249e-02 7.31913618e+02] [-5.51246715e-01 8.33493477e-01 -3.76255662e-02 -3.94748962e+02] [-6.92651251e-02 -7.76231208e-04 9.97597985e-01 -3.85493173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:731.97, Y:-394.78, Z:-38.55 [[ 8.31605844e-01 5.52313668e-01 5.81492265e-02 7.31966424e+02] [-5.51029950e-01 8.33636052e-01 -3.76420930e-02 -3.94783237e+02] [-6.92655340e-02 -7.38580866e-04 9.97597985e-01 -3.85533858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.02, Y:-394.82, Z:-38.56 [[ 8.32016285e-01 5.51696313e-01 5.81384625e-02 7.32019152e+02] [-5.50409927e-01 8.34044803e-01 -3.76587108e-02 -3.94818154e+02] [-6.92662544e-02 -6.67326261e-04 9.97597986e-01 -3.85552261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.07, Y:-394.85, Z:-38.56 [[ 8.32574599e-01 5.50854566e-01 5.81273169e-02 7.32070867e+02] [-5.49564929e-01 8.34601051e-01 -3.76759065e-02 -3.94851246e+02] [-6.92670649e-02 -5.76732110e-04 9.97597986e-01 -3.85619876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.12, Y:-394.88, Z:-38.57 [[ 8.34306719e-01 5.48228700e-01 5.81170423e-02 7.32123674e+02] [-5.46931582e-01 8.36328391e-01 -3.76917489e-02 -3.94883451e+02] [-6.92686310e-02 -3.39566495e-04 9.97597986e-01 -3.85693950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.18, Y:-394.92, Z:-38.57 [[ 8.35284209e-01 5.46739305e-01 5.81070032e-02 7.32175324e+02] [-5.45437505e-01 8.37302869e-01 -3.77072192e-02 -3.94917485e+02] [-6.92691793e-02 -1.97494140e-04 9.97597986e-01 -3.85744663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:732.23, Y:-394.95, Z:-38.58 [[ 8.36289603e-01 5.45201348e-01 5.80963843e-02 7.32225615e+02] [-5.43894700e-01 8.38305128e-01 -3.77235730e-02 -3.94953234e+02] [-6.92694397e-02 -5.04835338e-05 9.97597986e-01 -3.85782481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.28, Y:-394.99, Z:-38.58 [[ 8.38722415e-01 5.41451731e-01 5.80924592e-02 7.32277771e+02] [-5.40135654e-01 8.40731795e-01 -3.77296165e-02 -3.94986290e+02] [-6.92689437e-02 2.66866660e-04 9.97597986e-01 -3.85799337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.33, Y:-395.02, Z:-38.59 [[ 8.41437264e-01 5.37224252e-01 5.80812748e-02 7.32331432e+02] [-5.35896892e-01 8.43439209e-01 -3.77468260e-02 -3.95017819e+02] [-6.92665348e-02 6.36011350e-04 9.97597987e-01 -3.85858455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.38, Y:-395.05, Z:-38.59 [[ 8.41500074e-01 5.37126923e-01 5.80714490e-02 7.32384327e+02] [-5.35798289e-01 8.43501174e-01 -3.77619364e-02 -3.95051658e+02] [-6.92662881e-02 6.62089264e-04 9.97597987e-01 -3.85873995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.44, Y:-395.08, Z:-38.59 [[ 8.41499191e-01 5.37129511e-01 5.80603044e-02 7.32437365e+02] [-5.35799701e-01 8.43499509e-01 -3.77790639e-02 -3.95082771e+02] [-6.92660884e-02 6.82358013e-04 9.97597987e-01 -3.85932759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.49, Y:-395.11, Z:-38.60 [[ 8.39883613e-01 5.39653325e-01 5.80500184e-02 7.32491561e+02] [-5.38328435e-01 8.41887193e-01 -3.77948624e-02 -3.95113960e+02] [-6.92676902e-02 4.93310089e-04 9.97597987e-01 -3.85974343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.54, Y:-395.15, Z:-38.60 [[ 8.39206274e-01 5.40707237e-01 5.80388924e-02 7.32544661e+02] [-5.39383681e-01 8.41210736e-01 -3.78119401e-02 -3.95147716e+02] [-6.92681291e-02 4.26785911e-04 9.97597987e-01 -3.86014823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.60, Y:-395.18, Z:-38.61 [[ 8.38249067e-01 5.42191187e-01 5.80277388e-02 7.32599388e+02] [-5.40869996e-01 8.40255087e-01 -3.78290492e-02 -3.95179334e+02] [-6.92686798e-02 3.24702406e-04 9.97597987e-01 -3.86070100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.65, Y:-395.21, Z:-38.61 [[ 8.35623602e-01 5.46230059e-01 5.80165428e-02 7.32653331e+02] [-5.44917371e-01 8.37635197e-01 -3.78462121e-02 -3.95210953e+02] [-6.92694370e-02 1.09660806e-05 9.97597988e-01 -3.86095240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:732.71, Y:-395.24, Z:-38.61 [[ 8.32808929e-01 5.50513134e-01 5.80049771e-02 7.32706177e+02] [-5.49209557e-01 8.34826440e-01 -3.78639300e-02 -3.95243387e+02] [-6.92686794e-02 -3.23468804e-04 9.97597988e-01 -3.86147221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.76, Y:-395.27, Z:-38.62 [[ 8.29947793e-01 5.54818445e-01 5.79927011e-02 7.32761576e+02] [-5.53524021e-01 8.31971188e-01 -3.78827229e-02 -3.95272526e+02] [-6.92662898e-02 -6.59670850e-04 9.97597988e-01 -3.86190641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.81, Y:-395.30, Z:-38.62 [[ 8.25546855e-01 5.61347277e-01 5.79795194e-02 7.32813852e+02] [-5.60067437e-01 8.27579505e-01 -3.79028867e-02 -3.95304242e+02] [-6.92593442e-02 -1.18183192e-03 9.97597988e-01 -3.86210499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.87, Y:-395.34, Z:-38.63 [[ 8.23467243e-01 5.64394471e-01 5.79705169e-02 7.32868015e+02] [-5.63121183e-01 8.25504004e-01 -3.79166505e-02 -3.95335357e+02] [-6.92548418e-02 -1.42130635e-03 9.97597989e-01 -3.86260696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.92, Y:-395.37, Z:-38.63 [[ 8.24127357e-01 5.63431235e-01 5.79598371e-02 7.32922154e+02] [-5.62154420e-01 8.26161908e-01 -3.79329688e-02 -3.95367043e+02] [-6.92568291e-02 -1.32078125e-03 9.97597989e-01 -3.86315743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:732.97, Y:-395.40, Z:-38.63 [[ 8.24728016e-01 5.62552814e-01 5.79485249e-02 7.32974688e+02] [-5.61272618e-01 8.26760441e-01 -3.79502422e-02 -3.95401128e+02] [-6.92585636e-02 -1.22629230e-03 9.97597989e-01 -3.86342815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.03, Y:-395.44, Z:-38.64 [[ 8.25643201e-01 5.61209126e-01 5.79449894e-02 7.33026410e+02] [-5.59925243e-01 8.27673300e-01 -3.79556396e-02 -3.95435355e+02] [-6.92605719e-02 -1.10704646e-03 9.97597989e-01 -3.86398767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.08, Y:-395.47, Z:-38.65 [[ 8.28126005e-01 5.57540049e-01 5.79345594e-02 7.33077680e+02] [-5.56246058e-01 8.30149676e-01 -3.79715530e-02 -3.95469057e+02] [-6.92650173e-02 -7.80639789e-04 9.97597989e-01 -3.86450921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.13, Y:-395.50, Z:-38.65 [[ 8.31095501e-01 5.53104897e-01 5.79244426e-02 7.33130272e+02] [-5.51799030e-01 8.33111529e-01 -3.79869798e-02 -3.95504284e+02] [-6.92683054e-02 -3.91843269e-04 9.97597989e-01 -3.86481802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.18, Y:-395.54, Z:-38.65 [[ 8.32797946e-01 5.50539413e-01 5.79131841e-02 7.33180389e+02] [-5.49226142e-01 8.34809158e-01 -3.80041363e-02 -3.95538736e+02] [-6.92692313e-02 -1.57668080e-04 9.97597990e-01 -3.86539821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.23, Y:-395.57, Z:-38.66 [[ 8.36762550e-01 5.44495287e-01 5.79078322e-02 7.33231865e+02] [-5.43166925e-01 8.38763827e-01 -3.80122892e-02 -3.95574607e+02] [-6.92685073e-02 3.53640877e-04 9.97597990e-01 -3.86575103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.28, Y:-395.61, Z:-38.66 [[ 8.39441903e-01 5.40356558e-01 5.78971658e-02 7.33283842e+02] [-5.39017210e-01 8.41435843e-01 -3.80285285e-02 -3.95610681e+02] [-6.92657153e-02 7.15171577e-04 9.97597990e-01 -3.86593762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.33, Y:-395.65, Z:-38.66 [[ 8.41948166e-01 5.36444323e-01 5.78858660e-02 7.33333584e+02] [-5.35094528e-01 8.43935050e-01 -3.80457210e-02 -3.95648666e+02] [-6.92613223e-02 1.05811488e-03 9.97597990e-01 -3.86582989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.39, Y:-395.68, Z:-38.67 [[ 8.44775420e-01 5.31982009e-01 5.78760067e-02 7.33386445e+02] [-5.30620694e-01 8.46754428e-01 -3.80607133e-02 -3.95679714e+02] [-6.92543797e-02 1.44254819e-03 9.97597990e-01 -3.86668192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.44, Y:-395.71, Z:-38.67 [[ 8.44321678e-01 5.32702851e-01 5.78668926e-02 7.33438690e+02] [-5.31342276e-01 8.46301195e-01 -3.80745653e-02 -3.95712399e+02] [-6.92552498e-02 1.40005439e-03 9.97597990e-01 -3.86730872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.49, Y:-395.75, Z:-38.67 [[ 8.41187900e-01 5.37638861e-01 5.78564710e-02 7.33490182e+02] [-5.36288816e-01 8.43174613e-01 -3.80903948e-02 -3.95748068e+02] [-6.92619841e-02 1.01340086e-03 9.97597990e-01 -3.86735486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:733.54, Y:-395.78, Z:-38.68 [[ 8.38752271e-01 5.41431140e-01 5.78528225e-02 7.33544921e+02] [-5.40089696e-01 8.40744801e-01 -3.80959355e-02 -3.95777585e+02] [-6.92657855e-02 7.07339080e-04 9.97597991e-01 -3.86820801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.60, Y:-395.81, Z:-38.69 [[ 8.35999771e-01 5.45672722e-01 5.78417119e-02 7.33598696e+02] [-5.44340221e-01 8.37998293e-01 -3.81127975e-02 -3.95810305e+02] [-6.92683698e-02 3.76719718e-04 9.97597991e-01 -3.86854883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.65, Y:-395.84, Z:-38.69 [[ 8.32051382e-01 5.51675926e-01 5.78288005e-02 7.33651274e+02] [-5.50356484e-01 8.34058549e-01 -3.81323780e-02 -3.95840721e+02] [-6.92693204e-02 -9.83574397e-05 9.97597991e-01 -3.86919230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.71, Y:-395.87, Z:-38.69 [[ 8.30236868e-01 5.54403479e-01 5.78232290e-02 7.33705158e+02] [-5.53090042e-01 8.32247969e-01 -3.81408247e-02 -3.95873839e+02] [-6.92686708e-02 -3.15533334e-04 9.97597991e-01 -3.86945026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.76, Y:-395.91, Z:-38.70 [[ 8.29401162e-01 5.55653493e-01 5.78178860e-02 7.33759004e+02] [-5.54342522e-01 8.31413873e-01 -3.81489224e-02 -3.95906223e+02] [-6.92681745e-02 -4.10152187e-04 9.97597991e-01 -3.86978169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.81, Y:-395.94, Z:-38.71 [[ 8.31497079e-01 5.52513471e-01 5.78054635e-02 7.33812036e+02] [-5.51193591e-01 8.33503958e-01 -3.81677364e-02 -3.95937932e+02] [-6.92692712e-02 -1.25639688e-04 9.97597991e-01 -3.87066413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.86, Y:-395.97, Z:-38.71 [[ 8.33944250e-01 5.48813426e-01 5.77997637e-02 7.33863686e+02] [-5.47484044e-01 8.35944847e-01 -3.81763661e-02 -3.95974318e+02] [-6.92691169e-02 1.92512623e-04 9.97597991e-01 -3.87092425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.92, Y:-396.01, Z:-38.72 [[ 8.36137595e-01 5.45467264e-01 5.77874279e-02 7.33916324e+02] [-5.44128586e-01 8.38131983e-01 -3.81950296e-02 -3.96008522e+02] [-6.92676299e-02 4.92508677e-04 9.97597992e-01 -3.87150345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:733.97, Y:-396.04, Z:-38.72 [[ 8.38760134e-01 5.41427174e-01 5.77758826e-02 7.33967232e+02] [-5.40077688e-01 8.40747225e-01 -3.82124858e-02 -3.96041832e+02] [-6.92641912e-02 8.47644585e-04 9.97597992e-01 -3.87198373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.02, Y:-396.08, Z:-38.73 [[ 8.40679875e-01 5.38442544e-01 5.77665579e-02 7.34019398e+02] [-5.37085036e-01 8.42661494e-01 -3.82265769e-02 -3.96075476e+02] [-6.92604693e-02 1.11076003e-03 9.97597992e-01 -3.87250565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.07, Y:-396.11, Z:-38.73 [[ 8.41612341e-01 5.36984888e-01 5.77572246e-02 7.34071668e+02] [-5.35622981e-01 8.43590939e-01 -3.82406736e-02 -3.96108360e+02] [-6.92581352e-02 1.24772603e-03 9.97597992e-01 -3.87329944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.12, Y:-396.14, Z:-38.73 [[ 8.39058240e-01 5.40967445e-01 5.77537252e-02 7.34123416e+02] [-5.39614566e-01 8.41043023e-01 -3.82459580e-02 -3.96142326e+02] [-6.92631857e-02 9.25834838e-04 9.97597992e-01 -3.87341628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.18, Y:-396.18, Z:-38.74 [[ 8.35312526e-01 5.46734555e-01 5.77434766e-02 7.34175371e+02] [-5.45394312e-01 8.37305863e-01 -3.82614248e-02 -3.96175439e+02] [-6.92677946e-02 4.67283724e-04 9.97597992e-01 -3.87394142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.23, Y:-396.21, Z:-38.74 [[ 8.33769563e-01 5.49085793e-01 5.77330788e-02 7.34227634e+02] [-5.47750085e-01 8.35765941e-01 -3.82771078e-02 -3.96209851e+02] [-6.92687570e-02 2.90988600e-04 9.97597993e-01 -3.87436187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.28, Y:-396.24, Z:-38.75 [[ 8.30864916e-01 5.53472339e-01 5.77222804e-02 7.34281072e+02] [-5.52146040e-01 8.32867557e-01 -3.82933850e-02 -3.96240963e+02] [-6.92693441e-02 -5.44984339e-05 9.97597993e-01 -3.87521600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.33, Y:-396.28, Z:-38.75 [[ 8.24744581e-01 5.62552772e-01 5.77126950e-02 7.34331844e+02] [-5.61247510e-01 8.26760995e-01 -3.83078259e-02 -3.96277881e+02] [-6.92647789e-02 -7.96934566e-04 9.97597993e-01 -3.87509157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.38, Y:-396.31, Z:-38.76 [[ 8.22487887e-01 5.65848051e-01 5.77032031e-02 7.34384175e+02] [-5.64549864e-01 8.24508864e-01 -3.83221183e-02 -3.96311722e+02] [-6.92612984e-02 -1.05685734e-03 9.97597993e-01 -3.87563820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.44, Y:-396.35, Z:-38.76 [[ 8.19614827e-01 5.70002657e-01 5.76932112e-02 7.34435774e+02] [-5.68713655e-01 8.21641674e-01 -3.83371552e-02 -3.96347869e+02] [-6.92554269e-02 -1.38921620e-03 9.97597993e-01 -3.87614163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.48, Y:-396.38, Z:-38.76 [[ 8.17910898e-01 5.72446133e-01 5.76817844e-02 7.34484586e+02] [-5.71161974e-01 8.19940817e-01 -3.83543401e-02 -3.96383971e+02] [-6.92514431e-02 -1.57520910e-03 9.97597993e-01 -3.87644409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.53, Y:-396.42, Z:-38.77 [[ 8.17598725e-01 5.72892824e-01 5.76726660e-02 7.34534842e+02] [-5.71608809e-01 8.19628735e-01 -3.83680464e-02 -3.96421717e+02] [-6.92509527e-02 -1.59653805e-03 9.97597994e-01 -3.87695211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.59, Y:-396.46, Z:-38.77 [[ 8.18067354e-01 5.72224524e-01 5.76619311e-02 7.34585587e+02] [-5.70937714e-01 8.20095593e-01 -3.83841727e-02 -3.96459016e+02] [-6.92526605e-02 -1.52053254e-03 9.97597994e-01 -3.87743196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.63, Y:-396.50, Z:-38.78 [[ 8.20538389e-01 5.68676605e-01 5.76512858e-02 7.34633331e+02] [-5.67379902e-01 8.22560317e-01 -3.84001547e-02 -3.96497315e+02] [-6.92589296e-02 -1.20137977e-03 9.97597994e-01 -3.87798816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.68, Y:-396.54, Z:-38.78 [[ 8.23348592e-01 5.64600763e-01 5.76461224e-02 7.34682545e+02] [-5.63293506e-01 8.25363713e-01 -3.84079045e-02 -3.96536202e+02] [-6.92641498e-02 -8.48592368e-04 9.97597994e-01 -3.87846398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.73, Y:-396.58, Z:-38.79 [[ 8.29549136e-01 5.55451479e-01 5.76357979e-02 7.34730290e+02] [-5.54120918e-01 8.31548947e-01 -3.84233914e-02 -3.96577807e+02] [-6.92693167e-02 -6.31101044e-05 9.97597994e-01 -3.87870587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.78, Y:-396.62, Z:-38.79 [[ 8.34446954e-01 5.48067202e-01 5.76248553e-02 7.34779229e+02] [-5.46717812e-01 8.36434107e-01 -3.84397954e-02 -3.96616715e+02] [-6.92669856e-02 5.71435371e-04 9.97597994e-01 -3.87902502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.83, Y:-396.66, Z:-38.79 [[ 8.41023968e-01 5.37921203e-01 5.76147909e-02 7.34828220e+02] [-5.36546814e-01 8.42993914e-01 -3.84548744e-02 -3.96657127e+02] [-6.92546104e-02 1.42843856e-03 9.97597994e-01 -3.87937922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.88, Y:-396.70, Z:-38.80 [[ 8.45560087e-01 5.30763503e-01 5.76041960e-02 7.34875673e+02] [-5.29371363e-01 8.47517529e-01 -3.84707387e-02 -3.96696629e+02] [-6.92394299e-02 2.03530937e-03 9.97597995e-01 -3.87996364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.93, Y:-396.73, Z:-38.80 [[ 8.46747123e-01 5.28868131e-01 5.76004303e-02 7.34926503e+02] [-5.27471228e-01 8.48701168e-01 -3.84763762e-02 -3.96732577e+02] [-6.92344816e-02 2.19719114e-03 9.97597995e-01 -3.88029883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:734.98, Y:-396.77, Z:-38.81 [[ 8.45525663e-01 5.30819975e-01 5.75891257e-02 7.34976369e+02] [-5.29426432e-01 8.47482106e-01 -3.84932887e-02 -3.96770147e+02] [-6.92387601e-02 2.05785809e-03 9.97597995e-01 -3.88084136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.03, Y:-396.80, Z:-38.81 [[ 8.44521661e-01 5.32416277e-01 5.75853504e-02 7.35028411e+02] [-5.31026049e-01 8.46480459e-01 -3.84989357e-02 -3.96801561e+02] [-6.92423339e-02 1.93386400e-03 9.97597995e-01 -3.88135777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.08, Y:-396.84, Z:-38.82 [[ 8.39816115e-01 5.39809179e-01 5.75755492e-02 7.35079351e+02] [-5.38435194e-01 8.41786342e-01 -3.85135879e-02 -3.96836375e+02] [-6.92562992e-02 1.34362975e-03 9.97597995e-01 -3.88175587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.13, Y:-396.87, Z:-38.82 [[ 8.35431595e-01 5.46570705e-01 5.75718111e-02 7.35132894e+02] [-5.45212285e-01 8.37412585e-01 -3.85191751e-02 -3.96866392e+02] [-6.92648118e-02 7.91277278e-04 9.97597995e-01 -3.88222839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:735.19, Y:-396.90, Z:-38.83 [[ 8.31940354e-01 5.51871227e-01 5.75621061e-02 7.35186084e+02] [-5.50524425e-01 8.33929262e-01 -3.85336725e-02 -3.96899244e+02] [-6.92683498e-02 3.68371771e-04 9.97597995e-01 -3.88250004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.24, Y:-396.93, Z:-38.83 [[ 8.27480742e-01 5.58536899e-01 5.75513158e-02 7.35240055e+02] [-5.57204998e-01 8.29479659e-01 -3.85497814e-02 -3.96931576e+02] [-6.92691212e-02 -1.68679074e-04 9.97597995e-01 -3.88274146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:735.29, Y:-396.96, Z:-38.83 [[ 8.25017731e-01 5.62169758e-01 5.75404777e-02 7.35293496e+02] [-5.60845531e-01 8.27021739e-01 -3.85659520e-02 -3.96964217e+02] [-6.92678378e-02 -4.53725508e-04 9.97597996e-01 -3.88324654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:735.35, Y:-397.00, Z:-38.84 [[ 8.21717942e-01 5.66983229e-01 5.75294796e-02 7.35347060e+02] [-5.65669593e-01 8.23728908e-01 -3.85823511e-02 -3.96996232e+02] [-6.92642414e-02 -8.38867104e-04 9.97597996e-01 -3.88394504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:735.40, Y:-397.03, Z:-38.85 [[ 8.19891112e-01 5.69622852e-01 5.75184441e-02 7.35399559e+02] [-5.68314536e-01 8.21905543e-01 -3.85987958e-02 -3.97029858e+02] [-6.92614842e-02 -1.04175821e-03 9.97597996e-01 -3.88452474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.45, Y:-397.06, Z:-38.85 [[ 8.18364870e-01 5.71814503e-01 5.75075082e-02 7.35453122e+02] [-5.70510437e-01 8.20382055e-01 -3.86150822e-02 -3.97062883e+02] [-6.92587917e-02 -1.20740695e-03 9.97597996e-01 -3.88530154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.50, Y:-397.10, Z:-38.86 [[ 8.16881183e-01 5.73933218e-01 5.74960415e-02 7.35503374e+02] [-5.72633183e-01 8.18900968e-01 -3.86321480e-02 -3.97099298e+02] [-6.92558370e-02 -1.36626652e-03 9.97597996e-01 -3.88570075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.55, Y:-397.14, Z:-38.86 [[ 8.16519279e-01 5.74449029e-01 5.74854796e-02 7.35553558e+02] [-5.73149164e-01 8.18539174e-01 -3.86478580e-02 -3.97136034e+02] [-6.92553414e-02 -1.39103341e-03 9.97597997e-01 -3.88625320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.60, Y:-397.17, Z:-38.87 [[ 8.16018367e-01 5.75161356e-01 5.74755525e-02 7.35603960e+02] [-5.73862216e-01 8.18038727e-01 -3.86626155e-02 -3.97173085e+02] [-6.92544702e-02 -1.43364355e-03 9.97597997e-01 -3.88676592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.65, Y:-397.21, Z:-38.88 [[ 8.15596808e-01 5.75760050e-01 5.74648724e-02 7.35654293e+02] [-5.74461276e-01 8.17617403e-01 -3.86784830e-02 -3.97207335e+02] [-6.92538051e-02 -1.46529663e-03 9.97597997e-01 -3.88762312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.70, Y:-397.25, Z:-38.88 [[ 8.14608073e-01 5.77158952e-01 5.74563427e-02 7.35704063e+02] [-5.75862754e-01 8.16630322e-01 -3.86911496e-02 -3.97245374e+02] [-6.92515350e-02 -1.56884495e-03 9.97597997e-01 -3.88772606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.75, Y:-397.28, Z:-38.88 [[ 8.14675565e-01 5.77064632e-01 5.74468009e-02 7.35754972e+02] [-5.75767202e-01 8.16697023e-01 -3.87053117e-02 -3.97281793e+02] [-6.92520977e-02 -1.54371211e-03 9.97597997e-01 -3.88818345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.81, Y:-397.32, Z:-38.89 [[ 8.16865161e-01 5.73962052e-01 5.74358160e-02 7.35806157e+02] [-5.72655798e-01 8.18880928e-01 -3.87216056e-02 -3.97315247e+02] [-6.92578265e-02 -1.26062250e-03 9.97597997e-01 -3.88902060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.86, Y:-397.35, Z:-38.89 [[ 8.17404504e-01 5.73194620e-01 5.74265045e-02 7.35855644e+02] [-5.71885505e-01 8.19418414e-01 -3.87354102e-02 -3.97351515e+02] [-6.92592640e-02 -1.17888672e-03 9.97597998e-01 -3.88903123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.91, Y:-397.39, Z:-38.89 [[ 8.18589576e-01 5.71501853e-01 5.74172289e-02 7.35906904e+02] [-5.70187609e-01 8.20600142e-01 -3.87491545e-02 -3.97386230e+02] [-6.92617998e-02 -1.01893849e-03 9.97597998e-01 -3.88920538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:735.96, Y:-397.42, Z:-38.90 [[ 8.17915835e-01 5.72466649e-01 5.74075097e-02 7.35959178e+02] [-5.71153766e-01 8.19927291e-01 -3.87635484e-02 -3.97418919e+02] [-6.92608225e-02 -1.08319527e-03 9.97597998e-01 -3.88998325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.01, Y:-397.45, Z:-38.91 [[ 8.17370672e-01 5.73245344e-01 5.74017331e-02 7.36012906e+02] [-5.71933778e-01 8.19382986e-01 -3.87721005e-02 -3.97451003e+02] [-6.92599296e-02 -1.13881218e-03 9.97597998e-01 -3.89055756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.06, Y:-397.49, Z:-38.91 [[ 8.13983168e-01 5.78046599e-01 5.73893007e-02 7.36063531e+02] [-5.76745604e-01 8.16002332e-01 -3.87904939e-02 -3.97486442e+02] [-6.92525163e-02 -1.52421774e-03 9.97597998e-01 -3.89050816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.12, Y:-397.52, Z:-38.91 [[ 8.13218307e-01 5.79123134e-01 5.73792698e-02 7.36116154e+02] [-5.77823766e-01 8.15238519e-01 -3.88053261e-02 -3.97521374e+02] [-6.92508530e-02 -1.59790408e-03 9.97597998e-01 -3.89093937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.17, Y:-397.56, Z:-38.91 [[ 8.13687081e-01 5.78465416e-01 5.73680875e-02 7.36168320e+02] [-5.77163250e-01 8.15705490e-01 -3.88218505e-02 -3.97556633e+02] [-6.92525618e-02 -1.52191359e-03 9.97597998e-01 -3.89131799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.22, Y:-397.59, Z:-38.92 [[ 8.17075963e-01 5.73669806e-01 5.73569946e-02 7.36218885e+02] [-5.72354642e-01 8.19085927e-01 -3.88382327e-02 -3.97592393e+02] [-6.92606285e-02 -1.09475573e-03 9.97597999e-01 -3.89164794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.27, Y:-397.63, Z:-38.92 [[ 8.20366493e-01 5.68955330e-01 5.73467476e-02 7.36269282e+02] [-5.67627557e-01 8.22368149e-01 -3.88533571e-02 -3.97629077e+02] [-6.92659633e-02 -6.77601893e-04 9.97597999e-01 -3.89199066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.32, Y:-397.67, Z:-38.93 [[ 8.25906137e-01 5.60884619e-01 5.73367022e-02 7.36318686e+02] [-5.59536256e-01 8.27893981e-01 -3.88681757e-02 -3.97665717e+02] [-6.92692725e-02 1.95011350e-05 9.97597999e-01 -3.89261091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.37, Y:-397.70, Z:-38.93 [[ 8.26917692e-01 5.59392579e-01 5.73330062e-02 7.36368467e+02] [-5.58040251e-01 8.28902841e-01 -3.88736268e-02 -3.97700705e+02] [-6.92691100e-02 1.51164565e-04 9.97597999e-01 -3.89277874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.42, Y:-397.73, Z:-38.93 [[ 8.26716095e-01 5.59691456e-01 5.73234104e-02 7.36421799e+02] [-5.58338864e-01 8.28701064e-01 -3.88877717e-02 -3.97733885e+02] [-6.92691247e-02 1.43258868e-04 9.97597999e-01 -3.89334442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.47, Y:-397.77, Z:-38.94 [[ 8.25185595e-01 5.61946622e-01 5.73125473e-02 7.36473698e+02] [-5.60598344e-01 8.27173496e-01 -3.89037750e-02 -3.97765363e+02] [-6.92692651e-02 -2.64844299e-05 9.97597999e-01 -3.89397238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.53, Y:-397.80, Z:-38.94 [[ 8.24538019e-01 5.62897257e-01 5.73038670e-02 7.36526090e+02] [-5.61550383e-01 8.26526872e-01 -3.89165566e-02 -3.97799184e+02] [-6.92692089e-02 -9.08279398e-05 9.97597999e-01 -3.89441681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.58, Y:-397.83, Z:-38.95 [[ 8.23303728e-01 5.64702140e-01 5.72927963e-02 7.36579008e+02] [-5.63358491e-01 8.25294762e-01 -3.89328481e-02 -3.97832445e+02] [-6.92689073e-02 -2.22824334e-04 9.97598000e-01 -3.89490452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.63, Y:-397.86, Z:-38.95 [[ 8.22074654e-01 5.66491006e-01 5.72817955e-02 7.36631259e+02] [-5.65150562e-01 8.24067846e-01 -3.89490268e-02 -3.97864844e+02] [-6.92683592e-02 -3.53831207e-04 9.97598000e-01 -3.89537086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.68, Y:-397.90, Z:-38.96 [[ 8.19626226e-01 5.70028781e-01 5.72716296e-02 7.36684773e+02] [-5.68695896e-01 8.21624481e-01 -3.89639693e-02 -3.97897668e+02] [-6.92663568e-02 -6.34249628e-04 9.97598000e-01 -3.89582260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.74, Y:-397.93, Z:-38.96 [[ 8.18161046e-01 5.72130874e-01 5.72605181e-02 7.36737363e+02] [-5.70801981e-01 8.20161957e-01 -3.89802917e-02 -3.97931777e+02] [-6.92647269e-02 -7.92260924e-04 9.97598000e-01 -3.89636345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.79, Y:-397.96, Z:-38.98 [[ 8.18677550e-01 5.71392655e-01 5.72494796e-02 7.36792034e+02] [-5.70060824e-01 8.20676507e-01 -3.89964970e-02 -3.97961992e+02] [-6.92656149e-02 -7.10128956e-04 9.97598000e-01 -3.89775434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.84, Y:-398.00, Z:-38.98 [[ 8.15801281e-01 5.75492560e-01 5.72414502e-02 7.36841568e+02] [-5.74169948e-01 8.17806349e-01 -3.90082795e-02 -3.97998210e+02] [-6.92613960e-02 -1.04331614e-03 9.97598000e-01 -3.89761778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.89, Y:-398.03, Z:-38.98 [[ 8.15768795e-01 5.75539179e-01 5.72357082e-02 7.36892366e+02] [-5.74216091e-01 8.17773549e-01 -3.90167028e-02 -3.98033141e+02] [-6.92614893e-02 -1.03705595e-03 9.97598001e-01 -3.89817588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:736.94, Y:-398.07, Z:-38.99 [[ 8.16495104e-01 5.74509289e-01 5.72260559e-02 7.36941465e+02] [-5.73182681e-01 8.18497530e-01 -3.90308548e-02 -3.98070076e+02] [-6.92629740e-02 -9.32482244e-04 9.97598001e-01 -3.89875099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:736.99, Y:-398.11, Z:-38.99 [[ 8.17083197e-01 5.73673259e-01 5.72192415e-02 7.36991070e+02] [-5.72343902e-01 8.19083800e-01 -3.90408421e-02 -3.98109610e+02] [-6.92640408e-02 -8.49467820e-04 9.97598001e-01 -3.89916000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.04, Y:-398.14, Z:-39.00 [[ 8.20430112e-01 5.68876936e-01 5.72141765e-02 7.37040413e+02] [-5.67535365e-01 8.22422545e-01 -3.90482634e-02 -3.98144644e+02] [-6.92678851e-02 -4.34697486e-04 9.97598001e-01 -3.89953401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.09, Y:-398.18, Z:-39.00 [[ 8.23907704e-01 5.63829100e-01 5.72087530e-02 7.37089858e+02] [-5.62474770e-01 8.25891485e-01 -3.90562076e-02 -3.98183640e+02] [-6.92692484e-02 2.30126930e-07 9.97598001e-01 -3.89991622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.14, Y:-398.22, Z:-39.00 [[ 8.25920022e-01 5.60878361e-01 5.71977431e-02 7.37140728e+02] [-5.59515827e-01 8.27898178e-01 -3.90723250e-02 -3.98220712e+02] [-6.92687289e-02 2.67573007e-04 9.97598001e-01 -3.90037380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.19, Y:-398.25, Z:-39.01 [[ 8.27170978e-01 5.59032966e-01 5.71866731e-02 7.37193352e+02] [-5.57664900e-01 8.29145311e-01 -3.90885205e-02 -3.98254977e+02] [-6.92678334e-02 4.41889425e-04 9.97598001e-01 -3.90086328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.24, Y:-398.29, Z:-39.01 [[ 8.28083112e-01 5.57682073e-01 5.71757394e-02 7.37244737e+02] [-5.56309682e-01 8.30054441e-01 -3.91045069e-02 -3.98290326e+02] [-6.92668589e-02 5.74364326e-04 9.97598001e-01 -3.90133459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:737.30, Y:-398.33, Z:-39.02 [[ 8.28866777e-01 5.56517810e-01 5.71646181e-02 7.37296470e+02] [-5.55141529e-01 8.30835392e-01 -3.91207579e-02 -3.98326275e+02] [-6.92657864e-02 6.91442997e-04 9.97598002e-01 -3.90176477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.35, Y:-398.36, Z:-39.02 [[ 8.29921165e-01 5.54945342e-01 5.71535399e-02 7.37348945e+02] [-5.53564217e-01 8.31886385e-01 -3.91369359e-02 -3.98358884e+02] [-6.92641120e-02 8.42416948e-04 9.97598002e-01 -3.90224114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:737.40, Y:-398.39, Z:-39.03 [[ 8.30730582e-01 5.53734000e-01 5.71433114e-02 7.37401349e+02] [-5.52348983e-01 8.32693060e-01 -3.91518647e-02 -3.98392933e+02] [-6.92625575e-02 9.61601462e-04 9.97598002e-01 -3.90258923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.45, Y:-398.43, Z:-39.03 [[ 8.31092761e-01 5.53191392e-01 5.71323573e-02 7.37452708e+02] [-5.51803996e-01 8.33053558e-01 -3.91678429e-02 -3.98427859e+02] [-6.92616271e-02 1.02624763e-03 9.97598002e-01 -3.90300173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.51, Y:-398.46, Z:-39.03 [[ 8.31856713e-01 5.52042986e-01 5.71222440e-02 7.37505514e+02] [-5.50651871e-01 8.33814873e-01 -3.91825866e-02 -3.98462863e+02] [-6.92598488e-02 1.13982720e-03 9.97598002e-01 -3.90318317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:737.56, Y:-398.50, Z:-39.03 [[ 8.31202876e-01 5.53028093e-01 5.71113683e-02 7.37559733e+02] [-5.51638210e-01 8.33161910e-01 -3.91984323e-02 -3.98495308e+02] [-6.92608510e-02 1.07703667e-03 9.97598002e-01 -3.90347963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.61, Y:-398.53, Z:-39.04 [[ 8.29643654e-01 5.55365579e-01 5.71006214e-02 7.37614454e+02] [-5.53980139e-01 8.31605833e-01 -3.92140812e-02 -3.98527159e+02] [-6.92633607e-02 9.01103516e-04 9.97598003e-01 -3.90400992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:737.67, Y:-398.56, Z:-39.05 [[ 8.28172347e-01 5.57558359e-01 5.70897631e-02 7.37668020e+02] [-5.56177025e-01 8.30137418e-01 -3.92298830e-02 -3.98559014e+02] [-6.92652977e-02 7.37089659e-04 9.97598003e-01 -3.90456908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.72, Y:-398.59, Z:-39.05 [[ 8.27361442e-01 5.58762076e-01 5.70787753e-02 7.37720313e+02] [-5.57382499e-01 8.29327747e-01 -3.92458635e-02 -3.98591697e+02] [-6.92661123e-02 6.55803882e-04 9.97598003e-01 -3.90503900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.77, Y:-398.62, Z:-39.06 [[ 8.26399441e-01 5.60184913e-01 5.70686261e-02 7.37773880e+02] [-5.58807702e-01 8.28367404e-01 -3.92606161e-02 -3.98624578e+02] [-6.92669945e-02 5.54563403e-04 9.97598003e-01 -3.90562944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:737.83, Y:-398.66, Z:-39.06 [[ 8.25191527e-01 5.61963845e-01 5.70576908e-02 7.37826255e+02] [-5.60589779e-01 8.27161687e-01 -3.92765022e-02 -3.98659048e+02] [-6.92679099e-02 4.24678606e-04 9.97598003e-01 -3.90612067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:737.88, Y:-398.69, Z:-39.07 [[ 8.23641045e-01 5.64234989e-01 5.70465260e-02 7.37877673e+02] [-5.62865232e-01 8.25614204e-01 -3.92927115e-02 -3.98694481e+02] [-6.92687448e-02 2.53583878e-04 9.97598004e-01 -3.90658414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:737.93, Y:-398.73, Z:-39.07 [[ 8.19817180e-01 5.69777809e-01 5.70354196e-02 7.37929503e+02] [-5.68420272e-01 8.21798765e-01 -3.93088265e-02 -3.98729159e+02] [-6.92689345e-02 -1.94037463e-04 9.97598004e-01 -3.90718923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:737.98, Y:-398.76, Z:-39.08 [[ 8.15156419e-01 5.76427142e-01 5.70242334e-02 7.37980283e+02] [-5.75084633e-01 8.17148216e-01 -3.93250474e-02 -3.98763929e+02] [-6.92652752e-02 -7.37695444e-04 9.97598004e-01 -3.90783235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.03, Y:-398.80, Z:-39.08 [[ 8.11861184e-01 5.81060096e-01 5.70138895e-02 7.38030221e+02] [-5.79727899e-01 8.13859893e-01 -3.93400384e-02 -3.98801700e+02] [-6.92602444e-02 -1.11389217e-03 9.97598004e-01 -3.90817832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.08, Y:-398.84, Z:-39.09 [[ 8.10431437e-01 5.83053663e-01 5.70027437e-02 7.38080950e+02] [-5.81725248e-01 8.12432660e-01 -3.93561818e-02 -3.98839218e+02] [-6.92576566e-02 -1.26444822e-03 9.97598004e-01 -3.90851760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:738.13, Y:-398.88, Z:-39.08 [[ 8.08746384e-01 5.85389822e-01 5.69915988e-02 7.38130170e+02] [-5.84066051e-01 8.10750683e-01 -3.93723140e-02 -3.98876846e+02] [-6.92541296e-02 -1.44464144e-03 9.97598005e-01 -3.90840489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.18, Y:-398.91, Z:-39.09 [[ 8.08773150e-01 5.85353836e-01 5.69813768e-02 7.38178569e+02] [-5.84028935e-01 8.10776702e-01 -3.93871024e-02 -3.98913445e+02] [-6.92545642e-02 -1.42354190e-03 9.97598005e-01 -3.90932865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.23, Y:-398.95, Z:-39.10 [[ 8.10066126e-01 5.83564099e-01 5.69720519e-02 7.38227942e+02] [-5.82233822e-01 8.12066112e-01 -3.94005858e-02 -3.98950396e+02] [-6.92578400e-02 -1.25397568e-03 9.97598005e-01 -3.90966529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:738.27, Y:-398.99, Z:-39.10 [[ 8.12262453e-01 5.80504136e-01 5.69618776e-02 7.38274683e+02] [-5.79165293e-01 8.14256715e-01 -3.94152894e-02 -3.98990938e+02] [-6.92623299e-02 -9.74782886e-04 9.97598005e-01 -3.91032137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.32, Y:-399.03, Z:-39.11 [[ 8.17681415e-01 5.72846987e-01 5.69511439e-02 7.38324536e+02] [-5.71488387e-01 8.19662270e-01 -3.94307926e-02 -3.99028320e+02] [-6.92685146e-02 -3.05091077e-04 9.97598005e-01 -3.91087958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:738.37, Y:-399.07, Z:-39.11 [[ 8.18115200e-01 5.72228281e-01 5.69413186e-02 7.38373060e+02] [-5.70867196e-01 8.20094348e-01 -3.94449760e-02 -3.99066821e+02] [-6.92687843e-02 -2.35396456e-04 9.97598005e-01 -3.91092302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:738.42, Y:-399.10, Z:-39.11 [[ 8.18148603e-01 5.72181487e-01 5.69316257e-02 7.38424983e+02] [-5.70819315e-01 8.20127002e-01 -3.94589610e-02 -3.99101359e+02] [-6.92688505e-02 -2.14377742e-04 9.97598005e-01 -3.91145143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:738.48, Y:-399.14, Z:-39.12 [[ 8.20383902e-01 5.68973015e-01 5.69206562e-02 7.38475140e+02] [-5.67602008e-01 8.22356189e-01 -3.94747785e-02 -3.99136615e+02] [-6.92691377e-02 7.61940612e-05 9.97598006e-01 -3.91206288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.53, Y:-399.17, Z:-39.13 [[ 8.22829343e-01 5.65431681e-01 5.69112210e-02 7.38527306e+02] [-5.64051245e-01 8.24795042e-01 -3.94883766e-02 -3.99169899e+02] [-6.92680721e-02 3.91349964e-04 9.97598006e-01 -3.91276862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:738.58, Y:-399.20, Z:-39.13 [[ 8.22865422e-01 5.65380188e-01 5.69011491e-02 7.38578339e+02] [-5.63998626e-01 8.24830329e-01 -3.95028845e-02 -3.99204377e+02] [-6.92679418e-02 4.13387737e-04 9.97598006e-01 -3.91289361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:738.63, Y:-399.24, Z:-39.13 [[ 8.22486360e-01 5.65932482e-01 5.68912454e-02 7.38630383e+02] [-5.64551253e-01 8.24451501e-01 -3.95171424e-02 -3.99237717e+02] [-6.92681072e-02 3.84286729e-04 9.97598006e-01 -3.91328586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:738.68, Y:-399.27, Z:-39.14 [[ 8.21482639e-01 5.67389487e-01 5.68809698e-02 7.38681761e+02] [-5.66010719e-01 8.23449508e-01 -3.95319276e-02 -3.99274491e+02] [-6.92686067e-02 2.79553573e-04 9.97598006e-01 -3.91366800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:738.74, Y:-399.31, Z:-39.14 [[ 8.20493188e-01 5.68819918e-01 5.68755528e-02 7.38735973e+02] [-5.67444040e-01 8.22462080e-01 -3.95397197e-02 -3.99305628e+02] [-6.92689656e-02 1.68377281e-04 9.97598006e-01 -3.91382734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.79, Y:-399.34, Z:-39.14 [[ 8.18197254e-01 5.72118644e-01 5.68639745e-02 7.38788844e+02] [-5.70749546e-01 8.20170866e-01 -3.95563640e-02 -3.99338805e+02] [-6.92691086e-02 -9.01792138e-05 9.97598006e-01 -3.91430283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.84, Y:-399.37, Z:-39.15 [[ 8.15941981e-01 5.75331574e-01 5.68530070e-02 7.38841006e+02] [-5.73969150e-01 8.17920206e-01 -3.95721210e-02 -3.99373281e+02] [-6.92683138e-02 -3.43317281e-04 9.97598007e-01 -3.91473892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.89, Y:-399.41, Z:-39.15 [[ 8.14076704e-01 5.77968213e-01 5.68494950e-02 7.38892742e+02] [-5.76611844e-01 8.16059084e-01 -3.95771657e-02 -3.99407149e+02] [-6.92668906e-02 -5.61243605e-04 9.97598007e-01 -3.91524219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:738.94, Y:-399.44, Z:-39.16 [[ 8.13381076e-01 5.78947787e-01 5.68391102e-02 7.38944824e+02] [-5.77592763e-01 8.15364377e-01 -3.95920744e-02 -3.99441935e+02] [-6.92663295e-02 -6.26414663e-04 9.97598007e-01 -3.91560739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:739.00, Y:-399.48, Z:-39.17 [[ 8.14471200e-01 5.77414273e-01 5.68279941e-02 7.38996275e+02] [-5.76054402e-01 8.16451181e-01 -3.96080234e-02 -3.99476667e+02] [-6.92675209e-02 -4.76421802e-04 9.97598007e-01 -3.91654383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.05, Y:-399.51, Z:-39.17 [[ 8.13807781e-01 5.78349511e-01 5.68219874e-02 7.39045542e+02] [-5.76991314e-01 8.15788910e-01 -3.96166386e-02 -3.99513216e+02] [-6.92670108e-02 -5.45464428e-04 9.97598007e-01 -3.91653172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.10, Y:-399.55, Z:-39.17 [[ 8.13616848e-01 5.78618715e-01 5.68155571e-02 7.39096568e+02] [-5.77260530e-01 8.15597984e-01 -3.96258584e-02 -3.99549243e+02] [-6.92669172e-02 -5.57112598e-04 9.97598007e-01 -3.91703030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:739.15, Y:-399.58, Z:-39.18 [[ 8.13029400e-01 5.79444936e-01 5.68045822e-02 7.39147684e+02] [-5.78087665e-01 8.15011163e-01 -3.96415850e-02 -3.99584127e+02] [-6.92664843e-02 -6.08254201e-04 9.97598007e-01 -3.91786606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.20, Y:-399.62, Z:-39.18 [[ 8.10500752e-01 5.82977638e-01 5.67944053e-02 7.39196430e+02] [-5.81627983e-01 8.12487709e-01 -3.96561601e-02 -3.99620617e+02] [-6.92634108e-02 -8.91867884e-04 9.97598007e-01 -3.91817120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:739.25, Y:-399.66, Z:-39.19 [[ 8.09007393e-01 5.85049135e-01 5.67850924e-02 7.39245861e+02] [-5.83703632e-01 8.10997165e-01 -3.96694911e-02 -3.99658576e+02] [-6.92611504e-02 -1.05275308e-03 9.97598008e-01 -3.91872419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.30, Y:-399.70, Z:-39.20 [[ 8.09947135e-01 5.83748391e-01 5.67754772e-02 7.39295060e+02] [-5.82398729e-01 8.11934086e-01 -3.96832477e-02 -3.99695383e+02] [-6.92629773e-02 -9.24632942e-04 9.97598008e-01 -3.91956635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.34, Y:-399.73, Z:-39.20 [[ 8.09346107e-01 5.84582392e-01 5.67653577e-02 7.39344339e+02] [-5.83233763e-01 8.11333760e-01 -3.96977180e-02 -3.99734388e+02] [-6.92622381e-02 -9.78279601e-04 9.97598008e-01 -3.91971003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:739.39, Y:-399.77, Z:-39.20 [[ 8.08600725e-01 5.85614112e-01 5.67536689e-02 7.39391507e+02] [-5.84266846e-01 8.10589303e-01 -3.97144218e-02 -3.99774252e+02] [-6.92612428e-02 -1.04617686e-03 9.97598008e-01 -3.91981210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.44, Y:-399.81, Z:-39.20 [[ 8.07252881e-01 5.87471585e-01 5.67443660e-02 7.39441892e+02] [-5.86127961e-01 8.09243921e-01 -3.97277096e-02 -3.99810342e+02] [-6.92589337e-02 -1.18915149e-03 9.97598008e-01 -3.92001448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.49, Y:-399.84, Z:-39.21 [[ 8.05730358e-01 5.89558978e-01 5.67344824e-02 7.39494978e+02] [-5.88219518e-01 8.07724202e-01 -3.97418191e-02 -3.99842170e+02] [-6.92559608e-02 -1.35113972e-03 9.97598008e-01 -3.92067558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.55, Y:-399.87, Z:-39.22 [[ 8.05758264e-01 5.89521508e-01 5.67275161e-02 7.39548189e+02] [-5.88181257e-01 8.07751575e-01 -3.97517603e-02 -3.99873204e+02] [-6.92562582e-02 -1.33575235e-03 9.97598008e-01 -3.92153985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.60, Y:-399.91, Z:-39.21 [[ 8.02618258e-01 5.93789988e-01 5.67219773e-02 7.39600086e+02] [-5.92459777e-01 8.04618283e-01 -3.97596622e-02 -3.99906791e+02] [-6.92484293e-02 -1.69365918e-03 9.97598009e-01 -3.92148320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.65, Y:-399.94, Z:-39.22 [[ 8.01418820e-01 5.95408828e-01 5.67115763e-02 7.39651980e+02] [-5.94081609e-01 8.03420831e-01 -3.97744922e-02 -3.99940304e+02] [-6.92453456e-02 -1.81527784e-03 9.97598009e-01 -3.92226890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:739.70, Y:-399.98, Z:-39.23 [[ 8.00042556e-01 5.97257777e-01 5.67014759e-02 7.39702499e+02] [-5.95934164e-01 8.02046954e-01 -3.97888859e-02 -3.99975862e+02] [-6.92414675e-02 -1.95754466e-03 9.97598009e-01 -3.92259580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.75, Y:-400.01, Z:-39.23 [[ 8.00913679e-01 5.96090068e-01 5.66913625e-02 7.39753162e+02] [-5.94762514e-01 8.02915469e-01 -3.98032903e-02 -4.00010619e+02] [-6.92447179e-02 -1.83889761e-03 9.97598009e-01 -3.92298852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:739.80, Y:-400.05, Z:-39.24 [[ 8.05666617e-01 5.89651179e-01 5.66814757e-02 7.39802971e+02] [-5.88306633e-01 8.07657033e-01 -3.98173645e-02 -4.00047864e+02] [-6.92575484e-02 -1.26656681e-03 9.97598009e-01 -3.92372281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:739.85, Y:-400.09, Z:-39.24 [[ 8.09570323e-01 5.84280338e-01 5.66778468e-02 7.39851415e+02] [-5.82922224e-01 8.11551506e-01 -3.98225294e-02 -4.00086439e+02] [-6.92645129e-02 -7.99638591e-04 9.97598009e-01 -3.92418791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.35, Y:-399.55, Z:-38.22 [[ 8.62913983e-01 5.02163740e-01 5.66660088e-02 7.40353821e+02] [-5.00616986e-01 8.64751675e-01 -3.98393674e-02 -3.99551419e+02] [-6.90079117e-02 6.00998073e-03 9.97598009e-01 -3.82244705e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:740.41, Y:-399.58, Z:-38.23 [[ 8.66099642e-01 4.96264701e-01 5.99396058e-02 7.40405597e+02] [-4.95092752e-01 8.68171252e-01 -3.40858356e-02 -3.99584897e+02] [-6.89534396e-02 -1.53934369e-04 9.97619867e-01 -3.82326935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:740.46, Y:-399.62, Z:-38.23 [[ 8.65552340e-01 4.97219016e-01 5.99366075e-02 7.40457794e+02] [-4.96048986e-01 8.67625034e-01 -3.40911069e-02 -3.99620659e+02] [-6.89532478e-02 -2.23856065e-04 9.97619867e-01 -3.82287972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.51, Y:-399.65, Z:-38.23 [[ 8.65604143e-01 4.97129394e-01 5.99319014e-02 7.40510499e+02] [-4.95958577e-01 8.67676393e-01 -3.40993781e-02 -3.99652195e+02] [-6.89532992e-02 -2.07177556e-04 9.97619867e-01 -3.82333648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.56, Y:-399.68, Z:-38.24 [[ 8.65467219e-01 4.97368754e-01 5.99234191e-02 7.40563285e+02] [-4.96197478e-01 8.67539209e-01 -3.41142778e-02 -3.99681798e+02] [-6.89532914e-02 -2.09060235e-04 9.97619867e-01 -3.82416100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.62, Y:-399.71, Z:-38.25 [[ 8.64035862e-01 4.99851698e-01 5.99191985e-02 7.40618735e+02] [-4.98685862e-01 8.66110918e-01 -3.41216894e-02 -3.99707583e+02] [-6.89524564e-02 -3.98493836e-04 9.97619867e-01 -3.82507597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.67, Y:-399.74, Z:-38.25 [[ 8.60771556e-01 5.05453126e-01 5.99121449e-02 7.40671885e+02] [-5.04299931e-01 8.62853664e-01 -3.41340699e-02 -3.99741197e+02] [-6.89485860e-02 -8.32054003e-04 9.97619868e-01 -3.82493969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.73, Y:-399.77, Z:-38.26 [[ 8.61117089e-01 5.04864565e-01 5.99093475e-02 7.40725145e+02] [-5.03709605e-01 8.63198218e-01 -3.41389789e-02 -3.99769717e+02] [-6.89492028e-02 -7.79255637e-04 9.97619868e-01 -3.82561968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.78, Y:-399.80, Z:-38.26 [[ 8.62261546e-01 5.02908297e-01 5.99021787e-02 7.40778365e+02] [-5.01747742e-01 8.64339560e-01 -3.41515531e-02 -3.99801999e+02] [-6.89509222e-02 -6.08211966e-04 9.97619868e-01 -3.82563110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.83, Y:-399.83, Z:-38.26 [[ 8.63838553e-01 5.00195629e-01 5.98939637e-02 7.40831454e+02] [-4.99027550e-01 8.65912347e-01 -3.41659542e-02 -3.99832268e+02] [-6.89525836e-02 -3.74869520e-04 9.97619868e-01 -3.82597755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.89, Y:-399.86, Z:-38.26 [[ 8.63951644e-01 5.00000752e-01 5.98899487e-02 7.40885337e+02] [-4.98831717e-01 8.66024899e-01 -3.41729907e-02 -3.99861879e+02] [-6.89527078e-02 -3.51194415e-04 9.97619868e-01 -3.82644062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.94, Y:-399.89, Z:-38.27 [[ 8.62383597e-01 5.02701364e-01 5.98821390e-02 7.40938484e+02] [-5.01537872e-01 8.64459967e-01 -3.41866704e-02 -3.99893759e+02] [-6.89513978e-02 -5.51136779e-04 9.97619868e-01 -3.82670410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:740.99, Y:-399.92, Z:-38.28 [[ 8.60894068e-01 5.05248846e-01 5.98749401e-02 7.40994178e+02] [-5.04090621e-01 8.62973381e-01 -3.41992740e-02 -3.99921267e+02] [-6.89496232e-02 -7.40443582e-04 9.97619868e-01 -3.82792373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.05, Y:-399.95, Z:-38.28 [[ 8.59654867e-01 5.07355372e-01 5.98668195e-02 7.41045542e+02] [-5.06201252e-01 8.61736462e-01 -3.42134835e-02 -3.99953860e+02] [-6.89478158e-02 -8.92871414e-04 9.97619868e-01 -3.82824693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.10, Y:-399.98, Z:-38.29 [[ 8.60754348e-01 5.05487920e-01 5.98658132e-02 7.41099733e+02] [-5.04329162e-01 8.62833364e-01 -3.42152442e-02 -3.99982108e+02] [-6.89496136e-02 -7.41155122e-04 9.97619868e-01 -3.82920591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.15, Y:-400.02, Z:-38.29 [[ 8.62312249e-01 5.02826450e-01 5.98593889e-02 7.41150832e+02] [-5.01660495e-01 8.64387237e-01 -3.42264798e-02 -4.00016388e+02] [-6.89516711e-02 -5.15177865e-04 9.97619868e-01 -3.82888479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.21, Y:-400.05, Z:-38.29 [[ 8.62983342e-01 5.01674271e-01 5.98554697e-02 7.41205420e+02] [-5.00505071e-01 8.65056503e-01 -3.42333324e-02 -4.00048435e+02] [-6.89523454e-02 -4.15170519e-04 9.97619868e-01 -3.82915353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.26, Y:-400.08, Z:-38.29 [[ 8.64303488e-01 4.99397369e-01 5.98477211e-02 7.41259098e+02] [-4.98221769e-01 8.66373026e-01 -3.42468733e-02 -4.00081243e+02] [-6.89532497e-02 -2.17745399e-04 9.97619868e-01 -3.82883821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.31, Y:-400.11, Z:-38.29 [[ 8.64711984e-01 4.98690112e-01 5.98444374e-02 7.41312067e+02] [-4.97512422e-01 8.66780335e-01 -3.42526105e-02 -4.00114065e+02] [-6.89534196e-02 -1.54708254e-04 9.97619869e-01 -3.82910305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:741.37, Y:-400.14, Z:-38.30 [[ 8.65307185e-01 4.97657756e-01 5.98350532e-02 7.41367116e+02] [-4.96476466e-01 8.67373481e-01 -3.42689956e-02 -4.00141716e+02] [-6.89535699e-02 -5.34876137e-05 9.97619869e-01 -3.83049881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.42, Y:-400.17, Z:-38.31 [[ 8.63448220e-01 5.00876830e-01 5.98295258e-02 7.41422078e+02] [-4.99702575e-01 8.65518522e-01 -3.42786431e-02 -4.00168680e+02] [-6.89529408e-02 -2.99134767e-04 9.97619869e-01 -3.83128990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.48, Y:-400.20, Z:-38.31 [[ 8.60815061e-01 5.05389528e-01 5.98235474e-02 7.41475730e+02] [-5.04225400e-01 8.62891074e-01 -3.42890735e-02 -4.00198185e+02] [-6.89505438e-02 -6.48001252e-04 9.97619869e-01 -3.83149546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.53, Y:-400.23, Z:-38.32 [[ 8.59790446e-01 5.07130919e-01 5.98215706e-02 7.41528447e+02] [-5.05970756e-01 8.61868677e-01 -3.42925221e-02 -4.00226995e+02] [-6.89491361e-02 -7.83582478e-04 9.97619869e-01 -3.83231339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.58, Y:-400.26, Z:-38.32 [[ 8.59533562e-01 5.07566790e-01 5.98164606e-02 7.41582164e+02] [-5.06407061e-01 8.61612036e-01 -3.43014331e-02 -4.00258286e+02] [-6.89488507e-02 -8.08245029e-04 9.97619869e-01 -3.83220960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.64, Y:-400.29, Z:-38.32 [[ 8.61056692e-01 5.04979573e-01 5.98080518e-02 7.41635175e+02] [-5.03812581e-01 8.63131096e-01 -3.43160884e-02 -4.00289039e+02] [-6.89511130e-02 -5.83951318e-04 9.97619869e-01 -3.83235374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.69, Y:-400.32, Z:-38.33 [[ 8.62098278e-01 5.03200234e-01 5.98003615e-02 7.41688468e+02] [-5.02028031e-01 8.64169742e-01 -3.43294846e-02 -4.00320286e+02] [-6.89522676e-02 -4.26068171e-04 9.97619869e-01 -3.83263142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.74, Y:-400.35, Z:-38.33 [[ 8.63062641e-01 5.01545409e-01 5.97919831e-02 7.41742536e+02] [-5.00368223e-01 8.65131277e-01 -3.43440712e-02 -4.00352149e+02] [-6.89530259e-02 -2.76923567e-04 9.97619869e-01 -3.83310748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.80, Y:-400.38, Z:-38.34 [[ 8.63323009e-01 5.01098262e-01 5.97822174e-02 7.41797110e+02] [-4.99918828e-01 8.65390364e-01 -3.43610617e-02 -4.00382208e+02] [-6.89532232e-02 -2.21560924e-04 9.97619869e-01 -3.83358368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.85, Y:-400.41, Z:-38.34 [[ 8.62972079e-01 5.01703412e-01 5.97735551e-02 7.41850622e+02] [-5.00524384e-01 8.65039666e-01 -3.43761239e-02 -4.00412619e+02] [-6.89531147e-02 -2.52486749e-04 9.97619870e-01 -3.83409024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.90, Y:-400.44, Z:-38.35 [[ 8.62943322e-01 5.01753916e-01 5.97647887e-02 7.41904582e+02] [-5.00573955e-01 8.65010376e-01 -3.43913580e-02 -4.00443148e+02] [-6.89531609e-02 -2.38903902e-04 9.97619870e-01 -3.83459957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:741.96, Y:-400.47, Z:-38.35 [[ 8.64017269e-01 4.99903361e-01 5.97560689e-02 7.41957533e+02] [-4.98717925e-01 8.66081188e-01 -3.44065024e-02 -4.00473506e+02] [-6.89535333e-02 -7.36104663e-05 9.97619870e-01 -3.83518183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.01, Y:-400.51, Z:-38.35 [[ 8.65478475e-01 4.97370257e-01 5.97481073e-02 7.42010948e+02] [-4.96177826e-01 8.67538360e-01 -3.44203224e-02 -4.00505037e+02] [-6.89534196e-02 1.44362226e-04 9.97619870e-01 -3.83527944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.06, Y:-400.54, Z:-38.36 [[ 8.66481566e-01 4.95621734e-01 5.97393660e-02 7.42063809e+02] [-4.94424101e-01 8.68538431e-01 -3.44354869e-02 -4.00538658e+02] [-6.89529110e-02 3.01132335e-04 9.97619870e-01 -3.83563992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.12, Y:-400.57, Z:-38.36 [[ 8.65928238e-01 4.96589059e-01 5.97293297e-02 7.42117827e+02] [-4.95392523e-01 8.67985741e-01 -3.44528864e-02 -4.00570804e+02] [-6.89531330e-02 2.44263877e-04 9.97619870e-01 -3.83596656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.17, Y:-400.60, Z:-38.36 [[ 8.64882001e-01 4.98410204e-01 5.97192795e-02 7.42171935e+02] [-4.97216798e-01 8.66941321e-01 -3.44702983e-02 -4.00602020e+02] [-6.89534595e-02 1.19311640e-04 9.97619871e-01 -3.83622646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.22, Y:-400.63, Z:-38.36 [[ 8.62160237e-01 5.03104895e-01 5.97092165e-02 7.42224781e+02] [-5.01921496e-01 8.64225323e-01 -3.44877205e-02 -4.00634986e+02] [-6.89531580e-02 -2.35397966e-04 9.97619871e-01 -3.83616340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.28, Y:-400.66, Z:-38.37 [[ 8.61953780e-01 5.03459578e-01 5.97003746e-02 7.42278466e+02] [-5.02275969e-01 8.64018746e-01 -3.45030196e-02 -4.00662451e+02] [-6.89531185e-02 -2.46055330e-04 9.97619871e-01 -3.83709855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.33, Y:-400.69, Z:-38.37 [[ 8.59735412e-01 5.07239052e-01 5.96956031e-02 7.42333574e+02] [-5.06063947e-01 8.61805229e-01 -3.45112731e-02 -4.00692589e+02] [-6.89514484e-02 -5.39228973e-04 9.97619871e-01 -3.83744926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.39, Y:-400.72, Z:-38.38 [[ 8.57365553e-01 5.11235663e-01 5.96858869e-02 7.42388894e+02] [-5.10069037e-01 8.59440161e-01 -3.45280687e-02 -4.00722116e+02] [-6.89484284e-02 -8.40746119e-04 9.97619871e-01 -3.83787429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.44, Y:-400.75, Z:-38.38 [[ 8.55851038e-01 5.13768253e-01 5.96756414e-02 7.42442263e+02] [-5.12606532e-01 8.57928396e-01 -3.45457674e-02 -4.00752189e+02] [-6.89459458e-02 -1.02409271e-03 9.97619871e-01 -3.83841856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.50, Y:-400.78, Z:-38.39 [[ 8.54226411e-01 5.16465545e-01 5.96705928e-02 7.42495957e+02] [-5.15309774e-01 8.56307085e-01 -3.45544855e-02 -4.00782820e+02] [-6.89425526e-02 -1.23148550e-03 9.97619871e-01 -3.83881707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.55, Y:-400.81, Z:-38.39 [[ 8.54032548e-01 5.16787044e-01 5.96620306e-02 7.42549744e+02] [-5.15631025e-01 8.56113084e-01 -3.45692628e-02 -4.00813335e+02] [-6.89423921e-02 -1.24031834e-03 9.97619872e-01 -3.83932578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.60, Y:-400.84, Z:-38.39 [[ 8.53783575e-01 5.17199291e-01 5.96531637e-02 7.42602546e+02] [-5.16043208e-01 8.55864076e-01 -3.45845569e-02 -4.00844704e+02] [-6.89421081e-02 -1.25588329e-03 9.97619872e-01 -3.83945762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.66, Y:-400.87, Z:-38.40 [[ 8.55987714e-01 5.13544063e-01 5.96450302e-02 7.42656139e+02] [-5.12378118e-01 8.58062704e-01 -3.45985784e-02 -4.00873963e+02] [-6.89470703e-02 -9.44850287e-04 9.97619872e-01 -3.84039377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.71, Y:-400.91, Z:-38.41 [[ 8.56219593e-01 5.13158298e-01 5.96369839e-02 7.42708912e+02] [-5.11990452e-01 8.58293514e-01 -3.46124421e-02 -4.00906701e+02] [-6.89476983e-02 -8.97715237e-04 9.97619872e-01 -3.84072649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.76, Y:-400.94, Z:-38.41 [[ 8.55293694e-01 5.14701067e-01 5.96280872e-02 7.42760098e+02] [-5.13535894e-01 8.57369117e-01 -3.46277619e-02 -4.00939751e+02] [-6.89462265e-02 -1.00425671e-03 9.97619872e-01 -3.84111547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.81, Y:-400.97, Z:-38.41 [[ 8.55333968e-01 5.14634718e-01 5.96230646e-02 7.42813925e+02] [-5.13468782e-01 8.57408963e-01 -3.46364079e-02 -4.00971185e+02] [-6.89464480e-02 -9.88886159e-04 9.97619872e-01 -3.84140284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.87, Y:-401.00, Z:-38.42 [[ 8.55611964e-01 5.14173382e-01 5.96145963e-02 7.42867236e+02] [-5.13005312e-01 8.57685758e-01 -3.46509770e-02 -4.01003538e+02] [-6.89472003e-02 -9.34814151e-04 9.97619872e-01 -3.84183708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.92, Y:-401.04, Z:-38.42 [[ 8.57483115e-01 5.11047811e-01 5.96057229e-02 7.42919797e+02] [-5.09871121e-01 8.59552030e-01 -3.46662340e-02 -4.01036618e+02] [-6.89503232e-02 -6.65526388e-04 9.97619873e-01 -3.84208984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:742.97, Y:-401.07, Z:-38.42 [[ 8.60747856e-01 5.05530814e-01 5.95963407e-02 7.42972162e+02] [-5.04339747e-01 8.62808527e-01 -3.46823560e-02 -4.01071695e+02] [-6.89532306e-02 -2.04039756e-04 9.97619873e-01 -3.84234091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.03, Y:-401.10, Z:-38.43 [[ 8.62981044e-01 5.01710235e-01 5.95865632e-02 7.43025199e+02] [-5.00508884e-01 8.65035737e-01 -3.46991462e-02 -4.01104134e+02] [-6.89534234e-02 1.21101135e-04 9.97619873e-01 -3.84292786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.08, Y:-401.14, Z:-38.43 [[ 8.66678314e-01 4.95297098e-01 5.95775519e-02 7.43078531e+02] [-4.94079482e-01 8.68723409e-01 -3.47146116e-02 -4.01137010e+02] [-6.89504604e-02 6.50355063e-04 9.97619873e-01 -3.84318145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.13, Y:-401.17, Z:-38.44 [[ 8.69670649e-01 4.90025126e-01 5.95679310e-02 7.43131182e+02] [-4.88793983e-01 8.71707630e-01 -3.47311126e-02 -4.01169725e+02] [-6.89449378e-02 1.08818303e-03 9.97619873e-01 -3.84362329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:743.18, Y:-401.20, Z:-38.44 [[ 8.70531234e-01 4.88495688e-01 5.95594994e-02 7.43183153e+02] [-4.87259979e-01 8.72565447e-01 -3.47455657e-02 -4.01203012e+02] [-6.89426203e-02 1.22613979e-03 9.97619873e-01 -3.84411711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.24, Y:-401.23, Z:-38.44 [[ 8.71316628e-01 4.87093852e-01 5.95559665e-02 7.43238491e+02] [-4.85854456e-01 8.73348598e-01 -3.47516203e-02 -4.01231738e+02] [-6.89404204e-02 1.34413289e-03 9.97619873e-01 -3.84430821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.29, Y:-401.26, Z:-38.45 [[ 8.70259737e-01 4.88980839e-01 5.95460282e-02 7.43292438e+02] [-4.87744685e-01 8.72293680e-01 -3.47686410e-02 -4.01261781e+02] [-6.89428233e-02 1.21448960e-03 9.97619874e-01 -3.84477541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.35, Y:-401.29, Z:-38.45 [[ 8.66608598e-01 4.95423245e-01 5.95427998e-02 7.43346655e+02] [-4.94201834e-01 8.68651429e-01 -3.47741690e-02 -4.01291601e+02] [-6.89498697e-02 7.09432997e-04 9.97619874e-01 -3.84515943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.40, Y:-401.32, Z:-38.46 [[ 8.62830339e-01 5.01975713e-01 5.95331060e-02 7.43401674e+02] [-5.00768671e-01 8.64881692e-01 -3.47907567e-02 -4.01319502e+02] [-6.89532084e-02 2.06205933e-04 9.97619874e-01 -3.84578940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters Centerline goodness : 0.997596 with order 1 Centerline is valid? [True, True] Translation: X:743.46, Y:-401.35, Z:-38.46 [[ 8.59115658e-01 5.08307665e-01 5.95281887e-02 7.43456575e+02] [-5.07115159e-01 8.61175495e-01 -3.47991684e-02 -4.01350519e+02] [-6.89529014e-02 -2.91136445e-04 9.97619874e-01 -3.84647297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.51, Y:-401.38, Z:-38.46 [[ 8.55872253e-01 5.13750994e-01 5.95197674e-02 7.43511256e+02] [-5.12570587e-01 8.57939047e-01 -3.48135661e-02 -4.01380080e+02] [-6.89498367e-02 -7.12116880e-04 9.97619874e-01 -3.84646068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.57, Y:-401.41, Z:-38.47 [[ 8.54775179e-01 5.15575115e-01 5.95121354e-02 7.43565296e+02] [-5.14398211e-01 8.56843970e-01 -3.48266078e-02 -4.01409973e+02] [-6.89483466e-02 -8.44016048e-04 9.97619874e-01 -3.84679146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.62, Y:-401.44, Z:-38.47 [[ 8.54753319e-01 5.15612349e-01 5.95035212e-02 7.43620450e+02] [-5.14434510e-01 8.56821578e-01 -3.48413194e-02 -4.01440698e+02] [-6.89485155e-02 -8.29931380e-04 9.97619874e-01 -3.84724469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.68, Y:-401.47, Z:-38.48 [[ 8.56063014e-01 5.13436082e-01 5.94937491e-02 7.43675628e+02] [-5.12251827e-01 8.58127605e-01 -3.48579980e-02 -4.01471657e+02] [-6.89505823e-02 -6.35138854e-04 9.97619874e-01 -3.84768053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.73, Y:-401.50, Z:-38.48 [[ 8.57021031e-01 5.11836532e-01 5.94837537e-02 7.43729130e+02] [-5.10647240e-01 8.59082725e-01 -3.48750464e-02 -4.01502526e+02] [-6.89517880e-02 -4.86566427e-04 9.97619875e-01 -3.84817952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.78, Y:-401.53, Z:-38.49 [[ 8.57382529e-01 5.11231828e-01 5.94745057e-02 7.43782976e+02] [-5.10039989e-01 8.59442751e-01 -3.48908104e-02 -4.01532276e+02] [-6.89522256e-02 -4.19604971e-04 9.97619875e-01 -3.84872969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.84, Y:-401.56, Z:-38.50 [[ 8.56522847e-01 5.12671852e-01 5.94658290e-02 7.43837123e+02] [-5.11482449e-01 8.58584477e-01 -3.49055923e-02 -4.01562247e+02] [-6.89515523e-02 -5.18290579e-04 9.97619875e-01 -3.84952742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.89, Y:-401.59, Z:-38.50 [[ 8.57091185e-01 5.11722133e-01 5.94572012e-02 7.43891680e+02] [-5.10529427e-01 8.59150905e-01 -3.49202825e-02 -4.01590651e+02] [-6.89521897e-02 -4.24784531e-04 9.97619875e-01 -3.85048504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:743.94, Y:-401.62, Z:-38.50 [[ 8.55725197e-01 5.14004172e-01 5.94482817e-02 7.43943227e+02] [-5.12815904e-01 8.57787481e-01 -3.49354605e-02 -4.01624607e+02] [-6.89509642e-02 -5.90870493e-04 9.97619875e-01 -3.85049318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.00, Y:-401.66, Z:-38.51 [[ 8.56266483e-01 5.13102968e-01 5.94395067e-02 7.43995651e+02] [-5.11911494e-01 8.58326915e-01 -3.49503839e-02 -4.01656044e+02] [-6.89516742e-02 -5.00924404e-04 9.97619875e-01 -3.85076047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.05, Y:-401.68, Z:-38.51 [[ 8.60259875e-01 5.06380115e-01 5.94317035e-02 7.44050715e+02] [-5.05171622e-01 8.62310371e-01 -3.49636479e-02 -4.01683714e+02] [-6.89534704e-02 5.46133074e-05 9.97619876e-01 -3.85148207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.10, Y:-401.72, Z:-38.51 [[ 8.59420521e-01 5.07803650e-01 5.94291379e-02 7.44100532e+02] [-5.06598251e-01 8.61472838e-01 -3.49680083e-02 -4.01719606e+02] [-6.89534703e-02 -5.44733920e-05 9.97619876e-01 -3.85128182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.15, Y:-401.75, Z:-38.52 [[ 8.61626808e-01 5.04051974e-01 5.94209671e-02 7.44154421e+02] [-5.02836682e-01 8.63673282e-01 -3.49818874e-02 -4.01749423e+02] [-6.89529911e-02 2.62289997e-04 9.97619876e-01 -3.85177185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.21, Y:-401.78, Z:-38.52 [[ 8.61690360e-01 5.03944380e-01 5.94120027e-02 7.44209223e+02] [-5.02727783e-01 8.63736059e-01 -3.49971056e-02 -4.01778912e+02] [-6.89528837e-02 2.88604053e-04 9.97619876e-01 -3.85240616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.26, Y:-401.81, Z:-38.53 [[ 8.59001381e-01 5.08515391e-01 5.94030594e-02 7.44260328e+02] [-5.07308631e-01 8.61052898e-01 -3.50122791e-02 -4.01812338e+02] [-6.89534593e-02 -6.00886411e-05 9.97619876e-01 -3.85263987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.32, Y:-401.84, Z:-38.53 [[ 8.58584522e-01 5.09219860e-01 5.93948947e-02 7.44315103e+02] [-5.08013825e-01 8.60636465e-01 -3.50261243e-02 -4.01842518e+02] [-6.89534103e-02 -1.00539420e-04 9.97619876e-01 -3.85345234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.37, Y:-401.87, Z:-38.54 [[ 8.58344042e-01 5.09626299e-01 5.93846812e-02 7.44369004e+02] [-5.08420038e-01 8.60395852e-01 -3.50434322e-02 -4.01874766e+02] [-6.89533880e-02 -1.13040607e-04 9.97619876e-01 -3.85391742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.42, Y:-401.91, Z:-38.54 [[ 8.59334530e-01 5.07955550e-01 5.93744484e-02 7.44421527e+02] [-5.06744102e-01 8.61383282e-01 -3.50607612e-02 -4.01906627e+02] [-6.89534654e-02 4.12711883e-05 9.97619876e-01 -3.85440700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.47, Y:-401.94, Z:-38.54 [[ 8.58962214e-01 5.08585458e-01 5.93695797e-02 7.44471601e+02] [-5.07374943e-01 8.61011517e-01 -3.50690036e-02 -4.01943066e+02] [-6.89534771e-02 3.11889817e-07 9.97619877e-01 -3.85447385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.52, Y:-401.98, Z:-38.55 [[ 8.63085449e-01 5.01557382e-01 5.93607712e-02 7.44523734e+02] [-5.00329156e-01 8.65124185e-01 -3.50839072e-02 -4.01976337e+02] [-6.89510315e-02 5.80485288e-04 9.97619877e-01 -3.85497185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.58, Y:-402.01, Z:-38.55 [[ 8.63600849e-01 5.00670488e-01 5.93517891e-02 7.44576532e+02] [-4.99439125e-01 8.65637692e-01 -3.50990958e-02 -4.02009758e+02] [-6.89502272e-02 6.69003390e-04 9.97619877e-01 -3.85529133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.63, Y:-402.04, Z:-38.56 [[ 8.65956641e-01 4.96586026e-01 5.93415115e-02 7.44629651e+02] [-4.95343866e-01 8.67986917e-01 -3.51164635e-02 -4.02042724e+02] [-6.89460007e-02 1.01488103e-03 9.97619877e-01 -3.85577848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.68, Y:-402.08, Z:-38.56 [[ 8.65094357e-01 4.98087904e-01 5.93312226e-02 7.44680429e+02] [-4.96848077e-01 8.67126059e-01 -3.51338384e-02 -4.02076741e+02] [-6.89473892e-02 9.15481503e-04 9.97619877e-01 -3.85592293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.73, Y:-402.11, Z:-38.57 [[ 8.65576449e-01 4.97250631e-01 5.93230131e-02 7.44734791e+02] [-4.96007890e-01 8.67606370e-01 -3.51476946e-02 -4.02106152e+02] [-6.89462374e-02 9.98334159e-04 9.97619877e-01 -3.85693633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.79, Y:-402.14, Z:-38.57 [[ 8.62413548e-01 5.02717334e-01 5.93140293e-02 7.44787524e+02] [-5.01486418e-01 8.64450662e-01 -3.51628489e-02 -4.02138492e+02] [-6.89510255e-02 5.79737222e-04 9.97619878e-01 -3.85749664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.84, Y:-402.17, Z:-38.58 [[ 8.59771019e-01 5.07224509e-01 5.93050872e-02 7.44839975e+02] [-5.06003233e-01 8.61813925e-01 -3.51779240e-02 -4.02171065e+02] [-6.89530553e-02 2.36393722e-04 9.97619878e-01 -3.85778864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.89, Y:-402.20, Z:-38.58 [[ 8.55575162e-01 5.14271461e-01 5.92959322e-02 7.44891646e+02] [-5.13065942e-01 8.57627406e-01 -3.51933491e-02 -4.02203207e+02] [-6.89527515e-02 -3.12167980e-04 9.97619878e-01 -3.85813260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:744.95, Y:-402.24, Z:-38.59 [[ 8.51260047e-01 5.21384037e-01 5.92875847e-02 7.44945351e+02] [-5.20194685e-01 8.53321703e-01 -3.52074058e-02 -4.02235878e+02] [-6.89479621e-02 -8.70428570e-04 9.97619878e-01 -3.85861752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.00, Y:-402.27, Z:-38.59 [[ 8.48382495e-01 5.26054434e-01 5.92779396e-02 7.44999090e+02] [-5.24875297e-01 8.50450009e-01 -3.52236376e-02 -4.02267760e+02] [-6.89424750e-02 -1.23040854e-03 9.97619878e-01 -3.85898971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.05, Y:-402.30, Z:-38.59 [[ 8.45074925e-01 5.31352671e-01 5.92681211e-02 7.45053326e+02] [-5.30185336e-01 8.47149126e-01 -3.52401508e-02 -4.02300330e+02] [-6.89338852e-02 -1.64252090e-03 9.97619878e-01 -3.85926770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.11, Y:-402.33, Z:-38.60 [[ 8.43473653e-01 5.33891984e-01 5.92583051e-02 7.45107567e+02] [-5.32729735e-01 8.45550707e-01 -3.52566492e-02 -4.02332348e+02] [-6.89291442e-02 -1.83060650e-03 9.97619879e-01 -3.85956387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.16, Y:-402.36, Z:-38.60 [[ 8.42830311e-01 5.34908127e-01 5.92483097e-02 7.45160068e+02] [-5.33747203e-01 8.44908106e-01 -3.52734383e-02 -4.02364580e+02] [-6.89274260e-02 -1.89409658e-03 9.97619879e-01 -3.85985648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.21, Y:-402.40, Z:-38.60 [[ 8.43230652e-01 5.34277831e-01 5.92390639e-02 7.45213648e+02] [-5.33114264e-01 8.45306968e-01 -3.52889591e-02 -4.02397601e+02] [-6.89293021e-02 -1.82445796e-03 9.97619879e-01 -3.86036368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.27, Y:-402.43, Z:-38.61 [[ 8.43414040e-01 5.33989388e-01 5.92291458e-02 7.45266279e+02] [-5.32823943e-01 8.45489302e-01 -3.53055979e-02 -4.02429860e+02] [-6.89304238e-02 -1.78147002e-03 9.97619879e-01 -3.86094597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.32, Y:-402.46, Z:-38.62 [[ 8.43595831e-01 5.33703123e-01 5.92203541e-02 7.45317488e+02] [-5.32535940e-01 8.45670117e-01 -3.53203387e-02 -4.02462975e+02] [-6.89314588e-02 -1.74087640e-03 9.97619879e-01 -3.86184907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.37, Y:-402.49, Z:-38.63 [[ 8.44968226e-01 5.31528208e-01 5.92153888e-02 7.45371293e+02] [-5.30355103e-01 8.47039167e-01 -3.53286612e-02 -4.02493556e+02] [-6.89359336e-02 -1.55358745e-03 9.97619879e-01 -3.86258642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.42, Y:-402.53, Z:-38.62 [[ 8.43934097e-01 5.33169623e-01 5.92063525e-02 7.45421620e+02] [-5.31999485e-01 8.46006716e-01 -3.53437984e-02 -4.02529579e+02] [-6.89332115e-02 -1.66991239e-03 9.97619879e-01 -3.86239769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.47, Y:-402.56, Z:-38.63 [[ 8.44215671e-01 5.32724238e-01 5.92012542e-02 7.45473021e+02] [-5.31552407e-01 8.46287334e-01 -3.53523361e-02 -4.02561488e+02] [-6.89343178e-02 -1.62357307e-03 9.97619879e-01 -3.86279294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.53, Y:-402.59, Z:-38.63 [[ 8.44613853e-01 5.32093470e-01 5.91944174e-02 7.45525696e+02] [-5.30919291e-01 8.46684185e-01 -3.53637800e-02 -4.02594011e+02] [-6.89358135e-02 -1.55871958e-03 9.97619880e-01 -3.86296974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.58, Y:-402.62, Z:-38.64 [[ 8.45893330e-01 5.30058008e-01 5.91859992e-02 7.45579635e+02] [-5.28877862e-01 8.47960267e-01 -3.53778634e-02 -4.02623647e+02] [-6.89396955e-02 -1.37626598e-03 9.97619880e-01 -3.86373573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.63, Y:-402.66, Z:-38.64 [[ 8.45882105e-01 5.30076940e-01 5.91768697e-02 7.45634451e+02] [-5.28895773e-01 8.47948459e-01 -3.53931278e-02 -4.02655092e+02] [-6.89400163e-02 -1.35998278e-03 9.97619880e-01 -3.86417629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.69, Y:-402.69, Z:-38.64 [[ 8.44357061e-01 5.32503979e-01 5.91664240e-02 7.45686747e+02] [-5.31327528e-01 8.46426103e-01 -3.54105813e-02 -4.02686936e+02] [-6.89362811e-02 -1.53757546e-03 9.97619880e-01 -3.86430477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.74, Y:-402.72, Z:-38.65 [[ 8.44704871e-01 5.31952654e-01 5.91612664e-02 7.45739215e+02] [-5.30774250e-01 8.46772801e-01 -3.54191960e-02 -4.02717272e+02] [-6.89374866e-02 -1.48250947e-03 9.97619880e-01 -3.86481680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.79, Y:-402.75, Z:-38.66 [[ 8.48238604e-01 5.26300460e-01 5.91531586e-02 7.45793651e+02] [-5.25107331e-01 8.50298073e-01 -3.54327316e-02 -4.02745518e+02] [-6.89460797e-02 -1.00634645e-03 9.97619880e-01 -3.86580068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.84, Y:-402.78, Z:-38.66 [[ 8.50685426e-01 5.22337320e-01 5.91441542e-02 7.45843875e+02] [-5.21133551e-01 8.52738693e-01 -3.54477554e-02 -4.02780725e+02] [-6.89501943e-02 -6.67114123e-04 9.97619880e-01 -3.86571516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.90, Y:-402.81, Z:-38.66 [[ 8.56107595e-01 5.13403085e-01 5.91359329e-02 7.45898355e+02] [-5.12176940e-01 8.58147579e-01 -3.54614653e-02 -4.02810782e+02] [-6.89533834e-02 7.07686776e-05 9.97619881e-01 -3.86635286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:745.95, Y:-402.85, Z:-38.66 [[ 8.61327139e-01 5.04598432e-01 5.91268415e-02 7.45951068e+02] [-5.03350394e-01 8.63353804e-01 -3.54766175e-02 -4.02845450e+02] [-6.89488290e-02 7.95454428e-04 9.97619881e-01 -3.86648988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.00, Y:-402.88, Z:-38.67 [[ 8.63783178e-01 5.00383723e-01 5.91164205e-02 7.46002514e+02] [-4.99124610e-01 8.65802981e-01 -3.54939741e-02 -4.02879360e+02] [-6.89437799e-02 1.15263743e-03 9.97619881e-01 -3.86663094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.06, Y:-402.91, Z:-38.67 [[ 8.66871324e-01 4.95015113e-01 5.91112935e-02 7.46057095e+02] [-4.93742912e-01 8.68882909e-01 -3.55025105e-02 -4.02907378e+02] [-6.89350718e-02 1.59032612e-03 9.97619881e-01 -3.86733231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.11, Y:-402.94, Z:-38.68 [[ 8.67556961e-01 4.93813491e-01 5.91029211e-02 7.46110934e+02] [-4.92537555e-01 8.69566179e-01 -3.55164429e-02 -4.02937963e+02] [-6.89323999e-02 1.70212902e-03 9.97619881e-01 -3.86755777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.16, Y:-402.97, Z:-38.68 [[ 8.66385590e-01 4.95866840e-01 5.90938746e-02 7.46164325e+02] [-4.94594641e-01 8.68397176e-01 -3.55314886e-02 -4.02968773e+02] [-6.89358408e-02 1.55645607e-03 9.97619881e-01 -3.86778941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.22, Y:-403.00, Z:-38.69 [[ 8.65068015e-01 4.98162949e-01 5.90847419e-02 7.46220396e+02] [-4.96895053e-01 8.67082315e-01 -3.55466688e-02 -4.02996176e+02] [-6.89393681e-02 1.39137025e-03 9.97619881e-01 -3.86851713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.27, Y:-403.03, Z:-38.69 [[ 8.62306448e-01 5.02929071e-01 5.90757002e-02 7.46271195e+02] [-5.01671282e-01 8.64327074e-01 -3.55616890e-02 -4.03029889e+02] [-6.89457343e-02 1.02849155e-03 9.97619882e-01 -3.86872175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.33, Y:-403.06, Z:-38.69 [[ 8.59054306e-01 5.08465082e-01 5.90674265e-02 7.46326337e+02] [-5.07219370e-01 8.61082400e-01 -3.55754262e-02 -4.03057706e+02] [-6.89507834e-02 6.01080136e-04 9.97619882e-01 -3.86910254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.38, Y:-403.09, Z:-38.70 [[ 8.56718609e-01 5.12391779e-01 5.90583650e-02 7.46382231e+02] [-5.11154327e-01 8.58751753e-01 -3.55904627e-02 -4.03086659e+02] [-6.89527350e-02 3.03072895e-04 9.97619882e-01 -3.86952257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.44, Y:-403.12, Z:-38.70 [[ 8.54146929e-01 5.16668438e-01 5.90486930e-02 7.46438226e+02] [-5.15440057e-01 8.56185567e-01 -3.56065025e-02 -4.03115497e+02] [-6.89533947e-02 -2.28769863e-05 9.97619882e-01 -3.86977113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.49, Y:-403.14, Z:-38.70 [[ 8.53191834e-01 5.18245249e-01 5.90385985e-02 7.46492228e+02] [-5.17019478e-01 8.55232041e-01 -3.56232322e-02 -4.03144753e+02] [-6.89532720e-02 -1.30654589e-04 9.97619882e-01 -3.87029185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.55, Y:-403.17, Z:-38.71 [[ 8.53125823e-01 5.18354969e-01 5.90292757e-02 7.46548025e+02] [-5.17128392e-01 8.55165546e-01 -3.56386739e-02 -4.03172298e+02] [-6.89532865e-02 -1.21441454e-04 9.97619882e-01 -3.87056987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.60, Y:-403.20, Z:-38.71 [[ 8.55456665e-01 5.14500173e-01 5.90209006e-02 7.46604141e+02] [-5.13263448e-01 8.57490250e-01 -3.56525383e-02 -4.03198123e+02] [-6.89530840e-02 2.05930556e-04 9.97619882e-01 -3.87107276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.66, Y:-403.23, Z:-38.71 [[ 8.56539522e-01 5.12695971e-01 5.90160064e-02 7.46658297e+02] [-5.11454404e-01 8.58570155e-01 -3.56606380e-02 -4.03229212e+02] [-6.89524472e-02 3.60749457e-04 9.97619882e-01 -3.87129123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.71, Y:-403.26, Z:-38.72 [[ 8.57646644e-01 5.10842856e-01 5.90068640e-02 7.46711899e+02] [-5.09595862e-01 8.59673949e-01 -3.56757594e-02 -4.03259942e+02] [-6.89513706e-02 5.27541617e-04 9.97619883e-01 -3.87182419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.77, Y:-403.29, Z:-38.72 [[ 8.59068369e-01 5.08449472e-01 5.89972150e-02 7.46765981e+02] [-5.07195735e-01 8.61091510e-01 -3.56917089e-02 -4.03290363e+02] [-6.89494315e-02 7.38482356e-04 9.97619883e-01 -3.87202496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.82, Y:-403.32, Z:-38.72 [[ 8.58787900e-01 5.08924060e-01 5.89885101e-02 7.46821917e+02] [-5.07670452e-01 8.60811122e-01 -3.57060899e-02 -4.03320127e+02] [-6.89496537e-02 7.17234318e-04 9.97619883e-01 -3.87232342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.88, Y:-403.35, Z:-38.73 [[ 8.57903707e-01 5.10414322e-01 5.89783849e-02 7.46877884e+02] [-5.09163080e-01 8.59928392e-01 -3.57228067e-02 -4.03349553e+02] [-6.89506198e-02 6.17112145e-04 9.97619883e-01 -3.87283035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.94, Y:-403.38, Z:-38.73 [[ 8.57177169e-01 5.11634664e-01 5.89684032e-02 7.46935494e+02] [-5.10385171e-01 8.59202934e-01 -3.57392760e-02 -4.03376181e+02] [-6.89512775e-02 5.38292840e-04 9.97619883e-01 -3.87312186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:746.99, Y:-403.41, Z:-38.73 [[ 8.55909844e-01 5.13753155e-01 5.89579051e-02 7.46989636e+02] [-5.12507484e-01 8.57937961e-01 -3.57565861e-02 -4.03407742e+02] [-6.89522838e-02 3.88046425e-04 9.97619884e-01 -3.87313623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.05, Y:-403.43, Z:-38.73 [[ 8.54975179e-01 5.15308146e-01 5.89487636e-02 7.47045375e+02] [-5.14065126e-01 8.57004922e-01 -3.57716506e-02 -4.03434850e+02] [-6.89528034e-02 2.80369810e-04 9.97619884e-01 -3.87325208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.10, Y:-403.46, Z:-38.74 [[ 8.53516807e-01 5.17721148e-01 5.89395756e-02 7.47100435e+02] [-5.16482820e-01 8.55549416e-01 -3.57867828e-02 -4.03464800e+02] [-6.89532937e-02 1.03342344e-04 9.97619884e-01 -3.87357572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.16, Y:-403.49, Z:-38.75 [[ 8.51637852e-01 5.20806569e-01 5.89362930e-02 7.47155015e+02] [-5.19575232e-01 8.53674703e-01 -3.57921880e-02 -4.03491493e+02] [-6.89532291e-02 -1.39855998e-04 9.97619884e-01 -3.87470818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.21, Y:-403.52, Z:-38.75 [[ 8.49394848e-01 5.24457714e-01 5.89279006e-02 7.47208880e+02] [-5.23234174e-01 8.51436392e-01 -3.58059999e-02 -4.03521176e+02] [-6.89520919e-02 -4.19659556e-04 9.97619884e-01 -3.87458535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.26, Y:-403.55, Z:-38.76 [[ 8.49092028e-01 5.24947984e-01 5.89265758e-02 7.47261415e+02] [-5.23725471e-01 8.51134188e-01 -3.58081799e-02 -4.03550694e+02] [-6.89518551e-02 -4.56908560e-04 9.97619884e-01 -3.87569985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.31, Y:-403.58, Z:-38.76 [[ 8.49297442e-01 5.24616531e-01 5.89181645e-02 7.47314755e+02] [-5.23392261e-01 8.51338549e-01 -3.58220144e-02 -4.03582282e+02] [-6.89521256e-02 -4.13766134e-04 9.97619884e-01 -3.87583348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.37, Y:-403.62, Z:-38.77 [[ 8.50822772e-01 5.22140161e-01 5.89089464e-02 7.47366054e+02] [-5.20908901e-01 8.52859669e-01 -3.58371671e-02 -4.03615057e+02] [-6.89530887e-02 -1.95116696e-04 9.97619884e-01 -3.87654033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.42, Y:-403.65, Z:-38.77 [[ 8.51715940e-01 5.20682902e-01 5.89005381e-02 7.47419338e+02] [-5.19447202e-01 8.53750146e-01 -3.58509814e-02 -4.03647683e+02] [-6.89533360e-02 -6.08674057e-05 9.97619884e-01 -3.87684671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.47, Y:-403.68, Z:-38.77 [[ 8.52147259e-01 5.19977719e-01 5.88916005e-02 7.47472504e+02] [-5.18739321e-01 8.54179824e-01 -3.58656569e-02 -4.03680707e+02] [-6.89533595e-02 1.34323833e-05 9.97619885e-01 -3.87715343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.52, Y:-403.71, Z:-38.78 [[ 8.51251954e-01 5.21443314e-01 5.88810800e-02 7.47524791e+02] [-5.20207221e-01 8.53285921e-01 -3.58829203e-02 -4.03712777e+02] [-6.89533055e-02 -8.49569869e-05 9.97619885e-01 -3.87777300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.58, Y:-403.75, Z:-38.78 [[ 8.49549828e-01 5.24212621e-01 5.88745996e-02 7.47576550e+02] [-5.22982421e-01 8.51587365e-01 -3.58935499e-02 -4.03745777e+02] [-6.89527170e-02 -2.97021547e-04 9.97619885e-01 -3.87827255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.63, Y:-403.78, Z:-38.79 [[ 8.46036234e-01 5.29865551e-01 5.88658610e-02 7.47629782e+02] [-5.28647968e-01 8.48081335e-01 -3.59078756e-02 -4.03778772e+02] [-6.89493843e-02 -7.39953904e-04 9.97619885e-01 -3.87872514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.68, Y:-403.81, Z:-38.79 [[ 8.43631212e-01 5.33687524e-01 5.88557959e-02 7.47682780e+02] [-5.32478055e-01 8.45681122e-01 -3.59243655e-02 -4.03811195e+02] [-6.89456212e-02 -1.03250379e-03 9.97619885e-01 -3.87920249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.73, Y:-403.85, Z:-38.80 [[ 8.41543667e-01 5.36974253e-01 5.88464890e-02 7.47734087e+02] [-5.35771724e-01 8.43597656e-01 -3.59396044e-02 -4.03845377e+02] [-6.89414024e-02 -1.28353846e-03 9.97619885e-01 -3.87958250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.78, Y:-403.88, Z:-38.80 [[ 8.40496876e-01 5.38612275e-01 5.88372256e-02 7.47784626e+02] [-5.37412689e-01 8.42552584e-01 -3.59547634e-02 -4.03879952e+02] [-6.89391333e-02 -1.40000531e-03 9.97619885e-01 -3.87983922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.84, Y:-403.92, Z:-38.80 [[ 8.40215483e-01 5.39052059e-01 5.88287349e-02 7.47835917e+02] [-5.37852577e-01 8.42271252e-01 -3.59686503e-02 -4.03915778e+02] [-6.89387272e-02 -1.41976975e-03 9.97619886e-01 -3.88013256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.89, Y:-403.95, Z:-38.80 [[ 8.39834001e-01 5.39647321e-01 5.88185265e-02 7.47887221e+02] [-5.38448128e-01 8.41889939e-01 -3.59853361e-02 -4.03949898e+02] [-6.89381159e-02 -1.44901667e-03 9.97619886e-01 -3.88046855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.94, Y:-403.99, Z:-38.81 [[ 8.39458142e-01 5.40232837e-01 5.88090986e-02 7.47937954e+02] [-5.39033999e-01 8.41514287e-01 -3.60007371e-02 -4.03985024e+02] [-6.89374770e-02 -1.47899179e-03 9.97619886e-01 -3.88070870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:747.99, Y:-404.02, Z:-38.81 [[ 8.39072515e-01 5.40832114e-01 5.88042374e-02 7.47991173e+02] [-5.39634189e-01 8.41129192e-01 -3.60086757e-02 -4.04018988e+02] [-6.89366089e-02 -1.51888690e-03 9.97619886e-01 -3.88118294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.04, Y:-404.05, Z:-38.82 [[ 8.37637943e-01 5.43052405e-01 5.87942376e-02 7.48041755e+02] [-5.41858786e-01 8.39697121e-01 -3.60249958e-02 -4.04054901e+02] [-6.89328127e-02 -1.68227088e-03 9.97619886e-01 -3.88195048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.09, Y:-404.09, Z:-38.83 [[ 8.37022034e-01 5.44002255e-01 5.87848755e-02 7.48093447e+02] [-5.42809902e-01 8.39081945e-01 -3.60402663e-02 -4.04088305e+02] [-6.89313138e-02 -1.74251555e-03 9.97619886e-01 -3.88260718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.14, Y:-404.12, Z:-38.83 [[ 8.36723616e-01 5.44462142e-01 5.87755621e-02 7.48143546e+02] [-5.43269855e-01 8.38783565e-01 -3.60554484e-02 -4.04122845e+02] [-6.89308022e-02 -1.76254593e-03 9.97619887e-01 -3.88296003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.19, Y:-404.16, Z:-38.83 [[ 8.38255699e-01 5.42101308e-01 5.87669606e-02 7.48192983e+02] [-5.40902237e-01 8.40311706e-01 -3.60694626e-02 -4.04160504e+02] [-6.89358678e-02 -1.55174789e-03 9.97619887e-01 -3.88339834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.24, Y:-404.20, Z:-38.84 [[ 8.40924642e-01 5.37952412e-01 5.87618035e-02 7.48242288e+02] [-5.36742609e-01 8.42974353e-01 -3.60778622e-02 -4.04196923e+02] [-6.89428663e-02 -1.20120037e-03 9.97619887e-01 -3.88351127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.29, Y:-404.23, Z:-38.84 [[ 8.42972130e-01 5.34738870e-01 5.87565200e-02 7.48292443e+02] [-5.33520653e-01 8.45016852e-01 -3.60864650e-02 -4.04234290e+02] [-6.89470851e-02 -9.27932659e-04 9.97619887e-01 -3.88373284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.34, Y:-404.27, Z:-38.84 [[ 8.46841171e-01 5.28590697e-01 5.87529325e-02 7.48342465e+02] [-5.27357228e-01 8.48876728e-01 -3.60923049e-02 -4.04268660e+02] [-6.89520537e-02 -4.19333883e-04 9.97619887e-01 -3.88410840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.39, Y:-404.30, Z:-38.84 [[ 8.48294807e-01 5.26255743e-01 5.87436188e-02 7.48393980e+02] [-5.25015622e-01 8.50326318e-01 -3.61074575e-02 -4.04304231e+02] [-6.89530020e-02 -2.11548843e-04 9.97619887e-01 -3.88447165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.44, Y:-404.34, Z:-38.85 [[ 8.48867797e-01 5.25332144e-01 5.87333013e-02 7.48444669e+02] [-5.24088652e-01 8.50897247e-01 -3.61242325e-02 -4.04339971e+02] [-6.89532248e-02 -1.16759060e-04 9.97619887e-01 -3.88495769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.50, Y:-404.37, Z:-38.85 [[ 8.47919347e-01 5.26862630e-01 5.87243644e-02 7.48496598e+02] [-5.25621795e-01 8.49950422e-01 -3.61387547e-02 -4.04373877e+02] [-6.89529576e-02 -2.24056550e-04 9.97619887e-01 -3.88544487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.55, Y:-404.41, Z:-38.86 [[ 8.45548871e-01 5.30659598e-01 5.87153957e-02 7.48548628e+02] [-5.29426872e-01 8.47584878e-01 -3.61533204e-02 -4.04408336e+02] [-6.89513879e-02 -5.16109040e-04 9.97619887e-01 -3.88603560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.60, Y:-404.44, Z:-38.87 [[ 8.42787709e-01 5.35034352e-01 5.87121815e-02 7.48599298e+02] [-5.33811830e-01 8.44829858e-01 -3.61585395e-02 -4.04442989e+02] [-6.89478647e-02 -8.67284465e-04 9.97619887e-01 -3.88654362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.65, Y:-404.48, Z:-38.87 [[ 8.40836485e-01 5.38096507e-01 5.87039614e-02 7.48650902e+02] [-5.36880491e-01 8.42882515e-01 -3.61718800e-02 -4.04477571e+02] [-6.89445049e-02 -1.10237517e-03 9.97619888e-01 -3.88711859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.70, Y:-404.51, Z:-38.87 [[ 8.38106232e-01 5.42339743e-01 5.86987794e-02 7.48702402e+02] [-5.41133496e-01 8.40158037e-01 -3.61802873e-02 -4.04511019e+02] [-6.89382590e-02 -1.44095147e-03 9.97619888e-01 -3.88726979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.75, Y:-404.55, Z:-38.88 [[ 8.34971775e-01 5.47153761e-01 5.86932435e-02 7.48753934e+02] [-5.45958711e-01 8.37030121e-01 -3.61892656e-02 -4.04545509e+02] [-6.89291055e-02 -1.82707218e-03 9.97619888e-01 -3.88758661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.80, Y:-404.58, Z:-38.88 [[ 8.32929684e-01 5.50258380e-01 5.86843820e-02 7.48804830e+02] [-5.49069990e-01 8.34991882e-01 -3.62036297e-02 -4.04579484e+02] [-6.89223332e-02 -2.06675520e-03 9.97619888e-01 -3.88801321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.86, Y:-404.61, Z:-38.89 [[ 8.33070884e-01 5.50045096e-01 5.86795904e-02 7.48857544e+02] [-5.48855631e-01 8.35132463e-01 -3.62113944e-02 -4.04611710e+02] [-6.89231308e-02 -2.03996526e-03 9.97619888e-01 -3.88893794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.91, Y:-404.65, Z:-38.89 [[ 8.31224755e-01 5.52831355e-01 5.86762294e-02 7.48908025e+02] [-5.51648416e-01 8.33290085e-01 -3.62168396e-02 -4.04646614e+02] [-6.89161247e-02 -2.26431544e-03 9.97619888e-01 -3.88889040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:748.96, Y:-404.68, Z:-38.89 [[ 8.30791611e-01 5.53482993e-01 5.86674974e-02 7.48958693e+02] [-5.52300677e-01 8.32857298e-01 -3.62309790e-02 -4.04681124e+02] [-6.89148841e-02 -2.30170511e-03 9.97619888e-01 -3.88942606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.01, Y:-404.72, Z:-38.90 [[ 8.30621788e-01 5.53738470e-01 5.86613358e-02 7.49009227e+02] [-5.52556086e-01 8.32687436e-01 -3.62409525e-02 -4.04715245e+02] [-6.89145669e-02 -2.31115335e-03 9.97619888e-01 -3.88994742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.06, Y:-404.75, Z:-38.90 [[ 8.29702323e-01 5.55116045e-01 5.86534942e-02 7.49061519e+02] [-5.53936195e-01 8.31769419e-01 -3.62536393e-02 -4.04748798e+02] [-6.89111596e-02 -2.41056466e-03 9.97619888e-01 -3.89047445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.11, Y:-404.78, Z:-38.91 [[ 8.30495776e-01 5.53929197e-01 5.86447834e-02 7.49112371e+02] [-5.52745400e-01 8.32560614e-01 -3.62677246e-02 -4.04782967e+02] [-6.89150884e-02 -2.29544216e-03 9.97619888e-01 -3.89143364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.16, Y:-404.82, Z:-38.92 [[ 8.31162232e-01 5.52929064e-01 5.86412366e-02 7.49162246e+02] [-5.51742378e-01 8.33225411e-01 -3.62734585e-02 -4.04817146e+02] [-6.89180179e-02 -2.20572654e-03 9.97619888e-01 -3.89197041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.21, Y:-404.85, Z:-38.92 [[ 8.33008881e-01 5.50144064e-01 5.86320220e-02 7.49213460e+02] [-5.48949432e-01 8.35067469e-01 -3.62883468e-02 -4.04851562e+02] [-6.89255128e-02 -1.95750003e-03 9.97619889e-01 -3.89183927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.27, Y:-404.88, Z:-38.92 [[ 8.34362262e-01 5.48090219e-01 5.86236120e-02 7.49265900e+02] [-5.46889566e-01 8.36417344e-01 -3.63019280e-02 -4.04883427e+02] [-6.89305375e-02 -1.77168296e-03 9.97619889e-01 -3.89234447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.32, Y:-404.92, Z:-38.92 [[ 8.34195589e-01 5.48344399e-01 5.86185905e-02 7.49316956e+02] [-5.47143803e-01 8.36250704e-01 -3.63100347e-02 -4.04916888e+02] [-6.89302417e-02 -1.78312774e-03 9.97619889e-01 -3.89212629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.37, Y:-404.95, Z:-38.93 [[ 8.33898258e-01 5.48797377e-01 5.86100278e-02 7.49370095e+02] [-5.47596926e-01 8.35953458e-01 -3.63238509e-02 -4.04949937e+02] [-6.89296895e-02 -1.80427507e-03 9.97619889e-01 -3.89252095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.42, Y:-404.98, Z:-38.93 [[ 8.33028918e-01 5.50117148e-01 5.85998783e-02 7.49423383e+02] [-5.48918803e-01 8.35085347e-01 -3.63402174e-02 -4.04980778e+02] [-6.89272764e-02 -1.89412311e-03 9.97619889e-01 -3.89305685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.48, Y:-405.01, Z:-38.94 [[ 8.32343837e-01 5.51154144e-01 5.85905029e-02 7.49477322e+02] [-5.49957299e-01 8.34401138e-01 -3.63553269e-02 -4.05013484e+02] [-6.89253714e-02 -1.96214246e-03 9.97619889e-01 -3.89355716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.53, Y:-405.04, Z:-38.94 [[ 8.31674296e-01 5.52164739e-01 5.85829881e-02 7.49529972e+02] [-5.50969542e-01 8.33732555e-01 -3.63674322e-02 -4.05044165e+02] [-6.89233581e-02 -2.03158358e-03 9.97619889e-01 -3.89390015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.58, Y:-405.08, Z:-38.95 [[ 8.32354548e-01 5.51139344e-01 5.85775523e-02 7.49583596e+02] [-5.49940996e-01 8.34410974e-01 -3.63761856e-02 -4.05075182e+02] [-6.89260996e-02 -1.93631392e-03 9.97619889e-01 -3.89470293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.64, Y:-405.11, Z:-38.95 [[ 8.31511114e-01 5.52412024e-01 5.85681123e-02 7.49635930e+02] [-5.51215754e-01 8.33568750e-01 -3.63913783e-02 -4.05107744e+02] [-6.89235831e-02 -2.02383070e-03 9.97619889e-01 -3.89473939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.69, Y:-405.14, Z:-38.95 [[ 8.33106434e-01 5.50004125e-01 5.85587957e-02 7.49689686e+02] [-5.48800855e-01 8.35159984e-01 -3.64063639e-02 -4.05137957e+02] [-6.89296132e-02 -1.80674108e-03 9.97619890e-01 -3.89540929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.74, Y:-405.17, Z:-38.96 [[ 8.33777142e-01 5.48987848e-01 5.85492897e-02 7.49743321e+02] [-5.47781003e-01 8.35828593e-01 -3.64216452e-02 -4.05171406e+02] [-6.89322111e-02 -1.70465338e-03 9.97619890e-01 -3.89568835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.80, Y:-405.20, Z:-38.96 [[ 8.33786600e-01 5.48974646e-01 5.85383930e-02 7.49795726e+02] [-5.47766541e-01 8.35837308e-01 -3.64391504e-02 -4.05203843e+02] [-6.89327426e-02 -1.68289772e-03 9.97619890e-01 -3.89611816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.85, Y:-405.24, Z:-38.97 [[ 8.33457874e-01 5.49474603e-01 5.85289077e-02 7.49848336e+02] [-5.48266658e-01 8.35508677e-01 -3.64543795e-02 -4.05235751e+02] [-6.89321659e-02 -1.70625898e-03 9.97619890e-01 -3.89657738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.90, Y:-405.27, Z:-38.97 [[ 8.33625249e-01 5.49221012e-01 5.85254108e-02 7.49902012e+02] [-5.48012050e-01 8.35675452e-01 -3.64599927e-02 -4.05265636e+02] [-6.89328433e-02 -1.67865988e-03 9.97619890e-01 -3.89690111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:749.96, Y:-405.30, Z:-38.97 [[ 8.33913293e-01 5.48784529e-01 5.85163319e-02 7.49955123e+02] [-5.47573472e-01 8.35962259e-01 -3.64745580e-02 -4.05298234e+02] [-6.89341182e-02 -1.62537227e-03 9.97619890e-01 -3.89727966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.01, Y:-405.33, Z:-38.98 [[ 8.35938393e-01 5.45695936e-01 5.85059775e-02 7.50008494e+02] [-5.44476147e-01 8.37982172e-01 -3.64911592e-02 -4.05329162e+02] [-6.89400434e-02 -1.35074817e-03 9.97619891e-01 -3.89787351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.06, Y:-405.36, Z:-38.98 [[ 8.36900721e-01 5.44219909e-01 5.84967869e-02 7.50061267e+02] [-5.42995486e-01 8.38941728e-01 -3.65058862e-02 -4.05361141e+02] [-6.89426255e-02 -1.21168876e-03 9.97619891e-01 -3.89834715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.11, Y:-405.40, Z:-38.98 [[ 8.35484800e-01 5.46391501e-01 5.84933986e-02 7.50111868e+02] [-5.45172003e-01 8.37528753e-01 -3.65113144e-02 -4.05395323e+02] [-6.89393751e-02 -1.38431507e-03 9.97619891e-01 -3.89835405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.16, Y:-405.43, Z:-38.99 [[ 8.35027414e-01 5.47091190e-01 5.84845957e-02 7.50164844e+02] [-5.45872418e-01 8.37071800e-01 -3.65254098e-02 -4.05427240e+02] [-6.89385357e-02 -1.42540916e-03 9.97619891e-01 -3.89886661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.22, Y:-405.46, Z:-38.99 [[ 8.34799480e-01 5.47439965e-01 5.84748973e-02 7.50217883e+02] [-5.46220960e-01 8.36843727e-01 -3.65409297e-02 -4.05460156e+02] [-6.89383162e-02 -1.43586541e-03 9.97619891e-01 -3.89925528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.27, Y:-405.49, Z:-39.00 [[ 8.35770977e-01 5.45956759e-01 5.84644418e-02 7.50271877e+02] [-5.44732957e-01 8.37812356e-01 -3.65576506e-02 -4.05490793e+02] [-6.89411281e-02 -1.29368488e-03 9.97619891e-01 -3.89996472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.32, Y:-405.52, Z:-39.00 [[ 8.35113687e-01 5.46962654e-01 5.84549770e-02 7.50323306e+02] [-5.45740253e-01 8.37155905e-01 -3.65727783e-02 -4.05524128e+02] [-6.89398731e-02 -1.35880619e-03 9.97619891e-01 -3.90038956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.38, Y:-405.56, Z:-39.01 [[ 8.37232579e-01 5.43714313e-01 5.84495829e-02 7.50376898e+02] [-5.42483386e-01 8.39269669e-01 -3.65813970e-02 -4.05557505e+02] [-6.89447913e-02 -1.08079028e-03 9.97619891e-01 -3.90080953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.43, Y:-405.59, Z:-39.01 [[ 8.40973679e-01 5.37910307e-01 5.84446169e-02 7.50429016e+02] [-5.36664768e-01 8.43001867e-01 -3.65893293e-02 -4.05591481e+02] [-6.89506985e-02 -5.94503892e-04 9.97619891e-01 -3.90108930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.48, Y:-405.63, Z:-39.02 [[ 8.43078154e-01 5.34606980e-01 5.84346054e-02 7.50478678e+02] [-5.33352386e-01 8.45100754e-01 -3.66053111e-02 -4.05626241e+02] [-6.89525839e-02 -3.05098119e-04 9.97619892e-01 -3.90163736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.53, Y:-405.66, Z:-39.02 [[ 8.48162617e-01 5.26504125e-01 5.84258606e-02 7.50531913e+02] [-5.25229247e-01 8.50172493e-01 -3.66192634e-02 -4.05660842e+02] [-6.89522528e-02 3.72119539e-04 9.97619892e-01 -3.90169095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.58, Y:-405.70, Z:-39.02 [[ 8.50615889e-01 5.22532575e-01 5.84150408e-02 7.50581231e+02] [-5.21247128e-01 8.52619022e-01 -3.66365150e-02 -4.05696417e+02] [-6.89495475e-02 7.14929586e-04 9.97619892e-01 -3.90223220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:750.63, Y:-405.73, Z:-39.03 [[ 8.53185629e-01 5.18327090e-01 5.84064231e-02 7.50634664e+02] [-5.17030830e-01 8.55181782e-01 -3.66502483e-02 -4.05726793e+02] [-6.89449255e-02 1.07154367e-03 9.97619892e-01 -3.90296457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.68, Y:-405.76, Z:-39.03 [[ 8.53356204e-01 5.18046611e-01 5.84029019e-02 7.50684870e+02] [-5.16749311e-01 8.55351681e-01 -3.66558586e-02 -4.05762408e+02] [-6.89444636e-02 1.10084496e-03 9.97619892e-01 -3.90316767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.74, Y:-405.79, Z:-39.04 [[ 8.54338188e-01 5.16426596e-01 5.83937538e-02 7.50738426e+02] [-5.15124518e-01 8.56330550e-01 -3.66704260e-02 -4.05794152e+02] [-6.89419386e-02 1.24889107e-03 9.97619892e-01 -3.90366455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.79, Y:-405.83, Z:-39.04 [[ 8.53437087e-01 5.17915384e-01 5.83848771e-02 7.50790552e+02] [-5.16615815e-01 8.55431086e-01 -3.66845537e-02 -4.05827836e+02] [-6.89437335e-02 1.14540774e-03 9.97619892e-01 -3.90393238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.84, Y:-405.86, Z:-39.04 [[ 8.51971047e-01 5.20324549e-01 5.83754989e-02 7.50843527e+02] [-5.19029598e-01 8.53968047e-01 -3.66994709e-02 -4.05861767e+02] [-6.89464465e-02 9.68274889e-04 9.97619893e-01 -3.90415975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.90, Y:-405.89, Z:-39.05 [[ 8.49159833e-01 5.24901082e-01 5.83646430e-02 7.50897061e+02] [-5.23615708e-01 8.51163012e-01 -3.67167275e-02 -4.05894233e+02] [-6.89504753e-02 6.17726306e-04 9.97619893e-01 -3.90464985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:750.95, Y:-405.93, Z:-39.05 [[ 8.45105557e-01 5.31405153e-01 5.83537553e-02 7.50950754e+02] [-5.30134002e-01 8.47117791e-01 -3.67340230e-02 -4.05927370e+02] [-6.89531534e-02 1.08817174e-04 9.97619893e-01 -3.90508036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.00, Y:-405.96, Z:-39.06 [[ 8.42719322e-01 5.35182434e-01 5.83430048e-02 7.51002326e+02] [-5.33919121e-01 8.44736486e-01 -3.67510897e-02 -4.05959692e+02] [-6.89530025e-02 -1.79592389e-04 9.97619893e-01 -3.90563967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.06, Y:-405.99, Z:-39.06 [[ 8.41417024e-01 5.37228670e-01 5.83330797e-02 7.51058592e+02] [-5.35969170e-01 8.43436570e-01 -3.67668366e-02 -4.05988804e+02] [-6.89524514e-02 -3.28490103e-04 9.97619893e-01 -3.90600808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.11, Y:-406.02, Z:-39.06 [[ 8.39946272e-01 5.39526495e-01 5.83217070e-02 7.51109662e+02] [-5.38271268e-01 8.41968477e-01 -3.67848678e-02 -4.06024891e+02] [-6.89514496e-02 -4.95586650e-04 9.97619894e-01 -3.90644830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.16, Y:-406.06, Z:-39.07 [[ 8.40663215e-01 5.38409096e-01 5.83181346e-02 7.51163036e+02] [-5.37150788e-01 8.42683504e-01 -3.67905305e-02 -4.06057944e+02] [-6.89520863e-02 -3.97186368e-04 9.97619894e-01 -3.90678203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.22, Y:-406.09, Z:-39.07 [[ 8.43086662e-01 5.34607552e-01 5.83064846e-02 7.51215322e+02] [-5.33338858e-01 8.45100445e-01 -3.68089845e-02 -4.06091887e+02] [-6.89531972e-02 -6.39499828e-05 9.97619894e-01 -3.90729821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.27, Y:-406.13, Z:-39.08 [[ 8.43911794e-01 5.33305330e-01 5.82950113e-02 7.51268134e+02] [-5.32032274e-01 8.45922822e-01 -3.68271461e-02 -4.06126444e+02] [-6.89531938e-02 6.40354952e-05 9.97619894e-01 -3.90775982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.32, Y:-406.16, Z:-39.08 [[ 8.46616086e-01 5.29003065e-01 5.82834496e-02 7.51319524e+02] [-5.27718530e-01 8.48619801e-01 -3.68454348e-02 -4.06161083e+02] [-6.89518373e-02 4.36681366e-04 9.97619894e-01 -3.90829159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.37, Y:-406.19, Z:-39.09 [[ 8.48008626e-01 5.26768296e-01 5.82797846e-02 7.51373147e+02] [-5.25478082e-01 8.50008689e-01 -3.68512310e-02 -4.06192217e+02] [-6.89503834e-02 6.25412365e-04 9.97619894e-01 -3.90882144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.42, Y:-406.23, Z:-39.09 [[ 8.47438167e-01 5.27686747e-01 5.82687796e-02 7.51424684e+02] [-5.26397506e-01 8.49438856e-01 -3.68686238e-02 -4.06225106e+02] [-6.89508497e-02 5.71338697e-04 9.97619895e-01 -3.90935849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.48, Y:-406.26, Z:-39.10 [[ 8.45291528e-01 5.31119155e-01 5.82638466e-02 7.51477203e+02] [-5.29837500e-01 8.47297087e-01 -3.68764178e-02 -4.06258806e+02] [-6.89525593e-02 3.00952680e-04 9.97619895e-01 -3.90978309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.53, Y:-406.29, Z:-39.10 [[ 8.42546663e-01 5.35463926e-01 5.82537970e-02 7.51529138e+02] [-5.34191517e-01 8.44558099e-01 -3.68922864e-02 -4.06294428e+02] [-6.89532046e-02 -3.52113505e-05 9.97619895e-01 -3.90993612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:751.58, Y:-406.33, Z:-39.10 [[ 8.40518085e-01 5.38643776e-01 5.82428630e-02 7.51581991e+02] [-5.37377780e-01 8.42533564e-01 -3.69095402e-02 -4.06328324e+02] [-6.89526610e-02 -2.75284345e-04 9.97619895e-01 -3.91048711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.64, Y:-406.36, Z:-39.11 [[ 8.35749132e-01 5.46014468e-01 5.82373594e-02 7.51635083e+02] [-5.44765640e-01 8.37775293e-01 -3.69182220e-02 -4.06361485e+02] [-6.89477041e-02 -8.71340428e-04 9.97619895e-01 -3.91063136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.69, Y:-406.39, Z:-39.11 [[ 8.31161175e-01 5.52974685e-01 5.82245520e-02 7.51687705e+02] [-5.51741408e-01 8.33196839e-01 -3.69384098e-02 -4.06394991e+02] [-6.89385182e-02 -1.42312418e-03 9.97619895e-01 -3.91115906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.74, Y:-406.43, Z:-39.12 [[ 8.28897205e-01 5.56363118e-01 5.82194423e-02 7.51739970e+02] [-5.55137597e-01 8.30937547e-01 -3.69464616e-02 -4.06427906e+02] [-6.89323691e-02 -1.69498251e-03 9.97619895e-01 -3.91168936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.79, Y:-406.46, Z:-39.12 [[ 8.27531148e-01 5.58394097e-01 5.82085220e-02 7.51791794e+02] [-5.57172374e-01 8.29573766e-01 -3.69636583e-02 -4.06463033e+02] [-6.89285514e-02 -1.84360178e-03 9.97619896e-01 -3.91218923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.84, Y:-406.50, Z:-39.13 [[ 8.28055578e-01 5.57617170e-01 5.81983803e-02 7.51843071e+02] [-5.56392410e-01 8.30096376e-01 -3.69796192e-02 -4.06499310e+02] [-6.89307352e-02 -1.75995713e-03 9.97619896e-01 -3.91263863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.90, Y:-406.54, Z:-39.13 [[ 8.28610050e-01 5.56793961e-01 5.81882319e-02 7.51895153e+02] [-5.55566053e-01 8.30648956e-01 -3.69955811e-02 -4.06535160e+02] [-6.89329102e-02 -1.67249599e-03 9.97619896e-01 -3.91305278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:751.95, Y:-406.57, Z:-39.14 [[ 8.28918972e-01 5.56335004e-01 5.81781807e-02 7.51945420e+02] [-5.55104859e-01 8.30956529e-01 -3.70113807e-02 -4.06569874e+02] [-6.89342657e-02 -1.61555515e-03 9.97619896e-01 -3.91371931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.00, Y:-406.60, Z:-39.14 [[ 8.29167298e-01 5.55965668e-01 5.81701638e-02 7.51996725e+02] [-5.54733732e-01 8.31203773e-01 -3.70239764e-02 -4.06604251e+02] [-6.89353194e-02 -1.56988159e-03 9.97619896e-01 -3.91432459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.05, Y:-406.64, Z:-39.15 [[ 8.30724345e-01 5.53637334e-01 5.81615370e-02 7.52047096e+02] [-5.52398742e-01 8.32756778e-01 -3.70375235e-02 -4.06640079e+02] [-6.89397699e-02 -1.36038742e-03 9.97619896e-01 -3.91484257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.10, Y:-406.67, Z:-39.15 [[ 8.31265674e-01 5.52825215e-01 5.81520594e-02 7.52097518e+02] [-5.51583597e-01 8.33296259e-01 -3.70523982e-02 -4.06673637e+02] [-6.89413935e-02 -1.27533533e-03 9.97619896e-01 -3.91516069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.15, Y:-406.71, Z:-39.16 [[ 8.32207213e-01 5.51407747e-01 5.81433716e-02 7.52150328e+02] [-5.50161718e-01 8.34235095e-01 -3.70660262e-02 -4.06705629e+02] [-6.89437351e-02 -1.14164292e-03 9.97619897e-01 -3.91552357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.20, Y:-406.74, Z:-39.16 [[ 8.32678938e-01 5.50696151e-01 5.81337753e-02 7.52203379e+02] [-5.49447340e-01 8.34705107e-01 -3.70810707e-02 -4.06739708e+02] [-6.89449621e-02 -1.06482163e-03 9.97619897e-01 -3.91576528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.26, Y:-406.77, Z:-39.16 [[ 8.32889721e-01 5.50378465e-01 5.81227883e-02 7.52255671e+02] [-5.49127679e-01 8.34914672e-01 -3.70982845e-02 -4.06773743e+02] [-6.89456655e-02 -1.01805204e-03 9.97619897e-01 -3.91608946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.31, Y:-406.81, Z:-39.16 [[ 8.32852837e-01 5.50435439e-01 5.81117904e-02 7.52308121e+02] [-5.49183591e-01 8.34877131e-01 -3.71155039e-02 -4.06805952e+02] [-6.89458935e-02 -1.00228902e-03 9.97619897e-01 -3.91645284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.36, Y:-406.84, Z:-39.17 [[ 8.32489624e-01 5.50985686e-01 5.81016339e-02 7.52361200e+02] [-5.49734067e-01 8.34514059e-01 -3.71313963e-02 -4.06839558e+02] [-6.89454982e-02 -1.02894537e-03 9.97619897e-01 -3.91689577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.41, Y:-406.87, Z:-39.17 [[ 8.33083622e-01 5.50088290e-01 5.80908964e-02 7.52414552e+02] [-5.48833319e-01 8.35105981e-01 -3.71481872e-02 -4.06872042e+02] [-6.89468378e-02 -9.34673136e-04 9.97619898e-01 -3.91736671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.47, Y:-406.90, Z:-39.18 [[ 8.34445229e-01 5.48021772e-01 5.80800945e-02 7.52467079e+02] [-5.46760618e-01 8.36463738e-01 -3.71650680e-02 -4.06903681e+02] [-6.89491594e-02 -7.43694683e-04 9.97619898e-01 -3.91778668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.52, Y:-406.94, Z:-39.18 [[ 8.36520298e-01 5.44850114e-01 5.80701658e-02 7.52520138e+02] [-5.43580230e-01 8.38533326e-01 -3.71805752e-02 -4.06937057e+02] [-6.89516099e-02 -4.63488259e-04 9.97619898e-01 -3.91826952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:752.57, Y:-406.97, Z:-39.19 [[ 8.38069032e-01 5.42466009e-01 5.80596768e-02 7.52573086e+02] [-5.41189264e-01 8.40077715e-01 -3.71969472e-02 -4.06970950e+02] [-6.89527201e-02 -2.47664188e-04 9.97619898e-01 -3.91878536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.63, Y:-407.00, Z:-39.19 [[ 8.40826049e-01 5.38183834e-01 5.80492532e-02 7.52625579e+02] [-5.36895736e-01 8.42827471e-01 -3.72132071e-02 -4.07004997e+02] [-6.89530517e-02 1.23437355e-04 9.97619898e-01 -3.91928678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.68, Y:-407.04, Z:-39.20 [[ 8.45662063e-01 5.30553636e-01 5.80388992e-02 7.52679088e+02] [-5.29246374e-01 8.47651020e-01 -3.72293485e-02 -4.07035985e+02] [-6.89488983e-02 7.66570701e-04 9.97619898e-01 -3.92030716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:752.73, Y:-407.07, Z:-39.21 [[ 8.46184094e-01 5.29721669e-01 5.80295887e-02 7.52731933e+02] [-5.28411456e-01 8.48171108e-01 -3.72438551e-02 -4.07070641e+02] [-6.89478977e-02 8.51658296e-04 9.97619899e-01 -3.92061049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.78, Y:-407.10, Z:-39.21 [[ 8.45286093e-01 5.31154055e-01 5.80240588e-02 7.52782797e+02] [-5.29846618e-01 8.47274935e-01 -3.72524686e-02 -4.07104327e+02] [-6.89491303e-02 7.45142303e-04 9.97619899e-01 -3.92053971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.84, Y:-407.14, Z:-39.21 [[ 8.43843257e-01 5.33444424e-01 5.80138343e-02 7.52836152e+02] [-5.32141291e-01 8.45834921e-01 -3.72683846e-02 -4.07137084e+02] [-6.89507389e-02 5.77118349e-04 9.97619899e-01 -3.92090581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.89, Y:-407.17, Z:-39.21 [[ 8.41637955e-01 5.36918197e-01 5.80034650e-02 7.52889786e+02] [-5.35622173e-01 8.43634253e-01 -3.72845161e-02 -4.07169357e+02] [-6.89524450e-02 3.12121957e-04 9.97619899e-01 -3.92138979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:752.94, Y:-407.20, Z:-39.22 [[ 8.40135989e-01 5.39266474e-01 5.79930080e-02 7.52942838e+02] [-5.37974908e-01 8.42135173e-01 -3.73007740e-02 -4.07202197e+02] [-6.89530087e-02 1.38939479e-04 9.97619899e-01 -3.92185516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.00, Y:-407.23, Z:-39.23 [[ 8.35658977e-01 5.46179554e-01 5.79824903e-02 7.52996586e+02] [-5.44903392e-01 8.37668029e-01 -3.73171162e-02 -4.07232929e+02] [-6.89519242e-02 -4.10472503e-04 9.97619899e-01 -3.92273292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.05, Y:-407.26, Z:-39.23 [[ 8.31586908e-01 5.52360072e-01 5.79790055e-02 7.53050525e+02] [-5.51098463e-01 8.33605130e-01 -3.73225296e-02 -4.07262656e+02] [-6.89470716e-02 -9.15213806e-04 9.97619899e-01 -3.92346269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.10, Y:-407.30, Z:-39.23 [[ 8.28225737e-01 5.57388430e-01 5.79678148e-02 7.53101810e+02] [-5.56137857e-01 8.30250815e-01 -3.73399026e-02 -4.07295806e+02] [-6.89406551e-02 -1.31222795e-03 9.97619900e-01 -3.92348135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.15, Y:-407.33, Z:-39.25 [[ 8.28219632e-01 5.57398077e-01 5.79622764e-02 7.53154927e+02] [-5.56146926e-01 8.30244354e-01 -3.73484977e-02 -4.07326743e+02] [-6.89408335e-02 -1.30278285e-03 9.97619900e-01 -3.92459624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.21, Y:-407.36, Z:-39.24 [[ 8.26956643e-01 5.59270501e-01 5.79587505e-02 7.53206339e+02] [-5.58023551e-01 8.28983955e-01 -3.73539686e-02 -4.07361971e+02] [-6.89378469e-02 -1.45223531e-03 9.97619900e-01 -3.92430567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.26, Y:-407.39, Z:-39.25 [[ 8.29160634e-01 5.55998716e-01 5.79488661e-02 7.53258780e+02] [-5.54742695e-01 8.31182337e-01 -3.73692964e-02 -4.07394115e+02] [-6.89433548e-02 -1.16156072e-03 9.97619900e-01 -3.92532582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.31, Y:-407.43, Z:-39.25 [[ 8.28136035e-01 5.57524677e-01 5.79391227e-02 7.53308728e+02] [-5.56271324e-01 8.30159395e-01 -3.73843969e-02 -4.07429188e+02] [-6.89414309e-02 -1.27050625e-03 9.97619900e-01 -3.92526504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.36, Y:-407.46, Z:-39.26 [[ 8.29315833e-01 5.55769141e-01 5.79302292e-02 7.53361278e+02] [-5.54510543e-01 8.31335934e-01 -3.73981730e-02 -4.07462834e+02] [-6.89442317e-02 -1.10802583e-03 9.97619900e-01 -3.92604434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.41, Y:-407.50, Z:-39.27 [[ 8.31373349e-01 5.52687730e-01 5.79191470e-02 7.53413794e+02] [-5.51420449e-01 8.33388014e-01 -3.74153285e-02 -4.07496539e+02] [-6.89481158e-02 -8.31695087e-04 9.97619900e-01 -3.92686304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.46, Y:-407.53, Z:-39.27 [[ 8.30666914e-01 5.53750066e-01 5.79080581e-02 7.53462549e+02] [-5.52484166e-01 8.32682446e-01 -3.74324831e-02 -4.07533918e+02] [-6.89472634e-02 -8.99359978e-04 9.97619901e-01 -3.92695378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.51, Y:-407.57, Z:-39.27 [[ 8.31605546e-01 5.52340381e-01 5.78992186e-02 7.53513397e+02] [-5.51070113e-01 8.33618328e-01 -3.74461506e-02 -4.07570041e+02] [-6.89488709e-02 -7.66102383e-04 9.97619901e-01 -3.92739718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.57, Y:-407.61, Z:-39.28 [[ 8.32146139e-01 5.51526543e-01 5.78901959e-02 7.53565150e+02] [-5.50253337e-01 8.34157064e-01 -3.74600942e-02 -4.07605785e+02] [-6.89497521e-02 -6.82000669e-04 9.97619901e-01 -3.92777402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.62, Y:-407.64, Z:-39.28 [[ 8.32335350e-01 5.51242053e-01 5.78797405e-02 7.53616871e+02] [-5.49967037e-01 8.34345126e-01 -3.74762420e-02 -4.07641337e+02] [-6.89501600e-02 -6.39148372e-04 9.97619901e-01 -3.92806702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.67, Y:-407.68, Z:-39.28 [[ 8.32932306e-01 5.50340731e-01 5.78692831e-02 7.53667628e+02] [-5.49062418e-01 8.34939988e-01 -3.74923829e-02 -4.07676579e+02] [-6.89509639e-02 -5.45231563e-04 9.97619901e-01 -3.92825924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.72, Y:-407.71, Z:-39.28 [[ 8.33999902e-01 5.48722473e-01 5.78602709e-02 7.53719820e+02] [-5.47439299e-01 8.36004481e-01 -3.75062858e-02 -4.07710779e+02] [-6.89519877e-02 -3.94747454e-04 9.97619901e-01 -3.92847624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.77, Y:-407.74, Z:-39.29 [[ 8.36828441e-01 5.44400303e-01 5.78486868e-02 7.53773446e+02] [-5.43105541e-01 8.38825554e-01 -3.75241445e-02 -4.07741691e+02] [-6.89531123e-02 -1.66710297e-05 9.97619902e-01 -3.92943346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.82, Y:-407.78, Z:-39.30 [[ 8.35405120e-01 5.46583028e-01 5.78383966e-02 7.53822049e+02] [-5.45292386e-01 8.37404897e-01 -3.75399987e-02 -4.07778778e+02] [-6.89528827e-02 -1.77730238e-04 9.97619902e-01 -3.92955436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.88, Y:-407.81, Z:-39.30 [[ 8.37274286e-01 5.43716399e-01 5.78294661e-02 7.53876353e+02] [-5.42417960e-01 8.39269011e-01 -3.75537508e-02 -4.07810703e+02] [-6.89530690e-02 7.50488295e-05 9.97619902e-01 -3.93023963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.93, Y:-407.84, Z:-39.31 [[ 8.36615997e-01 5.44729944e-01 5.78183519e-02 7.53926401e+02] [-5.43432740e-01 8.38611524e-01 -3.75708547e-02 -4.07844974e+02] [-6.89531058e-02 1.19926517e-05 9.97619902e-01 -3.93070374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:753.98, Y:-407.88, Z:-39.31 [[ 8.37549603e-01 5.43294325e-01 5.78095024e-02 7.53978487e+02] [-5.41992761e-01 8.39542289e-01 -3.75844663e-02 -4.07879608e+02] [-6.89529492e-02 1.46523013e-04 9.97619902e-01 -3.93110749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.03, Y:-407.91, Z:-39.32 [[ 8.38986024e-01 5.41074598e-01 5.77990653e-02 7.54031046e+02] [-5.39766656e-01 8.40974529e-01 -3.76005102e-02 -4.07912150e+02] [-6.89522226e-02 3.48294343e-04 9.97619902e-01 -3.93167322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.08, Y:-407.95, Z:-39.32 [[ 8.38821161e-01 5.41331225e-01 5.77889703e-02 7.54084168e+02] [-5.40022824e-01 8.40809363e-01 -3.76160190e-02 -4.07945437e+02] [-6.89522330e-02 3.45749838e-04 9.97619903e-01 -3.93207309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.14, Y:-407.98, Z:-39.32 [[ 8.36833086e-01 5.44400812e-01 5.77766572e-02 7.54135704e+02] [-5.43098398e-01 8.38825216e-01 -3.76349219e-02 -4.07978975e+02] [-6.89529990e-02 1.15737881e-04 9.97619903e-01 -3.93212940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.19, Y:-408.01, Z:-39.33 [[ 8.35336885e-01 5.46694454e-01 5.77707810e-02 7.54189996e+02] [-5.45396886e-01 8.37332175e-01 -3.76439400e-02 -4.08008846e+02] [-6.89530669e-02 -6.26324980e-05 9.97619903e-01 -3.93321427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.24, Y:-408.04, Z:-39.33 [[ 8.30652865e-01 5.53785846e-01 5.77672526e-02 7.54240950e+02] [-5.52504935e-01 8.32658888e-01 -3.76493538e-02 -4.08042390e+02] [-6.89500955e-02 -6.43148519e-04 9.97619903e-01 -3.93316085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.29, Y:-408.08, Z:-39.34 [[ 8.28534804e-01 5.56950700e-01 5.77580916e-02 7.54294227e+02] [-5.55676472e-01 8.30545078e-01 -3.76634024e-02 -4.08075412e+02] [-6.89473571e-02 -8.89372885e-04 9.97619903e-01 -3.93355224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.35, Y:-408.11, Z:-39.34 [[ 8.27058669e-01 5.59141488e-01 5.77473338e-02 7.54346205e+02] [-5.57871434e-01 8.29071583e-01 -3.76798897e-02 -4.08108521e+02] [-6.89450630e-02 -1.05210846e-03 9.97619903e-01 -3.93405684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.40, Y:-408.14, Z:-39.34 [[ 8.25803011e-01 5.60995348e-01 5.77373914e-02 7.54398595e+02] [-5.59728748e-01 8.27818100e-01 -3.76951184e-02 -4.08143425e+02] [-6.89428437e-02 -1.18853547e-03 9.97619903e-01 -3.93441562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:754.45, Y:-408.18, Z:-39.35 [[ 8.24872348e-01 5.62363989e-01 5.77265467e-02 7.54449460e+02] [-5.61099571e-01 8.26888806e-01 -3.77117187e-02 -4.08179676e+02] [-6.89411479e-02 -1.28298661e-03 9.97619904e-01 -3.93480747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters Centerline goodness : 0.997416 with order 1 Centerline is valid? [True, True] Translation: X:754.95, Y:-407.60, Z:-38.37 [[ 8.83311988e-01 4.65219161e-01 5.77153758e-02 7.54952637e+02] [-4.63733180e-01 8.85171212e-01 -3.77288074e-02 -4.07604567e+02] [-6.86401533e-02 6.56177315e-03 9.97619904e-01 -3.83675085e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.01, Y:-407.64, Z:-38.37 [[ 8.83797319e-01 4.63849050e-01 6.12075020e-02 7.55005647e+02] [-4.62827234e-01 8.85913549e-01 -3.07918085e-02 -4.07635194e+02] [-6.85073064e-02 -1.11478102e-03 9.97649992e-01 -3.83683690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.06, Y:-407.66, Z:-38.37 [[ 8.83933800e-01 4.63590078e-01 6.11986660e-02 7.55061106e+02] [-4.62566427e-01 8.86049143e-01 -3.08093600e-02 -4.07663942e+02] [-6.85079392e-02 -1.07501362e-03 9.97649992e-01 -3.83728152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.11, Y:-407.69, Z:-38.38 [[ 8.84525932e-01 4.62459656e-01 6.11959340e-02 7.55114991e+02] [-4.61432927e-01 8.86639782e-01 -3.08147856e-02 -4.07694291e+02] [-6.85093448e-02 -9.81342027e-04 9.97649992e-01 -3.83778491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.17, Y:-407.72, Z:-38.38 [[ 8.85416612e-01 4.60753094e-01 6.11883222e-02 7.55169876e+02] [-4.59721246e-01 8.87527968e-01 -3.08298929e-02 -4.07724553e+02] [-6.85113158e-02 -8.32272354e-04 9.97649992e-01 -3.83815987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.22, Y:-407.76, Z:-38.38 [[ 8.87252454e-01 4.57209066e-01 6.11796726e-02 7.55222750e+02] [-4.56167601e-01 8.89359084e-01 -3.08470478e-02 -4.07757025e+02] [-6.85142475e-02 -5.39065582e-04 9.97649992e-01 -3.83825240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.28, Y:-407.79, Z:-38.38 [[ 8.87915446e-01 4.55921202e-01 6.11720322e-02 7.55277329e+02] [-4.54875639e-01 8.90020044e-01 -3.08621919e-02 -4.07785693e+02] [-6.85150624e-02 -4.22650332e-04 9.97649993e-01 -3.83847966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.33, Y:-407.81, Z:-38.39 [[ 8.87205635e-01 4.57301870e-01 6.11650266e-02 7.55333552e+02] [-4.56258624e-01 8.89311383e-01 -3.08760700e-02 -4.07811920e+02] [-6.85144389e-02 -5.13647620e-04 9.97649993e-01 -3.83887024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:755.39, Y:-407.84, Z:-38.39 [[ 8.86393230e-01 4.58875602e-01 6.11573739e-02 7.55388554e+02] [-4.57835050e-01 8.88500309e-01 -3.08912205e-02 -4.07839249e+02] [-6.85135730e-02 -6.18220566e-04 9.97649993e-01 -3.83937291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.44, Y:-407.87, Z:-38.40 [[ 8.85861038e-01 4.59902878e-01 6.11519732e-02 7.55444976e+02] [-4.58864032e-01 8.87968959e-01 -3.09019080e-02 -4.07866545e+02] [-6.85129304e-02 -6.85644693e-04 9.97649993e-01 -3.83987146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.50, Y:-407.89, Z:-38.40 [[ 8.85705125e-01 4.60204284e-01 6.11428443e-02 7.55501384e+02] [-4.59164909e-01 8.87812786e-01 -3.09199600e-02 -4.07891735e+02] [-6.85128970e-02 -6.88681489e-04 9.97649993e-01 -3.84037297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:755.56, Y:-407.92, Z:-38.41 [[ 8.86762607e-01 4.58164449e-01 6.11344136e-02 7.55558232e+02] [-4.57119077e-01 8.88867299e-01 -3.09366201e-02 -4.07916362e+02] [-6.85144406e-02 -5.12268835e-04 9.97649993e-01 -3.84107072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.61, Y:-407.94, Z:-38.41 [[ 8.88275418e-01 4.55225594e-01 6.11264280e-02 7.55612465e+02] [-4.54172173e-01 8.90376093e-01 -3.09523905e-02 -4.07943572e+02] [-6.85158305e-02 -2.67674975e-04 9.97649993e-01 -3.84136329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.67, Y:-407.97, Z:-38.42 [[ 8.89705528e-01 4.52424779e-01 6.11219420e-02 7.55667375e+02] [-4.51364137e-01 8.91802566e-01 -3.09612465e-02 -4.07971805e+02] [-6.85163398e-02 -4.18603862e-05 9.97649993e-01 -3.84176246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.72, Y:-408.00, Z:-38.42 [[ 8.91650649e-01 4.48580207e-01 6.11139729e-02 7.55723590e+02] [-4.47509445e-01 8.93742538e-01 -3.09769687e-02 -4.07998770e+02] [-6.85158122e-02 2.71554156e-04 9.97649994e-01 -3.84209417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.78, Y:-408.03, Z:-38.42 [[ 8.92344144e-01 4.47200123e-01 6.11062952e-02 7.55778714e+02] [-4.46125089e-01 8.94433840e-01 -3.09921066e-02 -4.08026792e+02] [-6.85152121e-02 3.94573465e-04 9.97649994e-01 -3.84244849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.83, Y:-408.05, Z:-38.43 [[ 8.91434878e-01 4.49010993e-01 6.10981750e-02 7.55834921e+02] [-4.47939108e-01 8.93526191e-01 -3.10081066e-02 -4.08054031e+02] [-6.85158003e-02 2.73445671e-04 9.97649994e-01 -3.84279890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.89, Y:-408.08, Z:-38.43 [[ 8.90422294e-01 4.51016867e-01 6.10894776e-02 7.55891155e+02] [-4.49948517e-01 8.92515416e-01 -3.10252320e-02 -4.08080308e+02] [-6.85162034e-02 1.38438365e-04 9.97649994e-01 -3.84320994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:755.95, Y:-408.11, Z:-38.44 [[ 8.88187640e-01 4.55402869e-01 6.10814519e-02 7.55948762e+02] [-4.54343769e-01 8.90285457e-01 -3.10410247e-02 -4.08105515e+02] [-6.85161000e-02 -1.81722594e-04 9.97649994e-01 -3.84383009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.01, Y:-408.13, Z:-38.44 [[ 8.86557250e-01 4.58569922e-01 6.10726609e-02 7.56005440e+02] [-4.57517125e-01 8.88658237e-01 -3.10583113e-02 -4.08131259e+02] [-6.85151305e-02 -4.06817218e-04 9.97649994e-01 -3.84445150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.06, Y:-408.16, Z:-38.45 [[ 8.85416313e-01 4.60770194e-01 6.10637492e-02 7.56061044e+02] [-4.59721410e-01 8.87519306e-01 -3.10758227e-02 -4.08159373e+02] [-6.85140691e-02 -5.57272503e-04 9.97649995e-01 -3.84485407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.12, Y:-408.19, Z:-38.45 [[ 8.85238633e-01 4.61112492e-01 6.10559753e-02 7.56117184e+02] [-4.60063469e-01 8.87341506e-01 -3.10910889e-02 -4.08185610e+02] [-6.85139906e-02 -5.66590712e-04 9.97649995e-01 -3.84541091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.17, Y:-408.21, Z:-38.46 [[ 8.85679684e-01 4.60265797e-01 6.10482918e-02 7.56172419e+02] [-4.59213724e-01 8.87781033e-01 -3.11061684e-02 -4.08213495e+02] [-6.85146209e-02 -4.84111980e-04 9.97649995e-01 -3.84593393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.23, Y:-408.24, Z:-38.46 [[ 8.87709461e-01 4.56339796e-01 6.10401812e-02 7.56227848e+02] [-4.55277336e-01 8.89805577e-01 -3.11220759e-02 -4.08243099e+02] [-6.85161354e-02 -1.62849822e-04 9.97649995e-01 -3.84619240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.28, Y:-408.27, Z:-38.47 [[ 8.89645496e-01 4.52555088e-01 6.10310037e-02 7.56281188e+02] [-4.51482476e-01 8.91736436e-01 -3.11400629e-02 -4.08274568e+02] [-6.85161635e-02 1.49188060e-04 9.97649995e-01 -3.84662554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.34, Y:-408.30, Z:-38.47 [[ 8.91473572e-01 4.48944450e-01 6.10225522e-02 7.56336547e+02] [-4.47862237e-01 8.93559557e-01 -3.11566157e-02 -4.08304924e+02] [-6.85148744e-02 4.45602743e-04 9.97649995e-01 -3.84684010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.39, Y:-408.33, Z:-38.47 [[ 8.92078352e-01 4.47742730e-01 6.10136245e-02 7.56390344e+02] [-4.46656512e-01 8.94162254e-01 -3.11740889e-02 -4.08334717e+02] [-6.85140517e-02 5.57597178e-04 9.97649996e-01 -3.84722506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.45, Y:-408.36, Z:-38.48 [[ 8.91739674e-01 4.48417621e-01 6.10081305e-02 7.56445756e+02] [-4.47332244e-01 8.93824015e-01 -3.11848371e-02 -4.08363205e+02] [-6.85143626e-02 5.17852526e-04 9.97649996e-01 -3.84767763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.50, Y:-408.39, Z:-38.48 [[ 8.89183714e-01 4.53465997e-01 6.09992890e-02 7.56500702e+02] [-4.52391269e-01 8.91273565e-01 -3.12021219e-02 -4.08390639e+02] [-6.85161551e-02 1.48872875e-04 9.97649996e-01 -3.84820554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.56, Y:-408.42, Z:-38.49 [[ 8.87389096e-01 4.56968943e-01 6.09916228e-02 7.56556881e+02] [-4.55901435e-01 8.89482644e-01 -3.12171002e-02 -4.08418499e+02] [-6.85162352e-02 -1.04454080e-04 9.97649996e-01 -3.84868681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.61, Y:-408.45, Z:-38.49 [[ 8.84612023e-01 4.62323101e-01 6.09829365e-02 7.56613028e+02] [-4.61267095e-01 8.86711397e-01 -3.12340598e-02 -4.08446547e+02] [-6.85144922e-02 -4.99397050e-04 9.97649996e-01 -3.84907281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.67, Y:-408.47, Z:-38.50 [[ 8.81639241e-01 4.67968389e-01 6.09740571e-02 7.56668728e+02] [-4.66924626e-01 8.83744728e-01 -3.12513843e-02 -4.08473724e+02] [-6.85101615e-02 -9.17842089e-04 9.97649996e-01 -3.84953956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.73, Y:-408.50, Z:-38.50 [[ 8.79542845e-01 4.71897815e-01 6.09658524e-02 7.56725147e+02] [-4.70862350e-01 8.81652425e-01 -3.12673820e-02 -4.08501110e+02] [-6.85057009e-02 -1.20552236e-03 9.97649997e-01 -3.84992266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.78, Y:-408.53, Z:-38.50 [[ 8.79078958e-01 4.72762547e-01 6.09570287e-02 7.56781248e+02] [-4.71727965e-01 8.81188971e-01 -3.12845747e-02 -4.08529883e+02] [-6.85048366e-02 -1.25352371e-03 9.97649997e-01 -3.85035953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.84, Y:-408.56, Z:-38.51 [[ 8.79301701e-01 4.72349265e-01 6.09482676e-02 7.56836155e+02] [-4.71312508e-01 8.81410646e-01 -3.13016336e-02 -4.08559287e+02] [-6.85057556e-02 -1.20210122e-03 9.97649997e-01 -3.85095785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.89, Y:-408.59, Z:-38.51 [[ 8.79296409e-01 4.72359521e-01 6.09451221e-02 7.56890147e+02] [-4.71322366e-01 8.81405158e-01 -3.13077569e-02 -4.08587906e+02] [-6.85058620e-02 -1.19600086e-03 9.97649997e-01 -3.85114302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:756.94, Y:-408.62, Z:-38.52 [[ 8.79309084e-01 4.72336980e-01 6.09369494e-02 7.56943996e+02] [-4.71298669e-01 8.81417264e-01 -3.13236560e-02 -4.08615773e+02] [-6.85062003e-02 -1.17632782e-03 9.97649997e-01 -3.85169587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.00, Y:-408.65, Z:-38.52 [[ 8.79361103e-01 4.72241059e-01 6.09297417e-02 7.56998339e+02] [-4.71201547e-01 8.81468691e-01 -3.13376700e-02 -4.08645820e+02] [-6.85065941e-02 -1.15306044e-03 9.97649997e-01 -3.85219371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.05, Y:-408.68, Z:-38.53 [[ 8.78980370e-01 4.72950390e-01 6.09215726e-02 7.57053420e+02] [-4.71911479e-01 8.81088254e-01 -3.13535429e-02 -4.08675365e+02] [-6.85059524e-02 -1.19044066e-03 9.97649997e-01 -3.85264266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.11, Y:-408.70, Z:-38.53 [[ 8.78136692e-01 4.74516136e-01 6.09129471e-02 7.57108779e+02] [-4.73479821e-01 8.80245854e-01 -3.13702916e-02 -4.08704101e+02] [-6.85040786e-02 -1.29364723e-03 9.97649998e-01 -3.85312997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.16, Y:-408.73, Z:-38.54 [[ 8.76671944e-01 4.77217955e-01 6.09042412e-02 7.57163470e+02] [-4.76186968e-01 8.78783714e-01 -3.13871846e-02 -4.08734022e+02] [-6.85001834e-02 -1.48554182e-03 9.97649998e-01 -3.85355825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.22, Y:-408.76, Z:-38.54 [[ 8.75984829e-01 4.78479057e-01 6.08963895e-02 7.57218009e+02] [-4.77450052e-01 8.78097567e-01 -3.14024109e-02 -4.08763735e+02] [-6.84983674e-02 -1.56694882e-03 9.97649998e-01 -3.85407672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.27, Y:-408.79, Z:-38.54 [[ 8.76476189e-01 4.77579378e-01 6.08886603e-02 7.57271468e+02] [-4.76547164e-01 8.78587360e-01 -3.14173905e-02 -4.08793323e+02] [-6.85003051e-02 -1.47972368e-03 9.97649998e-01 -3.85446277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.33, Y:-408.82, Z:-38.55 [[ 8.77786571e-01 4.75167516e-01 6.08815902e-02 7.57325768e+02] [-4.74128551e-01 8.79894428e-01 -3.14310852e-02 -4.08823404e+02] [-6.85044026e-02 -1.27591563e-03 9.97649998e-01 -3.85477759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.38, Y:-408.85, Z:-38.55 [[ 8.80313858e-01 4.70469826e-01 6.08740901e-02 7.57378329e+02] [-4.69418608e-01 8.82415630e-01 -3.14456043e-02 -4.08853640e+02] [-6.85104566e-02 -8.93429391e-04 9.97649998e-01 -3.85506989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.43, Y:-408.88, Z:-38.56 [[ 8.84362503e-01 4.62815037e-01 6.08703964e-02 7.57434285e+02] [-4.61745132e-01 8.86454825e-01 -3.14527527e-02 -4.08879626e+02] [-6.85156635e-02 -2.90974178e-04 9.97649998e-01 -3.85576383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.49, Y:-408.91, Z:-38.56 [[ 8.83139854e-01 4.65144907e-01 6.08622567e-02 7.57486435e+02] [-4.64079437e-01 8.85234438e-01 -3.14684955e-02 -4.08912132e+02] [-6.85147760e-02 -4.53839292e-04 9.97649999e-01 -3.85591945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.54, Y:-408.94, Z:-38.57 [[ 8.82108253e-01 4.67099260e-01 6.08548457e-02 7.57540993e+02] [-4.66037443e-01 8.84204690e-01 -3.14828207e-02 -4.08938056e+02] [-6.85137422e-02 -5.89380694e-04 9.97649999e-01 -3.85658613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.60, Y:-408.97, Z:-38.57 [[ 8.81474998e-01 4.68294123e-01 6.08477058e-02 7.57596824e+02] [-4.67234195e-01 8.83572391e-01 -3.14966141e-02 -4.08965442e+02] [-6.85130322e-02 -6.66651004e-04 9.97649999e-01 -3.85715355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.65, Y:-408.99, Z:-38.58 [[ 8.81187679e-01 4.68835534e-01 6.08400945e-02 7.57652929e+02] [-4.67775881e-01 8.83285210e-01 -3.15113095e-02 -4.08993680e+02] [-6.85127773e-02 -6.92151113e-04 9.97649999e-01 -3.85755339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.71, Y:-409.02, Z:-38.58 [[ 8.81206406e-01 4.68801454e-01 6.08314637e-02 7.57709729e+02] [-4.67740570e-01 8.83303315e-01 -3.15279623e-02 -4.09019790e+02] [-6.85129881e-02 -6.70701130e-04 9.97649999e-01 -3.85794660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.77, Y:-409.05, Z:-38.58 [[ 8.81358102e-01 4.68517180e-01 6.08239143e-02 7.57765825e+02] [-4.67454615e-01 8.83454160e-01 -3.15425198e-02 -4.09047360e+02] [-6.85133526e-02 -6.32164073e-04 9.97649999e-01 -3.85788972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.82, Y:-409.07, Z:-38.59 [[ 8.82068381e-01 4.67179605e-01 6.08160184e-02 7.57820893e+02] [-4.66112812e-01 8.84162290e-01 -3.15577364e-02 -4.09072941e+02] [-6.85143609e-02 -5.11043909e-04 9.97649999e-01 -3.85868110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.88, Y:-409.10, Z:-38.59 [[ 8.82114251e-01 4.67093519e-01 6.08119449e-02 7.57877154e+02] [-4.66025981e-01 8.84207781e-01 -3.15655841e-02 -4.09100197e+02] [-6.85144746e-02 -4.95494699e-04 9.97649999e-01 -3.85919154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters Centerline goodness : 0.996423 with order 1 Centerline is valid? [True, True] Translation: X:757.93, Y:-409.13, Z:-38.60 [[ 8.82391247e-01 4.66571191e-01 6.08030512e-02 7.57932583e+02] [-4.65501234e-01 8.84483541e-01 -3.15827062e-02 -4.09127604e+02] [-6.85148789e-02 -4.35591884e-04 9.97650000e-01 -3.85987978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:757.99, Y:-409.15, Z:-38.60 [[ 8.82858625e-01 4.65686660e-01 6.07995324e-02 7.57987525e+02] [-4.64614140e-01 8.84949606e-01 -3.15894787e-02 -4.09154793e+02] [-6.85153211e-02 -3.59278742e-04 9.97650000e-01 -3.86015160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.04, Y:-409.18, Z:-38.60 [[ 8.83120511e-01 4.65191028e-01 6.07903909e-02 7.58043057e+02] [-4.64116124e-01 8.85210267e-01 -3.16070609e-02 -4.09183655e+02] [-6.85155993e-02 -3.00956773e-04 9.97650000e-01 -3.86049527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.10, Y:-409.21, Z:-38.61 [[ 8.83539489e-01 4.64395939e-01 6.07814352e-02 7.58098268e+02] [-4.63317970e-01 8.85627667e-01 -3.16242735e-02 -4.09213047e+02] [-6.85159049e-02 -2.19836718e-04 9.97650000e-01 -3.86089745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.15, Y:-409.24, Z:-38.61 [[ 8.83160432e-01 4.65117576e-01 6.07724594e-02 7.58153703e+02] [-4.64040128e-01 8.85248877e-01 -3.16415131e-02 -4.09242254e+02] [-6.85157753e-02 -2.56327457e-04 9.97650000e-01 -3.86141947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.21, Y:-409.27, Z:-38.62 [[ 8.82185756e-01 4.66964755e-01 6.07635629e-02 7.58208280e+02] [-4.65890503e-01 8.84275847e-01 -3.16585886e-02 -4.09271407e+02] [-6.85151960e-02 -3.80411003e-04 9.97650000e-01 -3.86187489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.26, Y:-409.30, Z:-38.62 [[ 8.80228870e-01 4.70644160e-01 6.07553391e-02 7.58264006e+02] [-4.69577556e-01 8.82322874e-01 -3.16743628e-02 -4.09300563e+02] [-6.85131793e-02 -6.48655051e-04 9.97650001e-01 -3.86228842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.32, Y:-409.33, Z:-38.63 [[ 8.77448138e-01 4.75809471e-01 6.07462911e-02 7.58318701e+02] [-4.74753992e-01 8.79547772e-01 -3.16917058e-02 -4.09328962e+02] [-6.85084788e-02 -1.03171598e-03 9.97650001e-01 -3.86269715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.37, Y:-409.36, Z:-38.63 [[ 8.75269011e-01 4.79807317e-01 6.07379302e-02 7.58374532e+02] [-4.78760317e-01 8.77372885e-01 -3.17077217e-02 -4.09357036e+02] [-6.85034099e-02 -1.32612447e-03 9.97650001e-01 -3.86311313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.43, Y:-409.38, Z:-38.64 [[ 8.73471835e-01 4.83072392e-01 6.07290507e-02 7.58429859e+02] [-4.82032074e-01 8.75579021e-01 -3.17247192e-02 -4.09384943e+02] [-6.84984188e-02 -1.56270158e-03 9.97650001e-01 -3.86363744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.49, Y:-409.41, Z:-38.64 [[ 8.71791112e-01 4.86100025e-01 6.07208568e-02 7.58485977e+02] [-4.85065933e-01 8.73901360e-01 -3.17403946e-02 -4.09413217e+02] [-6.84930460e-02 -1.78262522e-03 9.97650001e-01 -3.86394416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.54, Y:-409.44, Z:-38.64 [[ 8.70845518e-01 4.87793129e-01 6.07120111e-02 7.58541952e+02] [-4.86761961e-01 8.72957196e-01 -3.17573054e-02 -4.09441499e+02] [-6.84899824e-02 -1.89659055e-03 9.97650001e-01 -3.86433977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.60, Y:-409.47, Z:-38.65 [[ 8.69942293e-01 4.89403230e-01 6.07032579e-02 7.58597820e+02] [-4.88374805e-01 8.72055309e-01 -3.17740281e-02 -4.09468941e+02] [-6.84869103e-02 -2.00437085e-03 9.97650002e-01 -3.86485024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.65, Y:-409.50, Z:-38.65 [[ 8.69690468e-01 4.89851543e-01 6.06955947e-02 7.58653003e+02] [-4.88823187e-01 8.71803517e-01 -3.17886598e-02 -4.09496013e+02] [-6.84863570e-02 -2.02311963e-03 9.97650002e-01 -3.86535148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.71, Y:-409.53, Z:-38.66 [[ 8.69875646e-01 4.89523608e-01 6.06877000e-02 7.58708506e+02] [-4.88493406e-01 8.71987796e-01 -3.18037246e-02 -4.09525165e+02] [-6.84876077e-02 -1.98025578e-03 9.97650002e-01 -3.86581558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.76, Y:-409.55, Z:-38.66 [[ 8.71047835e-01 4.87435902e-01 6.06787535e-02 7.58764105e+02] [-4.86399450e-01 8.73156924e-01 -3.18207846e-02 -4.09554890e+02] [-6.84926666e-02 -1.79668678e-03 9.97650002e-01 -3.86617374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.82, Y:-409.59, Z:-38.67 [[ 8.74109274e-01 4.81925477e-01 6.06696851e-02 7.58818559e+02] [-4.80874527e-01 8.76211177e-01 -3.18380650e-02 -4.09585284e+02] [-6.85030309e-02 -1.34455824e-03 9.97650002e-01 -3.86655910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.87, Y:-409.62, Z:-38.67 [[ 8.76633011e-01 4.77320479e-01 6.06607268e-02 7.58872620e+02] [-4.76257307e-01 8.78728757e-01 -3.18551242e-02 -4.09615257e+02] [-6.85094282e-02 -9.64860921e-04 9.97650002e-01 -3.86673644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.93, Y:-409.65, Z:-38.67 [[ 8.80165664e-01 4.70775548e-01 6.06530035e-02 7.58927843e+02] [-4.69695777e-01 8.82252907e-01 -3.18698228e-02 -4.09646128e+02] [-6.85148219e-02 -4.37735873e-04 9.97650003e-01 -3.86707058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:758.98, Y:-409.68, Z:-38.68 [[ 8.83979762e-01 4.63575366e-01 6.06437253e-02 7.58982297e+02] [-4.62477382e-01 8.86057481e-01 -3.18874681e-02 -4.09675625e+02] [-6.85160712e-02 1.41525113e-04 9.97650003e-01 -3.86777394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.04, Y:-409.71, Z:-38.68 [[ 8.85653160e-01 4.60371383e-01 6.06355576e-02 7.59035553e+02] [-4.59264820e-01 8.87726323e-01 -3.19029919e-02 -4.09705275e+02] [-6.85150050e-02 4.07207126e-04 9.97650003e-01 -3.86824687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.09, Y:-409.73, Z:-38.69 [[ 8.86626195e-01 4.58495223e-01 6.06310221e-02 7.59089790e+02] [-4.57383684e-01 8.88696695e-01 -3.19116091e-02 -4.09734582e+02] [-6.85139093e-02 5.62028244e-04 9.97650003e-01 -3.86881981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.15, Y:-409.76, Z:-38.69 [[ 8.87263785e-01 4.57261270e-01 6.06226573e-02 7.59145723e+02] [-4.56145767e-01 8.89332151e-01 -3.19274919e-02 -4.09763656e+02] [-6.85128837e-02 6.75338793e-04 9.97650003e-01 -3.86924056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.20, Y:-409.79, Z:-38.70 [[ 8.87080631e-01 4.57617660e-01 6.06137831e-02 7.59201271e+02] [-4.56501837e-01 8.89148825e-01 -3.19443306e-02 -4.09792561e+02] [-6.85129638e-02 6.66893673e-04 9.97650003e-01 -3.86972462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.26, Y:-409.82, Z:-38.70 [[ 8.86267260e-01 4.59192098e-01 6.06049552e-02 7.59256962e+02] [-4.58078804e-01 8.88336816e-01 -3.19610702e-02 -4.09821123e+02] [-6.85138838e-02 5.64204777e-04 9.97650003e-01 -3.87015143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.31, Y:-409.85, Z:-38.71 [[ 8.84574992e-01 4.62444866e-01 6.05956222e-02 7.59312585e+02] [-4.61337972e-01 8.86647977e-01 -3.19787551e-02 -4.09849354e+02] [-6.85153969e-02 3.32545605e-04 9.97650004e-01 -3.87069703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.37, Y:-409.88, Z:-38.71 [[ 8.82875643e-01 4.65682188e-01 6.05862888e-02 7.59367617e+02] [-4.64581682e-01 8.84952027e-01 -3.19964282e-02 -4.09876524e+02] [-6.85161257e-02 1.01587210e-04 9.97650004e-01 -3.87129097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.42, Y:-409.90, Z:-38.72 [[ 8.80582458e-01 4.70005081e-01 6.05785378e-02 7.59421627e+02] [-4.68913759e-01 8.82663683e-01 -3.20110964e-02 -4.09904533e+02] [-6.85158532e-02 -2.17699932e-04 9.97650004e-01 -3.87172254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.48, Y:-409.93, Z:-38.73 [[ 8.80103139e-01 4.70902596e-01 6.05740097e-02 7.59478332e+02] [-4.69812806e-01 8.82185167e-01 -3.20196625e-02 -4.09929728e+02] [-6.85156350e-02 -2.77839969e-04 9.97650004e-01 -3.87253928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.53, Y:-409.96, Z:-38.72 [[ 8.75965877e-01 4.78555710e-01 6.05657909e-02 7.59532020e+02] [-4.77483035e-01 8.78056773e-01 -3.20352010e-02 -4.09960652e+02] [-6.85108313e-02 -8.57394678e-04 9.97650004e-01 -3.87229999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.59, Y:-409.99, Z:-38.73 [[ 8.75598946e-01 4.79227769e-01 6.05576684e-02 7.59587480e+02] [-4.78155637e-01 8.77690121e-01 -3.20505481e-02 -4.09987747e+02] [-6.85103799e-02 -8.92564394e-04 9.97650004e-01 -3.87314526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.64, Y:-410.02, Z:-38.74 [[ 8.74273104e-01 4.81642886e-01 6.05530271e-02 7.59643202e+02] [-4.80575924e-01 8.76366922e-01 -3.20593144e-02 -4.10016845e+02] [-6.85078107e-02 -1.07173066e-03 9.97650004e-01 -3.87350447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.70, Y:-410.05, Z:-38.74 [[ 8.73947782e-01 4.82234209e-01 6.05429011e-02 7.59698964e+02] [-4.81167340e-01 8.76041646e-01 -3.20784257e-02 -4.10046145e+02] [-6.85074170e-02 -1.09639764e-03 9.97650005e-01 -3.87408843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.75, Y:-410.08, Z:-38.74 [[ 8.73907146e-01 4.82309039e-01 6.05333822e-02 7.59752903e+02] [-4.81241106e-01 8.76000468e-01 -3.20963782e-02 -4.10075787e+02] [-6.85076445e-02 -1.08189752e-03 9.97650005e-01 -3.87445099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.81, Y:-410.11, Z:-38.75 [[ 8.75739236e-01 4.78975460e-01 6.05251952e-02 7.59807030e+02] [-4.77898492e-01 8.77827923e-01 -3.21118092e-02 -4.10105973e+02] [-6.85114751e-02 -8.03328245e-04 9.97650005e-01 -3.87503714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.86, Y:-410.14, Z:-38.75 [[ 8.77110241e-01 4.76461249e-01 6.05169662e-02 7.59860278e+02] [-4.75377224e-01 8.79195275e-01 -3.21273100e-02 -4.10138806e+02] [-6.85136490e-02 -5.89194832e-04 9.97650005e-01 -3.87547330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.91, Y:-410.17, Z:-38.76 [[ 8.78899521e-01 4.73152946e-01 6.05138135e-02 7.59913724e+02] [-4.72060664e-01 8.80980241e-01 -3.21332472e-02 -4.10169824e+02] [-6.85154146e-02 -3.24295356e-04 9.97650005e-01 -3.87568064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:759.97, Y:-410.20, Z:-38.76 [[ 8.78760269e-01 4.73412668e-01 6.05048335e-02 7.59967597e+02] [-4.72319837e-01 8.80840701e-01 -3.21501470e-02 -4.10201806e+02] [-6.85154068e-02 -3.25361263e-04 9.97650005e-01 -3.87577050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.02, Y:-410.23, Z:-38.76 [[ 8.78267979e-01 4.74326390e-01 6.04965543e-02 7.60020757e+02] [-4.73234650e-01 8.80348983e-01 -3.21657185e-02 -4.10232629e+02] [-6.85151292e-02 -3.78945152e-04 9.97650006e-01 -3.87598561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.08, Y:-410.26, Z:-38.76 [[ 8.78375692e-01 4.74127861e-01 6.04889703e-02 7.60075641e+02] [-4.73034669e-01 8.80455934e-01 -3.21799741e-02 -4.10263809e+02] [-6.85152951e-02 -3.47273022e-04 9.97650006e-01 -3.87640078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.13, Y:-410.29, Z:-38.77 [[ 8.79718281e-01 4.71633251e-01 6.04799280e-02 7.60129651e+02] [-4.70532993e-01 8.81794794e-01 -3.21969597e-02 -4.10293873e+02] [-6.85160424e-02 -1.33547476e-04 9.97650006e-01 -3.87698865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.18, Y:-410.32, Z:-38.77 [[ 8.80353949e-01 4.70446041e-01 6.04768349e-02 7.60184519e+02] [-4.69342584e-01 8.82428763e-01 -3.22027683e-02 -4.10324960e+02] [-6.85161635e-02 -3.45196901e-05 9.97650006e-01 -3.87739843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.24, Y:-410.36, Z:-38.77 [[ 8.82165254e-01 4.67041301e-01 6.04722038e-02 7.60238394e+02] [-4.65929240e-01 8.84235469e-01 -3.22114627e-02 -4.10355175e+02] [-6.85157509e-02 2.40065268e-04 9.97650006e-01 -3.87733976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.29, Y:-410.38, Z:-38.78 [[ 8.82861631e-01 4.65724777e-01 6.04629917e-02 7.60293507e+02] [-4.64608445e-01 8.84929546e-01 -3.22287450e-02 -4.10384933e+02] [-6.85152129e-02 3.61905823e-04 9.97650006e-01 -3.87775349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.35, Y:-410.41, Z:-38.78 [[ 8.85071107e-01 4.61513228e-01 6.04539114e-02 7.60347771e+02] [-4.60385894e-01 8.87133045e-01 -3.22457688e-02 -4.10414222e+02] [-6.85125113e-02 7.07670287e-04 9.97650006e-01 -3.87819380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.40, Y:-410.44, Z:-38.79 [[ 8.86785020e-01 4.58212407e-01 6.04459942e-02 7.60402941e+02] [-4.57076387e-01 8.88842185e-01 -3.22606031e-02 -4.10442236e+02] [-6.85091581e-02 9.79782972e-04 9.97650006e-01 -3.87879365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.46, Y:-410.47, Z:-38.80 [[ 8.89956356e-01 4.52023135e-01 6.04381433e-02 7.60460718e+02] [-4.50871813e-01 8.92004996e-01 -3.22753046e-02 -4.10465324e+02] [-6.85003101e-02 1.47375727e-03 9.97650007e-01 -3.87995250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.52, Y:-410.49, Z:-38.80 [[ 8.89584800e-01 4.52754237e-01 6.04357944e-02 7.60515822e+02] [-4.51604300e-01 8.91634217e-01 -3.22797023e-02 -4.10494881e+02] [-6.85013942e-02 1.42246796e-03 9.97650007e-01 -3.88006487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.57, Y:-410.52, Z:-38.80 [[ 8.87213408e-01 4.57384128e-01 6.04328402e-02 7.60568371e+02] [-4.56244510e-01 8.89268582e-01 -3.22852321e-02 -4.10524717e+02] [-6.85077788e-02 1.07173927e-03 9.97650007e-01 -3.87985963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.63, Y:-410.55, Z:-38.80 [[ 8.85224050e-01 4.61222988e-01 6.04295974e-02 7.60625440e+02] [-4.60091869e-01 8.87283914e-01 -3.22913005e-02 -4.10550635e+02] [-6.85116999e-02 7.81869433e-04 9.97650007e-01 -3.88026008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.68, Y:-410.58, Z:-38.81 [[ 8.81723095e-01 4.67882167e-01 6.04207088e-02 7.60682704e+02] [-4.66765467e-01 8.83790811e-01 -3.23079236e-02 -4.10575814e+02] [-6.85155685e-02 2.84342046e-04 9.97650007e-01 -3.88059974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.74, Y:-410.60, Z:-38.81 [[ 8.78525794e-01 4.73859542e-01 6.04116251e-02 7.60738765e+02] [-4.72755743e-01 8.80600425e-01 -3.23249002e-02 -4.10601803e+02] [-6.85159651e-02 -1.61684090e-04 9.97650007e-01 -3.88098437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.80, Y:-410.63, Z:-38.81 [[ 8.73503092e-01 4.83056725e-01 6.04032230e-02 7.60796905e+02] [-4.81973683e-01 8.75588634e-01 -3.23405929e-02 -4.10626222e+02] [-6.85107164e-02 -8.63155996e-04 9.97650007e-01 -3.88132577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.86, Y:-410.65, Z:-38.82 [[ 8.69574664e-01 4.90094330e-01 6.03941301e-02 7.60855083e+02] [-4.89026985e-01 8.71668283e-01 -3.23575645e-02 -4.10651568e+02] [-6.85019066e-02 -1.39704103e-03 9.97650007e-01 -3.88175099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.91, Y:-410.68, Z:-38.82 [[ 8.67927042e-01 4.93007411e-01 6.03849541e-02 7.60910259e+02] [-4.91945902e-01 8.70023626e-01 -3.23746795e-02 -4.10678052e+02] [-6.84972936e-02 -1.60727091e-03 9.97650008e-01 -3.88232933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:760.97, Y:-410.70, Z:-38.83 [[ 8.66870778e-01 4.94863210e-01 6.03776218e-02 7.60966698e+02] [-4.93805238e-01 8.68969149e-01 -3.23883482e-02 -4.10704329e+02] [-6.84940926e-02 -1.73827337e-03 9.97650008e-01 -3.88261614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.02, Y:-410.73, Z:-38.83 [[ 8.66794205e-01 4.94998303e-01 6.03695764e-02 7.61021234e+02] [-4.93939615e-01 8.68892215e-01 -3.24033373e-02 -4.10732042e+02] [-6.84942519e-02 -1.73190029e-03 9.97650008e-01 -3.88315852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.08, Y:-410.76, Z:-38.84 [[ 8.68024410e-01 4.92838741e-01 6.03622294e-02 7.61076493e+02] [-4.91773882e-01 8.70119294e-01 -3.24170179e-02 -4.10760534e+02] [-6.84987027e-02 -1.54580507e-03 9.97650008e-01 -3.88374128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.13, Y:-410.79, Z:-38.84 [[ 8.69375812e-01 4.90451874e-01 6.03544215e-02 7.61131517e+02] [-4.89380255e-01 8.71467246e-01 -3.24315482e-02 -4.10790203e+02] [-6.85030151e-02 -1.34105861e-03 9.97650008e-01 -3.88404605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.19, Y:-410.82, Z:-38.84 [[ 8.72319096e-01 4.85198753e-01 6.03453833e-02 7.61185716e+02] [-4.84113375e-01 8.74403422e-01 -3.24483569e-02 -4.10820236e+02] [-6.85101120e-02 -9.08685768e-04 9.97650008e-01 -3.88413488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.24, Y:-410.85, Z:-38.84 [[ 8.76429506e-01 4.77735013e-01 6.03372125e-02 7.61239318e+02] [-4.76630837e-01 8.78503935e-01 -3.24635433e-02 -4.10850393e+02] [-6.85154499e-02 -3.06568869e-04 9.97650008e-01 -3.88449389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.29, Y:-410.88, Z:-38.85 [[ 8.82558254e-01 4.66316691e-01 6.03296919e-02 7.61294376e+02] [-4.65184722e-01 8.84617649e-01 -3.24775135e-02 -4.10877575e+02] [-6.85135168e-02 5.98846684e-04 9.97650008e-01 -3.88534021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.35, Y:-410.91, Z:-38.86 [[ 8.85356118e-01 4.60983597e-01 6.03213673e-02 7.61349119e+02] [-4.59838172e-01 8.87408059e-01 -3.24929677e-02 -4.10907555e+02] [-6.85083926e-02 1.02978053e-03 9.97650009e-01 -3.88575774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.40, Y:-410.94, Z:-38.86 [[ 8.89236089e-01 4.53455239e-01 6.03118922e-02 7.61404613e+02] [-4.52291254e-01 8.91277558e-01 -3.25105453e-02 -4.10938206e+02] [-6.84967132e-02 1.63100881e-03 9.97650009e-01 -3.88595857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.46, Y:-410.97, Z:-38.86 [[ 8.91371311e-01 4.49244705e-01 6.03024086e-02 7.61457486e+02] [-4.48069890e-01 8.93406567e-01 -3.25281267e-02 -4.10968653e+02] [-6.84876565e-02 1.97494533e-03 9.97650009e-01 -3.88586639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.51, Y:-410.99, Z:-38.87 [[ 8.93944124e-01 4.44104083e-01 6.02948286e-02 7.61513299e+02] [-4.42916621e-01 8.95972028e-01 -3.25421710e-02 -4.10994671e+02] [-6.84745909e-02 2.38530077e-03 9.97650009e-01 -3.88656961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.57, Y:-411.02, Z:-38.87 [[ 8.92884633e-01 4.46231555e-01 6.02862500e-02 7.61568146e+02] [-4.45047854e-01 8.94914734e-01 -3.25580556e-02 -4.11022752e+02] [-6.84794852e-02 2.24032131e-03 9.97650009e-01 -3.88686241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.62, Y:-411.05, Z:-38.87 [[ 8.91507436e-01 4.48977811e-01 6.02778363e-02 7.61624793e+02] [-4.47799313e-01 8.93540561e-01 -3.25736254e-02 -4.11049809e+02] [-6.84855267e-02 2.04725556e-03 9.97650009e-01 -3.88722751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.68, Y:-411.07, Z:-38.88 [[ 8.87948382e-01 4.55977380e-01 6.02685638e-02 7.61682902e+02] [-4.54813750e-01 8.89990053e-01 -3.25907726e-02 -4.11074676e+02] [-6.84990774e-02 1.52795227e-03 9.97650010e-01 -3.88768000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.74, Y:-411.10, Z:-38.88 [[ 8.83797222e-01 4.63973357e-01 6.02593883e-02 7.61741341e+02] [-4.62827047e-01 8.85848667e-01 -3.26077291e-02 -4.11096193e+02] [-6.85098163e-02 9.28945659e-04 9.97650010e-01 -3.88811605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.80, Y:-411.12, Z:-38.89 [[ 8.78693457e-01 4.73569021e-01 6.02510594e-02 7.61796625e+02] [-4.72444061e-01 8.80756687e-01 -3.26231115e-02 -4.11121974e+02] [-6.85158185e-02 2.00459502e-04 9.97650010e-01 -3.88856413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.85, Y:-411.15, Z:-38.89 [[ 8.71798790e-01 4.86145669e-01 6.02433306e-02 7.61854866e+02] [-4.85049484e-01 8.73877451e-01 -3.26373776e-02 -4.11146545e+02] [-6.85118080e-02 -7.67770134e-04 9.97650010e-01 -3.88897757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.91, Y:-411.17, Z:-38.89 [[ 8.66117872e-01 4.96197226e-01 6.02340856e-02 7.61912009e+02] [-4.95123974e-01 8.68208465e-01 -3.26544310e-02 -4.11171808e+02] [-6.84987811e-02 -1.54075349e-03 9.97650010e-01 -3.88928762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:761.97, Y:-411.20, Z:-38.90 [[ 8.63789124e-01 5.00241125e-01 6.02259613e-02 7.61969184e+02] [-4.99176615e-01 8.65884182e-01 -3.26694081e-02 -4.11199129e+02] [-6.84912887e-02 -1.84391207e-03 9.97650010e-01 -3.88969147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.02, Y:-411.23, Z:-38.90 [[ 8.62348660e-01 5.02721342e-01 6.02166189e-02 7.62023949e+02] [-5.01661657e-01 8.64446162e-01 -3.26866190e-02 -4.11225054e+02] [-6.84862861e-02 -2.02110669e-03 9.97650011e-01 -3.89024606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.08, Y:-411.25, Z:-38.91 [[ 8.62062746e-01 5.03212361e-01 6.02091481e-02 7.62079180e+02] [-5.02152911e-01 8.64160367e-01 -3.27003746e-02 -4.11254460e+02] [-6.84855922e-02 -2.04442431e-03 9.97650011e-01 -3.89070597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.13, Y:-411.28, Z:-38.91 [[ 8.62176233e-01 5.03018986e-01 6.02000229e-02 7.62134100e+02] [-5.01957894e-01 8.64273024e-01 -3.27171650e-02 -4.11283868e+02] [-6.84866110e-02 -2.00991463e-03 9.97650011e-01 -3.89120657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.19, Y:-411.31, Z:-38.92 [[ 8.63692414e-01 5.00412166e-01 6.01920115e-02 7.62188547e+02] [-4.99343719e-01 8.65785466e-01 -3.27318976e-02 -4.11314150e+02] [-6.84928085e-02 -1.78621116e-03 9.97650011e-01 -3.89170772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.24, Y:-411.35, Z:-38.91 [[ 8.65212683e-01 4.97779981e-01 6.01839154e-02 7.62240917e+02] [-4.96704131e-01 8.67301940e-01 -3.27467770e-02 -4.11347959e+02] [-6.84983167e-02 -1.56067259e-03 9.97650011e-01 -3.89113058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.29, Y:-411.38, Z:-38.91 [[ 8.65941356e-01 4.96511471e-01 6.01824509e-02 7.62291983e+02] [-4.95432374e-01 8.68028937e-01 -3.27494684e-02 -4.11381420e+02] [-6.85005956e-02 -1.45721539e-03 9.97650011e-01 -3.89133187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.35, Y:-411.42, Z:-38.92 [[ 8.68372591e-01 4.92247979e-01 6.01745080e-02 7.62345081e+02] [-4.91157620e-01 8.70454312e-01 -3.27640563e-02 -4.11415216e+02] [-6.85072005e-02 -1.10375970e-03 9.97650011e-01 -3.89158670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.40, Y:-411.45, Z:-38.92 [[ 8.71686838e-01 4.86356130e-01 6.01645386e-02 7.62396040e+02] [-4.85250436e-01 8.73760454e-01 -3.27823530e-02 -4.11448765e+02] [-6.85132929e-02 -6.18922950e-04 9.97650012e-01 -3.89207996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.45, Y:-411.48, Z:-38.93 [[ 8.76797562e-01 4.77081544e-01 6.01600786e-02 7.62447344e+02] [-4.75953353e-01 8.78859025e-01 -3.27905355e-02 -4.11479252e+02] [-6.85159874e-02 1.17270476e-04 9.97650012e-01 -3.89344809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.50, Y:-411.52, Z:-38.93 [[ 8.77460857e-01 4.75860859e-01 6.01571940e-02 7.62498736e+02] [-4.74729437e-01 8.79520549e-01 -3.27958269e-02 -4.11515268e+02] [-6.85157386e-02 2.18663525e-04 9.97650012e-01 -3.89305290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.55, Y:-411.54, Z:-38.94 [[ 8.79853583e-01 4.71422296e-01 6.01555525e-02 7.62550404e+02] [-4.70280279e-01 8.81907419e-01 -3.27988375e-02 -4.11544733e+02] [-6.85137313e-02 5.68204744e-04 9.97650012e-01 -3.89421370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.60, Y:-411.58, Z:-38.95 [[ 8.79418441e-01 4.72233603e-01 6.01550486e-02 7.62604315e+02] [-4.71093417e-01 8.81473294e-01 -3.27997616e-02 -4.11577911e+02] [-6.85142184e-02 5.06067808e-04 9.97650012e-01 -3.89459232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.66, Y:-411.61, Z:-38.95 [[ 8.78359976e-01 4.74199987e-01 6.01508562e-02 7.62657259e+02] [-4.73063875e-01 8.80417084e-01 -3.28074482e-02 -4.11610389e+02] [-6.85151329e-02 3.61552252e-04 9.97650012e-01 -3.89543934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.71, Y:-411.64, Z:-38.96 [[ 8.76411123e-01 4.77793315e-01 6.01422550e-02 7.62709413e+02] [-4.76664556e-01 8.78472275e-01 -3.28232082e-02 -4.11643007e+02] [-6.85160131e-02 9.89434956e-05 9.97650012e-01 -3.89566690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.76, Y:-411.68, Z:-38.96 [[ 8.74932184e-01 4.80497181e-01 6.01342830e-02 7.62761823e+02] [-4.79373788e-01 8.76996266e-01 -3.28378070e-02 -4.11675332e+02] [-6.85160153e-02 -9.59447948e-05 9.97650012e-01 -3.89633392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.81, Y:-411.71, Z:-38.96 [[ 8.71876582e-01 4.86020222e-01 6.01296022e-02 7.62813904e+02] [-4.84909313e-01 8.73947409e-01 -3.28463759e-02 -4.11708792e+02] [-6.85141129e-02 -5.19418134e-04 9.97650012e-01 -3.89619326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:762.87, Y:-411.74, Z:-38.97 [[ 8.70888210e-01 4.87789678e-01 6.01245071e-02 7.62867344e+02] [-4.86682333e-01 8.72960944e-01 -3.28556997e-02 -4.11740060e+02] [-6.85130176e-02 -6.47893851e-04 9.97650012e-01 -3.89700407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.92, Y:-411.77, Z:-38.97 [[ 8.69243786e-01 4.90714674e-01 6.01194622e-02 7.62919893e+02] [-4.89613665e-01 8.71319893e-01 -3.28649282e-02 -4.11772086e+02] [-6.85105859e-02 -8.67675645e-04 9.97650012e-01 -3.89697815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:762.97, Y:-411.81, Z:-38.98 [[ 8.68658626e-01 4.91750441e-01 6.01140269e-02 7.62972324e+02] [-4.90651219e-01 8.70735680e-01 -3.28748671e-02 -4.11805362e+02] [-6.85096585e-02 -9.37983714e-04 9.97650012e-01 -3.89753851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.02, Y:-411.84, Z:-38.98 [[ 8.69412988e-01 4.90416573e-01 6.01052439e-02 7.63024346e+02] [-4.89313056e-01 8.71487763e-01 -3.28909172e-02 -4.11840299e+02] [-6.85112355e-02 -8.14489930e-04 9.97650012e-01 -3.89808793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.08, Y:-411.87, Z:-38.99 [[ 8.70024176e-01 4.89331830e-01 6.01023624e-02 7.63076485e+02] [-4.88225362e-01 8.72097378e-01 -3.28961818e-02 -4.11872759e+02] [-6.85122615e-02 -7.23024208e-04 9.97650012e-01 -3.89879277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.13, Y:-411.91, Z:-38.99 [[ 8.71513002e-01 4.86676295e-01 6.00938550e-02 7.63128887e+02] [-4.85562438e-01 8.73582244e-01 -3.29117156e-02 -4.11908038e+02] [-6.85142765e-02 -4.96330638e-04 9.97650013e-01 -3.89915945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.18, Y:-411.95, Z:-39.00 [[ 8.73682980e-01 4.82771052e-01 6.00846318e-02 7.63180477e+02] [-4.81646788e-01 8.75746586e-01 -3.29285451e-02 -4.11945251e+02] [-6.85158596e-02 -1.70460504e-04 9.97650013e-01 -3.89950793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.23, Y:-411.98, Z:-39.00 [[ 8.75304071e-01 4.79826784e-01 6.00752964e-02 7.63232477e+02] [-4.78694410e-01 8.77363238e-01 -3.29455681e-02 -4.11979198e+02] [-6.85160225e-02 7.96812955e-05 9.97650013e-01 -3.90030784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.28, Y:-412.01, Z:-39.00 [[ 8.75943928e-01 4.78658102e-01 6.00720936e-02 7.63283100e+02] [-4.77522580e-01 8.78001361e-01 -3.29514070e-02 -4.12014799e+02] [-6.85158378e-02 1.77803716e-04 9.97650013e-01 -3.90043695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:763.34, Y:-412.05, Z:-39.01 [[ 8.76232540e-01 4.78130609e-01 6.00637723e-02 7.63335232e+02] [-4.76992810e-01 8.78288714e-01 -3.29665680e-02 -4.12047813e+02] [-6.85156586e-02 2.36392081e-04 9.97650013e-01 -3.90084601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.39, Y:-412.08, Z:-39.01 [[ 8.74193452e-01 4.81849705e-01 6.00555630e-02 7.63388736e+02] [-4.80719626e-01 8.76253879e-01 -3.29815162e-02 -4.12077721e+02] [-6.85160539e-02 -3.76622388e-05 9.97650013e-01 -3.90124503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.44, Y:-412.11, Z:-39.02 [[ 8.72068888e-01 4.85685172e-01 6.00480465e-02 7.63443247e+02] [-4.84563214e-01 8.74133748e-01 -3.29951955e-02 -4.12108947e+02] [-6.85153012e-02 -3.22990985e-04 9.97650013e-01 -3.90170031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.50, Y:-412.14, Z:-39.02 [[ 8.70898464e-01 4.87781934e-01 6.00387402e-02 7.63497863e+02] [-4.86663779e-01 8.72965386e-01 -3.30121209e-02 -4.12138988e+02] [-6.85144582e-02 -4.68474817e-04 9.97650014e-01 -3.90212062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.55, Y:-412.17, Z:-39.03 [[ 8.70286388e-01 4.88874284e-01 6.00294687e-02 7.63553203e+02] [-4.87757562e-01 8.72354084e-01 -3.30289717e-02 -4.12168405e+02] [-6.85139670e-02 -5.35162819e-04 9.97650014e-01 -3.90253739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.61, Y:-412.20, Z:-39.03 [[ 8.70502041e-01 4.88491328e-01 6.00201505e-02 7.63607404e+02] [-4.87372529e-01 8.72568614e-01 -3.30458960e-02 -4.12197913e+02] [-6.85143332e-02 -4.85652621e-04 9.97650014e-01 -3.90303475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.66, Y:-412.23, Z:-39.04 [[ 8.71679618e-01 4.86387926e-01 6.00119047e-02 7.63661683e+02] [-4.85263109e-01 8.73742922e-01 -3.30608637e-02 -4.12228525e+02] [-6.85153819e-02 -3.03082383e-04 9.97650014e-01 -3.90354277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.72, Y:-412.26, Z:-39.04 [[ 8.73975791e-01 4.82250830e-01 6.00037784e-02 7.63716978e+02] [-4.81115234e-01 8.76033182e-01 -3.30756060e-02 -4.12256055e+02] [-6.85160394e-02 3.85469602e-05 9.97650014e-01 -3.90425917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.77, Y:-412.29, Z:-39.05 [[ 8.75165099e-01 4.80090221e-01 5.99952471e-02 7.63772225e+02] [-4.78948485e-01 8.77219089e-01 -3.30910736e-02 -4.12285585e+02] [-6.85156768e-02 2.25520027e-04 9.97650014e-01 -3.90471720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.83, Y:-412.32, Z:-39.05 [[ 8.75749865e-01 4.79023913e-01 5.99855402e-02 7.63826041e+02] [-4.77878472e-01 8.77801790e-01 -3.31086603e-02 -4.12316235e+02] [-6.85152546e-02 3.29106500e-04 9.97650015e-01 -3.90493886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.88, Y:-412.35, Z:-39.05 [[ 8.75849922e-01 4.78842065e-01 5.99765796e-02 7.63880550e+02] [-4.77695088e-01 8.77900988e-01 -3.31248847e-02 -4.12346261e+02] [-6.85150867e-02 3.61910242e-04 9.97650015e-01 -3.90516592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.93, Y:-412.38, Z:-39.05 [[ 8.74074080e-01 4.82077090e-01 5.99681693e-02 7.63933690e+02] [-4.80936660e-01 8.76128794e-01 -3.31401033e-02 -4.12376519e+02] [-6.85159244e-02 1.26014282e-04 9.97650015e-01 -3.90518435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:763.99, Y:-412.40, Z:-39.06 [[ 8.73199977e-01 4.83659531e-01 5.99604832e-02 7.63989798e+02] [-4.82521869e-01 8.75256224e-01 -3.31540040e-02 -4.12402913e+02] [-6.85160362e-02 1.78310515e-05 9.97650015e-01 -3.90623220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.05, Y:-412.43, Z:-39.07 [[ 8.71505356e-01 4.86707492e-01 5.99519136e-02 7.64045094e+02] [-4.85575956e-01 8.73564981e-01 -3.31694931e-02 -4.12433156e+02] [-6.85157331e-02 -2.03816836e-04 9.97650015e-01 -3.90684074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.10, Y:-412.46, Z:-39.07 [[ 8.69621197e-01 4.90067255e-01 5.99421327e-02 7.64099315e+02] [-4.88942459e-01 8.71684510e-01 -3.31871592e-02 -4.12464548e+02] [-6.85145686e-02 -4.47996662e-04 9.97650015e-01 -3.90728762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.15, Y:-412.49, Z:-39.08 [[ 8.67778013e-01 4.93324235e-01 5.99376281e-02 7.64153521e+02] [-4.92206621e-01 8.69845225e-01 -3.31952929e-02 -4.12494137e+02] [-6.85125020e-02 -6.95552100e-04 9.97650015e-01 -3.90750697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.21, Y:-412.52, Z:-39.08 [[ 8.65730573e-01 4.96908901e-01 5.99342907e-02 7.64207019e+02] [-4.95799429e-01 8.67802166e-01 -3.32013174e-02 -4.12524426e+02] [-6.85091374e-02 -9.71991508e-04 9.97650015e-01 -3.90775763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.26, Y:-412.56, Z:-39.08 [[ 8.64598780e-01 4.98876770e-01 5.99242689e-02 7.64262238e+02] [-4.97770760e-01 8.66672223e-01 -3.32193957e-02 -4.12555398e+02] [-6.85070842e-02 -1.10709985e-03 9.97650016e-01 -3.90804767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.32, Y:-412.59, Z:-39.09 [[ 8.63621298e-01 5.00568296e-01 5.99135613e-02 7.64317591e+02] [-4.99465008e-01 8.65696191e-01 -3.32386963e-02 -4.12585088e+02] [-6.85051794e-02 -1.21908132e-03 9.97650016e-01 -3.90850427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.37, Y:-412.62, Z:-39.09 [[ 8.61814235e-01 5.03674405e-01 5.99025668e-02 7.64370308e+02] [-5.02577219e-01 8.63892361e-01 -3.32584989e-02 -4.12616101e+02] [-6.85008245e-02 -1.44301763e-03 9.97650016e-01 -3.90853786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:764.42, Y:-412.65, Z:-39.10 [[ 8.62403418e-01 5.02665974e-01 5.98937640e-02 7.64424041e+02] [-5.01565258e-01 8.64479676e-01 -3.32743440e-02 -4.12645270e+02] [-6.85028222e-02 -1.34472321e-03 9.97650016e-01 -3.90952153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.48, Y:-412.68, Z:-39.10 [[ 8.62612067e-01 5.02309037e-01 5.98836638e-02 7.64476806e+02] [-5.01206201e-01 8.64687199e-01 -3.32925114e-02 -4.12675635e+02] [-6.85037668e-02 -1.29554155e-03 9.97650017e-01 -3.90954310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.53, Y:-412.71, Z:-39.10 [[ 8.63445866e-01 5.00875541e-01 5.98742771e-02 7.64530632e+02] [-4.99768090e-01 8.65518539e-01 -3.33093841e-02 -4.12707778e+02] [-6.85061526e-02 -1.16240306e-03 9.97650017e-01 -3.90978721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.59, Y:-412.74, Z:-39.10 [[ 8.63697996e-01 5.00441758e-01 5.98650022e-02 7.64585128e+02] [-4.99332111e-01 8.65769495e-01 -3.33260450e-02 -4.12738384e+02] [-6.85070373e-02 -1.10887960e-03 9.97650017e-01 -3.91007892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.64, Y:-412.77, Z:-39.10 [[ 8.63205243e-01 5.01292315e-01 5.98558627e-02 7.64640327e+02] [-5.00183572e-01 8.65277225e-01 -3.33424521e-02 -4.12768290e+02] [-6.85062298e-02 -1.15753972e-03 9.97650017e-01 -3.91043704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.69, Y:-412.80, Z:-39.11 [[ 8.62389310e-01 5.02695829e-01 5.98463198e-02 7.64694319e+02] [-5.01589271e-01 8.64462459e-01 -3.33595720e-02 -4.12797364e+02] [-6.85046144e-02 -1.24933362e-03 9.97650017e-01 -3.91098069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.75, Y:-412.83, Z:-39.11 [[ 8.60878547e-01 5.05279725e-01 5.98375031e-02 7.64749388e+02] [-5.04178291e-01 8.62954423e-01 -3.33753790e-02 -4.12826766e+02] [-6.85009403e-02 -1.43662223e-03 9.97650017e-01 -3.91149770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.80, Y:-412.86, Z:-39.12 [[ 8.59174169e-01 5.08172781e-01 5.98345356e-02 7.64804345e+02] [-5.07077965e-01 8.61253544e-01 -3.33806983e-02 -4.12855386e+02] [-6.84958681e-02 -1.66094084e-03 9.97650017e-01 -3.91203193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.86, Y:-412.89, Z:-39.12 [[ 8.58332787e-01 5.09593614e-01 5.98262006e-02 7.64859898e+02] [-5.08501201e-01 8.60413424e-01 -3.33956299e-02 -4.12885541e+02] [-6.84934659e-02 -1.75713076e-03 9.97650018e-01 -3.91240303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.91, Y:-412.91, Z:-39.13 [[ 8.57382494e-01 5.11191970e-01 5.98166222e-02 7.64913840e+02] [-5.10102240e-01 8.59464538e-01 -3.34127775e-02 -4.12914471e+02] [-6.84906091e-02 -1.86506246e-03 9.97650018e-01 -3.91273298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:764.97, Y:-412.94, Z:-39.13 [[ 8.56920420e-01 5.11966707e-01 5.98120794e-02 7.64969180e+02] [-5.10878292e-01 8.59003151e-01 -3.34209076e-02 -4.12944855e+02] [-6.84891567e-02 -1.91763472e-03 9.97650018e-01 -3.91311317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.02, Y:-412.97, Z:-39.14 [[ 8.56762265e-01 5.12232438e-01 5.98026021e-02 7.65023957e+02] [-5.11143487e-01 8.58844715e-01 -3.34378575e-02 -4.12974562e+02] [-6.84891041e-02 -1.91941602e-03 9.97650018e-01 -3.91363573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.08, Y:-413.01, Z:-39.14 [[ 8.57501129e-01 5.10995679e-01 5.97932293e-02 7.65078958e+02] [-5.09902557e-01 8.59581393e-01 -3.34546095e-02 -4.13005582e+02] [-6.84923082e-02 -1.80135512e-03 9.97650018e-01 -3.91410730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.13, Y:-413.04, Z:-39.14 [[ 8.59590141e-01 5.07474813e-01 5.97838107e-02 7.65132677e+02] [-5.06372000e-01 8.61665284e-01 -3.34714322e-02 -4.13037151e+02] [-6.84995430e-02 -1.50113468e-03 9.97650018e-01 -3.91444644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.19, Y:-413.07, Z:-39.14 [[ 8.61065209e-01 5.04968952e-01 5.97751109e-02 7.65186090e+02] [-5.03859021e-01 8.63136554e-01 -3.34869617e-02 -4.13069863e+02] [-6.85039591e-02 -1.28377122e-03 9.97650019e-01 -3.91443518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.24, Y:-413.10, Z:-39.15 [[ 8.64460528e-01 4.99135208e-01 5.97665416e-02 7.65240212e+02] [-4.98010241e-01 8.66523744e-01 -3.35022489e-02 -4.13098993e+02] [-6.85112794e-02 -8.02978034e-04 9.97650019e-01 -3.91502096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.29, Y:-413.13, Z:-39.16 [[ 8.66335867e-01 4.95874117e-01 5.97580571e-02 7.65293798e+02] [-4.94740340e-01 8.68394255e-01 -3.35173758e-02 -4.13128736e+02] [-6.85139527e-02 -5.27416637e-04 9.97650019e-01 -3.91557751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.35, Y:-413.16, Z:-39.16 [[ 8.67414689e-01 4.93985268e-01 5.97520884e-02 7.65348158e+02] [-4.92846275e-01 8.69470196e-01 -3.35280131e-02 -4.13158892e+02] [-6.85150045e-02 -3.65903172e-04 9.97650019e-01 -3.91607597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.40, Y:-413.19, Z:-39.17 [[ 8.68419065e-01 4.92218434e-01 5.97439669e-02 7.65402703e+02] [-4.91074264e-01 8.70471694e-01 -3.35424786e-02 -4.13188067e+02] [-6.85156584e-02 -2.09796696e-04 9.97650019e-01 -3.91653160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:765.46, Y:-413.22, Z:-39.17 [[ 8.68401284e-01 4.92250197e-01 5.97407161e-02 7.65456319e+02] [-4.91105704e-01 8.70453733e-01 -3.35482674e-02 -4.13218758e+02] [-6.85156706e-02 -2.05647899e-04 9.97650019e-01 -3.91707434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.51, Y:-413.25, Z:-39.17 [[ 8.70054906e-01 4.89322123e-01 5.97354171e-02 7.65510843e+02] [-4.88170075e-01 8.72103124e-01 -3.35577001e-02 -4.13245864e+02] [-6.85159689e-02 3.59985425e-05 9.97650019e-01 -3.91723127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.57, Y:-413.28, Z:-39.18 [[ 8.71165708e-01 4.87342416e-01 5.97300489e-02 7.65566081e+02] [-4.86185058e-01 8.73210930e-01 -3.35672523e-02 -4.13275884e+02] [-6.85156774e-02 2.02781833e-04 9.97650019e-01 -3.91757448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.62, Y:-413.31, Z:-39.18 [[ 8.71357548e-01 4.87000489e-01 5.97205813e-02 7.65622198e+02] [-4.85841175e-01 8.73401661e-01 -3.35840881e-02 -4.13305132e+02] [-6.85155222e-02 2.49031202e-04 9.97650019e-01 -3.91794684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.68, Y:-413.33, Z:-39.18 [[ 8.70821744e-01 4.87959077e-01 5.97112199e-02 7.65678078e+02] [-4.86800872e-01 8.72866486e-01 -3.36007242e-02 -4.13334968e+02] [-6.85157010e-02 1.92767299e-04 9.97650020e-01 -3.91825314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.73, Y:-413.36, Z:-39.19 [[ 8.69404249e-01 4.90481354e-01 5.97017021e-02 7.65733802e+02] [-4.89327920e-01 8.71451686e-01 -3.36176268e-02 -4.13363330e+02] [-6.85159681e-02 1.35978818e-05 9.97650020e-01 -3.91859549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.79, Y:-413.39, Z:-39.19 [[ 8.67262261e-01 4.94260079e-01 5.96920935e-02 7.65788805e+02] [-4.93114392e-01 8.69314043e-01 -3.36346793e-02 -4.13391072e+02] [-6.85154544e-02 -2.64942414e-04 9.97650020e-01 -3.91908964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.84, Y:-413.42, Z:-39.20 [[ 8.65243726e-01 4.97786309e-01 5.96832105e-02 7.65844991e+02] [-4.96647897e-01 8.67299553e-01 -3.36504345e-02 -4.13418968e+02] [-6.85139474e-02 -5.25713671e-04 9.97650020e-01 -3.91957727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.90, Y:-413.45, Z:-39.20 [[ 8.64024951e-01 4.99899925e-01 5.96736857e-02 7.65900135e+02] [-4.98765376e-01 8.66082913e-01 -3.36673167e-02 -4.13448723e+02] [-6.85126486e-02 -6.73766615e-04 9.97650020e-01 -3.92007038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:765.95, Y:-413.48, Z:-39.21 [[ 8.62934444e-01 5.01781158e-01 5.96641899e-02 7.65954465e+02] [-5.00649933e-01 8.64994233e-01 -3.36841365e-02 -4.13477790e+02] [-6.85112453e-02 -8.03671077e-04 9.97650021e-01 -3.92053861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.01, Y:-413.51, Z:-39.21 [[ 8.62583012e-01 5.02386038e-01 5.96558191e-02 7.66009054e+02] [-5.01255233e-01 8.64643032e-01 -3.36989551e-02 -4.13507469e+02] [-6.85108728e-02 -8.34645284e-04 9.97650021e-01 -3.92101446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.06, Y:-413.54, Z:-39.21 [[ 8.62739697e-01 5.02117619e-01 5.96499120e-02 7.66064241e+02] [-5.00985450e-01 8.64798968e-01 -3.37094079e-02 -4.13537285e+02] [-6.85112700e-02 -8.01293696e-04 9.97650021e-01 -3.92132828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.12, Y:-413.57, Z:-39.22 [[ 8.63460347e-01 5.00878484e-01 5.96403764e-02 7.66119188e+02] [-4.99742195e-01 8.65517347e-01 -3.37262704e-02 -4.13567172e+02] [-6.85125435e-02 -6.83515424e-04 9.97650021e-01 -3.92182322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.17, Y:-413.60, Z:-39.22 [[ 8.63892523e-01 5.00133839e-01 5.96309651e-02 7.66173923e+02] [-4.98994629e-01 8.65947906e-01 -3.37429022e-02 -4.13597797e+02] [-6.85132766e-02 -6.05290418e-04 9.97650021e-01 -3.92223803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.23, Y:-413.63, Z:-39.23 [[ 8.65673628e-01 4.97045725e-01 5.96214526e-02 7.66228781e+02] [-4.95898026e-01 8.67724283e-01 -3.37597017e-02 -4.13626299e+02] [-6.85150976e-02 -3.41277193e-04 9.97650021e-01 -3.92306889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.28, Y:-413.66, Z:-39.23 [[ 8.65916623e-01 4.96623322e-01 5.96127265e-02 7.66280724e+02] [-4.95473562e-01 8.67966124e-01 -3.37751033e-02 -4.13659246e+02] [-6.85153311e-02 -2.90106588e-04 9.97650021e-01 -3.92305337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.33, Y:-413.69, Z:-39.23 [[ 8.67055819e-01 4.94632671e-01 5.96047616e-02 7.66334295e+02] [-4.93477239e-01 8.69102127e-01 -3.37891536e-02 -4.13690944e+02] [-6.85158444e-02 -1.16510972e-04 9.97650022e-01 -3.92341019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.39, Y:-413.72, Z:-39.24 [[ 8.69450041e-01 4.90412980e-01 5.95964285e-02 7.66386924e+02] [-4.89246611e-01 8.71490134e-01 -3.38038449e-02 -4.13723118e+02] [-6.85155438e-02 2.33403673e-04 9.97650022e-01 -3.92398288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.44, Y:-413.76, Z:-39.25 [[ 8.71558966e-01 4.86655869e-01 5.95905502e-02 7.66439495e+02] [-4.85479997e-01 8.73593597e-01 -3.38142042e-02 -4.13755153e+02] [-6.85138040e-02 5.41052718e-04 9.97650022e-01 -3.92450808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.49, Y:-413.79, Z:-39.25 [[ 8.73687841e-01 4.82823903e-01 5.95872035e-02 7.66491447e+02] [-4.81638705e-01 8.75717054e-01 -3.38201008e-02 -4.13787463e+02] [-6.85106833e-02 8.48707338e-04 9.97650022e-01 -3.92466427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.55, Y:-413.82, Z:-39.25 [[ 8.74941024e-01 4.80550315e-01 5.95785085e-02 7.66545919e+02] [-4.79358802e-01 8.76966535e-01 -3.38354112e-02 -4.13818967e+02] [-6.85079757e-02 1.04450690e-03 9.97650022e-01 -3.92510173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.60, Y:-413.85, Z:-39.25 [[ 8.76844057e-01 4.77070234e-01 5.95692172e-02 7.66600517e+02] [-4.75869573e-01 8.78864158e-01 -3.38517611e-02 -4.13850233e+02] [-6.85029175e-02 1.33553761e-03 9.97650022e-01 -3.92543509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.65, Y:-413.88, Z:-39.26 [[ 8.79834320e-01 4.71533891e-01 5.95597077e-02 7.66654202e+02] [-4.70319389e-01 8.81846131e-01 -3.38684841e-02 -4.13880586e+02] [-6.84926359e-02 1.78656933e-03 9.97650022e-01 -3.92597486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.71, Y:-413.91, Z:-39.26 [[ 8.81521584e-01 4.68372407e-01 5.95565776e-02 7.66707401e+02] [-4.67150320e-01 8.83528795e-01 -3.38739875e-02 -4.13909928e+02] [-6.84855923e-02 2.03877680e-03 9.97650022e-01 -3.92628126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.76, Y:-413.94, Z:-39.27 [[ 8.84641898e-01 4.62452912e-01 5.95484449e-02 7.66763012e+02] [-4.61216437e-01 8.86640278e-01 -3.38882782e-02 -4.13936948e+02] [-6.84697827e-02 2.51426911e-03 9.97650022e-01 -3.92724545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.82, Y:-413.97, Z:-39.28 [[ 8.84282634e-01 4.63140629e-01 5.95397408e-02 7.66817694e+02] [-4.61904681e-01 8.86281340e-01 -3.39035641e-02 -4.13968411e+02] [-6.84710792e-02 2.47864801e-03 9.97650023e-01 -3.92751756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.87, Y:-414.00, Z:-39.28 [[ 8.82343474e-01 4.66824951e-01 5.95353505e-02 7.66871872e+02] [-4.65596831e-01 8.84347000e-01 -3.39112718e-02 -4.13996237e+02] [-6.84805364e-02 2.20191883e-03 9.97650023e-01 -3.92750882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.93, Y:-414.02, Z:-39.28 [[ 8.80526738e-01 4.70243737e-01 5.95272299e-02 7.66927851e+02] [-4.69022435e-01 8.82534427e-01 -3.39255204e-02 -4.14022594e+02] [-6.84880933e-02 1.95272153e-03 9.97650023e-01 -3.92816628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:766.98, Y:-414.05, Z:-39.28 [[ 8.78676385e-01 4.73693318e-01 5.95184876e-02 7.66983482e+02] [-4.72478861e-01 8.80688222e-01 -3.39408509e-02 -4.14048167e+02] [-6.84947853e-02 1.70179695e-03 9.97650023e-01 -3.92833904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.04, Y:-414.08, Z:-39.29 [[ 8.77324393e-01 4.76193670e-01 5.95104802e-02 7.67039486e+02] [-4.74983996e-01 8.79339109e-01 -3.39548850e-02 -4.14076885e+02] [-6.84989940e-02 1.52292318e-03 9.97650023e-01 -3.92887615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.10, Y:-414.10, Z:-39.29 [[ 8.74999291e-01 4.80453845e-01 5.95007837e-02 7.67097479e+02] [-4.79252827e-01 8.77019179e-01 -3.39718682e-02 -4.14101237e+02] [-6.85052432e-02 1.20944183e-03 9.97650023e-01 -3.92923750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.15, Y:-414.13, Z:-39.30 [[ 8.72962437e-01 4.84146094e-01 5.94906982e-02 7.67153076e+02] [-4.82952417e-01 8.74986672e-01 -3.39895206e-02 -4.14126037e+02] [-6.85094616e-02 9.40398261e-04 9.97650023e-01 -3.92998416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.21, Y:-414.15, Z:-39.30 [[ 8.68595474e-01 4.91938340e-01 5.94858989e-02 7.67208646e+02] [-4.90762249e-01 8.70629977e-01 -3.39979178e-02 -4.14154891e+02] [-6.85150860e-02 3.37003981e-04 9.97650024e-01 -3.93007888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.26, Y:-414.18, Z:-39.31 [[ 8.65225992e-01 4.97841769e-01 5.94773577e-02 7.67263500e+02] [-4.96678534e-01 8.67267871e-01 -3.40128536e-02 -4.14181307e+02] [-6.85158206e-02 -1.12321785e-04 9.97650024e-01 -3.93072354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.32, Y:-414.21, Z:-39.31 [[ 8.60860918e-01 5.05353188e-01 5.94696222e-02 7.67318379e+02] [-5.04206833e-01 8.62912322e-01 -3.40263734e-02 -4.14207792e+02] [-6.85124060e-02 -6.93014861e-04 9.97650024e-01 -3.93129419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.37, Y:-414.24, Z:-39.32 [[ 8.57493207e-01 5.11047574e-01 5.94623972e-02 7.67374671e+02] [-5.09913966e-01 8.59551682e-01 -3.40389946e-02 -4.14236991e+02] [-6.85065492e-02 -1.13250011e-03 9.97650024e-01 -3.93154890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.43, Y:-414.27, Z:-39.32 [[ 8.55827216e-01 5.13833762e-01 5.94528480e-02 7.67429827e+02] [-5.12705697e-01 8.57888734e-01 -3.40556653e-02 -4.14267245e+02] [-6.85028791e-02 -1.33604857e-03 9.97650024e-01 -3.93189303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.49, Y:-414.30, Z:-39.32 [[ 8.54060866e-01 5.16765444e-01 5.94433574e-02 7.67485169e+02] [-5.15643303e-01 8.56125614e-01 -3.40722228e-02 -4.14296812e+02] [-6.84983282e-02 -1.55181710e-03 9.97650024e-01 -3.93224254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.54, Y:-414.33, Z:-39.33 [[ 8.52230551e-01 5.19779468e-01 5.94339351e-02 7.67538828e+02] [-5.18663483e-01 8.54298633e-01 -3.40886508e-02 -4.14326832e+02] [-6.84929103e-02 -1.77482213e-03 9.97650024e-01 -3.93270783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.59, Y:-414.36, Z:-39.33 [[ 8.50876736e-01 5.21993700e-01 5.94252205e-02 7.67593160e+02] [-5.20882038e-01 8.52947144e-01 -3.41038358e-02 -4.14357168e+02] [-6.84885596e-02 -1.93536945e-03 9.97650025e-01 -3.93318085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.65, Y:-414.39, Z:-39.34 [[ 8.49087944e-01 5.24899326e-01 5.94168436e-02 7.67646950e+02] [-5.23793728e-01 8.51161597e-01 -3.41184241e-02 -4.14387472e+02] [-6.84820733e-02 -2.15262741e-03 9.97650025e-01 -3.93376909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.70, Y:-414.42, Z:-39.34 [[ 8.48620022e-01 5.25656441e-01 5.94084500e-02 7.67701156e+02] [-5.24551672e-01 8.50694117e-01 -3.41330331e-02 -4.14419717e+02] [-6.84806676e-02 -2.19682645e-03 9.97650025e-01 -3.93425215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.75, Y:-414.45, Z:-39.35 [[ 8.49681665e-01 5.23939731e-01 5.93988720e-02 7.67753873e+02] [-5.22829608e-01 8.51752898e-01 -3.41496927e-02 -4.14453344e+02] [-6.84855423e-02 -2.03912117e-03 9.97650025e-01 -3.93476690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.81, Y:-414.49, Z:-39.35 [[ 8.51156205e-01 5.21541964e-01 5.93893473e-02 7.67806983e+02] [-5.20424851e-01 8.53223677e-01 -3.41662491e-02 -4.14487315e+02] [-6.84915299e-02 -1.82687733e-03 9.97650025e-01 -3.93518137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.86, Y:-414.52, Z:-39.36 [[ 8.52827527e-01 5.18805591e-01 5.93798615e-02 7.67859067e+02] [-5.17680697e-01 8.54890775e-01 -3.41827272e-02 -4.14523427e+02] [-6.84974858e-02 -1.58783734e-03 9.97650025e-01 -3.93560875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.91, Y:-414.56, Z:-39.36 [[ 8.53064399e-01 5.18417088e-01 5.93704827e-02 7.67910854e+02] [-5.17290121e-01 8.55126516e-01 -3.41990091e-02 -4.14558848e+02] [-6.84986247e-02 -1.53780703e-03 9.97650026e-01 -3.93591104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:767.96, Y:-414.59, Z:-39.36 [[ 8.52977793e-01 5.18560675e-01 5.93608500e-02 7.67963240e+02] [-5.17432893e-01 8.55039464e-01 -3.42157210e-02 -4.14591693e+02] [-6.84987967e-02 -1.53000618e-03 9.97650026e-01 -3.93642123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.02, Y:-414.63, Z:-39.37 [[ 8.52739316e-01 5.18953759e-01 5.93519527e-02 7.68015891e+02] [-5.17825855e-01 8.54800920e-01 -3.42311476e-02 -4.14626789e+02] [-6.84984865e-02 -1.54373019e-03 9.97650026e-01 -3.93678445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.07, Y:-414.66, Z:-39.37 [[ 8.52870188e-01 5.18739737e-01 5.93424591e-02 7.68068566e+02] [-5.17610171e-01 8.54930882e-01 -3.42475977e-02 -4.14660804e+02] [-6.84992907e-02 -1.50750532e-03 9.97650026e-01 -3.93723267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.12, Y:-414.70, Z:-39.38 [[ 8.53696789e-01 5.17379346e-01 5.93330007e-02 7.68120725e+02] [-5.16245359e-01 8.55755052e-01 -3.42639762e-02 -4.14695698e+02] [-6.85019887e-02 -1.37933973e-03 9.97650026e-01 -3.93768334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.17, Y:-414.73, Z:-39.38 [[ 8.55957548e-01 5.13631587e-01 5.93234221e-02 7.68171481e+02] [-5.12487438e-01 8.58010180e-01 -3.42805523e-02 -4.14732095e+02] [-6.85076746e-02 -1.05981109e-03 9.97650027e-01 -3.93808646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.22, Y:-414.77, Z:-39.38 [[ 8.58409807e-01 5.09523341e-01 5.93175234e-02 7.68223854e+02] [-5.08368663e-01 8.60456534e-01 -3.42907560e-02 -4.14767205e+02] [-6.85120912e-02 -7.19648788e-04 9.97650027e-01 -3.93845838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.27, Y:-414.80, Z:-39.39 [[ 8.63315284e-01 5.01167892e-01 5.93082168e-02 7.68273723e+02] [-4.99992298e-01 8.65350070e-01 -3.43068450e-02 -4.14802300e+02] [-6.85158587e-02 -3.60279649e-05 9.97650027e-01 -3.93889163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.32, Y:-414.84, Z:-39.39 [[ 8.67592093e-01 4.93728038e-01 5.93007908e-02 7.68324365e+02] [-4.92534119e-01 8.69616181e-01 -3.43196764e-02 -4.14837784e+02] [-6.85135137e-02 5.67817199e-04 9.97650027e-01 -3.93933799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.38, Y:-414.87, Z:-39.40 [[ 8.70246937e-01 4.89034419e-01 5.92925404e-02 7.68376734e+02] [-4.87828613e-01 8.72263966e-01 -3.43339242e-02 -4.14873529e+02] [-6.85092172e-02 9.54394682e-04 9.97650027e-01 -3.93955998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.43, Y:-414.91, Z:-39.40 [[ 8.71585207e-01 4.86646473e-01 5.92826846e-02 7.68429541e+02] [-4.85433984e-01 8.73598226e-01 -3.43509335e-02 -4.14906418e+02] [-6.85060087e-02 1.16193570e-03 9.97650027e-01 -3.94010454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.48, Y:-414.94, Z:-39.41 [[ 8.74068436e-01 4.82173290e-01 5.92729961e-02 7.68482822e+02] [-4.80949369e-01 8.76074523e-01 -3.43676430e-02 -4.14939646e+02] [-6.84987213e-02 1.53236194e-03 9.97650027e-01 -3.94050989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.54, Y:-414.97, Z:-39.41 [[ 8.76866571e-01 4.77066950e-01 5.92633288e-02 7.68535280e+02] [-4.75830223e-01 8.78864790e-01 -3.43843051e-02 -4.14972302e+02] [-6.84880686e-02 1.95116471e-03 9.97650028e-01 -3.94074991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.59, Y:-415.00, Z:-39.41 [[ 8.78398720e-01 4.74241013e-01 5.92549688e-02 7.68589126e+02] [-4.72996888e-01 8.80392340e-01 -3.43987060e-02 -4.15004175e+02] [-6.84808978e-02 2.18836350e-03 9.97650028e-01 -3.94112102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.64, Y:-415.03, Z:-39.42 [[ 8.79072807e-01 4.72991507e-01 5.92455431e-02 7.68642843e+02] [-4.71743457e-01 8.81063972e-01 -3.44149324e-02 -4.15034736e+02] [-6.84770843e-02 2.30453392e-03 9.97650028e-01 -3.94157722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.70, Y:-415.06, Z:-39.42 [[ 8.77440919e-01 4.76013057e-01 5.92368396e-02 7.68697384e+02] [-4.74770854e-01 8.79435738e-01 -3.44299069e-02 -4.15063668e+02] [-6.84840790e-02 2.08628424e-03 9.97650028e-01 -3.94201260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.75, Y:-415.09, Z:-39.42 [[ 8.75311405e-01 4.79918628e-01 5.92288323e-02 7.68752560e+02] [-4.78684397e-01 8.77311166e-01 -3.44436760e-02 -4.15092802e+02] [-6.84922777e-02 1.79702458e-03 9.97650028e-01 -3.94239367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.81, Y:-415.12, Z:-39.43 [[ 8.72495078e-01 4.85021033e-01 5.92193989e-02 7.68808793e+02] [-4.83797399e-01 8.74501339e-01 -3.44598875e-02 -4.15119484e+02] [-6.85012139e-02 1.41589109e-03 9.97650028e-01 -3.94280501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.86, Y:-415.15, Z:-39.43 [[ 8.71002515e-01 4.87697361e-01 5.92106708e-02 7.68864409e+02] [-4.86478873e-01 8.73011906e-01 -3.44748780e-02 -4.15148309e+02] [-6.85049276e-02 1.22296508e-03 9.97650028e-01 -3.94325235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.92, Y:-415.18, Z:-39.44 [[ 8.70220051e-01 4.89093289e-01 5.92015017e-02 7.68919185e+02] [-4.87876954e-01 8.72230746e-01 -3.44906163e-02 -4.15178678e+02] [-6.85064990e-02 1.13137755e-03 9.97650029e-01 -3.94368314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:768.97, Y:-415.20, Z:-39.45 [[ 8.68839371e-01 4.91542888e-01 5.91923705e-02 7.68973739e+02] [-4.90331155e-01 8.70852843e-01 -3.45062801e-02 -4.15204548e+02] [-6.85091607e-02 9.56551307e-04 9.97650029e-01 -3.94476379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.03, Y:-415.23, Z:-39.44 [[ 8.64663463e-01 4.98852908e-01 5.91850619e-02 7.69029669e+02] [-4.97657343e-01 8.66686576e-01 -3.45188113e-02 -4.15233714e+02] [-6.85147081e-02 3.93274343e-04 9.97650029e-01 -3.94442624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.09, Y:-415.26, Z:-39.45 [[ 8.62306313e-01 5.02916770e-01 5.91823010e-02 7.69085447e+02] [-5.01730414e-01 8.64334840e-01 -3.45235442e-02 -4.15263552e+02] [-6.85157940e-02 7.63097080e-05 9.97650029e-01 -3.94491460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.14, Y:-415.29, Z:-39.46 [[ 8.58761115e-01 5.08947774e-01 5.91735724e-02 7.69139312e+02] [-5.07774633e-01 8.60797313e-01 -3.45384986e-02 -4.15291232e+02] [-6.85147441e-02 -3.86519475e-04 9.97650029e-01 -3.94553916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.19, Y:-415.32, Z:-39.46 [[ 8.56588822e-01 5.12595928e-01 5.91692936e-02 7.69194105e+02] [-5.11430953e-01 8.58629703e-01 -3.45458272e-02 -4.15320821e+02] [-6.85125633e-02 -6.69438822e-04 9.97650029e-01 -3.94609776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.25, Y:-415.35, Z:-39.47 [[ 8.55432821e-01 5.14523752e-01 5.91607830e-02 7.69246537e+02] [-5.13362368e-01 8.57475748e-01 -3.45603957e-02 -4.15350116e+02] [-6.85110811e-02 -8.06822899e-04 9.97650029e-01 -3.94721334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.30, Y:-415.38, Z:-39.47 [[ 8.54207689e-01 5.16556034e-01 5.91530897e-02 7.69300065e+02] [-5.15398599e-01 8.56252856e-01 -3.45735585e-02 -4.15381940e+02] [-6.85091822e-02 -9.54420072e-04 9.97650029e-01 -3.94663020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.35, Y:-415.41, Z:-39.47 [[ 8.54580692e-01 5.15939759e-01 5.91439475e-02 7.69353103e+02] [-5.14779768e-01 8.56624409e-01 -3.45891907e-02 -4.15413607e+02] [-6.85100878e-02 -8.86853038e-04 9.97650030e-01 -3.94692138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.41, Y:-415.45, Z:-39.47 [[ 8.55427502e-01 5.14535498e-01 5.91355172e-02 7.69406698e+02] [-5.13371156e-01 8.57468744e-01 -3.46035976e-02 -4.15447272e+02] [-6.85116370e-02 -7.57599761e-04 9.97650030e-01 -3.94727122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.46, Y:-415.48, Z:-39.48 [[ 8.55413493e-01 5.14559886e-01 5.91259754e-02 7.69459892e+02] [-5.13394475e-01 8.57454125e-01 -3.46198937e-02 -4.15480066e+02] [-6.85118200e-02 -7.40624981e-04 9.97650030e-01 -3.94766593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.51, Y:-415.51, Z:-39.48 [[ 8.54432468e-01 5.16188354e-01 5.91163301e-02 7.69513859e+02] [-5.15025694e-01 8.56474668e-01 -3.46363560e-02 -4.15512818e+02] [-6.85105229e-02 -8.52001759e-04 9.97650030e-01 -3.94818273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.57, Y:-415.55, Z:-39.49 [[ 8.53252011e-01 5.18138416e-01 5.91065837e-02 7.69566136e+02] [-5.16979272e-01 8.55296208e-01 -3.46529804e-02 -4.15545922e+02] [-6.85086772e-02 -9.89153385e-04 9.97650030e-01 -3.94880692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.62, Y:-415.58, Z:-39.49 [[ 8.53604552e-01 5.17558402e-01 5.90979605e-02 7.69619010e+02] [-5.16396851e-01 8.55647383e-01 -3.46676803e-02 -4.15579909e+02] [-6.85095644e-02 -9.25511040e-04 9.97650030e-01 -3.94931822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.67, Y:-415.62, Z:-39.50 [[ 8.56735121e-01 5.12360745e-01 5.90880655e-02 7.69670453e+02] [-5.11185637e-01 8.58770183e-01 -3.46845373e-02 -4.15615720e+02] [-6.85140642e-02 -4.89509196e-04 9.97650031e-01 -3.94979022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.72, Y:-415.65, Z:-39.50 [[ 8.60212423e-01 5.06502081e-01 5.90781657e-02 7.69720944e+02] [-5.05311955e-01 8.62238738e-01 -3.47013914e-02 -4.15650103e+02] [-6.85158100e-02 -2.33537980e-06 9.97650031e-01 -3.95012909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.77, Y:-415.69, Z:-39.50 [[ 8.65251578e-01 4.97845769e-01 5.90702664e-02 7.69771710e+02] [-4.96634454e-01 8.67265299e-01 -3.47148327e-02 -4.15686467e+02] [-6.85122249e-02 7.00734303e-04 9.97650031e-01 -3.95034116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.82, Y:-415.72, Z:-39.51 [[ 8.68044922e-01 4.92960171e-01 5.90616879e-02 7.69824111e+02] [-4.91736532e-01 8.70051177e-01 -3.47294216e-02 -4.15721789e+02] [-6.85069127e-02 1.10390844e-03 9.97650031e-01 -3.95068444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.88, Y:-415.76, Z:-39.51 [[ 8.68719401e-01 4.91771772e-01 5.90519011e-02 7.69877615e+02] [-4.90544258e-01 8.70723287e-01 -3.47460546e-02 -4.15755414e+02] [-6.85049943e-02 1.21700077e-03 9.97650031e-01 -3.95110901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.93, Y:-415.79, Z:-39.52 [[ 8.67391603e-01 4.94111169e-01 5.90420131e-02 7.69929586e+02] [-4.92887916e-01 8.69398094e-01 -3.47628487e-02 -4.15789142e+02] [-6.85077254e-02 1.05190823e-03 9.97650031e-01 -3.95199075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:769.98, Y:-415.82, Z:-39.53 [[ 8.66032255e-01 4.96490257e-01 5.90386088e-02 7.69983332e+02] [-4.95272123e-01 8.68041858e-01 -3.47686292e-02 -4.15822291e+02] [-6.85102693e-02 8.70577231e-04 9.97650031e-01 -3.95251873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.04, Y:-415.85, Z:-39.53 [[ 8.64617121e-01 4.98951887e-01 5.90275321e-02 7.70035226e+02] [-4.97738191e-01 8.66629407e-01 -3.47874242e-02 -4.15853865e+02] [-6.85122461e-02 6.97545515e-04 9.97650032e-01 -3.95281010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.09, Y:-415.89, Z:-39.53 [[ 8.62561818e-01 5.02497644e-01 5.90188844e-02 7.70087781e+02] [-5.01291217e-01 8.64578470e-01 -3.48020895e-02 -4.15886574e+02] [-6.85144247e-02 4.33305220e-04 9.97650032e-01 -3.95316241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.14, Y:-415.92, Z:-39.54 [[ 8.62808068e-01 5.02075700e-01 5.90104097e-02 7.70142189e+02] [-5.00867305e-01 8.64823541e-01 -3.48164532e-02 -4.15915002e+02] [-6.85140866e-02 4.83531797e-04 9.97650032e-01 -3.95403340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters Centerline goodness : 0.997244 with order 1 Centerline is valid? [True, True] Translation: X:770.20, Y:-415.95, Z:-39.54 [[ 8.58223911e-01 5.09872408e-01 5.90071646e-02 7.70195049e+02] [-5.08681945e-01 8.60250028e-01 -3.48219522e-02 -4.15950194e+02] [-6.85156676e-02 -1.30847212e-04 9.97650032e-01 -3.95397906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.25, Y:-415.98, Z:-39.54 [[ 8.52674413e-01 5.19100329e-01 5.90016471e-02 7.70247605e+02] [-5.17931144e-01 8.54712882e-01 -3.48312984e-02 -4.15980812e+02] [-6.85104063e-02 -8.59033707e-04 9.97650032e-01 -3.95417682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.30, Y:-416.01, Z:-39.55 [[ 8.47294618e-01 5.27836943e-01 5.89914563e-02 7.70301418e+02] [-5.26687572e-01 8.49344324e-01 -3.48485494e-02 -4.16011174e+02] [-6.84984104e-02 -1.54307854e-03 9.97650032e-01 -3.95473121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.35, Y:-416.04, Z:-39.55 [[ 8.43457536e-01 5.33947961e-01 5.89827094e-02 7.70354916e+02] [-5.32812403e-01 8.45514926e-01 -3.48633476e-02 -4.16042363e+02] [-6.84859746e-02 -2.02096589e-03 9.97650032e-01 -3.95532055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.41, Y:-416.08, Z:-39.56 [[ 8.42335184e-01 5.35717810e-01 5.89734333e-02 7.70408983e+02] [-5.34585477e-01 8.44394351e-01 -3.48790316e-02 -4.16075281e+02] [-6.84821524e-02 -2.14650547e-03 9.97650033e-01 -3.95578095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.46, Y:-416.11, Z:-39.56 [[ 8.42257420e-01 5.35840535e-01 5.89691425e-02 7.70460918e+02] [-5.34707995e-01 8.44316473e-01 -3.48862846e-02 -4.16108603e+02] [-6.84821038e-02 -2.14803986e-03 9.97650033e-01 -3.95627856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.51, Y:-416.14, Z:-39.57 [[ 8.44088231e-01 5.32952873e-01 5.89601046e-02 7.70513728e+02] [-5.31812222e-01 8.46142802e-01 -3.49015525e-02 -4.16143448e+02] [-6.84895508e-02 -1.89571459e-03 9.97650033e-01 -3.95667658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.57, Y:-416.18, Z:-39.57 [[ 8.45613432e-01 5.30530651e-01 5.89504148e-02 7.70566912e+02] [-5.29382976e-01 8.47664087e-01 -3.49179115e-02 -4.16177571e+02] [-6.84951718e-02 -1.68029102e-03 9.97650033e-01 -3.95717030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.62, Y:-416.21, Z:-39.58 [[ 8.47814835e-01 5.27006627e-01 5.89408265e-02 7.70617236e+02] [-5.25849302e-01 8.49860060e-01 -3.49340889e-02 -4.16213335e+02] [-6.85019507e-02 -1.37635364e-03 9.97650033e-01 -3.95774275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.67, Y:-416.24, Z:-39.59 [[ 8.51099982e-01 5.21685578e-01 5.89319764e-02 7.70669724e+02] [-5.20514432e-01 8.53137323e-01 -3.49490122e-02 -4.16244577e+02] [-6.85094642e-02 -9.29840538e-04 9.97650033e-01 -3.95874931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.72, Y:-416.28, Z:-39.59 [[ 8.50945060e-01 5.21939196e-01 5.89235124e-02 7.70724099e+02] [-5.20767669e-01 8.52982183e-01 -3.49632765e-02 -4.16276899e+02] [-6.85094107e-02 -9.33632807e-04 9.97650033e-01 -3.95918436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.77, Y:-416.31, Z:-39.59 [[ 8.48951734e-01 5.25176352e-01 5.89131033e-02 7.70774483e+02] [-5.24011376e-01 8.50992609e-01 -3.49808071e-02 -4.16313074e+02] [-6.85057081e-02 -1.17411955e-03 9.97650034e-01 -3.95913251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.83, Y:-416.35, Z:-39.59 [[ 8.49173829e-01 5.24818167e-01 5.89041603e-02 7.70826783e+02] [-5.23651287e-01 8.51213616e-01 -3.49958597e-02 -4.16347728e+02] [-6.85064862e-02 -1.12767122e-03 9.97650034e-01 -3.95942797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.88, Y:-416.38, Z:-39.60 [[ 8.49260633e-01 5.24678807e-01 5.88941964e-02 7.70879681e+02] [-5.23510430e-01 8.51299563e-01 -3.50126200e-02 -4.16382122e+02] [-6.85069833e-02 -1.09688624e-03 9.97650034e-01 -3.95985567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.93, Y:-416.42, Z:-39.60 [[ 8.48940600e-01 5.25197587e-01 5.88842325e-02 7.70932789e+02] [-5.24029295e-01 8.50979578e-01 -3.50293691e-02 -4.16416088e+02] [-6.85066195e-02 -1.11920922e-03 9.97650034e-01 -3.96028914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:770.99, Y:-416.45, Z:-39.61 [[ 8.48072964e-01 5.26598573e-01 5.88743552e-02 7.70985814e+02] [-5.25432497e-01 8.50113211e-01 -3.50459622e-02 -4.16449064e+02] [-6.85050209e-02 -1.21296645e-03 9.97650034e-01 -3.96074561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.04, Y:-416.48, Z:-39.61 [[ 8.47498504e-01 5.27523695e-01 5.88645712e-02 7.71039689e+02] [-5.26358706e-01 8.49539370e-01 -3.50623882e-02 -4.16481174e+02] [-6.85040113e-02 -1.26855795e-03 9.97650034e-01 -3.96131291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.09, Y:-416.51, Z:-39.62 [[ 8.48223994e-01 5.26357442e-01 5.88548983e-02 7.71093610e+02] [-5.25188521e-01 8.50262611e-01 -3.50786174e-02 -4.16512336e+02] [-6.85060108e-02 -1.15539206e-03 9.97650035e-01 -3.96175793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.15, Y:-416.54, Z:-39.62 [[ 8.48472909e-01 5.25957187e-01 5.88452256e-02 7.71147044e+02] [-5.24786180e-01 8.50510328e-01 -3.50948361e-02 -4.16543583e+02] [-6.85068534e-02 -1.10414352e-03 9.97650035e-01 -3.96188453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.20, Y:-416.58, Z:-39.62 [[ 8.47985813e-01 5.26743130e-01 5.88365181e-02 7.71201012e+02] [-5.25572998e-01 8.50023736e-01 -3.51094281e-02 -4.16575167e+02] [-6.85060870e-02 -1.15058830e-03 9.97650035e-01 -3.96220053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.25, Y:-416.61, Z:-39.63 [[ 8.47080165e-01 5.28199437e-01 5.88264311e-02 7.71254836e+02] [-5.27031636e-01 8.49119424e-01 -3.51263211e-02 -4.16606032e+02] [-6.85043683e-02 -1.24858035e-03 9.97650035e-01 -3.96278074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:771.31, Y:-416.64, Z:-39.63 [[ 8.46258057e-01 5.29516277e-01 5.88201821e-02 7.71308723e+02] [-5.28350923e-01 8.48298714e-01 -3.51367821e-02 -4.16636713e+02] [-6.85025829e-02 -1.34291254e-03 9.97650035e-01 -3.96331555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.36, Y:-416.67, Z:-39.64 [[ 8.45845929e-01 5.30175321e-01 5.88115091e-02 7.71361371e+02] [-5.29010548e-01 8.47886919e-01 -3.51512929e-02 -4.16666423e+02] [-6.85018572e-02 -1.37933071e-03 9.97650035e-01 -3.96400047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.42, Y:-416.69, Z:-39.65 [[ 8.47946152e-01 5.26810652e-01 5.88035799e-02 7.71416897e+02] [-5.25636860e-01 8.49981968e-01 -3.51645524e-02 -4.16693306e+02] [-6.85070433e-02 -1.09168224e-03 9.97650035e-01 -3.96494631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.47, Y:-416.73, Z:-39.65 [[ 8.47016369e-01 5.28305296e-01 5.87944330e-02 7.71468201e+02] [-5.27134036e-01 8.49053642e-01 -3.51798392e-02 -4.16727237e+02] [-6.85053228e-02 -1.19464712e-03 9.97650036e-01 -3.96463076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.52, Y:-416.76, Z:-39.65 [[ 8.48951956e-01 5.25189869e-01 5.87892734e-02 7.71521891e+02] [-5.24010535e-01 8.50984566e-01 -3.51884593e-02 -4.16759770e+02] [-6.85093867e-02 -9.32887282e-04 9.97650036e-01 -3.96508075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.58, Y:-416.79, Z:-39.66 [[ 8.51462594e-01 5.21110774e-01 5.87793464e-02 7.71575497e+02] [-5.19920558e-01 8.53488851e-01 -3.52050338e-02 -4.16789427e+02] [-6.85132392e-02 -5.84821234e-04 9.97650036e-01 -3.96585924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.63, Y:-416.82, Z:-39.66 [[ 8.53162747e-01 5.18323563e-01 5.87708289e-02 7.71629122e+02] [-5.17125748e-01 8.55184521e-01 -3.52192472e-02 -4.16822216e+02] [-6.85148688e-02 -3.44159186e-04 9.97650036e-01 -3.96627969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:771.68, Y:-416.86, Z:-39.66 [[ 8.53562164e-01 5.17666732e-01 5.87604147e-02 7.71680026e+02] [-5.16466165e-01 8.55582305e-01 -3.52366137e-02 -4.16856699e+02] [-6.85151938e-02 -2.71125819e-04 9.97650036e-01 -3.96639203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.73, Y:-416.89, Z:-39.67 [[ 8.54740649e-01 5.15719517e-01 5.87520475e-02 7.71732887e+02] [-5.14513390e-01 8.56757474e-01 -3.52505594e-02 -4.16889903e+02] [-6.85156573e-02 -9.86291367e-05 9.97650036e-01 -3.96674904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.79, Y:-416.92, Z:-39.67 [[ 8.55162555e-01 5.15020752e-01 5.87420627e-02 7.71786750e+02] [-5.13811834e-01 8.57177709e-01 -3.52671903e-02 -4.16922264e+02] [-6.85157216e-02 -2.31864279e-05 9.97650037e-01 -3.96717617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.84, Y:-416.95, Z:-39.68 [[ 8.55580768e-01 5.14326820e-01 5.87321955e-02 7.71840649e+02] [-5.13115140e-01 8.57594263e-01 -3.52836151e-02 -4.16953738e+02] [-6.85157035e-02 5.16037472e-05 9.97650037e-01 -3.96757125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.89, Y:-416.99, Z:-39.68 [[ 8.55236577e-01 5.14900092e-01 5.87221719e-02 7.71894480e+02] [-5.13688617e-01 8.57250194e-01 -3.53002895e-02 -4.16985659e+02] [-6.85157155e-02 2.51875177e-05 9.97650037e-01 -3.96802572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:771.95, Y:-417.02, Z:-39.69 [[ 8.53571963e-01 5.17656036e-01 5.87122822e-02 7.71947491e+02] [-5.16449931e-01 8.55588801e-01 -3.53167306e-02 -4.17015351e+02] [-6.85154899e-02 -1.76583063e-04 9.97650037e-01 -3.96867749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.00, Y:-417.05, Z:-39.69 [[ 8.51957315e-01 5.20310034e-01 5.87043609e-02 7.72000973e+02] [-5.19109305e-01 8.53977358e-01 -3.53298928e-02 -4.17047241e+02] [-6.85146927e-02 -3.74419405e-04 9.97650037e-01 -3.96886966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.05, Y:-417.08, Z:-39.70 [[ 8.51075995e-01 5.21751401e-01 5.86951969e-02 7.72054235e+02] [-5.20553043e-01 8.53097446e-01 -3.53451107e-02 -4.17076205e+02] [-6.85140836e-02 -4.72588124e-04 9.97650037e-01 -3.96961684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.11, Y:-417.11, Z:-39.70 [[ 8.51257046e-01 5.21456899e-01 5.86868290e-02 7.72107812e+02] [-5.20256884e-01 8.53277514e-01 -3.53589992e-02 -4.17108876e+02] [-6.85143457e-02 -4.32629587e-04 9.97650038e-01 -3.96996838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.16, Y:-417.14, Z:-39.70 [[ 8.51985864e-01 5.20266411e-01 5.86766564e-02 7.72159494e+02] [-5.19062411e-01 8.54003959e-01 -3.53758723e-02 -4.17141497e+02] [-6.85149749e-02 -3.17103645e-04 9.97650038e-01 -3.97024027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.21, Y:-417.17, Z:-39.71 [[ 8.52571653e-01 5.19306827e-01 5.86685260e-02 7.72212429e+02] [-5.18099628e-01 8.54587836e-01 -3.53893508e-02 -4.17172927e+02] [-6.85153402e-02 -2.24184199e-04 9.97650038e-01 -3.97089196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.26, Y:-417.20, Z:-39.71 [[ 8.51598232e-01 5.20901949e-01 5.86652368e-02 7.72264314e+02] [-5.19698151e-01 8.53616447e-01 -3.53948025e-02 -4.17204360e+02] [-6.85148327e-02 -3.46063870e-04 9.97650038e-01 -3.97108146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.32, Y:-417.24, Z:-39.72 [[ 8.50891713e-01 5.22056209e-01 5.86566911e-02 7.72317525e+02] [-5.20854173e-01 8.52910978e-01 -3.54089589e-02 -4.17236319e+02] [-6.85144026e-02 -4.22392606e-04 9.97650038e-01 -3.97165029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.37, Y:-417.27, Z:-39.72 [[ 8.50191291e-01 5.23197071e-01 5.86480497e-02 7.72371244e+02] [-5.21996758e-01 8.52211580e-01 -3.54232660e-02 -4.17268288e+02] [-6.85138961e-02 -4.97539516e-04 9.97650038e-01 -3.97211852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.42, Y:-417.30, Z:-39.73 [[ 8.49455461e-01 5.24392003e-01 5.86382739e-02 7.72424191e+02] [-5.23193415e-01 8.51476774e-01 -3.54394411e-02 -4.17300253e+02] [-6.85132878e-02 -5.74931975e-04 9.97650038e-01 -3.97256981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.48, Y:-417.33, Z:-39.73 [[ 8.48072022e-01 5.26627438e-01 5.86292397e-02 7.72478530e+02] [-5.25433145e-01 8.50095875e-01 -3.54543805e-02 -4.17332627e+02] [-6.85117244e-02 -7.37877627e-04 9.97650038e-01 -3.97286551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.53, Y:-417.36, Z:-39.73 [[ 8.46458782e-01 5.29217650e-01 5.86191812e-02 7.72531876e+02] [-5.28028399e-01 8.48485603e-01 -3.54710032e-02 -4.17363888e+02] [-6.85094122e-02 -9.27850191e-04 9.97650039e-01 -3.97341753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.58, Y:-417.40, Z:-39.74 [[ 8.45685686e-01 5.30453204e-01 5.86098883e-02 7.72584677e+02] [-5.29265850e-01 8.47713618e-01 -3.54863515e-02 -4.17395669e+02] [-6.85082493e-02 -1.00991282e-03 9.97650039e-01 -3.97380802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.64, Y:-417.43, Z:-39.74 [[ 8.46047817e-01 5.29876401e-01 5.86011232e-02 7.72635960e+02] [-5.28686663e-01 8.48074351e-01 -3.55008201e-02 -4.17428025e+02] [-6.85091563e-02 -9.46240890e-04 9.97650039e-01 -3.97432862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.69, Y:-417.46, Z:-39.75 [[ 8.47699018e-01 5.27231659e-01 5.85931062e-02 7.72688051e+02] [-5.26034684e-01 8.49721286e-01 -3.55140470e-02 -4.17462352e+02] [-6.85119395e-02 -7.16783313e-04 9.97650039e-01 -3.97451994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.74, Y:-417.49, Z:-39.75 [[ 8.49724996e-01 5.23961176e-01 5.85842768e-02 7.72741209e+02] [-5.22755413e-01 8.51742036e-01 -3.55286060e-02 -4.17494414e+02] [-6.85143014e-02 -4.35703210e-04 9.97650039e-01 -3.97489164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.79, Y:-417.53, Z:-39.75 [[ 8.51965058e-01 5.20311917e-01 5.85751537e-02 7.72791290e+02] [-5.19096481e-01 8.53976284e-01 -3.55436408e-02 -4.17528812e+02] [-6.85155720e-02 -1.24216177e-04 9.97650039e-01 -3.97541624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.84, Y:-417.56, Z:-39.76 [[ 8.53495166e-01 5.17799123e-01 5.85668030e-02 7.72842670e+02] [-5.16576821e-01 8.55502226e-01 -3.55573953e-02 -4.17561229e+02] [-6.85156185e-02 9.38120359e-05 9.97650039e-01 -3.97596790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.90, Y:-417.60, Z:-39.76 [[ 8.55319179e-01 5.14781476e-01 5.85588018e-02 7.72895235e+02] [-5.13551192e-01 8.57321357e-01 -3.55705675e-02 -4.17595680e+02] [-6.85147806e-02 3.51246137e-04 9.97650040e-01 -3.97628993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:772.95, Y:-417.63, Z:-39.77 [[ 8.55249563e-01 5.14898253e-01 5.85488977e-02 7.72949301e+02] [-5.13667126e-01 8.57251223e-01 -3.55868621e-02 -4.17627438e+02] [-6.85147273e-02 3.61004218e-04 9.97650040e-01 -3.97658590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.00, Y:-417.66, Z:-39.77 [[ 8.53786194e-01 5.17322259e-01 5.85390046e-02 7.73004015e+02] [-5.16095700e-01 8.55790656e-01 -3.56031284e-02 -4.17657526e+02] [-6.85154240e-02 1.85730973e-04 9.97650040e-01 -3.97702269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.06, Y:-417.69, Z:-39.78 [[ 8.52253652e-01 5.19844277e-01 5.85289656e-02 7.73057887e+02] [-5.18622517e-01 8.54261042e-01 -3.56196242e-02 -4.17688630e+02] [-6.85156729e-02 2.51531389e-06 9.97650040e-01 -3.97751323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.11, Y:-417.72, Z:-39.78 [[ 8.51515026e-01 5.21054257e-01 5.85202593e-02 7.73112117e+02] [-5.19834367e-01 8.53523553e-01 -3.56339222e-02 -4.17720113e+02] [-6.85156265e-02 -7.80217292e-05 9.97650040e-01 -3.97796210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.17, Y:-417.75, Z:-39.78 [[ 8.50441515e-01 5.22805664e-01 5.85103948e-02 7.73167114e+02] [-5.21588796e-01 8.52451874e-01 -3.56501124e-02 -4.17749721e+02] [-6.85153763e-02 -2.00030750e-04 9.97650040e-01 -3.97827740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.22, Y:-417.78, Z:-39.79 [[ 8.48851793e-01 5.25384001e-01 5.85003044e-02 7.73220511e+02] [-5.24172098e-01 8.50865148e-01 -3.56666626e-02 -4.17779026e+02] [-6.85145641e-02 -3.88516751e-04 9.97650041e-01 -3.97855255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.28, Y:-417.81, Z:-39.79 [[ 8.47065425e-01 5.28260185e-01 5.84922393e-02 7.73275912e+02] [-5.27054205e-01 8.49082334e-01 -3.56798842e-02 -4.17808526e+02] [-6.85129893e-02 -6.05384383e-04 9.97650041e-01 -3.97895865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.33, Y:-417.84, Z:-39.79 [[ 8.45599351e-01 5.30604915e-01 5.84821441e-02 7.73331783e+02] [-5.29403384e-01 8.47618913e-01 -3.56964234e-02 -4.17836661e+02] [-6.85112691e-02 -7.75772572e-04 9.97650041e-01 -3.97941954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.39, Y:-417.87, Z:-39.80 [[ 8.44583704e-01 5.32221176e-01 5.84721009e-02 7.73386967e+02] [-5.31022371e-01 8.46604886e-01 -3.57128670e-02 -4.17866364e+02] [-6.85099104e-02 -8.87488144e-04 9.97650041e-01 -3.97970914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.44, Y:-417.90, Z:-39.80 [[ 8.43921734e-01 5.33271321e-01 5.84620038e-02 7.73440929e+02] [-5.32073887e-01 8.45943727e-01 -3.57293882e-02 -4.17895864e+02] [-6.85090235e-02 -9.53298366e-04 9.97650041e-01 -3.98017786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.50, Y:-417.92, Z:-39.81 [[ 8.42097084e-01 5.36149033e-01 5.84526762e-02 7.73496803e+02] [-5.34957450e-01 8.44122531e-01 -3.57446416e-02 -4.17924853e+02] [-6.85056760e-02 -1.16923612e-03 9.97650041e-01 -3.98096680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.55, Y:-417.95, Z:-39.81 [[ 8.40412711e-01 5.38785982e-01 5.84477636e-02 7.73551738e+02] [-5.37600196e-01 8.42441556e-01 -3.57526727e-02 -4.17951873e+02] [-6.85018638e-02 -1.37452861e-03 9.97650042e-01 -3.98126900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.60, Y:-417.98, Z:-39.82 [[ 8.39889216e-01 5.39602656e-01 5.84386795e-02 7.73604824e+02] [-5.38417810e-01 8.41918611e-01 -3.57675148e-02 -4.17981460e+02] [-6.85008578e-02 -1.42367589e-03 9.97650042e-01 -3.98163460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.66, Y:-418.01, Z:-39.82 [[ 8.41421112e-01 5.37211671e-01 5.84305825e-02 7.73658063e+02] [-5.36020139e-01 8.43446589e-01 -3.57807372e-02 -4.18013439e+02] [-6.85049052e-02 -1.21330129e-03 9.97650042e-01 -3.98169052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.71, Y:-418.04, Z:-39.82 [[ 8.43142798e-01 5.34506445e-01 5.84215854e-02 7.73711992e+02] [-5.33307398e-01 8.45163835e-01 -3.57954214e-02 -4.18044523e+02] [-6.85086946e-02 -9.76011973e-04 9.97650042e-01 -3.98214943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.76, Y:-418.07, Z:-39.83 [[ 8.45826081e-01 5.30251138e-01 5.84120872e-02 7.73764686e+02] [-5.29040852e-01 8.47840407e-01 -3.58109142e-02 -4.18074450e+02] [-6.85129058e-02 -6.12575130e-04 9.97650042e-01 -3.98277257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.82, Y:-418.11, Z:-39.83 [[ 8.47851992e-01 5.27006262e-01 5.84071916e-02 7.73817374e+02] [-5.25787716e-01 8.49861332e-01 -3.58188970e-02 -4.18106618e+02] [-6.85147967e-02 -3.40660707e-04 9.97650042e-01 -3.98323095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.87, Y:-418.14, Z:-39.84 [[ 8.50856027e-01 5.22143314e-01 5.83984696e-02 7.73871312e+02] [-5.20912308e-01 8.52857758e-01 -3.58331117e-02 -4.18139201e+02] [-6.85156075e-02 6.83375044e-05 9.97650042e-01 -3.98366064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.93, Y:-418.17, Z:-39.84 [[ 8.53170046e-01 5.18354763e-01 5.83884526e-02 7.73925117e+02] [-5.17113753e-01 8.55165590e-01 -3.58494266e-02 -4.18171140e+02] [-6.85145165e-02 3.92185137e-04 9.97650042e-01 -3.98409376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:773.98, Y:-418.20, Z:-39.84 [[ 8.53523129e-01 5.17774290e-01 5.83785366e-02 7.73978919e+02] [-5.16530818e-01 8.55517139e-01 -3.58655668e-02 -4.18204064e+02] [-6.85141070e-02 4.57777492e-04 9.97650043e-01 -3.98447315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.03, Y:-418.24, Z:-39.85 [[ 8.54571606e-01 5.16043085e-01 5.83686964e-02 7.74032138e+02] [-5.14794480e-01 8.56562406e-01 -3.58815739e-02 -4.18235376e+02] [-6.85128692e-02 6.15491523e-04 9.97650043e-01 -3.98499066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.09, Y:-418.27, Z:-39.85 [[ 8.53185127e-01 5.18332549e-01 5.83653023e-02 7.74085298e+02] [-5.17088909e-01 8.55179032e-01 -3.58870940e-02 -4.18266630e+02] [-6.85142316e-02 4.38284322e-04 9.97650043e-01 -3.98513508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.14, Y:-418.30, Z:-39.86 [[ 8.50937049e-01 5.22016032e-01 5.83558130e-02 7.74140011e+02] [-5.20779966e-01 8.52935658e-01 -3.59025179e-02 -4.18297789e+02] [-6.85154437e-02 1.60244376e-04 9.97650043e-01 -3.98561948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.19, Y:-418.33, Z:-39.86 [[ 8.49019406e-01 5.25130308e-01 5.83455936e-02 7.74194383e+02] [-5.23900432e-01 8.51021830e-01 -3.59191180e-02 -4.18329853e+02] [-6.85155913e-02 -7.12534676e-05 9.97650043e-01 -3.98604720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.25, Y:-418.36, Z:-39.86 [[ 8.45885402e-01 5.30164933e-01 5.83355012e-02 7.74248928e+02] [-5.28945845e-01 8.47894412e-01 -3.59355013e-02 -4.18359406e+02] [-6.85140881e-02 -4.59005048e-04 9.97650043e-01 -3.98643276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.30, Y:-418.39, Z:-39.87 [[ 8.44199841e-01 5.32845787e-01 5.83266252e-02 7.74302482e+02] [-5.31632083e-01 8.46212109e-01 -3.59499021e-02 -4.18390623e+02] [-6.85124504e-02 -6.59403638e-04 9.97650044e-01 -3.98688233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.36, Y:-418.42, Z:-39.87 [[ 8.41930166e-01 5.36425854e-01 5.83172254e-02 7.74357035e+02] [-5.35219650e-01 8.43946938e-01 -3.59651438e-02 -4.18421539e+02] [-6.85092768e-02 -9.32385466e-04 9.97650044e-01 -3.98737041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.41, Y:-418.45, Z:-39.88 [[ 8.39665539e-01 5.39964885e-01 5.83069882e-02 7.74411060e+02] [-5.38766030e-01 8.41686688e-01 -3.59817329e-02 -4.18453140e+02] [-6.85050880e-02 -1.20120333e-03 9.97650044e-01 -3.98786694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.46, Y:-418.48, Z:-39.88 [[ 8.37680818e-01 5.43039897e-01 5.82968101e-02 7.74464090e+02] [-5.41847313e-01 8.39705673e-01 -3.59982156e-02 -4.18484588e+02] [-6.85006295e-02 -1.43295527e-03 9.97650044e-01 -3.98838459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.52, Y:-418.52, Z:-39.89 [[ 8.35451360e-01 5.46464640e-01 5.82874042e-02 7.74517740e+02] [-5.45279295e-01 8.37480461e-01 -3.60134390e-02 -4.18516233e+02] [-6.84946331e-02 -1.69543814e-03 9.97650044e-01 -3.98888865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.57, Y:-418.55, Z:-39.89 [[ 8.35018081e-01 5.47127508e-01 5.82777428e-02 7.74571226e+02] [-5.45942683e-01 8.37047485e-01 -3.60290666e-02 -4.18549371e+02] [-6.84937315e-02 -1.73138525e-03 9.97650044e-01 -3.98938222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.62, Y:-418.58, Z:-39.90 [[ 8.34681958e-01 5.47641165e-01 5.82682013e-02 7.74624191e+02] [-5.46456514e-01 8.36711464e-01 -3.60444910e-02 -4.18583831e+02] [-6.84931190e-02 -1.75535181e-03 9.97650045e-01 -3.98970495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.68, Y:-418.62, Z:-39.90 [[ 8.34715598e-01 5.47590990e-01 5.82578637e-02 7.74675083e+02] [-5.46405052e-01 8.36744351e-01 -3.60611917e-02 -4.18618756e+02] [-6.84937221e-02 -1.73155182e-03 9.97650045e-01 -3.99016213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.73, Y:-418.65, Z:-39.91 [[ 8.34423929e-01 5.48036349e-01 5.82483123e-02 7.74727732e+02] [-5.46850419e-01 8.36452687e-01 -3.60766131e-02 -4.18653674e+02] [-6.84932527e-02 -1.74992470e-03 9.97650045e-01 -3.99053870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.78, Y:-418.69, Z:-39.91 [[ 8.33140891e-01 5.49985965e-01 5.82382481e-02 7.74780390e+02] [-5.48803648e-01 8.35171756e-01 -3.60928525e-02 -4.18688538e+02] [-6.84895023e-02 -1.89093167e-03 9.97650045e-01 -3.99089639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.83, Y:-418.72, Z:-39.91 [[ 8.30779570e-01 5.53547461e-01 5.82281341e-02 7.74833072e+02] [-5.52372706e-01 8.32814819e-01 -3.61091620e-02 -4.18723189e+02] [-6.84813878e-02 -2.16487790e-03 9.97650045e-01 -3.99132344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.89, Y:-418.75, Z:-39.92 [[ 8.29732208e-01 5.55117231e-01 5.82178836e-02 7.74885966e+02] [-5.53945169e-01 8.31769009e-01 -3.61256810e-02 -4.18754828e+02] [-6.84778194e-02 -2.27487438e-03 9.97650045e-01 -3.99236170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.94, Y:-418.79, Z:-39.92 [[ 8.27368056e-01 5.58635731e-01 5.82084243e-02 7.74936636e+02] [-5.57471259e-01 8.29409205e-01 -3.61409161e-02 -4.18790105e+02] [-6.84682100e-02 -2.54768410e-03 9.97650046e-01 -3.99225573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:774.99, Y:-418.82, Z:-39.93 [[ 8.26368551e-01 5.60114102e-01 5.81997439e-02 7.74989013e+02] [-5.58952299e-01 8.28411221e-01 -3.61548893e-02 -4.18824455e+02] [-6.84641843e-02 -2.65361722e-03 9.97650046e-01 -3.99266460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.04, Y:-418.86, Z:-39.93 [[ 8.25596242e-01 5.61252887e-01 5.81897112e-02 7.75042217e+02] [-5.60092767e-01 8.27639867e-01 -3.61710293e-02 -4.18857854e+02] [-6.84612195e-02 -2.72897045e-03 9.97650046e-01 -3.99307991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.10, Y:-418.89, Z:-39.94 [[ 8.25190577e-01 5.61850202e-01 5.81795728e-02 7.75095551e+02] [-5.60690414e-01 8.27234390e-01 -3.61873292e-02 -4.18891488e+02] [-6.84600017e-02 -2.75928571e-03 9.97650046e-01 -3.99356589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.15, Y:-418.93, Z:-39.94 [[ 8.24571135e-01 5.62759955e-01 5.81693753e-02 7.75147192e+02] [-5.61601269e-01 8.26615573e-01 -3.62037137e-02 -4.18925534e+02] [-6.84577118e-02 -2.81545770e-03 9.97650046e-01 -3.99396590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.20, Y:-418.96, Z:-39.94 [[ 8.24302351e-01 5.63154232e-01 5.81630882e-02 7.75199676e+02] [-5.61995813e-01 8.26346941e-01 -3.62138115e-02 -4.18960199e+02] [-6.84568512e-02 -2.83628204e-03 9.97650046e-01 -3.99428661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.25, Y:-418.99, Z:-39.95 [[ 8.24535569e-01 5.62813752e-01 5.81530367e-02 7.75252722e+02] [-5.61653353e-01 8.26579036e-01 -3.62299453e-02 -4.18993817e+02] [-6.84587924e-02 -2.78896943e-03 9.97650047e-01 -3.99469103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.31, Y:-419.03, Z:-39.95 [[ 8.24632626e-01 5.62672575e-01 5.81429831e-02 7.75305242e+02] [-5.61510691e-01 8.26675248e-01 -3.62460724e-02 -4.19027857e+02] [-6.84600359e-02 -2.75821273e-03 9.97650047e-01 -3.99501052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.36, Y:-419.06, Z:-39.96 [[ 8.24871688e-01 5.62323123e-01 5.81326353e-02 7.75357308e+02] [-5.61159208e-01 8.26913153e-01 -3.62626610e-02 -4.19060298e+02] [-6.84619736e-02 -2.70962118e-03 9.97650047e-01 -3.99556465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.41, Y:-419.09, Z:-39.96 [[ 8.25744161e-01 5.61041816e-01 5.81262535e-02 7.75410467e+02] [-5.59874014e-01 8.27783406e-01 -3.62728877e-02 -4.19093316e+02] [-6.84665549e-02 -2.59125356e-03 9.97650047e-01 -3.99605437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.46, Y:-419.12, Z:-39.97 [[ 8.28412919e-01 5.57094762e-01 5.81159312e-02 7.75464140e+02] [-5.55916084e-01 8.30445896e-01 -3.62894184e-02 -4.19122607e+02] [-6.84787815e-02 -2.24495790e-03 9.97650047e-01 -3.99724969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.51, Y:-419.16, Z:-39.97 [[ 8.27103437e-01 5.59038023e-01 5.81067329e-02 7.75514851e+02] [-5.57863088e-01 8.29138580e-01 -3.63041409e-02 -4.19158393e+02] [-6.84739291e-02 -2.38832169e-03 9.97650047e-01 -3.99693251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.57, Y:-419.19, Z:-39.98 [[ 8.27463338e-01 5.58506117e-01 5.80976868e-02 7.75568418e+02] [-5.57328859e-01 8.29497138e-01 -3.63186116e-02 -4.19189903e+02] [-6.84760316e-02 -2.32719792e-03 9.97650048e-01 -3.99754796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.62, Y:-419.22, Z:-39.98 [[ 8.27421487e-01 5.58569103e-01 5.80882180e-02 7.75621934e+02] [-5.57390939e-01 8.29454761e-01 -3.63337498e-02 -4.19222295e+02] [-6.84764590e-02 -2.31452111e-03 9.97650048e-01 -3.99802287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.68, Y:-419.26, Z:-39.98 [[ 8.27452416e-01 5.58524329e-01 5.80781598e-02 7.75675293e+02] [-5.57344929e-01 8.29484973e-01 -3.63498203e-02 -4.19255622e+02] [-6.84772199e-02 -2.29182119e-03 9.97650048e-01 -3.99843767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.73, Y:-419.29, Z:-39.99 [[ 8.28451915e-01 5.57041757e-01 5.80681104e-02 7.75727327e+02] [-5.55857595e-01 8.30481702e-01 -3.63658670e-02 -4.19288387e+02] [-6.84818096e-02 -2.15022811e-03 9.97650048e-01 -3.99881271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.78, Y:-419.32, Z:-39.99 [[ 8.29633648e-01 5.55281175e-01 5.80588161e-02 7.75780577e+02] [-5.54091669e-01 8.31660308e-01 -3.63806994e-02 -4.19321683e+02] [-6.84867304e-02 -1.98725394e-03 9.97650048e-01 -3.99912262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.83, Y:-419.35, Z:-39.99 [[ 8.31923953e-01 5.51844993e-01 5.80485917e-02 7.75832806e+02] [-5.50645978e-01 8.33945001e-01 -3.63970061e-02 -4.19354617e+02] [-6.84948385e-02 -1.68468230e-03 9.97650048e-01 -3.99949610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.89, Y:-419.38, Z:-40.00 [[ 8.36932797e-01 5.44219579e-01 5.80391503e-02 7.75886300e+02] [-5.43001101e-01 8.38942171e-01 -3.64120553e-02 -4.19384763e+02] [-6.85076442e-02 -1.04087924e-03 9.97650049e-01 -4.00045334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.94, Y:-419.42, Z:-40.01 [[ 8.41114845e-01 5.37733829e-01 5.80357423e-02 7.75939032e+02] [-5.36499480e-01 8.43114508e-01 -3.64174864e-02 -4.19419403e+02] [-6.85136907e-02 -5.04857209e-04 9.97650049e-01 -4.00096632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:775.99, Y:-419.46, Z:-40.01 [[ 8.44951354e-01 5.31685648e-01 5.80308664e-02 7.75991004e+02] [-5.30436451e-01 8.46941776e-01 -3.64252545e-02 -4.19455015e+02] [-6.85155501e-02 -4.11869337e-06 9.97650049e-01 -4.00148694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.04, Y:-419.49, Z:-40.02 [[ 8.48159803e-01 5.26552890e-01 5.80258803e-02 7.76043630e+02] [-5.25291105e-01 8.50142269e-01 -3.64331956e-02 -4.19489058e+02] [-6.85142580e-02 4.20693148e-04 9.97650049e-01 -4.00205083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.09, Y:-419.52, Z:-40.02 [[ 8.48353830e-01 5.26241507e-01 5.80142770e-02 7.76093764e+02] [-5.24977731e-01 8.50335027e-01 -3.64516628e-02 -4.19524163e+02] [-6.85139497e-02 4.67704257e-04 9.97650049e-01 -4.00232862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.14, Y:-419.56, Z:-40.02 [[ 8.48900512e-01 5.25360319e-01 5.80039363e-02 7.76144207e+02] [-5.24093364e-01 8.50879676e-01 -3.64681100e-02 -4.19558867e+02] [-6.85132685e-02 5.58319167e-04 9.97650049e-01 -4.00227330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.20, Y:-419.59, Z:-40.03 [[ 8.49189809e-01 5.24893620e-01 5.79944543e-02 7.76196538e+02] [-5.23624547e-01 8.51167616e-01 -3.64831829e-02 -4.19593743e+02] [-6.85127914e-02 6.13827262e-04 9.97650049e-01 -4.00264031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.25, Y:-419.63, Z:-40.03 [[ 8.48594493e-01 5.25856645e-01 5.79842742e-02 7.76248977e+02] [-5.24588711e-01 8.50573031e-01 -3.64993554e-02 -4.19627147e+02] [-6.85132884e-02 5.55256337e-04 9.97650049e-01 -4.00308800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.30, Y:-419.66, Z:-40.03 [[ 8.46407896e-01 5.29369992e-01 5.79748747e-02 7.76301186e+02] [-5.28109249e-01 8.48391023e-01 -3.65142793e-02 -4.19660229e+02] [-6.85149270e-02 2.88906739e-04 9.97650050e-01 -4.00345667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.35, Y:-419.69, Z:-40.04 [[ 8.43136231e-01 5.34566443e-01 5.79656266e-02 7.76354854e+02] [-5.33316914e-01 8.45126443e-01 -3.65289546e-02 -4.19693110e+02] [-6.85154372e-02 -1.15164011e-04 9.97650050e-01 -4.00383465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.41, Y:-419.73, Z:-40.04 [[ 8.39536205e-01 5.40203788e-01 5.79553929e-02 7.76408582e+02] [-5.38966502e-01 8.41534051e-01 -3.65451837e-02 -4.19726162e+02] [-6.85132833e-02 -5.55010544e-04 9.97650050e-01 -4.00429784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.46, Y:-419.76, Z:-40.05 [[ 8.37010889e-01 5.44109490e-01 5.79451023e-02 7.76462092e+02] [-5.42880397e-01 8.39013785e-01 -3.65614930e-02 -4.19758697e+02] [-6.85101950e-02 -8.54892388e-04 9.97650050e-01 -4.00475133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.51, Y:-419.79, Z:-40.05 [[ 8.33501653e-01 5.49471165e-01 5.79347299e-02 7.76514960e+02] [-5.48253813e-01 8.35511707e-01 -3.65779216e-02 -4.19791112e+02] [-6.85036583e-02 -1.27517839e-03 9.97650050e-01 -4.00533860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.57, Y:-419.82, Z:-40.06 [[ 8.29851706e-01 5.54968579e-01 5.79311850e-02 7.76566003e+02] [-5.53764148e-01 8.31869529e-01 -3.65835351e-02 -4.19823842e+02] [-6.84939001e-02 -1.72130431e-03 9.97650050e-01 -4.00567724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.62, Y:-419.86, Z:-40.06 [[ 8.28235320e-01 5.57378955e-01 5.79219816e-02 7.76618571e+02] [-5.56179378e-01 8.30256032e-01 -3.65981009e-02 -4.19857294e+02] [-6.84890858e-02 -1.90317191e-03 9.97650050e-01 -4.00616947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.67, Y:-419.89, Z:-40.07 [[ 8.26881100e-01 5.59387064e-01 5.79116433e-02 7.76670748e+02] [-5.58191250e-01 8.28904042e-01 -3.66144526e-02 -4.19891985e+02] [-6.84848463e-02 -2.04997368e-03 9.97650051e-01 -4.00664970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.72, Y:-419.93, Z:-40.07 [[ 8.25970905e-01 5.60731216e-01 5.79013532e-02 7.76721175e+02] [-5.59537556e-01 8.27995117e-01 -3.66307180e-02 -4.19926971e+02] [-6.84820248e-02 -2.14207435e-03 9.97650051e-01 -4.00705796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.77, Y:-419.96, Z:-40.07 [[ 8.25175830e-01 5.61901188e-01 5.78956303e-02 7.76773370e+02] [-5.60709764e-01 8.27201359e-01 -3.66397609e-02 -4.19962072e+02] [-6.84792693e-02 -2.22840009e-03 9.97650051e-01 -4.00744692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.83, Y:-420.00, Z:-40.08 [[ 8.25735989e-01 5.61078772e-01 5.78851326e-02 7.76825440e+02] [-5.59884169e-01 8.27759645e-01 -3.66563382e-02 -4.19995843e+02] [-6.84820700e-02 -2.14051170e-03 9.97650051e-01 -4.00827215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.88, Y:-420.03, Z:-40.09 [[ 8.25669354e-01 5.61177813e-01 5.78755617e-02 7.76875186e+02] [-5.59982396e-01 8.27692529e-01 -3.66714431e-02 -4.20034101e+02] [-6.84823703e-02 -2.13080892e-03 9.97650051e-01 -4.00853598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:776.92, Y:-420.07, Z:-40.09 [[ 8.25825516e-01 5.60948969e-01 5.78659778e-02 7.76924190e+02] [-5.59751933e-01 8.27847733e-01 -3.66865600e-02 -4.20072259e+02] [-6.84835065e-02 -2.09389562e-03 9.97650051e-01 -4.00883380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:776.98, Y:-420.11, Z:-40.09 [[ 8.27043930e-01 5.59152070e-01 5.78558637e-02 7.76975454e+02] [-5.57949526e-01 8.29062876e-01 -3.67025032e-02 -4.20107078e+02] [-6.84884294e-02 -1.92606927e-03 9.97650052e-01 -4.00922867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.02, Y:-420.14, Z:-40.10 [[ 8.27407768e-01 5.58614530e-01 5.78462830e-02 7.77024476e+02] [-5.57409620e-01 8.29425304e-01 -3.67175970e-02 -4.20144069e+02] [-6.84901540e-02 -1.86364964e-03 9.97650052e-01 -4.00963228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.08, Y:-420.18, Z:-40.10 [[ 8.28869998e-01 5.56443480e-01 5.78375400e-02 7.77075252e+02] [-5.55232325e-01 8.30883790e-01 -3.67313639e-02 -4.20180726e+02] [-6.84952024e-02 -1.66774625e-03 9.97650052e-01 -4.01006806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.13, Y:-420.22, Z:-40.10 [[ 8.31489349e-01 5.52522830e-01 5.78272032e-02 7.77126421e+02] [-5.51301047e-01 8.33496711e-01 -3.67476302e-02 -4.20217569e+02] [-6.85026883e-02 -1.32493459e-03 9.97650052e-01 -4.01045896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:777.18, Y:-420.25, Z:-40.11 [[ 8.35595769e-01 5.46293799e-01 5.78169271e-02 7.77176789e+02] [-5.45055931e-01 8.37593252e-01 -3.67637911e-02 -4.20252731e+02] [-6.85108990e-02 -7.93790779e-04 9.97650052e-01 -4.01118241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.23, Y:-420.29, Z:-40.11 [[ 8.36887802e-01 5.44312833e-01 5.78130259e-02 7.77226735e+02] [-5.43069814e-01 8.38882083e-01 -3.67699249e-02 -4.20289250e+02] [-6.85126536e-02 -6.24207578e-04 9.97650052e-01 -4.01122564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.28, Y:-420.32, Z:-40.12 [[ 8.39893055e-01 5.39665326e-01 5.78013138e-02 7.77279638e+02] [-5.38410004e-01 8.41879615e-01 -3.67883267e-02 -4.20322833e+02] [-6.85151322e-02 -2.22545523e-04 9.97650052e-01 -4.01212559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.33, Y:-420.36, Z:-40.12 [[ 8.40134011e-01 5.39291297e-01 5.77904874e-02 7.77330130e+02] [-5.38033921e-01 8.42119272e-01 -3.68053260e-02 -4.20359418e+02] [-6.85152752e-02 -1.71836342e-04 9.97650053e-01 -4.01236042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.38, Y:-420.39, Z:-40.12 [[ 8.39418863e-01 5.40404835e-01 5.77804995e-02 7.77381863e+02] [-5.39149014e-01 8.41405107e-01 -3.68209994e-02 -4.20394963e+02] [-6.85150535e-02 -2.44057879e-04 9.97650053e-01 -4.01248813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.43, Y:-420.43, Z:-40.13 [[ 8.37326356e-01 5.43642540e-01 5.77699065e-02 7.77434543e+02] [-5.42393253e-01 8.39316716e-01 -3.68376117e-02 -4.20428047e+02] [-6.85137410e-02 -4.88904353e-04 9.97650053e-01 -4.01330567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.49, Y:-420.46, Z:-40.14 [[ 8.33996723e-01 5.48737983e-01 5.77589172e-02 7.77487031e+02] [-5.47499663e-01 8.35993924e-01 -3.68548342e-02 -4.20461247e+02] [-6.85097512e-02 -8.86176710e-04 9.97650053e-01 -4.01360126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.54, Y:-420.50, Z:-40.14 [[ 8.31770835e-01 5.52107199e-01 5.77487568e-02 7.77540305e+02] [-5.50875863e-01 8.33772350e-01 -3.68707479e-02 -4.20495165e+02] [-6.85059220e-02 -1.14438342e-03 9.97650053e-01 -4.01404194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.59, Y:-420.53, Z:-40.14 [[ 8.30684571e-01 5.53741293e-01 5.77384136e-02 7.77593445e+02] [-5.52512770e-01 8.32687813e-01 -3.68869379e-02 -4.20528040e+02] [-6.85038940e-02 -1.25980065e-03 9.97650054e-01 -4.01449303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.65, Y:-420.56, Z:-40.15 [[ 8.31439717e-01 5.52607879e-01 5.77280684e-02 7.77646708e+02] [-5.51375501e-01 8.33440590e-01 -3.69031210e-02 -4.20560856e+02] [-6.85058708e-02 -1.14712221e-03 9.97650054e-01 -4.01485471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.70, Y:-420.59, Z:-40.15 [[ 8.30842288e-01 5.53506770e-01 5.77178392e-02 7.77699431e+02] [-5.52275446e-01 8.32843809e-01 -3.69191129e-02 -4.20593986e+02] [-6.85049240e-02 -1.20218515e-03 9.97650054e-01 -4.01530664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.75, Y:-420.63, Z:-40.16 [[ 8.29555691e-01 5.55434220e-01 5.77077438e-02 7.77753488e+02] [-5.54206450e-01 8.31559394e-01 -3.69348863e-02 -4.20626540e+02] [-6.85023162e-02 -1.34245874e-03 9.97650054e-01 -4.01592309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.81, Y:-420.66, Z:-40.16 [[ 8.28933565e-01 5.56363292e-01 5.76977611e-02 7.77806742e+02] [-5.55136684e-01 8.30937979e-01 -3.69504742e-02 -4.20659884e+02] [-6.85011485e-02 -1.40065543e-03 9.97650054e-01 -4.01636558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.86, Y:-420.69, Z:-40.17 [[ 8.28077193e-01 5.57638179e-01 5.76873003e-02 7.77858328e+02] [-5.56413519e-01 8.30082798e-01 -3.69667985e-02 -4.20693005e+02] [-6.84993338e-02 -1.48663104e-03 9.97650055e-01 -4.01684926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.91, Y:-420.73, Z:-40.17 [[ 8.27869771e-01 5.57947069e-01 5.76776415e-02 7.77910722e+02] [-5.56722109e-01 8.29875193e-01 -3.69818626e-02 -4.20726235e+02] [-6.84991657e-02 -1.49425210e-03 9.97650055e-01 -4.01736408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:777.96, Y:-420.76, Z:-40.18 [[ 8.27621081e-01 5.58316512e-01 5.76716402e-02 7.77963996e+02] [-5.57091796e-01 8.29626652e-01 -3.69912189e-02 -4.20758789e+02] [-6.84987381e-02 -1.51368503e-03 9.97650055e-01 -4.01771750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.02, Y:-420.79, Z:-40.18 [[ 8.27050297e-01 5.59162774e-01 5.76610655e-02 7.78016475e+02] [-5.57938962e-01 8.29056419e-01 -3.70076953e-02 -4.20792058e+02] [-6.84976020e-02 -1.56412964e-03 9.97650055e-01 -4.01817287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.07, Y:-420.82, Z:-40.19 [[ 8.26774771e-01 5.59571091e-01 5.76512899e-02 7.78069247e+02] [-5.58347209e-01 8.28780850e-01 -3.70229177e-02 -4.20824706e+02] [-6.84972395e-02 -1.57982250e-03 9.97650055e-01 -4.01890432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.12, Y:-420.86, Z:-40.19 [[ 8.25057144e-01 5.62101708e-01 5.76400904e-02 7.78121270e+02] [-5.60882761e-01 8.27066225e-01 -3.70403457e-02 -4.20856819e+02] [-6.84926135e-02 -1.76893126e-03 9.97650055e-01 -4.01901081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.17, Y:-420.89, Z:-40.20 [[ 8.23685656e-01 5.64110092e-01 5.76345707e-02 7.78174264e+02] [-5.62895444e-01 8.25697339e-01 -3.70489322e-02 -4.20890255e+02] [-6.84883883e-02 -1.92556320e-03 9.97650055e-01 -4.01952987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.23, Y:-420.92, Z:-40.20 [[ 8.22346012e-01 5.66062009e-01 5.76267185e-02 7.78227700e+02] [-5.64851280e-01 8.24360057e-01 -3.70611417e-02 -4.20921713e+02] [-6.84840693e-02 -2.07344368e-03 9.97650055e-01 -4.01985324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.28, Y:-420.95, Z:-40.20 [[ 8.20719961e-01 5.68417741e-01 5.76195942e-02 7.78280565e+02] [-5.67212016e-01 8.22737005e-01 -3.70722148e-02 -4.20954107e+02] [-6.84782769e-02 -2.25661953e-03 9.97650056e-01 -4.02036834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.33, Y:-420.99, Z:-40.21 [[ 8.19630724e-01 5.69988215e-01 5.76099948e-02 7.78334305e+02] [-5.68785308e-01 8.21649450e-01 -3.70871261e-02 -4.20987539e+02] [-6.84744454e-02 -2.36997062e-03 9.97650056e-01 -4.02081575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.39, Y:-421.02, Z:-40.21 [[ 8.18928871e-01 5.70996855e-01 5.76029271e-02 7.78387810e+02] [-5.69795664e-01 8.20948618e-01 -3.70981004e-02 -4.21020070e+02] [-6.84719420e-02 -2.44119259e-03 9.97650056e-01 -4.02133701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.44, Y:-421.05, Z:-40.22 [[ 8.18980121e-01 5.70924403e-01 5.75924309e-02 7.78440242e+02] [-5.69721890e-01 8.20999081e-01 -3.71143879e-02 -4.21052696e+02] [-6.84728426e-02 -2.41572264e-03 9.97650056e-01 -4.02175972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.49, Y:-421.09, Z:-40.22 [[ 8.19688207e-01 5.69907975e-01 5.75859599e-02 7.78492959e+02] [-5.68702254e-01 8.21705253e-01 -3.71244254e-02 -4.21086884e+02] [-6.84761919e-02 -2.31881155e-03 9.97650056e-01 -4.02213147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.55, Y:-421.12, Z:-40.23 [[ 8.20327382e-01 5.68988607e-01 5.75756148e-02 7.78545476e+02] [-5.67779502e-01 8.22342401e-01 -3.71404626e-02 -4.21120425e+02] [-6.84793694e-02 -2.22291542e-03 9.97650056e-01 -4.02258964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.60, Y:-421.15, Z:-40.23 [[ 8.21862877e-01 5.66769502e-01 5.75651118e-02 7.78597834e+02] [-5.65553817e-01 8.23873933e-01 -3.71567344e-02 -4.21154260e+02] [-6.84856989e-02 -2.01842809e-03 9.97650056e-01 -4.02310867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.65, Y:-421.19, Z:-40.24 [[ 8.23201207e-01 5.64824961e-01 5.75546376e-02 7.78649917e+02] [-5.63603392e-01 8.25208694e-01 -3.71729515e-02 -4.21189187e+02] [-6.84907982e-02 -1.83717043e-03 9.97650057e-01 -4.02353701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.70, Y:-421.22, Z:-40.24 [[ 8.25194337e-01 5.61910113e-01 5.75441626e-02 7.78701631e+02] [-5.60680322e-01 8.27196798e-01 -3.71891599e-02 -4.21224228e+02] [-6.84973121e-02 -1.57559548e-03 9.97650057e-01 -4.02399118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.75, Y:-421.26, Z:-40.24 [[ 8.27147301e-01 5.59032389e-01 5.75337390e-02 7.78752702e+02] [-5.57794510e-01 8.29144771e-01 -3.72052788e-02 -4.21258485e+02] [-6.85027548e-02 -1.31775781e-03 9.97650057e-01 -4.02448458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.80, Y:-421.29, Z:-40.25 [[ 8.28519227e-01 5.56998085e-01 5.75241135e-02 7.78804450e+02] [-5.55754268e-01 8.30513006e-01 -3.72201553e-02 -4.21293098e+02] [-6.85060796e-02 -1.13165731e-03 9.97650057e-01 -4.02494758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.86, Y:-421.33, Z:-40.26 [[ 8.30287762e-01 5.54359469e-01 5.75135711e-02 7.78855594e+02] [-5.53108189e-01 8.32276865e-01 -3.72364384e-02 -4.21327188e+02] [-6.85095869e-02 -8.94268016e-04 9.97650057e-01 -4.02574134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.91, Y:-421.36, Z:-40.26 [[ 8.31291096e-01 5.52854154e-01 5.75099784e-02 7.78908717e+02] [-5.51598888e-01 8.33277685e-01 -3.72419865e-02 -4.21360625e+02] [-6.85111686e-02 -7.63508350e-04 9.97650057e-01 -4.02626594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:778.96, Y:-421.40, Z:-40.26 [[ 8.30162336e-01 5.54548886e-01 5.74980733e-02 7.78958820e+02] [-5.53296403e-01 8.32150681e-01 -3.72603577e-02 -4.21395736e+02] [-6.85097507e-02 -8.81331541e-04 9.97650058e-01 -4.02630587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.01, Y:-421.43, Z:-40.27 [[ 8.30668768e-01 5.53790571e-01 5.74926228e-02 7.79011120e+02] [-5.52535691e-01 8.32655601e-01 -3.72687659e-02 -4.21429728e+02] [-6.85106455e-02 -8.08726243e-04 9.97650058e-01 -4.02674356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.06, Y:-421.46, Z:-40.27 [[ 8.32162842e-01 5.51543995e-01 5.74824028e-02 7.79063862e+02] [-5.50282663e-01 8.34145584e-01 -3.72845224e-02 -4.21462813e+02] [-6.85127469e-02 -6.04775557e-04 9.97650058e-01 -4.02744381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.11, Y:-421.50, Z:-40.28 [[ 8.31438175e-01 5.52636926e-01 5.74716416e-02 7.79113767e+02] [-5.51377053e-01 8.33421846e-01 -3.73011026e-02 -4.21497593e+02] [-6.85120883e-02 -6.74983722e-04 9.97650058e-01 -4.02759623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.17, Y:-421.53, Z:-40.28 [[ 8.31678969e-01 5.52275374e-01 5.74630610e-02 7.79166498e+02] [-5.51013727e-01 8.33661511e-01 -3.73143165e-02 -4.21531925e+02] [-6.85125204e-02 -6.29403100e-04 9.97650058e-01 -4.02807440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.22, Y:-421.57, Z:-40.28 [[ 8.32257735e-01 5.51403905e-01 5.74525514e-02 7.79218906e+02] [-5.50139065e-01 8.34238241e-01 -3.73304912e-02 -4.21565914e+02] [-6.85132941e-02 -5.38302887e-04 9.97650058e-01 -4.02842737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.27, Y:-421.60, Z:-40.29 [[ 8.33620089e-01 5.49343202e-01 5.74420959e-02 7.79271623e+02] [-5.48072357e-01 8.35596748e-01 -3.73465726e-02 -4.21599740e+02] [-6.85145143e-02 -3.49571720e-04 9.97650058e-01 -4.02882295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.32, Y:-421.63, Z:-40.29 [[ 8.35259430e-01 5.46848522e-01 5.74315204e-02 7.79324782e+02] [-5.45570656e-01 8.37231556e-01 -3.73628285e-02 -4.21632576e+02] [-6.85152888e-02 -1.25297420e-04 9.97650059e-01 -4.02940919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.38, Y:-421.66, Z:-40.30 [[ 8.38092735e-01 5.42497440e-01 5.74203398e-02 7.79379141e+02] [-5.41208158e-01 8.40057417e-01 -3.73800034e-02 -4.21663774e+02] [-6.85149385e-02 2.51552881e-04 9.97650059e-01 -4.03023495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.43, Y:-421.70, Z:-40.31 [[ 8.39195113e-01 5.40791770e-01 5.74092646e-02 7.79432116e+02] [-5.39497332e-01 8.41156402e-01 -3.73970053e-02 -4.21697744e+02] [-6.85141631e-02 4.11239005e-04 9.97650059e-01 -4.03077378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.48, Y:-421.73, Z:-40.31 [[ 8.38350472e-01 5.42101397e-01 5.73982689e-02 7.79481976e+02] [-5.40808868e-01 8.40313019e-01 -3.74138743e-02 -4.21732804e+02] [-6.85146262e-02 3.24446327e-04 9.97650059e-01 -4.03088577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.54, Y:-421.77, Z:-40.31 [[ 8.38147471e-01 5.42416140e-01 5.73894483e-02 7.79535070e+02] [-5.41123422e-01 8.40109893e-01 -3.74273995e-02 -4.21765069e+02] [-6.85146688e-02 3.14905556e-04 9.97650059e-01 -4.03133231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.59, Y:-421.80, Z:-40.32 [[ 8.36823030e-01 5.44457908e-01 5.73829573e-02 7.79589035e+02] [-5.43169296e-01 8.38788150e-01 -3.74373487e-02 -4.21797641e+02] [-6.85152051e-02 1.59775020e-04 9.97650059e-01 -4.03173025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.64, Y:-421.83, Z:-40.32 [[ 8.35755292e-01 5.46096607e-01 5.73723587e-02 7.79641618e+02] [-5.44810734e-01 8.37722206e-01 -3.74535838e-02 -4.21831124e+02] [-6.85153739e-02 4.49540189e-05 9.97650060e-01 -4.03218579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.70, Y:-421.86, Z:-40.33 [[ 8.34082230e-01 5.48649663e-01 5.73618496e-02 7.79695263e+02] [-5.47368703e-01 8.36052347e-01 -3.74696721e-02 -4.21864303e+02] [-6.85152320e-02 -1.45293586e-04 9.97650060e-01 -4.03254639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.75, Y:-421.90, Z:-40.33 [[ 8.31902666e-01 5.51949962e-01 5.73514858e-02 7.79749273e+02] [-5.50675725e-01 8.33877138e-01 -3.74855284e-02 -4.21896175e+02] [-6.85142288e-02 -3.97760039e-04 9.97650060e-01 -4.03294932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.80, Y:-421.93, Z:-40.33 [[ 8.30238986e-01 5.54450364e-01 5.73412574e-02 7.79802601e+02] [-5.53180993e-01 8.32216589e-01 -3.75011683e-02 -4.21928886e+02] [-6.85128820e-02 -5.85161738e-04 9.97650060e-01 -4.03332689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.86, Y:-421.96, Z:-40.34 [[ 8.28419036e-01 5.57167019e-01 5.73307464e-02 7.79856832e+02] [-5.55903021e-01 8.30400077e-01 -3.75172303e-02 -4.21961127e+02] [-6.85108196e-02 -7.90347344e-04 9.97650060e-01 -4.03379179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.91, Y:-421.99, Z:-40.34 [[ 8.27663184e-01 5.58290304e-01 5.73200741e-02 7.79911077e+02] [-5.57027867e-01 8.29645219e-01 -3.75335287e-02 -4.21993590e+02] [-6.85099306e-02 -8.63758768e-04 9.97650061e-01 -4.03435379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:779.96, Y:-422.03, Z:-40.35 [[ 8.27867440e-01 5.57988459e-01 5.73095195e-02 7.79963737e+02] [-5.56724184e-01 8.29848304e-01 -3.75496375e-02 -4.22027634e+02] [-6.85104719e-02 -8.19473242e-04 9.97650061e-01 -4.03481617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.02, Y:-422.06, Z:-40.35 [[ 8.28890580e-01 5.56468531e-01 5.72990446e-02 7.80015276e+02] [-5.55199518e-01 8.30868413e-01 -3.75656150e-02 -4.22061233e+02] [-6.85120488e-02 -6.74617595e-04 9.97650061e-01 -4.03535945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.07, Y:-422.10, Z:-40.36 [[ 8.29612317e-01 5.55392920e-01 5.72896801e-02 7.80067282e+02] [-5.54120358e-01 8.31587867e-01 -3.75798909e-02 -4.22095382e+02] [-6.85130083e-02 -5.68637681e-04 9.97650061e-01 -4.03592443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.12, Y:-422.13, Z:-40.36 [[ 8.30372536e-01 5.54256759e-01 5.72791113e-02 7.80118343e+02] [-5.52980382e-01 8.32345624e-01 -3.75959930e-02 -4.22130580e+02] [-6.85138509e-02 -4.55544792e-04 9.97650061e-01 -4.03638489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.17, Y:-422.17, Z:-40.37 [[ 8.30512488e-01 5.54047984e-01 5.72698812e-02 7.80169000e+02] [-5.52770142e-01 8.32484627e-01 -3.76100479e-02 -4.22165951e+02] [-6.85140669e-02 -4.21465996e-04 9.97650061e-01 -4.03685552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.22, Y:-422.20, Z:-40.37 [[ 8.30545922e-01 5.53998536e-01 5.72633672e-02 7.80220585e+02] [-5.52719893e-01 8.32517542e-01 -3.76199632e-02 -4.22200307e+02] [-6.85141623e-02 -4.05495179e-04 9.97650061e-01 -4.03740360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.27, Y:-422.24, Z:-40.38 [[ 8.29479186e-01 5.55594820e-01 5.72597246e-02 7.80272082e+02] [-5.54319590e-01 8.31453014e-01 -3.76255066e-02 -4.22236277e+02] [-6.85133072e-02 -5.30612485e-04 9.97650062e-01 -4.03774256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.32, Y:-422.27, Z:-40.38 [[ 8.28208066e-01 5.57489091e-01 5.72478240e-02 7.80321664e+02] [-5.56217124e-01 8.30183998e-01 -3.76436050e-02 -4.22272130e+02] [-6.85121265e-02 -6.65482680e-04 9.97650062e-01 -4.03787930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.37, Y:-422.31, Z:-40.38 [[ 8.28070150e-01 5.57694887e-01 5.72384392e-02 7.80371337e+02] [-5.56422425e-01 8.30045764e-01 -3.76578695e-02 -4.22308123e+02] [-6.85121253e-02 -6.65393540e-04 9.97650062e-01 -4.03832074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.42, Y:-422.34, Z:-40.39 [[ 8.28463974e-01 5.57110631e-01 5.72292583e-02 7.80422316e+02] [-5.55835812e-01 8.30438068e-01 -3.76718168e-02 -4.22344424e+02] [-6.85127243e-02 -6.00328208e-04 9.97650062e-01 -4.03871567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.47, Y:-422.38, Z:-40.39 [[ 8.29207209e-01 5.56004888e-01 5.72186051e-02 7.80472211e+02] [-5.54726320e-01 8.31178877e-01 -3.76879906e-02 -4.22381449e+02] [-6.85136029e-02 -4.89512775e-04 9.97650062e-01 -4.03907459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.52, Y:-422.42, Z:-40.40 [[ 8.29693443e-01 5.55280062e-01 5.72087665e-02 7.80523839e+02] [-5.53998743e-01 8.31663323e-01 -3.77029194e-02 -4.22417437e+02] [-6.85141122e-02 -4.11719719e-04 9.97650062e-01 -4.03959324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.58, Y:-422.45, Z:-40.40 [[ 8.29923686e-01 5.54936962e-01 5.71982931e-02 7.80575329e+02] [-5.53653733e-01 8.31892322e-01 -3.77188016e-02 -4.22453834e+02] [-6.85143780e-02 -3.64321681e-04 9.97650063e-01 -4.04009352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.63, Y:-422.49, Z:-40.41 [[ 8.29767744e-01 5.55171204e-01 5.71876358e-02 7.80627128e+02] [-5.53887418e-01 8.31736017e-01 -3.77349529e-02 -4.22489734e+02] [-6.85143756e-02 -3.64265220e-04 9.97650063e-01 -4.04053918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.68, Y:-422.53, Z:-40.41 [[ 8.29321039e-01 5.55839356e-01 5.71771320e-02 7.80677534e+02] [-5.54556058e-01 8.31289631e-01 -3.77508619e-02 -4.22525027e+02] [-6.85141717e-02 -4.00340947e-04 9.97650063e-01 -4.04095628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.73, Y:-422.56, Z:-40.41 [[ 8.27062527e-01 5.59195369e-01 5.71674358e-02 7.80729949e+02] [-5.57919045e-01 8.29035647e-01 -3.77655395e-02 -4.22559391e+02] [-6.85121569e-02 -6.60338622e-04 9.97650063e-01 -4.04132008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.78, Y:-422.59, Z:-40.42 [[ 8.23942394e-01 5.63783652e-01 5.71570201e-02 7.80782994e+02] [-5.62517222e-01 8.25921878e-01 -3.77812967e-02 -4.22593295e+02] [-6.85077108e-02 -1.02219616e-03 9.97650063e-01 -4.04183518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.84, Y:-422.63, Z:-40.42 [[ 8.21334841e-01 5.67576722e-01 5.71466842e-02 7.80835781e+02] [-5.66318345e-01 8.23319455e-01 -3.77969241e-02 -4.22627733e+02] [-6.85026311e-02 -1.31928496e-03 9.97650063e-01 -4.04223095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.89, Y:-422.66, Z:-40.43 [[ 8.20279837e-01 5.69101455e-01 5.71360009e-02 7.80888086e+02] [-5.67845643e-01 8.22266075e-01 -3.78130666e-02 -4.22661821e+02] [-6.85004664e-02 -1.42713307e-03 9.97650064e-01 -4.04258814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.94, Y:-422.69, Z:-40.43 [[ 8.20572236e-01 5.68680861e-01 5.71251673e-02 7.80940960e+02] [-5.67422893e-01 8.22557108e-01 -3.78294263e-02 -4.22694690e+02] [-6.85015830e-02 -1.37235076e-03 9.97650064e-01 -4.04304735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:780.99, Y:-422.73, Z:-40.43 [[ 8.21626656e-01 5.67157048e-01 5.71184829e-02 7.80993500e+02] [-5.65894698e-01 8.23608743e-01 -3.78395163e-02 -4.22728862e+02] [-6.85042303e-02 -1.23309136e-03 9.97650064e-01 -4.04342919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.05, Y:-422.76, Z:-40.44 [[ 8.21966250e-01 5.66665836e-01 5.71079105e-02 7.81045683e+02] [-5.65401193e-01 8.23946876e-01 -3.78554655e-02 -4.22763349e+02] [-6.85052835e-02 -1.17296568e-03 9.97650064e-01 -4.04381695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.10, Y:-422.80, Z:-40.44 [[ 8.21869828e-01 5.66806767e-01 5.70970687e-02 7.81097183e+02] [-5.65541329e-01 8.23849945e-01 -3.78718112e-02 -4.22797504e+02] [-6.85054157e-02 -1.16505315e-03 9.97650064e-01 -4.04428893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.15, Y:-422.83, Z:-40.45 [[ 8.21389244e-01 5.67503989e-01 5.70870538e-02 7.81149642e+02] [-5.66239183e-01 8.23369765e-01 -3.78869013e-02 -4.22830670e+02] [-6.85047217e-02 -1.20503354e-03 9.97650064e-01 -4.04493858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.20, Y:-422.86, Z:-40.46 [[ 8.22045318e-01 5.66554165e-01 5.70777834e-02 7.81201884e+02] [-5.65286102e-01 8.24023754e-01 -3.79008624e-02 -4.22863387e+02] [-6.85063408e-02 -1.10905120e-03 9.97650065e-01 -4.04569252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.25, Y:-422.90, Z:-40.46 [[ 8.21003058e-01 5.68064454e-01 5.70679944e-02 7.81251313e+02] [-5.66799006e-01 8.22983168e-01 -3.79155961e-02 -4.22899925e+02] [-6.85045012e-02 -1.21726222e-03 9.97650065e-01 -4.04581075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.30, Y:-422.93, Z:-40.46 [[ 8.22062349e-01 5.66530996e-01 5.70624647e-02 7.81302233e+02] [-5.65261276e-01 8.24039724e-01 -3.79239164e-02 -4.22934906e+02] [-6.85068118e-02 -1.07937778e-03 9.97650065e-01 -4.04608506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.35, Y:-422.97, Z:-40.47 [[ 8.23243080e-01 5.64814822e-01 5.70530216e-02 7.81354048e+02] [-5.63539997e-01 8.25217166e-01 -3.79381173e-02 -4.22970676e+02] [-6.85091438e-02 -9.19367057e-04 9.97650065e-01 -4.04652705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.41, Y:-423.01, Z:-40.47 [[ 8.24728073e-01 5.62645341e-01 5.70423247e-02 7.81405381e+02] [-5.61364210e-01 8.26698072e-01 -3.79541941e-02 -4.23006943e+02] [-6.85115303e-02 -7.19630191e-04 9.97650065e-01 -4.04693787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.46, Y:-423.04, Z:-40.48 [[ 8.28457256e-01 5.57140891e-01 5.70316009e-02 7.81457592e+02] [-5.55845561e-01 8.30417948e-01 -3.79703013e-02 -4.23038966e+02] [-6.85148725e-02 -2.43990572e-04 9.97650065e-01 -4.04781474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.51, Y:-423.08, Z:-40.48 [[ 8.26879265e-01 5.59481085e-01 5.70227776e-02 7.81506689e+02] [-5.58190390e-01 8.28843012e-01 -3.79835473e-02 -4.23075141e+02] [-6.85140070e-02 -4.21758837e-04 9.97650065e-01 -4.04777319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.56, Y:-423.11, Z:-40.48 [[ 8.27000999e-01 5.59302008e-01 5.70141298e-02 7.81559685e+02] [-5.58009994e-01 8.28963878e-01 -3.79965234e-02 -4.23108335e+02] [-6.85141860e-02 -3.91291436e-04 9.97650066e-01 -4.04820179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.61, Y:-423.14, Z:-40.49 [[ 8.26787047e-01 5.59619321e-01 5.70034594e-02 7.81612368e+02] [-5.58326957e-01 8.28749695e-01 -3.80125247e-02 -4.23141348e+02] [-6.85141429e-02 -3.98304895e-04 9.97650066e-01 -4.04878500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.67, Y:-423.18, Z:-40.49 [[ 8.26430070e-01 5.60147362e-01 5.69936144e-02 7.81665615e+02] [-5.58855235e-01 8.28392873e-01 -3.80272800e-02 -4.23175533e+02] [-6.85139846e-02 -4.24292115e-04 9.97650066e-01 -4.04919701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.72, Y:-423.21, Z:-40.50 [[ 8.25928415e-01 5.60887840e-01 5.69831840e-02 7.81718845e+02] [-5.59596395e-01 8.27891667e-01 -3.80429034e-02 -4.23207408e+02] [-6.85137051e-02 -4.66869400e-04 9.97650066e-01 -4.04965820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.77, Y:-423.24, Z:-40.50 [[ 8.24713766e-01 5.62673278e-01 5.69735591e-02 7.81772311e+02] [-5.61385087e-01 8.26679155e-01 -3.80573122e-02 -4.23240669e+02] [-6.85126863e-02 -5.97717150e-04 9.97650066e-01 -4.05007385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.83, Y:-423.27, Z:-40.50 [[ 8.23636332e-01 5.64250294e-01 5.69631427e-02 7.81825277e+02] [-5.62964788e-01 8.25603478e-01 -3.80728969e-02 -4.23274845e+02] [-6.85116120e-02 -7.10022390e-04 9.97650066e-01 -4.05043798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.88, Y:-423.31, Z:-40.51 [[ 8.22338427e-01 5.66141282e-01 5.69522737e-02 7.81876590e+02] [-5.64859174e-01 8.24307789e-01 -3.80891487e-02 -4.23307518e+02] [-6.85100422e-02 -8.47843696e-04 9.97650067e-01 -4.05096907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.93, Y:-423.34, Z:-40.51 [[ 8.21028734e-01 5.68039476e-01 5.69470863e-02 7.81929858e+02] [-5.66761384e-01 8.23000705e-01 -3.80969028e-02 -4.23340991e+02] [-6.85080369e-02 -9.96757605e-04 9.97650067e-01 -4.05129870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:781.98, Y:-423.38, Z:-40.52 [[ 8.19572723e-01 5.70139209e-01 5.69371040e-02 7.81983075e+02] [-5.68865132e-01 8.21547291e-01 -3.81118159e-02 -4.23375351e+02] [-6.85055641e-02 -1.15412842e-03 9.97650067e-01 -4.05159407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.04, Y:-423.41, Z:-40.52 [[ 8.18300718e-01 5.71964449e-01 5.69263027e-02 7.82035890e+02] [-5.70693655e-01 8.20277399e-01 -3.81279426e-02 -4.23409464e+02] [-6.85031872e-02 -1.28735699e-03 9.97650067e-01 -4.05211240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.09, Y:-423.44, Z:-40.53 [[ 8.16778947e-01 5.74136542e-01 5.69155810e-02 7.82088926e+02] [-5.72869891e-01 8.18758284e-01 -3.81439407e-02 -4.23443572e+02] [-6.84999337e-02 -1.45005502e-03 9.97650067e-01 -4.05266185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.14, Y:-423.48, Z:-40.53 [[ 8.16289885e-01 5.74832737e-01 5.69047333e-02 7.82139636e+02] [-5.73566646e-01 8.18269581e-01 -3.81601169e-02 -4.23477176e+02] [-6.84990968e-02 -1.48893963e-03 9.97650067e-01 -4.05322672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.19, Y:-423.51, Z:-40.54 [[ 8.17396754e-01 5.73258566e-01 5.68960685e-02 7.82190961e+02] [-5.71987764e-01 8.19373430e-01 -3.81730317e-02 -4.23513186e+02] [-6.85021442e-02 -1.34134282e-03 9.97650067e-01 -4.05357838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.24, Y:-423.55, Z:-40.54 [[ 8.20224589e-01 5.69206194e-01 5.68852591e-02 7.82240977e+02] [-5.67924509e-01 8.22194224e-01 -3.81891330e-02 -4.23548701e+02] [-6.85082225e-02 -9.82866957e-04 9.97650068e-01 -4.05398665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.29, Y:-423.58, Z:-40.54 [[ 8.21294619e-01 5.67662180e-01 5.68752788e-02 7.82292977e+02] [-5.66375763e-01 8.23261168e-01 -3.82039910e-02 -4.23584020e+02] [-6.85101692e-02 -8.36047235e-04 9.97650068e-01 -4.05437080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.34, Y:-423.62, Z:-40.55 [[ 8.25157813e-01 5.62032935e-01 5.68644368e-02 7.82342997e+02] [-5.60731989e-01 8.27114780e-01 -3.82201219e-02 -4.23619592e+02] [-6.85143834e-02 -3.48076565e-04 9.97650068e-01 -4.05490438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.39, Y:-423.66, Z:-40.55 [[ 8.27734297e-01 5.58232484e-01 5.68544460e-02 7.82394279e+02] [-5.56921532e-01 8.29684575e-01 -3.82349779e-02 -4.23655758e+02] [-6.85152636e-02 -1.50626759e-05 9.97650068e-01 -4.05527826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.44, Y:-423.69, Z:-40.56 [[ 8.31969590e-01 5.51901615e-01 5.68437230e-02 7.82444826e+02] [-5.50574734e-01 8.33909066e-01 -3.82509131e-02 -4.23692488e+02] [-6.85132367e-02 5.26878804e-04 9.97650068e-01 -4.05564104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.50, Y:-423.73, Z:-40.56 [[ 8.35064286e-01 5.47208948e-01 5.68331458e-02 7.82495880e+02] [-5.45870100e-01 8.36995519e-01 -3.82666222e-02 -4.23727481e+02] [-6.85089265e-02 9.31574548e-04 9.97650069e-01 -4.05592472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.55, Y:-423.76, Z:-40.56 [[ 8.35646617e-01 5.46320234e-01 5.68237008e-02 7.82547529e+02] [-5.44978379e-01 8.37575763e-01 -3.82806425e-02 -4.23762614e+02] [-6.85076441e-02 1.02140109e-03 9.97650069e-01 -4.05638021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.60, Y:-423.80, Z:-40.57 [[ 8.34930747e-01 5.47414774e-01 5.68129650e-02 7.82599009e+02] [-5.46074365e-01 8.36860897e-01 -3.82965691e-02 -4.23797048e+02] [-6.85086565e-02 9.50879255e-04 9.97650069e-01 -4.05705289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.65, Y:-423.83, Z:-40.57 [[ 8.32130675e-01 5.51662269e-01 5.68091575e-02 7.82650659e+02] [-5.50331327e-01 8.34067366e-01 -3.83022163e-02 -4.23829557e+02] [-6.85125519e-02 6.08590087e-04 9.97650069e-01 -4.05733397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.70, Y:-423.86, Z:-40.58 [[ 8.29031362e-01 5.56310025e-01 5.67992661e-02 7.82703549e+02] [-5.54988937e-01 8.30974787e-01 -3.83168788e-02 -4.23862803e+02] [-6.85148219e-02 2.42929922e-04 9.97650069e-01 -4.05772480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.76, Y:-423.90, Z:-40.58 [[ 8.26921808e-01 5.59442035e-01 5.67884940e-02 7.82755740e+02] [-5.58127212e-01 8.28869477e-01 -3.83328372e-02 -4.23897535e+02] [-6.85152498e-02 3.05523190e-06 9.97650069e-01 -4.05810346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.81, Y:-423.93, Z:-40.58 [[ 8.23655672e-01 5.64240750e-01 5.67777240e-02 7.82808854e+02] [-5.62936174e-01 8.25610220e-01 -3.83487830e-02 -4.23931701e+02] [-6.85142152e-02 -3.76042037e-04 9.97650069e-01 -4.05845225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.86, Y:-423.97, Z:-40.59 [[ 8.21365643e-01 5.67570264e-01 5.67668595e-02 7.82861769e+02] [-5.66272500e-01 8.23324720e-01 -3.83648587e-02 -4.23965509e+02] [-6.85123117e-02 -6.33934535e-04 9.97650070e-01 -4.05888576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.91, Y:-424.00, Z:-40.59 [[ 8.19267281e-01 5.70596060e-01 5.67561352e-02 7.82914828e+02] [-5.69304432e-01 8.21230409e-01 -3.83807175e-02 -4.23998207e+02] [-6.85097503e-02 -8.67453268e-04 9.97650070e-01 -4.05935033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:782.96, Y:-424.03, Z:-40.60 [[ 8.17197267e-01 5.73557750e-01 5.67462247e-02 7.82964887e+02] [-5.72272220e-01 8.19164393e-01 -3.83953647e-02 -4.24032201e+02] [-6.85064457e-02 -1.09770093e-03 9.97650070e-01 -4.05992296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.02, Y:-424.07, Z:-40.60 [[ 8.16687838e-01 5.74283443e-01 5.67406623e-02 7.83015745e+02] [-5.72999089e-01 8.18655733e-01 -3.84035831e-02 -4.24066702e+02] [-6.85056103e-02 -1.14860861e-03 9.97650070e-01 -4.06048832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.07, Y:-424.10, Z:-40.61 [[ 8.18400592e-01 5.71840879e-01 5.67316593e-02 7.83067992e+02] [-5.70549730e-01 8.20364034e-01 -3.84168782e-02 -4.24099908e+02] [-6.85089542e-02 -9.27837049e-04 9.97650070e-01 -4.06120517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.12, Y:-424.14, Z:-40.61 [[ 8.18588372e-01 5.71573021e-01 5.67217741e-02 7.83116570e+02] [-5.70280219e-01 8.20550726e-01 -3.84314679e-02 -4.24138011e+02] [-6.85094831e-02 -8.87753102e-04 9.97650070e-01 -4.06138993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.17, Y:-424.17, Z:-40.62 [[ 8.20341112e-01 5.69055534e-01 5.67120666e-02 7.83167335e+02] [-5.67755720e-01 8.22298829e-01 -3.84457876e-02 -4.24174811e+02] [-6.85120542e-02 -6.59940066e-04 9.97650070e-01 -4.06184659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.22, Y:-424.21, Z:-40.62 [[ 8.24168999e-01 5.63498381e-01 5.67012963e-02 7.83215934e+02] [-5.62184273e-01 8.26117149e-01 -3.84616655e-02 -4.24212875e+02] [-6.85149995e-02 -1.77664668e-04 9.97650071e-01 -4.06231006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.27, Y:-424.25, Z:-40.63 [[ 8.26798743e-01 5.59633685e-01 5.66919455e-02 7.83266550e+02] [-5.58309527e-01 8.28740076e-01 -3.84754436e-02 -4.24250302e+02] [-6.85150415e-02 1.59795137e-04 9.97650071e-01 -4.06271162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.32, Y:-424.29, Z:-40.63 [[ 8.29136426e-01 5.56165452e-01 5.66813595e-02 7.83317620e+02] [-5.54832108e-01 8.31071461e-01 -3.84910324e-02 -4.24285643e+02] [-6.85136427e-02 4.65678914e-04 9.97650071e-01 -4.06285311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.37, Y:-424.32, Z:-40.63 [[ 8.30412105e-01 5.54259886e-01 5.66719891e-02 7.83369521e+02] [-5.52921160e-01 8.32343420e-01 -3.85048239e-02 -4.24320769e+02] [-6.85122366e-02 6.39729880e-04 9.97650071e-01 -4.06328702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.42, Y:-424.35, Z:-40.64 [[ 8.32251578e-01 5.51495070e-01 5.66612622e-02 7.83421576e+02] [-5.50148854e-01 8.34177680e-01 -3.85206026e-02 -4.24354373e+02] [-6.85094826e-02 8.86703855e-04 9.97650071e-01 -4.06373746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.47, Y:-424.39, Z:-40.64 [[ 8.34134213e-01 5.48644410e-01 5.66518010e-02 7.83473651e+02] [-5.47290667e-01 8.36055032e-01 -3.85345120e-02 -4.24388403e+02] [-6.85057679e-02 1.13795285e-03 9.97650071e-01 -4.06426480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.53, Y:-424.42, Z:-40.65 [[ 8.38645310e-01 5.41724736e-01 5.66423301e-02 7.83525997e+02] [-5.40354210e-01 8.40554190e-01 -3.85484283e-02 -4.24421908e+02] [-6.84935851e-02 1.72153708e-03 9.97650072e-01 -4.06468576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.58, Y:-424.46, Z:-40.65 [[ 8.42158227e-01 5.36248305e-01 5.66328198e-02 7.83577558e+02] [-5.34864431e-01 8.44057452e-01 -3.85623953e-02 -4.24456346e+02] [-6.84803726e-02 2.18475748e-03 9.97650072e-01 -4.06513388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.63, Y:-424.49, Z:-40.65 [[ 8.47196057e-01 5.28254391e-01 5.66227796e-02 7.83630205e+02] [-5.26851623e-01 8.49081370e-01 -3.85771320e-02 -4.24489175e+02] [-6.84558867e-02 2.85059080e-03 9.97650072e-01 -4.06519642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.68, Y:-424.52, Z:-40.66 [[ 8.49011389e-01 5.25332877e-01 5.66129724e-02 7.83682170e+02] [-5.23922666e-01 8.50891141e-01 -3.85915191e-02 -4.24521235e+02] [-6.84448704e-02 3.10381980e-03 9.97650072e-01 -4.06556269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.74, Y:-424.55, Z:-40.66 [[ 8.48503874e-01 5.26153172e-01 5.66040208e-02 7.83735517e+02] [-5.24743905e-01 8.50384334e-01 -3.86046443e-02 -4.24552907e+02] [-6.84471286e-02 3.05357538e-03 9.97650072e-01 -4.06580989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.79, Y:-424.58, Z:-40.66 [[ 8.43729071e-01 5.33776775e-01 5.66004312e-02 7.83790554e+02] [-5.32384156e-01 8.45621893e-01 -3.86099065e-02 -4.24583358e+02] [-6.84716351e-02 2.44312770e-03 9.97650072e-01 -4.06599983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.85, Y:-424.61, Z:-40.67 [[ 8.39822437e-01 5.39902843e-01 5.65967791e-02 7.83845220e+02] [-5.38523675e-01 8.41725082e-01 -3.86152593e-02 -4.24610629e+02] [-6.84874167e-02 1.95125566e-03 9.97650072e-01 -4.06676576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.90, Y:-424.64, Z:-40.67 [[ 8.37124848e-01 5.44077047e-01 5.65875844e-02 7.83897085e+02] [-5.42706459e-01 8.39033683e-01 -3.86287287e-02 -4.24642575e+02] [-6.84958940e-02 1.62662107e-03 9.97650072e-01 -4.06727408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:783.95, Y:-424.67, Z:-40.68 [[ 8.28984476e-01 5.56402000e-01 5.65822692e-02 7.83952431e+02] [-5.55059270e-01 8.30913008e-01 -3.86365127e-02 -4.24670540e+02] [-6.85123764e-02 6.22556221e-04 9.97650072e-01 -4.06780663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.01, Y:-424.70, Z:-40.68 [[ 8.24173628e-01 5.63504503e-01 5.65730227e-02 7.84007810e+02] [-5.62177464e-01 8.26112990e-01 -3.86500470e-02 -4.24701574e+02] [-6.85151845e-02 5.02709750e-05 9.97650072e-01 -4.06821765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.06, Y:-424.73, Z:-40.69 [[ 8.18577626e-01 5.71604195e-01 5.65624904e-02 7.84062681e+02] [-5.70295280e-01 8.20529266e-01 -3.86654544e-02 -4.24731442e+02] [-6.85125147e-02 -6.06645409e-04 9.97650073e-01 -4.06852849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.12, Y:-424.76, Z:-40.69 [[ 8.14734007e-01 5.77070404e-01 5.65530442e-02 7.84116661e+02] [-5.75773623e-01 8.16693730e-01 -3.86792657e-02 -4.24763630e+02] [-6.85071761e-02 -1.04843801e-03 9.97650073e-01 -4.06889063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.17, Y:-424.80, Z:-40.69 [[ 8.12732375e-01 5.79887130e-01 5.65420376e-02 7.84170070e+02] [-5.78596022e-01 8.14695841e-01 -3.86953487e-02 -4.24797220e+02] [-6.85034976e-02 -1.26603540e-03 9.97650073e-01 -4.06932685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.22, Y:-424.83, Z:-40.70 [[ 8.11671913e-01 5.81371599e-01 5.65311339e-02 7.84223469e+02] [-5.80082973e-01 8.13637009e-01 -3.87112717e-02 -4.24829794e+02] [-6.85014566e-02 -1.37189622e-03 9.97650073e-01 -4.06986585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.28, Y:-424.86, Z:-40.70 [[ 8.12112865e-01 5.80756536e-01 5.65202694e-02 7.84275170e+02] [-5.79465319e-01 8.14076258e-01 -3.87271279e-02 -4.24864507e+02] [-6.85028421e-02 -1.30073716e-03 9.97650073e-01 -4.07027717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.33, Y:-424.90, Z:-40.71 [[ 8.15200376e-01 5.76415551e-01 5.65107107e-02 7.84325328e+02] [-5.75112910e-01 8.17156209e-01 -3.87410709e-02 -4.24900092e+02] [-6.85090339e-02 -9.18303739e-04 9.97650073e-01 -4.07072347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.38, Y:-424.94, Z:-40.71 [[ 8.20781439e-01 5.68441243e-01 5.65011764e-02 7.84376220e+02] [-5.67118642e-01 8.22723829e-01 -3.87549712e-02 -4.24936906e+02] [-6.85147881e-02 -2.33509399e-04 9.97650074e-01 -4.07113612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.43, Y:-424.97, Z:-40.72 [[ 8.25072765e-01 5.62195510e-01 5.64901875e-02 7.84426213e+02] [-5.60857109e-01 8.27004301e-01 -3.87709822e-02 -4.24974681e+02] [-6.85145002e-02 3.05958260e-04 9.97650074e-01 -4.07150735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.48, Y:-425.01, Z:-40.72 [[ 8.30120013e-01 5.54716905e-01 5.64793747e-02 7.84475045e+02] [-5.53360033e-01 8.32038619e-01 -3.87867273e-02 -4.25013123e+02] [-6.85086743e-02 9.44209918e-04 9.97650074e-01 -4.07163311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.52, Y:-425.06, Z:-40.71 [[ 8.28844043e-01 5.56622601e-01 5.64697560e-02 7.84521084e+02] [-5.55269186e-01 8.30765090e-01 -3.88007261e-02 -4.25055292e+02] [-6.85104630e-02 8.03835230e-04 9.97650074e-01 -4.07113747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.57, Y:-425.08, Z:-40.73 [[ 8.31020653e-01 5.53367982e-01 5.64672592e-02 7.84574385e+02] [-5.52006798e-01 8.32936202e-01 -3.88043595e-02 -4.25082938e+02] [-6.85067145e-02 1.07691327e-03 9.97650074e-01 -4.07260986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.63, Y:-425.12, Z:-40.73 [[ 8.27968627e-01 5.57924252e-01 5.64666462e-02 7.84625459e+02] [-5.56573549e-01 8.29891581e-01 -3.88052515e-02 -4.25118290e+02] [-6.85115852e-02 7.01689106e-04 9.97650074e-01 -4.07292036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.68, Y:-425.15, Z:-40.73 [[ 8.25282367e-01 5.61891088e-01 5.64572472e-02 7.84676510e+02] [-5.60548693e-01 8.27211130e-01 -3.88189212e-02 -4.25152590e+02] [-6.85140691e-02 3.89535063e-04 9.97650074e-01 -4.07335001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.73, Y:-425.19, Z:-40.74 [[ 8.21506386e-01 5.67398367e-01 5.64477698e-02 7.84728999e+02] [-5.66067956e-01 8.23443435e-01 -3.88326976e-02 -4.25187162e+02] [-6.85151547e-02 -5.19646024e-05 9.97650074e-01 -4.07383557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.78, Y:-425.22, Z:-40.74 [[ 8.18615499e-01 5.71562359e-01 5.64369945e-02 7.84780204e+02] [-5.70240722e-01 8.20558544e-01 -3.88483516e-02 -4.25221525e+02] [-6.85141135e-02 -3.80809768e-04 9.97650075e-01 -4.07413596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.83, Y:-425.26, Z:-40.73 [[ 8.14598095e-01 5.77274540e-01 5.64273886e-02 7.84827616e+02] [-5.75965560e-01 8.16549689e-01 -3.88622991e-02 -4.25262695e+02] [-6.85099825e-02 -8.43077710e-04 9.97650075e-01 -4.07316173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.88, Y:-425.30, Z:-40.74 [[ 8.14643541e-01 5.77210669e-01 5.64246837e-02 7.84879300e+02] [-5.75901264e-01 8.16594851e-01 -3.88662260e-02 -4.25296666e+02] [-6.85101065e-02 -8.32926717e-04 9.97650075e-01 -4.07423647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.93, Y:-425.33, Z:-40.75 [[ 8.16479064e-01 5.74611650e-01 5.64215347e-02 7.84930217e+02] [-5.73295718e-01 8.18425977e-01 -3.88707969e-02 -4.25326792e+02] [-6.85124624e-02 -6.09032422e-04 9.97650075e-01 -4.07537453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:784.98, Y:-425.36, Z:-40.76 [[ 8.16470020e-01 5.74624519e-01 5.64213459e-02 7.84980218e+02] [-5.73308599e-01 8.18416942e-01 -3.88710709e-02 -4.25363709e+02] [-6.85124558e-02 -6.09778641e-04 9.97650075e-01 -4.07590700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.03, Y:-425.40, Z:-40.76 [[ 8.15947876e-01 5.75366693e-01 5.64112833e-02 7.85028752e+02] [-5.74051534e-01 8.17895312e-01 -3.88856687e-02 -4.25403177e+02] [-6.85120427e-02 -6.54304956e-04 9.97650075e-01 -4.07575540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.08, Y:-425.44, Z:-40.77 [[ 8.17247861e-01 5.73519688e-01 5.64012589e-02 7.85079468e+02] [-5.72199125e-01 8.19191635e-01 -3.89002030e-02 -4.25435808e+02] [-6.85134718e-02 -4.81643288e-04 9.97650075e-01 -4.07664072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.13, Y:-425.47, Z:-40.77 [[ 8.17030104e-01 5.73830772e-01 5.63919664e-02 7.85129336e+02] [-5.72510020e-01 8.18973750e-01 -3.89136693e-02 -4.25473240e+02] [-6.85134011e-02 -4.91326577e-04 9.97650075e-01 -4.07718392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.18, Y:-425.51, Z:-40.78 [[ 8.16817763e-01 5.74134089e-01 5.63807508e-02 7.85178159e+02] [-5.72812938e-01 8.18761138e-01 -3.89299125e-02 -4.25510067e+02] [-6.85133575e-02 -4.96979454e-04 9.97650075e-01 -4.07770293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.23, Y:-425.55, Z:-40.78 [[ 8.16397066e-01 5.74732682e-01 5.63753032e-02 7.85227480e+02] [-5.73412410e-01 8.18341039e-01 -3.89377996e-02 -4.25548490e+02] [-6.85130502e-02 -5.37593151e-04 9.97650075e-01 -4.07820066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.28, Y:-425.59, Z:-40.78 [[ 8.14933764e-01 5.76806007e-01 5.63718921e-02 7.85276328e+02] [-5.75490339e-01 8.16880856e-01 -3.89427374e-02 -4.25587702e+02] [-6.85115243e-02 -7.05727737e-04 9.97650075e-01 -4.07838357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.33, Y:-425.62, Z:-40.79 [[ 8.13897660e-01 5.78268048e-01 5.63618951e-02 7.85325410e+02] [-5.76954877e-01 8.15846436e-01 -3.89572007e-02 -4.25624441e+02] [-6.85103557e-02 -8.11095746e-04 9.97650076e-01 -4.07878916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.37, Y:-425.66, Z:-40.79 [[ 8.11285551e-01 5.81927577e-01 5.63564580e-02 7.85373007e+02] [-5.80622649e-01 8.13239856e-01 -3.89650646e-02 -4.25664832e+02] [-6.85061634e-02 -1.11004200e-03 9.97650076e-01 -4.07878454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.42, Y:-425.70, Z:-40.79 [[ 8.08906435e-01 5.85231118e-01 5.63464108e-02 7.85420980e+02] [-5.83933160e-01 8.10865375e-01 -3.89795882e-02 -4.25704382e+02] [-6.85014216e-02 -1.37169799e-03 9.97650076e-01 -4.07901962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.47, Y:-425.74, Z:-40.79 [[ 8.07507536e-01 5.87160794e-01 5.63363221e-02 7.85469591e+02] [-5.85866500e-01 8.09468900e-01 -3.89941638e-02 -4.25742456e+02] [-6.84983448e-02 -1.51748275e-03 9.97650076e-01 -4.07937102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.52, Y:-425.78, Z:-40.80 [[ 8.06682835e-01 5.88294333e-01 5.63256741e-02 7.85519607e+02] [-5.87001722e-01 8.08645308e-01 -3.90095384e-02 -4.25779677e+02] [-6.84965825e-02 -1.59494269e-03 9.97650076e-01 -4.07977729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.57, Y:-425.82, Z:-40.80 [[ 8.05452747e-01 5.89978328e-01 5.63155848e-02 7.85567903e+02] [-5.88688803e-01 8.07417248e-01 -3.90240983e-02 -4.25818233e+02] [-6.84935468e-02 -1.72028708e-03 9.97650076e-01 -4.08003254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.62, Y:-425.85, Z:-40.81 [[ 8.06685938e-01 5.88292010e-01 5.63055011e-02 7.85615941e+02] [-5.86997363e-01 8.08647068e-01 -3.90386420e-02 -4.25854061e+02] [-6.84973995e-02 -1.55925720e-03 9.97650076e-01 -4.08133486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.66, Y:-425.90, Z:-40.81 [[ 8.06077408e-01 5.89126156e-01 5.62990715e-02 7.85662842e+02] [-5.87832891e-01 8.08039450e-01 -3.90479122e-02 -4.25895302e+02] [-6.84960172e-02 -1.61880608e-03 9.97650077e-01 -4.08104103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.71, Y:-425.94, Z:-40.81 [[ 8.06483285e-01 5.88570615e-01 5.62969121e-02 7.85709593e+02] [-5.87275782e-01 8.08444292e-01 -3.90510253e-02 -4.25936523e+02] [-6.84972032e-02 -1.56781395e-03 9.97650077e-01 -4.08129510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.76, Y:-425.97, Z:-40.82 [[ 8.06997993e-01 5.87865664e-01 5.62867692e-02 7.85758785e+02] [-5.86568100e-01 8.08957193e-01 -3.90656394e-02 -4.25974859e+02] [-6.84989349e-02 -1.49013066e-03 9.97650077e-01 -4.08182651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.81, Y:-426.01, Z:-40.82 [[ 8.05232208e-01 5.90283012e-01 5.62766177e-02 7.85809389e+02] [-5.88990307e-01 8.07194618e-01 -3.90802579e-02 -4.26010603e+02] [-6.84945952e-02 -1.67769999e-03 9.97650077e-01 -4.08215858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.86, Y:-426.05, Z:-40.83 [[ 8.05823870e-01 5.89476017e-01 5.62664696e-02 7.85860835e+02] [-5.88180328e-01 8.07784311e-01 -3.90948633e-02 -4.26045951e+02] [-6.84966557e-02 -1.59125644e-03 9.97650077e-01 -4.08280129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.91, Y:-426.08, Z:-40.84 [[ 8.09210456e-01 5.84819484e-01 5.62548672e-02 7.85912223e+02] [-5.83511352e-01 8.11162616e-01 -3.91115512e-02 -4.26078189e+02] [-6.85050424e-02 -1.17587743e-03 9.97650077e-01 -4.08412731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:785.96, Y:-426.12, Z:-40.84 [[ 8.10487531e-01 5.83049220e-01 5.62456185e-02 7.85959953e+02] [-5.81735902e-01 8.12436205e-01 -3.91248472e-02 -4.26118758e+02] [-6.85076885e-02 -1.00989475e-03 9.97650077e-01 -4.08357692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.01, Y:-426.15, Z:-40.84 [[ 8.13038772e-01 5.79487299e-01 5.62354564e-02 7.86010550e+02] [-5.78164433e-01 8.14980977e-01 -3.91394481e-02 -4.26154045e+02] [-6.85116402e-02 -6.91451970e-04 9.97650077e-01 -4.08404167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.06, Y:-426.19, Z:-40.85 [[ 8.14196146e-01 5.77861016e-01 5.62252786e-02 7.86062261e+02] [-5.76533261e-01 8.16135012e-01 -3.91540635e-02 -4.26188324e+02] [-6.85130253e-02 -5.36655636e-04 9.97650078e-01 -4.08463727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.12, Y:-426.22, Z:-40.85 [[ 8.16510295e-01 5.74587506e-01 5.62150873e-02 7.86115362e+02] [-5.73250970e-01 8.18443119e-01 -3.91686901e-02 -4.26222290e+02] [-6.85146913e-02 -2.43714620e-04 9.97650078e-01 -4.08538382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.17, Y:-426.26, Z:-40.86 [[ 8.17995437e-01 5.72472388e-01 5.62034690e-02 7.86166591e+02] [-5.71129710e-01 8.19923998e-01 -3.91853541e-02 -4.26258268e+02] [-6.85151063e-02 -4.60301302e-05 9.97650078e-01 -4.08569247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.22, Y:-426.29, Z:-40.86 [[ 8.21056163e-01 5.68074250e-01 5.61998531e-02 7.86217647e+02] [-5.66720886e-01 8.22977241e-01 -3.91905394e-02 -4.26292178e+02] [-6.85143363e-02 3.28003373e-04 9.97650078e-01 -4.08642297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:786.27, Y:-426.33, Z:-40.87 [[ 8.22549188e-01 5.65911180e-01 5.61904843e-02 7.86268885e+02] [-5.64551847e-01 8.24466046e-01 -3.92039676e-02 -4.26325881e+02] [-6.85131100e-02 5.24750016e-04 9.97650078e-01 -4.08700236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.32, Y:-426.36, Z:-40.88 [[ 8.22984651e-01 5.65278772e-01 5.61798407e-02 7.86321644e+02] [-5.63916925e-01 8.24899724e-01 -3.92192141e-02 -4.26360323e+02] [-6.85125243e-02 5.96048260e-04 9.97650078e-01 -4.08755831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.37, Y:-426.39, Z:-40.88 [[ 8.22896641e-01 5.65408039e-01 5.61682045e-02 7.86373937e+02] [-5.64045356e-01 8.24811119e-01 -3.92358720e-02 -4.26393566e+02] [-6.85124371e-02 6.05652416e-04 9.97650079e-01 -4.08805455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.43, Y:-426.43, Z:-40.88 [[ 8.22022635e-01 5.66678971e-01 5.61580899e-02 7.86426078e+02] [-5.65318260e-01 8.23938515e-01 -3.92503437e-02 -4.26427775e+02] [-6.85131575e-02 5.17477319e-04 9.97650079e-01 -4.08846188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.48, Y:-426.46, Z:-40.89 [[ 8.19710348e-01 5.70019748e-01 5.61465202e-02 7.86478242e+02] [-5.68665712e-01 8.21630951e-01 -3.92668868e-02 -4.26462552e+02] [-6.85146197e-02 2.58872639e-04 9.97650079e-01 -4.08878785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.53, Y:-426.50, Z:-40.89 [[ 8.16232613e-01 5.74989729e-01 5.61349516e-02 7.86529117e+02] [-5.73646250e-01 8.18160615e-01 -3.92834181e-02 -4.26498232e+02] [-6.85149685e-02 -1.37197472e-04 9.97650079e-01 -4.08884377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.58, Y:-426.53, Z:-40.90 [[ 8.15540228e-01 5.75972331e-01 5.61249603e-02 7.86581998e+02] [-5.74630193e-01 8.17469164e-01 -3.92976877e-02 -4.26530131e+02] [-6.85148051e-02 -2.02251593e-04 9.97650079e-01 -4.08961930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.63, Y:-426.57, Z:-40.90 [[ 8.13072131e-01 5.79452188e-01 5.61148060e-02 7.86633344e+02] [-5.78117305e-01 8.15006094e-01 -3.93121821e-02 -4.26565042e+02] [-6.85134388e-02 -4.77300742e-04 9.97650079e-01 -4.09003065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.68, Y:-426.60, Z:-40.90 [[ 8.12113705e-01 5.80795044e-01 5.61110237e-02 7.86683347e+02] [-5.79462986e-01 8.14049615e-01 -3.93175800e-02 -4.26599651e+02] [-6.85126128e-02 -5.83915738e-04 9.97650079e-01 -4.09026548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.74, Y:-426.64, Z:-40.91 [[ 8.11987088e-01 5.80972999e-01 5.61011975e-02 7.86735000e+02] [-5.79640397e-01 8.13922623e-01 -3.93315956e-02 -4.26635291e+02] [-6.85126289e-02 -5.81772632e-04 9.97650080e-01 -4.09073251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.79, Y:-426.67, Z:-40.91 [[ 8.11137260e-01 5.82159952e-01 5.60904211e-02 7.86786939e+02] [-5.80829120e-01 8.13074013e-01 -3.93469579e-02 -4.26670883e+02] [-6.85118868e-02 -6.63166308e-04 9.97650080e-01 -4.09120883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.84, Y:-426.71, Z:-40.92 [[ 8.10487810e-01 5.83064811e-01 5.60797292e-02 7.86837426e+02] [-5.81735087e-01 8.12425323e-01 -3.93621907e-02 -4.26706393e+02] [-6.85113004e-02 -7.20970485e-04 9.97650080e-01 -4.09155633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.89, Y:-426.74, Z:-40.92 [[ 8.10791201e-01 5.82643793e-01 5.60699504e-02 7.86886621e+02] [-5.81312100e-01 8.12727362e-01 -3.93761154e-02 -4.26741735e+02] [-6.85118320e-02 -6.68332698e-04 9.97650080e-01 -4.09229047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.94, Y:-426.78, Z:-40.92 [[ 8.12639188e-01 5.80064406e-01 5.60610013e-02 7.86936915e+02] [-5.78725688e-01 8.14570498e-01 -3.93888523e-02 -4.26779839e+02] [-6.85137090e-02 -4.35016601e-04 9.97650080e-01 -4.09247392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:786.99, Y:-426.81, Z:-40.93 [[ 8.15916352e-01 5.75446703e-01 5.60499723e-02 7.86988076e+02] [-5.74095977e-01 8.17839282e-01 -3.94045402e-02 -4.26814681e+02] [-6.85150819e-02 -2.72549318e-05 9.97650080e-01 -4.09321901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.03, Y:-426.86, Z:-40.93 [[ 8.16782734e-01 5.74216672e-01 5.60462201e-02 7.87034708e+02] [-5.72862684e-01 8.18703370e-01 -3.94098764e-02 -4.26855254e+02] [-6.85150373e-02 8.25186066e-05 9.97650080e-01 -4.09314807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.08, Y:-426.89, Z:-40.94 [[ 8.18332154e-01 5.72007341e-01 5.60364785e-02 7.87083497e+02] [-5.70647220e-01 8.20248451e-01 -3.94237231e-02 -4.26892868e+02] [-6.85144937e-02 2.84639587e-04 9.97650081e-01 -4.09369575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.13, Y:-426.93, Z:-40.94 [[ 8.18490641e-01 5.71781540e-01 5.60262571e-02 7.87134773e+02] [-5.70419895e-01 8.20405856e-01 -3.94382436e-02 -4.26929849e+02] [-6.85143291e-02 3.21341570e-04 9.97650081e-01 -4.09410097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.19, Y:-426.96, Z:-40.95 [[ 8.20748111e-01 5.68537453e-01 5.60152062e-02 7.87186353e+02] [-5.67167168e-01 8.22657153e-01 -3.94539333e-02 -4.26962295e+02] [-6.85123488e-02 6.11755324e-04 9.97650081e-01 -4.09530483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.23, Y:-427.00, Z:-40.95 [[ 8.16809663e-01 5.74182357e-01 5.60053244e-02 7.87232435e+02] [-5.72824305e-01 8.18727425e-01 -3.94679557e-02 -4.27003038e+02] [-6.85148989e-02 1.56596581e-04 9.97650081e-01 -4.09497105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.28, Y:-427.04, Z:-40.95 [[ 8.14078801e-01 5.78048560e-01 5.59961408e-02 7.87283085e+02] [-5.76698720e-01 8.16002352e-01 -3.94809809e-02 -4.27039149e+02] [-6.85149068e-02 -1.52273055e-04 9.97650081e-01 -4.09531387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.33, Y:-427.08, Z:-40.96 [[ 8.10558920e-01 5.82974903e-01 5.59866137e-02 7.87333905e+02] [-5.81635819e-01 8.12489975e-01 -3.94944862e-02 -4.27075384e+02] [-6.85128567e-02 -5.51211857e-04 9.97650081e-01 -4.09574521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.38, Y:-427.11, Z:-40.96 [[ 8.08157762e-01 5.86300087e-01 5.59753545e-02 7.87384165e+02] [-5.84967844e-01 8.10093542e-01 -3.95104375e-02 -4.27111860e+02] [-6.85102461e-02 -8.13115671e-04 9.97650081e-01 -4.09628203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.43, Y:-427.15, Z:-40.97 [[ 8.05634263e-01 5.89763815e-01 5.59649576e-02 7.87434211e+02] [-5.88438872e-01 8.07575047e-01 -3.95251588e-02 -4.27149215e+02] [-6.85064117e-02 -1.08913430e-03 9.97650082e-01 -4.09666022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.49, Y:-427.19, Z:-40.97 [[ 8.04328861e-01 5.91543932e-01 5.59540829e-02 7.87485142e+02] [-5.90222214e-01 8.06271842e-01 -3.95405477e-02 -4.27186277e+02] [-6.85041726e-02 -1.22173900e-03 9.97650082e-01 -4.09703692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.54, Y:-427.22, Z:-40.97 [[ 8.03397707e-01 5.92808981e-01 5.59431572e-02 7.87536437e+02] [-5.91489246e-01 8.05342036e-01 -3.95559996e-02 -4.27222991e+02] [-6.85025280e-02 -1.31057648e-03 9.97650082e-01 -4.09744642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.59, Y:-427.26, Z:-40.98 [[ 8.03292996e-01 5.92951881e-01 5.59323553e-02 7.87588031e+02] [-5.91631430e-01 8.05236838e-01 -3.95712678e-02 -4.27259144e+02] [-6.85026506e-02 -1.30401703e-03 9.97650082e-01 -4.09786381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.64, Y:-427.29, Z:-40.99 [[ 8.04308243e-01 5.91575092e-01 5.59210280e-02 7.87638893e+02] [-5.90250200e-01 8.06249061e-01 -3.95872688e-02 -4.27293491e+02] [-6.85051185e-02 -1.16703136e-03 9.97650082e-01 -4.09853185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.69, Y:-427.33, Z:-40.99 [[ 8.04677448e-01 5.91073778e-01 5.59105878e-02 7.87690827e+02] [-5.89746654e-01 8.06616740e-01 -3.96020083e-02 -4.27328880e+02] [-6.85061248e-02 -1.10623908e-03 9.97650083e-01 -4.09890567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.74, Y:-427.36, Z:-40.99 [[ 8.04003852e-01 5.91990776e-01 5.58992615e-02 7.87742570e+02] [-5.90664753e-01 8.05943897e-01 -3.96179892e-02 -4.27364977e+02] [-6.85051529e-02 -1.16470754e-03 9.97650083e-01 -4.09937707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.79, Y:-427.40, Z:-41.00 [[ 8.03276179e-01 5.92978840e-01 5.58880707e-02 7.87793544e+02] [-5.91654105e-01 8.05217104e-01 -3.96337696e-02 -4.27400707e+02] [-6.85040171e-02 -1.22954344e-03 9.97650083e-01 -4.09991430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.84, Y:-427.44, Z:-41.00 [[ 8.03777635e-01 5.92299855e-01 5.58783924e-02 7.87844149e+02] [-5.90972533e-01 8.05716791e-01 -3.96474101e-02 -4.27437762e+02] [-6.85053143e-02 -1.15489359e-03 9.97650083e-01 -4.10037737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:787.89, Y:-427.48, Z:-41.00 [[ 8.03542513e-01 5.92619832e-01 5.58673938e-02 7.87892557e+02] [-5.91292205e-01 8.05481460e-01 -3.96629023e-02 -4.27477182e+02] [-6.85051724e-02 -1.16312631e-03 9.97650083e-01 -4.09994525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters Centerline goodness : 0.998353 with order 1 Centerline is valid? [True, True] Translation: X:788.43, Y:-426.91, Z:-40.04 [[ 8.63046537e-01 5.02025654e-01 5.58651836e-02 7.88425652e+02] [-5.00495474e-01 8.64829977e-01 -3.96660150e-02 -4.26906510e+02] [-6.82272426e-02 6.27334532e-03 9.97650083e-01 -4.00354108e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.48, Y:-426.94, Z:-40.04 [[ 8.64177788e-01 4.99667663e-01 5.94051927e-02 7.88477591e+02] [-4.98552920e-01 8.66216841e-01 -3.33672031e-02 -4.26937873e+02] [-6.81302907e-02 -7.81436541e-04 9.97676126e-01 -4.00367677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.53, Y:-426.97, Z:-40.03 [[ 8.63399703e-01 5.01011911e-01 5.93971148e-02 7.88529382e+02] [-4.99899354e-01 8.65439950e-01 -3.33815763e-02 -4.26971359e+02] [-6.81292034e-02 -8.70936224e-04 9.97676126e-01 -4.00319630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters Centerline goodness : 0.998267 with order 1 Centerline is valid? [True, True] Translation: X:788.58, Y:-427.00, Z:-40.04 [[ 8.64136371e-01 4.99741020e-01 5.93906165e-02 7.88582867e+02] [-4.98624668e-01 8.66174543e-01 -3.33931338e-02 -4.26998766e+02] [-6.81305588e-02 -7.57404918e-04 9.97676126e-01 -4.00441668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.64, Y:-427.03, Z:-40.04 [[ 8.62045360e-01 5.03339995e-01 5.93855715e-02 7.88635964e+02] [-5.02231534e-01 8.64087834e-01 -3.34021033e-02 -4.27031492e+02] [-6.81269644e-02 -1.03117853e-03 9.97676127e-01 -4.00369059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.69, Y:-427.05, Z:-40.05 [[ 8.63868887e-01 5.00204126e-01 5.93833166e-02 7.88691521e+02] [-4.99087974e-01 8.65907169e-01 -3.34061116e-02 -4.27054630e+02] [-6.81303144e-02 -7.78998756e-04 9.97676127e-01 -4.00523567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.75, Y:-427.08, Z:-40.06 [[ 8.63110076e-01 5.01513011e-01 5.93775738e-02 7.88746084e+02] [-5.00399248e-01 8.65149665e-01 -3.34163161e-02 -4.27084183e+02] [-6.81292053e-02 -8.70534152e-04 9.97676127e-01 -4.00574430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.80, Y:-427.11, Z:-40.06 [[ 8.62529014e-01 5.02512655e-01 5.93694456e-02 7.88800870e+02] [-5.01400263e-01 8.64569350e-01 -3.34307508e-02 -4.27113851e+02] [-6.81283784e-02 -9.32863154e-04 9.97676127e-01 -4.00626030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.85, Y:-427.14, Z:-40.07 [[ 8.62123113e-01 5.03209689e-01 5.93611604e-02 7.88854732e+02] [-5.02097934e-01 8.64163796e-01 -3.34454560e-02 -4.27143579e+02] [-6.81278432e-02 -9.71015369e-04 9.97676127e-01 -4.00677759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.91, Y:-427.17, Z:-40.07 [[ 8.62073389e-01 5.03295900e-01 5.93524173e-02 7.88909394e+02] [-5.02183282e-01 8.64113601e-01 -3.34609643e-02 -4.27173710e+02] [-6.81279972e-02 -9.59984793e-04 9.97676127e-01 -4.00713583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:788.96, Y:-427.20, Z:-40.07 [[ 8.62684330e-01 5.02248931e-01 5.93444091e-02 7.88963442e+02] [-5.01132860e-01 8.64722655e-01 -3.34751612e-02 -4.27204634e+02] [-6.81293189e-02 -8.60936458e-04 9.97676127e-01 -4.00745321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.02, Y:-427.24, Z:-40.08 [[ 8.63573417e-01 5.00719637e-01 5.93363220e-02 7.89016954e+02] [-4.99598972e-01 8.65609220e-01 -3.34894899e-02 -4.27236172e+02] [-6.81309126e-02 -7.23732245e-04 9.97676127e-01 -4.00789931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.07, Y:-427.27, Z:-40.08 [[ 8.64156300e-01 4.99714025e-01 5.93277646e-02 7.89071610e+02] [-4.98589950e-01 8.66190222e-01 -3.35046427e-02 -4.27268099e+02] [-6.81318695e-02 -6.26979149e-04 9.97676127e-01 -4.00820400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.13, Y:-427.30, Z:-40.09 [[ 8.65142866e-01 4.98005170e-01 5.93183905e-02 7.89125141e+02] [-4.96875941e-01 8.67173931e-01 -3.35212310e-02 -4.27299463e+02] [-6.81331082e-02 -4.73227281e-04 9.97676128e-01 -4.00879593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.18, Y:-427.33, Z:-40.09 [[ 8.66445610e-01 4.95736180e-01 5.93097465e-02 7.89178833e+02] [-4.94600585e-01 8.68473122e-01 -3.35365180e-02 -4.27331159e+02] [-6.81341860e-02 -2.77066489e-04 9.97676128e-01 -4.00928887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.23, Y:-427.36, Z:-40.10 [[ 8.66636275e-01 4.95403776e-01 5.93014907e-02 7.89233664e+02] [-4.94266405e-01 8.68662791e-01 -3.35511101e-02 -4.27361707e+02] [-6.81343451e-02 -2.34125576e-04 9.97676128e-01 -4.00978744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.29, Y:-427.39, Z:-40.10 [[ 8.66355165e-01 4.95896329e-01 5.92921433e-02 7.89289179e+02] [-4.94758980e-01 8.68381694e-01 -3.35676210e-02 -4.27391935e+02] [-6.81342718e-02 -2.53838557e-04 9.97676128e-01 -4.01027709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.34, Y:-427.43, Z:-40.10 [[ 8.65861582e-01 4.96758761e-01 5.92828283e-02 7.89340557e+02] [-4.95622305e-01 8.67888611e-01 -3.35840638e-02 -4.27426363e+02] [-6.81340695e-02 -3.02741395e-04 9.97676128e-01 -4.00985338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.39, Y:-427.46, Z:-40.10 [[ 8.67358123e-01 4.94141894e-01 5.92762585e-02 7.89394433e+02] [-4.92998530e-01 8.69381264e-01 -3.35956557e-02 -4.27457202e+02] [-6.81346894e-02 -8.36433981e-05 9.97676128e-01 -4.01019356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.45, Y:-427.49, Z:-40.11 [[ 8.69154888e-01 4.90975699e-01 5.92675648e-02 7.89448696e+02] [-4.89823920e-01 8.71173249e-01 -3.36109857e-02 -4.27486788e+02] [-6.81344942e-02 1.82481574e-04 9.97676129e-01 -4.01064168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.50, Y:-427.51, Z:-40.12 [[ 8.72709625e-01 4.84629399e-01 5.92642862e-02 7.89503060e+02] [-4.83462550e-01 8.74719313e-01 -3.36167656e-02 -4.27512054e+02] [-6.81312886e-02 6.85611976e-04 9.97676129e-01 -4.01172690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.55, Y:-427.55, Z:-40.12 [[ 8.73209046e-01 4.83729455e-01 5.92602417e-02 7.89554605e+02] [-4.82560051e-01 8.75217248e-01 -3.36238938e-02 -4.27546097e+02] [-6.81304535e-02 7.64062913e-04 9.97676129e-01 -4.01154472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.61, Y:-427.57, Z:-40.12 [[ 8.74444369e-01 4.81493094e-01 5.92574609e-02 7.89608899e+02] [-4.80318223e-01 8.76449376e-01 -3.36287939e-02 -4.27572579e+02] [-6.81281967e-02 9.44071195e-04 9.97676129e-01 -4.01216254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.66, Y:-427.60, Z:-40.13 [[ 8.75399971e-01 4.79754091e-01 5.92528643e-02 7.89664439e+02] [-4.78574689e-01 8.77402317e-01 -3.36368911e-02 -4.27597914e+02] [-6.81260365e-02 1.08881237e-03 9.97676129e-01 -4.01302940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.72, Y:-427.63, Z:-40.14 [[ 8.73960223e-01 4.82372875e-01 5.92447297e-02 7.89718573e+02] [-4.81198502e-01 8.75965523e-01 -3.36512124e-02 -4.27627407e+02] [-6.81287727e-02 9.01345913e-04 9.97676129e-01 -4.01362484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.77, Y:-427.66, Z:-40.14 [[ 8.70971941e-01 4.87748885e-01 5.92360024e-02 7.89772513e+02] [-4.86585846e-01 8.72983835e-01 -3.36665680e-02 -4.27657849e+02] [-6.81329036e-02 4.99235676e-04 9.97676129e-01 -4.01409721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.83, Y:-427.69, Z:-40.15 [[ 8.69297772e-01 4.90726881e-01 5.92326953e-02 7.89827452e+02] [-4.89570338e-01 8.71313408e-01 -3.36723854e-02 -4.27686264e+02] [-6.81341863e-02 2.72758926e-04 9.97676129e-01 -4.01451736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.88, Y:-427.72, Z:-40.15 [[ 8.65824992e-01 4.96829696e-01 5.92227630e-02 7.89882287e+02] [-4.95686167e-01 8.67848039e-01 -3.36898454e-02 -4.27716232e+02] [-6.81344743e-02 -1.86394210e-04 9.97676129e-01 -4.01494050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.94, Y:-427.75, Z:-40.15 [[ 8.63813368e-01 5.00320147e-01 5.92133039e-02 7.89937659e+02] [-4.99183653e-01 8.65840375e-01 -3.37064626e-02 -4.27746350e+02] [-6.81332915e-02 -4.42220370e-04 9.97676129e-01 -4.01524577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.99, Y:-427.77, Z:-40.16 [[ 8.61625950e-01 5.04079045e-01 5.92033651e-02 7.89992691e+02] [-5.02950195e-01 8.63657223e-01 -3.37239105e-02 -4.27773322e+02] [-6.81309305e-02 -7.18947622e-04 9.97676130e-01 -4.01606144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.05, Y:-427.80, Z:-40.17 [[ 8.58760616e-01 5.08946109e-01 5.91951277e-02 7.90047395e+02] [-5.07827774e-01 8.60797697e-01 -3.37383632e-02 -4.27804232e+02] [-6.81260383e-02 -1.08775236e-03 9.97676130e-01 -4.01653814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.10, Y:-427.84, Z:-40.17 [[ 8.57510444e-01 5.11050848e-01 5.91850483e-02 7.90101965e+02] [-5.09936293e-01 8.59549596e-01 -3.37560356e-02 -4.27835894e+02] [-6.81235350e-02 -1.23445105e-03 9.97676130e-01 -4.01710384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.15, Y:-427.87, Z:-40.17 [[ 8.55773074e-01 5.13955989e-01 5.91750465e-02 7.90152252e+02] [-5.12847145e-01 8.57815337e-01 -3.37735600e-02 -4.27870305e+02] [-6.81193859e-02 -1.44525035e-03 9.97676130e-01 -4.01724392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.21, Y:-427.90, Z:-40.18 [[ 8.59915897e-01 5.06994979e-01 5.91670677e-02 7.90206509e+02] [-5.05868638e-01 8.61948562e-01 -3.37875321e-02 -4.27898319e+02] [-6.81290780e-02 -8.76328005e-04 9.97676130e-01 -4.01830473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.26, Y:-427.93, Z:-40.19 [[ 8.61546553e-01 5.04219948e-01 5.91589560e-02 7.90257864e+02] [-5.03086085e-01 8.63575031e-01 -3.38017290e-02 -4.27932682e+02] [-6.81317033e-02 -6.40284489e-04 9.97676130e-01 -4.01868163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.31, Y:-427.97, Z:-40.19 [[ 8.67372889e-01 4.94131143e-01 5.91496868e-02 7.90310326e+02] [-4.92972579e-01 8.69387361e-01 -3.38179415e-02 -4.27968212e+02] [-6.81344881e-02 1.73591984e-04 9.97676131e-01 -4.01910781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.36, Y:-428.01, Z:-40.19 [[ 8.69313032e-01 4.90711050e-01 5.91398147e-02 7.90358357e+02] [-4.89543386e-01 8.71322244e-01 -3.38351966e-02 -4.28008441e+02] [-6.81331409e-02 4.61872184e-04 9.97676131e-01 -4.01891412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.41, Y:-428.04, Z:-40.19 [[ 8.75150894e-01 4.80223206e-01 5.91319339e-02 7.90413684e+02] [-4.79030539e-01 8.77145364e-01 -3.38489638e-02 -4.28037172e+02] [-6.81223597e-02 1.29694873e-03 9.97676131e-01 -4.01946063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.47, Y:-428.07, Z:-40.20 [[ 8.77864144e-01 4.75246243e-01 5.91232096e-02 7.90467636e+02] [-4.74041245e-01 8.79851189e-01 -3.38641956e-02 -4.28069321e+02] [-6.81134580e-02 1.70132321e-03 9.97676131e-01 -4.01967846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.52, Y:-428.10, Z:-40.20 [[ 8.82027652e-01 4.67474968e-01 5.91132486e-02 7.90522367e+02] [-4.66251306e-01 8.84003257e-01 -3.38815747e-02 -4.28099414e+02] [-6.80950923e-02 2.32285643e-03 9.97676131e-01 -4.02021360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.58, Y:-428.13, Z:-40.21 [[ 8.84835272e-01 4.62139953e-01 5.91033467e-02 7.90577764e+02] [-4.60903232e-01 8.86802729e-01 -3.38988388e-02 -4.28128400e+02] [-6.80790169e-02 2.75396467e-03 9.97676131e-01 -4.02063287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.64, Y:-428.16, Z:-40.21 [[ 8.88658316e-01 4.54746475e-01 5.90934861e-02 7.90635206e+02] [-4.53492255e-01 8.90614663e-01 -3.39160195e-02 -4.28155246e+02] [-6.80527155e-02 3.34131454e-03 9.97676132e-01 -4.02097919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.69, Y:-428.18, Z:-40.21 [[ 8.91606655e-01 4.48939528e-01 5.90836067e-02 7.90692502e+02] [-4.47671436e-01 8.93554040e-01 -3.39332212e-02 -4.28182448e+02] [-6.80283598e-02 3.80504277e-03 9.97676132e-01 -4.02128672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.75, Y:-428.21, Z:-40.22 [[ 8.92192724e-01 4.47774990e-01 5.90736986e-02 7.90748747e+02] [-4.46503220e-01 8.94137708e-01 -3.39504614e-02 -4.28209983e+02] [-6.80221889e-02 3.91375799e-03 9.97676132e-01 -4.02164171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.81, Y:-428.24, Z:-40.22 [[ 8.90879698e-01 4.50382978e-01 5.90638402e-02 7.90806994e+02] [-4.49115771e-01 8.92827658e-01 -3.39676034e-02 -4.28235069e+02] [-6.80322605e-02 3.73454614e-03 9.97676132e-01 -4.02186102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.86, Y:-428.26, Z:-40.22 [[ 8.88999150e-01 4.54084952e-01 5.90539433e-02 7.90862584e+02] [-4.52824720e-01 8.90951629e-01 -3.39848008e-02 -4.28260807e+02] [-6.80461937e-02 3.47137363e-03 9.97676132e-01 -4.02246631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.92, Y:-428.28, Z:-40.23 [[ 8.84530944e-01 4.62729075e-01 5.90492438e-02 7.90922692e+02] [-4.61487392e-01 8.86495271e-01 -3.39929643e-02 -4.28282247e+02] [-6.80764083e-02 2.81734733e-03 9.97676132e-01 -4.02281540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.98, Y:-428.31, Z:-40.23 [[ 8.79944352e-01 4.71393993e-01 5.90393207e-02 7.90981319e+02] [-4.70170507e-01 8.81920065e-01 -3.40101901e-02 -4.28306896e+02] [-6.81001609e-02 2.16852737e-03 9.97676133e-01 -4.02326406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.04, Y:-428.33, Z:-40.24 [[ 8.75374763e-01 4.79827634e-01 5.90293700e-02 7.91039773e+02] [-4.78622026e-01 8.77361436e-01 -3.40274522e-02 -4.28330171e+02] [-6.81174047e-02 1.53401627e-03 9.97676133e-01 -4.02375426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.10, Y:-428.35, Z:-40.24 [[ 8.68104184e-01 4.92860875e-01 5.90193470e-02 7.91097568e+02] [-4.91683922e-01 8.70107965e-01 -3.40448280e-02 -4.28352776e+02] [-6.81325676e-02 5.35593667e-04 9.97676133e-01 -4.02429999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.16, Y:-428.38, Z:-40.25 [[ 8.61477575e-01 5.04355230e-01 5.90100930e-02 7.91156071e+02] [-5.03203914e-01 8.63496195e-01 -3.40608605e-02 -4.28375474e+02] [-6.81337639e-02 -3.51442294e-04 9.97676133e-01 -4.02484138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.21, Y:-428.40, Z:-40.25 [[ 8.57717556e-01 5.10724367e-01 5.90018209e-02 7.91213077e+02] [-5.09587055e-01 8.59744099e-01 -3.40751837e-02 -4.28401169e+02] [-6.81294940e-02 -8.39680870e-04 9.97676133e-01 -4.02525088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.27, Y:-428.43, Z:-40.26 [[ 8.52960413e-01 5.18631197e-01 5.89933532e-02 7.91268740e+02] [-5.17511653e-01 8.54996826e-01 -3.40898373e-02 -4.28428148e+02] [-6.81191829e-02 -1.45246605e-03 9.97676133e-01 -4.02591985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.32, Y:-428.46, Z:-40.26 [[ 8.52365571e-01 5.19609250e-01 5.89844061e-02 7.91323353e+02] [-5.18490973e-01 8.54402680e-01 -3.41053111e-02 -4.28457924e+02] [-6.81178698e-02 -1.51268914e-03 9.97676134e-01 -4.02597294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.38, Y:-428.49, Z:-40.27 [[ 8.54197525e-01 5.16593139e-01 5.89755620e-02 7.91375763e+02] [-5.15466613e-01 8.56230084e-01 -3.41205978e-02 -4.28487722e+02] [-6.81231171e-02 -1.25420298e-03 9.97676134e-01 -4.02674189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.43, Y:-428.52, Z:-40.27 [[ 8.57108365e-01 5.11749596e-01 5.89711970e-02 7.91429098e+02] [-5.10611064e-01 8.59134222e-01 -3.41281401e-02 -4.28520729e+02] [-6.81292354e-02 -8.59831267e-04 9.97676134e-01 -4.02705131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.48, Y:-428.55, Z:-40.28 [[ 8.58387862e-01 5.09601640e-01 5.89614005e-02 7.91481688e+02] [-5.08456876e-01 8.60410205e-01 -3.41450568e-02 -4.28552227e+02] [-6.81313676e-02 -6.69627218e-04 9.97676134e-01 -4.02762507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.53, Y:-428.58, Z:-40.28 [[ 8.59505345e-01 5.07715299e-01 5.89553752e-02 7.91534422e+02] [-5.06565383e-01 8.61524763e-01 -3.41554570e-02 -4.28584280e+02] [-6.81327637e-02 -5.07954374e-04 9.97676134e-01 -4.02804348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.59, Y:-428.62, Z:-40.28 [[ 8.60153841e-01 5.06616810e-01 5.89472503e-02 7.91586969e+02] [-5.05463355e-01 8.62171238e-01 -3.41694736e-02 -4.28619027e+02] [-6.81334535e-02 -4.04670908e-04 9.97676134e-01 -4.02832332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.64, Y:-428.65, Z:-40.29 [[ 8.60367077e-01 5.06255704e-01 5.89377237e-02 7.91640298e+02] [-5.05100277e-01 8.62383346e-01 -3.41858978e-02 -4.28652803e+02] [-6.81337171e-02 -3.57039577e-04 9.97676134e-01 -4.02871495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.69, Y:-428.69, Z:-40.29 [[ 8.60882594e-01 5.05379705e-01 5.89280323e-02 7.91691520e+02] [-5.04221083e-01 8.62897029e-01 -3.42025953e-02 -4.28687144e+02] [-6.81341215e-02 -2.68337346e-04 9.97676135e-01 -4.02921408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.74, Y:-428.72, Z:-40.30 [[ 8.62278903e-01 5.02994667e-01 5.89190914e-02 7.91743558e+02] [-5.01829421e-01 8.64289512e-01 -3.42179903e-02 -4.28723625e+02] [-6.81346195e-02 -6.18823923e-05 9.97676135e-01 -4.02950604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.79, Y:-428.76, Z:-40.30 [[ 8.65008427e-01 4.98287168e-01 5.89094194e-02 7.91794864e+02] [-4.97109846e-01 8.67011990e-01 -3.42346335e-02 -4.28759794e+02] [-6.81338515e-02 3.28793999e-04 9.97676135e-01 -4.02979932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.85, Y:-428.79, Z:-40.30 [[ 8.66595962e-01 4.95522208e-01 5.88997510e-02 7.91847879e+02] [-4.94337364e-01 8.68595085e-01 -3.42512597e-02 -4.28794524e+02] [-6.81322941e-02 5.65655632e-04 9.97676135e-01 -4.03012913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.90, Y:-428.83, Z:-40.31 [[ 8.68500702e-01 4.92177286e-01 5.88901530e-02 7.91899111e+02] [-4.90983625e-01 8.70494573e-01 -3.42677542e-02 -4.28828566e+02] [-6.81293688e-02 8.47467736e-04 9.97676135e-01 -4.03052638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.95, Y:-428.86, Z:-40.31 [[ 8.68968689e-01 4.91351615e-01 5.88813030e-02 7.91951730e+02] [-4.90155030e-01 8.70960806e-01 -3.42829542e-02 -4.28862377e+02] [-6.81282920e-02 9.29846972e-04 9.97676135e-01 -4.03088443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.00, Y:-428.90, Z:-40.31 [[ 8.68245767e-01 4.92629075e-01 5.88717471e-02 7.92004760e+02] [-4.91434309e-01 8.70238975e-01 -3.42993560e-02 -4.28896252e+02] [-6.81293489e-02 8.48674273e-04 9.97676136e-01 -4.03124507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.06, Y:-428.93, Z:-40.32 [[ 8.66686541e-01 4.95368238e-01 5.88621123e-02 7.92058408e+02] [-4.94178649e-01 8.68682844e-01 -3.43158827e-02 -4.28928426e+02] [-6.81315054e-02 6.52714585e-04 9.97676136e-01 -4.03169715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.11, Y:-428.96, Z:-40.32 [[ 8.63983212e-01 5.00069389e-01 5.88524962e-02 7.92111366e+02] [-4.98889541e-01 8.65985286e-01 -3.43323666e-02 -4.28960410e+02] [-6.81339613e-02 3.01693622e-04 9.97676136e-01 -4.03234729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.16, Y:-428.99, Z:-40.33 [[ 8.59782697e-01 5.07257795e-01 5.88493219e-02 7.92162814e+02] [-5.06094313e-01 8.61794327e-01 -3.43378069e-02 -4.28993158e+02] [-6.81341319e-02 -2.60254938e-04 9.97676136e-01 -4.03262728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.22, Y:-429.02, Z:-40.33 [[ 8.57312158e-01 5.11423104e-01 5.88410764e-02 7.92216320e+02] [-5.10268426e-01 8.59328853e-01 -3.43519305e-02 -4.29023113e+02] [-6.81322056e-02 -5.74415725e-04 9.97676136e-01 -4.03349368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.27, Y:-429.06, Z:-40.33 [[ 8.53154783e-01 5.18329707e-01 5.88322369e-02 7.92267040e+02] [-5.17190309e-01 8.55180150e-01 -3.43670626e-02 -4.29057585e+02] [-6.81256307e-02 -1.10703891e-03 9.97676136e-01 -4.03345027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.32, Y:-429.09, Z:-40.34 [[ 8.49302374e-01 5.24619098e-01 5.88241439e-02 7.92318280e+02] [-5.23493737e-01 8.51335575e-01 -3.43809094e-02 -4.29091380e+02] [-6.81159680e-02 -1.59428289e-03 9.97676136e-01 -4.03413083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.37, Y:-429.12, Z:-40.34 [[ 8.48190261e-01 5.26416285e-01 5.88147578e-02 7.92371295e+02] [-5.25294120e-01 8.50225227e-01 -3.43969585e-02 -4.29124782e+02] [-6.81129099e-02 -1.71988122e-03 9.97676137e-01 -4.03425263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.42, Y:-429.16, Z:-40.35 [[ 8.46771984e-01 5.28695699e-01 5.88053112e-02 7.92423695e+02] [-5.27577891e-01 8.48809347e-01 -3.44131009e-02 -4.29158878e+02] [-6.81085563e-02 -1.88433234e-03 9.97676137e-01 -4.03474149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.48, Y:-429.19, Z:-40.35 [[ 8.45405680e-01 5.30878804e-01 5.87956831e-02 7.92475424e+02] [-5.29765114e-01 8.47445296e-01 -3.44295430e-02 -4.29193239e+02] [-6.81040397e-02 -2.04097057e-03 9.97676137e-01 -4.03529922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.53, Y:-429.23, Z:-40.36 [[ 8.44668847e-01 5.32051302e-01 5.87873418e-02 7.92527325e+02] [-5.30939454e-01 8.46709468e-01 -3.44437797e-02 -4.29227005e+02] [-6.81016567e-02 -2.11893149e-03 9.97676137e-01 -4.03588894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.58, Y:-429.26, Z:-40.36 [[ 8.44705808e-01 5.31993529e-01 5.87791110e-02 7.92577101e+02] [-5.30880565e-01 8.46745820e-01 -3.44578200e-02 -4.29263811e+02] [-6.81023038e-02 -2.09796700e-03 9.97676137e-01 -4.03637133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.63, Y:-429.30, Z:-40.37 [[ 8.46549353e-01 5.29055929e-01 5.87708947e-02 7.92627083e+02] [-5.27934914e-01 8.48584952e-01 -3.44718280e-02 -4.29302024e+02] [-6.81096218e-02 -1.84510358e-03 9.97676137e-01 -4.03654400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.68, Y:-429.33, Z:-40.37 [[ 8.48553110e-01 5.25837056e-01 5.87623226e-02 7.92680451e+02] [-5.24707308e-01 8.50583874e-01 -3.44864341e-02 -4.29333792e+02] [-6.81165291e-02 -1.56944918e-03 9.97676138e-01 -4.03728746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.73, Y:-429.37, Z:-40.37 [[ 8.50477680e-01 5.22718850e-01 5.87598529e-02 7.92727807e+02] [-5.21581364e-01 8.52504121e-01 -3.44906416e-02 -4.29374285e+02] [-6.81219253e-02 -1.31452343e-03 9.97676138e-01 -4.03711587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.78, Y:-429.41, Z:-40.38 [[ 8.53777661e-01 5.17311856e-01 5.87550018e-02 7.92779259e+02] [-5.16160967e-01 8.55796519e-01 -3.44989035e-02 -4.29408462e+02] [-6.81290179e-02 -8.72645414e-04 9.97676138e-01 -4.03795282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.83, Y:-429.44, Z:-40.38 [[ 8.53948407e-01 5.17030963e-01 5.87460871e-02 7.92831825e+02] [-5.15878365e-01 8.55966291e-01 -3.45140772e-02 -4.29442830e+02] [-6.81295168e-02 -8.32594146e-04 9.97676138e-01 -4.03846362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.88, Y:-429.48, Z:-40.39 [[ 8.51864774e-01 5.20457977e-01 5.87358634e-02 7.92883939e+02] [-5.19312299e-01 8.53886593e-01 -3.45314671e-02 -4.29475883e+02] [-6.81259438e-02 -1.08611587e-03 9.97676138e-01 -4.03864872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.94, Y:-429.50, Z:-40.39 [[ 8.52838867e-01 5.18861251e-01 5.87270763e-02 7.92939464e+02] [-5.17710758e-01 8.54857951e-01 -3.45464048e-02 -4.29502397e+02] [-6.81280989e-02 -9.41122484e-04 9.97676138e-01 -4.03949230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:792.99, Y:-429.53, Z:-40.40 [[ 8.51748978e-01 5.20649418e-01 5.87184992e-02 7.92994832e+02] [-5.19502160e-01 8.53769902e-01 -3.45609771e-02 -4.29529424e+02] [-6.81262399e-02 -1.06711025e-03 9.97676138e-01 -4.04020977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.05, Y:-429.56, Z:-40.40 [[ 8.48376668e-01 5.26127732e-01 5.87080826e-02 7.93046404e+02] [-5.24992298e-01 8.50404259e-01 -3.45786626e-02 -4.29563086e+02] [-6.81183968e-02 -1.48556058e-03 9.97676138e-01 -4.03981868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.10, Y:-429.59, Z:-40.40 [[ 8.48385888e-01 5.26113790e-01 5.86997873e-02 7.93099721e+02] [-5.24977349e-01 8.50412915e-01 -3.45927387e-02 -4.29593993e+02] [-6.81187741e-02 -1.46806738e-03 9.97676139e-01 -4.04039818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.15, Y:-429.62, Z:-40.41 [[ 8.51622780e-01 5.20858943e-01 5.86907346e-02 7.93153951e+02] [-5.19708935e-01 8.53642140e-01 -3.46080910e-02 -4.29622207e+02] [-6.81268179e-02 -1.02906056e-03 9.97676139e-01 -4.04127105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.21, Y:-429.66, Z:-40.41 [[ 8.50929709e-01 5.21991382e-01 5.86824341e-02 7.93205181e+02] [-5.20843092e-01 8.52950045e-01 -3.46221598e-02 -4.29655883e+02] [-6.81256539e-02 -1.10331602e-03 9.97676139e-01 -4.04088937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.26, Y:-429.69, Z:-40.41 [[ 8.52664836e-01 5.19152819e-01 5.86773279e-02 7.93258898e+02] [-5.17997207e-01 8.54680993e-01 -3.46308116e-02 -4.29687085e+02] [-6.81290804e-02 -8.66216660e-04 9.97676139e-01 -4.04116505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.31, Y:-429.72, Z:-40.42 [[ 8.53767631e-01 5.17338194e-01 5.86687685e-02 7.93312823e+02] [-5.16177301e-01 8.55780753e-01 -3.46453062e-02 -4.29719324e+02] [-6.81309430e-02 -7.04445562e-04 9.97676139e-01 -4.04167677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.37, Y:-429.75, Z:-40.42 [[ 8.54654852e-01 5.15872285e-01 5.86589337e-02 7.93366064e+02] [-5.14706797e-01 8.56665316e-01 -3.46619499e-02 -4.29751133e+02] [-6.81322132e-02 -5.68148196e-04 9.97676139e-01 -4.04237064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.42, Y:-429.78, Z:-40.43 [[ 8.55361093e-01 5.14701398e-01 5.86504124e-02 7.93419194e+02] [-5.13532170e-01 8.57369384e-01 -3.46763624e-02 -4.29783514e+02] [-6.81330402e-02 -4.58062300e-04 9.97676139e-01 -4.04289864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.47, Y:-429.82, Z:-40.43 [[ 8.57139621e-01 5.11735096e-01 5.86418012e-02 7.93472002e+02] [-5.10557921e-01 8.59143265e-01 -3.46909189e-02 -4.29817515e+02] [-6.81342693e-02 -2.05074992e-04 9.97676140e-01 -4.04334913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.52, Y:-429.85, Z:-40.44 [[ 8.57689852e-01 5.10813474e-01 5.86320172e-02 7.93524547e+02] [-5.09633016e-01 8.59691563e-01 -3.47074473e-02 -4.29850803e+02] [-6.81344822e-02 -1.12586345e-04 9.97676140e-01 -4.04370896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.58, Y:-429.88, Z:-40.44 [[ 8.57253415e-01 5.11546602e-01 5.86230031e-02 7.93578476e+02] [-5.10366815e-01 8.59255521e-01 -3.47226660e-02 -4.29883709e+02] [-6.81344009e-02 -1.53111349e-04 9.97676140e-01 -4.04400010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:793.63, Y:-429.92, Z:-40.45 [[ 8.56188005e-01 5.13328914e-01 5.86133655e-02 7.93631675e+02] [-5.12152182e-01 8.58191907e-01 -3.47389271e-02 -4.29915741e+02] [-6.81340116e-02 -2.75910320e-04 9.97676140e-01 -4.04471614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.69, Y:-429.95, Z:-40.45 [[ 8.56610482e-01 5.12624016e-01 5.86097303e-02 7.93685490e+02] [-5.11445215e-01 8.58613168e-01 -3.47450591e-02 -4.29946315e+02] [-6.81342380e-02 -2.12684370e-04 9.97676140e-01 -4.04502589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.74, Y:-429.98, Z:-40.45 [[ 8.56123673e-01 5.13437859e-01 5.85988190e-02 7.93737798e+02] [-5.12259703e-01 8.58126739e-01 -3.47634517e-02 -4.29978445e+02] [-6.81340857e-02 -2.55999622e-04 9.97676140e-01 -4.04539335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.79, Y:-430.01, Z:-40.46 [[ 8.56732316e-01 5.12422528e-01 5.85908830e-02 7.93791278e+02] [-5.11241083e-01 8.58733444e-01 -3.47768220e-02 -4.30009616e+02] [-6.81343778e-02 -1.59639221e-04 9.97676140e-01 -4.04598335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.84, Y:-430.04, Z:-40.46 [[ 8.56247171e-01 5.13233168e-01 5.85875207e-02 7.93843422e+02] [-5.12053231e-01 8.58249188e-01 -3.47824855e-02 -4.30040663e+02] [-6.81342173e-02 -2.17524490e-04 9.97676140e-01 -4.04627536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.90, Y:-430.07, Z:-40.47 [[ 8.56130514e-01 5.13428738e-01 5.85787873e-02 7.93896368e+02] [-5.12248251e-01 8.58132207e-01 -3.47971876e-02 -4.30072374e+02] [-6.81342202e-02 -2.15947242e-04 9.97676141e-01 -4.04657728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:793.95, Y:-430.10, Z:-40.47 [[ 8.56782913e-01 5.12340288e-01 5.85702003e-02 7.93950109e+02] [-5.11156271e-01 8.58782520e-01 -3.48116352e-02 -4.30102674e+02] [-6.81344674e-02 -1.12510970e-04 9.97676141e-01 -4.04709528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.00, Y:-430.13, Z:-40.48 [[ 8.56045933e-01 5.13571746e-01 5.85612718e-02 7.94003925e+02] [-5.12389578e-01 8.58046633e-01 -3.48266485e-02 -4.30134397e+02] [-6.81342848e-02 -1.92974582e-04 9.97676141e-01 -4.04756619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.06, Y:-430.16, Z:-40.48 [[ 8.55537419e-01 5.14418770e-01 5.85581302e-02 7.94057849e+02] [-5.13238221e-01 8.57539075e-01 -3.48319301e-02 -4.30163363e+02] [-6.81340834e-02 -2.54251019e-04 9.97676141e-01 -4.04834768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.11, Y:-430.20, Z:-40.48 [[ 8.53594886e-01 5.17636777e-01 5.85485904e-02 7.94109041e+02] [-5.16462676e-01 8.55600330e-01 -3.48479581e-02 -4.30196811e+02] [-6.81327780e-02 -4.92122808e-04 9.97676141e-01 -4.04829101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.16, Y:-430.23, Z:-40.49 [[ 8.53882203e-01 5.17163691e-01 5.85397230e-02 7.94162641e+02] [-5.15987458e-01 8.55886397e-01 -3.48628477e-02 -4.30229393e+02] [-6.81331517e-02 -4.36997698e-04 9.97676141e-01 -4.04870050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.22, Y:-430.26, Z:-40.49 [[ 8.54697969e-01 5.15815490e-01 5.85300162e-02 7.94216389e+02] [-5.14634979e-01 8.56699646e-01 -3.48791366e-02 -4.30262734e+02] [-6.81338431e-02 -3.10466488e-04 9.97676141e-01 -4.04899823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.27, Y:-430.30, Z:-40.49 [[ 8.55307757e-01 5.14804853e-01 5.85201150e-02 7.94270243e+02] [-5.13620841e-01 8.57307365e-01 -3.48957409e-02 -4.30295576e+02] [-6.81342224e-02 -2.10552845e-04 9.97676142e-01 -4.04942897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.32, Y:-430.33, Z:-40.50 [[ 8.56382954e-01 5.13015384e-01 5.85102781e-02 7.94322718e+02] [-5.11826067e-01 8.58379411e-01 -3.49122268e-02 -4.30327241e+02] [-6.81345275e-02 -4.88495597e-05 9.97676142e-01 -4.04996997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.38, Y:-430.36, Z:-40.50 [[ 8.56734084e-01 5.12429678e-01 5.85024254e-02 7.94376900e+02] [-5.11238098e-01 8.58729192e-01 -3.49253807e-02 -4.30359592e+02] [-6.81345420e-02 1.30952963e-05 9.97676142e-01 -4.05033696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.43, Y:-430.39, Z:-40.51 [[ 8.57822246e-01 5.10607089e-01 5.84926906e-02 7.94431321e+02] [-5.09410159e-01 8.59814148e-01 -3.49416768e-02 -4.30390965e+02] [-6.81343108e-02 1.76976889e-04 9.97676142e-01 -4.05079749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.49, Y:-430.42, Z:-40.51 [[ 8.58923117e-01 5.08754172e-01 5.84830891e-02 7.94485461e+02] [-5.07551851e-01 8.60911770e-01 -3.49577398e-02 -4.30423802e+02] [-6.81336757e-02 3.42810658e-04 9.97676142e-01 -4.05109518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.54, Y:-430.46, Z:-40.51 [[ 8.60710877e-01 5.05724908e-01 5.84731067e-02 7.94538122e+02] [-5.04514454e-01 8.62694590e-01 -3.49744292e-02 -4.30455365e+02] [-6.81318728e-02 6.02344088e-04 9.97676142e-01 -4.05142648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.59, Y:-430.48, Z:-40.52 [[ 8.63013339e-01 5.01786612e-01 5.84651349e-02 7.94593898e+02] [-5.00566204e-01 8.64990944e-01 -3.49877502e-02 -4.30482471e+02] [-6.81281969e-02 9.29224499e-04 9.97676143e-01 -4.05247095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.65, Y:-430.51, Z:-40.52 [[ 8.61072744e-01 5.05110490e-01 5.84561571e-02 7.94646223e+02] [-5.03896699e-01 8.63054416e-01 -3.50027436e-02 -4.30514442e+02] [-6.81310975e-02 6.84043899e-04 9.97676143e-01 -4.05212337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.70, Y:-430.54, Z:-40.53 [[ 8.59894879e-01 5.07114027e-01 5.84479354e-02 7.94700827e+02] [-5.05903920e-01 8.61878803e-01 -3.50164669e-02 -4.30543298e+02] [-6.81323781e-02 5.41440940e-04 9.97676143e-01 -4.05297007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.76, Y:-430.57, Z:-40.53 [[ 8.57331921e-01 5.11436082e-01 5.84389502e-02 7.94755976e+02] [-5.10234955e-01 8.59321295e-01 -3.50314559e-02 -4.30572450e+02] [-6.81341849e-02 2.15990232e-04 9.97676143e-01 -4.05339992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.81, Y:-430.60, Z:-40.54 [[ 8.54348092e-01 5.16406270e-01 5.84285973e-02 7.94809505e+02] [-5.15215537e-01 8.56343703e-01 -3.50487150e-02 -4.30604223e+02] [-6.81343376e-02 -1.59518287e-04 9.97676143e-01 -4.05357140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.86, Y:-430.63, Z:-40.54 [[ 8.52020184e-01 5.20239139e-01 5.84195596e-02 7.94864494e+02] [-5.19056350e-01 8.54020513e-01 -3.50637725e-02 -4.30633255e+02] [-6.81330492e-02 -4.48001485e-04 9.97676143e-01 -4.05398881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.92, Y:-430.66, Z:-40.54 [[ 8.50529914e-01 5.22673016e-01 5.84104713e-02 7.94918129e+02] [-5.21494912e-01 8.52533007e-01 -3.50789057e-02 -4.30662619e+02] [-6.81316522e-02 -6.25104955e-04 9.97676143e-01 -4.05400945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:794.97, Y:-430.69, Z:-40.54 [[ 8.49222203e-01 5.24795634e-01 5.84054143e-02 7.94972079e+02] [-5.23621957e-01 8.51227893e-01 -3.50873234e-02 -4.30692168e+02] [-6.81299919e-02 -7.85423226e-04 9.97676144e-01 -4.05439412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.03, Y:-430.72, Z:-40.55 [[ 8.48664120e-01 5.25698670e-01 5.83962301e-02 7.95027271e+02] [-5.24526077e-01 8.50670443e-01 -3.51026022e-02 -4.30722351e+02] [-6.81293382e-02 -8.40026488e-04 9.97676144e-01 -4.05486337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.08, Y:-430.75, Z:-40.55 [[ 8.47682790e-01 5.27280695e-01 5.83862741e-02 7.95081159e+02] [-5.26110706e-01 8.49690632e-01 -3.51191543e-02 -4.30751892e+02] [-6.81279222e-02 -9.47741175e-04 9.97676144e-01 -4.05536752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.13, Y:-430.78, Z:-40.56 [[ 8.47089856e-01 5.28233410e-01 5.83801348e-02 7.95133886e+02] [-5.27064976e-01 8.49098604e-01 -3.51293570e-02 -4.30783194e+02] [-6.81269910e-02 -1.01240231e-03 9.97676144e-01 -4.05618609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.19, Y:-430.81, Z:-40.57 [[ 8.46846749e-01 5.28623450e-01 5.83766352e-02 7.95187492e+02] [-5.27455540e-01 8.48855802e-01 -3.51351714e-02 -4.30812352e+02] [-6.81266211e-02 -1.03697398e-03 9.97676144e-01 -4.05654609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.24, Y:-430.85, Z:-40.57 [[ 8.48222302e-01 5.26414434e-01 5.83675457e-02 7.95239807e+02] [-5.25240253e-01 8.50227696e-01 -3.51502648e-02 -4.30845132e+02] [-6.81293106e-02 -8.41745941e-04 9.97676144e-01 -4.05691170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.29, Y:-430.88, Z:-40.58 [[ 8.49567856e-01 5.24241070e-01 5.83588832e-02 7.95291789e+02] [-5.23060771e-01 8.51569655e-01 -3.51646409e-02 -4.30878430e+02] [-6.81314031e-02 -6.50493877e-04 9.97676144e-01 -4.05754130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.34, Y:-430.91, Z:-40.58 [[ 8.51942974e-01 5.20373590e-01 5.83480515e-02 7.95344270e+02] [-5.19182974e-01 8.53938654e-01 -3.51826047e-02 -4.30911076e+02] [-6.81337549e-02 -3.19741960e-04 9.97676144e-01 -4.05750406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.40, Y:-430.94, Z:-40.58 [[ 8.55074375e-01 5.15212529e-01 5.83426276e-02 7.95397180e+02] [-5.14009253e-01 8.57062448e-01 -3.51915968e-02 -4.30944487e+02] [-6.81344268e-02 1.02782249e-04 9.97676145e-01 -4.05785679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.45, Y:-430.98, Z:-40.59 [[ 8.58300288e-01 5.09821451e-01 5.83327024e-02 7.95449984e+02] [-5.08604570e-01 8.60280062e-01 -3.52080409e-02 -4.30976731e+02] [-6.81322753e-02 5.50792580e-04 9.97676145e-01 -4.05871860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.50, Y:-431.01, Z:-40.59 [[ 8.58813251e-01 5.08957259e-01 5.83293169e-02 7.95502304e+02] [-5.07738005e-01 8.60791564e-01 -3.52136488e-02 -4.31009240e+02] [-6.81316261e-02 6.25937209e-04 9.97676145e-01 -4.05881621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.56, Y:-431.04, Z:-40.59 [[ 8.59023227e-01 5.08603786e-01 5.83205250e-02 7.95556578e+02] [-5.07382731e-01 8.61000429e-01 -3.52282038e-02 -4.31041622e+02] [-6.81311949e-02 6.71018074e-04 9.97676145e-01 -4.05918608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.61, Y:-431.07, Z:-40.60 [[ 8.59910533e-01 5.07103299e-01 5.83105358e-02 7.95609786e+02] [-5.05877673e-01 8.61884905e-01 -3.52447303e-02 -4.31072804e+02] [-6.81296897e-02 8.09316669e-04 9.97676145e-01 -4.05998516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.66, Y:-431.11, Z:-40.60 [[ 8.57835153e-01 5.10606632e-01 5.83070979e-02 7.95660996e+02] [-5.09388683e-01 8.59814269e-01 -3.52504169e-02 -4.31105754e+02] [-6.81323715e-02 5.38070983e-04 9.97676145e-01 -4.06004492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.71, Y:-431.14, Z:-40.61 [[ 8.56392064e-01 5.13024323e-01 5.82981682e-02 7.95714726e+02] [-5.11810957e-01 8.58373993e-01 -3.52651790e-02 -4.31138629e+02] [-6.81335260e-02 3.63178176e-04 9.97676145e-01 -4.06054080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.77, Y:-431.17, Z:-40.61 [[ 8.53643322e-01 5.17586294e-01 5.82881365e-02 7.95767500e+02] [-5.16382387e-01 8.55631012e-01 -3.52817522e-02 -4.31171841e+02] [-6.81344886e-02 1.90650635e-05 9.97676145e-01 -4.06098485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.82, Y:-431.20, Z:-40.61 [[ 8.51752854e-01 5.20692554e-01 5.82781236e-02 7.95819931e+02] [-5.19494765e-01 8.53744236e-01 -3.52982837e-02 -4.31204838e+02] [-6.81341656e-02 -2.09766271e-04 9.97676146e-01 -4.06138682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.87, Y:-431.24, Z:-40.62 [[ 8.50152269e-01 5.23302836e-01 5.82688697e-02 7.95873563e+02] [-5.22110114e-01 8.52146690e-01 -3.53135530e-02 -4.31236326e+02] [-6.81333069e-02 -4.00869055e-04 9.97676146e-01 -4.06189253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.93, Y:-431.27, Z:-40.62 [[ 8.48778085e-01 5.25529768e-01 5.82599782e-02 7.95926294e+02] [-5.24341273e-01 8.50775027e-01 -3.53282162e-02 -4.31269876e+02] [-6.81321637e-02 -5.62295434e-04 9.97676146e-01 -4.06203800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:795.98, Y:-431.30, Z:-40.63 [[ 8.48667955e-01 5.25708725e-01 5.82497982e-02 7.95977882e+02] [-5.24519499e-01 8.50664462e-01 -3.53449932e-02 -4.31303128e+02] [-6.81322045e-02 -5.56991847e-04 9.97676146e-01 -4.06252393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.03, Y:-431.34, Z:-40.63 [[ 8.48769844e-01 5.25545236e-01 5.82405073e-02 7.96030504e+02] [-5.24354576e-01 8.50765495e-01 -3.53602958e-02 -4.31336512e+02] [-6.81324491e-02 -5.25923788e-04 9.97676146e-01 -4.06308073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.08, Y:-431.37, Z:-40.64 [[ 8.48623292e-01 5.25782933e-01 5.82307082e-02 7.96083938e+02] [-5.24591725e-01 8.50618616e-01 -3.53764255e-02 -4.31369365e+02] [-6.81324452e-02 -5.26088959e-04 9.97676146e-01 -4.06356386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.14, Y:-431.40, Z:-40.64 [[ 8.47871483e-01 5.26995510e-01 5.82209618e-02 7.96136640e+02] [-5.25806055e-01 8.49867852e-01 -3.53924584e-02 -4.31402250e+02] [-6.81317904e-02 -6.04678081e-04 9.97676147e-01 -4.06418405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.19, Y:-431.44, Z:-40.65 [[ 8.47028166e-01 5.28350855e-01 5.82121907e-02 7.96189888e+02] [-5.27163603e-01 8.49025847e-01 -3.54068790e-02 -4.31436234e+02] [-6.81309093e-02 -6.96724397e-04 9.97676147e-01 -4.06471544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.24, Y:-431.47, Z:-40.65 [[ 8.47021598e-01 5.28362479e-01 5.82022533e-02 7.96242368e+02] [-5.27174133e-01 8.49018628e-01 -3.54232066e-02 -4.31468822e+02] [-6.81310905e-02 -6.78501387e-04 9.97676147e-01 -4.06544361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.29, Y:-431.50, Z:-40.66 [[ 8.47575402e-01 5.27474643e-01 5.81931213e-02 7.96294416e+02] [-5.26283175e-01 8.49570570e-01 -3.54382023e-02 -4.31502558e+02] [-6.81319164e-02 -5.89512171e-04 9.97676147e-01 -4.06613450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.34, Y:-431.54, Z:-40.66 [[ 8.46396418e-01 5.29365393e-01 5.81840618e-02 7.96343934e+02] [-5.28177360e-01 8.48393633e-01 -3.54530705e-02 -4.31539609e+02] [-6.81306161e-02 -7.24152267e-04 9.97676147e-01 -4.06602030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.39, Y:-431.58, Z:-40.66 [[ 8.46529786e-01 5.29153003e-01 5.81757817e-02 7.96394290e+02] [-5.27963535e-01 8.48526147e-01 -3.54666522e-02 -4.31575613e+02] [-6.81309574e-02 -6.91113916e-04 9.97676147e-01 -4.06618977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.44, Y:-431.61, Z:-40.67 [[ 8.45636890e-01 5.30579739e-01 5.81669225e-02 7.96444994e+02] [-5.29392641e-01 8.47634661e-01 -3.54811758e-02 -4.31610253e+02] [-6.81298926e-02 -7.88949534e-04 9.97676148e-01 -4.06657256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.50, Y:-431.64, Z:-40.67 [[ 8.44130340e-01 5.32974292e-01 5.81581832e-02 7.96497445e+02] [-5.31791874e-01 8.46130884e-01 -3.54954948e-02 -4.31644347e+02] [-6.81276212e-02 -9.65225095e-04 9.97676148e-01 -4.06702212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.55, Y:-431.68, Z:-40.68 [[ 8.41957132e-01 5.36401888e-01 5.81481072e-02 7.96549078e+02] [-5.35226474e-01 8.43961800e-01 -3.55119936e-02 -4.31679369e+02] [-6.81234816e-02 -1.22283012e-03 9.97676148e-01 -4.06757772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.60, Y:-431.71, Z:-40.68 [[ 8.41851566e-01 5.36568646e-01 5.81380103e-02 7.96600124e+02] [-5.35392489e-01 8.43855798e-01 -3.55285159e-02 -4.31714275e+02] [-6.81235847e-02 -1.21691733e-03 9.97676148e-01 -4.06830282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.65, Y:-431.75, Z:-40.68 [[ 8.42092941e-01 5.36190106e-01 5.81347471e-02 7.96651069e+02] [-5.35012680e-01 8.44096427e-01 -3.55338547e-02 -4.31749102e+02] [-6.81242336e-02 -1.18001861e-03 9.97676148e-01 -4.06848094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.70, Y:-431.78, Z:-40.69 [[ 8.45613419e-01 5.30621671e-01 5.81256249e-02 7.96703868e+02] [-5.29430025e-01 8.47608479e-01 -3.55487702e-02 -4.31780223e+02] [-6.81307204e-02 -7.12933956e-04 9.97676148e-01 -4.06942111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.76, Y:-431.81, Z:-40.70 [[ 8.44791291e-01 5.31930579e-01 5.81165519e-02 7.96756167e+02] [-5.30741004e-01 8.46787587e-01 -3.55635971e-02 -4.31811997e+02] [-6.81297395e-02 -8.01019959e-04 9.97676148e-01 -4.06951642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.81, Y:-431.84, Z:-40.70 [[ 8.44571764e-01 5.32279969e-01 5.81082687e-02 7.96810025e+02] [-5.31090289e-01 8.46567997e-01 -3.55771260e-02 -4.31842498e+02] [-6.81295922e-02 -8.13301142e-04 9.97676148e-01 -4.07009075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.86, Y:-431.87, Z:-40.70 [[ 8.44479489e-01 5.32426722e-01 5.81048986e-02 7.96863040e+02] [-5.31237010e-01 8.46475703e-01 -3.55826293e-02 -4.31874099e+02] [-6.81295275e-02 -8.18672025e-04 9.97676149e-01 -4.07007070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.92, Y:-431.91, Z:-40.71 [[ 8.45594642e-01 5.30654971e-01 5.80947796e-02 7.96916798e+02] [-5.29459942e-01 8.47587677e-01 -3.55991426e-02 -4.31906621e+02] [-6.81312813e-02 -6.56414457e-04 9.97676149e-01 -4.07053225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.97, Y:-431.94, Z:-40.71 [[ 8.47162263e-01 5.28149838e-01 5.80848332e-02 7.96970937e+02] [-5.26947803e-01 8.49151081e-01 -3.56153642e-02 -4.31939128e+02] [-6.81330477e-02 -4.35682642e-04 9.97676149e-01 -4.07105921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.02, Y:-431.97, Z:-40.72 [[ 8.50539920e-01 5.22694132e-01 5.80748531e-02 7.97023888e+02] [-5.21478228e-01 8.52520290e-01 -3.56316304e-02 -4.31972061e+02] [-6.81344347e-02 2.13525229e-05 9.97676149e-01 -4.07154816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.08, Y:-432.00, Z:-40.72 [[ 8.53632568e-01 5.17629116e-01 5.80649455e-02 7.97075685e+02] [-5.16400364e-01 8.55604991e-01 -3.56477685e-02 -4.32004942e+02] [-6.81329800e-02 4.45337130e-04 9.97676149e-01 -4.07214056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.13, Y:-432.04, Z:-40.73 [[ 8.57151651e-01 5.11781300e-01 5.80598622e-02 7.97128396e+02] [-5.10538533e-01 8.59115273e-01 -3.56560457e-02 -4.32039273e+02] [-6.81282119e-02 9.20841592e-04 9.97676149e-01 -4.07258382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.18, Y:-432.07, Z:-40.73 [[ 8.58548706e-01 5.09434714e-01 5.80550674e-02 7.97180646e+02] [-5.08186053e-01 8.60508586e-01 -3.56638510e-02 -4.32071108e+02] [-6.81252877e-02 1.11637763e-03 9.97676149e-01 -4.07280614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.24, Y:-432.10, Z:-40.73 [[ 8.59116677e-01 5.08477310e-01 5.80462021e-02 7.97235054e+02] [-5.07225490e-01 8.61074540e-01 -3.56782742e-02 -4.32102697e+02] [-6.81236997e-02 1.20928706e-03 9.97676149e-01 -4.07320277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.29, Y:-432.13, Z:-40.74 [[ 8.58040789e-01 5.10291875e-01 5.80362552e-02 7.97289905e+02] [-5.09043102e-01 8.60000597e-01 -3.56944472e-02 -4.32133684e+02] [-6.81258005e-02 1.08433625e-03 9.97676150e-01 -4.07361523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.34, Y:-432.16, Z:-40.74 [[ 8.56841789e-01 5.12303702e-01 5.80264283e-02 7.97343380e+02] [-5.11058450e-01 8.58803835e-01 -3.57104150e-02 -4.32164621e+02] [-6.81278970e-02 9.43279314e-04 9.97676150e-01 -4.07403466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.40, Y:-432.19, Z:-40.75 [[ 8.54321935e-01 5.16495566e-01 5.80203635e-02 7.97398926e+02] [-5.15259272e-01 8.56289638e-01 -3.57202661e-02 -4.32193068e+02] [-6.81315951e-02 6.21076579e-04 9.97676150e-01 -4.07463525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.45, Y:-432.22, Z:-40.75 [[ 8.50656320e-01 5.22511721e-01 5.80114348e-02 7.97453407e+02] [-5.21288356e-01 8.52632088e-01 -3.57347609e-02 -4.32223726e+02] [-6.81342422e-02 1.57314724e-04 9.97676150e-01 -4.07486709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.51, Y:-432.25, Z:-40.75 [[ 8.46430184e-01 5.29331328e-01 5.80025005e-02 7.97509513e+02] [-5.28122887e-01 8.48415114e-01 -3.57492566e-02 -4.32253139e+02] [-6.81333996e-02 -3.73198175e-04 9.97676150e-01 -4.07535293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.56, Y:-432.28, Z:-40.76 [[ 8.43592485e-01 5.33843236e-01 5.79924071e-02 7.97564655e+02] [-5.32644287e-01 8.45583162e-01 -3.57656227e-02 -4.32282773e+02] [-6.81306387e-02 -7.17713774e-04 9.97676150e-01 -4.07585488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.62, Y:-432.32, Z:-40.76 [[ 8.42438502e-01 5.35663534e-01 5.79823065e-02 7.97617065e+02] [-5.34467760e-01 8.44431088e-01 -3.57819899e-02 -4.32315828e+02] [-6.81291694e-02 -8.45547455e-04 9.97676151e-01 -4.07624220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.67, Y:-432.35, Z:-40.77 [[ 8.42482248e-01 5.35595273e-01 5.79772836e-02 7.97670329e+02] [-5.34398777e-01 8.44474401e-01 -3.57901267e-02 -4.32346363e+02] [-6.81293545e-02 -8.30442982e-04 9.97676151e-01 -4.07657175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.72, Y:-432.38, Z:-40.77 [[ 8.42210045e-01 5.36023754e-01 5.79721872e-02 7.97723632e+02] [-5.34827704e-01 8.44202466e-01 -3.57983799e-02 -4.32378659e+02] [-6.81290454e-02 -8.55376636e-04 9.97676151e-01 -4.07697353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.78, Y:-432.41, Z:-40.78 [[ 8.41701697e-01 5.36822736e-01 5.79620750e-02 7.97777661e+02] [-5.35627451e-01 8.43694576e-01 -3.58147454e-02 -4.32409462e+02] [-6.81284579e-02 -9.00746412e-04 9.97676151e-01 -4.07751228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.83, Y:-432.44, Z:-40.78 [[ 8.41573540e-01 5.37024634e-01 5.79527355e-02 7.97830190e+02] [-5.35828787e-01 8.43566081e-01 -3.58298514e-02 -4.32441556e+02] [-6.81284749e-02 -8.99289093e-04 9.97676151e-01 -4.07814785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.88, Y:-432.47, Z:-40.79 [[ 8.42167886e-01 5.36093044e-01 5.79439411e-02 7.97882298e+02] [-5.34894014e-01 8.44158514e-01 -3.58440682e-02 -4.32474251e+02] [-6.81296268e-02 -8.07144140e-04 9.97676151e-01 -4.07870240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.93, Y:-432.51, Z:-40.79 [[ 8.44037976e-01 5.33144837e-01 5.79351176e-02 7.97934854e+02] [-5.31937874e-01 8.46023805e-01 -3.58583240e-02 -4.32508812e+02] [-6.81321689e-02 -5.52096120e-04 9.97676151e-01 -4.07910940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.99, Y:-432.54, Z:-40.79 [[ 8.47089660e-01 5.28283834e-01 5.79249336e-02 7.97986310e+02] [-5.27064351e-01 8.49067825e-01 -3.58747675e-02 -4.32544055e+02] [-6.81342571e-02 -1.41022930e-04 9.97676151e-01 -4.07946618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.04, Y:-432.58, Z:-40.80 [[ 8.48748538e-01 5.25615538e-01 5.79156810e-02 7.98037103e+02] [-5.24388817e-01 8.50722221e-01 -3.58896987e-02 -4.32577585e+02] [-6.81343400e-02 9.09937944e-05 9.97676152e-01 -4.07981234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.09, Y:-432.61, Z:-40.80 [[ 8.50792958e-01 5.22300408e-01 5.79105104e-02 7.98089635e+02] [-5.21065429e-01 8.52761484e-01 -3.58980399e-02 -4.32612373e+02] [-6.81334136e-02 3.66634576e-04 9.97676152e-01 -4.08024691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.14, Y:-432.65, Z:-40.81 [[ 8.51802380e-01 5.20653700e-01 5.79001778e-02 7.98140662e+02] [-5.19413783e-01 8.53767800e-01 -3.59146975e-02 -4.32646353e+02] [-6.81324276e-02 5.18074417e-04 9.97676152e-01 -4.08071739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.19, Y:-432.68, Z:-40.81 [[ 8.51459848e-01 5.21214735e-01 5.78906421e-02 7.98193495e+02] [-5.19975069e-01 8.53425426e-01 -3.59300615e-02 -4.32680003e+02] [-6.81326235e-02 4.91314119e-04 9.97676152e-01 -4.08114630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.25, Y:-432.71, Z:-40.82 [[ 8.49469359e-01 5.24453678e-01 5.78804591e-02 7.98245987e+02] [-5.23220389e-01 8.51438945e-01 -3.59464581e-02 -4.32712282e+02] [-6.81339292e-02 2.51178381e-04 9.97676152e-01 -4.08162726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.30, Y:-432.75, Z:-40.82 [[ 8.47361449e-01 5.27853688e-01 5.78710502e-02 7.98298997e+02] [-5.26627268e-01 8.49335319e-01 -3.59615995e-02 -4.32745466e+02] [-6.81343897e-02 -3.99998052e-06 9.97676152e-01 -4.08201665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.35, Y:-432.78, Z:-40.83 [[ 8.44031798e-01 5.33162668e-01 5.78609806e-02 7.98349732e+02] [-5.31947553e-01 8.46012647e-01 -3.59777938e-02 -4.32780328e+02] [-6.81331379e-02 -4.12605011e-04 9.97676153e-01 -4.08253662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.40, Y:-432.81, Z:-40.83 [[ 8.42649378e-01 5.35345946e-01 5.78510457e-02 7.98403628e+02] [-5.34134867e-01 8.44632697e-01 -3.59937617e-02 -4.32813342e+02] [-6.81319991e-02 -5.70139712e-04 9.97676153e-01 -4.08256310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.46, Y:-432.85, Z:-40.83 [[ 8.41892187e-01 5.36537222e-01 5.78390429e-02 7.98456482e+02] [-5.35327625e-01 8.43876410e-01 -3.60130389e-02 -4.32846788e+02] [-6.81313397e-02 -6.43741306e-04 9.97676153e-01 -4.08290633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.51, Y:-432.88, Z:-40.83 [[ 8.41841175e-01 5.36618409e-01 5.78283549e-02 7.98509088e+02] [-5.35407825e-01 8.43824796e-01 -3.60301932e-02 -4.32876942e+02] [-6.81314647e-02 -6.30053542e-04 9.97676153e-01 -4.08340991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.56, Y:-432.91, Z:-40.84 [[ 8.41006300e-01 5.37926453e-01 5.78233002e-02 7.98562715e+02] [-5.36718397e-01 8.42991461e-01 -3.60383034e-02 -4.32909661e+02] [-6.81305050e-02 -7.26388752e-04 9.97676153e-01 -4.08399512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.61, Y:-432.94, Z:-40.85 [[ 8.41018936e-01 5.37907787e-01 5.78131661e-02 7.98614800e+02] [-5.36698569e-01 8.43003390e-01 -3.60545533e-02 -4.32942333e+02] [-6.81307200e-02 -7.05681451e-04 9.97676153e-01 -4.08467902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.67, Y:-432.98, Z:-40.85 [[ 8.42156423e-01 5.36126179e-01 5.78038057e-02 7.98667036e+02] [-5.34911733e-01 8.44137681e-01 -3.60695539e-02 -4.32976089e+02] [-6.81322027e-02 -5.43727408e-04 9.97676154e-01 -4.08500891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.72, Y:-433.01, Z:-40.85 [[ 8.43020689e-01 5.34767160e-01 5.77944767e-02 7.98718312e+02] [-5.33548497e-01 8.44999356e-01 -3.60844958e-02 -4.33010370e+02] [-6.81330989e-02 -4.16179639e-04 9.97676154e-01 -4.08541443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.77, Y:-433.04, Z:-40.86 [[ 8.43339037e-01 5.34266043e-01 5.77846415e-02 7.98770647e+02] [-5.33045124e-01 8.45316313e-01 -3.61002388e-02 -4.33044244e+02] [-6.81334317e-02 -3.57080789e-04 9.97676154e-01 -4.08585561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.82, Y:-433.08, Z:-40.86 [[ 8.43177976e-01 5.34521287e-01 5.77745257e-02 7.98822920e+02] [-5.33299858e-01 8.45154936e-01 -3.61164208e-02 -4.33079230e+02] [-6.81334212e-02 -3.58575769e-04 9.97676154e-01 -4.08624968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.88, Y:-433.11, Z:-40.87 [[ 8.42762483e-01 5.35177235e-01 5.77643918e-02 7.98875675e+02] [-5.33956235e-01 8.44739707e-01 -3.61326216e-02 -4.33113665e+02] [-6.81332319e-02 -3.92439281e-04 9.97676154e-01 -4.08665059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.93, Y:-433.15, Z:-40.87 [[ 8.41420116e-01 5.37286370e-01 5.77541790e-02 7.98926545e+02] [-5.36069206e-01 8.43399704e-01 -3.61489383e-02 -4.33149227e+02] [-6.81321893e-02 -5.43792987e-04 9.97676154e-01 -4.08713141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.98, Y:-433.18, Z:-40.88 [[ 8.40663600e-01 5.38469648e-01 5.77507463e-02 7.98978940e+02] [-5.37254894e-01 8.42644668e-01 -3.61544214e-02 -4.33182070e+02] [-6.81314171e-02 -6.33165023e-04 9.97676154e-01 -4.08765125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.03, Y:-433.22, Z:-40.88 [[ 8.38645628e-01 5.41608267e-01 5.77407702e-02 7.99029257e+02] [-5.40399830e-01 8.40630555e-01 -3.61703470e-02 -4.33216039e+02] [-6.81288146e-02 -8.68999044e-04 9.97676155e-01 -4.08783035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.08, Y:-433.25, Z:-40.88 [[ 8.36857007e-01 5.44368752e-01 5.77322373e-02 7.99081604e+02] [-5.43165923e-01 8.38845338e-01 -3.61839613e-02 -4.33249440e+02] [-6.81258360e-02 -1.07738240e-03 9.97676155e-01 -4.08818045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.13, Y:-433.28, Z:-40.89 [[ 8.35818035e-01 5.45963566e-01 5.77234596e-02 7.99133244e+02] [-5.44763564e-01 8.37808073e-01 -3.61979588e-02 -4.33283004e+02] [-6.81239471e-02 -1.19073080e-03 9.97676155e-01 -4.08851001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.19, Y:-433.32, Z:-40.89 [[ 8.35344297e-01 5.46689106e-01 5.77141809e-02 7.99185789e+02] [-5.45489812e-01 8.37334761e-01 -3.62127469e-02 -4.33316968e+02] [-6.81232041e-02 -1.23238610e-03 9.97676155e-01 -4.08882712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.24, Y:-433.35, Z:-40.89 [[ 8.34894595e-01 5.47376720e-01 5.77039076e-02 7.99237138e+02] [-5.46177934e-01 8.36885366e-01 -3.62291096e-02 -4.33350101e+02] [-6.81225270e-02 -1.26911328e-03 9.97676155e-01 -4.08938645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.29, Y:-433.38, Z:-40.90 [[ 8.34208099e-01 5.48423243e-01 5.76957048e-02 7.99289906e+02] [-5.47226052e-01 8.36199829e-01 -3.62421681e-02 -4.33382681e+02] [-6.81211858e-02 -1.33908259e-03 9.97676155e-01 -4.08990024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.34, Y:-433.41, Z:-40.90 [[ 8.33089121e-01 5.50122488e-01 5.76867754e-02 7.99342986e+02] [-5.48928376e-01 8.35082698e-01 -3.62563755e-02 -4.33414817e+02] [-6.81186756e-02 -1.46111590e-03 9.97676155e-01 -4.09039017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.40, Y:-433.45, Z:-40.91 [[ 8.32358330e-01 5.51228503e-01 5.76779646e-02 7.99396869e+02] [-5.50036069e-01 8.34352912e-01 -3.62703867e-02 -4.33447037e+02] [-6.81170486e-02 -1.53500242e-03 9.97676156e-01 -4.09081779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.45, Y:-433.48, Z:-40.91 [[ 8.31685521e-01 5.52244152e-01 5.76679398e-02 7.99450855e+02] [-5.51053051e-01 8.33680897e-01 -3.62863185e-02 -4.33479905e+02] [-6.81155670e-02 -1.59928849e-03 9.97676156e-01 -4.09112481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.50, Y:-433.51, Z:-40.91 [[ 8.31049575e-01 5.53201757e-01 5.76577855e-02 7.99504076e+02] [-5.52011836e-01 8.33045656e-01 -3.63024463e-02 -4.33511885e+02] [-6.81141448e-02 -1.65864750e-03 9.97676156e-01 -4.09129264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.56, Y:-433.54, Z:-40.92 [[ 8.30464701e-01 5.54080336e-01 5.76486052e-02 7.99557415e+02] [-5.52891516e-01 8.32461438e-01 -3.63170188e-02 -4.33543708e+02] [-6.81127868e-02 -1.71342254e-03 9.97676156e-01 -4.09169294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.61, Y:-433.58, Z:-40.92 [[ 8.29974441e-01 5.54815118e-01 5.76421005e-02 7.99611246e+02] [-5.53627350e-01 8.31971804e-01 -3.63273400e-02 -4.33575386e+02] [-6.81115598e-02 -1.76147963e-03 9.97676156e-01 -4.09213579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.66, Y:-433.61, Z:-40.93 [[ 8.29403852e-01 5.55668821e-01 5.76316990e-02 7.99664704e+02] [-5.54481963e-01 8.31401755e-01 -3.63438342e-02 -4.33605624e+02] [-6.81102312e-02 -1.81202156e-03 9.97676156e-01 -4.09266060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.72, Y:-433.64, Z:-40.93 [[ 8.29008028e-01 5.56259705e-01 5.76266489e-02 7.99718409e+02] [-5.55073715e-01 8.31006447e-01 -3.63518399e-02 -4.33637982e+02] [-6.81091804e-02 -1.85107101e-03 9.97676156e-01 -4.09306603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.77, Y:-433.67, Z:-40.94 [[ 8.29035512e-01 5.56219804e-01 5.76163916e-02 7.99771312e+02] [-5.55032590e-01 8.31033204e-01 -3.63680900e-02 -4.33670253e+02] [-6.81097864e-02 -1.82853701e-03 9.97676157e-01 -4.09379416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.82, Y:-433.70, Z:-40.94 [[ 8.29970521e-01 5.54824017e-01 5.76128910e-02 7.99824313e+02] [-5.53633058e-01 8.31965982e-01 -3.63736347e-02 -4.33700805e+02] [-6.81129316e-02 -1.70735656e-03 9.97676157e-01 -4.09393068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.88, Y:-433.73, Z:-40.95 [[ 8.32073391e-01 5.51666271e-01 5.76037985e-02 7.99878328e+02] [-5.50466743e-01 8.34063712e-01 -3.63880286e-02 -4.33731409e+02] [-6.81192860e-02 -1.43146503e-03 9.97676157e-01 -4.09459546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.93, Y:-433.76, Z:-40.95 [[ 8.33078111e-01 5.50148849e-01 5.75943226e-02 7.99930254e+02] [-5.48944659e-01 8.35065615e-01 -3.64030207e-02 -4.33763498e+02] [-6.81221183e-02 -1.28953611e-03 9.97676157e-01 -4.09476109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.98, Y:-433.80, Z:-40.95 [[ 8.35125039e-01 5.47037534e-01 5.75856407e-02 7.99983645e+02] [-5.45824992e-01 8.37107459e-01 -3.64167494e-02 -4.33796284e+02] [-6.81266981e-02 -1.01914261e-03 9.97676157e-01 -4.09518791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.04, Y:-433.83, Z:-40.96 [[ 8.37103230e-01 5.44006686e-01 5.75752329e-02 8.00036927e+02] [-5.42785835e-01 8.39080544e-01 -3.64331967e-02 -4.33829199e+02] [-6.81301604e-02 -7.52674214e-04 9.97676157e-01 -4.09562350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.09, Y:-433.86, Z:-40.96 [[ 8.41190544e-01 5.37666036e-01 5.75647661e-02 8.00088955e+02] [-5.36429149e-01 8.43157865e-01 -3.64497269e-02 -4.33862165e+02] [-6.81339655e-02 -2.18252821e-04 9.97676157e-01 -4.09603716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.14, Y:-433.90, Z:-40.96 [[ 8.43979839e-01 5.33277667e-01 5.75583256e-02 8.00141434e+02] [-5.32029857e-01 8.45940251e-01 -3.64598944e-02 -4.33895256e+02] [-6.81341518e-02 1.48668110e-04 9.97676158e-01 -4.09638895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.19, Y:-433.93, Z:-40.97 [[ 8.48264087e-01 5.26437188e-01 5.75493325e-02 8.00194389e+02] [-5.25172607e-01 8.50213722e-01 -3.64740839e-02 -4.33928430e+02] [-6.81305464e-02 7.16322445e-04 9.97676158e-01 -4.09675740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.25, Y:-433.96, Z:-40.97 [[ 8.50097971e-01 5.23471763e-01 5.75391442e-02 8.00247682e+02] [-5.22199294e-01 8.52042467e-01 -3.64901492e-02 -4.33961073e+02] [-6.81273571e-02 9.73301323e-04 9.97676158e-01 -4.09722849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.30, Y:-433.99, Z:-40.98 [[ 8.51455933e-01 5.21261170e-01 5.75290163e-02 8.00300686e+02] [-5.19982575e-01 8.53396406e-01 -3.65061095e-02 -4.33992252e+02] [-6.81242731e-02 1.16925745e-03 9.97676158e-01 -4.09776185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.35, Y:-434.02, Z:-40.98 [[ 8.50782480e-01 5.22360604e-01 5.75201761e-02 8.00354132e+02] [-5.21083576e-01 8.52723985e-01 -3.65200332e-02 -4.34023931e+02] [-6.81254603e-02 1.09778539e-03 9.97676158e-01 -4.09843456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.41, Y:-434.05, Z:-40.99 [[ 8.50031551e-01 5.23582900e-01 5.75092108e-02 8.00407422e+02] [-5.22307496e-01 8.51974123e-01 -3.65372923e-02 -4.34053173e+02] [-6.81266609e-02 1.02035936e-03 9.97676158e-01 -4.09868320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.46, Y:-434.08, Z:-40.99 [[ 8.47665155e-01 5.27406389e-01 5.75003082e-02 8.00462852e+02] [-5.26138798e-01 8.49612834e-01 -3.65512974e-02 -4.34083536e+02] [-6.81303876e-02 7.30118122e-04 9.97676159e-01 -4.09912357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.52, Y:-434.11, Z:-41.00 [[ 8.44886104e-01 5.31848076e-01 5.74899695e-02 8.00516986e+02] [-5.30589619e-01 8.46839696e-01 -3.65675515e-02 -4.34114220e+02] [-6.81331702e-02 3.91835121e-04 9.97676159e-01 -4.09957733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.57, Y:-434.14, Z:-41.00 [[ 8.41561811e-01 5.37093774e-01 5.74804003e-02 8.00572076e+02] [-5.35846468e-01 8.43522541e-01 -3.65825872e-02 -4.34144060e+02] [-6.81342931e-02 -1.41611679e-05 9.97676159e-01 -4.09968052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.63, Y:-434.17, Z:-41.00 [[ 8.38892175e-01 5.41254987e-01 5.74713648e-02 8.00625546e+02] [-5.40016434e-01 8.40858447e-01 -3.65967764e-02 -4.34174843e+02] [-6.81334703e-02 -3.34732080e-04 9.97676159e-01 -4.10015077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.68, Y:-434.21, Z:-41.01 [[ 8.35670029e-01 5.46217672e-01 5.74617880e-02 8.00677697e+02] [-5.44989762e-01 8.37642964e-01 -3.66118072e-02 -4.34207653e+02] [-6.81304785e-02 -7.20696158e-04 9.97676159e-01 -4.10075704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.73, Y:-434.24, Z:-41.01 [[ 8.33090882e-01 5.50143750e-01 5.74581280e-02 8.00732923e+02] [-5.48924740e-01 8.35069329e-01 -3.66175502e-02 -4.34236640e+02] [-6.81264368e-02 -1.03444075e-03 9.97676159e-01 -4.10112813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.79, Y:-434.27, Z:-41.02 [[ 8.31240076e-01 5.52937395e-01 5.74471406e-02 8.00785702e+02] [-5.51723844e-01 8.33221875e-01 -3.66347797e-02 -4.34267939e+02] [-6.81229538e-02 -1.24266016e-03 9.97676159e-01 -4.10150050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.84, Y:-434.30, Z:-41.02 [[ 8.30766210e-01 5.53649960e-01 5.74388897e-02 8.00838225e+02] [-5.52437215e-01 8.32748503e-01 -3.66477114e-02 -4.34301384e+02] [-6.81221534e-02 -1.28569996e-03 9.97676160e-01 -4.10194211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.89, Y:-434.34, Z:-41.03 [[ 8.30692937e-01 5.53760862e-01 5.74295438e-02 8.00889673e+02] [-5.52547370e-01 8.32674772e-01 -3.66623514e-02 -4.34335559e+02] [-6.81223076e-02 -1.27738698e-03 9.97676160e-01 -4.10252838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.94, Y:-434.37, Z:-41.03 [[ 8.30763179e-01 5.53656365e-01 5.74209908e-02 8.00940070e+02] [-5.52441699e-01 8.32744294e-01 -3.66757422e-02 -4.34368921e+02] [-6.81227606e-02 -1.25289356e-03 9.97676160e-01 -4.10314706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.99, Y:-434.40, Z:-41.03 [[ 8.30999880e-01 5.53301843e-01 5.74131452e-02 8.00991447e+02] [-5.52085484e-01 8.32979956e-01 -3.66880199e-02 -4.34402945e+02] [-6.81235482e-02 -1.20922394e-03 9.97676160e-01 -4.10345369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.04, Y:-434.44, Z:-41.04 [[ 8.31231351e-01 5.52955013e-01 5.74037815e-02 8.01042428e+02] [-5.51736816e-01 8.33210298e-01 -3.67026649e-02 -4.34438697e+02] [-6.81243444e-02 -1.16337387e-03 9.97676160e-01 -4.10389107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.10, Y:-434.47, Z:-41.04 [[ 8.31152858e-01 5.53074018e-01 5.73938828e-02 8.01095014e+02] [-5.51855037e-01 8.33131320e-01 -3.67181376e-02 -4.34473535e+02] [-6.81244892e-02 -1.15471831e-03 9.97676160e-01 -4.10430397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.15, Y:-434.51, Z:-41.05 [[ 8.30983787e-01 5.53329105e-01 5.73833459e-02 8.01145331e+02] [-5.52109594e-01 8.32961923e-01 -3.67345973e-02 -4.34509654e+02] [-6.81244640e-02 -1.15604106e-03 9.97676160e-01 -4.10487132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.20, Y:-434.55, Z:-41.05 [[ 8.30332352e-01 5.54306849e-01 5.73768464e-02 8.01196403e+02] [-5.53088966e-01 8.32311492e-01 -3.67447464e-02 -4.34547379e+02] [-6.81232731e-02 -1.22414897e-03 9.97676160e-01 -4.10514661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.25, Y:-434.58, Z:-41.05 [[ 8.29814972e-01 5.55082154e-01 5.73665024e-02 8.01247056e+02] [-5.53865005e-01 8.31794562e-01 -3.67608884e-02 -4.34583727e+02] [-6.81224579e-02 -1.26856258e-03 9.97676161e-01 -4.10546985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.30, Y:-434.62, Z:-41.06 [[ 8.29366223e-01 5.55753365e-01 5.73573470e-02 8.01297190e+02] [-5.54536832e-01 8.31346191e-01 -3.67751679e-02 -4.34620737e+02] [-6.81217353e-02 -1.30667941e-03 9.97676161e-01 -4.10582693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.35, Y:-434.66, Z:-41.06 [[ 8.28969859e-01 5.56345346e-01 5.73483066e-02 8.01348421e+02] [-5.55129252e-01 8.30950097e-01 -3.67892604e-02 -4.34657056e+02] [-6.81211148e-02 -1.33853451e-03 9.97676161e-01 -4.10625204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.40, Y:-434.69, Z:-41.07 [[ 8.29299938e-01 5.55854264e-01 5.73380365e-02 8.01399650e+02] [-5.54635892e-01 8.31278774e-01 -3.68052601e-02 -4.34694070e+02] [-6.81222534e-02 -1.27913311e-03 9.97676161e-01 -4.10677794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.45, Y:-434.73, Z:-41.07 [[ 8.29994854e-01 5.54817155e-01 5.73277120e-02 8.01449564e+02] [-5.53595199e-01 8.31971481e-01 -3.68213344e-02 -4.34731107e+02] [-6.81241294e-02 -1.17482803e-03 9.97676161e-01 -4.10721890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.50, Y:-434.77, Z:-41.08 [[ 8.30747493e-01 5.53690522e-01 5.73184810e-02 8.01499851e+02] [-5.52464895e-01 8.32721845e-01 -3.68356984e-02 -4.34766552e+02] [-6.81259283e-02 -1.06528451e-03 9.97676161e-01 -4.10768124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.55, Y:-434.80, Z:-41.08 [[ 8.32956303e-01 5.50363070e-01 5.73087226e-02 8.01551133e+02] [-5.49128511e-01 8.34925081e-01 -3.68508742e-02 -4.34800868e+02] [-6.81298501e-02 -7.74685634e-04 9.97676162e-01 -4.10848906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.60, Y:-434.84, Z:-41.08 [[ 8.31781972e-01 5.52137260e-01 5.72991960e-02 8.01599290e+02] [-5.50905881e-01 8.33752740e-01 -3.68656810e-02 -4.34839661e+02] [-6.81282778e-02 -9.02255194e-04 9.97676162e-01 -4.10848917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.65, Y:-434.87, Z:-41.09 [[ 8.31129487e-01 5.53119855e-01 5.72905048e-02 8.01650274e+02] [-5.51889875e-01 8.33101130e-01 -3.68791826e-02 -4.34874812e+02] [-6.81273924e-02 -9.66673417e-04 9.97676162e-01 -4.10905870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.70, Y:-434.91, Z:-41.09 [[ 8.30163414e-01 5.54569746e-01 5.72809201e-02 8.01701466e+02] [-5.53342183e-01 8.32136561e-01 -3.68940637e-02 -4.34910503e+02] [-6.81258794e-02 -1.06784749e-03 9.97676162e-01 -4.10945129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:801.75, Y:-434.95, Z:-41.10 [[ 8.29798985e-01 5.55115917e-01 5.72709615e-02 8.01751847e+02] [-5.53888587e-01 8.31772277e-01 -3.69095160e-02 -4.34947567e+02] [-6.81254579e-02 -1.09425296e-03 9.97676162e-01 -4.10973398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.80, Y:-434.98, Z:-41.10 [[ 8.29701476e-01 5.55262707e-01 5.72606926e-02 8.01803871e+02] [-5.54034627e-01 8.31674302e-01 -3.69254401e-02 -4.34983376e+02] [-6.81255664e-02 -1.08731432e-03 9.97676162e-01 -4.11011084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.86, Y:-435.02, Z:-41.11 [[ 8.29853595e-01 5.55036396e-01 5.72504193e-02 8.01855547e+02] [-5.53806679e-01 8.31825401e-01 -3.69413613e-02 -4.35018651e+02] [-6.81261530e-02 -1.04974314e-03 9.97676163e-01 -4.11052967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.91, Y:-435.05, Z:-41.11 [[ 8.30142129e-01 5.54605803e-01 5.72402712e-02 8.01907957e+02] [-5.53373981e-01 8.32112620e-01 -3.69570791e-02 -4.35053821e+02] [-6.81269625e-02 -9.95648402e-04 9.97676163e-01 -4.11089788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.96, Y:-435.09, Z:-41.11 [[ 8.30800611e-01 5.53620010e-01 5.72296167e-02 8.01958790e+02] [-5.52384713e-01 8.32768926e-01 -3.69735706e-02 -4.35088255e+02] [-6.81283550e-02 -8.95100393e-04 9.97676163e-01 -4.11135631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.01, Y:-435.12, Z:-41.12 [[ 8.30767725e-01 5.53670375e-01 5.72197868e-02 8.02011393e+02] [-5.52434151e-01 8.32735456e-01 -3.69887771e-02 -4.35122973e+02] [-6.81285353e-02 -8.81082151e-04 9.97676163e-01 -4.11189032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.06, Y:-435.16, Z:-41.12 [[ 8.30779818e-01 5.53653313e-01 5.72092897e-02 8.02062033e+02] [-5.52415931e-01 8.32746822e-01 -3.70050054e-02 -4.35156048e+02] [-6.81287980e-02 -8.60311371e-04 9.97676163e-01 -4.11245906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.11, Y:-435.19, Z:-41.13 [[ 8.30854674e-01 5.53541501e-01 5.72041779e-02 8.02114971e+02] [-5.52303311e-01 8.32821168e-01 -3.70129059e-02 -4.35190318e+02] [-6.81290297e-02 -8.41711020e-04 9.97676163e-01 -4.11288938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.17, Y:-435.22, Z:-41.13 [[ 8.30718231e-01 5.53747325e-01 5.71937202e-02 8.02166995e+02] [-5.52508509e-01 8.32684332e-01 -3.70290585e-02 -4.35222918e+02] [-6.81290567e-02 -8.39303166e-04 9.97676164e-01 -4.11342827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.22, Y:-435.26, Z:-41.14 [[ 8.30893807e-01 5.53484784e-01 5.71845827e-02 8.02220213e+02] [-5.52244376e-01 8.32858903e-01 -3.70431643e-02 -4.35256944e+02] [-6.81295166e-02 -8.00928454e-04 9.97676164e-01 -4.11388088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.27, Y:-435.29, Z:-41.14 [[ 8.31451672e-01 5.52647480e-01 5.71741242e-02 8.02272810e+02] [-5.51403985e-01 8.33414815e-01 -3.70592994e-02 -4.35291906e+02] [-6.81304906e-02 -7.13023482e-04 9.97676164e-01 -4.11425321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.32, Y:-435.33, Z:-41.15 [[ 8.32331110e-01 5.51323174e-01 5.71636355e-02 8.02324768e+02] [-5.50075444e-01 8.34291565e-01 -3.70754711e-02 -4.35325816e+02] [-6.81317053e-02 -5.85244193e-04 9.97676164e-01 -4.11450450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.38, Y:-435.36, Z:-41.15 [[ 8.31954955e-01 5.51891576e-01 5.71545294e-02 8.02379133e+02] [-5.50644222e-01 8.33915649e-01 -3.70895035e-02 -4.35357717e+02] [-6.81314410e-02 -6.15015094e-04 9.97676164e-01 -4.11487087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.43, Y:-435.39, Z:-41.15 [[ 8.30761311e-01 5.53687823e-01 5.71440218e-02 8.02432924e+02] [-5.52443595e-01 8.32723989e-01 -3.71056856e-02 -4.35389456e+02] [-6.81301641e-02 -7.42880785e-04 9.97676164e-01 -4.11528169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.49, Y:-435.42, Z:-41.16 [[ 8.29468886e-01 5.55623193e-01 5.71334837e-02 8.02485348e+02] [-5.54382427e-01 8.31433755e-01 -3.71219045e-02 -4.35421364e+02] [-6.81284980e-02 -8.82334573e-04 9.97676165e-01 -4.11582446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.54, Y:-435.45, Z:-41.16 [[ 8.27320915e-01 5.58817484e-01 5.71237521e-02 8.02538230e+02] [-5.57583271e-01 8.29289906e-01 -3.71368737e-02 -4.35453683e+02] [-6.81248854e-02 -1.12713618e-03 9.97676165e-01 -4.11621780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.59, Y:-435.48, Z:-41.17 [[ 8.26451962e-01 5.60102786e-01 5.71141268e-02 8.02592043e+02] [-5.58870613e-01 8.28422230e-01 -3.71516710e-02 -4.35484096e+02] [-6.81233667e-02 -1.21533564e-03 9.97676165e-01 -4.11683179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.65, Y:-435.52, Z:-41.17 [[ 8.25887465e-01 5.60935861e-01 5.71038992e-02 8.02645061e+02] [-5.59704588e-01 8.27858297e-01 -3.71673846e-02 -4.35518197e+02] [-6.81224556e-02 -1.26523738e-03 9.97676165e-01 -4.11725132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.70, Y:-435.55, Z:-41.18 [[ 8.25448724e-01 5.61582342e-01 5.70935810e-02 8.02698149e+02] [-5.60351517e-01 8.27419836e-01 -3.71832279e-02 -4.35551363e+02] [-6.81218056e-02 -1.29962672e-03 9.97676165e-01 -4.11764735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.75, Y:-435.59, Z:-41.18 [[ 8.25410830e-01 5.61639080e-01 5.70833201e-02 8.02751218e+02] [-5.60407303e-01 8.27381346e-01 -3.71989736e-02 -4.35585216e+02] [-6.81220715e-02 -1.28547373e-03 9.97676165e-01 -4.11803939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.80, Y:-435.62, Z:-41.18 [[ 8.25821873e-01 5.61035581e-01 5.70728624e-02 8.02803069e+02] [-5.59801256e-01 8.27790793e-01 -3.72150116e-02 -4.35617984e+02] [-6.81233357e-02 -1.21648950e-03 9.97676166e-01 -4.11843377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.86, Y:-435.65, Z:-41.19 [[ 8.26350947e-01 5.60256670e-01 5.70664170e-02 8.02855618e+02] [-5.59019807e-01 8.28318274e-01 -3.72248926e-02 -4.35652797e+02] [-6.81246504e-02 -1.14043214e-03 9.97676166e-01 -4.11874313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.91, Y:-435.69, Z:-41.19 [[ 8.27300940e-01 5.58853991e-01 5.70558646e-02 8.02907712e+02] [-5.57612677e-01 8.29265461e-01 -3.72410595e-02 -4.35687005e+02] [-6.81267726e-02 -1.00550987e-03 9.97676166e-01 -4.11908874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.96, Y:-435.72, Z:-41.20 [[ 8.28048212e-01 5.57747179e-01 5.70459769e-02 8.02960804e+02] [-5.56502197e-01 8.30010410e-01 -3.72561994e-02 -4.35721000e+02] [-6.81282948e-02 -8.96282191e-04 9.97676166e-01 -4.11956069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.01, Y:-435.75, Z:-41.21 [[ 8.29595411e-01 5.55444333e-01 5.70354814e-02 8.03013427e+02] [-5.54192800e-01 8.31553438e-01 -3.72722601e-02 -4.35752803e+02] [-6.81307163e-02 -6.87757135e-04 9.97676166e-01 -4.12053523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.06, Y:-435.79, Z:-41.20 [[ 8.29364109e-01 5.55790617e-01 5.70260081e-02 8.03063283e+02] [-5.54538905e-01 8.31322021e-01 -3.72867484e-02 -4.35788619e+02] [-6.81306012e-02 -6.98849214e-04 9.97676166e-01 -4.12043083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.12, Y:-435.82, Z:-41.21 [[ 8.30049066e-01 5.54767694e-01 5.70206521e-02 8.03116105e+02] [-5.53513006e-01 8.32005072e-01 -3.72949374e-02 -4.35823349e+02] [-6.81314981e-02 -6.05044629e-04 9.97676166e-01 -4.12091332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.17, Y:-435.86, Z:-41.21 [[ 8.30780295e-01 5.53673139e-01 5.70101367e-02 8.03168436e+02] [-5.52414772e-01 8.32733936e-01 -3.73110046e-02 -4.35857444e+02] [-6.81323766e-02 -4.95994216e-04 9.97676167e-01 -4.12132957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.22, Y:-435.89, Z:-41.22 [[ 8.30779543e-01 5.53675351e-01 5.69996141e-02 8.03221244e+02] [-5.52415887e-01 8.32732477e-01 -3.73270729e-02 -4.35891485e+02] [-6.81325100e-02 -4.76923856e-04 9.97676167e-01 -4.12176386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.27, Y:-435.92, Z:-41.22 [[ 8.30037656e-01 5.54788001e-01 5.69891548e-02 8.03273555e+02] [-5.53530058e-01 8.31991570e-01 -3.73430349e-02 -4.35924005e+02] [-6.81319640e-02 -5.49084989e-04 9.97676167e-01 -4.12234217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.33, Y:-435.96, Z:-41.23 [[ 8.28823399e-01 5.56601065e-01 5.69826957e-02 8.03327127e+02] [-5.55346719e-01 8.30779624e-01 -3.73528884e-02 -4.35957352e+02] [-6.81307200e-02 -6.86205162e-04 9.97676167e-01 -4.12267832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.38, Y:-435.99, Z:-41.23 [[ 8.27900490e-01 5.57973990e-01 5.69719741e-02 8.03380007e+02] [-5.56721763e-01 8.29858071e-01 -3.73692342e-02 -4.35991163e+02] [-6.81297133e-02 -7.79530596e-04 9.97676167e-01 -4.12310800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.43, Y:-436.03, Z:-41.24 [[ 8.26686943e-01 5.59771470e-01 5.69613873e-02 8.03433150e+02] [-5.58522388e-01 8.28646533e-01 -3.73853646e-02 -4.36025123e+02] [-6.81281166e-02 -9.08217279e-04 9.97676167e-01 -4.12353641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.49, Y:-436.06, Z:-41.24 [[ 8.25633233e-01 5.61325532e-01 5.69509559e-02 8.03486302e+02] [-5.60079043e-01 8.27594473e-01 -3.74012485e-02 -4.36059132e+02] [-6.81265721e-02 -1.01732321e-03 9.97676168e-01 -4.12381735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.54, Y:-436.09, Z:-41.24 [[ 8.25051563e-01 5.62181182e-01 5.69406435e-02 8.03539169e+02] [-5.60935645e-01 8.27013407e-01 -3.74169418e-02 -4.36092992e+02] [-6.81257762e-02 -1.06913026e-03 9.97676168e-01 -4.12416876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.59, Y:-436.13, Z:-41.25 [[ 8.24218720e-01 5.63402573e-01 5.69301527e-02 8.03591940e+02] [-5.62158841e-01 8.26181709e-01 -3.74328969e-02 -4.36127098e+02] [-6.81244413e-02 -1.15089425e-03 9.97676168e-01 -4.12450324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.64, Y:-436.16, Z:-41.25 [[ 8.23306107e-01 5.64736408e-01 5.69196267e-02 8.03644306e+02] [-5.63494750e-01 8.25270408e-01 -3.74488957e-02 -4.36161175e+02] [-6.81228384e-02 -1.24200628e-03 9.97676168e-01 -4.12493818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.70, Y:-436.20, Z:-41.25 [[ 8.22470475e-01 5.65953775e-01 5.69090705e-02 8.03696612e+02] [-5.64713915e-01 8.24435912e-01 -3.74649305e-02 -4.36195047e+02] [-6.81213003e-02 -1.32354482e-03 9.97676168e-01 -4.12543828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.75, Y:-436.23, Z:-41.26 [[ 8.21336919e-01 5.67598657e-01 5.68984240e-02 8.03749741e+02] [-5.66361614e-01 8.23304130e-01 -3.74810925e-02 -4.36229141e+02] [-6.81189252e-02 -1.44047824e-03 9.97676168e-01 -4.12599457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.80, Y:-436.26, Z:-41.27 [[ 8.20504502e-01 5.68802372e-01 5.68878198e-02 8.03800860e+02] [-5.67567100e-01 8.22472825e-01 -3.74971804e-02 -4.36263166e+02] [-6.81171710e-02 -1.52104966e-03 9.97676169e-01 -4.12652343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.85, Y:-436.30, Z:-41.27 [[ 8.19286814e-01 5.70555875e-01 5.68780228e-02 8.03850269e+02] [-5.69323786e-01 8.21257131e-01 -3.75120352e-02 -4.36301145e+02] [-6.81141939e-02 -1.64889542e-03 9.97676169e-01 -4.12674510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.90, Y:-436.33, Z:-41.27 [[ 8.21231194e-01 5.67754631e-01 5.68683140e-02 8.03902028e+02] [-5.66514801e-01 8.23196649e-01 -3.75267480e-02 -4.36334495e+02] [-6.81197905e-02 -1.39860551e-03 9.97676169e-01 -4.12743706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.95, Y:-436.37, Z:-41.28 [[ 8.22176393e-01 5.66385536e-01 5.68630206e-02 8.03954030e+02] [-5.65141879e-01 8.24139429e-01 -3.75347673e-02 -4.36369012e+02] [-6.81222066e-02 -1.27547467e-03 9.97676169e-01 -4.12767905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.01, Y:-436.41, Z:-41.28 [[ 8.23670173e-01 5.64211711e-01 5.68558890e-02 8.04005231e+02] [-5.62962127e-01 8.25629441e-01 -3.75455668e-02 -4.36405359e+02] [-6.81255443e-02 -1.08254872e-03 9.97676169e-01 -4.12805103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.06, Y:-436.44, Z:-41.28 [[ 8.25378990e-01 5.61710001e-01 5.68453825e-02 8.04056141e+02] [-5.60453383e-01 8.27333754e-01 -3.75614673e-02 -4.36441850e+02] [-6.81287555e-02 -8.56740946e-04 9.97676169e-01 -4.12848217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.11, Y:-436.48, Z:-41.29 [[ 8.26576581e-01 5.59947279e-01 5.68348511e-02 8.04106316e+02] [-5.58685398e-01 8.28527951e-01 -3.75773957e-02 -4.36476999e+02] [-6.81306233e-02 -6.92206134e-04 9.97676169e-01 -4.12896564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.16, Y:-436.51, Z:-41.29 [[ 8.28186855e-01 5.57563841e-01 5.68251363e-02 8.04156843e+02] [-5.56295336e-01 8.30133926e-01 -3.75920809e-02 -4.36513093e+02] [-6.81324585e-02 -4.78291057e-04 9.97676170e-01 -4.12943619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.21, Y:-436.55, Z:-41.30 [[ 8.29327369e-01 5.55866936e-01 5.68160572e-02 8.04207953e+02] [-5.54593507e-01 8.31271223e-01 -3.76057980e-02 -4.36549517e+02] [-6.81333730e-02 -3.22298925e-04 9.97676170e-01 -4.12988903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.26, Y:-436.59, Z:-41.31 [[ 8.30015969e-01 5.54839288e-01 5.68054230e-02 8.04258057e+02] [-5.53562354e-01 8.31957521e-01 -3.76218546e-02 -4.36585491e+02] [-6.81337819e-02 -2.18603567e-04 9.97676170e-01 -4.13063923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.31, Y:-436.62, Z:-41.31 [[ 8.30480583e-01 5.54144590e-01 5.67959027e-02 8.04310060e+02] [-5.52865049e-01 8.32420418e-01 -3.76362215e-02 -4.36621227e+02] [-6.81339776e-02 -1.44318289e-04 9.97676170e-01 -4.13102847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.36, Y:-436.66, Z:-41.31 [[ 8.30645965e-01 5.53897793e-01 5.67848174e-02 8.04361670e+02] [-5.52616532e-01 8.32584665e-01 -3.76529394e-02 -4.36657244e+02] [-6.81340482e-02 -1.03966640e-04 9.97676170e-01 -4.13136144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.41, Y:-436.69, Z:-41.32 [[ 8.30822302e-01 5.53634396e-01 5.67737398e-02 8.04412452e+02] [-5.52351380e-01 8.32759840e-01 -3.76696349e-02 -4.36691021e+02] [-6.81340961e-02 -6.22807496e-05 9.97676170e-01 -4.13159484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.46, Y:-436.73, Z:-41.32 [[ 8.30441082e-01 5.54206607e-01 5.67683612e-02 8.04462811e+02] [-5.52924372e-01 8.32379137e-01 -3.76777389e-02 -4.36726916e+02] [-6.81340513e-02 -9.94681913e-05 9.97676171e-01 -4.13218984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.51, Y:-436.76, Z:-41.33 [[ 8.29800848e-01 5.55165113e-01 5.67648746e-02 8.04514755e+02] [-5.53884757e-01 8.31740145e-01 -3.76829909e-02 -4.36760168e+02] [-6.81339069e-02 -1.71820981e-04 9.97676171e-01 -4.13294283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.57, Y:-436.79, Z:-41.33 [[ 8.28521205e-01 5.57073413e-01 5.67611287e-02 8.04566774e+02] [-5.55797137e-01 8.30463189e-01 -3.76886326e-02 -4.36794807e+02] [-6.81333631e-02 -3.21841575e-04 9.97676171e-01 -4.13344429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.62, Y:-436.83, Z:-41.34 [[ 8.26745010e-01 5.59707288e-01 5.67489258e-02 8.04618940e+02] [-5.58435938e-01 8.28690223e-01 -3.77069978e-02 -4.36828708e+02] [-6.81321615e-02 -5.16567363e-04 9.97676171e-01 -4.13403311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.67, Y:-436.86, Z:-41.35 [[ 8.25450852e-01 5.61615272e-01 5.67377885e-02 8.04670581e+02] [-5.60347268e-01 8.27398247e-01 -3.77237488e-02 -4.36862300e+02] [-6.81309802e-02 -6.53764113e-04 9.97676171e-01 -4.13457938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.72, Y:-436.90, Z:-41.34 [[ 8.22120958e-01 5.66478918e-01 5.67341743e-02 8.04719916e+02] [-5.65222057e-01 8.24075564e-01 -3.77291835e-02 -4.36899239e+02] [-6.81260337e-02 -1.04945428e-03 9.97676171e-01 -4.13418421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.77, Y:-436.93, Z:-41.35 [[ 8.22166600e-01 5.66413607e-01 5.67248410e-02 8.04771611e+02] [-5.65155624e-01 8.24120483e-01 -3.77432107e-02 -4.36932809e+02] [-6.81263715e-02 -1.02715567e-03 9.97676171e-01 -4.13522579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.82, Y:-436.97, Z:-41.35 [[ 8.19262213e-01 5.70606787e-01 5.67214298e-02 8.04821145e+02] [-5.69358449e-01 8.21222272e-01 -3.77483364e-02 -4.36968541e+02] [-6.81203584e-02 -1.36903965e-03 9.97676171e-01 -4.13513036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.87, Y:-437.00, Z:-41.36 [[ 8.17462444e-01 5.73183075e-01 5.67125674e-02 8.04873655e+02] [-5.71939990e-01 8.19425839e-01 -3.77616466e-02 -4.37003113e+02] [-6.81160798e-02 -1.56745729e-03 9.97676171e-01 -4.13561330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:804.93, Y:-437.04, Z:-41.37 [[ 8.17215249e-01 5.73536506e-01 5.67019696e-02 8.04925769e+02] [-5.72293168e-01 8.19178483e-01 -3.77775533e-02 -4.37038290e+02] [-6.81158393e-02 -1.57775717e-03 9.97676171e-01 -4.13654329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.98, Y:-437.07, Z:-41.37 [[ 8.17762089e-01 5.72757423e-01 5.66930326e-02 8.04977320e+02] [-5.71511285e-01 8.19723548e-01 -3.77909602e-02 -4.37073914e+02] [-6.81176668e-02 -1.49669332e-03 9.97676172e-01 -4.13687803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.03, Y:-437.11, Z:-41.37 [[ 8.18974361e-01 5.71023984e-01 5.66798542e-02 8.05027468e+02] [-5.69772328e-01 8.20932302e-01 -3.78107153e-02 -4.37108173e+02] [-6.81211485e-02 -1.32860614e-03 9.97676172e-01 -4.13704019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.08, Y:-437.14, Z:-41.37 [[ 8.21220234e-01 5.67790290e-01 5.66702191e-02 8.05079194e+02] [-5.66529927e-01 8.23172582e-01 -3.78251508e-02 -4.37143958e+02] [-6.81261239e-02 -1.04259584e-03 9.97676172e-01 -4.13735182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:805.13, Y:-437.18, Z:-41.38 [[ 8.24934623e-01 5.62381174e-01 5.66593502e-02 8.05129108e+02] [-5.61106891e-01 8.26877913e-01 -3.78414246e-02 -4.37180108e+02] [-6.81316701e-02 -5.75250514e-04 9.97676172e-01 -4.13790471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.66, Y:-436.59, Z:-40.40 [[ 8.72362166e-01 4.85567013e-01 5.66473942e-02 8.05661934e+02] [-4.84121253e-01 8.74181494e-01 -3.78593140e-02 -4.36589270e+02] [-6.79033377e-02 5.60282569e-03 9.97676172e-01 -4.04010361e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:805.72, Y:-436.62, Z:-40.41 [[ 8.74910439e-01 4.80614667e-01 5.95085348e-02 8.05715481e+02] [-4.79504606e-01 8.76931891e-01 -3.26464745e-02 -4.36621368e+02] [-6.78753064e-02 2.81248400e-05 9.97693812e-01 -4.04051333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.77, Y:-436.65, Z:-40.41 [[ 8.74770349e-01 4.80870020e-01 5.95051290e-02 8.05769404e+02] [-4.79760126e-01 8.76791893e-01 -3.26526810e-02 -4.36650325e+02] [-6.78753101e-02 1.54089576e-05 9.97693812e-01 -4.04064778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.82, Y:-436.68, Z:-40.41 [[ 8.74661311e-01 4.81069417e-01 5.94962809e-02 8.05824344e+02] [-4.79958888e-01 8.76682506e-01 -3.26687952e-02 -4.36678692e+02] [-6.78753069e-02 1.83623585e-05 9.97693812e-01 -4.04113517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.88, Y:-436.71, Z:-40.42 [[ 8.73908729e-01 4.82436206e-01 5.94881517e-02 8.05879068e+02] [-4.81327831e-01 8.75931106e-01 -3.26835915e-02 -4.36706915e+02] [-6.78752703e-02 -7.08271321e-05 9.97693812e-01 -4.04163354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.94, Y:-436.73, Z:-40.42 [[ 8.72364935e-01 4.85223252e-01 5.94795412e-02 8.05936205e+02] [-4.84120270e-01 8.74390258e-01 -3.26992538e-02 -4.36733598e+02] [-6.78747696e-02 -2.69569084e-04 9.97693812e-01 -4.04210258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.99, Y:-436.76, Z:-40.42 [[ 8.71093273e-01 4.87503616e-01 5.94704574e-02 8.05992697e+02] [-4.86404808e-01 8.73120863e-01 -3.27157663e-02 -4.36761868e+02] [-6.78739514e-02 -4.28232517e-04 9.97693812e-01 -4.04246632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.05, Y:-436.79, Z:-40.43 [[ 8.69589074e-01 4.90182799e-01 5.94614643e-02 8.06048940e+02] [-4.89089121e-01 8.71619436e-01 -3.27321033e-02 -4.36789219e+02] [-6.78724820e-02 -6.18475912e-04 9.97693813e-01 -4.04281360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.11, Y:-436.82, Z:-40.43 [[ 8.68187798e-01 4.92661348e-01 5.94537214e-02 8.06105468e+02] [-4.91572503e-01 8.70220755e-01 -3.27461613e-02 -4.36817237e+02] [-6.78706303e-02 -7.95996978e-04 9.97693813e-01 -4.04311154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.16, Y:-436.84, Z:-40.44 [[ 8.67418957e-01 4.94014885e-01 5.94444732e-02 8.06160348e+02] [-4.92928063e-01 8.69452997e-01 -3.27629410e-02 -4.36844713e+02] [-6.78695559e-02 -8.82652951e-04 9.97693813e-01 -4.04369605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.22, Y:-436.87, Z:-40.45 [[ 8.69001677e-01 4.91226138e-01 5.94387761e-02 8.06218501e+02] [-4.90132081e-01 8.71031834e-01 -3.27732735e-02 -4.36867122e+02] [-6.78721547e-02 -6.52821425e-04 9.97693813e-01 -4.04494155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.27, Y:-436.90, Z:-40.45 [[ 8.66892700e-01 4.94939477e-01 5.94303032e-02 8.06270428e+02] [-4.93853063e-01 8.68926958e-01 -3.27886308e-02 -4.36899386e+02] [-6.78689804e-02 -9.25612625e-04 9.97693813e-01 -4.04466232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.33, Y:-436.93, Z:-40.45 [[ 8.67611695e-01 4.93678950e-01 5.94225572e-02 8.06325636e+02] [-4.92588620e-01 8.69643856e-01 -3.28026629e-02 -4.36927367e+02] [-6.78704460e-02 -8.10901456e-04 9.97693813e-01 -4.04520281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.38, Y:-436.96, Z:-40.46 [[ 8.68688646e-01 4.91782466e-01 5.94141626e-02 8.06381268e+02] [-4.90686660e-01 8.70717859e-01 -3.28178607e-02 -4.36956960e+02] [-6.78722209e-02 -6.45233965e-04 9.97693813e-01 -4.04560883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.44, Y:-436.99, Z:-40.46 [[ 8.69641540e-01 4.90096549e-01 5.94050873e-02 8.06435574e+02] [-4.88995687e-01 8.71668015e-01 -3.28342801e-02 -4.36986773e+02] [-6.78734819e-02 -4.94777611e-04 9.97693814e-01 -4.04608810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.49, Y:-437.02, Z:-40.47 [[ 8.70532138e-01 4.88513558e-01 5.93994964e-02 8.06488769e+02] [-4.87408321e-01 8.72556230e-01 -3.28443914e-02 -4.37015688e+02] [-6.78743311e-02 -3.59710574e-04 9.97693814e-01 -4.04667688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.54, Y:-437.05, Z:-40.47 [[ 8.70579161e-01 4.88430284e-01 5.93951286e-02 8.06543454e+02] [-4.87324315e-01 8.72602853e-01 -3.28522881e-02 -4.37046281e+02] [-6.78744111e-02 -3.44172944e-04 9.97693814e-01 -4.04705513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.60, Y:-437.08, Z:-40.47 [[ 8.70315702e-01 4.88900672e-01 5.93861194e-02 8.06597356e+02] [-4.87794686e-01 8.72339384e-01 -3.28685657e-02 -4.37076685e+02] [-6.78743147e-02 -3.62204618e-04 9.97693814e-01 -4.04749241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.65, Y:-437.11, Z:-40.48 [[ 8.70075045e-01 4.89329796e-01 5.93781614e-02 8.06651617e+02] [-4.88223828e-01 8.72098737e-01 -3.28829358e-02 -4.37107172e+02] [-6.78742198e-02 -3.79211424e-04 9.97693814e-01 -4.04794332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.71, Y:-437.14, Z:-40.48 [[ 8.70019112e-01 4.89430258e-01 5.93697572e-02 8.06706023e+02] [-4.88323488e-01 8.72042365e-01 -3.28981025e-02 -4.37137745e+02] [-6.78742703e-02 -3.69668998e-04 9.97693814e-01 -4.04823429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.76, Y:-437.17, Z:-40.49 [[ 8.70174903e-01 4.89154299e-01 5.93608382e-02 8.06760533e+02] [-4.88045790e-01 8.72197204e-01 -3.29141880e-02 -4.37168303e+02] [-6.78744737e-02 -3.29706832e-04 9.97693814e-01 -4.04851282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.81, Y:-437.20, Z:-40.49 [[ 8.70454563e-01 4.88657438e-01 5.93528709e-02 8.06813647e+02] [-4.87546795e-01 8.72475692e-01 -3.29285488e-02 -4.37197269e+02] [-6.78747174e-02 -2.74496464e-04 9.97693814e-01 -4.04890209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.87, Y:-437.23, Z:-40.49 [[ 8.70490722e-01 4.88593497e-01 5.93489422e-02 8.06868921e+02] [-4.87482224e-01 8.72511505e-01 -3.29356283e-02 -4.37227271e+02] [-6.78747687e-02 -2.61395426e-04 9.97693815e-01 -4.04919741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.92, Y:-437.25, Z:-40.50 [[ 8.70575556e-01 4.88443456e-01 5.93396326e-02 8.06924813e+02] [-4.87330692e-01 8.72595517e-01 -3.29523927e-02 -4.37254349e+02] [-6.78748780e-02 -2.30476647e-04 9.97693815e-01 -4.05009529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.98, Y:-437.28, Z:-40.51 [[ 8.67975851e-01 4.93049427e-01 5.93311394e-02 8.06979358e+02] [-4.91946336e-01 8.70001112e-01 -3.29676778e-02 -4.37283636e+02] [-6.78728519e-02 -5.72588446e-04 9.97693815e-01 -4.05055484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.03, Y:-437.31, Z:-40.51 [[ 8.66491207e-01 4.95654931e-01 5.93226601e-02 8.07033678e+02] [-4.94556886e-01 8.68519207e-01 -3.29829286e-02 -4.37313844e+02] [-6.78710209e-02 -7.59012439e-04 9.97693815e-01 -4.05100142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.09, Y:-437.34, Z:-40.52 [[ 8.66825041e-01 4.95071898e-01 5.93141230e-02 8.07089121e+02] [-4.93971438e-01 8.68851732e-01 -3.29982739e-02 -4.37343660e+02] [-6.78716966e-02 -6.95752554e-04 9.97693815e-01 -4.05158121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.14, Y:-437.37, Z:-40.52 [[ 8.68942657e-01 4.91346772e-01 5.93043752e-02 8.07142342e+02] [-4.90236428e-01 8.70963950e-01 -3.30157834e-02 -4.37374134e+02] [-6.78741715e-02 -3.84342508e-04 9.97693815e-01 -4.05203207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.20, Y:-437.41, Z:-40.52 [[ 8.70783275e-01 4.88078276e-01 5.92965879e-02 8.07195081e+02] [-4.86959393e-01 8.72799853e-01 -3.30297635e-02 -4.37407874e+02] [-6.78751633e-02 -1.13264912e-04 9.97693815e-01 -4.05169921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.25, Y:-437.44, Z:-40.52 [[ 8.72769759e-01 4.84518150e-01 5.92883614e-02 8.07249218e+02] [-4.83390039e-01 8.74781189e-01 -3.30445234e-02 -4.37439801e+02] [-6.78750147e-02 1.80857375e-04 9.97693816e-01 -4.05207146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.30, Y:-437.47, Z:-40.53 [[ 8.75371285e-01 4.79803202e-01 5.92790062e-02 8.07302447e+02] [-4.78663122e-01 8.77375955e-01 -3.30612974e-02 -4.37470320e+02] [-6.78728911e-02 5.66236186e-04 9.97693816e-01 -4.05264520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.36, Y:-437.50, Z:-40.53 [[ 8.76286469e-01 4.78130782e-01 5.92703866e-02 8.07357353e+02] [-4.76985831e-01 8.78288361e-01 -3.30767430e-02 -4.37500147e+02] [-6.78714997e-02 7.13567679e-04 9.97693816e-01 -4.05297401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.41, Y:-437.53, Z:-40.54 [[ 8.76110006e-01 4.78455189e-01 5.92611913e-02 8.07410472e+02] [-4.77309866e-01 8.78111685e-01 -3.30932093e-02 -4.37528864e+02] [-6.78715623e-02 7.07340501e-04 9.97693816e-01 -4.05371172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.46, Y:-437.56, Z:-40.54 [[ 8.75175051e-01 4.80163797e-01 5.92567083e-02 8.07464782e+02] [-4.79021838e-01 8.77178652e-01 -3.31012346e-02 -4.37558119e+02] [-6.78727340e-02 5.84117385e-04 9.97693816e-01 -4.05397707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.52, Y:-437.59, Z:-40.55 [[ 8.72628495e-01 4.84777383e-01 5.92486158e-02 8.07519397e+02] [-4.83645035e-01 8.74637542e-01 -3.31157132e-02 -4.37586818e+02] [-6.78748125e-02 2.42416134e-04 9.97693816e-01 -4.05454286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.58, Y:-437.62, Z:-40.55 [[ 8.68544217e-01 4.92058491e-01 5.92400521e-02 8.07575548e+02] [-4.90941940e-01 8.70562087e-01 -3.31310257e-02 -4.37616093e+02] [-6.78745459e-02 -3.07665317e-04 9.97693816e-01 -4.05482408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.63, Y:-437.64, Z:-40.55 [[ 8.63924913e-01 5.00125450e-01 5.92307250e-02 8.07631419e+02] [-4.99026597e-01 8.65952474e-01 -3.31476920e-02 -4.37644951e+02] [-6.78689972e-02 -9.20590189e-04 9.97693817e-01 -4.05509975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.69, Y:-437.67, Z:-40.55 [[ 8.61152099e-01 5.04886007e-01 5.92214733e-02 8.07686229e+02] [-5.03797225e-01 8.63185085e-01 -3.31642129e-02 -4.37673995e+02] [-6.78632395e-02 -1.27618238e-03 9.97693817e-01 -4.05535184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.74, Y:-437.70, Z:-40.56 [[ 8.57166329e-01 5.11624556e-01 5.92131607e-02 8.07741132e+02] [-5.10550728e-01 8.59207254e-01 -3.31790480e-02 -4.37702412e+02] [-6.78515929e-02 -1.79135960e-03 9.97693817e-01 -4.05560401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.80, Y:-437.73, Z:-40.56 [[ 8.53477887e-01 5.17755028e-01 5.92049527e-02 8.07797802e+02] [-5.16694842e-01 8.55525932e-01 -3.31936879e-02 -4.37730051e+02] [-6.78375712e-02 -2.26081502e-03 9.97693817e-01 -4.05608858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.85, Y:-437.76, Z:-40.57 [[ 8.50800099e-01 5.22144679e-01 5.91956533e-02 8.07853388e+02] [-5.21093906e-01 8.52852989e-01 -3.32102637e-02 -4.37758685e+02] [-6.78257523e-02 -2.59119858e-03 9.97693817e-01 -4.05663688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.91, Y:-437.79, Z:-40.57 [[ 8.50118862e-01 5.23254135e-01 5.91864065e-02 8.07907893e+02] [-5.22204896e-01 8.52172536e-01 -3.32267350e-02 -4.37788531e+02] [-6.78230566e-02 -2.66075711e-03 9.97693817e-01 -4.05716253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.96, Y:-437.82, Z:-40.58 [[ 8.50172134e-01 5.23168540e-01 5.91778730e-02 8.07962093e+02] [-5.22118039e-01 8.52225162e-01 -3.32419265e-02 -4.37818813e+02] [-6.78240026e-02 -2.63647539e-03 9.97693818e-01 -4.05769373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.02, Y:-437.85, Z:-40.58 [[ 8.51524305e-01 5.20965733e-01 5.91697910e-02 8.08015676e+02] [-5.19908923e-01 8.53574092e-01 -3.32563061e-02 -4.37849900e+02] [-6.78311965e-02 -2.44434932e-03 9.97693818e-01 -4.05814934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.07, Y:-437.88, Z:-40.59 [[ 8.52923712e-01 5.18672405e-01 5.91614515e-02 8.08069069e+02] [-5.17609056e-01 8.54970115e-01 -3.32711350e-02 -4.37881514e+02] [-6.78380926e-02 -2.24476311e-03 9.97693818e-01 -4.05859711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.12, Y:-437.91, Z:-40.59 [[ 8.54695842e-01 5.15747647e-01 5.91555805e-02 8.08122035e+02] [-5.14676572e-01 8.56738212e-01 -3.32815704e-02 -4.37914369e+02] [-6.78457378e-02 -2.00037156e-03 9.97693818e-01 -4.05880206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.17, Y:-437.95, Z:-40.59 [[ 8.55640085e-01 5.14180546e-01 5.91473729e-02 8.08174159e+02] [-5.13104723e-01 8.57679957e-01 -3.32961503e-02 -4.37946240e+02] [-6.78497490e-02 -1.85927552e-03 9.97693818e-01 -4.05905390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.23, Y:-437.98, Z:-40.59 [[ 8.54773437e-01 5.15620837e-01 5.91398608e-02 8.08228733e+02] [-5.14547530e-01 8.56814634e-01 -3.33094878e-02 -4.37977051e+02] [-6.78469642e-02 -1.95820389e-03 9.97693818e-01 -4.05943402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.28, Y:-438.01, Z:-40.60 [[ 8.54092710e-01 5.16748707e-01 5.91304961e-02 8.08283177e+02] [-5.15676946e-01 8.56134720e-01 -3.33261037e-02 -4.38007292e+02] [-6.78448917e-02 -2.02865144e-03 9.97693818e-01 -4.05986272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.34, Y:-438.04, Z:-40.61 [[ 8.52421373e-01 5.19502175e-01 5.91209972e-02 8.08336701e+02] [-5.18435843e-01 8.54466222e-01 -3.33429464e-02 -4.38036424e+02] [-6.78386283e-02 -2.22820379e-03 9.97693819e-01 -4.06058336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.39, Y:-438.07, Z:-40.61 [[ 8.51956348e-01 5.20265305e-01 5.91133987e-02 8.08390358e+02] [-5.19199871e-01 8.54001665e-01 -3.33564122e-02 -4.38066894e+02] [-6.78371249e-02 -2.27346193e-03 9.97693819e-01 -4.06110503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.44, Y:-438.10, Z:-40.62 [[ 8.53152166e-01 5.18302967e-01 5.91051246e-02 8.08443472e+02] [-5.17231814e-01 8.55194494e-01 -3.33710669e-02 -4.38098739e+02] [-6.78427001e-02 -2.10045278e-03 9.97693819e-01 -4.06150203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.50, Y:-438.13, Z:-40.62 [[ 8.54219958e-01 5.16541774e-01 5.91004178e-02 8.08496831e+02] [-5.15465834e-01 8.56259768e-01 -3.33794007e-02 -4.38130524e+02] [-6.78471648e-02 -1.95089582e-03 9.97693819e-01 -4.06186670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.55, Y:-438.16, Z:-40.62 [[ 8.56534762e-01 5.12694919e-01 5.90941838e-02 8.08549782e+02] [-5.11609055e-01 8.58569306e-01 -3.33904335e-02 -4.38163335e+02] [-6.78555580e-02 -1.63305260e-03 9.97693819e-01 -4.06216265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.60, Y:-438.19, Z:-40.63 [[ 8.57300130e-01 5.11415036e-01 5.90859310e-02 8.08603591e+02] [-5.10325130e-01 8.59332512e-01 -3.34050309e-02 -4.38194909e+02] [-6.78582966e-02 -1.51489810e-03 9.97693819e-01 -4.06257343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.66, Y:-438.22, Z:-40.63 [[ 8.56418556e-01 5.12891045e-01 5.90765096e-02 8.08658822e+02] [-5.11803493e-01 8.58452198e-01 -3.34216843e-02 -4.38224617e+02] [-6.78560421e-02 -1.61261337e-03 9.97693819e-01 -4.06319660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.71, Y:-438.25, Z:-40.64 [[ 8.55522250e-01 5.14385797e-01 5.90671814e-02 8.08713258e+02] [-5.13300661e-01 8.57557182e-01 -3.34381621e-02 -4.38254499e+02] [-6.78536013e-02 -1.71213161e-03 9.97693819e-01 -4.06373905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.77, Y:-438.28, Z:-40.64 [[ 8.54353143e-01 5.16326209e-01 5.90588945e-02 8.08767462e+02] [-5.15244684e-01 8.56389997e-01 -3.34527922e-02 -4.38284786e+02] [-6.78499998e-02 -1.84928329e-03 9.97693820e-01 -4.06425874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.82, Y:-438.32, Z:-40.65 [[ 8.53950790e-01 5.16992331e-01 5.90506318e-02 8.08821796e+02] [-5.15911388e-01 8.55987953e-01 -3.34673711e-02 -4.38315236e+02] [-6.78490036e-02 -1.88540539e-03 9.97693820e-01 -4.06469261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.88, Y:-438.35, Z:-40.65 [[ 8.54113834e-01 5.16724009e-01 5.90411523e-02 8.08875603e+02] [-5.15641271e-01 8.56150043e-01 -3.34840860e-02 -4.38345703e+02] [-6.78501162e-02 -1.84483371e-03 9.97693820e-01 -4.06513955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.93, Y:-438.38, Z:-40.66 [[ 8.55009905e-01 5.15240951e-01 5.90324013e-02 8.08930025e+02] [-5.14153618e-01 8.57043663e-01 -3.34995069e-02 -4.38377600e+02] [-6.78536633e-02 -1.70931252e-03 9.97693820e-01 -4.06552983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:808.98, Y:-438.41, Z:-40.66 [[ 8.55292524e-01 5.14772757e-01 5.90229359e-02 8.08983854e+02] [-5.13683161e-01 8.57325070e-01 -3.35161758e-02 -4.38409973e+02] [-6.78550569e-02 -1.65295370e-03 9.97693820e-01 -4.06617467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.04, Y:-438.44, Z:-40.66 [[ 8.54929918e-01 5.15376101e-01 5.90110972e-02 8.09038610e+02] [-5.14286502e-01 8.56962463e-01 -3.35370070e-02 -4.38440220e+02] [-6.78544671e-02 -1.67682010e-03 9.97693821e-01 -4.06633617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.09, Y:-438.47, Z:-40.67 [[ 8.53696869e-01 5.17417384e-01 5.89992111e-02 8.09091013e+02] [-5.16331202e-01 8.55731241e-01 -3.35579043e-02 -4.38470338e+02] [-6.78509112e-02 -1.81485581e-03 9.97693821e-01 -4.06696026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.15, Y:-438.50, Z:-40.67 [[ 8.53242182e-01 5.18167731e-01 5.89913646e-02 8.09145279e+02] [-5.17082385e-01 8.55277001e-01 -3.35716921e-02 -4.38501940e+02] [-6.78497249e-02 -1.85861166e-03 9.97693821e-01 -4.06736123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.20, Y:-438.53, Z:-40.68 [[ 8.54088070e-01 5.16773374e-01 5.89817624e-02 8.09199247e+02] [-5.15683542e-01 8.56120490e-01 -3.35885536e-02 -4.38534234e+02] [-6.78531655e-02 -1.72834130e-03 9.97693821e-01 -4.06774437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.25, Y:-438.56, Z:-40.68 [[ 8.56495892e-01 5.12773908e-01 5.89720896e-02 8.09253414e+02] [-5.11673416e-01 8.58522559e-01 -3.36055278e-02 -4.38564298e+02] [-6.78609071e-02 -1.39145403e-03 9.97693821e-01 -4.06844451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.30, Y:-438.60, Z:-40.69 [[ 8.57297627e-01 5.11433377e-01 5.89633731e-02 8.09303729e+02] [-5.10328666e-01 8.59321997e-01 -3.36208146e-02 -4.38598840e+02] [-6.78633303e-02 -1.26765490e-03 9.97693822e-01 -4.06853879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.36, Y:-438.63, Z:-40.69 [[ 8.59282044e-01 5.08093130e-01 5.89554102e-02 8.09357087e+02] [-5.06979591e-01 8.61301571e-01 -3.36347721e-02 -4.38631660e+02] [-6.78679841e-02 -9.87434030e-04 9.97693822e-01 -4.06895662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.41, Y:-438.66, Z:-40.70 [[ 8.61938653e-01 5.03574371e-01 5.89458422e-02 8.09410518e+02] [-5.02449097e-01 8.63951665e-01 -3.36515320e-02 -4.38661374e+02] [-6.78724075e-02 -6.11729046e-04 9.97693822e-01 -4.06991236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.46, Y:-438.70, Z:-40.70 [[ 8.62617068e-01 5.02412418e-01 5.89368925e-02 8.09461439e+02] [-5.01283362e-01 8.64627961e-01 -3.36671990e-02 -4.38696189e+02] [-6.78733040e-02 -5.02183187e-04 9.97693822e-01 -4.06986097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.52, Y:-438.73, Z:-40.70 [[ 8.63690785e-01 5.00565332e-01 5.89285739e-02 8.09515714e+02] [-4.99430983e-01 8.65698696e-01 -3.36817531e-02 -4.38728094e+02] [-6.78743075e-02 -3.40135805e-04 9.97693822e-01 -4.07025319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.57, Y:-438.76, Z:-40.71 [[ 8.64013263e-01 5.00009589e-01 5.89193712e-02 8.09569315e+02] [-4.98872851e-01 8.66019823e-01 -3.36978436e-02 -4.38760556e+02] [-6.78745884e-02 -2.77890881e-04 9.97693822e-01 -4.07062141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.62, Y:-438.79, Z:-40.71 [[ 8.63223217e-01 5.01373408e-01 5.89099638e-02 8.09622490e+02] [-5.00238718e-01 8.65230936e-01 -3.37142816e-02 -4.38792322e+02] [-6.78741673e-02 -3.66094171e-04 9.97693822e-01 -4.07110464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.68, Y:-438.82, Z:-40.71 [[ 8.62001693e-01 5.03471670e-01 5.89012701e-02 8.09677391e+02] [-5.02340830e-01 8.64011582e-01 -3.37294631e-02 -4.38823435e+02] [-6.78732087e-02 -5.13658625e-04 9.97693823e-01 -4.07147354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.73, Y:-438.85, Z:-40.72 [[ 8.59572729e-01 5.07608581e-01 5.88918732e-02 8.09731527e+02] [-5.06486290e-01 8.61587404e-01 -3.37458622e-02 -4.38854868e+02] [-6.78701854e-02 -8.20903500e-04 9.97693823e-01 -4.07175900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.79, Y:-438.89, Z:-40.72 [[ 8.56529160e-01 5.12728652e-01 5.88823149e-02 8.09785196e+02] [-5.11617257e-01 8.58549867e-01 -3.37625322e-02 -4.38886056e+02] [-6.78644212e-02 -1.20661508e-03 9.97693823e-01 -4.07217598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.84, Y:-438.92, Z:-40.73 [[ 8.54237207e-01 5.16539158e-01 5.88735242e-02 8.09839595e+02] [-5.15435721e-01 8.56262270e-01 -3.37778541e-02 -4.38917164e+02] [-6.78587617e-02 -1.49121764e-03 9.97693823e-01 -4.07261651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.89, Y:-438.95, Z:-40.73 [[ 8.50882166e-01 5.22048430e-01 5.88640566e-02 8.09894057e+02] [-5.20956962e-01 8.52913704e-01 -3.37943450e-02 -4.38947824e+02] [-6.78482453e-02 -1.91063464e-03 9.97693823e-01 -4.07305858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.95, Y:-438.98, Z:-40.74 [[ 8.49246529e-01 5.24706091e-01 5.88544916e-02 8.09947467e+02] [-5.23619827e-01 8.51280855e-01 -3.38109947e-02 -4.38978971e+02] [-6.78425368e-02 -2.10350880e-03 9.97693824e-01 -4.07350488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.00, Y:-439.01, Z:-40.74 [[ 8.49259675e-01 5.24685804e-01 5.88456629e-02 8.10001914e+02] [-5.23598429e-01 8.51293406e-01 -3.38263535e-02 -4.39010125e+02] [-6.78431323e-02 -2.08413867e-03 9.97693824e-01 -4.07387893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.05, Y:-439.04, Z:-40.74 [[ 8.48354429e-01 5.26149345e-01 5.88356184e-02 8.10053759e+02] [-5.25064268e-01 8.50389388e-01 -3.38438153e-02 -4.39041374e+02] [-6.78400868e-02 -2.18093036e-03 9.97693824e-01 -4.07433231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.11, Y:-439.07, Z:-40.75 [[ 8.49219269e-01 5.24752873e-01 5.88307310e-02 8.10106838e+02] [-5.23663862e-01 8.51252125e-01 -3.38523090e-02 -4.39072096e+02] [-6.78438812e-02 -2.05949464e-03 9.97693824e-01 -4.07506897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.16, Y:-439.10, Z:-40.76 [[ 8.49693099e-01 5.23986276e-01 5.88219298e-02 8.10159914e+02] [-5.22894374e-01 8.51724403e-01 -3.38675952e-02 -4.39104695e+02] [-6.78462281e-02 -1.98059427e-03 9.97693824e-01 -4.07552736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.21, Y:-439.14, Z:-40.76 [[ 8.52126522e-01 5.20020722e-01 5.88118951e-02 8.10212200e+02] [-5.18918164e-01 8.54152062e-01 -3.38850117e-02 -4.39136108e+02] [-6.78552097e-02 -1.64424339e-03 9.97693824e-01 -4.07616234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.26, Y:-439.17, Z:-40.76 [[ 8.51697621e-01 5.20723793e-01 5.88038508e-02 8.10263254e+02] [-5.19621945e-01 8.53723547e-01 -3.38989661e-02 -4.39171110e+02] [-6.78542303e-02 -1.68410251e-03 9.97693824e-01 -4.07605185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.32, Y:-439.20, Z:-40.76 [[ 8.51549252e-01 5.20967342e-01 5.87954079e-02 8.10317811e+02] [-5.19865063e-01 8.53574943e-01 -3.39136033e-02 -4.39202892e+02] [-6.78541667e-02 -1.68657491e-03 9.97693825e-01 -4.07637173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.37, Y:-439.23, Z:-40.77 [[ 8.51528512e-01 5.21002310e-01 5.87859300e-02 8.10372391e+02] [-5.19898981e-01 8.53553632e-01 -3.39300245e-02 -4.39233839e+02] [-6.78545652e-02 -1.67036182e-03 9.97693825e-01 -4.07684237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.43, Y:-439.26, Z:-40.78 [[ 8.51577763e-01 5.20922863e-01 5.87765665e-02 8.10426320e+02] [-5.19818227e-01 8.53602170e-01 -3.39462370e-02 -4.39263846e+02] [-6.78551756e-02 -1.64526997e-03 9.97693825e-01 -4.07752705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.48, Y:-439.29, Z:-40.78 [[ 8.51053845e-01 5.21779454e-01 5.87669515e-02 8.10480605e+02] [-5.20675708e-01 8.53078737e-01 -3.39628742e-02 -4.39294815e+02] [-6.78539666e-02 -1.69428939e-03 9.97693825e-01 -4.07760914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.53, Y:-439.32, Z:-40.78 [[ 8.50182939e-01 5.23198538e-01 5.87559405e-02 8.10534233e+02] [-5.22096857e-01 8.52208954e-01 -3.39819126e-02 -4.39324792e+02] [-6.78516256e-02 -1.78544954e-03 9.97693825e-01 -4.07793776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.59, Y:-439.35, Z:-40.79 [[ 8.49507748e-01 5.24295083e-01 5.87473577e-02 8.10589106e+02] [-5.23194991e-01 8.51534628e-01 -3.39967440e-02 -4.39354819e+02] [-6.78497350e-02 -1.85582588e-03 9.97693825e-01 -4.07851556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.64, Y:-439.38, Z:-40.79 [[ 8.48951728e-01 5.25196056e-01 5.87372626e-02 8.10642249e+02] [-5.24096911e-01 8.50979121e-01 -3.40141765e-02 -4.39384467e+02] [-6.78482955e-02 -1.90762398e-03 9.97693826e-01 -4.07886967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.70, Y:-439.42, Z:-40.79 [[ 8.49023010e-01 5.25081730e-01 5.87290834e-02 8.10697046e+02] [-5.23981336e-01 8.51049725e-01 -3.40282929e-02 -4.39415394e+02] [-6.78490052e-02 -1.88213991e-03 9.97693826e-01 -4.07927701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.75, Y:-439.45, Z:-40.79 [[ 8.50966696e-01 5.21926906e-01 5.87195678e-02 8.10749599e+02] [-5.20817866e-01 8.52988692e-01 -3.40447054e-02 -4.39446301e+02] [-6.78559751e-02 -1.61128947e-03 9.97693826e-01 -4.07946131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.80, Y:-439.48, Z:-40.80 [[ 8.54830708e-01 5.15574435e-01 5.87151041e-02 8.10803721e+02] [-5.14449837e-01 8.56844093e-01 -3.40524018e-02 -4.39479251e+02] [-6.78662380e-02 -1.09693701e-03 9.97693826e-01 -4.07972044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.86, Y:-439.51, Z:-40.80 [[ 8.58385704e-01 5.09634803e-01 5.87056196e-02 8.10857081e+02] [-5.08495155e-01 8.60390608e-01 -3.40687451e-02 -4.39511420e+02] [-6.78723820e-02 -6.07399343e-04 9.97693826e-01 -4.08017988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.91, Y:-439.54, Z:-40.81 [[ 8.63641449e-01 5.00677773e-01 5.86959544e-02 8.10910001e+02] [-4.99516199e-01 8.65633729e-01 -3.40853889e-02 -4.39543822e+02] [-6.78749945e-02 1.17974603e-04 9.97693826e-01 -4.08056964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.96, Y:-439.57, Z:-40.81 [[ 8.67267603e-01 4.94371004e-01 5.86874324e-02 8.10963130e+02] [-4.93193950e-01 8.69250777e-01 -3.41000556e-02 -4.39574745e+02] [-6.78721750e-02 6.29586855e-04 9.97693827e-01 -4.08095394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.02, Y:-439.61, Z:-40.81 [[ 8.68614065e-01 4.92002486e-01 5.86784511e-02 8.11017897e+02] [-4.90818981e-01 8.70593396e-01 -3.41155034e-02 -4.39606346e+02] [-6.78699845e-02 8.32708506e-04 9.97693827e-01 -4.08139357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.07, Y:-439.64, Z:-40.82 [[ 8.69204638e-01 4.90959514e-01 5.86690094e-02 8.11073086e+02] [-4.89772539e-01 8.71181890e-01 -3.41317328e-02 -4.39637224e+02] [-6.78686774e-02 9.32990831e-04 9.97693827e-01 -4.08179176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.13, Y:-439.67, Z:-40.82 [[ 8.67866800e-01 4.93321670e-01 5.86596004e-02 8.11129263e+02] [-4.92138984e-01 8.69846620e-01 -3.41478958e-02 -4.39665494e+02] [-6.78707520e-02 7.67148886e-04 9.97693827e-01 -4.08219600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.18, Y:-439.69, Z:-40.83 [[ 8.66536838e-01 4.95655210e-01 5.86499872e-02 8.11184941e+02] [-4.94476739e-01 8.68519170e-01 -3.41643987e-02 -4.39694168e+02] [-6.78724004e-02 6.03655534e-04 9.97693827e-01 -4.08269096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.24, Y:-439.72, Z:-40.83 [[ 8.64435681e-01 4.99311782e-01 5.86404080e-02 8.11240359e+02] [-4.98140581e-01 8.66422317e-01 -3.41808328e-02 -4.39722606e+02] [-6.78742507e-02 3.35964565e-04 9.97693827e-01 -4.08311839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.30, Y:-439.75, Z:-40.83 [[ 8.62996202e-01 5.01796619e-01 5.86319788e-02 8.11297151e+02] [-5.00630157e-01 8.64985623e-01 -3.41952857e-02 -4.39749602e+02] [-6.78748974e-02 1.57464972e-04 9.97693828e-01 -4.08346319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.35, Y:-439.78, Z:-40.84 [[ 8.61079203e-01 5.05080268e-01 5.86219180e-02 8.11351343e+02] [-5.03920219e-01 8.63072370e-01 -3.42125244e-02 -4.39778879e+02] [-6.78750287e-02 -8.10765274e-05 9.97693828e-01 -4.08394035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.41, Y:-439.81, Z:-40.84 [[ 8.59161736e-01 5.08336176e-01 5.86126548e-02 8.11407294e+02] [-5.07182598e-01 8.61158655e-01 -3.42283867e-02 -4.39806295e+02] [-6.78743223e-02 -3.19598396e-04 9.97693828e-01 -4.08415463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.46, Y:-439.83, Z:-40.84 [[ 8.56957075e-01 5.12045044e-01 5.86041319e-02 8.11461822e+02] [-5.10899110e-01 8.58958391e-01 -3.42429731e-02 -4.39833963e+02] [-6.78724555e-02 -5.96040804e-04 9.97693828e-01 -4.08449988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.52, Y:-439.86, Z:-40.85 [[ 8.54499907e-01 5.16136007e-01 5.85963373e-02 8.11517033e+02] [-5.14998740e-01 8.56506161e-01 -3.42563060e-02 -4.39861431e+02] [-6.78690369e-02 -9.05029613e-04 9.97693828e-01 -4.08507633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.57, Y:-439.89, Z:-40.86 [[ 8.52809142e-01 5.18925814e-01 5.85881194e-02 8.11571251e+02] [-5.17794145e-01 8.54818558e-01 -3.42703552e-02 -4.39890318e+02] [-6.78659837e-02 -1.11051294e-03 9.97693828e-01 -4.08572433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.63, Y:-439.92, Z:-40.86 [[ 8.51034576e-01 5.21831905e-01 5.85799743e-02 8.11626331e+02] [-5.20706140e-01 8.53047305e-01 -3.42842723e-02 -4.39919301e+02] [-6.78621164e-02 -1.32585111e-03 9.97693828e-01 -4.08620351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.68, Y:-439.95, Z:-40.87 [[ 8.50626405e-01 5.22497943e-01 5.85714931e-02 8.11680874e+02] [-5.21372756e-01 8.52639457e-01 -3.42987557e-02 -4.39951028e+02] [-6.78613953e-02 -1.36215355e-03 9.97693829e-01 -4.08662789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.73, Y:-439.98, Z:-40.87 [[ 8.51320329e-01 5.21367645e-01 5.85617279e-02 8.11733427e+02] [-5.20238640e-01 8.53331243e-01 -3.43154206e-02 -4.39981263e+02] [-6.78635021e-02 -1.25265845e-03 9.97693829e-01 -4.08713700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.79, Y:-440.01, Z:-40.87 [[ 8.54203149e-01 5.16631801e-01 5.85539240e-02 8.11786339e+02] [-5.15490733e-01 8.56207243e-01 -3.43287316e-02 -4.40013961e+02] [-6.78696083e-02 -8.60294550e-04 9.97693829e-01 -4.08748555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.84, Y:-440.05, Z:-40.88 [[ 8.58526331e-01 5.09416288e-01 5.85455761e-02 8.11838375e+02] [-5.08257405e-01 8.60520175e-01 -3.43429626e-02 -4.40047396e+02] [-6.78745139e-02 -2.71884826e-04 9.97693829e-01 -4.08776502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.89, Y:-440.08, Z:-40.88 [[ 8.61201524e-01 5.04881485e-01 5.85373463e-02 8.11891915e+02] [-5.03711149e-01 8.63188667e-01 -3.43569845e-02 -4.40080629e+02] [-6.78749793e-02 1.02373398e-04 9.97693829e-01 -4.08811468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.95, Y:-440.11, Z:-40.88 [[ 8.64572966e-01 4.99087219e-01 5.85280636e-02 8.11945788e+02] [-4.97902496e-01 8.66551566e-01 -3.43727906e-02 -4.40113595e+02] [-6.78726056e-02 5.76516563e-04 9.97693829e-01 -4.08841205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.00, Y:-440.15, Z:-40.89 [[ 8.67844237e-01 4.93378129e-01 5.85183872e-02 8.11998789e+02] [-4.92179282e-01 8.69814310e-01 -3.43892565e-02 -4.40145554e+02] [-6.78670376e-02 1.04298027e-03 9.97693830e-01 -4.08894126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.05, Y:-440.18, Z:-40.89 [[ 8.70658250e-01 4.88396150e-01 5.85099406e-02 8.12051516e+02] [-4.87185066e-01 8.72620824e-01 -3.44036215e-02 -4.40176956e+02] [-6.78595889e-02 1.44862754e-03 9.97693830e-01 -4.08945163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.10, Y:-440.21, Z:-40.89 [[ 8.71623253e-01 4.86672780e-01 5.85022228e-02 8.12101860e+02] [-4.85456936e-01 8.73582882e-01 -3.44167404e-02 -4.40214381e+02] [-6.78562311e-02 1.59812139e-03 9.97693830e-01 -4.08874300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.16, Y:-440.24, Z:-40.90 [[ 8.79297932e-01 4.72665769e-01 5.84997225e-02 8.12157353e+02] [-4.71418447e-01 8.81237677e-01 -3.44209898e-02 -4.40237627e+02] [-6.78217831e-02 2.68845686e-03 9.97693830e-01 -4.09005339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.21, Y:-440.27, Z:-40.89 [[ 8.80205722e-01 4.70973707e-01 5.84949152e-02 8.12207927e+02] [-4.69722115e-01 8.82142714e-01 -3.44291574e-02 -4.40273451e+02] [-6.78160911e-02 2.82838605e-03 9.97693830e-01 -4.08898579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.26, Y:-440.30, Z:-40.90 [[ 8.81120076e-01 4.69261075e-01 5.84932027e-02 8.12264409e+02] [-4.68005526e-01 8.83054506e-01 -3.44320665e-02 -4.40297012e+02] [-6.78103148e-02 2.96364294e-03 9.97693830e-01 -4.09009824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.32, Y:-440.33, Z:-40.90 [[ 8.77272859e-01 4.76414846e-01 5.84912471e-02 8.12318001e+02] [-4.75174857e-01 8.79217299e-01 -3.44353882e-02 -4.40326716e+02] [-6.78320465e-02 2.41566146e-03 9.97693830e-01 -4.08979256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.37, Y:-440.35, Z:-40.91 [[ 8.71123136e-01 4.87568841e-01 5.84902291e-02 8.12374928e+02] [-4.86353646e-01 8.73083167e-01 -3.44371174e-02 -4.40349172e+02] [-6.78572998e-02 1.55203354e-03 9.97693830e-01 -4.09078156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.43, Y:-440.37, Z:-40.91 [[ 8.61534517e-01 5.04318829e-01 5.84875601e-02 8.12431878e+02] [-5.03141445e-01 8.63517492e-01 -3.44416497e-02 -4.40373661e+02] [-6.78746037e-02 2.45154501e-04 9.97693830e-01 -4.09053981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.49, Y:-440.39, Z:-40.92 [[ 8.57696345e-01 5.10819290e-01 5.84861752e-02 8.12490530e+02] [-5.09656775e-01 8.59688073e-01 -3.44440012e-02 -4.40393285e+02] [-6.78745275e-02 -2.65381446e-04 9.97693830e-01 -4.09236364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.54, Y:-440.42, Z:-40.92 [[ 8.46995129e-01 5.28373694e-01 5.84849602e-02 8.12544503e+02] [-5.27252299e-01 8.49010295e-01 -3.44460642e-02 -4.40423937e+02] [-6.78547275e-02 -1.66068118e-03 9.97693830e-01 -4.09180296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.60, Y:-440.45, Z:-40.92 [[ 8.42030071e-01 5.36250940e-01 5.84832354e-02 8.12599748e+02] [-5.35148187e-01 8.44055499e-01 -3.44489923e-02 -4.40451465e+02] [-6.78364009e-02 -2.29010990e-03 9.97693830e-01 -4.09208992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.65, Y:-440.48, Z:-40.92 [[ 8.40610197e-01 5.38474873e-01 5.84748572e-02 8.12654207e+02] [-5.37376490e-01 8.42637998e-01 -3.44632079e-02 -4.40482047e+02] [-6.78307081e-02 -2.45288955e-03 9.97693830e-01 -4.09233748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.71, Y:-440.51, Z:-40.93 [[ 8.41948729e-01 5.36380540e-01 5.84658291e-02 8.12708401e+02] [-5.35276052e-01 8.43973211e-01 -3.44785170e-02 -4.40511385e+02] [-6.78371991e-02 -2.26621461e-03 9.97693830e-01 -4.09320575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.76, Y:-440.54, Z:-40.95 [[ 8.45296247e-01 5.31089810e-01 5.84625460e-02 8.12761691e+02] [-5.29972262e-01 8.47313549e-01 -3.44840831e-02 -4.40538645e+02] [-6.78502524e-02 -1.83426176e-03 9.97693830e-01 -4.09459687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.81, Y:-440.57, Z:-40.95 [[ 8.46747615e-01 5.28773246e-01 5.84579489e-02 8.12814524e+02] [-5.27649641e-01 8.48761549e-01 -3.44918743e-02 -4.40571253e+02] [-6.78552396e-02 -1.63940345e-03 9.97693830e-01 -4.09516581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.87, Y:-440.61, Z:-40.96 [[ 8.49449873e-01 5.24422133e-01 5.84494621e-02 8.12865407e+02] [-5.23287222e-01 8.51457458e-01 -3.45062501e-02 -4.40606769e+02] [-6.78630716e-02 -1.27452686e-03 9.97693830e-01 -4.09561976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.92, Y:-440.64, Z:-40.96 [[ 8.52228682e-01 5.19895096e-01 5.84411078e-02 8.12915717e+02] [-5.18748549e-01 8.54229644e-01 -3.45203934e-02 -4.40642611e+02] [-6.78691100e-02 -8.96970573e-04 9.97693831e-01 -4.09593813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.97, Y:-440.68, Z:-40.96 [[ 8.53699248e-01 5.17477307e-01 5.84365465e-02 8.12967641e+02] [-5.16324565e-01 8.55696648e-01 -3.45281131e-02 -4.40677520e+02] [-6.78714719e-02 -6.95600213e-04 9.97693831e-01 -4.09628721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.02, Y:-440.71, Z:-40.97 [[ 8.55842961e-01 5.13925047e-01 5.84283579e-02 8.13016317e+02] [-5.12763069e-01 8.57835001e-01 -3.45419643e-02 -4.40714557e+02] [-6.78738711e-02 -3.97407044e-04 9.97693831e-01 -4.09666505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.07, Y:-440.75, Z:-40.96 [[ 8.55565886e-01 5.14387030e-01 5.84208667e-02 8.13065970e+02] [-5.13225262e-01 8.57558049e-01 -3.45546295e-02 -4.40752007e+02] [-6.78737377e-02 -4.19302439e-04 9.97693831e-01 -4.09609850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.12, Y:-440.78, Z:-40.97 [[ 8.57234584e-01 5.11601422e-01 5.84196374e-02 8.13118185e+02] [-5.10433039e-01 8.59222874e-01 -3.45567077e-02 -4.40783139e+02] [-6.78747495e-02 -1.96108080e-04 9.97693831e-01 -4.09724294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.17, Y:-440.82, Z:-40.98 [[ 8.57327264e-01 5.11446274e-01 5.84180663e-02 8.13168966e+02] [-5.10277350e-01 8.59315237e-01 -3.45593635e-02 -4.40817487e+02] [-6.78747922e-02 -1.80731548e-04 9.97693831e-01 -4.09797380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.22, Y:-440.85, Z:-40.98 [[ 8.56750491e-01 5.12412763e-01 5.84102415e-02 8.13222532e+02] [-5.11245181e-01 8.58739251e-01 -3.45725835e-02 -4.40851582e+02] [-6.78746001e-02 -2.41876629e-04 9.97693831e-01 -4.09800688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.27, Y:-440.89, Z:-40.99 [[ 8.55396173e-01 5.14671546e-01 5.84002381e-02 8.13274841e+02] [-5.13508062e-01 8.57387333e-01 -3.45894730e-02 -4.40885002e+02] [-6.78738420e-02 -4.01290215e-04 9.97693831e-01 -4.09862956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.33, Y:-440.92, Z:-40.98 [[ 8.52902614e-01 5.18794392e-01 5.83910103e-02 8.13325208e+02] [-5.17639467e-01 8.54898750e-01 -3.46050436e-02 -4.40921717e+02] [-6.78713043e-02 -7.10759322e-04 9.97693831e-01 -4.09808077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.38, Y:-440.95, Z:-40.99 [[ 8.53584373e-01 5.17672229e-01 5.83882041e-02 8.13377366e+02] [-5.16514355e-01 8.55578801e-01 -3.46097778e-02 -4.40950772e+02] [-6.78722305e-02 -6.15980077e-04 9.97693831e-01 -4.09938631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.43, Y:-440.98, Z:-41.00 [[ 8.52884615e-01 5.18824731e-01 5.83843486e-02 8.13428563e+02] [-5.17669108e-01 8.54880347e-01 -3.46162806e-02 -4.40983824e+02] [-6.78714147e-02 -7.00080498e-04 9.97693831e-01 -4.09980512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.48, Y:-441.02, Z:-41.00 [[ 8.52048180e-01 5.20197748e-01 5.83798069e-02 8.13480057e+02] [-5.19044815e-01 8.54045469e-01 -3.46239383e-02 -4.41017927e+02] [-6.78703043e-02 -8.00472479e-04 9.97693831e-01 -4.09993167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.53, Y:-441.05, Z:-41.00 [[ 8.50907561e-01 5.22061947e-01 5.83750442e-02 8.13532427e+02] [-5.20912840e-01 8.52907052e-01 -3.46319663e-02 -4.41052526e+02] [-6.78685187e-02 -9.39708130e-04 9.97693831e-01 -4.10039212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.58, Y:-441.09, Z:-41.01 [[ 8.49587512e-01 5.24208500e-01 5.83653008e-02 8.13584508e+02] [-5.23063317e-01 8.51589254e-01 -3.46483792e-02 -4.41085213e+02] [-6.78662378e-02 -1.09191756e-03 9.97693832e-01 -4.10095247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.64, Y:-441.12, Z:-41.01 [[ 8.47379066e-01 5.27771979e-01 5.83563013e-02 8.13637203e+02] [-5.26634170e-01 8.49385008e-01 -3.46635299e-02 -4.41118886e+02] [-6.78614072e-02 -1.35927275e-03 9.97693832e-01 -4.10132785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.69, Y:-441.15, Z:-41.02 [[ 8.45291039e-01 5.31110870e-01 5.83464104e-02 8.13689388e+02] [-5.29979836e-01 8.47300808e-01 -3.46801704e-02 -4.41152243e+02] [-6.78559762e-02 -1.60758379e-03 9.97693832e-01 -4.10179677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.74, Y:-441.19, Z:-41.02 [[ 8.44508517e-01 5.32355201e-01 5.83378505e-02 8.13740794e+02] [-5.31226135e-01 8.46519392e-01 -3.46945636e-02 -4.41186245e+02] [-6.78539532e-02 -1.69073638e-03 9.97693832e-01 -4.10230763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.79, Y:-441.22, Z:-41.03 [[ 8.44838363e-01 5.31832517e-01 5.83293631e-02 8.13793395e+02] [-5.30701222e-01 8.46847985e-01 -3.47088271e-02 -4.41219798e+02] [-6.78553865e-02 -1.63211560e-03 9.97693832e-01 -4.10276358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.84, Y:-441.26, Z:-41.03 [[ 8.46379887e-01 5.29376919e-01 5.83195104e-02 8.13843944e+02] [-5.28238654e-01 8.48385569e-01 -3.47253742e-02 -4.41255097e+02] [-6.78602426e-02 -1.41576143e-03 9.97693832e-01 -4.10325815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.89, Y:-441.29, Z:-41.04 [[ 8.48196774e-01 5.26461844e-01 5.83108853e-02 8.13893083e+02] [-5.25315690e-01 8.50197958e-01 -3.47398515e-02 -4.41290900e+02] [-6.78650019e-02 -1.16539294e-03 9.97693833e-01 -4.10392941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.94, Y:-441.33, Z:-41.04 [[ 8.50437180e-01 5.22835885e-01 5.83030003e-02 8.13944053e+02] [-5.21680292e-01 8.52432928e-01 -3.47530796e-02 -4.41328930e+02] [-6.78695544e-02 -8.60215146e-04 9.97693833e-01 -4.10416020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.99, Y:-441.36, Z:-41.05 [[ 8.51844110e-01 5.20541551e-01 5.82932736e-02 8.13994745e+02] [-5.19379466e-01 8.53836085e-01 -3.47693872e-02 -4.41364043e+02] [-6.78718113e-02 -6.58231606e-04 9.97693833e-01 -4.10450495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.04, Y:-441.40, Z:-41.05 [[ 8.54090596e-01 5.16847834e-01 5.82886763e-02 8.14044646e+02] [-5.15676608e-01 8.56077211e-01 -3.47770925e-02 -4.41400823e+02] [-6.78740724e-02 -3.55319143e-04 9.97693833e-01 -4.10467518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.09, Y:-441.44, Z:-41.05 [[ 8.55934598e-01 5.13789169e-01 5.82808143e-02 8.14094546e+02] [-5.12609946e-01 8.57916476e-01 -3.47902631e-02 -4.41438137e+02] [-6.78749312e-02 -9.71352405e-05 9.97693833e-01 -4.10490404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.15, Y:-441.47, Z:-41.05 [[ 8.56320804e-01 5.13146203e-01 5.82722578e-02 8.14146623e+02] [-5.11964517e-01 8.58301214e-01 -3.48045889e-02 -4.41472751e+02] [-6.78749923e-02 -2.94348697e-05 9.97693833e-01 -4.10531056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.20, Y:-441.51, Z:-41.06 [[ 8.54314587e-01 5.16480465e-01 5.82624790e-02 8.14198916e+02] [-5.15305392e-01 8.56298928e-01 -3.48209509e-02 -4.41506452e+02] [-6.78744392e-02 -2.74923289e-04 9.97693833e-01 -4.10578972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.25, Y:-441.54, Z:-41.06 [[ 8.50335131e-01 5.23007313e-01 5.82538843e-02 8.14251747e+02] [-5.21846486e-01 8.52327839e-01 -3.48353234e-02 -4.41538057e+02] [-6.78705363e-02 -7.77885509e-04 9.97693833e-01 -4.10638485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.31, Y:-441.57, Z:-41.07 [[ 8.47617328e-01 5.27401500e-01 5.82453776e-02 8.14306737e+02] [-5.26250025e-01 8.49615454e-01 -3.48495411e-02 -4.41568763e+02] [-6.78658732e-02 -1.11255660e-03 9.97693834e-01 -4.10683433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.36, Y:-441.60, Z:-41.07 [[ 8.47219383e-01 5.28041602e-01 5.82355968e-02 8.14360004e+02] [-5.26890514e-01 8.49217732e-01 -3.48658777e-02 -4.41599655e+02] [-6.78653354e-02 -1.14473617e-03 9.97693834e-01 -4.10715306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.41, Y:-441.63, Z:-41.07 [[ 8.47299981e-01 5.27912791e-01 5.82308092e-02 8.14413686e+02] [-5.26760851e-01 8.49297839e-01 -3.48738718e-02 -4.41630798e+02] [-6.78656634e-02 -1.12507968e-03 9.97693834e-01 -4.10749645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.47, Y:-441.66, Z:-41.08 [[ 8.48436531e-01 5.26084762e-01 5.82260710e-02 8.14468699e+02] [-5.24927974e-01 8.50431586e-01 -3.48817811e-02 -4.41661974e+02] [-6.78680634e-02 -9.69516072e-04 9.97693834e-01 -4.10771536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.52, Y:-441.69, Z:-41.08 [[ 8.48144526e-01 5.26556560e-01 5.82155675e-02 8.14522395e+02] [-5.25399679e-01 8.50139527e-01 -3.48993021e-02 -4.41694518e+02] [-6.78678114e-02 -9.86788481e-04 9.97693834e-01 -4.10818706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.58, Y:-441.73, Z:-41.09 [[ 8.47474210e-01 5.27635832e-01 5.82056069e-02 8.14576863e+02] [-5.26480352e-01 8.49470022e-01 -3.49159066e-02 -4.41726050e+02] [-6.78668016e-02 -1.05377805e-03 9.97693834e-01 -4.10869206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.63, Y:-441.76, Z:-41.09 [[ 8.46348082e-01 5.29441393e-01 5.81956711e-02 8.14629845e+02] [-5.28289033e-01 8.48345697e-01 -3.49324592e-02 -4.41756431e+02] [-6.78647370e-02 -1.17911497e-03 9.97693834e-01 -4.10944025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.68, Y:-441.79, Z:-41.10 [[ 8.44929197e-01 5.31703848e-01 5.81865132e-02 8.14683771e+02] [-5.30555787e-01 8.46929286e-01 -3.49477066e-02 -4.41787310e+02] [-6.78616922e-02 -1.34285366e-03 9.97693835e-01 -4.10983602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:814.74, Y:-441.82, Z:-41.10 [[ 8.43611159e-01 5.33793526e-01 5.81780410e-02 8.14737147e+02] [-5.32649448e-01 8.45613528e-01 -3.49618048e-02 -4.41817883e+02] [-6.78585236e-02 -1.49433277e-03 9.97693835e-01 -4.11037462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.79, Y:-441.85, Z:-41.11 [[ 8.42933640e-01 5.34863431e-01 5.81720647e-02 8.14791394e+02] [-5.33721208e-01 8.44937068e-01 -3.49717458e-02 -4.41849587e+02] [-6.78568417e-02 -1.56880364e-03 9.97693835e-01 -4.11078764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.85, Y:-441.88, Z:-41.11 [[ 8.43760438e-01 5.33559217e-01 5.81625793e-02 8.14845327e+02] [-5.32412811e-01 8.45761475e-01 -3.49875141e-02 -4.41881059e+02] [-6.78595795e-02 -1.44542211e-03 9.97693835e-01 -4.11104874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.90, Y:-441.91, Z:-41.12 [[ 8.45013991e-01 5.31572623e-01 5.81541216e-02 8.14898263e+02] [-5.30420545e-01 8.47011768e-01 -3.50015664e-02 -4.41913806e+02] [-6.78630998e-02 -1.26932763e-03 9.97693835e-01 -4.11154785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.95, Y:-441.95, Z:-41.12 [[ 8.45397356e-01 5.30963373e-01 5.81481463e-02 8.14952296e+02] [-5.29809173e-01 8.47393908e-01 -3.50114904e-02 -4.41946775e+02] [-6.78642040e-02 -1.20879987e-03 9.97693835e-01 -4.11181725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.01, Y:-441.98, Z:-41.12 [[ 8.45291139e-01 5.31133550e-01 5.81381326e-02 8.15005940e+02] [-5.29978609e-01 8.47287263e-01 -3.50281107e-02 -4.41979404e+02] [-6.78643040e-02 -1.20301507e-03 9.97693835e-01 -4.11230945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.06, Y:-442.01, Z:-41.13 [[ 8.45126204e-01 5.31397040e-01 5.81281820e-02 8.15059485e+02] [-5.30241587e-01 8.47122031e-01 -3.50446157e-02 -4.42012006e+02] [-6.78642686e-02 -1.20485638e-03 9.97693836e-01 -4.11272574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.11, Y:-442.04, Z:-41.13 [[ 8.45241188e-01 5.31215232e-01 5.81180926e-02 8.15113397e+02] [-5.30058200e-01 8.47236099e-01 -3.50613400e-02 -4.42044970e+02] [-6.78648639e-02 -1.17068292e-03 9.97693836e-01 -4.11323239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.17, Y:-442.08, Z:-41.14 [[ 8.45835847e-01 5.30268955e-01 5.81081375e-02 8.15167128e+02] [-5.29108558e-01 8.47828803e-01 -3.50778312e-02 -4.42077510e+02] [-6.78664375e-02 -1.07542584e-03 9.97693836e-01 -4.11375617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.22, Y:-442.11, Z:-41.14 [[ 8.46024948e-01 5.29968281e-01 5.80982760e-02 8.15220611e+02] [-5.28806055e-01 8.48016837e-01 -3.50941569e-02 -4.42110056e+02] [-6.78671063e-02 -1.03218784e-03 9.97693836e-01 -4.11417359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.27, Y:-442.14, Z:-41.15 [[ 8.45432970e-01 5.30913188e-01 5.80885565e-02 8.15274274e+02] [-5.29752084e-01 8.47425514e-01 -3.51102374e-02 -4.42142416e+02] [-6.78662129e-02 -1.08918153e-03 9.97693836e-01 -4.11451963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.33, Y:-442.17, Z:-41.15 [[ 8.43881391e-01 5.33377024e-01 5.80788069e-02 8.15328418e+02] [-5.32220629e-01 8.45876670e-01 -3.51263578e-02 -4.42174032e+02] [-6.78631000e-02 -1.26825945e-03 9.97693836e-01 -4.11498648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.38, Y:-442.21, Z:-41.15 [[ 8.42625621e-01 5.35359728e-01 5.80691423e-02 8.15382353e+02] [-5.34206927e-01 8.44622979e-01 -3.51423276e-02 -4.42205488e+02] [-6.78603188e-02 -1.40911241e-03 9.97693837e-01 -4.11546894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.43, Y:-442.24, Z:-41.16 [[ 8.41898201e-01 5.36504014e-01 5.80591264e-02 8.15434555e+02] [-5.35352787e-01 8.43896467e-01 -3.51588672e-02 -4.42237141e+02] [-6.78587650e-02 -1.48192807e-03 9.97693837e-01 -4.11603775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.49, Y:-442.27, Z:-41.16 [[ 8.41639405e-01 5.36910773e-01 5.80511341e-02 8.15487743e+02] [-5.35759603e-01 8.43637703e-01 -3.51720584e-02 -4.42270038e+02] [-6.78583825e-02 -1.49926223e-03 9.97693837e-01 -4.11638572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.54, Y:-442.30, Z:-41.17 [[ 8.41475808e-01 5.37167465e-01 5.80480680e-02 8.15540757e+02] [-5.36016556e-01 8.43474257e-01 -3.51771179e-02 -4.42301886e+02] [-6.78580543e-02 -1.51403179e-03 9.97693837e-01 -4.11669111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.59, Y:-442.33, Z:-41.17 [[ 8.41588235e-01 5.36992236e-01 5.80394722e-02 8.15594207e+02] [-5.35839934e-01 8.43585881e-01 -3.51912947e-02 -4.42333878e+02] [-6.78587313e-02 -1.48328729e-03 9.97693837e-01 -4.11697224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.65, Y:-442.37, Z:-41.17 [[ 8.42290749e-01 5.35890593e-01 5.80307333e-02 8.15646859e+02] [-5.34734686e-01 8.44286311e-01 -3.52056993e-02 -4.42365655e+02] [-6.78609568e-02 -1.37761110e-03 9.97693837e-01 -4.11741184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.70, Y:-442.40, Z:-41.18 [[ 8.42876727e-01 5.34969465e-01 5.80215060e-02 8.15700469e+02] [-5.33810331e-01 8.44870415e-01 -3.52209000e-02 -4.42398113e+02] [-6.78627599e-02 -1.28560245e-03 9.97693837e-01 -4.11786592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.75, Y:-442.43, Z:-41.18 [[ 8.43392471e-01 5.34157094e-01 5.80115436e-02 8.15752751e+02] [-5.32994911e-01 8.45384384e-01 -3.52373013e-02 -4.42430346e+02] [-6.78643075e-02 -1.20098293e-03 9.97693838e-01 -4.11840735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.81, Y:-442.46, Z:-41.19 [[ 8.43844697e-01 5.33443338e-01 5.80028656e-02 8.15807551e+02] [-5.32278490e-01 8.45835052e-01 -3.52515800e-02 -4.42461322e+02] [-6.78655774e-02 -1.12681889e-03 9.97693838e-01 -4.11902071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.86, Y:-442.49, Z:-41.20 [[ 8.42812827e-01 5.35073287e-01 5.79923795e-02 8.15859715e+02] [-5.33911102e-01 8.44804738e-01 -3.52688223e-02 -4.42492265e+02] [-6.78636417e-02 -1.23775936e-03 9.97693838e-01 -4.11970103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.91, Y:-442.52, Z:-41.20 [[ 8.43500681e-01 5.33989189e-01 5.79840247e-02 8.15913497e+02] [-5.32823500e-01 8.45490544e-01 -3.52825528e-02 -4.42524586e+02] [-6.78654463e-02 -1.13439364e-03 9.97693838e-01 -4.12015478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.97, Y:-442.56, Z:-41.21 [[ 8.45048642e-01 5.31537217e-01 5.79739635e-02 8.15965005e+02] [-5.30364621e-01 8.47034441e-01 -3.52990770e-02 -4.42557181e+02] [-6.78687169e-02 -9.17902042e-04 9.97693838e-01 -4.12065161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.02, Y:-442.59, Z:-41.21 [[ 8.48507577e-01 5.25998543e-01 5.79691686e-02 8.16016114e+02] [-5.24812445e-01 8.50485342e-01 -3.53069495e-02 -4.42592040e+02] [-6.78733322e-02 -4.64726887e-04 9.97693838e-01 -4.12098426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.07, Y:-442.63, Z:-41.21 [[ 8.51462117e-01 5.21203231e-01 5.79608080e-02 8.16068888e+02] [-5.20005060e-01 8.53432591e-01 -3.53206693e-02 -4.42625792e+02] [-6.78748895e-02 -6.57015983e-05 9.97693838e-01 -4.12126001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.12, Y:-442.66, Z:-41.22 [[ 8.53130706e-01 5.18468606e-01 5.79508704e-02 8.16123251e+02] [-5.17263012e-01 8.55096647e-01 -3.53369663e-02 -4.42657829e+02] [-6.78747027e-02 1.71209290e-04 9.97693839e-01 -4.12183716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.18, Y:-442.69, Z:-41.22 [[ 8.54135446e-01 5.16812804e-01 5.79410544e-02 8.16177197e+02] [-5.15602307e-01 8.56098372e-01 -3.53530541e-02 -4.42690805e+02] [-6.78741533e-02 3.21755307e-04 9.97693839e-01 -4.12236432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.23, Y:-442.72, Z:-41.23 [[ 8.54884625e-01 5.15573360e-01 5.79343575e-02 8.16230772e+02] [-5.14359274e-01 8.56845332e-01 -3.53640251e-02 -4.42722639e+02] [-6.78735331e-02 4.33087271e-04 9.97693839e-01 -4.12276311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.29, Y:-442.75, Z:-41.23 [[ 8.54768290e-01 5.15767326e-01 5.79244022e-02 8.16285425e+02] [-5.14552581e-01 8.56728588e-01 -3.53803239e-02 -4.42752605e+02] [-6.78735064e-02 4.36828239e-04 9.97693839e-01 -4.12328178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.34, Y:-442.78, Z:-41.24 [[ 8.54270553e-01 5.16592430e-01 5.79144508e-02 8.16339447e+02] [-5.15378474e-01 8.56231341e-01 -3.53966060e-02 -4.42782129e+02] [-6.78737866e-02 3.90416884e-04 9.97693839e-01 -4.12375877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.39, Y:-442.81, Z:-41.24 [[ 8.53714597e-01 5.17511367e-01 5.79083122e-02 8.16394187e+02] [-5.16298841e-01 8.55676269e-01 -3.54066458e-02 -4.42813292e+02] [-6.78741102e-02 3.29175893e-04 9.97693839e-01 -4.12415295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.45, Y:-442.84, Z:-41.25 [[ 8.52609055e-01 5.19331849e-01 5.78984483e-02 8.16449602e+02] [-5.18122416e-01 8.54572636e-01 -3.54227683e-02 -4.42842514e+02] [-6.78746014e-02 2.03289072e-04 9.97693839e-01 -4.12469381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.50, Y:-442.87, Z:-41.25 [[ 8.50757051e-01 5.22361328e-01 5.78885489e-02 8.16504853e+02] [-5.21157787e-01 8.52724248e-01 -3.54389388e-02 -4.42871361e+02] [-6.78749005e-02 -1.91409634e-05 9.97693840e-01 -4.12521162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.56, Y:-442.90, Z:-41.26 [[ 8.49326331e-01 5.24685389e-01 5.78794108e-02 8.16559364e+02] [-5.23486214e-01 8.51296193e-01 -3.54538570e-02 -4.42901719e+02] [-6.78746428e-02 -1.87179382e-04 9.97693840e-01 -4.12567174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.61, Y:-442.93, Z:-41.26 [[ 8.47575226e-01 5.27510514e-01 5.78696329e-02 8.16614510e+02] [-5.26316816e-01 8.49548411e-01 -3.54698099e-02 -4.42931695e+02] [-6.78737523e-02 -3.94428762e-04 9.97693840e-01 -4.12607647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.67, Y:-442.96, Z:-41.27 [[ 8.46513656e-01 5.29213452e-01 5.78597704e-02 8.16669865e+02] [-5.28022624e-01 8.48488574e-01 -3.54858907e-02 -4.42961653e+02] [-6.78729648e-02 -5.11976716e-04 9.97693840e-01 -4.12651765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.72, Y:-442.99, Z:-41.27 [[ 8.46010500e-01 5.30018529e-01 5.78497490e-02 8.16724056e+02] [-5.28828464e-01 8.47985878e-01 -3.55022202e-02 -4.42993561e+02] [-6.78726047e-02 -5.57342818e-04 9.97693840e-01 -4.12694122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.78, Y:-443.03, Z:-41.27 [[ 8.45648105e-01 5.30597631e-01 5.78397415e-02 8.16776974e+02] [-5.29407804e-01 8.47623626e-01 -3.55185170e-02 -4.43025576e+02] [-6.78723724e-02 -5.84643907e-04 9.97693840e-01 -4.12733228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.83, Y:-443.06, Z:-41.28 [[ 8.44836618e-01 5.31889765e-01 5.78304960e-02 8.16830774e+02] [-5.30701929e-01 8.46813337e-01 -3.55335639e-02 -4.43058655e+02] [-6.78715743e-02 -6.70699761e-04 9.97693841e-01 -4.12767096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.88, Y:-443.09, Z:-41.28 [[ 8.43972362e-01 5.33261133e-01 5.78205464e-02 8.16884633e+02] [-5.32075401e-01 8.45950343e-01 -3.55497467e-02 -4.43090733e+02] [-6.78706093e-02 -7.61886696e-04 9.97693841e-01 -4.12812294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.94, Y:-443.12, Z:-41.29 [[ 8.42222116e-01 5.36022262e-01 5.78104065e-02 8.16938298e+02] [-5.34841882e-01 8.44203296e-01 -3.55662284e-02 -4.43121928e+02] [-6.78680258e-02 -9.64762494e-04 9.97693841e-01 -4.12862491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.99, Y:-443.15, Z:-41.29 [[ 8.40719902e-01 5.38376344e-01 5.78010267e-02 8.16991816e+02] [-5.37200465e-01 8.42703756e-01 -3.55814656e-02 -4.43153979e+02] [-6.78653616e-02 -1.13669213e-03 9.97693841e-01 -4.12913342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.05, Y:-443.19, Z:-41.30 [[ 8.40064319e-01 5.39399806e-01 5.77909128e-02 8.17045329e+02] [-5.38225215e-01 8.42048935e-01 -3.55978849e-02 -4.43186940e+02] [-6.78642688e-02 -1.20001352e-03 9.97693841e-01 -4.12954398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.10, Y:-443.22, Z:-41.30 [[ 8.39809632e-01 5.39797325e-01 5.77808758e-02 8.17098518e+02] [-5.38622552e-01 8.41794142e-01 -3.56141691e-02 -4.43220937e+02] [-6.78640359e-02 -1.21296056e-03 9.97693842e-01 -4.12983508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.15, Y:-443.26, Z:-41.30 [[ 8.40390706e-01 5.38893291e-01 5.77709410e-02 8.17151221e+02] [-5.37715277e-01 8.42373293e-01 -3.56302774e-02 -4.43255291e+02] [-6.78656152e-02 -1.12096351e-03 9.97693842e-01 -4.13013985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.20, Y:-443.29, Z:-41.31 [[ 8.41053532e-01 5.37859307e-01 5.77609083e-02 8.17203754e+02] [-5.36677739e-01 8.43034002e-01 -3.56465342e-02 -4.43289097e+02] [-6.78672299e-02 -1.01835021e-03 9.97693842e-01 -4.13058804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.26, Y:-443.32, Z:-41.31 [[ 8.44749992e-01 5.32035995e-01 5.77507647e-02 8.17257004e+02] [-5.30839650e-01 8.46721571e-01 -3.56629602e-02 -4.43321501e+02] [-6.78727967e-02 -5.30110393e-04 9.97693842e-01 -4.13144839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.31, Y:-443.36, Z:-41.31 [[ 8.46084118e-01 5.29912956e-01 5.77401563e-02 8.17305781e+02] [-5.28710492e-01 8.48051970e-01 -3.56801276e-02 -4.43358960e+02] [-6.78740151e-02 -3.39437142e-04 9.97693842e-01 -4.13145188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.36, Y:-443.39, Z:-41.32 [[ 8.48752129e-01 5.25629979e-01 5.77316941e-02 8.17357043e+02] [-5.24416654e-01 8.50713304e-01 -3.56938144e-02 -4.43393685e+02] [-6.78748591e-02 1.97390900e-05 9.97693842e-01 -4.13189801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.41, Y:-443.43, Z:-41.32 [[ 8.50192805e-01 5.23297490e-01 5.77228920e-02 8.17409664e+02] [-5.22077818e-01 8.52150038e-01 -3.57080432e-02 -4.43428133e+02] [-6.78744940e-02 2.22879859e-04 9.97693843e-01 -4.13232430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.46, Y:-443.46, Z:-41.33 [[ 8.51931523e-01 5.20463175e-01 5.77127646e-02 8.17461924e+02] [-5.19235884e-01 8.53883987e-01 -3.57244041e-02 -4.43463288e+02] [-6.78732423e-02 4.68207658e-04 9.97693843e-01 -4.13267021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.51, Y:-443.50, Z:-41.33 [[ 8.52647132e-01 5.19291123e-01 5.77026648e-02 8.17513974e+02] [-5.18060044e-01 8.54597210e-01 -3.57407100e-02 -4.43497658e+02] [-6.78723698e-02 5.80768809e-04 9.97693843e-01 -4.13304421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.57, Y:-443.53, Z:-41.33 [[ 8.51955057e-01 5.20426879e-01 5.76926790e-02 8.17566594e+02] [-5.19197309e-01 8.53906086e-01 -3.57568219e-02 -4.43531223e+02] [-6.78729409e-02 5.09321534e-04 9.97693843e-01 -4.13339812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.62, Y:-443.56, Z:-41.34 [[ 8.49132781e-01 5.25020217e-01 5.76826862e-02 8.17618846e+02] [-5.23800107e-01 8.51089740e-01 -3.57729349e-02 -4.43564192e+02] [-6.78746565e-02 1.61774457e-04 9.97693843e-01 -4.13389441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.67, Y:-443.60, Z:-41.34 [[ 8.45210513e-01 5.31312424e-01 5.76740502e-02 8.17671913e+02] [-5.30105932e-01 8.47175898e-01 -3.57868528e-02 -4.43595926e+02] [-6.78740647e-02 -3.25931899e-04 9.97693843e-01 -4.13437049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.73, Y:-443.63, Z:-41.35 [[ 8.41524094e-01 5.37133054e-01 5.76652547e-02 8.17725777e+02] [-5.35939184e-01 8.43497171e-01 -3.58010199e-02 -4.43629113e+02] [-6.78703903e-02 -7.77648759e-04 9.97693844e-01 -4.13471574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.78, Y:-443.66, Z:-41.36 [[ 8.39584998e-01 5.40160090e-01 5.76550846e-02 8.17778784e+02] [-5.38972209e-01 8.41561686e-01 -3.58173906e-02 -4.43660951e+02] [-6.78674351e-02 -1.00274456e-03 9.97693844e-01 -4.13553626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.83, Y:-443.70, Z:-41.35 [[ 8.36834791e-01 5.44411463e-01 5.76514655e-02 8.17829665e+02] [-5.43233223e-01 8.38817240e-01 -3.58232149e-02 -4.43696074e+02] [-6.78616121e-02 -1.34007884e-03 9.97693844e-01 -4.13540827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.88, Y:-443.73, Z:-41.36 [[ 8.34595292e-01 5.47839475e-01 5.76420677e-02 8.17882947e+02] [-5.46668333e-01 8.36581943e-01 -3.58383302e-02 -4.43729933e+02] [-6.78559651e-02 -1.60059143e-03 9.97693844e-01 -4.13601171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.93, Y:-443.76, Z:-41.37 [[ 8.32378111e-01 5.51203413e-01 5.76322554e-02 8.17934768e+02] [-5.50039208e-01 8.34368835e-01 -3.58541028e-02 -4.43763680e+02] [-6.78494616e-02 -1.85582975e-03 9.97693844e-01 -4.13656036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.99, Y:-443.80, Z:-41.37 [[ 8.31061722e-01 5.53187094e-01 5.76233700e-02 8.17986480e+02] [-5.52026652e-01 8.33054641e-01 -3.58683772e-02 -4.43796842e+02] [-6.78453393e-02 -2.00080065e-03 9.97693844e-01 -4.13710341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.04, Y:-443.83, Z:-41.38 [[ 8.30179149e-01 5.54511649e-01 5.76143390e-02 8.18036533e+02] [-5.53353380e-01 8.32173333e-01 -3.58828777e-02 -4.43830733e+02] [-6.78425902e-02 -2.09187239e-03 9.97693844e-01 -4.13767364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.09, Y:-443.87, Z:-41.38 [[ 8.31741604e-01 5.52166137e-01 5.76060797e-02 8.18088276e+02] [-5.51001328e-01 8.33731974e-01 -3.58961322e-02 -4.43866730e+02] [-6.78486592e-02 -1.88471985e-03 9.97693844e-01 -4.13805633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:818.14, Y:-443.90, Z:-41.39 [[ 8.36268257e-01 5.45287183e-01 5.75959264e-02 8.18139133e+02] [-5.44104875e-01 8.38248282e-01 -3.59124160e-02 -4.43901296e+02] [-6.78622665e-02 -1.30581086e-03 9.97693845e-01 -4.13893084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.19, Y:-443.94, Z:-41.39 [[ 8.38225953e-01 5.42273358e-01 5.75921663e-02 8.18189168e+02] [-5.41083516e-01 8.40201460e-01 -3.59184451e-02 -4.43937727e+02] [-6.78666380e-02 -1.05439895e-03 9.97693845e-01 -4.13865079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.24, Y:-443.97, Z:-41.39 [[ 8.41099227e-01 5.37806990e-01 5.75824004e-02 8.18240882e+02] [-5.36605586e-01 8.43067723e-01 -3.59340944e-02 -4.43971904e+02] [-6.78714703e-02 -6.74898660e-04 9.97693845e-01 -4.13904309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.29, Y:-444.00, Z:-41.40 [[ 8.41775073e-01 5.36749545e-01 5.75730117e-02 8.18294982e+02] [-5.35544640e-01 8.43741429e-01 -3.59491305e-02 -4.44003642e+02] [-6.78724146e-02 -5.71835836e-04 9.97693845e-01 -4.13952954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.35, Y:-444.03, Z:-41.40 [[ 8.41930824e-01 5.36506281e-01 5.75629919e-02 8.18346716e+02] [-5.35299711e-01 8.43896158e-01 -3.59651674e-02 -4.44034871e+02] [-6.78727260e-02 -5.33269906e-04 9.97693845e-01 -4.14011541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.40, Y:-444.07, Z:-41.40 [[ 8.42621582e-01 5.35421271e-01 5.75580875e-02 8.18399477e+02] [-5.34211634e-01 8.44585030e-01 -3.59730146e-02 -4.44066451e+02] [-6.78734163e-02 -4.36561475e-04 9.97693845e-01 -4.14049252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.45, Y:-444.10, Z:-41.41 [[ 8.42250653e-01 5.36005511e-01 5.75493657e-02 8.18451404e+02] [-5.34796283e-01 8.44214353e-01 -3.59869624e-02 -4.44099297e+02] [-6.78732107e-02 -4.67144243e-04 9.97693845e-01 -4.14076420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.50, Y:-444.13, Z:-41.41 [[ 8.43165346e-01 5.34566420e-01 5.75407932e-02 8.18504207e+02] [-5.33352905e-01 8.45126399e-01 -3.60006640e-02 -4.44129932e+02] [-6.78739894e-02 -3.35036922e-04 9.97693846e-01 -4.14121587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.56, Y:-444.16, Z:-41.42 [[ 8.44466106e-01 5.32509716e-01 5.75360565e-02 8.18557873e+02] [-5.31290910e-01 8.46423875e-01 -3.60082326e-02 -4.44163287e+02] [-6.78746256e-02 -1.60651773e-04 9.97693846e-01 -4.14162779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.61, Y:-444.20, Z:-41.42 [[ 8.46054265e-01 5.29983888e-01 5.75261541e-02 8.18610323e+02] [-5.28758162e-01 8.48007709e-01 -3.60240455e-02 -4.44197373e+02] [-6.78747859e-02 6.08738768e-05 9.97693846e-01 -4.14195873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.66, Y:-444.23, Z:-41.42 [[ 8.46644946e-01 5.29040866e-01 5.75160733e-02 8.18662255e+02] [-5.27811870e-01 8.48596334e-01 -3.60401334e-02 -4.44230760e+02] [-6.78746323e-02 1.55530561e-04 9.97693846e-01 -4.14243741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.72, Y:-444.26, Z:-41.43 [[ 8.46664914e-01 5.29009454e-01 5.75110425e-02 8.18715534e+02] [-5.27779841e-01 8.48615914e-01 -3.60481596e-02 -4.44263210e+02] [-6.78746031e-02 1.67543087e-04 9.97693846e-01 -4.14265738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.77, Y:-444.29, Z:-41.43 [[ 8.46518714e-01 5.29244100e-01 5.75043390e-02 8.18768246e+02] [-5.28014302e-01 8.48469597e-01 -3.60588499e-02 -4.44294868e+02] [-6.78746169e-02 1.61377827e-04 9.97693846e-01 -4.14344742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.82, Y:-444.32, Z:-41.44 [[ 8.43391157e-01 5.34214398e-01 5.75007267e-02 8.18824003e+02] [-5.32995704e-01 8.45348995e-01 -3.60646092e-02 -4.44324691e+02] [-6.78744151e-02 -2.31067823e-04 9.97693846e-01 -4.14393939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.88, Y:-444.36, Z:-41.44 [[ 8.39539004e-01 5.40249276e-01 5.74889655e-02 8.18875263e+02] [-5.39043372e-01 8.41504745e-01 -3.60833475e-02 -4.44357689e+02] [-6.78712396e-02 -6.95668194e-04 9.97693846e-01 -4.14391818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.93, Y:-444.39, Z:-41.44 [[ 8.35778346e-01 5.46049612e-01 5.74837147e-02 8.18929997e+02] [-5.44856773e-01 8.37752043e-01 -3.60917106e-02 -4.44388559e+02] [-6.78649640e-02 -1.15572104e-03 9.97693846e-01 -4.14444770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.98, Y:-444.42, Z:-41.45 [[ 8.33008262e-01 5.50267232e-01 5.74735472e-02 8.18984361e+02] [-5.49083268e-01 8.34987296e-01 -3.61078944e-02 -4.44420109e+02] [-6.78586729e-02 -1.47958870e-03 9.97693847e-01 -4.14502326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.04, Y:-444.45, Z:-41.46 [[ 8.31570332e-01 5.52438894e-01 5.74634832e-02 8.19037651e+02] [-5.51258993e-01 8.33551790e-01 -3.61239036e-02 -4.44453004e+02] [-6.78550386e-02 -1.63769537e-03 9.97693847e-01 -4.14556122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.09, Y:-444.49, Z:-41.46 [[ 8.31551898e-01 5.52467694e-01 5.74533585e-02 8.19090544e+02] [-5.51286750e-01 8.33532735e-01 -3.61399993e-02 -4.44485989e+02] [-6.78554371e-02 -1.62099024e-03 9.97693847e-01 -4.14604644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.14, Y:-444.52, Z:-41.46 [[ 8.32340661e-01 5.51279687e-01 5.74432746e-02 8.19142995e+02] [-5.50094811e-01 8.34319148e-01 -3.61560202e-02 -4.44519790e+02] [-6.78581034e-02 -1.50512151e-03 9.97693847e-01 -4.14648950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.20, Y:-444.55, Z:-41.47 [[ 8.34186435e-01 5.48483751e-01 5.74331569e-02 8.19195028e+02] [-5.47291137e-01 8.36160267e-01 -3.61720849e-02 -4.44554938e+02] [-6.78631246e-02 -1.25839519e-03 9.97693847e-01 -4.14690094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.25, Y:-444.59, Z:-41.47 [[ 8.36251291e-01 5.45331448e-01 5.74228954e-02 8.19246327e+02] [-5.44130276e-01 8.38219927e-01 -3.61883676e-02 -4.44589906e+02] [-6.78676701e-02 -9.82966714e-04 9.97693847e-01 -4.14740889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.30, Y:-444.63, Z:-41.48 [[ 8.40607038e-01 5.38594009e-01 5.74134211e-02 8.19297006e+02] [-5.37376029e-01 8.42565320e-01 -3.62033925e-02 -4.44625888e+02] [-6.78734878e-02 -4.19769730e-04 9.97693848e-01 -4.14759360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.35, Y:-444.66, Z:-41.48 [[ 8.45472102e-01 5.30925272e-01 5.74045372e-02 8.19348736e+02] [-5.29688573e-01 8.47418615e-01 -3.62174735e-02 -4.44662191e+02] [-6.78744454e-02 2.14336043e-04 9.97693848e-01 -4.14783568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.40, Y:-444.70, Z:-41.48 [[ 8.50804346e-01 5.22338842e-01 5.73942395e-02 8.19400221e+02] [-5.21081401e-01 8.52737525e-01 -3.62337850e-02 -4.44697414e+02] [-6.78685350e-02 9.20791054e-04 9.97693848e-01 -4.14820743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.45, Y:-444.73, Z:-41.49 [[ 8.54048801e-01 5.17017675e-01 5.73878801e-02 8.19453928e+02] [-5.15747515e-01 8.55973647e-01 -3.62438544e-02 -4.44727509e+02] [-6.78612263e-02 1.35636387e-03 9.97693848e-01 -4.14890941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.51, Y:-444.76, Z:-41.49 [[ 8.58489052e-01 5.09611209e-01 5.73843448e-02 8.19506267e+02] [-5.08324073e-01 8.60402588e-01 -3.62494509e-02 -4.44760045e+02] [-6.78467653e-02 1.94991290e-03 9.97693848e-01 -4.14912138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.56, Y:-444.79, Z:-41.50 [[ 8.62230366e-01 5.03256365e-01 5.73744394e-02 8.19559512e+02] [-5.01954091e-01 8.64133631e-01 -3.62651221e-02 -4.44792079e+02] [-6.78298362e-02 2.46955499e-03 9.97693848e-01 -4.14963977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.62, Y:-444.82, Z:-41.50 [[ 8.66878412e-01 4.95208108e-01 5.73650450e-02 8.19615391e+02] [-4.93887192e-01 8.68768787e-01 -3.62799763e-02 -4.44821967e+02] [-6.78030990e-02 3.11846720e-03 9.97693848e-01 -4.15007659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.67, Y:-444.85, Z:-41.51 [[ 8.68701648e-01 4.92003933e-01 5.73548321e-02 8.19669792e+02] [-4.90674984e-01 8.70586384e-01 -3.62961148e-02 -4.44851835e+02] [-6.77901671e-02 3.38791337e-03 9.97693849e-01 -4.15052785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.72, Y:-444.88, Z:-41.51 [[ 8.67938173e-01 4.93350616e-01 5.73454194e-02 8.19724884e+02] [-4.92023613e-01 8.69824280e-01 -3.63109800e-02 -4.44882174e+02] [-6.77944825e-02 3.30038519e-03 9.97693849e-01 -4.15092665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.78, Y:-444.91, Z:-41.51 [[ 8.63799546e-01 5.00562680e-01 5.73353897e-02 8.19782574e+02] [-4.99250385e-01 8.65695915e-01 -3.63268102e-02 -4.44907972e+02] [-6.78188581e-02 2.75436685e-03 9.97693849e-01 -4.15140208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.84, Y:-444.93, Z:-41.52 [[ 8.56369524e-01 5.13171558e-01 5.73253073e-02 8.19840884e+02] [-5.11886139e-01 8.58284212e-01 -3.63427137e-02 -4.44933930e+02] [-6.78514532e-02 1.77876222e-03 9.97693849e-01 -4.15187304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:819.90, Y:-444.96, Z:-41.52 [[ 8.50733812e-01 5.22462375e-01 5.73153439e-02 8.19897549e+02] [-5.21196814e-01 8.52661683e-01 -3.63584200e-02 -4.44962830e+02] [-6.78665041e-02 1.05876258e-03 9.97693849e-01 -4.15228245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.95, Y:-444.99, Z:-41.52 [[ 8.40701249e-01 5.38457866e-01 5.73108695e-02 8.19952659e+02] [-5.37228511e-01 8.42652407e-01 -3.63654716e-02 -4.44991408e+02] [-6.78744163e-02 -2.16535682e-04 9.97693849e-01 -4.15180480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.01, Y:-445.01, Z:-41.53 [[ 8.37461773e-01 5.43482652e-01 5.73095596e-02 8.20009416e+02] [-5.42264862e-01 8.39420170e-01 -3.63675357e-02 -4.45014481e+02] [-6.78719250e-02 -6.20539457e-04 9.97693849e-01 -4.15305839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.07, Y:-445.04, Z:-41.53 [[ 8.31389747e-01 5.52727475e-01 5.73011940e-02 8.20066014e+02] [-5.51530549e-01 8.33360965e-01 -3.63807118e-02 -4.45042070e+02] [-6.78611973e-02 -1.35680821e-03 9.97693849e-01 -4.15348649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.12, Y:-445.07, Z:-41.54 [[ 8.29545364e-01 5.55492799e-01 5.72908314e-02 8.20119086e+02] [-5.54301318e-01 8.31519877e-01 -3.63970232e-02 -4.45073619e+02] [-6.78567494e-02 -1.56340147e-03 9.97693850e-01 -4.15403069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.17, Y:-445.11, Z:-41.53 [[ 8.23509109e-01 5.64403440e-01 5.72844262e-02 8.20171038e+02] [-5.63232614e-01 8.25495939e-01 -3.64071014e-02 -4.45107600e+02] [-6.78363545e-02 -2.28287744e-03 9.97693850e-01 -4.15341623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.23, Y:-445.13, Z:-41.55 [[ 8.24298513e-01 5.63250112e-01 5.72823898e-02 8.20225294e+02] [-5.62076284e-01 8.26283572e-01 -3.64103052e-02 -4.45132758e+02] [-6.78396061e-02 -2.18411232e-03 9.97693850e-01 -4.15522424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.28, Y:-445.17, Z:-41.56 [[ 8.24912346e-01 5.62350792e-01 5.72818371e-02 8.20277317e+02] [-5.61174739e-01 8.26896087e-01 -3.64111746e-02 -4.45165977e+02] [-6.78419799e-02 -2.10909255e-03 9.97693850e-01 -4.15582557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.33, Y:-445.20, Z:-41.56 [[ 8.27517210e-01 5.58511480e-01 5.72729772e-02 8.20328733e+02] [-5.57325258e-01 8.29494887e-01 -3.64251056e-02 -4.45200258e+02] [-6.78514814e-02 -1.77727505e-03 9.97693850e-01 -4.15647802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.38, Y:-445.24, Z:-41.57 [[ 8.29857976e-01 5.55028438e-01 5.72640647e-02 8.20379279e+02] [-5.53832949e-01 8.31830064e-01 -3.64391116e-02 -4.45236322e+02] [-6.78587138e-02 -1.47543837e-03 9.97693850e-01 -4.15683831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.43, Y:-445.28, Z:-41.57 [[ 8.33174372e-01 5.50038477e-01 5.72550385e-02 8.20429204e+02] [-5.48830201e-01 8.35138652e-01 -3.64532885e-02 -4.45275710e+02] [-6.78666070e-02 -1.05134847e-03 9.97693850e-01 -4.15719506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.48, Y:-445.31, Z:-41.58 [[ 8.35540653e-01 5.46438331e-01 5.72448042e-02 8.20476757e+02] [-5.45220490e-01 8.37499017e-01 -3.64693530e-02 -4.45313909e+02] [-6.78707196e-02 -7.39413164e-04 9.97693850e-01 -4.15750235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.53, Y:-445.35, Z:-41.57 [[ 8.34969281e-01 5.47311855e-01 5.72366356e-02 8.20525744e+02] [-5.46095185e-01 8.36928373e-01 -3.64821687e-02 -4.45353460e+02] [-6.78700877e-02 -7.95160949e-04 9.97693850e-01 -4.15680629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.58, Y:-445.39, Z:-41.57 [[ 8.33401156e-01 5.49696998e-01 5.72339432e-02 8.20575327e+02] [-5.48485644e-01 8.35363539e-01 -3.64863921e-02 -4.45391955e+02] [-6.78676095e-02 -9.84194837e-04 9.97693850e-01 -4.15715251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.63, Y:-445.43, Z:-41.59 [[ 8.34221743e-01 5.48452016e-01 5.72229812e-02 8.20625018e+02] [-5.47236554e-01 8.36181585e-01 -3.65035761e-02 -4.45425232e+02] [-6.78692630e-02 -8.62430208e-04 9.97693851e-01 -4.15858642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.67, Y:-445.46, Z:-41.58 [[ 8.34595149e-01 5.47884067e-01 5.72187585e-02 8.20673406e+02] [-5.46666818e-01 8.36553881e-01 -3.65101940e-02 -4.45463925e+02] [-6.78699280e-02 -8.08365795e-04 9.97693851e-01 -4.15820916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.72, Y:-445.50, Z:-41.58 [[ 8.34984583e-01 5.47291105e-01 5.72118273e-02 8.20724040e+02] [-5.46071721e-01 8.36941986e-01 -3.65210520e-02 -4.45500610e+02] [-6.78706273e-02 -7.47245606e-04 9.97693851e-01 -4.15844556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.77, Y:-445.54, Z:-41.59 [[ 8.36855149e-01 5.44427533e-01 5.72024608e-02 8.20774396e+02] [-5.43200449e-01 8.38807734e-01 -3.65357167e-02 -4.45537209e+02] [-6.78729166e-02 -4.97299778e-04 9.97693851e-01 -4.15897420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:820.82, Y:-445.57, Z:-41.59 [[ 8.38596417e-01 5.41742559e-01 5.71930840e-02 8.20824772e+02] [-5.40508222e-01 8.40544425e-01 -3.65503893e-02 -4.45573251e+02] [-6.78742294e-02 -2.62306717e-04 9.97693851e-01 -4.15948488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.87, Y:-445.61, Z:-41.60 [[ 8.40307177e-01 5.39086148e-01 5.71836838e-02 8.20874996e+02] [-5.37844653e-01 8.42250630e-01 -3.65650902e-02 -4.45606871e+02] [-6.78747274e-02 -3.00308906e-05 9.97693851e-01 -4.16023027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.92, Y:-445.64, Z:-41.61 [[ 8.40668443e-01 5.38523118e-01 5.71788373e-02 8.20923498e+02] [-5.37279806e-01 8.42610735e-01 -3.65726673e-02 -4.45644330e+02] [-6.78747290e-02 2.44527020e-05 9.97693851e-01 -4.16097490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.97, Y:-445.68, Z:-41.61 [[ 8.39897179e-01 5.39726100e-01 5.71705016e-02 8.20974770e+02] [-5.38484682e-01 8.41840682e-01 -3.65856932e-02 -4.45680967e+02] [-6.78747075e-02 -5.72189258e-05 9.97693851e-01 -4.16100053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.03, Y:-445.72, Z:-41.62 [[ 8.38085826e-01 5.42535635e-01 5.71597106e-02 8.21027054e+02] [-5.41299583e-01 8.40032746e-01 -3.66025448e-02 -4.45715503e+02] [-6.78742135e-02 -2.64453533e-04 9.97693851e-01 -4.16151935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.08, Y:-445.75, Z:-41.62 [[ 8.34451075e-01 5.48110764e-01 5.71488786e-02 8.21079623e+02] [-5.46886562e-01 8.36405467e-01 -3.66194493e-02 -4.45748506e+02] [-6.78711488e-02 -6.96814866e-04 9.97693852e-01 -4.16232686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.13, Y:-445.78, Z:-41.63 [[ 8.31998830e-01 5.51826994e-01 5.71394342e-02 8.21131423e+02] [-5.50610509e-01 8.33958035e-01 -3.66341801e-02 -4.45781989e+02] [-6.78676198e-02 -9.81977960e-04 9.97693852e-01 -4.16304011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.18, Y:-445.82, Z:-41.63 [[ 8.27229618e-01 5.58951991e-01 5.71299549e-02 8.21182450e+02] [-5.57751357e-01 8.29198576e-01 -3.66489569e-02 -4.45819008e+02] [-6.78570846e-02 -1.54720723e-03 9.97693852e-01 -4.16319423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.23, Y:-445.85, Z:-41.64 [[ 8.24497046e-01 5.62976048e-01 5.71190882e-02 8.21234460e+02] [-5.61783851e-01 8.26471124e-01 -3.66658853e-02 -4.45852989e+02] [-6.78492922e-02 -1.85766723e-03 9.97693852e-01 -4.16368543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.29, Y:-445.89, Z:-41.64 [[ 8.23133573e-01 5.64968691e-01 5.71095402e-02 8.21286645e+02] [-5.63780242e-01 8.25109909e-01 -3.66807509e-02 -4.45887470e+02] [-6.78451234e-02 -2.00407282e-03 9.97693852e-01 -4.16418811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.33, Y:-445.93, Z:-41.64 [[ 8.21437069e-01 5.67433600e-01 5.70986179e-02 8.21334667e+02] [-5.66249900e-01 8.23416253e-01 -3.66977452e-02 -4.45925915e+02] [-6.78394636e-02 -2.18719840e-03 9.97693853e-01 -4.16436077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.39, Y:-445.96, Z:-41.65 [[ 8.25512241e-01 5.61489346e-01 5.70898781e-02 8.21387927e+02] [-5.60290452e-01 8.27482258e-01 -3.67113365e-02 -4.45956678e+02] [-6.78538855e-02 -1.68125589e-03 9.97693853e-01 -4.16546128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.44, Y:-445.99, Z:-41.66 [[ 8.29036063e-01 5.56274250e-01 5.70803318e-02 8.21437823e+02] [-5.55061940e-01 8.30997853e-01 -3.67261735e-02 -4.45993647e+02] [-6.78634578e-02 -1.23579734e-03 9.97693853e-01 -4.16588166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.49, Y:-446.03, Z:-41.66 [[ 8.28596787e-01 5.56929339e-01 5.70708086e-02 8.21486886e+02] [-5.55717561e-01 8.30558905e-01 -3.67409662e-02 -4.46031034e+02] [-6.78627903e-02 -1.27180397e-03 9.97693853e-01 -4.16577814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.54, Y:-446.07, Z:-41.66 [[ 8.31366808e-01 5.52786706e-01 5.70621450e-02 8.21537931e+02] [-5.51564227e-01 8.33322277e-01 -3.67544166e-02 -4.46065770e+02] [-6.78685095e-02 -9.17035930e-04 9.97693853e-01 -4.16592950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.59, Y:-446.10, Z:-41.66 [[ 8.35980237e-01 5.45785650e-01 5.70531937e-02 8.21589357e+02] [-5.44545845e-01 8.37924767e-01 -3.67683063e-02 -4.46100818e+02] [-6.78738980e-02 -3.30502174e-04 9.97693853e-01 -4.16621371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.64, Y:-446.13, Z:-41.67 [[ 8.43277527e-01 5.34442658e-01 5.70443466e-02 8.21642665e+02] [-5.33175769e-01 8.45204521e-01 -3.67820271e-02 -4.46131436e+02] [-6.78720240e-02 6.02793538e-04 9.97693853e-01 -4.16688715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.69, Y:-446.17, Z:-41.67 [[ 8.44227558e-01 5.32941623e-01 5.70355726e-02 8.21692104e+02] [-5.31670389e-01 8.46151688e-01 -3.67956274e-02 -4.46168254e+02] [-6.78706674e-02 7.39757586e-04 9.97693854e-01 -4.16684110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.75, Y:-446.20, Z:-41.68 [[ 8.47978576e-01 5.26953755e-01 5.70269694e-02 8.21746675e+02] [-5.25668040e-01 8.49893059e-01 -3.68089561e-02 -4.46197718e+02] [-6.78634431e-02 1.23595094e-03 9.97693854e-01 -4.16751910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.80, Y:-446.23, Z:-41.68 [[ 8.47796107e-01 5.27248296e-01 5.70175093e-02 8.21798322e+02] [-5.25962261e-01 8.49710375e-01 -3.68236041e-02 -4.46230101e+02] [-6.78635517e-02 1.22985005e-03 9.97693854e-01 -4.16764638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.85, Y:-446.26, Z:-41.68 [[ 8.47724055e-01 5.27365068e-01 5.70088759e-02 8.21851672e+02] [-5.26078399e-01 8.49637897e-01 -3.68369651e-02 -4.46261285e+02] [-6.78634300e-02 1.23644334e-03 9.97693854e-01 -4.16816685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.91, Y:-446.29, Z:-41.69 [[ 8.46633703e-01 5.29114772e-01 5.69993856e-02 8.21906985e+02] [-5.27831071e-01 8.48549537e-01 -3.68516440e-02 -4.46291731e+02] [-6.78655515e-02 1.11379708e-03 9.97693854e-01 -4.16857505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.96, Y:-446.32, Z:-41.69 [[ 8.45280024e-01 5.31275743e-01 5.69891712e-02 8.21962610e+02] [-5.29995875e-01 8.47198421e-01 -3.68674333e-02 -4.46319432e+02] [-6.78679089e-02 9.59279305e-04 9.97693854e-01 -4.16888934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.02, Y:-446.35, Z:-41.69 [[ 8.40488980e-01 5.38824260e-01 5.69797488e-02 8.22016163e+02] [-5.37560637e-01 8.42418115e-01 -3.68819902e-02 -4.46350089e+02] [-6.78736837e-02 3.68836250e-04 9.97693854e-01 -4.16917853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.07, Y:-446.38, Z:-41.70 [[ 8.36976375e-01 5.44265548e-01 5.69698227e-02 8.22070033e+02] [-5.43013424e-01 8.38912993e-01 -3.68973162e-02 -4.46380678e+02] [-6.78746625e-02 -5.31964755e-05 9.97693855e-01 -4.16950197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.13, Y:-446.41, Z:-41.70 [[ 8.31290083e-01 5.52912530e-01 5.69607907e-02 8.22126338e+02] [-5.51679593e-01 8.33238973e-01 -3.69112543e-02 -4.46409050e+02] [-6.78706457e-02 -7.40146207e-04 9.97693855e-01 -4.16994280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.18, Y:-446.44, Z:-41.71 [[ 8.27565319e-01 5.58473173e-01 5.69504805e-02 8.22181128e+02] [-5.57252235e-01 8.29521749e-01 -3.69271550e-02 -4.46438733e+02] [-6.78644876e-02 -1.17614977e-03 9.97693855e-01 -4.17053955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.24, Y:-446.47, Z:-41.71 [[ 8.22609520e-01 5.65748129e-01 5.69441103e-02 8.22235781e+02] [-5.64543809e-01 8.24576223e-01 -3.69369758e-02 -4.46468284e+02] [-6.78517843e-02 -1.76273705e-03 9.97693855e-01 -4.17109675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.29, Y:-446.50, Z:-41.72 [[ 8.20518149e-01 5.68777933e-01 5.69353090e-02 8.22290066e+02] [-5.67579934e-01 8.22488709e-01 -3.69505372e-02 -4.46498133e+02] [-6.78452990e-02 -1.99675253e-03 9.97693855e-01 -4.17151379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.34, Y:-446.53, Z:-41.72 [[ 8.19656525e-01 5.70019861e-01 5.69257299e-02 8.22340599e+02] [-5.68823824e-01 8.21628276e-01 -3.69652888e-02 -4.46531511e+02] [-6.78427381e-02 -2.08187118e-03 9.97693855e-01 -4.17222631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.39, Y:-446.56, Z:-41.72 [[ 8.21199928e-01 5.67794976e-01 5.69169875e-02 8.22393853e+02] [-5.66592665e-01 8.23167859e-01 -3.69787451e-02 -4.46564962e+02] [-6.78485804e-02 -1.88180483e-03 9.97693855e-01 -4.17227744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.44, Y:-446.60, Z:-41.73 [[ 8.26558791e-01 5.59966312e-01 5.69060161e-02 8.22443242e+02] [-5.58744195e-01 8.28514483e-01 -3.69956210e-02 -4.46600450e+02] [-6.78637600e-02 -1.21685041e-03 9.97693856e-01 -4.17277987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.50, Y:-446.64, Z:-41.73 [[ 8.30632087e-01 5.53907064e-01 5.68972768e-02 8.22495742e+02] [-5.52669758e-01 8.32578206e-01 -3.70090568e-02 -4.46635832e+02] [-6.78710106e-02 -7.04494037e-04 9.97693856e-01 -4.17303172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.55, Y:-446.67, Z:-41.74 [[ 8.39393276e-01 5.40539432e-01 5.68862993e-02 8.22548705e+02] [-5.39269989e-01 8.41318584e-01 -3.70259226e-02 -4.46666977e+02] [-6.78734719e-02 4.02236474e-04 9.97693856e-01 -4.17437279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.60, Y:-446.71, Z:-41.74 [[ 8.38627178e-01 5.41728245e-01 5.68767433e-02 8.22595224e+02] [-5.40460536e-01 8.40553629e-01 -3.70405960e-02 -4.46707953e+02] [-6.78738901e-02 3.23615315e-04 9.97693856e-01 -4.17392440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.65, Y:-446.74, Z:-41.74 [[ 8.40602712e-01 5.38658620e-01 5.68680231e-02 8.22647983e+02] [-5.37382970e-01 8.42523914e-01 -3.70539792e-02 -4.46740876e+02] [-6.78721147e-02 5.87768240e-04 9.97693856e-01 -4.17448505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.70, Y:-446.77, Z:-41.75 [[ 8.39450675e-01 5.40453213e-01 5.68585023e-02 8.22698541e+02] [-5.39180682e-01 8.41373943e-01 -3.70685830e-02 -4.46774203e+02] [-6.78730971e-02 4.60240949e-04 9.97693856e-01 -4.17485304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.75, Y:-446.81, Z:-41.75 [[ 8.39124280e-01 5.40960757e-01 5.68498115e-02 8.22751658e+02] [-5.39688487e-01 8.41047721e-01 -3.70819068e-02 -4.46805084e+02] [-6.78732608e-02 4.35139610e-04 9.97693856e-01 -4.17544459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.80, Y:-446.84, Z:-41.76 [[ 8.34814160e-01 5.47589231e-01 5.68449810e-02 8.22802823e+02] [-5.46331729e-01 8.36747289e-01 -3.70893102e-02 -4.46838906e+02] [-6.78745906e-02 -9.35354683e-05 9.97693856e-01 -4.17555411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.86, Y:-446.87, Z:-41.76 [[ 8.31453329e-01 5.52679828e-01 5.68363392e-02 8.22856272e+02] [-5.51433256e-01 8.33393524e-01 -3.71025483e-02 -4.46871706e+02] [-6.78728670e-02 -4.92410276e-04 9.97693857e-01 -4.17578017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.91, Y:-446.91, Z:-41.76 [[ 8.29270497e-01 5.55950768e-01 5.68259206e-02 8.22909116e+02] [-5.54710756e-01 8.31214891e-01 -3.71184986e-02 -4.46905056e+02] [-6.78706092e-02 -7.40673563e-04 9.97693857e-01 -4.17615886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.96, Y:-446.94, Z:-41.77 [[ 8.26674730e-01 5.59804327e-01 5.68155450e-02 8.22963007e+02] [-5.58572286e-01 8.28624185e-01 -3.71343732e-02 -4.46937767e+02] [-6.78667174e-02 -1.03754087e-03 9.97693857e-01 -4.17656807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.02, Y:-446.97, Z:-41.77 [[ 8.25155637e-01 5.62042130e-01 5.68051005e-02 8.23015156e+02] [-5.60814277e-01 8.27107731e-01 -3.71503435e-02 -4.46970074e+02] [-6.78639960e-02 -1.20229604e-03 9.97693857e-01 -4.17700964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.07, Y:-447.00, Z:-41.78 [[ 8.25126298e-01 5.62086175e-01 5.67954560e-02 8.23066361e+02] [-5.60857413e-01 8.27077820e-01 -3.71650821e-02 -4.47003902e+02] [-6.78642408e-02 -1.18826589e-03 9.97693857e-01 -4.17757441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.12, Y:-447.04, Z:-41.78 [[ 8.25713249e-01 5.61224598e-01 5.67853978e-02 8.23117065e+02] [-5.59992743e-01 8.27662819e-01 -3.71804440e-02 -4.47038797e+02] [-6.78657422e-02 -1.09902547e-03 9.97693857e-01 -4.17790439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.17, Y:-447.07, Z:-41.78 [[ 8.26233757e-01 5.60459044e-01 5.67753354e-02 8.23168276e+02] [-5.59224327e-01 8.28181517e-01 -3.71958032e-02 -4.47073238e+02] [-6.78670077e-02 -1.01772050e-03 9.97693858e-01 -4.17844114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.22, Y:-447.11, Z:-41.79 [[ 8.26949572e-01 5.59403259e-01 5.67661796e-02 8.23217998e+02] [-5.58165096e-01 8.28895143e-01 -3.72097711e-02 -4.47108624e+02] [-6.78684777e-02 -9.14295788e-04 9.97693858e-01 -4.17907336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.27, Y:-447.15, Z:-41.80 [[ 8.26986588e-01 5.59349386e-01 5.67577995e-02 8.23269104e+02] [-5.58110220e-01 8.28931519e-01 -3.72225493e-02 -4.47145152e+02] [-6.78687390e-02 -8.94558970e-04 9.97693858e-01 -4.17950897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.32, Y:-447.18, Z:-41.80 [[ 8.27054674e-01 5.59249763e-01 5.67474137e-02 8.23319031e+02] [-5.58009277e-01 8.28998763e-01 -3.72383761e-02 -4.47181355e+02] [-6.78690888e-02 -8.67410328e-04 9.97693858e-01 -4.17996977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.37, Y:-447.22, Z:-41.80 [[ 8.25687749e-01 5.61266926e-01 5.67378052e-02 8.23367859e+02] [-5.60030184e-01 8.27634223e-01 -3.72530102e-02 -4.47220443e+02] [-6.78670319e-02 -1.01552929e-03 9.97693858e-01 -4.18049078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.42, Y:-447.25, Z:-41.81 [[ 8.25533213e-01 5.61495270e-01 5.67272079e-02 8.23419816e+02] [-5.60257958e-01 8.27479324e-01 -3.72691404e-02 -4.47254622e+02] [-6.78670377e-02 -1.01495643e-03 9.97693858e-01 -4.18057204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.47, Y:-447.29, Z:-41.81 [[ 8.24678296e-01 5.62751298e-01 5.67158231e-02 8.23469628e+02] [-5.61515759e-01 8.26625533e-01 -3.72864577e-02 -4.47289738e+02] [-6.78657500e-02 -1.09749607e-03 9.97693859e-01 -4.18094105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.52, Y:-447.32, Z:-41.82 [[ 8.24251564e-01 5.63377002e-01 5.67072525e-02 8.23520778e+02] [-5.62142045e-01 8.26199170e-01 -3.72994878e-02 -4.47323515e+02] [-6.78651586e-02 -1.13336971e-03 9.97693859e-01 -4.18160682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.57, Y:-447.36, Z:-41.82 [[ 8.20719571e-01 5.68510537e-01 5.67023371e-02 8.23570038e+02] [-5.67287244e-01 8.22674525e-01 -3.73069586e-02 -4.47360412e+02] [-6.78569673e-02 -1.54796150e-03 9.97693859e-01 -4.18183698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:823.62, Y:-447.40, Z:-41.83 [[ 8.18564642e-01 5.71609810e-01 5.66934913e-02 8.23619996e+02] [-5.70392988e-01 8.20523630e-01 -3.73203964e-02 -4.47397419e+02] [-6.78510539e-02 -1.78841302e-03 9.97693859e-01 -4.18259751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.67, Y:-447.43, Z:-41.83 [[ 8.16817453e-01 5.74104331e-01 5.66874362e-02 8.23669970e+02] [-5.72892854e-01 8.18779751e-01 -3.73295914e-02 -4.47432248e+02] [-6.78456049e-02 -1.98436528e-03 9.97693859e-01 -4.18266532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.72, Y:-447.47, Z:-41.83 [[ 8.15312118e-01 5.76240750e-01 5.66811143e-02 8.23720880e+02] [-5.75033748e-01 8.17277170e-01 -3.73391880e-02 -4.47469444e+02] [-6.78405425e-02 -2.15046119e-03 9.97693859e-01 -4.18314041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.77, Y:-447.50, Z:-41.84 [[ 8.14337829e-01 5.77617810e-01 5.66706734e-02 8.23771159e+02] [-5.76413030e-01 8.16304245e-01 -3.73550278e-02 -4.47504608e+02] [-6.78374406e-02 -2.24610230e-03 9.97693859e-01 -4.18360871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.82, Y:-447.54, Z:-41.84 [[ 8.13964730e-01 5.78144400e-01 5.66610140e-02 8.23822292e+02] [-5.76939875e-01 8.15931301e-01 -3.73696737e-02 -4.47541107e+02] [-6.78365625e-02 -2.27240200e-03 9.97693859e-01 -4.18414006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.87, Y:-447.58, Z:-41.85 [[ 8.14683435e-01 5.77132215e-01 5.66507424e-02 8.23873090e+02] [-5.75924165e-01 8.16647843e-01 -3.73852385e-02 -4.47577277e+02] [-6.78399321e-02 -2.16939707e-03 9.97693860e-01 -4.18460263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.92, Y:-447.62, Z:-41.85 [[ 8.16778142e-01 5.74164890e-01 5.66404970e-02 8.23923444e+02] [-5.72948627e-01 8.18737476e-01 -3.74007544e-02 -4.47615564e+02] [-6.78478976e-02 -1.90397629e-03 9.97693860e-01 -4.18490548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.98, Y:-447.65, Z:-41.85 [[ 8.16908577e-01 5.73980339e-01 5.66299190e-02 8.23975232e+02] [-5.72762525e-01 8.18866946e-01 -3.74167640e-02 -4.47651681e+02] [-6.78488558e-02 -1.86941997e-03 9.97693860e-01 -4.18520861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.03, Y:-447.69, Z:-41.86 [[ 8.17935488e-01 5.72517083e-01 5.66191526e-02 8.24026719e+02] [-5.71294639e-01 8.19890970e-01 -3.74330488e-02 -4.47687318e+02] [-6.78525918e-02 -1.72839932e-03 9.97693860e-01 -4.18565723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.08, Y:-447.72, Z:-41.86 [[ 8.18399723e-01 5.71854336e-01 5.66084056e-02 8.24077489e+02] [-5.70629186e-01 8.20353511e-01 -3.74492941e-02 -4.47722790e+02] [-6.78544454e-02 -1.65391647e-03 9.97693860e-01 -4.18614248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.13, Y:-447.76, Z:-41.87 [[ 8.20450712e-01 5.68908816e-01 5.65984872e-02 8.24128977e+02] [-5.67675617e-01 8.22399430e-01 -3.74642780e-02 -4.47758506e+02] [-6.78603217e-02 -1.39198760e-03 9.97693860e-01 -4.18657480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.18, Y:-447.79, Z:-41.87 [[ 8.23945555e-01 5.63836438e-01 5.65879333e-02 8.24179687e+02] [-5.62590146e-01 8.25885925e-01 -3.74802124e-02 -4.47794351e+02] [-6.78678871e-02 -9.54159260e-04 9.97693861e-01 -4.18703816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.23, Y:-447.83, Z:-41.87 [[ 8.25788950e-01 5.61134136e-01 5.65781904e-02 8.24230662e+02] [-5.59880487e-01 8.27724575e-01 -3.74949141e-02 -4.47829947e+02] [-6.78708348e-02 -7.14139065e-04 9.97693861e-01 -4.18735853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters Centerline goodness : 0.997628 with order 1 Centerline is valid? [True, True] Translation: X:824.75, Y:-447.24, Z:-40.91 [[ 8.76268121e-01 4.78491553e-01 5.65686599e-02 8.24749501e+02] [-4.77055359e-01 8.78072456e-01 -3.75092873e-02 -4.47235026e+02] [-6.76192592e-02 5.88181043e-03 9.97693861e-01 -4.09058959e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.80, Y:-447.26, Z:-40.91 [[ 8.76943870e-01 4.76880034e-01 5.96228287e-02 8.24803443e+02] [-4.75819992e-01 8.78968250e-01 -3.17828674e-02 -4.47264078e+02] [-6.75631883e-02 -4.97943054e-04 9.97714873e-01 -4.09079843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.86, Y:-447.29, Z:-40.91 [[ 8.76843035e-01 4.77066540e-01 5.96138303e-02 8.24859016e+02] [-4.76005781e-01 8.78867039e-01 -3.17997364e-02 -4.47293185e+02] [-6.75632208e-02 -4.93150537e-04 9.97714873e-01 -4.09124668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters Centerline goodness : 0.997222 with order 1 Centerline is valid? [True, True] Translation: X:824.91, Y:-447.32, Z:-40.92 [[ 8.76282851e-01 4.78095799e-01 5.96051304e-02 8.24913128e+02] [-4.77036309e-01 8.78307520e-01 -3.18160350e-02 -4.47323922e+02] [-6.75627470e-02 -5.53965532e-04 9.97714873e-01 -4.09166322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.97, Y:-447.35, Z:-40.92 [[ 8.75897342e-01 4.78802887e-01 5.95956508e-02 8.24968853e+02] [-4.77743824e-01 8.77922234e-01 -3.18337818e-02 -4.47349858e+02] [-6.75624535e-02 -5.88329269e-04 9.97714874e-01 -4.09193311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.02, Y:-447.38, Z:-40.92 [[ 8.75277469e-01 4.79936204e-01 5.95868405e-02 8.25024824e+02] [-4.78878641e-01 8.77303145e-01 -3.18502644e-02 -4.47377481e+02] [-6.75618176e-02 -6.57046367e-04 9.97714874e-01 -4.09236379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.08, Y:-447.41, Z:-40.92 [[ 8.73903530e-01 4.82434546e-01 5.95779250e-02 8.25077879e+02] [-4.81381637e-01 8.75931629e-01 -3.18669327e-02 -4.47408574e+02] [-6.75598981e-02 -8.31094064e-04 9.97714874e-01 -4.09202647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.13, Y:-447.43, Z:-40.93 [[ 8.75245263e-01 4.79996808e-01 5.95717475e-02 8.25133101e+02] [-4.78937465e-01 8.77270008e-01 -3.18784768e-02 -4.47433516e+02] [-6.75620745e-02 -6.29655921e-04 9.97714874e-01 -4.09326594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.19, Y:-447.46, Z:-40.94 [[ 8.75905852e-01 4.78791234e-01 5.95641928e-02 8.25189260e+02] [-4.77728144e-01 8.77928632e-01 -3.18925864e-02 -4.47461736e+02] [-6.75630011e-02 -5.20588215e-04 9.97714874e-01 -4.09355632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.25, Y:-447.49, Z:-40.94 [[ 8.76450159e-01 4.77795253e-01 5.95551493e-02 8.25245073e+02] [-4.76728717e-01 8.78471124e-01 -3.19094650e-02 -4.47490312e+02] [-6.75636698e-02 -4.24594206e-04 9.97714874e-01 -4.09395116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.30, Y:-447.52, Z:-40.94 [[ 8.75688349e-01 4.79191182e-01 5.95460123e-02 8.25298989e+02] [-4.78126709e-01 8.77710401e-01 -3.19265064e-02 -4.47521383e+02] [-6.75630547e-02 -5.12869250e-04 9.97714874e-01 -4.09380292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.35, Y:-447.55, Z:-40.95 [[ 8.77184065e-01 4.76448705e-01 5.95377816e-02 8.25353673e+02] [-4.75376869e-01 8.79202224e-01 -3.19418480e-02 -4.47547810e+02] [-6.75644021e-02 -2.84004113e-04 9.97714875e-01 -4.09484017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.41, Y:-447.58, Z:-40.95 [[ 8.77796151e-01 4.75321014e-01 5.95302581e-02 8.25408627e+02] [-4.74245634e-01 8.79812424e-01 -3.19558634e-02 -4.47577012e+02] [-6.75647541e-02 -1.81231088e-04 9.97714875e-01 -4.09529320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.46, Y:-447.61, Z:-40.96 [[ 8.78224017e-01 4.74530984e-01 5.95224491e-02 8.25463194e+02] [-4.73452805e-01 8.80238794e-01 -3.19704022e-02 -4.47606537e+02] [-6.75649152e-02 -1.03895444e-04 9.97714875e-01 -4.09564683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.52, Y:-447.64, Z:-40.95 [[ 8.77584836e-01 4.75713011e-01 5.95145965e-02 8.25515837e+02] [-4.74636556e-01 8.79600534e-01 -3.19850136e-02 -4.47639592e+02] [-6.75647580e-02 -1.78240236e-04 9.97714875e-01 -4.09521025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.57, Y:-447.67, Z:-40.96 [[ 8.79378128e-01 4.72390019e-01 5.95128381e-02 8.25569420e+02] [-4.71305725e-01 8.81389620e-01 -3.19882850e-02 -4.47665660e+02] [-6.75649444e-02 8.10568524e-05 9.97714875e-01 -4.09626667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.62, Y:-447.70, Z:-40.96 [[ 8.77949706e-01 4.75039949e-01 5.95093284e-02 8.25621157e+02] [-4.73961284e-01 8.79964223e-01 -3.19948130e-02 -4.47699870e+02] [-6.75648942e-02 -1.15281069e-04 9.97714875e-01 -4.09614562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.68, Y:-447.72, Z:-40.97 [[ 8.80562975e-01 4.70178474e-01 5.95067268e-02 8.25677251e+02] [-4.69088359e-01 8.82571319e-01 -3.19996509e-02 -4.47723425e+02] [-6.75644774e-02 2.63794928e-04 9.97714875e-01 -4.09679680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.73, Y:-447.75, Z:-40.97 [[ 8.81173648e-01 4.69034015e-01 5.94987016e-02 8.25732611e+02] [-4.67940285e-01 8.83180025e-01 -3.20145657e-02 -4.47753865e+02] [-6.75639851e-02 3.68552200e-04 9.97714875e-01 -4.09698054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.79, Y:-447.79, Z:-40.97 [[ 8.81236987e-01 4.68916153e-01 5.94896190e-02 8.25786647e+02] [-4.67821017e-01 8.83242596e-01 -3.20314341e-02 -4.47785255e+02] [-6.75638224e-02 3.96790415e-04 9.97714875e-01 -4.09728401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.84, Y:-447.81, Z:-40.98 [[ 8.82518831e-01 4.66499607e-01 5.94863805e-02 8.25842377e+02] [-4.65398573e-01 8.84521210e-01 -3.20374473e-02 -4.47812092e+02] [-6.75624218e-02 5.88773946e-04 9.97714875e-01 -4.09760443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.90, Y:-447.84, Z:-40.98 [[ 8.83239670e-01 4.65134547e-01 5.94772070e-02 8.25896388e+02] [-4.64029273e-01 8.85239711e-01 -3.20544688e-02 -4.47840034e+02] [-6.75612263e-02 7.12613359e-04 9.97714876e-01 -4.09801687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.95, Y:-447.87, Z:-40.98 [[ 8.84328658e-01 4.63061808e-01 5.94692137e-02 8.25951143e+02] [-4.61950849e-01 8.86325546e-01 -3.20692916e-02 -4.47869893e+02] [-6.75591475e-02 8.87939784e-04 9.97714876e-01 -4.09824172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.01, Y:-447.90, Z:-40.98 [[ 8.85061715e-01 4.61659540e-01 5.94662080e-02 8.26006252e+02] [-4.60545043e-01 8.87056631e-01 -3.20748641e-02 -4.47899503e+02] [-6.75575611e-02 1.00136687e-03 9.97714876e-01 -4.09835588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.06, Y:-447.93, Z:-40.99 [[ 8.85299203e-01 4.61205066e-01 5.94576259e-02 8.26062404e+02] [-4.60088477e-01 8.87292948e-01 -3.20907650e-02 -4.47928779e+02] [-6.75567556e-02 1.05416017e-03 9.97714876e-01 -4.09858951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.12, Y:-447.96, Z:-40.99 [[ 8.84548541e-01 4.62644342e-01 5.94482189e-02 8.26117695e+02] [-4.61529827e-01 8.86543447e-01 -3.21081821e-02 -4.47956435e+02] [-6.75580977e-02 9.64119452e-04 9.97714876e-01 -4.09875698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.17, Y:-447.98, Z:-40.99 [[ 8.83165296e-01 4.65280539e-01 5.94397125e-02 8.26174744e+02] [-4.64170920e-01 8.85162929e-01 -3.21239217e-02 -4.47979810e+02] [-6.75604656e-02 7.80546714e-04 9.97714876e-01 -4.09939260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.23, Y:-448.00, Z:-41.00 [[ 8.79543188e-01 4.72092831e-01 5.94318060e-02 8.26230375e+02] [-4.70997697e-01 8.81548798e-01 -3.21385428e-02 -4.48004111e+02] [-6.75644128e-02 2.74992571e-04 9.97714876e-01 -4.10007374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.29, Y:-448.03, Z:-41.01 [[ 8.77917732e-01 4.75109326e-01 5.94271291e-02 8.26288111e+02] [-4.74020499e-01 8.79926773e-01 -3.21471884e-02 -4.48026400e+02] [-6.75649510e-02 5.29094058e-05 9.97714876e-01 -4.10118929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.34, Y:-448.05, Z:-41.01 [[ 8.76240688e-01 4.78195519e-01 5.94247601e-02 8.26341559e+02] [-4.77113470e-01 8.78253388e-01 -3.21515670e-02 -4.48054036e+02] [-6.75647321e-02 -1.79842311e-04 9.97714876e-01 -4.10126310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.40, Y:-448.08, Z:-41.02 [[ 8.75564633e-01 4.79432401e-01 5.94234581e-02 8.26396785e+02] [-4.78353032e-01 8.77578771e-01 -3.21539733e-02 -4.48081774e+02] [-6.75644219e-02 -2.72509522e-04 9.97714876e-01 -4.10184519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.45, Y:-448.11, Z:-41.02 [[ 8.74900251e-01 4.80644024e-01 5.94211483e-02 8.26452288e+02] [-4.79567154e-01 8.76915727e-01 -3.21582412e-02 -4.48110585e+02] [-6.75640059e-02 -3.61177707e-04 9.97714876e-01 -4.10222939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.51, Y:-448.14, Z:-41.02 [[ 8.73618197e-01 4.82971525e-01 5.94117191e-02 8.26506896e+02] [-4.81898841e-01 8.75635903e-01 -3.21756520e-02 -4.48139207e+02] [-6.75629580e-02 -5.21203552e-04 9.97714877e-01 -4.10232681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.56, Y:-448.17, Z:-41.03 [[ 8.72467068e-01 4.85048889e-01 5.94036323e-02 8.26561607e+02] [-4.83979993e-01 8.74486783e-01 -3.21905752e-02 -4.48169638e+02] [-6.75616940e-02 -6.64952786e-04 9.97714877e-01 -4.10276020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.62, Y:-448.20, Z:-41.03 [[ 8.72243824e-01 4.85451336e-01 5.93945367e-02 8.26616776e+02] [-4.84382230e-01 8.74263428e-01 -3.22073487e-02 -4.48200151e+02] [-6.75615717e-02 -6.76997154e-04 9.97714877e-01 -4.10332220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.67, Y:-448.23, Z:-41.04 [[ 8.72738836e-01 4.84561953e-01 5.93855016e-02 8.26670809e+02] [-4.83489655e-01 8.74756747e-01 -3.22239994e-02 -4.48230443e+02] [-6.75623923e-02 -5.89139963e-04 9.97714877e-01 -4.10374163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.72, Y:-448.26, Z:-41.04 [[ 8.73792259e-01 4.82660727e-01 5.93776998e-02 8.26724956e+02] [-4.81583063e-01 8.75807308e-01 -3.22383691e-02 -4.48262146e+02] [-6.75636181e-02 -4.25657225e-04 9.97714877e-01 -4.10412443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.78, Y:-448.30, Z:-41.04 [[ 8.76952773e-01 4.76895379e-01 5.93686030e-02 8.26778926e+02] [-4.75803333e-01 8.78960065e-01 -3.22551127e-02 -4.48295044e+02] [-6.75649453e-02 3.84313720e-05 9.97714877e-01 -4.10448504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:826.83, Y:-448.33, Z:-41.05 [[ 8.80067662e-01 4.71123513e-01 5.93594649e-02 8.26831890e+02] [-4.70017169e-01 8.82067108e-01 -3.22719210e-02 -4.48327330e+02] [-6.75630923e-02 5.01506411e-04 9.97714878e-01 -4.10493597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.88, Y:-448.36, Z:-41.05 [[ 8.85742090e-01 4.60367685e-01 5.93510268e-02 8.26884614e+02] [-4.59236027e-01 8.87727319e-01 -3.22874319e-02 -4.48361235e+02] [-6.75516182e-02 1.34220775e-03 9.97714878e-01 -4.10508510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.94, Y:-448.39, Z:-41.05 [[ 8.89276322e-01 4.53504325e-01 5.93418045e-02 8.26937721e+02] [-4.52356220e-01 8.91252085e-01 -3.23043729e-02 -4.48393931e+02] [-6.75386798e-02 1.88387956e-03 9.97714878e-01 -4.10545433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.99, Y:-448.43, Z:-41.06 [[ 8.93749642e-01 4.44624715e-01 5.93333055e-02 8.26990942e+02] [-4.43455954e-01 8.95713256e-01 -3.23199756e-02 -4.48426148e+02] [-6.75158881e-02 2.57425901e-03 9.97714878e-01 -4.10570578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:827.05, Y:-448.46, Z:-41.06 [[ 8.96015101e-01 4.40042545e-01 5.93253564e-02 8.27046195e+02] [-4.38862782e-01 8.97972124e-01 -3.23345600e-02 -4.48456744e+02] [-6.75010984e-02 2.93656304e-03 9.97714878e-01 -4.10619812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.10, Y:-448.49, Z:-41.07 [[ 8.96287453e-01 4.39488765e-01 5.93163241e-02 8.27100245e+02] [-4.38306700e-01 8.98243086e-01 -3.23511209e-02 -4.48486551e+02] [-6.74984322e-02 2.99716147e-03 9.97714878e-01 -4.10666858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.16, Y:-448.52, Z:-41.07 [[ 8.94913435e-01 4.42281027e-01 5.93079872e-02 8.27156658e+02] [-4.41104054e-01 8.96872137e-01 -3.23663974e-02 -4.48515010e+02] [-6.75067247e-02 2.80413027e-03 9.97714879e-01 -4.10698096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:827.21, Y:-448.54, Z:-41.07 [[ 8.91080944e-01 4.49953758e-01 5.92989634e-02 8.27212540e+02] [-4.48792559e-01 8.93049039e-01 -3.23829216e-02 -4.48539501e+02] [-6.75276995e-02 2.24287079e-03 9.97714879e-01 -4.10742778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:827.27, Y:-448.57, Z:-41.08 [[ 8.89497848e-01 4.53076226e-01 5.92917528e-02 8.27268954e+02] [-4.51921058e-01 8.91469488e-01 -3.23961186e-02 -4.48567897e+02] [-6.75346997e-02 2.02108608e-03 9.97714879e-01 -4.10781659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.33, Y:-448.59, Z:-41.08 [[ 8.84616771e-01 4.62535105e-01 5.92827534e-02 8.27326348e+02] [-4.61399924e-01 8.86599986e-01 -3.24125785e-02 -4.48592872e+02] [-6.75520438e-02 1.31965263e-03 9.97714879e-01 -4.10824641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.38, Y:-448.62, Z:-41.09 [[ 8.82082154e-01 4.67351653e-01 5.92748294e-02 8.27383786e+02] [-4.66226329e-01 8.84070979e-01 -3.24270632e-02 -4.48619130e+02] [-6.75579980e-02 9.67847614e-04 9.97714879e-01 -4.10875667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:827.44, Y:-448.64, Z:-41.09 [[ 8.79772478e-01 4.71686290e-01 5.92657668e-02 8.27442077e+02] [-4.70569650e-01 8.81766191e-01 -3.24436181e-02 -4.48644273e+02] [-6.75617593e-02 6.54331090e-04 9.97714879e-01 -4.10919599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:827.50, Y:-448.67, Z:-41.10 [[ 8.78804701e-01 4.73488075e-01 5.92565672e-02 8.27498454e+02] [-4.72374391e-01 8.80800066e-01 -3.24604121e-02 -4.48670073e+02] [-6.75628063e-02 5.35077926e-04 9.97714880e-01 -4.10980093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.56, Y:-448.70, Z:-41.10 [[ 8.78848711e-01 4.73407446e-01 5.92480612e-02 8.27555225e+02] [-4.72292533e-01 8.80843390e-01 -3.24759301e-02 -4.48696279e+02] [-6.75626102e-02 5.59012485e-04 9.97714880e-01 -4.11043103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.61, Y:-448.72, Z:-41.11 [[ 8.79249543e-01 4.72663730e-01 5.92388399e-02 8.27611406e+02] [-4.71545997e-01 8.81242642e-01 -3.24927419e-02 -4.48724542e+02] [-6.75619324e-02 6.35390593e-04 9.97714880e-01 -4.11096168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:827.67, Y:-448.75, Z:-41.11 [[ 8.79996170e-01 4.71273383e-01 5.92295384e-02 8.27667147e+02] [-4.70151361e-01 8.81986858e-01 -3.25096884e-02 -4.48753233e+02] [-6.75606253e-02 7.61553231e-04 9.97714880e-01 -4.11142976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.72, Y:-448.78, Z:-41.12 [[ 8.80500563e-01 4.70331491e-01 5.92203200e-02 8.27722154e+02] [-4.69206211e-01 8.82489411e-01 -3.25264722e-02 -4.48782516e+02] [-6.75595295e-02 8.53035132e-04 9.97714880e-01 -4.11195226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.78, Y:-448.81, Z:-41.12 [[ 8.79853109e-01 4.71542739e-01 5.92110867e-02 8.27778159e+02] [-4.70419066e-01 8.81842865e-01 -3.25432719e-02 -4.48811601e+02] [-6.75604178e-02 7.79274828e-04 9.97714880e-01 -4.11249202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.83, Y:-448.84, Z:-41.13 [[ 8.79229417e-01 4.72705801e-01 5.92018361e-02 8.27833446e+02] [-4.71583628e-01 8.81220019e-01 -3.25600916e-02 -4.48838008e+02] [-6.75611873e-02 7.09173772e-04 9.97714881e-01 -4.11312744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:827.89, Y:-448.87, Z:-41.13 [[ 8.76887297e-01 4.77037548e-01 5.91932906e-02 8.27887614e+02] [-4.75924160e-01 8.78882826e-01 -3.25756196e-02 -4.48870006e+02] [-6.75637603e-02 3.93629906e-04 9.97714881e-01 -4.11333365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:827.94, Y:-448.90, Z:-41.14 [[ 8.74452799e-01 4.81486778e-01 5.91843340e-02 8.27943128e+02] [-4.80382442e-01 8.76453352e-01 -3.25918841e-02 -4.48900331e+02] [-6.75648692e-02 6.89493215e-05 9.97714881e-01 -4.11373321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:828.00, Y:-448.93, Z:-41.14 [[ 8.73435822e-01 4.83330283e-01 5.91751934e-02 8.27999281e+02] [-4.82229046e-01 8.75438082e-01 -3.26084718e-02 -4.48929246e+02] [-6.75648797e-02 -5.45896986e-05 9.97714881e-01 -4.11409233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.05, Y:-448.96, Z:-41.15 [[ 8.69165341e-01 4.90969505e-01 5.91654856e-02 8.28051921e+02] [-4.89884667e-01 8.71176533e-01 -3.26260763e-02 -4.48960887e+02] [-6.75619912e-02 -6.26809499e-04 9.97714881e-01 -4.11460758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.11, Y:-448.99, Z:-41.15 [[ 8.66652709e-01 4.95392374e-01 5.91563807e-02 8.28106179e+02] [-4.94316673e-01 8.68668803e-01 -3.26425767e-02 -4.48991580e+02] [-6.75581860e-02 -9.52207720e-04 9.97714882e-01 -4.11506705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.16, Y:-449.02, Z:-41.16 [[ 8.63297289e-01 5.01217914e-01 5.91472158e-02 8.28159442e+02] [-5.00154679e-01 8.65319985e-01 -3.26591747e-02 -4.49022334e+02] [-6.75506313e-02 -1.38817977e-03 9.97714882e-01 -4.11557117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.21, Y:-449.05, Z:-41.16 [[ 8.60973610e-01 5.05200012e-01 5.91387461e-02 8.28213190e+02] [-5.04145078e-01 8.63000647e-01 -3.26745044e-02 -4.49054906e+02] [-6.75439362e-02 -1.68262172e-03 9.97714882e-01 -4.11607317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.27, Y:-449.09, Z:-41.17 [[ 8.59625184e-01 5.07492126e-01 5.91294006e-02 8.28265161e+02] [-5.06441435e-01 8.61654423e-01 -3.26914077e-02 -4.49088273e+02] [-6.75397416e-02 -1.84322111e-03 9.97714882e-01 -4.11652137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:828.32, Y:-449.12, Z:-41.17 [[ 8.58971248e-01 5.08599185e-01 5.91207631e-02 8.28318117e+02] [-5.07550036e-01 8.61001284e-01 -3.27070208e-02 -4.49121845e+02] [-6.75378171e-02 -1.91235504e-03 9.97714882e-01 -4.11693592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.37, Y:-449.16, Z:-41.17 [[ 8.58413709e-01 5.09540711e-01 5.91114934e-02 8.28371305e+02] [-5.08492636e-01 8.60444300e-01 -3.27237654e-02 -4.49155318e+02] [-6.75362383e-02 -1.96723029e-03 9.97714882e-01 -4.11736275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.42, Y:-449.19, Z:-41.18 [[ 8.57930633e-01 5.10354745e-01 5.91021466e-02 8.28422742e+02] [-5.09307436e-01 8.59961619e-01 -3.27406379e-02 -4.49189389e+02] [-6.75349176e-02 -2.01196653e-03 9.97714883e-01 -4.11788418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:828.48, Y:-449.22, Z:-41.18 [[ 8.57793905e-01 5.10585188e-01 5.90963848e-02 8.28475380e+02] [-5.09537709e-01 8.59824803e-01 -3.27510347e-02 -4.49222758e+02] [-6.75347306e-02 -2.01819861e-03 9.97714883e-01 -4.11842333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:828.53, Y:-449.26, Z:-41.19 [[ 8.57854383e-01 5.10484624e-01 5.90872748e-02 8.28527916e+02] [-5.09435777e-01 8.59884575e-01 -3.27674621e-02 -4.49258168e+02] [-6.75355217e-02 -1.99146078e-03 9.97714883e-01 -4.11897803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:828.58, Y:-449.29, Z:-41.19 [[ 8.58236174e-01 5.09843564e-01 5.90779959e-02 8.28578664e+02] [-5.08792050e-01 8.60264986e-01 -3.27841829e-02 -4.49293607e+02] [-6.75375360e-02 -1.92184291e-03 9.97714883e-01 -4.11946005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.63, Y:-449.33, Z:-41.20 [[ 8.58424313e-01 5.09527725e-01 5.90694260e-02 8.28631412e+02] [-5.08474404e-01 8.60452187e-01 -3.27996167e-02 -4.49328611e+02] [-6.75387308e-02 -1.87930273e-03 9.97714883e-01 -4.11973669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:828.68, Y:-449.36, Z:-41.21 [[ 8.60113186e-01 5.06672694e-01 5.90600366e-02 8.28684256e+02] [-5.05611481e-01 8.62136942e-01 -3.28165148e-02 -4.49361032e+02] [-6.75450713e-02 -1.63551552e-03 9.97714883e-01 -4.12053956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:828.73, Y:-449.40, Z:-41.20 [[ 8.58521104e-01 5.09366084e-01 5.90568053e-02 8.28734676e+02] [-5.08310820e-01 8.60547968e-01 -3.28223288e-02 -4.49399696e+02] [-6.75397949e-02 -1.84055124e-03 9.97714883e-01 -4.12030524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:828.79, Y:-449.43, Z:-41.21 [[ 8.57997613e-01 5.10248583e-01 5.90464208e-02 8.28788039e+02] [-5.09194120e-01 8.60024893e-01 -3.28409997e-02 -4.49432698e+02] [-6.75384653e-02 -1.88859083e-03 9.97714884e-01 -4.12071123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:828.84, Y:-449.47, Z:-41.21 [[ 8.57751590e-01 5.10663121e-01 5.90371631e-02 8.28841158e+02] [-5.09608494e-01 8.59778785e-01 -3.28576335e-02 -4.49466262e+02] [-6.75380820e-02 -1.90215234e-03 9.97714884e-01 -4.12131522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:828.89, Y:-449.50, Z:-41.22 [[ 8.58095520e-01 5.10086053e-01 5.90279435e-02 8.28894524e+02] [-5.09028925e-01 8.60121411e-01 -3.28741881e-02 -4.49499156e+02] [-6.75398628e-02 -1.83773708e-03 9.97714884e-01 -4.12191614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:828.95, Y:-449.53, Z:-41.23 [[ 8.60110394e-01 5.06682260e-01 5.90186172e-02 8.28947362e+02] [-5.05615967e-01 8.62131476e-01 -3.28909230e-02 -4.49532123e+02] [-6.75470547e-02 -1.55093046e-03 9.97714884e-01 -4.12250398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:829.00, Y:-449.56, Z:-41.23 [[ 8.61160468e-01 5.04896573e-01 5.90093182e-02 8.29001055e+02] [-5.03824946e-01 8.63178726e-01 -3.29075978e-02 -4.49563748e+02] [-6.75505215e-02 -1.39164427e-03 9.97714884e-01 -4.12293766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.05, Y:-449.60, Z:-41.23 [[ 8.64151860e-01 4.99760507e-01 5.89999916e-02 8.29052923e+02] [-4.98675742e-01 8.66163088e-01 -3.29243108e-02 -4.49596786e+02] [-6.75578852e-02 -9.70260192e-04 9.97714885e-01 -4.12332823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.11, Y:-449.63, Z:-41.24 [[ 8.68544191e-01 4.92088411e-01 5.89913945e-02 8.29105561e+02] [-4.90984832e-01 8.70545157e-01 -3.29397073e-02 -4.49630351e+02] [-6.75639211e-02 -3.54288473e-04 9.97714885e-01 -4.12363855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:829.16, Y:-449.66, Z:-41.24 [[ 8.71465802e-01 4.86896665e-01 5.89829940e-02 8.29160501e+02] [-4.85780148e-01 8.73459577e-01 -3.29547427e-02 -4.49660657e+02] [-6.75648154e-02 6.61637424e-05 9.97714885e-01 -4.12397817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.21, Y:-449.69, Z:-41.25 [[ 8.73417534e-01 4.83387935e-01 5.89738549e-02 8.29213998e+02] [-4.82262305e-01 8.75406178e-01 -3.29710895e-02 -4.49690114e+02] [-6.75639038e-02 3.56660515e-04 9.97714885e-01 -4.12452615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.27, Y:-449.72, Z:-41.25 [[ 8.74677349e-01 4.81105126e-01 5.89694275e-02 8.29269130e+02] [-4.79973771e-01 8.76662743e-01 -3.29790061e-02 -4.49720311e+02] [-6.75626689e-02 5.42211107e-04 9.97714885e-01 -4.12491192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.33, Y:-449.75, Z:-41.25 [[ 8.76486940e-01 4.77801571e-01 5.89601862e-02 8.29325126e+02] [-4.76661623e-01 8.78467412e-01 -3.29955195e-02 -4.49748276e+02] [-6.75599132e-02 8.16083926e-04 9.97714885e-01 -4.12539095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.38, Y:-449.78, Z:-41.26 [[ 8.78132514e-01 4.74771590e-01 5.89510478e-02 8.29380302e+02] [-4.73623713e-01 8.80108401e-01 -3.30118385e-02 -4.49777444e+02] [-6.75563954e-02 1.06815452e-03 9.97714885e-01 -4.12578381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:829.44, Y:-449.80, Z:-41.26 [[ 8.80562377e-01 4.70250728e-01 5.89419454e-02 8.29436419e+02] [-4.69091621e-01 8.82531697e-01 -3.30280827e-02 -4.49804816e+02] [-6.75496150e-02 1.43411435e-03 9.97714886e-01 -4.12610586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.49, Y:-449.83, Z:-41.27 [[ 8.80945539e-01 4.69533616e-01 5.89333613e-02 8.29493541e+02] [-4.68371883e-01 8.82913310e-01 -3.30433925e-02 -4.49832057e+02] [-6.75480327e-02 1.50669981e-03 9.97714886e-01 -4.12651204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:829.55, Y:-449.86, Z:-41.27 [[ 8.79691569e-01 4.71879937e-01 5.89242643e-02 8.29550008e+02] [-4.70722367e-01 8.81661792e-01 -3.30596068e-02 -4.49860192e+02] [-6.75514376e-02 1.34528817e-03 9.97714886e-01 -4.12694820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.61, Y:-449.88, Z:-41.27 [[ 8.75975486e-01 4.78744158e-01 5.89150173e-02 8.29607074e+02] [-4.77600922e-01 8.77954061e-01 -3.30760775e-02 -4.49884811e+02] [-6.75596575e-02 8.35966523e-04 9.97714886e-01 -4.12746247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.67, Y:-449.91, Z:-41.28 [[ 8.71992713e-01 4.85961661e-01 5.89064732e-02 8.29665149e+02] [-4.84833775e-01 8.73980078e-01 -3.30912870e-02 -4.49910373e+02] [-6.75641809e-02 2.95513302e-04 9.97714886e-01 -4.12791040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.72, Y:-449.94, Z:-41.28 [[ 8.69657833e-01 4.90128927e-01 5.88972719e-02 8.29721841e+02] [-4.89009456e-01 8.71649950e-01 -3.31076558e-02 -4.49938551e+02] [-6.75648239e-02 -8.99075416e-06 9.97714886e-01 -4.12837179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.78, Y:-449.97, Z:-41.29 [[ 8.67029141e-01 4.94765256e-01 5.88881212e-02 8.29778676e+02] [-4.93655333e-01 8.69026592e-01 -3.31239240e-02 -4.49965805e+02] [-6.75639101e-02 -3.51027696e-04 9.97714887e-01 -4.12870934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.84, Y:-449.99, Z:-41.29 [[ 8.64914604e-01 4.98453629e-01 5.88787621e-02 8.29835717e+02] [-4.97351091e-01 8.66916141e-01 -3.31405519e-02 -4.49993404e+02] [-6.75619776e-02 -6.19669262e-04 9.97714887e-01 -4.12906755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.89, Y:-450.02, Z:-41.29 [[ 8.63553059e-01 5.00809854e-01 5.88693926e-02 8.29890670e+02] [-4.99711643e-01 8.65556974e-01 -3.31571872e-02 -4.50022730e+02] [-6.75602593e-02 -7.84730520e-04 9.97714887e-01 -4.12945286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:829.95, Y:-450.05, Z:-41.30 [[ 8.61599652e-01 5.04164115e-01 5.88607272e-02 8.29945335e+02] [-5.03072655e-01 8.63607251e-01 -3.31725628e-02 -4.50052697e+02] [-6.75569666e-02 -1.02975376e-03 9.97714887e-01 -4.12987500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:830.00, Y:-450.08, Z:-41.30 [[ 8.60025554e-01 5.06845710e-01 5.88512850e-02 8.30000491e+02] [-5.05759364e-01 8.62035925e-01 -3.31893057e-02 -4.50082702e+02] [-6.75537791e-02 -1.22093749e-03 9.97714887e-01 -4.13040285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.05, Y:-450.11, Z:-41.31 [[ 8.59115826e-01 5.08387298e-01 5.88417559e-02 8.30054822e+02] [-5.07303404e-01 8.61127520e-01 -3.32061915e-02 -4.50113079e+02] [-6.75518613e-02 -1.32265837e-03 9.97714887e-01 -4.13093365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.11, Y:-450.14, Z:-41.31 [[ 8.59047828e-01 5.08503292e-01 5.88322325e-02 8.30109031e+02] [-5.07418514e-01 8.61059046e-01 -3.32230558e-02 -4.50143970e+02] [-6.75520592e-02 -1.31237005e-03 9.97714888e-01 -4.13138670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:830.16, Y:-450.18, Z:-41.32 [[ 8.59213974e-01 5.08223510e-01 5.88235581e-02 8.30160262e+02] [-5.07137027e-01 8.61224271e-01 -3.32384072e-02 -4.50178004e+02] [-6.75528159e-02 -1.27270042e-03 9.97714888e-01 -4.13215163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:830.21, Y:-450.21, Z:-41.32 [[ 8.61419517e-01 5.04477512e-01 5.88120432e-02 8.30212541e+02] [-5.03380896e-01 8.63424304e-01 -3.32587693e-02 -4.50211069e+02] [-6.75580486e-02 -9.55105980e-04 9.97714888e-01 -4.13230624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.26, Y:-450.25, Z:-41.33 [[ 8.62623386e-01 5.02417424e-01 5.88015850e-02 8.30264270e+02] [-5.01314761e-01 8.64624853e-01 -3.32772492e-02 -4.50245174e+02] [-6.75603816e-02 -7.72369083e-04 9.97714888e-01 -4.13273947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.32, Y:-450.28, Z:-41.33 [[ 8.64259363e-01 4.99598537e-01 5.87967340e-02 8.30316656e+02] [-4.98488763e-01 8.66256895e-01 -3.32858181e-02 -4.50278952e+02] [-6.75626223e-02 -5.41931181e-04 9.97714888e-01 -4.13288256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.37, Y:-450.31, Z:-41.33 [[ 8.64096509e-01 4.99880907e-01 5.87903167e-02 8.30370264e+02] [-4.98771014e-01 8.66093976e-01 -3.32971487e-02 -4.50311392e+02] [-6.75625480e-02 -5.50955944e-04 9.97714888e-01 -4.13334360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.42, Y:-450.34, Z:-41.34 [[ 8.62199427e-01 5.03147056e-01 5.87808496e-02 8.30422705e+02] [-5.02043591e-01 8.64200452e-01 -3.33138530e-02 -4.50343669e+02] [-6.75602038e-02 -7.87363810e-04 9.97714889e-01 -4.13403890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:830.48, Y:-450.38, Z:-41.35 [[ 8.60049779e-01 5.06813791e-01 5.87720948e-02 8.30475156e+02] [-5.05717801e-01 8.62054908e-01 -3.33292911e-02 -4.50376792e+02] [-6.75565171e-02 -1.05724512e-03 9.97714889e-01 -4.13471056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.53, Y:-450.41, Z:-41.35 [[ 8.59112844e-01 5.08401353e-01 5.87638164e-02 8.30528191e+02] [-5.07308071e-01 8.61119450e-01 -3.33438806e-02 -4.50410697e+02] [-6.75547392e-02 -1.16520225e-03 9.97714889e-01 -4.13519701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:830.58, Y:-450.44, Z:-41.36 [[ 8.59167154e-01 5.08310649e-01 5.87544581e-02 8.30581671e+02] [-5.07216028e-01 8.61173030e-01 -3.33603624e-02 -4.50444069e+02] [-6.75551822e-02 -1.13907524e-03 9.97714889e-01 -4.13551089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:830.63, Y:-450.48, Z:-41.36 [[ 8.59191509e-01 5.08270566e-01 5.87450667e-02 8.30633728e+02] [-5.07174723e-01 8.61196716e-01 -3.33768917e-02 -4.50479366e+02] [-6.75555502e-02 -1.11687095e-03 9.97714889e-01 -4.13583995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.69, Y:-450.51, Z:-41.36 [[ 8.59012092e-01 5.08574812e-01 5.87357265e-02 8.30686456e+02] [-5.07478556e-01 8.61017074e-01 -3.33933204e-02 -4.50512649e+02] [-6.75554650e-02 -1.12185558e-03 9.97714889e-01 -4.13637467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.74, Y:-450.55, Z:-41.37 [[ 8.59004075e-01 5.08589432e-01 5.87263941e-02 8.30739841e+02] [-5.07492088e-01 8.61008462e-01 -3.34097246e-02 -4.50545683e+02] [-6.75557551e-02 -1.10409074e-03 9.97714890e-01 -4.13685971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.79, Y:-450.58, Z:-41.37 [[ 8.59825855e-01 5.07199980e-01 5.87169357e-02 8.30793105e+02] [-5.06098263e-01 8.61827841e-01 -3.34263392e-02 -4.50577967e+02] [-6.75577286e-02 -9.75708515e-04 9.97714890e-01 -4.13734843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:830.85, Y:-450.61, Z:-41.38 [[ 8.61765418e-01 5.03898596e-01 5.87074935e-02 8.30846741e+02] [-5.02788080e-01 8.63762536e-01 -3.34429146e-02 -4.50608233e+02] [-6.75611712e-02 -6.97480713e-04 9.97714890e-01 -4.13785388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.90, Y:-450.64, Z:-41.38 [[ 8.62549005e-01 5.02557130e-01 5.86987727e-02 8.30901138e+02] [-5.01442466e-01 8.64543811e-01 -3.34582144e-02 -4.50638702e+02] [-6.75623248e-02 -5.74707790e-04 9.97714890e-01 -4.13827288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:830.96, Y:-450.67, Z:-41.39 [[ 8.62929083e-01 5.01905315e-01 5.86894571e-02 8.30955269e+02] [-5.00788034e-01 8.64922424e-01 -3.34745471e-02 -4.50669706e+02] [-6.75628806e-02 -5.04817576e-04 9.97714890e-01 -4.13870807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.01, Y:-450.70, Z:-41.39 [[ 8.64441110e-01 4.99297729e-01 5.86800289e-02 8.31009738e+02] [-4.98173313e-01 8.66430435e-01 -3.34910662e-02 -4.50701336e+02] [-6.75641763e-02 -2.81770008e-04 9.97714891e-01 -4.13922437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:831.06, Y:-450.73, Z:-41.40 [[ 8.66668689e-01 4.95422182e-01 5.86706465e-02 8.31063477e+02] [-4.94287758e-01 8.68652324e-01 -3.35074946e-02 -4.50731642e+02] [-6.75647495e-02 3.97140614e-05 9.97714891e-01 -4.13959147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:831.12, Y:-450.76, Z:-41.40 [[ 8.69115660e-01 4.91117848e-01 5.86619931e-02 8.31118302e+02] [-4.89972578e-01 8.71093052e-01 -3.35226374e-02 -4.50762967e+02] [-6.75636202e-02 3.92281155e-04 9.97714891e-01 -4.13990016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:831.17, Y:-450.79, Z:-41.40 [[ 8.70357162e-01 4.88915389e-01 5.86528200e-02 8.31172780e+02] [-4.87764034e-01 8.72331017e-01 -3.35386795e-02 -4.50793785e+02] [-6.75622506e-02 5.81893805e-04 9.97714891e-01 -4.14043668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.23, Y:-450.82, Z:-41.41 [[ 8.72659286e-01 4.84795534e-01 5.86435067e-02 8.31227952e+02] [-4.83633767e-01 8.74627031e-01 -3.35549562e-02 -4.50823010e+02] [-6.75584891e-02 9.20064062e-04 9.97714891e-01 -4.14118225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:831.28, Y:-450.85, Z:-41.42 [[ 8.73910488e-01 4.82537285e-01 5.86363996e-02 8.31283023e+02] [-4.81369601e-01 8.75874728e-01 -3.35673710e-02 -4.50851700e+02] [-6.75556486e-02 1.10909727e-03 9.97714891e-01 -4.14200845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:831.34, Y:-450.88, Z:-41.42 [[ 8.72463144e-01 4.85149712e-01 5.86329315e-02 8.31335734e+02] [-4.83987503e-01 8.74430627e-01 -3.35734279e-02 -4.50882264e+02] [-6.75585699e-02 9.13972321e-04 9.97714891e-01 -4.14204855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:831.39, Y:-450.91, Z:-41.42 [[ 8.69072757e-01 4.91198308e-01 5.86239277e-02 8.31392089e+02] [-4.90048734e-01 8.71047650e-01 -3.35891423e-02 -4.50910806e+02] [-6.75631643e-02 4.62826948e-04 9.97714891e-01 -4.14231052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:831.45, Y:-450.94, Z:-41.43 [[ 8.62921573e-01 5.01926993e-01 5.86144315e-02 8.31447887e+02] [-5.00800848e-01 8.64909919e-01 -3.36057055e-02 -4.50936677e+02] [-6.75638139e-02 -3.55068705e-04 9.97714892e-01 -4.14275273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:831.50, Y:-450.97, Z:-41.43 [[ 8.62788111e-01 5.02157332e-01 5.86062294e-02 8.31502727e+02] [-5.01030746e-01 8.64776206e-01 -3.36200033e-02 -4.50968239e+02] [-6.75638039e-02 -3.56583718e-04 9.97714892e-01 -4.14318183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.56, Y:-451.00, Z:-41.43 [[ 8.58367765e-01 5.09677487e-01 5.85972676e-02 8.31558108e+02] [-5.08567252e-01 8.60365037e-01 -3.36356159e-02 -4.50997497e+02] [-6.75583565e-02 -9.28922938e-04 9.97714892e-01 -4.14347049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:831.61, Y:-451.03, Z:-41.44 [[ 8.56237272e-01 5.13249628e-01 5.85880010e-02 8.31612990e+02] [-5.12146620e-01 8.58238544e-01 -3.36517492e-02 -4.51027689e+02] [-6.75542284e-02 -1.19176478e-03 9.97714892e-01 -4.14387866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:831.67, Y:-451.06, Z:-41.44 [[ 8.53531696e-01 5.17737573e-01 5.85785759e-02 8.31668037e+02] [-5.16643962e-01 8.55538119e-01 -3.36681478e-02 -4.51057073e+02] [-6.75474697e-02 -1.52743630e-03 9.97714892e-01 -4.14438423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.72, Y:-451.09, Z:-41.45 [[ 8.51933878e-01 5.20363665e-01 5.85689595e-02 8.31721792e+02] [-5.19275090e-01 8.53943037e-01 -3.36848681e-02 -4.51087099e+02] [-6.75429366e-02 -1.71612141e-03 9.97714892e-01 -4.14508820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.78, Y:-451.12, Z:-41.46 [[ 8.52416041e-01 5.19574394e-01 5.85605796e-02 8.31775711e+02] [-5.18482959e-01 8.54423648e-01 -3.36994301e-02 -4.51118406e+02] [-6.75449050e-02 -1.63672782e-03 9.97714893e-01 -4.14570830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:831.83, Y:-451.15, Z:-41.46 [[ 8.57136489e-01 5.11749982e-01 5.85576251e-02 8.31827567e+02] [-5.10639865e-01 8.59133826e-01 -3.37045632e-02 -4.51153998e+02] [-6.75571461e-02 -1.01244685e-03 9.97714893e-01 -4.14604884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:831.88, Y:-451.19, Z:-41.46 [[ 8.62427834e-01 5.02782592e-01 5.85482455e-02 8.31878839e+02] [-5.01650598e-01 8.64412854e-01 -3.37208487e-02 -4.51190051e+02] [-6.75641117e-02 -2.88963932e-04 9.97714893e-01 -4.14631263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.93, Y:-451.22, Z:-41.47 [[ 8.67136407e-01 4.94618546e-01 5.85401226e-02 8.31930418e+02] [-4.93466912e-01 8.69110097e-01 -3.37349444e-02 -4.51224976e+02] [-6.75637408e-02 3.65184961e-04 9.97714893e-01 -4.14669240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.98, Y:-451.26, Z:-41.47 [[ 8.68112690e-01 4.92904062e-01 5.85315527e-02 8.31984059e+02] [-4.91747528e-01 8.70083513e-01 -3.37498069e-02 -4.51257382e+02] [-6.75627559e-02 5.15889349e-04 9.97714893e-01 -4.14713032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.04, Y:-451.29, Z:-41.48 [[ 8.68171651e-01 4.92801320e-01 5.85221707e-02 8.32037796e+02] [-4.91643456e-01 8.70141692e-01 -3.37660675e-02 -4.51287938e+02] [-6.75625433e-02 5.42700318e-04 9.97714893e-01 -4.14771025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:832.09, Y:-451.32, Z:-41.48 [[ 8.66269340e-01 4.96138627e-01 5.85140511e-02 8.32091885e+02] [-4.94987403e-01 8.68243269e-01 -3.37801324e-02 -4.51318012e+02] [-6.75640595e-02 2.98974853e-04 9.97714893e-01 -4.14821636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:832.15, Y:-451.35, Z:-41.49 [[ 8.65322541e-01 4.97789087e-01 5.85057690e-02 8.32146322e+02] [-4.96640659e-01 8.67298098e-01 -3.37944705e-02 -4.51349134e+02] [-6.75644608e-02 1.86773408e-04 9.97714894e-01 -4.14860601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.20, Y:-451.38, Z:-41.49 [[ 8.63521887e-01 5.00907317e-01 5.84962381e-02 8.32201769e+02] [-4.99764906e-01 8.65500929e-01 -3.38109600e-02 -4.51377840e+02] [-6.75647057e-02 -3.78629443e-05 9.97714894e-01 -4.14892260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.26, Y:-451.40, Z:-41.49 [[ 8.61640449e-01 5.04137774e-01 5.84879522e-02 8.32256272e+02] [-5.03001810e-01 8.63623199e-01 -3.38252873e-02 -4.51404623e+02] [-6.75641574e-02 -2.74310020e-04 9.97714894e-01 -4.14922730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:832.31, Y:-451.43, Z:-41.50 [[ 8.60420358e-01 5.06218061e-01 5.84814810e-02 8.32311566e+02] [-5.05086130e-01 8.62405412e-01 -3.38364718e-02 -4.51434972e+02] [-6.75633789e-02 -4.24595680e-04 9.97714894e-01 -4.14964312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:832.37, Y:-451.46, Z:-41.50 [[ 8.58616948e-01 5.09271984e-01 5.84720795e-02 8.32366865e+02] [-5.08146007e-01 8.60605386e-01 -3.38527107e-02 -4.51464736e+02] [-6.75616236e-02 -6.45842606e-04 9.97714894e-01 -4.15010434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.42, Y:-451.50, Z:-41.51 [[ 8.57921759e-01 5.10443311e-01 5.84626587e-02 8.32421831e+02] [-5.09318941e-01 8.59911105e-01 -3.38689723e-02 -4.51495431e+02] [-6.75608798e-02 -7.19211134e-04 9.97714894e-01 -4.15054136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:832.48, Y:-451.52, Z:-41.51 [[ 8.56668012e-01 5.12545763e-01 5.84530445e-02 8.32477871e+02] [-5.11425144e-01 8.58659473e-01 -3.38855569e-02 -4.51524339e+02] [-6.75591590e-02 -8.65684032e-04 9.97714894e-01 -4.15102092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:832.53, Y:-451.55, Z:-41.52 [[ 8.57555123e-01 5.11061236e-01 5.84433469e-02 8.32532408e+02] [-5.09936030e-01 8.59543996e-01 -3.39022743e-02 -4.51554912e+02] [-6.75607662e-02 -7.29299303e-04 9.97714895e-01 -4.15153237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.59, Y:-451.59, Z:-41.52 [[ 8.61062187e-01 5.05131082e-01 5.84337185e-02 8.32586875e+02] [-5.03991052e-01 8.63042601e-01 -3.39188617e-02 -4.51586954e+02] [-6.75642597e-02 -2.43822074e-04 9.97714895e-01 -4.15200277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.64, Y:-451.62, Z:-41.52 [[ 8.64361017e-01 4.99466374e-01 5.84240831e-02 8.32640397e+02] [-4.98312243e-01 8.66333246e-01 -3.39354504e-02 -4.51619366e+02] [-6.75643419e-02 2.19044537e-04 9.97714895e-01 -4.15244519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.69, Y:-451.65, Z:-41.53 [[ 8.68501968e-01 4.92231734e-01 5.84144736e-02 8.32693743e+02] [-4.91060064e-01 8.70463828e-01 -3.39519834e-02 -4.51652930e+02] [-6.75599300e-02 8.02349265e-04 9.97714895e-01 -4.15291253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.75, Y:-451.68, Z:-41.54 [[ 8.70498172e-01 4.88693967e-01 5.84049622e-02 8.32747375e+02] [-4.87513227e-01 8.72454586e-01 -3.39683374e-02 -4.51683768e+02] [-6.75557987e-02 1.09618401e-03 9.97714895e-01 -4.15362643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.80, Y:-451.71, Z:-41.54 [[ 8.71094724e-01 4.87630815e-01 5.83966636e-02 8.32802024e+02] [-4.86446732e-01 8.73049117e-01 -3.39825980e-02 -4.51713427e+02] [-6.75541175e-02 1.19519571e-03 9.97714896e-01 -4.15430472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.86, Y:-451.74, Z:-41.55 [[ 8.68648615e-01 4.91975404e-01 5.83933700e-02 8.32855076e+02] [-4.90800717e-01 8.70608669e-01 -3.39882566e-02 -4.51744868e+02] [-6.75591604e-02 8.64344184e-04 9.97714896e-01 -4.15452426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:832.91, Y:-451.78, Z:-41.55 [[ 8.67773837e-01 4.93517921e-01 5.83834783e-02 8.32908539e+02] [-4.92345575e-01 8.69735292e-01 -3.40052395e-02 -4.51775094e+02] [-6.75603667e-02 7.64009917e-04 9.97714896e-01 -4.15491965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.96, Y:-451.81, Z:-41.55 [[ 8.65801964e-01 4.96969664e-01 5.83790336e-02 8.32963164e+02] [-4.95804625e-01 8.67767768e-01 -3.40128684e-02 -4.51805678e+02] [-6.75628074e-02 5.03813438e-04 9.97714896e-01 -4.15524347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.02, Y:-451.84, Z:-41.56 [[ 8.63935246e-01 5.00208839e-01 5.83695762e-02 8.33017772e+02] [-4.99050074e-01 8.65904755e-01 -3.40290905e-02 -4.51836526e+02] [-6.75641454e-02 2.69589393e-04 9.97714896e-01 -4.15565221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.07, Y:-451.87, Z:-41.56 [[ 8.59801660e-01 5.07282172e-01 5.83601268e-02 8.33072419e+02] [-5.06138510e-01 8.61779976e-01 -3.40452886e-02 -4.51866462e+02] [-6.75641566e-02 -2.66111965e-04 9.97714896e-01 -4.15608018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:833.13, Y:-451.90, Z:-41.57 [[ 8.54669612e-01 5.15882803e-01 5.83505637e-02 8.33127619e+02] [-5.14757928e-01 8.56658671e-01 -3.40616710e-02 -4.51895573e+02] [-6.75583467e-02 -9.24940136e-04 9.97714896e-01 -4.15654663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:833.18, Y:-451.93, Z:-41.57 [[ 8.50664765e-01 5.22461294e-01 5.83408482e-02 8.33181356e+02] [-5.21350658e-01 8.52661809e-01 -3.40783036e-02 -4.51925617e+02] [-6.75496078e-02 -1.42682749e-03 9.97714897e-01 -4.15706196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:833.23, Y:-451.96, Z:-41.57 [[ 8.49007684e-01 5.25150731e-01 5.83323475e-02 8.33234658e+02] [-5.24045422e-01 8.51007681e-01 -3.40928482e-02 -4.51957213e+02] [-6.75451600e-02 -1.62370953e-03 9.97714897e-01 -4.15748042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.29, Y:-451.99, Z:-41.58 [[ 8.48632706e-01 5.25757138e-01 5.83263398e-02 8.33288647e+02] [-5.24652553e-01 8.50633103e-01 -3.41031233e-02 -4.51988347e+02] [-6.75442759e-02 -1.66003726e-03 9.97714897e-01 -4.15783586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.34, Y:-452.02, Z:-41.58 [[ 8.48762143e-01 5.25549159e-01 5.83172851e-02 8.33341917e+02] [-5.24443021e-01 8.50761682e-01 -3.41185999e-02 -4.52018836e+02] [-6.75451131e-02 -1.62551719e-03 9.97714897e-01 -4.15836932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:833.39, Y:-452.05, Z:-41.59 [[ 8.50406093e-01 5.22885849e-01 5.83083707e-02 8.33394506e+02] [-5.21772405e-01 8.52401572e-01 -3.41338278e-02 -4.52050897e+02] [-6.75502424e-02 -1.39608369e-03 9.97714897e-01 -4.15885521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:833.45, Y:-452.08, Z:-41.59 [[ 8.52511107e-01 5.19447720e-01 5.82999003e-02 8.33446076e+02] [-5.18325238e-01 8.54501517e-01 -3.41482890e-02 -4.52082827e+02] [-6.75556041e-02 -1.10651397e-03 9.97714897e-01 -4.15945215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.50, Y:-452.12, Z:-41.60 [[ 8.57534207e-01 5.11113597e-01 5.82921584e-02 8.33498846e+02] [-5.09970870e-01 8.59513062e-01 -3.41614996e-02 -4.52116793e+02] [-6.75632785e-02 -4.32648308e-04 9.97714897e-01 -4.15969822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.55, Y:-452.15, Z:-41.60 [[ 8.63919161e-01 5.00246762e-01 5.82825883e-02 8.33551529e+02] [-4.99078042e-01 8.65882778e-01 -3.41778193e-02 -4.52151369e+02] [-6.75632328e-02 4.39312888e-04 9.97714897e-01 -4.16005988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.60, Y:-452.19, Z:-41.61 [[ 8.71314678e-01 4.87252489e-01 5.82730136e-02 8.33603164e+02] [-4.86053402e-01 8.73259899e-01 -3.41941363e-02 -4.52185982e+02] [-6.75486640e-02 1.47005631e-03 9.97714898e-01 -4.16052201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:833.66, Y:-452.22, Z:-41.61 [[ 8.76340084e-01 4.78156127e-01 5.82646930e-02 8.33655701e+02] [-4.76935916e-01 8.78272124e-01 -3.42083081e-02 -4.52219361e+02] [-6.75291679e-02 2.18958690e-03 9.97714898e-01 -4.16091271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:833.71, Y:-452.25, Z:-41.61 [[ 8.81258797e-01 4.69030001e-01 5.82562516e-02 8.33708387e+02] [-4.67788845e-01 8.83177448e-01 -3.42226777e-02 -4.52253324e+02] [-6.75020702e-02 2.90741116e-03 9.97714898e-01 -4.16053449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.76, Y:-452.28, Z:-41.61 [[ 8.85553437e-01 4.60870500e-01 5.82536920e-02 8.33762251e+02] [-4.59611390e-01 8.87460354e-01 -3.42270343e-02 -4.52280958e+02] [-6.74720725e-02 3.53580746e-03 9.97714898e-01 -4.16144716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:833.82, Y:-452.31, Z:-41.62 [[ 8.86170491e-01 4.59683421e-01 5.82495846e-02 8.33817248e+02] [-4.58421299e-01 8.88075416e-01 -3.42340229e-02 -4.52308726e+02] [-6.74668369e-02 3.63433068e-03 9.97714898e-01 -4.16187481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.88, Y:-452.33, Z:-41.62 [[ 8.83091154e-01 4.65572711e-01 5.82414414e-02 8.33875797e+02] [-4.64322388e-01 8.85003844e-01 -3.42478712e-02 -4.52333793e+02] [-6.74887737e-02 3.20118698e-03 9.97714898e-01 -4.16224953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.93, Y:-452.36, Z:-41.63 [[ 8.79805744e-01 4.71752987e-01 5.82320477e-02 8.33932611e+02] [-4.70515052e-01 8.81726475e-01 -3.42638360e-02 -4.52360805e+02] [-6.75088051e-02 2.74646483e-03 9.97714898e-01 -4.16260803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.99, Y:-452.39, Z:-41.63 [[ 8.76241747e-01 4.78341431e-01 5.82226418e-02 8.33989209e+02] [-4.77116882e-01 8.78171040e-01 -3.42798114e-02 -4.52388712e+02] [-6.75268920e-02 2.25839655e-03 9.97714898e-01 -4.16294722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.05, Y:-452.41, Z:-41.63 [[ 8.70637034e-01 4.88469412e-01 5.82133004e-02 8.34047401e+02] [-4.87266257e-01 8.72579740e-01 -3.42956676e-02 -4.52413349e+02] [-6.75481311e-02 1.49370131e-03 9.97714899e-01 -4.16331211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:834.10, Y:-452.44, Z:-41.64 [[ 8.64089855e-01 4.99961053e-01 5.82036799e-02 8.34103957e+02] [-4.98782642e-01 8.66047668e-01 -3.43119869e-02 -4.52438864e+02] [-6.75618184e-02 6.17654552e-04 9.97714899e-01 -4.16368017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:834.16, Y:-452.46, Z:-41.64 [[ 8.61111216e-01 5.05074443e-01 5.82003563e-02 8.34160945e+02] [-5.03907277e-01 8.63075754e-01 -3.43176236e-02 -4.52463919e+02] [-6.75642710e-02 2.23707511e-04 9.97714899e-01 -4.16406699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:834.22, Y:-452.49, Z:-41.64 [[ 8.57520691e-01 5.11147803e-01 5.81909647e-02 8.34217320e+02] [-5.09993471e-01 8.59492797e-01 -3.43335411e-02 -4.52492733e+02] [-6.75642291e-02 -2.35290145e-04 9.97714899e-01 -4.16439682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.27, Y:-452.52, Z:-41.65 [[ 8.51504923e-01 5.21108762e-01 5.81809642e-02 8.34271762e+02] [-5.19976339e-01 8.53489691e-01 -3.43504793e-02 -4.52521693e+02] [-6.75571889e-02 -1.00312252e-03 9.97714899e-01 -4.16518885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:834.33, Y:-452.55, Z:-41.66 [[ 8.49185116e-01 5.24880956e-01 5.81774971e-02 8.34327516e+02] [-5.23756947e-01 8.51174660e-01 -3.43563505e-02 -4.52547200e+02] [-6.75522054e-02 -1.29596679e-03 9.97714899e-01 -4.16577074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.38, Y:-452.58, Z:-41.66 [[ 8.45612692e-01 5.30618132e-01 5.81684958e-02 8.34381931e+02] [-5.29506571e-01 8.47609218e-01 -3.43715837e-02 -4.52576646e+02] [-6.75423388e-02 -1.73555337e-03 9.97714899e-01 -4.16612849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.44, Y:-452.61, Z:-41.66 [[ 8.45812386e-01 5.30300307e-01 5.81635001e-02 8.34436606e+02] [-5.29187415e-01 8.47808170e-01 -3.43800354e-02 -4.52605664e+02] [-6.75432339e-02 -1.70033245e-03 9.97714899e-01 -4.16643175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.49, Y:-452.64, Z:-41.67 [[ 8.49057103e-01 5.25090578e-01 5.81542769e-02 8.34487995e+02] [-5.23964370e-01 8.51045404e-01 -3.43956295e-02 -4.52638513e+02] [-6.75527511e-02 -1.26691554e-03 9.97714900e-01 -4.16703859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:834.54, Y:-452.67, Z:-41.67 [[ 8.52593727e-01 5.19329334e-01 5.81461904e-02 8.34540655e+02] [-5.18188756e-01 8.54573820e-01 -3.44092944e-02 -4.52672780e+02] [-6.75599680e-02 -7.93553535e-04 9.97714900e-01 -4.16734001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.59, Y:-452.71, Z:-41.67 [[ 8.58368837e-01 5.09728451e-01 5.81364421e-02 8.34591145e+02] [-5.08564609e-01 8.60335345e-01 -3.44257569e-02 -4.52710812e+02] [-6.75646237e-02 -1.61400391e-05 9.97714900e-01 -4.16705371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:834.64, Y:-452.74, Z:-41.68 [[ 8.65131818e-01 4.98164190e-01 5.81324157e-02 8.34641460e+02] [-4.96973607e-01 8.67082253e-01 -3.44325546e-02 -4.52744819e+02] [-6.75586516e-02 8.98422266e-04 9.97714900e-01 -4.16790579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:834.69, Y:-452.78, Z:-41.68 [[ 8.69065051e-01 4.91271386e-01 5.81236934e-02 8.34694066e+02] [-4.90064353e-01 8.71005348e-01 -3.44472719e-02 -4.52780029e+02] [-6.75490068e-02 1.45256995e-03 9.97714900e-01 -4.16829644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.74, Y:-452.82, Z:-41.68 [[ 8.74239665e-01 4.82003915e-01 5.81139833e-02 8.34744808e+02] [-4.80775234e-01 8.76166326e-01 -3.44636456e-02 -4.52815824e+02] [-6.75291273e-02 2.18972209e-03 9.97714900e-01 -4.16826737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.79, Y:-452.85, Z:-41.69 [[ 8.78117578e-01 4.74902626e-01 5.81120942e-02 8.34794838e+02] [-4.73658161e-01 8.80034081e-01 -3.44668306e-02 -4.52849302e+02] [-6.75090118e-02 2.74066216e-03 9.97714900e-01 -4.16925277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.85, Y:-452.88, Z:-41.69 [[ 8.80406299e-01 4.70646613e-01 5.81077813e-02 8.34847422e+02] [-4.69392407e-01 8.82316443e-01 -3.44741003e-02 -4.52883248e+02] [-6.74945694e-02 3.07586374e-03 9.97714900e-01 -4.16944988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.90, Y:-452.91, Z:-41.69 [[ 8.78108034e-01 4.74921809e-01 5.80995383e-02 8.34901449e+02] [-4.73675988e-01 8.80023657e-01 -3.44879867e-02 -4.52913681e+02] [-6.75080652e-02 2.76382204e-03 9.97714900e-01 -4.16948668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.96, Y:-452.94, Z:-41.70 [[ 8.69634793e-01 4.90266059e-01 5.80906059e-02 8.34958206e+02] [-4.89053061e-01 8.71571366e-01 -3.45030257e-02 -4.52938995e+02] [-6.75457711e-02 1.59564305e-03 9.97714901e-01 -4.17021591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.01, Y:-452.97, Z:-41.71 [[ 8.66609940e-01 4.95594309e-01 5.80817713e-02 8.35013198e+02] [-4.94392223e-01 8.68553306e-01 -3.45178913e-02 -4.52970306e+02] [-6.75539849e-02 1.19837170e-03 9.97714901e-01 -4.17061417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.07, Y:-453.00, Z:-41.71 [[ 8.66462130e-01 4.95853891e-01 5.80714716e-02 8.35067562e+02] [-4.94651227e-01 8.68405137e-01 -3.45352104e-02 -4.53002681e+02] [-6.75539827e-02 1.19832730e-03 9.97714901e-01 -4.17104331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.12, Y:-453.03, Z:-41.72 [[ 8.59138618e-01 5.08438530e-01 5.80611440e-02 8.35122679e+02] [-5.07263160e-01 8.61098256e-01 -3.45525646e-02 -4.53030437e+02] [-6.75642050e-02 2.33163260e-04 9.97714901e-01 -4.17153459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.18, Y:-453.06, Z:-41.72 [[ 8.55695966e-01 5.14212431e-01 5.80516163e-02 8.35178538e+02] [-5.13049198e-01 8.57662833e-01 -3.45685647e-02 -4.53059376e+02] [-6.75642994e-02 -2.03153862e-04 9.97714901e-01 -4.17215528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.23, Y:-453.09, Z:-41.73 [[ 8.50854240e-01 5.22186022e-01 5.80415537e-02 8.35231787e+02] [-5.21040067e-01 8.52831223e-01 -3.45854518e-02 -4.53091125e+02] [-6.75596887e-02 -8.14796787e-04 9.97714901e-01 -4.17257632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:835.29, Y:-453.12, Z:-41.73 [[ 8.50509958e-01 5.22747615e-01 5.80322643e-02 8.35285764e+02] [-5.21601903e-01 8.52487081e-01 -3.46010319e-02 -4.53122805e+02] [-6.75593625e-02 -8.41217296e-04 9.97714902e-01 -4.17308092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.34, Y:-453.16, Z:-41.73 [[ 8.49755559e-01 5.23974105e-01 5.80226435e-02 8.35338964e+02] [-5.22830146e-01 8.51733697e-01 -3.46171576e-02 -4.53156044e+02] [-6.75583348e-02 -9.19865028e-04 9.97714902e-01 -4.17348297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.39, Y:-453.19, Z:-41.74 [[ 8.48337222e-01 5.26268438e-01 5.80128363e-02 8.35391965e+02] [-5.25128706e-01 8.50317798e-01 -3.46335851e-02 -4.53189422e+02] [-6.75559100e-02 -1.08324626e-03 9.97714902e-01 -4.17402511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.45, Y:-453.22, Z:-41.75 [[ 8.49619011e-01 5.24197659e-01 5.80030293e-02 8.35446592e+02] [-5.23051978e-01 8.51596152e-01 -3.46500017e-02 -4.53217038e+02] [-6.75586063e-02 -8.99299009e-04 9.97714902e-01 -4.17510991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.50, Y:-453.25, Z:-41.75 [[ 8.46522684e-01 5.29184316e-01 5.79940168e-02 8.35496083e+02] [-5.28049248e-01 8.48505937e-01 -3.46650795e-02 -4.53254830e+02] [-6.75524839e-02 -1.27892085e-03 9.97714902e-01 -4.17506044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:835.55, Y:-453.29, Z:-41.76 [[ 8.45323443e-01 5.31098879e-01 5.79849812e-02 8.35545830e+02] [-5.29967267e-01 8.47308669e-01 -3.46801870e-02 -4.53290061e+02] [-6.75497857e-02 -1.41416694e-03 9.97714902e-01 -4.17568925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.60, Y:-453.33, Z:-41.76 [[ 8.45417776e-01 5.30949568e-01 5.79770678e-02 8.35596380e+02] [-5.29816699e-01 8.47402285e-01 -3.46934112e-02 -4.53327864e+02] [-6.75503515e-02 -1.38679211e-03 9.97714903e-01 -4.17589333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.65, Y:-453.36, Z:-41.76 [[ 8.46626102e-01 5.29021791e-01 5.79671232e-02 8.35646447e+02] [-5.27883266e-01 8.48607372e-01 -3.47100192e-02 -4.53362846e+02] [-6.75536846e-02 -1.21346600e-03 9.97714903e-01 -4.17623963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.70, Y:-453.40, Z:-41.76 [[ 8.49991795e-01 5.23597464e-01 5.79624309e-02 8.35696783e+02] [-5.22445760e-01 8.51965433e-01 -3.47178531e-02 -4.53399728e+02] [-6.75601674e-02 -7.72335908e-04 9.97714903e-01 -4.17641781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:835.75, Y:-453.44, Z:-41.77 [[ 8.54479728e-01 5.16241946e-01 5.79538407e-02 8.35746427e+02] [-5.15072278e-01 8.56442773e-01 -3.47321866e-02 -4.53437111e+02] [-6.75643597e-02 -1.72467374e-04 9.97714903e-01 -4.17680290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.80, Y:-453.47, Z:-41.77 [[ 8.57981305e-01 5.10401934e-01 5.79477854e-02 8.35798231e+02] [-5.09218222e-01 8.59935914e-01 -3.47422865e-02 -4.53472732e+02] [-6.75639120e-02 3.00164069e-04 9.97714903e-01 -4.17720220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:835.85, Y:-453.51, Z:-41.78 [[ 8.59866333e-01 5.07220930e-01 5.79380503e-02 8.35849920e+02] [-5.06028894e-01 8.61815876e-01 -3.47585137e-02 -4.53505839e+02] [-6.75621772e-02 5.69348190e-04 9.97714903e-01 -4.17776591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.90, Y:-453.54, Z:-41.78 [[ 8.66036236e-01 4.96613923e-01 5.79296885e-02 8.35900475e+02] [-4.95397084e-01 8.67970395e-01 -3.47724442e-02 -4.53543340e+02] [-6.75497345e-02 1.41599790e-03 9.97714903e-01 -4.17812931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.95, Y:-453.58, Z:-41.79 [[ 8.71595328e-01 4.86792431e-01 5.79198771e-02 8.35951561e+02] [-4.85552722e-01 8.73514908e-01 -3.47887792e-02 -4.53580206e+02] [-6.75287906e-02 2.19858347e-03 9.97714904e-01 -4.17851269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.00, Y:-453.61, Z:-41.79 [[ 8.74313020e-01 4.81895374e-01 5.79102088e-02 8.36004240e+02] [-4.80643852e-01 8.76224919e-01 -3.48048659e-02 -4.53614285e+02] [-6.75146719e-02 2.59616158e-03 9.97714904e-01 -4.17891075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.06, Y:-453.65, Z:-41.79 [[ 8.75881218e-01 4.79040293e-01 5.79006873e-02 8.36057107e+02] [-4.77781497e-01 8.77788335e-01 -3.48206985e-02 -4.53647515e+02] [-6.75050655e-02 2.83491876e-03 9.97714904e-01 -4.17936221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.11, Y:-453.68, Z:-41.80 [[ 8.74370058e-01 4.81794148e-01 5.78912885e-02 8.36111783e+02] [-4.80540326e-01 8.76280449e-01 -3.48363176e-02 -4.53679563e+02] [-6.75129382e-02 2.64073436e-03 9.97714904e-01 -4.17962539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:836.17, Y:-453.71, Z:-41.80 [[ 8.72017310e-01 4.86040684e-01 5.78814722e-02 8.36166877e+02] [-4.84795088e-01 8.73933074e-01 -3.48526199e-02 -4.53710693e+02] [-6.75243242e-02 2.33143446e-03 9.97714904e-01 -4.18001694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:836.22, Y:-453.74, Z:-41.80 [[ 8.66726239e-01 4.95415475e-01 5.78716932e-02 8.36221929e+02] [-4.94189526e-01 8.68654635e-01 -3.48688502e-02 -4.53738844e+02] [-6.75450825e-02 1.62216273e-03 9.97714904e-01 -4.18040381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.28, Y:-453.77, Z:-41.81 [[ 8.62576748e-01 5.02606127e-01 5.78656621e-02 8.36277874e+02] [-5.01395586e-01 8.64514854e-01 -3.48788560e-02 -4.53768465e+02] [-6.75560511e-02 1.07210260e-03 9.97714904e-01 -4.18073120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:836.33, Y:-453.80, Z:-41.81 [[ 8.57103230e-01 5.11885493e-01 5.78558172e-02 8.36333874e+02] [-5.10694836e-01 8.59053614e-01 -3.48951788e-02 -4.53796325e+02] [-6.75635846e-02 3.62103425e-04 9.97714905e-01 -4.18122728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.39, Y:-453.83, Z:-41.82 [[ 8.54056213e-01 5.16954375e-01 5.78459940e-02 8.36387818e+02] [-5.15774192e-01 8.56012952e-01 -3.49114552e-02 -4.53826443e+02] [-6.75645496e-02 -1.91256410e-05 9.97714905e-01 -4.18171908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.44, Y:-453.86, Z:-41.82 [[ 8.50545893e-01 5.22710797e-01 5.78369067e-02 8.36442478e+02] [-5.21542832e-01 8.52509949e-01 -3.49265035e-02 -4.53856458e+02] [-6.75629988e-02 -4.57830082e-04 9.97714905e-01 -4.18210933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.50, Y:-453.89, Z:-41.83 [[ 8.48537367e-01 5.25966127e-01 5.78270747e-02 8.36497254e+02] [-5.24804588e-01 8.50505230e-01 -3.49427745e-02 -4.53887095e+02] [-6.75609453e-02 -6.97664326e-04 9.97714905e-01 -4.18264336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.55, Y:-453.92, Z:-41.83 [[ 8.48123425e-01 5.26634422e-01 5.78173202e-02 8.36550747e+02] [-5.25473334e-01 8.50091554e-01 -3.49589072e-02 -4.53919205e+02] [-6.75605794e-02 -7.31991908e-04 9.97714905e-01 -4.18321073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.60, Y:-453.95, Z:-41.84 [[ 8.48472326e-01 5.26072453e-01 5.78142372e-02 8.36602773e+02] [-5.24909715e-01 8.50439480e-01 -3.49640050e-02 -4.53951570e+02] [-6.75611097e-02 -6.81264057e-04 9.97714905e-01 -4.18370829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:836.66, Y:-453.99, Z:-41.84 [[ 8.49156308e-01 5.24968363e-01 5.78081576e-02 8.36655413e+02] [-5.23802382e-01 8.51121542e-01 -3.49740539e-02 -4.53985405e+02] [-6.75620401e-02 -5.81612212e-04 9.97714905e-01 -4.18388606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.71, Y:-454.02, Z:-41.84 [[ 8.49279836e-01 5.24769566e-01 5.77984656e-02 8.36708765e+02] [-5.23602036e-01 8.51244150e-01 -3.49900637e-02 -4.54018723e+02] [-6.75623263e-02 -5.47038670e-04 9.97714906e-01 -4.18428093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.76, Y:-454.05, Z:-41.85 [[ 8.50195838e-01 5.23285285e-01 5.77888283e-02 8.36760116e+02] [-5.22113244e-01 8.52157463e-01 -3.50059732e-02 -4.54053169e+02] [-6.75632920e-02 -4.10379957e-04 9.97714906e-01 -4.18481684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.81, Y:-454.09, Z:-41.85 [[ 8.50286834e-01 5.23138338e-01 5.77804473e-02 8.36811671e+02] [-5.21965018e-01 8.52247695e-01 -3.50198013e-02 -4.54086275e+02] [-6.75634537e-02 -3.82496220e-04 9.97714906e-01 -4.18541878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.86, Y:-454.12, Z:-41.86 [[ 8.50498863e-01 5.22794406e-01 5.77727701e-02 8.36863571e+02] [-5.21619433e-01 8.52458734e-01 -3.50324620e-02 -4.54121447e+02] [-6.75636776e-02 -3.40330552e-04 9.97714906e-01 -4.18577783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.91, Y:-454.16, Z:-41.86 [[ 8.49580219e-01 5.24287023e-01 5.77630470e-02 8.36914191e+02] [-5.23114404e-01 8.51541499e-01 -3.50484865e-02 -4.54156909e+02] [-6.75630983e-02 -4.40181086e-04 9.97714906e-01 -4.18614587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.96, Y:-454.19, Z:-41.87 [[ 8.47170526e-01 5.28172858e-01 5.77540686e-02 8.36964877e+02] [-5.27008226e-01 8.49136559e-01 -3.50632752e-02 -4.54191945e+02] [-6.75605614e-02 -7.32295946e-04 9.97714906e-01 -4.18659818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.02, Y:-454.23, Z:-41.87 [[ 8.44832667e-01 5.31905304e-01 5.77452300e-02 8.37016824e+02] [-5.30748364e-01 8.46803236e-01 -3.50778255e-02 -4.54225350e+02] [-6.75569290e-02 -1.01329347e-03 9.97714906e-01 -4.18698469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:837.07, Y:-454.26, Z:-41.87 [[ 8.41606628e-01 5.36996060e-01 5.77365978e-02 8.37069089e+02] [-5.35850064e-01 8.43583581e-01 -3.50920280e-02 -4.54258662e+02] [-6.75499267e-02 -1.40447623e-03 9.97714907e-01 -4.18708869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:837.12, Y:-454.29, Z:-41.87 [[ 8.39269962e-01 5.40641658e-01 5.77280664e-02 8.37119946e+02] [-5.39503283e-01 8.41251313e-01 -3.51060569e-02 -4.54291835e+02] [-6.75436085e-02 -1.68102229e-03 9.97714907e-01 -4.18739633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.17, Y:-454.33, Z:-41.88 [[ 8.37913054e-01 5.42742771e-01 5.77234688e-02 8.37173181e+02] [-5.41608845e-01 8.39896954e-01 -3.51136149e-02 -4.54325568e+02] [-6.75394263e-02 -1.84138498e-03 9.97714907e-01 -4.18766097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.23, Y:-454.36, Z:-41.88 [[ 8.36906772e-01 5.44294190e-01 5.77138606e-02 8.37226076e+02] [-5.43162853e-01 8.38892151e-01 -3.51294002e-02 -4.54357797e+02] [-6.75364331e-02 -1.94799230e-03 9.97714907e-01 -4.18810964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:837.28, Y:-454.39, Z:-41.89 [[ 8.37011040e-01 5.44134767e-01 5.77050660e-02 8.37278737e+02] [-5.43002058e-01 8.38995635e-01 -3.51438407e-02 -4.54388957e+02] [-6.75372841e-02 -1.91818691e-03 9.97714907e-01 -4.18897530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.33, Y:-454.42, Z:-41.89 [[ 8.38011878e-01 5.42593053e-01 5.76963646e-02 8.37330865e+02] [-5.41455710e-01 8.39993822e-01 -3.51581202e-02 -4.54421916e+02] [-6.75411416e-02 -1.77710372e-03 9.97714907e-01 -4.18935043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.38, Y:-454.46, Z:-41.90 [[ 8.39202656e-01 5.40750429e-01 5.76877468e-02 8.37383160e+02] [-5.39607763e-01 8.41181535e-01 -3.51722546e-02 -4.54455521e+02] [-6.75452792e-02 -1.61210649e-03 9.97714907e-01 -4.18954629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:837.43, Y:-454.49, Z:-41.90 [[ 8.40802796e-01 5.38259946e-01 5.76791997e-02 8.37434953e+02] [-5.37110457e-01 8.42777719e-01 -3.51862656e-02 -4.54488146e+02] [-6.75501017e-02 -1.39539084e-03 9.97714908e-01 -4.18977130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:837.49, Y:-454.52, Z:-41.90 [[ 8.41824946e-01 5.36660757e-01 5.76714160e-02 8.37488899e+02] [-5.35506643e-01 8.43797170e-01 -3.51990187e-02 -4.54520940e+02] [-6.75529096e-02 -1.25201440e-03 9.97714908e-01 -4.19004944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.54, Y:-454.55, Z:-41.91 [[ 8.41937195e-01 5.36485718e-01 5.76613788e-02 8.37541880e+02] [-5.35330068e-01 8.43908520e-01 -3.52154534e-02 -4.54552977e+02] [-6.75535167e-02 -1.21866979e-03 9.97714908e-01 -4.19056880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.60, Y:-454.58, Z:-41.91 [[ 8.42500372e-01 5.35601865e-01 5.76521122e-02 8.37595496e+02] [-5.34443110e-01 8.44469873e-01 -3.52306176e-02 -4.54583428e+02] [-6.75550563e-02 -1.12996575e-03 9.97714908e-01 -4.19107389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.65, Y:-454.61, Z:-41.92 [[ 8.42921441e-01 5.34939881e-01 5.76434536e-02 8.37649454e+02] [-5.33778612e-01 8.44889460e-01 -3.52447789e-02 -4.54614882e+02] [-6.75561842e-02 -1.06026276e-03 9.97714908e-01 -4.19157824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.70, Y:-454.65, Z:-41.92 [[ 8.43702094e-01 5.33708129e-01 5.76403498e-02 8.37701365e+02] [-5.32543640e-01 8.45668209e-01 -3.52498541e-02 -4.54646446e+02] [-6.75577451e-02 -9.55626011e-04 9.97714908e-01 -4.19204852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:837.76, Y:-454.68, Z:-41.92 [[ 8.44516091e-01 5.32420019e-01 5.76324184e-02 8.37755857e+02] [-5.31251646e-01 8.46479900e-01 -3.52628171e-02 -4.54678168e+02] [-6.75593135e-02 -8.37300711e-04 9.97714908e-01 -4.19243887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.81, Y:-454.71, Z:-41.93 [[ 8.45099554e-01 5.31494483e-01 5.76225555e-02 8.37808156e+02] [-5.30322861e-01 8.47061427e-01 -3.52789265e-02 -4.54709072e+02] [-6.75603989e-02 -7.44353413e-04 9.97714908e-01 -4.19289564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.86, Y:-454.74, Z:-41.93 [[ 8.45884080e-01 5.30245860e-01 5.76146743e-02 8.37861554e+02] [-5.29070466e-01 8.47843695e-01 -3.52917928e-02 -4.54741872e+02] [-6.75615654e-02 -6.29456851e-04 9.97714909e-01 -4.19303861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:837.91, Y:-454.77, Z:-41.93 [[ 8.46827945e-01 5.28738238e-01 5.76047564e-02 8.37914406e+02] [-5.27558254e-01 8.48784800e-01 -3.53079738e-02 -4.54774405e+02] [-6.75627175e-02 -4.90085798e-04 9.97714909e-01 -4.19334389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.97, Y:-454.81, Z:-41.94 [[ 8.47388578e-01 5.27840212e-01 5.75960788e-02 8.37968106e+02] [-5.26657193e-01 8.49343599e-01 -3.53221236e-02 -4.54807382e+02] [-6.75632980e-02 -4.01825099e-04 9.97714909e-01 -4.19365343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:838.02, Y:-454.84, Z:-41.94 [[ 8.47865438e-01 5.27074985e-01 5.75860953e-02 8.38022734e+02] [-5.25889097e-01 8.49818720e-01 -3.53383922e-02 -4.54839235e+02] [-6.75637244e-02 -3.21698265e-04 9.97714909e-01 -4.19413703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:838.08, Y:-454.87, Z:-41.95 [[ 8.48568994e-01 5.25942621e-01 5.75762328e-02 8.38075323e+02] [-5.24753036e-01 8.50520026e-01 -3.53544537e-02 -4.54870853e+02] [-6.75641531e-02 -2.12609737e-04 9.97714909e-01 -4.19461805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.13, Y:-454.90, Z:-41.95 [[ 8.51250242e-01 5.21592800e-01 5.75671406e-02 8.38128426e+02] [-5.20392245e-01 8.53194543e-01 -3.53692523e-02 -4.54903415e+02] [-6.75643176e-02 1.50591122e-04 9.97714909e-01 -4.19513204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:838.18, Y:-454.94, Z:-41.96 [[ 8.54433271e-01 5.16363156e-01 5.75575847e-02 8.38180464e+02] [-5.15149653e-01 8.56369518e-01 -3.53847960e-02 -4.54937473e+02] [-6.75619661e-02 5.83177199e-04 9.97714910e-01 -4.19552323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.23, Y:-454.97, Z:-41.96 [[ 8.55843691e-01 5.14023056e-01 5.75488902e-02 8.38233404e+02] [-5.12803308e-01 8.57776010e-01 -3.53989311e-02 -4.54970919e+02] [-6.75599241e-02 7.84690545e-04 9.97714910e-01 -4.19590320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:838.29, Y:-455.00, Z:-41.96 [[ 8.56378086e-01 5.13133356e-01 5.75389712e-02 8.38287420e+02] [-5.11910519e-01 8.58308450e-01 -3.54150465e-02 -4.55003356e+02] [-6.75588268e-02 8.73865102e-04 9.97714910e-01 -4.19632411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.34, Y:-455.04, Z:-41.97 [[ 8.54849222e-01 5.15677436e-01 5.75290369e-02 8.38341558e+02] [-5.14459258e-01 8.56782530e-01 -3.54311767e-02 -4.55035000e+02] [-6.75609321e-02 6.91968146e-04 9.97714910e-01 -4.19679408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:838.40, Y:-455.07, Z:-41.97 [[ 8.52213843e-01 5.20022222e-01 5.75191616e-02 8.38395882e+02] [-5.18812820e-01 8.54152653e-01 -3.54472010e-02 -4.55067260e+02] [-6.75634767e-02 3.66916959e-04 9.97714910e-01 -4.19718912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.45, Y:-455.10, Z:-41.98 [[ 8.49893255e-01 5.23807336e-01 5.75093986e-02 8.38450106e+02] [-5.22605497e-01 8.51836761e-01 -3.54630335e-02 -4.55099055e+02] [-6.75644169e-02 8.50651426e-05 9.97714910e-01 -4.19750504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.50, Y:-455.13, Z:-41.98 [[ 8.45590493e-01 5.30726414e-01 5.74994989e-02 8.38504907e+02] [-5.29539386e-01 8.47543081e-01 -3.54790776e-02 -4.55128632e+02] [-6.75629860e-02 -4.47478661e-04 9.97714911e-01 -4.19780740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.56, Y:-455.16, Z:-41.98 [[ 8.41255136e-01 5.37572879e-01 5.74908294e-02 8.38559073e+02] [-5.36400781e-01 8.43216722e-01 -3.54931201e-02 -4.55158277e+02] [-6.75573675e-02 -9.79356249e-04 9.97714911e-01 -4.19817105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.61, Y:-455.19, Z:-41.99 [[ 8.38531929e-01 5.41811782e-01 5.74821393e-02 8.38612190e+02] [-5.40648635e-01 8.40498836e-01 -3.55071885e-02 -4.55188885e+02] [-6.75518842e-02 -1.30372884e-03 9.97714911e-01 -4.19870228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.67, Y:-455.22, Z:-41.99 [[ 8.35907039e-01 5.45853719e-01 5.74729456e-02 8.38666400e+02] [-5.44699059e-01 8.37878940e-01 -3.55220634e-02 -4.55220654e+02] [-6.75452212e-02 -1.61231649e-03 9.97714911e-01 -4.19908209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:838.72, Y:-455.25, Z:-42.00 [[ 8.34996358e-01 5.47246826e-01 5.74629788e-02 8.38720235e+02] [-5.46094348e-01 8.36969534e-01 -3.55381791e-02 -4.55253675e+02] [-6.75429183e-02 -1.70595791e-03 9.97714911e-01 -4.19958165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:838.77, Y:-455.29, Z:-42.00 [[ 8.35503419e-01 5.46473397e-01 5.74531391e-02 8.38772713e+02] [-5.45317999e-01 8.37474887e-01 -3.55540795e-02 -4.55287539e+02] [-6.75449198e-02 -1.62467588e-03 9.97714911e-01 -4.19996855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:838.83, Y:-455.32, Z:-42.00 [[ 8.35856445e-01 5.45934216e-01 5.74441956e-02 8.38825894e+02] [-5.44776554e-01 8.37826585e-01 -3.55685236e-02 -4.55320735e+02] [-6.75463482e-02 -1.56407127e-03 9.97714911e-01 -4.20044256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.88, Y:-455.36, Z:-42.01 [[ 8.37044384e-01 5.44112156e-01 5.74339723e-02 8.38878440e+02] [-5.42949074e-01 8.39011328e-01 -3.55850239e-02 -4.55355185e+02] [-6.75499974e-02 -1.39747771e-03 9.97714912e-01 -4.20083263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.93, Y:-455.39, Z:-42.01 [[ 8.41129690e-01 5.37776299e-01 5.74238439e-02 8.38931087e+02] [-5.36597283e-01 8.43087124e-01 -3.56013606e-02 -4.55387513e+02] [-6.75588714e-02 -8.68117258e-04 9.97714912e-01 -4.20144574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.98, Y:-455.42, Z:-42.01 [[ 8.40372773e-01 5.38958724e-01 5.74203526e-02 8.38979901e+02] [-5.37782078e-01 8.42331632e-01 -3.56069908e-02 -4.55424460e+02] [-6.75576777e-02 -9.56490997e-04 9.97714912e-01 -4.20131144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.03, Y:-455.46, Z:-42.02 [[ 8.40899788e-01 5.38137055e-01 5.74112885e-02 8.39032815e+02] [-5.36957498e-01 8.42856896e-01 -3.56215995e-02 -4.55459056e+02] [-6.75588030e-02 -8.73226356e-04 9.97714912e-01 -4.20174371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:839.09, Y:-455.49, Z:-42.03 [[ 8.41357521e-01 5.37422206e-01 5.74011746e-02 8.39085891e+02] [-5.36239875e-01 8.43312954e-01 -3.56378897e-02 -4.55492195e+02] [-6.75597474e-02 -7.96592216e-04 9.97714912e-01 -4.20256339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.14, Y:-455.52, Z:-42.03 [[ 8.41546570e-01 5.37126642e-01 5.73963591e-02 8.39137987e+02] [-5.35943095e-01 8.43501267e-01 -3.56456436e-02 -4.55524904e+02] [-6.75601265e-02 -7.63713208e-04 9.97714912e-01 -4.20287972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.19, Y:-455.56, Z:-42.03 [[ 8.42234424e-01 5.36048443e-01 5.73867780e-02 8.39191719e+02] [-5.34861343e-01 8.44186965e-01 -3.56610618e-02 -4.55557851e+02] [-6.75612266e-02 -6.58995281e-04 9.97714912e-01 -4.20307279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:839.25, Y:-455.59, Z:-42.03 [[ 8.44173394e-01 5.32990775e-01 5.73769525e-02 8.39245764e+02] [-5.31795529e-01 8.46120959e-01 -3.56768636e-02 -4.55589982e+02] [-6.75632812e-02 -3.95347807e-04 9.97714913e-01 -4.20341720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.30, Y:-455.62, Z:-42.04 [[ 8.45143100e-01 5.31452857e-01 5.73672581e-02 8.39299680e+02] [-5.30253008e-01 8.47087833e-01 -3.56924451e-02 -4.55622319e+02] [-6.75639582e-02 -2.53937528e-04 9.97714913e-01 -4.20366951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.35, Y:-455.65, Z:-42.04 [[ 8.46602380e-01 5.29126239e-01 5.73570715e-02 8.39354310e+02] [-5.27919937e-01 8.48543117e-01 -3.57088072e-02 -4.55652457e+02] [-6.75644151e-02 -4.87804717e-05 9.97714913e-01 -4.20411287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:839.41, Y:-455.68, Z:-42.05 [[ 8.47963658e-01 5.26943029e-01 5.73470035e-02 8.39408599e+02] [-5.25730637e-01 8.49900596e-01 -3.57249687e-02 -4.55682276e+02] [-6.75642757e-02 1.44398492e-04 9.97714913e-01 -4.20470602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:839.46, Y:-455.71, Z:-42.06 [[ 8.50273291e-01 5.23209007e-01 5.73381762e-02 8.39463760e+02] [-5.21987155e-01 8.52204274e-01 -3.57391309e-02 -4.55709531e+02] [-6.75628740e-02 4.58236993e-04 9.97714913e-01 -4.20567210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.52, Y:-455.74, Z:-42.06 [[ 8.49455687e-01 5.24535754e-01 5.73347909e-02 8.39516392e+02] [-5.23316551e-01 8.51388345e-01 -3.57445610e-02 -4.55742737e+02] [-6.75634730e-02 3.59175567e-04 9.97714913e-01 -4.20586269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.57, Y:-455.77, Z:-42.06 [[ 8.49140462e-01 5.25046987e-01 5.73248461e-02 8.39569382e+02] [-5.23827871e-01 8.51073174e-01 -3.57605028e-02 -4.55772403e+02] [-6.75635829e-02 3.37337805e-04 9.97714913e-01 -4.20600231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:839.62, Y:-455.80, Z:-42.07 [[ 8.49898041e-01 5.23820803e-01 5.73156744e-02 8.39623360e+02] [-5.22597908e-01 8.51828364e-01 -3.57751968e-02 -4.55799802e+02] [-6.75629095e-02 4.52218172e-04 9.97714914e-01 -4.20691692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:839.68, Y:-455.83, Z:-42.07 [[ 8.48359041e-01 5.26310710e-01 5.73059757e-02 8.39676880e+02] [-5.25092431e-01 8.50292281e-01 -3.57907258e-02 -4.55831882e+02] [-6.75638711e-02 2.72451780e-04 9.97714914e-01 -4.20673796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:839.73, Y:-455.86, Z:-42.07 [[ 8.47656959e-01 5.27441779e-01 5.72961470e-02 8.39732460e+02] [-5.26225017e-01 8.49591154e-01 -3.58064534e-02 -4.55860145e+02] [-6.75641191e-02 2.00923470e-04 9.97714914e-01 -4.20745357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:839.79, Y:-455.89, Z:-42.08 [[ 8.45446561e-01 5.30978039e-01 5.72925329e-02 8.39785596e+02] [-5.29768975e-01 8.47385577e-01 -3.58122352e-02 -4.55890770e+02] [-6.75643765e-02 -7.44753213e-05 9.97714914e-01 -4.20757487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:839.84, Y:-455.92, Z:-42.08 [[ 8.42829363e-01 5.35123636e-01 5.72831504e-02 8.39840942e+02] [-5.33923090e-01 8.44773664e-01 -3.58272366e-02 -4.55919902e+02] [-6.75632980e-02 -3.88549697e-04 9.97714914e-01 -4.20813857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.90, Y:-455.95, Z:-42.09 [[ 8.40459234e-01 5.38838991e-01 5.72784263e-02 8.39895664e+02] [-5.37646525e-01 8.42408501e-01 -3.58347877e-02 -4.55950052e+02] [-6.75610140e-02 -6.77868608e-04 9.97714914e-01 -4.20868360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.95, Y:-455.98, Z:-42.09 [[ 8.39637171e-01 5.40119398e-01 5.72752787e-02 8.39950238e+02] [-5.38929561e-01 8.41588044e-01 -3.58398177e-02 -4.55982083e+02] [-6.75599706e-02 -7.74897647e-04 9.97714914e-01 -4.20908934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.00, Y:-456.01, Z:-42.10 [[ 8.39770725e-01 5.39912821e-01 5.72649544e-02 8.40003703e+02] [-5.38721380e-01 8.41720619e-01 -3.58563063e-02 -4.56014849e+02] [-6.75603724e-02 -7.38778923e-04 9.97714914e-01 -4.20951150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:840.06, Y:-456.05, Z:-42.10 [[ 8.40565926e-01 5.38675065e-01 5.72546793e-02 8.40056052e+02] [-5.37479636e-01 8.42513377e-01 -3.58727061e-02 -4.56048429e+02] [-6.75615654e-02 -6.19849710e-04 9.97714915e-01 -4.20996958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.11, Y:-456.08, Z:-42.10 [[ 8.40844937e-01 5.38240449e-01 5.72451868e-02 8.40109102e+02] [-5.37042983e-01 8.42791135e-01 -3.58878477e-02 -4.56082075e+02] [-6.75620272e-02 -5.67010832e-04 9.97714915e-01 -4.21024656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:840.16, Y:-456.11, Z:-42.11 [[ 8.42828078e-01 5.35130802e-01 5.72350930e-02 8.40162956e+02] [-5.33925061e-01 8.44769162e-01 -3.59039385e-02 -4.56111154e+02] [-6.75637448e-02 -2.98403062e-04 9.97714915e-01 -4.21111630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.21, Y:-456.15, Z:-42.11 [[ 8.40656960e-01 5.38535945e-01 5.72268453e-02 8.40212984e+02] [-5.37337172e-01 8.42602354e-01 -3.59170795e-02 -4.56149434e+02] [-6.75621129e-02 -5.56168419e-04 9.97714915e-01 -4.21087994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.26, Y:-456.18, Z:-42.11 [[ 8.39918862e-01 5.39687321e-01 5.72180102e-02 8.40264798e+02] [-5.38490257e-01 8.41865307e-01 -3.59311489e-02 -4.56184237e+02] [-6.75614432e-02 -6.32091306e-04 9.97714915e-01 -4.21134319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.32, Y:-456.22, Z:-42.12 [[ 8.39329637e-01 5.40604300e-01 5.72079665e-02 8.40317384e+02] [-5.39408273e-01 8.41276720e-01 -3.59471329e-02 -4.56218522e+02] [-6.75609050e-02 -6.86956424e-04 9.97714915e-01 -4.21182560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:840.37, Y:-456.25, Z:-42.12 [[ 8.38037347e-01 5.42606491e-01 5.71979075e-02 8.40367774e+02] [-5.41414024e-01 8.39986612e-01 -3.59631314e-02 -4.56252871e+02] [-6.75593050e-02 -8.29301974e-04 9.97714916e-01 -4.21237343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.42, Y:-456.29, Z:-42.13 [[ 8.36799782e-01 5.44513952e-01 5.71898718e-02 8.40420698e+02] [-5.43325055e-01 8.38751226e-01 -3.59759054e-02 -4.56287541e+02] [-6.75574575e-02 -9.68060509e-04 9.97714916e-01 -4.21271791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:840.47, Y:-456.32, Z:-42.13 [[ 8.35566866e-01 5.46405064e-01 5.71797012e-02 8.40472726e+02] [-5.45219478e-01 8.37520324e-01 -3.59920632e-02 -4.56321133e+02] [-6.75554075e-02 -1.10171137e-03 9.97714916e-01 -4.21323306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.52, Y:-456.36, Z:-42.14 [[ 8.33472702e-01 5.49595129e-01 5.71703553e-02 8.40521596e+02] [-5.48416002e-01 8.35430064e-01 -3.60069023e-02 -4.56357131e+02] [-6.75510517e-02 -1.34236755e-03 9.97714916e-01 -4.21366928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:840.57, Y:-456.39, Z:-42.14 [[ 8.32928721e-01 5.50420088e-01 5.71618141e-02 8.40572374e+02] [-5.49241969e-01 8.34886691e-01 -3.60204566e-02 -4.56391604e+02] [-6.75500207e-02 -1.39319449e-03 9.97714916e-01 -4.21407778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:840.62, Y:-456.43, Z:-42.14 [[ 8.32577861e-01 5.50951242e-01 5.71562253e-02 8.40623014e+02] [-5.49773764e-01 8.34536216e-01 -3.60293225e-02 -4.56427302e+02] [-6.75493400e-02 -1.42577685e-03 9.97714916e-01 -4.21425650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.67, Y:-456.46, Z:-42.15 [[ 8.33477979e-01 5.49589511e-01 5.71474215e-02 8.40674359e+02] [-5.48407877e-01 8.35433829e-01 -3.60432812e-02 -4.56462968e+02] [-6.75518985e-02 -1.29881498e-03 9.97714916e-01 -4.21455772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.73, Y:-456.50, Z:-42.15 [[ 8.35407864e-01 5.46652454e-01 5.71383962e-02 8.40725759e+02] [-5.45462965e-01 8.37358946e-01 -3.60575831e-02 -4.56496751e+02] [-6.75563135e-02 -1.04409051e-03 9.97714916e-01 -4.21523911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:840.77, Y:-456.53, Z:-42.16 [[ 8.37006189e-01 5.44203009e-01 5.71290089e-02 8.40774471e+02] [-5.43006796e-01 8.38953156e-01 -3.60724500e-02 -4.56534269e+02] [-6.75592982e-02 -8.28576142e-04 9.97714917e-01 -4.21558907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.82, Y:-456.57, Z:-42.16 [[ 8.38360831e-01 5.42114722e-01 5.71204421e-02 8.40824743e+02] [-5.40912735e-01 8.40304239e-01 -3.60860105e-02 -4.56570340e+02] [-6.75613071e-02 -6.44076802e-04 9.97714917e-01 -4.21623095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.88, Y:-456.61, Z:-42.17 [[ 8.39560349e-01 5.40255575e-01 5.71168420e-02 8.40875905e+02] [-5.39048896e-01 8.41500847e-01 -3.60917078e-02 -4.56605924e+02] [-6.75626173e-02 -4.87603807e-04 9.97714917e-01 -4.21651634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.93, Y:-456.64, Z:-42.17 [[ 8.41020724e-01 5.37980523e-01 5.71060321e-02 8.40926092e+02] [-5.36767435e-01 8.42957221e-01 -3.61088037e-02 -4.56643996e+02] [-6.75637752e-02 -2.84406121e-04 9.97714917e-01 -4.21685285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.98, Y:-456.68, Z:-42.17 [[ 8.42027053e-01 5.36405174e-01 5.70958102e-02 8.40977423e+02] [-5.35187367e-01 8.43960585e-01 -3.61249595e-02 -4.56680248e+02] [-6.75642286e-02 -1.38763084e-04 9.97714917e-01 -4.21731890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.03, Y:-456.72, Z:-42.18 [[ 8.41974065e-01 5.36489148e-01 5.70882453e-02 8.41026235e+02] [-5.35270723e-01 8.43907209e-01 -3.61369104e-02 -4.56718349e+02] [-6.75642420e-02 -1.31324979e-04 9.97714917e-01 -4.21760000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.08, Y:-456.76, Z:-42.18 [[ 8.41007374e-01 5.38004007e-01 5.70813894e-02 8.41075881e+02] [-5.36788329e-01 8.42942246e-01 -3.61477366e-02 -4.56755075e+02] [-6.75639418e-02 -2.40110620e-04 9.97714917e-01 -4.21801408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:841.13, Y:-456.79, Z:-42.18 [[ 8.39562872e-01 5.40256394e-01 5.70720031e-02 8.41127338e+02] [-5.39044900e-01 8.41500366e-01 -3.61625501e-02 -4.56790749e+02] [-6.75631604e-02 -4.03637753e-04 9.97714917e-01 -4.21838657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.18, Y:-456.83, Z:-42.19 [[ 8.37007650e-01 5.44207807e-01 5.70618728e-02 8.41177887e+02] [-5.43004370e-01 8.38950158e-01 -3.61785280e-02 -4.56826768e+02] [-6.75607046e-02 -7.03141580e-04 9.97714918e-01 -4.21885004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.23, Y:-456.86, Z:-42.19 [[ 8.35873011e-01 5.45949924e-01 5.70525134e-02 8.41229604e+02] [-5.44749529e-01 8.37817401e-01 -3.61932815e-02 -4.56861964e+02] [-6.75593078e-02 -8.26342568e-04 9.97714918e-01 -4.21925583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:841.28, Y:-456.90, Z:-42.20 [[ 8.36273428e-01 5.45337450e-01 5.70422625e-02 8.41279946e+02] [-5.44134529e-01 8.38216256e-01 -3.62094302e-02 -4.56896913e+02] [-6.75601100e-02 -7.57680351e-04 9.97714918e-01 -4.22018074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.33, Y:-456.93, Z:-42.20 [[ 8.35766262e-01 5.46115517e-01 5.70315472e-02 8.41329784e+02] [-5.44913254e-01 8.37709497e-01 -3.62262994e-02 -4.56932709e+02] [-6.75596130e-02 -8.00527106e-04 9.97714918e-01 -4.22003975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.38, Y:-456.96, Z:-42.21 [[ 8.35015725e-01 5.47263444e-01 5.70215893e-02 8.41381958e+02] [-5.46062783e-01 8.36959950e-01 -3.62419669e-02 -4.56964900e+02] [-6.75586901e-02 -8.74755420e-04 9.97714918e-01 -4.22053551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.44, Y:-457.00, Z:-42.21 [[ 8.34890345e-01 5.47455348e-01 5.70153781e-02 8.41435094e+02] [-5.46254467e-01 8.36834434e-01 -3.62517356e-02 -4.56997935e+02] [-6.75586382e-02 -8.78680959e-04 9.97714918e-01 -4.22107689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.49, Y:-457.03, Z:-42.22 [[ 8.34395696e-01 5.48209977e-01 5.70056365e-02 8.41488641e+02] [-5.47009808e-01 8.36340225e-01 -3.62670478e-02 -4.57031526e+02] [-6.75580643e-02 -9.21573648e-04 9.97714919e-01 -4.22150065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.54, Y:-457.06, Z:-42.22 [[ 8.33647696e-01 5.49347797e-01 5.69957667e-02 8.41541915e+02] [-5.48149221e-01 8.35593207e-01 -3.62825522e-02 -4.57063887e+02] [-6.75570156e-02 -9.95319107e-04 9.97714919e-01 -4.22187792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:841.60, Y:-457.10, Z:-42.22 [[ 8.32666403e-01 5.50835106e-01 5.69855018e-02 8.41595468e+02] [-5.49638903e-01 8.34613374e-01 -3.62986670e-02 -4.57096083e+02] [-6.75554420e-02 -1.09676822e-03 9.97714919e-01 -4.22230084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:841.65, Y:-457.13, Z:-42.23 [[ 8.31960168e-01 5.51902261e-01 5.69751933e-02 8.41648995e+02] [-5.50707449e-01 8.33907992e-01 -3.63148403e-02 -4.57129613e+02] [-6.75543115e-02 -1.16416269e-03 9.97714919e-01 -4.22273742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:841.70, Y:-457.16, Z:-42.23 [[ 8.31591574e-01 5.52458543e-01 5.69650093e-02 8.41702578e+02] [-5.51263940e-01 8.33539526e-01 -3.63308085e-02 -4.57163148e+02] [-6.75538523e-02 -1.19036126e-03 9.97714919e-01 -4.22307272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.76, Y:-457.20, Z:-42.23 [[ 8.31439207e-01 5.52688893e-01 5.69546610e-02 8.41755998e+02] [-5.51493719e-01 8.33386808e-01 -3.63470238e-02 -4.57197036e+02] [-6.75538595e-02 -1.18979717e-03 9.97714919e-01 -4.22344577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:841.81, Y:-457.23, Z:-42.25 [[ 8.33697897e-01 5.49276939e-01 5.69443699e-02 8.41810442e+02] [-5.48072693e-01 8.35639902e-01 -3.63631397e-02 -4.57226684e+02] [-6.75584217e-02 -8.93780978e-04 9.97714920e-01 -4.22451201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:841.86, Y:-457.26, Z:-42.24 [[ 8.30920847e-01 5.53469931e-01 5.69348919e-02 8.41859518e+02] [-5.52274467e-01 8.32868270e-01 -3.63779737e-02 -4.57264069e+02] [-6.75533795e-02 -1.21647039e-03 9.97714920e-01 -4.22431029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.91, Y:-457.30, Z:-42.25 [[ 8.29672598e-01 5.55339910e-01 5.69294705e-02 8.41911201e+02] [-5.54148254e-01 8.31622354e-01 -3.63864559e-02 -4.57297205e+02] [-6.75506714e-02 -1.35852127e-03 9.97714920e-01 -4.22481557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:841.96, Y:-457.33, Z:-42.25 [[ 8.28875591e-01 5.56529766e-01 5.69198853e-02 8.41964734e+02] [-5.55339880e-01 8.30826427e-01 -3.64014439e-02 -4.57330539e+02] [-6.75490321e-02 -1.43761394e-03 9.97714920e-01 -4.22531584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:842.02, Y:-457.36, Z:-42.26 [[ 8.28733885e-01 5.56741818e-01 5.69095476e-02 8.42017512e+02] [-5.55551322e-01 8.30684349e-01 -3.64175986e-02 -4.57364691e+02] [-6.75490706e-02 -1.43567647e-03 9.97714920e-01 -4.22576801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.07, Y:-457.40, Z:-42.26 [[ 8.29265914e-01 5.55950112e-01 5.68991850e-02 8.42069601e+02] [-5.54756644e-01 8.31214560e-01 -3.64337821e-02 -4.57399769e+02] [-6.75507963e-02 -1.35190737e-03 9.97714920e-01 -4.22613602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.12, Y:-457.43, Z:-42.26 [[ 8.30639540e-01 5.53896758e-01 5.68888037e-02 8.42121293e+02] [-5.52697363e-01 8.32584544e-01 -3.64499846e-02 -4.57434789e+02] [-6.75542670e-02 -1.16549340e-03 9.97714921e-01 -4.22649755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.17, Y:-457.47, Z:-42.27 [[ 8.32821211e-01 5.50612084e-01 5.68784967e-02 8.42173672e+02] [-5.49403920e-01 8.34760780e-01 -3.64660612e-02 -4.57469820e+02] [-6.75585922e-02 -8.79559730e-04 9.97714921e-01 -4.22689107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.23, Y:-457.50, Z:-42.27 [[ 8.34601711e-01 5.47910557e-01 5.68683196e-02 8.42226055e+02] [-5.46695033e-01 8.36536676e-01 -3.64819253e-02 -4.57504588e+02] [-6.75612670e-02 -6.41750627e-04 9.97714921e-01 -4.22728919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:842.28, Y:-457.54, Z:-42.28 [[ 8.36912193e-01 5.44375911e-01 5.68581406e-02 8.42279044e+02] [-5.43151137e-01 8.38841316e-01 -3.64977827e-02 -4.57538703e+02] [-6.75634712e-02 -3.37124422e-04 9.97714921e-01 -4.22769139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:842.33, Y:-457.57, Z:-42.28 [[ 8.38594854e-01 5.41781317e-01 5.68478339e-02 8.42331794e+02] [-5.40549486e-01 8.40519478e-01 -3.65138290e-02 -4.57572587e+02] [-6.75642221e-02 -1.08758314e-04 9.97714921e-01 -4.22816898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:842.38, Y:-457.61, Z:-42.29 [[ 8.41796495e-01 5.36794322e-01 5.68376325e-02 8.42384021e+02] [-5.35550018e-01 8.43713079e-01 -3.65297018e-02 -4.57605083e+02] [-6.75635904e-02 3.11179807e-04 9.97714921e-01 -4.22870705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:842.44, Y:-457.64, Z:-42.29 [[ 8.44960374e-01 5.31801205e-01 5.68281990e-02 8.42437576e+02] [-5.30544589e-01 8.46868908e-01 -3.65443712e-02 -4.57638415e+02] [-6.75603755e-02 7.28652092e-04 9.97714922e-01 -4.22902855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:842.49, Y:-457.67, Z:-42.30 [[ 8.49616722e-01 5.24331134e-01 5.68180272e-02 8.42493792e+02] [-5.23056685e-01 8.51513393e-01 -3.65601793e-02 -4.57665326e+02] [-6.75509514e-02 1.34309072e-03 9.97714922e-01 -4.23002097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.54, Y:-457.70, Z:-42.30 [[ 8.47339484e-01 5.28004336e-01 5.68086181e-02 8.42543297e+02] [-5.26737130e-01 8.49241002e-01 -3.65747937e-02 -4.57702353e+02] [-6.75558574e-02 1.06805839e-03 9.97714922e-01 -4.22980985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.60, Y:-457.73, Z:-42.30 [[ 8.47042694e-01 5.28481251e-01 5.68000140e-02 8.42597306e+02] [-5.27214221e-01 8.48944329e-01 -3.65881508e-02 -4.57734382e+02] [-6.75562015e-02 1.04595071e-03 9.97714922e-01 -4.23027897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.65, Y:-457.77, Z:-42.31 [[ 8.44692145e-01 5.32231254e-01 5.67897208e-02 8.42651894e+02] [-5.30971593e-01 8.46598669e-01 -3.66041203e-02 -4.57765477e+02] [-6.75599589e-02 7.65484375e-04 9.97714922e-01 -4.23072551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:842.71, Y:-457.79, Z:-42.31 [[ 8.43581108e-01 5.33991577e-01 5.67794780e-02 8.42706850e+02] [-5.32734826e-01 8.45489551e-01 -3.66200018e-02 -4.57794621e+02] [-6.75612279e-02 6.43536378e-04 9.97714922e-01 -4.23141144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:842.76, Y:-457.83, Z:-42.32 [[ 8.37610623e-01 5.43309243e-01 5.67759703e-02 8.42759158e+02] [-5.42073354e-01 8.39532642e-01 -3.66254393e-02 -4.57826516e+02] [-6.75642201e-02 -9.88835971e-05 9.97714922e-01 -4.23167702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.81, Y:-457.86, Z:-42.32 [[ 8.32807633e-01 5.50644141e-01 5.67668574e-02 8.42814106e+02] [-5.49424216e-01 8.34739824e-01 -3.66395583e-02 -4.57857914e+02] [-6.75609147e-02 -6.75382267e-04 9.97714923e-01 -4.23208284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:842.87, Y:-457.89, Z:-42.33 [[ 8.31932847e-01 5.51965971e-01 5.67565410e-02 8.42869208e+02] [-5.50748026e-01 8.33866286e-01 -3.66555320e-02 -4.57885394e+02] [-6.75599724e-02 -7.63611826e-04 9.97714923e-01 -4.23287577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:842.92, Y:-457.92, Z:-42.33 [[ 8.26529050e-01 5.60026361e-01 5.67468470e-02 8.42918911e+02] [-5.58826238e-01 8.28473601e-01 -3.66705333e-02 -4.57920892e+02] [-6.75497300e-02 -1.40236598e-03 9.97714923e-01 -4.23283346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:842.97, Y:-457.95, Z:-42.33 [[ 8.24196733e-01 5.63454136e-01 5.67378371e-02 8.42972716e+02] [-5.62261140e-01 8.26145665e-01 -3.66844684e-02 -4.57953167e+02] [-6.75437336e-02 -1.66626194e-03 9.97714923e-01 -4.23340342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.03, Y:-457.99, Z:-42.34 [[ 8.23027507e-01 5.65161681e-01 5.67273844e-02 8.43025053e+02] [-5.63971616e-01 8.24978230e-01 -3.67006249e-02 -4.57986026e+02] [-6.75406441e-02 -1.78701080e-03 9.97714923e-01 -4.23392145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.08, Y:-458.02, Z:-42.34 [[ 8.23158850e-01 5.64971333e-01 5.67177272e-02 8.43075934e+02] [-5.63779789e-01 8.25108671e-01 -3.67155433e-02 -4.58018715e+02] [-6.75415179e-02 -1.75358391e-03 9.97714923e-01 -4.23448489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:843.13, Y:-458.05, Z:-42.35 [[ 8.25743400e-01 5.61187581e-01 5.67127591e-02 8.43128242e+02] [-5.59986575e-01 8.27687406e-01 -3.67232158e-02 -4.58054192e+02] [-6.75490490e-02 -1.43443065e-03 9.97714923e-01 -4.23487290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.18, Y:-458.09, Z:-42.35 [[ 8.29102902e-01 5.56213281e-01 5.67024253e-02 8.43179862e+02] [-5.54999519e-01 8.31038969e-01 -3.67391646e-02 -4.58089544e+02] [-6.75567364e-02 -1.00927080e-03 9.97714924e-01 -4.23528352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.23, Y:-458.13, Z:-42.36 [[ 8.36816416e-01 5.44540432e-01 5.66921833e-02 8.43229496e+02] [-5.43298589e-01 8.38734592e-01 -3.67549624e-02 -4.58127128e+02] [-6.75642583e-02 -4.36272183e-05 9.97714924e-01 -4.23553739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.28, Y:-458.16, Z:-42.35 [[ 8.46291952e-01 5.29695195e-01 5.66827317e-02 8.43281949e+02] [-5.28418735e-01 8.48187268e-01 -3.67695327e-02 -4.58162133e+02] [-6.75542161e-02 1.16554220e-03 9.97714924e-01 -4.23544843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:843.33, Y:-458.20, Z:-42.36 [[ 8.49568655e-01 5.24424830e-01 5.66718449e-02 8.43330831e+02] [-5.23135496e-01 8.51455237e-01 -3.67863045e-02 -4.58197817e+02] [-6.75451906e-02 1.60543749e-03 9.97714924e-01 -4.23612624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:843.38, Y:-458.23, Z:-42.37 [[ 8.53894527e-01 5.17352318e-01 5.66631848e-02 8.43383715e+02] [-5.16046480e-01 8.55769722e-01 -3.67996392e-02 -4.58231265e+02] [-6.75290165e-02 2.18217350e-03 9.97714924e-01 -4.23659342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:843.44, Y:-458.26, Z:-42.37 [[ 8.56190051e-01 5.13545539e-01 5.66531227e-02 8.43436252e+02] [-5.12230342e-01 8.58058694e-01 -3.68151233e-02 -4.58263599e+02] [-6.75179468e-02 2.50129383e-03 9.97714924e-01 -4.23703233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.49, Y:-458.30, Z:-42.37 [[ 8.56443854e-01 5.13123139e-01 5.66442432e-02 8.43489692e+02] [-5.11806119e-01 8.58311212e-01 -3.68287804e-02 -4.58296378e+02] [-6.75160884e-02 2.55091233e-03 9.97714925e-01 -4.23744891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.54, Y:-458.33, Z:-42.38 [[ 8.55361281e-01 5.14926836e-01 5.66342100e-02 8.43544958e+02] [-5.13612735e-01 8.57230694e-01 -3.68442027e-02 -4.58327100e+02] [-6.75206519e-02 2.42705297e-03 9.97714925e-01 -4.23788728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:843.60, Y:-458.36, Z:-42.38 [[ 8.54049209e-01 5.17101208e-01 5.66241022e-02 8.43600575e+02] [-5.15790839e-01 8.55921241e-01 -3.68597304e-02 -4.58357679e+02] [-6.75259829e-02 2.27383043e-03 9.97714925e-01 -4.23807928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.65, Y:-458.39, Z:-42.39 [[ 8.48604852e-01 5.25989296e-01 5.66133010e-02 8.43654137e+02] [-5.24697437e-01 8.50489704e-01 -3.68763126e-02 -4.58386759e+02] [-6.75455753e-02 1.58856392e-03 9.97714925e-01 -4.23855420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:843.71, Y:-458.41, Z:-42.39 [[ 8.44507753e-01 5.32543123e-01 5.66081110e-02 8.43712296e+02] [-5.31265361e-01 8.46402189e-01 -3.68842780e-02 -4.58411708e+02] [-6.75556977e-02 1.07513017e-03 9.97714925e-01 -4.23913629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:843.77, Y:-458.44, Z:-42.39 [[ 8.36500009e-01 5.45035452e-01 5.66046961e-02 8.43766638e+02] [-5.43785632e-01 8.38412995e-01 -3.68895179e-02 -4.58442384e+02] [-6.75642079e-02 7.72615417e-05 9.97714925e-01 -4.23929376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:843.82, Y:-458.47, Z:-42.40 [[ 8.33197748e-01 5.50071379e-01 5.65949729e-02 8.43821088e+02] [-5.48832108e-01 8.35117585e-01 -3.69044289e-02 -4.58471967e+02] [-6.75635272e-02 -3.12451231e-04 9.97714925e-01 -4.23970428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:843.88, Y:-458.50, Z:-42.40 [[ 8.29904899e-01 5.55027568e-01 5.65884960e-02 8.43877206e+02] [-5.53799085e-01 8.31831656e-01 -3.69143579e-02 -4.58501195e+02] [-6.75605886e-02 -7.03250901e-04 9.97714925e-01 -4.24023276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:843.93, Y:-458.53, Z:-42.41 [[ 8.28850977e-01 5.56601289e-01 5.65779466e-02 8.43930756e+02] [-5.55375360e-01 8.30779361e-01 -3.69305197e-02 -4.58532998e+02] [-6.75593652e-02 -8.12100180e-04 9.97714926e-01 -4.24081321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:843.98, Y:-458.56, Z:-42.41 [[ 8.28431595e-01 5.57226220e-01 5.65688277e-02 8.43984331e+02] [-5.56000793e-01 8.30360297e-01 -3.69444825e-02 -4.58564870e+02] [-6.75589429e-02 -8.46336521e-04 9.97714926e-01 -4.24138449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.04, Y:-458.60, Z:-42.42 [[ 8.28063205e-01 5.57774448e-01 5.65596477e-02 8.44036827e+02] [-5.56549338e-01 8.29992109e-01 -3.69585310e-02 -4.58598694e+02] [-6.75585856e-02 -8.74234847e-04 9.97714926e-01 -4.24188633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:844.09, Y:-458.63, Z:-42.42 [[ 8.27487143e-01 5.58629039e-01 5.65563844e-02 8.44089078e+02] [-5.57405581e-01 8.29417095e-01 -3.69635242e-02 -4.58633140e+02] [-6.75577300e-02 -9.38003280e-04 9.97714926e-01 -4.24228529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:844.14, Y:-458.67, Z:-42.42 [[ 8.25396667e-01 5.61714275e-01 5.65456899e-02 8.44138995e+02] [-5.60496909e-01 8.27330468e-01 -3.69798770e-02 -4.58669214e+02] [-6.75540969e-02 -1.17061716e-03 9.97714926e-01 -4.24198404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:844.19, Y:-458.70, Z:-42.43 [[ 8.25799273e-01 5.61122408e-01 5.65438317e-02 8.44188623e+02] [-5.59903462e-01 8.27732077e-01 -3.69827181e-02 -4.58701814e+02] [-6.75549751e-02 -1.11878548e-03 9.97714926e-01 -4.24310149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.24, Y:-458.74, Z:-42.44 [[ 8.25513108e-01 5.61543384e-01 5.65432368e-02 8.44239914e+02] [-5.60325361e-01 8.27446494e-01 -3.69836276e-02 -4.58736790e+02] [-6.75544145e-02 -1.15214026e-03 9.97714926e-01 -4.24352500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:844.29, Y:-458.77, Z:-42.44 [[ 8.24390481e-01 5.63191161e-01 5.65336314e-02 8.44290923e+02] [-5.61975997e-01 8.26325665e-01 -3.69983048e-02 -4.58772988e+02] [-6.75523088e-02 -1.26949361e-03 9.97714926e-01 -4.24377765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:844.34, Y:-458.81, Z:-42.44 [[ 8.22756466e-01 5.65576636e-01 5.65231501e-02 8.44343069e+02] [-5.64365983e-01 8.24694475e-01 -3.70143104e-02 -4.58808539e+02] [-6.75487588e-02 -1.44597992e-03 9.97714926e-01 -4.24416846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:844.39, Y:-458.85, Z:-42.45 [[ 8.20363116e-01 5.69043642e-01 5.65127586e-02 8.44394194e+02] [-5.67840087e-01 8.22305541e-01 -3.70301691e-02 -4.58845220e+02] [-6.75425368e-02 -1.71202487e-03 9.97714927e-01 -4.24457252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:844.44, Y:-458.88, Z:-42.45 [[ 8.19907942e-01 5.69700334e-01 5.65021826e-02 8.44443490e+02] [-5.68497224e-01 8.21850642e-01 -3.70462994e-02 -4.58883072e+02] [-6.75416442e-02 -1.74677887e-03 9.97714927e-01 -4.24504018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:844.49, Y:-458.92, Z:-42.45 [[ 8.21305371e-01 5.67684532e-01 5.64956634e-02 8.44493306e+02] [-5.66475970e-01 8.23244685e-01 -3.70562386e-02 -4.58920901e+02] [-6.75460081e-02 -1.56894788e-03 9.97714927e-01 -4.24533933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:844.54, Y:-458.96, Z:-42.46 [[ 8.25488894e-01 5.61584817e-01 5.64852131e-02 8.44541117e+02] [-5.60360833e-01 8.27418511e-01 -3.70721612e-02 -4.58961872e+02] [-6.75560738e-02 -1.04944371e-03 9.97714927e-01 -4.24559328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:844.59, Y:-459.00, Z:-42.46 [[ 8.29060632e-01 5.56299296e-01 5.64762145e-02 8.44591275e+02] [-5.55062075e-01 8.30981788e-01 -3.70858648e-02 -4.59000752e+02] [-6.75615462e-02 -6.01374302e-04 9.97714927e-01 -4.24600902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:844.64, Y:-459.04, Z:-42.46 [[ 8.35425438e-01 5.46695455e-01 5.64660610e-02 8.44639981e+02] [-5.45435103e-01 8.37331500e-01 -3.71013179e-02 -4.59040620e+02] [-6.75639334e-02 1.96812917e-04 9.97714927e-01 -4.24647826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:844.69, Y:-459.08, Z:-42.47 [[ 8.42354341e-01 5.35958841e-01 5.64560422e-02 8.44687941e+02] [-5.34673177e-01 8.44243422e-01 -3.71165569e-02 -4.59081174e+02] [-6.75555891e-02 1.07976138e-03 9.97714928e-01 -4.24698436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:844.74, Y:-459.12, Z:-42.47 [[ 8.46643140e-01 5.29158843e-01 5.64474366e-02 8.44738546e+02] [-5.27857139e-01 8.48521203e-01 -3.71296399e-02 -4.59119345e+02] [-6.75443241e-02 1.63937250e-03 9.97714928e-01 -4.24723613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.79, Y:-459.16, Z:-42.48 [[ 8.51717750e-01 5.20952727e-01 5.64369568e-02 8.44788080e+02] [-5.19631882e-01 8.53582401e-01 -3.71455624e-02 -4.59158442e+02] [-6.75246751e-02 2.31109283e-03 9.97714928e-01 -4.24763712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:844.84, Y:-459.20, Z:-42.48 [[ 8.53804296e-01 5.17527076e-01 5.64265005e-02 8.44838311e+02] [-5.16197703e-01 8.55662877e-01 -3.71614394e-02 -4.59196957e+02] [-6.75141128e-02 2.60136660e-03 9.97714928e-01 -4.24810295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:844.89, Y:-459.23, Z:-42.49 [[ 8.52981902e-01 5.18882550e-01 5.64160741e-02 8.44889290e+02] [-5.17555087e-01 8.54841847e-01 -3.71772614e-02 -4.59233323e+02] [-6.75174532e-02 2.51310500e-03 9.97714928e-01 -4.24852634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.94, Y:-459.27, Z:-42.49 [[ 8.49412508e-01 5.24706381e-01 5.64057150e-02 8.44940199e+02] [-5.23390632e-01 8.51280758e-01 -3.71929717e-02 -4.59268542e+02] [-6.75324894e-02 2.06995257e-03 9.97714928e-01 -4.24895394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.99, Y:-459.30, Z:-42.49 [[ 8.45646238e-01 5.30755927e-01 5.63966890e-02 8.44992133e+02] [-5.29452635e-01 8.47523199e-01 -3.72066530e-02 -4.59303442e+02] [-6.75451539e-02 1.60429049e-03 9.97714928e-01 -4.24933478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:845.04, Y:-459.34, Z:-42.50 [[ 8.38691820e-01 5.41679448e-01 5.63862271e-02 8.45044515e+02] [-5.40399545e-01 8.40584807e-01 -3.72225012e-02 -4.59337677e+02] [-6.75600697e-02 7.47115829e-04 9.97714929e-01 -4.24977012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.10, Y:-459.37, Z:-42.50 [[ 8.30394106e-01 5.54317075e-01 5.63756068e-02 8.45096351e+02] [-5.53064891e-01 8.32305541e-01 -3.72385794e-02 -4.59370395e+02] [-6.75637103e-02 -2.56672032e-04 9.97714929e-01 -4.25020114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:845.15, Y:-459.40, Z:-42.51 [[ 8.24674181e-01 5.62792015e-01 5.63705857e-02 8.45148203e+02] [-5.61558952e-01 8.26598007e-01 -3.72461786e-02 -4.59402688e+02] [-6.75576657e-02 -9.39445191e-04 9.97714929e-01 -4.25067499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.20, Y:-459.44, Z:-42.51 [[ 8.18102963e-01 5.72303102e-01 5.63622383e-02 8.45200846e+02] [-5.71091529e-01 8.20040394e-01 -3.72588059e-02 -4.59436852e+02] [-6.75426423e-02 -1.70645731e-03 9.97714929e-01 -4.25109825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:845.26, Y:-459.47, Z:-42.53 [[ 8.18718442e-01 5.71423300e-01 5.63517932e-02 8.45255017e+02] [-5.70208559e-01 8.20653888e-01 -3.72745968e-02 -4.59466848e+02] [-6.75448913e-02 -1.61487501e-03 9.97714929e-01 -4.25254900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:845.30, Y:-459.51, Z:-42.52 [[ 8.15710629e-01 5.75709304e-01 5.63468412e-02 8.45302889e+02] [-5.74504213e-01 8.17652099e-01 -3.72820811e-02 -4.59505755e+02] [-6.75357539e-02 -1.96010784e-03 9.97714929e-01 -4.25218298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:845.35, Y:-459.54, Z:-42.53 [[ 8.16538398e-01 5.74535560e-01 5.63376831e-02 8.45353545e+02] [-5.73326725e-01 8.18477539e-01 -3.72959149e-02 -4.59539612e+02] [-6.75389576e-02 -1.84635280e-03 9.97714929e-01 -4.25287675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:845.40, Y:-459.58, Z:-42.53 [[ 8.18848517e-01 5.71239123e-01 5.63291336e-02 8.45403524e+02] [-5.70021593e-01 8.20782210e-01 -3.73088230e-02 -4.59577012e+02] [-6.75462101e-02 -1.55854805e-03 9.97714929e-01 -4.25328573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:845.45, Y:-459.62, Z:-42.54 [[ 8.22509584e-01 5.65955877e-01 5.63198923e-02 8.45452448e+02] [-5.64724969e-01 8.24434788e-01 -3.73227681e-02 -4.59615928e+02] [-6.75551185e-02 -1.10691501e-03 9.97714930e-01 -4.25375472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:845.50, Y:-459.65, Z:-42.54 [[ 8.23566092e-01 5.64418417e-01 5.63093528e-02 8.45503904e+02] [-5.63182829e-01 8.25488295e-01 -3.73386625e-02 -4.59650704e+02] [-6.75573404e-02 -9.61604285e-04 9.97714930e-01 -4.25404586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:845.56, Y:-459.68, Z:-42.54 [[ 8.24328297e-01 5.63305552e-01 5.63002069e-02 8.45555497e+02] [-5.62066427e-01 8.26248223e-01 -3.73524478e-02 -4.59684384e+02] [-6.75587872e-02 -8.53776466e-04 9.97714930e-01 -4.25426811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:845.61, Y:-459.72, Z:-42.55 [[ 8.24766630e-01 5.62664421e-01 5.62916955e-02 8.45608297e+02] [-5.61422929e-01 8.26685026e-01 -3.73652705e-02 -4.59718834e+02] [-6.75596100e-02 -7.85820318e-04 9.97714930e-01 -4.25452740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:845.66, Y:-459.75, Z:-42.55 [[ 8.25500580e-01 5.61588106e-01 5.62813577e-02 8.45661195e+02] [-5.60343051e-01 8.27416665e-01 -3.73808353e-02 -4.59753136e+02] [-6.75607658e-02 -6.78966427e-04 9.97714930e-01 -4.25498473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.71, Y:-459.79, Z:-42.56 [[ 8.27006896e-01 5.59368560e-01 5.62708468e-02 8.45713449e+02] [-5.58117286e-01 8.28918926e-01 -3.73966512e-02 -4.59786877e+02] [-6.75624808e-02 -4.78443885e-04 9.97714930e-01 -4.25553138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.76, Y:-459.82, Z:-42.56 [[ 8.28784782e-01 5.56732024e-01 5.62604629e-02 8.45764776e+02] [-5.55473607e-01 8.30692118e-01 -3.74122664e-02 -4.59820654e+02] [-6.75637299e-02 -2.44485168e-04 9.97714931e-01 -4.25606138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.82, Y:-459.86, Z:-42.57 [[ 8.29375028e-01 5.55853268e-01 5.62512929e-02 8.45817444e+02] [-5.54591896e-01 8.31280410e-01 -3.74260489e-02 -4.59855349e+02] [-6.75639894e-02 -1.56280775e-04 9.97714931e-01 -4.25655038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:845.87, Y:-459.89, Z:-42.57 [[ 8.31209502e-01 5.53107348e-01 5.62407834e-02 8.45870763e+02] [-5.51838613e-01 8.33109989e-01 -3.74418352e-02 -4.59889144e+02] [-6.75641126e-02 8.61732943e-05 9.97714931e-01 -4.25704403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:845.92, Y:-459.92, Z:-42.57 [[ 8.31601327e-01 5.52519126e-01 5.62303140e-02 8.45923434e+02] [-5.51247984e-01 8.33500205e-01 -3.74575516e-02 -4.59924013e+02] [-6.75639919e-02 1.52902372e-04 9.97714931e-01 -4.25742330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.97, Y:-459.96, Z:-42.58 [[ 8.31715513e-01 5.52348281e-01 5.62199370e-02 8.45974655e+02] [-5.51075696e-01 8.33613425e-01 -3.74731199e-02 -4.59958418e+02] [-6.75639076e-02 1.85534275e-04 9.97714931e-01 -4.25758223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:846.03, Y:-459.99, Z:-42.58 [[ 8.30259594e-01 5.54535270e-01 5.62106779e-02 8.46027311e+02] [-5.53266745e-01 8.32160221e-01 -3.74870036e-02 -4.59992508e+02] [-6.75641558e-02 2.44456153e-05 9.97714931e-01 -4.25788199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:846.08, Y:-460.03, Z:-42.58 [[ 8.26493537e-01 5.60133881e-01 5.62002602e-02 8.46081015e+02] [-5.58877168e-01 8.28401995e-01 -3.75026153e-02 -4.60025618e+02] [-6.75628931e-02 -4.13373168e-04 9.97714932e-01 -4.25829961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:846.14, Y:-460.06, Z:-42.59 [[ 8.21033940e-01 5.68107358e-01 5.61898432e-02 8.46135143e+02] [-5.66868109e-01 8.22953784e-01 -3.75182165e-02 -4.60058147e+02] [-6.75560190e-02 -1.04850107e-03 9.97714932e-01 -4.25877975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:846.19, Y:-460.09, Z:-42.59 [[ 8.17922264e-01 5.72579309e-01 5.61792200e-02 8.46188939e+02] [-5.71349464e-01 8.19848145e-01 -3.75341169e-02 -4.60091170e+02] [-6.75496880e-02 -1.39797733e-03 9.97714932e-01 -4.25942496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.24, Y:-460.13, Z:-42.60 [[ 8.15672856e-01 5.75780243e-01 5.61685200e-02 8.46241733e+02] [-5.74556853e-01 8.17602844e-01 -3.75501222e-02 -4.60125647e+02] [-6.75441602e-02 -1.64339271e-03 9.97714932e-01 -4.26007515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.29, Y:-460.16, Z:-42.61 [[ 8.15713827e-01 5.75723234e-01 5.61579021e-02 8.46292971e+02] [-5.74498617e-01 8.17643036e-01 -3.75659952e-02 -4.60161137e+02] [-6.75447338e-02 -1.61953537e-03 9.97714932e-01 -4.26052898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:846.34, Y:-460.20, Z:-42.61 [[ 8.17701470e-01 5.72897727e-01 5.61471399e-02 8.46343470e+02] [-5.71665339e-01 8.19625724e-01 -3.75820737e-02 -4.60196533e+02] [-6.75503248e-02 -1.36645691e-03 9.97714932e-01 -4.26097768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.39, Y:-460.23, Z:-42.61 [[ 8.20206545e-01 5.69306128e-01 5.61405086e-02 8.46394362e+02] [-5.68064636e-01 8.22124938e-01 -3.75919770e-02 -4.60233573e+02] [-6.75558550e-02 -1.05825204e-03 9.97714933e-01 -4.26147502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.45, Y:-460.27, Z:-42.62 [[ 8.21906900e-01 5.66849594e-01 5.61300731e-02 8.46445350e+02] [-5.65601304e-01 8.23820877e-01 -3.76075523e-02 -4.60270374e+02] [-6.75589517e-02 -8.37335793e-04 9.97714933e-01 -4.26189249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:846.50, Y:-460.31, Z:-42.62 [[ 8.23616228e-01 5.64364158e-01 5.61195714e-02 8.46495572e+02] [-5.63109025e-01 8.25525723e-01 -3.76232169e-02 -4.60308033e+02] [-6.75613449e-02 -6.14345163e-04 9.97714933e-01 -4.26241896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.54, Y:-460.35, Z:-42.63 [[ 8.23624464e-01 5.64353191e-01 5.61089756e-02 8.46544816e+02] [-5.63096957e-01 8.25533235e-01 -3.76390122e-02 -4.60345556e+02] [-6.75615208e-02 -5.94382104e-04 9.97714933e-01 -4.26295364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:846.59, Y:-460.38, Z:-42.64 [[ 8.22668192e-01 5.65747191e-01 5.60995637e-02 8.46594552e+02] [-5.64493235e-01 8.24578460e-01 -3.76530350e-02 -4.60382553e+02] [-6.75605907e-02 -6.91869927e-04 9.97714933e-01 -4.26350003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:846.65, Y:-460.42, Z:-42.64 [[ 8.20892750e-01 5.68321253e-01 5.60896341e-02 8.46645915e+02] [-5.67072276e-01 8.22806277e-01 -3.76678208e-02 -4.60418108e+02] [-6.75583261e-02 -8.85635473e-04 9.97714933e-01 -4.26380911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.70, Y:-460.45, Z:-42.64 [[ 8.17659399e-01 5.72964447e-01 5.60789632e-02 8.46697864e+02] [-5.71725246e-01 8.19579271e-01 -3.76837007e-02 -4.60452809e+02] [-6.75525765e-02 -1.24932703e-03 9.97714934e-01 -4.26417888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.75, Y:-460.49, Z:-42.64 [[ 8.15141217e-01 5.76542404e-01 5.60682905e-02 8.46749902e+02] [-5.75310538e-01 8.17065804e-01 -3.76995736e-02 -4.60487375e+02] [-6.75468856e-02 -1.52620204e-03 9.97714934e-01 -4.26447267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.80, Y:-460.52, Z:-42.65 [[ 8.14254481e-01 5.77795096e-01 5.60577068e-02 8.46802933e+02] [-5.76565109e-01 8.16180269e-01 -3.77153046e-02 -4.60521658e+02] [-6.75449123e-02 -1.61106204e-03 9.97714934e-01 -4.26495157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:846.86, Y:-460.55, Z:-42.65 [[ 8.13879461e-01 5.78324276e-01 5.60469086e-02 8.46855448e+02] [-5.77094436e-01 8.15805343e-01 -3.77313445e-02 -4.60554809e+02] [-6.75443199e-02 -1.63559276e-03 9.97714934e-01 -4.26549211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.91, Y:-460.59, Z:-42.66 [[ 8.14116248e-01 5.77991543e-01 5.60402599e-02 8.46908164e+02] [-5.76760238e-01 8.16041193e-01 -3.77412169e-02 -4.60589525e+02] [-6.75452647e-02 -1.59605572e-03 9.97714934e-01 -4.26595926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.96, Y:-460.62, Z:-42.66 [[ 8.14832790e-01 5.76981973e-01 5.60296991e-02 8.46960348e+02] [-5.75747206e-01 8.16755516e-01 -3.77568887e-02 -4.60624015e+02] [-6.75476099e-02 -1.49339177e-03 9.97714934e-01 -4.26644210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.01, Y:-460.66, Z:-42.67 [[ 8.17173930e-01 5.73662462e-01 5.60191735e-02 8.47012080e+02] [-5.72418814e-01 8.19090923e-01 -3.77724989e-02 -4.60659490e+02] [-6.75534612e-02 -1.19972745e-03 9.97714935e-01 -4.26679318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.06, Y:-460.70, Z:-42.67 [[ 8.19304389e-01 5.70616642e-01 5.60086206e-02 8.47063206e+02] [-5.69364798e-01 8.21216040e-01 -3.77881401e-02 -4.60695704e+02] [-6.75577192e-02 -9.29347868e-04 9.97714935e-01 -4.26708933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.11, Y:-460.73, Z:-42.67 [[ 8.22848524e-01 5.65494927e-01 5.59981695e-02 8.47113630e+02] [-5.64230128e-01 8.24751629e-01 -3.78036212e-02 -4.60732496e+02] [-6.75623375e-02 -4.89200464e-04 9.97714935e-01 -4.26724449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:847.16, Y:-460.77, Z:-42.68 [[ 8.25052567e-01 5.62275307e-01 5.59887529e-02 8.47164868e+02] [-5.61002136e-01 8.26950080e-01 -3.78175626e-02 -4.60767944e+02] [-6.75637853e-02 -2.08332872e-04 9.97714935e-01 -4.26760941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:847.22, Y:-460.80, Z:-42.68 [[ 8.25481768e-01 5.61646009e-01 5.59786647e-02 8.47215415e+02] [-5.60370379e-01 8.27377629e-01 -3.78324895e-02 -4.60802912e+02] [-6.75639616e-02 -1.38755161e-04 9.97714935e-01 -4.26807931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:847.27, Y:-460.84, Z:-42.69 [[ 8.24687394e-01 5.62812760e-01 5.59687341e-02 8.47266741e+02] [-5.61538815e-01 8.26584388e-01 -3.78471751e-02 -4.60838349e+02] [-6.75637548e-02 -2.16528441e-04 9.97714935e-01 -4.26858334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.32, Y:-460.87, Z:-42.69 [[ 8.21880808e-01 5.66904410e-01 5.59582692e-02 8.47319598e+02] [-5.65638855e-01 8.23783409e-01 -3.78626414e-02 -4.60872981e+02] [-6.75619921e-02 -5.33593063e-04 9.97714936e-01 -4.26903084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:847.37, Y:-460.91, Z:-42.70 [[ 8.18617563e-01 5.71607485e-01 5.59479093e-02 8.47372796e+02] [-5.70351815e-01 8.20526702e-01 -3.78779436e-02 -4.60907000e+02] [-6.75580696e-02 -9.02441669e-04 9.97714936e-01 -4.26952009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:847.42, Y:-460.94, Z:-42.70 [[ 8.16798115e-01 5.74205387e-01 5.59375745e-02 8.47424712e+02] [-5.72954745e-01 8.18710551e-01 -3.78931997e-02 -4.60941369e+02] [-6.75551619e-02 -1.09860464e-03 9.97714936e-01 -4.26998264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:847.48, Y:-460.98, Z:-42.70 [[ 8.15658663e-01 5.75823837e-01 5.59272222e-02 8.47477334e+02] [-5.74575942e-01 8.17572892e-01 -3.79084727e-02 -4.60976525e+02] [-6.75531831e-02 -1.21406220e-03 9.97714936e-01 -4.27036939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.53, Y:-461.01, Z:-42.71 [[ 8.14807480e-01 5.77028662e-01 5.59168497e-02 8.47528742e+02] [-5.75782548e-01 8.16722869e-01 -3.79237665e-02 -4.61010903e+02] [-6.75516702e-02 -1.29537761e-03 9.97714936e-01 -4.27069311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.58, Y:-461.04, Z:-42.71 [[ 8.14395798e-01 5.77610476e-01 5.59072600e-02 8.47581420e+02] [-5.76364761e-01 8.16311447e-01 -3.79378984e-02 -4.61044444e+02] [-6.75510639e-02 -1.32650951e-03 9.97714936e-01 -4.27092423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:847.63, Y:-461.08, Z:-42.71 [[ 8.15230795e-01 5.76432341e-01 5.58972907e-02 8.47634522e+02] [-5.75182851e-01 8.17143983e-01 -3.79525813e-02 -4.61078607e+02] [-6.75532301e-02 -1.21105000e-03 9.97714937e-01 -4.27122941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.69, Y:-461.11, Z:-42.72 [[ 8.15806467e-01 5.75618364e-01 5.58865617e-02 8.47687116e+02] [-5.74365884e-01 8.17717699e-01 -3.79683737e-02 -4.61113529e+02] [-6.75547238e-02 -1.12448955e-03 9.97714937e-01 -4.27173004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.74, Y:-461.15, Z:-42.72 [[ 8.17350113e-01 5.73425391e-01 5.58758857e-02 8.47739783e+02] [-5.72166709e-01 8.19257266e-01 -3.79840785e-02 -4.61147634e+02] [-6.75577604e-02 -9.24030728e-04 9.97714937e-01 -4.27242689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:847.79, Y:-461.18, Z:-42.73 [[ 8.18322713e-01 5.72037593e-01 5.58652827e-02 8.47791702e+02] [-5.70774612e-01 8.20227022e-01 -3.79996666e-02 -4.61182324e+02] [-6.75594522e-02 -7.90494799e-04 9.97714937e-01 -4.27298248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:847.84, Y:-461.22, Z:-42.74 [[ 8.19946184e-01 5.69709133e-01 5.58548108e-02 8.47842591e+02] [-5.68439696e-01 8.21846195e-01 -3.80150527e-02 -4.61216968e+02] [-6.75615864e-02 -5.79794319e-04 9.97714937e-01 -4.27350305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:847.89, Y:-461.25, Z:-42.74 [[ 8.21563959e-01 5.67374640e-01 5.58451359e-02 8.47894149e+02] [-5.66098839e-01 8.23459702e-01 -3.80292601e-02 -4.61252848e+02] [-6.75630567e-02 -3.70397081e-04 9.97714937e-01 -4.27398924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.95, Y:-461.29, Z:-42.74 [[ 8.23554309e-01 5.64482789e-01 5.58344088e-02 8.47945392e+02] [-5.63199263e-01 8.25444830e-01 -3.80450031e-02 -4.61289160e+02] [-6.75639736e-02 -1.13771627e-04 9.97714938e-01 -4.27434973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:848.00, Y:-461.32, Z:-42.75 [[ 8.24973063e-01 5.62408365e-01 5.58236219e-02 8.47996380e+02] [-5.61119014e-01 8.26859617e-01 -3.80608242e-02 -4.61324888e+02] [-6.75640245e-02 7.54590690e-05 9.97714938e-01 -4.27473199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:848.05, Y:-461.36, Z:-42.75 [[ 8.26388270e-01 5.60327817e-01 5.58136649e-02 8.48047836e+02] [-5.59032731e-01 8.28270890e-01 -3.80754199e-02 -4.61361371e+02] [-6.75635509e-02 2.63414875e-04 9.97714938e-01 -4.27502333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:848.10, Y:-461.40, Z:-42.75 [[ 8.26662226e-01 5.59924622e-01 5.58030531e-02 8.48099587e+02] [-5.58627569e-01 8.28543492e-01 -3.80909662e-02 -4.61396953e+02] [-6.75633263e-02 3.15239043e-04 9.97714938e-01 -4.27534838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:848.15, Y:-461.43, Z:-42.76 [[ 8.26491504e-01 5.60177667e-01 5.57922558e-02 8.48150747e+02] [-5.58880122e-01 8.28372430e-01 -3.81067745e-02 -4.61430530e+02] [-6.75633306e-02 3.13742587e-04 9.97714938e-01 -4.27592061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.20, Y:-461.47, Z:-42.76 [[ 8.26335140e-01 5.60409289e-01 5.57823001e-02 8.48202925e+02] [-5.59111287e-01 8.28215752e-01 -3.81213426e-02 -4.61465543e+02] [-6.75633341e-02 3.12491416e-04 9.97714938e-01 -4.27645637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.25, Y:-461.50, Z:-42.77 [[ 8.25786456e-01 5.61218533e-01 5.57717393e-02 8.48254959e+02] [-5.59921331e-01 8.27667619e-01 -3.81367869e-02 -4.61501012e+02] [-6.75635343e-02 2.65055593e-04 9.97714939e-01 -4.27696395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:848.31, Y:-461.54, Z:-42.77 [[ 8.24600732e-01 5.62960348e-01 5.57609171e-02 8.48306512e+02] [-5.61666051e-01 8.26483894e-01 -3.81526038e-02 -4.61535067e+02] [-6.75639030e-02 1.41650871e-04 9.97714939e-01 -4.27749405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:848.36, Y:-461.57, Z:-42.78 [[ 8.23117489e-01 5.65127803e-01 5.57509291e-02 8.48358401e+02] [-5.63837476e-01 8.25003373e-01 -3.81671932e-02 -4.61569918e+02] [-6.75640467e-02 -1.83789743e-05 9.97714939e-01 -4.27795199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:848.41, Y:-461.60, Z:-42.78 [[ 8.20474772e-01 5.68958857e-01 5.57401776e-02 8.48410369e+02] [-5.67676269e-01 8.22365929e-01 -3.81828886e-02 -4.61604770e+02] [-6.75633155e-02 -3.14279206e-04 9.97714939e-01 -4.27835122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:848.46, Y:-461.64, Z:-42.79 [[ 8.16238302e-01 5.75021098e-01 5.57294478e-02 8.48462449e+02] [-5.73751486e-01 8.18138193e-01 -3.81985428e-02 -4.61637590e+02] [-6.75593577e-02 -7.95739782e-04 9.97714939e-01 -4.27889310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.51, Y:-461.67, Z:-42.79 [[ 8.15164603e-01 5.76543153e-01 5.57195007e-02 8.48514610e+02] [-5.75276097e-01 8.17066200e-01 -3.82130469e-02 -4.61673106e+02] [-6.75579913e-02 -9.04173684e-04 9.97714939e-01 -4.27933644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.57, Y:-461.71, Z:-42.80 [[ 8.12719663e-01 5.79985575e-01 5.57089094e-02 8.48565864e+02] [-5.78725515e-01 8.14625903e-01 -3.82284812e-02 -4.61708843e+02] [-6.75538883e-02 -1.17112892e-03 9.97714940e-01 -4.27967018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.62, Y:-461.74, Z:-42.80 [[ 8.10885227e-01 5.82548597e-01 5.56981196e-02 8.48617941e+02] [-5.81293483e-01 8.12794727e-01 -3.82441953e-02 -4.61743133e+02] [-6.75502402e-02 -1.36530091e-03 9.97714940e-01 -4.28013522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.67, Y:-461.78, Z:-42.81 [[ 8.09709575e-01 5.84182606e-01 5.56874065e-02 8.48669723e+02] [-5.82930273e-01 8.11620900e-01 -3.82597883e-02 -4.61777753e+02] [-6.75477658e-02 -1.48255813e-03 9.97714940e-01 -4.28070080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:848.72, Y:-461.81, Z:-42.81 [[ 8.09777567e-01 5.84089380e-01 5.56766433e-02 8.48720257e+02] [-5.82835752e-01 8.11688041e-01 -3.82754448e-02 -4.61813443e+02] [-6.75483464e-02 -1.45574171e-03 9.97714940e-01 -4.28113745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.77, Y:-461.85, Z:-42.82 [[ 8.10780714e-01 5.82697052e-01 5.56666832e-02 8.48770891e+02] [-5.81439149e-01 8.12688377e-01 -3.82899251e-02 -4.61850612e+02] [-6.75510929e-02 -1.32205609e-03 9.97714940e-01 -4.28154204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:848.82, Y:-461.89, Z:-42.82 [[ 8.12119499e-01 5.80830747e-01 5.56557530e-02 8.48821679e+02] [-5.79567372e-01 8.14023542e-01 -3.83058058e-02 -4.61887191e+02] [-6.75542831e-02 -1.14736670e-03 9.97714940e-01 -4.28204211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:848.87, Y:-461.92, Z:-42.82 [[ 8.13112251e-01 5.79441209e-01 5.56448830e-02 8.48872149e+02] [-5.78173500e-01 8.15013411e-01 -3.83215898e-02 -4.61923801e+02] [-6.75564342e-02 -1.01264257e-03 9.97714941e-01 -4.28248737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:848.92, Y:-461.96, Z:-42.83 [[ 8.14731692e-01 5.77163002e-01 5.56339762e-02 8.48921715e+02] [-5.75888895e-01 8.16628571e-01 -3.83374173e-02 -4.61959801e+02] [-6.75592333e-02 -8.04280191e-04 9.97714941e-01 -4.28303223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.97, Y:-462.00, Z:-42.84 [[ 8.16098804e-01 5.75229279e-01 5.56239067e-02 8.48972834e+02] [-5.73949683e-01 8.17991983e-01 -3.83520216e-02 -4.61996698e+02] [-6.75611155e-02 -6.26284610e-04 9.97714941e-01 -4.28353860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.02, Y:-462.03, Z:-42.84 [[ 8.16954907e-01 5.74013815e-01 5.56131202e-02 8.49022993e+02] [-5.72730338e-01 8.18845457e-01 -3.83676564e-02 -4.62033304e+02] [-6.75621157e-02 -5.06675942e-04 9.97714941e-01 -4.28413104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:849.07, Y:-462.07, Z:-42.85 [[ 8.17157350e-01 5.73726546e-01 5.56031948e-02 8.49073693e+02] [-5.72441426e-01 8.19046784e-01 -3.83820351e-02 -4.62069517e+02] [-6.75624104e-02 -4.65410007e-04 9.97714941e-01 -4.28454414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:849.12, Y:-462.11, Z:-42.85 [[ 8.17145376e-01 5.73744657e-01 5.55922977e-02 8.49124790e+02] [-5.72458505e-01 8.19034107e-01 -3.83978120e-02 -4.62105517e+02] [-6.75625274e-02 -4.47689168e-04 9.97714942e-01 -4.28490687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.18, Y:-462.14, Z:-42.85 [[ 8.16615327e-01 5.74499882e-01 5.55814136e-02 8.49177016e+02] [-5.73214405e-01 8.18504517e-01 -3.84135605e-02 -4.62140962e+02] [-6.75622241e-02 -4.90964635e-04 9.97714942e-01 -4.28523203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.23, Y:-462.18, Z:-42.86 [[ 8.15541816e-01 5.76023849e-01 5.55704305e-02 8.49230225e+02] [-5.74740820e-01 8.17432669e-01 -3.84294425e-02 -4.62175218e+02] [-6.75613607e-02 -5.97777492e-04 9.97714942e-01 -4.28552831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.28, Y:-462.21, Z:-42.86 [[ 8.14123892e-01 5.78027181e-01 5.55595813e-02 8.49284173e+02] [-5.76747735e-01 8.16017171e-01 -3.84451214e-02 -4.62207993e+02] [-6.75598975e-02 -7.44770869e-04 9.97714942e-01 -4.28601721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:849.34, Y:-462.24, Z:-42.87 [[ 8.13130139e-01 5.79425327e-01 5.55487779e-02 8.49335812e+02] [-5.78148070e-01 8.15024896e-01 -3.84607248e-02 -4.62241933e+02] [-6.75587550e-02 -8.41844191e-04 9.97714942e-01 -4.28659490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.39, Y:-462.28, Z:-42.87 [[ 8.11819271e-01 5.81261167e-01 5.55421170e-02 8.49388483e+02] [-5.79987537e-01 8.13716468e-01 -3.84703415e-02 -4.62275681e+02] [-6.75568509e-02 -9.82771016e-04 9.97714942e-01 -4.28720047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.44, Y:-462.31, Z:-42.88 [[ 8.10795364e-01 5.82689584e-01 5.55313118e-02 8.49441503e+02] [-5.81418228e-01 8.12694086e-01 -3.84859324e-02 -4.62309200e+02] [-6.75553206e-02 -1.08270131e-03 9.97714942e-01 -4.28770410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:849.49, Y:-462.34, Z:-42.88 [[ 8.10769790e-01 5.82726207e-01 5.55204053e-02 8.49493031e+02] [-5.81453861e-01 8.12667847e-01 -3.85016598e-02 -4.62343526e+02] [-6.75555745e-02 -1.06657141e-03 9.97714943e-01 -4.28814300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.54, Y:-462.38, Z:-42.88 [[ 8.12469516e-01 5.80354968e-01 5.55103307e-02 8.49543976e+02] [-5.79076090e-01 8.14363178e-01 -3.85161795e-02 -4.62379293e+02] [-6.75586255e-02 -8.51483517e-04 9.97714943e-01 -4.28846876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.60, Y:-462.42, Z:-42.89 [[ 8.14139587e-01 5.78010741e-01 5.55005995e-02 8.49595615e+02] [-5.76725455e-01 8.16028905e-01 -3.85301970e-02 -4.62415493e+02] [-6.75609611e-02 -6.39649823e-04 9.97714943e-01 -4.28889627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.65, Y:-462.45, Z:-42.89 [[ 8.16519787e-01 5.74644530e-01 5.54896603e-02 8.49646619e+02] [-5.73350383e-01 8.18403047e-01 -3.85459447e-02 -4.62451331e+02] [-6.75631233e-02 -3.41491478e-04 9.97714943e-01 -4.28936274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.70, Y:-462.49, Z:-42.90 [[ 8.17409392e-01 5.73379453e-01 5.54787167e-02 8.49698189e+02] [-5.72081324e-01 8.19289909e-01 -3.85616893e-02 -4.62487698e+02] [-6.75636331e-02 -2.17650669e-04 9.97714943e-01 -4.28997560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:849.75, Y:-462.52, Z:-42.91 [[ 8.17186548e-01 5.73698061e-01 5.54678329e-02 8.49750309e+02] [-5.72399602e-01 8.19066837e-01 -3.85773384e-02 -4.62523320e+02] [-6.75636067e-02 -2.24883472e-04 9.97714944e-01 -4.29058634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.80, Y:-462.56, Z:-42.91 [[ 8.16165991e-01 5.75150065e-01 5.54570029e-02 8.49801686e+02] [-5.73853893e-01 8.18047857e-01 -3.85929008e-02 -4.62557894e+02] [-6.75631918e-02 -3.26003900e-04 9.97714944e-01 -4.29123570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:849.85, Y:-462.59, Z:-42.92 [[ 8.15878479e-01 5.75558750e-01 5.54475689e-02 8.49853664e+02] [-5.74262601e-01 8.17760361e-01 -3.86064503e-02 -4.62593489e+02] [-6.75631042e-02 -3.43293207e-04 9.97714944e-01 -4.29166276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.91, Y:-462.63, Z:-42.92 [[ 8.15661807e-01 5.75866819e-01 5.54366671e-02 8.49905146e+02] [-5.74570317e-01 8.17543445e-01 -3.86220983e-02 -4.62629811e+02] [-6.75630687e-02 -3.49692889e-04 9.97714944e-01 -4.29201431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:849.96, Y:-462.67, Z:-42.92 [[ 8.15179244e-01 5.76550763e-01 5.54257901e-02 8.49956877e+02] [-5.75254778e-01 8.17061239e-01 -3.86377013e-02 -4.62665715e+02] [-6.75628609e-02 -3.87298441e-04 9.97714944e-01 -4.29234872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.01, Y:-462.70, Z:-42.93 [[ 8.14226989e-01 5.77895838e-01 5.54149061e-02 8.50008317e+02] [-5.76601900e-01 8.16110391e-01 -3.86533051e-02 -4.62701679e+02] [-6.75622648e-02 -4.79775925e-04 9.97714944e-01 -4.29270706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:850.06, Y:-462.74, Z:-42.93 [[ 8.13181879e-01 5.79366564e-01 5.54041216e-02 8.50059891e+02] [-5.78074980e-01 8.15066896e-01 -3.86687570e-02 -4.62736842e+02] [-6.75614503e-02 -5.83004089e-04 9.97714945e-01 -4.29322530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:850.11, Y:-462.77, Z:-42.94 [[ 8.11385127e-01 5.81881231e-01 5.53932315e-02 8.50110889e+02] [-5.80594424e-01 8.13273408e-01 -3.86843508e-02 -4.62771256e+02] [-6.75595398e-02 -7.73094486e-04 9.97714945e-01 -4.29385054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.16, Y:-462.81, Z:-42.94 [[ 8.10472624e-01 5.83152494e-01 5.53831627e-02 8.50162957e+02] [-5.81867664e-01 8.12362251e-01 -3.86987607e-02 -4.62806392e+02] [-6.75584695e-02 -8.61385395e-04 9.97714945e-01 -4.29427118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.22, Y:-462.84, Z:-42.95 [[ 8.10165908e-01 5.83579568e-01 5.53722907e-02 8.50216042e+02] [-5.82294672e-01 8.12055489e-01 -3.87143107e-02 -4.62840365e+02] [-6.75582533e-02 -8.77975122e-04 9.97714945e-01 -4.29478652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.27, Y:-462.88, Z:-42.95 [[ 8.10299521e-01 5.83395066e-01 5.53613931e-02 8.50268015e+02] [-5.82108676e-01 8.12188085e-01 -3.87298880e-02 -4.62875038e+02] [-6.75586894e-02 -8.43537563e-04 9.97714945e-01 -4.29528552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.32, Y:-462.91, Z:-42.96 [[ 8.10825538e-01 5.82664791e-01 5.53505926e-02 8.50319854e+02] [-5.81375646e-01 8.12712224e-01 -3.87453174e-02 -4.62910605e+02] [-6.75596354e-02 -7.63793699e-04 9.97714945e-01 -4.29564834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.37, Y:-462.95, Z:-42.96 [[ 8.11398151e-01 5.81868166e-01 5.53396690e-02 8.50371444e+02] [-5.80576105e-01 8.13282840e-01 -3.87609133e-02 -4.62946429e+02] [-6.75605446e-02 -6.78356150e-04 9.97714946e-01 -4.29619827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.42, Y:-462.98, Z:-42.97 [[ 8.10844312e-01 5.82640204e-01 5.53343873e-02 8.50423028e+02] [-5.81349424e-01 8.12729878e-01 -3.87684518e-02 -4.62980619e+02] [-6.75599685e-02 -7.33435586e-04 9.97714946e-01 -4.29676785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:850.47, Y:-463.02, Z:-42.97 [[ 8.10400678e-01 5.83258173e-01 5.53230996e-02 8.50474274e+02] [-5.81967731e-01 8.12286476e-01 -3.87845528e-02 -4.63016333e+02] [-6.75596130e-02 -7.65230894e-04 9.97714946e-01 -4.29746899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.53, Y:-463.05, Z:-42.98 [[ 8.09751918e-01 5.84159559e-01 5.53122154e-02 8.50525278e+02] [-5.82870157e-01 8.11638426e-01 -3.88000690e-02 -4.63052490e+02] [-6.75589507e-02 -8.21409383e-04 9.97714946e-01 -4.29801980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.58, Y:-463.09, Z:-42.98 [[ 8.09130409e-01 5.85021138e-01 5.53014421e-02 8.50576627e+02] [-5.83732696e-01 8.11017573e-01 -3.88154182e-02 -4.63089445e+02] [-6.75582814e-02 -8.74524668e-04 9.97714946e-01 -4.29842737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.63, Y:-463.12, Z:-42.99 [[ 8.09291135e-01 5.84799802e-01 5.52906098e-02 8.50626862e+02] [-5.83509790e-01 8.11177226e-01 -3.88308421e-02 -4.63124734e+02] [-6.75587522e-02 -8.37155810e-04 9.97714946e-01 -4.29884522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:850.68, Y:-463.16, Z:-42.99 [[ 8.10108442e-01 5.83668028e-01 5.52805978e-02 8.50677735e+02] [-5.82374409e-01 8.11992061e-01 -3.88450901e-02 -4.63161654e+02] [-6.75600437e-02 -7.25270033e-04 9.97714947e-01 -4.29908594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.73, Y:-463.20, Z:-42.99 [[ 8.10219155e-01 5.83515337e-01 5.52699994e-02 8.50728792e+02] [-5.82220334e-01 8.12101822e-01 -3.88601641e-02 -4.63197487e+02] [-6.75603690e-02 -6.94068209e-04 9.97714947e-01 -4.29947687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.78, Y:-463.23, Z:-43.00 [[ 8.09838010e-01 5.84045235e-01 5.52590314e-02 8.50780197e+02] [-5.82750401e-01 8.11720793e-01 -3.88757543e-02 -4.63233340e+02] [-6.75601039e-02 -7.19159157e-04 9.97714947e-01 -4.29994094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.83, Y:-463.27, Z:-43.00 [[ 8.08425579e-01 5.85999768e-01 5.52481243e-02 8.50832848e+02] [-5.84708427e-01 8.10310759e-01 -3.88912488e-02 -4.63267788e+02] [-6.75584123e-02 -8.63363483e-04 9.97714947e-01 -4.30041394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.88, Y:-463.30, Z:-43.01 [[ 8.07121736e-01 5.87795350e-01 5.52370404e-02 8.50884623e+02] [-5.86507126e-01 8.09009047e-01 -3.89069848e-02 -4.63300824e+02] [-6.75566102e-02 -9.94244760e-04 9.97714947e-01 -4.30090943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.94, Y:-463.34, Z:-43.01 [[ 8.06489850e-01 5.88662996e-01 5.52267941e-02 8.50936443e+02] [-5.87375807e-01 8.08377867e-01 -3.89215236e-02 -4.63335701e+02] [-6.75557787e-02 -1.04906906e-03 9.97714947e-01 -4.30144386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.99, Y:-463.37, Z:-43.02 [[ 8.05741210e-01 5.89688326e-01 5.52157683e-02 8.50987507e+02] [-5.88402468e-01 8.07630134e-01 -3.89371590e-02 -4.63370758e+02] [-6.75547065e-02 -1.11582073e-03 9.97714948e-01 -4.30205140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.04, Y:-463.41, Z:-43.03 [[ 8.05724345e-01 5.89712322e-01 5.52055909e-02 8.51039462e+02] [-5.88425533e-01 8.07612634e-01 -3.89515833e-02 -4.63406230e+02] [-6.75549613e-02 -1.10014035e-03 9.97714948e-01 -4.30252628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.09, Y:-463.44, Z:-43.03 [[ 8.06534049e-01 5.88605454e-01 5.51946306e-02 8.51090956e+02] [-5.87315011e-01 8.08419843e-01 -3.89671080e-02 -4.63442293e+02] [-6.75566869e-02 -9.88335662e-04 9.97714948e-01 -4.30290007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.14, Y:-463.48, Z:-43.03 [[ 8.07746189e-01 5.86941956e-01 5.51836472e-02 8.51141755e+02] [-5.85646567e-01 8.09628589e-01 -3.89826561e-02 -4.63479611e+02] [-6.75588148e-02 -8.30021650e-04 9.97714948e-01 -4.30316974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.19, Y:-463.52, Z:-43.04 [[ 8.08054149e-01 5.86518947e-01 5.51726150e-02 8.51192346e+02] [-5.85221507e-01 8.09935135e-01 -3.89982639e-02 -4.63515885e+02] [-6.75594600e-02 -7.75491936e-04 9.97714948e-01 -4.30356681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.24, Y:-463.55, Z:-43.04 [[ 8.07741404e-01 5.86950535e-01 5.51624264e-02 8.51244571e+02] [-5.85653116e-01 8.09622405e-01 -3.90126701e-02 -4.63551211e+02] [-6.75592440e-02 -7.93897955e-04 9.97714948e-01 -4.30412560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.30, Y:-463.59, Z:-43.05 [[ 8.07357273e-01 5.87479834e-01 5.51514154e-02 8.51296222e+02] [-5.86182585e-01 8.09238392e-01 -3.90282300e-02 -4.63586597e+02] [-6.75589407e-02 -8.19073892e-04 9.97714949e-01 -4.30478272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.35, Y:-463.62, Z:-43.05 [[ 8.06747348e-01 5.88318144e-01 5.51405356e-02 8.51346452e+02] [-5.87021800e-01 8.08629089e-01 -3.90435954e-02 -4.63622104e+02] [-6.75582966e-02 -8.70379422e-04 9.97714949e-01 -4.30537753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.40, Y:-463.66, Z:-43.06 [[ 8.06534248e-01 5.88611142e-01 5.51310335e-02 8.51397085e+02] [-5.87314565e-01 8.08415829e-01 -3.90570080e-02 -4.63657953e+02] [-6.75581902e-02 -8.78444354e-04 9.97714949e-01 -4.30573968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.45, Y:-463.69, Z:-43.06 [[ 8.06582703e-01 5.88545681e-01 5.51209982e-02 8.51448345e+02] [-5.87247984e-01 8.08463512e-01 -3.90711658e-02 -4.63693810e+02] [-6.75584816e-02 -8.55568534e-04 9.97714949e-01 -4.30604918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.50, Y:-463.73, Z:-43.06 [[ 8.06818464e-01 5.88223463e-01 5.51101025e-02 8.51500405e+02] [-5.86923965e-01 8.08698029e-01 -3.90865281e-02 -4.63729835e+02] [-6.75590442e-02 -8.09707281e-04 9.97714949e-01 -4.30641506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.55, Y:-463.77, Z:-43.07 [[ 8.06937259e-01 5.88061503e-01 5.50992693e-02 8.51551789e+02] [-5.86760586e-01 8.08815841e-01 -3.91017936e-02 -4.63765897e+02] [-6.75594213e-02 -7.77385412e-04 9.97714949e-01 -4.30669223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.60, Y:-463.80, Z:-43.07 [[ 8.06890501e-01 5.88126702e-01 5.50881255e-02 8.51603228e+02] [-5.86824866e-01 8.08768446e-01 -3.91174871e-02 -4.63801181e+02] [-6.75595763e-02 -7.63553062e-04 9.97714950e-01 -4.30702262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.65, Y:-463.84, Z:-43.07 [[ 8.06581095e-01 5.88552008e-01 5.50769593e-02 8.51654966e+02] [-5.87250089e-01 8.08458982e-01 -3.91332027e-02 -4.63836137e+02] [-6.75593874e-02 -7.79847785e-04 9.97714950e-01 -4.30742645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.71, Y:-463.87, Z:-43.08 [[ 8.06317408e-01 5.88914243e-01 5.50658885e-02 8.51705216e+02] [-5.87612104e-01 8.08195143e-01 -3.91487747e-02 -4.63870358e+02] [-6.75592546e-02 -7.91044066e-04 9.97714950e-01 -4.30794683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.76, Y:-463.91, Z:-43.08 [[ 8.05972944e-01 5.89386083e-01 5.50605110e-02 8.51756437e+02] [-5.88084527e-01 8.07851082e-01 -3.91563363e-02 -4.63905239e+02] [-6.75588931e-02 -8.21286949e-04 9.97714950e-01 -4.30835047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.81, Y:-463.94, Z:-43.09 [[ 8.06281283e-01 5.88965115e-01 5.50507576e-02 8.51806985e+02] [-5.87661643e-01 8.08158092e-01 -3.91700441e-02 -4.63940231e+02] [-6.75595047e-02 -7.69145240e-04 9.97714950e-01 -4.30880395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.86, Y:-463.98, Z:-43.09 [[ 8.08172990e-01 5.86367602e-01 5.50404647e-02 8.51859058e+02] [-5.85057113e-01 8.10044906e-01 -3.91845019e-02 -4.63975630e+02] [-6.75617705e-02 -5.33959283e-04 9.97714950e-01 -4.30915734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.91, Y:-464.01, Z:-43.09 [[ 8.10885277e-01 5.82612069e-01 5.50294911e-02 8.51909303e+02] [-5.81291864e-01 8.12750353e-01 -3.91999070e-02 -4.64011234e+02] [-6.75635772e-02 -2.01568062e-04 9.97714951e-01 -4.30939564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:851.96, Y:-464.05, Z:-43.10 [[ 8.12948088e-01 5.79731086e-01 5.50206730e-02 8.51960427e+02] [-5.78403433e-01 8.14807870e-01 -3.92122800e-02 -4.64047001e+02] [-6.75638551e-02 5.34018430e-05 9.97714951e-01 -4.30975318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.01, Y:-464.08, Z:-43.10 [[ 8.13869106e-01 5.78438423e-01 5.50097128e-02 8.52012539e+02] [-5.77106778e-01 8.15726031e-01 -3.92276497e-02 -4.64081991e+02] [-6.75636346e-02 1.79694099e-04 9.97714951e-01 -4.31019253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.06, Y:-464.12, Z:-43.11 [[ 8.14059062e-01 5.78172098e-01 5.49988025e-02 8.52064056e+02] [-5.76838813e-01 8.15914809e-01 -3.92429405e-02 -4.64116821e+02] [-6.75635107e-02 2.20627352e-04 9.97714951e-01 -4.31068911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.12, Y:-464.15, Z:-43.12 [[ 8.16305165e-01 5.74997452e-01 5.49891648e-02 8.52117715e+02] [-5.73656040e-01 8.18155046e-01 -3.92564408e-02 -4.64148005e+02] [-6.75620161e-02 5.00368856e-04 9.97714951e-01 -4.31199829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.17, Y:-464.19, Z:-43.12 [[ 8.14098108e-01 5.78118379e-01 5.49855558e-02 8.52165808e+02] [-5.76783717e-01 8.15952866e-01 -3.92614951e-02 -4.64186125e+02] [-6.75634137e-02 2.47935642e-04 9.97714951e-01 -4.31180232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.22, Y:-464.22, Z:-43.12 [[ 8.13831036e-01 5.78495172e-01 5.49761818e-02 8.52218167e+02] [-5.77160482e-01 8.15685774e-01 -3.92746167e-02 -4.64221286e+02] [-6.75634656e-02 2.32822419e-04 9.97714951e-01 -4.31207800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.27, Y:-464.26, Z:-43.13 [[ 8.13477668e-01 5.78993020e-01 5.49651333e-02 8.52269588e+02] [-5.77658421e-01 8.15332471e-01 -3.92900731e-02 -4.64256514e+02] [-6.75635361e-02 2.10524958e-04 9.97714951e-01 -4.31254392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:852.32, Y:-464.29, Z:-43.13 [[ 8.12989263e-01 5.79679647e-01 5.49542175e-02 8.52321525e+02] [-5.78345583e-01 8.14844450e-01 -3.93053350e-02 -4.64292580e+02] [-6.75636418e-02 1.72286362e-04 9.97714952e-01 -4.31282637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.37, Y:-464.33, Z:-43.13 [[ 8.12642753e-01 5.80166367e-01 5.49430940e-02 8.52372623e+02] [-5.78832363e-01 8.14497983e-01 -3.93208778e-02 -4.64329079e+02] [-6.75636901e-02 1.50985482e-04 9.97714952e-01 -4.31321079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.42, Y:-464.36, Z:-43.14 [[ 8.11549115e-01 5.81696234e-01 5.49320149e-02 8.52423998e+02] [-5.80364680e-01 8.13406104e-01 -3.93363495e-02 -4.64364947e+02] [-6.75638426e-02 4.27782955e-05 9.97714952e-01 -4.31360856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.48, Y:-464.40, Z:-43.14 [[ 8.10003692e-01 5.83847332e-01 5.49209572e-02 8.52475589e+02] [-5.82519663e-01 8.11863461e-01 -3.93517821e-02 -4.64401307e+02] [-6.75637514e-02 -1.17448728e-04 9.97714952e-01 -4.31399241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:852.53, Y:-464.44, Z:-43.14 [[ 8.09342522e-01 5.84764543e-01 5.49100308e-02 8.52527162e+02] [-5.83437948e-01 8.11203056e-01 -3.93670226e-02 -4.64437012e+02] [-6.75636237e-02 -1.75190347e-04 9.97714952e-01 -4.31447520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.58, Y:-464.47, Z:-43.16 [[ 8.10674998e-01 5.82916907e-01 5.48992390e-02 8.52579204e+02] [-5.81585053e-01 8.12531771e-01 -3.93820664e-02 -4.64470425e+02] [-6.75638483e-02 -2.52020048e-06 9.97714953e-01 -4.31556011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.63, Y:-464.51, Z:-43.15 [[ 8.10996379e-01 5.82470055e-01 5.48954318e-02 8.52628092e+02] [-5.81136818e-01 8.12852160e-01 -3.93873727e-02 -4.64508114e+02] [-6.75638354e-02 4.12601211e-05 9.97714953e-01 -4.31538480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.68, Y:-464.55, Z:-43.16 [[ 8.12699569e-01 5.80092224e-01 5.48855432e-02 8.52679072e+02] [-5.78752627e-01 8.14550763e-01 -3.94011474e-02 -4.64545496e+02] [-6.75633604e-02 2.56143176e-04 9.97714953e-01 -4.31575636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.73, Y:-464.58, Z:-43.16 [[ 8.13484689e-01 5.78991767e-01 5.48743446e-02 8.52730516e+02] [-5.77648615e-01 8.15333305e-01 -3.94167377e-02 -4.64582172e+02] [-6.75628474e-02 3.66823539e-04 9.97714953e-01 -4.31624378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.78, Y:-464.62, Z:-43.17 [[ 8.13179790e-01 5.79420973e-01 5.48631594e-02 8.52781544e+02] [-5.78077746e-01 8.15028352e-01 -3.94322999e-02 -4.64618450e+02] [-6.75629320e-02 3.50377867e-04 9.97714953e-01 -4.31670821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.83, Y:-464.65, Z:-43.17 [[ 8.11928996e-01 5.81173446e-01 5.48518978e-02 8.52831234e+02] [-5.79833151e-01 8.13779685e-01 -3.94479591e-02 -4.64654370e+02] [-6.75634664e-02 2.23993092e-04 9.97714953e-01 -4.31711474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.88, Y:-464.69, Z:-43.18 [[ 8.09732226e-01 5.84231231e-01 5.48415091e-02 8.52882227e+02] [-5.82896947e-01 8.11587252e-01 -3.94623965e-02 -4.64690806e+02] [-6.75638342e-02 -1.29740707e-05 9.97714953e-01 -4.31751627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.93, Y:-464.73, Z:-43.18 [[ 8.07069076e-01 5.87905722e-01 5.48303630e-02 8.52932971e+02] [-5.86578832e-01 8.08929398e-01 -3.94778772e-02 -4.64727253e+02] [-6.75631624e-02 -3.00956371e-04 9.97714954e-01 -4.31797782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.98, Y:-464.76, Z:-43.18 [[ 8.04689507e-01 5.91159582e-01 5.48192097e-02 8.52982895e+02] [-5.89839160e-01 8.06554425e-01 -3.94933586e-02 -4.64763700e+02] [-6.75615536e-02 -5.54625308e-04 9.97714954e-01 -4.31830528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.03, Y:-464.80, Z:-43.19 [[ 8.03033366e-01 5.93408225e-01 5.48095920e-02 8.53033748e+02] [-5.92092113e-01 8.04901329e-01 -3.95067018e-02 -4.64800653e+02] [-6.75599152e-02 -7.27127367e-04 9.97714954e-01 -4.31865822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.08, Y:-464.84, Z:-43.19 [[ 8.00885867e-01 5.96304417e-01 5.47984416e-02 8.53083998e+02] [-5.94994003e-01 8.02757831e-01 -3.95221621e-02 -4.64838570e+02] [-6.75571180e-02 -9.52003016e-04 9.97714954e-01 -4.31901258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:853.13, Y:-464.88, Z:-43.19 [[ 7.99266910e-01 5.98473688e-01 5.47873262e-02 8.53132123e+02] [-5.97167298e-01 8.01141685e-01 -3.95375647e-02 -4.64876582e+02] [-6.75546030e-02 -1.11613237e-03 9.97714954e-01 -4.31936169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.18, Y:-464.91, Z:-43.20 [[ 7.97872866e-01 6.00331752e-01 5.47784422e-02 8.53182760e+02] [-5.99028884e-01 7.99750089e-01 -3.95498696e-02 -4.64914172e+02] [-6.75521065e-02 -1.25810130e-03 9.97714954e-01 -4.31975419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.23, Y:-464.95, Z:-43.20 [[ 7.96259926e-01 6.02470457e-01 5.47675003e-02 8.53232545e+02] [-6.01171589e-01 7.98139919e-01 -3.95650158e-02 -4.64951649e+02] [-6.75488814e-02 -1.42062865e-03 9.97714955e-01 -4.32018900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.28, Y:-464.99, Z:-43.21 [[ 7.94404089e-01 6.04916445e-01 5.47561602e-02 8.53279650e+02] [-6.03622285e-01 7.96287326e-01 -3.95807038e-02 -4.64990150e+02] [-6.75446550e-02 -1.60896557e-03 9.97714955e-01 -4.32068803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:853.33, Y:-465.03, Z:-43.22 [[ 7.93996812e-01 6.05451747e-01 5.47470909e-02 8.53328746e+02] [-6.04157992e-01 7.95880328e-01 -3.95932442e-02 -4.65029308e+02] [-6.75439315e-02 -1.63898283e-03 9.97714955e-01 -4.32177913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:853.38, Y:-465.07, Z:-43.22 [[ 7.93675476e-01 6.05873423e-01 5.47415198e-02 8.53375530e+02] [-6.04580138e-01 7.95559314e-01 -3.96009454e-02 -4.65069353e+02] [-6.75432862e-02 -1.66533639e-03 9.97714955e-01 -4.32195164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:853.42, Y:-465.11, Z:-43.22 [[ 7.96931195e-01 6.01585541e-01 5.47312244e-02 8.53422217e+02] [-6.00281141e-01 7.98807355e-01 -3.96151692e-02 -4.65110416e+02] [-6.75516176e-02 -1.28355769e-03 9.97714955e-01 -4.32231903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:853.47, Y:-465.15, Z:-43.23 [[ 8.01718124e-01 5.95192112e-01 5.47211009e-02 8.53469033e+02] [-5.93871794e-01 8.03583115e-01 -3.96291481e-02 -4.65151888e+02] [-6.75599090e-02 -7.25912104e-04 9.97714955e-01 -4.32252159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:853.52, Y:-465.19, Z:-43.23 [[ 8.03160866e-01 5.93244722e-01 5.47112741e-02 8.53519301e+02] [-5.91918958e-01 8.05021989e-01 -3.96427101e-02 -4.65189150e+02] [-6.75616072e-02 -5.45166993e-04 9.97714955e-01 -4.32268936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.57, Y:-465.22, Z:-43.23 [[ 8.03858387e-01 5.92300123e-01 5.47015361e-02 8.53569134e+02] [-5.90971258e-01 8.05717297e-01 -3.96561428e-02 -4.65224319e+02] [-6.75623120e-02 -4.49112607e-04 9.97714955e-01 -4.32301181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.62, Y:-465.26, Z:-43.23 [[ 8.03489975e-01 5.92800621e-01 5.46926272e-02 8.53620473e+02] [-5.91472078e-01 8.05349115e-01 -3.96684258e-02 -4.65261142e+02] [-6.75621264e-02 -4.75979377e-04 9.97714956e-01 -4.32347983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.67, Y:-465.30, Z:-43.24 [[ 8.03186429e-01 5.93212859e-01 5.46814829e-02 8.53670336e+02] [-5.91884224e-01 8.05045503e-01 -3.96837819e-02 -4.65297733e+02] [-6.75620116e-02 -4.91632051e-04 9.97714956e-01 -4.32399290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.72, Y:-465.33, Z:-43.25 [[ 8.02730312e-01 5.93830819e-01 5.46717888e-02 8.53722171e+02] [-5.92502707e-01 8.04589759e-01 -3.96971329e-02 -4.65332284e+02] [-6.75617423e-02 -5.27090966e-04 9.97714956e-01 -4.32452335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:853.77, Y:-465.37, Z:-43.25 [[ 8.02783827e-01 5.93759366e-01 5.46620720e-02 8.53774904e+02] [-5.92430178e-01 8.04642505e-01 -3.97105082e-02 -4.65366930e+02] [-6.75619127e-02 -5.04507318e-04 9.97714956e-01 -4.32503769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.83, Y:-465.40, Z:-43.25 [[ 8.02940578e-01 5.93548385e-01 5.46510949e-02 8.53825595e+02] [-5.92217680e-01 8.04798170e-01 -3.97256095e-02 -4.65404828e+02] [-6.75621726e-02 -4.68040757e-04 9.97714956e-01 -4.32531957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:853.88, Y:-465.44, Z:-43.25 [[ 8.01578849e-01 5.95387109e-01 5.46400853e-02 8.53875743e+02] [-5.94059633e-01 8.03438750e-01 -3.97407468e-02 -4.65441744e+02] [-6.75610902e-02 -6.04126958e-04 9.97714956e-01 -4.32546667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.93, Y:-465.48, Z:-43.26 [[ 7.98149393e-01 5.99977557e-01 5.46303730e-02 8.53927460e+02] [-5.98659864e-01 8.00016237e-01 -3.97540936e-02 -4.65477825e+02] [-6.75567494e-02 -9.75306018e-04 9.97714957e-01 -4.32599364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.98, Y:-465.52, Z:-43.26 [[ 7.95198632e-01 6.03883984e-01 5.46193203e-02 8.53978384e+02] [-6.02574418e-01 7.97071186e-01 -3.97692734e-02 -4.65515104e+02] [-6.75515137e-02 -1.28773328e-03 9.97714957e-01 -4.32645586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:854.03, Y:-465.55, Z:-43.27 [[ 7.91212424e-01 6.09098391e-01 5.46081599e-02 8.54028858e+02] [-6.07800107e-01 7.93092817e-01 -3.97845922e-02 -4.65551101e+02] [-6.75420704e-02 -1.71278181e-03 9.97714957e-01 -4.32695764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:854.08, Y:-465.59, Z:-43.27 [[ 7.89643850e-01 6.11131421e-01 5.45983079e-02 8.54079561e+02] [-6.09837045e-01 7.91526936e-01 -3.97981079e-02 -4.65587591e+02] [-6.75379056e-02 -1.86973955e-03 9.97714957e-01 -4.32745366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.13, Y:-465.62, Z:-43.28 [[ 7.87246835e-01 6.14217114e-01 5.45871543e-02 8.54130724e+02] [-6.12929058e-01 7.89134249e-01 -3.98134003e-02 -4.65623041e+02] [-6.75306649e-02 -2.11507967e-03 9.97714957e-01 -4.32798764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.18, Y:-465.66, Z:-43.29 [[ 7.85570627e-01 6.16360373e-01 5.45772908e-02 8.54180650e+02] [-6.15076527e-01 7.87460908e-01 -3.98269169e-02 -4.65659655e+02] [-6.75252164e-02 -2.28235440e-03 9.97714957e-01 -4.32854812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.23, Y:-465.70, Z:-43.29 [[ 7.86058314e-01 6.15739157e-01 5.45675531e-02 8.54230953e+02] [-6.14452893e-01 7.87946950e-01 -3.98402542e-02 -4.65697336e+02] [-6.75275416e-02 -2.21242783e-03 9.97714957e-01 -4.32890789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.28, Y:-465.74, Z:-43.29 [[ 7.89006997e-01 6.11957151e-01 5.45564350e-02 8.54280288e+02] [-6.10660782e-01 7.90888710e-01 -3.98554734e-02 -4.65735822e+02] [-6.75379105e-02 -1.86922789e-03 9.97714958e-01 -4.32924271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.33, Y:-465.78, Z:-43.29 [[ 7.93648593e-01 6.05926321e-01 5.45454337e-02 8.54328106e+02] [-6.04614614e-01 7.95519648e-01 -3.98705240e-02 -4.65775728e+02] [-6.75505641e-02 -1.33578106e-03 9.97714958e-01 -4.32945871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.38, Y:-465.82, Z:-43.30 [[ 7.98812004e-01 5.99103710e-01 5.45355582e-02 8.54375786e+02] [-5.97775098e-01 8.00671091e-01 -3.98840272e-02 -4.65816455e+02] [-6.75597136e-02 -7.40158972e-04 9.97714958e-01 -4.32983723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.43, Y:-465.85, Z:-43.30 [[ 8.01272557e-01 5.95809856e-01 5.45243466e-02 8.54427102e+02] [-5.94472558e-01 8.03125407e-01 -3.98993484e-02 -4.65851366e+02] [-6.75623131e-02 -4.42974907e-04 9.97714958e-01 -4.33049147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.48, Y:-465.89, Z:-43.31 [[ 8.03875122e-01 5.92294700e-01 5.45140004e-02 8.54476986e+02] [-5.90948342e-01 8.05721398e-01 -3.99134793e-02 -4.65888032e+02] [-6.75636389e-02 -1.29505082e-04 9.97714958e-01 -4.33067240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:854.53, Y:-465.93, Z:-43.31 [[ 8.07511855e-01 5.87327763e-01 5.45041453e-02 8.54527315e+02] [-5.85969141e-01 8.09349125e-01 -3.99269325e-02 -4.65925014e+02] [-6.75630783e-02 3.03724161e-04 9.97714958e-01 -4.33124474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.58, Y:-465.96, Z:-43.31 [[ 8.11813822e-01 5.81367357e-01 5.45005912e-02 8.54575196e+02] [-5.79994920e-01 8.13640796e-01 -3.99317833e-02 -4.65964068e+02] [-6.75589397e-02 8.07107596e-04 9.97714958e-01 -4.33071223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:854.63, Y:-465.99, Z:-43.32 [[ 8.18439844e-01 5.72001976e-01 5.44973509e-02 8.54629679e+02] [-5.70608346e-01 8.20250703e-01 -3.99362051e-02 -4.65990385e+02] [-6.75450786e-02 1.58873818e-03 9.97714958e-01 -4.33161355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:854.68, Y:-466.03, Z:-43.32 [[ 8.18109624e-01 5.72474559e-01 5.44933276e-02 8.54681308e+02] [-5.71081609e-01 8.19921006e-01 -3.99416941e-02 -4.66026462e+02] [-6.75458277e-02 1.55654714e-03 9.97714958e-01 -4.33189639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:854.73, Y:-466.06, Z:-43.32 [[ 8.17447417e-01 5.73420805e-01 5.44821188e-02 8.54732149e+02] [-5.72028934e-01 8.19259628e-01 -3.99569775e-02 -4.66060947e+02] [-6.75471626e-02 1.49737969e-03 9.97714959e-01 -4.33236789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:854.79, Y:-466.09, Z:-43.33 [[ 8.15082219e-01 5.76778817e-01 5.44717689e-02 8.54785572e+02] [-5.75393471e-01 8.16899423e-01 -3.99710822e-02 -4.66094118e+02] [-6.75524301e-02 1.23701816e-03 9.97714959e-01 -4.33263507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:854.84, Y:-466.12, Z:-43.33 [[ 8.09971667e-01 5.83934880e-01 5.44605846e-02 8.54840067e+02] [-5.82564568e-01 8.11800234e-01 -3.99863151e-02 -4.66124064e+02] [-6.75605194e-02 6.60975356e-04 9.97714959e-01 -4.33319324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.89, Y:-466.16, Z:-43.34 [[ 8.05263573e-01 5.90411457e-01 5.44508014e-02 8.54893267e+02] [-5.89054952e-01 8.07102406e-01 -3.99996328e-02 -4.66155366e+02] [-6.75636142e-02 1.35733011e-04 9.97714959e-01 -4.33356140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:854.95, Y:-466.19, Z:-43.34 [[ 8.02205174e-01 5.94560805e-01 5.44454672e-02 8.54947078e+02] [-5.93213318e-01 8.04050625e-01 -4.00068921e-02 -4.66189029e+02] [-6.75634419e-02 -2.04040426e-04 9.97714959e-01 -4.33388003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:855.00, Y:-466.22, Z:-43.34 [[ 7.96627842e-01 6.02014117e-01 5.44342183e-02 8.55002219e+02] [-6.00682850e-01 7.98485027e-01 -4.00221917e-02 -4.66219868e+02] [-6.75588327e-02 -8.14909192e-04 9.97714959e-01 -4.33434018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.05, Y:-466.25, Z:-43.35 [[ 7.93236580e-01 6.06476617e-01 5.44227969e-02 8.55054399e+02] [-6.05154731e-01 7.95100454e-01 -4.00377168e-02 -4.66253071e+02] [-6.75535296e-02 -1.17483150e-03 9.97714960e-01 -4.33483003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.11, Y:-466.29, Z:-43.35 [[ 7.90439365e-01 6.10118774e-01 5.44122388e-02 8.55108107e+02] [-6.08804489e-01 7.92308606e-01 -4.00520603e-02 -4.66285548e+02] [-6.75477990e-02 -1.46769008e-03 9.97714960e-01 -4.33527529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:855.16, Y:-466.32, Z:-43.36 [[ 7.88430217e-01 6.12713908e-01 5.44009166e-02 8.55159640e+02] [-6.11404715e-01 7.90303028e-01 -4.00674329e-02 -4.66319427e+02] [-6.75430825e-02 -1.67060207e-03 9.97714960e-01 -4.33610028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.21, Y:-466.35, Z:-43.37 [[ 7.88567683e-01 6.12537852e-01 5.43910852e-02 8.55209913e+02] [-6.11227320e-01 7.90439558e-01 -4.00807745e-02 -4.66354293e+02] [-6.75438568e-02 -1.63891380e-03 9.97714960e-01 -4.33670880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.26, Y:-466.39, Z:-43.37 [[ 7.88399646e-01 6.12754914e-01 5.43821047e-02 8.55260802e+02] [-6.11444059e-01 7.90271294e-01 -4.00929557e-02 -4.66391910e+02] [-6.75437718e-02 -1.64234273e-03 9.97714960e-01 -4.33713779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.31, Y:-466.43, Z:-43.38 [[ 7.89612428e-01 6.11192276e-01 5.43710800e-02 8.55310989e+02] [-6.09876688e-01 7.91480752e-01 -4.01079010e-02 -4.66430153e+02] [-6.75473026e-02 -1.48995706e-03 9.97714960e-01 -4.33751279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.36, Y:-466.47, Z:-43.38 [[ 7.92959506e-01 6.06844461e-01 5.43601203e-02 8.55359320e+02] [-6.05517609e-01 7.94819848e-01 -4.01227497e-02 -4.66469717e+02] [-6.75547709e-02 -1.10029434e-03 9.97714960e-01 -4.33755456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.41, Y:-466.51, Z:-43.38 [[ 7.97566182e-01 6.00778014e-01 5.43503752e-02 8.55407374e+02] [-5.99436111e-01 7.99415696e-01 -4.01359461e-02 -4.66508780e+02] [-6.75613370e-02 -5.68504224e-04 9.97714961e-01 -4.33777678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:855.46, Y:-466.54, Z:-43.39 [[ 8.04475630e-01 5.91494792e-01 5.43403256e-02 8.55458093e+02] [-5.90130627e-01 8.06308785e-01 -4.01495477e-02 -4.66543617e+02] [-6.75633303e-02 2.31442259e-04 9.97714961e-01 -4.33904985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.50, Y:-466.59, Z:-43.39 [[ 8.03652530e-01 5.92613576e-01 5.43301028e-02 8.55503312e+02] [-5.91251028e-01 8.05486887e-01 -4.01633764e-02 -4.66585842e+02] [-6.75635475e-02 1.54669935e-04 9.97714961e-01 -4.33863384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.55, Y:-466.62, Z:-43.39 [[ 8.04226321e-01 5.91835524e-01 5.43206959e-02 8.55553019e+02] [-5.90470342e-01 8.06058718e-01 -4.01760951e-02 -4.66624473e+02] [-6.75633108e-02 2.35913285e-04 9.97714961e-01 -4.33907289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:855.60, Y:-466.66, Z:-43.40 [[ 8.03992282e-01 5.92154453e-01 5.43094242e-02 8.55603067e+02] [-5.90788969e-01 8.05824455e-01 -4.01913263e-02 -4.66662176e+02] [-6.75633350e-02 2.28107485e-04 9.97714961e-01 -4.33950536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:855.65, Y:-466.70, Z:-43.40 [[ 8.02698622e-01 5.93907923e-01 5.42982702e-02 8.55652542e+02] [-5.92545422e-01 8.04533013e-01 -4.02063897e-02 -4.66700386e+02] [-6.75636443e-02 9.94222125e-05 9.97714961e-01 -4.33984094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.70, Y:-466.74, Z:-43.40 [[ 8.01047064e-01 5.96134680e-01 5.42866830e-02 8.55701332e+02] [-5.94776219e-01 8.02884449e-01 -4.02220286e-02 -4.66737874e+02] [-6.75636798e-02 -6.86901101e-05 9.97714962e-01 -4.34032081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.75, Y:-466.77, Z:-43.41 [[ 7.99634044e-01 5.98029371e-01 5.42795381e-02 8.55749562e+02] [-5.96674608e-01 8.01474157e-01 -4.02316684e-02 -4.66774696e+02] [-6.75633664e-02 -2.16610390e-04 9.97714962e-01 -4.34072843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.80, Y:-466.81, Z:-43.41 [[ 7.98445482e-01 5.99615820e-01 5.42741248e-02 8.55798946e+02] [-5.98264217e-01 8.00287918e-01 -4.02389698e-02 -4.66812486e+02] [-6.75628492e-02 -3.41643175e-04 9.97714962e-01 -4.34101010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.85, Y:-466.85, Z:-43.41 [[ 7.97888763e-01 6.00357333e-01 5.42641177e-02 8.55846069e+02] [-5.99006525e-01 7.99731781e-01 -4.02524604e-02 -4.66852135e+02] [-6.75625993e-02 -3.87574764e-04 9.97714962e-01 -4.34143690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:855.89, Y:-466.89, Z:-43.42 [[ 7.98511253e-01 5.99530094e-01 5.42535239e-02 8.55894992e+02] [-5.98176407e-01 8.00352158e-01 -4.02667339e-02 -4.66891091e+02] [-6.75630437e-02 -2.99737871e-04 9.97714962e-01 -4.34184706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:855.94, Y:-466.93, Z:-43.42 [[ 7.99902935e-01 5.97673055e-01 5.42421869e-02 8.55943094e+02] [-5.96314058e-01 8.01739923e-01 -4.02820000e-02 -4.66931515e+02] [-6.75635927e-02 -1.23688583e-04 9.97714962e-01 -4.34226658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.99, Y:-466.97, Z:-43.43 [[ 8.00120994e-01 5.97382126e-01 5.42309061e-02 8.55992203e+02] [-5.96021432e-01 8.01956726e-01 -4.02971815e-02 -4.66971051e+02] [-6.75636558e-02 -8.01614148e-05 9.97714962e-01 -4.34265412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.04, Y:-467.01, Z:-43.43 [[ 7.98837287e-01 5.99098701e-01 5.42193275e-02 8.56040394e+02] [-5.97740895e-01 8.00675155e-01 -4.03127543e-02 -4.67011081e+02] [-6.75633872e-02 -2.05778057e-04 9.97714963e-01 -4.34318782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.09, Y:-467.05, Z:-43.44 [[ 7.96666434e-01 6.01983480e-01 5.42077732e-02 8.56088846e+02] [-6.00631273e-01 7.98508424e-01 -4.03282852e-02 -4.67048889e+02] [-6.75623250e-02 -4.30692625e-04 9.97714963e-01 -4.34374203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.14, Y:-467.09, Z:-43.44 [[ 7.93759356e-01 6.05812424e-01 5.41977211e-02 8.56136886e+02] [-6.04468179e-01 7.95607165e-01 -4.03417898e-02 -4.67085790e+02] [-6.75596527e-02 -7.39124701e-04 9.97714963e-01 -4.34435607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.19, Y:-467.12, Z:-43.45 [[ 7.89188787e-01 6.11755395e-01 5.41885146e-02 8.56185751e+02] [-6.10424213e-01 7.91046030e-01 -4.03541524e-02 -4.67124119e+02] [-6.75524798e-02 -1.23093680e-03 9.97714963e-01 -4.34503469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.23, Y:-467.16, Z:-43.46 [[ 7.85265115e-01 6.16784701e-01 5.41787025e-02 8.56233908e+02] [-6.15464505e-01 7.87130182e-01 -4.03673217e-02 -4.67164546e+02] [-6.75436384e-02 -1.64601879e-03 9.97714963e-01 -4.34552071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.28, Y:-467.20, Z:-43.46 [[ 7.84366936e-01 6.17927497e-01 5.41675091e-02 8.56282870e+02] [-6.16608981e-01 7.86233191e-01 -4.03823362e-02 -4.67202641e+02] [-6.75416495e-02 -1.72560325e-03 9.97714963e-01 -4.34604208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.33, Y:-467.24, Z:-43.46 [[ 7.81408882e-01 6.21664838e-01 5.41570828e-02 8.56328367e+02] [-6.20354279e-01 7.83280733e-01 -4.03963142e-02 -4.67244119e+02] [-6.75331676e-02 -2.03053931e-03 9.97714963e-01 -4.34605372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:856.37, Y:-467.28, Z:-43.47 [[ 7.78127047e-01 6.25768600e-01 5.41475539e-02 8.56373937e+02] [-6.24467023e-01 7.80005156e-01 -4.04090828e-02 -4.67284414e+02] [-6.75221064e-02 -2.36996156e-03 9.97714964e-01 -4.34651845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.42, Y:-467.32, Z:-43.47 [[ 7.78881302e-01 6.24830448e-01 5.41371232e-02 8.56421857e+02] [-6.23525640e-01 7.80757166e-01 -4.04230523e-02 -4.67324838e+02] [-6.75255008e-02 -2.27112474e-03 9.97714964e-01 -4.34682583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.47, Y:-467.36, Z:-43.47 [[ 7.78246625e-01 6.25621111e-01 5.41333288e-02 8.56469682e+02] [-6.24317855e-01 7.80123568e-01 -4.04281329e-02 -4.67363927e+02] [-6.75233791e-02 -2.33334576e-03 9.97714964e-01 -4.34736893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.52, Y:-467.40, Z:-43.48 [[ 7.77353780e-01 6.26730991e-01 5.41236124e-02 8.56517854e+02] [-6.25429512e-01 7.79231955e-01 -4.04411368e-02 -4.67403388e+02] [-6.75205620e-02 -2.41343392e-03 9.97714964e-01 -4.34800683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.57, Y:-467.44, Z:-43.49 [[ 7.76839162e-01 6.27369591e-01 5.41138822e-02 8.56566144e+02] [-6.26068751e-01 7.78717780e-01 -4.04541525e-02 -4.67442296e+02] [-6.75191473e-02 -2.45264069e-03 9.97714964e-01 -4.34851085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:856.61, Y:-467.48, Z:-43.49 [[ 7.78229784e-01 6.25644590e-01 5.41040609e-02 8.56613664e+02] [-6.24338674e-01 7.80104877e-01 -4.04672834e-02 -4.67482399e+02] [-6.75249787e-02 -2.28641246e-03 9.97714964e-01 -4.34891291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.66, Y:-467.52, Z:-43.49 [[ 7.81207775e-01 6.21923022e-01 5.40940602e-02 8.56661409e+02] [-6.20607247e-01 7.83075962e-01 -4.04806472e-02 -4.67522826e+02] [-6.75356047e-02 -1.94736946e-03 9.97714964e-01 -4.34921158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.71, Y:-467.56, Z:-43.50 [[ 7.85054058e-01 6.17061756e-01 5.40824894e-02 8.56711896e+02] [-6.15733346e-01 7.86913282e-01 -4.04961001e-02 -4.67558384e+02] [-6.75468238e-02 -1.50876450e-03 9.97714964e-01 -4.34982039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:856.76, Y:-467.60, Z:-43.50 [[ 7.85393065e-01 6.16631138e-01 5.40719223e-02 8.56758863e+02] [-6.15300738e-01 7.87250866e-01 -4.05102048e-02 -4.67598473e+02] [-6.75480213e-02 -1.45405979e-03 9.97714965e-01 -4.34990021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.81, Y:-467.63, Z:-43.51 [[ 7.88253427e-01 6.12971356e-01 5.40615577e-02 8.56810916e+02] [-6.11631381e-01 7.90104333e-01 -4.05240318e-02 -4.67632841e+02] [-6.75543417e-02 -1.12253826e-03 9.97714965e-01 -4.35054260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.86, Y:-467.67, Z:-43.51 [[ 7.87577869e-01 6.13839449e-01 5.40576670e-02 8.56858104e+02] [-6.12501158e-01 7.89429993e-01 -4.05292213e-02 -4.67671549e+02] [-6.75531785e-02 -1.19046591e-03 9.97714965e-01 -4.35059793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:856.91, Y:-467.71, Z:-43.51 [[ 7.88536944e-01 6.12607827e-01 5.40475640e-02 8.56908515e+02] [-6.11265720e-01 7.90386304e-01 -4.05426896e-02 -4.67709456e+02] [-6.75552233e-02 -1.06801453e-03 9.97714965e-01 -4.35102267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:856.96, Y:-467.75, Z:-43.52 [[ 7.89995832e-01 6.10726359e-01 5.40360975e-02 8.56958515e+02] [-6.09378802e-01 7.91841226e-01 -4.05579666e-02 -4.67745946e+02] [-6.75578289e-02 -8.87827749e-04 9.97714965e-01 -4.35150162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:857.01, Y:-467.78, Z:-43.52 [[ 7.92128813e-01 6.07958212e-01 5.40255108e-02 8.57009814e+02] [-6.06603245e-01 7.93968772e-01 -4.05720638e-02 -4.67782403e+02] [-6.75606878e-02 -6.33749385e-04 9.97714965e-01 -4.35188465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:857.06, Y:-467.82, Z:-43.52 [[ 7.93901603e-01 6.05642388e-01 5.40142863e-02 8.57060412e+02] [-6.04281037e-01 7.95736843e-01 -4.05870017e-02 -4.67819948e+02] [-6.75623663e-02 -4.17723232e-04 9.97714965e-01 -4.35224592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.11, Y:-467.86, Z:-43.53 [[ 7.95093431e-01 6.04077884e-01 5.40031958e-02 8.57110607e+02] [-6.02711920e-01 7.96925240e-01 -4.06017528e-02 -4.67857545e+02] [-6.75631308e-02 -2.66182881e-04 9.97714966e-01 -4.35254783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.16, Y:-467.89, Z:-43.53 [[ 7.95944362e-01 6.02957277e-01 5.39916248e-02 8.57161105e+02] [-6.01587690e-01 7.97773464e-01 -4.06171340e-02 -4.67894204e+02] [-6.75634820e-02 -1.51718056e-04 9.97714966e-01 -4.35297553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.21, Y:-467.93, Z:-43.53 [[ 7.96656368e-01 6.02017254e-01 5.39801584e-02 8.57211709e+02] [-6.00644477e-01 7.98483076e-01 -4.06323672e-02 -4.67929774e+02] [-6.75636290e-02 -5.28499732e-05 9.97714966e-01 -4.35349109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.26, Y:-467.97, Z:-43.54 [[ 7.97202031e-01 6.01295125e-01 5.39730936e-02 8.57261551e+02] [-5.99920058e-01 7.99027016e-01 -4.06417493e-02 -4.67966767e+02] [-6.75636457e-02 2.01436310e-05 9.97714966e-01 -4.35392812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.31, Y:-468.00, Z:-43.54 [[ 7.98409788e-01 5.99691452e-01 5.39626968e-02 8.57312538e+02] [-5.98311786e-01 8.00231300e-01 -4.06555492e-02 -4.68003121e+02] [-6.75634243e-02 1.73270971e-04 9.97714966e-01 -4.35429206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.36, Y:-468.04, Z:-43.55 [[ 7.99473129e-01 5.98274169e-01 5.39512223e-02 8.57364428e+02] [-5.96890248e-01 8.01291408e-01 -4.06707705e-02 -4.68039229e+02] [-6.75629224e-02 3.12229702e-04 9.97714966e-01 -4.35470361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.42, Y:-468.08, Z:-43.55 [[ 7.99509264e-01 5.98226911e-01 5.39397897e-02 8.57415828e+02] [-5.96841859e-01 8.01326682e-01 -4.06859274e-02 -4.68075005e+02] [-6.75628094e-02 3.35251506e-04 9.97714967e-01 -4.35517906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.47, Y:-468.11, Z:-43.56 [[ 7.98335358e-01 5.99793608e-01 5.39285040e-02 8.57468096e+02] [-5.98411113e-01 8.00154722e-01 -4.07008810e-02 -4.68109614e+02] [-6.75632754e-02 2.21536313e-04 9.97714967e-01 -4.35553848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.52, Y:-468.14, Z:-43.56 [[ 7.96676420e-01 6.01996369e-01 5.39171059e-02 8.57518566e+02] [-6.00617882e-01 7.98498822e-01 -4.07159746e-02 -4.68144760e+02] [-6.75636145e-02 5.38788745e-05 9.97714967e-01 -4.35593811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.57, Y:-468.18, Z:-43.56 [[ 7.93160899e-01 6.06621686e-01 5.39065734e-02 8.57571075e+02] [-6.05252879e-01 7.94990583e-01 -4.07299146e-02 -4.68179152e+02] [-6.75628676e-02 -3.21733063e-04 9.97714967e-01 -4.35630990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.62, Y:-468.21, Z:-43.57 [[ 7.89535492e-01 6.11333767e-01 5.38955664e-02 8.57623160e+02] [-6.09974885e-01 7.91372559e-01 -4.07444743e-02 -4.68212838e+02] [-6.75599453e-02 -7.05733278e-04 9.97714967e-01 -4.35699341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.67, Y:-468.25, Z:-43.58 [[ 7.87566920e-01 6.13868593e-01 5.38859686e-02 8.57673949e+02] [-6.12514756e-01 7.89407707e-01 -4.07571638e-02 -4.68247986e+02] [-6.75575417e-02 -9.06956888e-04 9.97714967e-01 -4.35758459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.72, Y:-468.28, Z:-43.58 [[ 7.86537948e-01 6.15187276e-01 5.38764512e-02 8.57724871e+02] [-6.13835663e-01 7.88380369e-01 -4.07697409e-02 -4.68283825e+02] [-6.75561623e-02 -1.00433881e-03 9.97714967e-01 -4.35803093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.78, Y:-468.32, Z:-43.58 [[ 7.86896516e-01 6.14729442e-01 5.38663708e-02 8.57775559e+02] [-6.13375846e-01 7.88737481e-01 -4.07830551e-02 -4.68321224e+02] [-6.75569703e-02 -9.48286832e-04 9.97714968e-01 -4.35821833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.82, Y:-468.36, Z:-43.58 [[ 7.88610448e-01 6.12530165e-01 5.38549718e-02 8.57824702e+02] [-6.11170407e-01 7.90446866e-01 -4.07981022e-02 -4.68358618e+02] [-6.75595620e-02 -7.40755398e-04 9.97714968e-01 -4.35845391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.87, Y:-468.40, Z:-43.59 [[ 7.90255586e-01 6.10407104e-01 5.38449322e-02 8.57874190e+02] [-6.09041509e-01 7.92087668e-01 -4.08113481e-02 -4.68395922e+02] [-6.75614436e-02 -5.42402985e-04 9.97714968e-01 -4.35894973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:857.92, Y:-468.43, Z:-43.59 [[ 7.90936812e-01 6.09525082e-01 5.38343217e-02 8.57924983e+02] [-6.08156493e-01 7.92766657e-01 -4.08253397e-02 -4.68433463e+02] [-6.75621238e-02 -4.49428213e-04 9.97714968e-01 -4.35931651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.97, Y:-468.47, Z:-43.60 [[ 7.90518488e-01 6.10068548e-01 5.38227469e-02 8.57974081e+02] [-6.08700177e-01 7.92348497e-01 -4.08405937e-02 -4.68470082e+02] [-6.75619343e-02 -4.76671198e-04 9.97714968e-01 -4.35985838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.02, Y:-468.51, Z:-43.60 [[ 7.89706252e-01 6.11120083e-01 5.38170868e-02 8.58023496e+02] [-6.09753642e-01 7.91537702e-01 -4.08480510e-02 -4.68507119e+02] [-6.75613175e-02 -5.57203398e-04 9.97714968e-01 -4.36043631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.07, Y:-468.54, Z:-43.61 [[ 7.90142740e-01 6.10556506e-01 5.38070951e-02 8.58073026e+02] [-6.09187862e-01 7.91972544e-01 -4.08612083e-02 -4.68544479e+02] [-6.75618186e-02 -4.92442147e-04 9.97714968e-01 -4.36088103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.12, Y:-468.58, Z:-43.61 [[ 7.93596850e-01 6.06060981e-01 5.37970846e-02 8.58122559e+02] [-6.04681078e-01 7.95418179e-01 -4.08743837e-02 -4.68583332e+02] [-6.75635481e-02 -9.22969796e-05 9.97714969e-01 -4.36116932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.17, Y:-468.62, Z:-43.61 [[ 7.97393750e-01 6.01057659e-01 5.37856712e-02 8.58171415e+02] [-5.99665315e-01 7.99205585e-01 -4.08893968e-02 -4.68622012e+02] [-6.75626940e-02 3.51547949e-04 9.97714969e-01 -4.36138072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.22, Y:-468.66, Z:-43.62 [[ 8.04003725e-01 5.92187635e-01 5.37755934e-02 8.58219967e+02] [-5.90774421e-01 8.05799328e-01 -4.09026463e-02 -4.68661233e+02] [-6.75543785e-02 1.11663498e-03 9.97714969e-01 -4.36158365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.27, Y:-468.70, Z:-43.62 [[ 8.08395566e-01 5.86179035e-01 5.37656764e-02 8.58269509e+02] [-5.84751611e-01 8.10179894e-01 -4.09156779e-02 -4.68698903e+02] [-6.75437826e-02 1.63648664e-03 9.97714969e-01 -4.36178364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.32, Y:-468.74, Z:-43.62 [[ 8.08831659e-01 5.85578070e-01 5.37556638e-02 8.58320098e+02] [-5.84148447e-01 8.10614226e-01 -4.09288284e-02 -4.68735738e+02] [-6.75421301e-02 1.70324471e-03 9.97714969e-01 -4.36220420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.37, Y:-468.77, Z:-43.63 [[ 8.08304326e-01 5.86306795e-01 5.37443825e-02 8.58372865e+02] [-5.84877795e-01 8.10087393e-01 -4.09436367e-02 -4.68767583e+02] [-6.75431791e-02 1.66102275e-03 9.97714969e-01 -4.36289117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.42, Y:-468.80, Z:-43.63 [[ 8.04528145e-01 5.91478693e-01 5.37347112e-02 8.58423343e+02] [-5.90060311e-01 8.06319669e-01 -4.09563255e-02 -4.68802120e+02] [-6.75521484e-02 1.24379613e-03 9.97714969e-01 -4.36315625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.47, Y:-468.84, Z:-43.64 [[ 8.03520902e-01 5.92847174e-01 5.37251076e-02 8.58474647e+02] [-5.91431002e-01 8.05314173e-01 -4.09689193e-02 -4.68837012e+02] [-6.75538987e-02 1.14468881e-03 9.97714970e-01 -4.36358683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:858.53, Y:-468.87, Z:-43.64 [[ 8.02708649e-01 5.93947395e-01 5.37151483e-02 8.58527240e+02] [-5.92532807e-01 8.04503170e-01 -4.09819731e-02 -4.68869890e+02] [-6.75551432e-02 1.06859663e-03 9.97714970e-01 -4.36378601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:858.58, Y:-468.90, Z:-43.64 [[ 8.01677686e-01 5.95339108e-01 5.37050769e-02 8.58581248e+02] [-5.93926752e-01 8.03473964e-01 -4.09951669e-02 -4.68901712e+02] [-6.75566571e-02 9.68028649e-04 9.97714970e-01 -4.36409704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.63, Y:-468.94, Z:-43.64 [[ 8.00923791e-01 5.96353854e-01 5.36950848e-02 8.58634189e+02] [-5.94942897e-01 8.02721168e-01 -4.10082504e-02 -4.68936262e+02] [-6.75576093e-02 8.98974077e-04 9.97714970e-01 -4.36445264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.69, Y:-468.97, Z:-43.65 [[ 7.99131869e-01 5.98753970e-01 5.36836946e-02 8.58687775e+02] [-5.97347410e-01 8.00932689e-01 -4.10231557e-02 -4.68967953e+02] [-6.75598032e-02 7.15095176e-04 9.97714970e-01 -4.36495773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:858.74, Y:-469.00, Z:-43.65 [[ 7.98199561e-01 5.99997210e-01 5.36731657e-02 8.58738661e+02] [-5.98592529e-01 8.00001847e-01 -4.10369268e-02 -4.69003468e+02] [-6.75606732e-02 6.27300982e-04 9.97714970e-01 -4.36539294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.79, Y:-469.03, Z:-43.66 [[ 7.94242903e-01 6.05225950e-01 5.36633946e-02 8.58793927e+02] [-6.03832272e-01 7.96053710e-01 -4.10497003e-02 -4.69034055e+02] [-6.75632883e-02 1.99743649e-04 9.97714970e-01 -4.36588455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:858.85, Y:-469.07, Z:-43.66 [[ 7.89964318e-01 6.10800295e-01 5.36598230e-02 8.58847168e+02] [-6.09419077e-01 7.91784647e-01 -4.10543686e-02 -4.69066180e+02] [-6.75630444e-02 -2.69833506e-04 9.97714970e-01 -4.36623704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:858.90, Y:-469.10, Z:-43.67 [[ 7.88268521e-01 6.12988137e-01 5.36496270e-02 8.58899709e+02] [-6.11611065e-01 7.90091989e-01 -4.10676884e-02 -4.69100327e+02] [-6.75621462e-02 -4.40339471e-04 9.97714971e-01 -4.36662756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.95, Y:-469.14, Z:-43.67 [[ 7.85909249e-01 6.16010517e-01 5.36441633e-02 8.58950268e+02] [-6.14639970e-01 7.87737625e-01 -4.10748241e-02 -4.69135628e+02] [-6.75600494e-02 -6.90762760e-04 9.97714971e-01 -4.36705754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.00, Y:-469.17, Z:-43.67 [[ 7.83297001e-01 6.19329771e-01 5.36324840e-02 8.59002964e+02] [-6.17965928e-01 7.85130383e-01 -4.10900684e-02 -4.69169824e+02] [-6.75567953e-02 -9.57320376e-04 9.97714971e-01 -4.36741468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.05, Y:-469.21, Z:-43.68 [[ 7.80941445e-01 6.22298370e-01 5.36208656e-02 8.59054808e+02] [-6.20940456e-01 7.82779223e-01 -4.11052243e-02 -4.69205482e+02] [-6.75530136e-02 -1.19459148e-03 9.97714971e-01 -4.36777553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:859.11, Y:-469.24, Z:-43.68 [[ 7.79656690e-01 6.23908241e-01 5.36092586e-02 8.59106227e+02] [-6.22553081e-01 7.81496499e-01 -4.11203565e-02 -4.69242344e+02] [-6.75507772e-02 -1.31484808e-03 9.97714971e-01 -4.36817556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:859.16, Y:-469.28, Z:-43.69 [[ 7.78680678e-01 6.25126954e-01 5.35975051e-02 8.59156532e+02] [-6.23773620e-01 7.80521831e-01 -4.11356708e-02 -4.69278217e+02] [-6.75490394e-02 -1.40115776e-03 9.97714971e-01 -4.36864251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.21, Y:-469.32, Z:-43.69 [[ 7.78677305e-01 6.25132034e-01 5.35872566e-02 8.59205530e+02] [-6.23777794e-01 7.80517791e-01 -4.11490171e-02 -4.69316064e+02] [-6.75493759e-02 -1.38473491e-03 9.97714972e-01 -4.36908808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.26, Y:-469.35, Z:-43.69 [[ 7.79297072e-01 6.24360186e-01 5.35764176e-02 8.59255250e+02] [-6.23003153e-01 7.81135499e-01 -4.11631248e-02 -4.69354868e+02] [-6.75510580e-02 -1.29997448e-03 9.97714972e-01 -4.36946409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.30, Y:-469.39, Z:-43.70 [[ 7.81007408e-01 6.22220386e-01 5.35651015e-02 8.59304436e+02] [-6.20857307e-01 7.82841357e-01 -4.11778450e-02 -4.69394184e+02] [-6.75546714e-02 -1.09608265e-03 9.97714972e-01 -4.36976104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:859.35, Y:-469.43, Z:-43.70 [[ 7.82510013e-01 6.20330639e-01 5.35535024e-02 8.59352905e+02] [-6.18962099e-01 7.84339890e-01 -4.11929247e-02 -4.69433914e+02] [-6.75573815e-02 -9.13712214e-04 9.97714972e-01 -4.37009796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.40, Y:-469.47, Z:-43.70 [[ 7.85718702e-01 6.16262439e-01 5.35418206e-02 8.59398886e+02] [-6.14883389e-01 7.87540672e-01 -4.12081028e-02 -4.69473716e+02] [-6.75613674e-02 -5.43999038e-04 9.97714972e-01 -4.37029618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.45, Y:-469.51, Z:-43.71 [[ 7.89506726e-01 6.11402475e-01 5.35363760e-02 8.59446849e+02] [-6.10011729e-01 7.91319784e-01 -4.12151751e-02 -4.69513315e+02] [-6.75634535e-02 -1.18159290e-04 9.97714972e-01 -4.37054092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.49, Y:-469.55, Z:-43.71 [[ 7.94662080e-01 6.04687634e-01 5.35261077e-02 8.59494513e+02] [-6.03280670e-01 7.96462581e-01 -4.12285063e-02 -4.69554540e+02] [-6.75619098e-02 4.71464428e-04 9.97714972e-01 -4.37095094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.54, Y:-469.59, Z:-43.71 [[ 7.97903078e-01 6.00405608e-01 5.35143291e-02 8.59542992e+02] [-5.98987958e-01 7.99695177e-01 -4.12437892e-02 -4.69594873e+02] [-6.75581532e-02 8.54107616e-04 9.97714973e-01 -4.37139586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.59, Y:-469.63, Z:-43.72 [[ 8.01707300e-01 5.95317455e-01 5.35026487e-02 8.59592244e+02] [-5.93887422e-01 8.03489533e-01 -4.12589358e-02 -4.69634283e+02] [-6.75509829e-02 1.30303986e-03 9.97714973e-01 -4.37181564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.64, Y:-469.67, Z:-43.72 [[ 8.02848848e-01 5.93778100e-01 5.34910734e-02 8.59642009e+02] [-5.92343652e-01 8.04627529e-01 -4.12739375e-02 -4.69673010e+02] [-6.75479504e-02 1.45163543e-03 9.97714973e-01 -4.37219324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:859.69, Y:-469.71, Z:-43.73 [[ 8.02562788e-01 5.94165736e-01 5.34794373e-02 8.59691165e+02] [-5.92731142e-01 8.04341352e-01 -4.12890091e-02 -4.69709125e+02] [-6.75482373e-02 1.43809427e-03 9.97714973e-01 -4.37268876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.74, Y:-469.75, Z:-43.73 [[ 8.00875980e-01 5.96438270e-01 5.34701411e-02 8.59742919e+02] [-5.95007921e-01 8.02657958e-01 -4.13010443e-02 -4.69745797e+02] [-6.75517577e-02 1.26185689e-03 9.97714973e-01 -4.37293600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.79, Y:-469.78, Z:-43.73 [[ 7.98694738e-01 5.99357089e-01 5.34583502e-02 8.59793259e+02] [-5.97932232e-01 8.00481111e-01 -4.13163004e-02 -4.69781222e+02] [-6.75556171e-02 1.03464105e-03 9.97714973e-01 -4.37339487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.84, Y:-469.82, Z:-43.74 [[ 7.96570677e-01 6.02178151e-01 5.34474646e-02 8.59844306e+02] [-6.00758676e-01 7.98361330e-01 -4.13303774e-02 -4.69817519e+02] [-6.75586391e-02 8.13538604e-04 9.97714974e-01 -4.37382222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.90, Y:-469.85, Z:-43.74 [[ 7.92890692e-01 6.07016434e-01 5.34359337e-02 8.59895760e+02] [-6.05606883e-01 7.94689166e-01 -4.13452803e-02 -4.69852757e+02] [-6.75622222e-02 4.21118686e-04 9.97714974e-01 -4.37431069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.95, Y:-469.89, Z:-43.75 [[ 7.90220192e-01 6.10489797e-01 5.34252458e-02 8.59946260e+02] [-6.09087217e-01 7.92024108e-01 -4.13590863e-02 -4.69889436e+02] [-6.75633828e-02 1.42150804e-04 9.97714974e-01 -4.37476422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.00, Y:-469.93, Z:-43.75 [[ 7.86104296e-01 6.15781635e-01 5.34136170e-02 8.59997427e+02] [-6.14390178e-01 7.87916806e-01 -4.13740990e-02 -4.69925780e+02] [-6.75628968e-02 -2.92444653e-04 9.97714974e-01 -4.37531632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.05, Y:-469.96, Z:-43.76 [[ 7.81072486e-01 6.22152739e-01 5.34016935e-02 8.60048062e+02] [-6.20775013e-01 7.82895455e-01 -4.13894830e-02 -4.69962865e+02] [-6.75585233e-02 -8.22250621e-04 9.97714974e-01 -4.37585392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.10, Y:-470.00, Z:-43.76 [[ 7.76298154e-01 6.28100872e-01 5.33898013e-02 8.60097792e+02] [-6.26736058e-01 7.78130809e-01 -4.14048176e-02 -4.70001747e+02] [-6.75506513e-02 -1.31883013e-03 9.97714974e-01 -4.37622408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.15, Y:-470.04, Z:-43.77 [[ 7.73794298e-01 6.31183946e-01 5.33780015e-02 8.60146552e+02] [-6.29825384e-01 7.75631592e-01 -4.14200239e-02 -4.70040740e+02] [-6.75453185e-02 -1.56824202e-03 9.97714975e-01 -4.37664036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.19, Y:-470.08, Z:-43.77 [[ 7.71459703e-01 6.34036248e-01 5.33663057e-02 8.60194153e+02] [-6.32683437e-01 7.73301236e-01 -4.14350876e-02 -4.70081384e+02] [-6.75395776e-02 -1.79847736e-03 9.97714975e-01 -4.37716668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.24, Y:-470.12, Z:-43.78 [[ 7.71498316e-01 6.33990241e-01 5.33546895e-02 8.60240286e+02] [-6.32636287e-01 7.73339009e-01 -4.14500400e-02 -4.70123268e+02] [-6.75401835e-02 -1.77547656e-03 9.97714975e-01 -4.37765307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.29, Y:-470.16, Z:-43.78 [[ 7.72699487e-01 6.32526577e-01 5.33444689e-02 8.60286377e+02] [-6.31168229e-01 7.74536939e-01 -4.14631893e-02 -4.70164456e+02] [-6.75438309e-02 -1.63074888e-03 9.97714975e-01 -4.37810154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.33, Y:-470.21, Z:-43.79 [[ 7.73524787e-01 6.31517649e-01 5.33372598e-02 8.60334673e+02] [-6.30156266e-01 7.75359991e-01 -4.14724610e-02 -4.70205392e+02] [-6.75461683e-02 -1.53083189e-03 9.97714975e-01 -4.37851986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.38, Y:-470.25, Z:-43.79 [[ 7.77894295e-01 6.26128451e-01 5.33256864e-02 8.60379176e+02] [-6.24753332e-01 7.79719229e-01 -4.14873368e-02 -4.70250489e+02] [-6.75554650e-02 -1.04263767e-03 9.97714975e-01 -4.37878514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:860.42, Y:-470.30, Z:-43.79 [[ 7.84459675e-01 6.17883996e-01 5.33140244e-02 8.60423230e+02] [-6.16488675e-01 7.86269210e-01 -4.15023178e-02 -4.70296140e+02] [-6.75627939e-02 -3.10597506e-04 9.97714976e-01 -4.37907053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.47, Y:-470.34, Z:-43.79 [[ 7.92192935e-01 6.07938496e-01 5.33023397e-02 8.60466194e+02] [-6.06519448e-01 7.93983924e-01 -4.15173194e-02 -4.70341130e+02] [-6.75611775e-02 5.60821466e-04 9.97714976e-01 -4.37942073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.51, Y:-470.38, Z:-43.80 [[ 7.95971827e-01 6.02982983e-01 5.32951497e-02 8.60513040e+02] [-6.01552169e-01 7.97753429e-01 -4.15265471e-02 -4.70383668e+02] [-6.75561896e-02 9.94148604e-04 9.97714976e-01 -4.37979357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.56, Y:-470.43, Z:-43.80 [[ 7.98213208e-01 6.00013802e-01 5.32833123e-02 8.60558956e+02] [-5.98575349e-01 7.99988648e-01 -4.15417302e-02 -4.70426210e+02] [-6.75516565e-02 1.26508050e-03 9.97714976e-01 -4.38029588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:860.61, Y:-470.47, Z:-43.81 [[ 7.97467440e-01 6.01005667e-01 5.32716577e-02 8.60606739e+02] [-5.99568424e-01 7.99243860e-01 -4.15566704e-02 -4.70466142e+02] [-6.75528397e-02 1.20008771e-03 9.97714976e-01 -4.38080413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.66, Y:-470.51, Z:-43.81 [[ 7.94444875e-01 6.04996316e-01 5.32615977e-02 8.60655462e+02] [-6.03567133e-01 7.96227786e-01 -4.15695599e-02 -4.70505644e+02] [-6.75577946e-02 8.77774002e-04 9.97714976e-01 -4.38123300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:860.70, Y:-470.54, Z:-43.82 [[ 7.91301607e-01 6.09102790e-01 5.32499635e-02 8.60704189e+02] [-6.07681858e-01 7.93091100e-01 -4.15844578e-02 -4.70544540e+02] [-6.75612813e-02 5.46811537e-04 9.97714976e-01 -4.38165569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.75, Y:-470.58, Z:-43.82 [[ 7.88342903e-01 6.12928346e-01 5.32382428e-02 8.60753018e+02] [-6.11515085e-01 7.90138460e-01 -4.15994577e-02 -4.70583649e+02] [-6.75630700e-02 2.38648676e-04 9.97714977e-01 -4.38193430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:860.80, Y:-470.62, Z:-43.82 [[ 7.85618619e-01 6.16417338e-01 5.32264109e-02 8.60801561e+02] [-6.15011026e-01 7.87419623e-01 -4.16145911e-02 -4.70621685e+02] [-6.75634759e-02 -4.16320097e-05 9.97714977e-01 -4.38231749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:860.85, Y:-470.66, Z:-43.83 [[ 7.80228563e-01 6.23226687e-01 5.32154812e-02 8.60851679e+02] [-6.21835139e-01 7.82040999e-01 -4.16285631e-02 -4.70659119e+02] [-6.75607195e-02 -6.11462176e-04 9.97714977e-01 -4.38262159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:860.90, Y:-470.70, Z:-43.83 [[ 7.73940203e-01 6.31019757e-01 5.32036440e-02 8.60901202e+02] [-6.29645416e-01 7.75765721e-01 -4.16436862e-02 -4.70697172e+02] [-6.75515520e-02 -1.26970753e-03 9.97714977e-01 -4.38322172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:860.95, Y:-470.74, Z:-43.84 [[ 7.69070051e-01 6.36947318e-01 5.31918374e-02 8.60948173e+02] [-6.35586001e-01 7.70905301e-01 -4.16587614e-02 -4.70735428e+02] [-6.75403058e-02 -1.76948143e-03 9.97714977e-01 -4.38387855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.00, Y:-470.77, Z:-43.84 [[ 7.66999874e-01 6.39439158e-01 5.31860466e-02 8.60995300e+02] [-6.38083291e-01 7.68839154e-01 -4.16661533e-02 -4.70774355e+02] [-6.75344851e-02 -1.97919331e-03 9.97714977e-01 -4.38440178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:861.04, Y:-470.82, Z:-43.85 [[ 7.65694527e-01 6.41002437e-01 5.31767579e-02 8.61041920e+02] [-6.39649502e-01 7.67535965e-01 -4.16780047e-02 -4.70815695e+02] [-6.75307768e-02 -2.10186666e-03 9.97714978e-01 -4.38482008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.09, Y:-470.86, Z:-43.85 [[ 7.66579058e-01 6.39945235e-01 5.31662035e-02 8.61089507e+02] [-6.38588828e-01 7.68417940e-01 -4.16914640e-02 -4.70857478e+02] [-6.75341183e-02 -1.99154037e-03 9.97714978e-01 -4.38520224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.13, Y:-470.90, Z:-43.86 [[ 7.68563224e-01 6.37561893e-01 5.31545253e-02 8.61134514e+02] [-6.36198755e-01 7.70397121e-01 -4.17063478e-02 -4.70900701e+02] [-6.75404713e-02 -1.76287770e-03 9.97714978e-01 -4.38571171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.18, Y:-470.94, Z:-43.86 [[ 7.69902991e-01 6.35944221e-01 5.31444402e-02 8.61181842e+02] [-6.34576343e-01 7.71733356e-01 -4.17191948e-02 -4.70942451e+02] [-6.75444181e-02 -1.60447161e-03 9.97714978e-01 -4.38608240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.23, Y:-470.99, Z:-43.86 [[ 7.71209715e-01 6.34359904e-01 5.31327329e-02 8.61227170e+02] [-6.32987240e-01 7.73036493e-01 -4.17340997e-02 -4.70986993e+02] [-6.75479810e-02 -1.44659883e-03 9.97714978e-01 -4.38646411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.27, Y:-471.03, Z:-43.87 [[ 7.73231269e-01 6.31895201e-01 5.31211815e-02 8.61271801e+02] [-6.30515704e-01 7.75052892e-01 -4.17487977e-02 -4.71031303e+02] [-6.75525903e-02 -1.21226336e-03 9.97714978e-01 -4.38682683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:861.31, Y:-471.08, Z:-43.87 [[ 7.76060170e-01 6.28418667e-01 5.31092484e-02 8.61314817e+02] [-6.27029970e-01 7.77874789e-01 -4.17639724e-02 -4.71075927e+02] [-6.75576053e-02 -8.89734904e-04 9.97714979e-01 -4.38723144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:861.36, Y:-471.12, Z:-43.88 [[ 7.77747744e-01 6.26329805e-01 5.30982328e-02 8.61361428e+02] [-6.24935278e-01 7.79557887e-01 -4.17779729e-02 -4.71118260e+02] [-6.75599358e-02 -6.90234710e-04 9.97714979e-01 -4.38758368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.41, Y:-471.16, Z:-43.88 [[ 7.79951221e-01 6.23584738e-01 5.30864230e-02 8.61406061e+02] [-6.22182819e-01 7.81755644e-01 -4.17929740e-02 -4.71162904e+02] [-6.75620716e-02 -4.32979203e-04 9.97714979e-01 -4.38800901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.45, Y:-471.21, Z:-43.88 [[ 7.80775920e-01 6.22552845e-01 5.30746478e-02 8.61451513e+02] [-6.21147524e-01 7.82577696e-01 -4.18079225e-02 -4.71205537e+02] [-6.75626767e-02 -3.24566919e-04 9.97714979e-01 -4.38847321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:861.50, Y:-471.25, Z:-43.89 [[ 7.80809277e-01 6.22511890e-01 5.30643044e-02 8.61496230e+02] [-6.21105583e-01 7.82610283e-01 -4.18210467e-02 -4.71249610e+02] [-6.75627691e-02 -3.04274490e-04 9.97714979e-01 -4.38884723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.54, Y:-471.29, Z:-43.89 [[ 7.79280756e-01 6.24425277e-01 5.30525800e-02 8.61543024e+02] [-6.23022381e-01 7.81084419e-01 -4.18359145e-02 -4.71291582e+02] [-6.75619462e-02 -4.51021612e-04 9.97714979e-01 -4.38912998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.59, Y:-471.33, Z:-43.89 [[ 7.77812572e-01 6.26254153e-01 5.30409081e-02 8.61591453e+02] [-6.24854489e-01 7.79618744e-01 -4.18507073e-02 -4.71332154e+02] [-6.75608655e-02 -5.90843242e-04 9.97714980e-01 -4.38948778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.64, Y:-471.37, Z:-43.90 [[ 7.75049586e-01 6.29671389e-01 5.30290589e-02 8.61640012e+02] [-6.28278661e-01 7.76861112e-01 -4.18657161e-02 -4.71371553e+02] [-6.75578572e-02 -8.69020161e-04 9.97714980e-01 -4.38988105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.69, Y:-471.41, Z:-43.90 [[ 7.72979289e-01 6.32212150e-01 5.30171308e-02 8.61689202e+02] [-6.30824340e-01 7.74794585e-01 -4.18808159e-02 -4.71408405e+02] [-6.75549466e-02 -1.07149331e-03 9.97714980e-01 -4.39031057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.74, Y:-471.45, Z:-43.91 [[ 7.73129240e-01 6.32029691e-01 5.30061235e-02 8.61739264e+02] [-6.30640498e-01 7.74943478e-01 -4.18947426e-02 -4.71446177e+02] [-6.75554709e-02 -1.03775760e-03 9.97714980e-01 -4.39057160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.79, Y:-471.49, Z:-43.91 [[ 7.75276941e-01 6.29394366e-01 5.29943197e-02 8.61788979e+02] [-6.27997985e-01 7.77085652e-01 -4.19096685e-02 -4.71485241e+02] [-6.75588347e-02 -7.88726402e-04 9.97714980e-01 -4.39089025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.84, Y:-471.52, Z:-43.91 [[ 7.76943298e-01 6.27337210e-01 5.29824318e-02 8.61837846e+02] [-6.25935015e-01 7.78747505e-01 -4.19246918e-02 -4.71524138e+02] [-6.75608558e-02 -5.90450980e-04 9.97714980e-01 -4.39126527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.89, Y:-471.56, Z:-43.92 [[ 7.78834808e-01 6.24988367e-01 5.29705806e-02 8.61886888e+02] [-6.23579714e-01 7.80633977e-01 -4.19396602e-02 -4.71563644e+02] [-6.75624347e-02 -3.67312252e-04 9.97714981e-01 -4.39163286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:861.94, Y:-471.60, Z:-43.92 [[ 7.81626273e-01 6.21494767e-01 5.29587003e-02 8.61936444e+02] [-6.20077055e-01 7.83418313e-01 -4.19546565e-02 -4.71599162e+02] [-6.75634151e-02 -4.56130984e-05 9.97714981e-01 -4.39233512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.99, Y:-471.64, Z:-43.93 [[ 7.81391545e-01 6.21790667e-01 5.29492167e-02 8.61985433e+02] [-6.20372823e-01 7.83183480e-01 -4.19666219e-02 -4.71636803e+02] [-6.75634056e-02 -5.58914734e-05 9.97714981e-01 -4.39283071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.04, Y:-471.67, Z:-43.93 [[ 7.79943897e-01 6.23606414e-01 5.29391897e-02 8.62035495e+02] [-6.22191883e-01 7.81738448e-01 -4.19792668e-02 -4.71674645e+02] [-6.75631400e-02 -1.96861180e-04 9.97714981e-01 -4.39318161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.09, Y:-471.71, Z:-43.94 [[ 7.76412570e-01 6.27998577e-01 5.29273837e-02 8.62086296e+02] [-6.26593183e-01 7.78214286e-01 -4.19941465e-02 -4.71710632e+02] [-6.75611104e-02 -5.59154582e-04 9.97714981e-01 -4.39370608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:862.14, Y:-471.75, Z:-43.94 [[ 7.73992398e-01 6.30979834e-01 5.29170890e-02 8.62136516e+02] [-6.29580492e-01 7.75798818e-01 -4.20071150e-02 -4.71747400e+02] [-6.75586575e-02 -8.02379311e-04 9.97714981e-01 -4.39422645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:862.19, Y:-471.78, Z:-43.95 [[ 7.71557306e-01 6.33955989e-01 5.29067865e-02 8.62185810e+02] [-6.32562726e-01 7.73368418e-01 -4.20200867e-02 -4.71784852e+02] [-6.75553234e-02 -1.04595620e-03 9.97714982e-01 -4.39453682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.23, Y:-471.82, Z:-43.95 [[ 7.70023564e-01 6.35818896e-01 5.28965333e-02 8.62233568e+02] [-6.34429128e-01 7.71837360e-01 -4.20329899e-02 -4.71822212e+02] [-6.75528898e-02 -1.19270880e-03 9.97714982e-01 -4.39484364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.28, Y:-471.86, Z:-43.95 [[ 7.69495725e-01 6.36458388e-01 5.28871421e-02 8.62282371e+02] [-6.35069316e-01 7.71310054e-01 -4.20448028e-02 -4.71860842e+02] [-6.75521518e-02 -1.23370511e-03 9.97714982e-01 -4.39496978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.33, Y:-471.90, Z:-43.95 [[ 7.70752023e-01 6.34937308e-01 5.28765957e-02 8.62330553e+02] [-6.33543746e-01 7.72562904e-01 -4.20580621e-02 -4.71900441e+02] [-6.75547291e-02 -1.08330009e-03 9.97714982e-01 -4.39534357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.38, Y:-471.94, Z:-43.96 [[ 7.71894337e-01 6.33549098e-01 5.28646556e-02 8.62379716e+02] [-6.32151252e-01 7.73701914e-01 -4.20730648e-02 -4.71940062e+02] [-6.75568375e-02 -9.42497699e-04 9.97714982e-01 -4.39582891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.43, Y:-471.98, Z:-43.96 [[ 7.74101949e-01 6.30850810e-01 5.28528891e-02 8.62427559e+02] [-6.29445654e-01 7.75903849e-01 -4.20878408e-02 -4.71978525e+02] [-6.75599086e-02 -6.87741705e-04 9.97714982e-01 -4.39637176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.47, Y:-472.02, Z:-43.97 [[ 7.76712755e-01 6.27634402e-01 5.28427208e-02 8.62474976e+02] [-6.26220915e-01 7.78508127e-01 -4.21006037e-02 -4.72017839e+02] [-6.75622748e-02 -3.91141062e-04 9.97714982e-01 -4.39688647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.52, Y:-472.06, Z:-43.97 [[ 7.78229971e-01 6.25753030e-01 5.28323469e-02 8.62522117e+02] [-6.24334320e-01 7.80021218e-01 -4.21136180e-02 -4.72056837e+02] [-6.75630756e-02 -2.10967645e-04 9.97714983e-01 -4.39747393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.57, Y:-472.10, Z:-43.98 [[ 7.79356988e-01 6.24349297e-01 5.28265102e-02 8.62569369e+02] [-6.22926864e-01 7.81145281e-01 -4.21209381e-02 -4.72096692e+02] [-6.75633572e-02 -7.98049006e-05 9.97714983e-01 -4.39785198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.62, Y:-472.14, Z:-43.98 [[ 7.80696835e-01 6.22673996e-01 5.28161614e-02 8.62617444e+02] [-6.21246847e-01 7.82481366e-01 -4.21339106e-02 -4.72137191e+02] [-6.75633526e-02 8.19369096e-05 9.97714983e-01 -4.39817308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.66, Y:-472.18, Z:-43.98 [[ 7.81079096e-01 6.22195433e-01 5.28042645e-02 8.62664549e+02] [-6.20766183e-01 7.82861944e-01 -4.21488152e-02 -4.72176813e+02] [-6.75632495e-02 1.42456698e-04 9.97714983e-01 -4.39842135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.71, Y:-472.22, Z:-43.99 [[ 7.80597884e-01 6.22799855e-01 5.27947312e-02 8.62712390e+02] [-6.21371179e-01 7.82381192e-01 -4.21607530e-02 -4.72216079e+02] [-6.75633156e-02 1.05470225e-04 9.97714983e-01 -4.39877153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.76, Y:-472.26, Z:-43.99 [[ 7.78285264e-01 6.25688300e-01 5.27844551e-02 8.62761085e+02] [-6.24265370e-01 7.80073160e-01 -4.21736146e-02 -4.72256412e+02] [-6.75632739e-02 -1.28404607e-04 9.97714983e-01 -4.39916498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.81, Y:-472.29, Z:-44.00 [[ 7.73469706e-01 6.31632555e-01 5.27724274e-02 8.62808356e+02] [-6.30222338e-01 7.75267646e-01 -4.21886597e-02 -4.72294135e+02] [-6.75604865e-02 -6.26712387e-04 9.97714983e-01 -4.39965258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.86, Y:-472.33, Z:-44.00 [[ 7.68973805e-01 6.37098874e-01 5.27665811e-02 8.62856888e+02] [-6.35700934e-01 7.70781307e-01 -4.21959705e-02 -4.72332027e+02] [-6.75544997e-02 -1.09616888e-03 9.97714983e-01 -4.40019346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.90, Y:-472.37, Z:-44.01 [[ 7.66703177e-01 6.39830461e-01 5.27562231e-02 8.62904478e+02] [-6.38438069e-01 7.68514957e-01 -4.22089168e-02 -4.72371315e+02] [-6.75504973e-02 -1.31987063e-03 9.97714984e-01 -4.40063569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.95, Y:-472.41, Z:-44.01 [[ 7.63822400e-01 6.43267612e-01 5.27458063e-02 8.62952616e+02] [-6.41882474e-01 7.65639731e-01 -4.22219301e-02 -4.72410970e+02] [-6.75442851e-02 -1.60655266e-03 9.97714984e-01 -4.40105502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.00, Y:-472.45, Z:-44.01 [[ 7.62483781e-01 6.44854726e-01 5.27339191e-02 8.63001288e+02] [-6.43472345e-01 7.64303210e-01 -4.22367717e-02 -4.72448803e+02] [-6.75412854e-02 -1.72796521e-03 9.97714984e-01 -4.40141919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.05, Y:-472.49, Z:-44.02 [[ 7.61793743e-01 6.45670605e-01 5.27234532e-02 8.63050228e+02] [-6.44289270e-01 7.63613966e-01 -4.22498321e-02 -4.72487416e+02] [-6.75398398e-02 -1.78349745e-03 9.97714984e-01 -4.40191016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.10, Y:-472.53, Z:-44.02 [[ 7.62118505e-01 6.45288232e-01 5.27113139e-02 8.63098699e+02] [-6.43904937e-01 7.63937239e-01 -4.22649718e-02 -4.72526108e+02] [-6.75412245e-02 -1.73015816e-03 9.97714984e-01 -4.40248503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:863.15, Y:-472.57, Z:-44.03 [[ 7.62498198e-01 6.44840445e-01 5.27000857e-02 8.63147250e+02] [-6.43455116e-01 7.64315382e-01 -4.22789676e-02 -4.72565420e+02] [-6.75426744e-02 -1.67250313e-03 9.97714984e-01 -4.40282962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.20, Y:-472.60, Z:-44.03 [[ 7.62582122e-01 6.44742170e-01 5.26881605e-02 8.63196496e+02] [-6.43355581e-01 7.64398345e-01 -4.22938235e-02 -4.72604483e+02] [-6.75433542e-02 -1.64470847e-03 9.97714984e-01 -4.40321521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.24, Y:-472.64, Z:-44.04 [[ 7.64351644e-01 6.42644384e-01 5.26759995e-02 8.63243526e+02] [-6.41251767e-01 7.66163248e-01 -4.23089645e-02 -4.72643285e+02] [-6.75480333e-02 -1.43965121e-03 9.97714985e-01 -4.40383555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.29, Y:-472.68, Z:-44.04 [[ 7.67491053e-01 6.38892592e-01 5.26663054e-02 8.63290976e+02] [-6.37490290e-01 7.69295171e-01 -4.23210282e-02 -4.72684792e+02] [-6.75545259e-02 -1.09324779e-03 9.97714985e-01 -4.40415686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.34, Y:-472.72, Z:-44.04 [[ 7.69718136e-01 6.36208694e-01 5.26544384e-02 8.63338899e+02] [-6.34799091e-01 7.71516555e-01 -4.23357876e-02 -4.72723518e+02] [-6.75581671e-02 -8.38366121e-04 9.97714985e-01 -4.40448352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.39, Y:-472.76, Z:-44.05 [[ 7.70265561e-01 6.35546675e-01 5.26439903e-02 8.63387851e+02] [-6.34134639e-01 7.72062070e-01 -4.23487758e-02 -4.72762905e+02] [-6.75590518e-02 -7.63574263e-04 9.97714985e-01 -4.40494387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:863.44, Y:-472.80, Z:-44.06 [[ 7.72197600e-01 6.33198805e-01 5.26321151e-02 8.63436732e+02] [-6.31780301e-01 7.73989007e-01 -4.23635294e-02 -4.72802692e+02] [-6.75612147e-02 -5.38917859e-04 9.97714985e-01 -4.40568430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:863.49, Y:-472.84, Z:-44.06 [[ 7.72265993e-01 6.33115887e-01 5.26261324e-02 8.63485298e+02] [-6.31696684e-01 7.74056846e-01 -4.23709601e-02 -4.72842758e+02] [-6.75613461e-02 -5.22101784e-04 9.97714985e-01 -4.40580439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:863.53, Y:-472.88, Z:-44.06 [[ 7.70634008e-01 6.35102493e-01 5.26122518e-02 8.63532816e+02] [-6.33686730e-01 7.72427582e-01 -4.23881887e-02 -4.72882854e+02] [-6.75599988e-02 -6.73906016e-04 9.97714986e-01 -4.40603794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.09, Y:-472.35, Z:-43.09 [[ 8.28083877e-01 5.58131118e-01 5.25998788e-02 8.64087450e+02] [-5.56548635e-01 8.29732220e-01 -4.24035370e-02 -4.72353351e+02] [-6.73105477e-02 5.83929458e-03 9.97714986e-01 -4.30931139e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.14, Y:-472.39, Z:-43.09 [[ 8.28288973e-01 5.57482073e-01 5.61347985e-02 8.64138312e+02] [-5.56249786e-01 8.30188804e-01 -3.70503037e-02 -4.72390076e+02] [-6.72573613e-02 -5.36611633e-04 9.97735516e-01 -4.30945972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.19, Y:-472.42, Z:-43.10 [[ 8.30064880e-01 5.54835404e-01 5.61245993e-02 8.64190392e+02] [-5.53596015e-01 8.31960085e-01 -3.70657472e-02 -4.72424471e+02] [-6.72588152e-02 -3.03379531e-04 9.97735516e-01 -4.30966039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.24, Y:-472.46, Z:-43.10 [[ 8.31592253e-01 5.52544455e-01 5.61155063e-02 8.64243250e+02] [-5.51298916e-01 8.33483422e-01 -3.70795084e-02 -4.72458226e+02] [-6.72594210e-02 -1.01385880e-04 9.97735516e-01 -4.31007968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.30, Y:-472.49, Z:-43.10 [[ 8.34349072e-01 5.48373801e-01 5.61052563e-02 8.64296045e+02] [-5.47117767e-01 8.36233287e-01 -3.70950113e-02 -4.72491352e+02] [-6.72590152e-02 2.54005753e-04 9.97735516e-01 -4.31048306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:864.35, Y:-472.52, Z:-43.11 [[ 8.38204042e-01 5.42464131e-01 5.60950130e-02 8.64349796e+02] [-5.41193777e-01 8.40078631e-01 -3.71104947e-02 -4.72521815e+02] [-6.72553341e-02 7.47894679e-04 9.97735516e-01 -4.31102557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:864.40, Y:-472.56, Z:-43.11 [[ 8.37961974e-01 5.42838362e-01 5.60913772e-02 8.64399454e+02] [-5.41568477e-01 8.39836882e-01 -3.71159894e-02 -4.72556435e+02] [-6.72555902e-02 7.24466018e-04 9.97735516e-01 -4.31144550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.45, Y:-472.59, Z:-43.12 [[ 8.37110533e-01 5.44151425e-01 5.60819337e-02 8.64451375e+02] [-5.42883525e-01 8.38986783e-01 -3.71302530e-02 -4.72587463e+02] [-6.72564812e-02 6.36167951e-04 9.97735517e-01 -4.31214564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.50, Y:-472.62, Z:-43.13 [[ 8.35015856e-01 5.47361166e-01 5.60738255e-02 8.64504220e+02] [-5.46099657e-01 8.36896409e-01 -3.71424938e-02 -4.72619140e+02] [-6.72583420e-02 3.92674377e-04 9.97735517e-01 -4.31260680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.56, Y:-472.65, Z:-43.13 [[ 8.34205392e-01 5.48596505e-01 5.60645966e-02 8.64557221e+02] [-5.47336845e-01 8.36087184e-01 -3.71564191e-02 -4.72653368e+02] [-6.72587724e-02 3.09865746e-04 9.97735517e-01 -4.31306687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:864.61, Y:-472.69, Z:-43.14 [[ 8.31843205e-01 5.52172813e-01 5.60541516e-02 8.64610074e+02] [-5.50920182e-01 8.33729683e-01 -3.71721698e-02 -4.72686532e+02] [-6.72594716e-02 4.00535089e-05 9.97735517e-01 -4.31353530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.66, Y:-472.72, Z:-43.14 [[ 8.28932026e-01 5.56534641e-01 5.60436381e-02 8.64663140e+02] [-5.55290865e-01 8.30824354e-01 -3.71880141e-02 -4.72720013e+02] [-6.72588375e-02 -2.94184356e-04 9.97735517e-01 -4.31387113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:864.72, Y:-472.75, Z:-43.14 [[ 8.25610492e-01 5.61451342e-01 5.60330852e-02 8.64716278e+02] [-5.60217756e-01 8.27509477e-01 -3.72039078e-02 -4.72753729e+02] [-6.72560931e-02 -6.74792622e-04 9.97735517e-01 -4.31421237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.77, Y:-472.79, Z:-43.15 [[ 8.23115462e-01 5.65103882e-01 5.60226662e-02 8.64769239e+02] [-5.63877655e-01 8.25019207e-01 -3.72195906e-02 -4.72788052e+02] [-6.72527108e-02 -9.53909129e-04 9.97735518e-01 -4.31459807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.82, Y:-472.82, Z:-43.15 [[ 8.19808246e-01 5.69892160e-01 5.60121868e-02 8.64821996e+02] [-5.68675974e-01 8.21718422e-01 -3.72353545e-02 -4.72822273e+02] [-6.72463823e-02 -1.32693421e-03 9.97735518e-01 -4.31491496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:864.87, Y:-472.86, Z:-43.15 [[ 8.18022091e-01 5.72454072e-01 5.60017336e-02 8.64874326e+02] [-5.71242793e-01 8.19935381e-01 -3.72510694e-02 -4.72856098e+02] [-6.72423292e-02 -1.51838900e-03 9.97735518e-01 -4.31540226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.93, Y:-472.89, Z:-43.16 [[ 8.16113013e-01 5.75173488e-01 5.59911602e-02 8.64925275e+02] [-5.73967494e-01 8.18029639e-01 -3.72669552e-02 -4.72891004e+02] [-6.72373932e-02 -1.72305883e-03 9.97735518e-01 -4.31604719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:865.41, Y:-472.34, Z:-42.18 [[ 8.83717287e-01 4.64660917e-01 5.59820443e-02 8.65411205e+02] [-4.63216056e-01 8.85460919e-01 -3.72806441e-02 -4.72341547e+02] [-6.68927707e-02 7.01376790e-03 9.97735518e-01 -4.21810970e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.46, Y:-472.37, Z:-42.18 [[ 8.83128470e-01 4.65296928e-01 5.98571071e-02 8.65463745e+02] [-4.64371058e-01 8.85152755e-01 -2.93959336e-02 -4.72374688e+02] [-6.66605208e-02 -1.83552229e-03 9.97774025e-01 -4.21795106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.52, Y:-472.40, Z:-42.19 [[ 8.84598996e-01 4.62496272e-01 5.98482625e-02 8.65519191e+02] [-4.61562776e-01 8.86619775e-01 -2.94139296e-02 -4.72401250e+02] [-6.66664858e-02 -1.60419762e-03 9.97774026e-01 -4.21880544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.57, Y:-472.44, Z:-42.19 [[ 8.84445636e-01 4.62790418e-01 5.98410089e-02 8.65571451e+02] [-4.61856597e-01 8.86466264e-01 -2.94286793e-02 -4.72435916e+02] [-6.66663464e-02 -1.60989771e-03 9.97774026e-01 -4.21864311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.63, Y:-472.47, Z:-42.19 [[ 8.85612190e-01 4.60555055e-01 5.98338604e-02 8.65626401e+02] [-4.59615152e-01 8.87629996e-01 -2.94432063e-02 -4.72466219e+02] [-6.66705468e-02 -1.42528645e-03 9.97774026e-01 -4.21895816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.68, Y:-472.50, Z:-42.19 [[ 8.87165712e-01 4.57556417e-01 5.98257843e-02 8.65681243e+02] [-4.56608588e-01 8.89179807e-01 -2.94596071e-02 -4.72496260e+02] [-6.66753116e-02 -1.18141363e-03 9.97774026e-01 -4.21917495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:865.74, Y:-472.53, Z:-42.19 [[ 8.88413835e-01 4.55129173e-01 5.98188396e-02 8.65736770e+02] [-4.54174891e-01 8.90424881e-01 -2.94737018e-02 -4.72526402e+02] [-6.66785247e-02 -9.83370497e-04 9.97774026e-01 -4.21943315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.79, Y:-472.55, Z:-42.20 [[ 8.89964426e-01 4.52090728e-01 5.98104893e-02 8.65790292e+02] [-4.51128442e-01 8.91971654e-01 -2.94906374e-02 -4.72554592e+02] [-6.66817047e-02 -7.36594683e-04 9.97774026e-01 -4.22002577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.85, Y:-472.58, Z:-42.20 [[ 8.91038266e-01 4.49971456e-01 5.98038223e-02 8.65846182e+02] [-4.49003489e-01 8.93042760e-01 -2.95041510e-02 -4.72582957e+02] [-6.66833964e-02 -5.62797377e-04 9.97774027e-01 -4.22042698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.90, Y:-472.61, Z:-42.21 [[ 8.93550607e-01 4.44962695e-01 5.97955937e-02 8.65901033e+02] [-4.43982376e-01 8.95549089e-01 -2.95208185e-02 -4.72611927e+02] [-6.66855524e-02 -1.69844471e-04 9.97774027e-01 -4.22078379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.96, Y:-472.64, Z:-42.21 [[ 8.94448640e-01 4.43155703e-01 5.97884070e-02 8.65956995e+02] [-4.42170374e-01 8.96444657e-01 -2.95353665e-02 -4.72640549e+02] [-6.66857641e-02 -1.87939158e-05 9.97774027e-01 -4.22117558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:866.01, Y:-472.67, Z:-42.22 [[ 8.97150397e-01 4.37661389e-01 5.97802072e-02 8.66012892e+02] [-4.36662731e-01 8.99139779e-01 -2.95519537e-02 -4.72670202e+02] [-6.66845114e-02 4.08758467e-04 9.97774027e-01 -4.22157406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.07, Y:-472.70, Z:-42.22 [[ 8.98799690e-01 4.34265375e-01 5.97720868e-02 8.66069242e+02] [-4.33258109e-01 9.00784726e-01 -2.95683690e-02 -4.72698865e+02] [-6.66823017e-02 6.79299608e-04 9.97774027e-01 -4.22198346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.13, Y:-472.73, Z:-42.22 [[ 8.98290160e-01 4.35319471e-01 5.97640829e-02 8.66126105e+02] [-4.34313459e-01 9.00275832e-01 -2.95845378e-02 -4.72725030e+02] [-6.66828849e-02 6.19153640e-04 9.97774027e-01 -4.22235708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.18, Y:-472.75, Z:-42.23 [[ 8.97553618e-01 4.36837160e-01 5.97561633e-02 8.66183117e+02] [-4.35833441e-01 8.99540450e-01 -2.96005255e-02 -4.72751827e+02] [-6.66836956e-02 5.24324510e-04 9.97774027e-01 -4.22268594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.24, Y:-472.78, Z:-42.23 [[ 8.94783147e-01 4.42485381e-01 5.97478596e-02 8.66241107e+02] [-4.41493086e-01 8.96775709e-01 -2.96172769e-02 -4.72776138e+02] [-6.66856412e-02 1.22773306e-04 9.97774028e-01 -4.22314272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.30, Y:-472.80, Z:-42.24 [[ 8.92932575e-01 4.46209144e-01 5.97395734e-02 8.66298380e+02] [-4.45224041e-01 8.94928702e-01 -2.96339813e-02 -4.72801131e+02] [-6.66856123e-02 -1.36347063e-04 9.97774028e-01 -4.22363759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:866.36, Y:-472.82, Z:-42.24 [[ 8.90412116e-01 4.51218844e-01 5.97312115e-02 8.66355617e+02] [-4.50243841e-01 8.92413196e-01 -2.96508262e-02 -4.72824422e+02] [-6.66839329e-02 -4.92155188e-04 9.97774028e-01 -4.22420763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.41, Y:-472.85, Z:-42.25 [[ 8.89204176e-01 4.53595613e-01 5.97239804e-02 8.66413028e+02] [-4.52624980e-01 8.91207379e-01 -2.96653842e-02 -4.72849537e+02] [-6.66825402e-02 -6.53981927e-04 9.97774028e-01 -4.22458787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:866.47, Y:-472.87, Z:-42.25 [[ 8.88437245e-01 4.55097037e-01 5.97155665e-02 8.66470186e+02] [-4.54128652e-01 8.90441535e-01 -2.96823115e-02 -4.72873462e+02] [-6.66815528e-02 -7.47678650e-04 9.97774028e-01 -4.22533488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.53, Y:-472.90, Z:-42.26 [[ 8.89160853e-01 4.53682733e-01 5.97072406e-02 8.66527680e+02] [-4.52710036e-01 8.91163055e-01 -2.96990501e-02 -4.72898052e+02] [-6.66828331e-02 -6.22834245e-04 9.97774028e-01 -4.22570716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.58, Y:-472.93, Z:-42.26 [[ 8.89771601e-01 4.52484943e-01 5.96981987e-02 8.66582534e+02] [-4.51508332e-01 8.91771896e-01 -2.97172141e-02 -4.72925795e+02] [-6.66837678e-02 -5.12700962e-04 9.97774029e-01 -4.22585405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.64, Y:-472.95, Z:-42.26 [[ 8.90586203e-01 4.50880551e-01 5.96904063e-02 8.66639003e+02] [-4.49899288e-01 8.92584219e-01 -2.97328578e-02 -4.72952636e+02] [-6.66846820e-02 -3.74998377e-04 9.97774029e-01 -4.22638776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.69, Y:-472.98, Z:-42.27 [[ 8.91350417e-01 4.49368992e-01 5.96820187e-02 8.66693929e+02] [-4.48383213e-01 8.93346210e-01 -2.97496847e-02 -4.72977896e+02] [-6.66852910e-02 -2.43021440e-04 9.97774029e-01 -4.22699016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.75, Y:-473.01, Z:-42.27 [[ 8.91543795e-01 4.48985749e-01 5.96779564e-02 8.66750774e+02] [-4.47998568e-01 8.93538894e-01 -2.97578314e-02 -4.73005512e+02] [-6.66854174e-02 -2.05229069e-04 9.97774029e-01 -4.22737634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.81, Y:-473.03, Z:-42.28 [[ 8.91934431e-01 4.48210349e-01 5.96695432e-02 8.66807256e+02] [-4.47220305e-01 8.93928110e-01 -2.97746917e-02 -4.73032627e+02] [-6.66856070e-02 -1.28358607e-04 9.97774029e-01 -4.22780090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.86, Y:-473.06, Z:-42.28 [[ 8.93204014e-01 4.45676067e-01 5.96609805e-02 8.66864111e+02] [-4.44679221e-01 8.95194301e-01 -2.97918394e-02 -4.73060228e+02] [-6.66856796e-02 8.01922497e-05 9.97774029e-01 -4.22820107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.92, Y:-473.09, Z:-42.28 [[ 8.95193171e-01 4.41668156e-01 5.96525484e-02 8.66919709e+02] [-4.40661274e-01 8.97178400e-01 -2.98087135e-02 -4.73088775e+02] [-6.66845375e-02 3.97988796e-04 9.97774030e-01 -4.22843369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.98, Y:-473.12, Z:-42.29 [[ 8.96703517e-01 4.38594633e-01 5.96452073e-02 8.66975765e+02] [-4.37579971e-01 8.98684780e-01 -2.98233953e-02 -4.73116878e+02] [-6.66826212e-02 6.43195374e-04 9.97774030e-01 -4.22888440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters Centerline goodness : 0.995324 with order 1 Centerline is valid? [True, True] Translation: X:867.03, Y:-473.15, Z:-42.29 [[ 8.99124717e-01 4.33610639e-01 5.96368856e-02 8.67031051e+02] [-4.32583892e-01 9.01099744e-01 -2.98400267e-02 -4.73145721e+02] [-6.66777354e-02 1.03194944e-03 9.97774030e-01 -4.22940697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:867.08, Y:-473.18, Z:-42.29 [[ 8.99325068e-01 4.33195777e-01 5.96308747e-02 8.67082989e+02] [-4.32167323e-01 9.01299207e-01 -2.98520338e-02 -4.73179360e+02] [-6.66770351e-02 1.07616680e-03 9.97774030e-01 -4.22872240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:867.14, Y:-473.21, Z:-42.29 [[ 9.00583943e-01 4.30572684e-01 5.96299049e-02 8.67137192e+02] [-4.29538352e-01 9.02555009e-01 -2.98539709e-02 -4.73208619e+02] [-6.66735737e-02 1.27267578e-03 9.97774030e-01 -4.22881766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.19, Y:-473.23, Z:-42.31 [[ 9.06190058e-01 4.18646111e-01 5.96239231e-02 8.67193643e+02] [-4.17585064e-01 9.08146872e-01 -2.98659130e-02 -4.73228327e+02] [-6.66505276e-02 2.16613370e-03 9.97774030e-01 -4.23055418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.25, Y:-473.26, Z:-42.29 [[ 9.04714615e-01 4.21825830e-01 5.96190749e-02 8.67246118e+02] [-4.20771025e-01 9.06674801e-01 -2.98755879e-02 -4.73263130e+02] [-6.66574075e-02 1.94290182e-03 9.97774030e-01 -4.22938531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.30, Y:-473.29, Z:-42.30 [[ 9.05178283e-01 4.20830246e-01 5.96169420e-02 8.67301743e+02] [-4.19773005e-01 9.07137156e-01 -2.98798434e-02 -4.73289728e+02] [-6.66550851e-02 2.02100250e-03 9.97774030e-01 -4.22996280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.36, Y:-473.30, Z:-42.32 [[ 9.07106370e-01 4.16659297e-01 5.96075871e-02 8.67360886e+02] [-4.15591826e-01 9.09059687e-01 -2.98984941e-02 -4.73303539e+02] [-6.66443400e-02 2.34868844e-03 9.97774030e-01 -4.23189009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.42, Y:-473.33, Z:-42.32 [[ 9.05051149e-01 4.21105003e-01 5.96069947e-02 8.67418739e+02] [-4.20047052e-01 9.07009638e-01 -2.98996751e-02 -4.73328860e+02] [-6.66550215e-02 2.02299291e-03 9.97774030e-01 -4.23236009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:867.47, Y:-473.36, Z:-42.32 [[ 8.99229888e-01 4.33397719e-01 5.95988745e-02 8.67473442e+02] [-4.32365479e-01 9.01202050e-01 -2.99158523e-02 -4.73357418e+02] [-6.66760900e-02 1.13273266e-03 9.97774031e-01 -4.23180911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.53, Y:-473.38, Z:-42.31 [[ 8.92829426e-01 4.46434463e-01 5.95977015e-02 8.67528015e+02] [-4.45430869e-01 8.94816318e-01 -2.99181890e-02 -4.73384873e+02] [-6.66855064e-02 1.65183541e-04 9.97774031e-01 -4.23118068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.59, Y:-473.41, Z:-42.31 [[ 8.89253445e-01 4.53515697e-01 5.95971736e-02 8.67585057e+02] [-4.52527855e-01 8.91248215e-01 -2.99192405e-02 -4.73410020e+02] [-6.66847198e-02 -3.63593360e-04 9.97774031e-01 -4.23144112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:867.64, Y:-473.43, Z:-42.32 [[ 8.84572939e-01 4.62579520e-01 5.95894479e-02 8.67640530e+02] [-4.61611078e-01 8.86577200e-01 -2.99346197e-02 -4.73432756e+02] [-6.66777879e-02 -1.02779474e-03 9.97774031e-01 -4.23195652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.70, Y:-473.45, Z:-42.34 [[ 8.84826386e-01 4.62094613e-01 5.95888767e-02 8.67700678e+02] [-4.61124996e-01 8.86830079e-01 -2.99357567e-02 -4.73446035e+02] [-6.66783601e-02 -9.89973144e-04 9.97774031e-01 -4.23429623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.76, Y:-473.47, Z:-42.35 [[ 8.83779438e-01 4.64094030e-01 5.95872135e-02 8.67757448e+02] [-4.63128723e-01 8.85785210e-01 -2.99390669e-02 -4.73473349e+02] [-6.66760147e-02 -1.13701842e-03 9.97774031e-01 -4.23478358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.81, Y:-473.50, Z:-42.35 [[ 8.81270539e-01 4.68841752e-01 5.95789297e-02 8.67813693e+02] [-4.67886136e-01 8.83280946e-01 -2.99555427e-02 -4.73500331e+02] [-6.66693425e-02 -1.47721793e-03 9.97774031e-01 -4.23527704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.87, Y:-473.53, Z:-42.36 [[ 8.80266662e-01 4.70724808e-01 5.95714590e-02 8.67869254e+02] [-4.69772488e-01 8.82278632e-01 -2.99703921e-02 -4.73528061e+02] [-6.66664324e-02 -1.60309553e-03 9.97774031e-01 -4.23576194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.92, Y:-473.56, Z:-42.35 [[ 8.77390132e-01 4.76065847e-01 5.95639642e-02 8.67920496e+02] [-4.75124762e-01 8.79407382e-01 -2.99852800e-02 -4.73564918e+02] [-6.66559576e-02 -1.99152559e-03 9.97774031e-01 -4.23479810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.97, Y:-473.60, Z:-42.35 [[ 8.79423251e-01 4.72299752e-01 5.95624828e-02 8.67974042e+02] [-4.71349829e-01 8.81436354e-01 -2.99882224e-02 -4.73595649e+02] [-6.66639677e-02 -1.70242606e-03 9.97774031e-01 -4.23521793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.03, Y:-473.63, Z:-42.36 [[ 8.82692574e-01 4.66162068e-01 5.95545668e-02 8.68027332e+02] [-4.65197084e-01 8.84698501e-01 -3.00039348e-02 -4.73627916e+02] [-6.66745323e-02 -1.22036036e-03 9.97774031e-01 -4.23577530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.08, Y:-473.66, Z:-42.36 [[ 8.83981667e-01 4.63713199e-01 5.95523440e-02 8.68079239e+02] [-4.62742361e-01 8.85984767e-01 -3.00083461e-02 -4.73659493e+02] [-6.66777358e-02 -1.03056448e-03 9.97774031e-01 -4.23621701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:868.13, Y:-473.69, Z:-42.37 [[ 8.85153293e-01 4.61473741e-01 5.95452285e-02 8.68132964e+02] [-4.60496885e-01 8.87153465e-01 -3.00224586e-02 -4.73690359e+02] [-6.66803321e-02 -8.45914175e-04 9.97774031e-01 -4.23692521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.19, Y:-473.72, Z:-42.37 [[ 8.83801819e-01 4.64057806e-01 5.95373600e-02 8.68185335e+02] [-4.63085747e-01 8.85804327e-01 -3.00380545e-02 -4.73724012e+02] [-6.66778448e-02 -1.02321563e-03 9.97774032e-01 -4.23745609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.24, Y:-473.76, Z:-42.38 [[ 8.82567795e-01 4.66401452e-01 5.95295946e-02 8.68238660e+02] [-4.65433674e-01 8.84572375e-01 -3.00534362e-02 -4.73756325e+02] [-6.66752011e-02 -1.18288293e-03 9.97774032e-01 -4.23811099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.29, Y:-473.79, Z:-42.39 [[ 8.81028471e-01 4.69303726e-01 5.95218142e-02 8.68292183e+02] [-4.68341510e-01 8.83035727e-01 -3.00688376e-02 -4.73787913e+02] [-6.66713060e-02 -1.38503430e-03 9.97774032e-01 -4.23860573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.34, Y:-473.82, Z:-42.39 [[ 8.79313142e-01 4.72510855e-01 5.95137807e-02 8.68344636e+02] [-4.71554885e-01 8.81323380e-01 -3.00847295e-02 -4.73818708e+02] [-6.66662476e-02 -1.61011593e-03 9.97774032e-01 -4.23894686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.40, Y:-473.85, Z:-42.40 [[ 8.77060526e-01 4.76679998e-01 5.95064188e-02 8.68398968e+02] [-4.75732596e-01 8.79074815e-01 -3.00992842e-02 -4.73850824e+02] [-6.66583208e-02 -1.91024912e-03 9.97774032e-01 -4.23954242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:868.45, Y:-473.88, Z:-42.40 [[ 8.75600221e-01 4.79358221e-01 5.94974778e-02 8.68452806e+02] [-4.78415780e-01 8.77616836e-01 -3.01169476e-02 -4.73883064e+02] [-6.66527946e-02 -2.09412626e-03 9.97774032e-01 -4.23998751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:868.51, Y:-473.91, Z:-42.41 [[ 8.75558549e-01 4.79435456e-01 5.94884089e-02 8.68507364e+02] [-4.78491978e-01 8.77574679e-01 -3.01348502e-02 -4.73913025e+02] [-6.66532370e-02 -2.07990077e-03 9.97774033e-01 -4.24050117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.56, Y:-473.94, Z:-42.41 [[ 8.76058659e-01 4.78521980e-01 5.94805873e-02 8.68561349e+02] [-4.77575353e-01 8.78073313e-01 -3.01502808e-02 -4.73942403e+02] [-6.66558884e-02 -1.99304792e-03 9.97774033e-01 -4.24104782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.62, Y:-473.97, Z:-42.41 [[ 8.76514284e-01 4.77687393e-01 5.94765806e-02 8.68615155e+02] [-4.76738313e-01 8.78527783e-01 -3.01581826e-02 -4.73974035e+02] [-6.66580121e-02 -1.92068686e-03 9.97774033e-01 -4.24129336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.67, Y:-474.00, Z:-42.42 [[ 8.77816426e-01 4.75291272e-01 5.94687270e-02 8.68670127e+02] [-4.74335647e-01 8.79826826e-01 -3.01736611e-02 -4.74003239e+02] [-6.66634591e-02 -1.72120179e-03 9.97774033e-01 -4.24157984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.72, Y:-474.03, Z:-42.42 [[ 8.79515137e-01 4.72141427e-01 5.94608860e-02 8.68724526e+02] [-4.71177558e-01 8.81521597e-01 -3.01891048e-02 -4.74029674e+02] [-6.66695823e-02 -1.46486047e-03 9.97774033e-01 -4.24249479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.78, Y:-474.06, Z:-42.42 [[ 8.79714962e-01 4.71769900e-01 5.94537445e-02 8.68780023e+02] [-4.70804234e-01 8.81720558e-01 -3.02031626e-02 -4.74059233e+02] [-6.66705318e-02 -1.42090060e-03 9.97774033e-01 -4.24227235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.84, Y:-474.09, Z:-42.43 [[ 8.80360481e-01 4.70564542e-01 5.94511212e-02 8.68836240e+02] [-4.69595781e-01 8.82364584e-01 -3.02083255e-02 -4.74085227e+02] [-6.66725307e-02 -1.32377976e-03 9.97774033e-01 -4.24292144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.89, Y:-474.11, Z:-42.43 [[ 8.79996516e-01 4.71245854e-01 5.94430660e-02 8.68891912e+02] [-4.70277575e-01 8.82000852e-01 -3.02241678e-02 -4.74113392e+02] [-6.66718486e-02 -1.35757857e-03 9.97774033e-01 -4.24339378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.95, Y:-474.14, Z:-42.44 [[ 8.80534572e-01 4.70240862e-01 5.94339910e-02 8.68947433e+02] [-4.69269092e-01 8.82537218e-01 -3.02420029e-02 -4.74138364e+02] [-6.66737345e-02 -1.26140595e-03 9.97774034e-01 -4.24425072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.00, Y:-474.16, Z:-42.45 [[ 8.83250379e-01 4.65120252e-01 5.94299580e-02 8.69003194e+02] [-4.64136337e-01 8.85247086e-01 -3.02499262e-02 -4.74164964e+02] [-6.66800504e-02 -8.65344244e-04 9.97774034e-01 -4.24490039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.06, Y:-474.19, Z:-42.45 [[ 8.85308283e-01 4.61192192e-01 5.94222695e-02 8.69058577e+02] [-4.60198405e-01 8.87300094e-01 -3.02650218e-02 -4.74193055e+02] [-6.66833771e-02 -5.52159119e-04 9.97774034e-01 -4.24544858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.11, Y:-474.22, Z:-42.46 [[ 8.87730906e-01 4.56512607e-01 5.94144564e-02 8.69114171e+02] [-4.55507293e-01 8.89716925e-01 -3.02803522e-02 -4.74223312e+02] [-6.66854100e-02 -1.82913656e-04 9.97774034e-01 -4.24574676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.17, Y:-474.26, Z:-42.46 [[ 8.88200396e-01 4.55599653e-01 5.94054951e-02 8.69165470e+02] [-4.54591123e-01 8.90184783e-01 -3.02979229e-02 -4.74257107e+02] [-6.66855909e-02 -9.45835437e-05 9.97774034e-01 -4.24565587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.22, Y:-474.29, Z:-42.46 [[ 8.90210075e-01 4.51661221e-01 5.93983507e-02 8.69220915e+02] [-4.50642977e-01 8.92189495e-01 -3.03119228e-02 -4.74287000e+02] [-6.66853046e-02 2.16529523e-04 9.97774034e-01 -4.24597159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.28, Y:-474.31, Z:-42.46 [[ 8.95902795e-01 4.40262452e-01 5.93898496e-02 8.69278130e+02] [-4.39217924e-01 8.97868472e-01 -3.03285697e-02 -4.74310808e+02] [-6.66768040e-02 1.08636390e-03 9.97774034e-01 -4.24649527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.33, Y:-474.34, Z:-42.46 [[ 8.97170789e-01 4.37673797e-01 5.93820092e-02 8.69329892e+02] [-4.36622583e-01 8.99132897e-01 -3.03439133e-02 -4.74344419e+02] [-6.66730537e-02 1.29614645e-03 9.97774035e-01 -4.24647370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.39, Y:-474.36, Z:-42.47 [[ 9.01294293e-01 4.29119119e-01 5.93749016e-02 8.69388086e+02] [-4.28048371e-01 9.03245811e-01 -3.03578146e-02 -4.74364865e+02] [-6.66572498e-02 1.94599518e-03 9.97774035e-01 -4.24737853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.44, Y:-474.40, Z:-42.47 [[ 8.98883793e-01 4.34146757e-01 5.93676747e-02 8.69439807e+02] [-4.33085995e-01 9.00840755e-01 -3.03719409e-02 -4.74397402e+02] [-6.66667006e-02 1.58953702e-03 9.97774035e-01 -4.24747056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.50, Y:-474.42, Z:-42.48 [[ 8.98639914e-01 4.34652303e-01 5.93606076e-02 8.69495838e+02] [-4.33591729e-01 9.00596979e-01 -3.03857470e-02 -4.74424873e+02] [-6.66672188e-02 1.56757660e-03 9.97774035e-01 -4.24789033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.56, Y:-474.44, Z:-42.49 [[ 9.00648913e-01 4.30475161e-01 5.93520951e-02 8.69556778e+02] [-4.29404418e-01 9.02600433e-01 -3.04023652e-02 -4.74440477e+02] [-6.66586898e-02 1.89580534e-03 9.97774035e-01 -4.24902152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.61, Y:-474.47, Z:-42.49 [[ 8.95003869e-01 4.42093107e-01 5.93444087e-02 8.69609171e+02] [-4.41046712e-01 8.96968551e-01 -3.04173615e-02 -4.74474035e+02] [-6.66773742e-02 1.04999994e-03 9.97774035e-01 -4.24850915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:869.67, Y:-474.50, Z:-42.49 [[ 8.91973666e-01 4.48176008e-01 5.93400810e-02 8.69667102e+02] [-4.47142451e-01 8.93945132e-01 -3.04258019e-02 -4.74498490e+02] [-6.66828910e-02 6.05544835e-04 9.97774035e-01 -4.24883609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.73, Y:-474.52, Z:-42.49 [[ 8.87762625e-01 4.56461722e-01 5.93314325e-02 8.69725400e+02] [-4.55445439e-01 8.89743051e-01 -3.04426575e-02 -4.74523129e+02] [-6.66856376e-02 3.62319901e-06 9.97774035e-01 -4.24932429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.78, Y:-474.55, Z:-42.50 [[ 8.83260021e-01 4.65115612e-01 5.93228792e-02 8.69782554e+02] [-4.64117613e-01 8.85249723e-01 -3.04593160e-02 -4.74547339e+02] [-6.66826658e-02 -6.29296971e-04 9.97774036e-01 -4.24984142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.84, Y:-474.57, Z:-42.50 [[ 8.80784242e-01 4.69788050e-01 5.93153240e-02 8.69838536e+02] [-4.68799615e-01 8.82778712e-01 -3.04740217e-02 -4.74573243e+02] [-6.66786365e-02 -9.65962950e-04 9.97774036e-01 -4.25034664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.89, Y:-474.60, Z:-42.51 [[ 8.79522039e-01 4.72147827e-01 5.93077787e-02 8.69894780e+02] [-4.71163754e-01 8.81518665e-01 -3.04886991e-02 -4.74599738e+02] [-6.66760869e-02 -1.12819280e-03 9.97774036e-01 -4.25058679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.95, Y:-474.63, Z:-42.51 [[ 8.79021843e-01 4.73078773e-01 5.93049212e-02 8.69947803e+02] [-4.72096440e-01 8.81019326e-01 -3.04942562e-02 -4.74628722e+02] [-6.66749670e-02 -1.19252486e-03 9.97774036e-01 -4.25111055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.00, Y:-474.66, Z:-42.52 [[ 8.79058632e-01 4.73010912e-01 5.93009201e-02 8.70003690e+02] [-4.72027900e-01 8.81055780e-01 -3.05020350e-02 -4.74657553e+02] [-6.66752139e-02 -1.17861161e-03 9.97774036e-01 -4.25155338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.06, Y:-474.69, Z:-42.52 [[ 8.79497933e-01 4.72194672e-01 5.92923062e-02 8.70057168e+02] [-4.71208678e-01 8.81493611e-01 -3.05187704e-02 -4.74686796e+02] [-6.66765899e-02 -1.09785374e-03 9.97774036e-01 -4.25223998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.11, Y:-474.72, Z:-42.52 [[ 8.80305264e-01 4.70688731e-01 5.92854224e-02 8.70110135e+02] [-4.69698422e-01 8.82298805e-01 -3.05321369e-02 -4.74719092e+02] [-6.66785901e-02 -9.68668509e-04 9.97774036e-01 -4.25222393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.16, Y:-474.75, Z:-42.53 [[ 8.81188248e-01 4.69033979e-01 5.92823549e-02 8.70163562e+02] [-4.68039526e-01 8.83179725e-01 -3.05380917e-02 -4.74748730e+02] [-6.66803766e-02 -8.36677757e-04 9.97774036e-01 -4.25281554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.22, Y:-474.78, Z:-42.53 [[ 8.81977586e-01 4.67549018e-01 5.92743907e-02 8.70217342e+02] [-4.66550174e-01 8.83966864e-01 -3.05535425e-02 -4.74780735e+02] [-6.66818760e-02 -7.06937644e-04 9.97774036e-01 -4.25317908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.27, Y:-474.81, Z:-42.54 [[ 8.82325908e-01 4.66892461e-01 5.92656845e-02 8.70271597e+02] [-4.65891004e-01 8.84313871e-01 -3.05704209e-02 -4.74812433e+02] [-6.66825659e-02 -6.38274832e-04 9.97774037e-01 -4.25360709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:870.33, Y:-474.85, Z:-42.54 [[ 8.83131499e-01 4.65367978e-01 5.92570722e-02 8.70325272e+02] [-4.64361969e-01 8.85117162e-01 -3.05871056e-02 -4.74845700e+02] [-6.66837111e-02 -5.04294324e-04 9.97774037e-01 -4.25401649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.38, Y:-474.88, Z:-42.54 [[ 8.83756814e-01 4.64180479e-01 5.92484364e-02 8.70378579e+02] [-4.63170681e-01 8.85740553e-01 -3.06038244e-02 -4.74878448e+02] [-6.66844407e-02 -3.95800214e-04 9.97774037e-01 -4.25430083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.43, Y:-474.91, Z:-42.55 [[ 8.83727219e-01 4.64237931e-01 5.92397373e-02 8.70432733e+02] [-4.63227134e-01 8.85710448e-01 -3.06206540e-02 -4.74909792e+02] [-6.66845233e-02 -3.81148320e-04 9.97774037e-01 -4.25462055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.49, Y:-474.94, Z:-42.55 [[ 8.83011808e-01 4.65598356e-01 5.92310474e-02 8.70485759e+02] [-4.64589488e-01 8.84996019e-01 -3.06374542e-02 -4.74940283e+02] [-6.66839895e-02 -4.64888119e-04 9.97774037e-01 -4.25505572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.54, Y:-474.97, Z:-42.55 [[ 8.80892895e-01 4.69595441e-01 5.92269285e-02 8.70541942e+02] [-4.68595040e-01 8.82881389e-01 -3.06454145e-02 -4.74968328e+02] [-6.66812998e-02 -7.58117031e-04 9.97774037e-01 -4.25542857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:870.60, Y:-475.00, Z:-42.56 [[ 8.78840908e-01 4.73425649e-01 5.92183569e-02 8.70597510e+02] [-4.72432799e-01 8.80833182e-01 -3.06619691e-02 -4.74996325e+02] [-6.66776564e-02 -1.02970136e-03 9.97774038e-01 -4.25604084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.65, Y:-475.02, Z:-42.56 [[ 8.77754916e-01 4.75437031e-01 5.92109531e-02 8.70653843e+02] [-4.74447782e-01 8.79748981e-01 -3.06762598e-02 -4.75024533e+02] [-6.66754056e-02 -1.16626749e-03 9.97774038e-01 -4.25641395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:870.71, Y:-475.05, Z:-42.57 [[ 8.77484470e-01 4.75937061e-01 5.92023500e-02 8.70710111e+02] [-4.74947829e-01 8.79478544e-01 -3.06928542e-02 -4.75052044e+02] [-6.66750633e-02 -1.18552470e-03 9.97774038e-01 -4.25676361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.77, Y:-475.08, Z:-42.57 [[ 8.77540808e-01 4.75834259e-01 5.91936545e-02 8.70765897e+02] [-4.74843663e-01 8.79534204e-01 -3.07096151e-02 -4.75078785e+02] [-6.66755306e-02 -1.15879130e-03 9.97774038e-01 -4.25706567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.82, Y:-475.11, Z:-42.57 [[ 8.78416182e-01 4.74217263e-01 5.91861320e-02 8.70821848e+02] [-4.73222022e-01 8.80407262e-01 -3.07241062e-02 -4.75108172e+02] [-6.66778020e-02 -1.01962899e-03 9.97774038e-01 -4.25747689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.88, Y:-475.14, Z:-42.58 [[ 8.79212439e-01 4.72740409e-01 5.91776453e-02 8.70876810e+02] [-4.71740723e-01 8.81201291e-01 -3.07404437e-02 -4.75137458e+02] [-6.66796674e-02 -8.89124669e-04 9.97774038e-01 -4.25797297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.93, Y:-475.17, Z:-42.59 [[ 8.80302524e-01 4.70708485e-01 5.91691602e-02 8.70930647e+02] [-4.69703111e-01 8.82288507e-01 -3.07567672e-02 -4.75165502e+02] [-6.66817412e-02 -7.16678844e-04 9.97774038e-01 -4.25856518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.99, Y:-475.19, Z:-42.59 [[ 8.80037326e-01 4.71204964e-01 5.91623780e-02 8.70985344e+02] [-4.70199834e-01 8.82023432e-01 -3.07698075e-02 -4.75193503e+02] [-6.66814898e-02 -7.39561151e-04 9.97774039e-01 -4.25906014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:871.04, Y:-475.22, Z:-42.59 [[ 8.78990037e-01 4.73156615e-01 5.91551663e-02 8.71041004e+02] [-4.72154962e-01 8.80977899e-01 -3.07836660e-02 -4.75221548e+02] [-6.66798892e-02 -8.71869591e-04 9.97774039e-01 -4.25948797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:871.10, Y:-475.25, Z:-42.60 [[ 8.77038579e-01 4.76764990e-01 5.91479096e-02 8.71095638e+02] [-4.75770576e-01 8.79030072e-01 -3.07976027e-02 -4.75248713e+02] [-6.66760100e-02 -1.13014933e-03 9.97774039e-01 -4.26003234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.15, Y:-475.28, Z:-42.60 [[ 8.76065028e-01 4.78552377e-01 5.91412632e-02 8.71150758e+02] [-4.77561165e-01 8.78058116e-01 -3.08103606e-02 -4.75278303e+02] [-6.66738375e-02 -1.25169112e-03 9.97774039e-01 -4.26027385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:871.20, Y:-475.31, Z:-42.61 [[ 8.75982236e-01 4.78704959e-01 5.91327720e-02 8.71204917e+02] [-4.77712994e-01 8.77974950e-01 -3.08266487e-02 -4.75308121e+02] [-6.66739622e-02 -1.24489695e-03 9.97774039e-01 -4.26079281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.26, Y:-475.34, Z:-42.61 [[ 8.76154902e-01 4.78389509e-01 5.91275369e-02 8.71259969e+02] [-4.77396150e-01 8.78146921e-01 -3.08366868e-02 -4.75337492e+02] [-6.66746119e-02 -1.20954415e-03 9.97774039e-01 -4.26092498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.32, Y:-475.37, Z:-42.61 [[ 8.75848540e-01 4.78951097e-01 5.91200664e-02 8.71315782e+02] [-4.77958049e-01 8.77840714e-01 -3.08510027e-02 -4.75367153e+02] [-6.66741228e-02 -1.23610597e-03 9.97774039e-01 -4.26130713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.37, Y:-475.40, Z:-42.62 [[ 8.75604637e-01 4.79397910e-01 5.91114488e-02 8.71370884e+02] [-4.78404766e-01 8.77596762e-01 -3.08675054e-02 -4.75395759e+02] [-6.66738337e-02 -1.25146795e-03 9.97774039e-01 -4.26181422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:871.43, Y:-475.42, Z:-42.62 [[ 8.75148770e-01 4.80230578e-01 5.91034895e-02 8.71426589e+02] [-4.79238300e-01 8.77141327e-01 -3.08827378e-02 -4.75423869e+02] [-6.66729483e-02 -1.29766586e-03 9.97774040e-01 -4.26232195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.48, Y:-475.45, Z:-42.63 [[ 8.74150665e-01 4.82046032e-01 5.90951604e-02 8.71480836e+02] [-4.81056815e-01 8.76144744e-01 -3.08986678e-02 -4.75451229e+02] [-6.66704944e-02 -1.41803864e-03 9.97774040e-01 -4.26272639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:871.54, Y:-475.48, Z:-42.63 [[ 8.73261600e-01 4.83655589e-01 5.90884922e-02 8.71536230e+02] [-4.82669186e-01 8.75257071e-01 -3.09114144e-02 -4.75480548e+02] [-6.66680989e-02 -1.52644329e-03 9.97774040e-01 -4.26339121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.59, Y:-475.51, Z:-42.63 [[ 8.72820163e-01 4.84452980e-01 5.90785419e-02 8.71591050e+02] [-4.83467114e-01 8.74815900e-01 -3.09304198e-02 -4.75510494e+02] [-6.66671819e-02 -1.56583815e-03 9.97774040e-01 -4.26346264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.65, Y:-475.54, Z:-42.64 [[ 8.73078326e-01 4.83988671e-01 5.90694761e-02 8.71645628e+02] [-4.83000574e-01 8.75072959e-01 -3.09477236e-02 -4.75540514e+02] [-6.66684489e-02 -1.51080414e-03 9.97774040e-01 -4.26410605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:871.70, Y:-475.57, Z:-42.64 [[ 8.73639796e-01 4.82975227e-01 5.90629868e-02 8.71700355e+02] [-4.81983980e-01 8.75632866e-01 -3.09601034e-02 -4.75569195e+02] [-6.66704554e-02 -1.41943496e-03 9.97774040e-01 -4.26444105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:871.76, Y:-475.60, Z:-42.65 [[ 8.74132535e-01 4.82083571e-01 5.90571045e-02 8.71755909e+02] [-4.81089534e-01 8.76124214e-01 -3.09713199e-02 -4.75597869e+02] [-6.66721238e-02 -1.33871645e-03 9.97774040e-01 -4.26488189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.81, Y:-475.63, Z:-42.65 [[ 8.74677767e-01 4.81094653e-01 5.90486186e-02 8.71811430e+02] [-4.80097272e-01 8.76667773e-01 -3.09874904e-02 -4.75627583e+02] [-6.66739369e-02 -1.24501185e-03 9.97774041e-01 -4.26525080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.87, Y:-475.66, Z:-42.66 [[ 8.75621079e-01 4.79376706e-01 5.90398062e-02 8.71866262e+02] [-4.78374290e-01 8.77608554e-01 -3.10042715e-02 -4.75657021e+02] [-6.66765645e-02 -1.09513169e-03 9.97774041e-01 -4.26568532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.92, Y:-475.69, Z:-42.66 [[ 8.77530416e-01 4.75873546e-01 5.90316694e-02 8.71920228e+02] [-4.74862153e-01 8.79513337e-01 -3.10197561e-02 -4.75686389e+02] [-6.66806219e-02 -8.11126106e-04 9.97774041e-01 -4.26611574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.97, Y:-475.72, Z:-42.67 [[ 8.80069019e-01 4.71162829e-01 5.90263532e-02 8.71974763e+02] [-4.70140143e-01 8.82046140e-01 -3.10298687e-02 -4.75717265e+02] [-6.66840878e-02 -4.42232007e-04 9.97774041e-01 -4.26650193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.03, Y:-475.75, Z:-42.67 [[ 8.81751060e-01 4.68008527e-01 5.90176742e-02 8.72029386e+02] [-4.66977664e-01 8.83723930e-01 -3.10463672e-02 -4.75747588e+02] [-6.66852956e-02 -1.84768396e-04 9.97774041e-01 -4.26691783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.08, Y:-475.78, Z:-42.67 [[ 8.82887903e-01 4.65861440e-01 5.90090552e-02 8.72084492e+02] [-4.64824685e-01 8.84857683e-01 -3.10627405e-02 -4.75776742e+02] [-6.66855489e-02 -3.94769703e-06 9.97774041e-01 -4.26731426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.14, Y:-475.81, Z:-42.68 [[ 8.82158090e-01 4.67243033e-01 5.90004473e-02 8.72140724e+02] [-4.66208270e-01 8.84128916e-01 -3.10790818e-02 -4.75805109e+02] [-6.66854859e-02 -8.98330156e-05 9.97774042e-01 -4.26773519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.20, Y:-475.83, Z:-42.68 [[ 8.81667361e-01 4.68169453e-01 5.89917660e-02 8.72197201e+02] [-4.67135659e-01 8.83638695e-01 -3.10955511e-02 -4.75832620e+02] [-6.66853943e-02 -1.41224990e-04 9.97774042e-01 -4.26822318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:872.25, Y:-475.86, Z:-42.69 [[ 8.81502556e-01 4.68480784e-01 5.89830337e-02 8.72253366e+02] [-4.67446578e-01 8.83473675e-01 -3.11121061e-02 -4.75860106e+02] [-6.66853814e-02 -1.46016198e-04 9.97774042e-01 -4.26863012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.31, Y:-475.89, Z:-42.69 [[ 8.80659109e-01 4.70065485e-01 5.89743505e-02 8.72309565e+02] [-4.69033725e-01 8.82631508e-01 -3.11285567e-02 -4.75887302e+02] [-6.66850800e-02 -2.47312302e-04 9.97774042e-01 -4.26896026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.37, Y:-475.91, Z:-42.69 [[ 8.78752007e-01 4.73622181e-01 5.89655812e-02 8.72365811e+02] [-4.72597289e-01 8.80727984e-01 -3.11451593e-02 -4.75914744e+02] [-6.66836757e-02 -4.98102584e-04 9.97774042e-01 -4.26934090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.42, Y:-475.94, Z:-42.70 [[ 8.76976044e-01 4.76903686e-01 5.89566977e-02 8.72420847e+02] [-4.75885057e-01 8.78955257e-01 -3.11619664e-02 -4.75941915e+02] [-6.66815560e-02 -7.28313403e-04 9.97774042e-01 -4.26979280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.48, Y:-475.97, Z:-42.70 [[ 8.74629013e-01 4.81195224e-01 5.89512139e-02 8.72477571e+02] [-4.80185607e-01 8.76612838e-01 -3.11723370e-02 -4.75969177e+02] [-6.66773706e-02 -1.04329405e-03 9.97774042e-01 -4.27029638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:872.53, Y:-476.00, Z:-42.71 [[ 8.73027279e-01 4.84096216e-01 5.89425412e-02 8.72531575e+02] [-4.83092085e-01 8.75013886e-01 -3.11887272e-02 -4.75996454e+02] [-6.66738869e-02 -1.24606547e-03 9.97774043e-01 -4.27097113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:872.59, Y:-476.02, Z:-42.72 [[ 8.72183070e-01 4.85616400e-01 5.89356059e-02 8.72585356e+02] [-4.84614846e-01 8.74170977e-01 -3.12018270e-02 -4.76024770e+02] [-6.66719151e-02 -1.34736430e-03 9.97774043e-01 -4.27156426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:872.64, Y:-476.05, Z:-42.72 [[ 8.72175653e-01 4.85630228e-01 5.89314156e-02 8.72640367e+02] [-4.84628172e-01 8.74163307e-01 -3.12097393e-02 -4.76054517e+02] [-6.66720740e-02 -1.33944945e-03 9.97774043e-01 -4.27196774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:872.69, Y:-476.09, Z:-42.72 [[ 8.73725771e-01 4.82836812e-01 5.89227534e-02 8.72694956e+02] [-4.81827298e-01 8.75709648e-01 -3.12260846e-02 -4.76085790e+02] [-6.66763268e-02 -1.10755619e-03 9.97774043e-01 -4.27233592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.75, Y:-476.12, Z:-42.73 [[ 8.76599806e-01 4.77600158e-01 5.89140867e-02 8.72747997e+02] [-4.76577694e-01 8.78577039e-01 -3.12424276e-02 -4.76117868e+02] [-6.66819522e-02 -6.90033630e-04 9.97774043e-01 -4.27257059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.80, Y:-476.15, Z:-42.73 [[ 8.80099144e-01 4.71121567e-01 5.89064168e-02 8.72800065e+02] [-4.70083579e-01 8.82068272e-01 -3.12568822e-02 -4.76150184e+02] [-6.66852726e-02 -1.81783922e-04 9.97774043e-01 -4.27292014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.85, Y:-476.18, Z:-42.73 [[ 8.82990469e-01 4.65680890e-01 5.88994023e-02 8.72853364e+02] [-4.64629888e-01 8.84952681e-01 -3.12700946e-02 -4.76182965e+02] [-6.66850695e-02 2.44772793e-04 9.97774043e-01 -4.27337977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.91, Y:-476.21, Z:-42.74 [[ 8.83294215e-01 4.65105617e-01 5.88905417e-02 8.72908010e+02] [-4.64052224e-01 8.85255145e-01 -3.12867727e-02 -4.76211744e+02] [-6.66848087e-02 3.07138429e-04 9.97774044e-01 -4.27387767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:872.96, Y:-476.24, Z:-42.74 [[ 8.82905087e-01 4.65844906e-01 5.88823456e-02 8.72963094e+02] [-4.64792127e-01 8.84866347e-01 -3.13021904e-02 -4.76239841e+02] [-6.66849720e-02 2.68812529e-04 9.97774044e-01 -4.27435871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.02, Y:-476.27, Z:-42.75 [[ 8.83000554e-01 4.65664877e-01 5.88748137e-02 8.73017360e+02] [-4.64610754e-01 8.84961092e-01 -3.13163504e-02 -4.76268761e+02] [-6.66848438e-02 2.98483231e-04 9.97774044e-01 -4.27480096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.07, Y:-476.30, Z:-42.75 [[ 8.84448751e-01 4.62909335e-01 5.88672536e-02 8.73070966e+02] [-4.61848159e-01 8.86405480e-01 -3.13305552e-02 -4.76297542e+02] [-6.66834626e-02 5.22537688e-04 9.97774044e-01 -4.27523083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.13, Y:-476.33, Z:-42.75 [[ 8.85777243e-01 4.60362700e-01 5.88630574e-02 8.73126270e+02] [-4.59295375e-01 8.87730624e-01 -3.13384368e-02 -4.76325217e+02] [-6.66815861e-02 7.23344143e-04 9.97774044e-01 -4.27538017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.18, Y:-476.35, Z:-42.76 [[ 8.85914198e-01 4.60100056e-01 5.88555185e-02 8.73182020e+02] [-4.59031211e-01 8.87866748e-01 -3.13525891e-02 -4.76353118e+02] [-6.66811858e-02 7.59183885e-04 9.97774044e-01 -4.27551749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.24, Y:-476.38, Z:-42.76 [[ 8.85069052e-01 4.61724705e-01 5.88478454e-02 8.73237202e+02] [-4.60658488e-01 8.87023038e-01 -3.13669845e-02 -4.76380439e+02] [-6.66823063e-02 6.53187792e-04 9.97774044e-01 -4.27588307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.29, Y:-476.41, Z:-42.76 [[ 8.82439188e-01 4.66732221e-01 5.88397256e-02 8.73294854e+02] [-4.65676077e-01 8.84398636e-01 -3.13822088e-02 -4.76406250e+02] [-6.66848611e-02 2.92638285e-04 9.97774044e-01 -4.27631586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.35, Y:-476.43, Z:-42.77 [[ 8.79086555e-01 4.73017692e-01 5.88310458e-02 8.73351841e+02] [-4.71974470e-01 8.81052913e-01 -3.13984721e-02 -4.76432528e+02] [-6.66852971e-02 -1.64776955e-04 9.97774045e-01 -4.27680189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.41, Y:-476.46, Z:-42.77 [[ 8.76113281e-01 4.78503345e-01 5.88223427e-02 8.73407960e+02] [-4.77471340e-01 8.78085549e-01 -3.14147681e-02 -4.76458378e+02] [-6.66831207e-02 -5.63087304e-04 9.97774045e-01 -4.27706088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.46, Y:-476.49, Z:-42.77 [[ 8.74710494e-01 4.81063818e-01 5.88145734e-02 8.73463526e+02] [-4.80036609e-01 8.76685264e-01 -3.14293071e-02 -4.76485938e+02] [-6.66813723e-02 -7.41603632e-04 9.97774045e-01 -4.27740638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:873.52, Y:-476.51, Z:-42.78 [[ 8.74678447e-01 4.81123089e-01 5.88063509e-02 8.73519723e+02] [-4.80094980e-01 8.76652749e-01 -3.14446845e-02 -4.76514661e+02] [-6.66815129e-02 -7.28646035e-04 9.97774045e-01 -4.27779852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.58, Y:-476.54, Z:-42.78 [[ 8.75231701e-01 4.80116981e-01 5.87975750e-02 8.73575193e+02] [-4.79085500e-01 8.77204243e-01 -3.14610858e-02 -4.76544324e+02] [-6.66824837e-02 -6.33325994e-04 9.97774045e-01 -4.27825656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.63, Y:-476.57, Z:-42.79 [[ 8.78128724e-01 4.74798710e-01 5.87888473e-02 8.73631903e+02] [-4.73754191e-01 8.80094393e-01 -3.14773861e-02 -4.76569617e+02] [-6.66851572e-02 -2.10265937e-04 9.97774045e-01 -4.27924760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.68, Y:-476.60, Z:-42.79 [[ 8.76922634e-01 4.77023612e-01 5.87806717e-02 8.73683501e+02] [-4.75983057e-01 8.78890404e-01 -3.14926458e-02 -4.76603147e+02] [-6.66845039e-02 -3.61989877e-04 9.97774046e-01 -4.27946217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.74, Y:-476.63, Z:-42.80 [[ 8.76982309e-01 4.76914824e-01 5.87731278e-02 8.73736992e+02] [-4.75873082e-01 8.78949451e-01 -3.15067183e-02 -4.76634450e+02] [-6.66846294e-02 -3.37714839e-04 9.97774046e-01 -4.27989167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.79, Y:-476.67, Z:-42.80 [[ 8.77264154e-01 4.76397148e-01 5.87653111e-02 8.73790569e+02] [-4.75353269e-01 8.79230162e-01 -3.15212909e-02 -4.76667173e+02] [-6.66848871e-02 -2.81784147e-04 9.97774046e-01 -4.28038547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.84, Y:-476.70, Z:-42.81 [[ 8.77869889e-01 4.75281112e-01 5.87564712e-02 8.73843657e+02] [-4.74233631e-01 8.79833980e-01 -3.15377603e-02 -4.76700977e+02] [-6.66852417e-02 -1.78244600e-04 9.97774046e-01 -4.28070061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:873.90, Y:-476.74, Z:-42.81 [[ 8.79010075e-01 4.73170173e-01 5.87475662e-02 8.73896024e+02] [-4.72116867e-01 8.80971048e-01 -3.15543394e-02 -4.76735561e+02] [-6.66854772e-02 8.65359537e-07 9.97774046e-01 -4.28101133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:873.95, Y:-476.77, Z:-42.81 [[ 8.79617290e-01 4.72041377e-01 5.87397729e-02 8.73949387e+02] [-4.70984586e-01 8.81576388e-01 -3.15688405e-02 -4.76767945e+02] [-6.66853957e-02 1.02970299e-04 9.97774046e-01 -4.28136900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:874.00, Y:-476.80, Z:-42.82 [[ 8.79538124e-01 4.72189972e-01 5.87309099e-02 8.74001480e+02] [-4.71132411e-01 8.81496806e-01 -3.15853206e-02 -4.76799944e+02] [-6.66853811e-02 1.10458455e-04 9.97774046e-01 -4.28182644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.06, Y:-476.83, Z:-42.82 [[ 8.79030089e-01 4.73135935e-01 5.87238339e-02 8.74055743e+02] [-4.72079604e-01 8.80989435e-01 -3.15984709e-02 -4.76831199e+02] [-6.66854493e-02 5.36824326e-05 9.97774047e-01 -4.28231589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.11, Y:-476.86, Z:-42.83 [[ 8.77672703e-01 4.75650256e-01 5.87150870e-02 8.74109339e+02] [-4.74598451e-01 8.79634481e-01 -3.16147157e-02 -4.76862527e+02] [-6.66853627e-02 -1.18716388e-04 9.97774047e-01 -4.28274645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.16, Y:-476.89, Z:-42.83 [[ 8.76180421e-01 4.78394562e-01 5.87070038e-02 8.74164242e+02] [-4.77347897e-01 8.78144946e-01 -3.16297187e-02 -4.76892916e+02] [-6.66847442e-02 -3.10324540e-04 9.97774047e-01 -4.28311512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:874.22, Y:-476.92, Z:-42.84 [[ 8.74666690e-01 4.81157635e-01 5.86984773e-02 8.74217645e+02] [-4.80116114e-01 8.76633947e-01 -3.16455343e-02 -4.76921855e+02] [-6.66835683e-02 -5.02790054e-04 9.97774047e-01 -4.28372364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:874.27, Y:-476.95, Z:-42.84 [[ 8.72330578e-01 4.85380936e-01 5.86916454e-02 8.74272955e+02] [-4.84348086e-01 8.74302402e-01 -3.16582002e-02 -4.76952144e+02] [-6.66805334e-02 -8.10770009e-04 9.97774047e-01 -4.28406837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.33, Y:-476.98, Z:-42.84 [[ 8.71287822e-01 4.87251333e-01 5.86827864e-02 8.74328151e+02] [-4.86221611e-01 8.73261281e-01 -3.16746131e-02 -4.76982721e+02] [-6.66789026e-02 -9.35134208e-04 9.97774047e-01 -4.28446637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.38, Y:-477.01, Z:-42.85 [[ 8.70988005e-01 4.87788146e-01 5.86738513e-02 8.74382726e+02] [-4.86758526e-01 8.72961516e-01 -3.16911558e-02 -4.77013376e+02] [-6.66785843e-02 -9.57380806e-04 9.97774048e-01 -4.28476861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.44, Y:-477.04, Z:-42.85 [[ 8.71305221e-01 4.87222386e-01 5.86647965e-02 8.74437728e+02] [-4.86190357e-01 8.73277473e-01 -3.17079085e-02 -4.77042075e+02] [-6.66794482e-02 -8.94992106e-04 9.97774048e-01 -4.28511591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.49, Y:-477.07, Z:-42.86 [[ 8.71413324e-01 4.87030023e-01 5.86564286e-02 8.74493649e+02] [-4.85996517e-01 8.73384802e-01 -3.17233809e-02 -4.77070716e+02] [-6.66798722e-02 -8.62643187e-04 9.97774048e-01 -4.28556930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.55, Y:-477.10, Z:-42.86 [[ 8.71164748e-01 4.87475586e-01 5.86475417e-02 8.74549305e+02] [-4.86441983e-01 8.73136176e-01 -3.17398018e-02 -4.77098552e+02] [-6.66796688e-02 -8.78030038e-04 9.97774048e-01 -4.28604695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:874.61, Y:-477.13, Z:-42.87 [[ 8.70815562e-01 4.88100079e-01 5.86393235e-02 8.74605400e+02] [-4.87066868e-01 8.72787195e-01 -3.17549777e-02 -4.77126961e+02] [-6.66792578e-02 -9.08542890e-04 9.97774048e-01 -4.28654718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.66, Y:-477.16, Z:-42.87 [[ 8.71034524e-01 4.87710305e-01 5.86303361e-02 8.74660265e+02] [-4.86675096e-01 8.73005108e-01 -3.17715627e-02 -4.77156622e+02] [-6.66799015e-02 -8.59796465e-04 9.97774048e-01 -4.28714704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.71, Y:-477.19, Z:-42.88 [[ 8.70552334e-01 4.88570820e-01 5.86275407e-02 8.74713687e+02] [-4.87537211e-01 8.72523758e-01 -3.17767202e-02 -4.77186025e+02] [-6.66791004e-02 -9.19809732e-04 9.97774048e-01 -4.28765915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.77, Y:-477.22, Z:-42.88 [[ 8.72161884e-01 4.85692708e-01 5.86194625e-02 8.74767760e+02] [-4.84651593e-01 8.74129354e-01 -3.17916153e-02 -4.77216356e+02] [-6.66819487e-02 -6.82580778e-04 9.97774049e-01 -4.28805538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.82, Y:-477.25, Z:-42.88 [[ 8.73022367e-01 4.84145311e-01 5.86111347e-02 8.74821954e+02] [-4.83099678e-01 8.74987439e-01 -3.18069612e-02 -4.77246789e+02] [-6.66831978e-02 -5.46831731e-04 9.97774049e-01 -4.28839183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:874.87, Y:-477.28, Z:-42.89 [[ 8.74260957e-01 4.81906025e-01 5.86034225e-02 8.74874811e+02] [-4.80854406e-01 8.76222833e-01 -3.18211644e-02 -4.77278169e+02] [-6.66844677e-02 -3.59712227e-04 9.97774049e-01 -4.28860736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:874.93, Y:-477.31, Z:-42.89 [[ 8.74923875e-01 4.80701924e-01 5.85992637e-02 8.74929879e+02] [-4.79647092e-01 8.76884025e-01 -3.18288210e-02 -4.77309100e+02] [-6.66849337e-02 -2.59171039e-04 9.97774049e-01 -4.28892083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:874.99, Y:-477.34, Z:-42.89 [[ 8.75346393e-01 4.79933190e-01 5.85903256e-02 8.74985062e+02] [-4.78875536e-01 8.77305021e-01 -3.18452657e-02 -4.77338235e+02] [-6.66851868e-02 -1.81835089e-04 9.97774049e-01 -4.28938794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:875.04, Y:-477.37, Z:-42.90 [[ 8.75005221e-01 4.80556002e-01 5.85814967e-02 8.75041004e+02] [-4.79498655e-01 8.76964015e-01 -3.18614989e-02 -4.77367683e+02] [-6.66850991e-02 -2.10771011e-04 9.97774049e-01 -4.28985792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:875.10, Y:-477.39, Z:-42.91 [[ 8.76707645e-01 4.77444195e-01 5.85725755e-02 8.75097178e+02] [-4.76378801e-01 8.78662073e-01 -3.18778908e-02 -4.77392450e+02] [-6.66854145e-02 4.48573021e-05 9.97774049e-01 -4.29097317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:875.15, Y:-477.42, Z:-42.91 [[ 8.74966416e-01 4.80628116e-01 5.85694937e-02 8.75149251e+02] [-4.79569454e-01 8.76924499e-01 -3.18835519e-02 -4.77424144e+02] [-6.66851554e-02 -1.91103001e-04 9.97774049e-01 -4.29095822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.20, Y:-477.45, Z:-42.91 [[ 8.75410591e-01 4.79819602e-01 5.85614887e-02 8.75204980e+02] [-4.78758148e-01 8.77367162e-01 -3.18982483e-02 -4.77453242e+02] [-6.66853319e-02 -1.12725506e-04 9.97774050e-01 -4.29138740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.26, Y:-477.48, Z:-42.92 [[ 8.76114005e-01 4.78535106e-01 5.85525647e-02 8.75260052e+02] [-4.77469690e-01 8.78068421e-01 -3.19146208e-02 -4.77482790e+02] [-6.66854245e-02 3.77131108e-06 9.97774050e-01 -4.29175224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:875.32, Y:-477.51, Z:-42.92 [[ 8.77609126e-01 4.75788690e-01 5.85435278e-02 8.75315950e+02] [-4.74716052e-01 8.79559588e-01 -3.19311894e-02 -4.77511619e+02] [-6.66850199e-02 2.31550821e-04 9.97774050e-01 -4.29217651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.37, Y:-477.54, Z:-42.93 [[ 8.78384474e-01 4.74356849e-01 5.85345685e-02 8.75371446e+02] [-4.73279938e-01 8.80332580e-01 -3.19476045e-02 -4.77540926e+02] [-6.66844527e-02 3.59042844e-04 9.97774050e-01 -4.29254388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:875.43, Y:-477.57, Z:-42.93 [[ 8.79692664e-01 4.71927507e-01 5.85255971e-02 8.75426391e+02] [-4.70844123e-01 8.81637177e-01 -3.19640311e-02 -4.77569012e+02] [-6.66830477e-02 5.62090215e-04 9.97774050e-01 -4.29293473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:875.48, Y:-477.60, Z:-42.93 [[ 8.80300347e-01 4.70794034e-01 5.85173190e-02 8.75482048e+02] [-4.69707140e-01 8.82242900e-01 -3.19791789e-02 -4.77597893e+02] [-6.66820958e-02 6.65279808e-04 9.97774050e-01 -4.29332528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.54, Y:-477.63, Z:-42.94 [[ 8.80456104e-01 4.70503773e-01 5.85085342e-02 8.75538112e+02] [-4.69415171e-01 8.82397700e-01 -3.19952434e-02 -4.77625390e+02] [-6.66816787e-02 7.05613796e-04 9.97774051e-01 -4.29377612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:875.59, Y:-477.65, Z:-42.94 [[ 8.79947598e-01 4.71455210e-01 5.84996658e-02 8.75594400e+02] [-4.70367630e-01 8.81889766e-01 -3.20114500e-02 -4.77653482e+02] [-6.66822215e-02 6.52049334e-04 9.97774051e-01 -4.29425284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.65, Y:-477.68, Z:-42.95 [[ 8.79288057e-01 4.72685226e-01 5.84909386e-02 8.75650013e+02] [-4.71599303e-01 8.81231152e-01 -3.20273883e-02 -4.77682584e+02] [-6.66829105e-02 5.77014173e-04 9.97774051e-01 -4.29472531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:875.71, Y:-477.71, Z:-42.95 [[ 8.77624171e-01 4.75768469e-01 5.84822989e-02 8.75706130e+02] [-4.74688321e-01 8.79570483e-01 -3.20431568e-02 -4.77710512e+02] [-6.66844275e-02 3.60984628e-04 9.97774051e-01 -4.29520672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:875.76, Y:-477.74, Z:-42.96 [[ 8.75830330e-01 4.79063758e-01 5.84734913e-02 8.75762043e+02] [-4.77989861e-01 8.77780097e-01 -3.20592211e-02 -4.77738285e+02] [-6.66852778e-02 1.28702220e-04 9.97774051e-01 -4.29569634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.82, Y:-477.77, Z:-42.96 [[ 8.74857213e-01 4.80839498e-01 5.84656663e-02 8.75818134e+02] [-4.79768605e-01 8.76808632e-01 -3.20734851e-02 -4.77766964e+02] [-6.66853994e-02 9.72860237e-06 9.97774051e-01 -4.29613367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.87, Y:-477.80, Z:-42.96 [[ 8.74738646e-01 4.81056237e-01 5.84568135e-02 8.75873862e+02] [-4.79984749e-01 8.76689738e-01 -3.20896120e-02 -4.77796914e+02] [-6.66853965e-02 1.16447539e-05 9.97774051e-01 -4.29645058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.93, Y:-477.83, Z:-42.97 [[ 8.74999579e-01 4.80582561e-01 5.84477438e-02 8.75929058e+02] [-4.79508915e-01 8.76949484e-01 -3.21061231e-02 -4.77826467e+02] [-6.66853616e-02 6.66299628e-05 9.97774052e-01 -4.29680967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.98, Y:-477.86, Z:-42.97 [[ 8.75532755e-01 4.79611640e-01 5.84385988e-02 8.75984556e+02] [-4.78534721e-01 8.77480854e-01 -3.21227599e-02 -4.77856653e+02] [-6.66852011e-02 1.59629967e-04 9.97774052e-01 -4.29719423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.04, Y:-477.89, Z:-42.98 [[ 8.75803371e-01 4.79118414e-01 5.84294490e-02 8.76038509e+02] [-4.78039288e-01 8.77750248e-01 -3.21393942e-02 -4.77886719e+02] [-6.66850390e-02 2.16217522e-04 9.97774052e-01 -4.29765885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.09, Y:-477.92, Z:-42.98 [[ 8.75486674e-01 4.79697895e-01 5.84210032e-02 8.76092447e+02] [-4.78619033e-01 8.77433698e-01 -3.21547391e-02 -4.77916024e+02] [-6.66851176e-02 1.89641508e-04 9.97774052e-01 -4.29822479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.15, Y:-477.95, Z:-42.99 [[ 8.75181465e-01 4.80255460e-01 5.84131636e-02 8.76146380e+02] [-4.79176888e-01 8.77128649e-01 -3.21689745e-02 -4.77945579e+02] [-6.66851849e-02 1.63452230e-04 9.97774052e-01 -4.29878944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:876.20, Y:-477.98, Z:-43.00 [[ 8.75217684e-01 4.80190410e-01 5.84052804e-02 8.76199244e+02] [-4.79110739e-01 8.77164258e-01 -3.21832807e-02 -4.77976452e+02] [-6.66851273e-02 1.84779353e-04 9.97774052e-01 -4.29951240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:876.25, Y:-478.01, Z:-43.00 [[ 8.75365660e-01 4.79921144e-01 5.84008317e-02 8.76253240e+02] [-4.78840336e-01 8.77311603e-01 -3.21913515e-02 -4.78009333e+02] [-6.66850375e-02 2.14529749e-04 9.97774052e-01 -4.29981636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.31, Y:-478.04, Z:-43.00 [[ 8.75316467e-01 4.80011941e-01 5.83919538e-02 8.76306663e+02] [-4.78930261e-01 8.77261925e-01 -3.22074471e-02 -4.78041197e+02] [-6.66849970e-02 2.26035137e-04 9.97774053e-01 -4.30004208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.36, Y:-478.07, Z:-43.00 [[ 8.74807566e-01 4.80939733e-01 5.83840295e-02 8.76359185e+02] [-4.79859158e-01 8.76753639e-01 -3.22218056e-02 -4.78073096e+02] [-6.66851569e-02 1.71768124e-04 9.97774053e-01 -4.30025370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:876.41, Y:-478.10, Z:-43.01 [[ 8.72441132e-01 4.85220179e-01 5.83767839e-02 8.76413823e+02] [-4.84148274e-01 8.74391993e-01 -3.22349272e-02 -4.78104605e+02] [-6.66852296e-02 -1.39942794e-04 9.97774053e-01 -4.30065355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:876.47, Y:-478.13, Z:-43.01 [[ 8.71095813e-01 4.87632308e-01 5.83679383e-02 8.76468830e+02] [-4.86564732e-01 8.73049047e-01 -3.22509360e-02 -4.78134991e+02] [-6.66846713e-02 -3.06125003e-04 9.97774053e-01 -4.30108535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.52, Y:-478.16, Z:-43.02 [[ 8.67243780e-01 4.94451671e-01 5.83589777e-02 8.76523328e+02] [-4.93398362e-01 8.69204744e-01 -3.22671424e-02 -4.78163908e+02] [-6.66804427e-02 -8.10745452e-04 9.97774053e-01 -4.30166570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.58, Y:-478.19, Z:-43.02 [[ 8.64214335e-01 4.99728652e-01 5.83511556e-02 8.76577208e+02] [-4.98686361e-01 8.66181178e-01 -3.22812814e-02 -4.78192211e+02] [-6.66745539e-02 -1.20097930e-03 9.97774053e-01 -4.30228460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:876.63, Y:-478.22, Z:-43.03 [[ 8.62840796e-01 5.02097341e-01 5.83439868e-02 8.76631991e+02] [-5.01059573e-01 8.64810029e-01 -3.22942328e-02 -4.78221850e+02] [-6.66713134e-02 -1.36903157e-03 9.97774053e-01 -4.30270162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:876.69, Y:-478.25, Z:-43.03 [[ 8.61961522e-01 5.03606238e-01 5.83360233e-02 8.76685374e+02] [-5.02570945e-01 8.63932057e-01 -3.23086117e-02 -4.78252149e+02] [-6.66691790e-02 -1.46921031e-03 9.97774054e-01 -4.30332164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:876.74, Y:-478.28, Z:-43.04 [[ 8.63345719e-01 5.01230546e-01 5.83276045e-02 8.76739152e+02] [-5.00188805e-01 8.65312852e-01 -3.23238033e-02 -4.78282588e+02] [-6.66733034e-02 -1.26819760e-03 9.97774054e-01 -4.30386043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.79, Y:-478.32, Z:-43.04 [[ 8.65279269e-01 4.97885574e-01 5.83244597e-02 8.76792162e+02] [-4.96835845e-01 8.67242151e-01 -3.23294768e-02 -4.78315587e+02] [-6.66778099e-02 -1.00365624e-03 9.97774054e-01 -4.30375438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.85, Y:-478.35, Z:-43.04 [[ 8.68731302e-01 4.91838677e-01 5.83150183e-02 8.76845337e+02] [-4.90774141e-01 8.70686193e-01 -3.23464979e-02 -4.78348281e+02] [-6.66833400e-02 -5.19087860e-04 9.97774054e-01 -4.30402414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.90, Y:-478.38, Z:-43.04 [[ 8.71770918e-01 4.86431656e-01 5.83070456e-02 8.76897924e+02] [-4.85354034e-01 8.73718626e-01 -3.23608630e-02 -4.78380441e+02] [-6.66852999e-02 -8.83004698e-05 9.97774054e-01 -4.30442016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.95, Y:-478.41, Z:-43.05 [[ 8.73188840e-01 4.83882757e-01 5.82986131e-02 8.76951362e+02] [-4.82798435e-01 8.75132826e-01 -3.23760471e-02 -4.78410726e+02] [-6.66852410e-02 1.23923837e-04 9.97774054e-01 -4.30495699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.01, Y:-478.44, Z:-43.05 [[ 8.73686565e-01 4.82984441e-01 5.82907836e-02 8.77006787e+02] [-4.81897181e-01 8.75628909e-01 -3.23901374e-02 -4.78439129e+02] [-6.66850277e-02 2.08663568e-04 9.97774054e-01 -4.30546978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:877.06, Y:-478.47, Z:-43.06 [[ 8.74031328e-01 4.82361223e-01 5.82828321e-02 8.77061686e+02] [-4.81271624e-01 8.75972360e-01 -3.24044391e-02 -4.78469098e+02] [-6.66847949e-02 2.72621618e-04 9.97774055e-01 -4.30584483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.12, Y:-478.50, Z:-43.06 [[ 8.74856876e-01 4.80863420e-01 5.82736520e-02 8.77116662e+02] [-4.79769399e-01 8.76795419e-01 -3.24209394e-02 -4.78498063e+02] [-6.66841150e-02 4.05766767e-04 9.97774055e-01 -4.30637996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.17, Y:-478.53, Z:-43.07 [[ 8.75249013e-01 4.80150326e-01 5.82651683e-02 8.77172601e+02] [-4.79053710e-01 8.77186090e-01 -3.24361789e-02 -4.78526529e+02] [-6.66836370e-02 4.77588493e-04 9.97774055e-01 -4.30676368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:877.23, Y:-478.56, Z:-43.07 [[ 8.75241324e-01 4.80165439e-01 5.82561203e-02 8.77228976e+02] [-4.79067776e-01 8.77177808e-01 -3.24524212e-02 -4.78555391e+02] [-6.66835069e-02 4.95070150e-04 9.97774055e-01 -4.30712435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.29, Y:-478.58, Z:-43.07 [[ 8.75414325e-01 4.79851045e-01 5.82471822e-02 8.77285199e+02] [-4.78751620e-01 8.77349808e-01 -3.24684559e-02 -4.78584761e+02] [-6.66831766e-02 5.37418535e-04 9.97774055e-01 -4.30730039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.34, Y:-478.61, Z:-43.08 [[ 8.75130747e-01 4.80369183e-01 5.82376543e-02 8.77339714e+02] [-4.79269767e-01 8.77066235e-01 -3.24855367e-02 -4.78612225e+02] [-6.66833309e-02 5.17544987e-04 9.97774055e-01 -4.30787293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.39, Y:-478.64, Z:-43.08 [[ 8.74138970e-01 4.82172502e-01 5.82300558e-02 8.77394165e+02] [-4.81076172e-01 8.76076208e-01 -3.24991513e-02 -4.78642364e+02] [-6.66841635e-02 3.95682262e-04 9.97774056e-01 -4.30770161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.45, Y:-478.67, Z:-43.08 [[ 8.74142918e-01 4.82165728e-01 5.82268860e-02 8.77449294e+02] [-4.81069005e-01 8.76079933e-01 -3.25048295e-02 -4.78671567e+02] [-6.66841211e-02 4.02716391e-04 9.97774056e-01 -4.30800752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.50, Y:-478.70, Z:-43.08 [[ 8.74060192e-01 4.82316927e-01 5.82165186e-02 8.77504495e+02] [-4.81219303e-01 8.75996696e-01 -3.25233870e-02 -4.78700209e+02] [-6.66840580e-02 4.12485350e-04 9.97774056e-01 -4.30823229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.56, Y:-478.73, Z:-43.09 [[ 8.75187702e-01 4.80269069e-01 5.82074517e-02 8.77559572e+02] [-4.79165835e-01 8.77121016e-01 -3.25396061e-02 -4.78725330e+02] [-6.66827455e-02 5.87240920e-04 9.97774056e-01 -4.30931004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.61, Y:-478.75, Z:-43.10 [[ 8.74740323e-01 4.81084418e-01 5.81992214e-02 8.77613675e+02] [-4.79982007e-01 8.76674106e-01 -3.25543198e-02 -4.78752757e+02] [-6.66831264e-02 5.41997115e-04 9.97774056e-01 -4.30992146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.67, Y:-478.78, Z:-43.10 [[ 8.73659109e-01 4.83045686e-01 5.81947349e-02 8.77669446e+02] [-4.81947082e-01 8.75595057e-01 -3.25623380e-02 -4.78782195e+02] [-6.66841191e-02 4.01600537e-04 9.97774056e-01 -4.31035623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.72, Y:-478.81, Z:-43.11 [[ 8.72852016e-01 4.84503631e-01 5.81858293e-02 8.77724869e+02] [-4.83407200e-01 8.74789196e-01 -3.25782438e-02 -4.78811957e+02] [-6.66846122e-02 3.08536982e-04 9.97774056e-01 -4.31072721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.78, Y:-478.84, Z:-43.11 [[ 8.71432082e-01 4.87054002e-01 5.81766863e-02 8.77779792e+02] [-4.85962151e-01 8.73371846e-01 -3.25945627e-02 -4.78842273e+02] [-6.66851922e-02 1.32279937e-04 9.97774056e-01 -4.31116601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.84, Y:-478.87, Z:-43.11 [[ 8.69863004e-01 4.89851894e-01 5.81676542e-02 8.77835401e+02] [-4.88765205e-01 8.71805665e-01 -3.26106733e-02 -4.78872512e+02] [-6.66852906e-02 -6.35071528e-05 9.97774057e-01 -4.31146509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters Centerline goodness : 0.997673 with order 1 Centerline is valid? [True, True] Translation: X:877.89, Y:-478.90, Z:-43.12 [[ 8.69338461e-01 4.90783283e-01 5.81584870e-02 8.77890082e+02] [-4.89697583e-01 8.71281674e-01 -3.26270142e-02 -4.78901908e+02] [-6.66852170e-02 -1.16152155e-04 9.97774057e-01 -4.31210848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.94, Y:-478.93, Z:-43.12 [[ 8.67802498e-01 4.93495271e-01 5.81484518e-02 8.77943516e+02] [-4.92414445e-01 8.69748426e-01 -3.26448892e-02 -4.78932963e+02] [-6.66846229e-02 -3.03821275e-04 9.97774057e-01 -4.31226434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.00, Y:-478.96, Z:-43.13 [[ 8.66934664e-01 4.95019495e-01 5.81376672e-02 8.77998040e+02] [-4.93940803e-01 8.68881776e-01 -3.26640844e-02 -4.78963979e+02] [-6.66841181e-02 -3.98939042e-04 9.97774057e-01 -4.31261604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.05, Y:-478.99, Z:-43.13 [[ 8.65058445e-01 4.98292065e-01 5.81283508e-02 8.78053300e+02] [-4.97219625e-01 8.67009007e-01 -3.26806554e-02 -4.78994020e+02] [-6.66823150e-02 -6.31879871e-04 9.97774057e-01 -4.31304743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.11, Y:-479.02, Z:-43.13 [[ 8.63542716e-01 5.00915312e-01 5.81190823e-02 8.78108216e+02] [-4.99847689e-01 8.65495919e-01 -3.26971301e-02 -4.79024733e+02] [-6.66803217e-02 -8.15320408e-04 9.97774058e-01 -4.31341785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.16, Y:-479.06, Z:-43.14 [[ 8.63268350e-01 5.01389072e-01 5.81098387e-02 8.78162769e+02] [-5.00321416e-01 8.65221535e-01 -3.27135498e-02 -4.79055814e+02] [-6.66801002e-02 -8.33024598e-04 9.97774058e-01 -4.31382966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.22, Y:-479.09, Z:-43.14 [[ 8.63190413e-01 5.01524302e-01 5.81006455e-02 8.78216499e+02] [-5.00455853e-01 8.65143164e-01 -3.27298691e-02 -4.79086512e+02] [-6.66802011e-02 -8.24698891e-04 9.97774058e-01 -4.31429170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.27, Y:-479.12, Z:-43.15 [[ 8.63405934e-01 5.01154159e-01 5.80921784e-02 8.78270930e+02] [-5.00083863e-01 8.65357673e-01 -3.27448906e-02 -4.79116673e+02] [-6.66807504e-02 -7.78828142e-04 9.97774058e-01 -4.31479423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.32, Y:-479.15, Z:-43.15 [[ 8.63806708e-01 5.00464005e-01 5.80840050e-02 8.78324677e+02] [-4.99391175e-01 8.65757055e-01 -3.27593823e-02 -4.79148051e+02] [-6.66815288e-02 -7.08865323e-04 9.97774058e-01 -4.31532632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.38, Y:-479.18, Z:-43.16 [[ 8.64670469e-01 4.98971123e-01 5.80758039e-02 8.78377201e+02] [-4.97893949e-01 8.66618420e-01 -3.27739148e-02 -4.79180104e+02] [-6.66827985e-02 -5.76955148e-04 9.97774058e-01 -4.31574872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.43, Y:-479.21, Z:-43.16 [[ 8.65428759e-01 4.97655775e-01 5.80671432e-02 8.78431143e+02] [-4.96574612e-01 8.67374498e-01 -3.27892522e-02 -4.79212433e+02] [-6.66837199e-02 -4.57907240e-04 9.97774059e-01 -4.31604486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.48, Y:-479.24, Z:-43.16 [[ 8.66695715e-01 4.95447096e-01 5.80578360e-02 8.78482651e+02] [-4.94359870e-01 8.68638074e-01 -3.28057237e-02 -4.79244626e+02] [-6.66847474e-02 -2.68884074e-04 9.97774059e-01 -4.31636477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.54, Y:-479.28, Z:-43.17 [[ 8.67249698e-01 4.94477261e-01 5.80534125e-02 8.78536339e+02] [-4.93387340e-01 8.69190545e-01 -3.28135497e-02 -4.79277059e+02] [-6.66850315e-02 -1.85277688e-04 9.97774059e-01 -4.31676566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.59, Y:-479.31, Z:-43.17 [[ 8.67805496e-01 4.93502251e-01 5.80443728e-02 8.78590040e+02] [-4.92409080e-01 8.69744514e-01 -3.28295324e-02 -4.79310492e+02] [-6.66852230e-02 -9.19276129e-05 9.97774059e-01 -4.31712490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.64, Y:-479.34, Z:-43.18 [[ 8.67806178e-01 4.93502137e-01 5.80351438e-02 8.78641693e+02] [-4.92407875e-01 8.69744581e-01 -3.28458391e-02 -4.79344026e+02] [-6.66852436e-02 -7.31397271e-05 9.97774059e-01 -4.31759943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.69, Y:-479.38, Z:-43.18 [[ 8.67520843e-01 4.94004518e-01 5.80269174e-02 8.78694768e+02] [-4.92910407e-01 8.69459331e-01 -3.28603659e-02 -4.79376669e+02] [-6.66852139e-02 -9.50191063e-05 9.97774059e-01 -4.31809966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.75, Y:-479.41, Z:-43.19 [[ 8.66615853e-01 4.95591354e-01 5.80187227e-02 8.78746076e+02] [-4.94499825e-01 8.68555795e-01 -3.28748282e-02 -4.79409612e+02] [-6.66849784e-02 -2.00400884e-04 9.97774059e-01 -4.31855966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.80, Y:-479.44, Z:-43.19 [[ 8.65847954e-01 4.96932609e-01 5.80112285e-02 8.78799469e+02] [-4.95843199e-01 8.67789087e-01 -3.28880473e-02 -4.79442120e+02] [-6.66846541e-02 -2.88424659e-04 9.97774059e-01 -4.31904454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.85, Y:-479.48, Z:-43.19 [[ 8.64974372e-01 4.98452719e-01 5.80019184e-02 8.78851621e+02] [-4.97365620e-01 8.66916799e-01 -3.29044585e-02 -4.79476556e+02] [-6.66841543e-02 -3.86646721e-04 9.97774060e-01 -4.31943903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.90, Y:-479.51, Z:-43.20 [[ 8.64180994e-01 4.99828031e-01 5.79926592e-02 8.78903492e+02] [-4.98742928e-01 8.66124537e-01 -3.29207693e-02 -4.79509022e+02] [-6.66835885e-02 -4.73925528e-04 9.97774060e-01 -4.31982780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.96, Y:-479.54, Z:-43.20 [[ 8.61687706e-01 5.04114725e-01 5.79882877e-02 8.78957309e+02] [-5.03038772e-01 8.63636330e-01 -3.29284677e-02 -4.79540364e+02] [-6.66805174e-02 -7.96301298e-04 9.97774060e-01 -4.32004196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.01, Y:-479.57, Z:-43.21 [[ 8.59309992e-01 5.08158086e-01 5.79801442e-02 8.79010888e+02] [-5.07090335e-01 8.61263121e-01 -3.29428004e-02 -4.79570474e+02] [-6.66763104e-02 -1.09309318e-03 9.97774060e-01 -4.32054867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.07, Y:-479.60, Z:-43.21 [[ 8.58822362e-01 5.08982758e-01 5.79715583e-02 8.79065396e+02] [-5.07915863e-01 8.60775960e-01 -3.29579028e-02 -4.79601326e+02] [-6.66755280e-02 -1.13969006e-03 9.97774060e-01 -4.32099909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:879.12, Y:-479.63, Z:-43.22 [[ 8.59174703e-01 5.08388829e-01 5.79622988e-02 8.79119245e+02] [-5.07319485e-01 8.61126961e-01 -3.29741793e-02 -4.79630790e+02] [-6.66766026e-02 -1.07482285e-03 9.97774060e-01 -4.32154053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.17, Y:-479.66, Z:-43.22 [[ 8.59862958e-01 5.07224859e-01 5.79537406e-02 8.79174088e+02] [-5.06151859e-01 8.61813209e-01 -3.29892139e-02 -4.79660470e+02] [-6.66782485e-02 -9.67190520e-04 9.97774060e-01 -4.32194965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:879.23, Y:-479.69, Z:-43.22 [[ 8.60447646e-01 5.06233427e-01 5.79445094e-02 8.79229364e+02] [-5.05157089e-01 8.62396056e-01 -3.30054203e-02 -4.79691085e+02] [-6.66795634e-02 -8.71643521e-04 9.97774061e-01 -4.32235292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:879.28, Y:-479.72, Z:-43.23 [[ 8.62102617e-01 5.03410941e-01 5.79353293e-02 8.79284160e+02] [-5.02327141e-01 8.64046886e-01 -3.30215265e-02 -4.79721649e+02] [-6.66822386e-02 -6.34543983e-04 9.97774061e-01 -4.32272984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.34, Y:-479.75, Z:-43.23 [[ 8.63423212e-01 5.01143638e-01 5.79259075e-02 8.79338387e+02] [-5.00053625e-01 8.65364004e-01 -3.30380457e-02 -4.79752745e+02] [-6.66838017e-02 -4.40244437e-04 9.97774061e-01 -4.32324584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.39, Y:-479.78, Z:-43.24 [[ 8.64921074e-01 4.98555128e-01 5.79164892e-02 8.79393101e+02] [-4.97458201e-01 8.66857967e-01 -3.30545481e-02 -4.79784227e+02] [-6.66848846e-02 -2.21457206e-04 9.97774061e-01 -4.32378813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.45, Y:-479.81, Z:-43.24 [[ 8.65046850e-01 4.98337954e-01 5.79070893e-02 8.79447976e+02] [-4.97239438e-01 8.66982843e-01 -3.30710073e-02 -4.79814911e+02] [-6.66849910e-02 -1.85717880e-04 9.97774061e-01 -4.32426227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:879.50, Y:-479.85, Z:-43.25 [[ 8.64207084e-01 4.99793917e-01 5.78978082e-02 8.79503057e+02] [-4.98697575e-01 8.66144308e-01 -3.30872479e-02 -4.79845914e+02] [-6.66846622e-02 -2.79262555e-04 9.97774062e-01 -4.32470460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.56, Y:-479.88, Z:-43.25 [[ 8.61531915e-01 5.04392374e-01 5.78886275e-02 8.79557268e+02] [-5.03305293e-01 8.63474350e-01 -3.31033024e-02 -4.79875681e+02] [-6.66823983e-02 -6.16101079e-04 9.97774062e-01 -4.32501827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:879.61, Y:-479.91, Z:-43.25 [[ 8.60005861e-01 5.06990895e-01 5.78804955e-02 8.79612272e+02] [-5.05908726e-01 8.61951038e-01 -3.31175149e-02 -4.79906396e+02] [-6.66804317e-02 -8.00990841e-04 9.97774062e-01 -4.32536107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.67, Y:-479.94, Z:-43.26 [[ 8.57824008e-01 5.10674962e-01 5.78710206e-02 8.79667820e+02] [-5.09600031e-01 8.59773193e-01 -3.31340635e-02 -4.79936132e+02] [-6.66766888e-02 -1.06787874e-03 9.97774062e-01 -4.32576742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.72, Y:-479.97, Z:-43.26 [[ 8.55974312e-01 5.13770394e-01 5.78615644e-02 8.79723640e+02] [-5.12701395e-01 8.57926756e-01 -3.31505686e-02 -4.79965196e+02] [-6.66727650e-02 -1.28966970e-03 9.97774062e-01 -4.32631808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.78, Y:-479.99, Z:-43.27 [[ 8.55477175e-01 5.14598798e-01 5.78522281e-02 8.79778751e+02] [-5.13530589e-01 8.57430052e-01 -3.31668537e-02 -4.79994804e+02] [-6.66718620e-02 -1.33540249e-03 9.97774062e-01 -4.32723481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.83, Y:-480.02, Z:-43.27 [[ 8.54862566e-01 5.15620356e-01 5.78415287e-02 8.79832219e+02] [-5.14553219e-01 8.56816029e-01 -3.31855027e-02 -4.80024404e+02] [-6.66706696e-02 -1.39350083e-03 9.97774063e-01 -4.32741805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.89, Y:-480.06, Z:-43.28 [[ 8.54958232e-01 5.15462317e-01 5.78361595e-02 8.79886336e+02] [-5.14394187e-01 8.56911152e-01 -3.31948575e-02 -4.80055247e+02] [-6.66711482e-02 -1.37036758e-03 9.97774063e-01 -4.32788680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.94, Y:-480.09, Z:-43.28 [[ 8.56845642e-01 5.12319815e-01 5.78269223e-02 8.79940829e+02] [-5.11243437e-01 8.58794027e-01 -3.32109413e-02 -4.80086410e+02] [-6.66760388e-02 -1.10698414e-03 9.97774063e-01 -4.32834673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.00, Y:-480.12, Z:-43.29 [[ 8.59629824e-01 5.07635399e-01 5.78175415e-02 8.79995079e+02] [-5.06547305e-01 8.61571690e-01 -3.32272645e-02 -4.80118817e+02] [-6.66812926e-02 -7.24172292e-04 9.97774063e-01 -4.32876992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.05, Y:-480.15, Z:-43.29 [[ 8.65746076e-01 4.97133720e-01 5.78082707e-02 8.80047784e+02] [-4.96020992e-01 8.67673932e-01 -3.32433859e-02 -4.80153638e+02] [-6.66851377e-02 1.06215101e-04 9.97774063e-01 -4.32904281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.10, Y:-480.19, Z:-43.29 [[ 8.70041148e-01 4.89579112e-01 5.77987397e-02 8.80101150e+02] [-4.88448545e-01 8.71958597e-01 -3.32599488e-02 -4.80187306e+02] [-6.66814842e-02 7.05813751e-04 9.97774063e-01 -4.32941647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.15, Y:-480.22, Z:-43.30 [[ 8.74009611e-01 4.82459950e-01 5.77892429e-02 8.80154998e+02] [-4.81312676e-01 8.75917112e-01 -3.32764414e-02 -4.80218731e+02] [-6.66731369e-02 1.26923450e-03 9.97774064e-01 -4.32973190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.21, Y:-480.25, Z:-43.31 [[ 8.76378137e-01 4.78145075e-01 5.77810410e-02 8.80209384e+02] [-4.76987473e-01 8.78279387e-01 -3.32906770e-02 -4.80246987e+02] [-6.66656705e-02 1.61438873e-03 9.97774064e-01 -4.33076064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.26, Y:-480.28, Z:-43.31 [[ 8.75268886e-01 4.80173196e-01 5.77761149e-02 8.80263787e+02] [-4.79019437e-01 8.77172469e-01 -3.32992241e-02 -4.80278608e+02] [-6.66690123e-02 1.46989275e-03 9.97774064e-01 -4.33115995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.32, Y:-480.31, Z:-43.31 [[ 8.72424233e-01 4.85323714e-01 5.77654871e-02 8.80317902e+02] [-4.84179974e-01 8.74333853e-01 -3.33176504e-02 -4.80308278e+02] [-6.66761667e-02 1.09823353e-03 9.97774064e-01 -4.33120367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.37, Y:-480.34, Z:-43.32 [[ 8.70233914e-01 4.89241406e-01 5.77562223e-02 8.80373567e+02] [-4.88105199e-01 8.72148026e-01 -3.33337032e-02 -4.80337151e+02] [-6.66802031e-02 8.17006608e-04 9.97774064e-01 -4.33166168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.43, Y:-480.37, Z:-43.32 [[ 8.65426695e-01 4.97696609e-01 5.77470515e-02 8.80428781e+02] [-4.96578044e-01 8.67351170e-01 -3.33495831e-02 -4.80365768e+02] [-6.66849471e-02 1.85701604e-04 9.97774064e-01 -4.33198006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.49, Y:-480.39, Z:-43.32 [[ 8.59452270e-01 5.07944931e-01 5.77385691e-02 8.80485304e+02] [-5.06848328e-01 8.61389342e-01 -3.33642624e-02 -4.80393113e+02] [-6.66825960e-02 -5.89706119e-04 9.97774064e-01 -4.33223412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.54, Y:-480.42, Z:-43.33 [[ 8.55943767e-01 5.13836160e-01 5.77292646e-02 8.80540880e+02] [-5.12751802e-01 8.57887721e-01 -3.33803539e-02 -4.80421797e+02] [-6.66772601e-02 -1.02907853e-03 9.97774065e-01 -4.33262323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.60, Y:-480.45, Z:-43.33 [[ 8.52670513e-01 5.19250816e-01 5.77198990e-02 8.80596817e+02] [-5.18177705e-01 8.54620698e-01 -3.33965407e-02 -4.80450536e+02] [-6.66698014e-02 -1.43291937e-03 9.97774065e-01 -4.33297902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters Centerline goodness : 0.998014 with order 1 Centerline is valid? [True, True] Translation: X:880.65, Y:-480.48, Z:-43.34 [[ 8.51527042e-01 5.21124939e-01 5.77104381e-02 8.80651176e+02] [-5.20055014e-01 8.53478976e-01 -3.34128816e-02 -4.80479117e+02] [-6.66669315e-02 -1.56063048e-03 9.97774065e-01 -4.33358550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.71, Y:-480.51, Z:-43.34 [[ 8.51195388e-01 5.21666859e-01 5.77070163e-02 8.80705854e+02] [-5.20597776e-01 8.53147783e-01 -3.34187902e-02 -4.80509335e+02] [-6.66660884e-02 -1.59622431e-03 9.97774065e-01 -4.33393816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:880.76, Y:-480.54, Z:-43.35 [[ 8.51875431e-01 5.20556871e-01 5.76957045e-02 8.80759810e+02] [-5.19483922e-01 8.53825705e-01 -3.34383080e-02 -4.80539319e+02] [-6.66686166e-02 -1.48671782e-03 9.97774065e-01 -4.33459895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.81, Y:-480.57, Z:-43.35 [[ 8.53600635e-01 5.17723980e-01 5.76873996e-02 8.80812535e+02] [-5.16643591e-01 8.55546797e-01 -3.34526294e-02 -4.80570964e+02] [-6.66734984e-02 -1.24863953e-03 9.97774065e-01 -4.33520505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.87, Y:-480.60, Z:-43.36 [[ 8.55083483e-01 5.15272132e-01 5.76790022e-02 8.80866142e+02] [-5.14185186e-01 8.57025990e-01 -3.34671020e-02 -4.80603517e+02] [-6.66770690e-02 -1.04052229e-03 9.97774066e-01 -4.33573764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.92, Y:-480.64, Z:-43.36 [[ 8.57893267e-01 5.10581416e-01 5.76694047e-02 8.80916999e+02] [-5.09482737e-01 8.59829162e-01 -3.34836320e-02 -4.80637883e+02] [-6.66819561e-02 -6.56183690e-04 9.97774066e-01 -4.33635694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.97, Y:-480.67, Z:-43.37 [[ 8.59977862e-01 5.07063310e-01 5.76617410e-02 8.80969470e+02] [-5.05955826e-01 8.61908733e-01 -3.34968243e-02 -4.80671951e+02] [-6.66841688e-02 -3.67766478e-04 9.97774066e-01 -4.33667565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.02, Y:-480.71, Z:-43.37 [[ 8.63737565e-01 5.00633240e-01 5.76522131e-02 8.81021026e+02] [-4.99510288e-01 8.65659481e-01 -3.35132151e-02 -4.80706843e+02] [-6.66850143e-02 1.48749210e-04 9.97774066e-01 -4.33728051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.07, Y:-480.74, Z:-43.37 [[ 8.65523811e-01 4.97539072e-01 5.76489656e-02 8.81072367e+02] [-4.96408878e-01 8.67441477e-01 -3.35188005e-02 -4.80742234e+02] [-6.66840168e-02 3.93861660e-04 9.97774066e-01 -4.33744277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.13, Y:-480.78, Z:-43.38 [[ 8.66729947e-01 4.95436090e-01 5.76392180e-02 8.81125685e+02] [-4.94300129e-01 8.68644202e-01 -3.35355541e-02 -4.80776126e+02] [-6.66826964e-02 5.75196187e-04 9.97774066e-01 -4.33780110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.18, Y:-480.81, Z:-43.38 [[ 8.66674899e-01 4.95532919e-01 5.76345957e-02 8.81178217e+02] [-4.94396643e-01 8.68588967e-01 -3.35434962e-02 -4.80808262e+02] [-6.66826805e-02 5.76955566e-04 9.97774066e-01 -4.33811902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.23, Y:-480.84, Z:-43.39 [[ 8.65609797e-01 4.97392272e-01 5.76247146e-02 8.81232048e+02] [-4.96258978e-01 8.67525632e-01 -3.35604625e-02 -4.80838792e+02] [-6.66836317e-02 4.53483119e-04 9.97774066e-01 -4.33872908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:881.29, Y:-480.87, Z:-43.39 [[ 8.65021621e-01 4.98414854e-01 5.76214236e-02 8.81287058e+02] [-4.97283449e-01 8.66938572e-01 -3.35661120e-02 -4.80868464e+02] [-6.66840835e-02 3.81232353e-04 9.97774066e-01 -4.33928535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.34, Y:-480.90, Z:-43.40 [[ 8.62393825e-01 5.02949244e-01 5.76103192e-02 8.81340257e+02] [-5.01826645e-01 8.64315947e-01 -3.35851599e-02 -4.80900596e+02] [-6.66851484e-02 5.32413047e-05 9.97774067e-01 -4.33972582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:881.39, Y:-480.93, Z:-43.40 [[ 8.60044793e-01 5.06956752e-01 5.76003988e-02 8.81392286e+02] [-5.05841970e-01 8.61971459e-01 -3.36021654e-02 -4.80932210e+02] [-6.66847444e-02 -2.37331816e-04 9.97774067e-01 -4.33983176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.45, Y:-480.96, Z:-43.40 [[ 8.57472358e-01 5.11296685e-01 5.75921448e-02 8.81447064e+02] [-5.10190705e-01 8.59404089e-01 -3.36163064e-02 -4.80962639e+02] [-6.66828308e-02 -5.57923451e-04 9.97774067e-01 -4.34017489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.50, Y:-480.99, Z:-43.41 [[ 8.55170574e-01 5.15138369e-01 5.75825534e-02 8.81501795e+02] [-5.14039961e-01 8.57106620e-01 -3.36327278e-02 -4.80993354e+02] [-6.66798963e-02 -8.38014412e-04 9.97774067e-01 -4.34058072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.56, Y:-481.02, Z:-43.41 [[ 8.54151024e-01 5.16828196e-01 5.75729478e-02 8.81556289e+02] [-5.15732510e-01 8.56088612e-01 -3.36491628e-02 -4.81023912e+02] [-6.66783811e-02 -9.50774100e-04 9.97774067e-01 -4.34102141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.61, Y:-481.05, Z:-43.41 [[ 8.53882206e-01 5.17273278e-01 5.75633137e-02 8.81609560e+02] [-5.16177491e-01 8.55819737e-01 -3.36656357e-02 -4.81054540e+02] [-6.66781537e-02 -9.66399604e-04 9.97774068e-01 -4.34145388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.66, Y:-481.09, Z:-43.42 [[ 8.53712556e-01 5.17553883e-01 5.75573736e-02 8.81664129e+02] [-5.16458049e-01 8.55650060e-01 -3.36757883e-02 -4.81085272e+02] [-6.66780052e-02 -9.76525572e-04 9.97774068e-01 -4.34182571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.72, Y:-481.12, Z:-43.42 [[ 8.53821557e-01 5.17375080e-01 5.75480252e-02 8.81718100e+02] [-5.16277764e-01 8.55758223e-01 -3.36917562e-02 -4.81116870e+02] [-6.66784708e-02 -9.44018058e-04 9.97774068e-01 -4.34227027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.77, Y:-481.15, Z:-43.43 [[ 8.53840076e-01 5.17345584e-01 5.75384384e-02 8.81772283e+02] [-5.16247099e-01 8.55776078e-01 -3.37081205e-02 -4.81148427e+02] [-6.66787664e-02 -9.22707757e-04 9.97774068e-01 -4.34281808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.82, Y:-481.18, Z:-43.43 [[ 8.54124255e-01 5.16877327e-01 5.75290061e-02 8.81824756e+02] [-5.15776697e-01 8.56059038e-01 -3.37242107e-02 -4.81180277e+02] [-6.66795055e-02 -8.67454423e-04 9.97774068e-01 -4.34343181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.88, Y:-481.21, Z:-43.44 [[ 8.55210128e-01 5.15079606e-01 5.75207494e-02 8.81877702e+02] [-5.13973963e-01 8.57142050e-01 -3.37382877e-02 -4.81213585e+02] [-6.66813570e-02 -7.10842127e-04 9.97774068e-01 -4.34397884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.93, Y:-481.25, Z:-43.44 [[ 8.56493221e-01 5.12944269e-01 5.75112140e-02 8.81929649e+02] [-5.11832718e-01 8.58421750e-01 -3.37545342e-02 -4.81246227e+02] [-6.66830718e-02 -5.25591209e-04 9.97774068e-01 -4.34443958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.98, Y:-481.28, Z:-43.45 [[ 8.59138951e-01 5.08501462e-01 5.75024049e-02 8.81982199e+02] [-5.07378933e-01 8.61061111e-01 -3.37695343e-02 -4.81280419e+02] [-6.66849422e-02 -1.62786572e-04 9.97774069e-01 -4.34480542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.03, Y:-481.31, Z:-43.45 [[ 8.61687961e-01 5.04171017e-01 5.74929908e-02 8.82034597e+02] [-5.03037760e-01 8.63603815e-01 -3.37855543e-02 -4.81313159e+02] [-6.66848634e-02 1.91460055e-04 9.97774069e-01 -4.34506223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.09, Y:-481.34, Z:-43.45 [[ 8.62530910e-01 5.02728492e-01 5.74847209e-02 8.82089223e+02] [-5.01591093e-01 8.64444308e-01 -3.37996194e-02 -4.81344948e+02] [-6.66843714e-02 3.19392487e-04 9.97774069e-01 -4.34536975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.14, Y:-481.38, Z:-43.46 [[ 8.64052074e-01 5.00110601e-01 5.74752123e-02 8.82142945e+02] [-4.98966329e-01 8.65961371e-01 -3.38157807e-02 -4.81377322e+02] [-6.66829440e-02 5.40399712e-04 9.97774069e-01 -4.34579486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.20, Y:-481.41, Z:-43.46 [[ 8.64880646e-01 4.98677405e-01 5.74657695e-02 8.82197413e+02] [-4.97528904e-01 8.66787400e-01 -3.38318201e-02 -4.81409357e+02] [-6.66817692e-02 6.69605051e-04 9.97774069e-01 -4.34624553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.25, Y:-481.44, Z:-43.47 [[ 8.65140882e-01 4.98226876e-01 5.74563676e-02 8.82252323e+02] [-4.97076323e-01 8.67046399e-01 -3.38477797e-02 -4.81439876e+02] [-6.66812101e-02 7.22898076e-04 9.97774069e-01 -4.34672683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.31, Y:-481.47, Z:-43.47 [[ 8.64431387e-01 4.99457919e-01 5.74470554e-02 8.82307382e+02] [-4.98309030e-01 8.66337907e-01 -3.38635772e-02 -4.81469573e+02] [-6.66819935e-02 6.46352565e-04 9.97774070e-01 -4.34712988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.36, Y:-481.50, Z:-43.48 [[ 8.63834974e-01 5.00489813e-01 5.74376594e-02 8.82361609e+02] [-4.99342141e-01 8.65742228e-01 -3.38795067e-02 -4.81500399e+02] [-6.66825552e-02 5.85258940e-04 9.97774070e-01 -4.34752715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.42, Y:-481.53, Z:-43.48 [[ 8.63288461e-01 5.01432983e-01 5.74281815e-02 8.82416390e+02] [-5.00286327e-01 8.65196325e-01 -3.38955648e-02 -4.81531206e+02] [-6.66830058e-02 5.31115922e-04 9.97774070e-01 -4.34798328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.47, Y:-481.56, Z:-43.48 [[ 8.62555907e-01 5.02693163e-01 5.74185687e-02 8.82471614e+02] [-5.01548211e-01 8.64464793e-01 -3.39118409e-02 -4.81561545e+02] [-6.66835817e-02 4.52678281e-04 9.97774070e-01 -4.34846783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.53, Y:-481.59, Z:-43.49 [[ 8.61401293e-01 5.04670201e-01 5.74090564e-02 8.82526318e+02] [-5.03528558e-01 8.63312161e-01 -3.39279366e-02 -4.81592870e+02] [-6.66843551e-02 3.18469019e-04 9.97774070e-01 -4.34891892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.58, Y:-481.62, Z:-43.49 [[ 8.58710967e-01 5.09235459e-01 5.73996730e-02 8.82581241e+02] [-5.08102914e-01 8.60627240e-01 -3.39438042e-02 -4.81623890e+02] [-6.66851109e-02 -1.70242326e-05 9.97774070e-01 -4.34932598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.63, Y:-481.65, Z:-43.50 [[ 8.56529943e-01 5.12896522e-01 5.73900252e-02 8.82634962e+02] [-5.11771075e-01 8.58450394e-01 -3.39601082e-02 -4.81653806e+02] [-6.66845111e-02 -2.82705320e-04 9.97774071e-01 -4.34975723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.69, Y:-481.68, Z:-43.50 [[ 8.53813696e-01 5.17406262e-01 5.73840732e-02 8.82689703e+02] [-5.16290283e-01 8.55739664e-01 -3.39701627e-02 -4.81683723e+02] [-6.66822024e-02 -6.22649211e-04 9.97774071e-01 -4.35029581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.74, Y:-481.72, Z:-43.51 [[ 8.52092515e-01 5.20236997e-01 5.73743255e-02 8.82742801e+02] [-5.19126307e-01 8.54021538e-01 -3.39866182e-02 -4.81715748e+02] [-6.66800059e-02 -8.24778767e-04 9.97774071e-01 -4.35081902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.80, Y:-481.75, Z:-43.51 [[ 8.51467227e-01 5.21260760e-01 5.73653267e-02 8.82796601e+02] [-5.20151368e-01 8.53396996e-01 -3.40018004e-02 -4.81747999e+02] [-6.66792018e-02 -8.87234467e-04 9.97774071e-01 -4.35127996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.85, Y:-481.78, Z:-43.52 [[ 8.50430970e-01 5.22950731e-01 5.73558947e-02 8.82850152e+02] [-5.21844100e-01 8.52362324e-01 -3.40177033e-02 -4.81781153e+02] [-6.66775865e-02 -1.00112681e-03 9.97774071e-01 -4.35184498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.90, Y:-481.81, Z:-43.52 [[ 8.50199133e-01 5.23328583e-01 5.73465647e-02 8.82902786e+02] [-5.22221750e-01 8.52130371e-01 -3.40334244e-02 -4.81814371e+02] [-6.66774132e-02 -1.01243545e-03 9.97774071e-01 -4.35247778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.96, Y:-481.85, Z:-43.53 [[ 8.50896451e-01 5.22195042e-01 5.73373248e-02 8.82955624e+02] [-5.21084588e-01 8.52825608e-01 -3.40489841e-02 -4.81848790e+02] [-6.66789496e-02 -9.05436549e-04 9.97774072e-01 -4.35288248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:883.01, Y:-481.89, Z:-43.53 [[ 8.52128028e-01 5.20183975e-01 5.73276268e-02 8.83005224e+02] [-5.19067871e-01 8.54053922e-01 -3.40653047e-02 -4.81887306e+02] [-6.66811101e-02 -7.28928245e-04 9.97774072e-01 -4.35300647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.06, Y:-481.92, Z:-43.54 [[ 8.56505487e-01 5.12944706e-01 5.73243399e-02 8.83057005e+02] [-5.11811952e-01 8.58421635e-01 -3.40708348e-02 -4.81920196e+02] [-6.66849080e-02 -1.57425374e-04 9.97774072e-01 -4.35356467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.11, Y:-481.95, Z:-43.54 [[ 8.57778758e-01 5.10813568e-01 5.73158006e-02 8.83110706e+02] [-5.09675094e-01 8.59691513e-01 -3.40851942e-02 -4.81952271e+02] [-6.66850870e-02 2.51194954e-05 9.97774072e-01 -4.35397879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.16, Y:-481.98, Z:-43.54 [[ 8.58033053e-01 5.10387385e-01 5.73061672e-02 8.83164890e+02] [-5.09246879e-01 8.59944598e-01 -3.41013828e-02 -4.81983670e+02] [-6.66850445e-02 7.71267756e-05 9.97774072e-01 -4.35440226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.22, Y:-482.02, Z:-43.55 [[ 8.58170094e-01 5.10158012e-01 5.72965292e-02 8.83217637e+02] [-5.09015915e-01 8.60080688e-01 -3.41175686e-02 -4.82015181e+02] [-6.66849893e-02 1.13831869e-04 9.97774072e-01 -4.35488555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.27, Y:-482.05, Z:-43.55 [[ 8.59648625e-01 5.07663574e-01 5.72881929e-02 8.83270950e+02] [-5.06515000e-01 8.61555333e-01 -3.41315608e-02 -4.82046365e+02] [-6.66842982e-02 3.23820336e-04 9.97774072e-01 -4.35539416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.33, Y:-482.08, Z:-43.56 [[ 8.60144554e-01 5.06823854e-01 5.72793769e-02 8.83325658e+02] [-5.05672434e-01 8.62049544e-01 -3.41463493e-02 -4.82078228e+02] [-6.66838451e-02 4.06194445e-04 9.97774073e-01 -4.35569978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.38, Y:-482.11, Z:-43.56 [[ 8.62113176e-01 5.03469021e-01 5.72696847e-02 8.83380592e+02] [-5.02309109e-01 8.64013007e-01 -3.41625972e-02 -4.82108269e+02] [-6.66815619e-02 6.84940850e-04 9.97774073e-01 -4.35597792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.44, Y:-482.14, Z:-43.56 [[ 8.63085921e-01 5.01800738e-01 5.72600377e-02 8.83435279e+02] [-5.00636082e-01 8.64982847e-01 -3.41787590e-02 -4.82139345e+02] [-6.66798769e-02 8.32764701e-04 9.97774073e-01 -4.35630553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.49, Y:-482.17, Z:-43.57 [[ 8.62396750e-01 5.02985319e-01 5.72504587e-02 8.83489564e+02] [-5.01822204e-01 8.64294621e-01 -3.41947965e-02 -4.82169920e+02] [-6.66807442e-02 7.59929986e-04 9.97774073e-01 -4.35677532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.54, Y:-482.20, Z:-43.57 [[ 8.59547147e-01 5.07840698e-01 5.72409663e-02 8.83544648e+02] [-5.06687247e-01 8.61450906e-01 -3.42106792e-02 -4.82199175e+02] [-6.66838575e-02 4.02424040e-04 9.97774073e-01 -4.35722938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.60, Y:-482.23, Z:-43.58 [[ 8.57097675e-01 5.11964971e-01 5.72314923e-02 8.83599381e+02] [-5.10819623e-01 8.59006320e-01 -3.42265211e-02 -4.82230310e+02] [-6.66849935e-02 1.00502396e-04 9.97774073e-01 -4.35757539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.65, Y:-482.26, Z:-43.58 [[ 8.53656633e-01 5.17683311e-01 5.72218766e-02 8.83653545e+02] [-5.16549671e-01 8.55572255e-01 -3.42425897e-02 -4.82262310e+02] [-6.66842672e-02 -3.26527721e-04 9.97774074e-01 -4.35795572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.71, Y:-482.29, Z:-43.58 [[ 8.50502032e-01 5.22850880e-01 5.72123354e-02 8.83707744e+02] [-5.21727807e-01 8.52423867e-01 -3.42585237e-02 -4.82293301e+02] [-6.66812594e-02 -7.12322215e-04 9.97774074e-01 -4.35837883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.76, Y:-482.32, Z:-43.59 [[ 8.48384350e-01 5.26281153e-01 5.72026435e-02 8.83761173e+02] [-5.25164758e-01 8.50310074e-01 -3.42746990e-02 -4.82324266e+02] [-6.66781121e-02 -9.62694177e-04 9.97774074e-01 -4.35882356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.82, Y:-482.36, Z:-43.59 [[ 8.46090808e-01 5.29961533e-01 5.71936889e-02 8.83815165e+02] [-5.28852505e-01 8.48020783e-01 -3.42896349e-02 -4.82356799e+02] [-6.66736243e-02 -1.23488081e-03 9.97774074e-01 -4.35926661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.87, Y:-482.39, Z:-43.60 [[ 8.45359381e-01 5.31128530e-01 5.71839321e-02 8.83868437e+02] [-5.30021067e-01 8.47290254e-01 -3.43058984e-02 -4.82390883e+02] [-6.66722297e-02 -1.30787570e-03 9.97774074e-01 -4.35972007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.92, Y:-482.42, Z:-43.60 [[ 8.45724415e-01 5.30548147e-01 5.71740991e-02 8.83919987e+02] [-5.29438252e-01 8.47653891e-01 -3.43222782e-02 -4.82423833e+02] [-6.66734686e-02 -1.24296648e-03 9.97774074e-01 -4.36029015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:883.97, Y:-482.46, Z:-43.61 [[ 8.48019847e-01 5.26872241e-01 5.71662558e-02 8.83971372e+02] [-5.25753102e-01 8.49943975e-01 -3.43353369e-02 -4.82458883e+02] [-6.66784506e-02 -9.38289152e-04 9.97774075e-01 -4.36050546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:884.02, Y:-482.49, Z:-43.61 [[ 8.52091478e-01 5.20262571e-01 5.71574215e-02 8.84021706e+02] [-5.19127518e-01 8.54006262e-01 -3.43500368e-02 -4.82492845e+02] [-6.66838343e-02 -4.02616749e-04 9.97774075e-01 -4.36128414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.07, Y:-482.53, Z:-43.62 [[ 8.54878763e-01 5.15670695e-01 5.71492413e-02 8.84073446e+02] [-5.14524447e-01 8.56786866e-01 -3.43636411e-02 -4.82527776e+02] [-6.66850420e-02 -2.79347833e-05 9.97774075e-01 -4.36169005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.13, Y:-482.56, Z:-43.62 [[ 8.58527746e-01 5.09573514e-01 5.71396767e-02 8.84125922e+02] [-5.08412657e-01 8.60426997e-01 -3.43795377e-02 -4.82562391e+02] [-6.66834223e-02 4.65252120e-04 9.97774075e-01 -4.36210145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:884.18, Y:-482.59, Z:-43.63 [[ 8.58196982e-01 5.10131443e-01 5.71301204e-02 8.84180079e+02] [-5.08970764e-01 8.60096342e-01 -3.43954105e-02 -4.82593670e+02] [-6.66835880e-02 4.40476473e-04 9.97774075e-01 -4.36254048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.23, Y:-482.63, Z:-43.63 [[ 8.57554670e-01 5.11211532e-01 5.71205517e-02 8.84233363e+02] [-5.10052187e-01 8.59454844e-01 -3.44112941e-02 -4.82625992e+02] [-6.66839852e-02 3.75103638e-04 9.97774075e-01 -4.36300892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.29, Y:-482.66, Z:-43.63 [[ 8.55842745e-01 5.14073339e-01 5.71121492e-02 8.84287997e+02] [-5.12919418e-01 8.57746218e-01 -3.44252340e-02 -4.82657653e+02] [-6.66848249e-02 1.68656414e-04 9.97774076e-01 -4.36347761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.34, Y:-482.69, Z:-43.64 [[ 8.54018543e-01 5.17099254e-01 5.71024435e-02 8.84342953e+02] [-5.15951002e-01 8.55925440e-01 -3.44413257e-02 -4.82687532e+02] [-6.66850179e-02 -4.85321921e-05 9.97774076e-01 -4.36393890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.40, Y:-482.72, Z:-43.64 [[ 8.50847568e-01 5.22301487e-01 5.70926736e-02 8.84397188e+02] [-5.21163807e-01 8.52760791e-01 -3.44575135e-02 -4.82717839e+02] [-6.66836040e-02 -4.36543566e-04 9.97774076e-01 -4.36430625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.45, Y:-482.75, Z:-43.64 [[ 8.48508940e-01 5.26093182e-01 5.70836431e-02 8.84450433e+02] [-5.24963045e-01 8.50426629e-01 -3.44724672e-02 -4.82750947e+02] [-6.66811801e-02 -7.16606494e-04 9.97774076e-01 -4.36437785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.50, Y:-482.78, Z:-43.65 [[ 8.46689830e-01 5.29016312e-01 5.70795383e-02 8.84504177e+02] [-5.27892337e-01 8.48611136e-01 -3.44792626e-02 -4.82780169e+02] [-6.66784242e-02 -9.38609932e-04 9.97774076e-01 -4.36489252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.56, Y:-482.81, Z:-43.65 [[ 8.45704224e-01 5.30591470e-01 5.70706463e-02 8.84558403e+02] [-5.29470081e-01 8.47627040e-01 -3.44939745e-02 -4.82811770e+02] [-6.66768317e-02 -1.04549979e-03 9.97774076e-01 -4.36527372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.61, Y:-482.84, Z:-43.66 [[ 8.44333894e-01 5.32770421e-01 5.70609756e-02 8.84612509e+02] [-5.31652914e-01 8.46258969e-01 -3.45099647e-02 -4.82844383e+02] [-6.66742508e-02 -1.19870108e-03 9.97774076e-01 -4.36560490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters Centerline goodness : 0.996587 with order 1 Centerline is valid? [True, True] Translation: X:884.67, Y:-482.88, Z:-43.66 [[ 8.42716320e-01 5.35326406e-01 5.70512330e-02 8.84665624e+02] [-5.34213648e-01 8.44644144e-01 -3.45260636e-02 -4.82875997e+02] [-6.66707034e-02 -1.38187005e-03 9.97774077e-01 -4.36634041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.14, Y:-482.30, Z:-42.65 [[ 9.01292771e-01 4.29438798e-01 5.70408517e-02 8.85136836e+02] [-4.28099908e-01 9.03071003e-01 -3.45432061e-02 -4.82299133e+02] [-6.63461321e-02 6.71435857e-03 9.97774077e-01 -4.26507156e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.19, Y:-482.33, Z:-42.66 [[ 9.02296306e-01 4.26863459e-01 6.04066549e-02 8.85191081e+02] [-4.26009214e-01 9.04315082e-01 -2.70255723e-02 -4.82327609e+02] [-6.61628784e-02 -1.34871756e-03 9.97807925e-01 -4.26562292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.25, Y:-482.36, Z:-42.66 [[ 9.04165715e-01 4.22890323e-01 6.03997851e-02 8.85246424e+02] [-4.22026181e-01 9.06180275e-01 -2.70409171e-02 -4.82356364e+02] [-6.61684361e-02 -1.04082048e-03 9.97807925e-01 -4.26593543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.30, Y:-482.38, Z:-42.66 [[ 9.05754737e-01 4.19477092e-01 6.03930971e-02 8.85301682e+02] [-4.18604363e-01 9.07765591e-01 -2.70558458e-02 -4.82383996e+02] [-6.61720830e-02 -7.74853387e-04 9.97807925e-01 -4.26632194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.36, Y:-482.41, Z:-42.67 [[ 9.07030837e-01 4.16711573e-01 6.03864664e-02 8.85358138e+02] [-4.15831727e-01 9.09038589e-01 -2.70706369e-02 -4.82409118e+02] [-6.61742759e-02 -5.56706200e-04 9.97807925e-01 -4.26665707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.41, Y:-482.44, Z:-42.67 [[ 9.08969054e-01 4.12467606e-01 6.03799080e-02 8.85414001e+02] [-4.11577415e-01 9.10972239e-01 -2.70852573e-02 -4.82435616e+02] [-6.61762112e-02 -2.31345794e-04 9.97807925e-01 -4.26707040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.47, Y:-482.46, Z:-42.68 [[ 9.09432388e-01 4.11445976e-01 6.03733374e-02 8.85470471e+02] [-4.10552563e-01 9.11434139e-01 -2.70998954e-02 -4.82460750e+02] [-6.61764637e-02 -1.40905822e-04 9.97807925e-01 -4.26761519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.53, Y:-482.49, Z:-42.68 [[ 9.10567677e-01 4.08928360e-01 6.03663991e-02 8.85526967e+02] [-4.08028388e-01 9.12566487e-01 -2.71153420e-02 -4.82485670e+02] [-6.61765851e-02 5.91494473e-05 9.97807925e-01 -4.26790338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.58, Y:-482.51, Z:-42.68 [[ 9.12511973e-01 4.04571712e-01 6.03624772e-02 8.85583608e+02] [-4.03661619e-01 9.14506196e-01 -2.71240700e-02 -4.82509683e+02] [-6.61754908e-02 3.85023343e-04 9.97807926e-01 -4.26788539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.64, Y:-482.53, Z:-42.68 [[ 9.14359942e-01 4.00378298e-01 6.03582261e-02 8.85641859e+02] [-3.99458436e-01 9.16349677e-01 -2.71335264e-02 -4.82534084e+02] [-6.61729161e-02 6.99206999e-04 9.97807926e-01 -4.26815632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.70, Y:-482.56, Z:-42.69 [[ 9.14700658e-01 3.99600436e-01 6.03506309e-02 8.85700126e+02] [-3.98677768e-01 9.16689093e-01 -2.71504093e-02 -4.82555404e+02] [-6.61720805e-02 7.74042397e-04 9.97807926e-01 -4.26913821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.76, Y:-482.58, Z:-42.69 [[ 9.12902792e-01 4.03691132e-01 6.03486699e-02 8.85756690e+02] [-4.02777087e-01 9.14895206e-01 -2.71547674e-02 -4.82578641e+02] [-6.61748475e-02 4.82601599e-04 9.97807926e-01 -4.26893308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.81, Y:-482.60, Z:-42.69 [[ 9.10984695e-01 4.08001354e-01 6.03471650e-02 8.85813899e+02] [-4.07096514e-01 9.12981306e-01 -2.71581113e-02 -4.82602108e+02] [-6.61763797e-02 1.73503286e-04 9.97807926e-01 -4.26925487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.87, Y:-482.62, Z:-42.70 [[ 9.07615527e-01 4.15443219e-01 6.03405998e-02 8.85870991e+02] [-4.14553781e-01 9.09619046e-01 -2.71726903e-02 -4.82624058e+02] [-6.61756687e-02 -3.52068203e-04 9.97807926e-01 -4.26971340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.93, Y:-482.65, Z:-42.70 [[ 9.04356423e-01 4.22491654e-01 6.03345898e-02 8.85929135e+02] [-4.21616939e-01 9.06366414e-01 -2.71860284e-02 -4.82645614e+02] [-6.61711159e-02 -8.52225752e-04 9.97807926e-01 -4.26996764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.99, Y:-482.67, Z:-42.70 [[ 9.02703029e-01 4.26013839e-01 6.03278554e-02 8.85986466e+02] [-4.25145968e-01 9.04715985e-01 -2.72009644e-02 -4.82670096e+02] [-6.61675624e-02 -1.09375155e-03 9.97807926e-01 -4.27027497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.04, Y:-482.70, Z:-42.71 [[ 9.01069968e-01 4.29458106e-01 6.03212040e-02 8.86042820e+02] [-4.28596943e-01 9.03085802e-01 -2.72157066e-02 -4.82695701e+02] [-6.61632287e-02 -1.33022770e-03 9.97807926e-01 -4.27107647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.10, Y:-482.72, Z:-42.71 [[ 9.01716841e-01 4.28098617e-01 6.03184225e-02 8.86099998e+02] [-4.27234003e-01 9.03731197e-01 -2.72218699e-02 -4.82718914e+02] [-6.61652850e-02 -1.22366261e-03 9.97807926e-01 -4.27093140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.16, Y:-482.74, Z:-42.72 [[ 9.02010057e-01 4.27481641e-01 6.03100672e-02 8.86155927e+02] [-4.26614412e-01 9.04023288e-01 -2.72403686e-02 -4.82744427e+02] [-6.61664627e-02 -1.15805741e-03 9.97807926e-01 -4.27156826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.21, Y:-482.77, Z:-42.72 [[ 9.03249338e-01 4.24857787e-01 6.03033570e-02 8.86212044e+02] [-4.23983719e-01 9.05259609e-01 -2.72552152e-02 -4.82771301e+02] [-6.61697838e-02 -9.49386475e-04 9.97807927e-01 -4.27226619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.27, Y:-482.80, Z:-42.73 [[ 9.04994262e-01 4.21129064e-01 6.02967364e-02 8.86268339e+02] [-4.20245737e-01 9.07000483e-01 -2.72698541e-02 -4.82798298e+02] [-6.61732972e-02 -6.60384991e-04 9.97807927e-01 -4.27275828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.32, Y:-482.83, Z:-42.73 [[ 9.09436585e-01 4.11448284e-01 6.02943339e-02 8.86323324e+02] [-4.10543248e-01 9.11433106e-01 -2.72751652e-02 -4.82827376e+02] [-6.61765719e-02 5.16013876e-05 9.97807927e-01 -4.27320543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:886.38, Y:-482.86, Z:-42.74 [[ 9.15826495e-01 3.97022972e-01 6.02875682e-02 8.86377860e+02] [-3.96085510e-01 9.17807997e-01 -2.72901114e-02 -4.82856876e+02] [-6.61672134e-02 1.11397484e-03 9.97807927e-01 -4.27355515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.43, Y:-482.89, Z:-42.74 [[ 9.20501968e-01 3.86060028e-01 6.02808608e-02 8.86432532e+02] [-3.85098005e-01 9.22471662e-01 -2.73049193e-02 -4.82885211e+02] [-6.61487238e-02 1.92019272e-03 9.97807927e-01 -4.27385743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.49, Y:-482.91, Z:-42.74 [[ 9.26834742e-01 3.70599940e-01 6.02747447e-02 8.86486982e+02] [-3.69604211e-01 9.28787614e-01 -2.73184137e-02 -4.82913713e+02] [-6.61066388e-02 3.04185547e-03 9.97807927e-01 -4.27403318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.54, Y:-482.94, Z:-42.74 [[ 9.29780685e-01 3.63146739e-01 6.02687646e-02 8.86544222e+02] [-3.62134512e-01 9.31725056e-01 -2.73316005e-02 -4.82940249e+02] [-6.60792996e-02 3.58699460e-03 9.97807927e-01 -4.27418687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.60, Y:-482.96, Z:-42.75 [[ 9.31818442e-01 3.57886843e-01 6.02610851e-02 8.86601413e+02] [-3.56862554e-01 9.33756486e-01 -2.73485219e-02 -4.82963816e+02] [-6.60568553e-02 3.97893229e-03 9.97807927e-01 -4.27467590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.66, Y:-482.99, Z:-42.75 [[ 9.30777757e-01 3.60585943e-01 6.02540051e-02 8.86660736e+02] [-3.59566270e-01 9.32718233e-01 -2.73641116e-02 -4.82985294e+02] [-6.60671232e-02 3.80459847e-03 9.97807928e-01 -4.27509040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:886.72, Y:-483.01, Z:-42.75 [[ 9.28446385e-01 3.66548327e-01 6.02464399e-02 8.86718874e+02] [-3.65540045e-01 9.30392804e-01 -2.73807575e-02 -4.83006498e+02] [-6.60892250e-02 3.39907902e-03 9.97807928e-01 -4.27540707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.78, Y:-483.02, Z:-42.76 [[ 9.23517222e-01 3.78796935e-01 6.02397147e-02 8.86778428e+02] [-3.77813523e-01 9.25476324e-01 -2.73955455e-02 -4.83024484e+02] [-6.61277784e-02 2.54087925e-03 9.97807928e-01 -4.27566766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.84, Y:-483.04, Z:-42.76 [[ 9.17799046e-01 3.92449863e-01 6.02330098e-02 8.86838690e+02] [-3.91494644e-01 9.19772048e-01 -2.74102793e-02 -4.83042954e+02] [-6.61577991e-02 1.57622749e-03 9.97807928e-01 -4.27627144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.90, Y:-483.06, Z:-42.77 [[ 9.12191234e-01 4.05314759e-01 6.02254054e-02 8.86899103e+02] [-4.04386271e-01 9.14176955e-01 -2.74269774e-02 -4.83061993e+02] [-6.61732364e-02 6.64321204e-04 9.97807928e-01 -4.27672440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.96, Y:-483.08, Z:-42.77 [[ 9.08207944e-01 4.14164402e-01 6.02177541e-02 8.86957234e+02] [-4.13254151e-01 9.10202091e-01 -2.74437660e-02 -4.83082834e+02] [-6.61765567e-02 3.94094840e-05 9.97807928e-01 -4.27715329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:887.02, Y:-483.10, Z:-42.78 [[ 9.02636809e-01 4.26170702e-01 6.02106649e-02 8.87017189e+02] [-4.25285936e-01 9.04642393e-01 -2.74593108e-02 -4.83103088e+02] [-6.61714737e-02 -8.20964296e-04 9.97807928e-01 -4.27755157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.08, Y:-483.13, Z:-42.78 [[ 8.98738703e-01 4.34332085e-01 6.02028555e-02 8.87076315e+02] [-4.33464382e-01 9.00751728e-01 -2.74764219e-02 -4.83125858e+02] [-6.61617177e-02 -1.40166982e-03 9.97807929e-01 -4.27799603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.13, Y:-483.15, Z:-42.78 [[ 8.97571839e-01 4.36739443e-01 6.01951334e-02 8.87134161e+02] [-4.35876006e-01 8.99586697e-01 -2.74933289e-02 -4.83150478e+02] [-6.61581623e-02 -1.56037657e-03 9.97807929e-01 -4.27843278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.19, Y:-483.18, Z:-42.79 [[ 8.97787215e-01 4.36297584e-01 6.01874885e-02 8.87191308e+02] [-4.35432035e-01 8.99801167e-01 -2.75100547e-02 -4.83175449e+02] [-6.61593428e-02 -1.50938522e-03 9.97807929e-01 -4.27907854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.25, Y:-483.20, Z:-42.80 [[ 8.98585772e-01 4.34651572e-01 6.01798993e-02 8.87248244e+02] [-4.33781223e-01 9.00597654e-01 -2.75266466e-02 -4.83202346e+02] [-6.61623763e-02 -1.36985734e-03 9.97807929e-01 -4.27965337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.30, Y:-483.23, Z:-42.80 [[ 8.99509337e-01 4.32738077e-01 6.01723290e-02 8.87304353e+02] [-4.31862342e-01 9.01518880e-01 -2.75431850e-02 -4.83230445e+02] [-6.61654756e-02 -1.21081085e-03 9.97807929e-01 -4.28023846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.36, Y:-483.26, Z:-42.81 [[ 9.01660186e-01 4.28239555e-01 6.01647080e-02 8.87358069e+02] [-4.27352683e-01 9.03664839e-01 -2.75598222e-02 -4.83260460e+02] [-6.61709371e-02 -8.61954927e-04 9.97807930e-01 -4.28120280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.41, Y:-483.29, Z:-42.82 [[ 9.03344376e-01 4.24675871e-01 6.01609841e-02 8.87411825e+02] [-4.23780549e-01 9.05345268e-01 -2.75679488e-02 -4.83290678e+02] [-6.61739049e-02 -5.91703299e-04 9.97807930e-01 -4.28152895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.47, Y:-483.32, Z:-42.82 [[ 9.04511882e-01 4.22184207e-01 6.01560466e-02 8.87467356e+02] [-4.21282657e-01 9.06509976e-01 -2.75787188e-02 -4.83320378e+02] [-6.61753559e-02 -3.97420287e-04 9.97807930e-01 -4.28173270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.52, Y:-483.35, Z:-42.82 [[ 9.05879887e-01 4.19241966e-01 6.01481965e-02 8.87521572e+02] [-4.18332789e-01 9.07874522e-01 -2.75958290e-02 -4.83352148e+02] [-6.61763447e-02 -1.63456357e-04 9.97807930e-01 -4.28198171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.58, Y:-483.38, Z:-42.83 [[ 9.06179762e-01 4.18594531e-01 6.01403162e-02 8.87575497e+02] [-4.17682790e-01 9.08173227e-01 -2.76129920e-02 -4.83382967e+02] [-6.61764724e-02 -9.72405151e-05 9.97807930e-01 -4.28250162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.63, Y:-483.41, Z:-42.83 [[ 9.04705294e-01 4.21772864e-01 6.01330383e-02 8.87630427e+02] [-4.20867074e-01 9.06701469e-01 -2.76288321e-02 -4.83414587e+02] [-6.61758058e-02 -3.12065219e-04 9.97807930e-01 -4.28283676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.69, Y:-483.44, Z:-42.83 [[ 9.03116469e-01 4.25165371e-01 6.01252857e-02 8.87686076e+02] [-4.24265957e-01 9.05115525e-01 -2.76456928e-02 -4.83443623e+02] [-6.61743208e-02 -5.41831397e-04 9.97807930e-01 -4.28320526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.74, Y:-483.47, Z:-42.84 [[ 9.02238688e-01 4.27026032e-01 6.01175388e-02 8.87742683e+02] [-4.26129618e-01 9.04239091e-01 -2.76625288e-02 -4.83470853e+02] [-6.61732485e-02 -6.59660147e-04 9.97807930e-01 -4.28360277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.80, Y:-483.50, Z:-42.84 [[ 9.00875735e-01 4.29895033e-01 6.01096542e-02 8.87799681e+02] [-4.29003848e-01 9.02878472e-01 -2.76796513e-02 -4.83497893e+02] [-6.61710573e-02 -8.51346693e-04 9.97807931e-01 -4.28416307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.85, Y:-483.53, Z:-42.85 [[ 8.97981679e-01 4.35908443e-01 6.01060153e-02 8.87853121e+02] [-4.35030138e-01 8.99990099e-01 -2.76875507e-02 -4.83529950e+02] [-6.61640558e-02 -1.28501486e-03 9.97807931e-01 -4.28454969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.91, Y:-483.56, Z:-42.85 [[ 8.96959699e-01 4.38008563e-01 6.00982333e-02 8.87907880e+02] [-4.37133830e-01 8.98969676e-01 -2.77044320e-02 -4.83560056e+02] [-6.61612678e-02 -1.42121197e-03 9.97807931e-01 -4.28494785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.96, Y:-483.59, Z:-42.85 [[ 8.96599951e-01 4.38745563e-01 6.00904264e-02 8.87963269e+02] [-4.37871349e-01 8.98610154e-01 -2.77213549e-02 -4.83588841e+02] [-6.61604887e-02 -1.45691064e-03 9.97807931e-01 -4.28534151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.02, Y:-483.62, Z:-42.86 [[ 8.96323988e-01 4.39310116e-01 6.00827014e-02 8.88018915e+02] [-4.38436047e-01 8.98334254e-01 -2.77380877e-02 -4.83618973e+02] [-6.61599712e-02 -1.48010867e-03 9.97807931e-01 -4.28568006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.07, Y:-483.65, Z:-42.86 [[ 8.97573231e-01 4.36753120e-01 6.00750190e-02 8.88074234e+02] [-4.35872211e-01 8.99580509e-01 -2.77547162e-02 -4.83648925e+02] [-6.61642751e-02 -1.27314105e-03 9.97807931e-01 -4.28622172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.13, Y:-483.68, Z:-42.87 [[ 8.99700681e-01 4.32354735e-01 6.00671893e-02 8.88127588e+02] [-4.31462882e-01 9.01703120e-01 -2.77716512e-02 -4.83678134e+02] [-6.61699769e-02 -9.30589120e-04 9.97807932e-01 -4.28678279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.18, Y:-483.71, Z:-42.87 [[ 9.00643251e-01 4.30388340e-01 6.00634007e-02 8.88183920e+02] [-4.29491568e-01 9.02643492e-01 -2.77798425e-02 -4.83706030e+02] [-6.61719580e-02 -7.76996504e-04 9.97807932e-01 -4.28712594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.24, Y:-483.73, Z:-42.88 [[ 9.01201531e-01 4.29219175e-01 6.00558043e-02 8.88241509e+02] [-4.28318715e-01 9.03200115e-01 -2.77962550e-02 -4.83731348e+02] [-6.61730950e-02 -6.72997325e-04 9.97807932e-01 -4.28754257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.30, Y:-483.76, Z:-42.88 [[ 9.01380493e-01 4.28844274e-01 6.00482766e-02 8.88298737e+02] [-4.27941900e-01 9.03378213e-01 -2.78125078e-02 -4.83756121e+02] [-6.61735395e-02 -6.27521526e-04 9.97807932e-01 -4.28803494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.36, Y:-483.78, Z:-42.89 [[ 9.01411085e-01 4.28780917e-01 6.00414998e-02 8.88355315e+02] [-4.27877428e-01 9.03408301e-01 -2.78271299e-02 -4.83781763e+02] [-6.61737315e-02 -6.06719149e-04 9.97807932e-01 -4.28853694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.41, Y:-483.81, Z:-42.89 [[ 9.02252765e-01 4.27007930e-01 6.00347965e-02 8.88411908e+02] [-4.26099555e-01 9.04247762e-01 -2.78415842e-02 -4.83806547e+02] [-6.61749076e-02 -4.60653769e-04 9.97807932e-01 -4.28912869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.47, Y:-483.83, Z:-42.89 [[ 9.02557344e-01 4.26364120e-01 6.00323125e-02 8.88469535e+02] [-4.25453965e-01 9.04551531e-01 -2.78469391e-02 -4.83831261e+02] [-6.61752558e-02 -4.07525994e-04 9.97807932e-01 -4.28941520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.53, Y:-483.86, Z:-42.90 [[ 9.03002987e-01 4.25420630e-01 6.00241037e-02 8.88526732e+02] [-4.24507216e-01 9.04995683e-01 -2.78646220e-02 -4.83856682e+02] [-6.61757398e-02 -3.18828303e-04 9.97807932e-01 -4.28978107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.58, Y:-483.88, Z:-42.90 [[ 9.03360000e-01 4.24663105e-01 6.00163097e-02 8.88583702e+02] [-4.23746906e-01 9.05351417e-01 -2.78813991e-02 -4.83880743e+02] [-6.61760525e-02 -2.44784836e-04 9.97807933e-01 -4.29018115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.64, Y:-483.91, Z:-42.91 [[ 9.03193093e-01 4.25018992e-01 6.00091092e-02 8.88641439e+02] [-4.24102548e-01 9.05184397e-01 -2.78968882e-02 -4.83905052e+02] [-6.61760166e-02 -2.53739352e-04 9.97807933e-01 -4.29051191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.70, Y:-483.93, Z:-42.91 [[ 9.02704005e-01 4.26057858e-01 6.00015069e-02 8.88698911e+02] [-4.25142619e-01 9.04695863e-01 -2.79132299e-02 -4.83930125e+02] [-6.61757660e-02 -3.11813402e-04 9.97807933e-01 -4.29089812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.76, Y:-483.96, Z:-42.91 [[ 9.01312042e-01 4.28995749e-01 5.99937491e-02 8.88755574e+02] [-4.28085894e-01 9.03306365e-01 -2.79298938e-02 -4.83955061e+02] [-6.61745411e-02 -5.08928134e-04 9.97807933e-01 -4.29134761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:888.81, Y:-483.98, Z:-42.92 [[ 8.99215858e-01 4.33373291e-01 5.99869346e-02 8.88811698e+02] [-4.32472168e-01 9.01214141e-01 -2.79445219e-02 -4.83981094e+02] [-6.61714832e-02 -8.14522440e-04 9.97807933e-01 -4.29176242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.87, Y:-484.01, Z:-42.92 [[ 8.97433771e-01 4.37052629e-01 5.99802149e-02 8.88869069e+02] [-4.36158736e-01 8.99435298e-01 -2.79589379e-02 -4.84006925e+02] [-6.61678497e-02 -1.06959961e-03 9.97807933e-01 -4.29209950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.92, Y:-484.03, Z:-42.92 [[ 8.96587849e-01 4.38786435e-01 5.99724341e-02 8.88923888e+02] [-4.37895296e-01 8.98590604e-01 -2.79756179e-02 -4.84032515e+02] [-6.61659874e-02 -1.17904765e-03 9.97807933e-01 -4.29249668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.98, Y:-484.06, Z:-42.93 [[ 8.95689114e-01 4.40618829e-01 5.99671385e-02 8.88980202e+02] [-4.39731028e-01 8.97693351e-01 -2.79869647e-02 -4.84059946e+02] [-6.61636851e-02 -1.30179184e-03 9.97807934e-01 -4.29285164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.04, Y:-484.09, Z:-42.93 [[ 8.95444969e-01 4.41115844e-01 5.99593122e-02 8.89036026e+02] [-4.40228034e-01 8.97449202e-01 -2.80037218e-02 -4.84086560e+02] [-6.61633222e-02 -1.31997835e-03 9.97807934e-01 -4.29332447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.09, Y:-484.11, Z:-42.94 [[ 8.95309223e-01 4.41392227e-01 5.99524615e-02 8.89091559e+02] [-4.40504054e-01 8.97313295e-01 -2.80183805e-02 -4.84114853e+02] [-6.61632361e-02 -1.32418793e-03 9.97807934e-01 -4.29383084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.15, Y:-484.14, Z:-42.94 [[ 8.95717275e-01 4.40564508e-01 5.99456286e-02 8.89146847e+02] [-4.39673505e-01 8.97720090e-01 -2.80329920e-02 -4.84143468e+02] [-6.61647364e-02 -1.24686943e-03 9.97807934e-01 -4.29435362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:889.20, Y:-484.17, Z:-42.95 [[ 8.96345962e-01 4.39284993e-01 5.99383906e-02 8.89202649e+02] [-4.38390098e-01 8.98347041e-01 -2.80484594e-02 -4.84172007e+02] [-6.61667431e-02 -1.13527364e-03 9.97807934e-01 -4.29468856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.26, Y:-484.20, Z:-42.95 [[ 8.96791730e-01 4.38375294e-01 5.99307434e-02 8.89259568e+02] [-4.37477278e-01 8.98791410e-01 -2.80647895e-02 -4.84199436e+02] [-6.61681477e-02 -1.05006737e-03 9.97807934e-01 -4.29505974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.32, Y:-484.23, Z:-42.95 [[ 8.97513250e-01 4.36897227e-01 5.99231071e-02 8.89316550e+02] [-4.35994830e-01 8.99510957e-01 -2.80810848e-02 -4.84226460e+02] [-6.61700395e-02 -9.23019220e-04 9.97807934e-01 -4.29545242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.37, Y:-484.25, Z:-42.96 [[ 8.98323208e-01 4.35230463e-01 5.99154184e-02 8.89373828e+02] [-4.34323266e-01 9.00318739e-01 -2.80974803e-02 -4.84253068e+02] [-6.61718534e-02 -7.82041574e-04 9.97807935e-01 -4.29589080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.43, Y:-484.28, Z:-42.96 [[ 8.99104730e-01 4.33614749e-01 5.99077152e-02 8.89429796e+02] [-4.32702872e-01 9.01098127e-01 -2.81138951e-02 -4.84279789e+02] [-6.61733295e-02 -6.44904360e-04 9.97807935e-01 -4.29632769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.49, Y:-484.31, Z:-42.97 [[ 8.99255663e-01 4.33302633e-01 5.99005948e-02 8.89487383e+02] [-4.32389054e-01 9.01248280e-01 -2.81290579e-02 -4.84305607e+02] [-6.61737029e-02 -6.05146943e-04 9.97807935e-01 -4.29662734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.54, Y:-484.33, Z:-42.97 [[ 8.99276818e-01 4.33259767e-01 5.98930644e-02 8.89544457e+02] [-4.32345026e-01 9.01268901e-01 -2.81450827e-02 -4.84330085e+02] [-6.61738884e-02 -5.84248115e-04 9.97807935e-01 -4.29714153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.60, Y:-484.35, Z:-42.98 [[ 9.00013844e-01 4.31727617e-01 5.98860991e-02 8.89600710e+02] [-4.30808499e-01 9.02003912e-01 -2.81598955e-02 -4.84354925e+02] [-6.61749003e-02 -4.55144682e-04 9.97807935e-01 -4.29754448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.66, Y:-484.38, Z:-42.98 [[ 9.01088392e-01 4.29481175e-01 5.98801328e-02 8.89657351e+02] [-4.28556253e-01 9.03075769e-01 -2.81725767e-02 -4.84381689e+02] [-6.61758883e-02 -2.76023508e-04 9.97807935e-01 -4.29776359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.71, Y:-484.41, Z:-42.98 [[ 9.01911760e-01 4.27750454e-01 5.98725925e-02 8.89713242e+02] [-4.26820655e-01 9.03896859e-01 -2.81885923e-02 -4.84407510e+02] [-6.61763315e-02 -1.31236260e-04 9.97807935e-01 -4.29803748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.77, Y:-484.43, Z:-42.98 [[ 9.02450013e-01 4.26614554e-01 5.98664835e-02 8.89770766e+02] [-4.25681396e-01 9.04433536e-01 -2.82015605e-02 -4.84433755e+02] [-6.61764516e-02 -3.35495962e-05 9.97807936e-01 -4.29845374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.83, Y:-484.46, Z:-42.99 [[ 9.03834586e-01 4.23674342e-01 5.98589512e-02 8.89826758e+02] [-4.22733673e-01 9.05814557e-01 -2.82175392e-02 -4.84460810e+02] [-6.61761567e-02 1.99593543e-04 9.97807936e-01 -4.29892608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.88, Y:-484.49, Z:-42.99 [[ 9.05491874e-01 4.20121657e-01 5.98519824e-02 8.89883592e+02] [-4.19172244e-01 9.07467667e-01 -2.82323129e-02 -4.84488220e+02] [-6.61747449e-02 4.75840161e-04 9.97807936e-01 -4.29925356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.94, Y:-484.52, Z:-43.00 [[ 9.06234740e-01 4.18517898e-01 5.98445154e-02 8.89939825e+02] [-4.17563943e-01 9.08208344e-01 -2.82481321e-02 -4.84515079e+02] [-6.61736371e-02 6.10526853e-04 9.97807936e-01 -4.29962670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:890.00, Y:-484.54, Z:-43.00 [[ 9.05825309e-01 4.19404307e-01 5.98375912e-02 8.89996680e+02] [-4.18451316e-01 9.07799378e-01 -2.82627919e-02 -4.84540952e+02] [-6.61740647e-02 5.62033476e-04 9.97807936e-01 -4.30007475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.05, Y:-484.57, Z:-43.00 [[ 9.03979115e-01 4.23369929e-01 5.98302949e-02 8.90053958e+02] [-4.22424575e-01 9.05956853e-01 -2.82782293e-02 -4.84566178e+02] [-6.61758176e-02 2.89141745e-04 9.97807936e-01 -4.30049139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.11, Y:-484.59, Z:-43.01 [[ 9.01323291e-01 4.28995948e-01 5.98230865e-02 8.90110359e+02] [-4.28061928e-01 9.03306407e-01 -2.82934705e-02 -4.84590757e+02] [-6.61763615e-02 -1.06421827e-04 9.97807936e-01 -4.30097699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.17, Y:-484.62, Z:-43.02 [[ 8.99158183e-01 4.33516503e-01 5.98164119e-02 8.90167276e+02] [-4.32591515e-01 9.01145528e-01 -2.83075746e-02 -4.84615733e+02] [-6.61750928e-02 -4.23084884e-04 9.97807937e-01 -4.30153632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.22, Y:-484.64, Z:-43.02 [[ 8.96345434e-01 4.39303532e-01 5.98102746e-02 8.90224697e+02] [-4.38390509e-01 8.98338304e-01 -2.83205361e-02 -4.84640242e+02] [-6.61711721e-02 -8.35273501e-04 9.97807937e-01 -4.30214725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.28, Y:-484.67, Z:-43.02 [[ 8.94252061e-01 4.43549594e-01 5.98081075e-02 8.90282182e+02] [-4.42645727e-01 8.96249100e-01 -2.83251118e-02 -4.84666496e+02] [-6.61665543e-02 -1.14401361e-03 9.97807937e-01 -4.30213386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.34, Y:-484.69, Z:-43.02 [[ 8.93018508e-01 4.46029010e-01 5.98002229e-02 8.90338633e+02] [-4.45129573e-01 8.95017547e-01 -2.83417480e-02 -4.84692426e+02] [-6.61634906e-02 -1.30914218e-03 9.97807937e-01 -4.30236424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.40, Y:-484.72, Z:-43.03 [[ 8.92484151e-01 4.47098199e-01 5.97933142e-02 8.90395359e+02] [-4.46200182e-01 8.94483827e-01 -2.83563160e-02 -4.84718361e+02] [-6.61622104e-02 -1.37222504e-03 9.97807937e-01 -4.30272291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.45, Y:-484.75, Z:-43.03 [[ 8.92859493e-01 4.46349088e-01 5.97864354e-02 8.90451980e+02] [-4.45448422e-01 8.94857978e-01 -2.83708118e-02 -4.84745273e+02] [-6.61636547e-02 -1.30062467e-03 9.97807937e-01 -4.30298639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:890.51, Y:-484.77, Z:-43.03 [[ 8.93985381e-01 4.44090859e-01 5.97783210e-02 8.90507863e+02] [-4.43184003e-01 8.95981064e-01 -2.83878990e-02 -4.84772029e+02] [-6.61670501e-02 -1.11442884e-03 9.97807937e-01 -4.30347989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.56, Y:-484.80, Z:-43.04 [[ 8.95366571e-01 4.41300525e-01 5.97708224e-02 8.90564182e+02] [-4.40386395e-01 8.97358933e-01 -2.84036785e-02 -4.84798893e+02] [-6.61704396e-02 -8.90552784e-04 9.97807937e-01 -4.30407937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:890.62, Y:-484.83, Z:-43.05 [[ 8.97070986e-01 4.37825752e-01 5.97683607e-02 8.90620008e+02] [-4.36903560e-01 8.99059629e-01 -2.84088577e-02 -4.84826657e+02] [-6.61734497e-02 -6.28247532e-04 9.97807937e-01 -4.30465888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.68, Y:-484.86, Z:-43.05 [[ 8.99160184e-01 4.33519325e-01 5.97658678e-02 8.90675452e+02] [-4.32587259e-01 9.01144218e-01 -2.84141011e-02 -4.84856073e+02] [-6.61757282e-02 -3.05124571e-04 9.97807937e-01 -4.30499290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.73, Y:-484.89, Z:-43.06 [[ 9.01571425e-01 4.28483324e-01 5.97578990e-02 8.90729795e+02] [-4.27539065e-01 9.03549686e-01 -2.84308506e-02 -4.84885554e+02] [-6.61763762e-02 8.36062334e-05 9.97807938e-01 -4.30554605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.79, Y:-484.91, Z:-43.06 [[ 9.03403249e-01 4.24608503e-01 5.97510504e-02 8.90785883e+02] [-4.23654809e-01 9.05376978e-01 -2.84452366e-02 -4.84914679e+02] [-6.61753147e-02 3.83699320e-04 9.97807938e-01 -4.30583620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.84, Y:-484.94, Z:-43.06 [[ 9.04279724e-01 4.22739831e-01 5.97429257e-02 8.90840558e+02] [-4.21780931e-01 9.06250928e-01 -2.84622904e-02 -4.84942833e+02] [-6.61742257e-02 5.39445324e-04 9.97807938e-01 -4.30629262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.90, Y:-484.97, Z:-43.07 [[ 9.04791836e-01 4.21643700e-01 5.97354394e-02 8.90896033e+02] [-4.20681376e-01 9.06761371e-01 -2.84779937e-02 -4.84969577e+02] [-6.61733556e-02 6.37069402e-04 9.97807938e-01 -4.30664977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.95, Y:-485.00, Z:-43.07 [[ 9.05042140e-01 4.21107100e-01 5.97288447e-02 8.90952542e+02] [-4.20142695e-01 9.07010657e-01 -2.84918185e-02 -4.84997654e+02] [-6.61728058e-02 6.91658593e-04 9.97807938e-01 -4.30690536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.01, Y:-485.03, Z:-43.07 [[ 9.04869330e-01 4.21479436e-01 5.97208541e-02 8.91008245e+02] [-4.20514737e-01 9.06837702e-01 -2.85085576e-02 -4.85025598e+02] [-6.61728929e-02 6.83020138e-04 9.97807938e-01 -4.30728366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.06, Y:-485.05, Z:-43.08 [[ 9.03388782e-01 4.24644503e-01 5.97139445e-02 8.91064672e+02] [-4.23685744e-01 9.05360054e-01 -2.85230231e-02 -4.85052322e+02] [-6.61747650e-02 4.67432165e-04 9.97807938e-01 -4.30774368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.12, Y:-485.08, Z:-43.08 [[ 9.01787946e-01 4.28034677e-01 5.97060714e-02 8.91121685e+02] [-4.27082239e-01 9.03762280e-01 -2.85394942e-02 -4.85079226e+02] [-6.61759884e-02 2.37169190e-04 9.97807939e-01 -4.30810254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:891.18, Y:-485.11, Z:-43.08 [[ 8.99095583e-01 4.33662647e-01 5.96979259e-02 8.91177201e+02] [-4.32721436e-01 9.01075293e-01 -2.85565224e-02 -4.85105709e+02] [-6.61762232e-02 -1.57529028e-04 9.97807939e-01 -4.30839627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.23, Y:-485.13, Z:-43.09 [[ 8.96608646e-01 4.38782260e-01 5.96914098e-02 8.91233761e+02] [-4.37851447e-01 8.98593266e-01 -2.85701365e-02 -4.85130944e+02] [-6.61743680e-02 -5.19738776e-04 9.97807939e-01 -4.30867677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.29, Y:-485.16, Z:-43.09 [[ 8.94899845e-01 4.42257888e-01 5.96844067e-02 8.91290494e+02] [-4.41333807e-01 8.96887609e-01 -2.85847588e-02 -4.85157221e+02] [-6.61720399e-02 -7.60250237e-04 9.97807939e-01 -4.30913540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.35, Y:-485.19, Z:-43.10 [[ 8.94245901e-01 4.43579764e-01 5.96763104e-02 8.91347049e+02] [-4.42657494e-01 8.96234505e-01 -2.86016516e-02 -4.85185232e+02] [-6.61710824e-02 -8.39256341e-04 9.97807939e-01 -4.30952501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.40, Y:-485.21, Z:-43.10 [[ 8.94017223e-01 4.44041566e-01 5.96681893e-02 8.91404322e+02] [-4.43119193e-01 8.96005780e-01 -2.86185835e-02 -4.85211756e+02] [-6.61708832e-02 -8.54613335e-04 9.97807939e-01 -4.31007522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.46, Y:-485.24, Z:-43.11 [[ 8.94358647e-01 4.43354571e-01 5.96601632e-02 8.91459716e+02] [-4.42429556e-01 8.96345975e-01 -2.86353056e-02 -4.85240838e+02] [-6.61717408e-02 -7.85186297e-04 9.97807940e-01 -4.31065906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.52, Y:-485.27, Z:-43.11 [[ 8.94013151e-01 4.44051914e-01 5.96521923e-02 8.91515774e+02] [-4.43127341e-01 8.96000685e-01 -2.86519006e-02 -4.85269713e+02] [-6.61713365e-02 -8.18341442e-04 9.97807940e-01 -4.31118089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.57, Y:-485.30, Z:-43.12 [[ 8.93649290e-01 4.44784794e-01 5.96442227e-02 8.91571968e+02] [-4.43860744e-01 8.95637068e-01 -2.86684813e-02 -4.85297415e+02] [-6.61708813e-02 -8.54161084e-04 9.97807940e-01 -4.31165474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.63, Y:-485.33, Z:-43.12 [[ 8.93015283e-01 4.46057416e-01 5.96362762e-02 8.91627403e+02] [-4.45135096e-01 8.95003864e-01 -2.86850022e-02 -4.85325830e+02] [-6.61698556e-02 -9.30054167e-04 9.97807940e-01 -4.31212161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.68, Y:-485.35, Z:-43.13 [[ 8.92277746e-01 4.47531864e-01 5.96293054e-02 8.91681665e+02] [-4.46611863e-01 8.94267401e-01 -2.86994855e-02 -4.85354332e+02] [-6.61684782e-02 -1.02324295e-03 9.97807940e-01 -4.31252804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.74, Y:-485.38, Z:-43.13 [[ 8.91204083e-01 4.49666643e-01 5.96254370e-02 8.91737003e+02] [-4.48750870e-01 8.93195687e-01 -2.87075202e-02 -4.85382994e+02] [-6.61659974e-02 -1.17270753e-03 9.97807940e-01 -4.31278418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.79, Y:-485.41, Z:-43.13 [[ 8.90014554e-01 4.52017376e-01 5.96186755e-02 8.91793651e+02] [-4.51105923e-01 8.92008138e-01 -2.87215554e-02 -4.85411031e+02] [-6.61629858e-02 -1.33173535e-03 9.97807940e-01 -4.31305225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.85, Y:-485.44, Z:-43.13 [[ 8.89488352e-01 4.53053036e-01 5.96105623e-02 8.91849370e+02] [-4.52142777e-01 8.91482482e-01 -2.87383842e-02 -4.85438859e+02] [-6.61617842e-02 -1.39002721e-03 9.97807941e-01 -4.31348224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.91, Y:-485.47, Z:-43.14 [[ 8.89447644e-01 4.53134004e-01 5.96025454e-02 8.91905607e+02] [-4.52222813e-01 8.91441348e-01 -2.87550013e-02 -4.85467621e+02] [-6.61620423e-02 -1.37756260e-03 9.97807941e-01 -4.31381680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.96, Y:-485.49, Z:-43.14 [[ 8.90049986e-01 4.51950782e-01 5.95945683e-02 8.91962164e+02] [-4.51035835e-01 8.92041969e-01 -2.87715245e-02 -4.85494632e+02] [-6.61641690e-02 -1.27119095e-03 9.97807941e-01 -4.31418656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.02, Y:-485.52, Z:-43.15 [[ 8.90970167e-01 4.50135104e-01 5.95864934e-02 8.92016603e+02] [-4.49214980e-01 8.92959763e-01 -2.87882382e-02 -4.85520974e+02] [-6.61669376e-02 -1.11768406e-03 9.97807941e-01 -4.31480483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.07, Y:-485.55, Z:-43.15 [[ 8.91519760e-01 4.49046146e-01 5.95825192e-02 8.92072630e+02] [-4.48123042e-01 8.93507976e-01 -2.87964611e-02 -4.85548548e+02] [-6.61683960e-02 -1.02768566e-03 9.97807941e-01 -4.31531416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.13, Y:-485.58, Z:-43.16 [[ 8.92494308e-01 4.47106403e-01 5.95799889e-02 8.92129421e+02] [-4.46178629e-01 8.94480348e-01 -2.88016952e-02 -4.85576366e+02] [-6.61705516e-02 -8.77968767e-04 9.97807941e-01 -4.31570962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:892.19, Y:-485.60, Z:-43.16 [[ 8.92902032e-01 4.46292662e-01 5.95719824e-02 8.92185913e+02] [-4.45361974e-01 8.94886708e-01 -2.88182460e-02 -4.85603045e+02] [-6.61715470e-02 -7.99225315e-04 9.97807941e-01 -4.31592404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.24, Y:-485.63, Z:-43.16 [[ 8.92624439e-01 4.46848551e-01 5.95649514e-02 8.92241665e+02] [-4.45918130e-01 8.94609240e-01 -2.88327712e-02 -4.85629077e+02] [-6.61712380e-02 -8.24255494e-04 9.97807941e-01 -4.31635744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.30, Y:-485.66, Z:-43.17 [[ 8.92266013e-01 4.47564815e-01 5.95575151e-02 8.92297776e+02] [-4.46634962e-01 8.94251081e-01 -2.88481237e-02 -4.85655861e+02] [-6.61707774e-02 -8.60268210e-04 9.97807942e-01 -4.31681616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.35, Y:-485.68, Z:-43.17 [[ 8.91905182e-01 4.48284394e-01 5.95503884e-02 8.92354024e+02] [-4.47355161e-01 8.93890540e-01 -2.88628276e-02 -4.85683656e+02] [-6.61702840e-02 -8.97268105e-04 9.97807942e-01 -4.31725880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.41, Y:-485.71, Z:-43.17 [[ 8.92279590e-01 4.47539770e-01 5.95423242e-02 8.92410620e+02] [-4.46607771e-01 8.94263650e-01 -2.88794541e-02 -4.85711016e+02] [-6.61712404e-02 -8.23517218e-04 9.97807942e-01 -4.31748805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.47, Y:-485.74, Z:-43.18 [[ 8.93463467e-01 4.45172678e-01 5.95341943e-02 8.92466571e+02] [-4.44234307e-01 8.95444521e-01 -2.88962039e-02 -4.85738170e+02] [-6.61733686e-02 -6.29429038e-04 9.97807942e-01 -4.31787430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.52, Y:-485.77, Z:-43.18 [[ 8.95128740e-01 4.41815700e-01 5.95266908e-02 8.92521444e+02] [-4.40868871e-01 8.97105766e-01 -2.89116531e-02 -4.85765840e+02] [-6.61753598e-02 -3.63813317e-04 9.97807942e-01 -4.31838579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.58, Y:-485.79, Z:-43.19 [[ 8.98459215e-01 4.35004010e-01 5.95193273e-02 8.92577249e+02] [-4.34041188e-01 9.00428502e-01 -2.89268042e-02 -4.85794910e+02] [-6.61761745e-02 1.55714248e-04 9.97807942e-01 -4.31872353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:892.63, Y:-485.82, Z:-43.19 [[ 9.00758771e-01 4.30223217e-01 5.95115073e-02 8.92632657e+02] [-4.29248881e-01 9.02722387e-01 -2.89428834e-02 -4.85822107e+02] [-6.61742703e-02 5.25308131e-04 9.97807942e-01 -4.31891120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:892.69, Y:-485.85, Z:-43.19 [[ 9.02225851e-01 4.27139020e-01 5.95043828e-02 8.92689505e+02] [-4.26157006e-01 9.04185638e-01 -2.89575234e-02 -4.85848436e+02] [-6.61718965e-02 7.68016543e-04 9.97807943e-01 -4.31937611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:892.75, Y:-485.87, Z:-43.20 [[ 9.03525258e-01 4.24384610e-01 5.94963136e-02 8.92745036e+02] [-4.23395532e-01 9.05481488e-01 -2.89740930e-02 -4.85874998e+02] [-6.61689698e-02 9.88351494e-04 9.97807943e-01 -4.31990270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.80, Y:-485.90, Z:-43.21 [[ 9.03188268e-01 4.25102321e-01 5.94892415e-02 8.92800535e+02] [-4.24113841e-01 9.05144801e-01 -2.89886062e-02 -4.85900483e+02] [-6.61695014e-02 9.51958299e-04 9.97807943e-01 -4.32050653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.86, Y:-485.92, Z:-43.21 [[ 9.01522013e-01 4.28625203e-01 5.94852471e-02 8.92857621e+02] [-4.27643829e-01 9.03482120e-01 -2.89968004e-02 -4.85924252e+02] [-6.61726166e-02 7.02755019e-04 9.97807943e-01 -4.32096501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.91, Y:-485.95, Z:-43.22 [[ 9.00920296e-01 4.29889490e-01 5.94781284e-02 8.92914726e+02] [-4.28909902e-01 9.02881296e-01 -2.90113948e-02 -4.85947542e+02] [-6.61733834e-02 6.26196135e-04 9.97807943e-01 -4.32201094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.97, Y:-485.97, Z:-43.22 [[ 8.99610021e-01 4.32625120e-01 5.94753292e-02 8.92971036e+02] [-4.31651117e-01 9.01573801e-01 -2.90171323e-02 -4.85974585e+02] [-6.61749390e-02 4.31510669e-04 9.97807943e-01 -4.32226359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters Centerline goodness : 0.996728 with order 1 Centerline is valid? [True, True] Translation: X:893.03, Y:-486.00, Z:-43.23 [[ 8.96792050e-01 4.38437764e-01 5.94671818e-02 8.93027017e+02] [-4.37475383e-01 8.98761552e-01 -2.90338199e-02 -4.86001170e+02] [-6.61763397e-02 2.18707677e-05 9.97807943e-01 -4.32256479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.08, Y:-486.03, Z:-43.22 [[ 8.93199723e-01 4.45710991e-01 5.94639998e-02 8.93083621e+02] [-4.44764213e-01 8.95176772e-01 -2.90403354e-02 -4.86026613e+02] [-6.61743881e-02 -5.08639584e-04 9.97807943e-01 -4.32214688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.14, Y:-486.05, Z:-43.22 [[ 8.91071564e-01 4.49951728e-01 5.94551047e-02 8.93140375e+02] [-4.49013144e-01 8.93052517e-01 -2.90585354e-02 -4.86052001e+02] [-6.61714691e-02 -8.02888911e-04 9.97807944e-01 -4.32240866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:893.20, Y:-486.08, Z:-43.23 [[ 8.89404833e-01 4.53238315e-01 5.94480649e-02 8.93198062e+02] [-4.52306089e-01 8.91388786e-01 -2.90729301e-02 -4.86078129e+02] [-6.61683043e-02 -1.03111715e-03 9.97807944e-01 -4.32277269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.25, Y:-486.10, Z:-43.23 [[ 8.87381734e-01 4.57187684e-01 5.94397199e-02 8.93254506e+02] [-4.56263145e-01 8.89369280e-01 -2.90899817e-02 -4.86103942e+02] [-6.61634422e-02 -1.30623509e-03 9.97807944e-01 -4.32333822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.31, Y:-486.13, Z:-43.24 [[ 8.86076371e-01 4.59713450e-01 5.94323821e-02 8.93310443e+02] [-4.58793572e-01 8.88066078e-01 -2.91049654e-02 -4.86130910e+02] [-6.61598266e-02 -1.47797282e-03 9.97807944e-01 -4.32385908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:893.36, Y:-486.16, Z:-43.24 [[ 8.85847280e-01 4.60155691e-01 5.94250524e-02 8.93364695e+02] [-4.59235803e-01 8.87836982e-01 -2.91199232e-02 -4.86159203e+02] [-6.61594576e-02 -1.49430689e-03 9.97807944e-01 -4.32438553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.42, Y:-486.19, Z:-43.25 [[ 8.89108018e-01 4.53824186e-01 5.94183541e-02 8.93419129e+02] [-4.52889214e-01 8.91090677e-01 -2.91335846e-02 -4.86191789e+02] [-6.61686666e-02 -1.00702802e-03 9.97807944e-01 -4.32472593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.47, Y:-486.22, Z:-43.25 [[ 8.91579061e-01 4.48951237e-01 5.94101447e-02 8.93474479e+02] [-4.48004313e-01 8.93556039e-01 -2.91503159e-02 -4.86222418e+02] [-6.61733639e-02 -6.26189804e-04 9.97807944e-01 -4.32510245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.53, Y:-486.25, Z:-43.25 [[ 8.93898998e-01 4.44315178e-01 5.94020472e-02 8.93529508e+02] [-4.43356905e-01 8.95870500e-01 -2.91668074e-02 -4.86252456e+02] [-6.61757970e-02 -2.64127841e-04 9.97807945e-01 -4.32542681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.58, Y:-486.28, Z:-43.26 [[ 8.95869034e-01 4.40330611e-01 5.93938345e-02 8.93584565e+02] [-4.39362460e-01 8.97835704e-01 -2.91835218e-02 -4.86281797e+02] [-6.61763032e-02 4.91922605e-05 9.97807945e-01 -4.32588722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:893.64, Y:-486.31, Z:-43.26 [[ 8.97982116e-01 4.36006251e-01 5.93857521e-02 8.93638356e+02] [-4.35027543e-01 8.99943553e-01 -2.91999595e-02 -4.86311987e+02] [-6.61751897e-02 3.86603654e-04 9.97807945e-01 -4.32610729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:893.69, Y:-486.34, Z:-43.27 [[ 8.99027003e-01 4.33848558e-01 5.93790954e-02 8.93693808e+02] [-4.32864249e-01 9.00985635e-01 -2.92134898e-02 -4.86341171e+02] [-6.61739424e-02 5.60628688e-04 9.97807945e-01 -4.32655983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:893.75, Y:-486.37, Z:-43.27 [[ 8.99748539e-01 4.32351339e-01 5.93707628e-02 8.93748221e+02] [-4.31362653e-01 9.01704965e-01 -2.92304144e-02 -4.86370293e+02] [-6.61727204e-02 6.89692908e-04 9.97807945e-01 -4.32726841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.80, Y:-486.40, Z:-43.28 [[ 8.99782698e-01 4.32280601e-01 5.93681607e-02 8.93802027e+02] [-4.31291414e-01 9.01738871e-01 -2.92356986e-02 -4.86398877e+02] [-6.61726035e-02 7.00797775e-04 9.97807945e-01 -4.32759159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:893.86, Y:-486.43, Z:-43.28 [[ 8.97547997e-01 4.36902526e-01 5.93613993e-02 8.93855265e+02] [-4.35922504e-01 8.99508778e-01 -2.92494208e-02 -4.86427689e+02] [-6.61752455e-02 3.75789263e-04 9.97807945e-01 -4.32809651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.91, Y:-486.45, Z:-43.28 [[ 8.97826888e-01 4.36329664e-01 5.93574129e-02 8.93911777e+02] [-4.35347857e-01 8.99786776e-01 -2.92575083e-02 -4.86454840e+02] [-6.61749339e-02 4.27055164e-04 9.97807945e-01 -4.32818084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.97, Y:-486.48, Z:-43.29 [[ 8.94936784e-01 4.42227548e-01 5.93544307e-02 8.93966457e+02] [-4.41258256e-01 8.96902891e-01 -2.92635571e-02 -4.86481525e+02] [-6.61763116e-02 -1.59889322e-06 9.97807945e-01 -4.32850718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.02, Y:-486.51, Z:-43.29 [[ 8.91301025e-01 4.49511207e-01 5.93477759e-02 8.94023620e+02] [-4.48557083e-01 8.93274537e-01 -2.92770470e-02 -4.86506579e+02] [-6.61742178e-02 -5.26203251e-04 9.97807945e-01 -4.32887525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:894.08, Y:-486.53, Z:-43.29 [[ 8.88241815e-01 4.55527094e-01 5.93426100e-02 8.94081141e+02] [-4.54585636e-01 8.90221400e-01 -2.92875142e-02 -4.86531394e+02] [-6.61693176e-02 -9.61903394e-04 9.97807946e-01 -4.32927582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:894.14, Y:-486.56, Z:-43.30 [[ 8.87035683e-01 4.57872412e-01 5.93342378e-02 8.94137680e+02] [-4.56935054e-01 8.89017213e-01 -2.93044660e-02 -4.86557244e+02] [-6.61668652e-02 -1.11778612e-03 9.97807946e-01 -4.32970802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.19, Y:-486.58, Z:-43.30 [[ 8.86556987e-01 4.58799271e-01 5.93290740e-02 8.94194387e+02] [-4.57863285e-01 8.88539165e-01 -2.93149167e-02 -4.86583610e+02] [-6.61658683e-02 -1.17526049e-03 9.97807946e-01 -4.33007756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.25, Y:-486.61, Z:-43.31 [[ 8.86541452e-01 4.58830357e-01 5.93207974e-02 8.94250727e+02] [-4.57893321e-01 8.88523135e-01 -2.93316554e-02 -4.86610482e+02] [-6.61661548e-02 -1.15886852e-03 9.97807946e-01 -4.33058653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.31, Y:-486.64, Z:-43.31 [[ 8.87292382e-01 4.57377018e-01 5.93168885e-02 8.94305038e+02] [-4.56436208e-01 8.89272275e-01 -2.93395582e-02 -4.86636729e+02] [-6.61681040e-02 -1.04160919e-03 9.97807946e-01 -4.33128798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:894.36, Y:-486.66, Z:-43.32 [[ 8.89744617e-01 4.52589004e-01 5.93102809e-02 8.94361027e+02] [-4.51636649e-01 8.91718983e-01 -2.93529095e-02 -4.86661848e+02] [-6.61729074e-02 -6.70103267e-04 9.97807946e-01 -4.33237373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:894.41, Y:-486.69, Z:-43.32 [[ 8.89351670e-01 4.53361060e-01 5.93072996e-02 8.94414230e+02] [-4.52410017e-01 8.91326668e-01 -2.93589319e-02 -4.86693297e+02] [-6.61723743e-02 -7.20801321e-04 9.97807946e-01 -4.33230632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.47, Y:-486.72, Z:-43.32 [[ 8.90404480e-01 4.51290920e-01 5.92989628e-02 8.94468976e+02] [-4.50334164e-01 8.92376717e-01 -2.93757610e-02 -4.86722977e+02] [-6.61740279e-02 -5.48039639e-04 9.97807946e-01 -4.33244518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:894.52, Y:-486.75, Z:-43.33 [[ 8.90730932e-01 4.50647175e-01 5.92919052e-02 8.94524134e+02] [-4.49688046e-01 8.92702016e-01 -2.93899991e-02 -4.86752460e+02] [-6.61745234e-02 -4.84279737e-04 9.97807946e-01 -4.33268062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.58, Y:-486.78, Z:-43.33 [[ 8.90121997e-01 4.51849679e-01 5.92848886e-02 8.94579868e+02] [-4.50892271e-01 8.92093917e-01 -2.94041460e-02 -4.86781050e+02] [-6.61739424e-02 -5.57820865e-04 9.97807947e-01 -4.33299387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.64, Y:-486.81, Z:-43.33 [[ 8.88794386e-01 4.54456609e-01 5.92767187e-02 8.94635841e+02] [-4.53503887e-01 8.90768574e-01 -2.94206068e-02 -4.86810260e+02] [-6.61722274e-02 -7.33352188e-04 9.97807947e-01 -4.33336187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:894.69, Y:-486.84, Z:-43.34 [[ 8.86519364e-01 4.58879783e-01 5.92685599e-02 8.94690904e+02] [-4.57935812e-01 8.88497751e-01 -2.94370337e-02 -4.86837578e+02] [-6.61680418e-02 -1.04469571e-03 9.97807947e-01 -4.33389445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.75, Y:-486.86, Z:-43.34 [[ 8.83609001e-01 4.64460141e-01 5.92613780e-02 8.94746367e+02] [-4.63527694e-01 8.85592845e-01 -2.94514850e-02 -4.86864157e+02] [-6.61604932e-02 -1.44569266e-03 9.97807947e-01 -4.33442492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.80, Y:-486.89, Z:-43.35 [[ 8.83289301e-01 4.65068769e-01 5.92541203e-02 8.94802705e+02] [-4.64136710e-01 8.85273328e-01 -2.94660797e-02 -4.86889292e+02] [-6.61598457e-02 -1.47493944e-03 9.97807947e-01 -4.33533300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.86, Y:-486.92, Z:-43.35 [[ 8.82104271e-01 4.67312894e-01 5.92512730e-02 8.94855520e+02] [-4.66385498e-01 8.84090482e-01 -2.94718040e-02 -4.86920098e+02] [-6.61560405e-02 -1.63673030e-03 9.97807947e-01 -4.33514055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.91, Y:-486.95, Z:-43.35 [[ 8.83002051e-01 4.65615229e-01 5.92438751e-02 8.94910408e+02] [-4.64683017e-01 8.84986005e-01 -2.94866677e-02 -4.86949446e+02] [-6.61594419e-02 -1.49283460e-03 9.97807947e-01 -4.33529304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.97, Y:-486.98, Z:-43.36 [[ 8.84117139e-01 4.63495324e-01 5.92365580e-02 8.94965862e+02] [-4.62557371e-01 8.86098385e-01 -2.95013599e-02 -4.86977408e+02] [-6.61631608e-02 -1.31764860e-03 9.97807947e-01 -4.33562244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:895.02, Y:-487.00, Z:-43.37 [[ 8.86998792e-01 4.57957453e-01 5.92293365e-02 8.95023377e+02] [-4.57006161e-01 8.88973669e-01 -2.95158514e-02 -4.86999786e+02] [-6.61703246e-02 -8.87647115e-04 9.97807948e-01 -4.33676239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:895.08, Y:-487.03, Z:-43.37 [[ 8.84627429e-01 4.62522540e-01 5.92217205e-02 8.95076043e+02] [-4.61580416e-01 8.86606695e-01 -2.95311245e-02 -4.87031436e+02] [-6.61651846e-02 -1.21154369e-03 9.97807948e-01 -4.33659764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.13, Y:-487.06, Z:-43.37 [[ 8.83677702e-01 4.64335379e-01 5.92146496e-02 8.95131388e+02] [-4.63396366e-01 8.85658446e-01 -2.95452960e-02 -4.87057074e+02] [-6.61628808e-02 -1.33133413e-03 9.97807948e-01 -4.33712550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:895.19, Y:-487.08, Z:-43.38 [[ 8.83165521e-01 4.65309635e-01 5.92081598e-02 8.95187532e+02] [-4.64371936e-01 8.85146887e-01 -2.95582957e-02 -4.87083956e+02] [-6.61616781e-02 -1.38974024e-03 9.97807948e-01 -4.33794169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.24, Y:-487.11, Z:-43.38 [[ 8.81771817e-01 4.67945717e-01 5.92053082e-02 8.95244276e+02] [-4.67013558e-01 8.83755796e-01 -2.95640064e-02 -4.87111214e+02] [-6.61573844e-02 -1.58097398e-03 9.97807948e-01 -4.33787679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.30, Y:-487.14, Z:-43.38 [[ 8.80696377e-01 4.69967812e-01 5.91958353e-02 8.95300760e+02] [-4.69038934e-01 8.82681894e-01 -2.95829618e-02 -4.87138604e+02] [-6.61541318e-02 -1.71154424e-03 9.97807948e-01 -4.33831934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:895.36, Y:-487.17, Z:-43.39 [[ 8.80222855e-01 4.70855105e-01 5.91878014e-02 8.95357395e+02] [-4.69927150e-01 8.82208803e-01 -2.95990269e-02 -4.87166559e+02] [-6.61528523e-02 -1.76021485e-03 9.97807948e-01 -4.33872674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:895.41, Y:-487.19, Z:-43.39 [[ 8.80435927e-01 4.70457590e-01 5.91796809e-02 8.95413247e+02] [-4.69527648e-01 8.82420945e-01 -2.96152538e-02 -4.87194503e+02] [-6.61541109e-02 -1.71216294e-03 9.97807949e-01 -4.33907538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.47, Y:-487.22, Z:-43.39 [[ 8.81564273e-01 4.68340871e-01 5.91714633e-02 8.95469879e+02] [-4.67405061e-01 8.83546531e-01 -2.96316636e-02 -4.87222806e+02] [-6.61584603e-02 -1.53482543e-03 9.97807949e-01 -4.33937736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.53, Y:-487.25, Z:-43.40 [[ 8.84443523e-01 4.62881616e-01 5.91630293e-02 8.95525415e+02] [-4.61932444e-01 8.86419418e-01 -2.96484936e-02 -4.87251293e+02] [-6.61670006e-02 -1.10690456e-03 9.97807949e-01 -4.33965765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.58, Y:-487.28, Z:-43.40 [[ 8.88899021e-01 4.54267831e-01 5.91546091e-02 8.95581408e+02] [-4.53298392e-01 8.90865051e-01 -2.96652840e-02 -4.87279802e+02] [-6.61747581e-02 -4.45247245e-04 9.97807949e-01 -4.34005122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.64, Y:-487.31, Z:-43.40 [[ 8.91869406e-01 4.48409062e-01 5.91462245e-02 8.95636757e+02] [-4.47425599e-01 8.93828458e-01 -2.96819918e-02 -4.87308495e+02] [-6.61762527e-02 8.92553467e-06 9.97807949e-01 -4.34041346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.69, Y:-487.34, Z:-43.41 [[ 8.95687536e-01 4.40734103e-01 5.91378780e-02 8.95692397e+02] [-4.39732757e-01 8.97637508e-01 -2.96986119e-02 -4.87337023e+02] [-6.61735685e-02 5.95814412e-04 9.97807949e-01 -4.34086054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.75, Y:-487.37, Z:-43.41 [[ 8.97668246e-01 4.36686858e-01 5.91295984e-02 8.95748913e+02] [-4.35675635e-01 8.99613114e-01 -2.97150874e-02 -4.87365164e+02] [-6.61699503e-02 9.12965045e-04 9.97807950e-01 -4.34127048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:895.81, Y:-487.39, Z:-43.42 [[ 8.97444672e-01 4.37147256e-01 5.91213837e-02 8.95805634e+02] [-4.36135955e-01 8.99389499e-01 -2.97314225e-02 -4.87390833e+02] [-6.61701614e-02 8.97345549e-04 9.97807950e-01 -4.34182003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.86, Y:-487.41, Z:-43.43 [[ 8.97642079e-01 4.36742740e-01 5.91141058e-02 8.95863440e+02] [-4.35729610e-01 8.99585954e-01 -2.97458858e-02 -4.87413867e+02] [-6.61695190e-02 9.43392452e-04 9.97807950e-01 -4.34253044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.92, Y:-487.44, Z:-43.43 [[ 8.95256774e-01 4.41612626e-01 5.91066573e-02 8.95917969e+02] [-4.40609094e-01 8.97205622e-01 -2.97606790e-02 -4.87443004e+02] [-6.61735169e-02 6.00518743e-04 9.97807950e-01 -4.34266023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.97, Y:-487.47, Z:-43.43 [[ 8.93851019e-01 4.44452057e-01 5.90992756e-02 8.95973608e+02] [-4.43453748e-01 8.95802547e-01 -2.97753306e-02 -4.87467495e+02] [-6.61749886e-02 4.06914415e-04 9.97807950e-01 -4.34294436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.03, Y:-487.49, Z:-43.43 [[ 8.92522543e-01 4.47114735e-01 5.90925045e-02 8.96028869e+02] [-4.46121358e-01 8.94476586e-01 -2.97887625e-02 -4.87492935e+02] [-6.61758564e-02 2.24713676e-04 9.97807950e-01 -4.34329282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.09, Y:-487.52, Z:-43.44 [[ 8.90128006e-01 4.51863908e-01 5.90858806e-02 8.96086394e+02] [-4.50880086e-01 8.92086877e-01 -2.98018953e-02 -4.87517258e+02] [-6.61761396e-02 -1.13145251e-04 9.97807950e-01 -4.34350721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.14, Y:-487.54, Z:-43.44 [[ 8.89728349e-01 4.52651284e-01 5.90785887e-02 8.96144390e+02] [-4.51668235e-01 8.91687608e-01 -2.98163435e-02 -4.87540555e+02] [-6.61760517e-02 -1.55475825e-04 9.97807950e-01 -4.34405506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.20, Y:-487.57, Z:-43.44 [[ 8.87830235e-01 4.56363375e-01 5.90757495e-02 8.96199951e+02] [-4.55388144e-01 8.89793397e-01 -2.98219680e-02 -4.87568253e+02] [-6.61748657e-02 -4.25551088e-04 9.97807951e-01 -4.34446417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.26, Y:-487.59, Z:-43.45 [[ 8.86530221e-01 4.58884768e-01 5.90672219e-02 8.96256904e+02] [-4.57913995e-01 8.88495592e-01 -2.98388487e-02 -4.87593351e+02] [-6.61735594e-02 -5.94666358e-04 9.97807951e-01 -4.34450999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.31, Y:-487.62, Z:-43.45 [[ 8.86422895e-01 4.59092423e-01 5.90643597e-02 8.96312592e+02] [-4.58121734e-01 8.88388306e-01 -2.98445132e-02 -4.87618069e+02] [-6.61734763e-02 -6.03807089e-04 9.97807951e-01 -4.34533621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.37, Y:-487.64, Z:-43.46 [[ 8.86546498e-01 4.58854647e-01 5.90569230e-02 8.96370049e+02] [-4.57882450e-01 8.88511164e-01 -2.98592218e-02 -4.87643752e+02] [-6.61737781e-02 -5.69540072e-04 9.97807951e-01 -4.34570475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.43, Y:-487.67, Z:-43.46 [[ 8.87087068e-01 4.57809785e-01 5.90485765e-02 8.96426693e+02] [-4.56834176e-01 8.89050042e-01 -2.98757185e-02 -4.87670327e+02] [-6.61745357e-02 -4.73044271e-04 9.97807951e-01 -4.34606210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.48, Y:-487.70, Z:-43.46 [[ 8.88249494e-01 4.55551408e-01 5.90402516e-02 8.96483352e+02] [-4.54569715e-01 8.90209432e-01 -2.98921611e-02 -4.87697017e+02] [-6.61756049e-02 -2.86213444e-04 9.97807951e-01 -4.34643249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.54, Y:-487.72, Z:-43.47 [[ 8.89217826e-01 4.53659457e-01 5.90318173e-02 8.96538380e+02] [-4.52672489e-01 8.91175112e-01 -2.99088082e-02 -4.87723529e+02] [-6.61761001e-02 -1.26634276e-04 9.97807951e-01 -4.34703038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.59, Y:-487.75, Z:-43.48 [[ 8.89714037e-01 4.52686396e-01 5.90250802e-02 8.96593125e+02] [-4.51696405e-01 8.91669796e-01 -2.99220980e-02 -4.87749124e+02] [-6.61762079e-02 -3.93059424e-05 9.97807951e-01 -4.34766078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.65, Y:-487.78, Z:-43.48 [[ 8.89592296e-01 4.52926445e-01 5.90184907e-02 8.96648515e+02] [-4.51936120e-01 8.91547886e-01 -2.99350894e-02 -4.87776762e+02] [-6.61762043e-02 -4.25628179e-05 9.97807952e-01 -4.34772189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.70, Y:-487.80, Z:-43.48 [[ 8.89017813e-01 4.54053991e-01 5.90110271e-02 8.96703279e+02] [-4.53065170e-01 8.90974164e-01 -2.99497952e-02 -4.87803357e+02] [-6.61761246e-02 -1.09939568e-04 9.97807952e-01 -4.34801258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.76, Y:-487.83, Z:-43.48 [[ 8.88260256e-01 4.55535093e-01 5.90042073e-02 8.96759856e+02] [-4.54548642e-01 8.90217803e-01 -2.99632249e-02 -4.87831481e+02] [-6.61758963e-02 -2.05140452e-04 9.97807952e-01 -4.34828977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.82, Y:-487.86, Z:-43.49 [[ 8.87195311e-01 4.57606799e-01 5.89957499e-02 8.96816204e+02] [-4.56623812e-01 8.89154599e-01 -2.99798679e-02 -4.87859893e+02] [-6.61753337e-02 -3.40866024e-04 9.97807952e-01 -4.34869289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.87, Y:-487.89, Z:-43.49 [[ 8.85703043e-01 4.60489535e-01 5.89873473e-02 8.96872781e+02] [-4.59511825e-01 8.87664970e-01 -2.99963914e-02 -4.87887543e+02] [-6.61740262e-02 -5.37488419e-04 9.97807952e-01 -4.34915580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.93, Y:-487.92, Z:-43.50 [[ 8.84043648e-01 4.63668351e-01 5.89787212e-02 8.96928505e+02] [-4.62696565e-01 8.86008515e-01 -3.00133424e-02 -4.87915274e+02] [-6.61718862e-02 -7.56146982e-04 9.97807952e-01 -4.34963283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.98, Y:-487.94, Z:-43.50 [[ 8.83509410e-01 4.64686532e-01 5.89707508e-02 8.96984751e+02] [-4.63715966e-01 8.85474880e-01 -3.00289947e-02 -4.87944082e+02] [-6.61711879e-02 -8.14779235e-04 9.97807953e-01 -4.35004261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:897.04, Y:-487.97, Z:-43.51 [[ 8.83265860e-01 4.65150381e-01 5.89622205e-02 8.97038163e+02] [-4.64179729e-01 8.85231288e-01 -3.00457347e-02 -4.87973282e+02] [-6.61709873e-02 -8.30695886e-04 9.97807953e-01 -4.35055540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.09, Y:-488.00, Z:-43.51 [[ 8.82923587e-01 4.65800601e-01 5.89553971e-02 8.97093544e+02] [-4.64830503e-01 8.84889288e-01 -3.00591175e-02 -4.88004020e+02] [-6.61705544e-02 -8.64363039e-04 9.97807953e-01 -4.35084486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.15, Y:-488.03, Z:-43.51 [[ 8.82638419e-01 4.66341807e-01 5.89469333e-02 8.97148756e+02] [-4.65371807e-01 8.84604168e-01 -3.00757062e-02 -4.88034126e+02] [-6.61702621e-02 -8.86267131e-04 9.97807953e-01 -4.35124760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.20, Y:-488.06, Z:-43.52 [[ 8.81664508e-01 4.68181530e-01 5.89385325e-02 8.97203446e+02] [-4.67214532e-01 8.83631735e-01 -3.00921601e-02 -4.88064788e+02] [-6.61685513e-02 -1.00574937e-03 9.97807953e-01 -4.35165470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.26, Y:-488.10, Z:-43.52 [[ 8.80518274e-01 4.70334791e-01 5.89300728e-02 8.97257392e+02] [-4.69371495e-01 8.82487317e-01 -3.01087177e-02 -4.88095376e+02] [-6.61662193e-02 -1.14882027e-03 9.97807953e-01 -4.35214316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.31, Y:-488.13, Z:-43.53 [[ 8.79957606e-01 4.71383844e-01 5.89226879e-02 8.97311141e+02] [-4.70421929e-01 8.81927324e-01 -3.01231631e-02 -4.88127269e+02] [-6.61651008e-02 -1.21141803e-03 9.97807953e-01 -4.35254321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.37, Y:-488.16, Z:-43.53 [[ 8.80080718e-01 4.71155015e-01 5.89141926e-02 8.97365816e+02] [-4.70191477e-01 8.82049641e-01 -3.01397688e-02 -4.88158656e+02] [-6.61657457e-02 -1.17552184e-03 9.97807954e-01 -4.35288583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.42, Y:-488.19, Z:-43.53 [[ 8.80352430e-01 4.70648193e-01 5.89056625e-02 8.97419869e+02] [-4.69682406e-01 8.82320252e-01 -3.01564311e-02 -4.88190252e+02] [-6.61667288e-02 -1.11866585e-03 9.97807954e-01 -4.35319930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.47, Y:-488.22, Z:-43.54 [[ 8.80181982e-01 4.70967951e-01 5.88970960e-02 8.97474584e+02] [-4.70001761e-01 8.82149605e-01 -3.01731526e-02 -4.88222005e+02] [-6.61666379e-02 -1.12387362e-03 9.97807954e-01 -4.35359028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.53, Y:-488.25, Z:-43.54 [[ 8.80339991e-01 4.70673602e-01 5.88885480e-02 8.97527920e+02] [-4.69705639e-01 8.82306742e-01 -3.01898265e-02 -4.88252203e+02] [-6.61673173e-02 -1.08297149e-03 9.97807954e-01 -4.35409397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.58, Y:-488.29, Z:-43.54 [[ 8.81409359e-01 4.68668976e-01 5.88806585e-02 8.97581084e+02] [-4.67695512e-01 8.83373394e-01 -3.02052059e-02 -4.88285184e+02] [-6.61698501e-02 -9.15068530e-04 9.97807954e-01 -4.35446147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.63, Y:-488.32, Z:-43.55 [[ 8.83225998e-01 4.65237472e-01 5.88721650e-02 8.97633806e+02] [-4.64255274e-01 8.85185679e-01 -3.02217513e-02 -4.88317823e+02] [-6.61730885e-02 -6.39076613e-04 9.97807954e-01 -4.35475084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.69, Y:-488.35, Z:-43.55 [[ 8.84615961e-01 4.62590044e-01 5.88646992e-02 8.97688460e+02] [-4.61601014e-01 8.86572203e-01 -3.02362859e-02 -4.88349358e+02] [-6.61748109e-02 -4.24503693e-04 9.97807955e-01 -4.35514907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.74, Y:-488.38, Z:-43.56 [[ 8.87002550e-01 4.57998292e-01 5.88561070e-02 8.97740950e+02] [-4.56998025e-01 8.88953070e-01 -3.02530018e-02 -4.88381942e+02] [-6.61761401e-02 -6.26349417e-05 9.97807955e-01 -4.35568762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.79, Y:-488.41, Z:-43.56 [[ 8.89063801e-01 4.53985078e-01 5.88481762e-02 8.97794786e+02] [-4.52974986e-01 8.91009251e-01 -3.02684209e-02 -4.88414044e+02] [-6.61756808e-02 2.53805483e-04 9.97807955e-01 -4.35610955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.85, Y:-488.45, Z:-43.57 [[ 8.90069222e-01 4.52011814e-01 5.88396191e-02 8.97848679e+02] [-4.50996310e-01 8.92011852e-01 -3.02850462e-02 -4.88445701e+02] [-6.61748363e-02 4.19336327e-04 9.97807955e-01 -4.35655181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.90, Y:-488.48, Z:-43.57 [[ 8.89941914e-01 4.52263527e-01 5.88310415e-02 8.97904074e+02] [-4.51247472e-01 8.91884256e-01 -3.03016997e-02 -4.88475536e+02] [-6.61748333e-02 4.19393839e-04 9.97807955e-01 -4.35699376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.96, Y:-488.51, Z:-43.57 [[ 8.88727463e-01 4.54646465e-01 5.88225146e-02 8.97959454e+02] [-4.53634522e-01 8.90671951e-01 -3.03182433e-02 -4.88505804e+02] [-6.61756460e-02 2.60732133e-04 9.97807955e-01 -4.35735735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.02, Y:-488.53, Z:-43.58 [[ 8.87137177e-01 4.57742872e-01 5.88140420e-02 8.98015289e+02] [-4.56736628e-01 8.89084620e-01 -3.03346705e-02 -4.88534579e+02] [-6.61761393e-02 4.84867427e-05 9.97807956e-01 -4.35775200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.07, Y:-488.56, Z:-43.58 [[ 8.85366009e-01 4.61160434e-01 5.88054798e-02 8.98071500e+02] [-4.60160605e-01 8.87316752e-01 -3.03512597e-02 -4.88563402e+02] [-6.61758874e-02 -1.87991477e-04 9.97807956e-01 -4.35823655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.13, Y:-488.59, Z:-43.59 [[ 8.84545707e-01 4.62732971e-01 5.87970204e-02 8.98127191e+02] [-4.61735521e-01 8.86497668e-01 -3.03676385e-02 -4.88592732e+02] [-6.61755291e-02 -2.87108569e-04 9.97807956e-01 -4.35859990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.18, Y:-488.62, Z:-43.59 [[ 8.84452276e-01 4.62912615e-01 5.87884562e-02 8.98181848e+02] [-4.61914461e-01 8.86403876e-01 -3.03842088e-02 -4.88620755e+02] [-6.61755490e-02 -2.81855398e-04 9.97807956e-01 -4.35902173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.24, Y:-488.65, Z:-43.59 [[ 8.84886575e-01 4.62082889e-01 5.87805457e-02 8.98237666e+02] [-4.61081888e-01 8.86836717e-01 -3.03995048e-02 -4.88648851e+02] [-6.61758371e-02 -2.02531328e-04 9.97807956e-01 -4.35928056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.29, Y:-488.68, Z:-43.60 [[ 8.86759472e-01 4.58479538e-01 5.87720411e-02 8.98294290e+02] [-4.57469523e-01 8.88704960e-01 -3.04159381e-02 -4.88676736e+02] [-6.61760896e-02 8.52035361e-05 9.97807956e-01 -4.35964932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.35, Y:-488.70, Z:-43.60 [[ 8.89742292e-01 4.52664897e-01 5.87634727e-02 8.98350723e+02] [-4.51641076e-01 8.91680550e-01 -3.04324832e-02 -4.88704028e+02] [-6.61739625e-02 5.37069336e-04 9.97807957e-01 -4.36004086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.41, Y:-488.73, Z:-43.61 [[ 8.92436732e-01 4.47330447e-01 5.87550060e-02 8.98406816e+02] [-4.46293965e-01 8.94368250e-01 -3.04488207e-02 -4.88732575e+02] [-6.61692965e-02 9.51641368e-04 9.97807957e-01 -4.36050180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:898.46, Y:-488.76, Z:-43.61 [[ 8.96467173e-01 4.39198632e-01 5.87466566e-02 8.98462535e+02] [-4.38143580e-01 8.98388609e-01 -3.04649212e-02 -4.88760681e+02] [-6.61574788e-02 1.57133133e-03 9.97807957e-01 -4.36103796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.52, Y:-488.79, Z:-43.62 [[ 8.98565543e-01 4.34890524e-01 5.87383853e-02 8.98518037e+02] [-4.33825220e-01 9.00481314e-01 -3.04808606e-02 -4.88787427e+02] [-6.61486558e-02 1.90685810e-03 9.97807957e-01 -4.36165097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.57, Y:-488.82, Z:-43.62 [[ 8.98415246e-01 4.35201890e-01 5.87312642e-02 8.98572437e+02] [-4.34136353e-01 9.00330888e-01 -3.04945754e-02 -4.88816057e+02] [-6.61488681e-02 1.89941459e-03 9.97807957e-01 -4.36216825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.63, Y:-488.84, Z:-43.63 [[ 8.98435782e-01 4.35159887e-01 5.87283395e-02 8.98628418e+02] [-4.34093893e-01 9.00351170e-01 -3.05002070e-02 -4.88839753e+02] [-6.61485958e-02 1.90886381e-03 9.97807957e-01 -4.36254565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.69, Y:-488.87, Z:-43.63 [[ 8.97443262e-01 4.37204147e-01 5.87207455e-02 8.98685055e+02] [-4.36141561e-01 8.99360542e-01 -3.05148205e-02 -4.88865627e+02] [-6.61523275e-02 1.77476240e-03 9.97807957e-01 -4.36287537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.74, Y:-488.89, Z:-43.63 [[ 8.96244078e-01 4.39658168e-01 5.87132677e-02 8.98741411e+02] [-4.38599891e-01 8.98163740e-01 -3.05292017e-02 -4.88892545e+02] [-6.61565410e-02 1.60998342e-03 9.97807958e-01 -4.36317221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.80, Y:-488.92, Z:-43.63 [[ 8.93108373e-01 4.45994456e-01 5.87058751e-02 8.98798999e+02] [-4.44948867e-01 8.95034975e-01 -3.05434105e-02 -4.88918322e+02] [-6.61660032e-02 1.15746304e-03 9.97807958e-01 -4.36346877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:898.86, Y:-488.94, Z:-43.64 [[ 8.90445987e-01 4.51287676e-01 5.86973396e-02 8.98856144e+02] [-4.50252461e-01 8.92378182e-01 -3.05598051e-02 -4.88944850e+02] [-6.61714886e-02 7.83234205e-04 9.97807958e-01 -4.36394011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:898.91, Y:-488.97, Z:-43.64 [[ 8.85283290e-01 4.61334056e-01 5.86888895e-02 8.98913216e+02] [-4.60319694e-01 8.87226513e-01 -3.05760246e-02 -4.88970315e+02] [-6.61761002e-02 5.27919891e-05 9.97807958e-01 -4.36432975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:898.97, Y:-488.99, Z:-43.65 [[ 8.79440867e-01 4.72377382e-01 5.86802359e-02 8.98969749e+02] [-4.71386312e-01 8.81396072e-01 -3.05926231e-02 -4.88994987e+02] [-6.61717927e-02 -7.56657001e-04 9.97807958e-01 -4.36485335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.03, Y:-489.02, Z:-43.65 [[ 8.75991208e-01 4.78745205e-01 5.86722431e-02 8.99026255e+02] [-4.77767320e-01 8.77953041e-01 -3.06079446e-02 -4.89022165e+02] [-6.61648809e-02 -1.21938998e-03 9.97807958e-01 -4.36532994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.08, Y:-489.05, Z:-43.66 [[ 8.72368553e-01 4.85316055e-01 5.86637482e-02 8.99082577e+02] [-4.84351850e-01 8.74337145e-01 -3.06242175e-02 -4.89048961e+02] [-6.61543185e-02 -1.69829068e-03 9.97807958e-01 -4.36585238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.14, Y:-489.08, Z:-43.66 [[ 8.70830666e-01 4.88071239e-01 5.86550724e-02 8.99138637e+02] [-4.87112144e-01 8.72801752e-01 -3.06408253e-02 -4.89077709e+02] [-6.61491556e-02 -1.88862781e-03 9.97807959e-01 -4.36632252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.19, Y:-489.11, Z:-43.67 [[ 8.70929567e-01 4.87895766e-01 5.86464847e-02 8.99193488e+02] [-4.86935169e-01 8.72899922e-01 -3.06572534e-02 -4.89105417e+02] [-6.61500561e-02 -1.85672750e-03 9.97807959e-01 -4.36712512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.25, Y:-489.14, Z:-43.67 [[ 8.71171506e-01 4.87464001e-01 5.86434649e-02 8.99246392e+02] [-4.86502039e-01 8.73141194e-01 -3.06630288e-02 -4.89136102e+02] [-6.61511477e-02 -1.81740824e-03 9.97807959e-01 -4.36720904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.30, Y:-489.17, Z:-43.68 [[ 8.72573102e-01 4.84951591e-01 5.86356243e-02 8.99301661e+02] [-4.83982950e-01 8.74539515e-01 -3.06780148e-02 -4.89166991e+02] [-6.61565225e-02 -1.60983193e-03 9.97807959e-01 -4.36768588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.36, Y:-489.20, Z:-43.68 [[ 8.76508432e-01 4.77802537e-01 5.86319366e-02 8.99355294e+02] [-4.76817383e-01 8.78466624e-01 -3.06850610e-02 -4.89199577e+02] [-6.61675995e-02 -1.06101185e-03 9.97807959e-01 -4.36804491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.41, Y:-489.23, Z:-43.69 [[ 8.82130444e-01 4.67342690e-01 5.86232851e-02 8.99407290e+02] [-4.66333215e-01 8.84076210e-01 -3.07015807e-02 -4.89232536e+02] [-6.61756111e-02 -2.55185993e-04 9.97807959e-01 -4.36850543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.46, Y:-489.26, Z:-43.69 [[ 8.87248497e-01 4.57552565e-01 5.86153025e-02 8.99462476e+02] [-4.56520615e-01 8.89182437e-01 -3.07168135e-02 -4.89263202e+02] [-6.61742544e-02 4.94352690e-04 9.97807959e-01 -4.36888597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.51, Y:-489.30, Z:-43.69 [[ 8.92999677e-01 4.46225155e-01 5.86062171e-02 8.99513630e+02] [-4.45167542e-01 8.94919702e-01 -3.07341383e-02 -4.89298341e+02] [-6.61622040e-02 1.35598993e-03 9.97807960e-01 -4.36918775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.57, Y:-489.33, Z:-43.70 [[ 8.97347727e-01 4.37416674e-01 5.85978638e-02 8.99567351e+02] [-4.36339182e-01 8.99256667e-01 -3.07500566e-02 -4.89329798e+02] [-6.61451072e-02 2.02494951e-03 9.97807960e-01 -4.36973336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.62, Y:-489.36, Z:-43.70 [[ 9.02420082e-01 4.26854963e-01 5.85904014e-02 8.99621648e+02] [-4.25754220e-01 9.04315710e-01 -3.07642688e-02 -4.89362113e+02] [-6.61161012e-02 2.81718331e-03 9.97807960e-01 -4.37019638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.68, Y:-489.39, Z:-43.71 [[ 9.04162153e-01 4.23153587e-01 5.85819282e-02 8.99676429e+02] [-4.22044043e-01 9.06052643e-01 -3.07803950e-02 -4.89392350e+02] [-6.61031455e-02 3.10631438e-03 9.97807960e-01 -4.37057071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.73, Y:-489.42, Z:-43.71 [[ 9.05301860e-01 4.20710955e-01 5.85733172e-02 8.99732403e+02] [-4.19595256e-01 9.07188724e-01 -3.07967728e-02 -4.89420688e+02] [-6.60935925e-02 3.30328968e-03 9.97807960e-01 -4.37099102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.79, Y:-489.45, Z:-43.72 [[ 9.03153430e-01 4.25304695e-01 5.85644754e-02 8.99786978e+02] [-4.24197509e-01 9.05045301e-01 -3.08135775e-02 -4.89448912e+02] [-6.61086625e-02 2.98648360e-03 9.97807960e-01 -4.37151429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.84, Y:-489.48, Z:-43.72 [[ 9.00346680e-01 4.31215750e-01 5.85562370e-02 8.99842999e+02] [-4.30119972e-01 9.02245182e-01 -3.08292253e-02 -4.89476344e+02] [-6.61261302e-02 2.57078358e-03 9.97807961e-01 -4.37191419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.90, Y:-489.50, Z:-43.72 [[ 8.94791602e-01 4.42628707e-01 5.85475682e-02 8.99899839e+02] [-4.41556082e-01 8.96703279e-01 -3.08456795e-02 -4.89502029e+02] [-6.61529796e-02 1.74842014e-03 9.97807961e-01 -4.37237533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.96, Y:-489.53, Z:-43.73 [[ 8.88157619e-01 4.55795168e-01 5.85389503e-02 8.99956820e+02] [-4.54749815e-01 8.90084345e-01 -3.08620258e-02 -4.89527601e+02] [-6.61713655e-02 7.89766500e-04 9.97807961e-01 -4.37289526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.01, Y:-489.55, Z:-43.73 [[ 8.82154745e-01 4.67308466e-01 5.85303622e-02 9.00014408e+02] [-4.66287181e-01 8.84094336e-01 -3.08783048e-02 -4.89553729e+02] [-6.61760549e-02 -5.25145589e-05 9.97807961e-01 -4.37329543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.07, Y:-489.58, Z:-43.74 [[ 8.76405750e-01 4.78004375e-01 5.85216145e-02 9.00070688e+02] [-4.77005653e-01 8.78357054e-01 -3.08948748e-02 -4.89579224e+02] [-6.61707582e-02 -8.38695061e-04 9.97807961e-01 -4.37360387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.13, Y:-489.61, Z:-43.74 [[ 8.75278010e-01 4.80067199e-01 5.85140098e-02 9.00126553e+02] [-4.79072113e-01 8.77231171e-01 -3.09092711e-02 -4.89608198e+02] [-6.61688406e-02 -9.78224982e-04 9.97807961e-01 -4.37398853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.18, Y:-489.64, Z:-43.74 [[ 8.73633880e-01 4.83053794e-01 5.85053554e-02 9.00182150e+02] [-4.82064288e-01 8.75589873e-01 -3.09256437e-02 -4.89636974e+02] [-6.61654462e-02 -1.18565245e-03 9.97807961e-01 -4.37435918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.24, Y:-489.67, Z:-43.75 [[ 8.71835941e-01 4.86292316e-01 5.84967991e-02 9.00237508e+02] [-4.85308991e-01 8.73795049e-01 -3.09418197e-02 -4.89665003e+02] [-6.61609826e-02 -1.41283203e-03 9.97807962e-01 -4.37491025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.29, Y:-489.69, Z:-43.75 [[ 8.70697376e-01 4.88328887e-01 5.84891229e-02 9.00291874e+02] [-4.87349170e-01 8.72658291e-01 -3.09563233e-02 -4.89693791e+02] [-6.61578849e-02 -1.55103602e-03 9.97807962e-01 -4.37545680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:900.34, Y:-489.72, Z:-43.76 [[ 8.69720298e-01 4.90067875e-01 5.84814568e-02 9.00344968e+02] [-4.89091107e-01 8.71682683e-01 -3.09707990e-02 -4.89722924e+02] [-6.61550668e-02 -1.66682790e-03 9.97807962e-01 -4.37612024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.40, Y:-489.75, Z:-43.76 [[ 8.70413617e-01 4.88836246e-01 5.84744328e-02 9.00398035e+02] [-4.87855811e-01 8.72374172e-01 -3.09840550e-02 -4.89754760e+02] [-6.61577140e-02 -1.55814839e-03 9.97807962e-01 -4.37647159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.45, Y:-489.79, Z:-43.77 [[ 8.72191920e-01 4.85657177e-01 5.84667564e-02 9.00450137e+02] [-4.84668624e-01 8.74148394e-01 -3.09985335e-02 -4.89786338e+02] [-6.61632815e-02 -1.30033194e-03 9.97807962e-01 -4.37677764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:900.50, Y:-489.82, Z:-43.77 [[ 8.76384811e-01 4.78050334e-01 5.84597491e-02 9.00502600e+02] [-4.77043915e-01 8.78332155e-01 -3.10117430e-02 -4.89820130e+02] [-6.61722515e-02 -7.09647090e-04 9.97807962e-01 -4.37694007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:900.56, Y:-489.85, Z:-43.77 [[ 8.79402909e-01 4.72476312e-01 5.84521916e-02 9.00556058e+02] [-4.71456603e-01 8.81343327e-01 -3.10259811e-02 -4.89852910e+02] [-6.61754901e-02 -2.73333668e-04 9.97807962e-01 -4.37722722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.61, Y:-489.89, Z:-43.77 [[ 8.83976514e-01 4.63864064e-01 5.84435828e-02 9.00607161e+02] [-4.62824379e-01 8.85906303e-01 -3.10421891e-02 -4.89887284e+02] [-6.61748943e-02 3.91451189e-04 9.97807963e-01 -4.37744651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.66, Y:-489.92, Z:-43.78 [[ 8.86591595e-01 4.58846919e-01 5.84367072e-02 9.00661245e+02] [-4.57795462e-01 8.88514994e-01 -3.10551270e-02 -4.89919561e+02] [-6.61714399e-02 7.81155182e-04 9.97807963e-01 -4.37774878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.71, Y:-489.95, Z:-43.78 [[ 8.88845607e-01 4.54466299e-01 5.84283319e-02 9.00714960e+02] [-4.53404328e-01 8.90763221e-01 -3.10708766e-02 -4.89951848e+02] [-6.61664754e-02 1.12555365e-03 9.97807963e-01 -4.37822578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.77, Y:-489.98, Z:-43.79 [[ 8.88949278e-01 4.54264281e-01 5.84221204e-02 9.00769718e+02] [-4.53201106e-01 8.90866226e-01 -3.10825515e-02 -4.89982781e+02] [-6.61659868e-02 1.15384211e-03 9.97807963e-01 -4.37868600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.82, Y:-490.01, Z:-43.79 [[ 8.86899245e-01 4.58255007e-01 5.84130017e-02 9.00824934e+02] [-4.57199331e-01 8.88820332e-01 -3.10996788e-02 -4.90013079e+02] [-6.61702471e-02 8.75896369e-04 9.97807963e-01 -4.37904052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:900.88, Y:-490.04, Z:-43.79 [[ 8.84946237e-01 4.62016333e-01 5.84043224e-02 9.00880512e+02] [-4.60967748e-01 8.86871203e-01 -3.11159699e-02 -4.90042334e+02] [-6.61731980e-02 6.13451477e-04 9.97807963e-01 -4.37944041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.94, Y:-490.07, Z:-43.81 [[ 8.83353336e-01 4.65055727e-01 5.83956657e-02 9.00936883e+02] [-4.64012692e-01 8.85281315e-01 -3.11322074e-02 -4.90068224e+02] [-6.61748031e-02 4.04409233e-04 9.97807963e-01 -4.38052291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.99, Y:-490.10, Z:-43.80 [[ 8.78588712e-01 4.73995959e-01 5.83926912e-02 9.00990318e+02] [-4.72972172e-01 8.80526980e-01 -3.11377855e-02 -4.90099434e+02] [-6.61755246e-02 -2.60811154e-04 9.97807963e-01 -4.38024320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.05, Y:-490.13, Z:-43.81 [[ 8.76364025e-01 4.78097575e-01 5.83849646e-02 9.01045727e+02] [-4.77081894e-01 8.78306554e-01 -3.11522666e-02 -4.90128561e+02] [-6.61737202e-02 -5.53683755e-04 9.97807964e-01 -4.38064729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:901.10, Y:-490.16, Z:-43.81 [[ 8.73307208e-01 4.83659733e-01 5.83762305e-02 9.01101714e+02] [-4.82655330e-01 8.75255591e-01 -3.11686248e-02 -4.90156966e+02] [-6.61691309e-02 -9.55814113e-04 9.97807964e-01 -4.38103011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.16, Y:-490.19, Z:-43.82 [[ 8.71618904e-01 4.86696755e-01 5.83674072e-02 9.01155943e+02] [-4.85698035e-01 8.73570206e-01 -3.11851389e-02 -4.90185552e+02] [-6.61657339e-02 -1.16737840e-03 9.97807964e-01 -4.38150997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.21, Y:-490.22, Z:-43.82 [[ 8.70413240e-01 4.88850358e-01 5.83619706e-02 9.01211619e+02] [-4.87855784e-01 8.72366658e-01 -3.11953100e-02 -4.90215342e+02] [-6.61628758e-02 -1.31941406e-03 9.97807964e-01 -4.38204731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.27, Y:-490.25, Z:-43.83 [[ 8.70326702e-01 4.89005399e-01 5.83536833e-02 9.01265536e+02] [-4.88010134e-01 8.72279769e-01 -3.12108045e-02 -4.90246156e+02] [-6.61629893e-02 -1.31359234e-03 9.97807964e-01 -4.38253758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.32, Y:-490.28, Z:-43.83 [[ 8.70369951e-01 4.88929299e-01 5.83462788e-02 9.01320758e+02] [-4.87932937e-01 8.72322458e-01 -3.12246405e-02 -4.90276669e+02] [-6.61634110e-02 -1.29208231e-03 9.97807964e-01 -4.38291036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:901.38, Y:-490.30, Z:-43.84 [[ 8.70863572e-01 4.88050603e-01 5.83373609e-02 9.01375173e+02] [-4.87051156e-01 8.72814501e-01 -3.12412932e-02 -4.90304394e+02] [-6.61650265e-02 -1.20637487e-03 9.97807964e-01 -4.38406148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.43, Y:-490.34, Z:-43.84 [[ 8.70354326e-01 4.88959263e-01 5.83282649e-02 9.01428036e+02] [-4.87960715e-01 8.72305716e-01 -3.12582665e-02 -4.90336028e+02] [-6.61640978e-02 -1.25613436e-03 9.97807965e-01 -4.38417136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.48, Y:-490.37, Z:-43.84 [[ 8.70899002e-01 4.87989552e-01 5.83191688e-02 9.01481917e+02] [-4.86987695e-01 8.72848695e-01 -3.12752281e-02 -4.90366631e+02] [-6.61657949e-02 -1.16315265e-03 9.97807965e-01 -4.38447713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.54, Y:-490.40, Z:-43.85 [[ 8.72309050e-01 4.85465432e-01 5.83115454e-02 9.01535588e+02] [-4.84456984e-01 8.74255341e-01 -3.12894351e-02 -4.90399018e+02] [-6.61691192e-02 -9.55378046e-04 9.97807965e-01 -4.38482328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:901.59, Y:-490.43, Z:-43.85 [[ 8.74270959e-01 4.81924334e-01 5.83028958e-02 9.01588935e+02] [-4.80906928e-01 8.76212582e-01 -3.13055441e-02 -4.90430681e+02] [-6.61726343e-02 -6.68738498e-04 9.97807965e-01 -4.38507106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.64, Y:-490.46, Z:-43.86 [[ 8.77330624e-01 4.76332468e-01 5.82954156e-02 9.01644324e+02] [-4.75301761e-01 8.79265220e-01 -3.13194670e-02 -4.90457955e+02] [-6.61756105e-02 -2.30386162e-04 9.97807965e-01 -4.38606908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.70, Y:-490.49, Z:-43.86 [[ 8.77561377e-01 4.75907583e-01 5.82923790e-02 9.01700565e+02] [-4.74875564e-01 8.79495273e-01 -3.13251178e-02 -4.90487004e+02] [-6.61757329e-02 -1.91912825e-04 9.97807965e-01 -4.38642856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.75, Y:-490.52, Z:-43.86 [[ 8.76925222e-01 4.77079987e-01 5.82824361e-02 9.01752684e+02] [-4.76049324e-01 8.78859841e-01 -3.13436063e-02 -4.90520344e+02] [-6.61754998e-02 -2.59315440e-04 9.97807966e-01 -4.38638926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.81, Y:-490.55, Z:-43.87 [[ 8.79328295e-01 4.72637180e-01 5.82738800e-02 9.01807660e+02] [-4.71595689e-01 8.81257106e-01 -3.13595057e-02 -4.90546929e+02] [-6.61759392e-02 9.35900527e-05 9.97807966e-01 -4.38739871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.86, Y:-490.58, Z:-43.87 [[ 8.79526013e-01 4.72270184e-01 5.82654758e-02 9.01861014e+02] [-4.71226855e-01 8.81453830e-01 -3.13751129e-02 -4.90576813e+02] [-6.61758571e-02 1.38971010e-04 9.97807966e-01 -4.38715358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.92, Y:-490.61, Z:-43.88 [[ 8.80339237e-01 4.70753515e-01 5.82576641e-02 9.01916558e+02] [-4.69705904e-01 8.82264731e-01 -3.13896111e-02 -4.90605536e+02] [-6.61754521e-02 2.69537481e-04 9.97807966e-01 -4.38751261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.97, Y:-490.63, Z:-43.88 [[ 8.80632719e-01 4.70205349e-01 5.82489774e-02 9.01972648e+02] [-4.69155475e-01 8.82556979e-01 -3.14057225e-02 -4.90634852e+02] [-6.61751803e-02 3.29080125e-04 9.97807966e-01 -4.38783009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.03, Y:-490.66, Z:-43.88 [[ 8.79625986e-01 4.72087089e-01 5.82400772e-02 9.02029495e+02] [-4.71040238e-01 8.81551892e-01 -3.14222187e-02 -4.90662536e+02] [-6.61756740e-02 2.06380265e-04 9.97807966e-01 -4.38823390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.09, Y:-490.69, Z:-43.89 [[ 8.77532208e-01 4.75968866e-01 5.82311196e-02 9.02086955e+02] [-4.74929434e-01 8.79462128e-01 -3.14388102e-02 -4.90689138e+02] [-6.61759591e-02 -6.71040889e-05 9.97807966e-01 -4.38858782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.14, Y:-490.72, Z:-43.89 [[ 8.75129238e-01 4.80373792e-01 5.82222998e-02 9.02143796e+02] [-4.79342988e-01 8.77063780e-01 -3.14551353e-02 -4.90716544e+02] [-6.61748930e-02 -3.81142556e-04 9.97807967e-01 -4.38899064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.20, Y:-490.74, Z:-43.90 [[ 8.73597060e-01 4.83155623e-01 5.82135814e-02 9.02199062e+02] [-4.82129904e-01 8.75534303e-01 -3.14712620e-02 -4.90744410e+02] [-6.61735046e-02 -5.73306447e-04 9.97807967e-01 -4.38950301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.26, Y:-490.77, Z:-43.90 [[ 8.71808976e-01 4.86375602e-01 5.82055197e-02 9.02255567e+02] [-4.85356043e-01 8.73749468e-01 -3.14861649e-02 -4.90771698e+02] [-6.61711443e-02 -8.00479510e-04 9.97807967e-01 -4.38998108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.31, Y:-490.80, Z:-43.90 [[ 8.71257140e-01 4.87364485e-01 5.81966878e-02 9.02311447e+02] [-4.86346039e-01 8.73198216e-01 -3.15024808e-02 -4.90800275e+02] [-6.61704343e-02 -8.56967219e-04 9.97807967e-01 -4.39041831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:902.37, Y:-490.83, Z:-43.91 [[ 8.71035935e-01 4.87760770e-01 5.81878982e-02 9.02367289e+02] [-4.86742123e-01 8.72976905e-01 -3.15187075e-02 -4.90829488e+02] [-6.61702804e-02 -8.68574235e-04 9.97807967e-01 -4.39081170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.42, Y:-490.86, Z:-43.91 [[ 8.70483865e-01 4.88746384e-01 5.81791507e-02 9.02422721e+02] [-4.87728856e-01 8.72425422e-01 -3.15348461e-02 -4.90859393e+02] [-6.61695121e-02 -9.25075974e-04 9.97807967e-01 -4.39128952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.48, Y:-490.89, Z:-43.92 [[ 8.68856450e-01 4.91634679e-01 5.81705395e-02 9.02477778e+02] [-4.90622542e-01 8.70800823e-01 -3.15507227e-02 -4.90887172e+02] [-6.61663831e-02 -1.12672903e-03 9.97807968e-01 -4.39193352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.53, Y:-490.92, Z:-43.92 [[ 8.66971021e-01 4.94952844e-01 5.81629680e-02 9.02532749e+02] [-4.93947212e-01 8.68918766e-01 -3.15646745e-02 -4.90915763e+02] [-6.61619198e-02 -1.36377785e-03 9.97807968e-01 -4.39245922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:902.59, Y:-490.95, Z:-43.93 [[ 8.66252721e-01 4.96209803e-01 5.81554373e-02 9.02587397e+02] [-4.95206067e-01 8.68201444e-01 -3.15785429e-02 -4.90946806e+02] [-6.61602172e-02 -1.44392668e-03 9.97807968e-01 -4.39276629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.64, Y:-490.98, Z:-43.93 [[ 8.66254592e-01 4.96207557e-01 5.81467287e-02 9.02642444e+02] [-4.95202741e-01 8.68202758e-01 -3.15945704e-02 -4.90977798e+02] [-6.61606148e-02 -1.42547771e-03 9.97807968e-01 -4.39307570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.70, Y:-491.01, Z:-43.93 [[ 8.66467298e-01 4.95837093e-01 5.81377629e-02 9.02697317e+02] [-4.94830338e-01 8.68414462e-01 -3.16110600e-02 -4.91008314e+02] [-6.61616101e-02 -1.37837919e-03 9.97807968e-01 -4.39342440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:902.75, Y:-491.04, Z:-43.94 [[ 8.66675909e-01 4.95473433e-01 5.81287022e-02 9.02751791e+02] [-4.94464745e-01 8.68622072e-01 -3.16277127e-02 -4.91038720e+02] [-6.61625651e-02 -1.33161728e-03 9.97807968e-01 -4.39381435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.81, Y:-491.07, Z:-43.94 [[ 8.67023160e-01 4.94866598e-01 5.81196243e-02 9.02806095e+02] [-4.93855430e-01 8.68968036e-01 -3.16443856e-02 -4.91071041e+02] [-6.61638452e-02 -1.26627689e-03 9.97807969e-01 -4.39422904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:902.86, Y:-491.10, Z:-43.95 [[ 8.66491118e-01 4.95798641e-01 5.81106664e-02 9.02861166e+02] [-4.94788463e-01 8.68436508e-01 -3.16608270e-02 -4.91101574e+02] [-6.61628192e-02 -1.31866191e-03 9.97807969e-01 -4.39459782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.92, Y:-491.13, Z:-43.95 [[ 8.65294652e-01 4.97884880e-01 5.81017400e-02 9.02915278e+02] [-4.96878294e-01 8.67241902e-01 -3.16771998e-02 -4.91131029e+02] [-6.61598623e-02 -1.45938188e-03 9.97807969e-01 -4.39505502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.97, Y:-491.16, Z:-43.96 [[ 8.63801041e-01 5.00472685e-01 5.80934930e-02 9.02969630e+02] [-4.99470915e-01 8.65750773e-01 -3.16923169e-02 -4.91160694e+02] [-6.61556254e-02 -1.64015378e-03 9.97807969e-01 -4.39559383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.02, Y:-491.19, Z:-43.96 [[ 8.63091467e-01 5.01696298e-01 5.80856571e-02 9.03023384e+02] [-5.00696327e-01 8.65042123e-01 -3.17066721e-02 -4.91191472e+02] [-6.61536601e-02 -1.71751706e-03 9.97807969e-01 -4.39612790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.08, Y:-491.22, Z:-43.96 [[ 8.62906193e-01 5.02015857e-01 5.80773734e-02 9.03077970e+02] [-5.01015589e-01 8.64856696e-01 -3.17218382e-02 -4.91222483e+02] [-6.61534710e-02 -1.72469880e-03 9.97807969e-01 -4.39647369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.13, Y:-491.25, Z:-43.97 [[ 8.62907152e-01 5.02015243e-01 5.80684373e-02 9.03133357e+02] [-5.01013874e-01 8.64857090e-01 -3.17381876e-02 -4.91253143e+02] [-6.61539537e-02 -1.70598367e-03 9.97807970e-01 -4.39672708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters Centerline goodness : 0.998140 with order 1 Centerline is valid? [True, True] Translation: X:903.19, Y:-491.28, Z:-43.98 [[ 8.63613768e-01 5.00799744e-01 5.80592421e-02 9.03188027e+02] [-4.99794502e-01 8.65561711e-01 -3.17549998e-02 -4.91282406e+02] [-6.61567527e-02 -1.59363490e-03 9.97807970e-01 -4.39762053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.24, Y:-491.31, Z:-43.97 [[ 8.62530450e-01 5.02664388e-01 5.80494288e-02 9.03241358e+02] [-5.01662150e-01 8.64479941e-01 -3.17729288e-02 -4.91313278e+02] [-6.61536866e-02 -1.71608264e-03 9.97807970e-01 -4.39731509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:903.30, Y:-491.34, Z:-43.98 [[ 8.61992272e-01 5.03587774e-01 5.80403084e-02 9.03296681e+02] [-5.02586504e-01 8.63942260e-01 -3.17895805e-02 -4.91342010e+02] [-6.61523193e-02 -1.76790295e-03 9.97807970e-01 -4.39775986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.35, Y:-491.37, Z:-43.98 [[ 8.61542756e-01 5.04357459e-01 5.80313094e-02 9.03353103e+02] [-5.03356826e-01 8.63493071e-01 -3.18059996e-02 -4.91369908e+02] [-6.61512267e-02 -1.80822720e-03 9.97807970e-01 -4.39827877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:903.41, Y:-491.40, Z:-43.99 [[ 8.62331710e-01 5.03008374e-01 5.80223954e-02 9.03408348e+02] [-5.02003597e-01 8.64279893e-01 -3.18222528e-02 -4.91399062e+02] [-6.61544493e-02 -1.68611350e-03 9.97807970e-01 -4.39875811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:903.46, Y:-491.43, Z:-44.00 [[ 8.65119566e-01 4.98199334e-01 5.80134497e-02 9.03463532e+02] [-4.97182633e-01 8.67061552e-01 -3.18385529e-02 -4.91427132e+02] [-6.61631776e-02 -1.29912461e-03 9.97807971e-01 -4.39970777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:903.52, Y:-491.46, Z:-44.00 [[ 8.66190202e-01 4.96335941e-01 5.80100695e-02 9.03517209e+02] [-4.95314650e-01 8.68129779e-01 -3.18447105e-02 -4.91457731e+02] [-6.61659431e-02 -1.14966102e-03 9.97807971e-01 -4.39963349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:903.57, Y:-491.49, Z:-44.00 [[ 8.69263958e-01 4.90933906e-01 5.80006181e-02 9.03571077e+02] [-4.89899413e-01 8.71196524e-01 -3.18619156e-02 -4.91487826e+02] [-6.61720316e-02 -7.18053873e-04 9.97807971e-01 -4.40008491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.63, Y:-491.52, Z:-44.01 [[ 8.71800595e-01 4.86416089e-01 5.79923378e-02 9.03625734e+02] [-4.85370578e-01 8.73727223e-01 -3.18769795e-02 -4.91518697e+02] [-6.61749600e-02 -3.57404785e-04 9.97807971e-01 -4.40051343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:903.68, Y:-491.54, Z:-44.02 [[ 8.74487617e-01 4.81569657e-01 5.79833941e-02 9.03681682e+02] [-4.80512389e-01 8.76407819e-01 -3.18932396e-02 -4.91543785e+02] [-6.61759164e-02 2.85038233e-05 9.97807971e-01 -4.40156825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.74, Y:-491.57, Z:-44.02 [[ 8.73514103e-01 4.83334170e-01 5.79757900e-02 9.03735137e+02] [-4.82279865e-01 8.75435933e-01 -3.19070565e-02 -4.91574081e+02] [-6.61758604e-02 -8.92922901e-05 9.97807971e-01 -4.40205022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:903.79, Y:-491.60, Z:-44.02 [[ 8.71921791e-01 4.86201143e-01 5.79727387e-02 9.03789889e+02] [-4.85152788e-01 8.73846873e-01 -3.19125994e-02 -4.91604750e+02] [-6.61752388e-02 -3.00344969e-04 9.97807971e-01 -4.40200024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.84, Y:-491.63, Z:-44.02 [[ 8.71433832e-01 4.87075547e-01 5.79697235e-02 9.03844528e+02] [-4.86028759e-01 8.73359767e-01 -3.19180758e-02 -4.91634331e+02] [-6.61749383e-02 -3.60461703e-04 9.97807971e-01 -4.40242076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.90, Y:-491.66, Z:-44.03 [[ 8.71134939e-01 4.87610900e-01 5.79614395e-02 9.03899680e+02] [-4.86564296e-01 8.73060973e-01 -3.19331118e-02 -4.91663281e+02] [-6.61748042e-02 -3.83917606e-04 9.97807971e-01 -4.40259703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:903.95, Y:-491.69, Z:-44.03 [[ 8.70733212e-01 4.88328850e-01 5.79535014e-02 9.03953887e+02] [-4.87282875e-01 8.72659588e-01 -3.19475118e-02 -4.91691633e+02] [-6.61745703e-02 -4.21989236e-04 9.97807972e-01 -4.40293515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.01, Y:-491.72, Z:-44.03 [[ 8.70377623e-01 4.88963216e-01 5.79462412e-02 9.04009746e+02] [-4.87917768e-01 8.72304286e-01 -3.19606750e-02 -4.91721055e+02] [-6.61743489e-02 -4.55144345e-04 9.97807972e-01 -4.40337551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.07, Y:-491.75, Z:-44.04 [[ 8.69857525e-01 4.89888904e-01 5.79374503e-02 9.04065806e+02] [-4.88844446e-01 8.71784724e-01 -3.19766029e-02 -4.91749656e+02] [-6.61739670e-02 -5.07312112e-04 9.97807972e-01 -4.40394506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.12, Y:-491.78, Z:-44.05 [[ 8.69899110e-01 4.89816088e-01 5.79287329e-02 9.04121355e+02] [-4.88770418e-01 8.71825651e-01 -3.19923876e-02 -4.91777259e+02] [-6.61741414e-02 -4.83701484e-04 9.97807972e-01 -4.40450929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.18, Y:-491.81, Z:-44.05 [[ 8.70302040e-01 4.89100738e-01 5.79208757e-02 9.04177203e+02] [-4.88052538e-01 8.72227205e-01 -3.20066063e-02 -4.91806949e+02] [-6.61746183e-02 -4.13015615e-04 9.97807972e-01 -4.40489816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.23, Y:-491.84, Z:-44.05 [[ 8.71057094e-01 4.87755850e-01 5.79117392e-02 9.04232516e+02] [-4.86703579e-01 8.72980037e-01 -3.20231292e-02 -4.91835409e+02] [-6.61752608e-02 -2.91876839e-04 9.97807972e-01 -4.40532930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.29, Y:-491.86, Z:-44.06 [[ 8.71028002e-01 4.87808470e-01 5.79061041e-02 9.04288663e+02] [-4.86755638e-01 8.72950638e-01 -3.20333156e-02 -4.91864026e+02] [-6.61752932e-02 -2.84207748e-04 9.97807972e-01 -4.40563862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.34, Y:-491.89, Z:-44.06 [[ 8.69933378e-01 4.89758976e-01 5.78970071e-02 9.04343524e+02] [-4.88709360e-01 8.71857772e-01 -3.20497491e-02 -4.91891943e+02] [-6.61746079e-02 -4.13662837e-04 9.97807973e-01 -4.40613806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:904.40, Y:-491.92, Z:-44.07 [[ 8.68478091e-01 4.92335924e-01 5.78890580e-02 9.04398605e+02] [-4.91291062e-01 8.70405070e-01 -3.20641007e-02 -4.91920823e+02] [-6.61732382e-02 -5.93407853e-04 9.97807973e-01 -4.40669006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.45, Y:-491.95, Z:-44.07 [[ 8.66228874e-01 4.96283230e-01 5.78834458e-02 9.04454273e+02] [-4.95246472e-01 8.68160225e-01 -3.20742287e-02 -4.91949311e+02] [-6.61700072e-02 -8.82949269e-04 9.97807973e-01 -4.40698843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:904.51, Y:-491.98, Z:-44.07 [[ 8.64838983e-01 4.98702374e-01 5.78746583e-02 9.04509845e+02] [-4.97669957e-01 8.66772658e-01 -3.20900772e-02 -4.91977836e+02] [-6.61675690e-02 -1.04972902e-03 9.97807973e-01 -4.40738792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.56, Y:-492.01, Z:-44.08 [[ 8.62729487e-01 5.02343909e-01 5.78656087e-02 9.04564965e+02] [-5.01318561e-01 8.64666919e-01 -3.21063874e-02 -4.92006965e+02] [-6.61629257e-02 -1.30997654e-03 9.97807973e-01 -4.40782287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.62, Y:-492.04, Z:-44.08 [[ 8.61580869e-01 5.04312287e-01 5.78577898e-02 9.04620594e+02] [-5.03290419e-01 8.63520138e-01 -3.21204713e-02 -4.92035575e+02] [-6.61601150e-02 -1.44488767e-03 9.97807973e-01 -4.40815739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.67, Y:-492.07, Z:-44.09 [[ 8.62341092e-01 5.03012305e-01 5.78486083e-02 9.04674942e+02] [-5.01986406e-01 8.64278232e-01 -3.21369987e-02 -4.92065790e+02] [-6.61625987e-02 -1.32616037e-03 9.97807973e-01 -4.40852201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:904.73, Y:-492.10, Z:-44.09 [[ 8.62822111e-01 5.02187129e-01 5.78454136e-02 9.04728555e+02] [-5.01158992e-01 8.64758064e-01 -3.21427480e-02 -4.92096507e+02] [-6.61639622e-02 -1.25627542e-03 9.97807973e-01 -4.40858195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.78, Y:-492.13, Z:-44.09 [[ 8.63964019e-01 5.00221144e-01 5.78358184e-02 9.04782679e+02] [-4.99187446e-01 8.65897008e-01 -3.21600037e-02 -4.92127570e+02] [-6.61669760e-02 -1.08582847e-03 9.97807974e-01 -4.40892286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.84, Y:-492.16, Z:-44.09 [[ 8.65170241e-01 4.98133039e-01 5.78267124e-02 9.04836654e+02] [-4.97093582e-01 8.67100140e-01 -3.21763689e-02 -4.92158224e+02] [-6.61696628e-02 -9.07250809e-04 9.97807974e-01 -4.40948815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:904.89, Y:-492.19, Z:-44.10 [[ 8.65684712e-01 4.97239355e-01 5.78187138e-02 9.04891231e+02] [-4.96196946e-01 8.67613017e-01 -3.21907354e-02 -4.92188560e+02] [-6.61707693e-02 -8.22441761e-04 9.97807974e-01 -4.40997914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.95, Y:-492.22, Z:-44.10 [[ 8.67695376e-01 4.93723380e-01 5.78096679e-02 9.04945788e+02] [-4.92672075e-01 8.69618846e-01 -3.22069724e-02 -4.92220079e+02] [-6.61737119e-02 -5.35368015e-04 9.97807974e-01 -4.41027133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.00, Y:-492.25, Z:-44.11 [[ 8.70757713e-01 4.88303286e-01 5.78005753e-02 9.04999979e+02] [-4.87238925e-01 8.72673988e-01 -3.22232821e-02 -4.92251044e+02] [-6.61757932e-02 -1.04018739e-04 9.97807974e-01 -4.41059732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.05, Y:-492.28, Z:-44.11 [[ 8.72636571e-01 4.84938704e-01 5.77915924e-02 9.05054368e+02] [-4.83865888e-01 8.74548126e-01 -3.22393848e-02 -4.92281714e+02] [-6.61756543e-02 1.69886003e-04 9.97807975e-01 -4.41095514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.11, Y:-492.31, Z:-44.12 [[ 8.75805835e-01 4.79192368e-01 5.77824740e-02 9.05110106e+02] [-4.78105933e-01 8.77709682e-01 -3.22557195e-02 -4.92309107e+02] [-6.61729314e-02 6.23603671e-04 9.97807975e-01 -4.41154372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:905.16, Y:-492.34, Z:-44.12 [[ 8.75318739e-01 4.80081907e-01 5.77794836e-02 9.05163285e+02] [-4.78997053e-01 8.77223487e-01 -3.22610752e-02 -4.92339778e+02] [-6.61734786e-02 5.62521259e-04 9.97807975e-01 -4.41168089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.22, Y:-492.37, Z:-44.12 [[ 8.74796874e-01 4.81033115e-01 5.77717158e-02 9.05218652e+02] [-4.79949414e-01 8.76702279e-01 -3.22749795e-02 -4.92366756e+02] [-6.61739288e-02 5.06549981e-04 9.97807975e-01 -4.41213665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.27, Y:-492.39, Z:-44.13 [[ 8.72506427e-01 4.85175862e-01 5.77660668e-02 9.05274226e+02] [-4.84100539e-01 8.74416572e-01 -3.22850870e-02 -4.92394085e+02] [-6.61755510e-02 2.04361831e-04 9.97807975e-01 -4.41270420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.33, Y:-492.42, Z:-44.13 [[ 8.70157501e-01 4.89377058e-01 5.77582869e-02 9.05329702e+02] [-4.88310034e-01 8.72072294e-01 -3.22989992e-02 -4.92422521e+02] [-6.61757910e-02 -9.87345872e-05 9.97807975e-01 -4.41318647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.39, Y:-492.45, Z:-44.14 [[ 8.66986519e-01 4.94973996e-01 5.77504901e-02 9.05386708e+02] [-4.93918405e-01 8.68907638e-01 -3.23129340e-02 -4.92446731e+02] [-6.61739040e-02 -5.09151743e-04 9.97807975e-01 -4.41412835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:905.44, Y:-492.48, Z:-44.14 [[ 8.62836136e-01 5.02174332e-01 5.77472319e-02 9.05440354e+02] [-5.01134380e-01 8.64765767e-01 -3.23187557e-02 -4.92476913e+02] [-6.61674788e-02 -1.05333300e-03 9.97807975e-01 -4.41380066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:905.50, Y:-492.50, Z:-44.14 [[ 8.59346020e-01 5.08124642e-01 5.77387691e-02 9.05495128e+02] [-5.07097035e-01 8.61282253e-01 -3.23338678e-02 -4.92504463e+02] [-6.61590121e-02 -1.49317802e-03 9.97807975e-01 -4.41405660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.55, Y:-492.53, Z:-44.15 [[ 8.58282182e-01 5.09920371e-01 5.77313718e-02 9.05551769e+02] [-5.08895927e-01 8.60220090e-01 -3.23470701e-02 -4.92530263e+02] [-6.61561158e-02 -1.61634612e-03 9.97807975e-01 -4.41475433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:905.60, Y:-492.56, Z:-44.15 [[ 8.56089076e-01 5.13594739e-01 5.77229350e-02 9.05604308e+02] [-5.12577598e-01 8.58030827e-01 -3.23621185e-02 -4.92560829e+02] [-6.61490714e-02 -1.88262720e-03 9.97807976e-01 -4.41489430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:905.66, Y:-492.59, Z:-44.16 [[ 8.54882179e-01 5.15601660e-01 5.77181865e-02 9.05659131e+02] [-5.14588505e-01 8.56826012e-01 -3.23705852e-02 -4.92589633e+02] [-6.61447711e-02 -2.02807893e-03 9.97807976e-01 -4.41554286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.71, Y:-492.62, Z:-44.16 [[ 8.54194677e-01 5.16740728e-01 5.77102525e-02 9.05712933e+02] [-5.15729212e-01 8.56139364e-01 -3.23847239e-02 -4.92620331e+02] [-6.61425246e-02 -2.10000429e-03 9.97807976e-01 -4.41618933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:905.77, Y:-492.65, Z:-44.17 [[ 8.54354672e-01 5.16477100e-01 5.77018238e-02 9.05765947e+02] [-5.15463971e-01 8.56298518e-01 -3.23997349e-02 -4.92651686e+02] [-6.61437073e-02 -2.06234632e-03 9.97807976e-01 -4.41657613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.82, Y:-492.69, Z:-44.17 [[ 8.55942675e-01 5.13842005e-01 5.76934209e-02 9.05819105e+02] [-5.12821884e-01 8.57882861e-01 -3.24146908e-02 -4.92685957e+02] [-6.61502267e-02 -1.84133166e-03 9.97807976e-01 -4.41706437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.87, Y:-492.72, Z:-44.18 [[ 8.58976674e-01 5.08754412e-01 5.76890088e-02 9.05871163e+02] [-5.07722270e-01 8.60910492e-01 -3.24225413e-02 -4.92720479e+02] [-6.61601838e-02 -1.43978786e-03 9.97807976e-01 -4.41755361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:905.92, Y:-492.75, Z:-44.18 [[ 8.60223255e-01 5.06644805e-01 5.76800921e-02 9.05922702e+02] [-5.05606858e-01 8.62153963e-01 -3.24383964e-02 -4.92752933e+02] [-6.61638650e-02 -1.25918718e-03 9.97807976e-01 -4.41775928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.97, Y:-492.79, Z:-44.18 [[ 8.60737201e-01 5.05772088e-01 5.76720447e-02 9.05974209e+02] [-5.04731225e-01 8.62666339e-01 -3.24526974e-02 -4.92788512e+02] [-6.61654003e-02 -1.17563784e-03 9.97807976e-01 -4.41820897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.03, Y:-492.82, Z:-44.19 [[ 8.60076762e-01 5.06895381e-01 5.76631346e-02 9.06026683e+02] [-5.05855977e-01 8.62006685e-01 -3.24685217e-02 -4.92822446e+02] [-6.61641512e-02 -1.24382031e-03 9.97807977e-01 -4.41850856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.08, Y:-492.86, Z:-44.19 [[ 8.57933772e-01 5.10514966e-01 5.76551105e-02 9.06079190e+02] [-5.09482747e-01 8.59867548e-01 -3.24827640e-02 -4.92857105e+02] [-6.61586957e-02 -1.50622388e-03 9.97807977e-01 -4.41884851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.13, Y:-492.89, Z:-44.19 [[ 8.55846468e-01 5.14007563e-01 5.76458837e-02 9.06131457e+02] [-5.12982133e-01 8.57783853e-01 -3.24991302e-02 -4.92891059e+02] [-6.61525069e-02 -1.75704256e-03 9.97807977e-01 -4.41913330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.18, Y:-492.92, Z:-44.20 [[ 8.54528421e-01 5.16196724e-01 5.76378304e-02 9.06183067e+02] [-5.15175295e-01 8.56467918e-01 -3.25134066e-02 -4.92924903e+02] [-6.61482666e-02 -1.90995628e-03 9.97807977e-01 -4.41970139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.24, Y:-492.96, Z:-44.20 [[ 8.53476522e-01 5.17935023e-01 5.76293188e-02 9.06236582e+02] [-5.16916526e-01 8.55417560e-01 -3.25284862e-02 -4.92958482e+02] [-6.61447736e-02 -2.02724801e-03 9.97807977e-01 -4.41999625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.29, Y:-492.99, Z:-44.20 [[ 8.51709558e-01 5.20836567e-01 5.76202934e-02 9.06289935e+02] [-5.19823603e-01 8.53653489e-01 -3.25444658e-02 -4.92991951e+02] [-6.61381124e-02 -2.23395590e-03 9.97807977e-01 -4.42038225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.34, Y:-493.02, Z:-44.21 [[ 8.50200847e-01 5.23296747e-01 5.76110560e-02 9.06342058e+02] [-5.22288301e-01 8.52147126e-01 -3.25608100e-02 -4.93024914e+02] [-6.61320617e-02 -2.40635230e-03 9.97807977e-01 -4.42080803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.40, Y:-493.06, Z:-44.21 [[ 8.49748230e-01 5.24032340e-01 5.76025379e-02 9.06395696e+02] [-5.23024559e-01 8.51694853e-01 -3.25758721e-02 -4.93057916e+02] [-6.61305956e-02 -2.44625235e-03 9.97807978e-01 -4.42108770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.45, Y:-493.09, Z:-44.21 [[ 8.49592671e-01 5.24285511e-01 5.75933640e-02 9.06448758e+02] [-5.23277214e-01 8.51539027e-01 -3.25920833e-02 -4.93090841e+02] [-6.61305542e-02 -2.44729995e-03 9.97807978e-01 -4.42135703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.50, Y:-493.12, Z:-44.22 [[ 8.49873332e-01 5.23831330e-01 5.75852125e-02 9.06503043e+02] [-5.22821019e-01 8.51818642e-01 -3.26064794e-02 -4.93123084e+02] [-6.61324530e-02 -2.39538224e-03 9.97807978e-01 -4.42175005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.56, Y:-493.15, Z:-44.22 [[ 8.50980922e-01 5.22031119e-01 5.75758818e-02 9.06556581e+02] [-5.21015579e-01 8.52923507e-01 -3.26229471e-02 -4.93154756e+02] [-6.61380166e-02 -2.23642579e-03 9.97807978e-01 -4.42232122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:906.61, Y:-493.19, Z:-44.23 [[ 8.51176265e-01 5.21713185e-01 5.75701258e-02 9.06610893e+02] [-5.20696234e-01 8.53118112e-01 -3.26331017e-02 -4.93186230e+02] [-6.61392364e-02 -2.20002613e-03 9.97807978e-01 -4.42276548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.67, Y:-493.22, Z:-44.23 [[ 8.51364088e-01 5.21407634e-01 5.75610012e-02 9.06665165e+02] [-5.20388900e-01 8.53305000e-01 -3.26491885e-02 -4.93218342e+02] [-6.61406263e-02 -2.15775949e-03 9.97807978e-01 -4.42326871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.72, Y:-493.25, Z:-44.24 [[ 8.50402090e-01 5.22976149e-01 5.75520018e-02 9.06719003e+02] [-5.21959923e-01 8.52344316e-01 -3.26650444e-02 -4.93248361e+02] [-6.61371608e-02 -2.26141642e-03 9.97807979e-01 -4.42385505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.77, Y:-493.28, Z:-44.24 [[ 8.49918773e-01 5.23762144e-01 5.75438579e-02 9.06771773e+02] [-5.22746745e-01 8.51861432e-01 -3.26793846e-02 -4.93278954e+02] [-6.61356178e-02 -2.30604194e-03 9.97807979e-01 -4.42448446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:906.83, Y:-493.31, Z:-44.25 [[ 8.50599529e-01 5.22656678e-01 5.75364085e-02 9.06825256e+02] [-5.21637868e-01 8.52540401e-01 -3.26924950e-02 -4.93312420e+02] [-6.61390637e-02 -2.20494862e-03 9.97807979e-01 -4.42482913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:906.88, Y:-493.34, Z:-44.25 [[ 8.51170036e-01 5.21728093e-01 5.75270913e-02 9.06878414e+02] [-5.20706060e-01 8.53109213e-01 -3.27088819e-02 -4.93344354e+02] [-6.61420341e-02 -2.11388488e-03 9.97807979e-01 -4.42502043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.93, Y:-493.38, Z:-44.25 [[ 8.51862367e-01 5.20597820e-01 5.75188375e-02 9.06931652e+02] [-5.19572235e-01 8.53799667e-01 -3.27233898e-02 -4.93376062e+02] [-6.61452897e-02 -2.00936670e-03 9.97807979e-01 -4.42523220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.99, Y:-493.41, Z:-44.26 [[ 8.52280207e-01 5.19914395e-01 5.75106234e-02 9.06985756e+02] [-5.18886283e-01 8.54216167e-01 -3.27378196e-02 -4.93407610e+02] [-6.61473679e-02 -1.93967794e-03 9.97807979e-01 -4.42566023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.04, Y:-493.44, Z:-44.26 [[ 8.52986381e-01 5.18756043e-01 5.75013242e-02 9.07040178e+02] [-5.17724203e-01 8.54920356e-01 -3.27541448e-02 -4.93437918e+02] [-6.61504631e-02 -1.83098782e-03 9.97807979e-01 -4.42640345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.09, Y:-493.47, Z:-44.27 [[ 8.51935307e-01 5.20481136e-01 5.74945104e-02 9.07092713e+02] [-5.19452407e-01 8.53870939e-01 -3.27661009e-02 -4.93468751e+02] [-6.61470290e-02 -1.95106357e-03 9.97807980e-01 -4.42671361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:907.15, Y:-493.50, Z:-44.27 [[ 8.51806037e-01 5.20693216e-01 5.74895603e-02 9.07146419e+02] [-5.19664383e-01 8.53741614e-01 -3.27747838e-02 -4.93497995e+02] [-6.61468376e-02 -1.95751816e-03 9.97807980e-01 -4.42736891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.20, Y:-493.53, Z:-44.27 [[ 8.50667563e-01 5.22551989e-01 5.74814406e-02 9.07200488e+02] [-5.21526424e-01 8.52604873e-01 -3.27890183e-02 -4.93527974e+02] [-6.61429230e-02 -2.08553589e-03 9.97807980e-01 -4.42739195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.25, Y:-493.56, Z:-44.28 [[ 8.50179560e-01 5.23346491e-01 5.74731836e-02 9.07253539e+02] [-5.22321760e-01 8.52117310e-01 -3.28034848e-02 -4.93557710e+02] [-6.61414833e-02 -2.13064212e-03 9.97807980e-01 -4.42778731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.31, Y:-493.59, Z:-44.28 [[ 8.50065236e-01 5.23532966e-01 5.74658816e-02 9.07308694e+02] [-5.22507797e-01 8.52002755e-01 -3.28162716e-02 -4.93588430e+02] [-6.61414895e-02 -2.13039951e-03 9.97807980e-01 -4.42823258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.36, Y:-493.62, Z:-44.29 [[ 8.49976610e-01 5.23677807e-01 5.74570902e-02 9.07363421e+02] [-5.22651929e-01 8.51913754e-01 -3.28316571e-02 -4.93617136e+02] [-6.61416956e-02 -2.12391841e-03 9.97807980e-01 -4.42872964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.42, Y:-493.65, Z:-44.29 [[ 8.49574054e-01 5.24331225e-01 5.74516693e-02 9.07418000e+02] [-5.23306196e-01 8.51511647e-01 -3.28411404e-02 -4.93646347e+02] [-6.61404009e-02 -2.16383371e-03 9.97807980e-01 -4.42918577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:907.47, Y:-493.68, Z:-44.29 [[ 8.49308967e-01 5.24761317e-01 5.74442244e-02 9.07473176e+02] [-5.23736391e-01 8.51246614e-01 -3.28541575e-02 -4.93676627e+02] [-6.61397925e-02 -2.18230021e-03 9.97807980e-01 -4.42941942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:907.53, Y:-493.71, Z:-44.30 [[ 8.49573036e-01 5.24334701e-01 5.74349989e-02 9.07528572e+02] [-5.23307713e-01 8.51509591e-01 -3.28702774e-02 -4.93706178e+02] [-6.61414795e-02 -2.13047655e-03 9.97807980e-01 -4.42977251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:907.58, Y:-493.74, Z:-44.30 [[ 8.51906625e-01 5.20535672e-01 5.74257520e-02 9.07582928e+02] [-5.19498959e-01 8.53837991e-01 -3.28864242e-02 -4.93736360e+02] [-6.61508457e-02 -1.81645571e-03 9.97807981e-01 -4.43015891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:907.64, Y:-493.77, Z:-44.30 [[ 8.54162817e-01 5.16826029e-01 5.74172242e-02 9.07637242e+02] [-5.15779927e-01 8.56089114e-01 -3.29013064e-02 -4.93766895e+02] [-6.61585121e-02 -1.51157917e-03 9.97807981e-01 -4.43049235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.69, Y:-493.80, Z:-44.31 [[ 8.57646467e-01 5.11025152e-01 5.74093322e-02 9.07690648e+02] [-5.09965098e-01 8.59565121e-01 -3.29150714e-02 -4.93797822e+02] [-6.61674890e-02 -1.04726103e-03 9.97807981e-01 -4.43123118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.74, Y:-493.83, Z:-44.31 [[ 8.58933900e-01 5.08858618e-01 5.74061219e-02 9.07744868e+02] [-5.07793349e-01 8.60849664e-01 -3.29206694e-02 -4.93827757e+02] [-6.61700071e-02 -8.73767991e-04 9.97807981e-01 -4.43114431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:907.80, Y:-493.86, Z:-44.32 [[ 8.60987660e-01 5.05376912e-01 5.73970864e-02 9.07798851e+02] [-5.04302847e-01 8.62898506e-01 -3.29364152e-02 -4.93856329e+02] [-6.61731640e-02 -5.87667003e-04 9.97807981e-01 -4.43179410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:907.85, Y:-493.88, Z:-44.33 [[ 8.63695929e-01 5.00735236e-01 5.73895916e-02 9.07853115e+02] [-4.99650034e-01 8.65600472e-01 -3.29494693e-02 -4.93884619e+02] [-6.61754179e-02 -2.16388834e-04 9.97807981e-01 -4.43273736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:907.91, Y:-493.91, Z:-44.33 [[ 8.65212824e-01 4.98110641e-01 5.73808276e-02 9.07908045e+02] [-4.97018649e-01 8.67113481e-01 -3.29647246e-02 -4.93914867e+02] [-6.61757693e-02 2.16103307e-06 9.97807981e-01 -4.43306555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.96, Y:-493.95, Z:-44.33 [[ 8.65438049e-01 4.97719749e-01 5.73762588e-02 9.07961930e+02] [-4.96626372e-01 8.67337910e-01 -3.29726749e-02 -4.93945070e+02] [-6.61757558e-02 4.12442307e-05 9.97807981e-01 -4.43283812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:908.02, Y:-493.97, Z:-44.33 [[ 8.65949401e-01 4.96830524e-01 5.73678085e-02 9.08016802e+02] [-4.95734222e-01 8.67847576e-01 -3.29873706e-02 -4.93972866e+02] [-6.61756462e-02 1.26207926e-04 9.97807982e-01 -4.43329997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.07, Y:-494.00, Z:-44.34 [[ 8.65396173e-01 4.97794525e-01 5.73591750e-02 9.08072006e+02] [-4.96699343e-01 8.67294993e-01 -3.30023761e-02 -4.94001796e+02] [-6.61757274e-02 6.98654143e-05 9.97807982e-01 -4.43373955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.13, Y:-494.03, Z:-44.34 [[ 8.63873398e-01 5.00433541e-01 5.73500016e-02 9.08128319e+02] [-4.99343102e-01 8.65774947e-01 -3.30183095e-02 -4.94029210e+02] [-6.61756641e-02 -1.13688409e-04 9.97807982e-01 -4.43418732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.18, Y:-494.06, Z:-44.35 [[ 8.63068078e-01 5.01822198e-01 5.73408699e-02 9.08184705e+02] [-5.00733765e-01 8.64970775e-01 -3.30341603e-02 -4.94058055e+02] [-6.61754516e-02 -2.01780427e-04 9.97807982e-01 -4.43460083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.24, Y:-494.08, Z:-44.35 [[ 8.63958843e-01 5.00288115e-01 5.73316655e-02 9.08241164e+02] [-4.99195244e-01 8.65858994e-01 -3.30501270e-02 -4.94083116e+02] [-6.61757240e-02 -6.57452261e-05 9.97807982e-01 -4.43540860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.30, Y:-494.11, Z:-44.36 [[ 8.63867870e-01 5.00446163e-01 5.73231343e-02 9.08296849e+02] [-4.99352658e-01 8.65767656e-01 -3.30649173e-02 -4.94112369e+02] [-6.61757266e-02 -6.07397533e-05 9.97807982e-01 -4.43575016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.35, Y:-494.14, Z:-44.36 [[ 8.62337985e-01 5.03078897e-01 5.73133773e-02 9.08349892e+02] [-5.01990068e-01 8.64240455e-01 -3.30818210e-02 -4.94143408e+02] [-6.61753053e-02 -2.43035297e-04 9.97807983e-01 -4.43573675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.41, Y:-494.17, Z:-44.36 [[ 8.62467417e-01 5.02857859e-01 5.73055788e-02 9.08406562e+02] [-5.01767645e-01 8.64369094e-01 -3.30953243e-02 -4.94171760e+02] [-6.61754152e-02 -2.10446490e-04 9.97807983e-01 -4.43613722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:908.46, Y:-494.20, Z:-44.37 [[ 8.62843782e-01 5.02212853e-01 5.72962311e-02 9.08460685e+02] [-5.01120144e-01 8.64744026e-01 -3.31114997e-02 -4.94200410e+02] [-6.61755943e-02 -1.42243904e-04 9.97807983e-01 -4.43670348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.52, Y:-494.23, Z:-44.37 [[ 8.63330904e-01 5.01375988e-01 5.72876035e-02 9.08515618e+02] [-5.00280446e-01 8.65229516e-01 -3.31264200e-02 -4.94229081e+02] [-6.61757170e-02 -6.08057133e-05 9.97807983e-01 -4.43722809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:908.57, Y:-494.26, Z:-44.38 [[ 8.63178437e-01 5.01639370e-01 5.72793856e-02 9.08570882e+02] [-5.00543465e-01 8.65076840e-01 -3.31406236e-02 -4.94257456e+02] [-6.61757114e-02 -6.45504496e-05 9.97807983e-01 -4.43784052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:908.63, Y:-494.29, Z:-44.38 [[ 8.62545938e-01 5.02727068e-01 5.72712845e-02 9.08626148e+02] [-5.01632628e-01 8.64445185e-01 -3.31546174e-02 -4.94287739e+02] [-6.61756097e-02 -1.31764434e-04 9.97807983e-01 -4.43826589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.68, Y:-494.32, Z:-44.38 [[ 8.61351064e-01 5.04772618e-01 5.72621075e-02 9.08680769e+02] [-5.03681635e-01 8.63252299e-01 -3.31704596e-02 -4.94316765e+02] [-6.61751857e-02 -2.70461230e-04 9.97807983e-01 -4.43849116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.73, Y:-494.35, Z:-44.39 [[ 8.59645648e-01 5.07672492e-01 5.72538246e-02 9.08734537e+02] [-5.06586971e-01 8.61550006e-01 -3.31847502e-02 -4.94345096e+02] [-6.61740178e-02 -4.76915477e-04 9.97807984e-01 -4.43873748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.79, Y:-494.38, Z:-44.39 [[ 8.57732876e-01 5.10898406e-01 5.72462430e-02 9.08789528e+02] [-5.09819174e-01 8.59640806e-01 -3.31978240e-02 -4.94375354e+02] [-6.61719218e-02 -7.10367198e-04 9.97807984e-01 -4.43903863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:908.85, Y:-494.41, Z:-44.39 [[ 8.53756401e-01 5.17517081e-01 5.72370496e-02 9.08845235e+02] [-5.16451576e-01 8.55672030e-01 -3.32136670e-02 -4.94405001e+02] [-6.61647824e-02 -1.20378366e-03 9.97807984e-01 -4.43940712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.90, Y:-494.43, Z:-44.40 [[ 8.48731437e-01 5.25718499e-01 5.72276810e-02 9.08901653e+02] [-5.24670413e-01 8.50656651e-01 -3.32298014e-02 -4.94433542e+02] [-6.61506288e-02 -1.82249393e-03 9.97807984e-01 -4.43994620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.96, Y:-494.46, Z:-44.40 [[ 8.44304170e-01 5.32800648e-01 5.72183353e-02 9.08956214e+02] [-5.31767616e-01 8.46237504e-01 -3.32458859e-02 -4.94463800e+02] [-6.61337308e-02 -2.35721764e-03 9.97807984e-01 -4.44031954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:909.01, Y:-494.49, Z:-44.41 [[ 8.42905719e-01 5.35010625e-01 5.72152193e-02 9.09009691e+02] [-5.33982298e-01 8.44841559e-01 -3.32512476e-02 -4.94493066e+02] [-6.61275659e-02 -2.52424754e-03 9.97807984e-01 -4.44097935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.06, Y:-494.52, Z:-44.41 [[ 8.42046183e-01 5.36363283e-01 5.72071235e-02 9.09062420e+02] [-5.35337122e-01 8.43983172e-01 -3.32651702e-02 -4.94524233e+02] [-6.61240655e-02 -2.61428729e-03 9.97807984e-01 -4.44149000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:909.12, Y:-494.56, Z:-44.42 [[ 8.42581409e-01 5.35523019e-01 5.71984634e-02 9.09115377e+02] [-5.34493918e-01 8.44516838e-01 -3.32800544e-02 -4.94557354e+02] [-6.61273007e-02 -2.53107565e-03 9.97807984e-01 -4.44182717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.17, Y:-494.59, Z:-44.42 [[ 8.43407948e-01 5.34221333e-01 5.71891704e-02 9.09168720e+02] [-5.33188164e-01 8.45341208e-01 -3.32960161e-02 -4.94590702e+02] [-6.61318045e-02 -2.41046415e-03 9.97807985e-01 -4.44220295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.22, Y:-494.63, Z:-44.43 [[ 8.44616635e-01 5.32309297e-01 5.71799982e-02 9.09221090e+02] [-5.31270687e-01 8.46546977e-01 -3.33117602e-02 -4.94626223e+02] [-6.61377143e-02 -2.24239015e-03 9.97807985e-01 -4.44254671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.27, Y:-494.66, Z:-44.43 [[ 8.45469503e-01 5.30954648e-01 5.71706318e-02 9.09273474e+02] [-5.29911860e-01 8.47397591e-01 -3.33278274e-02 -4.94661027e+02] [-6.61418205e-02 -2.11773415e-03 9.97807985e-01 -4.44296718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.33, Y:-494.70, Z:-44.43 [[ 8.45516783e-01 5.30880364e-01 5.71612460e-02 9.09326209e+02] [-5.29836320e-01 8.47444191e-01 -3.33439175e-02 -4.94695354e+02] [-6.61425969e-02 -2.09326239e-03 9.97807985e-01 -4.44340785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.38, Y:-494.73, Z:-44.44 [[ 8.45904790e-01 5.30262903e-01 5.71519081e-02 9.09377804e+02] [-5.29216372e-01 8.47830848e-01 -3.33599152e-02 -4.94731582e+02] [-6.61446762e-02 -2.02641343e-03 9.97807985e-01 -4.44379224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.43, Y:-494.77, Z:-44.44 [[ 8.46095467e-01 5.29959612e-01 5.71425463e-02 9.09430593e+02] [-5.28911309e-01 8.48020562e-01 -3.33759434e-02 -4.94765922e+02] [-6.61459562e-02 -1.98410459e-03 9.97807985e-01 -4.44424908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.48, Y:-494.80, Z:-44.45 [[ 8.46707472e-01 5.28982278e-01 5.71332389e-02 9.09482787e+02] [-5.27930680e-01 8.48630768e-01 -3.33918682e-02 -4.94801674e+02] [-6.61487309e-02 -1.88924539e-03 9.97807986e-01 -4.44469251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.53, Y:-494.84, Z:-44.45 [[ 8.48174062e-01 5.26628533e-01 5.71239819e-02 9.09534139e+02] [-5.25570532e-01 8.50093843e-01 -3.34076969e-02 -4.94837971e+02] [-6.61541917e-02 -1.68713953e-03 9.97807986e-01 -4.44488431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.59, Y:-494.87, Z:-44.45 [[ 8.50125429e-01 5.23473683e-01 5.71144279e-02 9.09586319e+02] [-5.22407460e-01 8.52040656e-01 -3.34240227e-02 -4.94873475e+02] [-6.61604109e-02 -1.42239157e-03 9.97807986e-01 -4.44518012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.64, Y:-494.91, Z:-44.46 [[ 8.52132490e-01 5.20201159e-01 5.71049362e-02 9.09639953e+02] [-5.19126494e-01 8.54042993e-01 -3.34402313e-02 -4.94906148e+02] [-6.61657177e-02 -1.14917777e-03 9.97807986e-01 -4.44591660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:909.69, Y:-494.94, Z:-44.46 [[ 8.52592451e-01 5.19448052e-01 5.70949512e-02 9.09689804e+02] [-5.18370559e-01 8.54501360e-01 -3.34572709e-02 -4.94941841e+02] [-6.61670276e-02 -1.07092518e-03 9.97807986e-01 -4.44625869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.74, Y:-494.98, Z:-44.47 [[ 8.53201896e-01 5.18447298e-01 5.70869855e-02 9.09741659e+02] [-5.17366657e-01 8.55109024e-01 -3.34708570e-02 -4.94976811e+02] [-6.61684718e-02 -9.77504196e-04 9.97807986e-01 -4.44683195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.79, Y:-495.01, Z:-44.47 [[ 8.53587256e-01 5.17813626e-01 5.70775340e-02 9.09793651e+02] [-5.16730493e-01 8.55492970e-01 -3.34869667e-02 -4.95012554e+02] [-6.61694367e-02 -9.09654252e-04 9.97807987e-01 -4.44731433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.84, Y:-495.05, Z:-44.48 [[ 8.53853006e-01 5.17376335e-01 5.70681366e-02 9.09844973e+02] [-5.16291156e-01 8.55757555e-01 -3.35029740e-02 -4.95046352e+02] [-6.61701350e-02 -8.57159131e-04 9.97807987e-01 -4.44772597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:909.90, Y:-495.08, Z:-44.48 [[ 8.53542017e-01 5.17889866e-01 5.70623499e-02 9.09896928e+02] [-5.16805174e-01 8.55446844e-01 -3.35128270e-02 -4.95082215e+02] [-6.61697607e-02 -8.85511716e-04 9.97807987e-01 -4.44803107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:909.95, Y:-495.12, Z:-44.48 [[ 8.52096305e-01 5.20266100e-01 5.70532442e-02 9.09949432e+02] [-5.19185682e-01 8.54003559e-01 -3.35283218e-02 -4.95117330e+02] [-6.61673228e-02 -1.05186840e-03 9.97807987e-01 -4.44839261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.00, Y:-495.15, Z:-44.49 [[ 8.51133311e-01 5.21841069e-01 5.70437124e-02 9.10003217e+02] [-5.20763095e-01 8.53041947e-01 -3.35445310e-02 -4.95150162e+02] [-6.61655934e-02 -1.15539252e-03 9.97807987e-01 -4.44883137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.06, Y:-495.18, Z:-44.49 [[ 8.48081414e-01 5.26787444e-01 5.70342379e-02 9.10056577e+02] [-5.25719517e-01 8.49995690e-01 -3.35606324e-02 -4.95183470e+02] [-6.61581761e-02 -1.52186341e-03 9.97807987e-01 -4.44949927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.11, Y:-495.21, Z:-44.51 [[ 8.46382428e-01 5.29513889e-01 5.70247945e-02 9.10111192e+02] [-5.28451049e-01 8.48299532e-01 -3.35766704e-02 -4.95214253e+02] [-6.61534199e-02 -1.71610864e-03 9.97807988e-01 -4.45065507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.17, Y:-495.25, Z:-44.52 [[ 8.47792406e-01 5.27254539e-01 5.70147998e-02 9.10165059e+02] [-5.26185449e-01 8.49706032e-01 -3.35936334e-02 -4.95245799e+02] [-6.61582150e-02 -1.51993074e-03 9.97807988e-01 -4.45150150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.21, Y:-495.28, Z:-44.51 [[ 8.47437318e-01 5.27826155e-01 5.70047625e-02 9.10214861e+02] [-5.26757211e-01 8.49351025e-01 -3.36106570e-02 -4.95281826e+02] [-6.61576373e-02 -1.54474472e-03 9.97807988e-01 -4.45123100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:910.27, Y:-495.32, Z:-44.52 [[ 8.50390756e-01 5.23055394e-01 5.69966373e-02 9.10265651e+02] [-5.21974790e-01 8.52297904e-01 -3.36244301e-02 -4.95316782e+02] [-6.61655540e-02 -1.15690326e-03 9.97807988e-01 -4.45168830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.32, Y:-495.35, Z:-44.52 [[ 8.52457306e-01 5.19681542e-01 5.69880356e-02 9.10318951e+02] [-5.18592416e-01 8.54359599e-01 -3.36390023e-02 -4.95350517e+02] [-6.61698438e-02 -8.77749779e-04 9.97807988e-01 -4.45203136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.37, Y:-495.38, Z:-44.53 [[ 8.53408755e-01 5.18118667e-01 5.69784512e-02 9.10371957e+02] [-5.17024973e-01 8.55308426e-01 -3.36552288e-02 -4.95381153e+02] [-6.61715516e-02 -7.37615282e-04 9.97807988e-01 -4.45262484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:910.43, Y:-495.41, Z:-44.53 [[ 8.54283007e-01 5.16676760e-01 5.69707881e-02 9.10425329e+02] [-5.15578995e-01 8.56180327e-01 -3.36681957e-02 -4.95412608e+02] [-6.61728422e-02 -6.10774256e-04 9.97807989e-01 -4.45314048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.48, Y:-495.45, Z:-44.53 [[ 8.55389700e-01 5.14843424e-01 5.69623558e-02 9.10478716e+02] [-5.13740643e-01 8.57284109e-01 -3.36824560e-02 -4.95445304e+02] [-6.61741135e-02 -4.52251360e-04 9.97807989e-01 -4.45336523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.53, Y:-495.48, Z:-44.54 [[ 8.56146755e-01 5.13584554e-01 5.69529562e-02 9.10532747e+02] [-5.12477930e-01 8.58038923e-01 -3.36983422e-02 -4.95476406e+02] [-6.61748012e-02 -3.36406783e-04 9.97807989e-01 -4.45369554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:910.59, Y:-495.51, Z:-44.54 [[ 8.56809833e-01 5.12478567e-01 5.69440874e-02 9.10587382e+02] [-5.11368505e-01 8.58699985e-01 -3.37133222e-02 -4.95507288e+02] [-6.61752420e-02 -2.33506885e-04 9.97807989e-01 -4.45403437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.64, Y:-495.54, Z:-44.54 [[ 8.56696639e-01 5.12668812e-01 5.69346823e-02 9.10641941e+02] [-5.11558115e-01 8.58586418e-01 -3.37291979e-02 -4.95538673e+02] [-6.61752528e-02 -2.29708310e-04 9.97807989e-01 -4.45449053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.70, Y:-495.57, Z:-44.55 [[ 8.55943197e-01 5.13926797e-01 5.69253116e-02 9.10695514e+02] [-5.12817826e-01 8.57833989e-01 -3.37450057e-02 -4.95569650e+02] [-6.61749298e-02 -3.08506491e-04 9.97807989e-01 -4.45498761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.75, Y:-495.60, Z:-44.56 [[ 8.56527817e-01 5.12952786e-01 5.69169422e-02 9.10749776e+02] [-5.11840727e-01 8.58416794e-01 -3.37591162e-02 -4.95598982e+02] [-6.61752918e-02 -2.16786974e-04 9.97807989e-01 -4.45604840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.80, Y:-495.63, Z:-44.56 [[ 8.54715838e-01 5.15966748e-01 5.69135399e-02 9.10801528e+02] [-5.14860968e-01 8.56608498e-01 -3.37648512e-02 -4.95631773e+02] [-6.61741623e-02 -4.43207181e-04 9.97807989e-01 -4.45594210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.86, Y:-495.66, Z:-44.57 [[ 8.56321587e-01 5.13298349e-01 5.69047007e-02 9.10856100e+02] [-5.12185682e-01 8.58210205e-01 -3.37797414e-02 -4.95660252e+02] [-6.61752804e-02 -2.19451189e-04 9.97807990e-01 -4.45699979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.91, Y:-495.69, Z:-44.57 [[ 8.56045060e-01 5.13760355e-01 5.68959833e-02 9.10909460e+02] [-5.12647732e-01 8.57933704e-01 -3.37944181e-02 -4.95692484e+02] [-6.61752139e-02 -2.38052127e-04 9.97807990e-01 -4.45734603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.96, Y:-495.73, Z:-44.58 [[ 8.55091706e-01 5.15346501e-01 5.68872457e-02 9.10962106e+02] [-5.14236403e-01 8.56981835e-01 -3.38091200e-02 -4.95726006e+02] [-6.61747479e-02 -3.43594496e-04 9.97807990e-01 -4.45758524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.02, Y:-495.76, Z:-44.58 [[ 8.54948831e-01 5.15584531e-01 5.68778395e-02 9.11016021e+02] [-5.14473906e-01 8.56838651e-01 -3.38249368e-02 -4.95757585e+02] [-6.61747454e-02 -3.43574088e-04 9.97807990e-01 -4.45814645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.07, Y:-495.79, Z:-44.58 [[ 8.51572014e-01 5.21144123e-01 5.68674619e-02 9.11067494e+02] [-5.20044671e-01 8.53468356e-01 -3.38423751e-02 -4.95793096e+02] [-6.61713340e-02 -7.54401007e-04 9.97807990e-01 -4.45798227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.12, Y:-495.82, Z:-44.59 [[ 8.50815473e-01 5.22379384e-01 5.68578086e-02 9.11120272e+02] [-5.21281602e-01 8.52712782e-01 -3.38585856e-02 -4.95824975e+02] [-6.61704072e-02 -8.31521060e-04 9.97807990e-01 -4.45857394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.17, Y:-495.86, Z:-44.59 [[ 8.50346888e-01 5.23142691e-01 5.68497624e-02 9.11173600e+02] [-5.22045709e-01 8.52244659e-01 -3.38720901e-02 -4.95857824e+02] [-6.61698427e-02 -8.75148143e-04 9.97807991e-01 -4.45892033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.23, Y:-495.89, Z:-44.59 [[ 8.50379581e-01 5.23090560e-01 5.68404361e-02 9.11226942e+02] [-5.21992416e-01 8.52276680e-01 -3.38877332e-02 -4.95890131e+02] [-6.61701315e-02 -8.52840264e-04 9.97807991e-01 -4.45924579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.28, Y:-495.92, Z:-44.59 [[ 8.50696903e-01 5.22575351e-01 5.68311686e-02 9.11280569e+02] [-5.21475021e-01 8.52592735e-01 -3.39032682e-02 -4.95923473e+02] [-6.61708537e-02 -7.94629590e-04 9.97807991e-01 -4.45946444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:911.33, Y:-495.96, Z:-44.60 [[ 8.50285592e-01 5.23245367e-01 5.68216359e-02 9.11334356e+02] [-5.22145464e-01 8.52181671e-01 -3.39192373e-02 -4.95956170e+02] [-6.61704404e-02 -8.28120705e-04 9.97807991e-01 -4.45984432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.39, Y:-495.99, Z:-44.60 [[ 8.49420742e-01 5.24649189e-01 5.68122429e-02 9.11386544e+02] [-5.23551368e-01 8.51318027e-01 -3.39349627e-02 -4.95986625e+02] [-6.61692372e-02 -9.19066301e-04 9.97807991e-01 -4.46040763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:911.44, Y:-496.02, Z:-44.61 [[ 8.48050308e-01 5.26862315e-01 5.68047201e-02 9.11440748e+02] [-5.25768602e-01 8.49949964e-01 -3.39475505e-02 -4.96015898e+02] [-6.61668549e-02 -1.07690758e-03 9.97807991e-01 -4.46094602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.50, Y:-496.05, Z:-44.61 [[ 8.47203243e-01 5.28224193e-01 5.67967132e-02 9.11495207e+02] [-5.27132636e-01 8.49104139e-01 -3.39609414e-02 -4.96046976e+02] [-6.61653152e-02 -1.16758149e-03 9.97807991e-01 -4.46134983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.55, Y:-496.08, Z:-44.62 [[ 8.46997102e-01 5.28555656e-01 5.67875591e-02 9.11549971e+02] [-5.27463817e-01 8.48897836e-01 -3.39762416e-02 -4.96078135e+02] [-6.61651707e-02 -1.17560449e-03 9.97807992e-01 -4.46166850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.60, Y:-496.11, Z:-44.62 [[ 8.47919637e-01 5.27075439e-01 5.67782530e-02 9.11603902e+02] [-5.25979241e-01 8.49817861e-01 -3.39917861e-02 -4.96109921e+02] [-6.61674090e-02 -1.04187951e-03 9.97807992e-01 -4.46206548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.66, Y:-496.14, Z:-44.63 [[ 8.52399682e-01 5.19800045e-01 5.67687922e-02 9.11657654e+02] [-5.18686592e-01 8.54287834e-01 -3.40075789e-02 -4.96139258e+02] [-6.61740296e-02 -4.57161917e-04 9.97807992e-01 -4.46311032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.71, Y:-496.17, Z:-44.63 [[ 8.51669293e-01 5.20996413e-01 5.67640184e-02 9.11708818e+02] [-5.19885081e-01 8.53558695e-01 -3.40155454e-02 -4.96173702e+02] [-6.61733986e-02 -5.40770812e-04 9.97807992e-01 -4.46298074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.76, Y:-496.21, Z:-44.63 [[ 8.52638364e-01 5.19409520e-01 5.67588943e-02 9.11762162e+02] [-5.18294102e-01 8.54525357e-01 -3.40240933e-02 -4.96206376e+02] [-6.61743524e-02 -4.07552929e-04 9.97807992e-01 -4.46337202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.82, Y:-496.24, Z:-44.64 [[ 8.53426205e-01 5.18115070e-01 5.67493335e-02 9.11815866e+02] [-5.16995730e-01 8.55310874e-01 -3.40400325e-02 -4.96239288e+02] [-6.61749759e-02 -2.88507356e-04 9.97807992e-01 -4.46372911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:911.87, Y:-496.27, Z:-44.64 [[ 8.52884337e-01 5.19007626e-01 5.67396873e-02 9.11869510e+02] [-5.17889190e-01 8.54769541e-01 -3.40561038e-02 -4.96272025e+02] [-6.61747341e-02 -3.38953200e-04 9.97807992e-01 -4.46409463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.92, Y:-496.30, Z:-44.65 [[ 8.52523674e-01 5.19600881e-01 5.67301477e-02 9.11922547e+02] [-5.18482699e-01 8.54409030e-01 -3.40719873e-02 -4.96300418e+02] [-6.61745851e-02 -3.66424284e-04 9.97807993e-01 -4.46526420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.98, Y:-496.33, Z:-44.66 [[ 8.50314449e-01 5.23209313e-01 5.67217181e-02 9.11975646e+02] [-5.22098196e-01 8.52203977e-01 -3.40860147e-02 -4.96334111e+02] [-6.61725941e-02 -6.30475849e-04 9.97807993e-01 -4.46566569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.03, Y:-496.37, Z:-44.65 [[ 8.46831749e-01 5.28828359e-01 5.67146918e-02 9.12028258e+02] [-5.27728996e-01 8.48728139e-01 -3.40977016e-02 -4.96366441e+02] [-6.61671864e-02 -1.05497114e-03 9.97807993e-01 -4.46549273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:912.08, Y:-496.40, Z:-44.66 [[ 8.44267334e-01 5.32913401e-01 5.67095847e-02 9.12082673e+02] [-5.31822642e-01 8.46168686e-01 -3.41061933e-02 -4.96397844e+02] [-6.61615223e-02 -1.36469628e-03 9.97807993e-01 -4.46588612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.14, Y:-496.43, Z:-44.66 [[ 8.42945741e-01 5.35002380e-01 5.67003591e-02 9.12136608e+02] [-5.33915303e-01 8.44849200e-01 -3.41215238e-02 -4.96430003e+02] [-6.61583495e-02 -1.51059620e-03 9.97807993e-01 -4.46632431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.19, Y:-496.46, Z:-44.67 [[ 8.42715914e-01 5.35365313e-01 5.66910010e-02 9.12189435e+02] [-5.34278010e-01 8.44619245e-01 -3.41370647e-02 -4.96461670e+02] [-6.61581108e-02 -1.52090754e-03 9.97807993e-01 -4.46680372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.24, Y:-496.49, Z:-44.67 [[ 8.42903523e-01 5.35070766e-01 5.66826915e-02 9.12243318e+02] [-5.33981871e-01 8.44805943e-01 -3.41508565e-02 -4.96493740e+02] [-6.61589996e-02 -1.48165239e-03 9.97807993e-01 -4.46720112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.30, Y:-496.53, Z:-44.68 [[ 8.43944549e-01 5.33428329e-01 5.66728815e-02 9.12296304e+02] [-5.32334640e-01 8.45844216e-01 -3.41671285e-02 -4.96525985e+02] [-6.61621433e-02 -1.33377611e-03 9.97807994e-01 -4.46762902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:912.35, Y:-496.56, Z:-44.68 [[ 8.44878168e-01 5.31949013e-01 5.66668287e-02 9.12348719e+02] [-5.30851324e-01 8.46775527e-01 -3.41771642e-02 -4.96558876e+02] [-6.61645925e-02 -1.20612119e-03 9.97807994e-01 -4.46801320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.40, Y:-496.59, Z:-44.68 [[ 8.46733256e-01 5.28992114e-01 5.66580683e-02 9.12402015e+02] [-5.27886828e-01 8.48626199e-01 -3.41916808e-02 -4.96591954e+02] [-6.61686507e-02 -9.57814772e-04 9.97807994e-01 -4.46844769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:912.46, Y:-496.63, Z:-44.69 [[ 8.47729655e-01 5.27394856e-01 5.66489044e-02 9.12455192e+02] [-5.26284989e-01 8.49619916e-01 -3.42068569e-02 -4.96625389e+02] [-6.61705577e-02 -8.15301025e-04 9.97807994e-01 -4.46886363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.51, Y:-496.66, Z:-44.69 [[ 8.47478380e-01 5.27799538e-01 5.66395838e-02 9.12507452e+02] [-5.26689543e-01 8.49368566e-01 -3.42222829e-02 -4.96657587e+02] [-6.61703872e-02 -8.28831598e-04 9.97807994e-01 -4.46932800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.56, Y:-496.69, Z:-44.70 [[ 8.46772000e-01 5.28932867e-01 5.66321600e-02 9.12560557e+02] [-5.27824581e-01 8.48663188e-01 -3.42345637e-02 -4.96689467e+02] [-6.61694154e-02 -9.02976097e-04 9.97807994e-01 -4.46968304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.61, Y:-496.72, Z:-44.70 [[ 8.46767643e-01 5.28940732e-01 5.66238580e-02 9.12613925e+02] [-5.27831546e-01 8.48658302e-01 -3.42482897e-02 -4.96722765e+02] [-6.61696226e-02 -8.87514912e-04 9.97807994e-01 -4.46997686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.67, Y:-496.75, Z:-44.70 [[ 8.47056646e-01 5.28478814e-01 5.66143235e-02 9.12668043e+02] [-5.27367543e-01 8.48946082e-01 -3.42640434e-02 -4.96754829e+02] [-6.61703292e-02 -8.32970994e-04 9.97807994e-01 -4.47030787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.72, Y:-496.79, Z:-44.70 [[ 8.48051688e-01 5.26881630e-01 5.66046198e-02 9.12721555e+02] [-5.25765732e-01 8.49938393e-01 -3.42800667e-02 -4.96787626e+02] [-6.61719770e-02 -6.89500898e-04 9.97807995e-01 -4.47023938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.77, Y:-496.82, Z:-44.71 [[ 8.52321608e-01 5.19946476e-01 5.65998176e-02 9.12774800e+02] [-5.18814698e-01 8.54198831e-01 -3.42879937e-02 -4.96817546e+02] [-6.61754195e-02 -1.40419364e-04 9.97807995e-01 -4.47102319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:912.83, Y:-496.85, Z:-44.71 [[ 8.56691632e-01 5.12715245e-01 5.65908685e-02 9.12827925e+02] [-5.11566646e-01 8.58558610e-01 -3.43027576e-02 -4.96849678e+02] [-6.61741241e-02 4.36884592e-04 9.97807995e-01 -4.47136731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.88, Y:-496.88, Z:-44.72 [[ 8.58542260e-01 5.09611330e-01 5.65816287e-02 9.12879903e+02] [-5.08454978e-01 8.60404446e-01 -3.43179916e-02 -4.96881732e+02] [-6.61719222e-02 6.94235228e-04 9.97807995e-01 -4.47176536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.93, Y:-496.91, Z:-44.73 [[ 8.61217620e-01 5.05077914e-01 5.65730655e-02 9.12934665e+02] [-5.03910834e-01 8.63073101e-01 -3.43321022e-02 -4.96909581e+02] [-6.61670777e-02 1.05963072e-03 9.97807995e-01 -4.47252563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.99, Y:-496.94, Z:-44.73 [[ 8.61961609e-01 5.03808203e-01 5.65639472e-02 9.12990555e+02] [-5.02637405e-01 8.63814746e-01 -3.43471185e-02 -4.96936099e+02] [-6.61651317e-02 1.17474191e-03 9.97807995e-01 -4.47327821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.04, Y:-496.97, Z:-44.73 [[ 8.58520028e-01 5.09651806e-01 5.65543871e-02 9.13041169e+02] [-5.08492587e-01 8.60380429e-01 -3.43628527e-02 -4.96970365e+02] [-6.61713778e-02 7.43710635e-04 9.97807995e-01 -4.47289815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.10, Y:-497.00, Z:-44.73 [[ 8.56231092e-01 5.13488818e-01 5.65468989e-02 9.13096190e+02] [-5.12337123e-01 8.58096160e-01 -3.43751707e-02 -4.96998191e+02] [-6.61739426e-02 4.62014431e-04 9.97807996e-01 -4.47330525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.15, Y:-497.03, Z:-44.74 [[ 8.52916101e-01 5.18977458e-01 5.65377933e-02 9.13152731e+02] [-5.17836773e-01 8.54787924e-01 -3.43901403e-02 -4.97026642e+02] [-6.61755306e-02 5.45559818e-05 9.97807996e-01 -4.47363205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.21, Y:-497.05, Z:-44.74 [[ 8.48966142e-01 5.25415134e-01 5.65281003e-02 9.13208045e+02] [-5.24287582e-01 8.50845905e-01 -3.44060657e-02 -4.97053798e+02] [-6.61741703e-02 -4.27396123e-04 9.97807996e-01 -4.47409994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.26, Y:-497.08, Z:-44.75 [[ 8.44584282e-01 5.32431193e-01 5.65191572e-02 9.13263549e+02] [-5.31318272e-01 8.46472744e-01 -3.44207504e-02 -4.97081013e+02] [-6.61686073e-02 -9.58436177e-04 9.97807996e-01 -4.47452321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:913.32, Y:-497.11, Z:-44.75 [[ 8.41910602e-01 5.36649306e-01 5.65160164e-02 9.13319193e+02] [-5.35545499e-01 8.43804406e-01 -3.44259066e-02 -4.97111249e+02] [-6.61631025e-02 -1.28336248e-03 9.97807996e-01 -4.47473305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.37, Y:-497.14, Z:-44.75 [[ 8.39004049e-01 5.41183229e-01 5.65059201e-02 9.13374367e+02] [-5.40088539e-01 8.40903137e-01 -3.44424705e-02 -4.97140920e+02] [-6.61556928e-02 -1.62082766e-03 9.97807996e-01 -4.47498121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.43, Y:-497.17, Z:-44.75 [[ 8.38309177e-01 5.42260002e-01 5.64961370e-02 9.13427089e+02] [-5.41166672e-01 8.40209048e-01 -3.44585103e-02 -4.97172156e+02] [-6.61540373e-02 -1.68694104e-03 9.97807996e-01 -4.47546557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:913.48, Y:-497.20, Z:-44.76 [[ 8.37515074e-01 5.43486177e-01 5.64913809e-02 9.13481641e+02] [-5.42395103e-01 8.39416241e-01 -3.44663056e-02 -4.97203217e+02] [-6.61517433e-02 -1.77459790e-03 9.97807996e-01 -4.47589337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.54, Y:-497.23, Z:-44.76 [[ 8.37291005e-01 5.43832311e-01 5.64817697e-02 9.13535690e+02] [-5.42740962e-01 8.39192014e-01 -3.44820489e-02 -4.97233796e+02] [-6.61515024e-02 -1.78346065e-03 9.97807997e-01 -4.47627110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.59, Y:-497.27, Z:-44.77 [[ 8.37506781e-01 5.43500853e-01 5.64731340e-02 9.13588620e+02] [-5.42407799e-01 8.39406810e-01 -3.44961862e-02 -4.97265907e+02] [-6.61526399e-02 -1.74067845e-03 9.97807997e-01 -4.47675891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.64, Y:-497.30, Z:-44.77 [[ 8.39190836e-01 5.40897860e-01 5.64645591e-02 9.13641356e+02] [-5.39797968e-01 8.41086915e-01 -3.45102162e-02 -4.97298396e+02] [-6.61581039e-02 -1.51879708e-03 9.97807997e-01 -4.47712723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:913.69, Y:-497.33, Z:-44.77 [[ 8.42093357e-01 5.36368810e-01 5.64559885e-02 9.13694086e+02] [-5.35257779e-01 8.43982931e-01 -3.45242315e-02 -4.97331052e+02] [-6.61656115e-02 -1.14588105e-03 9.97807997e-01 -4.47734659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.75, Y:-497.36, Z:-44.78 [[ 8.44239479e-01 5.32985360e-01 5.64474008e-02 9.13746484e+02] [-5.31865818e-01 8.46124022e-01 -3.45382667e-02 -4.97364661e+02] [-6.61698923e-02 -8.63874733e-04 9.97807997e-01 -4.47768521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.80, Y:-497.40, Z:-44.78 [[ 8.47737307e-01 5.27405067e-01 5.64389414e-02 9.13799675e+02] [-5.26272199e-01 8.49613869e-01 -3.45520847e-02 -4.97398574e+02] [-6.61742519e-02 -4.11154565e-04 9.97807997e-01 -4.47823915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:913.85, Y:-497.43, Z:-44.79 [[ 8.50625663e-01 5.22734285e-01 5.64344660e-02 9.13853333e+02] [-5.21590628e-01 8.52495669e-01 -3.45593929e-02 -4.97432017e+02] [-6.61755174e-02 -3.85819914e-05 9.97807997e-01 -4.47851309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.91, Y:-497.46, Z:-44.79 [[ 8.51968787e-01 5.20543491e-01 5.64239332e-02 9.13906744e+02] [-5.19393886e-01 8.53835143e-01 -3.45765809e-02 -4.97464919e+02] [-6.61753512e-02 1.51921779e-04 9.97807998e-01 -4.47895390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:913.96, Y:-497.50, Z:-44.79 [[ 8.52684101e-01 5.19371985e-01 5.64142196e-02 9.13959999e+02] [-5.18218768e-01 8.54548227e-01 -3.45924221e-02 -4.97495039e+02] [-6.61750063e-02 2.61501000e-04 9.97807998e-01 -4.47944742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.01, Y:-497.53, Z:-44.80 [[ 8.52184311e-01 5.20192476e-01 5.64064572e-02 9.14013684e+02] [-5.19040217e-01 8.54049028e-01 -3.46050748e-02 -4.97525064e+02] [-6.61751795e-02 2.12682041e-04 9.97807998e-01 -4.47985867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.07, Y:-497.56, Z:-44.80 [[ 8.50921913e-01 5.22255756e-01 5.63987876e-02 9.14068986e+02] [-5.21107189e-01 8.52788908e-01 -3.46175702e-02 -4.97555119e+02] [-6.61754857e-02 6.70353888e-05 9.97807998e-01 -4.48018355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.12, Y:-497.58, Z:-44.81 [[ 8.48989942e-01 5.25391623e-01 5.63890149e-02 9.14123069e+02] [-5.24248896e-01 8.50860516e-01 -3.46334817e-02 -4.97584996e+02] [-6.61753275e-02 -1.58401247e-04 9.97807998e-01 -4.48059236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:914.18, Y:-497.62, Z:-44.81 [[ 8.47094432e-01 5.28443300e-01 5.63799868e-02 9.14176853e+02] [-5.27306333e-01 8.48968512e-01 -3.46481724e-02 -4.97615243e+02] [-6.61744281e-02 -3.79250267e-04 9.97807998e-01 -4.48091079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.23, Y:-497.64, Z:-44.81 [[ 8.43448888e-01 5.34243596e-01 5.63715605e-02 9.14231689e+02] [-5.33118601e-01 8.45330179e-01 -3.46618764e-02 -4.97643699e+02] [-6.61704668e-02 -8.17206355e-04 9.97807998e-01 -4.48126562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.29, Y:-497.67, Z:-44.82 [[ 8.39932435e-01 5.39756140e-01 5.63632446e-02 9.14287125e+02] [-5.38642583e-01 8.41820519e-01 -3.46753935e-02 -4.97673706e+02] [-6.61639923e-02 -1.23465593e-03 9.97807998e-01 -4.48177109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:914.34, Y:-497.70, Z:-44.82 [[ 8.38749428e-01 5.41593646e-01 5.63535269e-02 9.14341167e+02] [-5.40483165e-01 8.40639323e-01 -3.46911793e-02 -4.97704793e+02] [-6.61615129e-02 -1.36092577e-03 9.97807999e-01 -4.48232836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.40, Y:-497.74, Z:-44.83 [[ 8.38085449e-01 5.42621562e-01 5.63437787e-02 9.14395548e+02] [-5.41512336e-01 8.39976080e-01 -3.47070046e-02 -4.97736066e+02] [-6.61601954e-02 -1.42341573e-03 9.97807999e-01 -4.48284154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.45, Y:-497.77, Z:-44.83 [[ 8.38557747e-01 5.41892430e-01 5.63338176e-02 9.14448034e+02] [-5.40780474e-01 8.40446774e-01 -3.47231652e-02 -4.97767739e+02] [-6.61617957e-02 -1.34684947e-03 9.97807999e-01 -4.48333200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:914.50, Y:-497.80, Z:-44.84 [[ 8.38664286e-01 5.41728486e-01 5.63246178e-02 9.14501450e+02] [-5.40615160e-01 8.40552506e-01 -3.47380819e-02 -4.97799867e+02] [-6.61624071e-02 -1.31635358e-03 9.97807999e-01 -4.48368058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.56, Y:-497.83, Z:-44.84 [[ 8.38014752e-01 5.42733709e-01 5.63151507e-02 9.14555037e+02] [-5.41621618e-01 8.39903699e-01 -3.47534225e-02 -4.97831253e+02] [-6.61611573e-02 -1.37762230e-03 9.97807999e-01 -4.48426457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:914.61, Y:-497.86, Z:-44.85 [[ 8.39977344e-01 5.39692242e-01 5.63058299e-02 9.14610382e+02] [-5.38572298e-01 8.41861645e-01 -3.47685171e-02 -4.97857860e+02] [-6.61660176e-02 -1.11999356e-03 9.97807999e-01 -4.48534919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.66, Y:-497.89, Z:-44.86 [[ 8.39272192e-01 5.40788677e-01 5.63009201e-02 9.14661448e+02] [-5.39670662e-01 8.41157639e-01 -3.47764658e-02 -4.97892951e+02] [-6.61646680e-02 -1.19703418e-03 9.97808000e-01 -4.48577499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.71, Y:-497.93, Z:-44.86 [[ 8.39718993e-01 5.40095571e-01 5.62919895e-02 9.14713640e+02] [-5.38975031e-01 8.41602940e-01 -3.47909156e-02 -4.97927389e+02] [-6.61659233e-02 -1.12538425e-03 9.97808000e-01 -4.48610701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.77, Y:-497.96, Z:-44.86 [[ 8.41169572e-01 5.37834656e-01 5.62817354e-02 9.14765654e+02] [-5.36707943e-01 8.43049833e-01 -3.48074959e-02 -4.97962923e+02] [-6.61689853e-02 -9.27848007e-04 9.97808000e-01 -4.48645475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.82, Y:-498.00, Z:-44.87 [[ 8.42302816e-01 5.36059223e-01 5.62714555e-02 9.14817094e+02] [-5.34927437e-01 8.44180027e-01 -3.48241071e-02 -4.98000120e+02] [-6.61710226e-02 -7.68701988e-04 9.97808000e-01 -4.48662327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:914.87, Y:-498.04, Z:-44.87 [[ 8.42464133e-01 5.35806746e-01 5.62611455e-02 9.14866711e+02] [-5.34673285e-01 8.44340334e-01 -3.48407558e-02 -4.98037678e+02] [-6.61714663e-02 -7.29244380e-04 9.97808000e-01 -4.48680659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:914.92, Y:-498.07, Z:-44.88 [[ 8.43568373e-01 5.34067554e-01 5.62516505e-02 9.14919463e+02] [-5.32929204e-01 8.45441611e-01 -3.48560791e-02 -4.98070074e+02] [-6.61729869e-02 -5.74661366e-04 9.97808000e-01 -4.48752963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.97, Y:-498.10, Z:-44.88 [[ 8.42095379e-01 5.36387454e-01 5.62483124e-02 9.14969378e+02] [-5.35253904e-01 8.43971526e-01 -3.48614650e-02 -4.98104883e+02] [-6.61712265e-02 -7.50450229e-04 9.97808000e-01 -4.48773425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.02, Y:-498.14, Z:-44.89 [[ 8.41209471e-01 5.37776652e-01 5.62396458e-02 9.15022498e+02] [-5.36645267e-01 8.43086924e-01 -3.48754406e-02 -4.98136562e+02] [-6.61701077e-02 -8.43188763e-04 9.97808001e-01 -4.48850984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.07, Y:-498.17, Z:-44.89 [[ 8.40162706e-01 5.39411481e-01 5.62306014e-02 9.15073499e+02] [-5.38282774e-01 8.42041770e-01 -3.48900170e-02 -4.98171378e+02] [-6.61685909e-02 -9.54672966e-04 9.97808001e-01 -4.48863583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.13, Y:-498.21, Z:-44.89 [[ 8.39851531e-01 5.39896719e-01 5.62222181e-02 9.15125973e+02] [-5.38768194e-01 8.41730704e-01 -3.49035209e-02 -4.98206375e+02] [-6.61682636e-02 -9.76967383e-04 9.97808001e-01 -4.48917543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.18, Y:-498.24, Z:-44.89 [[ 8.40618794e-01 5.38702312e-01 5.62126457e-02 9.15177167e+02] [-5.37570086e-01 8.42495739e-01 -3.49189306e-02 -4.98242773e+02] [-6.61698231e-02 -8.64727396e-04 9.97808001e-01 -4.48926775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.23, Y:-498.28, Z:-44.90 [[ 8.41889214e-01 5.36715059e-01 5.62094011e-02 9.15227154e+02] [-5.35578054e-01 8.43763268e-01 -3.49241527e-02 -4.98276926e+02] [-6.61717466e-02 -7.02254149e-04 9.97808001e-01 -4.48982163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.28, Y:-498.31, Z:-44.90 [[ 8.42603899e-01 5.35593223e-01 5.62011404e-02 9.15279137e+02] [-5.34452836e-01 8.44475897e-01 -3.49374410e-02 -4.98311225e+02] [-6.61727651e-02 -5.98434861e-04 9.97808001e-01 -4.49011330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:915.33, Y:-498.35, Z:-44.91 [[ 8.43655673e-01 5.33935908e-01 5.61920883e-02 9.15331034e+02] [-5.32790874e-01 8.45524833e-01 -3.49519940e-02 -4.98346122e+02] [-6.61739307e-02 -4.51183760e-04 9.97808001e-01 -4.49055814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:915.38, Y:-498.38, Z:-44.91 [[ 8.43501629e-01 5.34180323e-01 5.61817165e-02 9.15381103e+02] [-5.33034721e-01 8.45370439e-01 -3.49686576e-02 -4.98380693e+02] [-6.61739312e-02 -4.50685945e-04 9.97808001e-01 -4.49127456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.43, Y:-498.42, Z:-44.92 [[ 8.45061837e-01 5.31709666e-01 5.61722652e-02 9.15433205e+02] [-5.30557591e-01 8.46926664e-01 -3.49838332e-02 -4.98415071e+02] [-6.61750315e-02 -2.39119370e-04 9.97808002e-01 -4.49168721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.49, Y:-498.45, Z:-44.92 [[ 8.44879094e-01 5.32001059e-01 5.61621783e-02 9.15485631e+02] [-5.30848551e-01 8.46743653e-01 -3.50000191e-02 -4.98449834e+02] [-6.61750153e-02 -2.42826614e-04 9.97808002e-01 -4.49208043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.54, Y:-498.48, Z:-44.92 [[ 8.42622561e-01 5.35568946e-01 5.61526833e-02 9.15536018e+02] [-5.34423318e-01 8.44491355e-01 -3.50152460e-02 -4.98484536e+02] [-6.61735340e-02 -5.04667108e-04 9.97808002e-01 -4.49213849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.59, Y:-498.52, Z:-44.93 [[ 8.42094428e-01 5.36399761e-01 5.61450860e-02 9.15588823e+02] [-5.35255165e-01 8.43963854e-01 -3.50274235e-02 -4.98518574e+02] [-6.61731248e-02 -5.55549117e-04 9.97808002e-01 -4.49302182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.64, Y:-498.55, Z:-44.93 [[ 8.39273593e-01 5.40803699e-01 5.61355001e-02 9.15639982e+02] [-5.39667885e-01 8.41148368e-01 -3.50427793e-02 -4.98554870e+02] [-6.61695490e-02 -8.84047284e-04 9.97808002e-01 -4.49321777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.69, Y:-498.59, Z:-44.94 [[ 8.37722810e-01 5.43203411e-01 5.61297446e-02 9.15690619e+02] [-5.42072350e-01 8.39600456e-01 -3.50519958e-02 -4.98588259e+02] [-6.61669228e-02 -1.06252614e-03 9.97808002e-01 -4.49394794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.74, Y:-498.62, Z:-44.94 [[ 8.36872548e-01 5.44512927e-01 5.61249587e-02 9.15740842e+02] [-5.43384290e-01 8.38751652e-01 -3.50596574e-02 -4.98624990e+02] [-6.61653384e-02 -1.15695603e-03 9.97808002e-01 -4.49420533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.79, Y:-498.66, Z:-44.95 [[ 8.36498384e-01 5.45088453e-01 5.61162319e-02 9.15791231e+02] [-5.43960173e-01 8.38377702e-01 -3.50736197e-02 -4.98661474e+02] [-6.61648227e-02 -1.18596899e-03 9.97808002e-01 -4.49454952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.84, Y:-498.70, Z:-44.95 [[ 8.36330685e-01 5.45346353e-01 5.61100768e-02 9.15843203e+02] [-5.44217992e-01 8.38209955e-01 -3.50834638e-02 -4.98697704e+02] [-6.61646640e-02 -1.19473605e-03 9.97808003e-01 -4.49491884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.89, Y:-498.74, Z:-44.95 [[ 8.36206703e-01 5.45537446e-01 5.61003066e-02 9.15893228e+02] [-5.44408467e-01 8.38085602e-01 -3.50990800e-02 -4.98735175e+02] [-6.61647217e-02 -1.19139594e-03 9.97808003e-01 -4.49541514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.94, Y:-498.77, Z:-44.96 [[ 8.35508890e-01 5.46606567e-01 5.60906022e-02 9.15942841e+02] [-5.45478952e-01 8.37388607e-01 -3.51145814e-02 -4.98772472e+02] [-6.61634920e-02 -1.25769793e-03 9.97808003e-01 -4.49577304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:915.99, Y:-498.81, Z:-44.96 [[ 8.34757612e-01 5.47754101e-01 5.60818559e-02 9.15994491e+02] [-5.46628133e-01 8.36638315e-01 -3.51285447e-02 -4.98807085e+02] [-6.61620338e-02 -1.33210013e-03 9.97808003e-01 -4.49632669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.05, Y:-498.84, Z:-44.97 [[ 8.33446229e-01 5.49748348e-01 5.60726153e-02 9.16045608e+02] [-5.48625888e-01 8.35329028e-01 -3.51432885e-02 -4.98842813e+02] [-6.61590480e-02 -1.47284705e-03 9.97808003e-01 -4.49689798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.10, Y:-498.88, Z:-44.97 [[ 8.33143718e-01 5.50207563e-01 5.60640986e-02 9.16095733e+02] [-5.49085227e-01 8.35026591e-01 -3.51568699e-02 -4.98877020e+02] [-6.61585889e-02 -1.49324298e-03 9.97808003e-01 -4.49731655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.15, Y:-498.91, Z:-44.97 [[ 8.34523854e-01 5.48112788e-01 5.60563036e-02 9.16149192e+02] [-5.46984891e-01 8.36403401e-01 -3.51692944e-02 -4.98909563e+02] [-6.61624230e-02 -1.31233596e-03 9.97808003e-01 -4.49746504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.20, Y:-498.94, Z:-44.98 [[ 8.36228343e-01 5.45509692e-01 5.60476046e-02 9.16201973e+02] [-5.44375015e-01 8.38103805e-01 -3.51831521e-02 -4.98939737e+02] [-6.61664612e-02 -1.08976664e-03 9.97808004e-01 -4.49784607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:916.26, Y:-498.97, Z:-44.98 [[ 8.37061941e-01 5.44230195e-01 5.60428669e-02 9.16255348e+02] [-5.43092146e-01 8.38935358e-01 -3.51906971e-02 -4.98973949e+02] [-6.61681826e-02 -9.79647678e-04 9.97808004e-01 -4.49806075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.31, Y:-499.01, Z:-44.99 [[ 8.37550655e-01 5.43478790e-01 5.60330703e-02 9.16308122e+02] [-5.42338018e-01 8.39422415e-01 -3.52062891e-02 -4.99008633e+02] [-6.61692866e-02 -9.01813838e-04 9.97808004e-01 -4.49858447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.36, Y:-499.04, Z:-45.00 [[ 8.40075518e-01 5.39568821e-01 5.60233106e-02 9.16362267e+02] [-5.38418301e-01 8.41941303e-01 -3.52218128e-02 -4.99037684e+02] [-6.61729311e-02 -5.74993057e-04 9.97808004e-01 -4.50003248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.41, Y:-499.07, Z:-45.00 [[ 8.39915299e-01 5.39819105e-01 5.60145077e-02 9.16414301e+02] [-5.38668208e-01 8.41780850e-01 -3.52358067e-02 -4.99073163e+02] [-6.61729016e-02 -5.78141330e-04 9.97808004e-01 -4.50021014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.47, Y:-499.11, Z:-45.00 [[ 8.38618204e-01 5.41833027e-01 5.60042690e-02 9.16465390e+02] [-5.40685524e-01 8.40485845e-01 -3.52520729e-02 -4.99108123e+02] [-6.61715327e-02 -7.17667465e-04 9.97808004e-01 -4.49985814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.52, Y:-499.14, Z:-45.01 [[ 8.37980999e-01 5.42818891e-01 5.59954984e-02 9.16517605e+02] [-5.41672655e-01 8.39849418e-01 -3.52659989e-02 -4.99139587e+02] [-6.61708371e-02 -7.78993295e-04 9.97808004e-01 -4.50052192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.57, Y:-499.17, Z:-45.01 [[ 8.36439654e-01 5.45191789e-01 5.59876674e-02 9.16571211e+02] [-5.44050021e-01 8.38310806e-01 -3.52784268e-02 -4.99172991e+02] [-6.61685752e-02 -9.51816513e-04 9.97808004e-01 -4.50081481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.62, Y:-499.21, Z:-45.01 [[ 8.34905291e-01 5.47539614e-01 5.59779053e-02 9.16624501e+02] [-5.46402070e-01 8.36779014e-01 -3.52939100e-02 -4.99205753e+02] [-6.61659503e-02 -1.11937110e-03 9.97808005e-01 -4.50109212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.68, Y:-499.24, Z:-45.01 [[ 8.33952128e-01 5.48991265e-01 5.59681925e-02 9.16676592e+02] [-5.47855950e-01 8.35827202e-01 -3.53093057e-02 -4.99236649e+02] [-6.61642381e-02 -1.21623660e-03 9.97808005e-01 -4.50144013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.73, Y:-499.27, Z:-45.02 [[ 8.33519721e-01 5.49648348e-01 5.59604258e-02 9.16730027e+02] [-5.48513685e-01 8.35395189e-01 -3.53216105e-02 -4.99269723e+02] [-6.61635354e-02 -1.25380039e-03 9.97808005e-01 -4.50182315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.78, Y:-499.30, Z:-45.02 [[ 8.32579909e-01 5.51071858e-01 5.59508961e-02 9.16783940e+02] [-5.49939387e-01 8.34456702e-01 -3.53366995e-02 -4.99302652e+02] [-6.61616609e-02 -1.34897544e-03 9.97808005e-01 -4.50219038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.84, Y:-499.33, Z:-45.03 [[ 8.31890464e-01 5.52113038e-01 5.59414855e-02 9.16837368e+02] [-5.50981916e-01 8.33768069e-01 -3.53515911e-02 -4.99334850e+02] [-6.61602988e-02 -1.41409534e-03 9.97808005e-01 -4.50266803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.89, Y:-499.37, Z:-45.03 [[ 8.31966026e-01 5.52000016e-01 5.59331280e-02 9.16891199e+02] [-5.50867750e-01 8.33842942e-01 -3.53648095e-02 -4.99366498e+02] [-6.61608194e-02 -1.38943633e-03 9.97808005e-01 -4.50319578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:916.94, Y:-499.40, Z:-45.04 [[ 8.33476363e-01 5.49717183e-01 5.59300509e-02 9.16943129e+02] [-5.48579450e-01 8.35349970e-01 -3.53696753e-02 -4.99399687e+02] [-6.61644846e-02 -1.20228819e-03 9.97808005e-01 -4.50358195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.00, Y:-499.43, Z:-45.04 [[ 8.35043091e-01 5.47335256e-01 5.59209634e-02 9.16995543e+02] [-5.46191217e-01 8.36912854e-01 -3.53840372e-02 -4.99432981e+02] [-6.61679041e-02 -9.96343221e-04 9.97808005e-01 -4.50397443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:917.05, Y:-499.47, Z:-45.04 [[ 8.35799928e-01 5.46179757e-01 5.59120125e-02 9.17048559e+02] [-5.45032187e-01 8.37667526e-01 -3.53981754e-02 -4.99465728e+02] [-6.61694440e-02 -8.88053985e-04 9.97808006e-01 -4.50446370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.10, Y:-499.50, Z:-45.05 [[ 8.35834885e-01 5.46127104e-01 5.59037799e-02 9.17101313e+02] [-5.44978547e-01 8.37701876e-01 -3.54111722e-02 -4.99498630e+02] [-6.61697022e-02 -8.68467737e-04 9.97808006e-01 -4.50499231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.15, Y:-499.53, Z:-45.05 [[ 8.36551193e-01 5.45030073e-01 5.58956354e-02 9.17153442e+02] [-5.43878209e-01 8.38416145e-01 -3.54240233e-02 -4.99532413e+02] [-6.61709612e-02 -7.66409118e-04 9.97808006e-01 -4.50538066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.21, Y:-499.57, Z:-45.05 [[ 8.37655854e-01 5.43331382e-01 5.58898808e-02 9.17205264e+02] [-5.42175131e-01 8.39518090e-01 -3.54331004e-02 -4.99566514e+02] [-6.61724813e-02 -6.21359456e-04 9.97808006e-01 -4.50545406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.26, Y:-499.60, Z:-45.06 [[ 8.38559345e-01 5.41936801e-01 5.58813763e-02 9.17258065e+02] [-5.40776559e-01 8.40419097e-01 -3.54465078e-02 -4.99600798e+02] [-6.61735428e-02 -4.95338049e-04 9.97808006e-01 -4.50577869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.31, Y:-499.64, Z:-45.06 [[ 8.39143649e-01 5.41032651e-01 5.58713403e-02 9.17310312e+02] [-5.39869353e-01 8.41001490e-01 -3.54623196e-02 -4.99635201e+02] [-6.61741532e-02 -4.05244093e-04 9.97808006e-01 -4.50620456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.36, Y:-499.67, Z:-45.07 [[ 8.39875004e-01 5.39897671e-01 5.58612727e-02 9.17363321e+02] [-5.38730807e-01 8.41730608e-01 -3.54781713e-02 -4.99669496e+02] [-6.61747251e-02 -2.96959314e-04 9.97808006e-01 -4.50665504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.42, Y:-499.70, Z:-45.08 [[ 8.40492682e-01 5.38936631e-01 5.58512364e-02 9.17415252e+02] [-5.37766596e-01 8.42346287e-01 -3.54939639e-02 -4.99703939e+02] [-6.61750789e-02 -2.02512367e-04 9.97808007e-01 -4.50753057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.47, Y:-499.74, Z:-45.08 [[ 8.39824174e-01 5.39978935e-01 5.58400084e-02 9.17469396e+02] [-5.38810027e-01 8.41678490e-01 -3.55116193e-02 -4.99736608e+02] [-6.61748603e-02 -2.63640048e-04 9.97808007e-01 -4.50783020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.52, Y:-499.77, Z:-45.08 [[ 8.38252779e-01 5.42416326e-01 5.58283796e-02 9.17521337e+02] [-5.41251592e-01 8.40109719e-01 -3.55298918e-02 -4.99769371e+02] [-6.61739576e-02 -4.34168828e-04 9.97808007e-01 -4.50807014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.57, Y:-499.80, Z:-45.09 [[ 8.37747827e-01 5.43196748e-01 5.58200007e-02 9.17573562e+02] [-5.42032867e-01 8.39605302e-01 -3.55430506e-02 -4.99801967e+02] [-6.61736381e-02 -4.80161613e-04 9.97808007e-01 -4.50871893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.63, Y:-499.83, Z:-45.09 [[ 8.37353730e-01 5.43804426e-01 5.58164622e-02 9.17625999e+02] [-5.42641522e-01 8.39211818e-01 -3.55486067e-02 -4.99833644e+02] [-6.61733243e-02 -5.21571567e-04 9.97808007e-01 -4.50887917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.68, Y:-499.87, Z:-45.09 [[ 8.37057436e-01 5.44261332e-01 5.58072692e-02 9.17677755e+02] [-5.43098481e-01 8.38915556e-01 -3.55630327e-02 -4.99867341e+02] [-6.61731699e-02 -5.40542165e-04 9.97808007e-01 -4.50928464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:917.73, Y:-499.90, Z:-45.10 [[ 8.36451712e-01 5.45192414e-01 5.58011188e-02 9.17729551e+02] [-5.44030988e-01 8.38310723e-01 -3.55726806e-02 -4.99900500e+02] [-6.61726319e-02 -6.02708188e-04 9.97808007e-01 -4.50973075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.78, Y:-499.93, Z:-45.10 [[ 8.36365127e-01 5.45326152e-01 5.57921358e-02 9.17783629e+02] [-5.44164084e-01 8.38223736e-01 -3.55867640e-02 -4.99930144e+02] [-6.61726856e-02 -5.96548085e-04 9.97808008e-01 -4.51014747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.83, Y:-499.96, Z:-45.10 [[ 8.33284221e-01 5.50022892e-01 5.57873255e-02 9.17833866e+02] [-5.48870794e-01 8.35149027e-01 -3.55943033e-02 -4.99964346e+02] [-6.61684122e-02 -9.59862335e-04 9.97808008e-01 -4.51028906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:917.89, Y:-500.00, Z:-45.11 [[ 8.31635756e-01 5.52513033e-01 5.57791902e-02 9.17886060e+02] [-5.51365664e-01 8.33503475e-01 -3.56070473e-02 -4.99997746e+02] [-6.61655066e-02 -1.14263647e-03 9.97808008e-01 -4.51081099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:917.94, Y:-500.03, Z:-45.11 [[ 8.30538927e-01 5.54161352e-01 5.57699495e-02 9.17939137e+02] [-5.53016718e-01 8.32408323e-01 -3.56215149e-02 -5.00031257e+02] [-6.61634370e-02 -1.25665968e-03 9.97808008e-01 -4.51126593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:917.99, Y:-500.06, Z:-45.12 [[ 8.29505773e-01 5.55707657e-01 5.57599494e-02 9.17992582e+02] [-5.54565457e-01 8.31376657e-01 -3.56371616e-02 -5.00064968e+02] [-6.61613639e-02 -1.36131053e-03 9.97808008e-01 -4.51169564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:918.04, Y:-500.10, Z:-45.12 [[ 8.29378656e-01 5.55898360e-01 5.57499672e-02 9.18043975e+02] [-5.54755541e-01 8.31249162e-01 -3.56527707e-02 -5.00097945e+02] [-6.61614303e-02 -1.35795621e-03 9.97808008e-01 -4.51215832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.10, Y:-500.13, Z:-45.12 [[ 8.29783825e-01 5.55293872e-01 5.57451246e-02 9.18096539e+02] [-5.54149183e-01 8.31653187e-01 -3.56603408e-02 -5.00133109e+02] [-6.61625793e-02 -1.30074119e-03 9.97808008e-01 -4.51239672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:918.15, Y:-500.17, Z:-45.13 [[ 8.30973177e-01 5.53513465e-01 5.57352933e-02 9.18148530e+02] [-5.52363741e-01 8.32839446e-01 -3.56756999e-02 -5.00168877e+02] [-6.61655311e-02 -1.14060540e-03 9.97808008e-01 -4.51259036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.20, Y:-500.20, Z:-45.13 [[ 8.31696029e-01 5.52427761e-01 5.57250874e-02 9.18200220e+02] [-5.51274532e-01 8.33560134e-01 -3.56916343e-02 -5.00203475e+02] [-6.61672610e-02 -1.03523097e-03 9.97808009e-01 -4.51295933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.25, Y:-500.24, Z:-45.13 [[ 8.32035400e-01 5.51917438e-01 5.57156632e-02 9.18252180e+02] [-5.50762082e-01 8.33898187e-01 -3.57063399e-02 -5.00238055e+02] [-6.61681422e-02 -9.77135899e-04 9.97808009e-01 -4.51338598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:918.30, Y:-500.27, Z:-45.14 [[ 8.31068445e-01 5.53373396e-01 5.57056883e-02 9.18303356e+02] [-5.52220261e-01 8.32932608e-01 -3.57218950e-02 -5.00272235e+02] [-6.61666306e-02 -1.07446992e-03 9.97808009e-01 -4.51387628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:918.35, Y:-500.31, Z:-45.15 [[ 8.29647418e-01 5.55502499e-01 5.56968169e-02 9.18354298e+02] [-5.54353219e-01 8.31513960e-01 -3.57357218e-02 -5.00305538e+02] [-6.61639635e-02 -1.22766042e-03 9.97808009e-01 -4.51459762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:918.41, Y:-500.34, Z:-45.15 [[ 8.30411261e-01 5.54360807e-01 5.56887128e-02 9.18407220e+02] [-5.53208115e-01 8.32275698e-01 -3.57483463e-02 -5.00336445e+02] [-6.61658444e-02 -1.12161844e-03 9.97808009e-01 -4.51544865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.46, Y:-500.37, Z:-45.16 [[ 8.27732736e-01 5.58353335e-01 5.56782889e-02 9.18456135e+02] [-5.57208543e-01 8.29602034e-01 -3.57645742e-02 -5.00373244e+02] [-6.61600910e-02 -1.42090939e-03 9.97808009e-01 -4.51553179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.51, Y:-500.41, Z:-45.16 [[ 8.27156163e-01 5.59207722e-01 5.56722997e-02 9.18507634e+02] [-5.58064234e-01 8.29026259e-01 -3.57738948e-02 -5.00407708e+02] [-6.61588366e-02 -1.47812178e-03 9.97808009e-01 -4.51570555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.56, Y:-500.44, Z:-45.16 [[ 8.27057504e-01 5.59354497e-01 5.56635651e-02 9.18559920e+02] [-5.58210427e-01 8.28927244e-01 -3.57874806e-02 -5.00443247e+02] [-6.61589338e-02 -1.47367802e-03 9.97808009e-01 -4.51610314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:918.61, Y:-500.48, Z:-45.17 [[ 8.28166639e-01 5.57712027e-01 5.56535090e-02 9.18611653e+02] [-5.56563199e-01 8.30033459e-01 -3.58031120e-02 -5.00478220e+02] [-6.61621008e-02 -1.32375206e-03 9.97808010e-01 -4.51653630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.66, Y:-500.51, Z:-45.17 [[ 8.30584176e-01 5.54106257e-01 5.56433610e-02 9.18663214e+02] [-5.52948268e-01 8.32445326e-01 -3.58188767e-02 -5.00513005e+02] [-6.61675195e-02 -1.01730792e-03 9.97808010e-01 -4.51685113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.72, Y:-500.55, Z:-45.17 [[ 8.31580463e-01 5.52610834e-01 5.56345114e-02 9.18716250e+02] [-5.51448579e-01 8.33438953e-01 -3.58326168e-02 -5.00547394e+02] [-6.61694612e-02 -8.81868224e-04 9.97808010e-01 -4.51721690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.77, Y:-500.58, Z:-45.18 [[ 8.32468388e-01 5.51273349e-01 5.56244391e-02 9.18769451e+02] [-5.50107063e-01 8.34324351e-01 -3.58482456e-02 -5.00581524e+02] [-6.61710065e-02 -7.56865624e-04 9.97808010e-01 -4.51765057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:918.82, Y:-500.61, Z:-45.18 [[ 8.33655128e-01 5.49478095e-01 5.56143032e-02 9.18822389e+02] [-5.48306764e-01 8.35507910e-01 -3.58639635e-02 -5.00614561e+02] [-6.61726526e-02 -5.95521579e-04 9.97808010e-01 -4.51821666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.87, Y:-500.65, Z:-45.19 [[ 8.34305672e-01 5.48490152e-01 5.56111394e-02 9.18874578e+02] [-5.47316300e-01 8.36156858e-01 -3.58688686e-02 -5.00647132e+02] [-6.61733568e-02 -5.11282535e-04 9.97808010e-01 -4.51871425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.93, Y:-500.68, Z:-45.19 [[ 8.34640460e-01 5.47981469e-01 5.56022695e-02 9.18927810e+02] [-5.46805574e-01 8.36490348e-01 -3.58826131e-02 -5.00680302e+02] [-6.61737688e-02 -4.54550151e-04 9.97808010e-01 -4.51912392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.98, Y:-500.71, Z:-45.20 [[ 8.37595769e-01 5.43454543e-01 5.55921461e-02 9.18982883e+02] [-5.42267609e-01 8.39438594e-01 -3.58982902e-02 -5.00707697e+02] [-6.61752819e-02 -7.75640981e-05 9.97808011e-01 -4.52039713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.03, Y:-500.74, Z:-45.21 [[ 8.36993276e-01 5.44382358e-01 5.55887032e-02 9.19033696e+02] [-5.43197112e-01 8.38837188e-01 -3.59036207e-02 -5.00742763e+02] [-6.61751692e-02 -1.44533878e-04 9.97808011e-01 -4.52055673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.08, Y:-500.78, Z:-45.20 [[ 8.35618612e-01 5.46490466e-01 5.55851254e-02 9.19084760e+02] [-5.45309503e-01 8.37465270e-01 -3.59091589e-02 -5.00776790e+02] [-6.61746250e-02 -3.04735574e-04 9.97808011e-01 -4.52010638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.14, Y:-500.81, Z:-45.21 [[ 8.36139789e-01 5.45693669e-01 5.55758349e-02 9.19138687e+02] [-5.44509992e-01 8.37984707e-01 -3.59235319e-02 -5.00807297e+02] [-6.61749437e-02 -2.24503085e-04 9.97808011e-01 -4.52097668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.19, Y:-500.84, Z:-45.21 [[ 8.36025696e-01 5.45868812e-01 5.55722535e-02 9.19193340e+02] [-5.44685153e-01 8.37870626e-01 -3.59290714e-02 -5.00839250e+02] [-6.61749183e-02 -2.31754469e-04 9.97808011e-01 -4.52133130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:919.24, Y:-500.87, Z:-45.21 [[ 8.33111252e-01 5.50307794e-01 5.55605462e-02 9.19244964e+02] [-5.49132757e-01 8.34961685e-01 -3.59471663e-02 -5.00873477e+02] [-6.61729331e-02 -5.62127189e-04 9.97808011e-01 -4.52102476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:919.30, Y:-500.91, Z:-45.21 [[ 8.31832579e-01 5.52239676e-01 5.55508828e-02 9.19298712e+02] [-5.51067940e-01 8.33685105e-01 -3.59620935e-02 -5.00905807e+02] [-6.61716384e-02 -6.97869500e-04 9.97808011e-01 -4.52144954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.35, Y:-500.94, Z:-45.22 [[ 8.29714335e-01 5.55418188e-01 5.55406127e-02 9.19351456e+02] [-5.54252487e-01 8.31570663e-01 -3.59779478e-02 -5.00936802e+02] [-6.61687508e-02 -9.32103703e-04 9.97808011e-01 -4.52206608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.40, Y:-500.97, Z:-45.23 [[ 8.27833291e-01 5.58218768e-01 5.55324135e-02 9.19404899e+02] [-5.57058499e-01 8.29693019e-01 -3.59905990e-02 -5.00968675e+02] [-6.61654837e-02 -1.14058689e-03 9.97808012e-01 -4.52264698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:919.46, Y:-501.00, Z:-45.23 [[ 8.26500714e-01 5.60190752e-01 5.55237921e-02 9.19457017e+02] [-5.59034027e-01 8.28362648e-01 -3.60038946e-02 -5.01001366e+02] [-6.61628843e-02 -1.28244453e-03 9.97808012e-01 -4.52316089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.51, Y:-501.03, Z:-45.23 [[ 8.25861145e-01 5.61134052e-01 5.55152640e-02 9.19510515e+02] [-5.59978570e-01 8.27723851e-01 -3.60170395e-02 -5.01034526e+02] [-6.61616955e-02 -1.34228463e-03 9.97808012e-01 -4.52348582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.56, Y:-501.07, Z:-45.24 [[ 8.25443677e-01 5.61748989e-01 5.55050441e-02 9.19563299e+02] [-5.60593837e-01 8.27306587e-01 -3.60327824e-02 -5.01067914e+02] [-6.61610676e-02 -1.37275330e-03 9.97808012e-01 -4.52396801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.61, Y:-501.10, Z:-45.24 [[ 8.25935431e-01 5.61026034e-01 5.55018251e-02 9.19614855e+02] [-5.59868918e-01 8.27797122e-01 -3.60377399e-02 -5.01102522e+02] [-6.61623614e-02 -1.30890053e-03 9.97808012e-01 -4.52436449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.67, Y:-501.14, Z:-45.25 [[ 8.26697229e-01 5.59903825e-01 5.54923283e-02 9.19667069e+02] [-5.58743201e-01 8.28556735e-01 -3.60523575e-02 -5.01137302e+02] [-6.61643952e-02 -1.20157709e-03 9.97808012e-01 -4.52473440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.72, Y:-501.17, Z:-45.25 [[ 8.28956890e-01 5.56553843e-01 5.54823843e-02 9.19718476e+02] [-5.55384680e-01 8.30811039e-01 -3.60676543e-02 -5.01171912e+02] [-6.61689689e-02 -9.15535702e-04 9.97808012e-01 -4.52501781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.77, Y:-501.21, Z:-45.25 [[ 8.30988529e-01 5.53516719e-01 5.54734792e-02 9.19769064e+02] [-5.52339865e-01 8.32837806e-01 -3.60813455e-02 -5.01207027e+02] [-6.61720387e-02 -6.57029824e-04 9.97808012e-01 -4.52542232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.82, Y:-501.24, Z:-45.26 [[ 8.32388001e-01 5.51410875e-01 5.54640614e-02 9.19821695e+02] [-5.50228378e-01 8.34233675e-01 -3.60958167e-02 -5.01241611e+02] [-6.61736136e-02 -4.72175900e-04 9.97808013e-01 -4.52584961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.87, Y:-501.27, Z:-45.26 [[ 8.33750590e-01 5.49349425e-01 5.54541517e-02 9.19873742e+02] [-5.48161352e-01 8.35592679e-01 -3.61110347e-02 -5.01274496e+02] [-6.61746593e-02 -2.90226305e-04 9.97808013e-01 -4.52642351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:919.92, Y:-501.31, Z:-45.27 [[ 8.33615001e-01 5.49555680e-01 5.54489442e-02 9.19924320e+02] [-5.48367531e-01 8.35457041e-01 -3.61190291e-02 -5.01308907e+02] [-6.61746284e-02 -2.97036131e-04 9.97808013e-01 -4.52681361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.98, Y:-501.34, Z:-45.27 [[ 8.33877973e-01 5.49157133e-01 5.54433918e-02 9.19975995e+02] [-5.47967537e-01 8.35719079e-01 -3.61275501e-02 -5.01342875e+02] [-6.61748021e-02 -2.55210607e-04 9.97808013e-01 -4.52732016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:920.03, Y:-501.38, Z:-45.28 [[ 8.34445788e-01 5.48294799e-01 5.54350109e-02 9.20028265e+02] [-5.47102447e-01 8.36285109e-01 -3.61404054e-02 -5.01378151e+02] [-6.61750705e-02 -1.71421063e-04 9.97808013e-01 -4.52776743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.08, Y:-501.41, Z:-45.28 [[ 8.34521941e-01 5.48179841e-01 5.54255426e-02 9.20080717e+02] [-5.46986272e-01 8.36360473e-01 -3.61549203e-02 -5.01412690e+02] [-6.61751315e-02 -1.44936613e-04 9.97808013e-01 -4.52817099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.13, Y:-501.45, Z:-45.28 [[ 8.34553475e-01 5.48132785e-01 5.54161314e-02 9.20132230e+02] [-5.46938154e-01 8.36391317e-01 -3.61693395e-02 -5.01447108e+02] [-6.61751719e-02 -1.23948581e-04 9.97808013e-01 -4.52834066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.18, Y:-501.48, Z:-45.29 [[ 8.34058020e-01 5.48887286e-01 5.54072885e-02 9.20184411e+02] [-5.47693417e-01 8.35896357e-01 -3.61828808e-02 -5.01481500e+02] [-6.61750738e-02 -1.67585233e-04 9.97808013e-01 -4.52866335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.23, Y:-501.52, Z:-45.29 [[ 8.32881269e-01 5.50672152e-01 5.53983128e-02 9.20234887e+02] [-5.49481310e-01 8.34721567e-01 -3.61966180e-02 -5.01515196e+02] [-6.61746360e-02 -2.92852333e-04 9.97808014e-01 -4.52903784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.29, Y:-501.55, Z:-45.29 [[ 8.30956391e-01 5.53573312e-01 5.53901076e-02 9.20287342e+02] [-5.52388058e-01 8.32800294e-01 -3.62091697e-02 -5.01550244e+02] [-6.61733279e-02 -5.08592998e-04 9.97808014e-01 -4.52935702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.34, Y:-501.58, Z:-45.30 [[ 8.29117597e-01 5.56324632e-01 5.53797273e-02 9.20340170e+02] [-5.55144436e-01 8.30964741e-01 -3.62250388e-02 -5.01584350e+02] [-6.61714821e-02 -7.08930328e-04 9.97808014e-01 -4.52983327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.39, Y:-501.62, Z:-45.30 [[ 8.25217164e-01 5.62095059e-01 5.53694521e-02 9.20390976e+02] [-5.60926725e-01 8.27071834e-01 -3.62407375e-02 -5.01619471e+02] [-6.61652538e-02 -1.15172678e-03 9.97808014e-01 -4.53030493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.44, Y:-501.65, Z:-45.31 [[ 8.24238239e-01 5.63530450e-01 5.53602571e-02 9.20443426e+02] [-5.62364403e-01 8.26094347e-01 -3.62547781e-02 -5.01651688e+02] [-6.61634668e-02 -1.25006343e-03 9.97808014e-01 -4.53118341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.49, Y:-501.69, Z:-45.32 [[ 8.25104706e-01 5.62261992e-01 5.53504829e-02 9.20494831e+02] [-5.61092092e-01 8.26958387e-01 -3.62696944e-02 -5.01687365e+02] [-6.61656167e-02 -1.13042270e-03 9.97808014e-01 -4.53163001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.55, Y:-501.72, Z:-45.32 [[ 8.27080237e-01 5.59352954e-01 5.53403530e-02 9.20545978e+02] [-5.58175499e-01 8.28929129e-01 -3.62851440e-02 -5.01723148e+02] [-6.61694331e-02 -8.78903650e-04 9.97808014e-01 -4.53204045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.60, Y:-501.76, Z:-45.32 [[ 8.31458681e-01 5.52824576e-01 5.53303782e-02 9.20595517e+02] [-5.51631591e-01 8.33297590e-01 -3.63003479e-02 -5.01759972e+02] [-6.61743953e-02 -3.39745180e-04 9.97808015e-01 -4.53228100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.65, Y:-501.80, Z:-45.33 [[ 8.35675746e-01 5.46429824e-01 5.53217502e-02 9.20646713e+02] [-5.45221896e-01 8.37504874e-01 -3.63134923e-02 -5.01797471e+02] [-6.61750106e-02 1.83675162e-04 9.97808015e-01 -4.53252210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.70, Y:-501.83, Z:-45.33 [[ 8.37329781e-01 5.43892904e-01 5.53113594e-02 9.20698373e+02] [-5.42678390e-01 8.39154542e-01 -3.63293123e-02 -5.01830579e+02] [-6.61740337e-02 4.03335688e-04 9.97808015e-01 -4.53296512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.75, Y:-501.86, Z:-45.33 [[ 8.37453892e-01 5.43702762e-01 5.53017774e-02 9.20750910e+02] [-5.42486870e-01 8.39277735e-01 -3.63438925e-02 -5.01864114e+02] [-6.61738252e-02 4.35846004e-04 9.97808015e-01 -4.53345484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.80, Y:-501.90, Z:-45.34 [[ 8.37377135e-01 5.43822019e-01 5.52914597e-02 9.20803274e+02] [-5.42605351e-01 8.39200461e-01 -3.63595825e-02 -5.01899136e+02] [-6.61737600e-02 4.45241060e-04 9.97808015e-01 -4.53386840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.86, Y:-501.93, Z:-45.34 [[ 8.37165714e-01 5.44148476e-01 5.52811325e-02 9.20856268e+02] [-5.42931483e-01 8.38988822e-01 -3.63752773e-02 -5.01932043e+02] [-6.61738039e-02 4.38267786e-04 9.97808015e-01 -4.53429620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.91, Y:-501.97, Z:-45.35 [[ 8.36709618e-01 5.44850576e-01 5.52708286e-02 9.20909877e+02] [-5.43634079e-01 8.38533057e-01 -3.63909269e-02 -5.01965221e+02] [-6.61740344e-02 4.01532506e-04 9.97808016e-01 -4.53472926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.96, Y:-502.00, Z:-45.35 [[ 8.35059657e-01 5.47377059e-01 5.52605115e-02 9.20963692e+02] [-5.46165043e-01 8.36886078e-01 -3.64065869e-02 -5.01998080e+02] [-6.61748832e-02 2.20312387e-04 9.97808016e-01 -4.53523696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.02, Y:-502.03, Z:-45.36 [[ 8.33436495e-01 5.49846352e-01 5.52503275e-02 9.21017736e+02] [-5.48638722e-01 8.35265819e-01 -3.64220355e-02 -5.02030707e+02] [-6.61752334e-02 4.29845139e-05 9.97808016e-01 -4.53570898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.07, Y:-502.06, Z:-45.36 [[ 8.32628241e-01 5.51070533e-01 5.52401933e-02 9.21070892e+02] [-5.49864574e-01 8.34458666e-01 -3.64373994e-02 -5.02063914e+02] [-6.61752351e-02 -3.58175875e-05 9.97808016e-01 -4.53623251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.12, Y:-502.10, Z:-45.37 [[ 8.32144841e-01 5.51801227e-01 5.52301528e-02 9.21124097e+02] [-5.50595865e-01 8.33975659e-01 -3.64526120e-02 -5.02097712e+02] [-6.61751991e-02 -7.56407670e-05 9.97808016e-01 -4.53665069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.18, Y:-502.13, Z:-45.37 [[ 8.33008990e-01 5.50496848e-01 5.52199473e-02 9.21176334e+02] [-5.49287595e-01 8.34837240e-01 -3.64680651e-02 -5.02132143e+02] [-6.61752233e-02 4.65939829e-05 9.97808016e-01 -4.53696477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:921.23, Y:-502.17, Z:-45.37 [[ 8.35272967e-01 5.47056639e-01 5.52096337e-02 9.21228552e+02] [-5.45838825e-01 8.37095526e-01 -3.64836724e-02 -5.02166398e+02] [-6.61743726e-02 3.38263763e-04 9.97808017e-01 -4.53730369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.28, Y:-502.20, Z:-45.39 [[ 8.40405667e-01 5.39139464e-01 5.51992174e-02 9.21282708e+02] [-5.37903447e-01 8.42215930e-01 -3.64994254e-02 -5.02196756e+02] [-6.61679409e-02 9.82474592e-04 9.97808017e-01 -4.53859911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.33, Y:-502.24, Z:-45.38 [[ 8.40580542e-01 5.38867540e-01 5.51917328e-02 9.21330941e+02] [-5.37630196e-01 8.42389897e-01 -3.65107395e-02 -5.02235257e+02] [-6.61674105e-02 1.01747512e-03 9.97808017e-01 -4.53835297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.38, Y:-502.27, Z:-45.39 [[ 8.41835798e-01 5.36904976e-01 5.51863725e-02 9.21381170e+02] [-5.35662882e-01 8.43641897e-01 -3.65188399e-02 -5.02269224e+02] [-6.61646828e-02 1.18157545e-03 9.97808017e-01 -4.53888453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.43, Y:-502.30, Z:-45.39 [[ 8.42479534e-01 5.35895147e-01 5.51781381e-02 9.21432731e+02] [-5.34650074e-01 8.44283580e-01 -3.65312775e-02 -5.02304566e+02] [-6.61629303e-02 1.27585801e-03 9.97808017e-01 -4.53932592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.49, Y:-502.34, Z:-45.40 [[ 8.42061483e-01 5.36552128e-01 5.51749340e-02 9.21485819e+02] [-5.35308146e-01 8.43866282e-01 -3.65361161e-02 -5.02336402e+02] [-6.61637972e-02 1.23006452e-03 9.97808017e-01 -4.54039927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.54, Y:-502.37, Z:-45.41 [[ 8.38139341e-01 5.42658960e-01 5.51697262e-02 9.21538247e+02] [-5.41427613e-01 8.39952783e-01 -3.65439782e-02 -5.02371646e+02] [-6.61708823e-02 7.58532678e-04 9.97808017e-01 -4.54064006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.59, Y:-502.41, Z:-45.40 [[ 8.33770782e-01 5.49348566e-01 5.51582900e-02 9.21588517e+02] [-5.48130628e-01 8.35593257e-01 -3.65612314e-02 -5.02406408e+02] [-6.61747553e-02 2.49738352e-04 9.97808017e-01 -4.54040071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.64, Y:-502.44, Z:-45.41 [[ 8.27662082e-01 5.58510572e-01 5.51490530e-02 9.21640843e+02] [-5.57311880e-01 8.29497273e-01 -3.65751593e-02 -5.02439362e+02] [-6.61736022e-02 -4.63349939e-04 9.97808017e-01 -4.54081100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.69, Y:-502.47, Z:-45.41 [[ 8.25287720e-01 5.62013748e-01 5.51427773e-02 9.21693826e+02] [-5.60822214e-01 8.27127566e-01 -3.65846186e-02 -5.02473303e+02] [-6.61711697e-02 -7.32457942e-04 9.97808018e-01 -4.54124425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:921.75, Y:-502.51, Z:-45.42 [[ 8.18622767e-01 5.71679209e-01 5.51330019e-02 9.21746676e+02] [-5.70508400e-01 8.20475870e-01 -3.65993441e-02 -5.02507104e+02] [-6.61583818e-02 -1.49278432e-03 9.97808018e-01 -4.54167795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.80, Y:-502.54, Z:-45.42 [[ 8.14501288e-01 5.77537085e-01 5.51232101e-02 9.21798588e+02] [-5.76378603e-01 8.16362122e-01 -3.66140858e-02 -5.02541679e+02] [-6.61464932e-02 -1.94961876e-03 9.97808018e-01 -4.54212017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.85, Y:-502.58, Z:-45.42 [[ 8.13479918e-01 5.78975751e-01 5.51135476e-02 9.21851257e+02] [-5.77819576e-01 8.15342187e-01 -3.66286246e-02 -5.02576534e+02] [-6.61434859e-02 -2.04903617e-03 9.97808018e-01 -4.54247735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.90, Y:-502.61, Z:-45.43 [[ 8.14433751e-01 5.77634208e-01 5.51034255e-02 9.21902678e+02] [-5.76473937e-01 8.16293470e-01 -3.66438459e-02 -5.02612842e+02] [-6.61473053e-02 -1.92170378e-03 9.97808018e-01 -4.54290881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.95, Y:-502.65, Z:-45.43 [[ 8.17279019e-01 5.73602449e-01 5.50929661e-02 9.21951939e+02] [-5.72431943e-01 8.19132313e-01 -3.66595646e-02 -5.02651452e+02] [-6.61564448e-02 -1.57588065e-03 9.97808018e-01 -4.54326274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.00, Y:-502.69, Z:-45.44 [[ 8.22205937e-01 5.66518590e-01 5.50825216e-02 9.22003579e+02] [-5.65331062e-01 8.24048370e-01 -3.66752511e-02 -5.02685914e+02] [-6.61678737e-02 -9.85251185e-04 9.97808019e-01 -4.54395159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.05, Y:-502.72, Z:-45.44 [[ 8.22911846e-01 5.65493623e-01 5.50731863e-02 9.22051144e+02] [-5.64302863e-01 8.24752191e-01 -3.66892640e-02 -5.02724173e+02] [-6.61692760e-02 -8.85926716e-04 9.97808019e-01 -4.54419585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.10, Y:-502.76, Z:-45.44 [[ 8.26228219e-01 5.60637860e-01 5.50646870e-02 9.22100747e+02] [-5.59435433e-01 8.28060963e-01 -3.67020157e-02 -5.02762929e+02] [-6.61734573e-02 -4.80895938e-04 9.97808019e-01 -4.54446538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.15, Y:-502.80, Z:-45.45 [[ 8.28164060e-01 5.57775325e-01 5.50543124e-02 9.22151801e+02] [-5.56565528e-01 8.29991948e-01 -3.67175715e-02 -5.02798610e+02] [-6.61747913e-02 -2.33159394e-04 9.97808019e-01 -4.54469015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.20, Y:-502.83, Z:-45.45 [[ 8.29301053e-01 5.56084329e-01 5.50452693e-02 9.22204539e+02] [-5.54869906e-01 8.31125870e-01 -3.67311235e-02 -5.02832465e+02] [-6.61751495e-02 -8.18039338e-05 9.97808019e-01 -4.54523201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.25, Y:-502.87, Z:-45.46 [[ 8.28197052e-01 5.57728296e-01 5.50344520e-02 9.22254158e+02] [-5.56516418e-01 8.30023560e-01 -3.67473240e-02 -5.02868267e+02] [-6.61749142e-02 -1.93550750e-04 9.97808019e-01 -4.54559206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:922.31, Y:-502.90, Z:-45.46 [[ 8.28821632e-01 5.56800558e-01 5.50258321e-02 9.22308609e+02] [-5.55585779e-01 8.30646211e-01 -3.67602270e-02 -5.02898281e+02] [-6.61751138e-02 -1.03898411e-04 9.97808019e-01 -4.54637228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.36, Y:-502.93, Z:-45.46 [[ 8.25784334e-01 5.61296197e-01 5.50164903e-02 9.22359283e+02] [-5.60090419e-01 8.27614874e-01 -3.67742029e-02 -5.02933361e+02] [-6.61736859e-02 -4.46648438e-04 9.97808020e-01 -4.54631362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.41, Y:-502.96, Z:-45.47 [[ 8.24489742e-01 5.63196938e-01 5.50079499e-02 9.22413404e+02] [-5.61994529e-01 8.26322497e-01 -3.67869735e-02 -5.02964159e+02] [-6.61726173e-02 -5.83684610e-04 9.97808020e-01 -4.54660655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.47, Y:-503.00, Z:-45.47 [[ 8.22558291e-01 5.66015043e-01 5.49984368e-02 9.22465618e+02] [-5.64817962e-01 8.24394531e-01 -3.68011906e-02 -5.02996881e+02] [-6.61704380e-02 -7.92980577e-04 9.97808020e-01 -4.54686948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.52, Y:-503.03, Z:-45.47 [[ 8.22279117e-01 5.66421513e-01 5.49883964e-02 9.22519703e+02] [-5.65224337e-01 8.24115294e-01 -3.68161869e-02 -5.03028634e+02] [-6.61702587e-02 -8.07598275e-04 9.97808020e-01 -4.54730594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.57, Y:-503.06, Z:-45.48 [[ 8.23087149e-01 5.65247715e-01 5.49778592e-02 9.22573265e+02] [-5.64046870e-01 8.24920929e-01 -3.68319155e-02 -5.03061458e+02] [-6.61715427e-02 -6.94213068e-04 9.97808020e-01 -4.54788486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:922.63, Y:-503.09, Z:-45.48 [[ 8.24941950e-01 5.62538318e-01 5.49674541e-02 9.22625627e+02] [-5.61330415e-01 8.26771088e-01 -3.68474373e-02 -5.03094836e+02] [-6.61735972e-02 -4.57907088e-04 9.97808020e-01 -4.54843121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.68, Y:-503.13, Z:-45.49 [[ 8.26537222e-01 5.60192381e-01 5.49610479e-02 9.22679035e+02] [-5.58978652e-01 8.28362499e-01 -3.68569903e-02 -5.03128450e+02] [-6.61746761e-02 -2.58378049e-04 9.97808020e-01 -4.54888009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.73, Y:-503.16, Z:-45.49 [[ 8.27342578e-01 5.59003285e-01 5.49507542e-02 9.22732217e+02] [-5.57785913e-01 8.29165428e-01 -3.68723310e-02 -5.03161913e+02] [-6.61750197e-02 -1.44707238e-04 9.97808021e-01 -4.54934980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.78, Y:-503.20, Z:-45.50 [[ 8.28281518e-01 5.57612123e-01 5.49403898e-02 9.22784840e+02] [-5.56390666e-01 8.30101632e-01 -3.68877676e-02 -5.03195384e+02] [-6.61751737e-02 -1.48639274e-05 9.97808021e-01 -4.54976360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.84, Y:-503.23, Z:-45.50 [[ 8.28125713e-01 5.57844495e-01 5.49301642e-02 9.22836361e+02] [-5.56622539e-01 8.29945492e-01 -3.69029884e-02 -5.03228675e+02] [-6.61751711e-02 -1.50538850e-05 9.97808021e-01 -4.55023740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.89, Y:-503.26, Z:-45.51 [[ 8.27171945e-01 5.59258695e-01 5.49207200e-02 9.22889017e+02] [-5.58038917e-01 8.28993184e-01 -3.69170384e-02 -5.03262208e+02] [-6.61750773e-02 -1.11160655e-04 9.97808021e-01 -4.55082034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.94, Y:-503.30, Z:-45.51 [[ 8.24970814e-01 5.62500855e-01 5.49176138e-02 9.22941938e+02] [-5.61287927e-01 8.26796622e-01 -3.69216587e-02 -5.03295819e+02] [-6.61741622e-02 -3.65302729e-04 9.97808021e-01 -4.55137037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.99, Y:-503.33, Z:-45.52 [[ 8.23697191e-01 5.64365193e-01 5.49077915e-02 9.22994042e+02] [-5.63155424e-01 8.25525094e-01 -3.69362600e-02 -5.03330468e+02] [-6.61732993e-02 -4.97326988e-04 9.97808021e-01 -4.55181913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.04, Y:-503.37, Z:-45.52 [[ 8.21843631e-01 5.67061949e-01 5.48980117e-02 9.23044609e+02] [-5.65857207e-01 8.23674851e-01 -3.69507900e-02 -5.03366551e+02] [-6.61714986e-02 -6.96664122e-04 9.97808021e-01 -4.55220556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.10, Y:-503.40, Z:-45.53 [[ 8.21076966e-01 5.68172351e-01 5.48889444e-02 9.23095741e+02] [-5.66969185e-01 8.22909222e-01 -3.69642542e-02 -5.03402622e+02] [-6.61706857e-02 -7.69842411e-04 9.97808021e-01 -4.55254866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.15, Y:-503.44, Z:-45.53 [[ 8.19751392e-01 5.70084109e-01 5.48795483e-02 9.23146634e+02] [-5.68884282e-01 8.21585836e-01 -3.69781990e-02 -5.03439492e+02] [-6.61689432e-02 -9.07182408e-04 9.97808022e-01 -4.55281241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.20, Y:-503.48, Z:-45.53 [[ 8.18220521e-01 5.72280030e-01 5.48702803e-02 9.23197851e+02] [-5.71084205e-01 8.20057576e-01 -3.69919463e-02 -5.03476588e+02] [-6.61665412e-02 -1.06798083e-03 9.97808022e-01 -4.55300802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.25, Y:-503.51, Z:-45.53 [[ 8.16842146e-01 5.74246717e-01 5.48599764e-02 9.23248448e+02] [-5.73054289e-01 8.18681408e-01 -3.70072209e-02 -5.03512930e+02] [-6.61641178e-02 -1.20868703e-03 9.97808022e-01 -4.55345945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.30, Y:-503.55, Z:-45.54 [[ 8.15632935e-01 5.75963899e-01 5.48498141e-02 9.23297309e+02] [-5.74774332e-01 8.17474048e-01 -3.70222767e-02 -5.03548871e+02] [-6.61617944e-02 -1.32967704e-03 9.97808022e-01 -4.55407678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:923.35, Y:-503.58, Z:-45.55 [[ 8.15393693e-01 5.76303319e-01 5.48416902e-02 9.23348983e+02] [-5.75113709e-01 8.17234778e-01 -3.70343070e-02 -5.03584627e+02] [-6.61615305e-02 -1.34266756e-03 9.97808022e-01 -4.55451485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.40, Y:-503.62, Z:-45.55 [[ 8.15839741e-01 5.75672688e-01 5.48313194e-02 9.23397549e+02] [-5.74480624e-01 8.17679238e-01 -3.70496551e-02 -5.03621758e+02] [-6.61629060e-02 -1.27294961e-03 9.97808022e-01 -4.55501242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.45, Y:-503.66, Z:-45.55 [[ 8.18026705e-01 5.72561564e-01 5.48230278e-02 9.23447511e+02] [-5.71361682e-01 8.19861112e-01 -3.70619203e-02 -5.03659619e+02] [-6.61674996e-02 -1.00613682e-03 9.97808022e-01 -4.55515353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:923.50, Y:-503.70, Z:-45.55 [[ 8.21850023e-01 5.67060960e-01 5.48124805e-02 9.23496964e+02] [-5.65847758e-01 8.23675648e-01 -3.70775127e-02 -5.03697389e+02] [-6.61729153e-02 -5.43364565e-04 9.97808023e-01 -4.55546761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:923.55, Y:-503.73, Z:-45.56 [[ 8.24430199e-01 5.63304098e-01 5.48027405e-02 9.23547968e+02] [-5.62081620e-01 8.26249625e-01 -3.70919034e-02 -5.03734259e+02] [-6.61747650e-02 -2.23927832e-04 9.97808023e-01 -4.55587873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.60, Y:-503.77, Z:-45.56 [[ 8.25955211e-01 5.61066652e-01 5.47923460e-02 9.23601065e+02] [-5.59838227e-01 8.27770627e-01 -3.71072519e-02 -5.03768251e+02] [-6.61751362e-02 -2.59218005e-05 9.97808023e-01 -4.55634836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.65, Y:-503.80, Z:-45.57 [[ 8.26831643e-01 5.59775278e-01 5.47820535e-02 9.23651889e+02] [-5.58543011e-01 8.28644453e-01 -3.71224407e-02 -5.03801063e+02] [-6.61750693e-02 9.58755140e-05 9.97808023e-01 -4.55684860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.70, Y:-503.84, Z:-45.57 [[ 8.27400211e-01 5.58935344e-01 5.47738319e-02 9.23704324e+02] [-5.57700434e-01 8.29211222e-01 -3.71345676e-02 -5.03835767e+02] [-6.61748984e-02 1.77759270e-04 9.97808023e-01 -4.55724324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.76, Y:-503.87, Z:-45.58 [[ 8.27144050e-01 5.59315386e-01 5.47633015e-02 9.23756403e+02] [-5.58080281e-01 8.28954927e-01 -3.71500906e-02 -5.03868645e+02] [-6.61749259e-02 1.66157745e-04 9.97808023e-01 -4.55776471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.81, Y:-503.90, Z:-45.58 [[ 8.25415849e-01 5.61863614e-01 5.47535920e-02 9.23809376e+02] [-5.60633150e-01 8.27229883e-01 -3.71643954e-02 -5.03901175e+02] [-6.61751290e-02 -2.05977972e-05 9.97808024e-01 -4.55822082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.86, Y:-503.93, Z:-45.59 [[ 8.22226286e-01 5.66521866e-01 5.47440415e-02 9.23862788e+02] [-5.65300742e-01 8.24046621e-01 -3.71784582e-02 -5.03934295e+02] [-6.61740519e-02 -3.77741660e-04 9.97808024e-01 -4.55852096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:923.91, Y:-503.97, Z:-45.59 [[ 8.19644135e-01 5.70252343e-01 5.47335142e-02 9.23914251e+02] [-5.69038469e-01 8.21469312e-01 -3.71939499e-02 -5.03967724e+02] [-6.61718393e-02 -6.59672178e-04 9.97808024e-01 -4.55892259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.97, Y:-504.00, Z:-45.59 [[ 8.14175485e-01 5.78034244e-01 5.47237780e-02 9.23967324e+02] [-5.76836850e-01 8.16011515e-01 -3.72082693e-02 -5.04000540e+02] [-6.61628869e-02 -1.27263108e-03 9.97808024e-01 -4.55933382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:924.02, Y:-504.04, Z:-45.60 [[ 8.12875572e-01 5.79861837e-01 5.47133889e-02 9.24019432e+02] [-5.78667544e-01 8.14713620e-01 -3.72235399e-02 -5.04035529e+02] [-6.61602533e-02 -1.40275605e-03 9.97808024e-01 -4.55977871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.07, Y:-504.07, Z:-45.60 [[ 8.10426261e-01 5.83281115e-01 5.47029929e-02 9.24070824e+02] [-5.82093545e-01 8.12268660e-01 -3.72388114e-02 -5.04068990e+02] [-6.61542222e-02 -1.66294839e-03 9.97808024e-01 -4.56032477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.12, Y:-504.10, Z:-45.61 [[ 8.09377832e-01 5.84735675e-01 5.46965865e-02 9.24123082e+02] [-5.83550781e-01 8.11221953e-01 -3.72482187e-02 -5.04103856e+02] [-6.61514341e-02 -1.77035328e-03 9.97808024e-01 -4.56081814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.18, Y:-504.14, Z:-45.62 [[ 8.10957361e-01 5.82544049e-01 5.46862908e-02 9.24175210e+02] [-5.81353152e-01 8.12797611e-01 -3.72633284e-02 -5.04137304e+02] [-6.61564167e-02 -1.57307706e-03 9.97808025e-01 -4.56182091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.22, Y:-504.18, Z:-45.62 [[ 8.10652059e-01 5.82969828e-01 5.46755730e-02 9.24223427e+02] [-5.81778839e-01 8.12492249e-01 -3.72790478e-02 -5.04175937e+02] [-6.61560394e-02 -1.58875449e-03 9.97808025e-01 -4.56171487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.27, Y:-504.21, Z:-45.63 [[ 8.15338050e-01 5.76398763e-01 5.46656133e-02 9.24274386e+02] [-5.75191961e-01 8.17167909e-01 -3.72936468e-02 -5.04209618e+02] [-6.61669969e-02 -1.03629203e-03 9.97808025e-01 -4.56308975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.32, Y:-504.25, Z:-45.63 [[ 8.15605538e-01 5.76021130e-01 5.46558733e-02 9.24320840e+02] [-5.74812525e-01 8.17434206e-01 -3.73079160e-02 -5.04249721e+02] [-6.61677283e-02 -9.88337642e-04 9.97808025e-01 -4.56302029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.37, Y:-504.29, Z:-45.63 [[ 8.17045887e-01 5.73977120e-01 5.46469036e-02 9.24371817e+02] [-5.72763062e-01 8.18870939e-01 -3.73210497e-02 -5.04285932e+02] [-6.61701899e-02 -8.06717704e-04 9.97808025e-01 -4.56338318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.42, Y:-504.32, Z:-45.64 [[ 8.19446086e-01 5.70546134e-01 5.46371693e-02 9.24424925e+02] [-5.69323484e-01 8.21265393e-01 -3.73352951e-02 -5.04318319e+02] [-6.61731246e-02 -5.11962174e-04 9.97808025e-01 -4.56419661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.47, Y:-504.36, Z:-45.64 [[ 8.21049781e-01 5.68236257e-01 5.46334467e-02 9.24474210e+02] [-5.67008126e-01 8.22865393e-01 -3.73407416e-02 -5.04355002e+02] [-6.61743358e-02 -3.19000495e-04 9.97808025e-01 -4.56396054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.53, Y:-504.39, Z:-45.64 [[ 8.23367117e-01 5.64874175e-01 5.46237760e-02 9.24525204e+02] [-5.63637692e-01 8.25177051e-01 -3.73548831e-02 -5.04391456e+02] [-6.61750951e-02 -3.12365517e-05 9.97808026e-01 -4.56433855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.58, Y:-504.43, Z:-45.65 [[ 8.26111545e-01 5.60853884e-01 5.46135232e-02 9.24578350e+02] [-5.59607602e-01 8.27914745e-01 -3.73698669e-02 -5.04425583e+02] [-6.61743761e-02 3.09535730e-04 9.97808026e-01 -4.56469040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.63, Y:-504.46, Z:-45.65 [[ 8.27462349e-01 5.58860079e-01 5.46028738e-02 9.24631336e+02] [-5.57608425e-01 8.29261825e-01 -3.73854207e-02 -5.04459120e+02] [-6.61732980e-02 4.88005569e-04 9.97808026e-01 -4.56511749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.68, Y:-504.49, Z:-45.65 [[ 8.26439664e-01 5.60372333e-01 5.45923934e-02 9.24682881e+02] [-5.59122962e-01 8.28240726e-01 -3.74007186e-02 -5.04494789e+02] [-6.61739715e-02 3.85576645e-04 9.97808026e-01 -4.56545274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.74, Y:-504.53, Z:-45.66 [[ 8.22392208e-01 5.66296644e-01 5.45817444e-02 9.24735655e+02] [-5.65059216e-01 8.24201496e-01 -3.74162531e-02 -5.04527818e+02] [-6.61750539e-02 -7.10826963e-05 9.97808026e-01 -4.56604995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.79, Y:-504.56, Z:-45.67 [[ 8.17291839e-01 5.73634059e-01 5.45712028e-02 9.24789637e+02] [-5.72411848e-01 8.19111439e-01 -3.74316216e-02 -5.04559956e+02] [-6.61719495e-02 -6.44644131e-04 9.97808026e-01 -4.56660357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:924.84, Y:-504.59, Z:-45.67 [[ 8.14772804e-01 5.77207418e-01 5.45607436e-02 9.24841821e+02] [-5.75992166e-01 8.16597060e-01 -3.74468608e-02 -5.04594489e+02] [-6.61687487e-02 -9.15877087e-04 9.97808027e-01 -4.56697292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.89, Y:-504.63, Z:-45.67 [[ 8.13005802e-01 5.79694633e-01 5.45499618e-02 9.24893120e+02] [-5.78483908e-01 8.14833066e-01 -3.74625605e-02 -5.04628704e+02] [-6.61659578e-02 -1.09899607e-03 9.97808027e-01 -4.56717827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.95, Y:-504.66, Z:-45.68 [[ 8.12018845e-01 5.81077262e-01 5.45399963e-02 9.24945756e+02] [-5.79868674e-01 8.13847523e-01 -3.74770631e-02 -5.04663724e+02] [-6.61643101e-02 -1.19395384e-03 9.97808027e-01 -4.56754302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.00, Y:-504.70, Z:-45.68 [[ 8.10768862e-01 5.82821071e-01 5.45293662e-02 9.24997267e+02] [-5.81615377e-01 8.12599449e-01 -3.74925236e-02 -5.04698242e+02] [-6.61619657e-02 -1.31734721e-03 9.97808027e-01 -4.56800153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.05, Y:-504.73, Z:-45.69 [[ 8.10144969e-01 5.83688918e-01 5.45194995e-02 9.25049282e+02] [-5.82484220e-01 8.11976212e-01 -3.75068658e-02 -5.04733268e+02] [-6.61608786e-02 -1.37074953e-03 9.97808027e-01 -4.56862317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.10, Y:-504.77, Z:-45.69 [[ 8.10918000e-01 5.82615443e-01 5.45091186e-02 9.25100086e+02] [-5.81407307e-01 8.12746976e-01 -3.75219464e-02 -5.04769333e+02] [-6.61629867e-02 -1.26477817e-03 9.97808027e-01 -4.56936698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.15, Y:-504.81, Z:-45.70 [[ 8.12105622e-01 5.80959184e-01 5.45058205e-02 9.25150613e+02] [-5.79746997e-01 8.13931916e-01 -3.75267367e-02 -5.04805322e+02] [-6.61655293e-02 -1.12391191e-03 9.97808027e-01 -4.56990641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.20, Y:-504.84, Z:-45.70 [[ 8.14898211e-01 5.77036408e-01 5.44966985e-02 9.25200812e+02] [-5.75814543e-01 8.16718043e-01 -3.75399791e-02 -5.04843486e+02] [-6.61703717e-02 -7.88729711e-04 9.97808028e-01 -4.57037960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.25, Y:-504.88, Z:-45.71 [[ 8.20531682e-01 5.68998242e-01 5.44863333e-02 9.25249852e+02] [-5.67757549e-01 8.22338730e-01 -3.75550174e-02 -5.04881850e+02] [-6.61749610e-02 -1.19945443e-04 9.97808028e-01 -4.57077169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.30, Y:-504.92, Z:-45.71 [[ 8.27025740e-01 5.59518280e-01 5.44767764e-02 9.25301692e+02] [-5.58255962e-01 8.28817749e-01 -3.75688755e-02 -5.04916102e+02] [-6.61717918e-02 6.58441843e-04 9.97808028e-01 -4.57146947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.35, Y:-504.95, Z:-45.72 [[ 8.33364557e-01 5.50033468e-01 5.44674255e-02 9.25351135e+02] [-5.48749874e-01 8.35141388e-01 -3.75824276e-02 -5.04954341e+02] [-6.61595942e-02 1.43087027e-03 9.97808028e-01 -4.57189764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:925.40, Y:-504.99, Z:-45.72 [[ 8.34672312e-01 5.48047977e-01 5.44568306e-02 9.25398978e+02] [-5.46759156e-01 8.36445355e-01 -3.75977732e-02 -5.04993362e+02] [-6.61555466e-02 1.60704953e-03 9.97808028e-01 -4.57196958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:925.45, Y:-505.02, Z:-45.73 [[ 8.34602386e-01 5.48155298e-01 5.44483866e-02 9.25453619e+02] [-5.46865909e-01 8.36375015e-01 -3.76099978e-02 -5.05021995e+02] [-6.61553897e-02 1.61342745e-03 9.97808028e-01 -4.57288000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:925.50, Y:-505.06, Z:-45.73 [[ 8.30738411e-01 5.53994681e-01 5.44388246e-02 9.25502140e+02] [-5.52716848e-01 8.32519389e-01 -3.76238333e-02 -5.05060447e+02] [-6.61647805e-02 1.16630799e-03 9.97808028e-01 -4.57288686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.55, Y:-505.09, Z:-45.73 [[ 8.25335064e-01 5.62013763e-01 5.44294282e-02 9.25554663e+02] [-5.60752341e-01 8.27127703e-01 -3.76374219e-02 -5.05093165e+02] [-6.61728370e-02 5.42054810e-04 9.97808029e-01 -4.57335461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.61, Y:-505.13, Z:-45.74 [[ 8.19902726e-01 5.69910491e-01 5.44201482e-02 9.25607956e+02] [-5.68665445e-01 8.21706777e-01 -3.76508351e-02 -5.05125291e+02] [-6.61750105e-02 -7.68354709e-05 9.97808029e-01 -4.57376884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.66, Y:-505.16, Z:-45.74 [[ 8.15636362e-01 5.76000668e-01 5.44109912e-02 9.25661444e+02] [-5.74768209e-01 8.17449035e-01 -3.76640637e-02 -5.05159200e+02] [-6.61727381e-02 -5.53528084e-04 9.97808029e-01 -4.57400086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.71, Y:-505.19, Z:-45.74 [[ 8.13182193e-01 5.79461224e-01 5.44004646e-02 9.25713626e+02] [-5.78235462e-01 8.14999401e-01 -3.76792618e-02 -5.05193633e+02] [-6.61700172e-02 -8.16172978e-04 9.97808029e-01 -4.57436742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.77, Y:-505.22, Z:-45.75 [[ 8.12333130e-01 5.80651920e-01 5.43896483e-02 9.25767900e+02] [-5.79427777e-01 8.14151428e-01 -3.76948686e-02 -5.05222561e+02] [-6.61690077e-02 -8.94082442e-04 9.97808029e-01 -4.57528388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.82, Y:-505.26, Z:-45.76 [[ 8.10268812e-01 5.83529921e-01 5.43809161e-02 9.25820321e+02] [-5.82311391e-01 8.12090877e-01 -3.77074619e-02 -5.05256600e+02] [-6.61656781e-02 -1.11344656e-03 9.97808029e-01 -4.57561460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.87, Y:-505.29, Z:-45.76 [[ 8.09965444e-01 5.83951971e-01 5.43698030e-02 9.25872829e+02] [-5.82733315e-01 8.11787424e-01 -3.77234790e-02 -5.05291963e+02] [-6.61654223e-02 -1.12838110e-03 9.97808029e-01 -4.57598889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:925.92, Y:-505.33, Z:-45.76 [[ 8.08117326e-01 5.86507890e-01 5.43588322e-02 9.25920884e+02] [-5.85293934e-01 8.09942441e-01 -3.77392811e-02 -5.05329447e+02] [-6.61619114e-02 -1.31812779e-03 9.97808030e-01 -4.57620526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:925.97, Y:-505.36, Z:-45.77 [[ 8.07854945e-01 5.86870051e-01 5.43500779e-02 9.25973292e+02] [-5.85656066e-01 8.09680041e-01 -3.77518844e-02 -5.05363111e+02] [-6.61616236e-02 -1.33240628e-03 9.97808030e-01 -4.57711558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:926.02, Y:-505.40, Z:-45.78 [[ 8.04604289e-01 5.91319870e-01 5.43392083e-02 9.26021752e+02] [-5.90114921e-01 8.06435362e-01 -3.77675234e-02 -5.05401489e+02] [-6.61537462e-02 -1.67846636e-03 9.97808030e-01 -4.57763266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.07, Y:-505.44, Z:-45.78 [[ 8.04431747e-01 5.91555432e-01 5.43298756e-02 9.26070145e+02] [-5.90350114e-01 8.06262577e-01 -3.77809441e-02 -5.05438276e+02] [-6.61536682e-02 -1.68145742e-03 9.97808030e-01 -4.57817757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.12, Y:-505.48, Z:-45.78 [[ 8.07128426e-01 5.87871499e-01 5.43213115e-02 9.26117983e+02] [-5.86656995e-01 8.08953175e-01 -3.77932535e-02 -5.05478778e+02] [-6.61609740e-02 -1.36396815e-03 9.97808030e-01 -4.57829600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.17, Y:-505.52, Z:-45.78 [[ 8.10527838e-01 5.83176501e-01 5.43120015e-02 9.26165253e+02] [-5.81950529e-01 8.12344902e-01 -3.78066280e-02 -5.05517134e+02] [-6.61680146e-02 -9.63573529e-04 9.97808030e-01 -4.57846902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.22, Y:-505.55, Z:-45.79 [[ 8.21280684e-01 5.67933748e-01 5.43074210e-02 9.26216362e+02] [-5.66673612e-01 8.23074224e-01 -3.78132065e-02 -5.05551986e+02] [-6.61744345e-02 2.80673714e-04 9.97808030e-01 -4.57929693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.26, Y:-505.60, Z:-45.79 [[ 8.24377204e-01 5.63430554e-01 5.42976701e-02 9.26260565e+02] [-5.62159699e-01 8.26163165e-01 -3.78272031e-02 -5.05595860e+02] [-6.61717370e-02 6.59922016e-04 9.97808031e-01 -4.57879491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.31, Y:-505.63, Z:-45.80 [[ 8.29532480e-01 5.55813451e-01 5.42887848e-02 9.26313834e+02] [-5.54525366e-01 8.31306055e-01 -3.78399509e-02 -5.05627027e+02] [-6.61625492e-02 1.28496003e-03 9.97808031e-01 -4.57992451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.37, Y:-505.66, Z:-45.80 [[ 8.29954610e-01 5.55183255e-01 5.42853368e-02 9.26365276e+02] [-5.53893500e-01 8.31726971e-01 -3.78448966e-02 -5.05663590e+02] [-6.61614317e-02 1.34125123e-03 9.97808031e-01 -4.58032885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.42, Y:-505.70, Z:-45.81 [[ 8.30543026e-01 5.54303717e-01 5.42740404e-02 9.26417234e+02] [-5.53011028e-01 8.32313247e-01 -3.78610901e-02 -5.05698346e+02] [-6.61595458e-02 1.43112146e-03 9.97808031e-01 -4.58088719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.47, Y:-505.73, Z:-45.81 [[ 8.31406687e-01 5.53008567e-01 5.42627480e-02 9.26471290e+02] [-5.51712065e-01 8.33174117e-01 -3.78772676e-02 -5.05731341e+02] [-6.61567707e-02 1.55400078e-03 9.97808031e-01 -4.58126524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.52, Y:-505.77, Z:-45.81 [[ 8.30930270e-01 5.53725271e-01 5.42513669e-02 9.26524458e+02] [-5.52429231e-01 8.32698039e-01 -3.78935616e-02 -5.05765988e+02] [-6.61576295e-02 1.51686650e-03 9.97808031e-01 -4.58140073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:926.58, Y:-505.80, Z:-45.82 [[ 8.30123208e-01 5.54935538e-01 5.42402768e-02 9.26578897e+02] [-5.53641039e-01 8.31892106e-01 -3.79094292e-02 -5.05798118e+02] [-6.61593476e-02 1.43985381e-03 9.97808031e-01 -4.58180106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.63, Y:-505.83, Z:-45.82 [[ 8.28715522e-01 5.57036586e-01 5.42293769e-02 9.26630454e+02] [-5.55745553e-01 8.30486950e-01 -3.79250152e-02 -5.05833654e+02] [-6.61624108e-02 1.29131379e-03 9.97808032e-01 -4.58204123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.68, Y:-505.87, Z:-45.82 [[ 8.24549783e-01 5.63185597e-01 5.42184357e-02 9.26680886e+02] [-5.61906748e-01 8.26330027e-01 -3.79406505e-02 -5.05868230e+02] [-6.61699494e-02 8.18250328e-04 9.97808032e-01 -4.58193125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.74, Y:-505.90, Z:-45.82 [[ 8.19794089e-01 5.70086796e-01 5.42097528e-02 9.26735712e+02] [-5.68822115e-01 8.21584425e-01 -3.79530526e-02 -5.05899416e+02] [-6.61744228e-02 2.77981985e-04 9.97808032e-01 -4.58238030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.79, Y:-505.93, Z:-45.83 [[ 8.16591125e-01 5.74666326e-01 5.41991532e-02 9.26792286e+02] [-5.73410681e-01 8.18387811e-01 -3.79681835e-02 -5.05926563e+02] [-6.61749628e-02 -7.38916817e-05 9.97808032e-01 -4.58325838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.84, Y:-505.96, Z:-45.83 [[ 8.11261862e-01 5.82166386e-01 5.41893966e-02 9.26842300e+02] [-5.80926419e-01 8.13069404e-01 -3.79821033e-02 -5.05961920e+02] [-6.61716442e-02 -6.66620301e-04 9.97808032e-01 -4.58325601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.90, Y:-505.99, Z:-45.84 [[ 8.10694271e-01 5.82957036e-01 5.41838811e-02 9.26897443e+02] [-5.81718307e-01 8.12502661e-01 -3.79899699e-02 -5.05990676e+02] [-6.61710678e-02 -7.21504625e-04 9.97808032e-01 -4.58430475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:926.95, Y:-506.03, Z:-45.84 [[ 8.06559513e-01 5.88664802e-01 5.41802846e-02 9.26945964e+02] [-5.87438524e-01 8.08376368e-01 -3.79950985e-02 -5.06028754e+02] [-6.61644388e-02 -1.18227828e-03 9.97808032e-01 -4.58405038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.00, Y:-506.06, Z:-45.85 [[ 8.05093467e-01 5.90669128e-01 5.41709411e-02 9.26997188e+02] [-5.89446477e-01 8.06912765e-01 -3.80084152e-02 -5.06063099e+02] [-6.61616213e-02 -1.33054366e-03 9.97808032e-01 -4.58466056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.05, Y:-506.10, Z:-45.85 [[ 8.03116133e-01 5.93355774e-01 5.41608984e-02 9.27049016e+02] [-5.92138245e-01 8.04938862e-01 -3.80227204e-02 -5.06097570e+02] [-6.61572126e-02 -1.53407915e-03 9.97808033e-01 -4.58522603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.10, Y:-506.13, Z:-45.86 [[ 8.02592945e-01 5.94064113e-01 5.41515922e-02 9.27100027e+02] [-5.92847299e-01 8.04416152e-01 -3.80359695e-02 -5.06132695e+02] [-6.61562199e-02 -1.57622439e-03 9.97808033e-01 -4.58573237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.15, Y:-506.17, Z:-45.86 [[ 8.04526700e-01 5.91443501e-01 5.41421613e-02 9.27151362e+02] [-5.90219845e-01 8.06345322e-01 -3.80493892e-02 -5.06169232e+02] [-6.61613425e-02 -1.34402853e-03 9.97808033e-01 -4.58602065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:927.20, Y:-506.21, Z:-45.86 [[ 8.07692221e-01 5.87114196e-01 5.41313010e-02 9.27202018e+02] [-5.85879755e-01 8.09503540e-01 -3.80648335e-02 -5.06205792e+02] [-6.61678839e-02 -9.69763463e-04 9.97808033e-01 -4.58614548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.25, Y:-506.24, Z:-45.87 [[ 8.13498506e-01 5.79043210e-01 5.41215401e-02 9.27249898e+02] [-5.77789874e-01 8.15296801e-01 -3.80787067e-02 -5.06244683e+02] [-6.61743351e-02 -2.93906757e-04 9.97808033e-01 -4.58663188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.30, Y:-506.28, Z:-45.87 [[ 8.18314263e-01 5.72217635e-01 5.41178720e-02 9.27298562e+02] [-5.70948954e-01 8.20101766e-01 -3.80839191e-02 -5.06280862e+02] [-6.61744526e-02 2.66071748e-04 9.97808033e-01 -4.58727040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.35, Y:-506.32, Z:-45.88 [[ 8.24381151e-01 5.63442992e-01 5.41083493e-02 9.27346360e+02] [-5.62154399e-01 8.26154354e-01 -3.80974439e-02 -5.06319962e+02] [-6.61675861e-02 9.89568046e-04 9.97808033e-01 -4.58758614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.39, Y:-506.36, Z:-45.87 [[ 8.27370051e-01 5.59045709e-01 5.40989265e-02 9.27393025e+02] [-5.57746820e-01 8.29135725e-01 -3.81108197e-02 -5.06360453e+02] [-6.61610429e-02 1.35824669e-03 9.97808033e-01 -4.58712928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.44, Y:-506.39, Z:-45.88 [[ 8.31119867e-01 5.53455805e-01 5.40965635e-02 9.27442470e+02] [-5.52144825e-01 8.32876583e-01 -3.81141736e-02 -5.06393346e+02] [-6.61502716e-02 1.80830928e-03 9.97808033e-01 -4.58816296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.49, Y:-506.43, Z:-45.89 [[ 8.31041966e-01 5.53572826e-01 5.40959958e-02 9.27493781e+02] [-5.52262041e-01 8.32798827e-01 -3.81149793e-02 -5.06430289e+02] [-6.61504987e-02 1.79998227e-03 9.97808033e-01 -4.58850718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.55, Y:-506.47, Z:-45.89 [[ 8.28702330e-01 5.57070207e-01 5.40854188e-02 9.27545827e+02] [-5.55765859e-01 8.30463975e-01 -3.81299822e-02 -5.06465886e+02] [-6.61570690e-02 1.53957587e-03 9.97808034e-01 -4.58886227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:927.60, Y:-506.50, Z:-45.89 [[ 8.26026994e-01 5.61030587e-01 5.40748122e-02 9.27596857e+02] [-5.59733703e-01 8.27794141e-01 -3.81450183e-02 -5.06500679e+02] [-6.61633347e-02 1.24131996e-03 9.97808034e-01 -4.58910986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.65, Y:-506.53, Z:-45.90 [[ 8.20771864e-01 5.68691531e-01 5.40693066e-02 9.27647984e+02] [-5.67410630e-01 8.22550630e-01 -3.81528207e-02 -5.06533754e+02] [-6.61719283e-02 6.35262419e-04 9.97808034e-01 -4.58952371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.70, Y:-506.57, Z:-45.90 [[ 8.15559311e-01 5.76142446e-01 5.40637733e-02 9.27700405e+02] [-5.74877277e-01 8.17349301e-01 -3.81606600e-02 -5.06568501e+02] [-6.61749633e-02 4.22468117e-05 9.97808034e-01 -4.58993020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.75, Y:-506.60, Z:-45.90 [[ 8.11137650e-01 5.82352115e-01 5.40529984e-02 9.27753635e+02] [-5.81099632e-01 8.12936539e-01 -3.81759161e-02 -5.06601637e+02] [-6.61734830e-02 -4.44254660e-04 9.97808034e-01 -4.59047298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.81, Y:-506.64, Z:-45.91 [[ 8.07978834e-01 5.86727900e-01 5.40423456e-02 9.27806118e+02] [-5.85484151e-01 8.09783772e-01 -3.81909904e-02 -5.06636384e+02] [-6.61703341e-02 -7.83424970e-04 9.97808034e-01 -4.59087941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.86, Y:-506.67, Z:-45.91 [[ 8.06247914e-01 5.89105174e-01 5.40314328e-02 9.27856556e+02] [-5.87865712e-01 8.08055799e-01 -3.82064234e-02 -5.06672451e+02] [-6.61680142e-02 -9.59377564e-04 9.97808034e-01 -4.59135259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.91, Y:-506.71, Z:-45.92 [[ 8.05102656e-01 5.90670241e-01 5.40220337e-02 9.27906948e+02] [-5.89433402e-01 8.06912336e-01 -3.82197086e-02 -5.06707979e+02] [-6.61662899e-02 -1.07160214e-03 9.97808035e-01 -4.59183752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:927.96, Y:-506.75, Z:-45.92 [[ 8.04828112e-01 5.91045131e-01 5.40126208e-02 9.27957629e+02] [-5.89808243e-01 8.06637758e-01 -3.82330065e-02 -5.06745119e+02] [-6.61660517e-02 -1.08609056e-03 9.97808035e-01 -4.59222654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.01, Y:-506.78, Z:-45.93 [[ 8.04360871e-01 5.91681830e-01 5.40018742e-02 9.28007802e+02] [-5.90445356e-01 8.06170800e-01 -3.82481794e-02 -5.06781504e+02] [-6.61654869e-02 -1.11981691e-03 9.97808035e-01 -4.59274746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.06, Y:-506.82, Z:-45.93 [[ 8.03103917e-01 5.93387642e-01 5.39926299e-02 9.28057253e+02] [-5.92154136e-01 8.04915870e-01 -3.82612246e-02 -5.06819475e+02] [-6.61632625e-02 -1.24421973e-03 9.97808035e-01 -4.59308365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.11, Y:-506.86, Z:-45.94 [[ 8.01668015e-01 5.95327001e-01 5.39829158e-02 9.28105364e+02] [-5.94096956e-01 8.03482319e-01 -3.82749253e-02 -5.06856927e+02] [-6.61604149e-02 -1.38730260e-03 9.97808035e-01 -4.59385996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.15, Y:-506.90, Z:-45.94 [[ 8.00455598e-01 5.96956983e-01 5.39740373e-02 9.28154179e+02] [-5.95729789e-01 8.02271831e-01 -3.82874414e-02 -5.06896597e+02] [-6.61578052e-02 -1.50654510e-03 9.97808035e-01 -4.59395422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.20, Y:-506.93, Z:-45.94 [[ 8.00028457e-01 5.97530304e-01 5.39629833e-02 9.28204720e+02] [-5.96303361e-01 8.01844860e-01 -3.83030148e-02 -5.06934032e+02] [-6.61571529e-02 -1.53480654e-03 9.97808035e-01 -4.59431040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.25, Y:-506.97, Z:-45.95 [[ 7.99722754e-01 5.97940393e-01 5.39518693e-02 9.28252289e+02] [-5.96713327e-01 8.01539073e-01 -3.83186631e-02 -5.06971586e+02] [-6.61568078e-02 -1.54949259e-03 9.97808036e-01 -4.59472080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.30, Y:-507.01, Z:-45.95 [[ 8.01144598e-01 5.96034682e-01 5.39443321e-02 9.28298939e+02] [-5.94802581e-01 8.02957506e-01 -3.83292709e-02 -5.07010353e+02] [-6.61605812e-02 -1.37893967e-03 9.97808036e-01 -4.59516295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.35, Y:-507.05, Z:-45.95 [[ 8.02391012e-01 5.94356179e-01 5.39388186e-02 9.28346723e+02] [-5.93119764e-01 8.04200981e-01 -3.83370282e-02 -5.07050949e+02] [-6.61635004e-02 -1.23089253e-03 9.97808036e-01 -4.59549479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.40, Y:-507.09, Z:-45.96 [[ 8.02162786e-01 5.94665150e-01 5.39279555e-02 9.28396291e+02] [-5.93428406e-01 8.03972529e-01 -3.83523030e-02 -5.07088944e+02] [-6.61633728e-02 -1.23759044e-03 9.97808036e-01 -4.59607860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.44, Y:-507.13, Z:-45.97 [[ 8.01009413e-01 5.96218131e-01 5.39245844e-02 9.28444780e+02] [-5.94984577e-01 8.02821332e-01 -3.83570423e-02 -5.07127334e+02] [-6.61609708e-02 -1.35994417e-03 9.97808036e-01 -4.59651788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.49, Y:-507.17, Z:-45.97 [[ 8.01414461e-01 5.95674426e-01 5.39151102e-02 9.28493430e+02] [-5.94438748e-01 8.03224932e-01 -3.83703547e-02 -5.07165959e+02] [-6.61621998e-02 -1.29867343e-03 9.97808036e-01 -4.59713683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.54, Y:-507.20, Z:-45.97 [[ 8.04339665e-01 5.91718900e-01 5.39114639e-02 9.28542165e+02] [-5.90473974e-01 8.06143789e-01 -3.83754772e-02 -5.07204257e+02] [-6.61678870e-02 -9.66397847e-04 9.97808036e-01 -4.59716410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.59, Y:-507.24, Z:-45.98 [[ 8.06623043e-01 5.88603380e-01 5.39010899e-02 9.28591828e+02] [-5.87350511e-01 8.08421661e-01 -3.83900428e-02 -5.07242550e+02] [-6.61713175e-02 -6.92539539e-04 9.97808036e-01 -4.59761213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.64, Y:-507.28, Z:-45.98 [[ 8.10352678e-01 5.83458966e-01 5.38903657e-02 9.28641556e+02] [-5.82193678e-01 8.12142580e-01 -3.84050911e-02 -5.07279294e+02] [-6.61744554e-02 -2.52961811e-04 9.97808036e-01 -4.59799435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.69, Y:-507.32, Z:-45.98 [[ 8.09205544e-01 5.85049790e-01 5.38807108e-02 9.28689843e+02] [-5.83787118e-01 8.10997293e-01 -3.84186317e-02 -5.07318914e+02] [-6.61739230e-02 -3.66295107e-04 9.97808037e-01 -4.59824698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.74, Y:-507.36, Z:-45.99 [[ 8.08192257e-01 5.86449690e-01 5.38705509e-02 9.28740243e+02] [-5.85189173e-01 8.09985522e-01 -3.84328727e-02 -5.07356202e+02] [-6.61733126e-02 -4.63312995e-04 9.97808037e-01 -4.59855666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.79, Y:-507.39, Z:-45.99 [[ 8.06778768e-01 5.88393693e-01 5.38598433e-02 9.28791392e+02] [-5.87136495e-01 8.08574361e-01 -3.84478725e-02 -5.07392281e+02] [-6.61721740e-02 -6.04152414e-04 9.97808037e-01 -4.59901364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.84, Y:-507.43, Z:-45.99 [[ 8.05490431e-01 5.90156650e-01 5.38543744e-02 9.28841267e+02] [-5.88902870e-01 8.07288413e-01 -3.84555313e-02 -5.07426874e+02] [-6.61708000e-02 -7.39433194e-04 9.97808037e-01 -4.59927708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.89, Y:-507.46, Z:-46.00 [[ 8.04092709e-01 5.92060564e-01 5.38442615e-02 9.28892325e+02] [-5.90810093e-01 8.05892993e-01 -3.84696858e-02 -5.07462058e+02] [-6.61690970e-02 -8.78539308e-04 9.97808037e-01 -4.59981949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.94, Y:-507.50, Z:-46.01 [[ 8.03190164e-01 5.93285293e-01 5.38341963e-02 9.28943851e+02] [-5.92036624e-01 8.04991699e-01 -3.84837658e-02 -5.07495989e+02] [-6.61679335e-02 -9.62033666e-04 9.97808037e-01 -4.60057504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.99, Y:-507.53, Z:-46.01 [[ 8.00673652e-01 5.96677460e-01 5.38303961e-02 9.28993834e+02] [-5.95436066e-01 8.02480207e-01 -3.84890808e-02 -5.07531751e+02] [-6.61633944e-02 -1.23536641e-03 9.97808037e-01 -4.60110776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.04, Y:-507.57, Z:-46.02 [[ 8.00776219e-01 5.96540757e-01 5.38198085e-02 9.29043193e+02] [-5.95298060e-01 8.02581878e-01 -3.85038800e-02 -5.07569597e+02] [-6.61639367e-02 -1.20583615e-03 9.97808037e-01 -4.60150625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.09, Y:-507.61, Z:-46.02 [[ 8.00608356e-01 5.96766880e-01 5.38103256e-02 9.29094597e+02] [-5.95523803e-01 8.02413753e-01 -3.85171280e-02 -5.07606478e+02] [-6.61638916e-02 -1.20819526e-03 9.97808038e-01 -4.60192643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:929.15, Y:-507.64, Z:-46.02 [[ 8.00760321e-01 5.96563933e-01 5.37994621e-02 9.29145516e+02] [-5.95319380e-01 8.02564700e-01 -3.85322958e-02 -5.07643015e+02] [-6.61645272e-02 -1.17272886e-03 9.97808038e-01 -4.60228098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.20, Y:-507.68, Z:-46.03 [[ 8.03701971e-01 5.92595942e-01 5.37883983e-02 9.29196777e+02] [-5.91341446e-01 8.05499452e-01 -3.85477339e-02 -5.07676503e+02] [-6.61697561e-02 -8.26419511e-04 9.97808038e-01 -4.60316190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.24, Y:-507.72, Z:-46.03 [[ 8.04045041e-01 5.92131203e-01 5.37792743e-02 9.29243744e+02] [-5.90874817e-01 8.05841202e-01 -3.85604591e-02 -5.07715610e+02] [-6.61704060e-02 -7.72472897e-04 9.97808038e-01 -4.60297744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.29, Y:-507.75, Z:-46.04 [[ 8.09786769e-01 5.84255212e-01 5.37702187e-02 9.29294336e+02] [-5.82980516e-01 8.11569982e-01 -3.85730824e-02 -5.07750174e+02] [-6.61748198e-02 -1.11018098e-04 9.97808038e-01 -4.60379135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.34, Y:-507.79, Z:-46.04 [[ 8.10080226e-01 5.83848725e-01 5.37651701e-02 9.29343659e+02] [-5.82572667e-01 8.11862465e-01 -3.85801181e-02 -5.07788176e+02] [-6.61748763e-02 -6.91278200e-05 9.97808038e-01 -4.60361426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.39, Y:-507.83, Z:-46.04 [[ 8.11357473e-01 5.82073354e-01 5.37555742e-02 9.29394302e+02] [-5.80792511e-01 8.13136276e-01 -3.85934840e-02 -5.07825112e+02] [-6.61748460e-02 9.22767402e-05 9.97808038e-01 -4.60393235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.45, Y:-507.86, Z:-46.04 [[ 8.14117302e-01 5.78208041e-01 5.37445858e-02 9.29446606e+02] [-5.76917743e-01 8.15889257e-01 -3.86087802e-02 -5.07859632e+02] [-6.61735373e-02 4.25870804e-04 9.97808038e-01 -4.60437899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.50, Y:-507.89, Z:-46.05 [[ 8.14064102e-01 5.78283989e-01 5.37332865e-02 9.29499388e+02] [-5.76992819e-01 8.15835422e-01 -3.86244995e-02 -5.07893050e+02] [-6.61734480e-02 4.39098050e-04 9.97808039e-01 -4.60482220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.55, Y:-507.93, Z:-46.05 [[ 8.13332877e-01 5.79312886e-01 5.37234689e-02 9.29551139e+02] [-5.78023055e-01 8.15105172e-01 -3.86381500e-02 -5.07926788e+02] [-6.61738556e-02 3.72274069e-04 9.97808039e-01 -4.60526452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.60, Y:-507.96, Z:-46.06 [[ 8.12891531e-01 5.79932929e-01 5.37136434e-02 9.29602305e+02] [-5.78643548e-01 8.14664153e-01 -3.86518044e-02 -5.07959626e+02] [-6.61740340e-02 3.38671241e-04 9.97808039e-01 -4.60576119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.65, Y:-507.99, Z:-46.06 [[ 8.11407985e-01 5.82007639e-01 5.37046634e-02 9.29653210e+02] [-5.80721964e-01 8.13183297e-01 -3.86642776e-02 -5.07994163e+02] [-6.61746402e-02 1.85025925e-04 9.97808039e-01 -4.60598926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.70, Y:-508.03, Z:-46.06 [[ 8.10699324e-01 5.82995153e-01 5.36959817e-02 9.29704612e+02] [-5.81710842e-01 8.12475623e-01 -3.86763307e-02 -5.08029472e+02] [-6.61747896e-02 1.19340397e-04 9.97808039e-01 -4.60623040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.76, Y:-508.06, Z:-46.06 [[ 8.08852133e-01 5.85556140e-01 5.36864373e-02 9.29756753e+02] [-5.84276575e-01 8.10631853e-01 -3.86895749e-02 -5.08063481e+02] [-6.61748543e-02 -7.35825242e-05 9.97808039e-01 -4.60647533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:929.81, Y:-508.10, Z:-46.07 [[ 8.06844545e-01 5.88320217e-01 5.36768293e-02 9.29808690e+02] [-5.87045862e-01 8.08627999e-01 -3.87029002e-02 -5.08098040e+02] [-6.61742857e-02 -2.83536635e-04 9.97808039e-01 -4.60686160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.86, Y:-508.13, Z:-46.07 [[ 8.05581124e-01 5.90050016e-01 5.36659225e-02 9.29861649e+02] [-5.88778483e-01 8.07366591e-01 -3.87180177e-02 -5.08131488e+02] [-6.61736399e-02 -4.06836242e-04 9.97808040e-01 -4.60718112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.91, Y:-508.17, Z:-46.08 [[ 8.01309877e-01 5.95838629e-01 5.36545407e-02 9.29912452e+02] [-5.94578937e-01 8.03103718e-01 -3.87337839e-02 -5.08166058e+02] [-6.61692459e-02 -8.64096168e-04 9.97808040e-01 -4.60763382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.96, Y:-508.20, Z:-46.08 [[ 7.99342430e-01 5.98476394e-01 5.36440580e-02 9.29963384e+02] [-5.97221648e-01 8.01139734e-01 -3.87482964e-02 -5.08200409e+02] [-6.61663271e-02 -1.06423528e-03 9.97808040e-01 -4.60819321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.02, Y:-508.23, Z:-46.09 [[ 7.97810998e-01 6.00517231e-01 5.36345659e-02 9.30015494e+02] [-5.99266199e-01 7.99610889e-01 -3.87614308e-02 -5.08234399e+02] [-6.61636900e-02 -1.21708670e-03 9.97808040e-01 -4.60888896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.07, Y:-508.27, Z:-46.09 [[ 7.99460985e-01 5.98319717e-01 5.36250770e-02 9.30065464e+02] [-5.97062858e-01 8.01256812e-01 -3.87745540e-02 -5.08270064e+02] [-6.61670384e-02 -1.01879857e-03 9.97808040e-01 -4.60931562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.11, Y:-508.31, Z:-46.10 [[ 8.04915115e-01 5.90962722e-01 5.36164126e-02 9.30114587e+02] [-5.89688647e-01 8.06698769e-01 -3.87865311e-02 -5.08307907e+02] [-6.61736881e-02 -3.97124705e-04 9.97808040e-01 -4.60953700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:930.16, Y:-508.35, Z:-46.10 [[ 8.11856203e-01 5.81391244e-01 5.36071601e-02 9.30163370e+02] [-5.80095297e-01 8.13624029e-01 -3.87993150e-02 -5.08346623e+02] [-6.61736555e-02 4.02203081e-04 9.97808040e-01 -4.60966233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.21, Y:-508.38, Z:-46.10 [[ 8.18000491e-01 5.72715003e-01 5.35977744e-02 9.30213676e+02] [-5.71399460e-01 8.19753783e-01 -3.88122760e-02 -5.08384622e+02] [-6.61653512e-02 1.12272148e-03 9.97808041e-01 -4.60995071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.26, Y:-508.42, Z:-46.10 [[ 8.21259289e-01 5.68033121e-01 5.35868889e-02 9.30264559e+02] [-5.66706604e-01 8.23004293e-01 -3.88272995e-02 -5.08422255e+02] [-6.61574317e-02 1.51923654e-03 9.97808041e-01 -4.61028916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.31, Y:-508.46, Z:-46.11 [[ 8.24319213e-01 5.63584477e-01 5.35758612e-02 9.30313971e+02] [-5.62247557e-01 8.26056260e-01 -3.88425102e-02 -5.08458522e+02] [-6.61477113e-02 1.89573039e-03 9.97808041e-01 -4.61073953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.36, Y:-508.49, Z:-46.11 [[ 8.24839884e-01 5.62823005e-01 5.35670646e-02 9.30364973e+02] [-5.61483695e-01 8.26575089e-01 -3.88546377e-02 -5.08492875e+02] [-6.61454851e-02 1.97182145e-03 9.97808041e-01 -4.61122015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:930.42, Y:-508.53, Z:-46.12 [[ 8.23875254e-01 5.64235010e-01 5.35576325e-02 9.30417882e+02] [-5.62897831e-01 8.25612100e-01 -3.88676347e-02 -5.08526467e+02] [-6.61483097e-02 1.87460727e-03 9.97808041e-01 -4.61161273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.47, Y:-508.56, Z:-46.12 [[ 8.20969148e-01 5.68456138e-01 5.35469622e-02 9.30470213e+02] [-5.67126933e-01 8.22712104e-01 -3.88823294e-02 -5.08559527e+02] [-6.61566327e-02 1.55326835e-03 9.97808041e-01 -4.61170589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:930.53, Y:-508.59, Z:-46.12 [[ 8.13310879e-01 5.79360986e-01 5.35374836e-02 9.30526141e+02] [-5.78054300e-01 8.15070780e-01 -3.88953761e-02 -5.08589862e+02] [-6.61713020e-02 6.86459895e-04 9.97808041e-01 -4.61203218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.58, Y:-508.62, Z:-46.12 [[ 8.08615227e-01 5.85897882e-01 5.35265069e-02 9.30580094e+02] [-5.84604424e-01 8.10384873e-01 -3.89104761e-02 -5.08622163e+02] [-6.61746370e-02 1.71770762e-04 9.97808042e-01 -4.61226228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.63, Y:-508.65, Z:-46.13 [[ 8.00962827e-01 5.96316895e-01 5.35229907e-02 9.30633060e+02] [-5.95046132e-01 8.02748840e-01 -3.89153121e-02 -5.08652922e+02] [-6.61713768e-02 -6.78930144e-04 9.97808042e-01 -4.61302882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.69, Y:-508.69, Z:-46.13 [[ 7.95562989e-01 6.03502602e-01 5.35176551e-02 9.30687979e+02] [-6.02247474e-01 7.97360024e-01 -3.89226484e-02 -5.08685185e+02] [-6.61627584e-02 -1.26545413e-03 9.97808042e-01 -4.61320305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.74, Y:-508.72, Z:-46.14 [[ 7.93399436e-01 6.06345092e-01 5.35066707e-02 9.30740029e+02] [-6.05095384e-01 7.95200244e-01 -3.89377428e-02 -5.08717081e+02] [-6.61582269e-02 -1.48345622e-03 9.97808042e-01 -4.61372065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.79, Y:-508.75, Z:-46.14 [[ 7.94672505e-01 6.04676431e-01 5.34978777e-02 9.30792546e+02] [-6.03422129e-01 7.96470116e-01 -3.89498200e-02 -5.08751613e+02] [-6.61614991e-02 -1.32945219e-03 9.97808042e-01 -4.61411648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:930.84, Y:-508.79, Z:-46.15 [[ 7.95715624e-01 6.03304041e-01 5.34872014e-02 9.30844112e+02] [-6.02045653e-01 7.97510377e-01 -3.89644756e-02 -5.08787567e+02] [-6.61640237e-02 -1.19709509e-03 9.97808042e-01 -4.61461624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.89, Y:-508.82, Z:-46.15 [[ 7.96544220e-01 6.02210557e-01 5.34766427e-02 9.30894703e+02] [-6.00948733e-01 7.98336559e-01 -3.89789616e-02 -5.08823089e+02] [-6.61659010e-02 -1.08825411e-03 9.97808042e-01 -4.61513955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.94, Y:-508.86, Z:-46.16 [[ 7.97287357e-01 6.01227160e-01 5.34674928e-02 9.30944840e+02] [-5.99962284e-01 7.99077543e-01 -3.89915084e-02 -5.08858985e+02] [-6.61674266e-02 -9.91042457e-04 9.97808042e-01 -4.61567746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:930.99, Y:-508.90, Z:-46.16 [[ 7.97299400e-01 6.01212026e-01 5.34580813e-02 9.30993617e+02] [-5.99946251e-01 7.99088951e-01 -3.90044075e-02 -5.08895278e+02] [-6.61676810e-02 -9.73784822e-04 9.97808043e-01 -4.61631036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.04, Y:-508.93, Z:-46.16 [[ 7.97900313e-01 6.00414766e-01 5.34527810e-02 9.31043771e+02] [-5.99146717e-01 7.99688253e-01 -3.90116698e-02 -5.08932655e+02] [-6.61687436e-02 -8.98634701e-04 9.97808043e-01 -4.61634673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.09, Y:-508.97, Z:-46.17 [[ 7.98852724e-01 5.99147896e-01 5.34427236e-02 9.31093332e+02] [-5.97876090e-01 8.00637993e-01 -3.90254428e-02 -5.08970598e+02] [-6.61702869e-02 -7.76545369e-04 9.97808043e-01 -4.61663835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.14, Y:-509.01, Z:-46.17 [[ 8.02910143e-01 5.93700473e-01 5.34326673e-02 9.31139042e+02] [-5.92415638e-01 8.04686058e-01 -3.90392067e-02 -5.09010750e+02] [-6.61741180e-02 -3.09372641e-04 9.97808043e-01 -4.61688922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.19, Y:-509.05, Z:-46.17 [[ 8.06527344e-01 5.88777651e-01 5.34277222e-02 9.31188718e+02] [-5.87481527e-01 8.08295037e-01 -3.90459732e-02 -5.09047850e+02] [-6.61747591e-02 1.03845204e-04 9.97808043e-01 -4.61745092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.24, Y:-509.09, Z:-46.18 [[ 8.09738687e-01 5.84354163e-01 5.34178884e-02 9.31235348e+02] [-5.83047496e-01 8.11498601e-01 -3.90594221e-02 -5.09088304e+02] [-6.61730776e-02 4.82759105e-04 9.97808043e-01 -4.61771921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.28, Y:-509.13, Z:-46.18 [[ 8.14444000e-01 5.77778965e-01 5.34082169e-02 9.31283918e+02] [-5.76457225e-01 8.16192622e-01 -3.90726420e-02 -5.09128768e+02] [-6.61667433e-02 1.03492633e-03 9.97808043e-01 -4.61828493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.33, Y:-509.17, Z:-46.19 [[ 8.17541697e-01 5.73388432e-01 5.33973743e-02 9.31330904e+02] [-5.72056335e-01 8.19282442e-01 -3.90874541e-02 -5.09168248e+02] [-6.61598252e-02 1.40931727e-03 9.97808043e-01 -4.61868878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.38, Y:-509.21, Z:-46.19 [[ 8.19039175e-01 5.71247867e-01 5.33919984e-02 9.31379953e+02] [-5.69910743e-01 8.20776061e-01 -3.90947961e-02 -5.09208239e+02] [-6.61556929e-02 1.59149604e-03 9.97808043e-01 -4.61909328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.43, Y:-509.25, Z:-46.20 [[ 8.19625625e-01 5.70407086e-01 5.33815551e-02 9.31429411e+02] [-5.69067253e-01 8.21360422e-01 -3.91090505e-02 -5.09247387e+02] [-6.61535762e-02 1.67708503e-03 9.97808044e-01 -4.61959213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.48, Y:-509.29, Z:-46.20 [[ 8.16355925e-01 5.75077839e-01 5.33711824e-02 9.31477181e+02] [-5.73747009e-01 8.18097638e-01 -3.91232008e-02 -5.09287073e+02] [-6.61617240e-02 1.31690049e-03 9.97808044e-01 -4.62000652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:931.53, Y:-509.32, Z:-46.20 [[ 8.12178120e-01 5.80964071e-01 5.33614899e-02 9.31527381e+02] [-5.79644998e-01 8.13928754e-01 -3.91364163e-02 -5.09324985e+02] [-6.61693027e-02 8.55020311e-04 9.97808044e-01 -4.62040714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.58, Y:-509.36, Z:-46.21 [[ 8.02898281e-01 5.93723843e-01 5.33511799e-02 9.31576998e+02] [-5.92431661e-01 8.04668856e-01 -3.91504660e-02 -5.09362197e+02] [-6.61745980e-02 -1.73086257e-04 9.97808044e-01 -4.62055182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.63, Y:-509.40, Z:-46.21 [[ 7.93431542e-01 6.06317611e-01 5.33417610e-02 9.31626781e+02] [-6.05052663e-01 7.95221675e-01 -3.91632948e-02 -5.09399404e+02] [-6.61639199e-02 -1.20118114e-03 9.97808044e-01 -4.62107351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.68, Y:-509.44, Z:-46.21 [[ 7.87491322e-01 6.14013956e-01 5.33317821e-02 9.31676188e+02] [-6.12765578e-01 7.89293050e-01 -3.91768791e-02 -5.09437068e+02] [-6.61495555e-02 -1.82842795e-03 9.97808044e-01 -4.62126315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.73, Y:-509.48, Z:-46.22 [[ 7.85931769e-01 6.16009706e-01 5.33225642e-02 9.31725173e+02] [-6.14765053e-01 7.87736072e-01 -3.91894214e-02 -5.09475497e+02] [-6.61451713e-02 -1.98063776e-03 9.97808044e-01 -4.62159122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:931.77, Y:-509.52, Z:-46.22 [[ 7.86184090e-01 6.15688445e-01 5.33133689e-02 9.31772531e+02] [-6.14442207e-01 7.87987299e-01 -3.92019268e-02 -5.09515023e+02] [-6.61464309e-02 -1.93805292e-03 9.97808045e-01 -4.62206266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.82, Y:-509.56, Z:-46.23 [[ 7.87554293e-01 6.13935630e-01 5.33036505e-02 9.31820179e+02] [-6.12684485e-01 7.89354100e-01 -3.92151367e-02 -5.09555325e+02] [-6.61510247e-02 -1.77427039e-03 9.97808045e-01 -4.62267314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:931.87, Y:-509.60, Z:-46.23 [[ 7.90135442e-01 6.10610886e-01 5.32947394e-02 9.31865550e+02] [-6.09351351e-01 7.91929387e-01 -3.92272434e-02 -5.09595512e+02] [-6.61582522e-02 -1.48038619e-03 9.97808045e-01 -4.62335471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:931.91, Y:-509.64, Z:-46.23 [[ 7.93777938e-01 6.05868900e-01 5.32865931e-02 9.31911464e+02] [-6.04597903e-01 7.95563782e-01 -3.92383063e-02 -5.09637993e+02] [-6.61661530e-02 -1.07046059e-03 9.97808045e-01 -4.62349384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.96, Y:-509.68, Z:-46.25 [[ 8.00352265e-01 5.97158132e-01 5.32767959e-02 9.31958910e+02] [-5.95866811e-01 8.02123467e-01 -3.92516042e-02 -5.09677680e+02] [-6.61739829e-02 -3.30764140e-04 9.97808045e-01 -4.62462023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.00, Y:-509.72, Z:-46.24 [[ 8.01112130e-01 5.96138614e-01 5.32739066e-02 9.32002480e+02] [-5.94844777e-01 8.02881495e-01 -3.92555253e-02 -5.09721151e+02] [-6.61743682e-02 -2.41627554e-04 9.97808045e-01 -4.62430555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.05, Y:-509.76, Z:-46.25 [[ 8.04316358e-01 5.91808703e-01 5.32696495e-02 9.32047835e+02] [-5.90504958e-01 8.06078436e-01 -3.92613013e-02 -5.09763888e+02] [-6.61746955e-02 1.22514746e-04 9.97808045e-01 -4.62460506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.10, Y:-509.80, Z:-46.25 [[ 8.06606029e-01 5.88685048e-01 5.32600018e-02 9.32095815e+02] [-5.87373616e-01 8.08362392e-01 -3.92743846e-02 -5.09802612e+02] [-6.61736255e-02 3.95435549e-04 9.97808045e-01 -4.62546133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.14, Y:-509.84, Z:-46.25 [[ 8.00496586e-01 5.96966441e-01 5.32567777e-02 9.32144285e+02] [-5.95672888e-01 8.02266159e-01 -3.92787560e-02 -5.09841161e+02] [-6.61742097e-02 -2.81108448e-04 9.97808045e-01 -4.62529438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:932.20, Y:-509.87, Z:-46.26 [[ 7.98109658e-01 6.00154767e-01 5.32468762e-02 9.32196612e+02] [-5.98867388e-01 7.99883727e-01 -3.92921741e-02 -5.09873582e+02] [-6.61726954e-02 -5.28353962e-04 9.97808045e-01 -4.62641936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.25, Y:-509.91, Z:-46.26 [[ 7.91519264e-01 6.08820446e-01 5.32439633e-02 9.32245395e+02] [-6.07552220e-01 7.93307075e-01 -3.92961209e-02 -5.09912665e+02] [-6.61630946e-02 -1.24485139e-03 9.97808045e-01 -4.62609558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.30, Y:-509.95, Z:-46.27 [[ 7.89924165e-01 6.10889500e-01 5.32337489e-02 9.32295423e+02] [-6.09625025e-01 7.91714631e-01 -3.93099533e-02 -5.09946959e+02] [-6.61599756e-02 -1.40074349e-03 9.97808045e-01 -4.62656886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.35, Y:-509.98, Z:-46.27 [[ 7.89762846e-01 6.11098851e-01 5.32244514e-02 9.32347091e+02] [-6.09834003e-01 7.91553048e-01 -3.93225378e-02 -5.09982897e+02] [-6.61599344e-02 -1.40260095e-03 9.97808046e-01 -4.62705120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.40, Y:-510.02, Z:-46.27 [[ 7.91277250e-01 6.09137634e-01 5.32133188e-02 9.32396493e+02] [-6.07867336e-01 7.93063588e-01 -3.93375973e-02 -5.10019234e+02] [-6.61635565e-02 -1.21969251e-03 9.97808046e-01 -4.62747454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.45, Y:-510.06, Z:-46.28 [[ 7.94698752e-01 6.04667829e-01 5.32044219e-02 9.32445975e+02] [-6.03386677e-01 7.96477323e-01 -3.93496267e-02 -5.10057086e+02] [-6.61695689e-02 -8.31740112e-04 9.97808046e-01 -4.62769032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.50, Y:-510.09, Z:-46.28 [[ 7.98671284e-01 5.99411798e-01 5.31947005e-02 9.32497130e+02] [-5.98118066e-01 8.00440724e-01 -3.93627642e-02 -5.10093629e+02] [-6.61737099e-02 -3.78801936e-04 9.97808046e-01 -4.62818480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.55, Y:-510.13, Z:-46.29 [[ 8.04638635e-01 5.91378245e-01 5.31830761e-02 9.32545200e+02] [-5.90065807e-01 8.06394246e-01 -3.93784637e-02 -5.10132692e+02] [-6.61740933e-02 3.03918504e-04 9.97808046e-01 -4.62880281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.59, Y:-510.17, Z:-46.29 [[ 8.08011691e-01 5.86761508e-01 5.31793215e-02 9.32594704e+02] [-5.85438707e-01 8.09759506e-01 -3.93835335e-02 -5.10169162e+02] [-6.61712027e-02 6.89122289e-04 9.97808046e-01 -4.62936832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.64, Y:-510.21, Z:-46.29 [[ 8.08421554e-01 5.86197033e-01 5.31754593e-02 9.32643491e+02] [-5.84872668e-01 8.10168185e-01 -3.93887476e-02 -5.10205859e+02] [-6.61706323e-02 7.41839790e-04 9.97808046e-01 -4.62949454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.69, Y:-510.24, Z:-46.30 [[ 8.07800007e-01 5.87054160e-01 5.31654260e-02 9.32694085e+02] [-5.85730758e-01 8.09547367e-01 -3.94022855e-02 -5.10241493e+02] [-6.61712062e-02 6.88541166e-04 9.97808046e-01 -4.63006433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:932.75, Y:-510.28, Z:-46.31 [[ 8.05944709e-01 5.89599513e-01 5.31558144e-02 9.32745117e+02] [-5.88280775e-01 8.07695591e-01 -3.94152478e-02 -5.10276623e+02] [-6.61729279e-02 4.95966742e-04 9.97808047e-01 -4.63059060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.80, Y:-510.31, Z:-46.31 [[ 8.02491325e-01 5.94292194e-01 5.31456593e-02 9.32795734e+02] [-5.92982788e-01 8.04249198e-01 -3.94289358e-02 -5.10311986e+02] [-6.61746626e-02 1.26917694e-04 9.97808047e-01 -4.63066098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.85, Y:-510.35, Z:-46.31 [[ 7.99235095e-01 5.98665076e-01 5.31355769e-02 9.32845855e+02] [-5.97364385e-01 8.00999425e-01 -3.94425184e-02 -5.10348959e+02] [-6.61744249e-02 -2.17456329e-04 9.97808047e-01 -4.63118130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.90, Y:-510.38, Z:-46.31 [[ 7.97053597e-01 6.01566788e-01 5.31315674e-02 9.32897733e+02] [-6.00272160e-01 7.98822381e-01 -3.94479188e-02 -5.10381466e+02] [-6.61732429e-02 -4.51295147e-04 9.97808047e-01 -4.63148659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.95, Y:-510.42, Z:-46.32 [[ 7.95430081e-01 6.03712786e-01 5.31211566e-02 9.32948142e+02] [-6.02421994e-01 7.97201666e-01 -3.94619332e-02 -5.10416869e+02] [-6.61719482e-02 -6.12144367e-04 9.97808047e-01 -4.63174327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.00, Y:-510.45, Z:-46.32 [[ 7.94917536e-01 6.04387975e-01 5.31157817e-02 9.32997728e+02] [-6.03098204e-01 7.96689865e-01 -3.94691663e-02 -5.10453372e+02] [-6.61714945e-02 -6.59300094e-04 9.97808047e-01 -4.63233280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.05, Y:-510.49, Z:-46.33 [[ 7.95017075e-01 6.04257950e-01 5.31053606e-02 9.33047947e+02] [-6.02966954e-01 7.96788511e-01 -3.94831829e-02 -5.10490399e+02] [-6.61717684e-02 -6.30972921e-04 9.97808047e-01 -4.63266156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.10, Y:-510.53, Z:-46.33 [[ 7.95757862e-01 6.03282833e-01 5.30966001e-02 9.33097753e+02] [-6.01988879e-01 7.97527139e-01 -3.94949605e-02 -5.10528535e+02] [-6.61726112e-02 -5.35137432e-04 9.97808047e-01 -4.63289457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.15, Y:-510.56, Z:-46.34 [[ 7.97502475e-01 6.00975627e-01 5.30857603e-02 9.33147694e+02] [-5.99675585e-01 7.99267283e-01 -3.95095251e-02 -5.10564916e+02] [-6.61739730e-02 -3.25290300e-04 9.97808047e-01 -4.63391977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:933.20, Y:-510.60, Z:-46.35 [[ 7.96710607e-01 6.02026018e-01 5.30743192e-02 9.33195468e+02] [-6.00727279e-01 7.98476374e-01 -3.95248883e-02 -5.10602440e+02] [-6.61736010e-02 -3.93293626e-04 9.97808048e-01 -4.63457581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:933.25, Y:-510.64, Z:-46.35 [[ 7.96050743e-01 6.02899212e-01 5.30636881e-02 9.33245248e+02] [-6.01601459e-01 7.97817234e-01 -3.95391558e-02 -5.10639964e+02] [-6.61732508e-02 -4.48017843e-04 9.97808048e-01 -4.63504097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:933.30, Y:-510.68, Z:-46.35 [[ 7.95832604e-01 6.03188310e-01 5.30502418e-02 9.33295287e+02] [-6.01889997e-01 7.97598684e-01 -3.95571887e-02 -5.10678528e+02] [-6.61732368e-02 -4.49509357e-04 9.97808048e-01 -4.63543458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:933.34, Y:-510.72, Z:-46.35 [[ 7.94849915e-01 6.04483878e-01 5.30363431e-02 9.33342333e+02] [-6.03187201e-01 7.96617195e-01 -3.95758147e-02 -5.10717349e+02] [-6.61726048e-02 -5.34010347e-04 9.97808048e-01 -4.63540901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.39, Y:-510.76, Z:-46.36 [[ 7.94562746e-01 6.04862266e-01 5.30253032e-02 9.33391181e+02] [-6.03565443e-01 7.96329919e-01 -3.95906009e-02 -5.10756203e+02] [-6.61724959e-02 -5.47024076e-04 9.97808048e-01 -4.63578189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:933.44, Y:-510.79, Z:-46.37 [[ 7.96090346e-01 6.02851248e-01 5.30144655e-02 9.33441343e+02] [-6.01548995e-01 7.97853522e-01 -3.96051080e-02 -5.10792286e+02] [-6.61737668e-02 -3.61554292e-04 9.97808049e-01 -4.63663260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.49, Y:-510.83, Z:-46.36 [[ 7.93796125e-01 6.05869845e-01 5.30041878e-02 9.33487903e+02] [-6.04573378e-01 7.95563559e-01 -3.96188580e-02 -5.10832895e+02] [-6.61720716e-02 -5.95624948e-04 9.97808049e-01 -4.63648287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:933.54, Y:-510.87, Z:-46.37 [[ 7.93610502e-01 6.06113798e-01 5.29946608e-02 9.33536400e+02] [-6.04817024e-01 7.95377711e-01 -3.96315974e-02 -5.10872239e+02] [-6.61720300e-02 -6.00021157e-04 9.97808049e-01 -4.63695803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.59, Y:-510.91, Z:-46.37 [[ 7.93097738e-01 6.06785572e-01 5.29834681e-02 9.33585083e+02] [-6.05489296e-01 7.94865312e-01 -3.96465552e-02 -5.10910132e+02] [-6.61716786e-02 -6.37329499e-04 9.97808049e-01 -4.63741300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.63, Y:-510.95, Z:-46.38 [[ 7.92378782e-01 6.07724971e-01 5.29738097e-02 9.33633595e+02] [-6.06429928e-01 7.94147260e-01 -3.96594561e-02 -5.10947631e+02] [-6.61710477e-02 -6.99592108e-04 9.97808049e-01 -4.63790068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.68, Y:-510.98, Z:-46.38 [[ 7.91106446e-01 6.09381202e-01 5.29635917e-02 9.33683020e+02] [-6.08088948e-01 7.92876962e-01 -3.96730972e-02 -5.10984659e+02] [-6.61696513e-02 -8.20931886e-04 9.97808049e-01 -4.63808061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.73, Y:-511.02, Z:-46.38 [[ 7.89739839e-01 6.11152083e-01 5.29539248e-02 9.33733269e+02] [-6.09862934e-01 7.91512617e-01 -3.96859960e-02 -5.11022224e+02] [-6.61678787e-02 -9.53023836e-04 9.97808049e-01 -4.63847085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.78, Y:-511.06, Z:-46.39 [[ 7.87575535e-01 6.13939588e-01 5.29429844e-02 9.33782894e+02] [-6.12655733e-01 7.89352150e-01 -3.97005856e-02 -5.11058792e+02] [-6.61644198e-02 -1.16861293e-03 9.97808050e-01 -4.63899811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.83, Y:-511.10, Z:-46.40 [[ 7.85419050e-01 6.16696839e-01 5.29332092e-02 9.33833693e+02] [-6.15418343e-01 7.87199525e-01 -3.97136148e-02 -5.11095901e+02] [-6.61602578e-02 -1.38423823e-03 9.97808050e-01 -4.63953549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.88, Y:-511.13, Z:-46.40 [[ 7.83561821e-01 6.19055832e-01 5.29221101e-02 9.33884575e+02] [-6.17781698e-01 7.85345420e-01 -3.97283999e-02 -5.11132170e+02] [-6.61562344e-02 -1.56465361e-03 9.97808050e-01 -4.63987957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.94, Y:-511.17, Z:-46.40 [[ 7.82610624e-01 6.20258865e-01 5.29107918e-02 9.33935529e+02] [-6.18986454e-01 7.84395453e-01 -3.97434680e-02 -5.11169725e+02] [-6.61542229e-02 -1.64740310e-03 9.97808050e-01 -4.64020045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.99, Y:-511.21, Z:-46.41 [[ 7.84382923e-01 6.18017063e-01 5.28993363e-02 9.33986114e+02] [-6.16738523e-01 7.86163367e-01 -3.97587097e-02 -5.11205445e+02] [-6.61590813e-02 -1.43900565e-03 9.97808050e-01 -4.64097446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.03, Y:-511.24, Z:-46.41 [[ 7.83448519e-01 6.19202051e-01 5.28889232e-02 9.34033450e+02] [-6.17925270e-01 7.85230224e-01 -3.97725569e-02 -5.11243835e+02] [-6.61572298e-02 -1.52165142e-03 9.97808050e-01 -4.64093214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.08, Y:-511.28, Z:-46.41 [[ 7.82678623e-01 6.20175748e-01 5.28792523e-02 9.34084202e+02] [-6.18900316e-01 7.84461293e-01 -3.97854107e-02 -5.11280027e+02] [-6.61556734e-02 -1.58779553e-03 9.97808051e-01 -4.64141521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:934.13, Y:-511.31, Z:-46.42 [[ 7.82093782e-01 6.20914079e-01 5.28679831e-02 9.34134819e+02] [-6.19639318e-01 7.83876932e-01 -3.98003799e-02 -5.11314971e+02] [-6.61546086e-02 -1.63145137e-03 9.97808051e-01 -4.64223864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.18, Y:-511.35, Z:-46.43 [[ 7.81226133e-01 6.22006395e-01 5.28561531e-02 9.34184309e+02] [-6.20733066e-01 7.83010306e-01 -3.98160843e-02 -5.11351987e+02] [-6.61527717e-02 -1.70419638e-03 9.97808051e-01 -4.64262408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:934.23, Y:-511.39, Z:-46.43 [[ 7.80171031e-01 6.23329999e-01 5.28476677e-02 9.34233377e+02] [-6.22058934e-01 7.81956818e-01 -3.98273437e-02 -5.11389826e+02] [-6.61501722e-02 -1.80222409e-03 9.97808051e-01 -4.64288903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.28, Y:-511.43, Z:-46.43 [[ 7.78975410e-01 6.24824535e-01 5.28357104e-02 9.34283229e+02] [-6.23555822e-01 7.80762868e-01 -3.98432002e-02 -5.11427329e+02] [-6.61471698e-02 -1.90914161e-03 9.97808051e-01 -4.64259224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:934.33, Y:-511.46, Z:-46.43 [[ 7.79748977e-01 6.23859929e-01 5.28234988e-02 9.34333039e+02] [-6.22587910e-01 7.81534084e-01 -3.98593836e-02 -5.11463995e+02] [-6.61500370e-02 -1.80695813e-03 9.97808051e-01 -4.64336169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.87, Y:-510.92, Z:-45.46 [[ 8.53821904e-01 5.17879402e-01 5.28117621e-02 9.34865519e+02] [-5.16386447e-01 8.55426810e-01 -3.98749281e-02 -5.10923180e+02] [-6.58270011e-02 6.77480882e-03 9.97808052e-01 -4.54644121e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.92, Y:-510.96, Z:-45.47 [[ 8.54649932e-01 5.16068229e-01 5.69831230e-02 9.34918754e+02] [-5.15040670e-01 8.56546165e-01 -3.25848862e-02 -5.10957191e+02] [-6.56247000e-02 -1.49995504e-03 9.97843249e-01 -4.54664394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.97, Y:-510.99, Z:-45.47 [[ 8.55287269e-01 5.15012289e-01 5.69739343e-02 9.34973299e+02] [-5.13981320e-01 8.57181650e-01 -3.26009446e-02 -5.10987812e+02] [-6.56268981e-02 -1.40036513e-03 9.97843249e-01 -4.54708341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.03, Y:-511.02, Z:-45.46 [[ 8.54408729e-01 5.16469498e-01 5.69647389e-02 9.35025343e+02] [-5.15440689e-01 8.56304284e-01 -3.26170042e-02 -5.11022180e+02] [-6.56248377e-02 -1.49369114e-03 9.97843249e-01 -4.54617476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:935.08, Y:-511.05, Z:-45.47 [[ 8.56276844e-01 5.13366518e-01 5.69630157e-02 9.35080111e+02] [-5.12330639e-01 8.58168544e-01 -3.26200133e-02 -5.11049636e+02] [-6.56298909e-02 -1.25213624e-03 9.97843249e-01 -4.54742210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.13, Y:-511.08, Z:-45.48 [[ 8.59332163e-01 5.08235942e-01 5.69601607e-02 9.35133087e+02] [-5.07188438e-01 8.61217451e-01 -3.26249979e-02 -5.11079020e+02] [-6.56362809e-02 -8.53824904e-04 9.97843249e-01 -4.54823599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:935.18, Y:-511.11, Z:-45.48 [[ 8.58928721e-01 5.08918509e-01 5.69508899e-02 9.35183977e+02] [-5.07871430e-01 8.60814245e-01 -3.26411732e-02 -5.11113669e+02] [-6.56358345e-02 -8.87288743e-04 9.97843249e-01 -4.54811466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:935.24, Y:-511.15, Z:-45.48 [[ 8.59286530e-01 5.08314445e-01 5.69480874e-02 9.35235722e+02] [-5.07265717e-01 8.61171137e-01 -3.26460619e-02 -5.11147177e+02] [-6.56365140e-02 -8.35491169e-04 9.97843249e-01 -4.54764914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.29, Y:-511.18, Z:-45.48 [[ 8.60146082e-01 5.06859210e-01 5.69425942e-02 9.35289652e+02] [-5.05806659e-01 8.62028557e-01 -3.26556406e-02 -5.11178038e+02] [-6.56379545e-02 -7.13321988e-04 9.97843249e-01 -4.54814381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.34, Y:-511.21, Z:-45.49 [[ 8.61375315e-01 5.04768335e-01 5.69341313e-02 9.35343185e+02] [-5.03710240e-01 8.63254678e-01 -3.26703888e-02 -5.11209036e+02] [-6.56396329e-02 -5.36838572e-04 9.97843249e-01 -4.54882404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.40, Y:-511.24, Z:-45.50 [[ 8.62261528e-01 5.03253423e-01 5.69302156e-02 9.35396369e+02] [-5.02191575e-01 8.64138775e-01 -3.26772106e-02 -5.11238210e+02] [-6.56405248e-02 -4.13573135e-04 9.97843249e-01 -4.54958175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.45, Y:-511.26, Z:-45.51 [[ 8.64009732e-01 5.00246958e-01 5.69224484e-02 9.35452718e+02] [-4.99177687e-01 8.65882759e-01 -3.26907353e-02 -5.11262990e+02] [-6.56416075e-02 -1.69302740e-04 9.97843250e-01 -4.55079008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.51, Y:-511.29, Z:-45.51 [[ 8.63832639e-01 5.00553641e-01 5.69141806e-02 9.35506142e+02] [-4.99484088e-01 8.65705505e-01 -3.27051230e-02 -5.11294153e+02] [-6.56415879e-02 -1.75974847e-04 9.97843250e-01 -4.55126070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:935.56, Y:-511.32, Z:-45.52 [[ 8.63979598e-01 5.00300932e-01 5.69054630e-02 9.35559498e+02] [-4.99229832e-01 8.65851580e-01 -3.27202844e-02 -5.11324781e+02] [-6.56416738e-02 -1.39246552e-04 9.97843250e-01 -4.55189806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.62, Y:-511.35, Z:-45.53 [[ 8.65402214e-01 4.97837041e-01 5.68971763e-02 9.35615441e+02] [-4.96759664e-01 8.67270590e-01 -3.27346877e-02 -5.11353910e+02] [-6.56417877e-02 6.44490128e-05 9.97843250e-01 -4.55265163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.67, Y:-511.39, Z:-45.53 [[ 8.65782926e-01 4.97175761e-01 5.68875122e-02 9.35669059e+02] [-4.96095853e-01 8.67649840e-01 -3.27514738e-02 -5.11387676e+02] [-6.56416797e-02 1.34007904e-04 9.97843250e-01 -4.55270657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.72, Y:-511.42, Z:-45.53 [[ 8.67455203e-01 4.94253360e-01 5.68778233e-02 9.35723511e+02] [-4.93166060e-01 8.69317822e-01 -3.27682913e-02 -5.11418351e+02] [-6.56407436e-02 3.74812809e-04 9.97843250e-01 -4.55321637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.78, Y:-511.45, Z:-45.54 [[ 8.66843941e-01 4.95325753e-01 5.68681021e-02 9.35775409e+02] [-4.94239652e-01 8.68707258e-01 -3.27851535e-02 -5.11450232e+02] [-6.56410639e-02 3.13140736e-04 9.97843251e-01 -4.55351914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.83, Y:-511.48, Z:-45.54 [[ 8.65505929e-01 4.97660916e-01 5.68603490e-02 9.35828780e+02] [-4.96578959e-01 8.67371656e-01 -3.27985943e-02 -5.11481819e+02] [-6.56416336e-02 1.51724918e-04 9.97843251e-01 -4.55372369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.88, Y:-511.51, Z:-45.54 [[ 8.64477115e-01 4.99446866e-01 5.68519693e-02 9.35883672e+02] [-4.98367809e-01 8.66344520e-01 -3.28131130e-02 -5.11512852e+02] [-6.56417985e-02 3.29938862e-05 9.97843251e-01 -4.55412011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.94, Y:-511.54, Z:-45.55 [[ 8.63537218e-01 5.01071281e-01 5.68422709e-02 9.35939153e+02] [-4.99994631e-01 8.65406012e-01 -3.28299051e-02 -5.11540563e+02] [-6.56417656e-02 -7.09853999e-05 9.97843251e-01 -4.55500843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.99, Y:-511.57, Z:-45.55 [[ 8.60752960e-01 5.05840139e-01 5.68339296e-02 9.35992031e+02] [-5.04772889e-01 8.62627139e-01 -3.28443388e-02 -5.11571829e+02] [-6.56404750e-02 -4.17364963e-04 9.97843251e-01 -4.55511110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.05, Y:-511.60, Z:-45.55 [[ 8.59024959e-01 5.08769977e-01 5.68263090e-02 9.36046316e+02] [-5.07708248e-01 8.60902270e-01 -3.28575187e-02 -5.11602578e+02] [-6.56388174e-02 -6.25757113e-04 9.97843251e-01 -4.55540486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.10, Y:-511.63, Z:-45.56 [[ 8.59962424e-01 5.07184824e-01 5.68171030e-02 9.36101257e+02] [-5.06118583e-01 8.61837176e-01 -3.28734298e-02 -5.11630285e+02] [-6.56399963e-02 -4.86277232e-04 9.97843251e-01 -4.55637385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.16, Y:-511.66, Z:-45.57 [[ 8.58327214e-01 5.09948211e-01 5.68085857e-02 9.36155146e+02] [-5.08887032e-01 8.60204836e-01 -3.28881420e-02 -5.11660508e+02] [-6.56382693e-02 -6.80365243e-04 9.97843252e-01 -4.55699282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.21, Y:-511.69, Z:-45.57 [[ 8.57804680e-01 5.10827366e-01 5.68025729e-02 9.36209497e+02] [-5.09767424e-01 8.59683000e-01 -3.28985237e-02 -5.11692682e+02] [-6.56376725e-02 -7.35593603e-04 9.97843252e-01 -4.55749368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:936.26, Y:-511.73, Z:-45.57 [[ 8.55811315e-01 5.14161035e-01 5.67928080e-02 9.36259632e+02] [-5.13107291e-01 8.57693119e-01 -3.29153723e-02 -5.11728531e+02] [-6.56346025e-02 -9.71455787e-04 9.97843252e-01 -4.55720376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.31, Y:-511.76, Z:-45.58 [[ 8.58417026e-01 5.09799308e-01 5.67879882e-02 9.36312974e+02] [-5.08735451e-01 8.60293131e-01 -3.29236857e-02 -5.11759299e+02] [-6.56387884e-02 -6.27810400e-04 9.97843252e-01 -4.55806352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.37, Y:-511.79, Z:-45.58 [[ 8.59350191e-01 5.08225681e-01 5.67794539e-02 9.36366080e+02] [-5.07157417e-01 8.61223790e-01 -3.29383973e-02 -5.11793076e+02] [-6.56399558e-02 -4.90503177e-04 9.97843252e-01 -4.55841029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:936.42, Y:-511.83, Z:-45.58 [[ 8.57801806e-01 5.10835851e-01 5.67696709e-02 9.36416503e+02] [-5.09772173e-01 8.59678012e-01 -3.29552497e-02 -5.11828374e+02] [-6.56383608e-02 -6.70525780e-04 9.97843252e-01 -4.55826179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:936.47, Y:-511.86, Z:-45.59 [[ 8.57682858e-01 5.11036404e-01 5.67618577e-02 9.36468935e+02] [-5.09972274e-01 8.59558808e-01 -3.29687016e-02 -5.11863100e+02] [-6.56383615e-02 -6.70283373e-04 9.97843252e-01 -4.55874219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.52, Y:-511.90, Z:-45.59 [[ 8.56547371e-01 5.12938354e-01 5.67525003e-02 9.36521886e+02] [-5.11877322e-01 8.58425075e-01 -3.29848017e-02 -5.11897158e+02] [-6.56369392e-02 -7.97272714e-04 9.97843253e-01 -4.55927204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.58, Y:-511.93, Z:-45.60 [[ 8.57265934e-01 5.11737551e-01 5.67432509e-02 9.36577129e+02] [-5.10672837e-01 8.59141552e-01 -3.30007056e-02 -5.11925144e+02] [-6.56381850e-02 -6.86856176e-04 9.97843253e-01 -4.56038489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:936.63, Y:-511.96, Z:-45.61 [[ 8.53820554e-01 5.17466552e-01 5.67347187e-02 9.36629307e+02] [-5.16413448e-01 8.55702715e-01 -3.30153676e-02 -5.11960969e+02] [-6.56324013e-02 -1.10937222e-03 9.97843253e-01 -4.56067455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.69, Y:-511.99, Z:-45.62 [[ 8.54075297e-01 5.17047246e-01 5.67233050e-02 9.36686011e+02] [-5.15991916e-01 8.55956210e-01 -3.30349658e-02 -5.11988568e+02] [-6.56333033e-02 -1.05441860e-03 9.97843253e-01 -4.56156782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.74, Y:-512.02, Z:-45.62 [[ 8.52173923e-01 5.20176311e-01 5.67116454e-02 9.36738646e+02] [-5.19126556e-01 8.54057953e-01 -3.30549700e-02 -5.12022634e+02] [-6.56294441e-02 -1.27193771e-03 9.97843253e-01 -4.56158609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.79, Y:-512.05, Z:-45.62 [[ 8.53073701e-01 5.18700453e-01 5.67018643e-02 9.36792842e+02] [-5.17646324e-01 8.54955287e-01 -3.30717398e-02 -5.12053598e+02] [-6.56318851e-02 -1.13888014e-03 9.97843254e-01 -4.56199785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.85, Y:-512.09, Z:-45.62 [[ 8.55861174e-01 5.14089158e-01 5.66920454e-02 9.36846677e+02] [-5.13023776e-01 8.57736412e-01 -3.30885629e-02 -5.12085322e+02] [-6.56373031e-02 -7.65150939e-04 9.97843254e-01 -4.56220648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.90, Y:-512.12, Z:-45.62 [[ 8.57664119e-01 5.11076555e-01 5.66834523e-02 9.36898869e+02] [-5.10003613e-01 8.59535042e-01 -3.31032772e-02 -5.12118094e+02] [-6.56397224e-02 -5.17272415e-04 9.97843254e-01 -4.56236361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.95, Y:-512.15, Z:-45.63 [[ 8.58611084e-01 5.09485070e-01 5.66742479e-02 9.36953069e+02] [-5.08407620e-01 8.60479414e-01 -3.31190279e-02 -5.12148646e+02] [-6.56406739e-02 -3.77255044e-04 9.97843254e-01 -4.56291160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:937.01, Y:-512.18, Z:-45.64 [[ 8.60420648e-01 5.06424185e-01 5.66644037e-02 9.37009106e+02] [-5.05338980e-01 8.62284483e-01 -3.31358622e-02 -5.12175148e+02] [-6.56416381e-02 -1.23951920e-04 9.97843254e-01 -4.56389229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.06, Y:-512.21, Z:-45.64 [[ 8.60373436e-01 5.06505349e-01 5.66558265e-02 9.37063893e+02] [-5.05419355e-01 8.62236811e-01 -3.31505210e-02 -5.12206529e+02] [-6.56416554e-02 -1.13123615e-04 9.97843254e-01 -4.56427450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.12, Y:-512.24, Z:-45.65 [[ 8.61158332e-01 5.05170222e-01 5.66513364e-02 9.37118016e+02] [-5.04080834e-01 8.63019726e-01 -3.31581925e-02 -5.12236919e+02] [-6.56417523e-02 -2.39920644e-06 9.97843254e-01 -4.56460511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:937.17, Y:-512.27, Z:-45.65 [[ 8.61601112e-01 5.04415739e-01 5.66417394e-02 9.37172558e+02] [-5.03323644e-01 8.63460918e-01 -3.31745782e-02 -5.12269103e+02] [-6.56417077e-02 7.41267590e-05 9.97843255e-01 -4.56493810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.23, Y:-512.30, Z:-45.66 [[ 8.63361972e-01 5.01396379e-01 5.66372374e-02 9.37227877e+02] [-5.00297275e-01 8.65217645e-01 -3.31822625e-02 -5.12296853e+02] [-6.56410034e-02 3.12848045e-04 9.97843255e-01 -4.56576944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.28, Y:-512.33, Z:-45.66 [[ 8.63149530e-01 5.01763094e-01 5.66276168e-02 9.37279729e+02] [-5.00663702e-01 8.65005032e-01 -3.31986725e-02 -5.12331291e+02] [-6.56410422e-02 3.04026284e-04 9.97843255e-01 -4.56569039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.33, Y:-512.36, Z:-45.66 [[ 8.63257605e-01 5.01577506e-01 5.66243221e-02 9.37330633e+02] [-5.00477347e-01 8.65112652e-01 -3.32042911e-02 -5.12364905e+02] [-6.56409430e-02 3.24666282e-04 9.97843255e-01 -4.56558777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:937.39, Y:-512.39, Z:-45.66 [[ 8.65855519e-01 4.97080352e-01 5.66157684e-02 9.37385721e+02] [-4.95969605e-01 8.67704245e-01 -3.32188695e-02 -5.12393174e+02] [-6.56381899e-02 6.83041208e-04 9.97843255e-01 -4.56623671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.44, Y:-512.43, Z:-45.66 [[ 8.64858745e-01 4.98813568e-01 5.66072099e-02 9.37436603e+02] [-4.97705572e-01 8.66709121e-01 -3.32334473e-02 -5.12426483e+02] [-6.56392796e-02 5.68513709e-04 9.97843255e-01 -4.56629165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:937.50, Y:-512.45, Z:-45.68 [[ 8.67841848e-01 4.93606156e-01 5.65993818e-02 9.37495220e+02] [-4.92486189e-01 8.69685004e-01 -3.32467739e-02 -5.12449809e+02] [-6.56344458e-02 9.78527796e-04 9.97843255e-01 -4.56778097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.55, Y:-512.49, Z:-45.67 [[ 8.63400764e-01 5.01334988e-01 5.65893119e-02 9.37546547e+02] [-5.00230400e-01 8.65253177e-01 -3.32639051e-02 -5.12485450e+02] [-6.56404414e-02 4.12386974e-04 9.97843255e-01 -4.56736039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.60, Y:-512.52, Z:-45.68 [[ 8.62265929e-01 5.03285373e-01 5.65800367e-02 9.37601896e+02] [-5.02183940e-01 8.64120220e-01 -3.32796743e-02 -5.12515806e+02] [-6.56411270e-02 2.82343508e-04 9.97843256e-01 -4.56774224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.66, Y:-512.55, Z:-45.68 [[ 8.60160150e-01 5.06876982e-01 5.65706751e-02 9.37657289e+02] [-5.05782245e-01 8.62018402e-01 -3.32955801e-02 -5.12545735e+02] [-6.56417260e-02 2.70881440e-05 9.97843256e-01 -4.56817050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.71, Y:-512.57, Z:-45.69 [[ 8.60381939e-01 5.06501472e-01 5.65612815e-02 9.37713412e+02] [-5.05404876e-01 8.62239093e-01 -3.33115300e-02 -5.12572048e+02] [-6.56416870e-02 7.42912781e-05 9.97843256e-01 -4.56913406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.77, Y:-512.60, Z:-45.69 [[ 8.56020136e-01 5.13839180e-01 5.65581567e-02 9.37766531e+02] [-5.12758152e-01 8.57886395e-01 -3.33168345e-02 -5.12604843e+02] [-6.56399681e-02 -4.80774684e-04 9.97843256e-01 -4.56927558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.82, Y:-512.64, Z:-45.70 [[ 8.53693911e-01 5.17695131e-01 5.65549089e-02 9.37819022e+02] [-5.16622167e-01 8.55564818e-01 -3.33223468e-02 -5.12635144e+02] [-6.56372070e-02 -7.70434987e-04 9.97843256e-01 -4.56953611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.87, Y:-512.66, Z:-45.70 [[ 8.51739133e-01 5.20905889e-01 5.65464708e-02 9.37872795e+02] [-5.19839028e-01 8.53613526e-01 -3.33366596e-02 -5.12664319e+02] [-6.56340947e-02 -1.00092485e-03 9.97843256e-01 -4.57003843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.93, Y:-512.70, Z:-45.70 [[ 8.51546138e-01 5.21222127e-01 5.65390905e-02 9.37926384e+02] [-5.20155131e-01 8.53420455e-01 -3.33491719e-02 -5.12695484e+02] [-6.56339427e-02 -1.01073945e-03 9.97843256e-01 -4.57044210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:937.98, Y:-512.73, Z:-45.71 [[ 8.52909160e-01 5.18989633e-01 5.65307491e-02 9.37980052e+02] [-5.17916794e-01 8.54780138e-01 -3.33633057e-02 -5.12727900e+02] [-6.56365713e-02 -8.22355274e-04 9.97843256e-01 -4.57067010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:938.03, Y:-512.76, Z:-45.71 [[ 8.55653901e-01 5.14452861e-01 5.65212878e-02 9.38033552e+02] [-5.13369043e-01 8.57518540e-01 -3.33793264e-02 -5.12759651e+02] [-6.56401422e-02 -4.55128552e-04 9.97843257e-01 -4.57110753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.09, Y:-512.79, Z:-45.72 [[ 8.57492817e-01 5.11382509e-01 5.65154614e-02 9.38087170e+02] [-5.10291364e-01 8.59353179e-01 -3.33891885e-02 -5.12792749e+02] [-6.56413884e-02 -2.08362562e-04 9.97843257e-01 -4.57161081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:938.14, Y:-512.83, Z:-45.72 [[ 8.60667804e-01 5.06021712e-01 5.65062760e-02 9.38139823e+02] [-5.04917959e-01 8.62520712e-01 -3.34047262e-02 -5.12826379e+02] [-6.56413502e-02 2.19338798e-04 9.97843257e-01 -4.57213095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.19, Y:-512.86, Z:-45.73 [[ 8.62443988e-01 5.02988967e-01 5.65019260e-02 9.38192299e+02] [-5.01878217e-01 8.64292710e-01 -3.34120823e-02 -5.12858950e+02] [-6.56401115e-02 4.58963630e-04 9.97843257e-01 -4.57253983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.25, Y:-512.89, Z:-45.73 [[ 8.65972160e-01 4.96890996e-01 5.64938574e-02 9.38245746e+02] [-4.95766339e-01 8.67812456e-01 -3.34257193e-02 -5.12889476e+02] [-6.56350121e-02 9.37989475e-04 9.97843257e-01 -4.57331319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:938.30, Y:-512.92, Z:-45.73 [[ 8.64946170e-01 4.98675780e-01 5.64853136e-02 9.38296758e+02] [-4.97553978e-01 8.66788207e-01 -3.34401510e-02 -5.12924223e+02] [-6.56365971e-02 8.19438020e-04 9.97843257e-01 -4.57311983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:938.35, Y:-512.95, Z:-45.74 [[ 8.65506538e-01 4.97703449e-01 5.64775156e-02 9.38351537e+02] [-4.96578719e-01 8.67346788e-01 -3.34533160e-02 -5.12953026e+02] [-6.56354226e-02 9.08531343e-04 9.97843257e-01 -4.57404947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters Centerline goodness : 0.996509 with order 1 Centerline is valid? [True, True] Translation: X:938.40, Y:-512.99, Z:-45.74 [[ 8.61794557e-01 5.04104139e-01 5.64726391e-02 9.38403933e+02] [-5.02992538e-01 8.63642768e-01 -3.34615460e-02 -5.12986223e+02] [-6.56402902e-02 4.31662152e-04 9.97843257e-01 -4.57419356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.46, Y:-513.02, Z:-45.74 [[ 8.59821856e-01 5.07462705e-01 5.64621967e-02 9.38456836e+02] [-5.06357168e-01 8.61673700e-01 -3.34791570e-02 -5.13017940e+02] [-6.56414135e-02 1.96072872e-04 9.97843257e-01 -4.57412403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.51, Y:-513.05, Z:-45.75 [[ 8.54530348e-01 5.16324510e-01 5.64524918e-02 9.38511387e+02] [-5.15237096e-01 8.56392892e-01 -3.34955135e-02 -5.13046735e+02] [-6.56400673e-02 -4.63485183e-04 9.97843258e-01 -4.57453484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:938.57, Y:-513.07, Z:-45.75 [[ 8.51901623e-01 5.20651243e-01 5.64438521e-02 9.38566581e+02] [-5.19572324e-01 8.53769100e-01 -3.35100661e-02 -5.13074129e+02] [-6.56370744e-02 -7.79383725e-04 9.97843258e-01 -4.57543604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.62, Y:-513.11, Z:-45.75 [[ 8.46633197e-01 5.29175694e-01 5.64385986e-02 9.38619806e+02] [-5.28114984e-01 8.48511076e-01 -3.35189119e-02 -5.13105330e+02] [-6.56261695e-02 -1.42784606e-03 9.97843258e-01 -4.57548230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.67, Y:-513.14, Z:-45.76 [[ 8.45376371e-01 5.31182249e-01 5.64287989e-02 9.38673231e+02] [-5.30124896e-01 8.47256143e-01 -3.35354015e-02 -5.13136855e+02] [-6.56230565e-02 -1.56427514e-03 9.97843258e-01 -4.57604386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.73, Y:-513.17, Z:-45.76 [[ 8.45846823e-01 5.30433720e-01 5.64200360e-02 9.38726935e+02] [-5.29373722e-01 8.47725104e-01 -3.35501377e-02 -5.13168800e+02] [-6.56248052e-02 -1.48900708e-03 9.97843258e-01 -4.57622863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.78, Y:-513.20, Z:-45.77 [[ 8.46891449e-01 5.28765282e-01 5.64105417e-02 9.38780679e+02] [-5.27700521e-01 8.48767034e-01 -3.35660936e-02 -5.13202029e+02] [-6.56279932e-02 -1.34103456e-03 9.97843258e-01 -4.57653359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.83, Y:-513.23, Z:-45.78 [[ 8.48214241e-01 5.26641747e-01 5.64009891e-02 9.38833933e+02] [-5.25571223e-01 8.50086543e-01 -3.35821373e-02 -5.13232826e+02] [-6.56314773e-02 -1.15788964e-03 9.97843259e-01 -4.57759055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:938.89, Y:-513.27, Z:-45.78 [[ 8.47395586e-01 5.27959017e-01 5.63914665e-02 9.38885168e+02] [-5.26890341e-01 8.49268942e-01 -3.35981201e-02 -5.13266410e+02] [-6.56299516e-02 -1.24122031e-03 9.97843259e-01 -4.57762028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.94, Y:-513.30, Z:-45.78 [[ 8.47897722e-01 5.27153160e-01 5.63826170e-02 9.38937815e+02] [-5.26081716e-01 8.49769496e-01 -3.36129643e-02 -5.13299125e+02] [-6.56314084e-02 -1.16150800e-03 9.97843259e-01 -4.57812912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:938.99, Y:-513.33, Z:-45.78 [[ 8.50077040e-01 5.23632531e-01 5.63737396e-02 9.38990441e+02] [-5.22552347e-01 8.51943785e-01 -3.36278465e-02 -5.13334472e+02] [-6.56358914e-02 -8.71969693e-04 9.97843259e-01 -4.57842073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:939.04, Y:-513.37, Z:-45.79 [[ 8.52336506e-01 5.19947657e-01 5.63641256e-02 9.39042941e+02] [-5.18858337e-01 8.54197934e-01 -3.36439530e-02 -5.13369194e+02] [-6.56392141e-02 -5.69027087e-04 9.97843259e-01 -4.57876598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.09, Y:-513.40, Z:-45.79 [[ 8.56457983e-01 5.13131448e-01 5.63545953e-02 9.39094780e+02] [-5.12026264e-01 8.58310035e-01 -3.36599089e-02 -5.13404281e+02] [-6.56416725e-02 -2.67351986e-05 9.97843259e-01 -4.57914773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.15, Y:-513.44, Z:-45.79 [[ 8.60459238e-01 5.06394245e-01 5.63450805e-02 9.39146331e+02] [-5.05273517e-01 8.62301926e-01 -3.36758288e-02 -5.13439989e+02] [-6.56397173e-02 5.07000989e-04 9.97843260e-01 -4.57942506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.20, Y:-513.47, Z:-45.81 [[ 8.64273059e-01 4.99858346e-01 5.63357226e-02 9.39199832e+02] [-4.98722665e-01 8.66106569e-01 -3.36914761e-02 -5.13470304e+02] [-6.56337049e-02 1.02273336e-03 9.97843260e-01 -4.58064719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.25, Y:-513.50, Z:-45.81 [[ 8.66229273e-01 4.96461657e-01 5.63264553e-02 9.39253548e+02] [-4.95317780e-01 8.68057681e-01 -3.37069624e-02 -5.13503593e+02] [-6.56288266e-02 1.29846276e-03 9.97843260e-01 -4.58098095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:939.31, Y:-513.54, Z:-45.81 [[ 8.64352933e-01 4.99722522e-01 5.63152635e-02 9.39305212e+02] [-4.98584326e-01 8.66184882e-01 -3.37256505e-02 -5.13539055e+02] [-6.56328970e-02 1.07295723e-03 9.97843260e-01 -4.58112694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:939.36, Y:-513.57, Z:-45.81 [[ 8.62289920e-01 5.03274366e-01 5.63116814e-02 9.39357337e+02] [-5.02143327e-01 8.64126297e-01 -3.37316306e-02 -5.13570358e+02] [-6.56366697e-02 8.09910032e-04 9.97843260e-01 -4.58108561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:939.41, Y:-513.60, Z:-45.81 [[ 8.59727411e-01 5.07640445e-01 5.63023778e-02 9.39411573e+02] [-5.06517715e-01 8.61568879e-01 -3.37471524e-02 -5.13600832e+02] [-6.56397959e-02 4.95200163e-04 9.97843260e-01 -4.58148375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.47, Y:-513.63, Z:-45.82 [[ 8.57147374e-01 5.11985751e-01 5.62936178e-02 9.39465833e+02] [-5.10871398e-01 8.58993923e-01 -3.37617586e-02 -5.13632144e+02] [-6.56414149e-02 1.80003530e-04 9.97843260e-01 -4.58183881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters Centerline goodness : 0.997831 with order 1 Centerline is valid? [True, True] Translation: X:939.52, Y:-513.66, Z:-45.83 [[ 8.53086388e-01 5.18725058e-01 5.62843510e-02 9.39521286e+02] [-5.17624274e-01 8.54941058e-01 -3.37772002e-02 -5.13661923e+02] [-6.56408827e-02 -3.19276563e-04 9.97843261e-01 -4.58271845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:939.57, Y:-513.69, Z:-45.83 [[ 8.49525866e-01 5.24537150e-01 5.62723820e-02 9.39574614e+02] [-5.23447733e-01 8.51387236e-01 -3.37971287e-02 -5.13692528e+02] [-6.56374373e-02 -7.44115744e-04 9.97843261e-01 -4.58282943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.63, Y:-513.72, Z:-45.83 [[ 8.46212911e-01 5.29866392e-01 5.62611491e-02 9.39628603e+02] [-5.28787454e-01 8.48080373e-01 -3.38158175e-02 -5.13722669e+02] [-6.56318415e-02 -1.13480845e-03 9.97843261e-01 -4.58330367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.68, Y:-513.75, Z:-45.84 [[ 8.44989699e-01 5.31815835e-01 5.62523385e-02 9.39683184e+02] [-5.30740231e-01 8.46859083e-01 -3.38304676e-02 -5.13753973e+02] [-6.56293822e-02 -1.26898244e-03 9.97843261e-01 -4.58370463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.74, Y:-513.79, Z:-45.84 [[ 8.44780459e-01 5.32149158e-01 5.62427683e-02 9.39735897e+02] [-5.31073233e-01 8.46649659e-01 -3.38463704e-02 -5.13785980e+02] [-6.56292381e-02 -1.27627651e-03 9.97843261e-01 -4.58415393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.79, Y:-513.82, Z:-45.85 [[ 8.44430084e-01 5.32705904e-01 5.62339146e-02 9.39788730e+02] [-5.31630232e-01 8.46299429e-01 -3.38610741e-02 -5.13817279e+02] [-6.56287239e-02 -1.30233939e-03 9.97843262e-01 -4.58461361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.84, Y:-513.85, Z:-45.85 [[ 8.43972081e-01 5.33432142e-01 5.62252375e-02 9.39842247e+02] [-5.32357120e-01 8.45841799e-01 -3.38754760e-02 -5.13848919e+02] [-6.56279237e-02 -1.34194951e-03 9.97843262e-01 -4.58530038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.90, Y:-513.88, Z:-45.86 [[ 8.43966435e-01 5.33442039e-01 5.62160885e-02 9.39895591e+02] [-5.32366028e-01 8.45835584e-01 -3.38906519e-02 -5.13882068e+02] [-6.56282665e-02 -1.32496312e-03 9.97843262e-01 -4.58593901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:939.95, Y:-513.92, Z:-45.86 [[ 8.44471390e-01 5.32643257e-01 5.62070496e-02 9.39948734e+02] [-5.31564481e-01 8.46338945e-01 -3.39056361e-02 -5.13915448e+02] [-6.56298235e-02 -1.24533146e-03 9.97843262e-01 -4.58634851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.00, Y:-513.95, Z:-45.87 [[ 8.47716945e-01 5.27463575e-01 5.61974934e-02 9.40002918e+02] [-5.26372338e-01 8.49577245e-01 -3.39214678e-02 -5.13947115e+02] [-6.56364504e-02 -8.25002926e-04 9.97843262e-01 -4.58689863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.05, Y:-513.98, Z:-45.87 [[ 8.48190208e-01 5.26703264e-01 5.61875629e-02 9.40053345e+02] [-5.25609270e-01 8.50048889e-01 -3.39379087e-02 -5.13983269e+02] [-6.56373828e-02 -7.46902090e-04 9.97843262e-01 -4.58709090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.11, Y:-514.02, Z:-45.87 [[ 8.52231099e-01 5.20140497e-01 5.61784427e-02 9.40105675e+02] [-5.19031194e-01 8.54080683e-01 -3.39529990e-02 -5.14018875e+02] [-6.56412525e-02 -2.22562591e-04 9.97843262e-01 -4.58744297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.16, Y:-514.05, Z:-45.88 [[ 8.55138870e-01 5.15347042e-01 5.61688509e-02 9.40157749e+02] [-5.14226329e-01 8.56981563e-01 -3.39688595e-02 -5.14052951e+02] [-6.56414209e-02 1.64590096e-04 9.97843263e-01 -4.58791866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.21, Y:-514.09, Z:-45.88 [[ 8.57558996e-01 5.11310690e-01 5.61600080e-02 9.40210550e+02] [-5.10180347e-01 8.59395798e-01 -3.39834730e-02 -5.14087454e+02] [-6.56397879e-02 4.91100603e-04 9.97843263e-01 -4.58828766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.26, Y:-514.12, Z:-45.89 [[ 8.59480394e-01 5.08075359e-01 5.61505294e-02 9.40263350e+02] [-5.06937080e-01 8.61312288e-01 -3.39991272e-02 -5.14121594e+02] [-6.56372597e-02 7.56797814e-04 9.97843263e-01 -4.58875507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.32, Y:-514.15, Z:-45.89 [[ 8.59013007e-01 5.08866248e-01 5.61408512e-02 9.40316200e+02] [-5.07728611e-01 8.60845300e-01 -3.40151008e-02 -5.14153880e+02] [-6.56377246e-02 7.15097643e-04 9.97843263e-01 -4.58925194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.37, Y:-514.19, Z:-45.90 [[ 8.58321491e-01 5.10032768e-01 5.61319254e-02 9.40369655e+02] [-5.08896659e-01 8.60154731e-01 -3.40298238e-02 -5.14186047e+02] [-6.56384665e-02 6.43179867e-04 9.97843263e-01 -4.58963460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.42, Y:-514.22, Z:-45.90 [[ 8.56381235e-01 5.13284982e-01 5.61222646e-02 9.40422588e+02] [-5.12154791e-01 8.58218129e-01 -3.40457490e-02 -5.14217115e+02] [-6.56403166e-02 4.12853883e-04 9.97843263e-01 -4.58998802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.48, Y:-514.25, Z:-45.90 [[ 8.53017526e-01 5.18856493e-01 5.61163060e-02 9.40478032e+02] [-5.17737654e-01 8.54861357e-01 -3.40555676e-02 -5.14247573e+02] [-6.56416139e-02 -3.52860057e-06 9.97843264e-01 -4.59030819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:940.53, Y:-514.28, Z:-45.91 [[ 8.50378353e-01 5.23171760e-01 5.61067461e-02 9.40532903e+02] [-5.22061239e-01 8.52227205e-01 -3.40713103e-02 -5.14278147e+02] [-6.56408428e-02 -3.17652661e-04 9.97843264e-01 -4.59071945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.59, Y:-514.31, Z:-45.91 [[ 8.48647688e-01 5.25975483e-01 5.60971771e-02 9.40588064e+02] [-5.24870029e-01 8.50499574e-01 -3.40870580e-02 -5.14308835e+02] [-6.56395821e-02 -5.15823976e-04 9.97843264e-01 -4.59109558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters Centerline goodness : 0.998074 with order 1 Centerline is valid? [True, True] Translation: X:940.64, Y:-514.34, Z:-45.92 [[ 8.48067738e-01 5.26911112e-01 5.60873589e-02 9.40641572e+02] [-5.25806633e-01 8.49920206e-01 -3.41032055e-02 -5.14339579e+02] [-6.56391375e-02 -5.69276993e-04 9.97843264e-01 -4.59167721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:940.70, Y:-514.37, Z:-45.92 [[ 8.48963875e-01 5.25467166e-01 5.60767050e-02 9.40696254e+02] [-5.24358379e-01 8.50813768e-01 -3.41207149e-02 -5.14369757e+02] [-6.56401480e-02 -4.37035828e-04 9.97843264e-01 -4.59203061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.75, Y:-514.40, Z:-45.92 [[ 8.50625530e-01 5.22774242e-01 5.60651297e-02 9.40750410e+02] [-5.21658346e-01 8.52471143e-01 -3.41397243e-02 -5.14401931e+02] [-6.56412736e-02 -2.06721767e-04 9.97843265e-01 -4.59244960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.80, Y:-514.43, Z:-45.93 [[ 8.51705613e-01 5.21013760e-01 5.60554270e-02 9.40804189e+02] [-5.19893001e-01 8.53548276e-01 -3.41556481e-02 -5.14434480e+02] [-6.56415757e-02 -5.22669687e-05 9.97843265e-01 -4.59289997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.86, Y:-514.47, Z:-45.94 [[ 8.53050810e-01 5.18809383e-01 5.60458750e-02 9.40858538e+02] [-5.17682833e-01 8.54889938e-01 -3.41713147e-02 -5.14465487e+02] [-6.56414533e-02 1.35880364e-04 9.97843265e-01 -4.59351546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.91, Y:-514.50, Z:-45.94 [[ 8.53354309e-01 5.18311058e-01 5.60363394e-02 9.40912122e+02] [-5.17182407e-01 8.55192148e-01 -3.41869447e-02 -5.14496590e+02] [-6.56413090e-02 1.92567647e-04 9.97843265e-01 -4.59408987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.96, Y:-514.53, Z:-45.95 [[ 8.53081751e-01 5.18760453e-01 5.60278360e-02 9.40964933e+02] [-5.17631856e-01 8.54919623e-01 -3.42008751e-02 -5.14528016e+02] [-6.56413579e-02 1.74349679e-04 9.97843265e-01 -4.59464309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.02, Y:-514.56, Z:-45.95 [[ 8.52555236e-01 5.19626201e-01 5.60194595e-02 9.41017314e+02] [-5.18498569e-01 8.54393701e-01 -3.42145899e-02 -5.14560196e+02] [-6.56414707e-02 1.23818233e-04 9.97843265e-01 -4.59508956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:941.07, Y:-514.59, Z:-45.95 [[ 8.51294904e-01 5.21689326e-01 5.60110196e-02 9.41071035e+02] [-5.20565241e-01 8.53135538e-01 -3.42284009e-02 -5.14593347e+02] [-6.56415827e-02 -1.89266860e-05 9.97843265e-01 -4.59542935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.12, Y:-514.63, Z:-45.96 [[ 8.48288905e-01 5.26564128e-01 5.60013572e-02 9.41123453e+02] [-5.25449577e-01 8.50135329e-01 -3.42442024e-02 -5.14626185e+02] [-6.56405007e-02 -3.76912478e-04 9.97843266e-01 -4.59562046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.18, Y:-514.66, Z:-45.96 [[ 8.44977817e-01 5.31862083e-01 5.59929738e-02 9.41177361e+02] [-5.30758200e-01 8.46830638e-01 -3.42579046e-02 -5.14659177e+02] [-6.56370462e-02 -7.71560550e-04 9.97843266e-01 -4.59604010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:941.23, Y:-514.69, Z:-45.97 [[ 8.42378851e-01 5.35969897e-01 5.59834037e-02 9.41230302e+02] [-5.34874010e-01 8.44236412e-01 -3.42735367e-02 -5.14692948e+02] [-6.56328118e-02 -1.07276510e-03 9.97843266e-01 -4.59652418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.28, Y:-514.73, Z:-45.97 [[ 8.40929494e-01 5.38242056e-01 5.59738902e-02 9.41282417e+02] [-5.37150154e-01 8.42789400e-01 -3.42890667e-02 -5.14725263e+02] [-6.56300191e-02 -1.23169616e-03 9.97843266e-01 -4.59707109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:941.34, Y:-514.76, Z:-45.98 [[ 8.39700322e-01 5.40158566e-01 5.59651055e-02 9.41335295e+02] [-5.39069954e-01 8.41562155e-01 -3.43033988e-02 -5.14758433e+02] [-6.56273895e-02 -1.36453186e-03 9.97843266e-01 -4.59761979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.39, Y:-514.79, Z:-45.98 [[ 8.40060634e-01 5.39598333e-01 5.59622277e-02 9.41387920e+02] [-5.38508167e-01 8.41921558e-01 -3.43080929e-02 -5.14791993e+02] [-6.56283956e-02 -1.31523838e-03 9.97843266e-01 -4.59801647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.44, Y:-514.83, Z:-45.98 [[ 8.41000952e-01 5.38132602e-01 5.59526736e-02 9.41440657e+02] [-5.37038156e-01 8.42859362e-01 -3.43236674e-02 -5.14825994e+02] [-6.56309193e-02 -1.18248369e-03 9.97843266e-01 -4.59836332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.49, Y:-514.86, Z:-45.99 [[ 8.42964298e-01 5.35052851e-01 5.59431884e-02 9.41491765e+02] [-5.33950589e-01 8.44818083e-01 -3.43391202e-02 -5.14858867e+02] [-6.56350613e-02 -9.24246136e-04 9.97843267e-01 -4.59867116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:941.55, Y:-514.89, Z:-46.00 [[ 8.46201217e-01 5.29919206e-01 5.59386839e-02 9.41546711e+02] [-5.28805212e-01 8.48047975e-01 -3.43464565e-02 -5.14886031e+02] [-6.56395346e-02 -5.16654379e-04 9.97843267e-01 -4.59983732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.60, Y:-514.92, Z:-46.00 [[ 8.43949297e-01 5.33499149e-01 5.59306844e-02 9.41596413e+02] [-5.32392126e-01 8.45800243e-01 -3.43594783e-02 -5.14922656e+02] [-6.56369388e-02 -7.79398410e-04 9.97843267e-01 -4.59954637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.65, Y:-514.95, Z:-46.00 [[ 8.42934713e-01 5.35101529e-01 5.59233692e-02 9.41650145e+02] [-5.33997235e-01 8.44787288e-01 -3.43713803e-02 -5.14953622e+02] [-6.56355295e-02 -8.90094953e-04 9.97843267e-01 -4.60012170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.70, Y:-514.98, Z:-46.01 [[ 8.41028179e-01 5.38093903e-01 5.59155971e-02 9.41704015e+02] [-5.36995360e-01 8.42884169e-01 -3.43840193e-02 -5.14983221e+02] [-6.56322028e-02 -1.10848706e-03 9.97843267e-01 -4.60091817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.76, Y:-515.01, Z:-46.02 [[ 8.41301475e-01 5.37667309e-01 5.59078949e-02 9.41758695e+02] [-5.36566993e-01 8.43156415e-01 -3.43965385e-02 -5.15012373e+02] [-6.56329945e-02 -1.06047244e-03 9.97843267e-01 -4.60157998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.81, Y:-515.05, Z:-46.01 [[ 8.40033835e-01 5.39646590e-01 5.58991417e-02 9.41810354e+02] [-5.38549698e-01 8.41890802e-01 -3.44107578e-02 -5.15047131e+02] [-6.56306213e-02 -1.19826500e-03 9.97843267e-01 -4.60140255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.86, Y:-515.08, Z:-46.02 [[ 8.41257178e-01 5.37738425e-01 5.58904908e-02 9.41862388e+02] [-5.36636388e-01 8.43111096e-01 -3.44248031e-02 -5.15079761e+02] [-6.56334323e-02 -1.03275843e-03 9.97843267e-01 -4.60187431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.91, Y:-515.11, Z:-46.02 [[ 8.42214172e-01 5.36239318e-01 5.58809624e-02 9.41914662e+02] [-5.35132956e-01 8.44065512e-01 -3.44402633e-02 -5.15113965e+02] [-6.56354164e-02 -8.97666696e-04 9.97843267e-01 -4.60207431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.97, Y:-515.15, Z:-46.02 [[ 8.41295872e-01 5.37679606e-01 5.58739419e-02 9.41965098e+02] [-5.36575657e-01 8.43148651e-01 -3.44516493e-02 -5.15148141e+02] [-6.56339879e-02 -9.96566766e-04 9.97843268e-01 -4.60221503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.02, Y:-515.18, Z:-46.03 [[ 8.40099385e-01 5.39547666e-01 5.58689413e-02 9.42017176e+02] [-5.38447298e-01 8.41954294e-01 -3.44597565e-02 -5.15180364e+02] [-6.56317763e-02 -1.13286022e-03 9.97843268e-01 -4.60270294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.07, Y:-515.21, Z:-46.03 [[ 8.37749826e-01 5.43189567e-01 5.58598526e-02 9.42070463e+02] [-5.42096280e-01 8.39608917e-01 -3.44744833e-02 -5.15212367e+02] [-6.56266100e-02 -1.40042593e-03 9.97843268e-01 -4.60301208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.12, Y:-515.24, Z:-46.04 [[ 8.37072958e-01 5.44232398e-01 5.58565954e-02 9.42124749e+02] [-5.43141075e-01 8.38933203e-01 -3.44797598e-02 -5.15242701e+02] [-6.56249549e-02 -1.47593678e-03 9.97843268e-01 -4.60367513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.18, Y:-515.27, Z:-46.04 [[ 8.37018457e-01 5.44317214e-01 5.58468711e-02 9.42179385e+02] [-5.43225030e-01 8.38878196e-01 -3.44955031e-02 -5.15272834e+02] [-6.56252186e-02 -1.46404539e-03 9.97843268e-01 -4.60393595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:942.23, Y:-515.31, Z:-46.04 [[ 8.37687455e-01 5.43288158e-01 5.58364236e-02 9.42232543e+02] [-5.42192563e-01 8.39545186e-01 -3.45124058e-02 -5.15305677e+02] [-6.56273820e-02 -1.36348430e-03 9.97843268e-01 -4.60424690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.29, Y:-515.34, Z:-46.05 [[ 8.38263594e-01 5.42399816e-01 5.58263953e-02 9.42285235e+02] [-5.41301173e-01 8.40119524e-01 -3.45286197e-02 -5.15338762e+02] [-6.56291616e-02 -1.27480845e-03 9.97843268e-01 -4.60461396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.34, Y:-515.37, Z:-46.05 [[ 8.39004600e-01 5.41253848e-01 5.58171374e-02 9.42338790e+02] [-5.40151675e-01 8.40858436e-01 -3.45435792e-02 -5.15372256e+02] [-6.56311560e-02 -1.16749840e-03 9.97843268e-01 -4.60505068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.39, Y:-515.40, Z:-46.06 [[ 8.40255804e-01 5.39310406e-01 5.58074334e-02 9.42391066e+02] [-5.38202904e-01 8.42106461e-01 -3.45592494e-02 -5.15404892e+02] [-6.56339631e-02 -9.97112825e-04 9.97843269e-01 -4.60562337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.44, Y:-515.44, Z:-46.06 [[ 8.41859119e-01 5.36805091e-01 5.57988990e-02 9.42443870e+02] [-5.35691169e-01 8.43705919e-01 -3.45730235e-02 -5.15436792e+02] [-6.56368364e-02 -7.85362369e-04 9.97843269e-01 -4.60629317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.50, Y:-515.47, Z:-46.07 [[ 8.42904558e-01 5.35162912e-01 5.57903497e-02 9.42496473e+02] [-5.34044479e-01 8.44748629e-01 -3.45868140e-02 -5.15469713e+02] [-6.56384015e-02 -6.41145132e-04 9.97843269e-01 -4.60684014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.55, Y:-515.50, Z:-46.07 [[ 8.44313761e-01 5.32937817e-01 5.57813201e-02 9.42549042e+02] [-5.31813563e-01 8.46154288e-01 -3.46013708e-02 -5.15502555e+02] [-6.56399822e-02 -4.50849066e-04 9.97843269e-01 -4.60717799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.60, Y:-515.54, Z:-46.08 [[ 8.47100609e-01 5.28497816e-01 5.57729017e-02 9.42600496e+02] [-5.27363021e-01 8.48934656e-01 -3.46149348e-02 -5.15535030e+02] [-6.56414666e-02 -9.02335705e-05 9.97843269e-01 -4.60758082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.65, Y:-515.57, Z:-46.07 [[ 8.45852761e-01 5.30493494e-01 5.57652202e-02 9.42649459e+02] [-5.29362211e-01 8.47688976e-01 -3.46273055e-02 -5.15572863e+02] [-6.56411227e-02 -2.30398266e-04 9.97843269e-01 -4.60725019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.70, Y:-515.60, Z:-46.08 [[ 8.50659330e-01 5.22751574e-01 5.57628633e-02 9.42704702e+02] [-5.21603330e-01 8.52484987e-01 -3.46311005e-02 -5.15598152e+02] [-6.56404661e-02 3.73173606e-04 9.97843269e-01 -4.60814785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.75, Y:-515.64, Z:-46.08 [[ 8.49879868e-01 5.24018261e-01 5.57590468e-02 9.42754500e+02] [-5.22872336e-01 8.51706981e-01 -3.46372444e-02 -5.15635115e+02] [-6.56409180e-02 2.82633698e-04 9.97843269e-01 -4.60780074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.81, Y:-515.66, Z:-46.09 [[ 8.52317792e-01 5.20044276e-01 5.57524249e-02 9.42809012e+02] [-5.18889135e-01 8.54139092e-01 -3.46478998e-02 -5.15661573e+02] [-6.56387675e-02 6.01693896e-04 9.97843269e-01 -4.60890308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.86, Y:-515.69, Z:-46.09 [[ 8.50356065e-01 5.23246165e-01 5.57495681e-02 9.42863139e+02] [-5.22097580e-01 8.52181507e-01 -3.46524959e-02 -5.15691983e+02] [-6.56405365e-02 3.60245452e-04 9.97843269e-01 -4.60936425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.92, Y:-515.72, Z:-46.10 [[ 8.48331733e-01 5.26522496e-01 5.57434461e-02 9.42917760e+02] [-5.25380315e-01 8.50161189e-01 -3.46623411e-02 -5.15722818e+02] [-6.56414168e-02 1.18654615e-04 9.97843269e-01 -4.60981703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.97, Y:-515.75, Z:-46.10 [[ 8.45383484e-01 5.31244288e-01 5.57339379e-02 9.42971651e+02] [-5.30111317e-01 8.47218658e-01 -3.46776227e-02 -5.15753073e+02] [-6.56411211e-02 -2.29301770e-04 9.97843270e-01 -4.61034872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.03, Y:-515.79, Z:-46.11 [[ 8.43676313e-01 5.33952230e-01 5.57251812e-02 9.43025432e+02] [-5.32824220e-01 8.45514540e-01 -3.46916887e-02 -5.15785268e+02] [-6.56401554e-02 -4.23170197e-04 9.97843270e-01 -4.61067382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.08, Y:-515.82, Z:-46.11 [[ 8.41277509e-01 5.37724794e-01 5.57153302e-02 9.43079696e+02] [-5.36603980e-01 8.43120133e-01 -3.47075023e-02 -5.15816799e+02] [-6.56378011e-02 -6.98426780e-04 9.97843270e-01 -4.61108420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.13, Y:-515.85, Z:-46.12 [[ 8.40057752e-01 5.39629393e-01 5.57053965e-02 9.43133146e+02] [-5.38511700e-01 8.41902270e-01 -3.47234385e-02 -5.15848586e+02] [-6.56362878e-02 -8.28314068e-04 9.97843270e-01 -4.61153113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:943.18, Y:-515.88, Z:-46.12 [[ 8.39637061e-01 5.40284681e-01 5.56962238e-02 9.43183725e+02] [-5.39167452e-01 8.41481860e-01 -3.47381453e-02 -5.15883658e+02] [-6.56358497e-02 -8.62156839e-04 9.97843270e-01 -4.61214196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.24, Y:-515.92, Z:-46.12 [[ 8.40610142e-01 5.38769824e-01 5.56926124e-02 9.43236687e+02] [-5.37648886e-01 8.42452690e-01 -3.47439341e-02 -5.15917318e+02] [-6.56373744e-02 -7.36967646e-04 9.97843270e-01 -4.61247002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.29, Y:-515.95, Z:-46.13 [[ 8.42666695e-01 5.35548776e-01 5.56807805e-02 9.43288890e+02] [-5.34419543e-01 8.44504170e-01 -3.47628856e-02 -5.15952322e+02] [-6.56398722e-02 -4.63371345e-04 9.97843271e-01 -4.61287375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.34, Y:-515.99, Z:-46.14 [[ 8.44431293e-01 5.32763152e-01 5.56705949e-02 9.43339232e+02] [-5.31626783e-01 8.46264363e-01 -3.47791897e-02 -5.15986093e+02] [-6.56411113e-02 -2.27343185e-04 9.97843271e-01 -4.61358999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.39, Y:-516.02, Z:-46.14 [[ 8.44911654e-01 5.32001865e-01 5.56624814e-02 9.43388885e+02] [-5.30862989e-01 8.46743168e-01 -3.47921702e-02 -5.16024264e+02] [-6.56413252e-02 -1.52841207e-04 9.97843271e-01 -4.61368728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:943.44, Y:-516.06, Z:-46.15 [[ 8.46979442e-01 5.28704642e-01 5.56527289e-02 9.43441985e+02] [-5.27557611e-01 8.48805859e-01 -3.48077630e-02 -5.16056036e+02] [-6.56413883e-02 1.21438991e-04 9.97843271e-01 -4.61473299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters Centerline goodness : 0.998599 with order 1 Centerline is valid? [True, True] Translation: X:943.49, Y:-516.09, Z:-46.15 [[ 8.47271522e-01 5.28237466e-01 5.56430317e-02 9.43493934e+02] [-5.27088411e-01 8.49096666e-01 -3.48232580e-02 -5.16088857e+02] [-6.56412622e-02 1.75957670e-04 9.97843271e-01 -4.61523533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters Centerline goodness : 0.997861 with order 1 Centerline is valid? [True, True] Translation: X:943.55, Y:-516.12, Z:-46.16 [[ 8.47733983e-01 5.27495356e-01 5.56394017e-02 9.43546675e+02] [-5.26344322e-01 8.49557880e-01 -3.48290569e-02 -5.16120202e+02] [-6.56410579e-02 2.40291974e-04 9.97843271e-01 -4.61595373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:943.60, Y:-516.16, Z:-46.16 [[ 8.44322231e-01 5.32940314e-01 5.56290573e-02 9.43596243e+02] [-5.31799954e-01 8.46152820e-01 -3.48455712e-02 -5.16158730e+02] [-6.56412934e-02 -1.62639721e-04 9.97843271e-01 -4.61563151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:943.65, Y:-516.19, Z:-46.16 [[ 8.42019114e-01 5.36572865e-01 5.56180991e-02 9.43647817e+02] [-5.35439247e-01 8.43853886e-01 -3.48630532e-02 -5.16192391e+02] [-6.56401173e-02 -4.24755932e-04 9.97843272e-01 -4.61599219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:943.70, Y:-516.23, Z:-46.16 [[ 8.40208435e-01 5.39404693e-01 5.56090115e-02 9.43701121e+02] [-5.38276300e-01 8.42046425e-01 -3.48775425e-02 -5.16225585e+02] [-6.56384794e-02 -6.28607568e-04 9.97843272e-01 -4.61636138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:943.76, Y:-516.26, Z:-46.17 [[ 8.37976416e-01 5.42866673e-01 5.55994636e-02 9.43755222e+02] [-5.41744864e-01 8.39818432e-01 -3.48927564e-02 -5.16257407e+02] [-6.56355690e-02 -8.81416893e-04 9.97843272e-01 -4.61669001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:943.81, Y:-516.29, Z:-46.17 [[ 8.37192899e-01 5.44075217e-01 5.55896402e-02 9.43808056e+02] [-5.42955028e-01 8.39035900e-01 -3.49083997e-02 -5.16289119e+02] [-6.56344989e-02 -9.57610343e-04 9.97843272e-01 -4.61706078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:943.86, Y:-516.32, Z:-46.17 [[ 8.37413056e-01 5.43736921e-01 5.55835792e-02 9.43861147e+02] [-5.42615347e-01 8.39255214e-01 -3.49180478e-02 -5.16321904e+02] [-6.56350405e-02 -9.19674013e-04 9.97843272e-01 -4.61742535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:943.92, Y:-516.35, Z:-46.18 [[ 8.39737275e-01 5.40141509e-01 5.55739044e-02 9.43915415e+02] [-5.39011029e-01 8.41573981e-01 -3.49334390e-02 -5.16354193e+02] [-6.56385524e-02 -6.20036491e-04 9.97843272e-01 -4.61790769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:943.97, Y:-516.39, Z:-46.19 [[ 8.42221674e-01 5.36260513e-01 5.55635969e-02 9.43969853e+02] [-5.35120488e-01 8.44052471e-01 -3.49498260e-02 -5.16385053e+02] [-6.56408029e-02 -2.97718047e-04 9.97843272e-01 -4.61872291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:944.02, Y:-516.42, Z:-46.19 [[ 8.42462717e-01 5.35882858e-01 5.55529764e-02 9.44022051e+02] [-5.34740899e-01 8.44292308e-01 -3.49666992e-02 -5.16417750e+02] [-6.56410054e-02 -2.48308170e-04 9.97843273e-01 -4.61917794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:944.08, Y:-516.45, Z:-46.20 [[ 8.42632325e-01 5.35616800e-01 5.55464473e-02 9.44075574e+02] [-5.34473580e-01 8.44461128e-01 -3.49770680e-02 -5.16450658e+02] [-6.56411208e-02 -2.15300382e-04 9.97843273e-01 -4.61973919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:944.13, Y:-516.48, Z:-46.20 [[ 8.42062579e-01 5.36513136e-01 5.55361899e-02 9.44128291e+02] [-5.35370788e-01 8.43891927e-01 -3.49933471e-02 -5.16483214e+02] [-6.56409326e-02 -2.65865660e-04 9.97843273e-01 -4.62024875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:944.18, Y:-516.52, Z:-46.20 [[ 8.40320957e-01 5.39237862e-01 5.55267300e-02 9.44180998e+02] [-5.38100454e-01 8.42153381e-01 -3.50083514e-02 -5.16518514e+02] [-6.56398519e-02 -4.60707317e-04 9.97843273e-01 -4.62043497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:944.23, Y:-516.55, Z:-46.21 [[ 8.37526354e-01 5.43569251e-01 5.55164555e-02 9.44233534e+02] [-5.42440240e-01 8.39363962e-01 -3.50246371e-02 -5.16550808e+02] [-6.56368278e-02 -7.80302844e-04 9.97843273e-01 -4.62072409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:944.29, Y:-516.59, Z:-46.21 [[ 8.34957212e-01 5.47508334e-01 5.55074511e-02 9.44285208e+02] [-5.46387044e-01 8.36799542e-01 -3.50389017e-02 -5.16585217e+02] [-6.56327003e-02 -1.07256848e-03 9.97843273e-01 -4.62079496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:944.34, Y:-516.62, Z:-46.21 [[ 8.32103849e-01 5.51836123e-01 5.54984535e-02 9.44337368e+02] [-5.50723464e-01 8.33951403e-01 -3.50531472e-02 -5.16618967e+02] [-6.56266061e-02 -1.39644184e-03 9.97843274e-01 -4.62089310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:944.39, Y:-516.65, Z:-46.22 [[ 8.31344466e-01 5.52980385e-01 5.54893910e-02 9.44389759e+02] [-5.51869312e-01 8.33192975e-01 -3.50674874e-02 -5.16650351e+02] [-6.56250035e-02 -1.46973048e-03 9.97843274e-01 -4.62169405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:944.44, Y:-516.68, Z:-46.22 [[ 8.31247440e-01 5.53127057e-01 5.54810906e-02 9.44442336e+02] [-5.52015435e-01 8.33095619e-01 -3.50806147e-02 -5.16682630e+02] [-6.56250907e-02 -1.46574717e-03 9.97843274e-01 -4.62223162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:944.49, Y:-516.72, Z:-46.22 [[ 8.32639748e-01 5.51029808e-01 5.54725179e-02 9.44493473e+02] [-5.49912628e-01 8.34484572e-01 -3.50941655e-02 -5.16718520e+02] [-6.56288916e-02 -1.28424095e-03 9.97843274e-01 -4.62202949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:944.54, Y:-516.75, Z:-46.23 [[ 8.36142842e-01 5.45700422e-01 5.54634702e-02 9.44544515e+02] [-5.44570534e-01 8.37979910e-01 -3.51084587e-02 -5.16751592e+02] [-6.56359746e-02 -8.48085102e-04 9.97843274e-01 -4.62280363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:944.60, Y:-516.79, Z:-46.23 [[ 8.37789418e-01 5.43169966e-01 5.54552060e-02 9.44596123e+02] [-5.42033665e-01 8.39622526e-01 -3.51215075e-02 -5.16786929e+02] [-6.56383882e-02 -6.34161225e-04 9.97843274e-01 -4.62279669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:944.65, Y:-516.82, Z:-46.24 [[ 8.41689570e-01 5.37107412e-01 5.54463300e-02 9.44648129e+02] [-5.35956983e-01 8.43513846e-01 -3.51355146e-02 -5.16819893e+02] [-6.56412923e-02 -1.43651528e-04 9.97843274e-01 -4.62362755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:944.70, Y:-516.85, Z:-46.24 [[ 8.43131344e-01 5.34842237e-01 5.54375191e-02 9.44700854e+02] [-5.33685994e-01 8.44951939e-01 -3.51494111e-02 -5.16852779e+02] [-6.56414289e-02 4.93428134e-05 9.97843274e-01 -4.62426024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:944.75, Y:-516.89, Z:-46.25 [[ 8.43121216e-01 5.34859229e-01 5.54276077e-02 9.44753299e+02] [-5.33701996e-01 8.44941182e-01 -3.51650336e-02 -5.16885016e+02] [-6.56414111e-02 6.65610666e-05 9.97843275e-01 -4.62463092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:944.81, Y:-516.92, Z:-46.25 [[ 8.42270520e-01 5.36198743e-01 5.54191235e-02 9.44807270e+02] [-5.35043524e-01 8.44091765e-01 -3.51783995e-02 -5.16915582e+02] [-6.56414393e-02 -2.19142714e-05 9.97843275e-01 -4.62527508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:944.86, Y:-516.95, Z:-46.26 [[ 8.41814358e-01 5.36915485e-01 5.54107261e-02 9.44860864e+02] [-5.35760946e-01 8.43636034e-01 -3.51916215e-02 -5.16946278e+02] [-6.56414117e-02 -6.20907906e-05 9.97843275e-01 -4.62563879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:944.91, Y:-516.98, Z:-46.26 [[ 8.41707099e-01 5.37084536e-01 5.54018139e-02 9.44913424e+02] [-5.35929440e-01 8.43528421e-01 -3.52056462e-02 -5.16978420e+02] [-6.56414128e-02 -5.86207725e-05 9.97843275e-01 -4.62578678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:944.97, Y:-517.01, Z:-46.26 [[ 8.42083104e-01 5.36495326e-01 5.53968572e-02 9.44965994e+02] [-5.35338442e-01 8.43903292e-01 -3.52134441e-02 -5.17010129e+02] [-6.56414383e-02 -3.42094963e-06 9.97843275e-01 -4.62601642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:945.02, Y:-517.04, Z:-46.27 [[ 8.42812012e-01 5.35350339e-01 5.53888661e-02 9.45019635e+02] [-5.34190157e-01 8.44630099e-01 -3.52260091e-02 -5.17040203e+02] [-6.56413594e-02 1.00716507e-04 9.97843275e-01 -4.62678235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:945.07, Y:-517.07, Z:-46.27 [[ 8.40007622e-01 5.39740925e-01 5.53798583e-02 9.45071191e+02] [-5.38589312e-01 8.41831149e-01 -3.52401649e-02 -5.17074285e+02] [-6.56410490e-02 -2.24992683e-04 9.97843275e-01 -4.62676378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:945.12, Y:-517.10, Z:-46.28 [[ 8.40204225e-01 5.39435735e-01 5.53709990e-02 9.45124659e+02] [-5.38282543e-01 8.42026754e-01 -3.52540796e-02 -5.17104282e+02] [-6.56411729e-02 -1.84615538e-04 9.97843275e-01 -4.62778112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:945.18, Y:-517.14, Z:-46.28 [[ 8.38305375e-01 5.42382873e-01 5.53616902e-02 9.45177633e+02] [-5.41235123e-01 8.40131335e-01 -3.52686918e-02 -5.17136475e+02] [-6.56402251e-02 -3.97757343e-04 9.97843276e-01 -4.62838218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:945.23, Y:-517.17, Z:-46.29 [[ 8.35107315e-01 5.47295116e-01 5.53518588e-02 9.45228174e+02] [-5.46157084e-01 8.36939347e-01 -3.52841148e-02 -5.17170238e+02] [-6.56369723e-02 -7.64787398e-04 9.97843276e-01 -4.62856209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:945.28, Y:-517.20, Z:-46.29 [[ 8.33901330e-01 5.49131715e-01 5.53437512e-02 9.45281676e+02] [-5.47996874e-01 8.35735341e-01 -3.52968271e-02 -5.17202058e+02] [-6.56353360e-02 -8.94131650e-04 9.97843276e-01 -4.62911316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:945.33, Y:-517.24, Z:-46.29 [[ 8.31215585e-01 5.53189590e-01 5.53346896e-02 9.45331047e+02] [-5.52062757e-01 8.33054526e-01 -3.53110273e-02 -5.17237955e+02] [-6.56305063e-02 -1.19714503e-03 9.97843276e-01 -4.62910574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:945.38, Y:-517.27, Z:-46.30 [[ 8.32261844e-01 5.51615096e-01 5.53263953e-02 9.45384018e+02] [-5.50483920e-01 8.34098116e-01 -3.53240183e-02 -5.17268905e+02] [-6.56329038e-02 -1.05745838e-03 9.97843276e-01 -4.62998352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.43, Y:-517.30, Z:-46.30 [[ 8.30876429e-01 5.53700601e-01 5.53173075e-02 9.45434851e+02] [-5.52573086e-01 8.32714953e-01 -3.53382439e-02 -5.17304586e+02] [-6.56303560e-02 -1.20514143e-03 9.97843276e-01 -4.63019996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:945.49, Y:-517.34, Z:-46.30 [[ 8.30632000e-01 5.54068121e-01 5.53082140e-02 9.45485098e+02] [-5.52940474e-01 8.32470441e-01 -3.53524706e-02 -5.17339433e+02] [-6.56301303e-02 -1.21725675e-03 9.97843276e-01 -4.63044111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:945.54, Y:-517.37, Z:-46.31 [[ 8.32476194e-01 5.51294212e-01 5.52998924e-02 9.45536053e+02] [-5.50159574e-01 8.34310330e-01 -3.53654828e-02 -5.17374520e+02] [-6.56340574e-02 -9.82842700e-04 9.97843277e-01 -4.63093516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.59, Y:-517.41, Z:-46.32 [[ 8.37666877e-01 5.43375672e-01 5.52908887e-02 9.45587713e+02] [-5.42222765e-01 8.39489583e-01 -3.53795538e-02 -5.17407749e+02] [-6.56405139e-02 -3.43698188e-04 9.97843277e-01 -4.63180817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:945.64, Y:-517.44, Z:-46.32 [[ 8.39673847e-01 5.40269488e-01 5.52875248e-02 9.45639483e+02] [-5.39109491e-01 8.41492051e-01 -3.53848098e-02 -5.17443868e+02] [-6.56413457e-02 -9.43300308e-05 9.97843277e-01 -4.63222498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.69, Y:-517.48, Z:-46.33 [[ 8.42023750e-01 5.36600248e-01 5.52827158e-02 9.45692926e+02] [-5.35431836e-01 8.43836556e-01 -3.53923214e-02 -5.17476918e+02] [-6.56411050e-02 2.01049175e-04 9.97843277e-01 -4.63256373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:945.74, Y:-517.51, Z:-46.32 [[ 8.40618910e-01 5.38799526e-01 5.52713174e-02 9.45742807e+02] [-5.37634686e-01 8.42434014e-01 -3.54101131e-02 -5.17512611e+02] [-6.56413899e-02 5.06333407e-05 9.97843277e-01 -4.63245505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.80, Y:-517.54, Z:-46.33 [[ 8.42424505e-01 5.35972914e-01 5.52629126e-02 9.45797317e+02] [-5.34801124e-01 8.44235129e-01 -3.54232252e-02 -5.17540779e+02] [-6.56407814e-02 2.86725205e-04 9.97843277e-01 -4.63337974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.85, Y:-517.58, Z:-46.33 [[ 8.39214683e-01 5.40985438e-01 5.52582390e-02 9.45847810e+02] [-5.39823982e-01 8.41031954e-01 -3.54305143e-02 -5.17576800e+02] [-6.56413370e-02 -9.59148060e-05 9.97843277e-01 -4.63309877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.90, Y:-517.61, Z:-46.33 [[ 8.38108445e-01 5.42698572e-01 5.52493884e-02 9.45901568e+02] [-5.41539922e-01 8.39927505e-01 -3.54443103e-02 -5.17608579e+02] [-6.56410576e-02 -2.13573715e-04 9.97843277e-01 -4.63338436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.95, Y:-517.64, Z:-46.34 [[ 8.37783740e-01 5.43200711e-01 5.52394098e-02 9.45954160e+02] [-5.42042126e-01 8.39602842e-01 -3.54598550e-02 -5.17641587e+02] [-6.56409839e-02 -2.34397165e-04 9.97843277e-01 -4.63384710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.01, Y:-517.67, Z:-46.34 [[ 8.38311139e-01 5.42387371e-01 5.52301891e-02 9.46006112e+02] [-5.41226075e-01 8.40128512e-01 -3.54742109e-02 -5.17674527e+02] [-6.56412205e-02 -1.53592270e-04 9.97843278e-01 -4.63430878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.06, Y:-517.71, Z:-46.35 [[ 8.38540904e-01 5.42032984e-01 5.52213408e-02 9.46058002e+02] [-5.40870013e-01 8.40357205e-01 -3.54879793e-02 -5.17707270e+02] [-6.56413070e-02 -1.09445134e-04 9.97843278e-01 -4.63481899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.11, Y:-517.74, Z:-46.36 [[ 8.39759446e-01 5.40144072e-01 5.52128049e-02 9.46111746e+02] [-5.38976143e-01 8.41572563e-01 -3.55012547e-02 -5.17736787e+02] [-6.56413740e-02 5.41293813e-05 9.97843278e-01 -4.63571903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:946.16, Y:-517.77, Z:-46.36 [[ 8.37998882e-01 5.42872233e-01 5.52051816e-02 9.46162609e+02] [-5.41709426e-01 8.39815288e-01 -3.55131051e-02 -5.17772833e+02] [-6.56412341e-02 -1.45224864e-04 9.97843278e-01 -4.63564048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.21, Y:-517.81, Z:-46.36 [[ 8.37640369e-01 5.43426071e-01 5.51970783e-02 9.46214911e+02] [-5.42263635e-01 8.39457012e-01 -3.55256954e-02 -5.17805582e+02] [-6.56411635e-02 -1.73611645e-04 9.97843278e-01 -4.63598891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.27, Y:-517.84, Z:-46.36 [[ 8.36883944e-01 5.44591125e-01 5.51885036e-02 9.46267537e+02] [-5.43430339e-01 8.38701642e-01 -3.55390110e-02 -5.17839319e+02] [-6.56409186e-02 -2.49079536e-04 9.97843278e-01 -4.63634137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.32, Y:-517.87, Z:-46.37 [[ 8.36005472e-01 5.45939634e-01 5.51794039e-02 9.46320949e+02] [-5.44780848e-01 8.37824446e-01 -3.55531341e-02 -5.17869166e+02] [-6.56405185e-02 -3.38067774e-04 9.97843278e-01 -4.63714902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:946.37, Y:-517.90, Z:-46.37 [[ 8.33274272e-01 5.50100013e-01 5.51721195e-02 9.46372388e+02] [-5.48949561e-01 8.35098528e-01 -3.55644346e-02 -5.17904495e+02] [-6.56381517e-02 -6.51782367e-04 9.97843278e-01 -4.63748001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.42, Y:-517.94, Z:-46.38 [[ 8.31725360e-01 5.52439869e-01 5.51644492e-02 9.46423895e+02] [-5.51293760e-01 8.33552347e-01 -3.55763281e-02 -5.17938019e+02] [-6.56362381e-02 -8.22082301e-04 9.97843279e-01 -4.63810644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.47, Y:-517.97, Z:-46.39 [[ 8.32568410e-01 5.51169276e-01 5.51567958e-02 9.46473744e+02] [-5.50019593e-01 8.34393150e-01 -3.55881898e-02 -5.17972907e+02] [-6.56375694e-02 -7.07715857e-04 9.97843279e-01 -4.63867310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.52, Y:-518.01, Z:-46.39 [[ 8.35222768e-01 5.47139315e-01 5.51497879e-02 9.46523567e+02] [-5.45980110e-01 8.37041473e-01 -3.55990464e-02 -5.18009111e+02] [-6.56402976e-02 -3.77553212e-04 9.97843279e-01 -4.63899748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:946.58, Y:-518.04, Z:-46.40 [[ 8.36848052e-01 5.44650897e-01 5.51428840e-02 9.46575124e+02] [-5.43485580e-01 8.38662847e-01 -3.56097374e-02 -5.18044821e+02] [-6.56411635e-02 -1.69422897e-04 9.97843279e-01 -4.63965658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.05, Y:-517.50, Z:-45.37 [[ 8.77455018e-01 4.76479202e-01 5.51385739e-02 9.47053776e+02] [-4.75173040e-01 8.79171231e-01 -3.56164099e-02 -5.17500378e+02] [-6.54467265e-02 5.05143380e-03 9.97843279e-01 -4.53682964e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:947.11, Y:-517.53, Z:-45.37 [[ 8.74052687e-01 4.82413856e-01 5.75219162e-02 9.47106216e+02] [-4.81402220e-01 8.75943328e-01 -3.12280100e-02 -5.17532120e+02] [-6.54507634e-02 -3.96252064e-04 9.97855721e-01 -4.53694951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:947.16, Y:-517.56, Z:-45.38 [[ 8.71956284e-01 4.86193727e-01 5.75143439e-02 9.47160755e+02] [-4.85189366e-01 8.73850799e-01 -3.12419501e-02 -5.17560379e+02] [-6.54485955e-02 -6.63733369e-04 9.97855721e-01 -4.53776115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.22, Y:-517.59, Z:-45.38 [[ 8.68367422e-01 4.92575350e-01 5.75112681e-02 9.47215643e+02] [-4.91584535e-01 8.70269057e-01 -3.12476111e-02 -5.17588022e+02] [-6.54420800e-02 -1.13724246e-03 9.97855721e-01 -4.53825741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:947.27, Y:-517.62, Z:-45.39 [[ 8.67541746e-01 4.94029110e-01 5.75026705e-02 9.47269810e+02] [-4.93040434e-01 8.69444494e-01 -3.12634246e-02 -5.17616588e+02] [-6.54404221e-02 -1.22881568e-03 9.97855722e-01 -4.53884446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.33, Y:-517.65, Z:-45.39 [[ 8.66553173e-01 4.95761709e-01 5.74971841e-02 9.47325099e+02] [-4.94776169e-01 8.68457547e-01 -3.12735115e-02 -5.17645586e+02] [-6.54380730e-02 -1.34807582e-03 9.97855722e-01 -4.53920324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.38, Y:-517.67, Z:-45.40 [[ 8.67887802e-01 4.93422569e-01 5.74885352e-02 9.47379357e+02] [-4.92430843e-01 8.69788962e-01 -3.12894024e-02 -5.17674102e+02] [-6.54417906e-02 -1.15343718e-03 9.97855722e-01 -4.53990597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.43, Y:-517.71, Z:-45.40 [[ 8.70301447e-01 4.89153740e-01 5.74805224e-02 9.47432573e+02] [-4.88151716e-01 8.72197199e-01 -3.13041154e-02 -5.17706617e+02] [-6.54468758e-02 -8.15198708e-04 9.97855722e-01 -4.53977468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.49, Y:-517.74, Z:-45.40 [[ 8.72567262e-01 4.85101375e-01 5.74719903e-02 9.47485742e+02] [-4.84089515e-01 8.74457782e-01 -3.13197720e-02 -5.17738283e+02] [-6.54500936e-02 -4.92980228e-04 9.97855722e-01 -4.54014145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.54, Y:-517.77, Z:-45.41 [[ 8.72209328e-01 4.85745603e-01 5.74638716e-02 9.47541368e+02] [-4.84734159e-01 8.74100071e-01 -3.13346607e-02 -5.17768050e+02] [-6.54498479e-02 -5.24318165e-04 9.97855722e-01 -4.54090299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:947.60, Y:-517.79, Z:-45.41 [[ 8.72076805e-01 4.85983996e-01 5.74595683e-02 9.47598678e+02] [-4.84972549e-01 8.73967546e-01 -3.13425497e-02 -5.17793606e+02] [-6.54497755e-02 -5.33202701e-04 9.97855722e-01 -4.54149201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.65, Y:-517.82, Z:-45.42 [[ 8.69863645e-01 4.89935508e-01 5.74494395e-02 9.47651482e+02] [-4.88931424e-01 8.71758306e-01 -3.13611044e-02 -5.17823541e+02] [-6.54469447e-02 -8.08951644e-04 9.97855723e-01 -4.54187997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.71, Y:-517.85, Z:-45.42 [[ 8.69674437e-01 4.90272154e-01 5.74420453e-02 9.47706099e+02] [-4.89267909e-01 8.71569013e-01 -3.13746422e-02 -5.17852501e+02] [-6.54468201e-02 -8.18825133e-04 9.97855723e-01 -4.54236070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.76, Y:-517.88, Z:-45.43 [[ 8.71028536e-01 4.87863027e-01 5.74365393e-02 9.47759935e+02] [-4.86852878e-01 8.72919971e-01 -3.13847184e-02 -5.17882682e+02] [-6.54489460e-02 -6.26159095e-04 9.97855723e-01 -4.54274180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.81, Y:-517.92, Z:-45.43 [[ 8.74495231e-01 4.81622266e-01 5.74289485e-02 9.47813097e+02] [-4.80597706e-01 8.76378898e-01 -3.13986023e-02 -5.17915342e+02] [-6.54517846e-02 -1.42292946e-04 9.97855723e-01 -4.54292204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.87, Y:-517.94, Z:-45.43 [[ 8.78103962e-01 4.75011821e-01 5.74212564e-02 9.47867203e+02] [-4.73972162e-01 8.79979338e-01 -3.14126632e-02 -5.17944262e+02] [-6.54509055e-02 3.67507034e-04 9.97855723e-01 -4.54344833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.92, Y:-517.97, Z:-45.44 [[ 8.77391550e-01 4.76327326e-01 5.74138191e-02 9.47920991e+02] [-4.75289589e-01 8.79267990e-01 -3.14262506e-02 -5.17973466e+02] [-6.54513153e-02 2.84936249e-04 9.97855723e-01 -4.54380613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:947.98, Y:-518.00, Z:-45.45 [[ 8.78809518e-01 4.73707003e-01 5.74065122e-02 9.47977073e+02] [-4.72662799e-01 8.80682366e-01 -3.14395927e-02 -5.17999995e+02] [-6.54500582e-02 4.95490564e-04 9.97855723e-01 -4.54487843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:948.03, Y:-518.03, Z:-45.45 [[ 8.77969198e-01 4.75263607e-01 5.73985314e-02 9.48031208e+02] [-4.74221773e-01 8.79843365e-01 -3.14541562e-02 -5.18030414e+02] [-6.54507328e-02 3.96146998e-04 9.97855723e-01 -4.54527833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:948.09, Y:-518.06, Z:-45.45 [[ 8.76405050e-01 4.78142768e-01 5.73906091e-02 9.48085490e+02] [-4.77106144e-01 8.78282104e-01 -3.14686046e-02 -5.18060335e+02] [-6.54516306e-02 1.97831776e-04 9.97855724e-01 -4.54513232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.14, Y:-518.09, Z:-45.45 [[ 8.75414609e-01 4.79954662e-01 5.73827903e-02 9.48140926e+02] [-4.78920988e-01 8.77293290e-01 -3.14828556e-02 -5.18088813e+02] [-6.54518802e-02 7.87290718e-05 9.97855724e-01 -4.54521337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.19, Y:-518.12, Z:-45.45 [[ 8.74163260e-01 4.82230972e-01 5.73749486e-02 9.48194979e+02] [-4.81201254e-01 8.76044111e-01 -3.14971401e-02 -5.18119035e+02] [-6.54518823e-02 -7.52545152e-05 9.97855724e-01 -4.54548933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.25, Y:-518.15, Z:-45.46 [[ 8.73216529e-01 4.83944172e-01 5.73666539e-02 9.48249832e+02] [-4.82917151e-01 8.75098854e-01 -3.15122401e-02 -5.18148570e+02] [-6.54516580e-02 -1.86332153e-04 9.97855724e-01 -4.54592315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.30, Y:-518.18, Z:-45.46 [[ 8.72697221e-01 4.84881055e-01 5.73578526e-02 9.48303923e+02] [-4.83855003e-01 8.74580074e-01 -3.15282520e-02 -5.18177342e+02] [-6.54514870e-02 -2.38266041e-04 9.97855724e-01 -4.54638954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.36, Y:-518.21, Z:-45.47 [[ 8.72842546e-01 4.84620367e-01 5.73497201e-02 9.48358103e+02] [-4.83592781e-01 8.74724562e-01 -3.15430380e-02 -5.18208304e+02] [-6.54516075e-02 -2.01805041e-04 9.97855724e-01 -4.54689353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.41, Y:-518.24, Z:-45.47 [[ 8.72016897e-01 4.86105452e-01 5.73412681e-02 9.48412550e+02] [-4.85080061e-01 8.73900110e-01 -3.15583953e-02 -5.18239415e+02] [-6.54512485e-02 -2.95651864e-04 9.97855724e-01 -4.54716252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.47, Y:-518.27, Z:-45.48 [[ 8.70777678e-01 4.88322879e-01 5.73323764e-02 9.48467900e+02] [-4.87301221e-01 8.72662918e-01 -3.15745407e-02 -5.18268669e+02] [-6.54504095e-02 -4.43731764e-04 9.97855725e-01 -4.54754469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.52, Y:-518.30, Z:-45.48 [[ 8.69755995e-01 4.90141352e-01 5.73233344e-02 9.48522915e+02] [-4.89122554e-01 8.71642782e-01 -3.15909477e-02 -5.18297708e+02] [-6.54495005e-02 -5.61719594e-04 9.97855725e-01 -4.54791265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.58, Y:-518.33, Z:-45.48 [[ 8.70106887e-01 4.89519151e-01 5.73149777e-02 9.48576928e+02] [-4.88498005e-01 8.71992404e-01 -3.16061021e-02 -5.18328987e+02] [-6.54500174e-02 -4.97565185e-04 9.97855725e-01 -4.54823584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.63, Y:-518.36, Z:-45.49 [[ 8.71997964e-01 4.86143575e-01 5.73059803e-02 9.48630512e+02] [-4.85114058e-01 8.73878924e-01 -3.16224070e-02 -5.18360597e+02] [-6.54515184e-02 -2.25262118e-04 9.97855725e-01 -4.54870552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.68, Y:-518.39, Z:-45.49 [[ 8.73776411e-01 4.82940697e-01 5.72980518e-02 9.48684011e+02] [-4.81903343e-01 8.75653061e-01 -3.16367665e-02 -5.18390914e+02] [-6.54518965e-02 3.13375461e-05 9.97855725e-01 -4.54916619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.74, Y:-518.42, Z:-45.50 [[ 8.76732312e-01 4.77554493e-01 5.72901270e-02 9.48736811e+02] [-4.76504674e-01 8.78602016e-01 -3.16511109e-02 -5.18420917e+02] [-6.54503513e-02 4.50538376e-04 9.97855725e-01 -4.54960750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.79, Y:-518.45, Z:-45.50 [[ 8.79440303e-01 4.72549576e-01 5.72857073e-02 9.48791569e+02] [-4.71488596e-01 8.81303696e-01 -3.16591082e-02 -5.18452638e+02] [-6.54466037e-02 8.32737989e-04 9.97855725e-01 -4.55000340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.85, Y:-518.48, Z:-45.50 [[ 8.80865835e-01 4.69888006e-01 5.72768906e-02 9.48846166e+02] [-4.68820360e-01 8.82725417e-01 -3.16750512e-02 -5.18482430e+02] [-6.54434937e-02 1.04889794e-03 9.97855726e-01 -4.55027923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:948.90, Y:-518.51, Z:-45.51 [[ 8.81038581e-01 4.69565008e-01 5.72688630e-02 9.48899933e+02] [-4.68495737e-01 8.82897229e-01 -3.16895584e-02 -5.18510989e+02] [-6.54428282e-02 1.08950540e-03 9.97855726e-01 -4.55068017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.96, Y:-518.54, Z:-45.51 [[ 8.80005791e-01 4.71498234e-01 5.72645027e-02 9.48955567e+02] [-4.70432534e-01 8.81866489e-01 -3.16974358e-02 -5.18538539e+02] [-6.54449309e-02 9.54841976e-04 9.97855726e-01 -4.55088807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.01, Y:-518.57, Z:-45.51 [[ 8.78654595e-01 4.74012448e-01 5.72564547e-02 9.49009752e+02] [-4.72951126e-01 8.80517793e-01 -3.17119666e-02 -5.18568263e+02] [-6.54471940e-02 7.84360456e-04 9.97855726e-01 -4.55125856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.07, Y:-518.59, Z:-45.52 [[ 8.77052068e-01 4.76972059e-01 5.72479324e-02 9.49066800e+02] [-4.75916020e-01 8.78918265e-01 -3.17273439e-02 -5.18593084e+02] [-6.54493100e-02 5.81324438e-04 9.97855726e-01 -4.55213979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.12, Y:-518.62, Z:-45.53 [[ 8.76271332e-01 4.78405244e-01 5.72448641e-02 9.49124019e+02] [-4.77351897e-01 8.78139050e-01 -3.17328791e-02 -5.18619478e+02] [-6.54501264e-02 4.80667775e-04 9.97855726e-01 -4.55292683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.18, Y:-518.65, Z:-45.53 [[ 8.74943784e-01 4.80830052e-01 5.72349183e-02 9.49176488e+02] [-4.79780708e-01 8.76813754e-01 -3.17508077e-02 -5.18650790e+02] [-6.54511061e-02 3.19962226e-04 9.97855726e-01 -4.55277122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.23, Y:-518.67, Z:-45.54 [[ 8.80005690e-01 4.71502948e-01 5.72272269e-02 9.49233876e+02] [-4.70432886e-01 8.81863882e-01 -3.17646646e-02 -5.18672945e+02] [-6.54437574e-02 1.03151607e-03 9.97855726e-01 -4.55415623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:949.29, Y:-518.70, Z:-45.54 [[ 8.81807122e-01 4.68126232e-01 5.72191529e-02 9.49287031e+02] [-4.67048112e-01 8.83660650e-01 -3.17792021e-02 -5.18704845e+02] [-6.54389919e-02 1.29902940e-03 9.97855727e-01 -4.55402918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.34, Y:-518.73, Z:-45.54 [[ 8.83243532e-01 4.65411404e-01 5.72109054e-02 9.49342817e+02] [-4.64326627e-01 8.85093172e-01 -3.17940426e-02 -5.18734573e+02] [-6.54342918e-02 1.51733578e-03 9.97855727e-01 -4.55428126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.40, Y:-518.76, Z:-45.55 [[ 8.82846338e-01 4.66165555e-01 5.72015739e-02 9.49398092e+02] [-4.65081271e-01 8.84696266e-01 -3.18108225e-02 -5.18764182e+02] [-6.54351285e-02 1.48068751e-03 9.97855727e-01 -4.55466759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.45, Y:-518.79, Z:-45.55 [[ 8.78817323e-01 4.73717812e-01 5.71974379e-02 9.49452133e+02] [-4.72648946e-01 8.80676202e-01 -3.18182575e-02 -5.18794536e+02] [-6.54452977e-02 9.28127137e-04 9.97855727e-01 -4.55456433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.51, Y:-518.82, Z:-45.56 [[ 8.76995276e-01 4.77083519e-01 5.71891746e-02 9.49507923e+02] [-4.76020819e-01 8.78857687e-01 -3.18331028e-02 -5.18819426e+02] [-6.54481944e-02 6.94243136e-04 9.97855727e-01 -4.55567290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.56, Y:-518.85, Z:-45.55 [[ 8.70743455e-01 4.88401684e-01 5.71806811e-02 9.49563026e+02] [-4.87362192e-01 8.72618918e-01 -3.18483520e-02 -5.18849631e+02] [-6.54517329e-02 -1.35958012e-04 9.97855727e-01 -4.55549751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.62, Y:-518.88, Z:-45.56 [[ 8.65791044e-01 4.97128534e-01 5.71759407e-02 9.49619016e+02] [-4.96107382e-01 8.67676556e-01 -3.18568601e-02 -5.18877961e+02] [-6.54471774e-02 -7.84022112e-04 9.97855727e-01 -4.55600237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.67, Y:-518.91, Z:-45.56 [[ 8.62864003e-01 5.02192842e-01 5.71669716e-02 9.49674495e+02] [-5.01181689e-01 8.64754896e-01 -3.18729470e-02 -5.18907460e+02] [-6.54417844e-02 -1.14902075e-03 9.97855727e-01 -4.55641028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.73, Y:-518.94, Z:-45.57 [[ 8.62576114e-01 5.02688176e-01 5.71580771e-02 9.49728504e+02] [-5.01677053e-01 8.64467022e-01 -3.18888897e-02 -5.18940006e+02] [-6.54414405e-02 -1.16830116e-03 9.97855728e-01 -4.55674469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.78, Y:-518.97, Z:-45.57 [[ 8.63447076e-01 5.01191690e-01 5.71492528e-02 9.49781070e+02] [-5.00176244e-01 8.65335666e-01 -3.19046961e-02 -5.18973557e+02] [-6.54436553e-02 -1.03668205e-03 9.97855728e-01 -4.55694456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.84, Y:-519.01, Z:-45.57 [[ 8.63789614e-01 5.00602008e-01 5.71413365e-02 9.49835589e+02] [-4.99584335e-01 8.65677006e-01 -3.19188680e-02 -5.19005663e+02] [-6.54445904e-02 -9.75729908e-04 9.97855728e-01 -4.55730364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.89, Y:-519.04, Z:-45.58 [[ 8.63580088e-01 5.00964424e-01 5.71321125e-02 9.49887832e+02] [-4.99946452e-01 8.65467317e-01 -3.19353696e-02 -5.19038071e+02] [-6.54444602e-02 -9.84247686e-04 9.97855728e-01 -4.55781263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:949.94, Y:-519.07, Z:-45.58 [[ 8.64231825e-01 4.99840155e-01 5.71241850e-02 9.49939444e+02] [-4.98818791e-01 8.66117221e-01 -3.19495437e-02 -5.19071118e+02] [-6.54459052e-02 -8.82804463e-04 9.97855728e-01 -4.55844217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.99, Y:-519.11, Z:-45.59 [[ 8.66714433e-01 4.95523706e-01 5.71169698e-02 9.49990359e+02] [-4.94492102e-01 8.68594246e-01 -3.19624373e-02 -5.19106829e+02] [-6.54496166e-02 -5.41584711e-04 9.97855728e-01 -4.55879427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.04, Y:-519.14, Z:-45.59 [[ 8.69204744e-01 4.91143215e-01 5.71091621e-02 9.50042663e+02] [-4.90101221e-01 8.71078817e-01 -3.19763815e-02 -5.19141445e+02] [-6.54515642e-02 -1.95247574e-04 9.97855728e-01 -4.55915536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.09, Y:-519.18, Z:-45.59 [[ 8.73932831e-01 4.82681024e-01 5.71002300e-02 9.50094340e+02] [-4.81619842e-01 8.75796106e-01 -3.19923238e-02 -5.19178511e+02] [-6.54502467e-02 4.58538391e-04 9.97855729e-01 -4.55943954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:950.14, Y:-519.21, Z:-45.60 [[ 8.78403241e-01 4.74497999e-01 5.70911104e-02 9.50144543e+02] [-4.73418405e-01 8.80255908e-01 -3.20085897e-02 -5.19214957e+02] [-6.54427990e-02 1.08846653e-03 9.97855729e-01 -4.55985498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.20, Y:-519.25, Z:-45.60 [[ 8.79338209e-01 4.72764084e-01 5.70827090e-02 9.50198525e+02] [-4.71679865e-01 8.81188173e-01 -3.20235654e-02 -5.19247484e+02] [-6.54401996e-02 1.23478015e-03 9.97855729e-01 -4.56011086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:950.25, Y:-519.27, Z:-45.61 [[ 8.79479360e-01 4.72502544e-01 5.70736543e-02 9.50254105e+02] [-4.71416728e-01 8.81328387e-01 -3.20396949e-02 -5.19273478e+02] [-6.54394690e-02 1.27277503e-03 9.97855729e-01 -4.56109414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.31, Y:-519.31, Z:-45.61 [[ 8.75872562e-01 4.79155852e-01 5.70694714e-02 9.50305561e+02] [-4.78083599e-01 8.77729487e-01 -3.20471438e-02 -5.19306338e+02] [-6.54471344e-02 7.85235624e-04 9.97855729e-01 -4.56107705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.36, Y:-519.33, Z:-45.61 [[ 8.74902732e-01 4.80925279e-01 5.70621178e-02 9.50360963e+02] [-4.79855928e-01 8.76761330e-01 -3.20602321e-02 -5.19334811e+02] [-6.54484343e-02 6.67989180e-04 9.97855729e-01 -4.56148721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.42, Y:-519.36, Z:-45.62 [[ 8.71317900e-01 4.87390973e-01 5.70539908e-02 9.50416177e+02] [-4.86334468e-01 8.73183829e-01 -3.20746882e-02 -5.19362010e+02] [-6.54515357e-02 1.99927726e-04 9.97855729e-01 -4.56183990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.47, Y:-519.39, Z:-45.62 [[ 8.69057182e-01 4.91411543e-01 5.70465620e-02 9.50471150e+02] [-4.90362803e-01 8.70927487e-01 -3.20878954e-02 -5.19391395e+02] [-6.54517811e-02 -8.72960534e-05 9.97855729e-01 -4.56214009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.53, Y:-519.42, Z:-45.63 [[ 8.65675270e-01 4.97345858e-01 5.70387995e-02 9.50525823e+02] [-4.96309031e-01 8.67552205e-01 -3.21016880e-02 -5.19420338e+02] [-6.54497778e-02 -5.19233870e-04 9.97855730e-01 -4.56263794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.58, Y:-519.45, Z:-45.63 [[ 8.62225959e-01 5.03302689e-01 5.70333200e-02 9.50580941e+02] [-5.02278184e-01 8.64109648e-01 -3.21114202e-02 -5.19450540e+02] [-6.54448061e-02 -9.59292307e-04 9.97855730e-01 -4.56306990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters Centerline goodness : 0.997020 with order 1 Centerline is valid? [True, True] Translation: X:950.63, Y:-519.48, Z:-45.64 [[ 8.59895707e-01 5.07274704e-01 5.70240912e-02 9.50633324e+02] [-5.06257813e-01 8.61783517e-01 -3.21278004e-02 -5.19480154e+02] [-6.54400424e-02 -1.24233410e-03 9.97855730e-01 -4.56404443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:950.69, Y:-519.51, Z:-45.64 [[ 8.60468514e-01 5.06303530e-01 5.70146631e-02 9.50689289e+02] [-5.05283401e-01 8.62354576e-01 -3.21445231e-02 -5.19507855e+02] [-6.54417411e-02 -1.14921277e-03 9.97855730e-01 -4.56445495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.74, Y:-519.54, Z:-45.64 [[ 8.56371584e-01 5.13203842e-01 5.70046145e-02 9.50740003e+02] [-5.12197722e-01 8.58265156e-01 -3.21623333e-02 -5.19541991e+02] [-6.54309074e-02 -1.65472531e-03 9.97855730e-01 -4.56429963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:950.79, Y:-519.57, Z:-45.65 [[ 8.55492057e-01 5.14669193e-01 5.69996704e-02 9.50794492e+02] [-5.13665732e-01 8.57387040e-01 -3.21710931e-02 -5.19571409e+02] [-6.54282492e-02 -1.75666283e-03 9.97855730e-01 -4.56507334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.85, Y:-519.60, Z:-45.66 [[ 8.55149481e-01 5.15239281e-01 5.69899017e-02 9.50850230e+02] [-5.14235932e-01 8.57044523e-01 -3.21883887e-02 -5.19599795e+02] [-6.54276053e-02 -1.78037138e-03 9.97855730e-01 -4.56588764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.90, Y:-519.63, Z:-45.66 [[ 8.52826683e-01 5.19076193e-01 5.69785529e-02 9.50900736e+02] [-5.18080029e-01 8.54725511e-01 -3.22084654e-02 -5.19634769e+02] [-6.54196703e-02 -2.05121166e-03 9.97855731e-01 -4.56582592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.95, Y:-519.67, Z:-45.66 [[ 8.54345103e-01 5.16574053e-01 5.69709887e-02 9.50951899e+02] [-5.15571436e-01 8.56240531e-01 -3.22218395e-02 -5.19667246e+02] [-6.54258359e-02 -1.84404375e-03 9.97855731e-01 -4.56634863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.00, Y:-519.70, Z:-45.67 [[ 8.57140295e-01 5.11923164e-01 5.69665648e-02 9.51004368e+02] [-5.10909742e-01 8.59029968e-01 -3.22296589e-02 -5.19701024e+02] [-6.54350953e-02 -1.47943359e-03 9.97855731e-01 -4.56691138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.06, Y:-519.73, Z:-45.67 [[ 8.60251398e-01 5.06678625e-01 5.69587800e-02 9.51055913e+02] [-5.05652770e-01 8.62134351e-01 -3.22434110e-02 -5.19733567e+02] [-6.54431679e-02 -1.06392550e-03 9.97855731e-01 -4.56748683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.11, Y:-519.76, Z:-45.68 [[ 8.60846618e-01 5.05667488e-01 5.69516616e-02 9.51111049e+02] [-5.04638589e-01 8.62727910e-01 -3.22559793e-02 -5.19762998e+02] [-6.54445880e-02 -9.72555507e-04 9.97855731e-01 -4.56776192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.17, Y:-519.79, Z:-45.68 [[ 8.63563560e-01 5.01014357e-01 5.69437596e-02 9.51165787e+02] [-4.99974401e-01 8.65438762e-01 -3.22699233e-02 -5.19794314e+02] [-6.54490316e-02 -6.03292282e-04 9.97855731e-01 -4.56801380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.22, Y:-519.83, Z:-45.68 [[ 8.65637641e-01 4.97423279e-01 5.69346620e-02 9.51219366e+02] [-4.96374489e-01 8.67507915e-01 -3.22859664e-02 -5.19826199e+02] [-6.54510612e-02 -3.12965990e-04 9.97855731e-01 -4.56824704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.27, Y:-519.86, Z:-45.69 [[ 8.67397122e-01 4.94349643e-01 5.69268207e-02 9.51273915e+02] [-4.93293318e-01 8.69263151e-01 -3.22997864e-02 -5.19856717e+02] [-6.54517754e-02 -6.48784560e-05 9.97855732e-01 -4.56851902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:951.33, Y:-519.89, Z:-45.69 [[ 8.67995926e-01 4.93298535e-01 5.69177325e-02 9.51329536e+02] [-4.92238900e-01 8.69860078e-01 -3.23157934e-02 -5.19885860e+02] [-6.54517968e-02 3.28550180e-05 9.97855732e-01 -4.56903605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.38, Y:-519.91, Z:-45.70 [[ 8.67419200e-01 4.94313005e-01 5.69085683e-02 9.51382839e+02] [-4.93254493e-01 8.69283988e-01 -3.23319237e-02 -5.19914938e+02] [-6.54517976e-02 -2.50755453e-05 9.97855732e-01 -4.56980990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.44, Y:-519.95, Z:-45.70 [[ 8.66667249e-01 4.95631158e-01 5.69002110e-02 9.51437257e+02] [-4.94574517e-01 8.68533099e-01 -3.23466249e-02 -5.19945119e+02] [-6.54517117e-02 -1.07633935e-04 9.97855732e-01 -4.56991267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:951.49, Y:-519.97, Z:-45.70 [[ 8.65185211e-01 4.98214684e-01 5.68918184e-02 9.51492643e+02] [-4.97162643e-01 8.67053659e-01 -3.23613792e-02 -5.19974636e+02] [-6.54511736e-02 -2.85900073e-04 9.97855732e-01 -4.57031699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.55, Y:-520.00, Z:-45.72 [[ 8.65774555e-01 4.97190885e-01 5.68827250e-02 9.51546821e+02] [-4.96135586e-01 8.67641163e-01 -3.23773551e-02 -5.20004428e+02] [-6.54515195e-02 -1.90053849e-04 9.97855732e-01 -4.57159180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.60, Y:-520.03, Z:-45.72 [[ 8.68034074e-01 4.93235960e-01 5.68782441e-02 9.51602599e+02] [-4.92171640e-01 8.69895554e-01 -3.23852249e-02 -5.20034660e+02] [-6.54516891e-02 1.17620098e-04 9.97855732e-01 -4.57174250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.66, Y:-520.07, Z:-45.72 [[ 8.68367879e-01 4.92649194e-01 5.68682537e-02 9.51656640e+02] [-4.91582468e-01 8.70227981e-01 -3.24027585e-02 -5.20067291e+02] [-6.54515385e-02 1.82078218e-04 9.97855733e-01 -4.57199648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.71, Y:-520.10, Z:-45.72 [[ 8.69514171e-01 4.90623684e-01 5.68639350e-02 9.51711821e+02] [-4.89552130e-01 8.71371495e-01 -3.24103357e-02 -5.20097495e+02] [-6.54508904e-02 3.43385743e-04 9.97855733e-01 -4.57220692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.77, Y:-520.13, Z:-45.73 [[ 8.70873442e-01 4.88208032e-01 5.68538969e-02 9.51766740e+02] [-4.87130177e-01 8.72727117e-01 -3.24279349e-02 -5.20126965e+02] [-6.54495158e-02 5.45378385e-04 9.97855733e-01 -4.57304262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.82, Y:-520.16, Z:-45.74 [[ 8.70095574e-01 4.89593503e-01 5.68497570e-02 9.51821580e+02] [-4.88518125e-01 8.71950687e-01 -3.24351911e-02 -5.20156177e+02] [-6.54502434e-02 4.49579502e-04 9.97855733e-01 -4.57350121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.87, Y:-520.19, Z:-45.74 [[ 8.66306058e-01 4.96268949e-01 5.68413946e-02 9.51874526e+02] [-4.95206905e-01 8.68168837e-01 -3.24498392e-02 -5.20187820e+02] [-6.54517750e-02 -3.67588232e-05 9.97855733e-01 -4.57351618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.93, Y:-520.22, Z:-45.74 [[ 8.64260706e-01 4.99823375e-01 5.68333176e-02 9.51928582e+02] [-4.98768062e-01 8.66127306e-01 -3.24639793e-02 -5.20217369e+02] [-6.54511439e-02 -2.89301978e-04 9.97855733e-01 -4.57401257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:951.98, Y:-520.25, Z:-45.75 [[ 8.63199175e-01 5.01655329e-01 5.68252986e-02 9.51982413e+02] [-5.00603054e-01 8.65067489e-01 -3.24780097e-02 -5.20247783e+02] [-6.54504851e-02 -4.11926867e-04 9.97855733e-01 -4.57450182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.04, Y:-520.27, Z:-45.75 [[ 8.65164930e-01 4.98258402e-01 5.68173298e-02 9.52039177e+02] [-4.97197876e-01 8.67028573e-01 -3.24919444e-02 -5.20273391e+02] [-6.54516327e-02 -1.38564883e-04 9.97855733e-01 -4.57533619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:952.09, Y:-520.31, Z:-45.75 [[ 8.62221556e-01 5.03334925e-01 5.68149745e-02 9.52089362e+02] [-5.02285100e-01 8.64091248e-01 -3.24960625e-02 -5.20309801e+02] [-6.54497253e-02 -5.18509589e-04 9.97855733e-01 -4.57514848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.14, Y:-520.34, Z:-45.76 [[ 8.61949370e-01 5.03801741e-01 5.68074872e-02 9.52141927e+02] [-5.02752066e-01 8.63819145e-01 -3.25091460e-02 -5.20342063e+02] [-6.54495594e-02 -5.38843607e-04 9.97855734e-01 -4.57557448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.20, Y:-520.37, Z:-45.76 [[ 8.61570630e-01 5.04450119e-01 5.67990057e-02 9.52195931e+02] [-5.03400875e-01 8.63440648e-01 -3.25239579e-02 -5.20374883e+02] [-6.54492847e-02 -5.70982189e-04 9.97855734e-01 -4.57577765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.25, Y:-520.41, Z:-45.76 [[ 8.61097930e-01 5.05257608e-01 5.67900063e-02 9.52249041e+02] [-5.04209082e-01 8.62968349e-01 -3.25396640e-02 -5.20406217e+02] [-6.54488909e-02 -6.14199638e-04 9.97855734e-01 -4.57632321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.30, Y:-520.44, Z:-45.77 [[ 8.61242814e-01 5.05011539e-01 5.67816895e-02 9.52303656e+02] [-5.03961522e-01 8.63112397e-01 -3.25541705e-02 -5.20437816e+02] [-6.54492119e-02 -5.78741222e-04 9.97855734e-01 -4.57652991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.36, Y:-520.47, Z:-45.77 [[ 8.63337006e-01 5.01424065e-01 5.67725487e-02 9.52356340e+02] [-5.00365231e-01 8.65201609e-01 -3.25701038e-02 -5.20470462e+02] [-6.54511343e-02 -2.88033557e-04 9.97855734e-01 -4.57686460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.41, Y:-520.50, Z:-45.77 [[ 8.63728606e-01 5.00750126e-01 5.67644836e-02 9.52408198e+02] [-4.99688914e-01 8.65591857e-01 -3.25841538e-02 -5.20501570e+02] [-6.54513939e-02 -2.20717471e-04 9.97855734e-01 -4.57745202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.46, Y:-520.54, Z:-45.78 [[ 8.68374116e-01 4.92651106e-01 5.67563364e-02 9.52460735e+02] [-4.91571589e-01 8.70226822e-01 -3.25983388e-02 -5.20535066e+02] [-6.54504939e-02 4.07751136e-04 9.97855734e-01 -4.57775514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.51, Y:-520.57, Z:-45.78 [[ 8.72456523e-01 4.85385682e-01 5.67481671e-02 9.52514319e+02] [-4.84289814e-01 8.74299604e-01 -3.26125540e-02 -5.20568568e+02] [-6.54445668e-02 9.70476204e-04 9.97855735e-01 -4.57811087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.57, Y:-520.60, Z:-45.77 [[ 8.73962935e-01 4.82669097e-01 5.67391568e-02 9.52565491e+02] [-4.81566483e-01 8.75801988e-01 -3.26282226e-02 -5.20603851e+02] [-6.54409010e-02 1.19218097e-03 9.97855735e-01 -4.57719679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.62, Y:-520.64, Z:-45.77 [[ 8.77321393e-01 4.76537559e-01 5.67373601e-02 9.52617460e+02] [-4.75421893e-01 8.79152558e-01 -3.26313465e-02 -5.20637790e+02] [-6.54308575e-02 1.65399523e-03 9.97855735e-01 -4.57671126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.67, Y:-520.66, Z:-45.78 [[ 8.81742065e-01 4.68308298e-01 5.67297883e-02 9.52673097e+02] [-4.67174703e-01 8.83562184e-01 -3.26445050e-02 -5.20660446e+02] [-6.54119882e-02 2.28131126e-03 9.97855735e-01 -4.57841791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters Centerline goodness : 0.994884 with order 1 Centerline is valid? [True, True] Translation: X:952.73, Y:-520.69, Z:-45.79 [[ 8.79625921e-01 4.72271486e-01 5.67263783e-02 9.52729064e+02] [-4.71145711e-01 8.81450888e-01 -3.26504294e-02 -5.20687133e+02] [-6.54213833e-02 1.99377417e-03 9.97855735e-01 -4.57867261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.78, Y:-520.71, Z:-45.79 [[ 8.77909563e-01 4.75454869e-01 5.67227232e-02 9.52784917e+02] [-4.74335303e-01 8.79738345e-01 -3.26567781e-02 -5.20711506e+02] [-6.54279787e-02 1.76410772e-03 9.97855735e-01 -4.57921490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.84, Y:-520.73, Z:-45.80 [[ 8.73813386e-01 4.82941888e-01 5.67212450e-02 9.52844426e+02] [-4.81837828e-01 8.75651571e-01 -3.26593453e-02 -5.20734106e+02] [-6.54406132e-02 1.20773159e-03 9.97855735e-01 -4.57955247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.90, Y:-520.76, Z:-45.80 [[ 8.71077368e-01 4.87860597e-01 5.67120501e-02 9.52903711e+02] [-4.86765880e-01 8.72921132e-01 -3.26753042e-02 -5.20757760e+02] [-6.54461404e-02 8.57227088e-04 9.97855735e-01 -4.57992541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.96, Y:-520.78, Z:-45.80 [[ 8.69989069e-01 4.89799758e-01 5.67028775e-02 9.52962040e+02] [-4.88708113e-01 8.71834654e-01 -3.26912140e-02 -5.20782276e+02] [-6.54476824e-02 7.29842577e-04 9.97855735e-01 -4.58019448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.02, Y:-520.81, Z:-45.81 [[ 8.69510768e-01 4.90649426e-01 5.66936092e-02 9.53020083e+02] [-4.89558538e-01 8.71356799e-01 -3.27072794e-02 -5.20808233e+02] [-6.54481698e-02 6.84491193e-04 9.97855735e-01 -4.58066224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.08, Y:-520.83, Z:-45.81 [[ 8.68476961e-01 4.92478074e-01 5.66843511e-02 9.53078358e+02] [-4.91390026e-01 8.70324668e-01 -3.27233166e-02 -5.20831680e+02] [-6.54493050e-02 5.65321761e-04 9.97855736e-01 -4.58100792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.13, Y:-520.86, Z:-45.81 [[ 8.65403816e-01 4.97859452e-01 5.66762917e-02 9.53133457e+02] [-4.96781980e-01 8.67257710e-01 -3.27372695e-02 -5.20861439e+02] [-6.54515100e-02 1.75197590e-04 9.97855736e-01 -4.58079414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.19, Y:-520.88, Z:-45.82 [[ 8.62637251e-01 5.02638760e-01 5.66678908e-02 9.53192017e+02] [-5.01570604e-01 8.64496529e-01 -3.27518050e-02 -5.20881258e+02] [-6.54515215e-02 -1.70021173e-04 9.97855736e-01 -4.58178269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.25, Y:-520.90, Z:-45.82 [[ 8.58538513e-01 5.09608912e-01 5.66601991e-02 9.53250570e+02] [-5.08554972e-01 8.60405886e-01 -3.27651061e-02 -5.20903793e+02] [-6.54481588e-02 -6.84720440e-04 9.97855736e-01 -4.58244270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.31, Y:-520.93, Z:-45.83 [[ 8.56511531e-01 5.13009283e-01 5.66522097e-02 9.53306692e+02] [-5.11961843e-01 8.58382557e-01 -3.27789143e-02 -5.20929404e+02] [-6.54451559e-02 -9.28251598e-04 9.97855736e-01 -4.58304436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.36, Y:-520.96, Z:-45.84 [[ 8.55391052e-01 5.14876276e-01 5.66442240e-02 9.53363342e+02] [-5.13832007e-01 8.57263849e-01 -3.27927083e-02 -5.20955039e+02] [-6.54432331e-02 -1.05502601e-03 9.97855736e-01 -4.58372168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:953.42, Y:-520.98, Z:-45.84 [[ 8.56442009e-01 5.13127092e-01 5.66363137e-02 9.53419256e+02] [-5.12078095e-01 8.58312162e-01 -3.28063646e-02 -5.20983146e+02] [-6.54454713e-02 -9.05466784e-04 9.97855736e-01 -4.58420493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.47, Y:-521.01, Z:-45.84 [[ 8.57349746e-01 5.11609289e-01 5.66334569e-02 9.53472878e+02] [-5.10556655e-01 8.59217854e-01 -3.28112954e-02 -5.21013609e+02] [-6.54470409e-02 -7.83832556e-04 9.97855736e-01 -4.58440642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:953.53, Y:-521.04, Z:-45.85 [[ 8.58668844e-01 5.09393162e-01 5.66252900e-02 9.53525947e+02] [-5.08334777e-01 8.60533700e-01 -3.28253838e-02 -5.21044016e+02] [-6.54489963e-02 -5.98469806e-04 9.97855736e-01 -4.58453649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.58, Y:-521.07, Z:-45.85 [[ 8.58577033e-01 5.09548721e-01 5.66178261e-02 9.53579872e+02] [-5.08489826e-01 8.60441599e-01 -3.28382525e-02 -5.21074899e+02] [-6.54490225e-02 -5.95419121e-04 9.97855737e-01 -4.58501906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.63, Y:-521.11, Z:-45.85 [[ 8.59269349e-01 5.08380719e-01 5.66147485e-02 9.53633043e+02] [-5.07318940e-01 8.61132275e-01 -3.28435577e-02 -5.21105808e+02] [-6.54498186e-02 -5.00271713e-04 9.97855737e-01 -4.58512058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.69, Y:-521.14, Z:-45.86 [[ 8.59570847e-01 5.07871671e-01 5.66067524e-02 9.53687254e+02] [-5.06807881e-01 8.61432625e-01 -3.28573335e-02 -5.21137106e+02] [-6.54502121e-02 -4.45542205e-04 9.97855737e-01 -4.58558816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.74, Y:-521.17, Z:-45.86 [[ 8.59742757e-01 5.07581622e-01 5.65976099e-02 9.53740524e+02] [-5.06516168e-01 8.61603582e-01 -3.28730742e-02 -5.21168952e+02] [-6.54504717e-02 -4.05217047e-04 9.97855737e-01 -4.58610947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.79, Y:-521.20, Z:-45.87 [[ 8.59532539e-01 5.07938416e-01 5.65895799e-02 9.53794345e+02] [-5.06872825e-01 8.61393285e-01 -3.28868916e-02 -5.21201328e+02] [-6.54503998e-02 -4.16366845e-04 9.97855737e-01 -4.58651192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.85, Y:-521.23, Z:-45.87 [[ 8.59061526e-01 5.08735631e-01 5.65804917e-02 9.53848429e+02] [-5.07670737e-01 8.60922672e-01 -3.29025201e-02 -5.21234019e+02] [-6.54501124e-02 -4.58970772e-04 9.97855737e-01 -4.58692096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:953.90, Y:-521.27, Z:-45.87 [[ 8.58691228e-01 5.09361428e-01 5.65712901e-02 9.53901744e+02] [-5.08296848e-01 8.60552553e-01 -3.29183334e-02 -5.21266913e+02] [-6.54498974e-02 -4.88324309e-04 9.97855737e-01 -4.58745589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.95, Y:-521.30, Z:-45.88 [[ 8.57505420e-01 5.11356209e-01 5.65621887e-02 9.53952929e+02] [-5.10294929e-01 8.59368629e-01 -3.29339645e-02 -5.21302433e+02] [-6.54487578e-02 -6.22345028e-04 9.97855738e-01 -4.58810997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.01, Y:-521.33, Z:-45.88 [[ 8.56582424e-01 5.12901198e-01 5.65589268e-02 9.54006804e+02] [-5.11842908e-01 8.58447333e-01 -3.29395654e-02 -5.21332453e+02] [-6.54476024e-02 -7.33832786e-04 9.97855738e-01 -4.58819424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.06, Y:-521.37, Z:-45.88 [[ 8.53639030e-01 5.17786178e-01 5.65498094e-02 9.54059514e+02] [-5.16737523e-01 8.55509373e-01 -3.29552105e-02 -5.21365046e+02] [-6.54426444e-02 -1.08955446e-03 9.97855738e-01 -4.58847590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.11, Y:-521.40, Z:-45.89 [[ 8.51759375e-01 5.20873292e-01 5.65418546e-02 9.54113346e+02] [-5.19830510e-01 8.53632998e-01 -3.29688530e-02 -5.21397998e+02] [-6.54385879e-02 -1.31065150e-03 9.97855738e-01 -4.58883022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.17, Y:-521.43, Z:-45.89 [[ 8.50560367e-01 5.22829912e-01 5.65326910e-02 9.54165338e+02] [-5.21790396e-01 8.52435805e-01 -3.29845586e-02 -5.21430621e+02] [-6.54358039e-02 -1.44285696e-03 9.97855738e-01 -4.58932865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.22, Y:-521.46, Z:-45.90 [[ 8.49826485e-01 5.24022555e-01 5.65270388e-02 9.54218775e+02] [-5.22985028e-01 8.51703024e-01 -3.29942422e-02 -5.21464321e+02] [-6.54339770e-02 -1.52341406e-03 9.97855738e-01 -4.58981471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.27, Y:-521.50, Z:-45.90 [[ 8.49248205e-01 5.24960221e-01 5.65177178e-02 9.54270861e+02] [-5.23923704e-01 8.51125302e-01 -3.30102010e-02 -5.21498928e+02] [-6.54327020e-02 -1.57711805e-03 9.97855738e-01 -4.59027847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.32, Y:-521.53, Z:-45.91 [[ 8.48820848e-01 5.25651938e-01 5.65084738e-02 9.54322034e+02] [-5.24615899e-01 8.50698208e-01 -3.30260179e-02 -5.21534990e+02] [-6.54318477e-02 -1.61207126e-03 9.97855738e-01 -4.59061221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.37, Y:-521.57, Z:-45.91 [[ 8.49261728e-01 5.24940338e-01 5.64991960e-02 9.54373601e+02] [-5.23901671e-01 8.51137635e-01 -3.30418822e-02 -5.21569768e+02] [-6.54336089e-02 -1.53881728e-03 9.97855739e-01 -4.59130228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.42, Y:-521.61, Z:-45.92 [[ 8.48057239e-01 5.26884336e-01 5.64961561e-02 9.54423015e+02] [-5.25849623e-01 8.49935330e-01 -3.30470791e-02 -5.21605284e+02] [-6.54300674e-02 -1.68266772e-03 9.97855739e-01 -4.59155484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.47, Y:-521.64, Z:-45.92 [[ 8.46979595e-01 5.28615390e-01 5.64918996e-02 9.54473552e+02] [-5.27584030e-01 8.48859530e-01 -3.30543537e-02 -5.21641651e+02] [-6.54267274e-02 -1.80786089e-03 9.97855739e-01 -4.59215985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.53, Y:-521.67, Z:-45.94 [[ 8.48790922e-01 5.25702881e-01 5.64840803e-02 9.54528381e+02] [-5.24664181e-01 8.50666811e-01 -3.30677102e-02 -5.21668082e+02] [-6.54329230e-02 -1.56760145e-03 9.97855739e-01 -4.59367961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.57, Y:-521.71, Z:-45.93 [[ 8.44334844e-01 5.32831148e-01 5.64768966e-02 9.54574299e+02] [-5.31807461e-01 8.46218967e-01 -3.30799748e-02 -5.21713562e+02] [-6.54178620e-02 -2.10425964e-03 9.97855739e-01 -4.59322985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:954.62, Y:-521.75, Z:-45.94 [[ 8.44026159e-01 5.33320779e-01 5.64693670e-02 9.54624098e+02] [-5.32297326e-01 8.45910410e-01 -3.30928232e-02 -5.21750559e+02] [-6.54171157e-02 -2.12728455e-03 9.97855739e-01 -4.59354402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.67, Y:-521.79, Z:-45.94 [[ 8.44230094e-01 5.32998771e-01 5.64611282e-02 9.54674107e+02] [-5.31973661e-01 8.46113443e-01 -3.31068739e-02 -5.21787340e+02] [-6.54184427e-02 -2.08601384e-03 9.97855739e-01 -4.59387432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.73, Y:-521.82, Z:-45.94 [[ 8.44801203e-01 5.32093975e-01 5.64528859e-02 9.54725030e+02] [-5.31065911e-01 8.46682941e-01 -3.31209225e-02 -5.21822930e+02] [-6.54211388e-02 -1.99960803e-03 9.97855739e-01 -4.59419461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.78, Y:-521.86, Z:-45.95 [[ 8.47987538e-01 5.27002016e-01 5.64447594e-02 9.54776284e+02] [-5.25961728e-01 8.49862546e-01 -3.31347659e-02 -5.21856893e+02] [-6.54323754e-02 -1.58991467e-03 9.97855739e-01 -4.59477606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:954.83, Y:-521.89, Z:-45.95 [[ 8.47821344e-01 5.27270192e-01 5.64368120e-02 9.54827160e+02] [-5.26229598e-01 8.49696181e-01 -3.31482969e-02 -5.21893521e+02] [-6.54322525e-02 -1.59488726e-03 9.97855739e-01 -4.59519050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.88, Y:-521.93, Z:-45.96 [[ 8.46209764e-01 5.29853809e-01 5.64267334e-02 9.54878802e+02] [-5.28817796e-01 8.48087137e-01 -3.31654443e-02 -5.21927839e+02] [-6.54276238e-02 -1.77453801e-03 9.97855740e-01 -4.59583362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.93, Y:-521.97, Z:-45.96 [[ 8.40935731e-01 5.38185999e-01 5.64174377e-02 9.54927573e+02] [-5.37167520e-01 8.42822674e-01 -3.31812496e-02 -5.21968585e+02] [-6.54075796e-02 -2.40231671e-03 9.97855740e-01 -4.59586502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.98, Y:-522.00, Z:-45.97 [[ 8.41569553e-01 5.37194648e-01 5.64145197e-02 9.54980135e+02] [-5.36173615e-01 8.43455115e-01 -3.31862100e-02 -5.21999813e+02] [-6.54105696e-02 -2.31947305e-03 9.97855740e-01 -4.59686944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.03, Y:-522.04, Z:-45.97 [[ 8.39572926e-01 5.40310666e-01 5.64064384e-02 9.55028614e+02] [-5.39295709e-01 8.41461765e-01 -3.31999401e-02 -5.22038993e+02] [-6.54021430e-02 -2.54597937e-03 9.97855740e-01 -4.59672636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:955.08, Y:-522.07, Z:-45.98 [[ 8.45652601e-01 5.30745596e-01 5.63985088e-02 9.55082111e+02] [-5.29708366e-01 8.47529301e-01 -3.32134051e-02 -5.22068871e+02] [-6.54272572e-02 -1.78775952e-03 9.97855740e-01 -4.59763431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.13, Y:-522.10, Z:-45.98 [[ 8.48408988e-01 5.26329073e-01 5.63905683e-02 9.55134403e+02] [-5.25281177e-01 8.50279754e-01 -3.32268813e-02 -5.22103509e+02] [-6.54360321e-02 -1.43091938e-03 9.97855740e-01 -4.59795917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.18, Y:-522.14, Z:-45.98 [[ 8.46836381e-01 5.28856644e-01 5.63807966e-02 9.55184013e+02] [-5.27813228e-01 8.48709649e-01 -3.32434540e-02 -5.22140692e+02] [-6.54319476e-02 -1.60676402e-03 9.97855740e-01 -4.59756565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.24, Y:-522.17, Z:-45.98 [[ 8.49133323e-01 5.25161577e-01 5.63730339e-02 9.55239759e+02] [-5.24109135e-01 8.51001535e-01 -3.32566124e-02 -5.22166546e+02] [-6.54386334e-02 -1.30632425e-03 9.97855740e-01 -4.59849763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.29, Y:-522.20, Z:-45.99 [[ 8.49360176e-01 5.24795454e-01 5.63650908e-02 9.55294716e+02] [-5.23741315e-01 8.51227430e-01 -3.32700695e-02 -5.22196571e+02] [-6.54394926e-02 -1.26245472e-03 9.97855741e-01 -4.59919855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:955.34, Y:-522.23, Z:-45.99 [[ 8.46355395e-01 5.29628757e-01 5.63553374e-02 9.55343613e+02] [-5.28584181e-01 8.48228016e-01 -3.32865823e-02 -5.22232514e+02] [-6.54317073e-02 -1.61626137e-03 9.97855741e-01 -4.59925439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.40, Y:-522.26, Z:-46.00 [[ 8.47223228e-01 5.28240080e-01 5.63490945e-02 9.55399670e+02] [-5.27191732e-01 8.49093739e-01 -3.32971472e-02 -5.22259645e+02] [-6.54345511e-02 -1.49666019e-03 9.97855741e-01 -4.60009985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.46, Y:-522.29, Z:-46.00 [[ 8.45516428e-01 5.30968645e-01 5.63406387e-02 9.55455449e+02] [-5.29925380e-01 8.47389780e-01 -3.33114489e-02 -5.22288993e+02] [-6.54298163e-02 -1.69095708e-03 9.97855741e-01 -4.60039710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.51, Y:-522.32, Z:-46.01 [[ 8.46879358e-01 5.28793135e-01 5.63309349e-02 9.55509644e+02] [-5.27743967e-01 8.48749409e-01 -3.33278504e-02 -5.22316749e+02] [-6.54343862e-02 -1.50364253e-03 9.97855741e-01 -4.60097819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.56, Y:-522.35, Z:-46.01 [[ 8.49542541e-01 5.24504692e-01 5.63231648e-02 9.55561166e+02] [-5.23445213e-01 8.51406770e-01 -3.33409764e-02 -5.22352975e+02] [-6.54414224e-02 -1.15751311e-03 9.97855741e-01 -4.60103325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.61, Y:-522.39, Z:-46.01 [[ 8.49355407e-01 5.24808722e-01 5.63133931e-02 9.55610979e+02] [-5.23748818e-01 8.51219393e-01 -3.33574727e-02 -5.22388853e+02] [-6.54413450e-02 -1.16172326e-03 9.97855741e-01 -4.60107434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.67, Y:-522.42, Z:-46.02 [[ 8.51221426e-01 5.21777508e-01 5.63055610e-02 9.55665121e+02] [-5.20710091e-01 8.53081121e-01 -3.33706878e-02 -5.22420742e+02] [-6.54452854e-02 -9.13029297e-04 9.97855742e-01 -4.60153956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.72, Y:-522.45, Z:-46.02 [[ 8.52124073e-01 5.20303072e-01 5.62963413e-02 9.55719030e+02] [-5.19231410e-01 8.53981324e-01 -3.33862341e-02 -5.22453211e+02] [-6.54469843e-02 -7.81614910e-04 9.97855742e-01 -4.60198285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.77, Y:-522.49, Z:-46.02 [[ 8.52646762e-01 5.19447071e-01 5.62871129e-02 9.55772082e+02] [-5.18372518e-01 8.54502343e-01 -3.34017854e-02 -5.22485636e+02] [-6.54479294e-02 -6.97768312e-04 9.97855742e-01 -4.60236854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.83, Y:-522.52, Z:-46.03 [[ 8.53074496e-01 5.18745203e-01 5.62789358e-02 9.55825530e+02] [-5.17668214e-01 8.54928664e-01 -3.34155574e-02 -5.22516659e+02] [-6.54486355e-02 -6.27856432e-04 9.97855742e-01 -4.60291275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.88, Y:-522.54, Z:-46.04 [[ 8.55563267e-01 5.14631080e-01 5.62703055e-02 9.55881517e+02] [-5.13544219e-01 8.57411666e-01 -3.34300841e-02 -5.22543323e+02] [-6.54509767e-02 -2.95738121e-04 9.97855742e-01 -4.60375142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.93, Y:-522.58, Z:-46.04 [[ 8.55121313e-01 5.15366025e-01 5.62618915e-02 9.55933251e+02] [-5.14279822e-01 8.56970097e-01 -3.34442387e-02 -5.22577777e+02] [-6.54507830e-02 -3.35474264e-04 9.97855742e-01 -4.60354529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.99, Y:-522.61, Z:-46.05 [[ 8.59073490e-01 5.08751683e-01 5.62535765e-02 9.55988397e+02] [-5.07650329e-01 8.60913289e-01 -3.34582187e-02 -5.22605756e+02] [-6.54513767e-02 1.85922089e-04 9.97855742e-01 -4.60452494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.04, Y:-522.64, Z:-46.05 [[ 8.59559918e-01 5.07929921e-01 5.62489419e-02 9.56042023e+02] [-5.06826299e-01 8.61398357e-01 -3.34660086e-02 -5.22636430e+02] [-6.54511332e-02 2.57596579e-04 9.97855743e-01 -4.60485445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.10, Y:-522.67, Z:-46.05 [[ 8.58023003e-01 5.10522224e-01 5.62457631e-02 9.56095794e+02] [-5.09423806e-01 8.59864556e-01 -3.34713502e-02 -5.22667091e+02] [-6.54516063e-02 6.62577278e-05 9.97855743e-01 -4.60473165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.15, Y:-522.69, Z:-46.06 [[ 8.58813900e-01 5.09191617e-01 5.62368350e-02 9.56152674e+02] [-5.08089364e-01 8.60653160e-01 -3.34863441e-02 -5.22692293e+02] [-6.54513755e-02 1.85199983e-04 9.97855743e-01 -4.60589134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:956.21, Y:-522.72, Z:-46.06 [[ 8.57132290e-01 5.12018156e-01 5.62285096e-02 9.56205850e+02] [-5.10921051e-01 8.58974626e-01 -3.35003179e-02 -5.22724385e+02] [-6.54516340e-02 -1.41250165e-05 9.97855743e-01 -4.60628468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:956.26, Y:-522.76, Z:-46.06 [[ 8.55658571e-01 5.14478241e-01 5.62187568e-02 9.56259405e+02] [-5.13385359e-01 8.57503414e-01 -3.35166766e-02 -5.22755518e+02] [-6.54513767e-02 -1.83055061e-04 9.97855743e-01 -4.60589754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.31, Y:-522.79, Z:-46.06 [[ 8.55079494e-01 5.15441178e-01 5.62090045e-02 9.56314287e+02] [-5.14349298e-01 8.56924930e-01 -3.35330237e-02 -5.22786292e+02] [-6.54511985e-02 -2.37661129e-04 9.97855743e-01 -4.60614519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:956.37, Y:-522.82, Z:-46.07 [[ 8.55125642e-01 5.15365642e-01 5.61995617e-02 9.56367434e+02] [-5.14272560e-01 8.56970367e-01 -3.35488419e-02 -5.22817107e+02] [-6.54512794e-02 -2.13417431e-04 9.97855743e-01 -4.60656732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.42, Y:-522.85, Z:-46.08 [[ 8.57297188e-01 5.11746149e-01 5.61908397e-02 9.56422717e+02] [-5.10644321e-01 8.59136702e-01 -3.35634440e-02 -5.22845508e+02] [-6.54515759e-02 8.03129299e-05 9.97855743e-01 -4.60754774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.48, Y:-522.88, Z:-46.08 [[ 8.57842466e-01 5.10831927e-01 5.61875987e-02 9.56476347e+02] [-5.09727784e-01 8.59680591e-01 -3.35688689e-02 -5.22876456e+02] [-6.54514380e-02 1.56421113e-04 9.97855744e-01 -4.60785190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.53, Y:-522.91, Z:-46.08 [[ 8.56612324e-01 5.12893083e-01 5.61783950e-02 9.56528364e+02] [-5.11792353e-01 8.58452494e-01 -3.35842644e-02 -5.22908018e+02] [-6.54516202e-02 1.70218228e-05 9.97855744e-01 -4.60791762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.58, Y:-522.94, Z:-46.09 [[ 8.57053784e-01 5.12155598e-01 5.61734358e-02 9.56582807e+02] [-5.11052740e-01 8.58892681e-01 -3.35925572e-02 -5.22937504e+02] [-6.54515691e-02 8.30399341e-05 9.97855744e-01 -4.60866745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.64, Y:-522.97, Z:-46.09 [[ 8.55529132e-01 5.14698762e-01 5.61701853e-02 9.56636149e+02] [-5.13601014e-01 8.57371083e-01 -3.35979915e-02 -5.22968029e+02] [-6.54515372e-02 -1.05003629e-04 9.97855744e-01 -4.60884077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.69, Y:-523.00, Z:-46.10 [[ 8.53312460e-01 5.18366381e-01 5.61617403e-02 9.56689950e+02] [-5.17275621e-01 8.55158557e-01 -3.36121020e-02 -5.22998746e+02] [-6.54505765e-02 -3.69473689e-04 9.97855744e-01 -4.60952040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:956.74, Y:-523.03, Z:-46.10 [[ 8.51419688e-01 5.21469907e-01 5.61573792e-02 9.56743118e+02] [-5.20385396e-01 8.53269463e-01 -3.36193867e-02 -5.23027863e+02] [-6.54488753e-02 -5.99272279e-04 9.97855744e-01 -4.60974933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:956.80, Y:-523.06, Z:-46.10 [[ 8.49950013e-01 5.23862365e-01 5.61533531e-02 9.56796723e+02] [-5.22782616e-01 8.51802572e-01 -3.36261101e-02 -5.23060075e+02] [-6.54470241e-02 -7.75484061e-04 9.97855744e-01 -4.61010228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.85, Y:-523.09, Z:-46.10 [[ 8.48989399e-01 5.25418669e-01 5.61446581e-02 9.56849170e+02] [-5.24341357e-01 8.50843376e-01 -3.36406217e-02 -5.23092175e+02] [-6.54457211e-02 -8.78435018e-04 9.97855744e-01 -4.61028924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.90, Y:-523.12, Z:-46.10 [[ 8.49028976e-01 5.25355458e-01 5.61376986e-02 9.56903130e+02] [-5.24277240e-01 8.50882426e-01 -3.36522314e-02 -5.23123925e+02] [-6.54459646e-02 -8.59998117e-04 9.97855744e-01 -4.61033649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.96, Y:-523.16, Z:-46.11 [[ 8.50105471e-01 5.23612595e-01 5.61296567e-02 9.56956135e+02] [-5.22529692e-01 8.51956188e-01 -3.36656393e-02 -5.23155484e+02] [-6.54477611e-02 -7.10068013e-04 9.97855744e-01 -4.61063409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.01, Y:-523.19, Z:-46.11 [[ 8.50856465e-01 5.22392236e-01 5.61215466e-02 9.57010312e+02] [-5.21305787e-01 8.52705102e-01 -3.36791537e-02 -5.23187501e+02] [-6.54488575e-02 -6.00361339e-04 9.97855744e-01 -4.61102474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.06, Y:-523.22, Z:-46.12 [[ 8.51687763e-01 5.21036828e-01 5.61121925e-02 9.57064101e+02] [-5.19946411e-01 8.53534062e-01 -3.36947312e-02 -5.23217353e+02] [-6.54498635e-02 -4.77942878e-04 9.97855745e-01 -4.61176577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.12, Y:-523.25, Z:-46.12 [[ 8.51939545e-01 5.20625397e-01 5.61088886e-02 9.57117619e+02] [-5.19533726e-01 8.53785103e-01 -3.37002320e-02 -5.23248904e+02] [-6.54501299e-02 -4.39899677e-04 9.97855745e-01 -4.61227177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.17, Y:-523.28, Z:-46.12 [[ 8.51195114e-01 5.21842646e-01 5.60993031e-02 9.57169089e+02] [-5.20752562e-01 8.53041610e-01 -3.37161810e-02 -5.23281452e+02] [-6.54495809e-02 -5.14807349e-04 9.97855745e-01 -4.61245721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:957.22, Y:-523.31, Z:-46.13 [[ 8.53572491e-01 5.17945791e-01 5.60906499e-02 9.57223396e+02] [-5.16846331e-01 8.55413420e-01 -3.37305705e-02 -5.23310558e+02] [-6.54513016e-02 -1.98759563e-04 9.97855745e-01 -4.61336758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.27, Y:-523.34, Z:-46.13 [[ 8.54202236e-01 5.16906908e-01 5.60873372e-02 9.57274174e+02] [-5.15804848e-01 8.56041609e-01 -3.37360780e-02 -5.23344941e+02] [-6.54515061e-02 -1.12687154e-04 9.97855745e-01 -4.61298810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.33, Y:-523.38, Z:-46.13 [[ 8.56764400e-01 5.12649919e-01 5.60787307e-02 9.57326939e+02] [-5.11537783e-01 8.58597699e-01 -3.37503784e-02 -5.23377278e+02] [-6.54511978e-02 2.29733121e-04 9.97855745e-01 -4.61320406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.38, Y:-523.41, Z:-46.14 [[ 8.57831000e-01 5.10864055e-01 5.60704258e-02 9.57380689e+02] [-5.09747202e-01 8.59661428e-01 -3.37641698e-02 -5.23409906e+02] [-6.54504830e-02 3.82208889e-04 9.97855745e-01 -4.61352738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.43, Y:-523.44, Z:-46.14 [[ 8.56850775e-01 5.12507480e-01 5.60609662e-02 9.57434846e+02] [-5.11393110e-01 8.58682716e-01 -3.37798691e-02 -5.23439783e+02] [-6.54510183e-02 2.75115150e-04 9.97855745e-01 -4.61419612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:957.49, Y:-523.47, Z:-46.14 [[ 8.54352976e-01 5.16660940e-01 5.60576946e-02 9.57488153e+02] [-5.15555121e-01 8.56190091e-01 -3.37852974e-02 -5.23469923e+02] [-6.54515861e-02 -3.62620717e-05 9.97855745e-01 -4.61432794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.54, Y:-523.50, Z:-46.15 [[ 8.52989528e-01 5.18909773e-01 5.60491987e-02 9.57542429e+02] [-5.17807870e-01 8.54828995e-01 -3.37993861e-02 -5.23501058e+02] [-6.54513119e-02 -1.92193771e-04 9.97855746e-01 -4.61477306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.60, Y:-523.53, Z:-46.15 [[ 8.49393231e-01 5.24776818e-01 5.60395464e-02 9.57597705e+02] [-5.23686565e-01 8.51239626e-01 -3.38153821e-02 -5.23529711e+02] [-6.54486111e-02 -6.24600954e-04 9.97855746e-01 -4.61530289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:957.65, Y:-523.56, Z:-46.16 [[ 8.46253205e-01 5.29826404e-01 5.60311957e-02 9.57651456e+02] [-5.28746252e-01 8.48105527e-01 -3.38292133e-02 -5.23559698e+02] [-6.54439772e-02 -9.98204580e-04 9.97855746e-01 -4.61581820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.70, Y:-523.59, Z:-46.16 [[ 8.44424979e-01 5.32736225e-01 5.60229305e-02 9.57704739e+02] [-5.31661549e-01 8.46280483e-01 -3.38428953e-02 -5.23590321e+02] [-6.54404490e-02 -1.20745182e-03 9.97855746e-01 -4.61617822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.76, Y:-523.62, Z:-46.16 [[ 8.44115497e-01 5.33226945e-01 5.60183246e-02 9.57759231e+02] [-5.32152842e-01 8.45971333e-01 -3.38505176e-02 -5.23622289e+02] [-6.54399048e-02 -1.23656414e-03 9.97855746e-01 -4.61642603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.81, Y:-523.66, Z:-46.17 [[ 8.44742116e-01 5.32234686e-01 5.60089013e-02 9.57812356e+02] [-5.31157369e-01 8.46596088e-01 -3.38661021e-02 -5.23655656e+02] [-6.54416310e-02 -1.14141795e-03 9.97855746e-01 -4.61666337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:957.86, Y:-523.69, Z:-46.17 [[ 8.46560426e-01 5.29338761e-01 5.59993002e-02 9.57864675e+02] [-5.28254052e-01 8.48410083e-01 -3.38819707e-02 -5.23688877e+02] [-6.54454113e-02 -8.98721672e-04 9.97855746e-01 -4.61711259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.92, Y:-523.72, Z:-46.17 [[ 8.47860209e-01 5.27255225e-01 5.59910092e-02 9.57917500e+02] [-5.26165067e-01 8.49706659e-01 -3.38956662e-02 -5.23722531e+02] [-6.54476005e-02 -7.21726469e-04 9.97855746e-01 -4.61742889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.97, Y:-523.76, Z:-46.18 [[ 8.47406743e-01 5.27984767e-01 5.59812328e-02 9.57969713e+02] [-5.26895132e-01 8.49253501e-01 -3.39118050e-02 -5.23755652e+02] [-6.54471745e-02 -7.59146815e-04 9.97855747e-01 -4.61794667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.02, Y:-523.79, Z:-46.19 [[ 8.45155742e-01 5.31581492e-01 5.59722161e-02 9.58022488e+02] [-5.30498731e-01 8.47006539e-01 -3.39266808e-02 -5.23788641e+02] [-6.54436286e-02 -1.01986051e-03 9.97855747e-01 -4.61850487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:958.08, Y:-523.82, Z:-46.19 [[ 8.41581587e-01 5.37222926e-01 5.59639179e-02 9.58075265e+02] [-5.36151660e-01 8.43439061e-01 -3.39403636e-02 -5.23820400e+02] [-6.54356958e-02 -1.44156238e-03 9.97855747e-01 -4.61924133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.13, Y:-523.85, Z:-46.20 [[ 8.42001476e-01 5.36565439e-01 5.59557416e-02 9.58129005e+02] [-5.35491827e-01 8.43857595e-01 -3.39538381e-02 -5.23848764e+02] [-6.54371336e-02 -1.37466054e-03 9.97855747e-01 -4.62032153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.18, Y:-523.89, Z:-46.20 [[ 8.42109600e-01 5.36396463e-01 5.59486906e-02 9.58180029e+02] [-5.35321708e-01 8.43965057e-01 -3.39654528e-02 -5.23885564e+02] [-6.54376886e-02 -1.34791475e-03 9.97855747e-01 -4.62044675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.23, Y:-523.93, Z:-46.20 [[ 8.43881431e-01 5.33605647e-01 5.59387437e-02 9.58227714e+02] [-5.32523670e-01 8.45732686e-01 -3.39818267e-02 -5.23925404e+02] [-6.54421186e-02 -1.11207248e-03 9.97855747e-01 -4.61996324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.28, Y:-523.96, Z:-46.20 [[ 8.48105288e-01 5.26867312e-01 5.59308153e-02 9.58278288e+02] [-5.25769764e-01 8.49947354e-01 -3.39948712e-02 -5.23962487e+02] [-6.54490348e-02 -5.75501515e-04 9.97855747e-01 -4.62030210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.33, Y:-524.00, Z:-46.21 [[ 8.50278851e-01 5.23352615e-01 5.59277772e-02 9.58329567e+02] [-5.22247123e-01 8.52116161e-01 -3.39998686e-02 -5.23997386e+02] [-6.54508829e-02 -2.98751526e-04 9.97855747e-01 -4.62052784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:958.38, Y:-524.03, Z:-46.21 [[ 8.52814474e-01 5.19211444e-01 5.59191310e-02 9.58380383e+02] [-5.18096098e-01 8.54645819e-01 -3.40140829e-02 -5.24033105e+02] [-6.54515526e-02 3.62186772e-05 9.97855748e-01 -4.62097137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.43, Y:-524.07, Z:-46.21 [[ 8.53662214e-01 5.17817416e-01 5.59101740e-02 9.58431308e+02] [-5.16698116e-01 8.55491144e-01 -3.40287996e-02 -5.24068262e+02] [-6.54513638e-02 1.60418835e-04 9.97855748e-01 -4.62139645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.48, Y:-524.10, Z:-46.22 [[ 8.53194714e-01 5.18588235e-01 5.59019041e-02 9.58483076e+02] [-5.17469697e-01 8.55024110e-01 -3.40423798e-02 -5.24103656e+02] [-6.54514535e-02 1.17237172e-04 9.97855748e-01 -4.62208005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.54, Y:-524.14, Z:-46.22 [[ 8.52519359e-01 5.19698228e-01 5.58971840e-02 9.58535517e+02] [-5.18581564e-01 8.54349899e-01 -3.40501284e-02 -5.24135959e+02] [-6.54515449e-02 4.11445310e-05 9.97855748e-01 -4.62222494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.59, Y:-524.17, Z:-46.23 [[ 8.50825076e-01 5.22468490e-01 5.58870943e-02 9.58587319e+02] [-5.21356699e-01 8.52658580e-01 -3.40666807e-02 -5.24169968e+02] [-6.54513777e-02 -1.52324794e-04 9.97855748e-01 -4.62273580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.64, Y:-524.20, Z:-46.23 [[ 8.48038569e-01 5.26980272e-01 5.58782591e-02 9.58638951e+02] [-5.25877280e-01 8.49877380e-01 -3.40811666e-02 -5.24204474e+02] [-6.54497709e-02 -4.82963191e-04 9.97855748e-01 -4.62306873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.69, Y:-524.24, Z:-46.23 [[ 8.44877306e-01 5.32034708e-01 5.58695582e-02 9.58691653e+02] [-5.30941774e-01 8.46722112e-01 -3.40954243e-02 -5.24236087e+02] [-6.54459394e-02 -8.57032107e-04 9.97855748e-01 -4.62333894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.74, Y:-524.27, Z:-46.24 [[ 8.40767788e-01 5.38506408e-01 5.58603179e-02 9.58744926e+02] [-5.37426666e-01 8.42620346e-01 -3.41105564e-02 -5.24269052e+02] [-6.54377936e-02 -1.34176731e-03 9.97855749e-01 -4.62376198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.80, Y:-524.30, Z:-46.24 [[ 8.37367655e-01 5.43779470e-01 5.58506893e-02 9.58796474e+02] [-5.42710341e-01 8.39226358e-01 -3.41263144e-02 -5.24304042e+02] [-6.54285597e-02 -1.73447481e-03 9.97855749e-01 -4.62390573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:958.85, Y:-524.33, Z:-46.24 [[ 8.36226559e-01 5.45533553e-01 5.58415998e-02 9.58849144e+02] [-5.44467331e-01 8.38086932e-01 -3.41411813e-02 -5.24334281e+02] [-6.54252750e-02 -1.85416429e-03 9.97855749e-01 -4.62447774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.90, Y:-524.37, Z:-46.25 [[ 8.34917148e-01 5.47536302e-01 5.58332623e-02 9.58901223e+02] [-5.46473633e-01 8.36779552e-01 -3.41548108e-02 -5.24367592e+02] [-6.54211310e-02 -1.99496846e-03 9.97855749e-01 -4.62502779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.95, Y:-524.40, Z:-46.26 [[ 8.34006520e-01 5.48922989e-01 5.58272120e-02 9.58952553e+02] [-5.47862755e-01 8.35870310e-01 -3.41646973e-02 -5.24401398e+02] [-6.54180968e-02 -2.09206991e-03 9.97855749e-01 -4.62555745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.00, Y:-524.43, Z:-46.26 [[ 8.33589004e-01 5.49557668e-01 5.58188221e-02 9.59004433e+02] [-5.48497937e-01 8.35453081e-01 -3.41783993e-02 -5.24434285e+02] [-6.54170084e-02 -2.12577090e-03 9.97855749e-01 -4.62619832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:959.06, Y:-524.47, Z:-46.27 [[ 8.33289161e-01 5.50013056e-01 5.58104994e-02 9.59055914e+02] [-5.48953435e-01 8.35153300e-01 -3.41919843e-02 -5.24468056e+02] [-6.54163605e-02 -2.14555544e-03 9.97855749e-01 -4.62729200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.11, Y:-524.50, Z:-46.27 [[ 8.33964703e-01 5.48988578e-01 5.58069465e-02 9.59107164e+02] [-5.47926279e-01 8.35827318e-01 -3.41977821e-02 -5.24500869e+02] [-6.54191622e-02 -2.05834930e-03 9.97855749e-01 -4.62719733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.16, Y:-524.53, Z:-46.28 [[ 8.34284956e-01 5.48502714e-01 5.57977212e-02 9.59159750e+02] [-5.47438325e-01 8.36146376e-01 -3.42128278e-02 -5.24534583e+02] [-6.54208913e-02 -2.00256350e-03 9.97855749e-01 -4.62753668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.21, Y:-524.57, Z:-46.28 [[ 8.36791208e-01 5.44672532e-01 5.57880633e-02 9.59210853e+02] [-5.43598573e-01 8.38647123e-01 -3.42285690e-02 -5.24568545e+02] [-6.54298601e-02 -1.68414602e-03 9.97855750e-01 -4.62775817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.26, Y:-524.60, Z:-46.28 [[ 8.38783127e-01 5.41600790e-01 5.57803728e-02 9.59262793e+02] [-5.40519201e-01 8.40634606e-01 -3.42410971e-02 -5.24602314e+02] [-6.54359170e-02 -1.42950805e-03 9.97855750e-01 -4.62796337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.31, Y:-524.64, Z:-46.28 [[ 8.39007001e-01 5.41254789e-01 5.57719057e-02 9.59314612e+02] [-5.40171521e-01 8.40857498e-01 -3.42548828e-02 -5.24635191e+02] [-6.54368444e-02 -1.38630860e-03 9.97855750e-01 -4.62842197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.37, Y:-524.67, Z:-46.29 [[ 8.38035480e-01 5.42758413e-01 5.57659265e-02 9.59368737e+02] [-5.41677818e-01 8.39887539e-01 -3.42646140e-02 -5.24667397e+02] [-6.54345143e-02 -1.49220317e-03 9.97855750e-01 -4.62872816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.42, Y:-524.70, Z:-46.29 [[ 8.34593190e-01 5.48037809e-01 5.57563163e-02 9.59421205e+02] [-5.46967884e-01 8.36451433e-01 -3.42802449e-02 -5.24699862e+02] [-6.54243210e-02 -1.88685534e-03 9.97855750e-01 -4.62908301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.48, Y:-524.73, Z:-46.30 [[ 8.34040004e-01 5.48879831e-01 5.57512588e-02 9.59476046e+02] [-5.47811232e-01 8.35899010e-01 -3.42884681e-02 -5.24727530e+02] [-6.54226706e-02 -1.94321173e-03 9.97855750e-01 -4.62961273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.53, Y:-524.76, Z:-46.30 [[ 8.33152216e-01 5.50227000e-01 5.57461441e-02 9.59528771e+02] [-5.49160852e-01 8.35012629e-01 -3.42967815e-02 -5.24760494e+02] [-6.54197496e-02 -2.03916044e-03 9.97855750e-01 -4.63000772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:959.58, Y:-524.79, Z:-46.30 [[ 8.33575266e-01 5.49586742e-01 5.57376841e-02 9.59581285e+02] [-5.48518246e-01 8.35434331e-01 -3.43105249e-02 -5.24792751e+02] [-6.54217844e-02 -1.97273185e-03 9.97855750e-01 -4.63031016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:959.63, Y:-524.82, Z:-46.31 [[ 8.34807903e-01 5.47713442e-01 5.57292622e-02 9.59633800e+02] [-5.46639862e-01 8.36664037e-01 -3.43241988e-02 -5.24824858e+02] [-6.54264946e-02 -1.80972376e-03 9.97855750e-01 -4.63050634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.69, Y:-524.86, Z:-46.31 [[ 8.35695365e-01 5.46359189e-01 5.57215721e-02 9.59687194e+02] [-5.45281770e-01 8.37549272e-01 -3.43366783e-02 -5.24859057e+02] [-6.54297219e-02 -1.68895459e-03 9.97855751e-01 -4.63070914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.74, Y:-524.89, Z:-46.31 [[ 8.37170349e-01 5.44097414e-01 5.57118531e-02 9.59739160e+02] [-5.43013937e-01 8.39020723e-01 -3.43524403e-02 -5.24892650e+02] [-6.54344732e-02 -1.49346824e-03 9.97855751e-01 -4.63113031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.79, Y:-524.92, Z:-46.32 [[ 8.38066797e-01 5.42716225e-01 5.57058649e-02 9.59792893e+02] [-5.41629054e-01 8.39915002e-01 -3.43621481e-02 -5.24924731e+02] [-6.54370869e-02 -1.37413954e-03 9.97855751e-01 -4.63159473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.84, Y:-524.96, Z:-46.32 [[ 8.39261495e-01 5.40867896e-01 5.56961494e-02 9.59844388e+02] [-5.39775610e-01 8.41106682e-01 -3.43778883e-02 -5.24956780e+02] [-6.54402996e-02 -1.21138511e-03 9.97855751e-01 -4.63206447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.90, Y:-524.99, Z:-46.32 [[ 8.40670904e-01 5.38675130e-01 5.56914357e-02 9.59897492e+02] [-5.37577525e-01 8.42512932e-01 -3.43855227e-02 -5.24990678e+02] [-6.54433807e-02 -1.03155569e-03 9.97855751e-01 -4.63247586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:959.95, Y:-525.02, Z:-46.33 [[ 8.43295585e-01 5.34557850e-01 5.56817963e-02 9.59950497e+02] [-5.33450220e-01 8.45131602e-01 -3.44011252e-02 -5.25024938e+02] [-6.54478372e-02 -6.93149551e-04 9.97855751e-01 -4.63293404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.00, Y:-525.06, Z:-46.33 [[ 8.45315132e-01 5.31359521e-01 5.56721396e-02 9.60001547e+02] [-5.30243916e-01 8.47146314e-01 -3.44167457e-02 -5.25061073e+02] [-6.54501134e-02 -4.26817371e-04 9.97855751e-01 -4.63335159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:960.05, Y:-525.09, Z:-46.34 [[ 8.50570355e-01 5.22906363e-01 5.56687237e-02 9.60054869e+02] [-5.21772198e-01 8.52390099e-01 -3.44222701e-02 -5.25092166e+02] [-6.54510930e-02 2.32170170e-04 9.97855751e-01 -4.63392867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.11, Y:-525.12, Z:-46.34 [[ 8.53125301e-01 5.18728530e-01 5.56590823e-02 9.60106574e+02] [-5.17584437e-01 8.54938820e-01 -3.44378527e-02 -5.25124679e+02] [-6.54490068e-02 5.71528686e-04 9.97855752e-01 -4.63419599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:960.16, Y:-525.15, Z:-46.35 [[ 8.57616939e-01 5.11269198e-01 5.56506360e-02 9.60159862e+02] [-5.10108448e-01 8.59419843e-01 -3.44514962e-02 -5.25154882e+02] [-6.54412497e-02 1.15832713e-03 9.97855752e-01 -4.63529185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.21, Y:-525.19, Z:-46.35 [[ 8.57428159e-01 5.11586658e-01 5.56421035e-02 9.60211713e+02] [-5.10425683e-01 8.59230916e-01 -3.44652715e-02 -5.25188849e+02] [-6.54413887e-02 1.15033560e-03 9.97855752e-01 -4.63503820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:960.27, Y:-525.21, Z:-46.37 [[ 8.60496559e-01 5.06409484e-01 5.56336774e-02 9.60267871e+02] [-5.05236786e-01 8.62291713e-01 -3.44788674e-02 -5.25213972e+02] [-6.54328845e-02 1.56076643e-03 9.97855752e-01 -4.63650518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.32, Y:-525.25, Z:-46.36 [[ 8.55504939e-01 5.14797577e-01 5.56305156e-02 9.60318531e+02] [-5.13642152e-01 8.57311259e-01 -3.44839683e-02 -5.25249005e+02] [-6.54449307e-02 9.27027391e-04 9.97855752e-01 -4.63566817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:960.37, Y:-525.28, Z:-46.36 [[ 8.51625777e-01 5.21190652e-01 5.56223042e-02 9.60373950e+02] [-5.20047924e-01 8.53440156e-01 -3.44972080e-02 -5.25278392e+02] [-6.54499303e-02 4.52447711e-04 9.97855752e-01 -4.63612308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.43, Y:-525.31, Z:-46.37 [[ 8.49930377e-01 5.23951896e-01 5.56126417e-02 9.60429670e+02] [-5.22814043e-01 8.51747817e-01 -3.45127779e-02 -5.25305674e+02] [-6.54509816e-02 2.58388251e-04 9.97855752e-01 -4.63736334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.49, Y:-525.33, Z:-46.38 [[ 8.44576474e-01 5.32539379e-01 5.56092541e-02 9.60486600e+02] [-5.31419647e-01 8.46405134e-01 -3.45182353e-02 -5.25333736e+02] [-6.54502778e-02 -3.98560663e-04 9.97855752e-01 -4.63775455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:960.54, Y:-525.36, Z:-46.37 [[ 8.38222927e-01 5.42486101e-01 5.55981479e-02 9.60540083e+02] [-5.41386878e-01 8.40063989e-01 -3.45361147e-02 -5.25363995e+02] [-6.54413641e-02 -1.15114462e-03 9.97855753e-01 -4.63731141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.60, Y:-525.39, Z:-46.38 [[ 8.34721709e-01 5.47859011e-01 5.55893181e-02 9.60595687e+02] [-5.46770691e-01 8.36569236e-01 -3.45503214e-02 -5.25393105e+02] [-6.54330183e-02 -1.55470655e-03 9.97855753e-01 -4.63775534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.65, Y:-525.42, Z:-46.38 [[ 8.33369192e-01 5.49915173e-01 5.55796018e-02 9.60649843e+02] [-5.48830370e-01 8.35218786e-01 -3.45659445e-02 -5.25424094e+02] [-6.54294649e-02 -1.69758017e-03 9.97855753e-01 -4.63815800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.70, Y:-525.45, Z:-46.39 [[ 8.33325056e-01 5.49983053e-01 5.55697137e-02 9.60704663e+02] [-5.48897342e-01 8.35174117e-01 -3.45818337e-02 -5.25454943e+02] [-6.54298091e-02 -1.68415961e-03 9.97855753e-01 -4.63863165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:960.76, Y:-525.49, Z:-46.39 [[ 8.34237636e-01 5.48598831e-01 5.55597755e-02 9.60758995e+02] [-5.47508990e-01 8.36084266e-01 -3.45977933e-02 -5.25486881e+02] [-6.54329631e-02 -1.55669521e-03 9.97855753e-01 -4.63920129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.81, Y:-525.52, Z:-46.40 [[ 8.35441826e-01 5.46764269e-01 5.55498868e-02 9.60811317e+02] [-5.45669318e-01 8.37285429e-01 -3.46136632e-02 -5.25519130e+02] [-6.54366251e-02 -1.39416687e-03 9.97855753e-01 -4.63972120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.86, Y:-525.55, Z:-46.40 [[ 8.35951569e-01 5.45985481e-01 5.55412462e-02 9.60864637e+02] [-5.44887891e-01 8.37793603e-01 -3.46275225e-02 -5.25552674e+02] [-6.54382253e-02 -1.31682072e-03 9.97855753e-01 -4.64015799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.92, Y:-525.59, Z:-46.41 [[ 8.38400587e-01 5.42218332e-01 5.55313917e-02 9.60916619e+02] [-5.41111419e-01 8.40237034e-01 -3.46433187e-02 -5.25586289e+02] [-6.54437743e-02 -1.00369146e-03 9.97855754e-01 -4.64050082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.97, Y:-525.62, Z:-46.41 [[ 8.40704150e-01 5.38640392e-01 5.55253206e-02 9.60969055e+02] [-5.37525019e-01 8.42535471e-01 -3.46530466e-02 -5.25620889e+02] [-6.54475827e-02 -7.13288920e-04 9.97855754e-01 -4.64077193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.02, Y:-525.66, Z:-46.41 [[ 8.45303882e-01 5.31393784e-01 5.55157019e-02 9.61020588e+02] [-5.30261700e-01 8.47124919e-01 -3.46684493e-02 -5.25656189e+02] [-6.54513330e-02 -1.32475688e-04 9.97855754e-01 -4.64113420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.07, Y:-525.69, Z:-46.41 [[ 8.50469299e-01 5.23087989e-01 5.55060987e-02 9.61072790e+02] [-5.21937117e-01 8.52278522e-01 -3.46838178e-02 -5.25692187e+02] [-6.54493442e-02 5.26829124e-04 9.97855754e-01 -4.64141498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.12, Y:-525.73, Z:-46.42 [[ 8.55324966e-01 5.15111020e-01 5.54963103e-02 9.61124816e+02] [-5.13942262e-01 8.57122685e-01 -3.46994728e-02 -5.25727578e+02] [-6.54412273e-02 1.15742613e-03 9.97855754e-01 -4.64172886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.18, Y:-525.76, Z:-46.42 [[ 8.57798912e-01 5.10981691e-01 5.54863705e-02 9.61175902e+02] [-5.09803254e-01 8.59590301e-01 -3.47153598e-02 -5.25761676e+02] [-6.54344592e-02 1.49166570e-03 9.97855754e-01 -4.64213665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.23, Y:-525.80, Z:-46.43 [[ 8.59795566e-01 5.07615862e-01 5.54772102e-02 9.61228089e+02] [-5.06429470e-01 8.61581697e-01 -3.47299924e-02 -5.25796489e+02] [-6.54276439e-02 1.76539932e-03 9.97855755e-01 -4.64252445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.28, Y:-525.83, Z:-46.44 [[ 8.61741322e-01 5.04306691e-01 5.54676130e-02 9.61282406e+02] [-5.03112456e-01 8.63522217e-01 -3.47453135e-02 -5.25826253e+02] [-6.54198102e-02 2.03502543e-03 9.97855755e-01 -4.64356336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.34, Y:-525.86, Z:-46.44 [[ 8.58400611e-01 5.09973228e-01 5.54589727e-02 9.61335534e+02] [-5.08789862e-01 8.60188747e-01 -3.47590992e-02 -5.25859385e+02] [-6.54313943e-02 1.62026892e-03 9.97855755e-01 -4.64395509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:961.39, Y:-525.89, Z:-46.44 [[ 8.54172731e-01 5.17024535e-01 5.54488564e-02 9.61390284e+02] [-5.15854887e-01 8.55969870e-01 -3.47752297e-02 -5.25889679e+02] [-6.54421974e-02 1.10048938e-03 9.97855755e-01 -4.64440846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.44, Y:-525.92, Z:-46.45 [[ 8.49179392e-01 5.25186553e-01 5.54386621e-02 9.61443753e+02] [-5.24033121e-01 8.50986981e-01 -3.47914739e-02 -5.25920447e+02] [-6.54495939e-02 4.92507532e-04 9.97855755e-01 -4.64469963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:961.50, Y:-525.95, Z:-46.45 [[ 8.45218364e-01 5.31538821e-01 5.54292310e-02 9.61496399e+02] [-5.30397989e-01 8.47033932e-01 -3.48064929e-02 -5.25954230e+02] [-6.54514417e-02 1.95343414e-05 9.97855755e-01 -4.64479381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.55, Y:-525.98, Z:-46.45 [[ 8.41219042e-01 5.37846315e-01 5.54244100e-02 9.61551765e+02] [-5.36718590e-01 8.43042780e-01 -3.48141679e-02 -5.25982688e+02] [-6.54498206e-02 -4.60970254e-04 9.97855755e-01 -4.64540631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.60, Y:-526.02, Z:-46.45 [[ 8.36664810e-01 5.44904783e-01 5.54145537e-02 9.61602702e+02] [-5.43791403e-01 8.38497341e-01 -3.48298494e-02 -5.26016437e+02] [-6.54439075e-02 -9.93048592e-04 9.97855756e-01 -4.64526398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.65, Y:-526.05, Z:-46.46 [[ 8.33635276e-01 5.49529233e-01 5.54062270e-02 9.61654713e+02] [-5.48425138e-01 8.35473415e-01 -3.48430903e-02 -5.26049353e+02] [-6.54377263e-02 -1.33973845e-03 9.97855756e-01 -4.64589337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:961.71, Y:-526.08, Z:-46.46 [[ 8.32475978e-01 5.51284482e-01 5.54000548e-02 9.61705873e+02] [-5.50183610e-01 8.34316050e-01 -3.48529012e-02 -5.26083481e+02] [-6.54350185e-02 -1.46599916e-03 9.97855756e-01 -4.64637786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.76, Y:-526.12, Z:-46.47 [[ 8.31059375e-01 5.53418291e-01 5.53941443e-02 9.61757995e+02] [-5.52321518e-01 8.32901892e-01 -3.48622926e-02 -5.26117875e+02] [-6.54313180e-02 -1.62274279e-03 9.97855756e-01 -4.64687905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.81, Y:-526.15, Z:-46.48 [[ 8.30537532e-01 5.54202070e-01 5.53847719e-02 9.61810672e+02] [-5.53106044e-01 8.32380494e-01 -3.48771759e-02 -5.26152225e+02] [-6.54302069e-02 -1.66684846e-03 9.97855756e-01 -4.64788243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.86, Y:-526.19, Z:-46.48 [[ 8.29772360e-01 5.55347553e-01 5.53798271e-02 9.61861037e+02] [-5.54253547e-01 8.31616522e-01 -3.48850259e-02 -5.26188252e+02] [-6.54280930e-02 -1.74783531e-03 9.97855756e-01 -4.64846775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.91, Y:-526.23, Z:-46.49 [[ 8.29684999e-01 5.55479116e-01 5.53692618e-02 9.61909136e+02] [-5.54384285e-01 8.31528671e-01 -3.49017869e-02 -5.26226505e+02] [-6.54283424e-02 -1.73835960e-03 9.97855756e-01 -4.64863296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.96, Y:-526.26, Z:-46.49 [[ 8.30822066e-01 5.53777784e-01 5.53611769e-02 9.61958850e+02] [-5.52678324e-01 8.32662981e-01 -3.49146066e-02 -5.26264414e+02] [-6.54321361e-02 -1.58909683e-03 9.97855756e-01 -4.64907163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.00, Y:-526.31, Z:-46.49 [[ 8.36425825e-01 5.45277959e-01 5.53514765e-02 9.62004976e+02] [-5.44158769e-01 8.38254813e-01 -3.49299782e-02 -5.26306940e+02] [-6.54451888e-02 -9.03655485e-04 9.97855756e-01 -4.64917373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.05, Y:-526.35, Z:-46.50 [[ 8.39796152e-01 5.40073785e-01 5.53419336e-02 9.62054146e+02] [-5.38942264e-01 8.41617536e-01 -3.49450912e-02 -5.26347341e+02] [-6.54496695e-02 -4.79353876e-04 9.97855757e-01 -4.64975123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.11, Y:-526.38, Z:-46.50 [[ 8.39630618e-01 5.40331572e-01 5.53373030e-02 9.62107592e+02] [-5.39200127e-01 8.41452049e-01 -3.49524224e-02 -5.26381198e+02] [-6.54495844e-02 -4.90756785e-04 9.97855757e-01 -4.65016654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:962.16, Y:-526.42, Z:-46.51 [[ 8.41005775e-01 5.38189798e-01 5.53265646e-02 9.62157921e+02] [-5.37052596e-01 8.42823617e-01 -3.49694122e-02 -5.26419190e+02] [-6.54507161e-02 -3.03797566e-04 9.97855757e-01 -4.65062578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.21, Y:-526.45, Z:-46.51 [[ 8.39827203e-01 5.40028272e-01 5.53148768e-02 9.62210971e+02] [-5.38893832e-01 8.41646770e-01 -3.49878903e-02 -5.26451015e+02] [-6.54500373e-02 -4.25063928e-04 9.97855757e-01 -4.65081234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.26, Y:-526.48, Z:-46.51 [[ 8.38933940e-01 5.41416034e-01 5.53039090e-02 9.62262819e+02] [-5.40283462e-01 8.40754670e-01 -3.50052180e-02 -5.26484332e+02] [-6.54494061e-02 -5.12721989e-04 9.97855757e-01 -4.65139976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.32, Y:-526.52, Z:-46.52 [[ 8.38786442e-01 5.41644862e-01 5.53005253e-02 9.62315343e+02] [-5.40512434e-01 8.40607262e-01 -3.50105627e-02 -5.26516489e+02] [-6.54493146e-02 -5.24236226e-04 9.97855757e-01 -4.65177838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.37, Y:-526.55, Z:-46.52 [[ 8.39014690e-01 5.41292273e-01 5.52903654e-02 9.62368724e+02] [-5.40158024e-01 8.40834375e-01 -3.50266003e-02 -5.26548727e+02] [-6.54496680e-02 -4.77702296e-04 9.97855758e-01 -4.65217596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.42, Y:-526.58, Z:-46.53 [[ 8.41861986e-01 5.36854230e-01 5.52804912e-02 9.62423432e+02] [-5.35709365e-01 8.43675010e-01 -3.50421773e-02 -5.26579111e+02] [-6.54513101e-02 -1.13599886e-04 9.97855758e-01 -4.65287878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:962.47, Y:-526.61, Z:-46.53 [[ 8.41378808e-01 5.37612236e-01 5.52701141e-02 9.62474402e+02] [-5.36467929e-01 8.43192184e-01 -3.50585370e-02 -5.26614168e+02] [-6.54512267e-02 -1.53133596e-04 9.97855758e-01 -4.65280315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.53, Y:-526.64, Z:-46.54 [[ 8.44009405e-01 5.33473895e-01 5.52605361e-02 9.62528976e+02] [-5.32319709e-01 8.45816510e-01 -3.50736277e-02 -5.26643616e+02] [-6.54511386e-02 1.86199242e-04 9.97855758e-01 -4.65377088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.58, Y:-526.68, Z:-46.54 [[ 8.44816182e-01 5.32196291e-01 5.52514854e-02 9.62581872e+02] [-5.31038440e-01 8.46620940e-01 -3.50878795e-02 -5.26678318e+02] [-6.54507039e-02 3.02145802e-04 9.97855758e-01 -4.65394405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.63, Y:-526.71, Z:-46.54 [[ 8.44997218e-01 5.31909867e-01 5.52412462e-02 9.62633120e+02] [-5.30750350e-01 8.46800907e-01 -3.51039924e-02 -5.26712525e+02] [-6.54504973e-02 3.43465131e-04 9.97855758e-01 -4.65413329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.69, Y:-526.74, Z:-46.55 [[ 8.47432648e-01 5.28022115e-01 5.52318085e-02 9.62687153e+02] [-5.26853356e-01 8.49230362e-01 -3.51188353e-02 -5.26741234e+02] [-6.54480504e-02 6.61783910e-04 9.97855759e-01 -4.65528123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:962.74, Y:-526.77, Z:-46.56 [[ 8.47587683e-01 5.27774136e-01 5.52230119e-02 9.62740207e+02] [-5.26603951e-01 8.49384468e-01 -3.51326621e-02 -5.26772888e+02] [-6.54476790e-02 6.97355403e-04 9.97855759e-01 -4.65595909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.79, Y:-526.81, Z:-46.56 [[ 8.43178469e-01 5.34791057e-01 5.52140778e-02 9.62789716e+02] [-5.33634906e-01 8.44984317e-01 -3.51466972e-02 -5.26808823e+02] [-6.54511692e-02 1.70779086e-04 9.97855759e-01 -4.65565840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:962.84, Y:-526.84, Z:-46.56 [[ 8.41036032e-01 5.38154558e-01 5.52092807e-02 9.62842933e+02] [-5.37005135e-01 8.42846170e-01 -3.51542310e-02 -5.26841352e+02] [-6.54513404e-02 -8.16922844e-05 9.97855759e-01 -4.65616628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.90, Y:-526.87, Z:-46.57 [[ 8.37666817e-01 5.43385063e-01 5.51994367e-02 9.62896544e+02] [-5.42245924e-01 8.39483443e-01 -3.51696814e-02 -5.26873068e+02] [-6.54496927e-02 -4.71194477e-04 9.97855759e-01 -4.65669417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:962.95, Y:-526.90, Z:-46.57 [[ 8.36111482e-01 5.45776225e-01 5.51896981e-02 9.62951261e+02] [-5.44641273e-01 8.37930727e-01 -3.51849569e-02 -5.26903752e+02] [-6.54482568e-02 -6.40040967e-04 9.97855759e-01 -4.65727933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:963.00, Y:-526.94, Z:-46.58 [[ 8.35460624e-01 5.46773069e-01 5.51793166e-02 9.63004374e+02] [-5.45639213e-01 8.37280552e-01 -3.52012304e-02 -5.26937816e+02] [-6.54476534e-02 -6.98756953e-04 9.97855759e-01 -4.65765716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.05, Y:-526.97, Z:-46.58 [[ 8.34609331e-01 5.48072674e-01 5.51689156e-02 9.63054581e+02] [-5.46940575e-01 8.36430352e-01 -3.52175237e-02 -5.26973701e+02] [-6.54467179e-02 -7.81244495e-04 9.97855760e-01 -4.65790950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.11, Y:-527.01, Z:-46.58 [[ 8.35243858e-01 5.47106169e-01 5.51592110e-02 9.63105806e+02] [-5.45970959e-01 8.37062941e-01 -3.52327170e-02 -5.27007408e+02] [-6.54477682e-02 -6.87416870e-04 9.97855760e-01 -4.65836828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:963.16, Y:-527.04, Z:-46.59 [[ 8.36740792e-01 5.44814947e-01 5.51499885e-02 9.63158334e+02] [-5.43673805e-01 8.38556160e-01 -3.52471472e-02 -5.27042232e+02] [-6.54495352e-02 -4.90878240e-04 9.97855760e-01 -4.65881458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.21, Y:-527.08, Z:-46.59 [[ 8.37153012e-01 5.44182562e-01 5.51377711e-02 9.63209894e+02] [-5.43038791e-01 8.38966724e-01 -3.52662487e-02 -5.27078124e+02] [-6.54500328e-02 -4.18702256e-04 9.97855760e-01 -4.65913418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.26, Y:-527.11, Z:-46.60 [[ 8.37501034e-01 5.43648043e-01 5.51255361e-02 9.63260792e+02] [-5.42501855e-01 8.39313220e-01 -3.52853633e-02 -5.27113651e+02] [-6.54504098e-02 -3.54177347e-04 9.97855760e-01 -4.65951769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:963.32, Y:-527.14, Z:-46.61 [[ 8.39285221e-01 5.40890251e-01 5.51185497e-02 9.63315888e+02] [-5.39737392e-01 8.41093170e-01 -3.52962731e-02 -5.27142673e+02] [-6.54512458e-02 -1.25901861e-04 9.97855760e-01 -4.66064362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.37, Y:-527.18, Z:-46.61 [[ 8.37413148e-01 5.43785194e-01 5.51079263e-02 9.63368313e+02] [-5.42637494e-01 8.39224376e-01 -3.53128517e-02 -5.27175600e+02] [-6.54505209e-02 -3.32180685e-04 9.97855761e-01 -4.66104785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.42, Y:-527.21, Z:-46.61 [[ 8.33626407e-01 5.49573660e-01 5.50981430e-02 9.63420568e+02] [-5.48437527e-01 8.35444913e-01 -3.53281099e-02 -5.27208831e+02] [-6.54468619e-02 -7.67443993e-04 9.97855761e-01 -4.66124316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:963.48, Y:-527.24, Z:-46.62 [[ 8.33549047e-01 5.49691323e-01 5.50947908e-02 9.63476190e+02] [-5.48555101e-01 8.35367498e-01 -3.53333370e-02 -5.27237452e+02] [-6.54468262e-02 -7.70459172e-04 9.97855761e-01 -4.66195964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.53, Y:-527.27, Z:-46.62 [[ 8.31108843e-01 5.53374991e-01 5.50836681e-02 9.63529072e+02] [-5.52245680e-01 8.32931593e-01 -3.53506685e-02 -5.27271008e+02] [-6.54431032e-02 -1.03946456e-03 9.97855761e-01 -4.66218623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.58, Y:-527.30, Z:-46.63 [[ 8.31227203e-01 5.53198223e-01 5.50732496e-02 9.63582736e+02] [-5.52067450e-01 8.33049046e-01 -3.53668920e-02 -5.27303111e+02] [-6.54436199e-02 -1.00622576e-03 9.97855761e-01 -4.66283013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:963.63, Y:-527.34, Z:-46.63 [[ 8.29172699e-01 5.56273965e-01 5.50627944e-02 9.63632448e+02] [-5.55148869e-01 8.30998053e-01 -3.53831624e-02 -5.27339743e+02] [-6.54398070e-02 -1.22929577e-03 9.97855761e-01 -4.66285239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.69, Y:-527.37, Z:-46.64 [[ 8.31206394e-01 5.53231359e-01 5.50544603e-02 9.63686066e+02] [-5.52098723e-01 8.33027079e-01 -3.53961250e-02 -5.27369575e+02] [-6.54441026e-02 -9.74011773e-04 9.97855762e-01 -4.66367520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.74, Y:-527.41, Z:-46.64 [[ 8.29166247e-01 5.56285311e-01 5.50453329e-02 9.63735545e+02] [-5.55158438e-01 8.30990504e-01 -3.54103136e-02 -5.27405584e+02] [-6.54403863e-02 -1.19784419e-03 9.97855762e-01 -4.66353354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.79, Y:-527.44, Z:-46.64 [[ 8.30437498e-01 5.54386592e-01 5.50369845e-02 9.63788384e+02] [-5.53254688e-01 8.32258638e-01 -3.54232845e-02 -5.27436521e+02] [-6.54431997e-02 -1.03264595e-03 9.97855762e-01 -4.66440479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.84, Y:-527.47, Z:-46.65 [[ 8.28948792e-01 5.56610955e-01 5.50285749e-02 9.63837756e+02] [-5.55483072e-01 8.30772425e-01 -3.54363437e-02 -5.27473320e+02] [-6.54404797e-02 -1.19252755e-03 9.97855762e-01 -4.66453920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.89, Y:-527.50, Z:-46.66 [[ 8.31405051e-01 5.52936170e-01 5.50202969e-02 9.63891890e+02] [-5.51799376e-01 8.33223142e-01 -3.54491918e-02 -5.27503521e+02] [-6.54453250e-02 -8.87528362e-04 9.97855762e-01 -4.66572394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.95, Y:-527.54, Z:-46.66 [[ 8.32903323e-01 5.50677606e-01 5.50111750e-02 9.63945431e+02] [-5.49534946e-01 8.34717733e-01 -3.54633419e-02 -5.27535473e+02] [-6.54476715e-02 -6.93027824e-04 9.97855762e-01 -4.66642812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.99, Y:-527.57, Z:-46.66 [[ 8.29620459e-01 5.55611396e-01 5.50079078e-02 9.63993796e+02] [-5.54479190e-01 8.31441411e-01 -3.54684090e-02 -5.27574916e+02] [-6.54425047e-02 -1.07542235e-03 9.97855762e-01 -4.66586042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.05, Y:-527.60, Z:-46.67 [[ 8.31363749e-01 5.53000460e-01 5.49982557e-02 9.64047327e+02] [-5.51861545e-01 8.33180512e-01 -3.54833695e-02 -5.27603711e+02] [-6.54457945e-02 -8.51835287e-04 9.97855762e-01 -4.66677761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:964.10, Y:-527.64, Z:-46.67 [[ 8.30777976e-01 5.53880861e-01 5.49904177e-02 9.64098051e+02] [-5.52743068e-01 8.32595442e-01 -3.54955123e-02 -5.27639268e+02] [-6.54450560e-02 -9.06682337e-04 9.97855762e-01 -4.66674160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.15, Y:-527.67, Z:-46.67 [[ 8.30706923e-01 5.53988273e-01 5.49818238e-02 9.64149929e+02] [-5.52849834e-01 8.32523985e-01 -3.55088191e-02 -5.27672790e+02] [-6.54451564e-02 -8.99270295e-04 9.97855763e-01 -4.66718582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.20, Y:-527.70, Z:-46.68 [[ 8.32068847e-01 5.51941510e-01 5.49727485e-02 9.64202452e+02] [-5.50797674e-01 8.33882515e-01 -3.55228635e-02 -5.27704758e+02] [-6.54473567e-02 -7.21393938e-04 9.97855763e-01 -4.66807513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.25, Y:-527.74, Z:-46.68 [[ 8.32165141e-01 5.51796669e-01 5.49692121e-02 9.64253054e+02] [-5.50652155e-01 8.33978382e-01 -3.55283349e-02 -5.27738597e+02] [-6.54475514e-02 -7.03473258e-04 9.97855763e-01 -4.66815131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.30, Y:-527.77, Z:-46.69 [[ 8.34190805e-01 5.48730441e-01 5.49600249e-02 9.64304837e+02] [-5.47578326e-01 8.35999225e-01 -3.55425412e-02 -5.27773160e+02] [-6.54498126e-02 -4.45657395e-04 9.97855763e-01 -4.66868563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.36, Y:-527.81, Z:-46.69 [[ 8.36157180e-01 5.45730252e-01 5.49514629e-02 9.64356297e+02] [-5.44570778e-01 8.37960891e-01 -3.55557739e-02 -5.27807951e+02] [-6.54510382e-02 -1.94745299e-04 9.97855763e-01 -4.66908635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.41, Y:-527.84, Z:-46.69 [[ 8.37816562e-01 5.43180208e-01 5.49424266e-02 9.64409183e+02] [-5.42014329e-01 8.39616139e-01 -3.55697316e-02 -5.27840489e+02] [-6.54513224e-02 2.13277885e-05 9.97855763e-01 -4.66943132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.46, Y:-527.87, Z:-46.70 [[ 8.37836105e-01 5.43150987e-01 5.49332993e-02 9.64461011e+02] [-5.41984121e-01 8.39635042e-01 -3.55838222e-02 -5.27874618e+02] [-6.54513112e-02 4.04350194e-05 9.97855763e-01 -4.66964019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.51, Y:-527.91, Z:-46.70 [[ 8.37806447e-01 5.43197719e-01 5.49235508e-02 9.64514004e+02] [-5.42029968e-01 8.39604809e-01 -3.55988626e-02 -5.27908561e+02] [-6.54512984e-02 5.47461532e-05 9.97855763e-01 -4.66998656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:964.57, Y:-527.94, Z:-46.70 [[ 8.36734146e-01 5.44848995e-01 5.49139537e-02 9.64566555e+02] [-5.43683821e-01 8.38534179e-01 -3.56136608e-02 -5.27941313e+02] [-6.54512944e-02 -5.66621127e-05 9.97855764e-01 -4.67034716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:964.62, Y:-527.97, Z:-46.71 [[ 8.34725154e-01 5.47922759e-01 5.49050840e-02 9.64620967e+02] [-5.46763315e-01 8.36528882e-01 -3.56273298e-02 -5.27972744e+02] [-6.54507134e-02 -2.81057372e-04 9.97855764e-01 -4.67095122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.67, Y:-528.01, Z:-46.71 [[ 8.33582932e-01 5.49659850e-01 5.48957665e-02 9.64674281e+02] [-5.48503220e-01 8.35388466e-01 -3.56416809e-02 -5.28005873e+02] [-6.54500911e-02 -4.00207818e-04 9.97855764e-01 -4.67144852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.73, Y:-528.04, Z:-46.72 [[ 8.33161152e-01 5.50299905e-01 5.48863297e-02 9.64727461e+02] [-5.49143705e-01 8.34966961e-01 -3.56562071e-02 -5.28039132e+02] [-6.54498793e-02 -4.33115885e-04 9.97855764e-01 -4.67196918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.78, Y:-528.07, Z:-46.73 [[ 8.33690579e-01 5.49498444e-01 5.48769461e-02 9.64779795e+02] [-5.48339557e-01 8.35494665e-01 -3.56706431e-02 -5.28071874e+02] [-6.54503586e-02 -3.52921231e-04 9.97855764e-01 -4.67271703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.83, Y:-528.11, Z:-46.73 [[ 8.33473202e-01 5.49829028e-01 5.48676698e-02 9.64832211e+02] [-5.48669918e-01 8.35277145e-01 -3.56849060e-02 -5.28107225e+02] [-6.54503078e-02 -3.61826991e-04 9.97855764e-01 -4.67309068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.88, Y:-528.14, Z:-46.74 [[ 8.34180476e-01 5.48755852e-01 5.48629998e-02 9.64884435e+02] [-5.47593948e-01 8.35982621e-01 -3.56920844e-02 -5.28142164e+02] [-6.54507545e-02 -2.69006761e-04 9.97855764e-01 -4.67358417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.93, Y:-528.18, Z:-46.74 [[ 8.34058505e-01 5.48942299e-01 5.48521982e-02 9.64934851e+02] [-5.47779707e-01 8.35860205e-01 -3.57086768e-02 -5.28176556e+02] [-6.54507728e-02 -2.63795515e-04 9.97855765e-01 -4.67358478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.99, Y:-528.21, Z:-46.74 [[ 8.32591060e-01 5.51166289e-01 5.48438487e-02 9.64985863e+02] [-5.50007666e-01 8.34395315e-01 -3.57214958e-02 -5.28211106e+02] [-6.54499348e-02 -4.23139118e-04 9.97855765e-01 -4.67406451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:965.04, Y:-528.25, Z:-46.74 [[ 8.30611104e-01 5.54145934e-01 5.48404836e-02 9.65037879e+02] [-5.52993441e-01 8.32419281e-01 -3.57266614e-02 -5.28245561e+02] [-6.54480601e-02 -6.51466052e-04 9.97855765e-01 -4.67436535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.09, Y:-528.28, Z:-46.75 [[ 8.28495787e-01 5.57304648e-01 5.48293773e-02 9.65087199e+02] [-5.56157921e-01 8.30307627e-01 -3.57436979e-02 -5.28282960e+02] [-6.54453791e-02 -8.80289382e-04 9.97855765e-01 -4.67514830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.14, Y:-528.32, Z:-46.75 [[ 8.28892788e-01 5.56714354e-01 5.48258511e-02 9.65139067e+02] [-5.55565980e-01 8.30703584e-01 -3.57491059e-02 -5.28315361e+02] [-6.54460714e-02 -8.27201619e-04 9.97855765e-01 -4.67546900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.19, Y:-528.35, Z:-46.76 [[ 8.29649035e-01 5.55587625e-01 5.48166902e-02 9.65190959e+02] [-5.54435864e-01 8.31457678e-01 -3.57631474e-02 -5.28350709e+02] [-6.54473201e-02 -7.21478216e-04 9.97855765e-01 -4.67583259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.24, Y:-528.39, Z:-46.76 [[ 8.32272214e-01 5.51651316e-01 5.48068288e-02 9.65242291e+02] [-5.50490005e-01 8.34074740e-01 -3.57782536e-02 -5.28385529e+02] [-6.54501121e-02 -3.93365157e-04 9.97855765e-01 -4.67594960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.29, Y:-528.42, Z:-46.76 [[ 8.35772651e-01 5.46334381e-01 5.47979937e-02 9.65294392e+02] [-5.45160716e-01 8.37567157e-01 -3.57917804e-02 -5.28420118e+02] [-6.54512800e-02 4.00777035e-05 9.97855765e-01 -4.67612808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.35, Y:-528.45, Z:-46.76 [[ 8.38871806e-01 5.41564621e-01 5.47891888e-02 9.65348447e+02] [-5.40379872e-01 8.40659014e-01 -3.58052537e-02 -5.28453034e+02] [-6.54498840e-02 4.29043018e-04 9.97855765e-01 -4.67647845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.40, Y:-528.49, Z:-46.77 [[ 8.39432396e-01 5.40696355e-01 5.47786888e-02 9.65400025e+02] [-5.39508710e-01 8.41217680e-01 -3.58213105e-02 -5.28486488e+02] [-6.54492535e-02 5.15988791e-04 9.97855766e-01 -4.67690324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.45, Y:-528.52, Z:-46.77 [[ 8.40974832e-01 5.38295165e-01 5.47690365e-02 9.65454691e+02] [-5.37101462e-01 8.42756071e-01 -3.58360623e-02 -5.28515991e+02] [-6.54473171e-02 7.20696854e-04 9.97855766e-01 -4.67740732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.51, Y:-528.55, Z:-46.78 [[ 8.40364523e-01 5.39248382e-01 5.47599300e-02 9.65508800e+02] [-5.38055794e-01 8.42146509e-01 -3.58499724e-02 -5.28546848e+02] [-6.54479234e-02 6.63147360e-04 9.97855766e-01 -4.67793376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.56, Y:-528.58, Z:-46.78 [[ 8.38915770e-01 5.41499825e-01 5.47564646e-02 9.65560580e+02] [-5.40311674e-01 8.40700717e-01 -3.58552645e-02 -5.28579715e+02] [-6.54494185e-02 4.93989782e-04 9.97855766e-01 -4.67802245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.62, Y:-528.61, Z:-46.78 [[ 8.35403346e-01 5.46903982e-01 5.47474638e-02 9.65615445e+02] [-5.45726477e-01 8.37195334e-01 -3.58690026e-02 -5.28611021e+02] [-6.54512216e-02 8.79442100e-05 9.97855766e-01 -4.67846397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.67, Y:-528.64, Z:-46.79 [[ 8.31261499e-01 5.53180030e-01 5.47373175e-02 9.65668976e+02] [-5.52015035e-01 8.33061645e-01 -3.58844795e-02 -5.28642020e+02] [-6.54501372e-02 -3.86436040e-04 9.97855766e-01 -4.67899913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.72, Y:-528.67, Z:-46.79 [[ 8.24637262e-01 5.63008206e-01 5.47279392e-02 9.65723990e+02] [-5.61863712e-01 8.26450511e-01 -3.58987769e-02 -5.28671852e+02] [-6.54412392e-02 -1.14617398e-03 9.97855766e-01 -4.67939020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.78, Y:-528.71, Z:-46.79 [[ 8.19996250e-01 5.69747410e-01 5.47178081e-02 9.65776261e+02] [-5.68616786e-01 8.21818180e-01 -3.59142122e-02 -5.28706144e+02] [-6.54301189e-02 -1.66394482e-03 9.97855767e-01 -4.67932386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.83, Y:-528.74, Z:-46.80 [[ 8.20356180e-01 5.69229931e-01 5.47085406e-02 9.65828596e+02] [-5.68097217e-01 8.22176810e-01 -3.59283240e-02 -5.28737846e+02] [-6.54315708e-02 -1.60574708e-03 9.97855767e-01 -4.67998178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:965.88, Y:-528.77, Z:-46.80 [[ 8.19933009e-01 5.69840123e-01 5.47000548e-02 9.65880466e+02] [-5.68707903e-01 8.21753947e-01 -3.59412388e-02 -5.28772636e+02] [-6.54307459e-02 -1.63894537e-03 9.97855767e-01 -4.68024493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:965.93, Y:-528.81, Z:-46.81 [[ 8.19866085e-01 5.69937362e-01 5.46900992e-02 9.65932127e+02] [-5.68804349e-01 8.21686529e-01 -3.59563814e-02 -5.28806553e+02] [-6.54310030e-02 -1.62854861e-03 9.97855767e-01 -4.68069515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.98, Y:-528.84, Z:-46.81 [[ 8.21363007e-01 5.67778838e-01 5.46809075e-02 9.65984822e+02] [-5.66640111e-01 8.23179882e-01 -3.59703544e-02 -5.28840129e+02] [-6.54354290e-02 -1.43967704e-03 9.97855767e-01 -4.68117352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.03, Y:-528.88, Z:-46.82 [[ 8.21765690e-01 5.67196898e-01 5.46701889e-02 9.66033806e+02] [-5.66055801e-01 8.23581078e-01 -3.59866379e-02 -5.28876922e+02] [-6.54368425e-02 -1.37379324e-03 9.97855767e-01 -4.68169440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.09, Y:-528.91, Z:-46.82 [[ 8.24729876e-01 5.62878971e-01 5.46616438e-02 9.66085963e+02] [-5.61727508e-01 8.26538707e-01 -3.59996128e-02 -5.28909337e+02] [-6.54433894e-02 -1.01499277e-03 9.97855767e-01 -4.68240642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.13, Y:-528.95, Z:-46.83 [[ 8.26545187e-01 5.60210826e-01 5.46524019e-02 9.66134225e+02] [-5.59052597e-01 8.28349692e-01 -3.60136378e-02 -5.28947640e+02] [-6.54465300e-02 -7.86668278e-04 9.97855768e-01 -4.68276878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.18, Y:-528.98, Z:-46.83 [[ 8.31703649e-01 5.52523959e-01 5.46471940e-02 9.66182848e+02] [-5.51348531e-01 8.33496998e-01 -3.60215385e-02 -5.28983856e+02] [-6.54510352e-02 -1.70405170e-04 9.97855768e-01 -4.68328789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.23, Y:-529.02, Z:-46.84 [[ 8.35928045e-01 5.46112495e-01 5.46392388e-02 9.66233865e+02] [-5.44922524e-01 8.37711778e-01 -3.60336013e-02 -5.29021411e+02] [-6.54503338e-02 3.47345947e-04 9.97855768e-01 -4.68370494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.28, Y:-529.06, Z:-46.84 [[ 8.42804403e-01 5.35440337e-01 5.46295177e-02 9.66284589e+02] [-5.34226829e-01 8.44572207e-01 -3.60483332e-02 -5.29059146e+02] [-6.54403040e-02 1.19713994e-03 9.97855768e-01 -4.68388032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.33, Y:-529.10, Z:-46.84 [[ 8.47244827e-01 5.28387119e-01 5.46191892e-02 9.66334297e+02] [-5.27157891e-01 8.49001736e-01 -3.60639759e-02 -5.29097884e+02] [-6.54275267e-02 1.76208042e-03 9.97855768e-01 -4.68385258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.39, Y:-529.13, Z:-46.84 [[ 8.49069290e-01 5.25450702e-01 5.46159397e-02 9.66385546e+02] [-5.24215083e-01 8.50821710e-01 -3.60688964e-02 -5.29132643e+02] [-6.54208541e-02 1.99449289e-03 9.97855768e-01 -4.68449276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.44, Y:-529.17, Z:-46.85 [[ 8.48833489e-01 5.25832043e-01 5.46110898e-02 9.66438004e+02] [-5.24596739e-01 8.50586131e-01 -3.60762380e-02 -5.29166944e+02] [-6.54214775e-02 1.97391933e-03 9.97855768e-01 -4.68483750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:966.49, Y:-529.20, Z:-46.85 [[ 8.44518425e-01 5.32735793e-01 5.46004182e-02 9.66489494e+02] [-5.31513778e-01 8.46280358e-01 -3.60923819e-02 -5.29201077e+02] [-6.54349651e-02 1.45980703e-03 9.97855768e-01 -4.68528305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.54, Y:-529.23, Z:-46.86 [[ 8.41869045e-01 5.36913404e-01 5.45940248e-02 9.66543262e+02] [-5.35699507e-01 8.43636581e-01 -3.61020501e-02 -5.29232070e+02] [-6.54411910e-02 1.14720623e-03 9.97855768e-01 -4.68591654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.59, Y:-529.26, Z:-46.86 [[ 8.34981110e-01 5.47564069e-01 5.45906238e-02 9.66594800e+02] [-5.46372386e-01 8.36763698e-01 -3.61071921e-02 -5.29264104e+02] [-6.54504533e-02 3.22013980e-04 9.97855768e-01 -4.68618808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.65, Y:-529.30, Z:-46.86 [[ 8.29681005e-01 5.55563010e-01 5.45817918e-02 9.66648994e+02] [-5.54387635e-01 8.31474387e-01 -3.61205382e-02 -5.29296596e+02] [-6.54505968e-02 -2.90946083e-04 9.97855769e-01 -4.68643324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.70, Y:-529.33, Z:-46.87 [[ 8.26520103e-01 5.60255703e-01 5.45716617e-02 9.66703165e+02] [-5.59089499e-01 8.28319463e-01 -3.61358365e-02 -5.29329252e+02] [-6.54480780e-02 -6.43447652e-04 9.97855769e-01 -4.68688526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.76, Y:-529.36, Z:-46.87 [[ 8.22721634e-01 5.65819883e-01 5.45616390e-02 9.66757302e+02] [-5.64664844e-01 8.24528181e-01 -3.61509635e-02 -5.29361674e+02] [-6.54425429e-02 -1.06685961e-03 9.97855769e-01 -4.68726215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.81, Y:-529.39, Z:-46.88 [[ 8.20669960e-01 5.68792537e-01 5.45515110e-02 9.66809629e+02] [-5.67643026e-01 8.22480029e-01 -3.61662400e-02 -5.29394992e+02] [-6.54386158e-02 -1.28523801e-03 9.97855769e-01 -4.68777174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.86, Y:-529.42, Z:-46.89 [[ 8.21123961e-01 5.68137532e-01 5.45452649e-02 9.66864419e+02] [-5.66985952e-01 8.22932714e-01 -3.61756579e-02 -5.29423928e+02] [-6.54398319e-02 -1.22169938e-03 9.97855769e-01 -4.68858482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.91, Y:-529.46, Z:-46.89 [[ 8.18120726e-01 5.72454633e-01 5.45359627e-02 9.66912841e+02] [-5.71311662e-01 8.19934932e-01 -3.61896759e-02 -5.29461303e+02] [-6.54328885e-02 -1.54950754e-03 9.97855769e-01 -4.68890490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.97, Y:-529.49, Z:-46.90 [[ 8.19761458e-01 5.70103417e-01 5.45274739e-02 9.66965735e+02] [-5.68954393e-01 8.21571836e-01 -3.62024615e-02 -5.29493763e+02] [-6.54373839e-02 -1.34626319e-03 9.97855769e-01 -4.68959519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.01, Y:-529.53, Z:-46.90 [[ 8.19330610e-01 5.70723329e-01 5.45181865e-02 9.67012635e+02] [-5.69574744e-01 8.21141267e-01 -3.62164423e-02 -5.29532686e+02] [-6.54367012e-02 -1.37894232e-03 9.97855769e-01 -4.69007778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:967.06, Y:-529.57, Z:-46.91 [[ 8.22701752e-01 5.65853484e-01 5.45129565e-02 9.67063042e+02] [-5.64693658e-01 8.24505229e-01 -3.62243128e-02 -5.29568811e+02] [-6.54438712e-02 -9.81315206e-04 9.97855770e-01 -4.69061684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.11, Y:-529.61, Z:-46.91 [[ 8.23872252e-01 5.64148789e-01 5.45037364e-02 9.67110032e+02] [-5.62984314e-01 8.25672730e-01 -3.62381801e-02 -5.29607857e+02] [-6.54459743e-02 -8.29117590e-04 9.97855770e-01 -4.69105579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.16, Y:-529.65, Z:-46.91 [[ 8.27430909e-01 5.58917121e-01 5.44953403e-02 9.67157628e+02] [-5.57740430e-01 8.29223427e-01 -3.62508020e-02 -5.29646248e+02] [-6.54500067e-02 -3.99220462e-04 9.97855770e-01 -4.69137107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.21, Y:-529.68, Z:-46.92 [[ 8.29309122e-01 5.56127257e-01 5.44871974e-02 9.67208671e+02] [-5.54943732e-01 8.31097134e-01 -3.62630372e-02 -5.29682144e+02] [-6.54510170e-02 -1.64061121e-04 9.97855770e-01 -4.69159221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.26, Y:-529.71, Z:-46.92 [[ 8.29950141e-01 5.55171032e-01 5.44783359e-02 9.67261116e+02] [-5.53984573e-01 8.31736208e-01 -3.62763449e-02 -5.29713308e+02] [-6.54511804e-02 -7.26000819e-05 9.97855770e-01 -4.69202680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.31, Y:-529.75, Z:-46.91 [[ 8.29959907e-01 5.55157227e-01 5.44702316e-02 9.67311488e+02] [-5.53969940e-01 8.31745424e-01 -3.62885097e-02 -5.29748649e+02] [-6.54511943e-02 -5.68627494e-05 9.97855770e-01 -4.69147291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.36, Y:-529.78, Z:-46.92 [[ 8.31276051e-01 5.53185214e-01 5.44632487e-02 9.67363849e+02] [-5.51993005e-01 8.33058285e-01 -3.62989870e-02 -5.29781137e+02] [-6.54511235e-02 1.11146221e-04 9.97855770e-01 -4.69186128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.42, Y:-529.81, Z:-46.92 [[ 8.32301465e-01 5.51642155e-01 5.44536918e-02 9.67416621e+02] [-5.50445704e-01 8.34080853e-01 -3.63133181e-02 -5.29814099e+02] [-6.54507388e-02 2.49827136e-04 9.97855770e-01 -4.69230711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:967.47, Y:-529.85, Z:-46.94 [[ 8.33363676e-01 5.50037102e-01 5.44442014e-02 9.67467959e+02] [-5.48836294e-01 8.35140127e-01 -3.63275415e-02 -5.29846042e+02] [-6.54500329e-02 3.93099769e-04 9.97855771e-01 -4.69354033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.52, Y:-529.88, Z:-46.94 [[ 8.35366126e-01 5.46991944e-01 5.44357221e-02 9.67519617e+02] [-5.45783833e-01 8.37137620e-01 -3.63402430e-02 -5.29879729e+02] [-6.54480110e-02 6.47270961e-04 9.97855771e-01 -4.69380126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.57, Y:-529.91, Z:-46.94 [[ 8.37538812e-01 5.43660243e-01 5.44268181e-02 9.67572045e+02] [-5.42444220e-01 8.39304883e-01 -3.63535736e-02 -5.29913448e+02] [-6.54446868e-02 9.24016001e-04 9.97855771e-01 -4.69379748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:967.62, Y:-529.95, Z:-46.95 [[ 8.37931276e-01 5.43056079e-01 5.44175779e-02 9.67624325e+02] [-5.41837884e-01 8.39695850e-01 -3.63673999e-02 -5.29945426e+02] [-6.54437519e-02 9.87876503e-04 9.97855771e-01 -4.69463816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.67, Y:-529.98, Z:-46.95 [[ 8.35221196e-01 5.47215990e-01 5.44078472e-02 9.67674730e+02] [-5.46005637e-01 8.36991158e-01 -3.63819519e-02 -5.29979451e+02] [-6.54476728e-02 6.79986060e-04 9.97855771e-01 -4.69462946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.73, Y:-530.01, Z:-46.95 [[ 8.31676867e-01 5.52588780e-01 5.43988034e-02 9.67728333e+02] [-5.51388978e-01 8.33453997e-01 -3.63954694e-02 -5.30012249e+02] [-6.54506281e-02 2.74369349e-04 9.97855771e-01 -4.69510232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.78, Y:-530.05, Z:-46.96 [[ 8.28652588e-01 5.57114636e-01 5.43890813e-02 9.67781063e+02] [-5.55923586e-01 8.30435596e-01 -3.64099922e-02 -5.30046252e+02] [-6.54511686e-02 -6.49389177e-05 9.97855771e-01 -4.69554368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.83, Y:-530.08, Z:-46.97 [[ 8.26705143e-01 5.60001344e-01 5.43792357e-02 9.67834846e+02] [-5.58815554e-01 8.28491653e-01 -3.64246909e-02 -5.30075979e+02] [-6.54506187e-02 -2.75483421e-04 9.97855771e-01 -4.69655876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.89, Y:-530.11, Z:-46.97 [[ 8.24931110e-01 5.62611883e-01 5.43740137e-02 9.67886700e+02] [-5.61431233e-01 8.26721020e-01 -3.64324846e-02 -5.30110749e+02] [-6.54494888e-02 -4.72979574e-04 9.97855772e-01 -4.69722153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.94, Y:-530.15, Z:-46.98 [[ 8.25558584e-01 5.61691249e-01 5.43687969e-02 9.67938355e+02] [-5.60508090e-01 8.27346837e-01 -3.64402680e-02 -5.30146198e+02] [-6.54500318e-02 -3.90574411e-04 9.97855772e-01 -4.69777663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.99, Y:-530.19, Z:-46.98 [[ 8.25696591e-01 5.61489531e-01 5.43566565e-02 9.67985346e+02] [-5.60304743e-01 8.27483766e-01 -3.64583684e-02 -5.30185798e+02] [-6.54502430e-02 -3.52741907e-04 9.97855772e-01 -4.69752098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.04, Y:-530.22, Z:-46.98 [[ 8.27496154e-01 5.58834932e-01 5.43473537e-02 9.68036346e+02] [-5.57643500e-01 8.29278906e-01 -3.64722305e-02 -5.30222977e+02] [-6.54510705e-02 -1.25818096e-04 9.97855772e-01 -4.69787602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.09, Y:-530.26, Z:-46.98 [[ 8.29195855e-01 5.56310815e-01 5.43370091e-02 9.68085147e+02] [-5.55112947e-01 8.30974289e-01 -3.64876357e-02 -5.30260025e+02] [-6.54511238e-02 9.22190826e-05 9.97855772e-01 -4.69849945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.14, Y:-530.30, Z:-46.99 [[ 8.30064731e-01 5.55014350e-01 5.43287494e-02 9.68135783e+02] [-5.53812900e-01 8.31840746e-01 -3.64999299e-02 -5.30296741e+02] [-6.54508523e-02 2.09342306e-04 9.97855772e-01 -4.69889773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.19, Y:-530.33, Z:-46.99 [[ 8.29813641e-01 5.55389996e-01 5.43256234e-02 9.68188141e+02] [-5.54189045e-01 8.31589994e-01 -3.65045819e-02 -5.30332208e+02] [-6.54509245e-02 1.85334680e-04 9.97855772e-01 -4.69922107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.24, Y:-530.37, Z:-47.00 [[ 8.29183505e-01 5.56331334e-01 5.43153990e-02 9.68238269e+02] [-5.55131403e-01 8.30960547e-01 -3.65197886e-02 -5.30367117e+02] [-6.54510564e-02 1.29422691e-04 9.97855772e-01 -4.69956753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.29, Y:-530.40, Z:-47.00 [[ 8.28992830e-01 5.56615892e-01 5.43105542e-02 9.68289906e+02] [-5.55416100e-01 8.30769965e-01 -3.65269922e-02 -5.30401804e+02] [-6.54510816e-02 1.15658482e-04 9.97855772e-01 -4.69983395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.34, Y:-530.44, Z:-47.00 [[ 8.30101107e-01 5.54962590e-01 5.43017203e-02 9.68340586e+02] [-5.53758399e-01 8.31875264e-01 -3.65401200e-02 -5.30436473e+02] [-6.54506576e-02 2.61960381e-04 9.97855773e-01 -4.70030876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.39, Y:-530.47, Z:-47.01 [[ 8.30846584e-01 5.53846812e-01 5.42923816e-02 9.68392637e+02] [-5.52639332e-01 8.32618505e-01 -3.65539906e-02 -5.30472298e+02] [-6.54501527e-02 3.66652687e-04 9.97855773e-01 -4.70053525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.44, Y:-530.51, Z:-47.01 [[ 8.31220985e-01 5.53285755e-01 5.42821109e-02 9.68443917e+02] [-5.52076084e-01 8.32991410e-01 -3.65692361e-02 -5.30506959e+02] [-6.54497695e-02 4.29261228e-04 9.97855773e-01 -4.70080552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.50, Y:-530.54, Z:-47.01 [[ 8.32171353e-01 5.51856203e-01 5.42731068e-02 9.68496709e+02] [-5.50642619e-01 8.33939099e-01 -3.65825944e-02 -5.30539300e+02] [-6.54487974e-02 5.57901480e-04 9.97855773e-01 -4.70113844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.55, Y:-530.57, Z:-47.02 [[ 8.29812043e-01 5.55398427e-01 5.42638127e-02 9.68546505e+02] [-5.54191488e-01 8.31584331e-01 -3.65963753e-02 -5.30574362e+02] [-6.54505057e-02 2.95569839e-04 9.97855773e-01 -4.70164203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:968.60, Y:-530.61, Z:-47.02 [[ 8.27201718e-01 5.59279604e-01 5.42553372e-02 9.68598652e+02] [-5.58080157e-01 8.28979086e-01 -3.66089363e-02 -5.30607760e+02] [-6.54511712e-02 4.14793592e-06 9.97855773e-01 -4.70209223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.65, Y:-530.64, Z:-47.02 [[ 8.23059480e-01 5.65358661e-01 5.42464504e-02 9.68652254e+02] [-5.64171473e-01 8.24845059e-01 -3.66220999e-02 -5.30639907e+02] [-6.54495379e-02 -4.62133349e-04 9.97855773e-01 -4.70218125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.70, Y:-530.67, Z:-47.03 [[ 8.19180936e-01 5.70964910e-01 5.42371248e-02 9.68702868e+02] [-5.69789027e-01 8.20973980e-01 -3.66359057e-02 -5.30672809e+02] [-6.54450849e-02 -8.92283028e-04 9.97855774e-01 -4.70292909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.76, Y:-530.71, Z:-47.03 [[ 8.14118560e-01 5.78160696e-01 5.42326463e-02 9.68755438e+02] [-5.77000217e-01 8.15921611e-01 -3.66425341e-02 -5.30706332e+02] [-6.54348612e-02 -1.46088155e-03 9.97855774e-01 -4.70331641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.81, Y:-530.74, Z:-47.04 [[ 8.11463906e-01 5.81881658e-01 5.42223670e-02 9.68807605e+02] [-5.80728430e-01 8.13271604e-01 -3.66577388e-02 -5.30739716e+02] [-6.54279772e-02 -1.74203814e-03 9.97855774e-01 -4.70390718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.86, Y:-530.77, Z:-47.04 [[ 8.12565828e-01 5.80342780e-01 5.42128543e-02 9.68861026e+02] [-5.79185190e-01 8.14370735e-01 -3.66718017e-02 -5.30772001e+02] [-6.54315774e-02 -1.60102939e-03 9.97855774e-01 -4.70431965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.91, Y:-530.81, Z:-47.04 [[ 8.11318702e-01 5.82085891e-01 5.42031342e-02 9.68909007e+02] [-5.80931220e-01 8.13125478e-01 -3.66861630e-02 -5.30809683e+02] [-6.54284473e-02 -1.72412273e-03 9.97855774e-01 -4.70448587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.96, Y:-530.85, Z:-47.05 [[ 8.12314075e-01 5.80696844e-01 5.41942644e-02 9.68959577e+02] [-5.79538210e-01 8.14118313e-01 -3.66992612e-02 -5.30847019e+02] [-6.54316882e-02 -1.59632062e-03 9.97855774e-01 -4.70485584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.01, Y:-530.88, Z:-47.05 [[ 8.12731931e-01 5.80112870e-01 5.41836361e-02 9.69010018e+02] [-5.78951895e-01 8.14534662e-01 -3.67149464e-02 -5.30882863e+02] [-6.54332626e-02 -1.53030953e-03 9.97855774e-01 -4.70542665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:969.06, Y:-530.92, Z:-47.06 [[ 8.13194112e-01 5.79465729e-01 5.41738375e-02 9.69061132e+02] [-5.78302357e-01 8.14995298e-01 -3.67293988e-02 -5.30918459e+02] [-6.54348507e-02 -1.46072705e-03 9.97855774e-01 -4.70599770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.11, Y:-530.95, Z:-47.07 [[ 8.14548153e-01 5.77561652e-01 5.41649722e-02 9.69113262e+02] [-5.76393200e-01 8.16346048e-01 -3.67424678e-02 -5.30953989e+02] [-6.54384014e-02 -1.29181239e-03 9.97855775e-01 -4.70657899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.16, Y:-530.99, Z:-47.07 [[ 8.14981681e-01 5.76950757e-01 5.41542547e-02 9.69163681e+02] [-5.75779909e-01 8.16778016e-01 -3.67582574e-02 -5.30990432e+02] [-6.54397092e-02 -1.22362543e-03 9.97855775e-01 -4.70680065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.21, Y:-531.03, Z:-47.07 [[ 8.15337286e-01 5.76449044e-01 5.41443400e-02 9.69214172e+02] [-5.75276122e-01 8.17132266e-01 -3.67728559e-02 -5.31025183e+02] [-6.54407649e-02 -1.16566543e-03 9.97855775e-01 -4.70734495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.27, Y:-531.06, Z:-47.08 [[ 8.17206127e-01 5.73797451e-01 5.41353064e-02 9.69267275e+02] [-5.72617824e-01 8.18996708e-01 -3.67861499e-02 -5.31059268e+02] [-6.54444368e-02 -9.36974213e-04 9.97855775e-01 -4.70779762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:969.32, Y:-531.10, Z:-47.08 [[ 8.20939373e-01 5.68444392e-01 5.41250306e-02 9.69319089e+02] [-5.67252091e-01 8.22721540e-01 -3.68012630e-02 -5.31095568e+02] [-6.54493001e-02 -4.90930999e-04 9.97855775e-01 -4.70800794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.37, Y:-531.13, Z:-47.08 [[ 8.24137565e-01 5.63798626e-01 5.41145437e-02 9.69370264e+02] [-5.62595266e-01 8.25912283e-01 -3.68166770e-02 -5.31130093e+02] [-6.54510582e-02 -1.02579561e-04 9.97855775e-01 -4.70845684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.42, Y:-531.16, Z:-47.09 [[ 8.29141487e-01 5.56414465e-01 5.41048856e-02 9.69422347e+02] [-5.55194374e-01 8.30904745e-01 -3.68308649e-02 -5.31164337e+02] [-6.54492321e-02 4.99269935e-04 9.97855776e-01 -4.70884711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.47, Y:-531.20, Z:-47.09 [[ 8.32958618e-01 5.50684764e-01 5.40946604e-02 9.69473954e+02] [-5.49451571e-01 8.34712737e-01 -3.68458769e-02 -5.31200585e+02] [-6.54439650e-02 9.68694575e-04 9.97855776e-01 -4.70919443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.52, Y:-531.24, Z:-47.09 [[ 8.32803767e-01 5.50919928e-01 5.40843654e-02 9.69523524e+02] [-5.49686249e-01 8.34557545e-01 -3.68609823e-02 -5.31238088e+02] [-6.54439649e-02 9.68532991e-04 9.97855776e-01 -4.70903102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.58, Y:-531.27, Z:-47.10 [[ 8.33010195e-01 5.50607949e-01 5.40823630e-02 9.69575065e+02] [-5.49373423e-01 8.34763376e-01 -3.68639199e-02 -5.31269133e+02] [-6.54435432e-02 9.96608214e-04 9.97855776e-01 -4.70994594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.63, Y:-531.30, Z:-47.10 [[ 8.29970994e-01 5.55179054e-01 5.40774124e-02 9.69626110e+02] [-5.53953712e-01 8.31730606e-01 -3.68711808e-02 -5.31302833e+02] [-6.54479463e-02 6.45627249e-04 9.97855776e-01 -4.71041656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.68, Y:-531.34, Z:-47.11 [[ 8.25268060e-01 5.62146594e-01 5.40725107e-02 9.69677669e+02] [-5.60935637e-01 8.27037603e-01 -3.68783678e-02 -5.31338234e+02] [-6.54510485e-02 1.03340759e-04 9.97855776e-01 -4.71063288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:969.73, Y:-531.37, Z:-47.11 [[ 8.19231375e-01 5.70908997e-01 5.40635900e-02 9.69729850e+02] [-5.69716104e-01 8.21013144e-01 -3.68914409e-02 -5.31371308e+02] [-6.54485736e-02 -5.78272066e-04 9.97855776e-01 -4.71083764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.78, Y:-531.41, Z:-47.11 [[ 8.15439263e-01 5.76313210e-01 5.40545249e-02 9.69782831e+02] [-5.75131244e-01 8.17228300e-01 -3.69047187e-02 -5.31405905e+02] [-6.54435644e-02 -9.94889517e-04 9.97855776e-01 -4.71120098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:969.83, Y:-531.44, Z:-47.12 [[ 8.12195921e-01 5.80876082e-01 5.40440961e-02 9.69834973e+02] [-5.79703150e-01 8.13990893e-01 -3.69199845e-02 -5.31440705e+02] [-6.54373380e-02 -1.34327192e-03 9.97855776e-01 -4.71156875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.89, Y:-531.48, Z:-47.12 [[ 8.10880208e-01 5.82712323e-01 5.40336668e-02 9.69886069e+02] [-5.81542439e-01 8.12677168e-01 -3.69352419e-02 -5.31475805e+02] [-6.54345479e-02 -1.47281373e-03 9.97855777e-01 -4.71211137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:969.94, Y:-531.51, Z:-47.13 [[ 8.10808717e-01 5.82812631e-01 5.40246372e-02 9.69937176e+02] [-5.81642090e-01 8.12605249e-01 -3.69484447e-02 -5.31510930e+02] [-6.54347240e-02 -1.46488187e-03 9.97855777e-01 -4.71265878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.99, Y:-531.55, Z:-47.13 [[ 8.11766885e-01 5.81478199e-01 5.40150802e-02 9.69987226e+02] [-5.80303776e-01 8.13560881e-01 -3.69624107e-02 -5.31548099e+02] [-6.54373923e-02 -1.34029401e-03 9.97855777e-01 -4.71315553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:970.04, Y:-531.59, Z:-47.14 [[ 8.13815992e-01 5.78607690e-01 5.40062267e-02 9.70036494e+02] [-5.77426081e-01 8.15605263e-01 -3.69753423e-02 -5.31586103e+02] [-6.54419801e-02 -1.09347896e-03 9.97855777e-01 -4.71379832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:970.09, Y:-531.63, Z:-47.14 [[ 8.16678553e-01 5.74561059e-01 5.39975046e-02 9.70085388e+02] [-5.73369741e-01 8.18461375e-01 -3.69880753e-02 -5.31625358e+02] [-6.54467796e-02 -7.53167463e-04 9.97855777e-01 -4.71423804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.13, Y:-531.66, Z:-47.15 [[ 8.20820209e-01 5.68628867e-01 5.39944175e-02 9.70134078e+02] [-5.67424367e-01 8.22594151e-01 -3.69925812e-02 -5.31664709e+02] [-6.54505416e-02 -2.73489889e-04 9.97855777e-01 -4.71450064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:970.19, Y:-531.70, Z:-47.15 [[ 8.22585882e-01 5.66072444e-01 5.39857026e-02 9.70185308e+02] [-5.64861596e-01 8.24355497e-01 -3.70052951e-02 -5.31699450e+02] [-6.54510885e-02 -5.44168070e-05 9.97855777e-01 -4.71475552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.24, Y:-531.73, Z:-47.15 [[ 8.24467036e-01 5.63329918e-01 5.39769435e-02 9.70236174e+02] [-5.62112347e-01 8.26232033e-01 -3.70180671e-02 -5.31734994e+02] [-6.54508644e-02 1.79069647e-04 9.97855777e-01 -4.71519833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:970.29, Y:-531.77, Z:-47.15 [[ 8.27769973e-01 5.58466080e-01 5.39676752e-02 9.70286602e+02] [-5.57237259e-01 8.29527155e-01 -3.70315740e-02 -5.31770387e+02] [-6.54485301e-02 5.80825617e-04 9.97855777e-01 -4.71543790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.34, Y:-531.80, Z:-47.16 [[ 8.30944158e-01 5.53733027e-01 5.39586997e-02 9.70339753e+02] [-5.52493349e-01 8.32693697e-01 -3.70446476e-02 -5.31803249e+02] [-6.54439141e-02 9.70210805e-04 9.97855778e-01 -4.71594680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.39, Y:-531.84, Z:-47.16 [[ 8.32654508e-01 5.51158286e-01 5.39538200e-02 9.70393118e+02] [-5.49912738e-01 8.34399873e-01 -3.70517534e-02 -5.31837251e+02] [-6.54404415e-02 1.18141664e-03 9.97855778e-01 -4.71638856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.45, Y:-531.87, Z:-47.17 [[ 8.36415176e-01 5.45435373e-01 5.39435655e-02 9.70447019e+02] [-5.44176924e-01 8.38151262e-01 -3.70666769e-02 -5.31867574e+02] [-6.54303442e-02 1.64828749e-03 9.97855778e-01 -4.71691411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.50, Y:-531.90, Z:-47.17 [[ 8.34712857e-01 5.48037938e-01 5.39338921e-02 9.70497278e+02] [-5.46783994e-01 8.36452200e-01 -3.70807469e-02 -5.31903160e+02] [-6.54347787e-02 1.46158726e-03 9.97855778e-01 -4.71693995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.55, Y:-531.93, Z:-47.17 [[ 8.33074265e-01 5.50526504e-01 5.39243728e-02 9.70549859e+02] [-5.49276860e-01 8.34816700e-01 -3.70945851e-02 -5.31934582e+02] [-6.54385192e-02 1.28313397e-03 9.97855778e-01 -4.71736935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.60, Y:-531.97, Z:-47.18 [[ 8.32122783e-01 5.51964104e-01 5.39193930e-02 9.70602660e+02] [-5.50717003e-01 8.33867038e-01 -3.71018221e-02 -5.31966936e+02] [-6.54404786e-02 1.17894499e-03 9.97855778e-01 -4.71769639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.66, Y:-532.00, Z:-47.18 [[ 8.28050964e-01 5.58054939e-01 5.39099910e-02 9.70655895e+02] [-5.56819780e-01 8.29803696e-01 -3.71154785e-02 -5.32000829e+02] [-6.54471859e-02 7.15358415e-04 9.97855778e-01 -4.71800460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.71, Y:-532.03, Z:-47.18 [[ 8.22453146e-01 5.66273515e-01 5.38992516e-02 9.70707931e+02] [-5.65054851e-01 8.24217386e-01 -3.71310678e-02 -5.32033514e+02] [-6.54510405e-02 8.25299615e-05 9.97855778e-01 -4.71823720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:970.76, Y:-532.07, Z:-47.19 [[ 8.22459383e-01 5.66265273e-01 5.38906738e-02 9.70760497e+02] [-5.65045776e-01 8.24223047e-01 -3.71435132e-02 -5.32065366e+02] [-6.54510170e-02 9.83333737e-05 9.97855779e-01 -4.71888071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.81, Y:-532.10, Z:-47.19 [[ 8.19106375e-01 5.71105499e-01 5.38818579e-02 9.70810364e+02] [-5.69895582e-01 8.20876626e-01 -3.71562975e-02 -5.32100362e+02] [-6.54505235e-02 -2.72072645e-04 9.97855779e-01 -4.71895746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.86, Y:-532.14, Z:-47.19 [[ 8.19363612e-01 5.70736889e-01 5.38764743e-02 9.70862870e+02] [-5.69525662e-01 8.21132967e-01 -3.71641020e-02 -5.32135035e+02] [-6.54506731e-02 -2.33121795e-04 9.97855779e-01 -4.71936872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.91, Y:-532.17, Z:-47.20 [[ 8.21667755e-01 5.67415646e-01 5.38663645e-02 9.70914211e+02] [-5.66196307e-01 8.23431529e-01 -3.71787496e-02 -5.32171156e+02] [-6.54510671e-02 4.96430285e-05 9.97855779e-01 -4.71971691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.96, Y:-532.21, Z:-47.20 [[ 8.24233702e-01 5.63682851e-01 5.38557988e-02 9.70963601e+02] [-5.62454525e-01 8.25991229e-01 -3.71940483e-02 -5.32206944e+02] [-6.54500647e-02 3.65150405e-04 9.97855779e-01 -4.72028616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.01, Y:-532.24, Z:-47.21 [[ 8.28135359e-01 5.57935739e-01 5.38473647e-02 9.71013654e+02] [-5.56694423e-01 8.29883735e-01 -3.72062549e-02 -5.32243072e+02] [-6.54457514e-02 8.35287627e-04 9.97855779e-01 -4.72091313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.06, Y:-532.28, Z:-47.21 [[ 8.30942322e-01 5.53747494e-01 5.38383726e-02 9.71063821e+02] [-5.52496525e-01 8.32683804e-01 -3.72192621e-02 -5.32279247e+02] [-6.54404140e-02 1.18154638e-03 9.97855779e-01 -4.72134803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.11, Y:-532.32, Z:-47.22 [[ 8.32191768e-01 5.51868884e-01 5.38293297e-02 9.71113480e+02] [-5.50613138e-01 8.33929808e-01 -3.72323360e-02 -5.32316326e+02] [-6.54372503e-02 1.34530741e-03 9.97855779e-01 -4.72166081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.16, Y:-532.35, Z:-47.22 [[ 8.30985037e-01 5.53685154e-01 5.38202416e-02 9.71163454e+02] [-5.52432357e-01 8.32725205e-01 -3.72454685e-02 -5.32352732e+02] [-6.54397346e-02 1.21838408e-03 9.97855780e-01 -4.72204921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.21, Y:-532.39, Z:-47.22 [[ 8.28969004e-01 5.56699923e-01 5.38106397e-02 9.71214138e+02] [-5.55452556e-01 8.30713067e-01 -3.72593357e-02 -5.32388082e+02] [-6.54434709e-02 9.97577012e-04 9.97855780e-01 -4.72239757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:971.27, Y:-532.42, Z:-47.23 [[ 8.25715866e-01 5.61514622e-01 5.38018394e-02 9.71266387e+02] [-5.60276597e-01 8.27466573e-01 -3.72720388e-02 -5.32421161e+02] [-6.54480185e-02 6.32202306e-04 9.97855780e-01 -4.72291480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.32, Y:-532.46, Z:-47.23 [[ 8.19276133e-01 5.70870388e-01 5.37923638e-02 9.71315884e+02] [-5.69651459e-01 8.21040189e-01 -3.72857094e-02 -5.32457754e+02] [-6.54509999e-02 -9.56067182e-05 9.97855780e-01 -4.72285876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:971.37, Y:-532.49, Z:-47.23 [[ 8.14589875e-01 5.77538438e-01 5.37837188e-02 9.71366422e+02] [-5.76333125e-01 8.16363262e-01 -3.72981755e-02 -5.32493600e+02] [-6.54481821e-02 -6.14622606e-04 9.97855780e-01 -4.72328628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.42, Y:-532.53, Z:-47.24 [[ 8.11503482e-01 5.81868079e-01 5.37739475e-02 9.71417431e+02] [-5.80671294e-01 8.13282634e-01 -3.73122578e-02 -5.32530246e+02] [-6.54442294e-02 -9.45960553e-04 9.97855780e-01 -4.72370154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.47, Y:-532.57, Z:-47.24 [[ 8.10572767e-01 5.83164870e-01 5.37635987e-02 9.71468537e+02] [-5.81969942e-01 8.12353168e-01 -3.73271635e-02 -5.32567337e+02] [-6.54429202e-02 -1.03241620e-03 9.97855780e-01 -4.72401245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.52, Y:-532.60, Z:-47.24 [[ 8.10840472e-01 5.82793556e-01 5.37531528e-02 9.71518555e+02] [-5.81596817e-01 8.12619655e-01 -3.73422001e-02 -5.32604168e+02] [-6.54436621e-02 -9.84095414e-04 9.97855781e-01 -4.72446120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.57, Y:-532.64, Z:-47.25 [[ 8.12282970e-01 5.80781675e-01 5.37496334e-02 9.71566922e+02] [-5.79580194e-01 8.14058954e-01 -3.73472652e-02 -5.32643649e+02] [-6.54459776e-02 -8.15675489e-04 9.97855781e-01 -4.72522448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:971.62, Y:-532.68, Z:-47.25 [[ 8.13197258e-01 5.79501153e-01 5.37460020e-02 9.71617722e+02] [-5.78296530e-01 8.14971113e-01 -3.73524904e-02 -5.32680402e+02] [-6.54472503e-02 -7.06183613e-04 9.97855781e-01 -4.72536662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:971.67, Y:-532.72, Z:-47.26 [[ 8.12596287e-01 5.80343897e-01 5.37423098e-02 9.71666687e+02] [-5.79140763e-01 8.14371151e-01 -3.73578020e-02 -5.32718117e+02] [-6.54465591e-02 -7.67551098e-04 9.97855781e-01 -4.72585434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:971.71, Y:-532.76, Z:-47.26 [[ 8.11435784e-01 5.81966024e-01 5.37356113e-02 9.71713370e+02] [-5.80765799e-01 8.13212618e-01 -3.73674346e-02 -5.32758438e+02] [-6.54450545e-02 -8.86531643e-04 9.97855781e-01 -4.72635504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.76, Y:-532.80, Z:-47.27 [[ 8.10330252e-01 5.83505263e-01 5.37260714e-02 9.71762527e+02] [-5.82307505e-01 8.12108749e-01 -3.73811458e-02 -5.32797029e+02] [-6.54435080e-02 -9.94021304e-04 9.97855781e-01 -4.72691408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:971.81, Y:-532.83, Z:-47.27 [[ 8.09218795e-01 5.85046381e-01 5.37184752e-02 9.71811339e+02] [-5.83851285e-01 8.10999082e-01 -3.73920588e-02 -5.32834842e+02] [-6.54417227e-02 -1.10524398e-03 9.97855781e-01 -4.72738289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.86, Y:-532.87, Z:-47.27 [[ 8.06468992e-01 5.88832001e-01 5.37088491e-02 9.71860833e+02] [-5.87644341e-01 8.08254248e-01 -3.74058803e-02 -5.32871842e+02] [-6.54361848e-02 -1.39501867e-03 9.97855781e-01 -4.72743522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.92, Y:-532.90, Z:-47.28 [[ 8.04383924e-01 5.91678009e-01 5.36994991e-02 9.71915928e+02] [-5.90495770e-01 8.06172774e-01 -3.74192983e-02 -5.32902700e+02] [-6.54312501e-02 -1.60984508e-03 9.97855781e-01 -4.72784913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.97, Y:-532.94, Z:-47.28 [[ 8.02303990e-01 5.94496211e-01 5.36895090e-02 9.71966781e+02] [-5.93319296e-01 8.04096348e-01 -3.74336267e-02 -5.32937416e+02] [-6.54256873e-02 -1.82187364e-03 9.97855781e-01 -4.72770423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.02, Y:-532.97, Z:-47.29 [[ 8.04186385e-01 5.91947661e-01 5.36863602e-02 9.72018191e+02] [-5.90764764e-01 8.05974800e-01 -3.74381420e-02 -5.32968574e+02] [-6.54312741e-02 -1.60876582e-03 9.97855781e-01 -4.72859995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:972.07, Y:-533.00, Z:-47.29 [[ 8.04743024e-01 5.91191096e-01 5.36819662e-02 9.72068435e+02] [-5.90006098e-01 8.06530048e-01 -3.74444415e-02 -5.33003752e+02] [-6.54329392e-02 -1.53953430e-03 9.97855781e-01 -4.72903740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.12, Y:-533.04, Z:-47.29 [[ 8.06680315e-01 5.88545645e-01 5.36739547e-02 9.72119438e+02] [-5.87354023e-01 8.08462928e-01 -3.74559220e-02 -5.33039659e+02] [-6.54379223e-02 -1.31065832e-03 9.97855781e-01 -4.72948971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.17, Y:-533.08, Z:-47.30 [[ 8.08790145e-01 5.85643747e-01 5.36647323e-02 9.72169186e+02] [-5.84444852e-01 8.10567875e-01 -3.74691306e-02 -5.33076582e+02] [-6.54424700e-02 -1.05941301e-03 9.97855782e-01 -4.73006560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.22, Y:-533.12, Z:-47.30 [[ 8.11958680e-01 5.81243643e-01 5.36556569e-02 9.72218241e+02] [-5.80034255e-01 8.13729288e-01 -3.74821221e-02 -5.33115170e+02] [-6.54474247e-02 -6.88184565e-04 9.97855782e-01 -4.73049447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.27, Y:-533.15, Z:-47.31 [[ 8.12446374e-01 5.80562588e-01 5.36467197e-02 9.72268733e+02] [-5.79350871e-01 8.14215389e-01 -3.74949092e-02 -5.33150711e+02] [-6.54481263e-02 -6.17670716e-04 9.97855782e-01 -4.73055909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.32, Y:-533.19, Z:-47.31 [[ 8.13058058e-01 5.79706430e-01 5.36381259e-02 9.72319211e+02] [-5.78492040e-01 8.14825239e-01 -3.75071990e-02 -5.33186921e+02] [-6.54488632e-02 -5.33698466e-04 9.97855782e-01 -4.73081870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.37, Y:-533.22, Z:-47.31 [[ 8.14634577e-01 5.77489798e-01 5.36287229e-02 9.72369460e+02] [-5.76269714e-01 8.16397831e-01 -3.75206389e-02 -5.33223058e+02] [-6.54501592e-02 -3.38999007e-04 9.97855782e-01 -4.73102861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:972.42, Y:-533.26, Z:-47.31 [[ 8.15492891e-01 5.76277970e-01 5.36194597e-02 9.72421685e+02] [-5.75054396e-01 8.17253724e-01 -3.75338718e-02 -5.33258115e+02] [-6.54506467e-02 -2.25500404e-04 9.97855782e-01 -4.73140204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.47, Y:-533.29, Z:-47.32 [[ 8.15498805e-01 5.76270582e-01 5.36089075e-02 9.72474942e+02] [-5.75046001e-01 8.17258939e-01 -3.75489373e-02 -5.33292103e+02] [-6.54507069e-02 -2.06474356e-04 9.97855782e-01 -4.73185005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.53, Y:-533.33, Z:-47.32 [[ 8.15094935e-01 5.76842669e-01 5.35983485e-02 9.72527512e+02] [-5.75618333e-01 8.16855239e-01 -3.75640036e-02 -5.33325554e+02] [-6.54506118e-02 -2.33962951e-04 9.97855783e-01 -4.73236751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:972.58, Y:-533.36, Z:-47.33 [[ 8.15199233e-01 5.76696118e-01 5.35891673e-02 9.72578355e+02] [-5.75470604e-01 8.16958717e-01 -3.75770970e-02 -5.33360185e+02] [-6.54507033e-02 -2.06169817e-04 9.97855783e-01 -4.73294622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.63, Y:-533.40, Z:-47.33 [[ 8.15172258e-01 5.76735149e-01 5.35794545e-02 9.72629555e+02] [-5.75508810e-01 8.16931167e-01 -3.75909409e-02 -5.33396180e+02] [-6.54507432e-02 -1.92355926e-04 9.97855783e-01 -4.73339824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.68, Y:-533.43, Z:-47.34 [[ 8.14594335e-01 5.77552078e-01 5.35692683e-02 9.72680507e+02] [-5.76326549e-01 8.16353808e-01 -3.76054512e-02 -5.33432419e+02] [-6.54505827e-02 -2.40203971e-04 9.97855783e-01 -4.73368148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.73, Y:-533.47, Z:-47.34 [[ 8.13193868e-01 5.79523246e-01 5.35587638e-02 9.72731445e+02] [-5.78300996e-01 8.14955620e-01 -3.76204062e-02 -5.33468134e+02] [-6.54499155e-02 -3.80402792e-04 9.97855783e-01 -4.73397139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:972.78, Y:-533.50, Z:-47.34 [[ 8.11462623e-01 5.81945755e-01 5.35495051e-02 9.72781319e+02] [-5.80727895e-01 8.13227413e-01 -3.76335805e-02 -5.33504253e+02] [-6.54486279e-02 -5.59447417e-04 9.97855783e-01 -4.73430200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.83, Y:-533.54, Z:-47.35 [[ 8.08156518e-01 5.86529192e-01 5.35401618e-02 9.72831472e+02] [-5.85320460e-01 8.09927572e-01 -3.76468683e-02 -5.33540413e+02] [-6.54446405e-02 -9.13590165e-04 9.97855783e-01 -4.73471541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.88, Y:-533.58, Z:-47.35 [[ 8.05284518e-01 5.90467065e-01 5.35302752e-02 9.72883520e+02] [-5.89266059e-01 8.07060820e-01 -3.76609209e-02 -5.33576080e+02] [-6.54397212e-02 -1.21581779e-03 9.97855784e-01 -4.73523790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.93, Y:-533.61, Z:-47.36 [[ 8.02339912e-01 5.94462994e-01 5.35202362e-02 9.72934842e+02] [-5.93269882e-01 8.04121526e-01 -3.76751820e-02 -5.33610227e+02] [-6.54332755e-02 -1.52364196e-03 9.97855784e-01 -4.73597676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.98, Y:-533.65, Z:-47.37 [[ 8.02597321e-01 5.94116224e-01 5.35112335e-02 9.72983537e+02] [-5.92921491e-01 8.04377848e-01 -3.76879645e-02 -5.33649053e+02] [-6.54342820e-02 -1.47970099e-03 9.97855784e-01 -4.73680522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.03, Y:-533.69, Z:-47.37 [[ 8.06329468e-01 5.89041802e-01 5.35027494e-02 9.73032631e+02] [-5.87835063e-01 8.08101880e-01 -3.77000049e-02 -5.33686317e+02] [-6.54425512e-02 -1.05216717e-03 9.97855784e-01 -4.73721803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.08, Y:-533.72, Z:-47.38 [[ 8.10573774e-01 5.83188479e-01 5.34916428e-02 9.73081267e+02] [-5.81967899e-01 8.12336683e-01 -3.77157572e-02 -5.33724773e+02] [-6.54486187e-02 -5.59015421e-04 9.97855784e-01 -4.73763639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.13, Y:-533.76, Z:-47.37 [[ 8.11689645e-01 5.81635452e-01 5.34800960e-02 9.73130407e+02] [-5.80410422e-01 8.13449463e-01 -3.77321232e-02 -5.33762245e+02] [-6.54496960e-02 -4.13631351e-04 9.97855784e-01 -4.73738611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.18, Y:-533.80, Z:-47.38 [[ 8.13169757e-01 5.79565204e-01 5.34707461e-02 9.73181706e+02] [-5.78334822e-01 8.14925838e-01 -3.77453685e-02 -5.33798538e+02] [-6.54505948e-02 -2.30602234e-04 9.97855784e-01 -4.73778431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.23, Y:-533.83, Z:-47.38 [[ 8.13760288e-01 5.78736713e-01 5.34603632e-02 9.73232689e+02] [-5.77503577e-01 8.15514436e-01 -3.77600685e-02 -5.33834193e+02] [-6.54508359e-02 -1.45906738e-04 9.97855785e-01 -4.73825946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.28, Y:-533.87, Z:-47.39 [[ 8.14740104e-01 5.77357378e-01 5.34511115e-02 9.73284525e+02] [-5.76120414e-01 8.16491554e-01 -3.77731602e-02 -5.33867932e+02] [-6.54509938e-02 -1.89680360e-05 9.97855785e-01 -4.73887988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:973.34, Y:-533.90, Z:-47.39 [[ 8.15686110e-01 5.76020944e-01 5.34419423e-02 9.73337406e+02] [-5.74780260e-01 8.17434928e-01 -3.77861285e-02 -5.33902009e+02] [-6.54509116e-02 1.04246711e-04 9.97855785e-01 -4.73928796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.39, Y:-533.94, Z:-47.40 [[ 8.15466352e-01 5.76332972e-01 5.34315853e-02 9.73389575e+02] [-5.75091998e-01 8.17214963e-01 -3.78007681e-02 -5.33937084e+02] [-6.54509201e-02 9.71773772e-05 9.97855785e-01 -4.73957483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.44, Y:-533.97, Z:-47.40 [[ 8.14191291e-01 5.78133840e-01 5.34210070e-02 9.73442225e+02] [-5.76895753e-01 8.15941948e-01 -3.78157118e-02 -5.33971808e+02] [-6.54509832e-02 -2.91288362e-05 9.97855785e-01 -4.73999112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:973.49, Y:-534.01, Z:-47.41 [[ 8.12580072e-01 5.80397252e-01 5.34102723e-02 9.73493435e+02] [-5.79163045e-01 8.14333465e-01 -3.78308673e-02 -5.34006243e+02] [-6.54507035e-02 -1.92647102e-04 9.97855785e-01 -4.74054957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:973.54, Y:-534.04, Z:-47.41 [[ 8.11779930e-01 5.81516704e-01 5.34010156e-02 9.73543355e+02] [-5.80284055e-01 8.13534420e-01 -3.78439292e-02 -5.34041722e+02] [-6.54504412e-02 -2.66815656e-04 9.97855785e-01 -4.74075554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.59, Y:-534.08, Z:-47.41 [[ 8.11206885e-01 5.82316280e-01 5.33960720e-02 9.73593562e+02] [-5.81084902e-01 8.12962266e-01 -3.78509032e-02 -5.34077872e+02] [-6.54501888e-02 -3.22737939e-04 9.97855786e-01 -4.74074026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.64, Y:-534.11, Z:-47.41 [[ 8.10313414e-01 5.83559801e-01 5.33866044e-02 9.73644886e+02] [-5.82330237e-01 8.12070067e-01 -3.78642520e-02 -5.34114851e+02] [-6.54497188e-02 -4.06722610e-04 9.97855786e-01 -4.74100942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.70, Y:-534.15, Z:-47.42 [[ 8.08629484e-01 5.85891951e-01 5.33758241e-02 9.73695420e+02] [-5.84666451e-01 8.10388974e-01 -3.78794426e-02 -5.34149842e+02] [-6.54484398e-02 -5.76619526e-04 9.97855786e-01 -4.74152064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:973.75, Y:-534.19, Z:-47.42 [[ 8.06206695e-01 5.89221940e-01 5.33691860e-02 9.73746494e+02] [-5.88003088e-01 8.07970797e-01 -3.78887928e-02 -5.34185594e+02] [-6.54456517e-02 -8.35047733e-04 9.97855786e-01 -4.74214819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.80, Y:-534.22, Z:-47.43 [[ 8.04227786e-01 5.91920390e-01 5.33659012e-02 9.73797529e+02] [-5.90707150e-01 8.05995752e-01 -3.78934188e-02 -5.34221251e+02] [-6.54425769e-02 -1.04867909e-03 9.97855786e-01 -4.74261956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.85, Y:-534.26, Z:-47.43 [[ 8.01723361e-01 5.95308932e-01 5.33566148e-02 9.73848614e+02] [-5.94102294e-01 8.03495839e-01 -3.79064902e-02 -5.34256347e+02] [-6.54378902e-02 -1.30876850e-03 9.97855786e-01 -4.74318891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.90, Y:-534.29, Z:-47.44 [[ 8.02533533e-01 5.94217124e-01 5.33473396e-02 9.73898683e+02] [-5.93007207e-01 8.04303774e-01 -3.79195391e-02 -5.34293267e+02] [-6.54399060e-02 -1.20365524e-03 9.97855786e-01 -4.74368923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.95, Y:-534.33, Z:-47.44 [[ 8.03580127e-01 5.92801854e-01 5.33380011e-02 9.73949631e+02] [-5.91587948e-01 8.05347635e-01 -3.79326702e-02 -5.34330844e+02] [-6.54421902e-02 -1.07217871e-03 9.97855786e-01 -4.74407709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.00, Y:-534.37, Z:-47.44 [[ 8.09167180e-01 5.85153548e-01 5.33272938e-02 9.73997089e+02] [-5.83921941e-01 8.10922399e-01 -3.79477170e-02 -5.34369029e+02] [-6.54495383e-02 -4.32929805e-04 9.97855786e-01 -4.74429018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.05, Y:-534.41, Z:-47.44 [[ 8.13432110e-01 5.79210940e-01 5.33187457e-02 9.74045950e+02] [-5.77965723e-01 8.15177700e-01 -3.79597239e-02 -5.34406723e+02] [-6.54509398e-02 6.12509078e-05 9.97855787e-01 -4.74437032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.10, Y:-534.44, Z:-47.45 [[ 8.19378212e-01 5.70769115e-01 5.33100625e-02 9.74095493e+02] [-5.69505121e-01 8.21110255e-01 -3.79719145e-02 -5.34444987e+02] [-6.54466350e-02 7.53005796e-04 9.97855787e-01 -4.74468394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:974.15, Y:-534.48, Z:-47.45 [[ 8.22586885e-01 5.66136014e-01 5.32994363e-02 9.74145403e+02] [-5.64861300e-01 8.24311053e-01 -3.79868241e-02 -5.34481770e+02] [-6.54410237e-02 1.14067444e-03 9.97855787e-01 -4.74508018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.20, Y:-534.52, Z:-47.46 [[ 8.23030883e-01 5.65491233e-01 5.32900750e-02 9.74195721e+02] [-5.64214319e-01 8.24753422e-01 -3.79999522e-02 -5.34515584e+02] [-6.54398115e-02 1.20811085e-03 9.97855787e-01 -4.74565568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:974.25, Y:-534.55, Z:-47.46 [[ 8.21690335e-01 5.67438167e-01 5.32815203e-02 9.74246890e+02] [-5.66164557e-01 8.23415318e-01 -3.80119433e-02 -5.34551159e+02] [-6.54422475e-02 1.06793808e-03 9.97855787e-01 -4.74614866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:974.30, Y:-534.58, Z:-47.47 [[ 8.20565674e-01 5.69063668e-01 5.32777211e-02 9.74297795e+02] [-5.67793130e-01 8.22292921e-01 -3.80172676e-02 -5.34584253e+02] [-6.54441387e-02 9.44940765e-04 9.97855787e-01 -4.74686917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.35, Y:-534.62, Z:-47.47 [[ 8.18728867e-01 5.71704100e-01 5.32678561e-02 9.74350344e+02] [-5.70438233e-01 8.20459541e-01 -3.80310849e-02 -5.34620142e+02] [-6.54466479e-02 7.51125263e-04 9.97855787e-01 -4.74661936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.40, Y:-534.65, Z:-47.47 [[ 8.14666157e-01 5.77479842e-01 5.32549021e-02 9.74402920e+02] [-5.76225061e-01 8.16404885e-01 -3.80492158e-02 -5.34652351e+02] [-6.54502173e-02 3.10599249e-04 9.97855788e-01 -4.74722589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:974.46, Y:-534.68, Z:-47.48 [[ 8.09454440e-01 5.84763691e-01 5.32441100e-02 9.74456712e+02] [-5.83523564e-01 8.11203648e-01 -3.80643116e-02 -5.34684190e+02] [-6.54504437e-02 -2.57866786e-04 9.97855788e-01 -4.74767781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.51, Y:-534.72, Z:-47.48 [[ 8.06402061e-01 5.88966803e-01 5.32336445e-02 9.74509139e+02] [-5.87734826e-01 8.08157020e-01 -3.80789422e-02 -5.34718088e+02] [-6.54483764e-02 -5.80329285e-04 9.97855788e-01 -4.74809931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.56, Y:-534.75, Z:-47.48 [[ 8.03706151e-01 5.92641314e-01 5.32230756e-02 9.74562687e+02] [-5.91416382e-01 8.05466034e-01 -3.80937088e-02 -5.34751989e+02] [-6.54452853e-02 -8.60850683e-04 9.97855788e-01 -4.74846684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.62, Y:-534.79, Z:-47.49 [[ 8.03263728e-01 5.93241800e-01 5.32123084e-02 9.74615345e+02] [-5.92017188e-01 8.05023833e-01 -3.81087434e-02 -5.34786971e+02] [-6.54448760e-02 -8.91229871e-04 9.97855788e-01 -4.74893169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.67, Y:-534.82, Z:-47.50 [[ 8.06402788e-01 5.88968698e-01 5.32016633e-02 9.74668622e+02] [-5.87733779e-01 8.08155676e-01 -3.81235987e-02 -5.34818397e+02] [-6.54488324e-02 -5.25438371e-04 9.97855788e-01 -4.74992985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.72, Y:-534.86, Z:-47.50 [[ 8.04309819e-01 5.91824563e-01 5.31921188e-02 9.74716309e+02] [-5.90594987e-01 8.06066460e-01 -3.81369110e-02 -5.34857589e+02] [-6.54467436e-02 -7.41106788e-04 9.97855788e-01 -4.74980144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.77, Y:-534.89, Z:-47.51 [[ 8.05431906e-01 5.90297357e-01 5.31834068e-02 9.74768020e+02] [-5.89063648e-01 8.07185647e-01 -3.81490563e-02 -5.34891213e+02] [-6.54481698e-02 -6.01944450e-04 9.97855789e-01 -4.75096186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.81, Y:-534.93, Z:-47.51 [[ 8.03740706e-01 5.92598347e-01 5.31796736e-02 9.74814554e+02] [-5.91369314e-01 8.05497726e-01 -3.81542598e-02 -5.34929751e+02] [-6.54462574e-02 -7.82695391e-04 9.97855789e-01 -4.75109324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.86, Y:-534.97, Z:-47.52 [[ 8.06747978e-01 5.88497837e-01 5.31789168e-02 9.74864804e+02] [-5.87259803e-01 8.08498668e-01 -3.81553146e-02 -5.34965286e+02] [-6.54494034e-02 -4.48117321e-04 9.97855789e-01 -4.75183963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.91, Y:-535.01, Z:-47.52 [[ 8.08101996e-01 5.86638051e-01 5.31691650e-02 9.74910065e+02] [-5.85395095e-01 8.09849195e-01 -3.81688988e-02 -5.35007756e+02] [-6.54503339e-02 -2.80605022e-04 9.97855789e-01 -4.75173160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.96, Y:-535.05, Z:-47.52 [[ 8.12719399e-01 5.80225097e-01 5.31602892e-02 9.74956708e+02] [-5.78967545e-01 8.14456121e-01 -3.81812567e-02 -5.35048657e+02] [-6.54504463e-02 2.52565795e-04 9.97855789e-01 -4.75196991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.01, Y:-535.09, Z:-47.52 [[ 8.15366675e-01 5.76499927e-01 5.31509115e-02 9.75005148e+02] [-5.75233590e-01 8.17097003e-01 -3.81943067e-02 -5.35087241e+02] [-6.54484655e-02 5.68175277e-04 9.97855789e-01 -4.75242584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:975.05, Y:-535.13, Z:-47.53 [[ 8.17581911e-01 5.73354909e-01 5.31410133e-02 9.75053906e+02] [-5.72081022e-01 8.19306687e-01 -3.82080735e-02 -5.35127836e+02] [-6.54455740e-02 8.37264555e-04 9.97855789e-01 -4.75258665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.10, Y:-535.17, Z:-47.53 [[ 8.16537553e-01 5.74842245e-01 5.31302057e-02 9.75103085e+02] [-5.73570522e-01 8.18263925e-01 -3.82230960e-02 -5.35167516e+02] [-6.54467810e-02 7.36673401e-04 9.97855789e-01 -4.75294075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.15, Y:-535.21, Z:-47.53 [[ 8.14097274e-01 5.78294000e-01 5.31194742e-02 9.75151784e+02] [-5.77028624e-01 8.15828304e-01 -3.82380040e-02 -5.35205051e+02] [-6.54491788e-02 4.77997635e-04 9.97855789e-01 -4.75338465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.20, Y:-535.24, Z:-47.54 [[ 8.09015200e-01 5.85383445e-01 5.31095839e-02 9.75201627e+02] [-5.84132338e-01 8.10756570e-01 -3.82517359e-02 -5.35242667e+02] [-6.54508771e-02 -7.67896636e-05 9.97855790e-01 -4.75388373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.25, Y:-535.28, Z:-47.54 [[ 8.03614377e-01 5.92776234e-01 5.31062097e-02 9.75250651e+02] [-5.91540836e-01 8.05366926e-01 -3.82564199e-02 -5.35281548e+02] [-6.54474814e-02 -6.71082619e-04 9.97855790e-01 -4.75432422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.30, Y:-535.32, Z:-47.55 [[ 8.00008765e-01 5.97634369e-01 5.30955376e-02 9.75299852e+02] [-5.96408630e-01 8.01768084e-01 -3.82712258e-02 -5.35320350e+02] [-6.54425073e-02 -1.04932073e-03 9.97855790e-01 -4.75455963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:975.35, Y:-535.36, Z:-47.55 [[ 7.99303642e-01 5.98578052e-01 5.30848808e-02 9.75349571e+02] [-5.97353408e-01 8.01063723e-01 -3.82860019e-02 -5.35357283e+02] [-6.54415327e-02 -1.10829371e-03 9.97855790e-01 -4.75483866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.40, Y:-535.39, Z:-47.55 [[ 8.01910075e-01 5.95082526e-01 5.30755994e-02 9.75400135e+02] [-5.93849359e-01 8.03664194e-01 -3.82988644e-02 -5.35392481e+02] [-6.54459437e-02 -8.06665436e-04 9.97855790e-01 -4.75531420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.45, Y:-535.43, Z:-47.56 [[ 8.04033959e-01 5.92210624e-01 5.30657192e-02 9.75451333e+02] [-5.90970287e-01 8.05783016e-01 -3.83125492e-02 -5.35426550e+02] [-6.54485539e-02 -5.55672726e-04 9.97855790e-01 -4.75565597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:975.50, Y:-535.46, Z:-47.56 [[ 8.05494525e-01 5.90223438e-01 5.30552886e-02 9.75503347e+02] [-5.88977836e-01 8.07239835e-01 -3.83269881e-02 -5.35460331e+02] [-6.54498291e-02 -3.76209986e-04 9.97855790e-01 -4.75630923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.55, Y:-535.50, Z:-47.56 [[ 8.04124944e-01 5.92088893e-01 5.30454150e-02 9.75552707e+02] [-5.90846438e-01 8.05872497e-01 -3.83406485e-02 -5.35498450e+02] [-6.54489132e-02 -5.11022713e-04 9.97855791e-01 -4.75629866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.60, Y:-535.53, Z:-47.57 [[ 8.06467641e-01 5.88894910e-01 5.30351715e-02 9.75604201e+02] [-5.87644602e-01 8.08209583e-01 -3.83548126e-02 -5.35529766e+02] [-6.54504878e-02 -2.33917036e-04 9.97855791e-01 -4.75744312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.65, Y:-535.57, Z:-47.58 [[ 8.07515274e-01 5.87458023e-01 5.30297406e-02 9.75652768e+02] [-5.86204122e-01 8.09254632e-01 -3.83623201e-02 -5.35568912e+02] [-6.54508159e-02 -1.08093143e-04 9.97855791e-01 -4.75794620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:975.70, Y:-535.60, Z:-47.59 [[ 8.09204171e-01 5.85129917e-01 5.30244225e-02 9.75704411e+02] [-5.83870531e-01 8.10939561e-01 -3.83696694e-02 -5.35603227e+02] [-6.54508434e-02 8.94988076e-05 9.97855791e-01 -4.75871787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.76, Y:-535.64, Z:-47.59 [[ 8.09599502e-01 5.84583692e-01 5.30146612e-02 9.75755173e+02] [-5.83322252e-01 8.11333399e-01 -3.83831517e-02 -5.35638446e+02] [-6.54507298e-02 1.50348957e-04 9.97855791e-01 -4.75898288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:975.80, Y:-535.68, Z:-47.59 [[ 8.09798751e-01 5.84308563e-01 5.30045871e-02 9.75804233e+02] [-5.83045624e-01 8.11531556e-01 -3.83970583e-02 -5.35675929e+02] [-6.54506250e-02 1.89797300e-04 9.97855791e-01 -4.75909938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.85, Y:-535.71, Z:-47.59 [[ 8.09077974e-01 5.85306842e-01 5.29974785e-02 9.75853001e+02] [-5.84045398e-01 8.10811869e-01 -3.84068674e-02 -5.35714716e+02] [-6.54507868e-02 1.21217122e-04 9.97855791e-01 -4.75888077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.90, Y:-535.75, Z:-47.59 [[ 8.09703095e-01 5.84442614e-01 5.29880073e-02 9.75904014e+02] [-5.83178464e-01 8.11435018e-01 -3.84199299e-02 -5.35750591e+02] [-6.54505689e-02 2.07271425e-04 9.97855791e-01 -4.75925547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.96, Y:-535.79, Z:-47.60 [[ 8.09482224e-01 5.84749472e-01 5.29772008e-02 9.75955422e+02] [-5.83485004e-01 8.11213914e-01 -3.84348252e-02 -5.35785957e+02] [-6.54505862e-02 2.00905536e-04 9.97855791e-01 -4.75970951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.01, Y:-535.82, Z:-47.60 [[ 8.09366715e-01 5.84910311e-01 5.29664984e-02 9.76005572e+02] [-5.83645222e-01 8.11097951e-01 -3.84495684e-02 -5.35821754e+02] [-6.54505673e-02 2.06157094e-04 9.97855792e-01 -4.76014752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.06, Y:-535.86, Z:-47.61 [[ 8.10554755e-01 5.83263737e-01 5.29566100e-02 9.76056990e+02] [-5.81994242e-01 8.12282762e-01 -3.84631829e-02 -5.35856247e+02] [-6.54499213e-02 3.56073717e-04 9.97855792e-01 -4.76098855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.11, Y:-535.89, Z:-47.61 [[ 8.08871498e-01 5.85596740e-01 5.29467429e-02 9.76105727e+02] [-5.84331340e-01 8.10602507e-01 -3.84767608e-02 -5.35893706e+02] [-6.54506282e-02 1.84313909e-04 9.97855792e-01 -4.76092217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters Centerline goodness : 0.997665 with order 1 Centerline is valid? [True, True] Translation: X:976.63, Y:-535.35, Z:-46.62 [[ 8.48195864e-01 5.27030715e-01 5.29377199e-02 9.76626019e+02] [-5.25645498e-01 8.49832568e-01 -3.84891710e-02 -5.35347710e+02] [-6.52731737e-02 4.81988147e-03 9.97855792e-01 -4.66173990e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.68, Y:-535.38, Z:-46.62 [[ 8.47937842e-01 5.27198539e-01 5.53454341e-02 9.76675975e+02] [-5.26059085e-01 8.49742098e-01 -3.46439997e-02 -5.35383541e+02] [-6.52936113e-02 2.60989889e-04 9.97866061e-01 -4.66160084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.73, Y:-535.42, Z:-46.62 [[ 8.47426648e-01 5.28020881e-01 5.53355712e-02 9.76728967e+02] [-5.26882150e-01 8.49231360e-01 -3.46597461e-02 -5.35417486e+02] [-6.52937721e-02 2.16267734e-04 9.97866061e-01 -4.66202589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.78, Y:-535.45, Z:-46.63 [[ 8.45854793e-01 5.30536256e-01 5.53258551e-02 9.76782099e+02] [-5.29401877e-01 8.47662244e-01 -3.46752486e-02 -5.35450802e+02] [-6.52941150e-02 4.06137151e-05 9.97866062e-01 -4.66253238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:976.83, Y:-535.48, Z:-46.63 [[ 8.46113132e-01 5.30125166e-01 5.53161558e-02 9.76834970e+02] [-5.28988897e-01 8.47919395e-01 -3.46907147e-02 -5.35484593e+02] [-6.52940622e-02 9.06370302e-05 9.97866062e-01 -4.66293998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.89, Y:-535.52, Z:-46.63 [[ 8.47284999e-01 5.28251191e-01 5.53065140e-02 9.76887329e+02] [-5.27109925e-01 8.49088108e-01 -3.47060795e-02 -5.35520194e+02] [-6.52936312e-02 2.53328086e-04 9.97866062e-01 -4.66325335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.94, Y:-535.56, Z:-46.64 [[ 8.48297228e-01 5.26625178e-01 5.52967884e-02 9.76939614e+02] [-5.25479446e-01 8.50097503e-01 -3.47215684e-02 -5.35555125e+02] [-6.52929139e-02 3.96884494e-04 9.97866062e-01 -4.66370290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.99, Y:-535.59, Z:-46.64 [[ 8.47818586e-01 5.27396433e-01 5.52869606e-02 9.76992554e+02] [-5.26251319e-01 8.49619254e-01 -3.47372100e-02 -5.35587446e+02] [-6.52931469e-02 3.56016354e-04 9.97866062e-01 -4.66409960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:977.04, Y:-535.62, Z:-46.65 [[ 8.46050774e-01 5.30228275e-01 5.52816884e-02 9.77044906e+02] [-5.29088640e-01 8.47854914e-01 -3.47455984e-02 -5.35619216e+02] [-6.52939498e-02 1.47627074e-04 9.97866062e-01 -4.66474830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.10, Y:-535.65, Z:-46.65 [[ 8.44993441e-01 5.31912827e-01 5.52705030e-02 9.77097052e+02] [-5.30775625e-01 8.46799116e-01 -3.47633821e-02 -5.35652964e+02] [-6.52941020e-02 3.85941029e-05 9.97866063e-01 -4.66492810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:977.15, Y:-535.68, Z:-46.65 [[ 8.44258639e-01 5.33079337e-01 5.52609412e-02 9.77149956e+02] [-5.31943635e-01 8.46065257e-01 -3.47785752e-02 -5.35684962e+02] [-6.52941023e-02 -3.35934309e-05 9.97866063e-01 -4.66544768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.20, Y:-535.72, Z:-46.66 [[ 8.43371679e-01 5.34482391e-01 5.52520158e-02 9.77203714e+02] [-5.33348767e-01 8.45179601e-01 -3.47927492e-02 -5.35717729e+02] [-6.52939884e-02 -1.25375193e-04 9.97866063e-01 -4.66584917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:977.26, Y:-535.75, Z:-46.66 [[ 8.40175384e-01 5.39493821e-01 5.52425753e-02 9.77256540e+02] [-5.38369994e-01 8.41989413e-01 -3.48077319e-02 -5.35749889e+02] [-6.52922198e-02 -4.96345404e-04 9.97866063e-01 -4.66622009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.31, Y:-535.78, Z:-46.67 [[ 8.38211833e-01 5.42540420e-01 5.52342013e-02 9.77310136e+02] [-5.41422311e-01 8.40029391e-01 -3.48210151e-02 -5.35782706e+02] [-6.52901606e-02 -7.17642009e-04 9.97866063e-01 -4.66666773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.36, Y:-535.81, Z:-46.67 [[ 8.36082169e-01 5.45817603e-01 5.52245489e-02 9.77363785e+02] [-5.44705607e-01 8.37903474e-01 -3.48363166e-02 -5.35814956e+02] [-6.52871162e-02 -9.55098287e-04 9.97866063e-01 -4.66709853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.42, Y:-535.85, Z:-46.67 [[ 8.35391158e-01 5.46875619e-01 5.52147737e-02 9.77416212e+02] [-5.45764907e-01 8.37213245e-01 -3.48518032e-02 -5.35849373e+02] [-6.52861413e-02 -1.01939764e-03 9.97866063e-01 -4.66746534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.47, Y:-535.88, Z:-46.68 [[ 8.35329038e-01 5.46971491e-01 5.52049513e-02 9.77468196e+02] [-5.45859961e-01 8.37150626e-01 -3.48673549e-02 -5.35882660e+02] [-6.52863086e-02 -1.00845854e-03 9.97866064e-01 -4.66791508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.52, Y:-535.92, Z:-46.68 [[ 8.35682912e-01 5.46431592e-01 5.51958848e-02 9.77520367e+02] [-5.45317937e-01 8.37503203e-01 -3.48817015e-02 -5.35916054e+02] [-6.52871940e-02 -9.49264100e-04 9.97866064e-01 -4.66847589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.57, Y:-535.95, Z:-46.69 [[ 8.37130678e-01 5.44211631e-01 5.51899387e-02 9.77572050e+02] [-5.43092529e-01 8.38947624e-01 -3.48911068e-02 -5.35949918e+02] [-6.52896141e-02 -7.64827465e-04 9.97866064e-01 -4.66864371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.62, Y:-535.98, Z:-46.69 [[ 8.37245988e-01 5.44035122e-01 5.51809980e-02 9.77624151e+02] [-5.42914705e-01 8.39062124e-01 -3.49052410e-02 -5.35984302e+02] [-6.52899625e-02 -7.34302262e-04 9.97866064e-01 -4.66904820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.67, Y:-536.02, Z:-46.70 [[ 8.38324094e-01 5.42373397e-01 5.51707567e-02 9.77673417e+02] [-5.41248315e-01 8.40137343e-01 -3.49214209e-02 -5.36019632e+02] [-6.52914626e-02 -5.85610617e-04 9.97866064e-01 -4.66953591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.73, Y:-536.05, Z:-46.70 [[ 8.39673670e-01 5.40282534e-01 5.51625913e-02 9.77725787e+02] [-5.39152091e-01 8.41483581e-01 -3.49343143e-02 -5.36054568e+02] [-6.52928148e-02 -4.07602535e-04 9.97866064e-01 -4.66994177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:977.78, Y:-536.09, Z:-46.70 [[ 8.42950538e-01 5.35156568e-01 5.51528609e-02 9.77778177e+02] [-5.34014114e-01 8.44752891e-01 -3.49496696e-02 -5.36087531e+02] [-6.52940840e-02 8.43670374e-06 9.97866064e-01 -4.67027040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.83, Y:-536.12, Z:-46.70 [[ 8.45588706e-01 5.30978772e-01 5.51478355e-02 9.77830743e+02] [-5.29826895e-01 8.47385053e-01 -3.49575975e-02 -5.36120177e+02] [-6.52931937e-02 3.40943217e-04 9.97866065e-01 -4.67046708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.88, Y:-536.15, Z:-46.71 [[ 8.48692122e-01 5.26005172e-01 5.51383739e-02 9.77883644e+02] [-5.24841800e-01 8.50481045e-01 -3.49725149e-02 -5.36152451e+02] [-6.52898656e-02 7.41974514e-04 9.97866065e-01 -4.67075326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.94, Y:-536.18, Z:-46.71 [[ 8.52605327e-01 5.19639205e-01 5.51294331e-02 9.77937739e+02] [-5.18461567e-01 8.54384891e-01 -3.49866031e-02 -5.36183101e+02] [-6.52821653e-02 1.24727189e-03 9.97866065e-01 -4.67141551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.99, Y:-536.22, Z:-46.71 [[ 8.53042997e-01 5.18921355e-01 5.51205321e-02 9.77990168e+02] [-5.17741315e-01 8.54820968e-01 -3.50006208e-02 -5.36216740e+02] [-6.52807562e-02 1.31885766e-03 9.97866065e-01 -4.67146513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.04, Y:-536.24, Z:-46.72 [[ 8.54752119e-01 5.16102285e-01 5.51112145e-02 9.78043618e+02] [-5.14915436e-01 8.56525553e-01 -3.50152860e-02 -5.36244890e+02] [-6.52756326e-02 1.55177489e-03 9.97866065e-01 -4.67232592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.10, Y:-536.27, Z:-46.73 [[ 8.52833166e-01 5.19267891e-01 5.51039760e-02 9.78096679e+02] [-5.18086890e-01 8.54610500e-01 -3.50266737e-02 -5.36274625e+02] [-6.52806634e-02 1.32326152e-03 9.97866065e-01 -4.67259213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:978.15, Y:-536.30, Z:-46.73 [[ 8.49577740e-01 5.24578020e-01 5.50959585e-02 9.78152054e+02] [-5.23407312e-01 8.51361870e-01 -3.50392804e-02 -5.36304262e+02] [-6.52874346e-02 9.30965123e-04 9.97866065e-01 -4.67264005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.21, Y:-536.33, Z:-46.73 [[ 8.44597246e-01 5.32560711e-01 5.50870359e-02 9.78207086e+02] [-5.31405954e-01 8.46391741e-01 -3.50533025e-02 -5.36331538e+02] [-6.52932239e-02 3.32343884e-04 9.97866065e-01 -4.67323357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.26, Y:-536.36, Z:-46.74 [[ 8.40206907e-01 5.39461465e-01 5.50788698e-02 9.78262888e+02] [-5.38320605e-01 8.42010269e-01 -3.50661291e-02 -5.36361609e+02] [-6.52937994e-02 -1.87286700e-04 9.97866066e-01 -4.67362191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.32, Y:-536.39, Z:-46.74 [[ 8.34088976e-01 5.48874275e-01 5.50691414e-02 9.78317759e+02] [-5.47752755e-01 8.35904429e-01 -3.50814003e-02 -5.36389161e+02] [-6.52878174e-02 -9.03264704e-04 9.97866066e-01 -4.67398104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.37, Y:-536.42, Z:-46.74 [[ 8.29970625e-01 5.55082885e-01 5.50613566e-02 9.78374161e+02] [-5.53974133e-01 8.31793904e-01 -3.50936145e-02 -5.36418318e+02] [-6.52795656e-02 -1.37589814e-03 9.97866066e-01 -4.67429402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.43, Y:-536.45, Z:-46.75 [[ 8.28512040e-01 5.57258551e-01 5.50518614e-02 9.78428506e+02] [-5.56153598e-01 8.30337623e-01 -3.51085036e-02 -5.36449838e+02] [-6.52761455e-02 -1.52947289e-03 9.97866066e-01 -4.67465065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.48, Y:-536.48, Z:-46.75 [[ 8.27139377e-01 5.59294893e-01 5.50424711e-02 9.78483469e+02] [-5.58193456e-01 8.28967083e-01 -3.51232194e-02 -5.36479825e+02] [-6.52726339e-02 -1.67254934e-03 9.97866066e-01 -4.67494672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.54, Y:-536.51, Z:-46.76 [[ 8.27241424e-01 5.59144933e-01 5.50324547e-02 9.78539170e+02] [-5.58042122e-01 8.29068301e-01 -3.51389064e-02 -5.36507587e+02] [-6.52734052e-02 -1.64206884e-03 9.97866066e-01 -4.67597449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.59, Y:-536.54, Z:-46.76 [[ 8.25603269e-01 5.61561814e-01 5.50233682e-02 9.78590584e+02] [-5.60463403e-01 8.27432796e-01 -3.51531291e-02 -5.36540195e+02] [-6.52687943e-02 -1.81604587e-03 9.97866066e-01 -4.67604402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.64, Y:-536.57, Z:-46.76 [[ 8.26925256e-01 5.59614121e-01 5.50150593e-02 9.78643434e+02] [-5.58510537e-01 8.28751666e-01 -3.51661278e-02 -5.36572719e+02] [-6.52732838e-02 -1.64673101e-03 9.97866067e-01 -4.67624802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.70, Y:-536.61, Z:-46.76 [[ 8.30834301e-01 5.53794772e-01 5.50065000e-02 9.78695477e+02] [-5.52677507e-01 8.32652374e-01 -3.51795111e-02 -5.36607052e+02] [-6.52835221e-02 -1.17251081e-03 9.97866067e-01 -4.67634528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.75, Y:-536.64, Z:-46.77 [[ 8.34800839e-01 5.47798183e-01 5.49973665e-02 9.78746624e+02] [-5.46666915e-01 8.36610233e-01 -3.51937840e-02 -5.36639737e+02] [-6.52904505e-02 -6.85440307e-04 9.97866067e-01 -4.67674541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.80, Y:-536.67, Z:-46.77 [[ 8.41056900e-01 5.38144495e-01 5.49890329e-02 9.78798158e+02] [-5.36991607e-01 8.42852594e-01 -3.52068002e-02 -5.36674341e+02] [-6.52939948e-02 8.22730898e-05 9.97866067e-01 -4.67715793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.85, Y:-536.71, Z:-46.77 [[ 8.44284404e-01 5.33067588e-01 5.49799185e-02 9.78849943e+02] [-5.31902976e-01 8.46072517e-01 -3.52210278e-02 -5.36709262e+02] [-6.52921864e-02 4.92582169e-04 9.97866067e-01 -4.67707938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:978.90, Y:-536.74, Z:-46.78 [[ 8.48521753e-01 5.26297482e-01 5.49708533e-02 9.78902090e+02] [-5.25117688e-01 8.50299886e-01 -3.52351706e-02 -5.36740780e+02] [-6.52858918e-02 1.03164133e-03 9.97866067e-01 -4.67780974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.96, Y:-536.77, Z:-46.78 [[ 8.49996623e-01 5.23913022e-01 5.49625806e-02 9.78955288e+02] [-5.22727407e-01 8.51770880e-01 -3.52480703e-02 -5.36773261e+02] [-6.52824486e-02 1.23029352e-03 9.97866067e-01 -4.67827199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:979.01, Y:-536.80, Z:-46.79 [[ 8.49093318e-01 5.25376626e-01 5.49539652e-02 9.79009690e+02] [-5.24193200e-01 8.50869036e-01 -3.52614971e-02 -5.36804494e+02] [-6.52841937e-02 1.13380666e-03 9.97866067e-01 -4.67874897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.06, Y:-536.84, Z:-46.79 [[ 8.46151220e-01 5.30103089e-01 5.49438646e-02 9.79063338e+02] [-5.28928562e-01 8.47932835e-01 -3.52772286e-02 -5.36836044e+02] [-6.52892748e-02 7.88490719e-04 9.97866068e-01 -4.67917354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.12, Y:-536.87, Z:-46.79 [[ 8.43573241e-01 5.34196952e-01 5.49345378e-02 9.79117661e+02] [-5.33030127e-01 8.45359909e-01 -3.52917466e-02 -5.36868670e+02] [-6.52921994e-02 4.89409385e-04 9.97866068e-01 -4.67948110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.17, Y:-536.90, Z:-46.79 [[ 8.38423293e-01 5.42245020e-01 5.49246745e-02 9.79171467e+02] [-5.41094340e-01 8.40220402e-01 -3.53070903e-02 -5.36900625e+02] [-6.52939260e-02 -1.17143619e-04 9.97866068e-01 -4.67940228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.23, Y:-536.93, Z:-46.80 [[ 8.33876178e-01 5.49212876e-01 5.49157168e-02 9.79226496e+02] [-5.48076295e-01 8.35682237e-01 -3.53210173e-02 -5.36929682e+02] [-6.52908466e-02 -6.44647687e-04 9.97866068e-01 -4.67983389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.28, Y:-536.96, Z:-46.80 [[ 8.30819072e-01 5.53827532e-01 5.49065917e-02 9.79279126e+02] [-5.52700044e-01 8.32630822e-01 -3.53351966e-02 -5.36959747e+02] [-6.52865253e-02 -9.89720428e-04 9.97866068e-01 -4.68048303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:979.33, Y:-536.99, Z:-46.81 [[ 8.29222155e-01 5.56216506e-01 5.48982345e-02 9.79331286e+02] [-5.55093379e-01 8.31036610e-01 -3.53481761e-02 -5.36992944e+02] [-6.52836817e-02 -1.16215570e-03 9.97866068e-01 -4.68059594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:979.38, Y:-537.02, Z:-46.82 [[ 8.26814114e-01 5.59790659e-01 5.48893238e-02 9.79383609e+02] [-5.58674457e-01 8.28632838e-01 -3.53620073e-02 -5.37023801e+02] [-6.52784175e-02 -1.42745645e-03 9.97866068e-01 -4.68153457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.44, Y:-537.06, Z:-46.82 [[ 8.25952310e-01 5.61062240e-01 5.48811877e-02 9.79436178e+02] [-5.59947999e-01 8.27772236e-01 -3.53746300e-02 -5.37057615e+02] [-6.52764925e-02 -1.51285388e-03 9.97866069e-01 -4.68204370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:979.49, Y:-537.09, Z:-46.82 [[ 8.25714222e-01 5.61413533e-01 5.48713737e-02 9.79488875e+02] [-5.60299056e-01 8.27534003e-01 -3.53898464e-02 -5.37091572e+02] [-6.52762662e-02 -1.52247941e-03 9.97866069e-01 -4.68249722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:979.54, Y:-537.13, Z:-46.83 [[ 8.26389428e-01 5.60420150e-01 5.48613630e-02 9.79540836e+02] [-5.59302456e-01 8.28207235e-01 -3.54053582e-02 -5.37127234e+02] [-6.52784539e-02 -1.42548135e-03 9.97866069e-01 -4.68300551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.59, Y:-537.16, Z:-46.84 [[ 8.28482368e-01 5.57322424e-01 5.48514464e-02 9.79590843e+02] [-5.56196916e-01 8.30295347e-01 -3.54207148e-02 -5.37164485e+02] [-6.52836593e-02 -1.16276762e-03 9.97866069e-01 -4.68352675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.64, Y:-537.20, Z:-46.84 [[ 8.30424041e-01 5.54425990e-01 5.48428156e-02 9.79641891e+02] [-5.53293276e-01 8.32232526e-01 -3.54340730e-02 -5.37201432e+02] [-6.52875460e-02 -9.18855051e-04 9.97866069e-01 -4.68393909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.69, Y:-537.24, Z:-46.84 [[ 8.33900940e-01 5.49183562e-01 5.48328218e-02 9.79691619e+02] [-5.48038461e-01 8.35701607e-01 -3.54495312e-02 -5.37239908e+02] [-6.52921772e-02 -4.89097848e-04 9.97866069e-01 -4.68419088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.74, Y:-537.28, Z:-46.84 [[ 8.35848745e-01 5.46215475e-01 5.48227201e-02 9.79743246e+02] [-5.45062955e-01 8.37644673e-01 -3.54651468e-02 -5.37276414e+02] [-6.52935714e-02 -2.38335375e-04 9.97866070e-01 -4.68449863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.79, Y:-537.31, Z:-46.85 [[ 8.38364570e-01 5.42347144e-01 5.48126300e-02 9.79794330e+02] [-5.41185318e-01 8.40154491e-01 -3.54807344e-02 -5.37313782e+02] [-6.52939523e-02 8.20000412e-05 9.97866070e-01 -4.68489176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.84, Y:-537.35, Z:-46.85 [[ 8.39036959e-01 5.41307369e-01 5.48024918e-02 9.79841437e+02] [-5.40142303e-01 8.40824773e-01 -3.54963867e-02 -5.37354165e+02] [-6.52937485e-02 1.81636211e-04 9.97866070e-01 -4.68487516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.89, Y:-537.38, Z:-46.86 [[ 8.41837190e-01 5.36942261e-01 5.48010419e-02 9.79893148e+02] [-5.35767779e-01 8.43618832e-01 -3.54986251e-02 -5.37384738e+02] [-6.52919030e-02 5.23430269e-04 9.97866070e-01 -4.68580796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.94, Y:-537.42, Z:-46.86 [[ 8.41844741e-01 5.36930937e-01 5.47959955e-02 9.79943515e+02] [-5.35755924e-01 8.43626034e-01 -3.55064130e-02 -5.37420793e+02] [-6.52918200e-02 5.33607914e-04 9.97866070e-01 -4.68626368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:979.99, Y:-537.46, Z:-46.87 [[ 8.40897073e-01 5.38414777e-01 5.47872335e-02 9.79994432e+02] [-5.37242027e-01 8.42679856e-01 -3.55199279e-02 -5.37458086e+02] [-6.52925521e-02 4.34599061e-04 9.97866070e-01 -4.68663325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.05, Y:-537.49, Z:-46.87 [[ 8.40140986e-01 5.39594830e-01 5.47772130e-02 9.80045913e+02] [-5.38423577e-01 8.41924753e-01 -3.55353743e-02 -5.37493638e+02] [-6.52929958e-02 3.61381487e-04 9.97866070e-01 -4.68708527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.10, Y:-537.53, Z:-46.88 [[ 8.38630007e-01 5.41941211e-01 5.47671030e-02 9.80096777e+02] [-5.40773932e-01 8.40416376e-01 -3.55509490e-02 -5.37530641e+02] [-6.52936946e-02 1.97470993e-04 9.97866070e-01 -4.68751702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.15, Y:-537.57, Z:-46.88 [[ 8.36570433e-01 5.45116103e-01 5.47571481e-02 9.80145968e+02] [-5.43954600e-01 8.38360563e-01 -3.55662755e-02 -5.37567990e+02] [-6.52939830e-02 -3.17080921e-05 9.97866071e-01 -4.68786850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.20, Y:-537.60, Z:-46.88 [[ 8.34815585e-01 5.47800695e-01 5.47479486e-02 9.80197889e+02] [-5.46644021e-01 8.36608838e-01 -3.55804309e-02 -5.37603998e+02] [-6.52936024e-02 -2.24540480e-04 9.97866071e-01 -4.68819274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.25, Y:-537.64, Z:-46.89 [[ 8.31663824e-01 5.52574886e-01 5.47382774e-02 9.80248126e+02] [-5.51427526e-01 8.33463051e-01 -3.55953032e-02 -5.37639370e+02] [-6.52914023e-02 -5.80866962e-04 9.97866071e-01 -4.68850894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.30, Y:-537.68, Z:-46.89 [[ 8.29470300e-01 5.55863041e-01 5.47293406e-02 9.80299855e+02] [-5.54721907e-01 8.31273482e-01 -3.56090386e-02 -5.37675333e+02] [-6.52887980e-02 -8.22924216e-04 9.97866071e-01 -4.68885915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:980.35, Y:-537.71, Z:-46.89 [[ 8.27208871e-01 5.59223831e-01 5.47192021e-02 9.80349907e+02] [-5.58088992e-01 8.29016022e-01 -3.56246113e-02 -5.37711522e+02] [-6.52852268e-02 -1.06918985e-03 9.97866071e-01 -4.68934181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.40, Y:-537.75, Z:-46.90 [[ 8.26420672e-01 5.60388854e-01 5.47102012e-02 9.80399882e+02] [-5.59255648e-01 8.28228846e-01 -3.56384290e-02 -5.37748733e+02] [-6.52839452e-02 -1.14465467e-03 9.97866071e-01 -4.68987286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.45, Y:-537.79, Z:-46.90 [[ 8.26212273e-01 5.60696937e-01 5.47012319e-02 9.80449762e+02] [-5.59563494e-01 8.28020300e-01 -3.56521907e-02 -5.37785525e+02] [-6.52838045e-02 -1.15253489e-03 9.97866071e-01 -4.69029216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.50, Y:-537.82, Z:-46.91 [[ 8.26448250e-01 5.60349982e-01 5.46917506e-02 9.80498320e+02] [-5.59214819e-01 8.28255197e-01 -3.56667295e-02 -5.37823131e+02] [-6.52845778e-02 -1.10773122e-03 9.97866072e-01 -4.69081585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.55, Y:-537.86, Z:-46.91 [[ 8.26410836e-01 5.60405946e-01 5.46836964e-02 9.80549407e+02] [-5.59270088e-01 8.28217346e-01 -3.56790737e-02 -5.37859834e+02] [-6.52847509e-02 -1.09738264e-03 9.97866072e-01 -4.69138433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.60, Y:-537.90, Z:-46.92 [[ 8.27668071e-01 5.58548401e-01 5.46740235e-02 9.80597868e+02] [-5.57407510e-01 8.29471406e-01 -3.56938901e-02 -5.37898722e+02] [-6.52873044e-02 -9.33018168e-04 9.97866072e-01 -4.69183635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.65, Y:-537.94, Z:-46.92 [[ 8.29978134e-01 5.55110422e-01 5.46691524e-02 9.80646470e+02] [-5.53961570e-01 8.31776408e-01 -3.57013493e-02 -5.37938970e+02] [-6.52907023e-02 -6.53270291e-04 9.97866072e-01 -4.69199220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters Centerline goodness : 0.996590 with order 1 Centerline is valid? [True, True] Translation: X:980.69, Y:-537.98, Z:-46.93 [[ 8.30644199e-01 5.54114283e-01 5.46587214e-02 9.80694831e+02] [-5.52962224e-01 8.32440420e-01 -3.57173120e-02 -5.37979556e+02] [-6.52916017e-02 -5.55830064e-04 9.97866072e-01 -4.69259174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.75, Y:-538.02, Z:-46.93 [[ 8.33205263e-01 5.50257039e-01 5.46459581e-02 9.80745680e+02] [-5.49095384e-01 8.34995292e-01 -3.57368287e-02 -5.38015230e+02] [-6.52935593e-02 -2.29729528e-04 9.97866072e-01 -4.69271200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.80, Y:-538.05, Z:-46.93 [[ 8.32712064e-01 5.51004308e-01 5.46339801e-02 9.80798397e+02] [-5.49843059e-01 8.34502356e-01 -3.57551311e-02 -5.38048647e+02] [-6.52934164e-02 -2.66385730e-04 9.97866073e-01 -4.69312115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.85, Y:-538.08, Z:-46.93 [[ 8.33636753e-01 5.49605112e-01 5.46258555e-02 9.80851640e+02] [-5.48440045e-01 8.35424563e-01 -3.57675394e-02 -5.38081040e+02] [-6.52938040e-02 -1.41871182e-04 9.97866073e-01 -4.69343284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.90, Y:-538.11, Z:-46.94 [[ 8.33731331e-01 5.49462549e-01 5.46166195e-02 9.80902790e+02] [-5.48296252e-01 8.35518339e-01 -3.57816371e-02 -5.38113779e+02] [-6.52938567e-02 -1.13815833e-04 9.97866073e-01 -4.69397736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.96, Y:-538.15, Z:-46.94 [[ 8.33732895e-01 5.49461011e-01 5.46082149e-02 9.80955967e+02] [-5.48293871e-01 8.35519352e-01 -3.57944592e-02 -5.38147453e+02] [-6.52938801e-02 -9.83314539e-05 9.97866073e-01 -4.69445082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.01, Y:-538.18, Z:-46.95 [[ 8.32684053e-01 5.51050222e-01 5.45978173e-02 9.81008282e+02] [-5.49885452e-01 8.34472056e-01 -3.58103119e-02 -5.38180433e+02] [-6.52936331e-02 -2.03869801e-04 9.97866073e-01 -4.69482700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.06, Y:-538.21, Z:-46.95 [[ 8.32466159e-01 5.51380226e-01 5.45888395e-02 9.81061828e+02] [-5.50215267e-01 8.34254039e-01 -3.58239923e-02 -5.38213620e+02] [-6.52936008e-02 -2.13351730e-04 9.97866073e-01 -4.69529927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.11, Y:-538.25, Z:-46.96 [[ 8.31912276e-01 5.52216566e-01 5.45786562e-02 9.81114655e+02] [-5.51052387e-01 8.33700664e-01 -3.58395000e-02 -5.38246248e+02] [-6.52934276e-02 -2.60378762e-04 9.97866073e-01 -4.69584968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.17, Y:-538.28, Z:-46.96 [[ 8.30071055e-01 5.54981297e-01 5.45692566e-02 9.81167859e+02] [-5.53822135e-01 8.31862698e-01 -3.58538062e-02 -5.38279953e+02] [-6.52923209e-02 -4.60455489e-04 9.97866074e-01 -4.69623547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.22, Y:-538.31, Z:-46.97 [[ 8.26307765e-01 5.60570103e-01 5.45585757e-02 9.81220151e+02] [-5.59421984e-01 8.28106505e-01 -3.58700521e-02 -5.38312656e+02] [-6.52879901e-02 -8.81564133e-04 9.97866074e-01 -4.69681957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.27, Y:-538.35, Z:-46.97 [[ 8.22920857e-01 5.65531286e-01 5.45493218e-02 9.81271178e+02] [-5.64393078e-01 8.24725884e-01 -3.58841193e-02 -5.38346427e+02] [-6.52818298e-02 -1.25746944e-03 9.97866074e-01 -4.69710309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.32, Y:-538.38, Z:-46.97 [[ 8.19678880e-01 5.70220860e-01 5.45408483e-02 9.81322154e+02] [-5.69092121e-01 8.21489844e-01 -3.58969937e-02 -5.38380985e+02] [-6.52739676e-02 -1.61475948e-03 9.97866074e-01 -4.69733648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.37, Y:-538.41, Z:-46.98 [[ 8.19112888e-01 5.71034371e-01 5.45327866e-02 9.81374147e+02] [-5.69906616e-01 8.20924464e-01 -3.59092365e-02 -5.38414823e+02] [-6.52727069e-02 -1.66487751e-03 9.97866074e-01 -4.69772822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.43, Y:-538.45, Z:-46.98 [[ 8.17920852e-01 5.72741367e-01 5.45234528e-02 9.81425245e+02] [-5.71616450e-01 8.19734191e-01 -3.59234031e-02 -5.38450672e+02] [-6.52695575e-02 -1.78400203e-03 9.97866074e-01 -4.69791964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.48, Y:-538.49, Z:-46.98 [[ 8.19325841e-01 5.70730621e-01 5.45135236e-02 9.81476590e+02] [-5.69600252e-01 8.21135787e-01 -3.59384642e-02 -5.38485935e+02] [-6.52741871e-02 -1.60560436e-03 9.97866074e-01 -4.69835123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.53, Y:-538.52, Z:-46.99 [[ 8.23382427e-01 5.64863515e-01 5.45031156e-02 9.81525740e+02] [-5.63719201e-01 8.25183589e-01 -3.59542418e-02 -5.38523013e+02] [-6.52843159e-02 -1.12036195e-03 9.97866075e-01 -4.69894231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.58, Y:-538.56, Z:-47.00 [[ 8.29400651e-01 5.55989810e-01 5.44967122e-02 9.81577497e+02] [-5.54825585e-01 8.31189007e-01 -3.59639450e-02 -5.38556850e+02] [-6.52926550e-02 -4.07650829e-04 9.97866075e-01 -4.69969371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.63, Y:-538.59, Z:-47.00 [[ 8.30755641e-01 5.53964068e-01 5.44874015e-02 9.81627622e+02] [-5.52794557e-01 8.32540544e-01 -3.59780457e-02 -5.38591792e+02] [-6.52935155e-02 -2.31374579e-04 9.97866075e-01 -4.69981765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.68, Y:-538.63, Z:-47.00 [[ 8.34030879e-01 5.49021440e-01 5.44788977e-02 9.81679650e+02] [-5.47840511e-01 8.35808249e-01 -3.59909178e-02 -5.38626417e+02] [-6.52936976e-02 1.71789626e-04 9.97866075e-01 -4.70027086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.73, Y:-538.66, Z:-47.01 [[ 8.40869152e-01 5.38490690e-01 5.44687631e-02 9.81731690e+02] [-5.37286512e-01 8.42630853e-01 -3.60062490e-02 -5.38662396e+02] [-6.52860902e-02 1.01121237e-03 9.97866075e-01 -4.70052525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.78, Y:-538.70, Z:-47.01 [[ 8.48249448e-01 5.26789458e-01 5.44586191e-02 9.81784787e+02] [-5.25560005e-01 8.49993604e-01 -3.60215850e-02 -5.38695507e+02] [-6.52652692e-02 1.93401742e-03 9.97866075e-01 -4.70085013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.84, Y:-538.73, Z:-47.01 [[ 8.52926715e-01 5.19183381e-01 5.44484734e-02 9.81838083e+02] [-5.17937404e-01 8.54659105e-01 -3.60369143e-02 -5.38727943e+02] [-6.52446506e-02 2.53594598e-03 9.97866075e-01 -4.70126451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.89, Y:-538.76, Z:-47.02 [[ 8.58236707e-01 5.10358912e-01 5.44383714e-02 9.81892782e+02] [-5.09094170e-01 8.59955445e-01 -3.60521682e-02 -5.38759105e+02] [-6.52141192e-02 3.22703659e-03 9.97866076e-01 -4.70176254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.95, Y:-538.79, Z:-47.02 [[ 8.60068195e-01 5.07267493e-01 5.44278553e-02 9.81946626e+02] [-5.05995575e-01 8.61781629e-01 -3.60680374e-02 -5.38790365e+02] [-6.52010687e-02 3.48071790e-03 9.97866076e-01 -4.70205119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.00, Y:-538.82, Z:-47.03 [[ 8.57173565e-01 5.12144646e-01 5.44181959e-02 9.82004378e+02] [-5.10881559e-01 8.58893520e-01 -3.60826053e-02 -5.38817341e+02] [-6.52189489e-02 3.12780264e-03 9.97866076e-01 -4.70257790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.06, Y:-538.84, Z:-47.03 [[ 8.49788699e-01 5.24308047e-01 5.44080812e-02 9.82061228e+02] [-5.23068625e-01 8.51525783e-01 -3.60978506e-02 -5.38843009e+02] [-6.52562775e-02 2.21638536e-03 9.97866076e-01 -4.70305657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.12, Y:-538.87, Z:-47.03 [[ 8.43778646e-01 5.33927313e-01 5.43987196e-02 9.82117369e+02] [-5.32706794e-01 8.45529064e-01 -3.61119528e-02 -5.38872381e+02] [-6.52768564e-02 1.49192715e-03 9.97866076e-01 -4.70349019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:982.18, Y:-538.90, Z:-47.04 [[ 8.34851683e-01 5.47781480e-01 5.43885806e-02 9.82175458e+02] [-5.46589024e-01 8.36621338e-01 -3.61272168e-02 -5.38898416e+02] [-6.52924674e-02 4.32666559e-04 9.97866076e-01 -4.70399808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.23, Y:-538.92, Z:-47.04 [[ 8.26929181e-01 5.59670564e-01 5.43782103e-02 9.82232656e+02] [-5.58502524e-01 8.28715046e-01 -3.61428194e-02 -5.38924946e+02] [-6.52921131e-02 -4.82815646e-04 9.97866077e-01 -4.70447069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.29, Y:-538.96, Z:-47.05 [[ 8.22485736e-01 5.66181380e-01 5.43678148e-02 9.82286824e+02] [-5.65026442e-01 8.24280102e-01 -3.61584500e-02 -5.38955625e+02] [-6.52865490e-02 -9.79443635e-04 9.97866077e-01 -4.70493068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.34, Y:-538.99, Z:-47.06 [[ 8.17410579e-01 5.73484772e-01 5.43613925e-02 9.82342036e+02] [-5.72345222e-01 8.19214756e-01 -3.61681029e-02 -5.38985510e+02] [-6.52755111e-02 -1.54929330e-03 9.97866077e-01 -4.70553085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:982.40, Y:-539.02, Z:-47.06 [[ 8.14078590e-01 5.78205852e-01 5.43511026e-02 9.82395709e+02] [-5.77075731e-01 8.15888688e-01 -3.61835593e-02 -5.39017090e+02] [-6.52659955e-02 -1.90844134e-03 9.97866077e-01 -4.70611823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.45, Y:-539.05, Z:-47.07 [[ 8.12808942e-01 5.79990186e-01 5.43415830e-02 9.82448158e+02] [-5.78863084e-01 8.14620921e-01 -3.61978505e-02 -5.39052001e+02] [-6.52621885e-02 -2.03439979e-03 9.97866077e-01 -4.70663559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.50, Y:-539.09, Z:-47.07 [[ 8.12735231e-01 5.80094438e-01 5.43312744e-02 9.82497909e+02] [-5.78966536e-01 8.14546712e-01 -3.62133166e-02 -5.39086136e+02] [-6.52625045e-02 -2.02415152e-03 9.97866077e-01 -4.70737724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.55, Y:-539.12, Z:-47.08 [[ 8.15681323e-01 5.75945000e-01 5.43262093e-02 9.82550290e+02] [-5.74807375e-01 8.17486714e-01 -3.62209136e-02 -5.39120908e+02] [-6.52722084e-02 -1.68238306e-03 9.97866077e-01 -4.70805629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.60, Y:-539.15, Z:-47.09 [[ 8.17101856e-01 5.73928925e-01 5.43152550e-02 9.82600903e+02] [-5.72785755e-01 8.18903740e-01 -3.62373328e-02 -5.39154484e+02] [-6.52766189e-02 -1.50141247e-03 9.97866078e-01 -4.70873586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.65, Y:-539.19, Z:-47.09 [[ 8.20177439e-01 5.69525577e-01 5.43100960e-02 9.82648844e+02] [-5.68372220e-01 8.21972819e-01 -3.62450631e-02 -5.39193983e+02] [-6.52839132e-02 -1.14096683e-03 9.97866078e-01 -4.70931930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.70, Y:-539.24, Z:-47.09 [[ 8.25849799e-01 5.61269306e-01 5.43035520e-02 9.82695912e+02] [-5.60097352e-01 8.27633096e-01 -3.62548649e-02 -5.39235049e+02] [-6.52921597e-02 -4.74202764e-04 9.97866078e-01 -4.70939908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.74, Y:-539.28, Z:-47.10 [[ 8.30166447e-01 5.54865555e-01 5.42944421e-02 9.82744658e+02] [-5.53678952e-01 8.31940030e-01 -3.62685026e-02 -5.39275428e+02] [-6.52938626e-02 4.72040838e-05 9.97866078e-01 -4.70954244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.79, Y:-539.32, Z:-47.09 [[ 8.36246930e-01 5.45659514e-01 5.42841413e-02 9.82789138e+02] [-5.44452387e-01 8.38006608e-01 -3.62839134e-02 -5.39319702e+02] [-6.52891317e-02 7.87180867e-04 9.97866078e-01 -4.70928486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.84, Y:-539.36, Z:-47.10 [[ 8.40472026e-01 5.39129436e-01 5.42791385e-02 9.82838525e+02] [-5.37908158e-01 8.42221912e-01 -3.62913960e-02 -5.39359252e+02] [-6.52808396e-02 1.30471173e-03 9.97866078e-01 -4.70950941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.88, Y:-539.40, Z:-47.10 [[ 8.42372638e-01 5.36156010e-01 5.42685177e-02 9.82884576e+02] [-5.34927533e-01 8.44117478e-01 -3.63072709e-02 -5.39402132e+02] [-6.52753658e-02 1.55452734e-03 9.97866078e-01 -4.70992545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.93, Y:-539.44, Z:-47.10 [[ 8.42547050e-01 5.35882877e-01 5.42587410e-02 9.82934326e+02] [-5.34652895e-01 8.44290829e-01 -3.63218756e-02 -5.39441086e+02] [-6.52744286e-02 1.59329620e-03 9.97866078e-01 -4.71048627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.98, Y:-539.48, Z:-47.11 [[ 8.39779380e-01 5.40210782e-01 5.42485456e-02 9.82984088e+02] [-5.38988805e-01 8.41528778e-01 -3.63370966e-02 -5.39478173e+02] [-6.52814036e-02 1.27578567e-03 9.97866079e-01 -4.71101106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.03, Y:-539.51, Z:-47.11 [[ 8.36852906e-01 5.44734124e-01 5.42397210e-02 9.83034508e+02] [-5.43520751e-01 8.38608283e-01 -3.63502642e-02 -5.39513121e+02] [-6.52871086e-02 9.39410311e-04 9.97866079e-01 -4.71143719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.09, Y:-539.55, Z:-47.12 [[ 8.31536786e-01 5.52816100e-01 5.42303744e-02 9.83085889e+02] [-5.51618881e-01 8.33303219e-01 -3.63642029e-02 -5.39548549e+02] [-6.52930624e-02 3.23673888e-04 9.97866079e-01 -4.71171800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.14, Y:-539.58, Z:-47.12 [[ 8.27216318e-01 5.59261268e-01 5.42217448e-02 9.83137990e+02] [-5.58076969e-01 8.28991439e-01 -3.63770657e-02 -5.39584221e+02] [-6.52936462e-02 -1.68204676e-04 9.97866079e-01 -4.71204936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.19, Y:-539.62, Z:-47.12 [[ 8.20138509e-01 5.69590987e-01 5.42119358e-02 9.83189597e+02] [-5.68428076e-01 8.21927715e-01 -3.63916780e-02 -5.39619664e+02] [-6.52866643e-02 -9.69369825e-04 9.97866079e-01 -4.71237337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:983.24, Y:-539.65, Z:-47.13 [[ 8.14290261e-01 5.77921743e-01 5.42017456e-02 9.83240483e+02] [-5.76776123e-01 8.16090587e-01 -3.64068490e-02 -5.39654092e+02] [-6.52738440e-02 -1.61653007e-03 9.97866079e-01 -4.71283100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:983.29, Y:-539.68, Z:-47.14 [[ 8.13997333e-01 5.78335143e-01 5.41922980e-02 9.83294309e+02] [-5.77189502e-01 8.15797645e-01 -3.64209065e-02 -5.39684692e+02] [-6.52734392e-02 -1.63270477e-03 9.97866079e-01 -4.71357445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.35, Y:-539.71, Z:-47.15 [[ 8.17280410e-01 5.73687112e-01 5.41832943e-02 9.83348588e+02] [-5.72530343e-01 8.19073592e-01 -3.64342964e-02 -5.39712302e+02] [-6.52819918e-02 -1.24454331e-03 9.97866080e-01 -4.71483489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.40, Y:-539.75, Z:-47.15 [[ 8.15105310e-01 5.76774202e-01 5.41742953e-02 9.83397899e+02] [-5.75623335e-01 8.16902285e-01 -3.64476721e-02 -5.39751511e+02] [-6.52771826e-02 -1.47529747e-03 9.97866080e-01 -4.71451877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.45, Y:-539.78, Z:-47.15 [[ 8.15842234e-01 5.75732216e-01 5.41651620e-02 9.83450925e+02] [-5.74578154e-01 8.17637159e-01 -3.64612402e-02 -5.39783719e+02] [-6.52793598e-02 -1.37549914e-03 9.97866080e-01 -4.71545246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.50, Y:-539.82, Z:-47.16 [[ 8.15426646e-01 5.76321559e-01 5.41557557e-02 9.83500160e+02] [-5.75167867e-01 8.17221809e-01 -3.64752059e-02 -5.39820186e+02] [-6.52787122e-02 -1.40579568e-03 9.97866080e-01 -4.71581013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.55, Y:-539.86, Z:-47.16 [[ 8.17278426e-01 5.73693348e-01 5.41471702e-02 9.83551035e+02] [-5.72533039e-01 8.19069319e-01 -3.64879466e-02 -5.39857363e+02] [-6.52831781e-02 -1.18023231e-03 9.97866080e-01 -4.71615715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.60, Y:-539.89, Z:-47.17 [[ 8.20392154e-01 5.69232692e-01 5.41373770e-02 9.83600908e+02] [-5.68061686e-01 8.22176071e-01 -3.65024711e-02 -5.39893467e+02] [-6.52888558e-02 -8.07028799e-04 9.97866080e-01 -4.71675483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.65, Y:-539.93, Z:-47.17 [[ 8.20190977e-01 5.69523379e-01 5.41283774e-02 9.83652932e+02] [-5.68352125e-01 8.21974731e-01 -3.65158115e-02 -5.39928404e+02] [-6.52887668e-02 -8.14039141e-04 9.97866080e-01 -4.71707283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.70, Y:-539.96, Z:-47.17 [[ 8.18950105e-01 5.71307283e-01 5.41175939e-02 9.83703096e+02] [-5.70138858e-01 8.20735713e-01 -3.65317859e-02 -5.39962606e+02] [-6.52871174e-02 -9.36833256e-04 9.97866081e-01 -4.71731136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:983.75, Y:-540.00, Z:-47.18 [[ 8.19213227e-01 5.70930430e-01 5.41122224e-02 9.83754572e+02] [-5.69760658e-01 8.20997954e-01 -3.65397408e-02 -5.39997388e+02] [-6.52876737e-02 -8.97176496e-04 9.97866081e-01 -4.71777071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.81, Y:-540.03, Z:-47.18 [[ 8.21600107e-01 5.67491031e-01 5.41035512e-02 9.83805588e+02] [-5.66312943e-01 8.23379354e-01 -3.65525756e-02 -5.40031664e+02] [-6.52910058e-02 -6.07941279e-04 9.97866081e-01 -4.71807966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.86, Y:-540.07, Z:-47.18 [[ 8.24291002e-01 5.63576089e-01 5.40956226e-02 9.83856498e+02] [-5.62388780e-01 8.26064109e-01 -3.65643056e-02 -5.40066340e+02] [-6.52932206e-02 -2.83143071e-04 9.97866081e-01 -4.71836709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.91, Y:-540.10, Z:-47.18 [[ 8.28754212e-01 5.56992848e-01 5.40871907e-02 9.83907648e+02] [-5.55790640e-01 8.30517251e-01 -3.65767741e-02 -5.40102296e+02] [-6.52933465e-02 2.52001261e-04 9.97866081e-01 -4.71830939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.96, Y:-540.14, Z:-47.19 [[ 8.31066429e-01 5.53537834e-01 5.40782508e-02 9.83959222e+02] [-5.52327437e-01 8.32823856e-01 -3.65899869e-02 -5.40138177e+02] [-6.52915994e-02 5.39808122e-04 9.97866081e-01 -4.71867999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.01, Y:-540.17, Z:-47.19 [[ 8.32333249e-01 5.51632118e-01 5.40681929e-02 9.84009922e+02] [-5.50416732e-01 8.34087229e-01 -3.66048432e-02 -5.40172830e+02] [-6.52899964e-02 7.07389969e-04 9.97866081e-01 -4.71914033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.06, Y:-540.21, Z:-47.19 [[ 8.30547622e-01 5.54317552e-01 5.40619935e-02 9.84062861e+02] [-5.53107242e-01 8.32305109e-01 -3.66139968e-02 -5.40206215e+02] [-6.52918545e-02 5.07587820e-04 9.97866081e-01 -4.71949360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.12, Y:-540.24, Z:-47.20 [[ 8.27501749e-01 5.58854634e-01 5.40587955e-02 9.84116064e+02] [-5.57653652e-01 8.29265623e-01 -3.66187179e-02 -5.40237812e+02] [-6.52936410e-02 1.55968354e-04 9.97866081e-01 -4.72000320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.17, Y:-540.27, Z:-47.20 [[ 8.24851489e-01 5.62759839e-01 5.40498434e-02 9.84168498e+02] [-5.61566342e-01 8.26620436e-01 -3.66319267e-02 -5.40271710e+02] [-6.52936823e-02 -1.36673611e-04 9.97866081e-01 -4.72043281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:984.22, Y:-540.30, Z:-47.21 [[ 8.21172324e-01 5.68115956e-01 5.40395647e-02 9.84220337e+02] [-5.66932999e-01 8.22948337e-01 -3.66470836e-02 -5.40304381e+02] [-6.52915628e-02 -5.43241673e-04 9.97866082e-01 -4.72070537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.27, Y:-540.34, Z:-47.21 [[ 8.19922607e-01 5.69918882e-01 5.40313421e-02 9.84271730e+02] [-5.68739032e-01 8.21700685e-01 -3.66592028e-02 -5.40339359e+02] [-6.52903627e-02 -6.72024041e-04 9.97866082e-01 -4.72134070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.32, Y:-540.37, Z:-47.21 [[ 8.16711675e-01 5.74511136e-01 5.40277276e-02 9.84323618e+02] [-5.73340930e-01 8.18496115e-01 -3.66645289e-02 -5.40371005e+02] [-6.52856653e-02 -1.03195882e-03 9.97866082e-01 -4.72146776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.38, Y:-540.41, Z:-47.22 [[ 8.15390072e-01 5.76386198e-01 5.40183422e-02 9.84375004e+02] [-5.75219181e-01 8.17176598e-01 -3.66783515e-02 -5.40405980e+02] [-6.52834206e-02 -1.16522288e-03 9.97866082e-01 -4.72188124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.43, Y:-540.44, Z:-47.22 [[ 8.15375500e-01 5.76407658e-01 5.40093194e-02 9.84427185e+02] [-5.75239808e-01 8.17161482e-01 -3.66916329e-02 -5.40441720e+02] [-6.52836736e-02 -1.15085200e-03 9.97866082e-01 -4.72231675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:984.48, Y:-540.48, Z:-47.23 [[ 8.16977051e-01 5.74136412e-01 5.39988780e-02 9.84478700e+02] [-5.72962582e-01 8.18759108e-01 -3.67069929e-02 -5.40476702e+02] [-6.52868944e-02 -9.50565754e-04 9.97866082e-01 -4.72291458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.53, Y:-540.51, Z:-47.23 [[ 8.20187937e-01 5.69540914e-01 5.39897730e-02 9.84528328e+02] [-5.68356217e-01 8.21962788e-01 -3.67203800e-02 -5.40513806e+02] [-6.52913431e-02 -5.67810380e-04 9.97866082e-01 -4.72334396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:984.58, Y:-540.55, Z:-47.24 [[ 8.23176520e-01 5.65213682e-01 5.39806564e-02 9.84578986e+02] [-5.64018776e-01 8.24944514e-01 -3.67337770e-02 -5.40551205e+02] [-6.52934796e-02 -2.07721048e-04 9.97866082e-01 -4.72379410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.63, Y:-540.59, Z:-47.24 [[ 8.28011957e-01 5.58106985e-01 5.39703013e-02 9.84627674e+02] [-5.56895913e-01 8.29768916e-01 -3.67489846e-02 -5.40589605e+02] [-6.52927434e-02 3.72758418e-04 9.97866083e-01 -4.72413215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.68, Y:-540.63, Z:-47.24 [[ 8.30162101e-01 5.54904548e-01 5.39613610e-02 9.84678090e+02] [-5.53685845e-01 8.31913777e-01 -3.67621078e-02 -5.40626681e+02] [-6.52906604e-02 6.40866887e-04 9.97866083e-01 -4.72447756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.73, Y:-540.66, Z:-47.25 [[ 8.30804321e-01 5.53943562e-01 5.39509979e-02 9.84730217e+02] [-5.52721847e-01 8.32553896e-01 -3.67773100e-02 -5.40662396e+02] [-6.52896676e-02 7.34852838e-04 9.97866083e-01 -4.72500939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.78, Y:-540.70, Z:-47.26 [[ 8.29369586e-01 5.56090356e-01 5.39407680e-02 9.84781305e+02] [-5.54872194e-01 8.31121637e-01 -3.67923079e-02 -5.40697202e+02] [-6.52911870e-02 5.84188885e-04 9.97866083e-01 -4.72551326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.83, Y:-540.73, Z:-47.26 [[ 8.27578343e-01 5.58753462e-01 5.39319515e-02 9.84833697e+02] [-5.57540096e-01 8.29333719e-01 -3.68052272e-02 -5.40732312e+02] [-6.52926340e-02 3.89983493e-04 9.97866083e-01 -4.72587749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.89, Y:-540.77, Z:-47.26 [[ 8.24422843e-01 5.63399893e-01 5.39215789e-02 9.84886902e+02] [-5.62195427e-01 8.26184337e-01 -3.68204173e-02 -5.40765078e+02] [-6.52937831e-02 4.11281048e-05 9.97866083e-01 -4.72635542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.94, Y:-540.80, Z:-47.27 [[ 8.22025702e-01 5.66892698e-01 5.39111803e-02 9.84938890e+02] [-5.65694718e-01 8.23791613e-01 -3.68356362e-02 -5.40796859e+02] [-6.52934314e-02 -2.17430231e-04 9.97866084e-01 -4.72673198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.99, Y:-540.83, Z:-47.27 [[ 8.21314089e-01 5.67923981e-01 5.39028624e-02 9.84991229e+02] [-5.66727420e-01 8.23080962e-01 -3.68478042e-02 -5.40831306e+02] [-6.52931715e-02 -2.84609414e-04 9.97866084e-01 -4.72703722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.04, Y:-540.86, Z:-47.28 [[ 8.20933745e-01 5.68474619e-01 5.38924280e-02 9.85041706e+02] [-5.67278242e-01 8.22700742e-01 -3.68630588e-02 -5.40864685e+02] [-6.52930539e-02 -3.09872928e-04 9.97866084e-01 -4.72752576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.09, Y:-540.90, Z:-47.28 [[ 8.20395742e-01 5.69251554e-01 5.38840852e-02 9.85094001e+02] [-5.68056049e-01 8.22163330e-01 -3.68752498e-02 -5.40897854e+02] [-6.52928122e-02 -3.56882658e-04 9.97866084e-01 -4.72764765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.14, Y:-540.93, Z:-47.28 [[ 8.19714100e-01 5.70233538e-01 5.38749157e-02 9.85144611e+02] [-5.69039270e-01 8.21482524e-01 -3.68886416e-02 -5.40931283e+02] [-6.52924424e-02 -4.18803103e-04 9.97866084e-01 -4.72798300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.20, Y:-540.96, Z:-47.29 [[ 8.19457076e-01 5.70603626e-01 5.38665320e-02 9.85196720e+02] [-5.69409353e-01 8.21225495e-01 -3.69008798e-02 -5.40963514e+02] [-6.52923453e-02 -4.33420081e-04 9.97866084e-01 -4.72875001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:985.25, Y:-541.00, Z:-47.29 [[ 8.18459417e-01 5.72034689e-01 5.38562752e-02 9.85247245e+02] [-5.70842523e-01 8.20229257e-01 -3.69158435e-02 -5.40997934e+02] [-6.52916356e-02 -5.29332278e-04 9.97866084e-01 -4.72892408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.30, Y:-541.03, Z:-47.30 [[ 8.18205672e-01 5.72398468e-01 5.38467418e-02 9.85297294e+02] [-5.71206174e-01 8.19975427e-01 -3.69297441e-02 -5.41032503e+02] [-6.52915340e-02 -5.41465274e-04 9.97866084e-01 -4.72950757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.35, Y:-541.07, Z:-47.30 [[ 8.19768132e-01 5.70159309e-01 5.38383898e-02 9.85347910e+02] [-5.68961382e-01 8.21534078e-01 -3.69419161e-02 -5.41067271e+02] [-6.52928492e-02 -3.48159110e-04 9.97866085e-01 -4.73047635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.40, Y:-541.10, Z:-47.31 [[ 8.19463023e-01 5.70598061e-01 5.38349956e-02 9.85396482e+02] [-5.69400754e-01 8.21229390e-01 -3.69468618e-02 -5.41104257e+02] [-6.52926882e-02 -3.77100021e-04 9.97866085e-01 -4.73053921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.45, Y:-541.14, Z:-47.31 [[ 8.20854087e-01 5.68595912e-01 5.38261773e-02 9.85446508e+02] [-5.67393454e-01 8.22616951e-01 -3.69597042e-02 -5.41141459e+02] [-6.52934626e-02 -2.02096481e-04 9.97866085e-01 -4.73072806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.50, Y:-541.18, Z:-47.31 [[ 8.22381418e-01 5.66385482e-01 5.38171798e-02 9.85496414e+02] [-5.65177429e-01 8.24140453e-01 -3.69728009e-02 -5.41178006e+02] [-6.52937726e-02 -1.05108768e-05 9.97866085e-01 -4.73104972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:985.55, Y:-541.22, Z:-47.31 [[ 8.26038241e-01 5.61039713e-01 5.38076732e-02 9.85546950e+02] [-5.59819376e-01 8.27788775e-01 -3.69866310e-02 -5.41215939e+02] [-6.52923567e-02 4.29793546e-04 9.97866085e-01 -4.73144270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:985.60, Y:-541.25, Z:-47.32 [[ 8.29120991e-01 5.56474828e-01 5.37972913e-02 9.85597445e+02] [-5.55243874e-01 8.30864076e-01 -3.70017253e-02 -5.41254017e+02] [-6.52887655e-02 8.08290709e-04 9.97866085e-01 -4.73179269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.65, Y:-541.29, Z:-47.32 [[ 8.30086231e-01 5.55034964e-01 5.37869717e-02 9.85648510e+02] [-5.53800016e-01 8.31826487e-01 -3.70167203e-02 -5.41290434e+02] [-6.52870017e-02 9.39844028e-04 9.97866085e-01 -4.73214425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.70, Y:-541.33, Z:-47.33 [[ 8.29350682e-01 5.56134442e-01 5.37766541e-02 9.85699082e+02] [-5.54900829e-01 8.31091886e-01 -3.70317033e-02 -5.41325316e+02] [-6.52879465e-02 8.71558517e-04 9.97866085e-01 -4.73265548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.75, Y:-541.36, Z:-47.33 [[ 8.27437579e-01 5.58977724e-01 5.37676210e-02 9.85749209e+02] [-5.57749243e-01 8.29182407e-01 -3.70448141e-02 -5.41362416e+02] [-6.52903913e-02 6.63421420e-04 9.97866086e-01 -4.73320744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.80, Y:-541.40, Z:-47.33 [[ 8.25383123e-01 5.62007406e-01 5.37622174e-02 9.85801269e+02] [-5.60784819e-01 8.27132086e-01 -3.70526546e-02 -5.41396255e+02] [-6.52923213e-02 4.33600416e-04 9.97866086e-01 -4.73343707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.85, Y:-541.43, Z:-47.34 [[ 8.24723576e-01 5.62975499e-01 5.37551068e-02 9.85853243e+02] [-5.61754293e-01 8.26473503e-01 -3.70629677e-02 -5.41431756e+02] [-6.52927141e-02 3.69541256e-04 9.97866086e-01 -4.73387339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.90, Y:-541.47, Z:-47.34 [[ 8.23621277e-01 5.64587912e-01 5.37445999e-02 9.85904495e+02] [-5.63369138e-01 8.25372899e-01 -3.70781973e-02 -5.41467440e+02] [-6.52932382e-02 2.60343239e-04 9.97866086e-01 -4.73419234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.96, Y:-541.50, Z:-47.34 [[ 8.22679273e-01 5.65960641e-01 5.37342341e-02 9.85955215e+02] [-5.64743808e-01 8.24432244e-01 -3.70932136e-02 -5.41503355e+02] [-6.52935341e-02 1.69741962e-04 9.97866086e-01 -4.73442283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:986.01, Y:-541.54, Z:-47.35 [[ 8.21278018e-01 5.67992991e-01 5.37250353e-02 9.86006452e+02] [-5.66779625e-01 8.23033390e-01 -3.71065321e-02 -5.41537038e+02] [-6.52937481e-02 2.45236975e-05 9.97866086e-01 -4.73504870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:986.06, Y:-541.57, Z:-47.36 [[ 8.19351907e-01 5.70768883e-01 5.37153120e-02 9.86058395e+02] [-5.69560542e-01 8.21110742e-01 -3.71206021e-02 -5.41572563e+02] [-6.52935043e-02 -1.79286109e-04 9.97866086e-01 -4.73581441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:986.11, Y:-541.61, Z:-47.36 [[ 8.18546561e-01 5.71924416e-01 5.37027863e-02 9.86109540e+02] [-5.70717370e-01 8.20306284e-01 -3.71387145e-02 -5.41605655e+02] [-6.52932707e-02 -2.49345889e-04 9.97866087e-01 -4.73589258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.16, Y:-541.64, Z:-47.37 [[ 8.17788804e-01 5.73008355e-01 5.36926209e-02 9.86159496e+02] [-5.71802676e-01 8.19549464e-01 -3.71534051e-02 -5.41641796e+02] [-6.52929702e-02 -3.17945644e-04 9.97866087e-01 -4.73678713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.21, Y:-541.67, Z:-47.37 [[ 8.18327277e-01 5.72240070e-01 5.36821325e-02 9.86211166e+02] [-5.71031744e-01 8.20086121e-01 -3.71685533e-02 -5.41674152e+02] [-6.52933074e-02 -2.38160740e-04 9.97866087e-01 -4.73698344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.26, Y:-541.71, Z:-47.37 [[ 8.17732183e-01 5.73091050e-01 5.36723863e-02 9.86262284e+02] [-5.71883631e-01 8.19491650e-01 -3.71826219e-02 -5.41709229e+02] [-6.52931002e-02 -2.88932573e-04 9.97866087e-01 -4.73736952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.31, Y:-541.74, Z:-47.38 [[ 8.16738195e-01 5.74507345e-01 5.36659222e-02 9.86314729e+02] [-5.73302364e-01 8.18499333e-01 -3.71919493e-02 -5.41743800e+02] [-6.52925695e-02 -3.90714508e-04 9.97866087e-01 -4.73769723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.37, Y:-541.78, Z:-47.38 [[ 8.16238312e-01 5.75218314e-01 5.36554610e-02 9.86366584e+02] [-5.74013876e-01 8.17999821e-01 -3.72070351e-02 -5.41778928e+02] [-6.52923255e-02 -4.29171604e-04 9.97866087e-01 -4.73814893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.42, Y:-541.81, Z:-47.39 [[ 8.15922830e-01 5.75666701e-01 5.36450007e-02 9.86416657e+02] [-5.74462239e-01 8.17684322e-01 -3.72221106e-02 -5.41814752e+02] [-6.52922057e-02 -4.46657442e-04 9.97866087e-01 -4.73852172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.47, Y:-541.85, Z:-47.39 [[ 8.15690919e-01 5.75996118e-01 5.36357825e-02 9.86467631e+02] [-5.74791494e-01 8.17452301e-01 -3.72353890e-02 -5.41849905e+02] [-6.52921333e-02 -4.56822873e-04 9.97866088e-01 -4.73873085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.52, Y:-541.89, Z:-47.38 [[ 8.13299632e-01 5.79368537e-01 5.36265485e-02 9.86516191e+02] [-5.78170340e-01 8.15065392e-01 -3.72486831e-02 -5.41888699e+02] [-6.52898588e-02 -7.10939525e-04 9.97866088e-01 -4.73810611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.57, Y:-541.92, Z:-47.39 [[ 8.15290510e-01 5.76563845e-01 5.36238415e-02 9.86568070e+02] [-5.75359318e-01 8.17051957e-01 -3.72525798e-02 -5.41918667e+02] [-6.52919553e-02 -4.81302122e-04 9.97866088e-01 -4.73930934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.62, Y:-541.95, Z:-47.40 [[ 8.14924061e-01 5.77082056e-01 5.36197338e-02 9.86618804e+02] [-5.75878260e-01 8.16686008e-01 -3.72584913e-02 -5.41954848e+02] [-6.52916931e-02 -5.15597937e-04 9.97866088e-01 -4.73972305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.67, Y:-541.99, Z:-47.40 [[ 8.14754017e-01 5.77323073e-01 5.36093451e-02 9.86670384e+02] [-5.76118815e-01 8.16515648e-01 -3.72734331e-02 -5.41989509e+02] [-6.52916821e-02 -5.16673035e-04 9.97866088e-01 -4.74024794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.72, Y:-542.02, Z:-47.41 [[ 8.14810283e-01 5.77244513e-01 5.36001349e-02 9.86721808e+02] [-5.76039214e-01 8.16571202e-01 -3.72866729e-02 -5.42024323e+02] [-6.52918539e-02 -4.94215056e-04 9.97866088e-01 -4.74070227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.77, Y:-542.06, Z:-47.41 [[ 8.14833551e-01 5.77212515e-01 5.35910154e-02 9.86772624e+02] [-5.76006285e-01 8.16593832e-01 -3.72997754e-02 -5.42060540e+02] [-6.52919898e-02 -4.75653219e-04 9.97866088e-01 -4.74110751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.82, Y:-542.10, Z:-47.41 [[ 8.15327841e-01 5.76515092e-01 5.35804129e-02 9.86824321e+02] [-5.75306356e-01 8.17086402e-01 -3.73149996e-02 -5.42097004e+02] [-6.52924872e-02 -4.01194033e-04 9.97866088e-01 -4.74147519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.88, Y:-542.13, Z:-47.42 [[ 8.15959039e-01 5.75622372e-01 5.35698800e-02 9.86875477e+02] [-5.74410719e-01 8.17715591e-01 -3.73301147e-02 -5.42132521e+02] [-6.52929752e-02 -3.11268779e-04 9.97866088e-01 -4.74185186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.93, Y:-542.17, Z:-47.42 [[ 8.16054071e-01 5.75488542e-01 5.35601606e-02 9.86925870e+02] [-5.74275687e-01 8.17809793e-01 -3.73440546e-02 -5.42168470e+02] [-6.52930994e-02 -2.83530225e-04 9.97866089e-01 -4.74219755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.98, Y:-542.21, Z:-47.42 [[ 8.15166067e-01 5.76746577e-01 5.35506144e-02 9.86977372e+02] [-5.75535532e-01 8.16923038e-01 -3.73577386e-02 -5.42205398e+02] [-6.52926785e-02 -3.67520543e-04 9.97866089e-01 -4.74233374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.03, Y:-542.24, Z:-47.43 [[ 8.13571299e-01 5.78994983e-01 5.35401891e-02 9.87029068e+02] [-5.77787810e-01 8.15330933e-01 -3.73726740e-02 -5.42240383e+02] [-6.52915630e-02 -5.29533676e-04 9.97866089e-01 -4.74266772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.08, Y:-542.27, Z:-47.43 [[ 8.12706437e-01 5.80209309e-01 5.35294907e-02 9.87079902e+02] [-5.79003756e-01 8.14467181e-01 -3.73879912e-02 -5.42274747e+02] [-6.52908739e-02 -6.08315131e-04 9.97866089e-01 -4.74327757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.13, Y:-542.31, Z:-47.44 [[ 8.13568537e-01 5.79000703e-01 5.35202914e-02 9.87130367e+02] [-5.77791669e-01 8.15326892e-01 -3.74011552e-02 -5.42311565e+02] [-6.52918280e-02 -4.95175396e-04 9.97866089e-01 -4.74378397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.18, Y:-542.35, Z:-47.44 [[ 8.15354803e-01 5.76482855e-01 5.35169504e-02 9.87180025e+02] [-5.75268077e-01 8.17109195e-01 -3.74059352e-02 -5.42347571e+02] [-6.52930725e-02 -2.87484198e-04 9.97866089e-01 -4.74421281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.23, Y:-542.39, Z:-47.45 [[ 8.18769354e-01 5.71623773e-01 5.35070853e-02 9.87229284e+02] [-5.70397661e-01 8.20515843e-01 -3.74200414e-02 -5.42386058e+02] [-6.52935964e-02 1.18066758e-04 9.97866089e-01 -4.74451609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.28, Y:-542.43, Z:-47.45 [[ 8.20133771e-01 5.69665296e-01 5.34981165e-02 9.87277880e+02] [-5.68434178e-01 8.21876734e-01 -3.74328594e-02 -5.42425662e+02] [-6.52930582e-02 2.89794298e-04 9.97866090e-01 -4.74488996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.33, Y:-542.46, Z:-47.45 [[ 8.20472244e-01 5.69178086e-01 5.34939537e-02 9.87325794e+02] [-5.67945545e-01 8.22214202e-01 -3.74388073e-02 -5.42464944e+02] [-6.52928372e-02 3.35849506e-04 9.97866090e-01 -4.74510195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.38, Y:-542.50, Z:-47.46 [[ 8.20133448e-01 5.69667073e-01 5.34841415e-02 9.87375919e+02] [-5.68434656e-01 8.21875494e-01 -3.74528196e-02 -5.42500664e+02] [-6.52929433e-02 3.14070447e-04 9.97866090e-01 -4.74595981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.43, Y:-542.53, Z:-47.46 [[ 8.20497996e-01 5.69142243e-01 5.34803403e-02 9.87427823e+02] [-5.67908358e-01 8.22239002e-01 -3.74582467e-02 -5.42532751e+02] [-6.52926922e-02 3.62484064e-04 9.97866090e-01 -4.74638205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.48, Y:-542.57, Z:-47.47 [[ 8.19977815e-01 5.69892351e-01 5.34704702e-02 9.87478871e+02] [-5.68659141e-01 8.21719299e-01 -3.74723306e-02 -5.42569285e+02] [-6.52929119e-02 3.20008132e-04 9.97866090e-01 -4.74669084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.53, Y:-542.61, Z:-47.47 [[ 8.18817957e-01 5.71558556e-01 5.34599857e-02 9.87530103e+02] [-5.70327914e-01 8.20561256e-01 -3.74872825e-02 -5.42606146e+02] [-6.52933700e-02 2.05537961e-04 9.97866090e-01 -4.74711409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.58, Y:-542.64, Z:-47.48 [[ 8.18079145e-01 5.72616514e-01 5.34494184e-02 9.87580219e+02] [-5.71387142e-01 8.19823340e-01 -3.75023433e-02 -5.42641740e+02] [-6.52935418e-02 1.39574606e-04 9.97866090e-01 -4.74759538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.63, Y:-542.68, Z:-47.48 [[ 8.17767153e-01 5.73062899e-01 5.34396564e-02 9.87631663e+02] [-5.71833570e-01 8.19511378e-01 -3.75162487e-02 -5.42678338e+02] [-6.52935767e-02 1.20966339e-04 9.97866090e-01 -4.74805089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.68, Y:-542.71, Z:-47.48 [[ 8.17218122e-01 5.73846559e-01 5.34290925e-02 9.87683143e+02] [-5.72617919e-01 8.18962833e-01 -3.75312873e-02 -5.42714588e+02] [-6.52936410e-02 7.67923310e-05 9.97866091e-01 -4.74845649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.73, Y:-542.75, Z:-47.49 [[ 8.16307402e-01 5.75142324e-01 5.34184700e-02 9.87733032e+02] [-5.73915465e-01 8.18053364e-01 -3.75464003e-02 -5.42748783e+02] [-6.52936831e-02 -8.28158943e-06 9.97866091e-01 -4.74885821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.78, Y:-542.78, Z:-47.49 [[ 8.15526227e-01 5.76249884e-01 5.34138911e-02 9.87784430e+02] [-5.75024969e-01 8.17273555e-01 -3.75529132e-02 -5.42784370e+02] [-6.52936225e-02 -8.89355385e-05 9.97866091e-01 -4.74921546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.84, Y:-542.82, Z:-47.50 [[ 8.14562648e-01 5.77612120e-01 5.34034820e-02 9.87835527e+02] [-5.76389157e-01 8.16311342e-01 -3.75677101e-02 -5.42819513e+02] [-6.52934327e-02 -1.79934551e-04 9.97866091e-01 -4.74969918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.89, Y:-542.85, Z:-47.50 [[ 8.12494560e-01 5.80518463e-01 5.33938602e-02 9.87887419e+02] [-5.79300857e-01 8.14246988e-01 -3.75813802e-02 -5.42854411e+02] [-6.52924749e-02 -3.96441974e-04 9.97866091e-01 -4.75008736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:987.94, Y:-542.89, Z:-47.51 [[ 8.09676873e-01 5.84442951e-01 5.33835054e-02 9.87938699e+02] [-5.83232869e-01 8.11434504e-01 -3.75960833e-02 -5.42889485e+02] [-6.52899841e-02 -6.94335844e-04 9.97866091e-01 -4.75053178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.99, Y:-542.93, Z:-47.51 [[ 8.08368466e-01 5.86252204e-01 5.33739386e-02 9.87989855e+02] [-5.85045159e-01 8.10128185e-01 -3.76096600e-02 -5.42925280e+02] [-6.52884781e-02 -8.23701266e-04 9.97866091e-01 -4.75089194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.04, Y:-542.96, Z:-47.51 [[ 8.07053272e-01 5.88062370e-01 5.33635250e-02 9.88040281e+02] [-5.86858296e-01 8.08815024e-01 -3.76244299e-02 -5.42960859e+02] [-6.52867322e-02 -9.51908072e-04 9.97866091e-01 -4.75138931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.09, Y:-543.00, Z:-47.52 [[ 8.07320120e-01 5.87696803e-01 5.33543919e-02 9.88091324e+02] [-5.86491076e-01 8.09080741e-01 -3.76373769e-02 -5.42996725e+02] [-6.52873771e-02 -9.06463078e-04 9.97866092e-01 -4.75182831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.14, Y:-543.03, Z:-47.52 [[ 8.08368577e-01 5.86254794e-01 5.33437913e-02 9.88141512e+02] [-5.85044935e-01 8.10126361e-01 -3.76523952e-02 -5.43033130e+02] [-6.52891088e-02 -7.71501772e-04 9.97866092e-01 -4.75219727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.19, Y:-543.07, Z:-47.53 [[ 8.10448664e-01 5.83376762e-01 5.33340140e-02 9.88191992e+02] [-5.82159749e-01 8.12201503e-01 -3.76662396e-02 -5.43070285e+02] [-6.52915752e-02 -5.22362615e-04 9.97866092e-01 -4.75256485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.24, Y:-543.11, Z:-47.53 [[ 8.12271623e-01 5.80836828e-01 5.33234452e-02 9.88242660e+02] [-5.79613353e-01 8.14019956e-01 -3.76811957e-02 -5.43108012e+02] [-6.52929748e-02 -2.99614865e-04 9.97866092e-01 -4.75293772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.29, Y:-543.14, Z:-47.53 [[ 8.13162351e-01 5.79590138e-01 5.33128800e-02 9.88293896e+02] [-5.78363002e-01 8.14908117e-01 -3.76961379e-02 -5.43144007e+02] [-6.52934084e-02 -1.81117286e-04 9.97866092e-01 -4.75341902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.34, Y:-543.18, Z:-47.53 [[ 8.13604203e-01 5.78970684e-01 5.33024250e-02 9.88342327e+02] [-5.77741250e-01 8.15348352e-01 -3.77109156e-02 -5.43183349e+02] [-6.52935589e-02 -1.13250233e-04 9.97866092e-01 -4.75332328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.39, Y:-543.22, Z:-47.54 [[ 8.17372098e-01 5.73639890e-01 5.32928798e-02 9.88392760e+02] [-5.72398202e-01 8.19107544e-01 -3.77244000e-02 -5.43216410e+02] [-6.52928205e-02 3.30123376e-04 9.97866093e-01 -4.75427641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.44, Y:-543.25, Z:-47.55 [[ 8.19266879e-01 5.70931325e-01 5.32841750e-02 9.88443550e+02] [-5.69683100e-01 8.20997629e-01 -3.77366911e-02 -5.43253254e+02] [-6.52912404e-02 5.61327147e-04 9.97866093e-01 -4.75466708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.49, Y:-543.29, Z:-47.55 [[ 8.22531753e-01 5.66218553e-01 5.32735009e-02 9.88493500e+02] [-5.64959438e-01 8.24254596e-01 -3.77517540e-02 -5.43290042e+02] [-6.52866715e-02 9.54649249e-04 9.97866093e-01 -4.75498413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:988.54, Y:-543.33, Z:-47.55 [[ 8.25666357e-01 5.61638719e-01 5.32636480e-02 9.88544184e+02] [-5.60369153e-01 8.27381513e-01 -3.77656502e-02 -5.43325712e+02] [-6.52800091e-02 1.33452157e-03 9.97866093e-01 -4.75519476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:988.60, Y:-543.36, Z:-47.55 [[ 8.27035442e-01 5.59621613e-01 5.32543682e-02 9.88595690e+02] [-5.58347022e-01 8.28746867e-01 -3.77787314e-02 -5.43361387e+02] [-6.52761854e-02 1.50993188e-03 9.97866093e-01 -4.75543088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.65, Y:-543.40, Z:-47.56 [[ 8.25520394e-01 5.61855171e-01 5.32432787e-02 9.88646191e+02] [-5.60584204e-01 8.27234512e-01 -3.77943539e-02 -5.43396704e+02] [-6.52796308e-02 1.35266895e-03 9.97866093e-01 -4.75568170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.70, Y:-543.43, Z:-47.56 [[ 8.23282716e-01 5.65129884e-01 5.32333021e-02 9.88699715e+02] [-5.63864828e-01 8.25001201e-01 -3.78084007e-02 -5.43427763e+02] [-6.52841953e-02 1.11061608e-03 9.97866093e-01 -4.75638408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.75, Y:-543.46, Z:-47.57 [[ 8.20659859e-01 5.68932650e-01 5.32262628e-02 9.88753099e+02] [-5.67674915e-01 8.22383710e-01 -3.78183080e-02 -5.43460637e+02] [-6.52884816e-02 8.20753116e-04 9.97866094e-01 -4.75716995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.81, Y:-543.49, Z:-47.58 [[ 8.16820938e-01 5.74431345e-01 5.32182709e-02 9.88807764e+02] [-5.73184484e-01 8.18552670e-01 -3.78295510e-02 -5.43490807e+02] [-6.52924375e-02 3.96082202e-04 9.97866094e-01 -4.75784572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.86, Y:-543.52, Z:-47.58 [[ 8.14448674e-01 5.77790572e-01 5.32110222e-02 9.88860808e+02] [-5.76550187e-01 8.16185050e-01 -3.78397442e-02 -5.43524061e+02] [-6.52934883e-02 1.39704640e-04 9.97866094e-01 -4.75825776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.91, Y:-543.56, Z:-47.59 [[ 8.13020554e-01 5.79799404e-01 5.31998992e-02 9.88914921e+02] [-5.78562287e-01 8.14759260e-01 -3.78553759e-02 -5.43556482e+02] [-6.52936349e-02 -2.25666829e-06 9.97866094e-01 -4.75865254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.97, Y:-543.59, Z:-47.59 [[ 8.13479470e-01 5.79156375e-01 5.31887802e-02 9.88967886e+02] [-5.77916862e-01 8.15216468e-01 -3.78709923e-02 -5.43590310e+02] [-6.52935961e-02 6.85817961e-05 9.97866094e-01 -4.75888784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.02, Y:-543.62, Z:-47.60 [[ 8.15667869e-01 5.76071240e-01 5.31775782e-02 9.89022286e+02] [-5.74824132e-01 8.17399422e-01 -3.78867154e-02 -5.43620973e+02] [-6.52927687e-02 3.35221225e-04 9.97866094e-01 -4.75952363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:989.07, Y:-543.66, Z:-47.60 [[ 8.15572149e-01 5.76207635e-01 5.31679465e-02 9.89073525e+02] [-5.74959936e-01 8.17303276e-01 -3.79002271e-02 -5.43656739e+02] [-6.52927371e-02 3.40930597e-04 9.97866094e-01 -4.75994462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.13, Y:-543.69, Z:-47.60 [[ 8.15080861e-01 5.76902851e-01 5.31628635e-02 9.89125795e+02] [-5.75656163e-01 8.16812717e-01 -3.79073556e-02 -5.43691572e+02] [-6.52929645e-02 2.94030025e-04 9.97866094e-01 -4.76041959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:989.18, Y:-543.73, Z:-47.61 [[ 8.11540709e-01 5.81873382e-01 5.31511589e-02 9.89175668e+02] [-5.80636227e-01 8.13279386e-01 -3.79237600e-02 -5.43726859e+02] [-6.52935684e-02 -8.48133203e-05 9.97866095e-01 -4.76057052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.23, Y:-543.76, Z:-47.61 [[ 8.09749854e-01 5.84363863e-01 5.31417774e-02 9.89228479e+02] [-5.83131194e-01 8.11491714e-01 -3.79369017e-02 -5.43759477e+02] [-6.52930664e-02 -2.69227460e-04 9.97866095e-01 -4.76101207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.28, Y:-543.79, Z:-47.62 [[ 8.08694751e-01 5.85823978e-01 5.31325277e-02 9.89279344e+02] [-5.84593603e-01 8.10438233e-01 -3.79498518e-02 -5.43793734e+02] [-6.52925650e-02 -3.71089838e-04 9.97866095e-01 -4.76169674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:989.33, Y:-543.82, Z:-47.63 [[ 8.10587234e-01 5.83203429e-01 5.31234161e-02 9.89333251e+02] [-5.81966581e-01 8.12326129e-01 -3.79626023e-02 -5.43824851e+02] [-6.52934588e-02 -1.44051997e-04 9.97866095e-01 -4.76257316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:989.38, Y:-543.86, Z:-47.62 [[ 8.08586608e-01 5.85974376e-01 5.31199427e-02 9.89380512e+02] [-5.84743168e-01 8.10329501e-01 -3.79674619e-02 -5.43864049e+02] [-6.52926164e-02 -3.61542316e-04 9.97866095e-01 -4.76242447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.43, Y:-543.90, Z:-47.63 [[ 8.08926689e-01 5.85505630e-01 5.31109189e-02 9.89430692e+02] [-5.84272583e-01 8.10668281e-01 -3.79800807e-02 -5.43900257e+02] [-6.52928884e-02 -3.08152823e-04 9.97866095e-01 -4.76266710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.48, Y:-543.94, Z:-47.63 [[ 8.09571966e-01 5.84613903e-01 5.31019389e-02 9.89480177e+02] [-5.83378115e-01 8.11311614e-01 -3.79926320e-02 -5.43938587e+02] [-6.52932406e-02 -2.20739258e-04 9.97866095e-01 -4.76285793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.53, Y:-543.97, Z:-47.64 [[ 8.10655749e-01 5.83110974e-01 5.30928408e-02 9.89531238e+02] [-5.81871127e-01 8.12392507e-01 -3.80053419e-02 -5.43973289e+02] [-6.52935579e-02 -8.39421807e-05 9.97866095e-01 -4.76357960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:989.58, Y:-544.01, Z:-47.64 [[ 8.07652222e-01 5.87264896e-01 5.30832365e-02 9.89578490e+02] [-5.86033100e-01 8.09394700e-01 -3.80187518e-02 -5.44012114e+02] [-6.52923686e-02 -4.02604309e-04 9.97866096e-01 -4.76375471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:989.63, Y:-544.05, Z:-47.64 [[ 8.06166131e-01 5.89304055e-01 5.30744694e-02 9.89627413e+02] [-5.88075861e-01 8.07911149e-01 -3.80309868e-02 -5.44048879e+02] [-6.52912703e-02 -5.52520782e-04 9.97866096e-01 -4.76425697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.68, Y:-544.08, Z:-47.66 [[ 8.06722076e-01 5.88543541e-01 5.30659174e-02 9.89679168e+02] [-5.87312918e-01 8.08465382e-01 -3.80429160e-02 -5.44081025e+02] [-6.52918696e-02 -4.76238560e-04 9.97866096e-01 -4.76559666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.72, Y:-544.12, Z:-47.65 [[ 8.02498123e-01 5.94290550e-01 5.30613306e-02 9.89724060e+02] [-5.93071986e-01 8.04249880e-01 -3.80493124e-02 -5.44123505e+02] [-6.52869156e-02 -9.34686999e-04 9.97866096e-01 -4.76519074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.77, Y:-544.16, Z:-47.66 [[ 8.03714462e-01 5.92644667e-01 5.30599947e-02 9.89774242e+02] [-5.91422393e-01 8.05463631e-01 -3.80511753e-02 -5.44158553e+02] [-6.52887221e-02 -7.98589087e-04 9.97866096e-01 -4.76611511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.82, Y:-544.20, Z:-47.66 [[ 8.01059634e-01 5.96229035e-01 5.30509325e-02 9.89819468e+02] [-5.95013750e-01 8.02813667e-01 -3.80638056e-02 -5.44200924e+02] [-6.52847597e-02 -1.07465610e-03 9.97866096e-01 -4.76581776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.87, Y:-544.24, Z:-47.66 [[ 8.00933702e-01 5.96398684e-01 5.30454131e-02 9.89868831e+02] [-5.95183262e-01 8.02687639e-01 -3.80714959e-02 -5.44239397e+02] [-6.52846874e-02 -1.07899787e-03 9.97866096e-01 -4.76597334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.92, Y:-544.28, Z:-47.66 [[ 8.00871599e-01 5.96482882e-01 5.30363493e-02 9.89917995e+02] [-5.95266809e-01 8.02625085e-01 -3.80841182e-02 -5.44276353e+02] [-6.52848289e-02 -1.07028971e-03 9.97866096e-01 -4.76643337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.97, Y:-544.32, Z:-47.67 [[ 8.01443004e-01 5.95715766e-01 5.30267656e-02 9.89967576e+02] [-5.94497132e-01 8.03194711e-01 -3.80974575e-02 -5.44315128e+02] [-6.52860737e-02 -9.91319360e-04 9.97866096e-01 -4.76684055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.02, Y:-544.35, Z:-47.67 [[ 8.01655018e-01 5.95431337e-01 5.30165479e-02 9.90016827e+02] [-5.94211142e-01 8.03405638e-01 -3.81116712e-02 -5.44353577e+02] [-6.52866768e-02 -9.50611007e-04 9.97866096e-01 -4.76713710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:990.07, Y:-544.39, Z:-47.69 [[ 8.03705010e-01 5.92662326e-01 5.30058854e-02 9.90068111e+02] [-5.91435122e-01 8.05450723e-01 -3.81264950e-02 -5.44387910e+02] [-6.52897659e-02 -7.07087240e-04 9.97866097e-01 -4.76861692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.11, Y:-544.43, Z:-47.68 [[ 8.01084419e-01 5.96200067e-01 5.30022038e-02 9.90113666e+02] [-5.94980233e-01 8.02835290e-01 -3.81316123e-02 -5.44428220e+02] [-6.52861094e-02 -9.88623125e-04 9.97866097e-01 -4.76832400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.16, Y:-544.47, Z:-47.69 [[ 8.01179249e-01 5.96072775e-01 5.30005520e-02 9.90161438e+02] [-5.94852511e-01 8.02929820e-01 -3.81339080e-02 -5.44466838e+02] [-6.52863080e-02 -9.75415644e-04 9.97866097e-01 -4.76875117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.21, Y:-544.50, Z:-47.69 [[ 8.01895157e-01 5.95110174e-01 5.29909232e-02 9.90209084e+02] [-5.93886925e-01 8.03643643e-01 -3.81472835e-02 -5.44504743e+02] [-6.52876551e-02 -8.80494510e-04 9.97866097e-01 -4.76899972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.26, Y:-544.54, Z:-47.69 [[ 8.03707626e-01 5.92660842e-01 5.29828155e-02 9.90257395e+02] [-5.91431522e-01 8.05451849e-01 -3.81585411e-02 -5.44544267e+02] [-6.52901798e-02 -6.67396768e-04 9.97866097e-01 -4.76930728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.31, Y:-544.58, Z:-47.69 [[ 8.05252729e-01 5.90560560e-01 5.29742053e-02 9.90306854e+02] [-5.89325904e-01 8.06993180e-01 -3.81704905e-02 -5.44583086e+02] [-6.52918087e-02 -4.82179815e-04 9.97866097e-01 -4.76948805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.35, Y:-544.62, Z:-47.70 [[ 8.07339992e-01 5.87704855e-01 5.29635766e-02 9.90353953e+02] [-5.86463075e-01 8.09075367e-01 -3.81852327e-02 -5.44621296e+02] [-6.52931718e-02 -2.32716565e-04 9.97866097e-01 -4.77014952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.40, Y:-544.66, Z:-47.70 [[ 8.08006557e-01 5.86788557e-01 5.29584068e-02 9.90403901e+02] [-5.85544339e-01 8.09740185e-01 -3.81924013e-02 -5.44659989e+02] [-6.52934142e-02 -1.49784603e-04 9.97866097e-01 -4.77029488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.45, Y:-544.70, Z:-47.71 [[ 8.08487946e-01 5.86126073e-01 5.29477872e-02 9.90451610e+02] [-5.84879471e-01 8.10219859e-01 -3.82071180e-02 -5.44699171e+02] [-6.52935368e-02 -7.80794389e-05 9.97866097e-01 -4.77068100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters Centerline goodness : 0.996975 with order 1 Centerline is valid? [True, True] Translation: X:990.98, Y:-544.13, Z:-46.71 [[ 8.52459598e-01 5.20105916e-01 5.29383549e-02 9.90984935e+02] [-5.18724979e-01 8.54086421e-01 -3.82201827e-02 -5.44131705e+02] [-6.50924732e-02 5.12071463e-03 9.97866097e-01 -4.67106465e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.03, Y:-544.17, Z:-46.71 [[ 8.49905392e-01 5.23991730e-01 5.56191687e-02 9.91034619e+02] [-5.22899798e-01 8.51723281e-01 -3.38120416e-02 -5.44169237e+02] [-6.50893710e-02 -3.46215622e-04 9.97879378e-01 -4.67052931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.09, Y:-544.20, Z:-46.71 [[ 8.48360384e-01 5.26490106e-01 5.56131921e-02 9.91086886e+02] [-5.25402883e-01 8.50181094e-01 -3.38218690e-02 -5.44201906e+02] [-6.50881638e-02 -5.26197721e-04 9.97879379e-01 -4.67103310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.14, Y:-544.23, Z:-46.71 [[ 8.47465897e-01 5.27929642e-01 5.56043782e-02 9.91140115e+02] [-5.26844561e-01 8.49287884e-01 -3.38363532e-02 -5.44234818e+02] [-6.50873385e-02 -6.19708851e-04 9.97879379e-01 -4.67143001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.19, Y:-544.27, Z:-46.72 [[ 8.45833905e-01 5.30541424e-01 5.55949932e-02 9.91192908e+02] [-5.29460957e-01 8.47658630e-01 -3.38517663e-02 -5.44268703e+02] [-6.50853401e-02 -8.02406620e-04 9.97879379e-01 -4.67188257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.25, Y:-544.30, Z:-46.72 [[ 8.45717791e-01 5.30727467e-01 5.55857296e-02 9.91245882e+02] [-5.29646402e-01 8.47542163e-01 -3.38669706e-02 -5.44302619e+02] [-6.50853810e-02 -7.98882066e-04 9.97879379e-01 -4.67211855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.30, Y:-544.34, Z:-46.72 [[ 8.46799286e-01 5.29001196e-01 5.55761154e-02 9.91298016e+02] [-5.27915377e-01 8.48620831e-01 -3.38827402e-02 -5.44335278e+02] [-6.50870594e-02 -6.47605659e-04 9.97879379e-01 -4.67243436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.35, Y:-544.36, Z:-46.74 [[ 8.51141367e-01 5.21987104e-01 5.55683090e-02 9.91353403e+02] [-5.20885436e-01 8.52953372e-01 -3.38955381e-02 -5.44362895e+02] [-6.50902103e-02 -9.48282389e-05 9.97879379e-01 -4.67383883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.40, Y:-544.40, Z:-46.73 [[ 8.49818096e-01 5.24139603e-01 5.55597015e-02 9.91402989e+02] [-5.23041603e-01 8.51632325e-01 -3.39096412e-02 -5.44400731e+02] [-6.50898236e-02 -2.43008637e-04 9.97879379e-01 -4.67322546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.46, Y:-544.43, Z:-46.74 [[ 8.50741234e-01 5.22640426e-01 5.55548248e-02 9.91456186e+02] [-5.21538707e-01 8.52553207e-01 -3.39176289e-02 -5.44432583e+02] [-6.50901681e-02 -1.18866020e-04 9.97879379e-01 -4.67356024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.51, Y:-544.46, Z:-46.74 [[ 8.52130555e-01 5.20373038e-01 5.55465456e-02 9.91510026e+02] [-5.19265615e-01 8.53939047e-01 -3.39311823e-02 -5.44462576e+02] [-6.50902366e-02 7.03860204e-05 9.97879380e-01 -4.67446069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.56, Y:-544.50, Z:-46.75 [[ 8.50303648e-01 5.23353795e-01 5.55383735e-02 9.91562034e+02] [-5.22251838e-01 8.52115476e-01 -3.39445530e-02 -5.44495524e+02] [-6.50901182e-02 -1.41840396e-04 9.97879380e-01 -4.67458402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.62, Y:-544.53, Z:-46.75 [[ 8.48775579e-01 5.25829192e-01 5.55308658e-02 9.91616187e+02] [-5.24731715e-01 8.50590125e-01 -3.39568307e-02 -5.44525237e+02] [-6.50894989e-02 -3.17077767e-04 9.97879380e-01 -4.67509702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.67, Y:-544.56, Z:-46.75 [[ 8.47536273e-01 5.27825232e-01 5.55228880e-02 9.91670263e+02] [-5.26731175e-01 8.49352882e-01 -3.39698701e-02 -5.44555794e+02] [-6.50886795e-02 -4.54938938e-04 9.97879380e-01 -4.67548947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:991.72, Y:-544.59, Z:-46.76 [[ 8.46766101e-01 5.29060789e-01 5.55144404e-02 9.91724079e+02] [-5.27968477e-01 8.48583760e-01 -3.39836700e-02 -5.44587501e+02] [-6.50880797e-02 -5.33654833e-04 9.97879380e-01 -4.67580702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:991.78, Y:-544.62, Z:-46.76 [[ 8.45790425e-01 5.30620101e-01 5.55055416e-02 9.91777954e+02] [-5.29530188e-01 8.47609523e-01 -3.39981982e-02 -5.44618630e+02] [-6.50871530e-02 -6.36509360e-04 9.97879380e-01 -4.67593903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.83, Y:-544.65, Z:-46.76 [[ 8.44976013e-01 5.31916929e-01 5.54970199e-02 9.91832566e+02] [-5.30828894e-01 8.46796234e-01 -3.40121028e-02 -5.44650029e+02] [-6.50862808e-02 -7.20010675e-04 9.97879380e-01 -4.67634113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:991.89, Y:-544.68, Z:-46.77 [[ 8.44294240e-01 5.32999441e-01 5.54872273e-02 9.91886563e+02] [-5.31912690e-01 8.46115229e-01 -3.40280710e-02 -5.44681978e+02] [-6.50855308e-02 -7.84655951e-04 9.97879381e-01 -4.67679231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:991.94, Y:-544.71, Z:-46.77 [[ 8.43582428e-01 5.34126325e-01 5.54775280e-02 9.91940305e+02] [-5.33040968e-01 8.45404247e-01 -3.40438768e-02 -5.44714653e+02] [-6.50846687e-02 -8.52978973e-04 9.97879381e-01 -4.67719840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.99, Y:-544.75, Z:-46.78 [[ 8.43394122e-01 5.34424609e-01 5.54679415e-02 9.91993726e+02] [-5.33338870e-01 8.45215713e-01 -3.40594891e-02 -5.44746898e+02] [-6.50846049e-02 -8.57636295e-04 9.97879381e-01 -4.67762736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.05, Y:-544.78, Z:-46.78 [[ 8.43266851e-01 5.34626415e-01 5.54582249e-02 9.92045583e+02] [-5.33540071e-01 8.45088082e-01 -3.40753030e-02 -5.44779189e+02] [-6.50846420e-02 -8.54611819e-04 9.97879381e-01 -4.67846978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.10, Y:-544.81, Z:-46.79 [[ 8.43280701e-01 5.34605374e-01 5.54504613e-02 9.92098992e+02] [-5.33518155e-01 8.45101409e-01 -3.40879320e-02 -5.44812985e+02] [-6.50848546e-02 -8.38132659e-04 9.97879381e-01 -4.67861755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:992.15, Y:-544.84, Z:-46.80 [[ 8.47195045e-01 5.28381348e-01 5.54410292e-02 9.92154042e+02] [-5.27279747e-01 8.49007088e-01 -3.41032656e-02 -5.44840309e+02] [-6.50893562e-02 -3.40814246e-04 9.97879381e-01 -4.67976561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.20, Y:-544.88, Z:-46.79 [[ 8.44928987e-01 5.31998339e-01 5.54326190e-02 9.92203059e+02] [-5.30903598e-01 8.46745183e-01 -3.41169304e-02 -5.44880490e+02] [-6.50874534e-02 -6.02993489e-04 9.97879381e-01 -4.67905185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.26, Y:-544.91, Z:-46.79 [[ 8.44178909e-01 5.33188649e-01 5.54241371e-02 9.92256392e+02] [-5.32095565e-01 8.45996102e-01 -3.41307040e-02 -5.44913662e+02] [-6.50867079e-02 -6.78517099e-04 9.97879382e-01 -4.67948170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.31, Y:-544.95, Z:-46.80 [[ 8.42765011e-01 5.35421673e-01 5.54145156e-02 9.92309326e+02] [-5.34332377e-01 8.44584478e-01 -3.41463184e-02 -5.44946077e+02] [-6.50849186e-02 -8.32447447e-04 9.97879382e-01 -4.68000796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.36, Y:-544.98, Z:-46.80 [[ 8.41754784e-01 5.37009370e-01 5.54059510e-02 9.92362416e+02] [-5.35922593e-01 8.43575755e-01 -3.41602096e-02 -5.44978932e+02] [-6.50834696e-02 -9.38781036e-04 9.97879382e-01 -4.68044734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:992.42, Y:-545.01, Z:-46.82 [[ 8.42305204e-01 5.36146630e-01 5.53961561e-02 9.92416909e+02] [-5.35056943e-01 8.44124436e-01 -3.41760863e-02 -5.45008496e+02] [-6.50846425e-02 -8.53402520e-04 9.97879382e-01 -4.68163620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.47, Y:-545.04, Z:-46.81 [[ 8.40722027e-01 5.38626298e-01 5.53912035e-02 9.92467228e+02] [-5.37541448e-01 8.42544146e-01 -3.41841114e-02 -5.45044584e+02] [-6.50819956e-02 -1.03573233e-03 9.97879382e-01 -4.68143553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.52, Y:-545.08, Z:-46.82 [[ 8.41782256e-01 5.36968377e-01 5.53858787e-02 9.92519318e+02] [-5.35879370e-01 8.43601895e-01 -3.41927366e-02 -5.45079302e+02] [-6.50840505e-02 -8.97310806e-04 9.97879382e-01 -4.68180592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.57, Y:-545.11, Z:-46.82 [[ 8.42903862e-01 5.35207008e-01 5.53763294e-02 9.92572649e+02] [-5.34113183e-01 8.44720609e-01 -3.42081950e-02 -5.45112911e+02] [-6.50859924e-02 -7.43007931e-04 9.97879382e-01 -4.68222156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.63, Y:-545.14, Z:-46.83 [[ 8.47867554e-01 5.27309328e-01 5.53668162e-02 9.92627163e+02] [-5.26197574e-01 8.49673384e-01 -3.42235855e-02 -5.45141872e+02] [-6.50901259e-02 -1.16816666e-04 9.97879382e-01 -4.68326781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.68, Y:-545.18, Z:-46.83 [[ 8.47633782e-01 5.27685955e-01 5.53579705e-02 9.92676998e+02] [-5.26574070e-01 8.49439530e-01 -3.42378878e-02 -5.45180607e+02] [-6.50901010e-02 -1.28881510e-04 9.97879383e-01 -4.68278572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.73, Y:-545.21, Z:-46.83 [[ 8.48192176e-01 5.26788920e-01 5.53485907e-02 9.92730748e+02] [-5.25674136e-01 8.49996137e-01 -3.42530443e-02 -5.45213149e+02] [-6.50902125e-02 -4.21584222e-05 9.97879383e-01 -4.68335597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.78, Y:-545.25, Z:-46.84 [[ 8.47986098e-01 5.27121588e-01 5.53390454e-02 9.92784502e+02] [-5.26006505e-01 8.49789874e-01 -3.42684587e-02 -5.45245878e+02] [-6.50902048e-02 -4.95213007e-05 9.97879383e-01 -4.68390283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.84, Y:-545.28, Z:-46.84 [[ 8.47699586e-01 5.27583237e-01 5.53293875e-02 9.92838303e+02] [-5.26468119e-01 8.49503340e-01 -3.42840453e-02 -5.45279015e+02] [-6.50901870e-02 -6.65875509e-05 9.97879383e-01 -4.68437584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters Centerline goodness : 0.997341 with order 1 Centerline is valid? [True, True] Translation: X:992.89, Y:-545.31, Z:-46.85 [[ 8.47237316e-01 5.28326273e-01 5.53197953e-02 9.92891047e+02] [-5.27211727e-01 8.49041423e-01 -3.42995160e-02 -5.45310831e+02] [-6.50901332e-02 -1.05414987e-04 9.97879383e-01 -4.68543701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.95, Y:-545.34, Z:-46.86 [[ 8.47746749e-01 5.27509536e-01 5.53094891e-02 9.92946802e+02] [-5.26392168e-01 8.49549109e-01 -3.43161272e-02 -5.45340112e+02] [-6.50902115e-02 -2.30965678e-05 9.97879383e-01 -4.68589239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.00, Y:-545.38, Z:-46.86 [[ 8.43113357e-01 5.34885145e-01 5.52969129e-02 9.92997092e+02] [-5.33782215e-01 8.44924588e-01 -3.43363805e-02 -5.45375502e+02] [-6.50877412e-02 -5.67047598e-04 9.97879384e-01 -4.68567033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.05, Y:-545.41, Z:-46.86 [[ 8.41613825e-01 5.37242371e-01 5.52883775e-02 9.93049998e+02] [-5.36143611e-01 8.43427589e-01 -3.43501187e-02 -5.45408291e+02] [-6.50860821e-02 -7.32975518e-04 9.97879384e-01 -4.68616527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.11, Y:-545.43, Z:-46.87 [[ 8.43069031e-01 5.34956856e-01 5.52790352e-02 9.93105932e+02] [-5.33852194e-01 8.44879206e-01 -3.43651465e-02 -5.45434658e+02] [-6.50879781e-02 -5.38643480e-04 9.97879384e-01 -4.68728266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.15, Y:-545.47, Z:-46.87 [[ 8.38000130e-01 5.42863693e-01 5.52701738e-02 9.93154597e+02] [-5.41775168e-01 8.39820055e-01 -3.43793927e-02 -5.45472041e+02] [-6.50803244e-02 -1.13407212e-03 9.97879384e-01 -4.68684722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.21, Y:-545.50, Z:-46.87 [[ 8.36324908e-01 5.45441795e-01 5.52620762e-02 9.93207946e+02] [-5.44358021e-01 8.38147665e-01 -3.43924039e-02 -5.45504474e+02] [-6.50768347e-02 -1.31913041e-03 9.97879384e-01 -4.68721000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.26, Y:-545.54, Z:-46.88 [[ 8.35479123e-01 5.46737415e-01 5.52524561e-02 9.93261608e+02] [-5.45655446e-01 8.37302952e-01 -3.44078520e-02 -5.45537427e+02] [-6.50751047e-02 -1.40176159e-03 9.97879384e-01 -4.68761938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.32, Y:-545.56, Z:-46.89 [[ 8.36432009e-01 5.45279519e-01 5.52425521e-02 9.93317569e+02] [-5.44193322e-01 8.38253323e-01 -3.44237458e-02 -5.45564719e+02] [-6.50778164e-02 -1.26950505e-03 9.97879385e-01 -4.68874641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.37, Y:-545.60, Z:-46.89 [[ 8.33085732e-01 5.50378923e-01 5.52377111e-02 9.93367284e+02] [-5.49303358e-01 8.34913344e-01 -3.44315121e-02 -5.45601128e+02] [-6.50690807e-02 -1.65785873e-03 9.97879385e-01 -4.68873994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.42, Y:-545.63, Z:-46.89 [[ 8.33222581e-01 5.50172243e-01 5.52325397e-02 9.93418980e+02] [-5.49095675e-01 8.35049603e-01 -3.44398058e-02 -5.45634870e+02] [-6.50697355e-02 -1.63192478e-03 9.97879385e-01 -4.68926520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.47, Y:-545.67, Z:-46.90 [[ 8.33730632e-01 5.49402885e-01 5.52241219e-02 9.93470932e+02] [-5.48323738e-01 8.35556132e-01 -3.44532984e-02 -5.45669306e+02] [-6.50715952e-02 -1.55592671e-03 9.97879385e-01 -4.68973162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.52, Y:-545.70, Z:-46.90 [[ 8.34420099e-01 5.48356131e-01 5.52145967e-02 9.93522828e+02] [-5.47273685e-01 8.36243644e-01 -3.44685566e-02 -5.45702685e+02] [-6.50738999e-02 -1.45623934e-03 9.97879385e-01 -4.69003534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.57, Y:-545.74, Z:-46.90 [[ 8.35891167e-01 5.46111919e-01 5.52062423e-02 9.93574306e+02] [-5.45023693e-01 8.37711269e-01 -3.44819322e-02 -5.45735955e+02] [-6.50778855e-02 -1.26556755e-03 9.97879385e-01 -4.69031068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.63, Y:-545.77, Z:-46.91 [[ 8.37735716e-01 5.43278920e-01 5.51986005e-02 9.93627854e+02] [-5.42183733e-01 8.39551638e-01 -3.44941608e-02 -5.45769564e+02] [-6.50820259e-02 -1.03079281e-03 9.97879385e-01 -4.69068317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.68, Y:-545.80, Z:-46.91 [[ 8.39760867e-01 5.40144270e-01 5.51892533e-02 9.93679261e+02] [-5.39041322e-01 8.41572086e-01 -3.45091096e-02 -5.45803264e+02] [-6.50856328e-02 -7.69888228e-04 9.97879385e-01 -4.69114390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:993.73, Y:-545.84, Z:-46.92 [[ 8.40528577e-01 5.38949670e-01 5.51811991e-02 9.93730983e+02] [-5.37843302e-01 8.42337708e-01 -3.45219837e-02 -5.45836358e+02] [-6.50868165e-02 -6.62124553e-04 9.97879385e-01 -4.69157990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.79, Y:-545.86, Z:-46.93 [[ 8.42906045e-01 5.35224484e-01 5.51738235e-02 9.93785860e+02] [-5.34109349e-01 8.44709786e-01 -3.45337676e-02 -5.45863861e+02] [-6.50891865e-02 -3.60133534e-04 9.97879386e-01 -4.69265635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.84, Y:-545.90, Z:-46.92 [[ 8.41775219e-01 5.37002151e-01 5.51649331e-02 9.93836632e+02] [-5.35889895e-01 8.43580736e-01 -3.45479634e-02 -5.45898560e+02] [-6.50884055e-02 -4.80710735e-04 9.97879386e-01 -4.69244083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:993.89, Y:-545.93, Z:-46.93 [[ 8.43252306e-01 5.34680549e-01 5.51566703e-02 9.93889698e+02] [-5.33562460e-01 8.45054216e-01 -3.45611501e-02 -5.45930927e+02] [-6.50895515e-02 -2.85759171e-04 9.97879386e-01 -4.69276244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.94, Y:-545.96, Z:-46.93 [[ 8.43576981e-01 5.34169044e-01 5.51480780e-02 9.93942109e+02] [-5.33048966e-01 8.45377655e-01 -3.45748551e-02 -5.45963806e+02] [-6.50897702e-02 -2.30074082e-04 9.97879386e-01 -4.69277887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:994.00, Y:-545.99, Z:-46.94 [[ 8.43938290e-01 5.33598919e-01 5.51394355e-02 9.93996042e+02] [-5.32476724e-01 8.45737646e-01 -3.45886326e-02 -5.45994054e+02] [-6.50899533e-02 -1.69794579e-04 9.97879386e-01 -4.69387296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.05, Y:-546.03, Z:-46.94 [[ 8.40685161e-01 5.38710036e-01 5.51358169e-02 9.94049684e+02] [-5.37598401e-01 8.42491060e-01 -3.45943999e-02 -5.46026755e+02] [-6.50877832e-02 -5.57928405e-04 9.97879386e-01 -4.69376199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.11, Y:-546.05, Z:-46.95 [[ 8.38507309e-01 5.42094032e-01 5.51321486e-02 9.94105136e+02] [-5.40989301e-01 8.40317439e-01 -3.46002450e-02 -5.46054705e+02] [-6.50850922e-02 -8.13344212e-04 9.97879386e-01 -4.69494363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.16, Y:-546.09, Z:-46.95 [[ 8.33735787e-01 5.49404646e-01 5.51286920e-02 9.94156882e+02] [-5.48315420e-01 8.35555290e-01 -3.46057515e-02 -5.46088351e+02] [-6.50756309e-02 -1.37585844e-03 9.97879386e-01 -4.69472837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.21, Y:-546.12, Z:-46.95 [[ 8.31750761e-01 5.52406090e-01 5.51197141e-02 9.94210962e+02] [-5.51322482e-01 8.33573616e-01 -3.46200454e-02 -5.46121180e+02] [-6.50706633e-02 -1.59348848e-03 9.97879386e-01 -4.69500288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.27, Y:-546.15, Z:-46.96 [[ 8.33309581e-01 5.50052750e-01 5.51100290e-02 9.94266038e+02] [-5.48962975e-01 8.35128755e-01 -3.46354560e-02 -5.46149921e+02] [-6.50752977e-02 -1.39130820e-03 9.97879386e-01 -4.69611980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.32, Y:-546.19, Z:-46.96 [[ 8.31293165e-01 5.53096328e-01 5.51010601e-02 9.94316382e+02] [-5.52012269e-01 8.33115750e-01 -3.46497186e-02 -5.46186152e+02] [-6.50701931e-02 -1.61238692e-03 9.97879387e-01 -4.69584349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:994.37, Y:-546.22, Z:-46.97 [[ 8.34060650e-01 5.48915001e-01 5.50922306e-02 9.94370071e+02] [-5.47820877e-01 8.35877211e-01 -3.46637516e-02 -5.46215937e+02] [-6.50777933e-02 -1.26900288e-03 9.97879387e-01 -4.69673840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.42, Y:-546.25, Z:-46.97 [[ 8.36192263e-01 5.45663224e-01 5.50830867e-02 9.94422009e+02] [-5.44561078e-01 8.38003968e-01 -3.46782758e-02 -5.46249992e+02] [-6.50825050e-02 -9.98399223e-04 9.97879387e-01 -4.69726255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.47, Y:-546.29, Z:-46.97 [[ 8.36302838e-01 5.45494385e-01 5.50766665e-02 9.94471666e+02] [-5.44391203e-01 8.38113912e-01 -3.46884695e-02 -5.46286640e+02] [-6.50828857e-02 -9.73187217e-04 9.97879387e-01 -4.69723518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.52, Y:-546.32, Z:-46.98 [[ 8.38914428e-01 5.41470261e-01 5.50684997e-02 9.94524420e+02] [-5.40357539e-01 8.40719656e-01 -3.47014296e-02 -5.46321154e+02] [-6.50869623e-02 -6.45149028e-04 9.97879387e-01 -4.69765986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.58, Y:-546.36, Z:-46.98 [[ 8.44573476e-01 5.32601321e-01 5.50588423e-02 9.94575372e+02] [-5.31468643e-01 8.46366250e-01 -3.47167457e-02 -5.46356075e+02] [-6.50901305e-02 5.87943284e-05 9.97879387e-01 -4.69832902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters Centerline goodness : 0.997871 with order 1 Centerline is valid? [True, True] Translation: X:994.63, Y:-546.39, Z:-46.99 [[ 8.48251350e-01 5.26724357e-01 5.50554226e-02 9.94627125e+02] [-5.25578906e-01 8.50035990e-01 -3.47221680e-02 -5.46391032e+02] [-6.50881023e-02 5.17157093e-04 9.97879387e-01 -4.69888214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.68, Y:-546.43, Z:-46.99 [[ 8.51480595e-01 5.21488521e-01 5.50501497e-02 9.94676711e+02] [-5.20331557e-01 8.53257793e-01 -3.47305258e-02 -5.46427283e+02] [-6.50835398e-02 9.28038684e-04 9.97879387e-01 -4.69874887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.73, Y:-546.46, Z:-46.99 [[ 8.52108506e-01 5.20462916e-01 5.50404088e-02 9.94729964e+02] [-5.19302817e-01 8.53883659e-01 -3.47459563e-02 -5.46460605e+02] [-6.50820874e-02 1.02468560e-03 9.97879388e-01 -4.69908689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.78, Y:-546.49, Z:-47.00 [[ 8.50547063e-01 5.23011791e-01 5.50305294e-02 9.94783114e+02] [-5.21856000e-01 8.52325024e-01 -3.47615962e-02 -5.46493671e+02] [-6.50846220e-02 8.48361561e-04 9.97879388e-01 -4.69953240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.84, Y:-546.52, Z:-47.01 [[ 8.48652967e-01 5.26080658e-01 5.50207564e-02 9.94836576e+02] [-5.24930294e-01 8.50434443e-01 -3.47770581e-02 -5.46523133e+02] [-6.50870840e-02 6.31591655e-04 9.97879388e-01 -4.70067631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:994.89, Y:-546.56, Z:-47.01 [[ 8.45695055e-01 5.30823549e-01 5.50112125e-02 9.94889175e+02] [-5.29682195e-01 8.47482318e-01 -3.47921483e-02 -5.46555682e+02] [-6.50895215e-02 2.85088029e-04 9.97879388e-01 -4.70057650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.94, Y:-546.59, Z:-47.01 [[ 8.42897920e-01 5.35254999e-01 5.50016645e-02 9.94942788e+02] [-5.34122057e-01 8.44690526e-01 -3.48072360e-02 -5.46587314e+02] [-6.50901319e-02 -3.86553790e-05 9.97879388e-01 -4.70084573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.00, Y:-546.62, Z:-47.01 [[ 8.41041792e-01 5.38167682e-01 5.49931795e-02 9.94996185e+02] [-5.37040072e-01 8.42837757e-01 -3.48206365e-02 -5.46619419e+02] [-6.50896693e-02 -2.47930614e-04 9.97879388e-01 -4.70107227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.05, Y:-546.65, Z:-47.02 [[ 8.42634137e-01 5.35671918e-01 5.49846155e-02 9.95050085e+02] [-5.34538106e-01 8.44426193e-01 -3.48341545e-02 -5.46648852e+02] [-6.50901279e-02 -3.89245492e-05 9.97879388e-01 -4.70203574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.10, Y:-546.68, Z:-47.02 [[ 8.42645064e-01 5.35655063e-01 5.49813509e-02 9.95100609e+02] [-5.34520879e-01 8.44436885e-01 -3.48393065e-02 -5.46682983e+02] [-6.50901316e-02 -3.15103958e-05 9.97879388e-01 -4.70189187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.15, Y:-546.72, Z:-47.02 [[ 8.44143248e-01 5.33291816e-01 5.49728694e-02 9.95153722e+02] [-5.32151745e-01 8.45931328e-01 -3.48526844e-02 -5.46715589e+02] [-6.50899237e-02 1.66749768e-04 9.97879389e-01 -4.70231453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.21, Y:-546.75, Z:-47.03 [[ 8.46309242e-01 5.29848808e-01 5.49627897e-02 9.95207043e+02] [-5.28700431e-01 8.48091998e-01 -3.48685728e-02 -5.46746635e+02] [-6.50885739e-02 4.50744837e-04 9.97879389e-01 -4.70314868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.26, Y:-546.78, Z:-47.03 [[ 8.45129379e-01 5.31729665e-01 5.49535830e-02 9.95257724e+02] [-5.30584312e-01 8.46914080e-01 -3.48830768e-02 -5.46780090e+02] [-6.50893299e-02 3.23203966e-04 9.97879389e-01 -4.70331577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.31, Y:-546.81, Z:-47.04 [[ 8.44648418e-01 5.32494209e-01 5.49451252e-02 9.95310554e+02] [-5.31349605e-01 8.46433600e-01 -3.48963938e-02 -5.46812755e+02] [-6.50895277e-02 2.80113270e-04 9.97879389e-01 -4.70386327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.36, Y:-546.85, Z:-47.04 [[ 8.44535339e-01 5.32674476e-01 5.49360052e-02 9.95363648e+02] [-5.31529319e-01 8.46320166e-01 -3.49107452e-02 -5.46846902e+02] [-6.50895119e-02 2.83260624e-04 9.97879389e-01 -4.70426892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:995.42, Y:-546.88, Z:-47.05 [[ 8.43425314e-01 5.34431321e-01 5.49263432e-02 9.95415708e+02] [-5.33288892e-01 8.45211888e-01 -3.49259402e-02 -5.46880490e+02] [-6.50899146e-02 1.65813359e-04 9.97879389e-01 -4.70454410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.47, Y:-546.91, Z:-47.05 [[ 8.41604247e-01 5.37295384e-01 5.49177743e-02 9.95468014e+02] [-5.36158157e-01 8.43394136e-01 -3.49394087e-02 -5.46913424e+02] [-6.50901119e-02 -3.94579070e-05 9.97879389e-01 -4.70498458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.52, Y:-546.95, Z:-47.05 [[ 8.39757756e-01 5.40177698e-01 5.49087012e-02 9.95520894e+02] [-5.39045682e-01 8.41550945e-01 -3.49536617e-02 -5.46945601e+02] [-6.50896580e-02 -2.45689820e-04 9.97879390e-01 -4.70527738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.57, Y:-546.98, Z:-47.06 [[ 8.38612694e-01 5.41954536e-01 5.49001825e-02 9.95573486e+02] [-5.40825444e-01 8.40407726e-01 -3.49670366e-02 -5.46978822e+02] [-6.50890816e-02 -3.67614791e-04 9.97879390e-01 -4.70558837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.63, Y:-547.01, Z:-47.06 [[ 8.38784483e-01 5.41689494e-01 5.48915594e-02 9.95625206e+02] [-5.40558949e-01 8.40578600e-01 -3.49805680e-02 -5.47013479e+02] [-6.50892763e-02 -3.30966015e-04 9.97879390e-01 -4.70603182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.68, Y:-547.05, Z:-47.06 [[ 8.38636627e-01 5.41919298e-01 5.48824437e-02 9.95677985e+02] [-5.40788309e-01 8.40430464e-01 -3.49948641e-02 -5.47048087e+02] [-6.50892698e-02 -3.31809086e-04 9.97879390e-01 -4.70646957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.73, Y:-547.08, Z:-47.07 [[ 8.38020741e-01 5.42872189e-01 5.48728013e-02 9.95731122e+02] [-5.41742250e-01 8.39815239e-01 -3.50099772e-02 -5.47082011e+02] [-6.50889577e-02 -3.87827786e-04 9.97879390e-01 -4.70683742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:995.78, Y:-547.12, Z:-47.07 [[ 8.36577582e-01 5.45094486e-01 5.48630168e-02 9.95783124e+02] [-5.43968309e-01 8.38374443e-01 -3.50253035e-02 -5.47115779e+02] [-6.50878509e-02 -5.42358810e-04 9.97879390e-01 -4.70722524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.83, Y:-547.15, Z:-47.08 [[ 8.34952776e-01 5.47580654e-01 5.48569836e-02 9.95834718e+02] [-5.46459207e-01 8.36752593e-01 -3.50347501e-02 -5.47150818e+02] [-6.50860747e-02 -7.24741894e-04 9.97879390e-01 -4.70765837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.89, Y:-547.19, Z:-47.08 [[ 8.34030167e-01 5.48985739e-01 5.48483225e-02 9.95885492e+02] [-5.47866432e-01 8.35831316e-01 -3.50483042e-02 -5.47185128e+02] [-6.50849648e-02 -8.18211754e-04 9.97879390e-01 -4.70815608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.94, Y:-547.22, Z:-47.08 [[ 8.34199331e-01 5.48729572e-01 5.48391671e-02 9.95936952e+02] [-5.47608770e-01 8.35999550e-01 -3.50626237e-02 -5.47221659e+02] [-6.50854174e-02 -7.81191648e-04 9.97879391e-01 -4.70837584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.99, Y:-547.26, Z:-47.09 [[ 8.35251463e-01 5.47127664e-01 5.48298559e-02 9.95989004e+02] [-5.46002455e-01 8.37048930e-01 -3.50771781e-02 -5.47257668e+02] [-6.50869668e-02 -6.38971592e-04 9.97879391e-01 -4.70859281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.04, Y:-547.30, Z:-47.09 [[ 8.37815298e-01 5.43194504e-01 5.48202195e-02 9.96040044e+02] [-5.42059871e-01 8.39606831e-01 -3.50922319e-02 -5.47295136e+02] [-6.50893383e-02 -3.15032372e-04 9.97879391e-01 -4.70897168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:996.09, Y:-547.33, Z:-47.10 [[ 8.41020999e-01 5.38218798e-01 5.48106235e-02 9.96091465e+02] [-5.37072589e-01 8.42805148e-01 -3.51072135e-02 -5.47331594e+02] [-6.50900379e-02 8.86202913e-05 9.97879391e-01 -4.70955312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.14, Y:-547.37, Z:-47.10 [[ 8.41260582e-01 5.37844991e-01 5.48032729e-02 9.96142262e+02] [-5.36697242e-01 8.43043740e-01 -3.51186844e-02 -5.47366354e+02] [-6.50899646e-02 1.31199414e-04 9.97879391e-01 -4.70992142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.19, Y:-547.40, Z:-47.10 [[ 8.41467718e-01 5.37521546e-01 5.47966016e-02 9.96193692e+02] [-5.36372434e-01 8.43249998e-01 -3.51290906e-02 -5.47400427e+02] [-6.50898773e-02 1.68609094e-04 9.97879391e-01 -4.71032208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.25, Y:-547.43, Z:-47.11 [[ 8.39517104e-01 5.40563609e-01 5.47906522e-02 9.96246157e+02] [-5.39420350e-01 8.41303145e-01 -3.51383674e-02 -5.47434154e+02] [-6.50900707e-02 -5.59322974e-05 9.97879391e-01 -4.71071011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.30, Y:-547.47, Z:-47.11 [[ 8.37824478e-01 5.43184304e-01 5.47809736e-02 9.96299145e+02] [-5.42045645e-01 8.39613455e-01 -3.51534499e-02 -5.47468051e+02] [-6.50896448e-02 -2.41367346e-04 9.97879391e-01 -4.71117284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.35, Y:-547.50, Z:-47.12 [[ 8.35831211e-01 5.46247474e-01 5.47711906e-02 9.96350929e+02] [-5.45114373e-01 8.37623713e-01 -3.51686860e-02 -5.47499758e+02] [-6.50884539e-02 -4.61477785e-04 9.97879392e-01 -4.71188033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.40, Y:-547.53, Z:-47.13 [[ 8.35089423e-01 5.47381611e-01 5.47633763e-02 9.96403273e+02] [-5.46250147e-01 8.36882958e-01 -3.51808498e-02 -5.47531844e+02] [-6.50878866e-02 -5.35346828e-04 9.97879392e-01 -4.71270681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.46, Y:-547.57, Z:-47.12 [[ 8.33900567e-01 5.49191417e-01 5.47597649e-02 9.96455200e+02] [-5.48063476e-01 8.35696320e-01 -3.51864702e-02 -5.47565185e+02] [-6.50866414e-02 -6.69809600e-04 9.97879392e-01 -4.71243845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.51, Y:-547.60, Z:-47.13 [[ 8.33356244e-01 5.50017968e-01 5.47503896e-02 9.96507152e+02] [-5.48890850e-01 8.35152513e-01 -3.52010522e-02 -5.47597956e+02] [-6.50861367e-02 -7.16971204e-04 9.97879392e-01 -4.71280014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.56, Y:-547.63, Z:-47.13 [[ 8.32695418e-01 5.51018820e-01 5.47412265e-02 9.96560829e+02] [-5.49892925e-01 8.34492453e-01 -3.52152960e-02 -5.47630594e+02] [-6.50854312e-02 -7.78197500e-04 9.97879392e-01 -4.71308830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:996.61, Y:-547.66, Z:-47.14 [[ 8.32621266e-01 5.51131847e-01 5.47312994e-02 9.96613632e+02] [-5.50005182e-01 8.34417819e-01 -3.52307179e-02 -5.47663791e+02] [-6.50855421e-02 -7.68653340e-04 9.97879392e-01 -4.71351395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:996.67, Y:-547.70, Z:-47.14 [[ 8.33945104e-01 5.49127601e-01 5.47214948e-02 9.96665906e+02] [-5.47995619e-01 8.35738311e-01 -3.52459401e-02 -5.47696297e+02] [-6.50873682e-02 -5.93960279e-04 9.97879392e-01 -4.71448894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:996.72, Y:-547.73, Z:-47.14 [[ 8.33474913e-01 5.49842078e-01 5.47106862e-02 9.96716537e+02] [-5.48710532e-01 8.35268396e-01 -3.52627099e-02 -5.47730217e+02] [-6.50870288e-02 -6.29745713e-04 9.97879393e-01 -4.71440521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.77, Y:-547.76, Z:-47.15 [[ 8.33337792e-01 5.50050493e-01 5.47044742e-02 9.96768156e+02] [-5.48918763e-01 8.35131159e-01 -3.52723442e-02 -5.47763649e+02] [-6.50869812e-02 -6.34534886e-04 9.97879393e-01 -4.71494184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.82, Y:-547.80, Z:-47.15 [[ 8.33564236e-01 5.49708143e-01 5.46957151e-02 9.96819390e+02] [-5.48574787e-01 8.35356575e-01 -3.52859215e-02 -5.47797618e+02] [-6.50873836e-02 -5.91608052e-04 9.97879393e-01 -4.71545990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.87, Y:-547.83, Z:-47.16 [[ 8.34128707e-01 5.48852108e-01 5.46869625e-02 9.96871035e+02] [-5.47716023e-01 8.35919317e-01 -3.52994813e-02 -5.47832654e+02] [-6.50880830e-02 -5.08614972e-04 9.97879393e-01 -4.71582309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.92, Y:-547.87, Z:-47.16 [[ 8.35606056e-01 5.46601255e-01 5.46771151e-02 9.96922017e+02] [-5.45459349e-01 8.37392960e-01 -3.53147278e-02 -5.47868072e+02] [-6.50893058e-02 -3.14943098e-04 9.97879393e-01 -4.71594947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:996.97, Y:-547.90, Z:-47.16 [[ 8.36106624e-01 5.45836130e-01 5.46683770e-02 9.96974081e+02] [-5.44691705e-01 8.37891915e-01 -3.53282496e-02 -5.47902213e+02] [-6.50896261e-02 -2.39227963e-04 9.97879393e-01 -4.71626588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.03, Y:-547.94, Z:-47.17 [[ 8.34879636e-01 5.47711892e-01 5.46596551e-02 9.97026460e+02] [-5.46570594e-01 8.36666927e-01 -3.53417389e-02 -5.47935335e+02] [-6.50890163e-02 -3.69262057e-04 9.97879393e-01 -4.71675403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.08, Y:-547.97, Z:-47.17 [[ 8.33971479e-01 5.49094621e-01 5.46504352e-02 9.97079898e+02] [-5.47955353e-01 8.35760065e-01 -3.53559902e-02 -5.47968788e+02] [-6.50884353e-02 -4.60111118e-04 9.97879393e-01 -4.71706134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.14, Y:-548.00, Z:-47.19 [[ 8.34386738e-01 5.48464402e-01 5.46403850e-02 9.97135028e+02] [-5.47322766e-01 8.36173813e-01 -3.53715153e-02 -5.47995408e+02] [-6.50888761e-02 -3.92403389e-04 9.97879394e-01 -4.71867874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.18, Y:-548.03, Z:-47.18 [[ 8.29951646e-01 5.55153715e-01 5.46316600e-02 9.97184547e+02] [-5.54025595e-01 8.31747283e-01 -3.53849861e-02 -5.48032709e+02] [-6.50838413e-02 -8.99510438e-04 9.97879394e-01 -4.71819852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:997.24, Y:-548.07, Z:-47.19 [[ 8.30023648e-01 5.55046908e-01 5.46230172e-02 9.97237230e+02] [-5.53917678e-01 8.31818589e-01 -3.53983228e-02 -5.48067089e+02] [-6.50841707e-02 -8.75209821e-04 9.97879394e-01 -4.71861004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.29, Y:-548.10, Z:-47.20 [[ 8.32464555e-01 5.51380257e-01 5.46129636e-02 9.97290153e+02] [-5.50242104e-01 8.34253851e-01 -3.54138268e-02 -5.48097825e+02] [-6.50875601e-02 -5.69596398e-04 9.97879394e-01 -4.71971448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.34, Y:-548.13, Z:-47.20 [[ 8.33504886e-01 5.49807288e-01 5.46035849e-02 9.97340687e+02] [-5.48664811e-01 8.35291423e-01 -3.54282817e-02 -5.48134981e+02] [-6.50886336e-02 -4.29419747e-04 9.97879394e-01 -4.71969887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.39, Y:-548.17, Z:-47.19 [[ 8.35345370e-01 5.47008053e-01 5.45921514e-02 9.97391033e+02] [-5.45858439e-01 8.37127322e-01 -3.54458910e-02 -5.48170388e+02] [-6.50897694e-02 -1.90025590e-04 9.97879394e-01 -4.71936751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.44, Y:-548.21, Z:-47.20 [[ 8.36889711e-01 5.44643297e-01 5.45828711e-02 9.97442764e+02] [-5.43487716e-01 8.38667800e-01 -3.54601761e-02 -5.48205757e+02] [-6.50900436e-02 1.11366297e-05 9.97879395e-01 -4.71979813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.49, Y:-548.24, Z:-47.20 [[ 8.38244231e-01 5.42557284e-01 5.45729175e-02 9.97494866e+02] [-5.41396281e-01 8.40018784e-01 -3.54754879e-02 -5.48240639e+02] [-6.50897602e-02 1.91548444e-04 9.97879395e-01 -4.72021720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.55, Y:-548.27, Z:-47.21 [[ 8.38203493e-01 5.42621217e-01 5.45629898e-02 9.97546289e+02] [-5.41459355e-01 8.39977484e-01 -3.54907506e-02 -5.48272624e+02] [-6.50897172e-02 2.04829848e-04 9.97879395e-01 -4.72081404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.60, Y:-548.30, Z:-47.22 [[ 8.40032805e-01 5.39785729e-01 5.45550612e-02 9.97600722e+02] [-5.38617088e-01 8.41802337e-01 -3.55029341e-02 -5.48302222e+02] [-6.50885551e-02 4.39341126e-04 9.97879395e-01 -4.72170420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:997.65, Y:-548.34, Z:-47.22 [[ 8.36024236e-01 5.45974581e-01 5.45457095e-02 9.97649543e+02] [-5.44818103e-01 8.37801740e-01 -3.55172960e-02 -5.48339624e+02] [-6.50900311e-02 -2.41697824e-05 9.97879395e-01 -4.72154595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:997.70, Y:-548.37, Z:-47.23 [[ 8.36323032e-01 5.45517626e-01 5.45372049e-02 9.97704331e+02] [-5.44359326e-01 8.38099349e-01 -3.55303500e-02 -5.48367889e+02] [-6.50900281e-02 2.70139417e-05 9.97879395e-01 -4.72264032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:997.76, Y:-548.40, Z:-47.23 [[ 8.33194366e-01 5.50284663e-01 5.45338302e-02 9.97757240e+02] [-5.49136187e-01 8.34977050e-01 -3.55355289e-02 -5.48401148e+02] [-6.50891533e-02 -3.38497099e-04 9.97879395e-01 -4.72289209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.81, Y:-548.43, Z:-47.24 [[ 8.30266353e-01 5.54693652e-01 5.45228000e-02 9.97811286e+02] [-5.53553531e-01 8.32054393e-01 -3.55524447e-02 -5.48432793e+02] [-6.50866507e-02 -6.63289843e-04 9.97879396e-01 -4.72353339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.86, Y:-548.47, Z:-47.23 [[ 8.26373596e-01 5.60477535e-01 5.45125013e-02 9.97860139e+02] [-5.59348886e-01 8.28168899e-01 -3.55682288e-02 -5.48470850e+02] [-6.50807514e-02 -1.09886176e-03 9.97879396e-01 -4.72332649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.91, Y:-548.50, Z:-47.24 [[ 8.25961307e-01 5.61085806e-01 5.45035599e-02 9.97914222e+02] [-5.59957575e-01 8.27756873e-01 -3.55819250e-02 -5.48500227e+02] [-6.50802094e-02 -1.13038803e-03 9.97879396e-01 -4.72419844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:997.97, Y:-548.54, Z:-47.24 [[ 8.21511724e-01 5.67581550e-01 5.44946900e-02 9.97965265e+02] [-5.66466613e-01 8.23315575e-01 -3.55955044e-02 -5.48536512e+02] [-6.50696786e-02 -1.62729831e-03 9.97879396e-01 -4.72445923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.02, Y:-548.57, Z:-47.24 [[ 8.19345654e-01 5.70704419e-01 5.44900497e-02 9.98017153e+02] [-5.69595885e-01 8.21153446e-01 -3.56026064e-02 -5.48569161e+02] [-6.50632569e-02 -1.86646731e-03 9.97879396e-01 -4.72426652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.07, Y:-548.60, Z:-47.25 [[ 8.18729471e-01 5.71588999e-01 5.44800007e-02 9.98070313e+02] [-5.70481396e-01 8.20537834e-01 -3.56179769e-02 -5.48602996e+02] [-6.50617456e-02 -1.91833948e-03 9.97879396e-01 -4.72453521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.12, Y:-548.64, Z:-47.25 [[ 8.18399472e-01 5.72062365e-01 5.44697563e-02 9.98121333e+02] [-5.70954767e-01 8.20207838e-01 -3.56336366e-02 -5.48635631e+02] [-6.50611835e-02 -1.93721765e-03 9.97879396e-01 -4.72514717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.17, Y:-548.67, Z:-47.26 [[ 8.19274710e-01 5.70808976e-01 5.44615688e-02 9.98172888e+02] [-5.69697780e-01 8.21080868e-01 -3.56461458e-02 -5.48669636e+02] [-6.50644922e-02 -1.82264913e-03 9.97879396e-01 -4.72566701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.22, Y:-548.70, Z:-47.27 [[ 8.22301433e-01 5.66440859e-01 5.44527980e-02 9.98224071e+02] [-5.65319181e-01 8.24101099e-01 -3.56595390e-02 -5.48703859e+02] [-6.50736306e-02 -1.46032118e-03 9.97879397e-01 -4.72700588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.27, Y:-548.74, Z:-47.26 [[ 8.24303605e-01 5.63523575e-01 5.44494910e-02 9.98273945e+02] [-5.62395194e-01 8.26099076e-01 -3.56645879e-02 -5.48742671e+02] [-6.50785102e-02 -1.22368366e-03 9.97879397e-01 -4.72622854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.32, Y:-548.78, Z:-47.27 [[ 8.27347648e-01 5.59045770e-01 5.44398548e-02 9.98324855e+02] [-5.57906702e-01 8.29136358e-01 -3.56792908e-02 -5.48777128e+02] [-6.50844196e-02 -8.53182545e-04 9.97879397e-01 -4.72719533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.37, Y:-548.81, Z:-47.27 [[ 8.30808977e-01 5.53889094e-01 5.44363476e-02 9.98374431e+02] [-5.52738573e-01 8.32590341e-01 -3.56846411e-02 -5.48813524e+02] [-6.50885107e-02 -4.41948971e-04 9.97879397e-01 -4.72688690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:998.43, Y:-548.85, Z:-47.28 [[ 8.33719707e-01 5.49498977e-01 5.44272403e-02 9.98425844e+02] [-5.48338169e-01 8.35494385e-01 -3.56985264e-02 -5.48849298e+02] [-6.50899574e-02 -8.19682943e-05 9.97879397e-01 -4.72750150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.48, Y:-548.88, Z:-47.28 [[ 8.36131376e-01 5.45823097e-01 5.44193825e-02 9.98479560e+02] [-5.44653708e-01 8.37900411e-01 -3.57105010e-02 -5.48882972e+02] [-6.50896392e-02 2.18951886e-04 9.97879397e-01 -4.72760517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.53, Y:-548.92, Z:-47.28 [[ 8.37972620e-01 5.42993256e-01 5.44078224e-02 9.98531106e+02] [-5.41816750e-01 8.39736930e-01 -3.57281050e-02 -5.48916190e+02] [-6.50883779e-02 4.60104289e-04 9.97879397e-01 -4.72840812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:998.58, Y:-548.95, Z:-47.28 [[ 8.40412512e-01 5.39209605e-01 5.44041410e-02 9.98583312e+02] [-5.38024794e-01 8.42171255e-01 -3.57337099e-02 -5.48947851e+02] [-6.50855634e-02 7.60280152e-04 9.97879397e-01 -4.72844381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.64, Y:-548.98, Z:-47.29 [[ 8.42851866e-01 5.35389542e-01 5.43945798e-02 9.98637661e+02] [-5.34195822e-01 8.44604574e-01 -3.57482583e-02 -5.48979683e+02] [-6.50811545e-02 1.07312894e-03 9.97879397e-01 -4.72891477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.69, Y:-549.01, Z:-47.29 [[ 8.44816796e-01 5.32284607e-01 5.43845430e-02 9.98691854e+02] [-5.31083463e-01 8.46564425e-01 -3.57635210e-02 -5.49011938e+02] [-6.50763911e-02 1.33089178e-03 9.97879398e-01 -4.72931014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.74, Y:-549.04, Z:-47.30 [[ 8.45624393e-01 5.31001690e-01 5.43745554e-02 9.98744041e+02] [-5.29796919e-01 8.47369523e-01 -3.57786996e-02 -5.49044343e+02] [-6.50738910e-02 1.44786923e-03 9.97879398e-01 -4.72966911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.80, Y:-549.07, Z:-47.30 [[ 8.44895650e-01 5.32161396e-01 5.43653395e-02 9.98799011e+02] [-5.30958121e-01 8.46641812e-01 -3.57926975e-02 -5.49074581e+02] [-6.50754614e-02 1.37537592e-03 9.97879398e-01 -4.72991078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:998.85, Y:-549.10, Z:-47.30 [[ 8.42897520e-01 5.35321638e-01 5.43554443e-02 9.98853086e+02] [-5.34123942e-01 8.44647514e-01 -3.58077184e-02 -5.49104409e+02] [-6.50798373e-02 1.14969288e-03 9.97879398e-01 -4.73038734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.91, Y:-549.13, Z:-47.31 [[ 8.38195014e-01 5.42656059e-01 5.43462970e-02 9.98909199e+02] [-5.41472778e-01 8.39954787e-01 -3.58215961e-02 -5.49133336e+02] [-6.50872385e-02 5.98442791e-04 9.97879398e-01 -4.73074942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.97, Y:-549.16, Z:-47.31 [[ 8.31426016e-01 5.52972304e-01 5.43361007e-02 9.98965051e+02] [-5.51809849e-01 8.33199614e-01 -3.58370557e-02 -5.49162047e+02] [-6.50897174e-02 -1.87335127e-04 9.97879398e-01 -4.73121380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.02, Y:-549.19, Z:-47.32 [[ 8.27309777e-01 5.59112901e-01 5.43258330e-02 9.99020168e+02] [-5.57962588e-01 8.29091274e-01 -3.58526139e-02 -5.49191943e+02] [-6.50867331e-02 -6.50564334e-04 9.97879399e-01 -4.73182317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.07, Y:-549.22, Z:-47.32 [[ 8.21286031e-01 5.67924707e-01 5.43211069e-02 9.99074783e+02] [-5.66793030e-01 8.23079424e-01 -3.58597731e-02 -5.49221625e+02] [-6.50762365e-02 -1.33769413e-03 9.97879399e-01 -4.73213029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.13, Y:-549.25, Z:-47.33 [[ 8.18775381e-01 5.71539317e-01 5.43110017e-02 9.99128665e+02] [-5.70414542e-01 8.20573110e-01 -3.58750713e-02 -5.49252545e+02] [-6.50701614e-02 -1.60616007e-03 9.97879399e-01 -4.73263404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.18, Y:-549.28, Z:-47.33 [[ 8.18276023e-01 5.72254911e-01 5.43016261e-02 9.99181983e+02] [-5.71130768e-01 8.20074148e-01 -3.58892570e-02 -5.49284945e+02] [-6.50691633e-02 -1.64601094e-03 9.97879399e-01 -4.73319468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:999.23, Y:-549.32, Z:-47.34 [[ 8.18748876e-01 5.71579124e-01 5.42916516e-02 9.99234156e+02] [-5.70452497e-01 8.20545445e-01 -3.59043396e-02 -5.49318407e+02] [-6.50709384e-02 -1.57417051e-03 9.97879399e-01 -4.73375258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.28, Y:-549.35, Z:-47.34 [[ 8.19256369e-01 5.70852327e-01 5.42827955e-02 9.99284901e+02] [-5.69723220e-01 8.21051381e-01 -3.59177239e-02 -5.49351700e+02] [-6.50726805e-02 -1.50034496e-03 9.97879399e-01 -4.73434981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.34, Y:-549.39, Z:-47.35 [[ 8.22372109e-01 5.66355340e-01 5.42747063e-02 9.99336461e+02] [-5.65215610e-01 8.24160393e-01 -3.59299433e-02 -5.49387817e+02] [-6.50801785e-02 -1.12912798e-03 9.97879399e-01 -4.73475584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.39, Y:-549.43, Z:-47.35 [[ 8.23638635e-01 5.64512877e-01 5.42642615e-02 9.99387095e+02] [-5.63368108e-01 8.25423698e-01 -3.59457109e-02 -5.49425095e+02] [-6.50828241e-02 -9.64478057e-04 9.97879399e-01 -4.73479506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.44, Y:-549.46, Z:-47.36 [[ 8.26183971e-01 5.60781415e-01 5.42609592e-02 9.99436866e+02] [-5.59628255e-01 8.27963625e-01 -3.59506951e-02 -5.49459302e+02] [-6.50865821e-02 -6.64077874e-04 9.97879399e-01 -4.73552024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.49, Y:-549.50, Z:-47.36 [[ 8.28063155e-01 5.58003252e-01 5.42566275e-02 9.99487313e+02] [-5.56843693e-01 8.29838647e-01 -3.59572313e-02 -5.49496429e+02] [-6.50884983e-02 -4.37602433e-04 9.97879400e-01 -4.73559634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.54, Y:-549.53, Z:-47.36 [[ 8.29976240e-01 5.55154626e-01 5.42474161e-02 9.99536955e+02] [-5.53988065e-01 8.31747139e-01 -3.59711229e-02 -5.49531634e+02] [-6.50896684e-02 -1.97243656e-04 9.97879400e-01 -4.73633530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:999.59, Y:-549.57, Z:-47.37 [[ 8.31766515e-01 5.52469541e-01 5.42390170e-02 9.99586953e+02] [-5.51296437e-01 8.33533086e-01 -3.59837830e-02 -5.49569885e+02] [-6.50899593e-02 2.83289404e-05 9.97879400e-01 -4.73664655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.64, Y:-549.61, Z:-47.37 [[ 8.32337113e-01 5.51610494e-01 5.42290868e-02 9.99636792e+02] [-5.50434592e-01 8.34101823e-01 -3.59987420e-02 -5.49606953e+02] [-6.50898640e-02 1.13523678e-04 9.97879400e-01 -4.73726634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.69, Y:-549.64, Z:-47.38 [[ 8.32384903e-01 5.51539277e-01 5.42199146e-02 9.99688751e+02] [-5.50362324e-01 8.34148912e-01 -3.60125516e-02 -5.49641386e+02] [-6.50898194e-02 1.35706006e-04 9.97879400e-01 -4.73750271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.74, Y:-549.68, Z:-47.38 [[ 8.29934917e-01 5.55219984e-01 5.42107339e-02 9.99737775e+02] [-5.54049952e-01 8.31703524e-01 -3.60263663e-02 -5.49677547e+02] [-6.50898169e-02 -1.35915148e-04 9.97879400e-01 -4.73775237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:999.79, Y:-549.71, Z:-47.38 [[ 8.28500550e-01 5.57358899e-01 5.42023642e-02 9.99788816e+02] [-5.56192610e-01 8.30271627e-01 -3.60389542e-02 -5.49712568e+02] [-6.50893170e-02 -2.88660989e-04 9.97879400e-01 -4.73825973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.84, Y:-549.75, Z:-47.39 [[ 8.26944557e-01 5.59665821e-01 5.41928806e-02 9.99838576e+02] [-5.58503538e-01 8.28718266e-01 -3.60532095e-02 -5.49748982e+02] [-6.50883791e-02 -4.52910188e-04 9.97879400e-01 -4.73887572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.89, Y:-549.79, Z:-47.39 [[ 8.26432427e-01 5.60422684e-01 5.41835718e-02 9.99888953e+02] [-5.59261109e-01 8.28206598e-01 -3.60671940e-02 -5.49786271e+02] [-6.50880654e-02 -4.95665821e-04 9.97879401e-01 -4.73892347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.94, Y:-549.82, Z:-47.39 [[ 8.27706608e-01 5.58539950e-01 5.41746756e-02 9.99937862e+02] [-5.57373465e-01 8.29477555e-01 -3.60805516e-02 -5.49824204e+02] [-6.50891069e-02 -3.31415653e-04 9.97879401e-01 -4.73908436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.99, Y:-549.86, Z:-47.39 [[ 8.29681365e-01 5.55603182e-01 5.41658315e-02 9.99987651e+02] [-5.54429562e-01 8.31447591e-01 -3.60938239e-02 -5.49860660e+02] [-6.50898935e-02 -8.47651515e-05 9.97879401e-01 -4.73938172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.04, Y:-549.90, Z:-47.40 [[ 8.33885009e-01 5.49274811e-01 5.41569327e-02 1.00003671e+03] [-5.48086921e-01 8.35641669e-01 -3.61071712e-02 -5.49900071e+02] [-6.50885493e-02 4.26522339e-04 9.97879401e-01 -4.73965576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.09, Y:-549.94, Z:-47.40 [[ 8.37748457e-01 5.43365115e-01 5.41467902e-02 1.00008727e+03] [-5.42163851e-01 8.39495999e-01 -3.61223746e-02 -5.49937502e+02] [-6.50836520e-02 9.05031319e-04 9.97879401e-01 -4.74002277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.14, Y:-549.97, Z:-47.40 [[ 8.39597149e-01 5.40505174e-01 5.41367243e-02 1.00013861e+03] [-5.39296986e-01 8.41339911e-01 -3.61374542e-02 -5.49973513e+02] [-6.50798677e-02 1.14513123e-03 9.97879401e-01 -4.74044640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.19, Y:-550.01, Z:-47.41 [[ 8.42332973e-01 5.36232682e-01 5.41264546e-02 1.00019046e+03] [-5.35014668e-01 8.44068882e-01 -3.61528294e-02 -5.50008440e+02] [-6.50727848e-02 1.49427316e-03 9.97879401e-01 -4.74122512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.24, Y:-550.04, Z:-47.41 [[ 8.43545148e-01 5.34324573e-01 5.41187011e-02 1.00024149e+03] [-5.33101889e-01 8.45277771e-01 -3.61644323e-02 -5.50041647e+02] [-6.50688799e-02 1.65554967e-03 9.97879402e-01 -4.74147254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.29, Y:-550.07, Z:-47.42 [[ 8.44067681e-01 5.33499319e-01 5.41130894e-02 1.00029440e+03] [-5.32274404e-01 8.45798727e-01 -3.61728273e-02 -5.50073932e+02] [-6.50669608e-02 1.72930208e-03 9.97879402e-01 -4.74195532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.35, Y:-550.11, Z:-47.42 [[ 8.43455737e-01 5.34467213e-01 5.41037641e-02 1.00034725e+03] [-5.33243390e-01 8.45187556e-01 -3.61867697e-02 -5.50108737e+02] [-6.50684701e-02 1.67146392e-03 9.97879402e-01 -4.74234247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.40, Y:-550.14, Z:-47.43 [[ 8.42261407e-01 5.36348350e-01 5.40940789e-02 1.00040053e+03] [-5.35127467e-01 8.43995299e-01 -3.62012419e-02 -5.50142780e+02] [-6.50716247e-02 1.54368151e-03 9.97879402e-01 -4.74259373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1000.46, Y:-550.17, Z:-47.43 [[ 8.39950177e-01 5.39961649e-01 5.40843674e-02 1.00045507e+03] [-5.38747292e-01 8.41688645e-01 -3.62157451e-02 -5.50174426e+02] [-6.50773113e-02 1.28161506e-03 9.97879402e-01 -4.74304679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.51, Y:-550.21, Z:-47.43 [[ 8.36171112e-01 5.45796492e-01 5.40745894e-02 1.00050894e+03] [-5.44593324e-01 8.37917343e-01 -3.62303389e-02 -5.50206570e+02] [-6.50844282e-02 8.46102373e-04 9.97879402e-01 -4.74349412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.56, Y:-550.24, Z:-47.44 [[ 8.32802984e-01 5.50922538e-01 5.40698299e-02 1.00056230e+03] [-5.49729659e-01 8.34556259e-01 -3.62374406e-02 -5.50238287e+02] [-6.50883378e-02 4.54859511e-04 9.97879402e-01 -4.74403022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.62, Y:-550.27, Z:-47.44 [[ 8.26260597e-01 5.60687952e-01 5.40596570e-02 1.00061634e+03] [-5.59514802e-01 8.28027134e-01 -3.62526104e-02 -5.50269823e+02] [-6.50892647e-02 -2.93074738e-04 9.97879402e-01 -4.74412109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.67, Y:-550.30, Z:-47.44 [[ 8.23221056e-01 5.65142111e-01 5.40507904e-02 1.00066912e+03] [-5.63977651e-01 8.24993333e-01 -3.62658252e-02 -5.50303237e+02] [-6.50868868e-02 -6.28646911e-04 9.97879403e-01 -4.74446806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.72, Y:-550.34, Z:-47.45 [[ 8.19244510e-01 5.70892316e-01 5.40406846e-02 1.00072241e+03] [-5.69739302e-01 8.21024254e-01 -3.62808780e-02 -5.50336750e+02] [-6.50811872e-02 -1.06619178e-03 9.97879403e-01 -4.74487057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.77, Y:-550.37, Z:-47.46 [[ 8.16727522e-01 5.74488374e-01 5.40302065e-02 1.00077416e+03] [-5.73342163e-01 8.18511655e-01 -3.62964754e-02 -5.50369346e+02] [-6.50762569e-02 -1.33346513e-03 9.97879403e-01 -4.74550645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.83, Y:-550.40, Z:-47.46 [[ 8.14084143e-01 5.78228891e-01 5.40218216e-02 1.00082611e+03] [-5.77090050e-01 8.15872989e-01 -3.63089508e-02 -5.50403016e+02] [-6.50698295e-02 -1.61691465e-03 9.97879403e-01 -4.74613607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1000.88, Y:-550.44, Z:-47.47 [[ 8.14769928e-01 5.77263013e-01 5.40127542e-02 1.00087609e+03] [-5.76121158e-01 8.16556852e-01 -3.63224344e-02 -5.50438485e+02] [-6.50720825e-02 -1.52346315e-03 9.97879403e-01 -4.74672541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.93, Y:-550.48, Z:-47.47 [[ 8.17231819e-01 5.73773189e-01 5.40044626e-02 1.00092550e+03] [-5.72622887e-01 8.19013318e-01 -3.63347582e-02 -5.50476047e+02] [-6.50782842e-02 -1.23027078e-03 9.97879403e-01 -4.74710168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.97, Y:-550.52, Z:-47.47 [[ 8.23822775e-01 5.64269941e-01 5.39950791e-02 1.00097315e+03] [-5.63098171e-01 8.25590227e-01 -3.63486972e-02 -5.50516542e+02] [-6.50882868e-02 -4.59645626e-04 9.97879403e-01 -4.74719203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.02, Y:-550.56, Z:-47.47 [[ 8.32295162e-01 5.51697627e-01 5.39860324e-02 1.00101974e+03] [-5.50498287e-01 8.34044022e-01 -3.63621286e-02 -5.50558101e+02] [-6.50876277e-02 5.44805342e-04 9.97879404e-01 -4.74736840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1001.07, Y:-550.60, Z:-47.48 [[ 8.39461166e-01 5.40732303e-01 5.39770915e-02 1.00106656e+03] [-5.39509273e-01 8.41193542e-01 -3.63753960e-02 -5.50598615e+02] [-6.50745324e-02 1.41459098e-03 9.97879404e-01 -4.74776206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.12, Y:-550.64, Z:-47.48 [[ 8.40720907e-01 5.38772539e-01 5.39676581e-02 1.00111766e+03] [-5.37544573e-01 8.42449788e-01 -3.63893863e-02 -5.50635701e+02] [-6.50706442e-02 1.58329608e-03 9.97879404e-01 -4.74818641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.17, Y:-550.67, Z:-47.49 [[ 8.41605761e-01 5.37390284e-01 5.39576244e-02 1.00116581e+03] [-5.36158526e-01 8.43331942e-01 -3.64042580e-02 -5.50672655e+02] [-6.50674828e-02 1.70819287e-03 9.97879404e-01 -4.74870435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.22, Y:-550.71, Z:-47.49 [[ 8.39466411e-01 5.40726591e-01 5.39527381e-02 1.00121741e+03] [-5.39501230e-01 8.41197139e-01 -3.64114983e-02 -5.50708142e+02] [-6.50735543e-02 1.45866125e-03 9.97879404e-01 -4.74916176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.27, Y:-550.74, Z:-47.49 [[ 8.34353293e-01 5.48584303e-01 5.39429781e-02 1.00127004e+03] [-5.47374311e-01 8.36094800e-01 -3.64259519e-02 -5.50741795e+02] [-6.50841489e-02 8.65112450e-04 9.97879404e-01 -4.74944615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.32, Y:-550.78, Z:-47.50 [[ 8.28120339e-01 5.57949786e-01 5.39327486e-02 1.00132243e+03] [-5.56758505e-01 8.29874698e-01 -3.64410915e-02 -5.50775368e+02] [-6.50897227e-02 1.50092513e-04 9.97879404e-01 -4.74976087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.38, Y:-550.81, Z:-47.50 [[ 8.22709364e-01 5.65898917e-01 5.39232608e-02 1.00137508e+03] [-5.64723666e-01 8.24474502e-01 -3.64551257e-02 -5.50810400e+02] [-6.50882697e-02 -4.59768230e-04 9.97879404e-01 -4.75014796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1001.43, Y:-550.84, Z:-47.51 [[ 8.17967098e-01 5.72733110e-01 5.39130069e-02 1.00142746e+03] [-5.71571606e-01 8.19741311e-01 -3.64702837e-02 -5.50844653e+02] [-6.50824580e-02 -9.83651793e-04 9.97879405e-01 -4.75062750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.48, Y:-550.88, Z:-47.51 [[ 8.15262944e-01 5.76576824e-01 5.39026681e-02 1.00147985e+03] [-5.75422675e-01 8.17041951e-01 -3.64855579e-02 -5.50879865e+02] [-6.50774682e-02 -1.27149412e-03 9.97879405e-01 -4.75106078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.53, Y:-550.92, Z:-47.51 [[ 8.13182240e-01 5.79508631e-01 5.38924082e-02 1.00153023e+03] [-5.78359892e-01 8.14964744e-01 -3.65007064e-02 -5.50915167e+02] [-6.50728871e-02 -1.48748120e-03 9.97879405e-01 -4.75144020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1001.58, Y:-550.95, Z:-47.52 [[ 8.12909715e-01 5.79891443e-01 5.38860795e-02 1.00158203e+03] [-5.78742925e-01 8.14692362e-01 -3.65100472e-02 -5.50951433e+02] [-6.50724413e-02 -1.50681517e-03 9.97879405e-01 -4.75171154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.63, Y:-550.99, Z:-47.52 [[ 8.13657016e-01 5.78843400e-01 5.38755904e-02 1.00163239e+03] [-5.77691561e-01 8.15437519e-01 -3.65255187e-02 -5.50987119e+02] [-6.50747332e-02 -1.40422935e-03 9.97879405e-01 -4.75214517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.68, Y:-551.02, Z:-47.53 [[ 8.14536548e-01 5.77605987e-01 5.38659033e-02 1.00168384e+03] [-5.76450499e-01 8.16314685e-01 -3.65397992e-02 -5.51021953e+02] [-6.50771347e-02 -1.28802495e-03 9.97879405e-01 -4.75276256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.73, Y:-551.06, Z:-47.53 [[ 8.16217206e-01 5.75229433e-01 5.38569646e-02 1.00173421e+03] [-5.74067899e-01 8.17991399e-01 -3.65529695e-02 -5.51058097e+02] [-6.50808777e-02 -1.08239189e-03 9.97879405e-01 -4.75337241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.78, Y:-551.09, Z:-47.54 [[ 8.15981460e-01 5.75564647e-01 5.38478774e-02 1.00178423e+03] [-5.74402959e-01 8.17755552e-01 -3.65663514e-02 -5.51092631e+02] [-6.50806998e-02 -1.09291534e-03 9.97879406e-01 -4.75394278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.84, Y:-551.13, Z:-47.54 [[ 8.15560773e-01 5.76161373e-01 5.38395576e-02 1.00183559e+03] [-5.75000175e-01 8.17335185e-01 -3.65785971e-02 -5.51128038e+02] [-6.50801395e-02 -1.12568617e-03 9.97879406e-01 -4.75441196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.89, Y:-551.16, Z:-47.55 [[ 8.15974124e-01 5.75576797e-01 5.38291768e-02 1.00188588e+03] [-5.74413321e-01 8.17747043e-01 -3.65938673e-02 -5.51164271e+02] [-6.50812310e-02 -1.06054742e-03 9.97879406e-01 -4.75462039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.94, Y:-551.20, Z:-47.55 [[ 8.16348425e-01 5.75046662e-01 5.38199356e-02 1.00193737e+03] [-5.73881139e-01 8.18119999e-01 -3.66074536e-02 -5.51199359e+02] [-6.50821596e-02 -1.00180883e-03 9.97879406e-01 -4.75490096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.99, Y:-551.23, Z:-47.55 [[ 8.16980957e-01 5.74148508e-01 5.38108307e-02 1.00198928e+03] [-5.72980157e-01 8.18750667e-01 -3.66208323e-02 -5.51232945e+02] [-6.50834498e-02 -9.14015572e-04 9.97879406e-01 -4.75517337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.04, Y:-551.27, Z:-47.56 [[ 8.17426732e-01 5.73514528e-01 5.38017040e-02 1.00204197e+03] [-5.72343922e-01 8.19194951e-01 -3.66342360e-02 -5.51267394e+02] [-6.50843509e-02 -8.47274428e-04 9.97879406e-01 -4.75561823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.09, Y:-551.30, Z:-47.56 [[ 8.17598884e-01 5.73270050e-01 5.37913998e-02 1.00209282e+03] [-5.72097920e-01 8.19366093e-01 -3.66493598e-02 -5.51301952e+02] [-6.50848294e-02 -8.09472235e-04 9.97879406e-01 -4.75606975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1002.14, Y:-551.34, Z:-47.57 [[ 8.17903983e-01 5.72835513e-01 5.37824323e-02 1.00214391e+03] [-5.71661579e-01 8.19669994e-01 -3.66625148e-02 -5.51336291e+02] [-6.50854364e-02 -7.58933286e-04 9.97879407e-01 -4.75654268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.20, Y:-551.37, Z:-47.57 [[ 8.18834163e-01 5.71505947e-01 5.37732807e-02 1.00219542e+03] [-5.70328264e-01 8.20597677e-01 -3.66759326e-02 -5.51369809e+02] [-6.50867428e-02 -6.36915237e-04 9.97879407e-01 -4.75704436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1002.25, Y:-551.40, Z:-47.57 [[ 8.20599487e-01 5.68969205e-01 5.37636059e-02 1.00224613e+03] [-5.67785142e-01 8.22358722e-01 -3.66901095e-02 -5.51404776e+02] [-6.50885127e-02 -4.18291552e-04 9.97879407e-01 -4.75726739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.30, Y:-551.44, Z:-47.58 [[ 8.21954658e-01 5.67010507e-01 5.37552340e-02 1.00229696e+03] [-5.65821449e-01 8.23710522e-01 -3.67023713e-02 -5.51440807e+02] [-6.50893820e-02 -2.48179277e-04 9.97879407e-01 -4.75758792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.35, Y:-551.48, Z:-47.58 [[ 8.23493482e-01 5.64774143e-01 5.37461973e-02 1.00234730e+03] [-5.63579453e-01 8.25245518e-01 -3.67155997e-02 -5.51475753e+02] [-6.50898298e-02 -5.51954538e-05 9.97879407e-01 -4.75797754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.40, Y:-551.51, Z:-47.58 [[ 8.23287898e-01 5.65074252e-01 5.37413019e-02 1.00239909e+03] [-5.63879734e-01 8.25040050e-01 -3.67227638e-02 -5.51510339e+02] [-6.50898147e-02 -7.02240034e-05 9.97879407e-01 -4.75843604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.45, Y:-551.54, Z:-47.59 [[ 8.22102940e-01 5.66797790e-01 5.37310029e-02 1.00245013e+03] [-5.65605960e-01 8.23856923e-01 -3.67378266e-02 -5.51544433e+02] [-6.50895777e-02 -1.88300225e-04 9.97879407e-01 -4.75899146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.50, Y:-551.58, Z:-47.60 [[ 8.21693576e-01 5.67391561e-01 5.37260068e-02 1.00250238e+03] [-5.66200521e-01 8.23448095e-01 -3.67451315e-02 -5.51576223e+02] [-6.50894555e-02 -2.26454608e-04 9.97879407e-01 -4.76007957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.55, Y:-551.61, Z:-47.60 [[ 8.18120184e-01 5.72532879e-01 5.37165497e-02 1.00255126e+03] [-5.71351957e-01 8.19881529e-01 -3.67589514e-02 -5.51612647e+02] [-6.50869152e-02 -6.17815717e-04 9.97879407e-01 -4.76001612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.60, Y:-551.65, Z:-47.60 [[ 8.17359856e-01 5.73618316e-01 5.37112048e-02 1.00260210e+03] [-5.72439220e-01 8.19122424e-01 -3.67667597e-02 -5.51647330e+02] [-6.50861390e-02 -6.94726768e-04 9.97879408e-01 -4.76034968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.66, Y:-551.68, Z:-47.62 [[ 8.19702918e-01 5.70265911e-01 5.37021157e-02 1.00265712e+03] [-5.69078736e-01 8.21460055e-01 -3.67800305e-02 -5.51676568e+02] [-6.50885405e-02 -4.12033770e-04 9.97879408e-01 -4.76184130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.70, Y:-551.72, Z:-47.61 [[ 8.15584235e-01 5.76141986e-01 5.36914118e-02 1.00270478e+03] [-5.74966442e-01 8.17349173e-01 -3.67956493e-02 -5.51717764e+02] [-6.50841496e-02 -8.60808534e-04 9.97879408e-01 -4.76114448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1002.76, Y:-551.75, Z:-47.62 [[ 8.14099080e-01 5.78239567e-01 5.36813876e-02 1.00275672e+03] [-5.77067606e-01 8.15866400e-01 -3.68102679e-02 -5.51752875e+02] [-6.50819938e-02 -1.01058460e-03 9.97879408e-01 -4.76168491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.81, Y:-551.79, Z:-47.62 [[ 8.12349385e-01 5.80696043e-01 5.36710554e-02 1.00280879e+03] [-5.79528432e-01 8.14119581e-01 -3.68253267e-02 -5.51788057e+02] [-6.50789786e-02 -1.18887110e-03 9.97879408e-01 -4.76231812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.86, Y:-551.82, Z:-47.63 [[ 8.12047784e-01 5.81118671e-01 5.36608451e-02 1.00286027e+03] [-5.79950999e-01 8.13817940e-01 -3.68401988e-02 -5.51824317e+02] [-6.50786858e-02 -1.20465888e-03 9.97879408e-01 -4.76285469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1002.91, Y:-551.85, Z:-47.64 [[ 8.16504689e-01 5.74840596e-01 5.36505519e-02 1.00291396e+03] [-5.73658326e-01 8.18265129e-01 -3.68551827e-02 -5.51854446e+02] [-6.50862310e-02 -6.84656297e-04 9.97879408e-01 -4.76421967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.96, Y:-551.90, Z:-47.64 [[ 8.14453290e-01 5.77744301e-01 5.36410398e-02 1.00296133e+03] [-5.76567395e-01 8.16217320e-01 -3.68690220e-02 -5.51895325e+02] [-6.50836131e-02 -8.99578336e-04 9.97879409e-01 -4.76352443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1003.01, Y:-551.93, Z:-47.64 [[ 8.16659310e-01 5.74622423e-01 5.36343372e-02 1.00301293e+03] [-5.73438133e-01 8.18418392e-01 -3.68787700e-02 -5.51931532e+02] [-6.50866961e-02 -6.38583311e-04 9.97879409e-01 -4.76380347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.06, Y:-551.97, Z:-47.64 [[ 8.17790583e-01 5.73012254e-01 5.36238660e-02 1.00306315e+03] [-5.71823503e-01 8.19546652e-01 -3.68939895e-02 -5.51966914e+02] [-6.50879679e-02 -4.91829690e-04 9.97879409e-01 -4.76423842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1003.11, Y:-552.00, Z:-47.65 [[ 8.19127306e-01 5.71100669e-01 5.36141985e-02 1.00311467e+03] [-5.69906900e-01 8.20879968e-01 -3.69080329e-02 -5.52003416e+02] [-6.50890238e-02 -3.22724131e-04 9.97879409e-01 -4.76471632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.17, Y:-552.04, Z:-47.65 [[ 8.19527354e-01 5.70527416e-01 5.36039460e-02 1.00316506e+03] [-5.69331448e-01 8.21278516e-01 -3.69229173e-02 -5.52037382e+02] [-6.50893058e-02 -2.59071518e-04 9.97879409e-01 -4.76541442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.22, Y:-552.07, Z:-47.66 [[ 8.18052311e-01 5.72641170e-01 5.35957709e-02 1.00321707e+03] [-5.71448949e-01 8.19806026e-01 -3.69347801e-02 -5.52071065e+02] [-6.50885116e-02 -4.12664676e-04 9.97879409e-01 -4.76588128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1003.27, Y:-552.10, Z:-47.66 [[ 8.16322020e-01 5.75105933e-01 5.35866156e-02 1.00326924e+03] [-5.73918135e-01 8.18078734e-01 -3.69480582e-02 -5.52103433e+02] [-6.50871181e-02 -5.92817005e-04 9.97879409e-01 -4.76629798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.32, Y:-552.14, Z:-47.67 [[ 8.15823998e-01 5.75812733e-01 5.35807906e-02 1.00332112e+03] [-5.74625903e-01 8.17581365e-01 -3.69565034e-02 -5.52138275e+02] [-6.50866812e-02 -6.38907804e-04 9.97879409e-01 -4.76656235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.37, Y:-552.17, Z:-47.67 [[ 8.16700750e-01 5.74569470e-01 5.35706031e-02 1.00337263e+03] [-5.73378997e-01 8.18455650e-01 -3.69712650e-02 -5.52174236e+02] [-6.50877230e-02 -5.21798886e-04 9.97879410e-01 -4.76687416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.42, Y:-552.21, Z:-47.67 [[ 8.18131229e-01 5.72531721e-01 5.35604358e-02 1.00342466e+03] [-5.71335912e-01 8.19882499e-01 -3.69859885e-02 -5.52210255e+02] [-6.50889156e-02 -3.41608187e-04 9.97879410e-01 -4.76716406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.48, Y:-552.24, Z:-47.68 [[ 8.18813438e-01 5.71556590e-01 5.35501456e-02 1.00347782e+03] [-5.70357722e-01 8.20562614e-01 -3.70008813e-02 -5.52244479e+02] [-6.50893450e-02 -2.45920218e-04 9.97879410e-01 -4.76758453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.53, Y:-552.28, Z:-47.68 [[ 8.19973118e-01 5.69892596e-01 5.35398350e-02 1.00353141e+03] [-5.68689205e-01 8.21719185e-01 -3.70157946e-02 -5.52276952e+02] [-6.50897369e-02 -9.55696734e-05 9.97879410e-01 -4.76829814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.58, Y:-552.31, Z:-47.69 [[ 8.19483118e-01 5.70597970e-01 5.35292099e-02 1.00358151e+03] [-5.69395078e-01 8.21229529e-01 -3.70311533e-02 -5.52311890e+02] [-6.50896688e-02 -1.32863635e-04 9.97879410e-01 -4.76856138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.63, Y:-552.35, Z:-47.69 [[ 8.20423113e-01 5.69246086e-01 5.35239176e-02 1.00363309e+03] [-5.68039817e-01 8.22167193e-01 -3.70388011e-02 -5.52345313e+02] [-6.50898017e-02 -1.62278695e-05 9.97879410e-01 -4.76905666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.69, Y:-552.38, Z:-47.69 [[ 8.20834054e-01 5.68654217e-01 5.35148307e-02 1.00368612e+03] [-5.67445835e-01 8.22576671e-01 -3.70519256e-02 -5.52379251e+02] [-6.50897850e-02 4.67145145e-05 9.97879410e-01 -4.76946141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.74, Y:-552.41, Z:-47.70 [[ 8.21571981e-01 5.67588544e-01 5.35044307e-02 1.00373870e+03] [-5.66376924e-01 8.23312348e-01 -3.70669376e-02 -5.52413899e+02] [-6.50896276e-02 1.49482483e-04 9.97879411e-01 -4.76978438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.79, Y:-552.45, Z:-47.70 [[ 8.21549043e-01 5.67622748e-01 5.34937989e-02 1.00378984e+03] [-5.66410201e-01 8.23288764e-01 -3.70822747e-02 -5.52448127e+02] [-6.50895862e-02 1.65473879e-04 9.97879411e-01 -4.77019266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.84, Y:-552.48, Z:-47.71 [[ 8.21595422e-01 5.67556540e-01 5.34839884e-02 1.00384248e+03] [-5.66342933e-01 8.23334403e-01 -3.70964191e-02 -5.52482935e+02] [-6.50895229e-02 1.87969229e-04 9.97879411e-01 -4.77053791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.90, Y:-552.52, Z:-47.71 [[ 8.21469833e-01 5.67739289e-01 5.34734774e-02 1.00389572e+03] [-5.66525082e-01 8.23208396e-01 -3.71115641e-02 -5.52515770e+02] [-6.50895086e-02 1.91964181e-04 9.97879411e-01 -4.77083324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1003.95, Y:-552.55, Z:-47.71 [[ 8.20919045e-01 5.68536404e-01 5.34628764e-02 1.00394897e+03] [-5.67322891e-01 8.22658091e-01 -3.71268298e-02 -5.52549122e+02] [-6.50896221e-02 1.47408035e-04 9.97879411e-01 -4.77114553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.00, Y:-552.58, Z:-47.72 [[ 8.20134206e-01 5.69668958e-01 5.34524222e-02 1.00400298e+03] [-5.68456867e-01 8.21874243e-01 -3.71418748e-02 -5.52581258e+02] [-6.50897422e-02 7.59255498e-05 9.97879411e-01 -4.77151879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.06, Y:-552.61, Z:-47.72 [[ 8.19189033e-01 5.71028271e-01 5.34419524e-02 1.00405632e+03] [-5.69818083e-01 8.20930395e-01 -3.71569333e-02 -5.52613873e+02] [-6.50897825e-02 -1.36385808e-05 9.97879412e-01 -4.77182736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.11, Y:-552.65, Z:-47.72 [[ 8.17433935e-01 5.73538790e-01 5.34323714e-02 1.00410947e+03] [-5.72333050e-01 8.19178380e-01 -3.71707058e-02 -5.52645416e+02] [-6.50894851e-02 -1.96515764e-04 9.97879412e-01 -4.77248610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.16, Y:-552.68, Z:-47.73 [[ 8.15603256e-01 5.76140080e-01 5.34222518e-02 1.00416388e+03] [-5.74938952e-01 8.17350879e-01 -3.71852443e-02 -5.52677560e+02] [-6.50886340e-02 -3.86127116e-04 9.97879412e-01 -4.77282998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.22, Y:-552.71, Z:-47.73 [[ 8.13693717e-01 5.78834788e-01 5.34118257e-02 1.00421824e+03] [-5.77638465e-01 8.15444632e-01 -3.72002140e-02 -5.52709656e+02] [-6.50871645e-02 -5.83144662e-04 9.97879412e-01 -4.77328419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.27, Y:-552.74, Z:-47.74 [[ 8.12597174e-01 5.80374113e-01 5.34015219e-02 1.00427114e+03] [-5.79180135e-01 8.14349689e-01 -3.72149994e-02 -5.52742790e+02] [-6.50861350e-02 -6.88297267e-04 9.97879412e-01 -4.77369787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.32, Y:-552.78, Z:-47.74 [[ 8.11629438e-01 5.81727644e-01 5.33910378e-02 1.00432453e+03] [-5.80535600e-01 8.13383269e-01 -3.72300345e-02 -5.52775005e+02] [-6.50851171e-02 -7.78406098e-04 9.97879412e-01 -4.77393265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.38, Y:-552.81, Z:-47.74 [[ 8.10923950e-01 5.82711525e-01 5.33818877e-02 1.00437720e+03] [-5.81520745e-01 8.12678639e-01 -3.72431497e-02 -5.52809009e+02] [-6.50843324e-02 -8.41313026e-04 9.97879413e-01 -4.77433604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.43, Y:-552.84, Z:-47.75 [[ 8.10468610e-01 5.83345620e-01 5.33715234e-02 1.00443003e+03] [-5.82155235e-01 8.12223568e-01 -3.72579964e-02 -5.52843628e+02] [-6.50838981e-02 -8.74075180e-04 9.97879413e-01 -4.77478199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.48, Y:-552.88, Z:-47.75 [[ 8.09996407e-01 5.84002079e-01 5.33609615e-02 1.00448243e+03] [-5.82812121e-01 8.11751653e-01 -3.72731171e-02 -5.52878422e+02] [-6.50834266e-02 -9.08324226e-04 9.97879413e-01 -4.77525299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.53, Y:-552.91, Z:-47.76 [[ 8.08938359e-01 5.85467731e-01 5.33504290e-02 1.00453386e+03] [-5.84279959e-01 8.10695085e-01 -3.72881866e-02 -5.52913632e+02] [-6.50819605e-02 -1.00774196e-03 9.97879413e-01 -4.77569890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.58, Y:-552.95, Z:-47.76 [[ 8.06784843e-01 5.88432713e-01 5.33400384e-02 1.00458412e+03] [-5.87250415e-01 8.08545257e-01 -3.73030442e-02 -5.52950309e+02] [-6.50781666e-02 -1.22842900e-03 9.97879413e-01 -4.77616228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.63, Y:-552.99, Z:-47.76 [[ 8.05630573e-01 5.90012356e-01 5.33366634e-02 1.00463312e+03] [-5.88833190e-01 8.07393087e-01 -3.73078692e-02 -5.52986013e+02] [-6.50757571e-02 -1.35003760e-03 9.97879413e-01 -4.77645554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.68, Y:-553.02, Z:-47.77 [[ 8.06212879e-01 5.89217216e-01 5.33279007e-02 1.00468305e+03] [-5.88035484e-01 8.07973674e-01 -3.73203904e-02 -5.53022294e+02] [-6.50773564e-02 -1.27051847e-03 9.97879413e-01 -4.77686185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.73, Y:-553.06, Z:-47.77 [[ 8.07672136e-01 5.87216165e-01 5.33188135e-02 1.00473209e+03] [-5.86029214e-01 8.09429416e-01 -3.73333686e-02 -5.53059967e+02] [-6.50805736e-02 -1.09326082e-03 9.97879413e-01 -4.77709823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.78, Y:-553.10, Z:-47.77 [[ 8.10603353e-01 5.83164005e-01 5.33099120e-02 1.00478120e+03] [-5.81967433e-01 8.12354096e-01 -3.73460751e-02 -5.53099190e+02] [-6.50854121e-02 -7.51778949e-04 9.97879414e-01 -4.77736994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.83, Y:-553.14, Z:-47.78 [[ 8.12778987e-01 5.80128828e-01 5.32997350e-02 1.00483095e+03] [-5.78924765e-01 8.14524587e-01 -3.73605939e-02 -5.53137503e+02] [-6.50879022e-02 -4.90630944e-04 9.97879414e-01 -4.77779381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.88, Y:-553.18, Z:-47.78 [[ 8.15412222e-01 5.76422738e-01 5.32891726e-02 1.00487850e+03] [-5.75209756e-01 8.17151636e-01 -3.73756536e-02 -5.53175392e+02] [-6.50895111e-02 -1.75887279e-04 9.97879414e-01 -4.77846684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.93, Y:-553.21, Z:-47.79 [[ 8.17785094e-01 5.73052095e-01 5.32807364e-02 1.00492710e+03] [-5.71831161e-01 8.19518935e-01 -3.73876760e-02 -5.53214638e+02] [-6.50896584e-02 1.07498743e-04 9.97879414e-01 -4.77868890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1004.98, Y:-553.25, Z:-47.79 [[ 8.18029904e-01 5.72703441e-01 5.32714291e-02 1.00497602e+03] [-5.71480905e-01 8.19762616e-01 -3.74009325e-02 -5.53253218e+02] [-6.50895689e-02 1.51476733e-04 9.97879414e-01 -4.77905375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.02, Y:-553.29, Z:-47.80 [[ 8.17262245e-01 5.73799291e-01 5.32615873e-02 1.00502494e+03] [-5.72578165e-01 8.18995951e-01 -3.74149428e-02 -5.53290686e+02] [-6.50896920e-02 8.13982515e-05 9.97879414e-01 -4.77959150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.07, Y:-553.33, Z:-47.80 [[ 8.14445877e-01 5.77790733e-01 5.32520726e-02 1.00507393e+03] [-5.76577218e-01 8.16184918e-01 -3.74284800e-02 -5.53328077e+02] [-6.50893674e-02 -2.20460704e-04 9.97879414e-01 -4.78003835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.12, Y:-553.37, Z:-47.81 [[ 8.11497474e-01 5.81925296e-01 5.32428449e-02 1.00512436e+03] [-5.80719780e-01 8.13242069e-01 -3.74416020e-02 -5.53365093e+02] [-6.50875367e-02 -5.35407732e-04 9.97879415e-01 -4.78050486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.17, Y:-553.40, Z:-47.81 [[ 8.07275002e-01 5.87769847e-01 5.32323022e-02 1.00517421e+03] [-5.86575972e-01 8.09027585e-01 -3.74565851e-02 -5.53403485e+02] [-6.50822522e-02 -9.87024612e-04 9.97879415e-01 -4.78092141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.22, Y:-553.44, Z:-47.81 [[ 8.05029786e-01 5.90842185e-01 5.32217746e-02 1.00522122e+03] [-5.89654010e-01 8.06786237e-01 -3.74715378e-02 -5.53442482e+02] [-6.50783605e-02 -1.21672874e-03 9.97879415e-01 -4.78114703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.27, Y:-553.48, Z:-47.81 [[ 8.04718146e-01 5.91267322e-01 5.32133450e-02 1.00527122e+03] [-5.90079284e-01 8.06474690e-01 -3.74835048e-02 -5.53480433e+02] [-6.50779874e-02 -1.23643602e-03 9.97879415e-01 -4.78149059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.32, Y:-553.52, Z:-47.82 [[ 8.04258675e-01 5.91893110e-01 5.32027335e-02 1.00532070e+03] [-5.90705443e-01 8.06015470e-01 -3.74985603e-02 -5.53519254e+02] [-6.50773657e-02 -1.26860184e-03 9.97879415e-01 -4.78202725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.37, Y:-553.56, Z:-47.83 [[ 8.03407334e-01 5.93049120e-01 5.31920773e-02 1.00537086e+03] [-5.91862982e-01 8.05165161e-01 -3.75136702e-02 -5.53556624e+02] [-6.50758566e-02 -1.34366370e-03 9.97879415e-01 -4.78253419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.42, Y:-553.60, Z:-47.83 [[ 8.01459490e-01 5.95679789e-01 5.31815285e-02 1.00541923e+03] [-5.94498428e-01 8.03220531e-01 -3.75286189e-02 -5.53595236e+02] [-6.50715353e-02 -1.53866728e-03 9.97879415e-01 -4.78317002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.47, Y:-553.63, Z:-47.84 [[ 7.99469802e-01 5.98347851e-01 5.31778598e-02 1.00546819e+03] [-5.97172021e-01 8.01234541e-01 -3.75338167e-02 -5.53631107e+02] [-6.50662166e-02 -1.74917698e-03 9.97879416e-01 -4.78377565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.52, Y:-553.67, Z:-47.84 [[ 7.97680781e-01 6.00731637e-01 5.31683356e-02 1.00551556e+03] [-5.99560183e-01 7.99448427e-01 -3.75473033e-02 -5.53670811e+02] [-6.50611952e-02 -1.92685480e-03 9.97879416e-01 -4.78421395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.56, Y:-553.71, Z:-47.85 [[ 7.99609967e-01 5.98161693e-01 5.31647502e-02 1.00556380e+03] [-5.96984219e-01 8.01373609e-01 -3.75523793e-02 -5.53708889e+02] [-6.50672225e-02 -1.71126012e-03 9.97879416e-01 -4.78456919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.61, Y:-553.75, Z:-47.85 [[ 8.02534170e-01 5.94233461e-01 5.31554357e-02 1.00561306e+03] [-5.93046481e-01 8.04291427e-01 -3.75655594e-02 -5.53747123e+02] [-6.50751736e-02 -1.37599903e-03 9.97879416e-01 -4.78496432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.66, Y:-553.79, Z:-47.85 [[ 8.06918991e-01 5.88266331e-01 5.31457107e-02 1.00565976e+03] [-5.87065448e-01 8.08666777e-01 -3.75793127e-02 -5.53788204e+02] [-6.50838150e-02 -8.76549333e-04 9.97879416e-01 -4.78507051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1005.71, Y:-553.82, Z:-47.86 [[ 8.07796724e-01 5.87061339e-01 5.31360254e-02 1.00571152e+03] [-5.85856948e-01 8.09542094e-01 -3.75930025e-02 -5.53821191e+02] [-6.50852477e-02 -7.62605424e-04 9.97879416e-01 -4.78565880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1005.76, Y:-553.86, Z:-47.86 [[ 8.07386760e-01 5.87625960e-01 5.31257983e-02 1.00576299e+03] [-5.86421839e-01 8.09132317e-01 -3.76074498e-02 -5.53855776e+02] [-6.50849140e-02 -7.90371299e-04 9.97879416e-01 -4.78617909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.81, Y:-553.89, Z:-47.87 [[ 8.06647037e-01 5.88641812e-01 5.31166189e-02 1.00581482e+03] [-5.87439036e-01 8.08393521e-01 -3.76204102e-02 -5.53891412e+02] [-6.50840770e-02 -8.56382985e-04 9.97879416e-01 -4.78667979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.87, Y:-553.93, Z:-47.87 [[ 8.05582786e-01 5.90098415e-01 5.31058938e-02 1.00586700e+03] [-5.88897800e-01 8.07330755e-01 -3.76355441e-02 -5.53926643e+02] [-6.50826962e-02 -9.55397556e-04 9.97879417e-01 -4.78712856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.92, Y:-553.96, Z:-47.88 [[ 8.03469606e-01 5.92973465e-01 5.30948377e-02 1.00591904e+03] [-5.91778074e-01 8.05221152e-01 -3.76511351e-02 -5.53961479e+02] [-6.50792104e-02 -1.16881808e-03 9.97879417e-01 -4.78760944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.97, Y:-554.00, Z:-47.88 [[ 8.02076067e-01 5.94857741e-01 5.30872063e-02 1.00596791e+03] [-5.93665753e-01 8.03829930e-01 -3.76618921e-02 -5.53997606e+02] [-6.50765534e-02 -1.30835405e-03 9.97879417e-01 -4.78774457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.02, Y:-554.03, Z:-47.88 [[ 8.01203958e-01 5.96032340e-01 5.30817098e-02 1.00601839e+03] [-5.94842410e-01 8.02959218e-01 -3.76696374e-02 -5.54033172e+02] [-6.50747704e-02 -1.39418959e-03 9.97879417e-01 -4.78809108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.07, Y:-554.07, Z:-47.88 [[ 8.00342492e-01 5.97189192e-01 5.30750910e-02 1.00606998e+03] [-5.96001181e-01 8.02099052e-01 -3.76789608e-02 -5.54068649e+02] [-6.50729483e-02 -1.47674348e-03 9.97879417e-01 -4.78841077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1006.12, Y:-554.10, Z:-47.89 [[ 7.99697343e-01 5.98053780e-01 5.30644477e-02 1.00612229e+03] [-5.96866675e-01 8.01454515e-01 -3.76939442e-02 -5.54103128e+02] [-6.50717470e-02 -1.52865340e-03 9.97879417e-01 -4.78878254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.17, Y:-554.14, Z:-47.89 [[ 7.99585613e-01 5.98204111e-01 5.30536482e-02 1.00617385e+03] [-5.97016329e-01 8.01342327e-01 -3.77091381e-02 -5.54139229e+02] [-6.50718954e-02 -1.52220998e-03 9.97879417e-01 -4.78928880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.22, Y:-554.18, Z:-47.90 [[ 7.99577176e-01 5.98216335e-01 5.30429638e-02 1.00622415e+03] [-5.97027583e-01 8.01333234e-01 -3.77241612e-02 -5.54176826e+02] [-6.50722992e-02 -1.50473417e-03 9.97879417e-01 -4.78972849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1006.28, Y:-554.21, Z:-47.90 [[ 7.99012805e-01 5.98970870e-01 5.30323867e-02 1.00627588e+03] [-5.97782791e-01 8.00769318e-01 -3.77390246e-02 -5.54212141e+02] [-6.50712846e-02 -1.54788427e-03 9.97879418e-01 -4.79009408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.33, Y:-554.25, Z:-47.91 [[ 7.98636212e-01 5.99473849e-01 5.30217551e-02 1.00632744e+03] [-5.98285885e-01 8.00392803e-01 -3.77539557e-02 -5.54246829e+02] [-6.50707403e-02 -1.57049153e-03 9.97879418e-01 -4.79056687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1006.38, Y:-554.28, Z:-47.91 [[ 7.98833596e-01 5.99211661e-01 5.30119924e-02 1.00637863e+03] [-5.98022212e-01 8.00589182e-01 -3.77676589e-02 -5.54283405e+02] [-6.50716493e-02 -1.53227419e-03 9.97879418e-01 -4.79101939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.43, Y:-554.32, Z:-47.91 [[ 7.99329959e-01 5.98550306e-01 5.30013916e-02 1.00642857e+03] [-5.97358420e-01 8.01083890e-01 -3.77825298e-02 -5.54321145e+02] [-6.50733058e-02 -1.46011952e-03 9.97879418e-01 -4.79136075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1006.48, Y:-554.36, Z:-47.92 [[ 8.00160590e-01 5.97440391e-01 5.29906521e-02 1.00647870e+03] [-5.96245075e-01 8.01912186e-01 -3.77975862e-02 -5.54357318e+02] [-6.50756543e-02 -1.35127643e-03 9.97879418e-01 -4.79195486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.53, Y:-554.39, Z:-47.92 [[ 8.00484178e-01 5.97007640e-01 5.29807348e-02 1.00652973e+03] [-5.95810458e-01 8.02234498e-01 -3.78114822e-02 -5.54393778e+02] [-6.50767169e-02 -1.29898263e-03 9.97879418e-01 -4.79228667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.58, Y:-554.43, Z:-47.93 [[ 8.01507539e-01 5.95633985e-01 5.29700016e-02 1.00658085e+03] [-5.94432810e-01 8.03255121e-01 -3.78265123e-02 -5.54430602e+02] [-6.50791813e-02 -1.16887204e-03 9.97879419e-01 -4.79272309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.63, Y:-554.47, Z:-47.93 [[ 8.04084240e-01 5.92151871e-01 5.29593984e-02 1.00663121e+03] [-5.90942149e-01 8.05825917e-01 -3.78413516e-02 -5.54468209e+02] [-6.50838829e-02 -8.68306316e-04 9.97879419e-01 -4.79304724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1006.68, Y:-554.51, Z:-47.93 [[ 8.06333389e-01 5.89086499e-01 5.29486804e-02 1.00668176e+03] [-5.87869172e-01 8.08069758e-01 -3.78563426e-02 -5.54505643e+02] [-6.50868877e-02 -6.02063871e-04 9.97879419e-01 -4.79336150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.73, Y:-554.54, Z:-47.94 [[ 8.10640218e-01 5.83146649e-01 5.29379172e-02 1.00673140e+03] [-5.81915616e-01 8.12366896e-01 -3.78713877e-02 -5.54542934e+02] [-6.50895844e-02 -1.05330730e-04 9.97879419e-01 -4.79369583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.78, Y:-554.58, Z:-47.94 [[ 8.14317582e-01 5.78001301e-01 5.29279852e-02 1.00678188e+03] [-5.76758456e-01 8.16035778e-01 -3.78852634e-02 -5.54579750e+02] [-6.50888611e-02 3.23973055e-04 9.97879419e-01 -4.79415471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.83, Y:-554.62, Z:-47.95 [[ 8.16022698e-01 5.75592484e-01 5.29173746e-02 1.00683338e+03] [-5.74343606e-01 8.17736514e-01 -3.79000783e-02 -5.54615847e+02] [-6.50874697e-02 5.34568447e-04 9.97879419e-01 -4.79466084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.88, Y:-554.65, Z:-47.95 [[ 8.16881773e-01 5.74373603e-01 5.29068441e-02 1.00688474e+03] [-5.73121215e-01 8.18593026e-01 -3.79147727e-02 -5.54651801e+02] [-6.50864182e-02 6.49851926e-04 9.97879420e-01 -4.79509760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1006.94, Y:-554.69, Z:-47.96 [[ 8.16400515e-01 5.75058403e-01 5.28964286e-02 1.00693670e+03] [-5.73806511e-01 8.18112130e-01 -3.79292982e-02 -5.54687274e+02] [-6.50867716e-02 6.13183453e-04 9.97879420e-01 -4.79556723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.99, Y:-554.72, Z:-47.96 [[ 8.14973610e-01 5.77079787e-01 5.28860499e-02 1.00698930e+03] [-5.75831201e-01 8.16687638e-01 -3.79437641e-02 -5.54722429e+02] [-6.50879625e-02 4.69728762e-04 9.97879420e-01 -4.79609171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.04, Y:-554.76, Z:-47.97 [[ 8.12239195e-01 5.80922813e-01 5.28788811e-02 1.00704153e+03] [-5.79681687e-01 8.13958632e-01 -3.79537520e-02 -5.54755020e+02] [-6.50894221e-02 1.74606003e-04 9.97879420e-01 -4.79661609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.09, Y:-554.79, Z:-47.97 [[ 8.11007588e-01 5.82641854e-01 5.28692856e-02 1.00709347e+03] [-5.81403501e-01 8.12729024e-01 -3.79671138e-02 -5.54788415e+02] [-6.50896325e-02 5.32296587e-05 9.97879420e-01 -4.79696193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.15, Y:-554.82, Z:-47.97 [[ 8.08386679e-01 5.86273141e-01 5.28656867e-02 1.00714716e+03] [-5.85042194e-01 8.10113418e-01 -3.79721243e-02 -5.54821416e+02] [-6.50892387e-02 -2.32497887e-04 9.97879420e-01 -4.79716289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.20, Y:-554.86, Z:-47.98 [[ 8.06205242e-01 5.89270375e-01 5.28538833e-02 1.00719827e+03] [-5.88044770e-01 8.07935776e-01 -3.79885465e-02 -5.54856574e+02] [-6.50880683e-02 -4.53884298e-04 9.97879420e-01 -4.79768621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.25, Y:-554.89, Z:-47.98 [[ 8.03591432e-01 5.92830504e-01 5.28469867e-02 1.00725126e+03] [-5.91611934e-01 8.05326928e-01 -3.79981381e-02 -5.54890551e+02] [-6.50855568e-02 -7.29929751e-04 9.97879420e-01 -4.79801367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.30, Y:-554.93, Z:-47.99 [[ 8.00530744e-01 5.96958051e-01 5.28357285e-02 1.00730107e+03] [-5.95747396e-01 8.02271770e-01 -3.80137861e-02 -5.54925494e+02] [-6.50812490e-02 -1.04554326e-03 9.97879421e-01 -4.79866594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.35, Y:-554.96, Z:-47.99 [[ 7.99842987e-01 5.97880027e-01 5.28267811e-02 1.00735295e+03] [-5.96670559e-01 8.01584837e-01 -3.80262159e-02 -5.54961103e+02] [-6.50802618e-02 -1.10518289e-03 9.97879421e-01 -4.79902410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.41, Y:-554.99, Z:-48.00 [[ 8.00966592e-01 5.96374872e-01 5.28160016e-02 1.00740618e+03] [-5.95161144e-01 8.02705476e-01 -3.80411822e-02 -5.54994221e+02] [-6.50824989e-02 -9.64315877e-04 9.97879421e-01 -4.79950313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.45, Y:-555.03, Z:-48.00 [[ 7.99368053e-01 5.98516809e-01 5.28047839e-02 1.00745422e+03] [-5.97306711e-01 8.01109466e-01 -3.80567470e-02 -5.55031973e+02] [-6.50800150e-02 -1.11930412e-03 9.97879421e-01 -4.79997064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1007.50, Y:-555.07, Z:-48.00 [[ 7.99353054e-01 5.98537628e-01 5.27958615e-02 1.00750285e+03] [-5.97326759e-01 8.01093930e-01 -3.80691210e-02 -5.55068126e+02] [-6.50802456e-02 -1.10571277e-03 9.97879421e-01 -4.80039972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.55, Y:-555.11, Z:-48.01 [[ 7.99377922e-01 5.98505183e-01 5.27871481e-02 1.00755312e+03] [-5.97293446e-01 8.01118194e-01 -3.80811993e-02 -5.55105600e+02] [-6.50805399e-02 -1.08814768e-03 9.97879421e-01 -4.80068036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.60, Y:-555.14, Z:-48.01 [[ 8.01314713e-01 5.95910552e-01 5.27763649e-02 1.00760490e+03] [-5.94692195e-01 8.03050358e-01 -3.80961378e-02 -5.55140520e+02] [-6.50839692e-02 -8.58696569e-04 9.97879421e-01 -4.80097714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.65, Y:-555.18, Z:-48.01 [[ 8.00190881e-01 5.97419655e-01 5.27665648e-02 1.00765277e+03] [-5.96203677e-01 8.01928192e-01 -3.81097070e-02 -5.55180232e+02] [-6.50824839e-02 -9.64579966e-04 9.97879422e-01 -4.80123202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.70, Y:-555.22, Z:-48.02 [[ 8.01060138e-01 5.96254503e-01 5.27562542e-02 1.00770195e+03] [-5.95035059e-01 8.02795018e-01 -3.81239749e-02 -5.55217918e+02] [-6.50840498e-02 -8.52224221e-04 9.97879422e-01 -4.80166022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.75, Y:-555.26, Z:-48.02 [[ 8.02944021e-01 5.93716036e-01 5.27462646e-02 1.00775082e+03] [-5.92490199e-01 8.04674390e-01 -3.81377910e-02 -5.55256023e+02] [-6.50865863e-02 -6.29133591e-04 9.97879422e-01 -4.80207939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.80, Y:-555.29, Z:-48.03 [[ 8.04453059e-01 5.91670604e-01 5.27368199e-02 1.00780022e+03] [-5.90439511e-01 8.06179692e-01 -3.81508467e-02 -5.55293149e+02] [-6.50880877e-02 -4.47336832e-04 9.97879422e-01 -4.80252258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.85, Y:-555.33, Z:-48.03 [[ 8.04915212e-01 5.91042577e-01 5.27273570e-02 1.00784998e+03] [-5.89809281e-01 8.06640272e-01 -3.81639206e-02 -5.55330279e+02] [-6.50885115e-02 -3.80364283e-04 9.97879422e-01 -4.80289494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1007.90, Y:-555.36, Z:-48.03 [[ 8.07302220e-01 5.87778875e-01 5.27173679e-02 1.00790185e+03] [-5.86537703e-01 8.09021622e-01 -3.81777139e-02 -5.55364804e+02] [-6.50895442e-02 -9.97707265e-05 9.97879422e-01 -4.80339851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1007.95, Y:-555.40, Z:-48.04 [[ 8.06398850e-01 5.89018535e-01 5.27073073e-02 1.00794799e+03] [-5.87779100e-01 8.08119503e-01 -3.81915984e-02 -5.55404839e+02] [-6.50893623e-02 -1.82592562e-04 9.97879422e-01 -4.80370872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1008.00, Y:-555.44, Z:-48.04 [[ 8.07568843e-01 5.87414229e-01 5.26980739e-02 1.00799745e+03] [-5.86170544e-01 8.09286428e-01 -3.82043346e-02 -5.55444261e+02] [-6.50896058e-02 -3.74283386e-05 9.97879423e-01 -4.80391996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.05, Y:-555.48, Z:-48.04 [[ 8.07632523e-01 5.87327643e-01 5.26872704e-02 1.00804730e+03] [-5.86082802e-01 8.09349270e-01 -3.82192279e-02 -5.55481984e+02] [-6.50896129e-02 -1.20116471e-05 9.97879423e-01 -4.80425583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.10, Y:-555.52, Z:-48.05 [[ 8.06823828e-01 5.88439037e-01 5.26764654e-02 1.00809784e+03] [-5.87195589e-01 8.08541584e-01 -3.82341144e-02 -5.55519752e+02] [-6.50895582e-02 -8.31936151e-05 9.97879423e-01 -4.80465237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.15, Y:-555.56, Z:-48.05 [[ 8.04517040e-01 5.91589935e-01 5.26657545e-02 1.00814830e+03] [-5.90352249e-01 8.06238951e-01 -3.82488625e-02 -5.55557221e+02] [-6.50888248e-02 -3.19485038e-04 9.97879423e-01 -4.80493379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.20, Y:-555.59, Z:-48.05 [[ 8.02541914e-01 5.94267558e-01 5.26549675e-02 1.00819818e+03] [-5.93034642e-01 8.04267245e-01 -3.82637066e-02 -5.55593740e+02] [-6.50875451e-02 -5.17991491e-04 9.97879423e-01 -4.80537090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.25, Y:-555.63, Z:-48.06 [[ 8.00646232e-01 5.96820001e-01 5.26450053e-02 1.00824832e+03] [-5.95591685e-01 8.02374840e-01 -3.82774081e-02 -5.55630209e+02] [-6.50857505e-02 -7.08264875e-04 9.97879423e-01 -4.80581953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1008.30, Y:-555.67, Z:-48.06 [[ 7.99310519e-01 5.98608292e-01 5.26384552e-02 1.00829895e+03] [-5.97383250e-01 8.01041449e-01 -3.82864136e-02 -5.55665884e+02] [-6.50841491e-02 -8.42598355e-04 9.97879423e-01 -4.80637138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.35, Y:-555.70, Z:-48.06 [[ 7.97129529e-01 6.01510013e-01 5.26328579e-02 1.00834711e+03] [-6.00290764e-01 7.98864544e-01 -3.82941067e-02 -5.55703199e+02] [-6.50808127e-02 -1.06965527e-03 9.97879423e-01 -4.80638082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.40, Y:-555.74, Z:-48.07 [[ 7.94944031e-01 6.04395902e-01 5.26268124e-02 1.00839688e+03] [-6.03182401e-01 7.96683071e-01 -3.83024132e-02 -5.55739381e+02] [-6.50767121e-02 -1.29529227e-03 9.97879423e-01 -4.80683880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.45, Y:-555.78, Z:-48.07 [[ 7.93569357e-01 6.06200529e-01 5.26174386e-02 1.00844757e+03] [-6.04990130e-01 7.95310557e-01 -3.83152861e-02 -5.55776158e+02] [-6.50739510e-02 -1.42719405e-03 9.97879424e-01 -4.80720216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.50, Y:-555.81, Z:-48.08 [[ 7.92292615e-01 6.07869177e-01 5.26068094e-02 1.00849783e+03] [-6.06661477e-01 7.94035688e-01 -3.83298743e-02 -5.55811417e+02] [-6.50712333e-02 -1.54604839e-03 9.97879424e-01 -4.80750618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.55, Y:-555.85, Z:-48.08 [[ 7.91946445e-01 6.08320617e-01 5.26009024e-02 1.00854759e+03] [-6.07113373e-01 7.93689834e-01 -3.83379790e-02 -5.55847249e+02] [-6.50705845e-02 -1.57308506e-03 9.97879424e-01 -4.80791324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1008.60, Y:-555.88, Z:-48.08 [[ 7.92564562e-01 6.07515902e-01 5.25912839e-02 1.00859783e+03] [-6.06306013e-01 7.94306116e-01 -3.83511689e-02 -5.55884645e+02] [-6.50725234e-02 -1.49063432e-03 9.97879424e-01 -4.80833854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1008.65, Y:-555.92, Z:-48.09 [[ 7.94167731e-01 6.05419555e-01 5.25811537e-02 1.00864761e+03] [-6.04204150e-01 7.95905439e-01 -3.83650528e-02 -5.55922462e+02] [-6.50765795e-02 -1.30146430e-03 9.97879424e-01 -4.80853009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.70, Y:-555.96, Z:-48.09 [[ 7.98351396e-01 5.99892826e-01 5.25703853e-02 1.00869790e+03] [-5.98664418e-01 8.00079937e-01 -3.83798028e-02 -5.55960225e+02] [-6.50842789e-02 -8.31449964e-04 9.97879424e-01 -4.80877630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.75, Y:-556.00, Z:-48.09 [[ 8.02080888e-01 5.94898101e-01 5.25594815e-02 1.00874856e+03] [-5.93657949e-01 8.03801023e-01 -3.83947292e-02 -5.55997175e+02] [-6.50883165e-02 -4.06675499e-04 9.97879424e-01 -4.80918096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.80, Y:-556.03, Z:-48.10 [[ 8.06272043e-01 5.89206274e-01 5.25486388e-02 1.00879903e+03] [-5.87953012e-01 8.07982649e-01 -3.84095633e-02 -5.56034432e+02] [-6.50895441e-02 7.24265980e-05 9.97879425e-01 -4.80955392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.85, Y:-556.07, Z:-48.10 [[ 8.11999362e-01 5.81288916e-01 5.25379075e-02 1.00884950e+03] [-5.80018027e-01 8.13696913e-01 -3.84242364e-02 -5.56072479e+02] [-6.50855159e-02 7.27522050e-04 9.97879425e-01 -4.80994206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.90, Y:-556.11, Z:-48.10 [[ 8.14749632e-01 5.77428721e-01 5.25272263e-02 1.00889993e+03] [-5.76148849e-01 8.16440420e-01 -3.84388325e-02 -5.56109106e+02] [-6.50810366e-02 1.05452365e-03 9.97879425e-01 -4.81038111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.95, Y:-556.14, Z:-48.11 [[ 8.16957875e-01 5.74301173e-01 5.25165999e-02 1.00895216e+03] [-5.73013896e-01 8.18643033e-01 -3.84533451e-02 -5.56144884e+02] [-6.50761498e-02 1.32202163e-03 9.97879425e-01 -4.81074708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.00, Y:-556.18, Z:-48.11 [[ 8.16999543e-01 5.74242891e-01 5.25057020e-02 1.00900334e+03] [-5.72954539e-01 8.18683878e-01 -3.84682198e-02 -5.56179621e+02] [-6.50756735e-02 1.34513766e-03 9.97879425e-01 -4.81118036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.05, Y:-556.22, Z:-48.12 [[ 8.15755200e-01 5.76010122e-01 5.24956514e-02 1.00905494e+03] [-5.74724537e-01 8.17441648e-01 -3.84819305e-02 -5.56216065e+02] [-6.50781133e-02 1.22129594e-03 9.97879425e-01 -4.81159144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.11, Y:-556.25, Z:-48.12 [[ 8.13675909e-01 5.78944603e-01 5.24848829e-02 1.00910647e+03] [-5.77664154e-01 8.15366259e-01 -3.84966119e-02 -5.56251133e+02] [-6.50818083e-02 1.00513025e-03 9.97879426e-01 -4.81204413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.16, Y:-556.29, Z:-48.13 [[ 8.11006435e-01 5.82679060e-01 5.24754762e-02 1.00915879e+03] [-5.81405565e-01 8.12702032e-01 -3.85094301e-02 -5.56286651e+02] [-6.50855646e-02 7.21861773e-04 9.97879426e-01 -4.81251669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.21, Y:-556.32, Z:-48.13 [[ 8.08269286e-01 5.86470973e-01 5.24648469e-02 1.00921054e+03] [-5.85204494e-01 8.09970128e-01 -3.85239060e-02 -5.56321609e+02] [-6.50881114e-02 4.35025798e-04 9.97879426e-01 -4.81283943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.26, Y:-556.36, Z:-48.13 [[ 8.05120386e-01 5.90787246e-01 5.24556317e-02 1.00926068e+03] [-5.89529069e-01 8.06827379e-01 -3.85364496e-02 -5.56356444e+02] [-6.50894828e-02 1.02361470e-04 9.97879426e-01 -4.81307764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.31, Y:-556.39, Z:-48.13 [[ 8.01899588e-01 5.95152369e-01 5.24471997e-02 1.00931204e+03] [-5.93902733e-01 8.03612843e-01 -3.85479219e-02 -5.56391607e+02] [-6.50891303e-02 -2.36972528e-04 9.97879426e-01 -4.81332350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1009.36, Y:-556.43, Z:-48.14 [[ 7.98681615e-01 5.99464706e-01 5.24380167e-02 1.00936410e+03] [-5.98223500e-01 8.00400987e-01 -3.85604099e-02 -5.56426534e+02] [-6.50870451e-02 -5.72163448e-04 9.97879426e-01 -4.81372756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.42, Y:-556.46, Z:-48.14 [[ 7.94541643e-01 6.04942122e-01 5.24271565e-02 1.00941633e+03] [-6.03711794e-01 7.96268816e-01 -3.85751699e-02 -5.56459867e+02] [-6.50818549e-02 -1.00131378e-03 9.97879426e-01 -4.81431937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.47, Y:-556.50, Z:-48.15 [[ 7.92271088e-01 6.07913620e-01 5.24171156e-02 1.00946805e+03] [-6.06688867e-01 7.94002218e-01 -3.85888090e-02 -5.56496112e+02] [-6.50779686e-02 -1.22808278e-03 9.97879427e-01 -4.81465083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.52, Y:-556.53, Z:-48.15 [[ 7.90229533e-01 6.10566054e-01 5.24059041e-02 1.00951934e+03] [-6.09346102e-01 7.91964050e-01 -3.86040289e-02 -5.56531453e+02] [-6.50739016e-02 -1.42728961e-03 9.97879427e-01 -4.81509619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.57, Y:-556.57, Z:-48.16 [[ 7.89192222e-01 6.11906841e-01 5.23989915e-02 1.00956952e+03] [-6.10689214e-01 7.90928372e-01 -3.86134094e-02 -5.56566618e+02] [-6.50716584e-02 -1.52609653e-03 9.97879427e-01 -4.81558514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.62, Y:-556.61, Z:-48.16 [[ 7.88361490e-01 6.12977622e-01 5.23888983e-02 1.00961849e+03] [-6.11761443e-01 7.90098654e-01 -3.86270986e-02 -5.56605106e+02] [-6.50699450e-02 -1.59739102e-03 9.97879427e-01 -4.81631413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.67, Y:-556.64, Z:-48.17 [[ 7.90246126e-01 6.10546361e-01 5.23851222e-02 1.00966747e+03] [-6.09324499e-01 7.91979297e-01 -3.86322189e-02 -5.56642598e+02] [-6.50746929e-02 -1.39057705e-03 9.97879427e-01 -4.81670901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.72, Y:-556.68, Z:-48.17 [[ 7.94729456e-01 6.04699956e-01 5.23741776e-02 1.00971629e+03] [-6.03464363e-01 7.96452866e-01 -3.86470510e-02 -5.56679404e+02] [-6.50834339e-02 -8.91999871e-04 9.97879427e-01 -4.81678214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1009.77, Y:-556.72, Z:-48.17 [[ 7.95917225e-01 6.03136589e-01 5.23643610e-02 1.00976601e+03] [-6.01896737e-01 7.97637572e-01 -3.86603473e-02 -5.56717167e+02] [-6.50852518e-02 -7.47501650e-04 9.97879427e-01 -4.81715221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.82, Y:-556.76, Z:-48.17 [[ 7.98403280e-01 5.99842744e-01 5.23534607e-02 1.00981552e+03] [-5.98594826e-01 8.00117786e-01 -3.86751028e-02 -5.56756294e+02] [-6.50879148e-02 -4.60181716e-04 9.97879427e-01 -4.81744695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.87, Y:-556.79, Z:-48.18 [[ 7.98642677e-01 5.99524919e-01 5.23425827e-02 1.00986519e+03] [-5.98275354e-01 8.00355982e-01 -3.86898193e-02 -5.56794769e+02] [-6.50882100e-02 -4.15936368e-04 9.97879428e-01 -4.81816070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.92, Y:-556.83, Z:-48.18 [[ 7.99652053e-01 5.98178627e-01 5.23347309e-02 1.00991504e+03] [-5.96925483e-01 8.01362742e-01 -3.87004374e-02 -5.56831891e+02] [-6.50888780e-02 -2.93050316e-04 9.97879428e-01 -4.81833288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.96, Y:-556.87, Z:-48.19 [[ 7.99719123e-01 5.98089864e-01 5.23243665e-02 1.00996484e+03] [-5.96835614e-01 8.01429000e-01 -3.87144454e-02 -5.56869041e+02] [-6.50889821e-02 -2.68363083e-04 9.97879428e-01 -4.81885432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.01, Y:-556.91, Z:-48.19 [[ 8.00089743e-01 5.97594869e-01 5.23141999e-02 1.01001394e+03] [-5.96338662e-01 8.01798184e-01 -3.87281784e-02 -5.56906645e+02] [-6.50891912e-02 -2.10961663e-04 9.97879428e-01 -4.81934237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.06, Y:-556.94, Z:-48.20 [[ 7.99840116e-01 5.97929759e-01 5.23047972e-02 1.01006421e+03] [-5.96673438e-01 8.01548472e-01 -3.87408733e-02 -5.56944954e+02] [-6.50891513e-02 -2.22378525e-04 9.97879428e-01 -4.81974754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.11, Y:-556.98, Z:-48.20 [[ 7.99521082e-01 5.98357250e-01 5.22938003e-02 1.01011359e+03] [-5.97100871e-01 8.01229396e-01 -3.87557116e-02 -5.56981804e+02] [-6.50890910e-02 -2.38665197e-04 9.97879428e-01 -4.81993262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1010.16, Y:-557.02, Z:-48.20 [[ 7.98583589e-01 5.99608671e-01 5.22847246e-02 1.01016372e+03] [-5.98354168e-01 8.00293281e-01 -3.87679516e-02 -5.57017726e+02] [-6.50887138e-02 -3.25332932e-04 9.97879428e-01 -4.82023215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.21, Y:-557.05, Z:-48.21 [[ 7.98274609e-01 6.00020797e-01 5.22751476e-02 1.01021313e+03] [-5.98766331e-01 7.99984328e-01 -3.87808611e-02 -5.57053942e+02] [-6.50886220e-02 -3.42821580e-04 9.97879429e-01 -4.82071996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.26, Y:-557.09, Z:-48.21 [[ 7.97647668e-01 6.00854435e-01 5.22699393e-02 1.01026315e+03] [-5.99601296e-01 7.99358359e-01 -3.87878797e-02 -5.57091180e+02] [-6.50882825e-02 -4.02061582e-04 9.97879429e-01 -4.82113526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.31, Y:-557.13, Z:-48.21 [[ 7.98582250e-01 5.99612134e-01 5.22654744e-02 1.01031346e+03] [-5.98355940e-01 8.00290699e-01 -3.87938951e-02 -5.57128713e+02] [-6.50888633e-02 -2.93240972e-04 9.97879429e-01 -4.82139294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.36, Y:-557.17, Z:-48.22 [[ 7.98911173e-01 5.99174768e-01 5.22545310e-02 1.01036417e+03] [-5.97916675e-01 8.00618224e-01 -3.88086300e-02 -5.57166120e+02] [-6.50890817e-02 -2.39207342e-04 9.97879429e-01 -4.82177209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.41, Y:-557.20, Z:-48.22 [[ 8.00272821e-01 5.97355859e-01 5.22435501e-02 1.01041399e+03] [-5.96092922e-01 8.01976291e-01 -3.88234068e-02 -5.57203000e+02] [-6.50894781e-02 -7.26931514e-05 9.97879429e-01 -4.82225465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.46, Y:-557.24, Z:-48.23 [[ 8.02567938e-01 5.94269615e-01 5.22334178e-02 1.01046407e+03] [-5.92999240e-01 8.04265868e-01 -3.88370341e-02 -5.57241080e+02] [-6.50892244e-02 1.94981260e-04 9.97879429e-01 -4.82268608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1010.51, Y:-557.28, Z:-48.23 [[ 8.04247611e-01 5.91995431e-01 5.22225117e-02 1.01051383e+03] [-5.90719302e-01 8.05941221e-01 -3.88516936e-02 -5.57279450e+02] [-6.50882999e-02 3.97536073e-04 9.97879429e-01 -4.82321464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1010.56, Y:-557.32, Z:-48.24 [[ 8.05867297e-01 5.89789652e-01 5.22117429e-02 1.01056230e+03] [-5.88507950e-01 8.07556694e-01 -3.88661601e-02 -5.57317393e+02] [-6.50868015e-02 5.93941624e-04 9.97879429e-01 -4.82369420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.61, Y:-557.36, Z:-48.24 [[ 8.06561651e-01 5.88840581e-01 5.22022417e-02 1.01061037e+03] [-5.87556066e-01 8.08248909e-01 -3.88789172e-02 -5.57355906e+02] [-6.50858891e-02 6.86499850e-04 9.97879430e-01 -4.82424493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.66, Y:-557.39, Z:-48.25 [[ 8.06294808e-01 5.89206805e-01 5.21921751e-02 1.01066029e+03] [-5.87922182e-01 8.07981984e-01 -3.88924263e-02 -5.57393099e+02] [-6.50860194e-02 6.73823894e-04 9.97879430e-01 -4.82463752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1010.71, Y:-557.43, Z:-48.25 [[ 8.04560725e-01 5.91573353e-01 5.21824474e-02 1.01070845e+03] [-5.90292847e-01 8.06251027e-01 -3.89054737e-02 -5.57429886e+02] [-6.50875933e-02 4.98890705e-04 9.97879430e-01 -4.82493818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1010.76, Y:-557.47, Z:-48.25 [[ 8.03067097e-01 5.93600167e-01 5.21735564e-02 1.01075893e+03] [-5.92323153e-01 8.04760038e-01 -3.89173931e-02 -5.57467963e+02] [-6.50885643e-02 3.49672459e-04 9.97879430e-01 -4.82538415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.81, Y:-557.51, Z:-48.26 [[ 8.02013635e-01 5.95023684e-01 5.21626741e-02 1.01080825e+03] [-5.93748726e-01 8.03708126e-01 -3.89319737e-02 -5.57505061e+02] [-6.50890115e-02 2.52452475e-04 9.97879430e-01 -4.82586936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.86, Y:-557.54, Z:-48.26 [[ 8.00240199e-01 5.97407458e-01 5.21531695e-02 1.01085756e+03] [-5.96136719e-01 8.01937855e-01 -3.89447019e-02 -5.57542854e+02] [-6.50894563e-02 7.46966633e-05 9.97879430e-01 -4.82615569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.91, Y:-557.58, Z:-48.26 [[ 7.98925705e-01 5.99165042e-01 5.21437515e-02 1.01090752e+03] [-5.97897214e-01 8.00625537e-01 -3.89573077e-02 -5.57580120e+02] [-6.50894760e-02 -5.26092078e-05 9.97879430e-01 -4.82646912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.96, Y:-557.62, Z:-48.27 [[ 7.97918749e-01 6.00506197e-01 5.21342344e-02 1.01095752e+03] [-5.99240394e-01 7.99620089e-01 -3.89700398e-02 -5.57617329e+02] [-6.50893315e-02 -1.46013795e-04 9.97879430e-01 -4.82677819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.01, Y:-557.66, Z:-48.27 [[ 7.98022161e-01 6.00369593e-01 5.21246718e-02 1.01100703e+03] [-5.99102664e-01 7.99722663e-01 -3.89828261e-02 -5.57656029e+02] [-6.50893848e-02 -1.18870573e-04 9.97879431e-01 -4.82716878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1011.06, Y:-557.69, Z:-48.28 [[ 7.98650318e-01 5.99534672e-01 5.21137949e-02 1.01105634e+03] [-5.98265016e-01 8.00348784e-01 -3.89973615e-02 -5.57693761e+02] [-6.50894827e-02 -3.26051726e-05 9.97879431e-01 -4.82770563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.11, Y:-557.73, Z:-48.28 [[ 7.99217479e-01 5.98779276e-01 5.21037481e-02 1.01110628e+03] [-5.97507140e-01 8.00914089e-01 -3.90107801e-02 -5.57731824e+02] [-6.50894726e-02 4.57358297e-05 9.97879431e-01 -4.82808836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.16, Y:-557.77, Z:-48.29 [[ 7.99715473e-01 5.98114961e-01 5.20927611e-02 1.01115636e+03] [-5.96840460e-01 8.01410307e-01 -3.90254460e-02 -5.57770234e+02] [-6.50893788e-02 1.18185528e-04 9.97879431e-01 -4.82853422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.20, Y:-557.81, Z:-48.29 [[ 7.99596203e-01 5.98275353e-01 5.20818021e-02 1.01120427e+03] [-5.97000240e-01 8.01290576e-01 -3.90400661e-02 -5.57808503e+02] [-6.50893665e-02 1.23440242e-04 9.97879431e-01 -4.82912255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.25, Y:-557.85, Z:-48.29 [[ 7.99101414e-01 5.98936949e-01 5.20716938e-02 1.01125328e+03] [-5.97662360e-01 8.00796181e-01 -3.90535439e-02 -5.57847228e+02] [-6.50894240e-02 8.64507681e-05 9.97879431e-01 -4.82942808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.30, Y:-557.88, Z:-48.30 [[ 7.98547229e-01 5.99676591e-01 5.20606381e-02 1.01130204e+03] [-5.98402612e-01 8.00242453e-01 -3.90682762e-02 -5.57884499e+02] [-6.50894635e-02 4.46419084e-05 9.97879432e-01 -4.83002807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.35, Y:-557.92, Z:-48.30 [[ 7.97670705e-01 6.00842908e-01 5.20504332e-02 1.01135023e+03] [-5.99570520e-01 7.99367124e-01 -3.90818675e-02 -5.57924384e+02] [-6.50894680e-02 -3.34444717e-05 9.97879432e-01 -4.83031264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.40, Y:-557.96, Z:-48.31 [[ 7.96787338e-01 6.02014811e-01 5.20394610e-02 1.01139933e+03] [-6.00743965e-01 7.98484912e-01 -3.90964721e-02 -5.57963643e+02] [-6.50893797e-02 -1.10818234e-04 9.97879432e-01 -4.83063269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.45, Y:-558.00, Z:-48.31 [[ 7.96007221e-01 6.03046892e-01 5.20283605e-02 1.01144899e+03] [-6.01777281e-01 7.97705720e-01 -3.91112387e-02 -5.58001782e+02] [-6.50892317e-02 -1.76656862e-04 9.97879432e-01 -4.83101604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.50, Y:-558.04, Z:-48.32 [[ 7.93085108e-01 6.06885673e-01 5.20172284e-02 1.01149752e+03] [-6.05623312e-01 7.94789002e-01 -3.91260385e-02 -5.58039119e+02] [-6.50877533e-02 -4.72567673e-04 9.97879432e-01 -4.83152287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.55, Y:-558.08, Z:-48.32 [[ 7.91200018e-01 6.09342054e-01 5.20076199e-02 1.01154720e+03] [-6.08084144e-01 7.92907200e-01 -3.91388064e-02 -5.58077344e+02] [-6.50861369e-02 -6.58384662e-04 9.97879432e-01 -4.83191591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1011.60, Y:-558.12, Z:-48.32 [[ 7.90009812e-01 6.10885311e-01 5.19964745e-02 1.01159598e+03] [-6.09629762e-01 7.91718731e-01 -3.91536077e-02 -5.58116379e+02] [-6.50849466e-02 -7.66864069e-04 9.97879432e-01 -4.83232181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.65, Y:-558.16, Z:-48.33 [[ 7.89677959e-01 6.11315169e-01 5.19854324e-02 1.01164519e+03] [-6.10059585e-01 7.91386852e-01 -3.91682631e-02 -5.58155855e+02] [-6.50847411e-02 -7.83897281e-04 9.97879433e-01 -4.83275919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.69, Y:-558.20, Z:-48.33 [[ 7.89394138e-01 6.11682558e-01 5.19744453e-02 1.01169412e+03] [-6.10426810e-01 7.91102911e-01 -3.91828370e-02 -5.58195161e+02] [-6.50845929e-02 -7.95893016e-04 9.97879433e-01 -4.83322773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.74, Y:-558.23, Z:-48.34 [[ 7.88728014e-01 6.12542188e-01 5.19633326e-02 1.01174231e+03] [-6.11287332e-01 7.90437441e-01 -3.91975689e-02 -5.58233452e+02] [-6.50839283e-02 -8.48306260e-04 9.97879433e-01 -4.83376049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.79, Y:-558.27, Z:-48.35 [[ 7.88508161e-01 6.12826042e-01 5.19530755e-02 1.01179110e+03] [-6.11570907e-01 7.90217382e-01 -3.92111591e-02 -5.58270435e+02] [-6.50838428e-02 -8.54670532e-04 9.97879433e-01 -4.83469192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.84, Y:-558.31, Z:-48.35 [[ 7.87058054e-01 6.14687650e-01 5.19491367e-02 1.01183977e+03] [-6.13436212e-01 7.88769985e-01 -3.92163768e-02 -5.58307694e+02] [-6.50817423e-02 -1.00191649e-03 9.97879433e-01 -4.83478810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.89, Y:-558.35, Z:-48.35 [[ 7.86696958e-01 6.15150588e-01 5.19389120e-02 1.01188868e+03] [-6.13899265e-01 7.88408972e-01 -3.92299140e-02 -5.58346414e+02] [-6.50814088e-02 -1.02320591e-03 9.97879433e-01 -4.83522839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1011.94, Y:-558.38, Z:-48.36 [[ 7.87025212e-01 6.14731504e-01 5.19277709e-02 1.01193653e+03] [-6.13478296e-01 7.88735848e-01 -3.92446557e-02 -5.58383540e+02] [-6.50822206e-02 -9.70026904e-04 9.97879433e-01 -4.83563112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.99, Y:-558.42, Z:-48.36 [[ 7.88111494e-01 6.13338675e-01 5.19224710e-02 1.01198541e+03] [-6.12081982e-01 7.89819571e-01 -3.92516665e-02 -5.58421849e+02] [-6.50839488e-02 -8.46119413e-04 9.97879433e-01 -4.83578636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.04, Y:-558.46, Z:-48.36 [[ 7.89492398e-01 6.11560936e-01 5.19131446e-02 1.01203578e+03] [-6.10299586e-01 7.91197038e-01 -3.92639974e-02 -5.58459899e+02] [-6.50858533e-02 -6.83943153e-04 9.97879434e-01 -4.83616319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1012.09, Y:-558.50, Z:-48.37 [[ 7.91146537e-01 6.09420481e-01 5.19021600e-02 1.01208554e+03] [-6.08153567e-01 7.92847046e-01 -3.92785123e-02 -5.58497564e+02] [-6.50876041e-02 -4.89424707e-04 9.97879434e-01 -4.83652714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1012.14, Y:-558.53, Z:-48.38 [[ 7.96183359e-01 6.02826167e-01 5.18909652e-02 1.01213908e+03] [-6.01544204e-01 7.97872551e-01 -3.92932963e-02 -5.58528700e+02] [-6.50894039e-02 6.99592884e-05 9.97879434e-01 -4.83777587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.18, Y:-558.57, Z:-48.37 [[ 7.94489593e-01 6.05057577e-01 5.18807764e-02 1.01218446e+03] [-6.03779481e-01 7.96181712e-01 -3.93067444e-02 -5.58570457e+02] [-6.50893689e-02 -9.57489329e-05 9.97879434e-01 -4.83727460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.23, Y:-558.61, Z:-48.38 [[ 7.96726468e-01 6.02109533e-01 5.18752874e-02 1.01223483e+03] [-6.00824703e-01 7.98413481e-01 -3.93139872e-02 -5.58607226e+02] [-6.50892553e-02 1.54540009e-04 9.97879434e-01 -4.83807518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.28, Y:-558.64, Z:-48.39 [[ 7.98590369e-01 5.99635662e-01 5.18699966e-02 1.01228492e+03] [-5.98345153e-01 8.00273041e-01 -3.93209666e-02 -5.58644135e+02] [-6.50884137e-02 3.65184212e-04 9.97879434e-01 -4.83859954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.33, Y:-558.68, Z:-48.39 [[ 7.98562578e-01 5.99673764e-01 5.18573589e-02 1.01233343e+03] [-5.98382254e-01 8.00244481e-01 -3.93376264e-02 -5.58682005e+02] [-6.50883078e-02 3.83033053e-04 9.97879434e-01 -4.83866263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.38, Y:-558.72, Z:-48.39 [[ 7.98859802e-01 5.99278558e-01 5.18481069e-02 1.01238415e+03] [-5.97985424e-01 8.00540458e-01 -3.93498170e-02 -5.58718960e+02] [-6.50880088e-02 4.30574803e-04 9.97879434e-01 -4.83905484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:1012.92, Y:-558.17, Z:-47.41 [[ 8.35120939e-01 5.47618427e-01 5.18370069e-02 1.01292200e+03] [-5.46220810e-01 8.36715763e-01 -3.93644341e-02 -5.58173699e+02] [-6.49295303e-02 4.55961131e-03 9.97879435e-01 -4.74065993e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.97, Y:-558.21, Z:-47.41 [[ 8.34259096e-01 5.48714075e-01 5.40798013e-02 1.01297252e+03] [-5.47532293e-01 8.36009981e-01 -3.59958418e-02 -5.58209392e+02] [-6.49626787e-02 4.19420851e-04 9.97887606e-01 -4.74060444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.03, Y:-558.24, Z:-47.41 [[ 8.34656864e-01 5.48109596e-01 5.40720802e-02 1.01302631e+03] [-5.46925795e-01 8.36406384e-01 -3.60074365e-02 -5.58241536e+02] [-6.49622546e-02 4.80438554e-04 9.97887606e-01 -4.74145776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.08, Y:-558.27, Z:-47.42 [[ 8.33478808e-01 5.49899809e-01 5.40673385e-02 1.01308038e+03] [-5.48719304e-01 8.35230553e-01 -3.60145550e-02 -5.58271759e+02] [-6.49630900e-02 3.49575983e-04 9.97887606e-01 -4.74204321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.13, Y:-558.31, Z:-47.42 [[ 8.30203509e-01 5.54833199e-01 5.40578861e-02 1.01313068e+03] [-5.53662179e-01 8.31961610e-01 -3.60287375e-02 -5.58306968e+02] [-6.49640257e-02 -1.86227520e-05 9.97887606e-01 -4.74178076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.18, Y:-558.34, Z:-47.42 [[ 8.28928373e-01 5.56736955e-01 5.40529008e-02 1.01318376e+03] [-5.55569486e-01 8.30688833e-01 -3.60362152e-02 -5.58339972e+02] [-6.49638339e-02 -1.58701052e-04 9.97887606e-01 -4.74221299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.24, Y:-558.37, Z:-47.43 [[ 8.28014348e-01 5.58096433e-01 5.40426852e-02 1.01323757e+03] [-5.56930854e-01 8.29776061e-01 -3.60515289e-02 -5.58371756e+02] [-6.49635561e-02 -2.46855603e-04 9.97887607e-01 -4.74302649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:1013.29, Y:-558.40, Z:-47.43 [[ 8.26737072e-01 5.59987276e-01 5.40376203e-02 1.01329084e+03] [-5.58825231e-01 8.28501117e-01 -3.60591191e-02 -5.58404934e+02] [-6.49628767e-02 -3.86175060e-04 9.97887607e-01 -4.74333816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.34, Y:-558.44, Z:-47.44 [[ 8.24922333e-01 5.62658347e-01 5.40252687e-02 1.01334361e+03] [-5.61500802e-01 8.26689334e-01 -3.60776153e-02 -5.58438266e+02] [-6.49614848e-02 -5.74001074e-04 9.97887607e-01 -4.74351748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.40, Y:-558.47, Z:-47.45 [[ 8.25385001e-01 5.61980165e-01 5.40175301e-02 1.01339667e+03] [-5.60820410e-01 8.27150553e-01 -3.60891983e-02 -5.58471560e+02] [-6.49620435e-02 -5.06650435e-04 9.97887607e-01 -4.74453253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1013.45, Y:-558.51, Z:-47.45 [[ 8.24925442e-01 5.62655028e-01 5.40123602e-02 1.01344733e+03] [-5.61496211e-01 8.26691609e-01 -3.60969341e-02 -5.58505796e+02] [-6.49616864e-02 -5.50456253e-04 9.97887607e-01 -4.74466366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.50, Y:-558.54, Z:-47.46 [[ 8.26600985e-01 5.60191493e-01 5.40028045e-02 1.01349914e+03] [-5.59026478e-01 8.28363070e-01 -3.61112242e-02 -5.58539901e+02] [-6.49631296e-02 -3.39424157e-04 9.97887607e-01 -4.74558144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.55, Y:-558.58, Z:-47.45 [[ 8.28777427e-01 5.56966824e-01 5.39993831e-02 1.01354857e+03] [-5.55794620e-01 8.30534738e-01 -3.61163398e-02 -5.58576411e+02] [-6.49639665e-02 -8.01594822e-05 9.97887607e-01 -4.74528636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1013.60, Y:-558.61, Z:-47.46 [[ 8.33477973e-01 5.49908624e-01 5.39904982e-02 1.01360075e+03] [-5.48720679e-01 8.35224681e-01 -3.61296170e-02 -5.58609753e+02] [-6.49621846e-02 4.87537088e-04 9.97887607e-01 -4.74630771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.65, Y:-558.65, Z:-47.46 [[ 8.36509390e-01 5.45286565e-01 5.39870601e-02 1.01364953e+03] [-5.44088638e-01 8.38249267e-01 -3.61347536e-02 -5.58648205e+02] [-6.49584093e-02 8.53314677e-04 9.97887607e-01 -4.74626402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.70, Y:-558.68, Z:-47.46 [[ 8.37541266e-01 5.43700668e-01 5.39834337e-02 1.01369979e+03] [-5.42499097e-01 8.39278629e-01 -3.61401704e-02 -5.58684105e+02] [-6.49565771e-02 9.82920025e-04 9.97887607e-01 -4.74614233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1013.75, Y:-558.72, Z:-47.47 [[ 8.39911823e-01 5.40032494e-01 5.39725452e-02 1.01375193e+03] [-5.38822292e-01 8.41643185e-01 -3.61564244e-02 -5.58717577e+02] [-6.49512688e-02 1.28659775e-03 9.97887608e-01 -4.74728016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.80, Y:-558.75, Z:-47.47 [[ 8.39284287e-01 5.41007750e-01 5.39675869e-02 1.01380221e+03] [-5.39799085e-01 8.41016721e-01 -3.61638236e-02 -5.58752810e+02] [-6.49525519e-02 1.22007481e-03 9.97887608e-01 -4.74717163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.85, Y:-558.79, Z:-47.48 [[ 8.39631078e-01 5.40470297e-01 5.39584167e-02 1.01385400e+03] [-5.39259645e-01 8.41362124e-01 -3.61775010e-02 -5.58785556e+02] [-6.49514328e-02 1.27815758e-03 9.97887608e-01 -4.74813285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.90, Y:-558.82, Z:-47.48 [[ 8.37814220e-01 5.43282795e-01 5.39549675e-02 1.01390480e+03] [-5.42077623e-01 8.39549086e-01 -3.61826444e-02 -5.58819615e+02] [-6.49552518e-02 1.06655348e-03 9.97887608e-01 -4.74814837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.96, Y:-558.85, Z:-47.49 [[ 8.36827965e-01 5.44801602e-01 5.39460126e-02 1.01395669e+03] [-5.43598718e-01 8.38564418e-01 -3.61959906e-02 -5.58854658e+02] [-6.49568403e-02 9.64833836e-04 9.97887608e-01 -4.74874019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.01, Y:-558.89, Z:-47.49 [[ 8.34804958e-01 5.47897469e-01 5.39355774e-02 1.01400885e+03] [-5.46700021e-01 8.36545164e-01 -3.62115335e-02 -5.58888922e+02] [-6.49597540e-02 7.42986416e-04 9.97887608e-01 -4.74903891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1014.06, Y:-558.92, Z:-47.49 [[ 8.33260987e-01 5.50243786e-01 5.39249775e-02 1.01406046e+03] [-5.49050218e-01 8.35003857e-01 -3.62273116e-02 -5.58922510e+02] [-6.49614173e-02 5.79284842e-04 9.97887608e-01 -4.74935286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1014.11, Y:-558.96, Z:-47.50 [[ 8.31559160e-01 5.52813275e-01 5.39151871e-02 1.01411245e+03] [-5.51624148e-01 8.33305062e-01 -3.62418763e-02 -5.58958186e+02] [-6.49627886e-02 3.96345097e-04 9.97887608e-01 -4.74979041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.17, Y:-558.99, Z:-47.50 [[ 8.29473402e-01 5.55939007e-01 5.39045104e-02 1.01416508e+03] [-5.54755428e-01 8.31223069e-01 -3.62577494e-02 -5.58992717e+02] [-6.49637698e-02 1.71019007e-04 9.97887609e-01 -4.75015223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.22, Y:-559.03, Z:-47.51 [[ 8.28322957e-01 5.57652126e-01 5.38997791e-02 1.01421699e+03] [-5.56471707e-01 8.30074759e-01 -3.62647815e-02 -5.59025665e+02] [-6.49639786e-02 4.52489235e-05 9.97887609e-01 -4.75077814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.27, Y:-559.06, Z:-47.51 [[ 8.24852107e-01 5.62773668e-01 5.38961908e-02 1.01426700e+03] [-5.61603778e-01 8.26610958e-01 -3.62701136e-02 -5.59060811e+02] [-6.49630467e-02 -3.50824748e-04 9.97887609e-01 -4.75072950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.32, Y:-559.10, Z:-47.51 [[ 8.24011857e-01 5.64004136e-01 5.38868688e-02 1.01431779e+03] [-5.62835967e-01 8.25771850e-01 -3.62839581e-02 -5.59095261e+02] [-6.49625618e-02 -4.31056198e-04 9.97887609e-01 -4.75117270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.37, Y:-559.13, Z:-47.52 [[ 8.24100735e-01 5.63874872e-01 5.38804934e-02 1.01437011e+03] [-5.62705808e-01 8.25860134e-01 -3.62934229e-02 -5.59128656e+02] [-6.49627007e-02 -4.09430092e-04 9.97887609e-01 -4.75206908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.42, Y:-559.16, Z:-47.52 [[ 8.22277908e-01 5.66530070e-01 5.38769167e-02 1.01442047e+03] [-5.65366340e-01 8.24040839e-01 -3.62987316e-02 -5.59163906e+02] [-6.49611026e-02 -6.12550177e-04 9.97887609e-01 -4.75220209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.47, Y:-559.20, Z:-47.53 [[ 8.21616358e-01 5.67489946e-01 5.38676272e-02 1.01447256e+03] [-5.66327371e-01 8.23380052e-01 -3.63125121e-02 -5.59198966e+02] [-6.49605152e-02 -6.71757821e-04 9.97887609e-01 -4.75263353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.52, Y:-559.23, Z:-47.53 [[ 8.19517943e-01 5.70517051e-01 5.38575559e-02 1.01452444e+03] [-5.69360009e-01 8.21285271e-01 -3.63274434e-02 -5.59232525e+02] [-6.49578433e-02 -8.93346878e-04 9.97887609e-01 -4.75337514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.58, Y:-559.27, Z:-47.54 [[ 8.17966127e-01 5.72740528e-01 5.38488961e-02 1.01457562e+03] [-5.71587445e-01 8.19736041e-01 -3.63402755e-02 -5.59266989e+02] [-6.49554295e-02 -1.05423860e-03 9.97887609e-01 -4.75390630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.63, Y:-559.30, Z:-47.55 [[ 8.18740179e-01 5.71634296e-01 5.38400476e-02 1.01462739e+03] [-5.70477961e-01 8.20507970e-01 -3.63533804e-02 -5.59301007e+02] [-6.49570271e-02 -9.50587377e-04 9.97887609e-01 -4.75469281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.68, Y:-559.34, Z:-47.54 [[ 8.18699224e-01 5.71693291e-01 5.38364291e-02 1.01467753e+03] [-5.70536731e-01 8.20466867e-01 -3.63587383e-02 -5.59337106e+02] [-6.49570531e-02 -9.48789418e-04 9.97887609e-01 -4.75447865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.73, Y:-559.37, Z:-47.55 [[ 8.21369647e-01 5.67850820e-01 5.38270352e-02 1.01472839e+03] [-5.66685079e-01 8.23131249e-01 -3.63726400e-02 -5.59373559e+02] [-6.49609482e-02 -6.27595237e-04 9.97887610e-01 -4.75463824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1014.78, Y:-559.41, Z:-47.56 [[ 8.24754927e-01 5.62923546e-01 5.38181355e-02 1.01478018e+03] [-5.61746421e-01 8.26508942e-01 -3.63858036e-02 -5.59407750e+02] [-6.49635958e-02 -2.22774231e-04 9.97887610e-01 -4.75552344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.83, Y:-559.45, Z:-47.56 [[ 8.26604740e-01 5.60204203e-01 5.38131563e-02 1.01483085e+03] [-5.59020828e-01 8.28354544e-01 -3.63931662e-02 -5.59445245e+02] [-6.49639772e-02 8.85072028e-08 9.97887610e-01 -4.75586938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.88, Y:-559.48, Z:-47.56 [[ 8.29447257e-01 5.55987905e-01 5.38023830e-02 1.01488248e+03] [-5.54794604e-01 8.31190307e-01 -3.64090861e-02 -5.59481407e+02] [-6.49630308e-02 3.50144809e-04 9.97887610e-01 -4.75635525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.93, Y:-559.52, Z:-47.56 [[ 8.28266890e-01 5.57745815e-01 5.37918601e-02 1.01493174e+03] [-5.56555203e-01 8.30011778e-01 -3.64246263e-02 -5.59520003e+02] [-6.49635604e-02 2.31172282e-04 9.97887610e-01 -4.75646857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.98, Y:-559.55, Z:-47.57 [[ 8.28883975e-01 5.56829147e-01 5.37834271e-02 1.01498413e+03] [-5.55635798e-01 8.30626992e-01 -3.64370739e-02 -5.59552778e+02] [-6.49631911e-02 3.18109222e-04 9.97887610e-01 -4.75727925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.03, Y:-559.59, Z:-47.58 [[ 8.26778674e-01 5.59950822e-01 5.37782637e-02 1.01503475e+03] [-5.58763559e-01 8.28525841e-01 -3.64446932e-02 -5.59588847e+02] [-6.49639171e-02 8.23610698e-05 9.97887610e-01 -4.75774366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.08, Y:-559.62, Z:-47.58 [[ 8.24221637e-01 5.63708833e-01 5.37684291e-02 1.01508414e+03] [-5.62528590e-01 8.25973555e-01 -3.64591969e-02 -5.59624882e+02] [-6.49636718e-02 -1.95819630e-04 9.97887610e-01 -4.75791888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.14, Y:-559.66, Z:-47.58 [[ 8.22118533e-01 5.66772485e-01 5.37593572e-02 1.01513589e+03] [-5.65597895e-01 8.23874246e-01 -3.64725685e-02 -5.59659137e+02] [-6.49625981e-02 -4.21404718e-04 9.97887611e-01 -4.75819244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.19, Y:-559.69, Z:-47.58 [[ 8.20641221e-01 5.68910259e-01 5.37503952e-02 1.01518736e+03] [-5.67739378e-01 8.22399409e-01 -3.64857712e-02 -5.59692881e+02] [-6.49614228e-02 -5.74488111e-04 9.97887611e-01 -4.75849173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1015.24, Y:-559.73, Z:-47.59 [[ 8.18584494e-01 5.71866444e-01 5.37419420e-02 1.01523872e+03] [-5.70701095e-01 8.20346354e-01 -3.64982182e-02 -5.59725953e+02] [-6.49591124e-02 -7.93709713e-04 9.97887611e-01 -4.75905641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.29, Y:-559.76, Z:-47.59 [[ 8.19058640e-01 5.71187923e-01 5.37336156e-02 1.01529155e+03] [-5.70020311e-01 8.20819000e-01 -3.65104724e-02 -5.59758139e+02] [-6.49599135e-02 -7.25034397e-04 9.97887611e-01 -4.75934602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.34, Y:-559.79, Z:-47.60 [[ 8.17534049e-01 5.73368810e-01 5.37241792e-02 1.01534104e+03] [-5.72204981e-01 8.19296913e-01 -3.65243525e-02 -5.59793775e+02] [-6.49579787e-02 -8.81341194e-04 9.97887611e-01 -4.75953568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.39, Y:-559.83, Z:-47.60 [[ 8.18078093e-01 5.72592802e-01 5.37188727e-02 1.01539233e+03] [-5.71426789e-01 8.19839513e-01 -3.65321556e-02 -5.59827951e+02] [-6.49589037e-02 -8.10246759e-04 9.97887611e-01 -4.75988598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.44, Y:-559.86, Z:-47.61 [[ 8.18894547e-01 5.71425424e-01 5.37094682e-02 1.01544264e+03] [-5.70255993e-01 8.20653699e-01 -3.65459768e-02 -5.59861939e+02] [-6.49601740e-02 -7.00845063e-04 9.97887611e-01 -4.76053618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1015.49, Y:-559.90, Z:-47.61 [[ 8.20282622e-01 5.69431852e-01 5.37008899e-02 1.01549446e+03] [-5.68257321e-01 8.22038373e-01 -3.65585774e-02 -5.59897965e+02] [-6.49618107e-02 -5.27558132e-04 9.97887611e-01 -4.76091997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.55, Y:-559.93, Z:-47.61 [[ 8.20995036e-01 5.68405190e-01 5.36906916e-02 1.01554598e+03] [-5.67227484e-01 8.22748660e-01 -3.65735488e-02 -5.59934235e+02] [-6.49625395e-02 -4.28133865e-04 9.97887612e-01 -4.76117275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.60, Y:-559.97, Z:-47.62 [[ 8.21613546e-01 5.67511769e-01 5.36802867e-02 1.01559714e+03] [-5.66331159e-01 8.23365215e-01 -3.65888141e-02 -5.59969806e+02] [-6.49630634e-02 -3.38953661e-04 9.97887612e-01 -4.76159770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.64, Y:-560.01, Z:-47.62 [[ 8.20764899e-01 5.68739412e-01 5.36699424e-02 1.01564456e+03] [-5.67560430e-01 8.22517664e-01 -3.66039813e-02 -5.60007166e+02] [-6.49626024e-02 -4.17672604e-04 9.97887612e-01 -4.76168046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.70, Y:-560.04, Z:-47.62 [[ 8.21433168e-01 5.67774102e-01 5.36667436e-02 1.01569674e+03] [-5.66592754e-01 8.23184339e-01 -3.66086705e-02 -5.60039874e+02] [-6.49630779e-02 -3.35611896e-04 9.97887612e-01 -4.76249880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.75, Y:-560.08, Z:-47.62 [[ 8.18922834e-01 5.71389135e-01 5.36642257e-02 1.01574568e+03] [-5.70215275e-01 8.20679033e-01 -3.66123612e-02 -5.60077695e+02] [-6.49610102e-02 -6.17462604e-04 9.97887612e-01 -4.76223820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.80, Y:-560.11, Z:-47.63 [[ 8.17191335e-01 5.73863422e-01 5.36572031e-02 1.01579662e+03] [-5.72694204e-01 8.18950628e-01 -3.66226503e-02 -5.60113218e+02] [-6.49589995e-02 -8.01456772e-04 9.97887612e-01 -4.76260183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.85, Y:-560.14, Z:-47.64 [[ 8.16934142e-01 5.74229814e-01 5.36537875e-02 1.01584899e+03] [-5.73061056e-01 8.18693741e-01 -3.66276536e-02 -5.60143003e+02] [-6.49587107e-02 -8.24515349e-04 9.97887612e-01 -4.76355251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1015.90, Y:-560.18, Z:-47.64 [[ 8.12518863e-01 5.80460857e-01 5.36497121e-02 1.01589899e+03] [-5.79305197e-01 8.14287091e-01 -3.66336219e-02 -5.60179525e+02] [-6.49506516e-02 -1.31404821e-03 9.97887612e-01 -4.76374165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.95, Y:-560.21, Z:-47.64 [[ 8.12414602e-01 5.80607281e-01 5.36441880e-02 1.01595121e+03] [-5.79451406e-01 8.14182690e-01 -3.66417094e-02 -5.60210292e+02] [-6.49506126e-02 -1.31594036e-03 9.97887612e-01 -4.76431204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.00, Y:-560.25, Z:-47.65 [[ 8.12132002e-01 5.81002974e-01 5.36391192e-02 1.01600293e+03] [-5.79847471e-01 8.13900333e-01 -3.66491280e-02 -5.60245480e+02] [-6.49501493e-02 -1.33857791e-03 9.97887612e-01 -4.76473516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.05, Y:-560.28, Z:-47.65 [[ 8.12124535e-01 5.81014358e-01 5.36288684e-02 1.01605412e+03] [-5.79857890e-01 8.13892235e-01 -3.66641220e-02 -5.60280786e+02] [-6.49505008e-02 -1.32128942e-03 9.97887612e-01 -4.76518595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1016.10, Y:-560.32, Z:-47.65 [[ 8.11581425e-01 5.81773624e-01 5.36194123e-02 1.01610293e+03] [-5.80617897e-01 8.13349609e-01 -3.66779458e-02 -5.60318773e+02] [-6.49495895e-02 -1.36525088e-03 9.97887612e-01 -4.76542847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.15, Y:-560.35, Z:-47.66 [[ 8.12072804e-01 5.81088515e-01 5.36087608e-02 1.01615434e+03] [-5.79930269e-01 8.13839339e-01 -3.66935074e-02 -5.60350713e+02] [-6.49510942e-02 -1.29154364e-03 9.97887613e-01 -4.76597937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.20, Y:-560.39, Z:-47.66 [[ 8.12644479e-01 5.80289680e-01 5.35988630e-02 1.01620493e+03] [-5.79128744e-01 8.14409248e-01 -3.67079597e-02 -5.60386458e+02] [-6.49526599e-02 -1.21012138e-03 9.97887613e-01 -4.76624503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.25, Y:-560.43, Z:-47.66 [[ 8.11759005e-01 5.81528551e-01 5.35897600e-02 1.01625300e+03] [-5.80369433e-01 8.13524967e-01 -3.67212444e-02 -5.60425376e+02] [-6.49510598e-02 -1.29305777e-03 9.97887613e-01 -4.76614434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.31, Y:-560.46, Z:-47.67 [[ 8.14434269e-01 5.77776070e-01 5.35876423e-02 1.01630513e+03] [-5.76608610e-01 8.16194728e-01 -3.67243345e-02 -5.60456215e+02] [-6.49563928e-02 -9.89539417e-04 9.97887613e-01 -4.76687474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.36, Y:-560.49, Z:-47.67 [[ 8.15858530e-01 5.75763972e-01 5.35789882e-02 1.01635669e+03] [-5.74591341e-01 8.17615550e-01 -3.67369561e-02 -5.60492363e+02] [-6.49588296e-02 -8.13863640e-04 9.97887613e-01 -4.76718635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1016.41, Y:-560.53, Z:-47.67 [[ 8.14631397e-01 5.77499865e-01 5.35685791e-02 1.01640504e+03] [-5.76329981e-01 8.16390246e-01 -3.67521280e-02 -5.60530953e+02] [-6.49572144e-02 -9.33740827e-04 9.97887613e-01 -4.76746777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.46, Y:-560.56, Z:-47.68 [[ 8.15155365e-01 5.76760383e-01 5.35648375e-02 1.01645817e+03] [-5.75588545e-01 8.16912913e-01 -3.67575804e-02 -5.60561567e+02] [-6.49581236e-02 -8.68167976e-04 9.97887613e-01 -4.76805208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.51, Y:-560.60, Z:-47.68 [[ 8.13506111e-01 5.79085189e-01 5.35551222e-02 1.01650865e+03] [-5.77917442e-01 8.15266380e-01 -3.67717301e-02 -5.60597858e+02] [-6.49556548e-02 -1.03641211e-03 9.97887613e-01 -4.76837748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.56, Y:-560.63, Z:-47.69 [[ 8.13288910e-01 5.79390526e-01 5.35515415e-02 1.01656064e+03] [-5.78223097e-01 8.15049389e-01 -3.67769440e-02 -5.60629782e+02] [-6.49553641e-02 -1.05445743e-03 9.97887613e-01 -4.76884070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.61, Y:-560.66, Z:-47.69 [[ 8.12516733e-01 5.80473762e-01 5.35422413e-02 1.01661223e+03] [-5.79307788e-01 8.14278176e-01 -3.67904788e-02 -5.60664299e+02] [-6.49541862e-02 -1.12455773e-03 9.97887613e-01 -4.76928614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.67, Y:-560.70, Z:-47.69 [[ 8.11781995e-01 5.81501704e-01 5.35328000e-02 1.01666508e+03] [-5.80337055e-01 8.13544315e-01 -3.68042115e-02 -5.60699042e+02] [-6.49530168e-02 -1.19007128e-03 9.97887614e-01 -4.76949543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.72, Y:-560.73, Z:-47.70 [[ 8.11601774e-01 5.81754162e-01 5.35224783e-02 1.01671729e+03] [-5.80589072e-01 8.13363802e-01 -3.68192157e-02 -5.60733433e+02] [-6.49529784e-02 -1.19202522e-03 9.97887614e-01 -4.76998355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1016.77, Y:-560.77, Z:-47.70 [[ 8.12515086e-01 5.80478827e-01 5.35123069e-02 1.01676879e+03] [-5.79309999e-01 8.14274635e-01 -3.68339927e-02 -5.60766691e+02] [-6.49550671e-02 -1.07203970e-03 9.97887614e-01 -4.77040267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.82, Y:-560.80, Z:-47.71 [[ 8.13761352e-01 5.78731226e-01 5.35035414e-02 1.01681989e+03] [-5.77557783e-01 8.15517827e-01 -3.68467208e-02 -5.60800992e+02] [-6.49574397e-02 -9.16949400e-04 9.97887614e-01 -4.77066519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.87, Y:-560.84, Z:-47.71 [[ 8.16356004e-01 5.75066207e-01 5.34951562e-02 1.01687105e+03] [-5.73884080e-01 8.18106647e-01 -3.68588906e-02 -5.60835424e+02] [-6.49610453e-02 -6.10041847e-04 9.97887614e-01 -4.77134958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1016.92, Y:-560.87, Z:-47.72 [[ 8.20086941e-01 5.69733969e-01 5.34847137e-02 1.01692248e+03] [-5.68539470e-01 8.21829165e-01 -3.68740371e-02 -5.60870655e+02] [-6.49636891e-02 -1.68254529e-04 9.97887614e-01 -4.77170250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.97, Y:-560.90, Z:-47.72 [[ 8.24184106e-01 5.63791704e-01 5.34740587e-02 1.01697377e+03] [-5.62583642e-01 8.25916952e-01 -3.68894824e-02 -5.60904519e+02] [-6.49631157e-02 3.20094326e-04 9.97887615e-01 -4.77181503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.03, Y:-560.94, Z:-47.72 [[ 8.27279541e-01 5.59240671e-01 5.34643109e-02 1.01702513e+03] [-5.58022164e-01 8.29005059e-01 -3.69036046e-02 -5.60938469e+02] [-6.49601808e-02 6.95326630e-04 9.97887615e-01 -4.77230733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.08, Y:-560.97, Z:-47.73 [[ 8.30340541e-01 5.54686565e-01 5.34546561e-02 1.01707771e+03] [-5.53457696e-01 8.32058695e-01 -3.69175842e-02 -5.60973341e+02] [-6.49550994e-02 1.06927609e-03 9.97887615e-01 -4.77263159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.13, Y:-561.01, Z:-47.73 [[ 8.32740408e-01 5.51078158e-01 5.34441481e-02 1.01713057e+03] [-5.49840869e-01 8.34452508e-01 -3.69327899e-02 -5.61007970e+02] [-6.49494573e-02 1.36964972e-03 9.97887615e-01 -4.77303235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.18, Y:-561.04, Z:-47.73 [[ 8.34612774e-01 5.48239316e-01 5.34337992e-02 1.01718366e+03] [-5.46995247e-01 8.36319953e-01 -3.69477566e-02 -5.61042433e+02] [-6.49439652e-02 1.60903551e-03 9.97887615e-01 -4.77346790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.24, Y:-561.07, Z:-47.74 [[ 8.35954220e-01 5.46192717e-01 5.34233815e-02 1.01723681e+03] [-5.44943507e-01 8.37657642e-01 -3.69628135e-02 -5.61073379e+02] [-6.49393233e-02 1.78649507e-03 9.97887615e-01 -4.77389792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.29, Y:-561.10, Z:-47.75 [[ 8.36340725e-01 5.45601651e-01 5.34137647e-02 1.01729222e+03] [-5.44350351e-01 8.38042611e-01 -3.69767054e-02 -5.61101087e+02] [-6.49375623e-02 1.84932306e-03 9.97887615e-01 -4.77451658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1017.34, Y:-561.14, Z:-47.75 [[ 8.34588578e-01 5.48278955e-01 5.34050009e-02 1.01734384e+03] [-5.47032306e-01 8.36293874e-01 -3.69893585e-02 -5.61136301e+02] [-6.49427619e-02 1.65663532e-03 9.97887616e-01 -4.77462669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.40, Y:-561.16, Z:-47.76 [[ 8.31089506e-01 5.53569465e-01 5.33955098e-02 1.01739890e+03] [-5.52332795e-01 8.32802052e-01 -3.70030542e-02 -5.61162927e+02] [-6.49516510e-02 1.26075884e-03 9.97887616e-01 -4.77550726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.45, Y:-561.19, Z:-47.76 [[ 8.24603155e-01 5.63186963e-01 5.33861568e-02 1.01745395e+03] [-5.61969397e-01 8.26329336e-01 -3.70165433e-02 -5.61192482e+02] [-6.49617821e-02 5.22572043e-04 9.97887616e-01 -4.77568256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.51, Y:-561.22, Z:-47.76 [[ 8.20715071e-01 5.68838889e-01 5.33768665e-02 1.01750910e+03] [-5.67632341e-01 8.22448971e-01 -3.70299349e-02 -5.61224038e+02] [-6.49638159e-02 9.25900148e-05 9.97887616e-01 -4.77615429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.56, Y:-561.25, Z:-47.77 [[ 8.18280354e-01 5.72336143e-01 5.33722943e-02 1.01756436e+03] [-5.71136576e-01 8.20019090e-01 -3.70365237e-02 -5.61252358e+02] [-6.49636413e-02 -1.76609741e-04 9.97887616e-01 -4.77699415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.62, Y:-561.28, Z:-47.77 [[ 8.12334045e-01 5.80745912e-01 5.33627734e-02 1.01761894e+03] [-5.79563442e-01 8.14084453e-01 -3.70502364e-02 -5.61282906e+02] [-6.49585776e-02 -8.29944209e-04 9.97887616e-01 -4.77710903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.67, Y:-561.31, Z:-47.78 [[ 8.10137152e-01 5.83807557e-01 5.33528964e-02 1.01767229e+03] [-5.82630765e-01 8.11891383e-01 -3.70644540e-02 -5.61314512e+02] [-6.49552652e-02 -1.05774764e-03 9.97887616e-01 -4.77776394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.72, Y:-561.35, Z:-47.78 [[ 8.08222027e-01 5.86457013e-01 5.33416129e-02 1.01772252e+03] [-5.85284901e-01 8.09979387e-01 -3.70806858e-02 -5.61349945e+02] [-6.49518351e-02 -1.25061362e-03 9.97887616e-01 -4.77782206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.78, Y:-561.38, Z:-47.78 [[ 8.06780859e-01 5.88438851e-01 5.33325801e-02 1.01777566e+03] [-5.87270197e-01 8.08540522e-01 -3.70936729e-02 -5.61383752e+02] [-6.49489104e-02 -1.39416947e-03 9.97887617e-01 -4.77825600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1017.83, Y:-561.42, Z:-47.79 [[ 8.06913405e-01 5.88258022e-01 5.33221911e-02 1.01782838e+03] [-5.87087988e-01 8.08672150e-01 -3.71086011e-02 -5.61415910e+02] [-6.49496032e-02 -1.36139022e-03 9.97887617e-01 -4.77890347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.88, Y:-561.45, Z:-47.79 [[ 8.04596458e-01 5.91423412e-01 5.33187385e-02 1.01787808e+03] [-5.90259968e-01 8.06359569e-01 -3.71135613e-02 -5.61450540e+02] [-6.49439040e-02 -1.61047698e-03 9.97887617e-01 -4.77920000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.93, Y:-561.49, Z:-47.80 [[ 8.02293639e-01 5.94544351e-01 5.33097746e-02 1.01792904e+03] [-5.93386910e-01 8.04060696e-01 -3.71264326e-02 -5.61485605e+02] [-6.49376052e-02 -1.84702168e-03 9.97887617e-01 -4.77964739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.98, Y:-561.52, Z:-47.80 [[ 8.01290973e-01 5.95895810e-01 5.33006642e-02 1.01797977e+03] [-5.94740480e-01 8.03059411e-01 -3.71395073e-02 -5.61522184e+02] [-6.49348768e-02 -1.94051068e-03 9.97887617e-01 -4.78003690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1018.03, Y:-561.56, Z:-47.80 [[ 8.00902358e-01 5.96418981e-01 5.32898913e-02 1.01802965e+03] [-5.95263780e-01 8.02670880e-01 -3.71549586e-02 -5.61558905e+02] [-6.49341664e-02 -1.96404815e-03 9.97887617e-01 -4.78044044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.08, Y:-561.60, Z:-47.81 [[ 8.01501740e-01 5.95614144e-01 5.32799412e-02 1.01807849e+03] [-5.94456220e-01 8.03268481e-01 -3.71692214e-02 -5.61597895e+02] [-6.49366114e-02 -1.88139677e-03 9.97887617e-01 -4.78061225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1018.13, Y:-561.64, Z:-47.81 [[ 8.02093610e-01 5.94817688e-01 5.32706232e-02 1.01812788e+03] [-5.93657124e-01 8.03858617e-01 -3.71825711e-02 -5.61635490e+02] [-6.49389005e-02 -1.80058221e-03 9.97887618e-01 -4.78101031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1018.18, Y:-561.67, Z:-47.82 [[ 8.03301336e-01 5.93186525e-01 5.32607799e-02 1.01817818e+03] [-5.92021443e-01 8.05063364e-01 -3.71966654e-02 -5.61671894e+02] [-6.49428633e-02 -1.65139276e-03 9.97887618e-01 -4.78155519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1018.23, Y:-561.71, Z:-47.82 [[ 8.02764972e-01 5.93912505e-01 5.32572643e-02 1.01822687e+03] [-5.92748682e-01 8.04527833e-01 -3.72016984e-02 -5.61711599e+02] [-6.49415052e-02 -1.70395286e-03 9.97887618e-01 -4.78217128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.27, Y:-561.75, Z:-47.82 [[ 8.00472528e-01 5.96999113e-01 5.32521504e-02 1.01827489e+03] [-5.95841601e-01 8.02239538e-01 -3.72090171e-02 -5.61750049e+02] [-6.49347308e-02 -1.94505059e-03 9.97887618e-01 -4.78233377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.32, Y:-561.79, Z:-47.83 [[ 7.97524870e-01 6.00932024e-01 5.32426968e-02 1.01832437e+03] [-5.99782322e-01 7.99296972e-01 -3.72225395e-02 -5.61788756e+02] [-6.49249423e-02 -2.24812738e-03 9.97887618e-01 -4.78283434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.37, Y:-561.83, Z:-47.83 [[ 7.95302665e-01 6.03870867e-01 5.32320099e-02 1.01837338e+03] [-6.02726692e-01 7.97078340e-01 -3.72378166e-02 -5.61826108e+02] [-6.49169147e-02 -2.46901837e-03 9.97887618e-01 -4.78338765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1018.42, Y:-561.86, Z:-47.84 [[ 7.93549510e-01 6.06173433e-01 5.32254139e-02 1.01842308e+03] [-6.05033779e-01 7.95328089e-01 -3.72472421e-02 -5.61864587e+02] [-6.49099554e-02 -2.64564262e-03 9.97887618e-01 -4.78385099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.47, Y:-561.90, Z:-47.84 [[ 7.92150294e-01 6.08001693e-01 5.32151599e-02 1.01847168e+03] [-6.06865162e-01 7.93930871e-01 -3.72618863e-02 -5.61904260e+02] [-6.49044482e-02 -2.77741239e-03 9.97887618e-01 -4.78424825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.52, Y:-561.94, Z:-47.85 [[ 7.93967351e-01 6.05627872e-01 5.32045683e-02 1.01852178e+03] [-6.04485006e-01 7.95743868e-01 -3.72770034e-02 -5.61939470e+02] [-6.49132012e-02 -2.56464019e-03 9.97887618e-01 -4.78501360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.57, Y:-561.98, Z:-47.85 [[ 7.91967518e-01 6.08241469e-01 5.31955413e-02 1.01856726e+03] [-6.07103601e-01 7.93747241e-01 -3.72898808e-02 -5.61980952e+02] [-6.49050660e-02 -2.76283034e-03 9.97887619e-01 -4.78494953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.61, Y:-562.02, Z:-47.85 [[ 7.92436977e-01 6.07630494e-01 5.31866606e-02 1.01861419e+03] [-6.06490406e-01 7.94215278e-01 -3.73025431e-02 -5.62021308e+02] [-6.49078211e-02 -2.69728490e-03 9.97887619e-01 -4.78528483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.66, Y:-562.06, Z:-47.86 [[ 7.94094969e-01 6.05462951e-01 5.31770169e-02 1.01866247e+03] [-6.04317090e-01 7.95869556e-01 -3.73162857e-02 -5.62061511e+02] [-6.49155973e-02 -2.50310531e-03 9.97887619e-01 -4.78567680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.71, Y:-562.10, Z:-47.86 [[ 7.96245074e-01 6.02633462e-01 5.31666436e-02 1.01871119e+03] [-6.01480309e-01 7.98014931e-01 -3.73310593e-02 -5.62101028e+02] [-6.49247209e-02 -2.25401716e-03 9.97887619e-01 -4.78605270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.76, Y:-562.14, Z:-47.86 [[ 7.99110655e-01 5.98829339e-01 5.31562299e-02 1.01875981e+03] [-5.97666774e-01 8.00874343e-01 -3.73458817e-02 -5.62140956e+02] [-6.49352703e-02 -1.92622046e-03 9.97887619e-01 -4.78649130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.81, Y:-562.18, Z:-47.87 [[ 8.03597850e-01 5.92795091e-01 5.31458033e-02 1.01880508e+03] [-5.91618298e-01 8.05352076e-01 -3.73607136e-02 -5.62182017e+02] [-6.49483306e-02 -1.41904054e-03 9.97887619e-01 -4.78705889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.85, Y:-562.22, Z:-47.88 [[ 8.06130267e-01 5.89347436e-01 5.31374773e-02 1.01885411e+03] [-5.88162360e-01 8.07878908e-01 -3.73725518e-02 -5.62221891e+02] [-6.49540647e-02 -1.12631886e-03 9.97887619e-01 -4.78755765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.90, Y:-562.26, Z:-47.88 [[ 8.07812463e-01 5.87040472e-01 5.31272932e-02 1.01890302e+03] [-5.85849450e-01 8.09557059e-01 -3.73870235e-02 -5.62261986e+02] [-6.49572712e-02 -9.22891941e-04 9.97887620e-01 -4.78797747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1018.95, Y:-562.30, Z:-47.88 [[ 8.09368839e-01 5.84893701e-01 5.31172334e-02 1.01894937e+03] [-5.83697114e-01 8.11109623e-01 -3.74013105e-02 -5.62302704e+02] [-6.49596901e-02 -7.32920586e-04 9.97887620e-01 -4.78840964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.00, Y:-562.34, Z:-47.89 [[ 8.10426864e-01 5.83427669e-01 5.31079426e-02 1.01899862e+03] [-5.82227069e-01 8.12164882e-01 -3.74144983e-02 -5.62341671e+02] [-6.49610594e-02 -5.99167273e-04 9.97887620e-01 -4.78881294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1019.05, Y:-562.38, Z:-47.90 [[ 8.13578487e-01 5.79025600e-01 5.30980223e-02 1.01904942e+03] [-5.77814676e-01 8.15309329e-01 -3.74285717e-02 -5.62376375e+02] [-6.49634141e-02 -2.29735786e-04 9.97887620e-01 -4.78985248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.10, Y:-562.42, Z:-47.90 [[ 8.11884867e-01 5.81398728e-01 5.30893860e-02 1.01909639e+03] [-5.80192062e-01 8.13618680e-01 -3.74408176e-02 -5.62417158e+02] [-6.49625598e-02 -4.04407076e-04 9.97887620e-01 -4.78952512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.15, Y:-562.45, Z:-47.90 [[ 8.10988995e-01 5.82648496e-01 5.30808751e-02 1.01914661e+03] [-5.81443713e-01 8.12724117e-01 -3.74528798e-02 -5.62453157e+02] [-6.49619715e-02 -4.89667782e-04 9.97887620e-01 -4.78996812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.20, Y:-562.48, Z:-47.91 [[ 8.11378659e-01 5.82106554e-01 5.30719507e-02 1.01919882e+03] [-5.80899785e-01 8.13112400e-01 -3.74655217e-02 -5.62483204e+02] [-6.49623869e-02 -4.30759946e-04 9.97887620e-01 -4.79118127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.25, Y:-562.52, Z:-47.91 [[ 8.08405633e-01 5.86228740e-01 5.30678453e-02 1.01924689e+03] [-5.85030430e-01 8.10145231e-01 -3.74713360e-02 -5.62523106e+02] [-6.49594358e-02 -7.54265250e-04 9.97887620e-01 -4.79054618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.30, Y:-562.56, Z:-47.91 [[ 8.08211782e-01 5.86496816e-01 5.30584622e-02 1.01929821e+03] [-5.85298211e-01 8.09951176e-01 -3.74846174e-02 -5.62559330e+02] [-6.49593727e-02 -7.59513617e-04 9.97887620e-01 -4.79099305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.35, Y:-562.59, Z:-47.91 [[ 8.08181488e-01 5.86539522e-01 5.30478310e-02 1.01934905e+03] [-5.85340021e-01 8.09920265e-01 -3.74996567e-02 -5.62594933e+02] [-6.49595440e-02 -7.44490190e-04 9.97887621e-01 -4.79146168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.40, Y:-562.63, Z:-47.92 [[ 8.08035996e-01 5.86740828e-01 5.30380095e-02 1.01939966e+03] [-5.85540850e-01 8.09774443e-01 -3.75135426e-02 -5.62630013e+02] [-6.49595516e-02 -7.43628459e-04 9.97887621e-01 -4.79194759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.45, Y:-562.66, Z:-47.92 [[ 8.07316723e-01 5.87730412e-01 5.30346263e-02 1.01945216e+03] [-5.86532251e-01 8.09056422e-01 -3.75183250e-02 -5.62664869e+02] [-6.49586656e-02 -8.17347588e-04 9.97887621e-01 -4.79224063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.50, Y:-562.70, Z:-47.93 [[ 8.07094730e-01 5.88036217e-01 5.30236191e-02 1.01950401e+03] [-5.86837693e-01 8.08834180e-01 -3.75338748e-02 -5.62699484e+02] [-6.49585932e-02 -8.22865742e-04 9.97887621e-01 -4.79280443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.56, Y:-562.73, Z:-47.93 [[ 8.05736305e-01 5.89896496e-01 5.30200934e-02 1.01955504e+03] [-5.88701660e-01 8.07478290e-01 -3.75388544e-02 -5.62733143e+02] [-6.49566131e-02 -9.66599170e-04 9.97887621e-01 -4.79303766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.61, Y:-562.77, Z:-47.94 [[ 8.05762642e-01 5.89861345e-01 5.30109380e-02 1.01960718e+03] [-5.88665583e-01 8.07503991e-01 -3.75517789e-02 -5.62768707e+02] [-6.49568868e-02 -9.47894183e-04 9.97887621e-01 -4.79366756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.66, Y:-562.80, Z:-47.94 [[ 8.05498955e-01 5.90221838e-01 5.30058121e-02 1.01965753e+03] [-5.89026379e-01 8.07240513e-01 -3.75590130e-02 -5.62803739e+02] [-6.49565886e-02 -9.68075915e-04 9.97887621e-01 -4.79396683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.71, Y:-562.84, Z:-47.94 [[ 8.05750415e-01 5.89879358e-01 5.29963380e-02 1.01970907e+03] [-5.88682280e-01 8.07490860e-01 -3.75723763e-02 -5.62840377e+02] [-6.49572278e-02 -9.24047322e-04 9.97887621e-01 -4.79430936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.76, Y:-562.88, Z:-47.95 [[ 8.05737513e-01 5.89897944e-01 5.29856121e-02 1.01975984e+03] [-5.88699913e-01 8.07477302e-01 -3.75874963e-02 -5.62876508e+02] [-6.49574658e-02 -9.06969422e-04 9.97887621e-01 -4.79470931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.81, Y:-562.91, Z:-47.95 [[ 8.05398330e-01 5.90361547e-01 5.29789989e-02 1.01981097e+03] [-5.89163904e-01 8.07138386e-01 -3.75968152e-02 -5.62913297e+02] [-6.49570976e-02 -9.32901621e-04 9.97887622e-01 -4.79503029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.86, Y:-562.95, Z:-47.95 [[ 8.05125742e-01 5.90734182e-01 5.29685414e-02 1.01986184e+03] [-5.89536375e-01 8.06865685e-01 -3.76115425e-02 -5.62949592e+02] [-6.49569222e-02 -9.44860848e-04 9.97887622e-01 -4.79545946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1019.91, Y:-562.99, Z:-47.96 [[ 8.04400413e-01 5.91722428e-01 5.29579484e-02 1.01991152e+03] [-5.90525778e-01 8.06141151e-01 -3.76264519e-02 -5.62986174e+02] [-6.49559969e-02 -1.00630023e-03 9.97887622e-01 -4.79591501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1019.96, Y:-563.02, Z:-47.96 [[ 8.04184728e-01 5.92016345e-01 5.29487522e-02 1.01996215e+03] [-5.90819480e-01 8.05925318e-01 -3.76393884e-02 -5.63022569e+02] [-6.49558732e-02 -1.01413292e-03 9.97887622e-01 -4.79632625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.01, Y:-563.06, Z:-47.97 [[ 8.03750888e-01 5.92606147e-01 5.29383030e-02 1.02001170e+03] [-5.91409592e-01 8.05491691e-01 -3.76540791e-02 -5.63057671e+02] [-6.49554020e-02 -1.04372067e-03 9.97887622e-01 -4.79670728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.06, Y:-563.10, Z:-47.97 [[ 8.03190009e-01 5.93366860e-01 5.29299461e-02 1.02006213e+03] [-5.92171180e-01 8.04931413e-01 -3.76658227e-02 -5.63095282e+02] [-6.49546272e-02 -1.09077622e-03 9.97887622e-01 -4.79689095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.11, Y:-563.13, Z:-47.97 [[ 8.02830151e-01 5.93854600e-01 5.29193970e-02 1.02011184e+03] [-5.92659002e-01 8.04571611e-01 -3.76806380e-02 -5.63133054e+02] [-6.49542647e-02 -1.11200469e-03 9.97887622e-01 -4.79723992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1020.16, Y:-563.17, Z:-47.98 [[ 8.02594016e-01 5.94174641e-01 5.29088039e-02 1.02016099e+03] [-5.92978757e-01 8.04335280e-01 -3.76955063e-02 -5.63170637e+02] [-6.49541316e-02 -1.11960899e-03 9.97887623e-01 -4.79808789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.21, Y:-563.21, Z:-47.99 [[ 8.02272104e-01 5.94610086e-01 5.28991115e-02 1.02021133e+03] [-5.93414251e-01 8.04013402e-01 -3.77091031e-02 -5.63207744e+02] [-6.49538076e-02 -1.13812516e-03 9.97887623e-01 -4.79852314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.26, Y:-563.24, Z:-47.98 [[ 8.02026688e-01 5.94942050e-01 5.28880763e-02 1.02026071e+03] [-5.93745916e-01 8.03767780e-01 -3.77245739e-02 -5.63243358e+02] [-6.49536670e-02 -1.14596426e-03 9.97887623e-01 -4.79845837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:1020.79, Y:-562.68, Z:-47.00 [[ 8.63675557e-01 5.01266708e-01 5.28792922e-02 1.02078542e+03] [-4.99882160e-01 8.65270914e-01 -3.77368828e-02 -5.62680868e+02] [-6.46711565e-02 6.15900840e-03 9.97887623e-01 -4.69975825e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.84, Y:-562.71, Z:-47.00 [[ 8.63943569e-01 5.00419103e-01 5.64112700e-02 1.02083682e+03] [-4.99434493e-01 8.65782661e-01 -3.13937985e-02 -5.62714115e+02] [-6.45499559e-02 -1.05126375e-03 9.97913923e-01 -4.69960878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.89, Y:-562.75, Z:-47.00 [[ 8.64583665e-01 4.99313365e-01 5.64025649e-02 1.02089160e+03] [-4.98325384e-01 8.66420948e-01 -3.14094304e-02 -5.62745545e+02] [-6.45515122e-02 -9.50749392e-04 9.97913923e-01 -4.69997606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1020.95, Y:-562.78, Z:-47.01 [[ 8.66011915e-01 4.96833030e-01 5.63941746e-02 1.02094556e+03] [-4.95838806e-01 8.67845827e-01 -3.14244877e-02 -5.62776480e+02] [-6.45541725e-02 -7.48439416e-04 9.97913924e-01 -4.70058720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.00, Y:-562.81, Z:-47.01 [[ 8.66428092e-01 4.96107245e-01 5.63911549e-02 1.02099894e+03] [-4.95111132e-01 8.68260979e-01 -3.14299056e-02 -5.62807776e+02] [-6.45548432e-02 -6.88135438e-04 9.97913924e-01 -4.70079175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:1021.05, Y:-562.84, Z:-47.01 [[ 8.65935578e-01 4.96967439e-01 5.63820876e-02 1.02105249e+03] [-4.95972088e-01 8.67768879e-01 -3.14461630e-02 -5.62839294e+02] [-6.45543400e-02 -7.33590325e-04 9.97913924e-01 -4.70134827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1021.11, Y:-562.87, Z:-47.01 [[ 8.66492741e-01 4.95996448e-01 5.63724503e-02 1.02110877e+03] [-4.94997919e-01 8.68324313e-01 -3.14634300e-02 -5.62867797e+02] [-6.45553187e-02 -6.41411923e-04 9.97913924e-01 -4.70137704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.16, Y:-562.90, Z:-47.02 [[ 8.66364247e-01 4.96221969e-01 5.63626573e-02 1.02116412e+03] [-4.95222777e-01 8.68195457e-01 -3.14809631e-02 -5.62897677e+02] [-6.45553485e-02 -6.38090795e-04 9.97913924e-01 -4.70180561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.22, Y:-562.93, Z:-47.02 [[ 8.66588201e-01 4.95831778e-01 5.63536940e-02 1.02121768e+03] [-4.94830718e-01 8.68418390e-01 -3.14970001e-02 -5.62927967e+02] [-6.45557977e-02 -5.90610204e-04 9.97913924e-01 -4.70231008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.27, Y:-562.96, Z:-47.03 [[ 8.67966835e-01 4.93415097e-01 5.63481743e-02 1.02127200e+03] [-4.92408300e-01 8.69793874e-01 -3.15068717e-02 -5.62958645e+02] [-6.45572630e-02 -3.99389040e-04 9.97913924e-01 -4.70267246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.33, Y:-562.99, Z:-47.03 [[ 8.70241095e-01 4.89393816e-01 5.63394174e-02 1.02132659e+03] [-4.88377563e-01 8.72062891e-01 -3.15225227e-02 -5.62988757e+02] [-6.45584429e-02 -8.27127473e-05 9.97913924e-01 -4.70303185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.38, Y:-563.02, Z:-47.04 [[ 8.72665603e-01 4.85058352e-01 5.63306314e-02 1.02138133e+03] [-4.84032036e-01 8.74481749e-01 -3.15382156e-02 -5.63017360e+02] [-6.45579839e-02 2.56485752e-04 9.97913925e-01 -4.70359843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.44, Y:-563.05, Z:-47.04 [[ 8.73905247e-01 4.82822318e-01 5.63225385e-02 1.02143625e+03] [-4.81790424e-01 8.75718229e-01 -3.15526616e-02 -5.63046827e+02] [-6.45570029e-02 4.38376855e-04 9.97913925e-01 -4.70419148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.49, Y:-563.08, Z:-47.05 [[ 8.75872203e-01 4.79245970e-01 5.63132677e-02 1.02149129e+03] [-4.78205611e-01 8.77680340e-01 -3.15691989e-02 -5.63077311e+02] [-6.45544593e-02 7.21263170e-04 9.97913925e-01 -4.70460434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.55, Y:-563.10, Z:-47.05 [[ 8.78921744e-01 4.73631116e-01 5.63039482e-02 1.02154810e+03] [-4.72578143e-01 8.80722565e-01 -3.15858116e-02 -5.63104971e+02] [-6.45481809e-02 1.15344134e-03 9.97913925e-01 -4.70521508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.60, Y:-563.13, Z:-47.06 [[ 8.79291600e-01 4.72945233e-01 5.62946630e-02 1.02160327e+03] [-4.71889796e-01 8.81090978e-01 -3.16023518e-02 -5.63134197e+02] [-6.45469013e-02 1.22280550e-03 9.97913925e-01 -4.70560133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.66, Y:-563.16, Z:-47.06 [[ 8.78914632e-01 4.73646518e-01 5.62853988e-02 1.02165983e+03] [-4.72591461e-01 8.80714233e-01 -3.16188432e-02 -5.63162277e+02] [-6.45475068e-02 1.19026505e-03 9.97913926e-01 -4.70612615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.71, Y:-563.19, Z:-47.06 [[ 8.75718614e-01 4.79530910e-01 5.62762346e-02 1.02171274e+03] [-4.78486900e-01 8.77524646e-01 -3.16351456e-02 -5.63194392e+02] [-6.45538130e-02 7.76044823e-04 9.97913926e-01 -4.70594096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.77, Y:-563.22, Z:-47.06 [[ 8.73167493e-01 4.84161546e-01 5.62683430e-02 1.02176885e+03] [-4.83126210e-01 8.74978511e-01 -3.16491759e-02 -5.63220906e+02] [-6.45569049e-02 4.50320356e-04 9.97913926e-01 -4.70645536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.83, Y:-563.25, Z:-47.07 [[ 8.71597731e-01 4.86982434e-01 5.62628114e-02 1.02182529e+03] [-4.85952325e-01 8.73411727e-01 -3.16590063e-02 -5.63249046e+02] [-6.45579793e-02 2.52874026e-04 9.97913926e-01 -4.70692007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.88, Y:-563.28, Z:-47.07 [[ 8.70288344e-01 4.89319613e-01 5.62540166e-02 1.02188049e+03] [-4.88293366e-01 8.72104527e-01 -3.16746260e-02 -5.63278077e+02] [-6.45583983e-02 9.75947069e-05 9.97913926e-01 -4.70724569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1021.94, Y:-563.31, Z:-47.07 [[ 8.68791984e-01 4.91972547e-01 5.62450203e-02 1.02193660e+03] [-4.90950812e-01 8.70610709e-01 -3.16905928e-02 -5.63307576e+02] [-6.45584186e-02 -8.10053822e-05 9.97913926e-01 -4.70748983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1021.99, Y:-563.34, Z:-47.08 [[ 8.67528077e-01 4.94198884e-01 5.62361061e-02 1.02199210e+03] [-4.93180791e-01 8.69348843e-01 -3.17064035e-02 -5.63336358e+02] [-6.45580630e-02 -2.28372085e-04 9.97913926e-01 -4.70790086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.05, Y:-563.36, Z:-47.08 [[ 8.65226052e-01 4.98219219e-01 5.62271097e-02 1.02204717e+03] [-4.97208550e-01 8.67050950e-01 -3.17223494e-02 -5.63364159e+02] [-6.45564530e-02 -5.09596587e-04 9.97913927e-01 -4.70837776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.10, Y:-563.39, Z:-47.09 [[ 8.63626822e-01 5.00987185e-01 5.62187898e-02 1.02210268e+03] [-4.99981406e-01 8.65454419e-01 -3.17370873e-02 -5.63393575e+02] [-6.45546740e-02 -6.99349733e-04 9.97913927e-01 -4.70884626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.16, Y:-563.42, Z:-47.10 [[ 8.62959673e-01 5.02136479e-01 5.62099668e-02 1.02215904e+03] [-5.01132116e-01 8.64788048e-01 -3.17527061e-02 -5.63419543e+02] [-6.45538995e-02 -7.67314763e-04 9.97913927e-01 -4.70970586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1022.21, Y:-563.45, Z:-47.10 [[ 8.60186197e-01 5.06873248e-01 5.62069125e-02 1.02221070e+03] [-5.05878599e-01 8.62019875e-01 -3.17581117e-02 -5.63451621e+02] [-6.45488129e-02 -1.11598482e-03 9.97913927e-01 -4.70978267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.26, Y:-563.48, Z:-47.10 [[ 8.58640071e-01 5.09488866e-01 5.61989770e-02 1.02226402e+03] [-5.08498884e-01 8.60476273e-01 -3.17721481e-02 -5.63481814e+02] [-6.45454420e-02 -1.29627765e-03 9.97913927e-01 -4.71032023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.32, Y:-563.51, Z:-47.11 [[ 8.57087518e-01 5.12097131e-01 5.61917626e-02 1.02231819e+03] [-5.11111901e-01 8.58926274e-01 -3.17849022e-02 -5.63511490e+02] [-6.45415386e-02 -1.47783566e-03 9.97913927e-01 -4.71078131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.37, Y:-563.54, Z:-47.11 [[ 8.56883536e-01 5.12439255e-01 5.61837685e-02 1.02237138e+03] [-5.11453834e-01 8.58722189e-01 -3.17990266e-02 -5.63541974e+02] [-6.45413182e-02 -1.48734152e-03 9.97913927e-01 -4.71140451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.42, Y:-563.57, Z:-47.12 [[ 8.57914141e-01 5.10712830e-01 5.61759019e-02 1.02242447e+03] [-5.09722799e-01 8.59750316e-01 -3.18129176e-02 -5.63574611e+02] [-6.45445146e-02 -1.34138613e-03 9.97913927e-01 -4.71160042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.48, Y:-563.61, Z:-47.12 [[ 8.62359792e-01 5.03170690e-01 5.61680124e-02 1.02247783e+03] [-5.02163690e-01 8.64186716e-01 -3.18268410e-02 -5.63605920e+02] [-6.45539837e-02 -7.59348380e-04 9.97913927e-01 -4.71226525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.53, Y:-563.64, Z:-47.12 [[ 8.63437759e-01 5.01319572e-01 5.61597977e-02 1.02252862e+03] [-5.00307714e-01 8.65261996e-01 -3.18413296e-02 -5.63640824e+02] [-6.45556204e-02 -6.04173715e-04 9.97913928e-01 -4.71206594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.58, Y:-563.67, Z:-47.12 [[ 8.65640981e-01 4.97506392e-01 5.61523012e-02 1.02258222e+03] [-4.96485640e-01 8.67460257e-01 -3.18545443e-02 -5.63673248e+02] [-6.45577290e-02 -3.04212191e-04 9.97913928e-01 -4.71248412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.63, Y:-563.71, Z:-47.13 [[ 8.67146137e-01 4.94879265e-01 5.61434806e-02 1.02263329e+03] [-4.93851995e-01 8.68961740e-01 -3.18700830e-02 -5.63709291e+02] [-6.45583798e-02 -9.05505887e-05 9.97913928e-01 -4.71308096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1022.69, Y:-563.74, Z:-47.14 [[ 8.69755918e-01 4.90278401e-01 5.61402905e-02 1.02268767e+03] [-4.89241164e-01 8.71565846e-01 -3.18757015e-02 -5.63738550e+02] [-6.45579277e-02 2.57938959e-04 9.97913928e-01 -4.71362062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.74, Y:-563.77, Z:-47.14 [[ 8.70023715e-01 4.89804122e-01 5.61307130e-02 1.02274054e+03] [-4.88764811e-01 8.71832452e-01 -3.18925578e-02 -5.63769937e+02] [-6.45576834e-02 3.12564282e-04 9.97913928e-01 -4.71406369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.79, Y:-563.80, Z:-47.14 [[ 8.69709459e-01 4.90362774e-01 5.61231380e-02 1.02279431e+03] [-4.89323765e-01 8.71518369e-01 -3.19058825e-02 -5.63801953e+02] [-6.45578027e-02 2.86462646e-04 9.97913928e-01 -4.71443108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.85, Y:-563.83, Z:-47.15 [[ 8.67989541e-01 4.93401777e-01 5.61145585e-02 1.02284697e+03] [-4.92368127e-01 8.69801518e-01 -3.19209646e-02 -5.63832925e+02] [-6.45583888e-02 7.80433665e-05 9.97913928e-01 -4.71470654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.90, Y:-563.86, Z:-47.15 [[ 8.66026433e-01 4.96840160e-01 5.61076956e-02 1.02290149e+03] [-4.95812922e-01 8.67842053e-01 -3.19330231e-02 -5.63864284e+02] [-6.45582260e-02 -1.64078435e-04 9.97913928e-01 -4.71505848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1022.95, Y:-563.90, Z:-47.15 [[ 8.62457977e-01 5.03010038e-01 5.60993734e-02 1.02295481e+03] [-5.01994837e-01 8.64280355e-01 -3.19476366e-02 -5.63895146e+02] [-6.45555683e-02 -6.08101752e-04 9.97913929e-01 -4.71546046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.01, Y:-563.93, Z:-47.16 [[ 8.59883737e-01 5.07398940e-01 5.60916703e-02 1.02300884e+03] [-5.06392158e-01 8.61710779e-01 -3.19611555e-02 -5.63926367e+02] [-6.45518533e-02 -9.21504191e-04 9.97913929e-01 -4.71589958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.06, Y:-563.96, Z:-47.16 [[ 8.56168663e-01 5.13643703e-01 5.60835721e-02 1.02306263e+03] [-5.12649315e-01 8.58002480e-01 -3.19753594e-02 -5.63958455e+02] [-6.45437860e-02 -1.37490416e-03 9.97913929e-01 -4.71610021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.12, Y:-563.99, Z:-47.16 [[ 8.55070834e-01 5.15470165e-01 5.60747500e-02 1.02311736e+03] [-5.14478681e-01 8.56906223e-01 -3.19908233e-02 -5.63989903e+02] [-6.45411171e-02 -1.49484345e-03 9.97913929e-01 -4.71645039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.17, Y:-564.02, Z:-47.17 [[ 8.53275857e-01 5.18437028e-01 5.60656729e-02 1.02317139e+03] [-5.17450880e-01 8.55114119e-01 -3.20067234e-02 -5.64021440e+02] [-6.45360190e-02 -1.70066746e-03 9.97913929e-01 -4.71682625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1023.22, Y:-564.05, Z:-47.17 [[ 8.51775227e-01 5.20899817e-01 5.60566136e-02 1.02322420e+03] [-5.19917942e-01 8.53615773e-01 -3.20225820e-02 -5.64052687e+02] [-6.45313667e-02 -1.86879712e-03 9.97913929e-01 -4.71739482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.28, Y:-564.08, Z:-47.18 [[ 8.51475792e-01 5.21390036e-01 5.60482484e-02 1.02327813e+03] [-5.20408258e-01 8.53316390e-01 -3.20372167e-02 -5.64084798e+02] [-6.45307746e-02 -1.88905687e-03 9.97913929e-01 -4.71784974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.33, Y:-564.12, Z:-47.18 [[ 8.51027293e-01 5.22122707e-01 5.60395012e-02 1.02333026e+03] [-5.21141508e-01 8.52868200e-01 -3.20525101e-02 -5.64116623e+02] [-6.45296518e-02 -1.92694925e-03 9.97913930e-01 -4.71839686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.38, Y:-564.15, Z:-47.19 [[ 8.50602244e-01 5.22815335e-01 5.60352440e-02 1.02338403e+03] [-5.21835145e-01 8.52443688e-01 -3.20599509e-02 -5.64148034e+02] [-6.45283241e-02 -1.97089352e-03 9.97913930e-01 -4.71891518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.44, Y:-564.18, Z:-47.19 [[ 8.51456865e-01 5.21423164e-01 5.60275897e-02 1.02343854e+03] [-5.20439084e-01 8.53296233e-01 -3.20733220e-02 -5.64178702e+02] [-6.45319043e-02 -1.84989719e-03 9.97913930e-01 -4.71945002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.49, Y:-564.21, Z:-47.20 [[ 8.52580029e-01 5.19585104e-01 5.60233355e-02 1.02349296e+03] [-5.18596570e-01 8.54417007e-01 -3.20807512e-02 -5.64210801e+02] [-6.45359711e-02 -1.70210189e-03 9.97913930e-01 -4.71984900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.55, Y:-564.24, Z:-47.20 [[ 8.52147401e-01 5.20295407e-01 5.60133653e-02 1.02354535e+03] [-5.19307262e-01 8.53984588e-01 -3.20981498e-02 -5.64244679e+02] [-6.45350706e-02 -1.73579243e-03 9.97913930e-01 -4.72003129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.60, Y:-564.28, Z:-47.20 [[ 8.53173112e-01 5.18612078e-01 5.60102989e-02 1.02359758e+03] [-5.17619957e-01 8.55008155e-01 -3.21034998e-02 -5.64275419e+02] [-6.45385251e-02 -1.60220572e-03 9.97913930e-01 -4.72042291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.65, Y:-564.31, Z:-47.21 [[ 8.55235934e-01 5.15204073e-01 5.60023337e-02 1.02364963e+03] [-5.14203729e-01 8.57066507e-01 -3.21173884e-02 -5.64307536e+02] [-6.45447339e-02 -1.32866420e-03 9.97913930e-01 -4.72065740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.70, Y:-564.34, Z:-47.21 [[ 8.56434036e-01 5.13210449e-01 5.59980111e-02 1.02370358e+03] [-5.12205351e-01 8.58262004e-01 -3.21249233e-02 -5.64339389e+02] [-6.45478116e-02 -1.16960324e-03 9.97913930e-01 -4.72099615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1023.76, Y:-564.37, Z:-47.21 [[ 8.57558913e-01 5.11329592e-01 5.59889306e-02 1.02375682e+03] [-5.10319452e-01 8.59384099e-01 -3.21407415e-02 -5.64370250e+02] [-6.45505089e-02 -1.00966113e-03 9.97913930e-01 -4.72149917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.81, Y:-564.40, Z:-47.22 [[ 8.58728471e-01 5.09363906e-01 5.59805641e-02 1.02381108e+03] [-5.08348639e-01 8.60550810e-01 -3.21553072e-02 -5.64402109e+02] [-6.45528727e-02 -8.44965743e-04 9.97913931e-01 -4.72196293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1023.86, Y:-564.43, Z:-47.22 [[ 8.59047027e-01 5.08827447e-01 5.59717387e-02 1.02386478e+03] [-5.07810042e-01 8.60868172e-01 -3.21706620e-02 -5.64432557e+02] [-6.45536042e-02 -7.86899424e-04 9.97913931e-01 -4.72217501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1023.92, Y:-564.46, Z:-47.23 [[ 8.58619319e-01 5.09549726e-01 5.59637515e-02 1.02391889e+03] [-5.08532947e-01 8.60440815e-01 -3.21845504e-02 -5.64462369e+02] [-6.45531248e-02 -8.25134703e-04 9.97913931e-01 -4.72253318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1023.97, Y:-564.49, Z:-47.23 [[ 8.58120411e-01 5.10390402e-01 5.59553177e-02 1.02397216e+03] [-5.09374453e-01 8.59942369e-01 -3.21992065e-02 -5.64491702e+02] [-6.45525145e-02 -8.71412983e-04 9.97913931e-01 -4.72314255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.03, Y:-564.52, Z:-47.24 [[ 8.57770943e-01 5.10977985e-01 5.59509414e-02 1.02402639e+03] [-5.09962788e-01 8.59593321e-01 -3.22068093e-02 -5.64522054e+02] [-6.45520260e-02 -9.06832831e-04 9.97913931e-01 -4.72353719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.08, Y:-564.55, Z:-47.24 [[ 8.57657410e-01 5.11169379e-01 5.59431232e-02 1.02408051e+03] [-5.10153703e-01 8.59479521e-01 -3.22203838e-02 -5.64551655e+02] [-6.45520423e-02 -9.05540500e-04 9.97913931e-01 -4.72403873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.14, Y:-564.58, Z:-47.24 [[ 8.57819479e-01 5.10898201e-01 5.59354070e-02 1.02413594e+03] [-5.09881077e-01 8.59640781e-01 -3.22337736e-02 -5.64582086e+02] [-6.45525340e-02 -8.69646662e-04 9.97913931e-01 -4.72441710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.19, Y:-564.61, Z:-47.25 [[ 8.58767037e-01 5.09304817e-01 5.59265632e-02 1.02419078e+03] [-5.08283314e-01 8.60585886e-01 -3.22491106e-02 -5.64610835e+02] [-6.45542384e-02 -7.32065736e-04 9.97913931e-01 -4.72466797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.25, Y:-564.64, Z:-47.25 [[ 8.60238001e-01 5.06817205e-01 5.59187175e-02 1.02424583e+03] [-5.05789558e-01 8.62053386e-01 -3.22627092e-02 -5.64641386e+02] [-6.45562158e-02 -5.29494956e-04 9.97913932e-01 -4.72494641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.30, Y:-564.67, Z:-47.25 [[ 8.62277464e-01 5.03340539e-01 5.59095542e-02 1.02429949e+03] [-5.02304543e-01 8.64088097e-01 -3.22785808e-02 -5.64671333e+02] [-6.45578986e-02 -2.50530343e-04 9.97913932e-01 -4.72540008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.35, Y:-564.70, Z:-47.26 [[ 8.65457729e-01 4.97853063e-01 5.59039128e-02 1.02435484e+03] [-4.96804955e-01 8.67261379e-01 -3.22883484e-02 -5.64701572e+02] [-6.45581576e-02 1.70859800e-04 9.97913932e-01 -4.72560116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.41, Y:-564.73, Z:-47.26 [[ 8.67039283e-01 4.95094581e-01 5.58948834e-02 1.02441005e+03] [-4.94039728e-01 8.68838996e-01 -3.23039717e-02 -5.64731803e+02] [-6.45571757e-02 3.94519491e-04 9.97913932e-01 -4.72597798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.47, Y:-564.76, Z:-47.26 [[ 8.68006970e-01 4.93397076e-01 5.58858233e-02 1.02446523e+03] [-4.92337695e-01 8.69804021e-01 -3.23196381e-02 -5.64761783e+02] [-6.45561288e-02 5.38973708e-04 9.97913932e-01 -4.72646595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.52, Y:-564.79, Z:-47.27 [[ 8.68305649e-01 4.92872283e-01 5.58767687e-02 1.02451975e+03] [-4.91810809e-01 8.70101464e-01 -3.23352848e-02 -5.64790656e+02] [-6.45556239e-02 5.96111636e-04 9.97913932e-01 -4.72701714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.57, Y:-564.82, Z:-47.27 [[ 8.67835952e-01 4.93699724e-01 5.58689726e-02 1.02457476e+03] [-4.92639096e-01 8.69632267e-01 -3.23487494e-02 -5.64820062e+02] [-6.45560300e-02 5.50167592e-04 9.97913932e-01 -4.72747651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.63, Y:-564.85, Z:-47.28 [[ 8.67320898e-01 4.94605022e-01 5.58599384e-02 1.02463036e+03] [-4.93545265e-01 8.69117726e-01 -3.23643422e-02 -5.64849209e+02] [-6.45564288e-02 5.00862263e-04 9.97913933e-01 -4.72794258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.69, Y:-564.88, Z:-47.28 [[ 8.66807181e-01 4.95505797e-01 5.58508348e-02 1.02468586e+03] [-4.94446895e-01 8.68604514e-01 -3.23800446e-02 -5.64878042e+02] [-6.45567870e-02 4.51983297e-04 9.97913933e-01 -4.72846857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.74, Y:-564.91, Z:-47.29 [[ 8.66035028e-01 4.96855144e-01 5.58417124e-02 1.02473925e+03] [-4.95798029e-01 8.67833411e-01 -3.23957692e-02 -5.64908047e+02] [-6.45573083e-02 3.69659979e-04 9.97913933e-01 -4.72893845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1024.79, Y:-564.94, Z:-47.29 [[ 8.64557645e-01 4.99422261e-01 5.58344355e-02 1.02479335e+03] [-4.98369676e-01 8.66358683e-01 -3.24083062e-02 -5.64937539e+02] [-6.45580776e-02 1.92659399e-04 9.97913933e-01 -4.72947370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.85, Y:-564.97, Z:-47.30 [[ 8.62656083e-01 5.02700020e-01 5.58316382e-02 1.02484893e+03] [-5.01653966e-01 8.64460923e-01 -3.24131246e-02 -5.64965978e+02] [-6.45583479e-02 -4.67835924e-05 9.97913933e-01 -4.72964169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.90, Y:-565.00, Z:-47.30 [[ 8.61732285e-01 5.04282876e-01 5.58233748e-02 1.02490379e+03] [-5.03239216e-01 8.63538510e-01 -3.24273499e-02 -5.64996941e+02] [-6.45581912e-02 -1.48817056e-04 9.97913933e-01 -4.73002120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1024.96, Y:-565.03, Z:-47.30 [[ 8.59963049e-01 5.07295116e-01 5.58141491e-02 1.02495904e+03] [-5.06256752e-01 8.61772324e-01 -3.24432216e-02 -5.65027728e+02] [-6.45573768e-02 -3.56318064e-04 9.97913933e-01 -4.73041524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.01, Y:-565.06, Z:-47.31 [[ 8.57262781e-01 5.11846003e-01 5.58049516e-02 1.02501282e+03] [-5.10816214e-01 8.59076950e-01 -3.24590342e-02 -5.65057885e+02] [-6.45547746e-02 -6.80152157e-04 9.97913933e-01 -4.73093734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.07, Y:-565.09, Z:-47.31 [[ 8.56499135e-01 5.13123176e-01 5.58017643e-02 1.02506877e+03] [-5.12095736e-01 8.58314635e-01 -3.24645128e-02 -5.65087276e+02] [-6.45537649e-02 -7.70018412e-04 9.97913933e-01 -4.73141470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.12, Y:-565.12, Z:-47.32 [[ 8.55150106e-01 5.15369395e-01 5.57914144e-02 1.02512175e+03] [-5.14345564e-01 8.56967644e-01 -3.24822898e-02 -5.65118193e+02] [-6.45518150e-02 -9.18832910e-04 9.97913934e-01 -4.73177653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.17, Y:-565.15, Z:-47.32 [[ 8.54674121e-01 5.16159201e-01 5.57837352e-02 1.02517463e+03] [-5.15136189e-01 8.56492120e-01 -3.24954723e-02 -5.65149573e+02] [-6.45511667e-02 -9.63181495e-04 9.97913934e-01 -4.73225039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.23, Y:-565.18, Z:-47.33 [[ 8.54235424e-01 5.16885794e-01 5.57755848e-02 1.02522867e+03] [-5.15863415e-01 8.56053779e-01 -3.25094558e-02 -5.65181096e+02] [-6.45505760e-02 -1.00185492e-03 9.97913934e-01 -4.73271535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.28, Y:-565.21, Z:-47.33 [[ 8.54450324e-01 5.16531478e-01 5.57662679e-02 1.02528204e+03] [-5.15507303e-01 8.56267667e-01 -3.25254300e-02 -5.65213260e+02] [-6.45512606e-02 -9.56554148e-04 9.97913934e-01 -4.73311523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.33, Y:-565.25, Z:-47.34 [[ 8.55474577e-01 5.14834251e-01 5.57578848e-02 1.02533425e+03] [-5.13805534e-01 8.57289353e-01 -3.25397947e-02 -5.65246738e+02] [-6.45532419e-02 -8.11742606e-04 9.97913934e-01 -4.73360142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1025.39, Y:-565.28, Z:-47.34 [[ 8.56252558e-01 5.13540264e-01 5.57490277e-02 1.02538686e+03] [-5.12507817e-01 8.58065214e-01 -3.25549622e-02 -5.65279533e+02] [-6.45545853e-02 -6.96542822e-04 9.97913934e-01 -4.73386332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.44, Y:-565.31, Z:-47.34 [[ 8.56082598e-01 5.13824453e-01 5.57406252e-02 1.02543939e+03] [-5.12791671e-01 8.57895064e-01 -3.25693427e-02 -5.65312969e+02] [-6.45545318e-02 -7.01280848e-04 9.97913935e-01 -4.73422493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.49, Y:-565.35, Z:-47.35 [[ 8.56419481e-01 5.13263719e-01 5.57317477e-02 1.02549330e+03] [-5.12228762e-01 8.58230705e-01 -3.25845264e-02 -5.65345527e+02] [-6.45551524e-02 -6.41380974e-04 9.97913935e-01 -4.73453718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.55, Y:-565.38, Z:-47.35 [[ 8.56144810e-01 5.13722792e-01 5.57221471e-02 1.02554587e+03] [-5.12687739e-01 8.57955979e-01 -3.26009360e-02 -5.65379659e+02] [-6.45549931e-02 -6.56939488e-04 9.97913935e-01 -4.73495076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1025.60, Y:-565.41, Z:-47.36 [[ 8.56359999e-01 5.13365038e-01 5.57125661e-02 1.02559801e+03] [-5.12328163e-01 8.58170126e-01 -3.26173010e-02 -5.65410271e+02] [-6.45554418e-02 -6.10964856e-04 9.97913935e-01 -4.73564525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.65, Y:-565.45, Z:-47.36 [[ 8.54026340e-01 5.17238798e-01 5.57049082e-02 1.02564809e+03] [-5.16209281e-01 8.55840661e-01 -3.26303743e-02 -5.65445713e+02] [-6.45522210e-02 -8.88191423e-04 9.97913935e-01 -4.73587862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.70, Y:-565.48, Z:-47.36 [[ 8.52671329e-01 5.19470319e-01 5.56973322e-02 1.02570016e+03] [-5.18444705e-01 8.54487860e-01 -3.26433008e-02 -5.65479894e+02] [-6.45499200e-02 -1.04198030e-03 9.97913935e-01 -4.73613104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.75, Y:-565.51, Z:-47.36 [[ 8.51385133e-01 5.21576508e-01 5.56893305e-02 1.02575353e+03] [-5.20554496e-01 8.53203692e-01 -3.26569459e-02 -5.65513847e+02] [-6.45474382e-02 -1.18569318e-03 9.97913935e-01 -4.73641470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.81, Y:-565.55, Z:-47.37 [[ 8.50593997e-01 5.22866690e-01 5.56801268e-02 1.02580659e+03] [-5.21846411e-01 8.52413528e-01 -3.26726307e-02 -5.65547448e+02] [-6.45459236e-02 -1.26533077e-03 9.97913936e-01 -4.73675849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.86, Y:-565.58, Z:-47.37 [[ 8.49385034e-01 5.24829316e-01 5.56709343e-02 1.02585933e+03] [-5.23812215e-01 8.51206344e-01 -3.26882863e-02 -5.65582244e+02] [-6.45432234e-02 -1.39617424e-03 9.97913936e-01 -4.73713005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1025.91, Y:-565.62, Z:-47.37 [[ 8.48091398e-01 5.26918161e-01 5.56617665e-02 1.02591255e+03] [-5.25904522e-01 8.49914637e-01 -3.27038898e-02 -5.65615842e+02] [-6.45400236e-02 -1.53688705e-03 9.97913936e-01 -4.73749962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1025.97, Y:-565.65, Z:-47.38 [[ 8.46929731e-01 5.28784287e-01 5.56525776e-02 1.02596571e+03] [-5.27773639e-01 8.48754629e-01 -3.27195193e-02 -5.65649017e+02] [-6.45369505e-02 -1.66082966e-03 9.97913936e-01 -4.73790993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.02, Y:-565.68, Z:-47.38 [[ 8.46182294e-01 5.29980503e-01 5.56434332e-02 1.02601836e+03] [-5.28971413e-01 8.48008054e-01 -3.27350631e-02 -5.65682155e+02] [-6.45350247e-02 -1.73395474e-03 9.97913936e-01 -4.73829377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.07, Y:-565.72, Z:-47.39 [[ 8.46068681e-01 5.30162745e-01 5.56349830e-02 1.02607105e+03] [-5.29153105e-01 8.47894137e-01 -3.27494184e-02 -5.65715989e+02] [-6.45350974e-02 -1.73116680e-03 9.97913936e-01 -4.73858313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1026.12, Y:-565.75, Z:-47.39 [[ 8.46482253e-01 5.29503129e-01 5.56258148e-02 1.02612410e+03] [-5.28491045e-01 8.48306355e-01 -3.27649834e-02 -5.65749274e+02] [-6.45368934e-02 -1.66276802e-03 9.97913937e-01 -4.73879326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.18, Y:-565.78, Z:-47.39 [[ 8.47481998e-01 5.27902542e-01 5.56162659e-02 1.02617633e+03] [-5.26885950e-01 8.49303591e-01 -3.27811841e-02 -5.65781434e+02] [-6.45403647e-02 -1.52196568e-03 9.97913937e-01 -4.73919518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.23, Y:-565.81, Z:-47.39 [[ 8.49366381e-01 5.24866232e-01 5.56074670e-02 1.02622934e+03] [-5.23842151e-01 8.51183774e-01 -3.27961031e-02 -5.65814501e+02] [-6.45457406e-02 -1.27362770e-03 9.97913937e-01 -4.73939197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:1026.28, Y:-565.85, Z:-47.40 [[ 8.49912545e-01 5.23982364e-01 5.55980936e-02 1.02628378e+03] [-5.22955354e-01 8.51728285e-01 -3.28119858e-02 -5.65846336e+02] [-6.45473708e-02 -1.18800232e-03 9.97913937e-01 -4.73986305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.34, Y:-565.88, Z:-47.40 [[ 8.50039750e-01 5.23776964e-01 5.55888065e-02 1.02633817e+03] [-5.22748488e-01 8.51854659e-01 -3.28277121e-02 -5.65877293e+02] [-6.45479832e-02 -1.15410434e-03 9.97913937e-01 -4.74028697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1026.39, Y:-565.91, Z:-47.41 [[ 8.50406083e-01 5.23182976e-01 5.55793751e-02 1.02639091e+03] [-5.22152189e-01 8.52219681e-01 -3.28436724e-02 -5.65907083e+02] [-6.45490875e-02 -1.09043355e-03 9.97913937e-01 -4.74082950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.45, Y:-565.94, Z:-47.41 [[ 8.51479465e-01 5.21435030e-01 5.55718504e-02 1.02644522e+03] [-5.20399689e-01 8.53290467e-01 -3.28563992e-02 -5.65937773e+02] [-6.45514077e-02 -9.43024493e-04 9.97913937e-01 -4.74131812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.50, Y:-565.97, Z:-47.42 [[ 8.52791509e-01 5.19287322e-01 5.55636506e-02 1.02649953e+03] [-5.18246518e-01 8.54599376e-01 -3.28702602e-02 -5.65969709e+02] [-6.45537705e-02 -7.64189646e-04 9.97913938e-01 -4.74171408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.55, Y:-566.00, Z:-47.42 [[ 8.53526416e-01 5.18079512e-01 5.55542711e-02 1.02655309e+03] [-5.17035118e-01 8.55332211e-01 -3.28861049e-02 -5.66001715e+02] [-6.45549747e-02 -6.54349947e-04 9.97913938e-01 -4.74213460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.61, Y:-566.03, Z:-47.43 [[ 8.55943149e-01 5.14077896e-01 5.55449608e-02 1.02660695e+03] [-5.13024039e-01 8.57743438e-01 -3.29018226e-02 -5.66033884e+02] [-6.45574254e-02 -3.33810485e-04 9.97913938e-01 -4.74252466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.66, Y:-566.07, Z:-47.43 [[ 8.56935130e-01 5.12423614e-01 5.55357722e-02 1.02666137e+03] [-5.11365277e-01 8.58732789e-01 -3.29173249e-02 -5.66065955e+02] [-6.45580032e-02 -1.91053458e-04 9.97913938e-01 -4.74291092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.72, Y:-566.10, Z:-47.43 [[ 8.57450581e-01 5.11561619e-01 5.55266762e-02 1.02671550e+03] [-5.10500481e-01 8.59246588e-01 -3.29326615e-02 -5.66097426e+02] [-6.45581927e-02 -1.08265194e-04 9.97913938e-01 -4.74327464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1026.77, Y:-566.13, Z:-47.44 [[ 8.57256543e-01 5.11887707e-01 5.55175156e-02 1.02676944e+03] [-5.10826253e-01 8.59052363e-01 -3.29480971e-02 -5.66128334e+02] [-6.45581788e-02 -1.14832623e-04 9.97913938e-01 -4.74358947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.83, Y:-566.15, Z:-47.45 [[ 8.58707046e-01 5.09451621e-01 5.55090548e-02 1.02682535e+03] [-5.08384151e-01 8.60499296e-01 -3.29623452e-02 -5.66154681e+02] [-6.45582228e-02 8.50743602e-05 9.97913939e-01 -4.74481051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.88, Y:-566.19, Z:-47.44 [[ 8.54815662e-01 5.15954718e-01 5.55059657e-02 1.02687709e+03] [-5.14900545e-01 8.56615765e-01 -3.29675461e-02 -5.66189004e+02] [-6.45570463e-02 -3.98877237e-04 9.97913939e-01 -4.74441994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.93, Y:-566.22, Z:-47.45 [[ 8.53793668e-01 5.17645071e-01 5.54973273e-02 1.02693172e+03] [-5.16593517e-01 8.55595302e-01 -3.29820817e-02 -5.66220238e+02] [-6.45562645e-02 -5.09666975e-04 9.97913939e-01 -4.74479209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1026.98, Y:-566.25, Z:-47.45 [[ 8.52936623e-01 5.19057038e-01 5.54879136e-02 1.02698479e+03] [-5.18007436e-01 8.54739395e-01 -3.29979114e-02 -5.66251720e+02] [-6.45555038e-02 -5.98024762e-04 9.97913939e-01 -4.74517911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1027.04, Y:-566.28, Z:-47.46 [[ 8.52102424e-01 5.20426283e-01 5.54792109e-02 1.02703803e+03] [-5.19378626e-01 8.53906327e-01 -3.30125367e-02 -5.66283296e+02] [-6.45546410e-02 -6.84653750e-04 9.97913939e-01 -4.74574738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.09, Y:-566.31, Z:-47.46 [[ 8.50285755e-01 5.23390048e-01 5.54706495e-02 1.02709234e+03] [-5.22347740e-01 8.52092754e-01 -3.30269161e-02 -5.66314988e+02] [-6.45520977e-02 -8.92652121e-04 9.97913939e-01 -4.74605336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1027.15, Y:-566.35, Z:-47.47 [[ 8.48655771e-01 5.26029850e-01 5.54615111e-02 1.02714624e+03] [-5.24992161e-01 8.50465426e-01 -3.30422549e-02 -5.66346137e+02] [-6.45493101e-02 -1.07535827e-03 9.97913939e-01 -4.74651592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.20, Y:-566.37, Z:-47.48 [[ 8.49160983e-01 5.25214777e-01 5.54532537e-02 1.02720168e+03] [-5.24174446e-01 8.50969120e-01 -3.30561071e-02 -5.66372734e+02] [-6.45505625e-02 -9.97222135e-04 9.97913939e-01 -4.74786837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1027.25, Y:-566.41, Z:-47.47 [[ 8.45427181e-01 5.31204992e-01 5.54449134e-02 1.02725189e+03] [-5.30176554e-01 8.47242109e-01 -3.30700905e-02 -5.66409715e+02] [-6.45422625e-02 -1.43723979e-03 9.97913940e-01 -4.74729346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.31, Y:-566.44, Z:-47.48 [[ 8.45179488e-01 5.31599859e-01 5.54366696e-02 1.02730601e+03] [-5.30571363e-01 8.46994383e-01 -3.30839041e-02 -5.66442090e+02] [-6.45419465e-02 -1.45127222e-03 9.97913940e-01 -4.74768427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.36, Y:-566.48, Z:-47.48 [[ 8.46076625e-01 5.30171803e-01 5.54274625e-02 1.02735942e+03] [-5.29139235e-01 8.47889206e-01 -3.30993222e-02 -5.66475004e+02] [-6.45446744e-02 -1.32428228e-03 9.97913940e-01 -4.74800609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.41, Y:-566.51, Z:-47.48 [[ 8.48565353e-01 5.26180283e-01 5.54179814e-02 1.02741176e+03] [-5.25138151e-01 8.50372452e-01 -3.31151887e-02 -5.66509256e+02] [-6.45504840e-02 -1.00169450e-03 9.97913940e-01 -4.74831401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.46, Y:-566.54, Z:-47.49 [[ 8.50195351e-01 5.23543459e-01 5.54085959e-02 1.02746447e+03] [-5.22494699e-01 8.51998611e-01 -3.31308852e-02 -5.66542743e+02] [-6.45535050e-02 -7.82973110e-04 9.97913940e-01 -4.74867720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.52, Y:-566.58, Z:-47.49 [[ 8.51511367e-01 5.21401297e-01 5.53992837e-02 1.02751813e+03] [-5.20346988e-01 8.53311388e-01 -3.31464491e-02 -5.66575958e+02] [-6.45554412e-02 -6.02272237e-04 9.97913940e-01 -4.74905671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1027.57, Y:-566.61, Z:-47.50 [[ 8.52398363e-01 5.19950947e-01 5.53899170e-02 1.02757076e+03] [-5.18892559e-01 8.54195989e-01 -3.31620941e-02 -5.66608487e+02] [-6.45565072e-02 -4.74100988e-04 9.97913941e-01 -4.74955575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.62, Y:-566.64, Z:-47.50 [[ 8.52339759e-01 5.20047879e-01 5.53817500e-02 1.02762253e+03] [-5.18988810e-01 8.54136984e-01 -3.31757276e-02 -5.66639786e+02] [-6.45565677e-02 -4.65516844e-04 9.97913941e-01 -4.75023022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.68, Y:-566.67, Z:-47.51 [[ 8.51733784e-01 5.21040545e-01 5.53742799e-02 1.02767525e+03] [-5.19982760e-01 8.53531765e-01 -3.31881915e-02 -5.66672183e+02] [-6.45561002e-02 -5.26166879e-04 9.97913941e-01 -4.75120558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.73, Y:-566.70, Z:-47.51 [[ 8.53407027e-01 5.18295723e-01 5.53713735e-02 1.02772802e+03] [-5.17231840e-01 8.55201407e-01 -3.31930399e-02 -5.66704396e+02] [-6.45574871e-02 -3.12663852e-04 9.97913941e-01 -4.75112703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.78, Y:-566.74, Z:-47.51 [[ 8.54950371e-01 5.15746790e-01 5.53634512e-02 1.02778103e+03] [-5.14676702e-01 8.56741056e-01 -3.32062485e-02 -5.66737580e+02] [-6.45581577e-02 -1.04584009e-04 9.97913941e-01 -4.75136647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.83, Y:-566.77, Z:-47.51 [[ 8.57519848e-01 5.11464044e-01 5.53556014e-02 1.02783305e+03] [-5.10384168e-01 8.59304648e-01 -3.32193290e-02 -5.66770919e+02] [-6.45578179e-02 2.33611359e-04 9.97913941e-01 -4.75142576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters Centerline goodness : 0.997484 with order 1 Centerline is valid? [True, True] Translation: X:1027.89, Y:-566.80, Z:-47.52 [[ 8.58805343e-01 5.09303489e-01 5.53474369e-02 1.02788600e+03] [-5.08218247e-01 8.60586885e-01 -3.32329266e-02 -5.66802192e+02] [-6.45569237e-02 4.12037599e-04 9.97913941e-01 -4.75215402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.94, Y:-566.83, Z:-47.52 [[ 8.58102673e-01 5.10486889e-01 5.53438176e-02 1.02793860e+03] [-5.09403715e-01 8.59885473e-01 -3.32389528e-02 -5.66832842e+02] [-6.45573944e-02 3.30087979e-04 9.97913941e-01 -4.75210956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1027.99, Y:-566.86, Z:-47.53 [[ 8.57235001e-01 5.11943605e-01 5.53344202e-02 1.02799241e+03] [-5.10862451e-01 8.59019027e-01 -3.32545898e-02 -5.66863399e+02] [-6.45577943e-02 2.38720749e-04 9.97913941e-01 -4.75276619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.05, Y:-566.89, Z:-47.53 [[ 8.56423206e-01 5.13301369e-01 5.53262796e-02 1.02804565e+03] [-5.12222168e-01 8.58208414e-01 -3.32681278e-02 -5.66893942e+02] [-6.45580543e-02 1.52249779e-04 9.97913941e-01 -4.75332100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.10, Y:-566.92, Z:-47.54 [[ 8.56353896e-01 5.13417481e-01 5.53217388e-02 1.02809985e+03] [-5.12338035e-01 8.58138956e-01 -3.32756771e-02 -5.66923655e+02] [-6.45580535e-02 1.52324761e-04 9.97913941e-01 -4.75436992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.15, Y:-566.95, Z:-47.54 [[ 8.54372110e-01 5.16708978e-01 5.53184413e-02 1.02815342e+03] [-5.15636055e-01 8.56161097e-01 -3.32811581e-02 -5.66953551e+02] [-6.45581706e-02 -8.96895955e-05 9.97913942e-01 -4.75420002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.21, Y:-566.99, Z:-47.54 [[ 8.54081930e-01 5.17189399e-01 5.53098744e-02 1.02820825e+03] [-5.16116560e-01 8.55870968e-01 -3.32953892e-02 -5.66985102e+02] [-6.45581381e-02 -1.09351837e-04 9.97913942e-01 -4.75445515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.26, Y:-567.02, Z:-47.55 [[ 8.53927003e-01 5.17446166e-01 5.53004379e-02 1.02826158e+03] [-5.16372851e-01 8.55715755e-01 -3.33110551e-02 -5.67016743e+02] [-6.45581337e-02 -1.10435347e-04 9.97913942e-01 -4.75484843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.32, Y:-567.05, Z:-47.55 [[ 8.54176290e-01 5.17035482e-01 5.52917303e-02 1.02831617e+03] [-5.15960371e-01 8.55963963e-01 -3.33255023e-02 -5.67048074e+02] [-6.45581957e-02 -6.24877947e-05 9.97913942e-01 -4.75524707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.37, Y:-567.08, Z:-47.56 [[ 8.54401558e-01 5.16664151e-01 5.52823003e-02 1.02837037e+03] [-5.15587251e-01 8.56188154e-01 -3.33411380e-02 -5.67078917e+02] [-6.45582214e-02 -1.61289922e-05 9.97913942e-01 -4.75572218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.42, Y:-567.11, Z:-47.57 [[ 8.55110730e-01 5.15490587e-01 5.52728970e-02 1.02842363e+03] [-5.14410229e-01 8.56895236e-01 -3.33567196e-02 -5.67109847e+02] [-6.45581571e-02 9.07452892e-05 9.97913942e-01 -4.75675181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.48, Y:-567.14, Z:-47.57 [[ 8.53314748e-01 5.18458498e-01 5.52695864e-02 1.02847606e+03] [-5.17383991e-01 8.55102783e-01 -3.33622040e-02 -5.67142029e+02] [-6.45580953e-02 -1.27138515e-04 9.97913942e-01 -4.75663925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.53, Y:-567.17, Z:-47.57 [[ 8.51341524e-01 5.21693237e-01 5.52609857e-02 1.02852908e+03] [-5.20624598e-01 8.53133073e-01 -3.33764441e-02 -5.67173031e+02] [-6.45572397e-02 -3.55475733e-04 9.97913942e-01 -4.75721703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.58, Y:-567.20, Z:-47.58 [[ 8.50128523e-01 5.23668178e-01 5.52551757e-02 1.02858321e+03] [-5.22603077e-01 8.51922177e-01 -3.33860599e-02 -5.67203472e+02] [-6.45563267e-02 -4.94083001e-04 9.97913943e-01 -4.75793877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.64, Y:-567.24, Z:-47.58 [[ 8.47515614e-01 5.27887590e-01 5.52446979e-02 1.02863539e+03] [-5.26830288e-01 8.49313877e-01 -3.34033887e-02 -5.67235834e+02] [-6.45533229e-02 -7.94686606e-04 9.97913943e-01 -4.75812066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1028.69, Y:-567.27, Z:-47.58 [[ 8.45627648e-01 5.30907567e-01 5.52361895e-02 1.02868936e+03] [-5.29855768e-01 8.47429135e-01 -3.34174524e-02 -5.67268149e+02] [-6.45503346e-02 -1.00849193e-03 9.97913943e-01 -4.75847591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.74, Y:-567.30, Z:-47.59 [[ 8.44757495e-01 5.32291974e-01 5.52270613e-02 1.02874196e+03] [-5.31242143e-01 8.46560129e-01 -3.34325313e-02 -5.67300731e+02] [-6.45488962e-02 -1.09656100e-03 9.97913943e-01 -4.75884993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.80, Y:-567.33, Z:-47.59 [[ 8.43864359e-01 5.33707642e-01 5.52186246e-02 1.02879500e+03] [-5.32659923e-01 8.45668221e-01 -3.34464599e-02 -5.67333890e+02] [-6.45472673e-02 -1.18847286e-03 9.97913943e-01 -4.75921053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.85, Y:-567.37, Z:-47.60 [[ 8.43250632e-01 5.34677756e-01 5.52093212e-02 1.02884852e+03] [-5.33631108e-01 8.45055116e-01 -3.34618098e-02 -5.67365937e+02] [-6.45462047e-02 -1.24471890e-03 9.97913943e-01 -4.75981705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1028.90, Y:-567.40, Z:-47.61 [[ 8.43646211e-01 5.34053671e-01 5.52064025e-02 1.02890102e+03] [-5.33005373e-01 8.45449737e-01 -3.34666245e-02 -5.67397627e+02] [-6.45472121e-02 -1.19131821e-03 9.97913943e-01 -4.76071849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1028.95, Y:-567.43, Z:-47.61 [[ 8.43556828e-01 5.34195789e-01 5.51972525e-02 1.02895378e+03] [-5.33146808e-01 8.45359957e-01 -3.34817090e-02 -5.67430927e+02] [-6.45473349e-02 -1.18451476e-03 9.97913943e-01 -4.76068400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.00, Y:-567.46, Z:-47.61 [[ 8.45071853e-01 5.31796862e-01 5.51875033e-02 1.02900474e+03] [-5.30741714e-01 8.46871379e-01 -3.34977708e-02 -5.67464296e+02] [-6.45507264e-02 -9.82286797e-04 9.97913944e-01 -4.76089634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1029.06, Y:-567.50, Z:-47.61 [[ 8.46253374e-01 5.29915488e-01 5.51797350e-02 1.02905765e+03] [-5.28855505e-01 8.48050056e-01 -3.35105625e-02 -5.67498461e+02] [-6.45529434e-02 -8.23680069e-04 9.97913944e-01 -4.76113151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.11, Y:-567.53, Z:-47.62 [[ 8.48918636e-01 5.25636182e-01 5.51702246e-02 1.02911176e+03] [-5.24566125e-01 8.50709336e-01 -3.35262125e-02 -5.67527854e+02] [-6.45564155e-02 -4.79404315e-04 9.97913944e-01 -4.76200295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.16, Y:-567.56, Z:-47.62 [[ 8.47417037e-01 5.28054537e-01 5.51613299e-02 1.02916191e+03] [-5.26988637e-01 8.49210215e-01 -3.35408408e-02 -5.67563635e+02] [-6.45549580e-02 -6.46314090e-04 9.97913944e-01 -4.76213080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.22, Y:-567.60, Z:-47.63 [[ 8.47165026e-01 5.28459602e-01 5.51531295e-02 1.02921543e+03] [-5.27393682e-01 8.48958192e-01 -3.35543198e-02 -5.67596514e+02] [-6.45548036e-02 -6.61365798e-04 9.97913944e-01 -4.76264963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.27, Y:-567.63, Z:-47.63 [[ 8.46857139e-01 5.28953804e-01 5.51439953e-02 1.02926862e+03] [-5.27887954e-01 8.48650346e-01 -3.35693246e-02 -5.67629193e+02] [-6.45545926e-02 -6.81428659e-04 9.97913944e-01 -4.76308452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.32, Y:-567.66, Z:-47.64 [[ 8.46110112e-01 5.30148885e-01 5.51347247e-02 1.02932092e+03] [-5.29084575e-01 8.47904234e-01 -3.35845439e-02 -5.67661211e+02] [-6.45537750e-02 -7.54710193e-04 9.97913945e-01 -4.76360098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.38, Y:-567.69, Z:-47.65 [[ 8.48467287e-01 5.26369044e-01 5.51261506e-02 1.02937585e+03] [-5.25295827e-01 8.50256095e-01 -3.35986115e-02 -5.67688660e+02] [-6.45566146e-02 -4.50214121e-04 9.97913945e-01 -4.76467288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.43, Y:-567.72, Z:-47.65 [[ 8.47974870e-01 5.27162861e-01 5.51174891e-02 1.02942927e+03] [-5.26090396e-01 8.49764128e-01 -3.36128146e-02 -5.67722246e+02] [-6.45562926e-02 -4.93959589e-04 9.97913945e-01 -4.76500740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.48, Y:-567.76, Z:-47.65 [[ 8.45581721e-01 5.30994081e-01 5.51075183e-02 1.02947945e+03] [-5.29928658e-01 8.47375181e-01 -3.36291536e-02 -5.67758213e+02] [-6.45536248e-02 -7.66855601e-04 9.97913945e-01 -4.76468934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.53, Y:-567.79, Z:-47.66 [[ 8.47888175e-01 5.27304163e-01 5.50995664e-02 1.02953465e+03] [-5.26230088e-01 8.49676467e-01 -3.36421772e-02 -5.67785788e+02] [-6.45564650e-02 -4.70245377e-04 9.97913945e-01 -4.76574750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.58, Y:-567.82, Z:-47.66 [[ 8.46537028e-01 5.29471485e-01 5.50909058e-02 1.02958427e+03] [-5.28401065e-01 8.48327510e-01 -3.36563536e-02 -5.67821953e+02] [-6.45552104e-02 -6.18743800e-04 9.97913945e-01 -4.76560371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.64, Y:-567.86, Z:-47.66 [[ 8.47517218e-01 5.27901595e-01 5.50860255e-02 1.02963779e+03] [-5.26827340e-01 8.49305402e-01 -3.36643393e-02 -5.67855022e+02] [-6.45563175e-02 -4.89717137e-04 9.97913945e-01 -4.76602768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.69, Y:-567.89, Z:-47.66 [[ 8.47778804e-01 5.27482396e-01 5.50765078e-02 1.02969089e+03] [-5.26406246e-01 8.49565847e-01 -3.36799035e-02 -5.67887332e+02] [-6.45566762e-02 -4.39509417e-04 9.97913945e-01 -4.76643638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.75, Y:-567.92, Z:-47.67 [[ 8.48072133e-01 5.27011578e-01 5.50677176e-02 1.02974503e+03] [-5.25933503e-01 8.49858016e-01 -3.36942697e-02 -5.67919768e+02] [-6.45570115e-02 -3.86786372e-04 9.97913946e-01 -4.76670758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.80, Y:-567.95, Z:-47.67 [[ 8.48255522e-01 5.26717372e-01 5.50579731e-02 1.02979842e+03] [-5.25637644e-01 8.50040405e-01 -3.37101852e-02 -5.67951760e+02] [-6.45572419e-02 -3.45692536e-04 9.97913946e-01 -4.76712610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1029.85, Y:-567.98, Z:-47.68 [[ 8.50204052e-01 5.23567264e-01 5.50489884e-02 1.02985297e+03] [-5.22479973e-01 8.51984338e-01 -3.37248509e-02 -5.67980600e+02] [-6.45581038e-02 -8.89890929e-05 9.97913946e-01 -4.76813833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1029.90, Y:-568.02, Z:-47.68 [[ 8.48072177e-01 5.27013974e-01 5.50441062e-02 1.02990290e+03] [-5.25933402e-01 8.49856549e-01 -3.37328176e-02 -5.68016227e+02] [-6.45572604e-02 -3.41669972e-04 9.97913946e-01 -4.76793977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1029.96, Y:-568.05, Z:-47.68 [[ 8.47774809e-01 5.27492747e-01 5.50388596e-02 1.02995665e+03] [-5.26412626e-01 8.49559455e-01 -3.37413758e-02 -5.68048889e+02] [-6.45571145e-02 -3.68062214e-04 9.97913946e-01 -4.76831552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1030.01, Y:-568.08, Z:-47.69 [[ 8.49357159e-01 5.24942087e-01 5.50292838e-02 1.03001167e+03] [-5.23855595e-01 8.51137933e-01 -3.37569858e-02 -5.68076288e+02] [-6.45579735e-02 -1.55660609e-04 9.97913946e-01 -4.76931164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.06, Y:-568.11, Z:-47.69 [[ 8.46948302e-01 5.28820675e-01 5.50206118e-02 1.03006222e+03] [-5.27741420e-01 8.48733471e-01 -3.37711144e-02 -5.68110871e+02] [-6.45566984e-02 -4.34267833e-04 9.97913946e-01 -4.76911825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1030.12, Y:-568.14, Z:-47.69 [[ 8.46921618e-01 5.28863919e-01 5.50157150e-02 1.03011597e+03] [-5.27784237e-01 8.48706529e-01 -3.37790899e-02 -5.68143343e+02] [-6.45567383e-02 -4.28185648e-04 9.97913946e-01 -4.76948182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.17, Y:-568.17, Z:-47.70 [[ 8.48898987e-01 5.25685104e-01 5.50061986e-02 1.03017090e+03] [-5.24597735e-01 8.50679224e-01 -3.37945793e-02 -5.68172346e+02] [-6.45579374e-02 -1.67943048e-04 9.97913946e-01 -4.77038058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.22, Y:-568.21, Z:-47.70 [[ 8.49190371e-01 5.25215168e-01 5.49976584e-02 1.03022218e+03] [-5.24125913e-01 8.50969456e-01 -3.38084721e-02 -5.68207013e+02] [-6.45580498e-02 -1.15868952e-04 9.97913947e-01 -4.77026011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.27, Y:-568.24, Z:-47.71 [[ 8.50967602e-01 5.22331623e-01 5.49892364e-02 1.03027488e+03] [-5.21235455e-01 8.52742436e-01 -3.38221649e-02 -5.68238426e+02] [-6.45580417e-02 1.19226945e-04 9.97913947e-01 -4.77081410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.33, Y:-568.27, Z:-47.71 [[ 8.51298434e-01 5.21793191e-01 5.49803791e-02 1.03032677e+03] [-5.20694971e-01 8.53071998e-01 -3.38365570e-02 -5.68270761e+02] [-6.45579069e-02 1.77001010e-04 9.97913947e-01 -4.77075812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.38, Y:-568.30, Z:-47.71 [[ 8.51738184e-01 5.21076001e-01 5.49715181e-02 1.03038065e+03] [-5.19975359e-01 8.53510246e-01 -3.38509466e-02 -5.68301973e+02] [-6.45576698e-02 2.48308979e-04 9.97913947e-01 -4.77144963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.43, Y:-568.33, Z:-47.72 [[ 8.51189676e-01 5.21972049e-01 5.49664898e-02 1.03043325e+03] [-5.20872746e-01 8.52962569e-01 -3.38591095e-02 -5.68332778e+02] [-6.45578671e-02 1.89978004e-04 9.97913947e-01 -4.77164737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.49, Y:-568.36, Z:-47.73 [[ 8.50909496e-01 5.22429230e-01 5.49611650e-02 1.03048635e+03] [-5.21330321e-01 8.52682633e-01 -3.38677507e-02 -5.68363015e+02] [-6.45579338e-02 1.65468872e-04 9.97913947e-01 -4.77260884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.54, Y:-568.40, Z:-47.72 [[ 8.49168821e-01 5.25254740e-01 5.49524483e-02 1.03054044e+03] [-5.24160816e-01 8.50945038e-01 -3.38818881e-02 -5.68395207e+02] [-6.45581355e-02 -3.24771618e-05 9.97913947e-01 -4.77238871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.59, Y:-568.43, Z:-47.73 [[ 8.48319373e-01 5.26625885e-01 5.49492428e-02 1.03059474e+03] [-5.25534494e-01 8.50097148e-01 -3.38870860e-02 -5.68426994e+02] [-6.45580112e-02 -1.30650974e-04 9.97913947e-01 -4.77281384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.65, Y:-568.46, Z:-47.73 [[ 8.47334869e-01 5.28209471e-01 5.49397343e-02 1.03064876e+03] [-5.27120404e-01 8.49114068e-01 -3.39024947e-02 -5.68459391e+02] [-6.45577201e-02 -2.33089049e-04 9.97913947e-01 -4.77318200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.70, Y:-568.49, Z:-47.73 [[ 8.45936096e-01 5.30447719e-01 5.49303143e-02 1.03070271e+03] [-5.29362369e-01 8.47717564e-01 -3.39177505e-02 -5.68491107e+02] [-6.45569857e-02 -3.85791866e-04 9.97913948e-01 -4.77346047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.76, Y:-568.52, Z:-47.74 [[ 8.44811083e-01 5.32238620e-01 5.49207227e-02 1.03075745e+03] [-5.31156037e-01 8.46594234e-01 -3.39332746e-02 -5.68522767e+02] [-6.45561664e-02 -5.04266995e-04 9.97913948e-01 -4.77381413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.81, Y:-568.55, Z:-47.74 [[ 8.42881504e-01 5.35290141e-01 5.49111548e-02 1.03081243e+03] [-5.34213005e-01 8.44667951e-01 -3.39487504e-02 -5.68553888e+02] [-6.45541240e-02 -7.19479223e-04 9.97913948e-01 -4.77416641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1030.87, Y:-568.59, Z:-47.75 [[ 8.41572737e-01 5.37346395e-01 5.49015486e-02 1.03086650e+03] [-5.36272612e-01 8.43361200e-01 -3.39642784e-02 -5.68586550e+02] [-6.45524185e-02 -8.58786113e-04 9.97913948e-01 -4.77455502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.92, Y:-568.62, Z:-47.75 [[ 8.40763806e-01 5.38612192e-01 5.48919848e-02 1.03092061e+03] [-5.37540092e-01 8.42553279e-01 -3.39797281e-02 -5.68618379e+02] [-6.45513176e-02 -9.37717073e-04 9.97913948e-01 -4.77489840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1030.98, Y:-568.65, Z:-47.75 [[ 8.40960430e-01 5.38306140e-01 5.48821933e-02 1.03097543e+03] [-5.37232358e-01 8.42748893e-01 -3.39955354e-02 -5.68649882e+02] [-6.45519131e-02 -8.95590116e-04 9.97913948e-01 -4.77532527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1031.03, Y:-568.68, Z:-47.76 [[ 8.43638289e-01 5.34100605e-01 5.48724108e-02 1.03102965e+03] [-5.33016880e-01 8.45420745e-01 -3.40113182e-02 -5.68678419e+02] [-6.45557400e-02 -5.54670923e-04 9.97913949e-01 -4.77644503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1031.08, Y:-568.71, Z:-47.77 [[ 8.45109892e-01 5.31769924e-01 5.48636326e-02 1.03108229e+03] [-5.30680364e-01 8.46888788e-01 -3.40254724e-02 -5.68712249e+02] [-6.45571181e-02 -3.59789216e-04 9.97913949e-01 -4.77674424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.13, Y:-568.75, Z:-47.77 [[ 8.45320145e-01 5.31436116e-01 5.48589645e-02 1.03113375e+03] [-5.30345366e-01 8.47098311e-01 -3.40329971e-02 -5.68745112e+02] [-6.45572999e-02 -3.25419555e-04 9.97913949e-01 -4.77658290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.19, Y:-568.78, Z:-47.77 [[ 8.45830287e-01 5.30624694e-01 5.48503325e-02 1.03118709e+03] [-5.29531336e-01 8.47606850e-01 -3.40469034e-02 -5.68777152e+02] [-6.45576453e-02 -2.47067741e-04 9.97913949e-01 -4.77708445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.24, Y:-568.81, Z:-47.78 [[ 8.45510986e-01 5.31134318e-01 5.48407630e-02 1.03124161e+03] [-5.30041031e-01 8.47287593e-01 -3.40623104e-02 -5.68808185e+02] [-6.45575601e-02 -2.67796904e-04 9.97913949e-01 -4.77755156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.30, Y:-568.84, Z:-47.78 [[ 8.44673224e-01 5.32466602e-01 5.48312124e-02 1.03129579e+03] [-5.31375120e-01 8.46450940e-01 -3.40776774e-02 -5.68840440e+02] [-6.45571564e-02 -3.51440458e-04 9.97913949e-01 -4.77797246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.35, Y:-568.87, Z:-47.78 [[ 8.43657770e-01 5.34075038e-01 5.48217187e-02 1.03134970e+03] [-5.32985953e-01 8.45436955e-01 -3.40929435e-02 -5.68872219e+02] [-6.45564970e-02 -4.56429291e-04 9.97913949e-01 -4.77835904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.40, Y:-568.90, Z:-47.79 [[ 8.43256078e-01 5.34710034e-01 5.48120976e-02 1.03140329e+03] [-5.33621284e-01 8.45035468e-01 -3.41084045e-02 -5.68902292e+02] [-6.45562727e-02 -4.86782456e-04 9.97913950e-01 -4.77920863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.46, Y:-568.93, Z:-47.79 [[ 8.42664618e-01 5.35642015e-01 5.48085174e-02 1.03145526e+03] [-5.34554859e-01 8.44444982e-01 -3.41141565e-02 -5.68934462e+02] [-6.45557530e-02 -5.51366641e-04 9.97913950e-01 -4.77898005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.51, Y:-568.97, Z:-47.79 [[ 8.42939159e-01 5.35210818e-01 5.47992168e-02 1.03150800e+03] [-5.34121780e-01 8.44718373e-01 -3.41290900e-02 -5.68966806e+02] [-6.45561634e-02 -5.00708718e-04 9.97913950e-01 -4.77940711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.56, Y:-569.00, Z:-47.80 [[ 8.43800517e-01 5.33852821e-01 5.47891703e-02 1.03156138e+03] [-5.32759872e-01 8.45577331e-01 -3.41452105e-02 -5.68998273e+02] [-6.45569974e-02 -3.77725096e-04 9.97913950e-01 -4.77951198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.62, Y:-569.03, Z:-47.81 [[ 8.45320897e-01 5.31443043e-01 5.47802278e-02 1.03161565e+03] [-5.30344100e-01 8.47094010e-01 -3.41595514e-02 -5.69027556e+02] [-6.45578587e-02 -1.76587968e-04 9.97913950e-01 -4.78065017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.67, Y:-569.06, Z:-47.80 [[ 8.44368253e-01 5.32955658e-01 5.47770006e-02 1.03166726e+03] [-5.31859555e-01 8.46143123e-01 -3.41647255e-02 -5.69059921e+02] [-6.45574661e-02 -2.86061563e-04 9.97913950e-01 -4.78048932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.72, Y:-569.09, Z:-47.81 [[ 8.44982054e-01 5.31982826e-01 5.47686200e-02 1.03172050e+03] [-5.30883810e-01 8.46755121e-01 -3.41781550e-02 -5.69092561e+02] [-6.45578009e-02 -1.95846033e-04 9.97913950e-01 -4.78091338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1031.77, Y:-569.13, Z:-47.82 [[ 8.45965775e-01 5.30418092e-01 5.47590648e-02 1.03177354e+03] [-5.29314806e-01 8.47736188e-01 -3.41934571e-02 -5.69125160e+02] [-6.45580692e-02 -5.82893277e-05 9.97913950e-01 -4.78160165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.83, Y:-569.16, Z:-47.82 [[ 8.46694255e-01 5.29254813e-01 5.47556578e-02 1.03182736e+03] [-5.28148741e-01 8.48462929e-01 -3.41989121e-02 -5.69157793e+02] [-6.45580846e-02 3.68906331e-05 9.97913950e-01 -4.78172924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.88, Y:-569.19, Z:-47.82 [[ 8.45829658e-01 5.30636620e-01 5.47445642e-02 1.03188095e+03] [-5.29532289e-01 8.47599419e-01 -3.42166612e-02 -5.69189561e+02] [-6.45580743e-02 -4.75475449e-05 9.97913951e-01 -4.78219100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.93, Y:-569.22, Z:-47.83 [[ 8.44039266e-01 5.33480844e-01 5.47348726e-02 1.03193382e+03] [-5.32381472e-01 8.45812112e-01 -3.42321574e-02 -5.69221671e+02] [-6.45576184e-02 -2.46547059e-04 9.97913951e-01 -4.78264216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1031.99, Y:-569.25, Z:-47.83 [[ 8.41886654e-01 5.36872364e-01 5.47259306e-02 1.03198696e+03] [-5.35779204e-01 8.43663336e-01 -3.42464468e-02 -5.69253221e+02] [-6.45562321e-02 -4.89389078e-04 9.97913951e-01 -4.78333814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.04, Y:-569.28, Z:-47.84 [[ 8.37930185e-01 5.43027091e-01 5.47227859e-02 1.03203922e+03] [-5.41946652e-01 8.39714632e-01 -3.42514711e-02 -5.69284074e+02] [-6.45510007e-02 -9.56489075e-04 9.97913951e-01 -4.78355071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.09, Y:-569.32, Z:-47.84 [[ 8.35781742e-01 5.46328830e-01 5.47146190e-02 1.03209265e+03] [-5.45254586e-01 8.37569926e-01 -3.42645122e-02 -5.69317207e+02] [-6.45470102e-02 -1.19574316e-03 9.97913951e-01 -4.78378014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.15, Y:-569.35, Z:-47.84 [[ 8.34485543e-01 5.48307634e-01 5.47048110e-02 1.03214572e+03] [-5.47236605e-01 8.36275654e-01 -3.42801639e-02 -5.69349922e+02] [-6.45443772e-02 -1.33017380e-03 9.97913951e-01 -4.78406175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.20, Y:-569.38, Z:-47.84 [[ 8.33930866e-01 5.49151740e-01 5.46962308e-02 1.03219744e+03] [-5.48081625e-01 8.35721523e-01 -3.42938488e-02 -5.69382160e+02] [-6.45433440e-02 -1.37930004e-03 9.97913951e-01 -4.78443301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1032.25, Y:-569.42, Z:-47.85 [[ 8.33968127e-01 5.49095618e-01 5.46915493e-02 1.03225061e+03] [-5.48024894e-01 8.35758419e-01 -3.43013132e-02 -5.69415986e+02] [-6.45436236e-02 -1.36612864e-03 9.97913951e-01 -4.78488720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.30, Y:-569.45, Z:-47.85 [[ 8.34402713e-01 5.48435963e-01 5.46818671e-02 1.03230246e+03] [-5.47362813e-01 8.36191553e-01 -3.43167413e-02 -5.69451118e+02] [-6.45450504e-02 -1.29683856e-03 9.97913952e-01 -4.78541357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.35, Y:-569.48, Z:-47.87 [[ 8.35617753e-01 5.46583877e-01 5.46720860e-02 1.03235493e+03] [-5.45505742e-01 8.37403593e-01 -3.43323170e-02 -5.69482967e+02] [-6.45480922e-02 -1.13524326e-03 9.97913952e-01 -4.78667703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.40, Y:-569.52, Z:-47.87 [[ 8.34681591e-01 5.48012889e-01 5.46673038e-02 1.03240440e+03] [-5.46937314e-01 8.36468974e-01 -3.43399302e-02 -5.69519615e+02] [-6.45462278e-02 -1.23668073e-03 9.97913952e-01 -4.78654739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1032.46, Y:-569.55, Z:-47.87 [[ 8.34387006e-01 5.48461819e-01 5.46622046e-02 1.03245532e+03] [-5.47386674e-01 8.36174647e-01 -3.43480450e-02 -5.69554183e+02] [-6.45457409e-02 -1.26179993e-03 9.97913952e-01 -4.78703775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.51, Y:-569.59, Z:-47.88 [[ 8.36212564e-01 5.45675284e-01 5.46537420e-02 1.03250836e+03] [-5.44593302e-01 8.37996075e-01 -3.43615052e-02 -5.69585554e+02] [-6.45498455e-02 -1.03053943e-03 9.97913952e-01 -4.78841297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.56, Y:-569.63, Z:-47.89 [[ 8.34245074e-01 5.48679026e-01 5.46487234e-02 1.03255713e+03] [-5.47602943e-01 8.36032150e-01 -3.43694851e-02 -5.69625660e+02] [-6.45459053e-02 -1.25322811e-03 9.97913952e-01 -4.78859292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.61, Y:-569.66, Z:-47.88 [[ 8.32739836e-01 5.50961958e-01 5.46377666e-02 1.03260568e+03] [-5.49889632e-01 8.34529169e-01 -3.43868945e-02 -5.69663178e+02] [-6.45426807e-02 -1.40940447e-03 9.97913952e-01 -4.78824368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.65, Y:-569.70, Z:-47.89 [[ 8.31916260e-01 5.52205590e-01 5.46289531e-02 1.03265441e+03] [-5.51135020e-01 8.33706644e-01 -3.44008904e-02 -5.69701220e+02] [-6.45408851e-02 -1.48926911e-03 9.97913952e-01 -4.78850195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.71, Y:-569.74, Z:-47.89 [[ 8.31034994e-01 5.53531722e-01 5.46211645e-02 1.03270550e+03] [-5.52463197e-01 8.32826599e-01 -3.44132526e-02 -5.69738344e+02] [-6.45387856e-02 -1.57756595e-03 9.97913952e-01 -4.78870773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1032.76, Y:-569.77, Z:-47.89 [[ 8.29613741e-01 5.55660538e-01 5.46114245e-02 1.03275665e+03] [-5.54595594e-01 8.31407477e-01 -3.44287024e-02 -5.69774689e+02] [-6.45350179e-02 -1.72473080e-03 9.97913953e-01 -4.78906259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.81, Y:-569.81, Z:-47.89 [[ 8.27079779e-01 5.59426208e-01 5.46017993e-02 1.03280715e+03] [-5.58368423e-01 8.28877746e-01 -3.44439606e-02 -5.69812231e+02] [-6.45270706e-02 -2.00001726e-03 9.97913953e-01 -4.78948912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.86, Y:-569.85, Z:-47.90 [[ 8.24542368e-01 5.63160383e-01 5.45918194e-02 1.03285671e+03] [-5.62109694e-01 8.26344490e-01 -3.44597710e-02 -5.69848242e+02] [-6.45180270e-02 -2.27304971e-03 9.97913953e-01 -4.79006574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.91, Y:-569.88, Z:-47.91 [[ 8.22858507e-01 5.65618373e-01 5.45869412e-02 1.03290851e+03] [-5.64572555e-01 8.24663460e-01 -3.44674966e-02 -5.69883092e+02] [-6.45113052e-02 -2.45641609e-03 9.97913953e-01 -4.79060955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1032.96, Y:-569.92, Z:-47.91 [[ 8.21692019e-01 5.67311926e-01 5.45839228e-02 1.03296028e+03] [-5.66269510e-01 8.23498940e-01 -3.44722761e-02 -5.69918353e+02] [-6.45063359e-02 -2.58361713e-03 9.97913953e-01 -4.79111076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.01, Y:-569.96, Z:-47.92 [[ 8.22684086e-01 5.65873255e-01 5.45742983e-02 1.03301075e+03] [-5.64826671e-01 8.24488595e-01 -3.44875063e-02 -5.69955488e+02] [-6.45114440e-02 -2.45269667e-03 9.97913953e-01 -4.79152485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.06, Y:-569.99, Z:-47.93 [[ 8.26486873e-01 5.60305392e-01 5.45647868e-02 1.03306351e+03] [-5.59245656e-01 8.28283690e-01 -3.45025484e-02 -5.69987695e+02] [-6.45270869e-02 -1.99921662e-03 9.97913953e-01 -4.79265391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.11, Y:-570.02, Z:-47.93 [[ 8.29348760e-01 5.56061019e-01 5.45598551e-02 1.03311358e+03] [-5.54991573e-01 8.31139814e-01 -3.45103453e-02 -5.70023198e+02] [-6.45367256e-02 -1.65914773e-03 9.97913953e-01 -4.79320408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.17, Y:-570.06, Z:-47.93 [[ 8.31783100e-01 5.52413633e-01 5.45532033e-02 1.03316632e+03] [-5.51335643e-01 8.33569025e-01 -3.45208571e-02 -5.70056612e+02] [-6.45436526e-02 -1.36325988e-03 9.97913953e-01 -4.79348878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.22, Y:-570.09, Z:-47.94 [[ 8.32369120e-01 5.51531312e-01 5.45422678e-02 1.03321700e+03] [-5.50450298e-01 8.34153216e-01 -3.45381264e-02 -5.70094353e+02] [-6.45454663e-02 -1.27433768e-03 9.97913954e-01 -4.79393700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.27, Y:-570.13, Z:-47.94 [[ 8.33574693e-01 5.49708002e-01 5.45375457e-02 1.03327052e+03] [-5.48622597e-01 8.35356121e-01 -3.45455813e-02 -5.70127522e+02] [-6.45482551e-02 -1.12420762e-03 9.97913954e-01 -4.79427242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.32, Y:-570.17, Z:-47.94 [[ 8.32018663e-01 5.52061408e-01 5.45265661e-02 1.03331946e+03] [-5.50979907e-01 8.33802463e-01 -3.45629027e-02 -5.70165298e+02] [-6.45452299e-02 -1.28606229e-03 9.97913954e-01 -4.79404220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.37, Y:-570.19, Z:-47.95 [[ 8.34189496e-01 5.48776481e-01 5.45184257e-02 1.03337378e+03] [-5.47687116e-01 8.35968505e-01 -3.45757384e-02 -5.70193577e+02] [-6.45500389e-02 -1.01632161e-03 9.97913954e-01 -4.79507356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.42, Y:-570.23, Z:-47.95 [[ 8.31044114e-01 5.53528609e-01 5.45138571e-02 1.03342384e+03] [-5.52448943e-01 8.32829026e-01 -3.45829400e-02 -5.70229707e+02] [-6.45433691e-02 -1.37617399e-03 9.97913954e-01 -4.79490637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.48, Y:-570.26, Z:-47.96 [[ 8.32191359e-01 5.51803107e-01 5.45057249e-02 1.03347876e+03] [-5.50718901e-01 8.33973516e-01 -3.45957523e-02 -5.70258036e+02] [-6.45463746e-02 -1.22704685e-03 9.97913954e-01 -4.79598441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.53, Y:-570.29, Z:-47.96 [[ 8.29324902e-01 5.56102784e-01 5.44967981e-02 1.03352888e+03] [-5.55026893e-01 8.31112092e-01 -3.46098086e-02 -5.70294229e+02] [-6.45395587e-02 -1.54441241e-03 9.97913954e-01 -4.79561371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1033.58, Y:-570.33, Z:-47.96 [[ 8.28614180e-01 5.57162033e-01 5.44886144e-02 1.03358226e+03] [-5.56087581e-01 8.30402235e-01 -3.46226878e-02 -5.70326236e+02] [-6.45379143e-02 -1.61159172e-03 9.97913954e-01 -4.79609137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.64, Y:-570.36, Z:-47.97 [[ 8.27320368e-01 5.59082288e-01 5.44793823e-02 1.03363553e+03] [-5.58011031e-01 8.29110338e-01 -3.46372087e-02 -5.70357092e+02] [-6.45344690e-02 -1.74402806e-03 9.97913955e-01 -4.79661637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.69, Y:-570.39, Z:-47.97 [[ 8.26241918e-01 5.60675442e-01 5.44733207e-02 1.03368947e+03] [-5.59607008e-01 8.28033575e-01 -3.46467390e-02 -5.70389152e+02] [-6.45313142e-02 -1.85706387e-03 9.97913955e-01 -4.79700849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.74, Y:-570.42, Z:-47.98 [[ 8.24639517e-01 5.63030535e-01 5.44635992e-02 1.03374249e+03] [-5.61966209e-01 8.26433618e-01 -3.46620142e-02 -5.70421124e+02] [-6.45263217e-02 -2.02303577e-03 9.97913955e-01 -4.79774701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.80, Y:-570.45, Z:-47.98 [[ 8.23471433e-01 5.64737875e-01 5.44603757e-02 1.03379579e+03] [-5.63676935e-01 8.25267537e-01 -3.46670782e-02 -5.70454257e+02] [-6.45221922e-02 -2.15070907e-03 9.97913955e-01 -4.79817091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.85, Y:-570.48, Z:-47.98 [[ 8.23084464e-01 5.65302189e-01 5.44554956e-02 1.03384881e+03] [-5.64241974e-01 8.24880996e-01 -3.46747422e-02 -5.70484463e+02] [-6.45210111e-02 -2.18583478e-03 9.97913955e-01 -4.79827321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1033.90, Y:-570.52, Z:-47.99 [[ 8.23291502e-01 5.65001490e-01 5.44464728e-02 1.03390128e+03] [-5.63939684e-01 8.25087094e-01 -3.46889041e-02 -5.70517357e+02] [-6.45223646e-02 -2.14544671e-03 9.97913955e-01 -4.79874481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1033.95, Y:-570.55, Z:-47.99 [[ 8.24948721e-01 5.62579906e-01 5.44376399e-02 1.03395390e+03] [-5.61511915e-01 8.26740641e-01 -3.47027601e-02 -5.70550637e+02] [-6.45288849e-02 -1.93938587e-03 9.97913955e-01 -4.79930394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1034.01, Y:-570.58, Z:-48.00 [[ 8.26953065e-01 5.59630280e-01 5.44295666e-02 1.03400667e+03] [-5.58555064e-01 8.28740660e-01 -3.47154181e-02 -5.70584698e+02] [-6.45357941e-02 -1.69388858e-03 9.97913955e-01 -4.79958354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.06, Y:-570.61, Z:-48.01 [[ 8.34669274e-01 5.48056306e-01 5.44195633e-02 1.03406218e+03] [-5.46955270e-01 8.36441082e-01 -3.47310922e-02 -5.70612758e+02] [-6.45533525e-02 -7.76091423e-04 9.97913955e-01 -4.80056936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.11, Y:-570.65, Z:-48.00 [[ 8.34745806e-01 5.47940620e-01 5.44106245e-02 1.03411040e+03] [-5.46838426e-01 8.36516894e-01 -3.47450902e-02 -5.70652204e+02] [-6.45536529e-02 -7.50501978e-04 9.97913956e-01 -4.80025250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.16, Y:-570.68, Z:-48.01 [[ 8.40303334e-01 5.39379959e-01 5.44019003e-02 1.03416345e+03] [-5.38258837e-01 8.42062500e-01 -3.47587448e-02 -5.70683467e+02] [-6.45579705e-02 -7.44144729e-05 9.97913956e-01 -4.80073853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.21, Y:-570.72, Z:-48.01 [[ 8.41526146e-01 5.37471059e-01 5.43930821e-02 1.03421384e+03] [-5.36345054e-01 8.43282191e-01 -3.47725386e-02 -5.70718654e+02] [-6.45579506e-02 8.85398100e-05 9.97913956e-01 -4.80087274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.27, Y:-570.75, Z:-48.01 [[ 8.42712319e-01 5.35610138e-01 5.43850040e-02 1.03426692e+03] [-5.34479440e-01 8.44465346e-01 -3.47851685e-02 -5.70752234e+02] [-6.45575401e-02 2.46223512e-04 9.97913956e-01 -4.80131158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.32, Y:-570.78, Z:-48.02 [[ 8.42539222e-01 5.35883354e-01 5.43754652e-02 1.03432003e+03] [-5.34752263e-01 8.44291994e-01 -3.48000730e-02 -5.70784285e+02] [-6.45575498e-02 2.43023357e-04 9.97913956e-01 -4.80179430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1034.37, Y:-570.82, Z:-48.02 [[ 8.41518512e-01 5.37485649e-01 5.43670103e-02 1.03437315e+03] [-5.36357042e-01 8.43272885e-01 -3.48132767e-02 -5.70817035e+02] [-6.45578623e-02 1.35887977e-04 9.97913956e-01 -4.80224859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.43, Y:-570.85, Z:-48.03 [[ 8.38881040e-01 5.41593837e-01 5.43572988e-02 1.03442608e+03] [-5.40472840e-01 8.40640286e-01 -3.48284336e-02 -5.70848573e+02] [-6.45578002e-02 -1.61731067e-04 9.97913956e-01 -4.80256090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.48, Y:-570.88, Z:-48.03 [[ 8.36604466e-01 5.45104785e-01 5.43483300e-02 1.03447906e+03] [-5.43990262e-01 8.38367819e-01 -3.48424234e-02 -5.70879939e+02] [-6.45566627e-02 -4.15635279e-04 9.97913957e-01 -4.80286267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.53, Y:-570.91, Z:-48.03 [[ 8.34029794e-01 5.49036851e-01 5.43400223e-02 1.03453427e+03] [-5.47929797e-01 8.35797846e-01 -3.48553753e-02 -5.70908618e+02] [-6.45541591e-02 -7.04095940e-04 9.97913957e-01 -4.80322558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.59, Y:-570.94, Z:-48.03 [[ 8.30851162e-01 5.53836157e-01 5.43310053e-02 1.03458573e+03] [-5.52738396e-01 8.32624999e-01 -3.48694250e-02 -5.70941164e+02] [-6.45493016e-02 -1.05953042e-03 9.97913957e-01 -4.80318606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.64, Y:-570.97, Z:-48.04 [[ 8.28665405e-01 5.57102042e-01 5.43227489e-02 1.03464006e+03] [-5.56010429e-01 8.30443032e-01 -3.48822829e-02 -5.70972208e+02] [-6.45449393e-02 -1.29827377e-03 9.97913957e-01 -4.80358256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.69, Y:-571.00, Z:-48.04 [[ 8.28009094e-01 5.58077995e-01 5.43128979e-02 1.03469410e+03] [-5.56987472e-01 8.29787390e-01 -3.48976145e-02 -5.71004601e+02] [-6.45437485e-02 -1.35606157e-03 9.97913957e-01 -4.80408107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.75, Y:-571.04, Z:-48.05 [[ 8.28355264e-01 5.57565044e-01 5.43026567e-02 1.03474779e+03] [-5.56472376e-01 8.30132242e-01 -3.49135430e-02 -5.71036240e+02] [-6.45449573e-02 -1.29711123e-03 9.97913957e-01 -4.80451583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.80, Y:-571.07, Z:-48.05 [[ 8.29855244e-01 5.55330959e-01 5.42936500e-02 1.03480141e+03] [-5.54232592e-01 8.31628704e-01 -3.49275437e-02 -5.71068504e+02] [-6.45485041e-02 -1.10650509e-03 9.97913957e-01 -4.80489561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.85, Y:-571.10, Z:-48.05 [[ 8.33845190e-01 5.49322753e-01 5.42836244e-02 1.03485443e+03] [-5.48210591e-01 8.35610033e-01 -3.49431184e-02 -5.71101188e+02] [-6.45549911e-02 -6.21706587e-04 9.97913958e-01 -4.80516072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1034.91, Y:-571.13, Z:-48.05 [[ 8.37354103e-01 5.43959925e-01 5.42743615e-02 1.03490799e+03] [-5.42835527e-01 8.39111175e-01 -3.49574998e-02 -5.71134871e+02] [-6.45577022e-02 -1.90245750e-04 9.97913958e-01 -4.80549628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1034.96, Y:-571.17, Z:-48.06 [[ 8.39515282e-01 5.40619500e-01 5.42645992e-02 1.03496128e+03] [-5.39487132e-01 8.41267228e-01 -3.49726473e-02 -5.71168071e+02] [-6.45579240e-02 8.50188802e-05 9.97913958e-01 -4.80594533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1035.01, Y:-571.20, Z:-48.07 [[ 8.43909947e-01 5.33734460e-01 5.42542954e-02 1.03501334e+03] [-5.32586772e-01 8.45651895e-01 -3.49886246e-02 -5.71201069e+02] [-6.45548824e-02 6.32128221e-04 9.97913958e-01 -4.80659615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1035.07, Y:-571.23, Z:-48.07 [[ 8.46230122e-01 5.30048517e-01 5.42508072e-02 1.03506586e+03] [-5.28892895e-01 8.47966817e-01 -3.49940324e-02 -5.71231799e+02] [-6.45514193e-02 9.20137903e-04 9.97913958e-01 -4.80685439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.12, Y:-571.26, Z:-48.07 [[ 8.47569269e-01 5.27905452e-01 5.42417449e-02 1.03512051e+03] [-5.26744542e-01 8.49302433e-01 -3.50080735e-02 -5.71262162e+02] [-6.45485988e-02 1.10022426e-03 9.97913958e-01 -4.80714873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.18, Y:-571.29, Z:-48.07 [[ 8.47314878e-01 5.28314667e-01 5.42320050e-02 1.03517503e+03] [-5.27153628e-01 8.49047956e-01 -3.50231554e-02 -5.71293738e+02] [-6.45488197e-02 1.08704246e-03 9.97913958e-01 -4.80744057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1035.23, Y:-571.32, Z:-48.08 [[ 8.45406670e-01 5.31363847e-01 5.42219931e-02 1.03523062e+03] [-5.30208066e-01 8.47143258e-01 -3.50386489e-02 -5.71323645e+02] [-6.45520671e-02 8.72969363e-04 9.97913959e-01 -4.80782026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.29, Y:-571.35, Z:-48.08 [[ 8.40913598e-01 5.38447195e-01 5.42119903e-02 1.03528580e+03] [-5.37305046e-01 8.42659182e-01 -3.50541184e-02 -5.71351975e+02] [-6.45570231e-02 3.49108889e-04 9.97913959e-01 -4.80829896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.34, Y:-571.38, Z:-48.09 [[ 8.36764069e-01 5.44874202e-01 5.42032935e-02 1.03534102e+03] [-5.43744590e-01 8.38517792e-01 -3.50675608e-02 -5.71382602e+02] [-6.45578352e-02 -1.29472721e-04 9.97913959e-01 -4.80878449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.40, Y:-571.41, Z:-48.09 [[ 8.32069757e-01 5.52017204e-01 5.41934036e-02 1.03539540e+03] [-5.50901651e-01 8.33832456e-01 -3.50828381e-02 -5.71413647e+02] [-6.45545490e-02 -6.63866913e-04 9.97913959e-01 -4.80917476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.45, Y:-571.44, Z:-48.10 [[ 8.26191351e-01 5.60778032e-01 5.41834936e-02 1.03544971e+03] [-5.59680163e-01 8.27965118e-01 -3.50981369e-02 -5.71443898e+02] [-6.45443068e-02 -1.32764935e-03 9.97913959e-01 -4.80970209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.50, Y:-571.48, Z:-48.10 [[ 8.23708265e-01 5.64419856e-01 5.41749153e-02 1.03550323e+03] [-5.63328958e-01 8.25486328e-01 -3.51113727e-02 -5.71476622e+02] [-6.45382078e-02 -1.59677070e-03 9.97913959e-01 -4.81011820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.56, Y:-571.51, Z:-48.10 [[ 8.22387465e-01 5.66343526e-01 5.41651959e-02 1.03555587e+03] [-5.65255801e-01 8.24167470e-01 -3.51263602e-02 -5.71509174e+02] [-6.45347791e-02 -1.72971286e-03 9.97913959e-01 -4.81034477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.61, Y:-571.54, Z:-48.11 [[ 8.22362219e-01 5.66380984e-01 5.41568225e-02 1.03560831e+03] [-5.65292491e-01 8.24141755e-01 -3.51392653e-02 -5.71542694e+02] [-6.45351104e-02 -1.71724085e-03 9.97913960e-01 -4.81062838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.66, Y:-571.58, Z:-48.11 [[ 8.22541534e-01 5.66121332e-01 5.41485214e-02 1.03566087e+03] [-5.65031436e-01 8.24320211e-01 -3.51520523e-02 -5.71577092e+02] [-6.45360473e-02 -1.68159375e-03 9.97913960e-01 -4.81100979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.71, Y:-571.61, Z:-48.12 [[ 8.22640018e-01 5.65979141e-01 5.41388268e-02 1.03571307e+03] [-5.64887956e-01 8.24417904e-01 -3.51669771e-02 -5.71611710e+02] [-6.45367936e-02 -1.65260854e-03 9.97913960e-01 -4.81155685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.76, Y:-571.65, Z:-48.12 [[ 8.22899102e-01 5.65603303e-01 5.41292108e-02 1.03576462e+03] [-5.64510334e-01 8.24675892e-01 -3.51817719e-02 -5.71646965e+02] [-6.45379815e-02 -1.60545032e-03 9.97913960e-01 -4.81209869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.82, Y:-571.68, Z:-48.13 [[ 8.23418929e-01 5.64846557e-01 5.41261020e-02 1.03581575e+03] [-5.63751641e-01 8.25194519e-01 -3.51865540e-02 -5.71681806e+02] [-6.45395666e-02 -1.54040423e-03 9.97913960e-01 -4.81258566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.87, Y:-571.72, Z:-48.13 [[ 8.24893302e-01 5.62692046e-01 5.41174792e-02 1.03586632e+03] [-5.61591623e-01 8.26665484e-01 -3.51998110e-02 -5.71718956e+02] [-6.45437058e-02 -1.35583465e-03 9.97913960e-01 -4.81298841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.92, Y:-571.76, Z:-48.13 [[ 8.26475408e-01 5.60366635e-01 5.41076158e-02 1.03591774e+03] [-5.59260233e-01 8.28243864e-01 -3.52149660e-02 -5.71755782e+02] [-6.45475928e-02 -1.15593437e-03 9.97913960e-01 -4.81329207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1035.97, Y:-571.79, Z:-48.14 [[ 8.29305425e-01 5.56170800e-01 5.40976282e-02 1.03596726e+03] [-5.55054449e-01 8.31067617e-01 -3.52303025e-02 -5.71793492e+02] [-6.45528525e-02 -8.10448233e-04 9.97913960e-01 -4.81354013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.02, Y:-571.83, Z:-48.14 [[ 8.30661301e-01 5.54144562e-01 5.40888838e-02 1.03601802e+03] [-5.53023039e-01 8.32420206e-01 -3.52437227e-02 -5.71830540e+02] [-6.45547970e-02 -6.36802337e-04 9.97913961e-01 -4.81382601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.07, Y:-571.87, Z:-48.14 [[ 8.31084098e-01 5.53511243e-01 5.40788979e-02 1.03606901e+03] [-5.52387382e-01 8.32841510e-01 -3.52590387e-02 -5.71867165e+02] [-6.45554253e-02 -5.69274504e-04 9.97913961e-01 -4.81414748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.12, Y:-571.90, Z:-48.15 [[ 8.29778712e-01 5.55467223e-01 5.40689673e-02 1.03612062e+03] [-5.54346513e-01 8.31538135e-01 -3.52742604e-02 -5.71903388e+02] [-6.45541037e-02 -7.03113100e-04 9.97913961e-01 -4.81453204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.17, Y:-571.94, Z:-48.15 [[ 8.26497667e-01 5.60338513e-01 5.40588360e-02 1.03617114e+03] [-5.59227157e-01 8.28263013e-01 -3.52897802e-02 -5.71938012e+02] [-6.45491573e-02 -1.06424817e-03 9.97913961e-01 -4.81513019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1036.22, Y:-571.97, Z:-48.16 [[ 8.23569212e-01 5.64634634e-01 5.40507529e-02 1.03622310e+03] [-5.63531674e-01 8.25339815e-01 -3.53021561e-02 -5.71971441e+02] [-6.45430584e-02 -1.38554243e-03 9.97913961e-01 -4.81632110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.27, Y:-572.01, Z:-48.16 [[ 8.20282525e-01 5.69399207e-01 5.40474064e-02 1.03627252e+03] [-5.68306192e-01 8.22059285e-01 -3.53072789e-02 -5.72007806e+02] [-6.45341088e-02 -1.75353183e-03 9.97913961e-01 -4.81627014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.32, Y:-572.04, Z:-48.17 [[ 8.19223538e-01 5.70922598e-01 5.40387120e-02 1.03632409e+03] [-5.69832011e-01 8.21001788e-01 -3.53205808e-02 -5.72043583e+02] [-6.45311970e-02 -1.85753671e-03 9.97913961e-01 -4.81665476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1036.37, Y:-572.08, Z:-48.17 [[ 8.19327942e-01 5.70773661e-01 5.40291760e-02 1.03637438e+03] [-5.69681790e-01 8.21105404e-01 -3.53351619e-02 -5.72079470e+02] [-6.45320281e-02 -1.82835221e-03 9.97913962e-01 -4.81693322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.42, Y:-572.12, Z:-48.17 [[ 8.21764351e-01 5.67261044e-01 5.40209155e-02 1.03642355e+03] [-5.66160744e-01 8.23536609e-01 -3.53477862e-02 -5.72117313e+02] [-6.45396236e-02 -1.53697109e-03 9.97913962e-01 -4.81718412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1036.47, Y:-572.15, Z:-48.18 [[ 8.24156482e-01 5.63780734e-01 5.40127490e-02 1.03647447e+03] [-5.62672132e-01 8.25923558e-01 -3.53602605e-02 -5.72154533e+02] [-6.45458354e-02 -1.24908079e-03 9.97913962e-01 -4.81755361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:1036.52, Y:-572.19, Z:-48.19 [[ 8.28235890e-01 5.57771393e-01 5.40035529e-02 1.03652331e+03] [-5.56649052e-01 8.29994272e-01 -3.53742996e-02 -5.72192629e+02] [-6.45534119e-02 -7.62762009e-04 9.97913962e-01 -4.81859974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.57, Y:-572.23, Z:-48.18 [[ 8.28665373e-01 5.57134037e-01 5.39941227e-02 1.03657351e+03] [-5.56009406e-01 8.30422291e-01 -3.53886877e-02 -5.72228239e+02] [-6.45541655e-02 -6.95859996e-04 9.97913962e-01 -4.81846499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.62, Y:-572.27, Z:-48.19 [[ 8.30993887e-01 5.53655471e-01 5.39887069e-02 1.03662288e+03] [-5.52522949e-01 8.32745728e-01 -3.53969480e-02 -5.72266282e+02] [-6.45565790e-02 -4.15352161e-04 9.97913962e-01 -4.81916581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1036.67, Y:-572.30, Z:-48.20 [[ 8.32522210e-01 5.51355466e-01 5.39807348e-02 1.03667187e+03] [-5.50217316e-01 8.34270400e-01 -3.54091015e-02 -5.72302672e+02] [-6.45575308e-02 -2.22271593e-04 9.97913962e-01 -4.81979576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.72, Y:-572.34, Z:-48.20 [[ 8.35269010e-01 5.47186026e-01 5.39734556e-02 1.03672082e+03] [-5.46038433e-01 8.37011015e-01 -3.54201936e-02 -5.72343283e+02] [-6.45578118e-02 1.13808932e-04 9.97913962e-01 -4.82026937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.77, Y:-572.38, Z:-48.21 [[ 8.38279792e-01 5.42563188e-01 5.39645885e-02 1.03676947e+03] [-5.41405119e-01 8.40014851e-01 -3.54336979e-02 -5.72378346e+02] [-6.45560759e-02 4.86648446e-04 9.97913962e-01 -4.82140648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1036.82, Y:-572.42, Z:-48.22 [[ 8.39390667e-01 5.40843731e-01 5.39570749e-02 1.03681900e+03] [-5.39681373e-01 8.41122856e-01 -3.54451356e-02 -5.72418022e+02] [-6.45548083e-02 6.32687715e-04 9.97913962e-01 -4.82169178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.87, Y:-572.46, Z:-48.21 [[ 8.36817341e-01 5.44817467e-01 5.39505909e-02 1.03686858e+03] [-5.43662698e-01 8.38554598e-01 -3.54550021e-02 -5.72457268e+02] [-6.45570205e-02 3.38436752e-04 9.97913963e-01 -4.82113923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.92, Y:-572.49, Z:-48.22 [[ 8.36196931e-01 5.45770022e-01 5.39423339e-02 1.03692028e+03] [-5.44616422e-01 8.37934965e-01 -3.54675601e-02 -5.72489554e+02] [-6.45572987e-02 2.79984012e-04 9.97913963e-01 -4.82240135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1036.97, Y:-572.53, Z:-48.22 [[ 8.29374481e-01 5.56083641e-01 5.39347239e-02 1.03696794e+03] [-5.54950901e-01 8.31126181e-01 -3.54791288e-02 -5.72528629e+02] [-6.45559242e-02 -5.05639581e-04 9.97913963e-01 -4.82202672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1037.02, Y:-572.56, Z:-48.23 [[ 8.27371185e-01 5.59060579e-01 5.39276519e-02 1.03702043e+03] [-5.57933441e-01 8.29126494e-01 -3.54898748e-02 -5.72559658e+02] [-6.45538349e-02 -7.24740694e-04 9.97913963e-01 -4.82344040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.07, Y:-572.60, Z:-48.23 [[ 8.20269886e-01 5.69429475e-01 5.39201968e-02 1.03706847e+03] [-5.68323775e-01 8.22038778e-01 -3.55011978e-02 -5.72598066e+02] [-6.45399211e-02 -1.52356632e-03 9.97913963e-01 -4.82300450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.12, Y:-572.63, Z:-48.24 [[ 8.19813028e-01 5.70087425e-01 5.39159182e-02 1.03712103e+03] [-5.68982718e-01 8.21582540e-01 -3.55076945e-02 -5.72632391e+02] [-6.45388672e-02 -1.56755511e-03 9.97913963e-01 -4.82355999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.17, Y:-572.67, Z:-48.23 [[ 8.20945297e-01 5.68456468e-01 5.39079099e-02 1.03717347e+03] [-5.67347448e-01 8.22712109e-01 -3.55198487e-02 -5.72667323e+02] [-6.45421780e-02 -1.42466238e-03 9.97913963e-01 -4.82345742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1037.22, Y:-572.70, Z:-48.24 [[ 8.22689481e-01 5.65930237e-01 5.38979108e-02 1.03722469e+03] [-5.64814798e-01 8.24452247e-01 -3.55350148e-02 -5.72700811e+02] [-6.45465930e-02 -1.20805472e-03 9.97913963e-01 -4.82368812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.28, Y:-572.74, Z:-48.24 [[ 8.22624723e-01 5.66025124e-01 5.38899203e-02 1.03727711e+03] [-5.64909095e-01 8.24387116e-01 -3.55471286e-02 -5.72735070e+02] [-6.45467238e-02 -1.20095921e-03 9.97913963e-01 -4.82401551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.33, Y:-572.77, Z:-48.25 [[ 8.20938777e-01 5.68468527e-01 5.38800353e-02 1.03733015e+03] [-5.67356760e-01 8.22703861e-01 -3.55621054e-02 -5.72767980e+02] [-6.45432507e-02 -1.37489099e-03 9.97913964e-01 -4.82461208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.38, Y:-572.80, Z:-48.26 [[ 8.21696057e-01 5.67374296e-01 5.38701959e-02 1.03738419e+03] [-5.66259202e-01 8.23459042e-01 -3.55770040e-02 -5.72797571e+02] [-6.45453775e-02 -1.27101022e-03 9.97913964e-01 -4.82592460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.44, Y:-572.83, Z:-48.26 [[ 8.20037660e-01 5.69769060e-01 5.38651593e-02 1.03743619e+03] [-5.68658614e-01 8.21803575e-01 -3.55846280e-02 -5.72831994e+02] [-6.45416005e-02 -1.45015171e-03 9.97913964e-01 -4.82628074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.49, Y:-572.87, Z:-48.26 [[ 8.17380139e-01 5.73576004e-01 5.38542042e-02 1.03748565e+03] [-5.72472691e-01 8.19150519e-01 -3.56011999e-02 -5.72868112e+02] [-6.45346933e-02 -1.73034748e-03 9.97913964e-01 -4.82601246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.54, Y:-572.90, Z:-48.27 [[ 8.20233720e-01 5.69488304e-01 5.38490134e-02 1.03753843e+03] [-5.68375651e-01 8.21998245e-01 -3.56090496e-02 -5.72900676e+02] [-6.45427318e-02 -1.39872481e-03 9.97913964e-01 -4.82693522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.59, Y:-572.94, Z:-48.27 [[ 8.21487798e-01 5.67678673e-01 5.38397798e-02 1.03758982e+03] [-5.66561218e-01 8.23249286e-01 -3.56230050e-02 -5.72937134e+02] [-6.45459805e-02 -1.23966730e-03 9.97913964e-01 -4.82716506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.64, Y:-572.97, Z:-48.28 [[ 8.24074451e-01 5.63918182e-01 5.38292131e-02 1.03764174e+03] [-5.62791646e-01 8.25830145e-01 -3.56389650e-02 -5.72971384e+02] [-6.45512472e-02 -9.25470934e-04 9.97913964e-01 -4.82777308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.69, Y:-573.01, Z:-48.27 [[ 8.24232919e-01 5.63687543e-01 5.38186715e-02 1.03768939e+03] [-5.62559477e-01 8.25987630e-01 -3.56548769e-02 -5.73009937e+02] [-6.45517669e-02 -8.88280422e-04 9.97913964e-01 -4.82744496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.74, Y:-573.04, Z:-48.28 [[ 8.26848392e-01 5.59844793e-01 5.38102660e-02 1.03774259e+03] [-5.58707746e-01 8.28597296e-01 -3.56675580e-02 -5.73040478e+02] [-6.45553376e-02 -5.72549534e-04 9.97913965e-01 -4.82846029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.79, Y:-573.08, Z:-48.28 [[ 8.24681531e-01 5.63032138e-01 5.38069109e-02 1.03779381e+03] [-5.61901520e-01 8.26434599e-01 -3.56726186e-02 -5.73075565e+02] [-6.45527236e-02 -8.15635277e-04 9.97913965e-01 -4.82808735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.85, Y:-573.11, Z:-48.29 [[ 8.25473722e-01 5.61870949e-01 5.37974947e-02 1.03784703e+03] [-5.60736940e-01 8.27224598e-01 -3.56868135e-02 -5.73107363e+02] [-6.45539947e-02 -7.07715704e-04 9.97913965e-01 -4.82916001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.90, Y:-573.14, Z:-48.29 [[ 8.23753255e-01 5.64391279e-01 5.37871639e-02 1.03789779e+03] [-5.63261610e-01 8.25506935e-01 -3.57023774e-02 -5.73142676e+02] [-6.45517872e-02 -8.86294926e-04 9.97913965e-01 -4.82894923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1037.95, Y:-573.18, Z:-48.29 [[ 8.23588973e-01 5.64631965e-01 5.37768313e-02 1.03795061e+03] [-5.63501794e-01 8.25342328e-01 -3.57179341e-02 -5.73176711e+02] [-6.45517824e-02 -8.86444188e-04 9.97913965e-01 -4.82931659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters Centerline goodness : 0.998544 with order 1 Centerline is valid? [True, True] Translation: X:1038.00, Y:-573.21, Z:-48.30 [[ 8.24079935e-01 5.63916138e-01 5.37666233e-02 1.03800332e+03] [-5.62783441e-01 8.25831660e-01 -3.57332936e-02 -5.73210261e+02] [-6.45527607e-02 -8.11874969e-04 9.97913965e-01 -4.83027765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1038.51, Y:-572.62, Z:-47.32 [[ 8.77542853e-01 4.76475582e-01 5.37546309e-02 1.03850870e+03] [-4.75168204e-01 8.79168369e-01 -3.57513251e-02 -5.72621250e+02] [-6.42940047e-02 5.83082840e-03 9.97913965e-01 -4.73165966e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1038.56, Y:-572.65, Z:-47.32 [[ 8.77416127e-01 4.76350786e-01 5.68407279e-02 1.03856346e+03] [-4.75413111e-01 8.79254961e-01 -2.98845727e-02 -5.72652958e+02] [-6.42130317e-02 -8.01621266e-04 9.97935892e-01 -4.73160767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1038.62, Y:-572.68, Z:-47.32 [[ 8.76757674e-01 4.77562625e-01 5.68323887e-02 1.03861901e+03] [-4.76626464e-01 8.78597279e-01 -2.99004232e-02 -5.72681247e+02] [-6.42121067e-02 -8.72394971e-04 9.97935892e-01 -4.73200135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1038.67, Y:-572.71, Z:-47.32 [[ 8.76327928e-01 4.78351745e-01 5.68240360e-02 1.03867486e+03] [-4.77416212e-01 8.78167852e-01 -2.99162887e-02 -5.72709692e+02] [-6.42115505e-02 -9.12236756e-04 9.97935892e-01 -4.73240754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:1038.73, Y:-572.74, Z:-47.33 [[ 8.75875422e-01 4.79180811e-01 5.68154546e-02 1.03873077e+03] [-4.78245964e-01 8.77715694e-01 -2.99325772e-02 -5.72737552e+02] [-6.42109328e-02 -9.54553172e-04 9.97935892e-01 -4.73306898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1038.79, Y:-572.77, Z:-47.33 [[ 8.75231149e-01 4.80357810e-01 5.68050178e-02 1.03878527e+03] [-4.79424153e-01 8.77072025e-01 -2.99523707e-02 -5.72766272e+02] [-6.42099472e-02 -1.01844978e-03 9.97935892e-01 -4.73324067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1038.84, Y:-572.79, Z:-47.34 [[ 8.76453553e-01 4.78124955e-01 5.67952226e-02 1.03884203e+03] [-4.77185405e-01 8.78291428e-01 -2.99709327e-02 -5.72791133e+02] [-6.42126080e-02 -8.33720906e-04 9.97935893e-01 -4.73395415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1038.90, Y:-572.82, Z:-47.34 [[ 8.75070152e-01 4.80652549e-01 5.67922226e-02 1.03889526e+03] [-4.79717939e-01 8.76910544e-01 -2.99766163e-02 -5.72822063e+02] [-6.42100359e-02 -1.01260575e-03 9.97935893e-01 -4.73394407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1038.95, Y:-572.85, Z:-47.34 [[ 8.75570329e-01 4.79741730e-01 5.67844319e-02 1.03895056e+03] [-4.78804248e-01 8.77409260e-01 -2.99913670e-02 -5.72850946e+02] [-6.42112967e-02 -9.29076120e-04 9.97935893e-01 -4.73434144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.01, Y:-572.88, Z:-47.35 [[ 8.78806998e-01 4.73787675e-01 5.67758672e-02 1.03900700e+03] [-4.72836687e-01 8.80638980e-01 -3.00075719e-02 -5.72875441e+02] [-6.42162595e-02 -4.74848778e-04 9.97935893e-01 -4.73549937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.06, Y:-572.91, Z:-47.36 [[ 8.79071476e-01 4.73297126e-01 5.67729697e-02 1.03906097e+03] [-4.72344761e-01 8.80902743e-01 -3.00130529e-02 -5.72905796e+02] [-6.42165564e-02 -4.32796102e-04 9.97935893e-01 -4.73584006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.12, Y:-572.94, Z:-47.36 [[ 8.79787641e-01 4.71965598e-01 5.67642706e-02 1.03911554e+03] [-4.71009400e-01 8.81616909e-01 -3.00294967e-02 -5.72936086e+02] [-6.42172301e-02 -3.16924975e-04 9.97935893e-01 -4.73600118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.17, Y:-572.97, Z:-47.36 [[ 8.80121476e-01 4.71343799e-01 5.67557094e-02 1.03916867e+03] [-4.70385266e-01 8.81949522e-01 -3.00456685e-02 -5.72966540e+02] [-6.42175104e-02 -2.53211379e-04 9.97935893e-01 -4.73628056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.22, Y:-573.00, Z:-47.37 [[ 8.82102185e-01 4.67627424e-01 5.67479363e-02 1.03922294e+03] [-4.66660245e-01 8.83925671e-01 -3.00603427e-02 -5.72996105e+02] [-6.42179983e-02 3.42880975e-05 9.97935894e-01 -4.73665893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.28, Y:-573.03, Z:-47.37 [[ 8.82334894e-01 4.67188705e-01 5.67437090e-02 1.03927663e+03] [-4.66220107e-01 8.84157626e-01 -3.00683203e-02 -5.73025423e+02] [-6.42179627e-02 7.52700830e-05 9.97935894e-01 -4.73697547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.33, Y:-573.05, Z:-47.37 [[ 8.82473280e-01 4.66927797e-01 5.67392575e-02 1.03933221e+03] [-4.65958120e-01 8.84295438e-01 -3.00767180e-02 -5.73054488e+02] [-6.42179222e-02 1.03782246e-04 9.97935894e-01 -4.73740059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.39, Y:-573.08, Z:-47.38 [[ 8.81578391e-01 4.68616212e-01 5.67308178e-02 1.03938763e+03] [-4.67649001e-01 8.83401860e-01 -3.00926287e-02 -5.73084477e+02] [-6.42180036e-02 -1.09908317e-06 9.97935894e-01 -4.73778589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.44, Y:-573.11, Z:-47.38 [[ 8.80110029e-01 4.71369189e-01 5.67223395e-02 1.03944274e+03] [-4.70406652e-01 8.81935969e-01 -3.01086010e-02 -5.73114153e+02] [-6.42177383e-02 -1.83684154e-04 9.97935894e-01 -4.73821196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.50, Y:-573.14, Z:-47.39 [[ 8.76634587e-01 4.77802606e-01 5.67139358e-02 1.03949704e+03] [-4.76852445e-01 8.78466997e-01 -3.01244223e-02 -5.73144649e+02] [-6.42148484e-02 -6.36068438e-04 9.97935894e-01 -4.73871818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.55, Y:-573.17, Z:-47.39 [[ 8.74941772e-01 4.80896601e-01 5.67040980e-02 1.03955235e+03] [-4.79951720e-01 8.76776910e-01 -3.01429290e-02 -5.73171642e+02] [-6.42124760e-02 -8.41921596e-04 9.97935894e-01 -4.73919732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.61, Y:-573.20, Z:-47.40 [[ 8.72825354e-01 4.84728012e-01 5.66979346e-02 1.03960633e+03] [-4.83790433e-01 8.74664234e-01 -3.01545178e-02 -5.73200356e+02] [-6.42083950e-02 -1.11029063e-03 9.97935894e-01 -4.73957863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.66, Y:-573.23, Z:-47.40 [[ 8.72173368e-01 4.85900611e-01 5.66940328e-02 1.03966132e+03] [-4.84965028e-01 8.74013263e-01 -3.01618519e-02 -5.73230522e+02] [-6.42069988e-02 -1.18825922e-03 9.97935894e-01 -4.73976996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.72, Y:-573.26, Z:-47.40 [[ 8.72191393e-01 4.85869253e-01 5.66854776e-02 1.03971671e+03] [-4.84932560e-01 8.74030723e-01 -3.01779216e-02 -5.73261119e+02] [-6.42073733e-02 -1.16771028e-03 9.97935895e-01 -4.73998516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.77, Y:-573.29, Z:-47.41 [[ 8.72930480e-01 4.84541112e-01 5.66770434e-02 1.03977143e+03] [-4.83600593e-01 8.74767857e-01 -3.01937538e-02 -5.73290855e+02] [-6.42093708e-02 -1.05200379e-03 9.97935895e-01 -4.74056989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.83, Y:-573.32, Z:-47.41 [[ 8.73642966e-01 4.83256360e-01 5.66679733e-02 1.03982624e+03] [-4.82312036e-01 8.75478389e-01 -3.02107670e-02 -5.73321147e+02] [-6.42111313e-02 -9.38221516e-04 9.97935895e-01 -4.74100383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.88, Y:-573.35, Z:-47.41 [[ 8.75117264e-01 4.80582494e-01 5.66589835e-02 1.03987995e+03] [-4.79631470e-01 8.76949226e-01 -3.02276176e-02 -5.73353317e+02] [-6.42139155e-02 -7.22721538e-04 9.97935895e-01 -4.74135191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.93, Y:-573.38, Z:-47.42 [[ 8.77393984e-01 4.76414296e-01 5.66499479e-02 1.03993448e+03] [-4.75453475e-01 8.79220826e-01 -3.02445418e-02 -5.73382606e+02] [-6.42167461e-02 -3.98035596e-04 9.97935895e-01 -4.74185268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1039.99, Y:-573.41, Z:-47.42 [[ 8.81426439e-01 4.68912742e-01 5.66416233e-02 1.03998782e+03] [-4.67935372e-01 8.83244481e-01 -3.02601242e-02 -5.73414671e+02] [-6.42177589e-02 1.67454437e-04 9.97935895e-01 -4.74230867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.04, Y:-573.45, Z:-47.43 [[ 8.84802827e-01 4.62511174e-01 5.66336637e-02 1.04004248e+03] [-4.61519698e-01 8.86613214e-01 -3.02750136e-02 -5.73445239e+02] [-6.42146867e-02 6.49866257e-04 9.97935896e-01 -4.74297209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1040.10, Y:-573.47, Z:-47.43 [[ 8.86012751e-01 4.60189939e-01 5.66270636e-02 1.04009767e+03] [-4.59192932e-01 8.87820099e-01 -3.02873537e-02 -5.73474149e+02] [-6.42125806e-02 8.32234192e-04 9.97935896e-01 -4.74313037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1040.15, Y:-573.50, Z:-47.44 [[ 8.87514467e-01 4.57287792e-01 5.66210760e-02 1.04015339e+03] [-4.56284161e-01 8.89318145e-01 -3.02985431e-02 -5.73504054e+02] [-6.42093041e-02 1.05509521e-03 9.97935896e-01 -4.74355945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.21, Y:-573.53, Z:-47.44 [[ 8.88188478e-01 4.55978340e-01 5.66125596e-02 1.04020963e+03] [-4.54971037e-01 8.89990107e-01 -3.03144476e-02 -5.73531967e+02] [-6.42073494e-02 1.16786809e-03 9.97935896e-01 -4.74414247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.26, Y:-573.56, Z:-47.45 [[ 8.87375037e-01 4.57560146e-01 5.66061618e-02 1.04026448e+03] [-4.56555293e-01 8.89178033e-01 -3.03263895e-02 -5.73560756e+02] [-6.42091028e-02 1.06703820e-03 9.97935896e-01 -4.74451688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.32, Y:-573.59, Z:-47.45 [[ 8.86078618e-01 4.60066389e-01 5.66003589e-02 1.04032045e+03] [-4.59065944e-01 8.87884065e-01 -3.03372160e-02 -5.73586206e+02] [-6.42116901e-02 8.97861206e-04 9.97935896e-01 -4.74516819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.38, Y:-573.62, Z:-47.45 [[ 8.84357302e-01 4.63367505e-01 5.65925529e-02 1.04037501e+03] [-4.62372870e-01 8.86165955e-01 -3.03517708e-02 -5.73615152e+02] [-6.42144180e-02 6.74949089e-04 9.97935896e-01 -4.74541358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1040.43, Y:-573.64, Z:-47.46 [[ 8.82943990e-01 4.66055260e-01 5.65898016e-02 1.04043238e+03] [-4.65065801e-01 8.84755480e-01 -3.03568996e-02 -5.73639540e+02] [-6.42161298e-02 4.85460619e-04 9.97935896e-01 -4.74612950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.49, Y:-573.67, Z:-47.47 [[ 8.80811418e-01 4.70074154e-01 5.65821051e-02 1.04048892e+03] [-4.69092040e-01 8.82626901e-01 -3.03712383e-02 -5.73666599e+02] [-6.42176222e-02 2.09118340e-04 9.97935896e-01 -4.74664678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.55, Y:-573.69, Z:-47.47 [[ 8.78670803e-01 4.74064338e-01 5.65740434e-02 1.04054567e+03] [-4.73089502e-01 8.80490204e-01 -3.03862478e-02 -5.73692561e+02] [-6.42179275e-02 -6.50772719e-05 9.97935897e-01 -4.74715848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.60, Y:-573.72, Z:-47.48 [[ 8.75319368e-01 4.80225191e-01 5.65665009e-02 1.04060222e+03] [-4.79262253e-01 8.77145094e-01 -3.04002824e-02 -5.73716917e+02] [-6.42160101e-02 -5.00232716e-04 9.97935897e-01 -4.74778030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.66, Y:-573.74, Z:-47.48 [[ 8.73143320e-01 4.84171282e-01 5.65589379e-02 1.04065840e+03] [-4.83215683e-01 8.74972897e-01 -3.04143467e-02 -5.73743135e+02] [-6.42132909e-02 -7.74082193e-04 9.97935897e-01 -4.74833348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.72, Y:-573.77, Z:-47.49 [[ 8.70584688e-01 4.88757600e-01 5.65535937e-02 1.04071501e+03] [-4.87810994e-01 8.72418935e-01 -3.04242805e-02 -5.73770376e+02] [-6.42085243e-02 -1.10055197e-03 9.97935897e-01 -4.74874633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.77, Y:-573.80, Z:-47.49 [[ 8.67144476e-01 4.94836454e-01 5.65450378e-02 1.04077167e+03] [-4.93901668e-01 8.68984774e-01 -3.04401738e-02 -5.73795649e+02] [-6.41996846e-02 -1.53165997e-03 9.97935897e-01 -4.74941374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1040.83, Y:-573.82, Z:-47.50 [[ 8.64804298e-01 4.98915904e-01 5.65371262e-02 1.04082845e+03] [-4.97988839e-01 8.66648497e-01 -3.04548612e-02 -5.73822366e+02] [-6.41922301e-02 -1.81736293e-03 9.97935897e-01 -4.74972982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.89, Y:-573.85, Z:-47.50 [[ 8.63180220e-01 5.01721423e-01 5.65289415e-02 1.04088563e+03] [-5.00799358e-01 8.65026924e-01 -3.04700456e-02 -5.73849351e+02] [-6.41865311e-02 -2.00851694e-03 9.97935897e-01 -4.75006641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1040.94, Y:-573.88, Z:-47.50 [[ 8.61782751e-01 5.04119020e-01 5.65199488e-02 1.04094166e+03] [-5.03201000e-01 8.63631469e-01 -3.04867174e-02 -5.73877216e+02] [-6.41813405e-02 -2.16796757e-03 9.97935898e-01 -4.75043900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.00, Y:-573.91, Z:-47.51 [[ 8.61408607e-01 5.04758383e-01 5.65171399e-02 1.04099637e+03] [-5.03841394e-01 8.63257836e-01 -3.04919238e-02 -5.73906651e+02] [-6.41799181e-02 -2.20966903e-03 9.97935898e-01 -4.75093007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.05, Y:-573.94, Z:-47.51 [[ 8.62507390e-01 5.02879463e-01 5.65088306e-02 1.04105222e+03] [-5.01957438e-01 8.64354114e-01 -3.05073152e-02 -5.73936147e+02] [-6.41851425e-02 -2.05224303e-03 9.97935898e-01 -4.75109627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.10, Y:-573.97, Z:-47.52 [[ 8.63950601e-01 5.00396973e-01 5.64998015e-02 1.04110473e+03] [-4.99468550e-01 8.65794116e-01 -3.05240280e-02 -5.73967958e+02] [-6.41913269e-02 -1.84862154e-03 9.97935898e-01 -4.75161872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.16, Y:-574.00, Z:-47.52 [[ 8.65811920e-01 4.97170425e-01 5.64914834e-02 1.04115889e+03] [-4.96234128e-01 8.67651448e-01 -3.05394147e-02 -5.73998883e+02] [-6.41982112e-02 -1.59161274e-03 9.97935898e-01 -4.75202314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.21, Y:-574.03, Z:-47.52 [[ 8.67746953e-01 4.93786273e-01 5.64831124e-02 1.04121274e+03] [-4.92841793e-01 8.69582294e-01 -3.05548892e-02 -5.74030692e+02] [-6.42042993e-02 -1.32332645e-03 9.97935898e-01 -4.75230507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.27, Y:-574.06, Z:-47.52 [[ 8.69576692e-01 4.90557861e-01 5.64744342e-02 1.04126563e+03] [-4.89605526e-01 8.71407969e-01 -3.05709207e-02 -5.74063421e+02] [-6.42090775e-02 -1.06643493e-03 9.97935898e-01 -4.75248257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.32, Y:-574.10, Z:-47.53 [[ 8.70514697e-01 4.88892287e-01 5.64667489e-02 1.04131860e+03] [-4.87935527e-01 8.72343666e-01 -3.05851095e-02 -5.74096246e+02] [-6.42112349e-02 -9.27345593e-04 9.97935898e-01 -4.75270153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.37, Y:-574.12, Z:-47.53 [[ 8.70898687e-01 4.88208812e-01 5.64591261e-02 1.04137450e+03] [-4.87249706e-01 8.72726426e-01 -3.05991744e-02 -5.74123136e+02] [-6.42121580e-02 -8.60911801e-04 9.97935899e-01 -4.75340510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.43, Y:-574.15, Z:-47.54 [[ 8.68891376e-01 4.91773358e-01 5.64512283e-02 1.04142882e+03] [-4.90820803e-01 8.70722538e-01 -3.06137379e-02 -5.74153967e+02] [-6.42083775e-02 -1.10742440e-03 9.97935899e-01 -4.75376555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.48, Y:-574.19, Z:-47.54 [[ 8.65752657e-01 4.97279123e-01 5.64429910e-02 1.04148073e+03] [-4.96337222e-01 8.67589322e-01 -3.06289177e-02 -5.74185836e+02] [-6.42004576e-02 -1.49769048e-03 9.97935899e-01 -4.75408229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.53, Y:-574.22, Z:-47.55 [[ 8.65101453e-01 4.98411982e-01 5.64355629e-02 1.04153478e+03] [-4.97471595e-01 8.66938893e-01 -3.06425982e-02 -5.74216380e+02] [-6.41988225e-02 -1.56613326e-03 9.97935899e-01 -4.75450953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.59, Y:-574.25, Z:-47.55 [[ 8.65041202e-01 4.98517454e-01 5.64275313e-02 1.04158973e+03] [-4.97576327e-01 8.66878263e-01 -3.06573811e-02 -5.74247590e+02] [-6.41990399e-02 -1.55710595e-03 9.97935899e-01 -4.75477840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.64, Y:-574.28, Z:-47.55 [[ 8.66337915e-01 4.96261555e-01 5.64188496e-02 1.04164377e+03] [-4.95314605e-01 8.68171980e-01 -3.06733498e-02 -5.74277704e+02] [-6.42032686e-02 -1.37159434e-03 9.97935899e-01 -4.75527050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.70, Y:-574.31, Z:-47.56 [[ 8.67214004e-01 4.94729906e-01 5.64109140e-02 1.04169898e+03] [-4.93778768e-01 8.69045901e-01 -3.06879370e-02 -5.74308328e+02] [-6.42059138e-02 -1.24150290e-03 9.97935899e-01 -4.75584665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.75, Y:-574.34, Z:-47.57 [[ 8.68418393e-01 4.92613771e-01 5.64018419e-02 1.04175398e+03] [-4.91657087e-01 8.70247400e-01 -3.07046017e-02 -5.74337981e+02] [-6.42090659e-02 -1.06592442e-03 9.97935900e-01 -4.75656656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.80, Y:-574.37, Z:-47.57 [[ 8.67509679e-01 4.94213320e-01 5.63928330e-02 1.04180449e+03] [-4.93258933e-01 8.69339885e-01 -3.07211388e-02 -5.74374339e+02] [-6.42073350e-02 -1.16538341e-03 9.97935900e-01 -4.75650289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.86, Y:-574.40, Z:-47.57 [[ 8.70302340e-01 4.89279630e-01 5.63851083e-02 1.04185963e+03] [-4.88313949e-01 8.72126612e-01 -3.07353102e-02 -5.74401955e+02] [-6.42131147e-02 -7.84622495e-04 9.97935900e-01 -4.75737158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1041.91, Y:-574.44, Z:-47.57 [[ 8.69027520e-01 4.91541231e-01 5.63771902e-02 1.04191040e+03] [-4.90579356e-01 8.70853802e-01 -3.07498274e-02 -5.74437827e+02] [-6.42110984e-02 -9.35039336e-04 9.97935900e-01 -4.75724178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1041.96, Y:-574.47, Z:-47.58 [[ 8.69146501e-01 4.91331646e-01 5.63699774e-02 1.04196435e+03] [-4.90368473e-01 8.70972098e-01 -3.07630440e-02 -5.74468802e+02] [-6.42115346e-02 -9.04467699e-04 9.97935900e-01 -4.75772906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.02, Y:-574.50, Z:-47.58 [[ 8.68897911e-01 4.91772047e-01 5.63620030e-02 1.04201777e+03] [-4.90808852e-01 8.70723496e-01 -3.07776474e-02 -5.74499462e+02] [-6.42113069e-02 -9.20336464e-04 9.97935900e-01 -4.75832025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.07, Y:-574.53, Z:-47.59 [[ 8.68734836e-01 4.92060897e-01 5.63547614e-02 1.04207232e+03] [-4.91097450e-01 8.70560288e-01 -3.07909011e-02 -5.74529943e+02] [-6.42112158e-02 -9.26551155e-04 9.97935900e-01 -4.75880752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1042.13, Y:-574.56, Z:-47.59 [[ 8.68931600e-01 4.91714293e-01 5.63465077e-02 1.04212653e+03] [-4.90749139e-01 8.70756150e-01 -3.08059979e-02 -5.74561252e+02] [-6.42118176e-02 -8.83695076e-04 9.97935901e-01 -4.75916457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.18, Y:-574.59, Z:-47.59 [[ 8.69475123e-01 4.90753528e-01 5.63381402e-02 1.04218061e+03] [-4.89785367e-01 8.71298079e-01 -3.08212929e-02 -5.74592398e+02] [-6.42129715e-02 -7.95249257e-04 9.97935901e-01 -4.75948617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.24, Y:-574.62, Z:-47.60 [[ 8.71114608e-01 4.87838401e-01 5.63297030e-02 1.04223593e+03] [-4.86863142e-01 8.72933777e-01 -3.08367052e-02 -5.74621635e+02] [-6.42154293e-02 -5.62551864e-04 9.97935901e-01 -4.75991195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.29, Y:-574.65, Z:-47.60 [[ 8.72001125e-01 4.86253014e-01 5.63209058e-02 1.04228842e+03] [-4.85273411e-01 8.73817958e-01 -3.08527642e-02 -5.74652563e+02] [-6.42164685e-02 -4.27393040e-04 9.97935901e-01 -4.76020308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.34, Y:-574.68, Z:-47.61 [[ 8.77074211e-01 4.77042202e-01 5.63166495e-02 1.04234346e+03] [-4.76043020e-01 8.78880351e-01 -3.08605315e-02 -5.74679894e+02] [-6.42173725e-02 2.57828468e-04 9.97935901e-01 -4.76089811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.40, Y:-574.71, Z:-47.61 [[ 8.79190067e-01 4.73132273e-01 5.63087746e-02 1.04239517e+03] [-4.72124139e-01 8.80991225e-01 -3.08748935e-02 -5.74713121e+02] [-6.42154448e-02 5.60167950e-04 9.97935901e-01 -4.76096431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.45, Y:-574.74, Z:-47.62 [[ 8.83311405e-01 4.65393482e-01 5.63015934e-02 1.04244980e+03] [-4.64368736e-01 8.85103163e-01 -3.08879832e-02 -5.74741558e+02] [-6.42077844e-02 1.13900811e-03 9.97935901e-01 -4.76158261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.50, Y:-574.77, Z:-47.62 [[ 8.85659513e-01 4.60910234e-01 5.62937206e-02 1.04250309e+03] [-4.59875508e-01 8.87445527e-01 -3.09023247e-02 -5.74771863e+02] [-6.42008083e-02 1.48083452e-03 9.97935901e-01 -4.76171162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.56, Y:-574.80, Z:-47.62 [[ 8.86579717e-01 4.59138238e-01 5.62892826e-02 1.04255887e+03] [-4.58099430e-01 8.88363360e-01 -3.09104065e-02 -5.74801435e+02] [-6.41974858e-02 1.61845120e-03 9.97935902e-01 -4.76206595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.62, Y:-574.83, Z:-47.63 [[ 8.87925160e-01 4.56531927e-01 5.62806344e-02 1.04261521e+03] [-4.55486887e-01 8.89705159e-01 -3.09261450e-02 -5.74826339e+02] [-6.41919433e-02 1.82501132e-03 9.97935902e-01 -4.76301039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.67, Y:-574.86, Z:-47.63 [[ 8.84478529e-01 4.63175025e-01 5.62728080e-02 1.04266902e+03] [-4.62142452e-01 8.86265788e-01 -3.09403792e-02 -5.74855414e+02] [-6.42034754e-02 1.36004754e-03 9.97935902e-01 -4.76283225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.72, Y:-574.88, Z:-47.63 [[ 8.81940422e-01 4.67990343e-01 5.62683827e-02 1.04272467e+03] [-4.66967017e-01 8.83732992e-01 -3.09484249e-02 -5.74882119e+02] [-6.42097902e-02 1.01918815e-03 9.97935902e-01 -4.76329036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.78, Y:-574.91, Z:-47.64 [[ 8.78851301e-01 4.73766661e-01 5.62631482e-02 1.04278151e+03] [-4.72754509e-01 8.80650203e-01 -3.09579383e-02 -5.74909786e+02] [-6.42149919e-02 6.08767369e-04 9.97935902e-01 -4.76359551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.84, Y:-574.94, Z:-47.64 [[ 8.73506975e-01 4.83550409e-01 5.62544908e-02 1.04283904e+03] [-4.82557394e-01 8.75316511e-01 -3.09736618e-02 -5.74936468e+02] [-6.42178115e-02 -9.03108415e-05 9.97935902e-01 -4.76397351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.90, Y:-574.96, Z:-47.64 [[ 8.69819858e-01 4.90152849e-01 5.62458916e-02 1.04289574e+03] [-4.89172559e-01 8.71636319e-01 -3.09892696e-02 -5.74963639e+02] [-6.42154407e-02 -5.58864624e-04 9.97935902e-01 -4.76438938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1042.95, Y:-574.99, Z:-47.64 [[ 8.66685642e-01 4.95674653e-01 5.62373282e-02 1.04295153e+03] [-4.94704928e-01 8.68507764e-01 -3.10048021e-02 -5.74990282e+02] [-6.42108507e-02 -9.49466524e-04 9.97935902e-01 -4.76448603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.01, Y:-575.02, Z:-47.65 [[ 8.63587492e-01 5.01053792e-01 5.62293630e-02 1.04300654e+03] [-5.00094474e-01 8.65415116e-01 -3.10192408e-02 -5.75016066e+02] [-6.42040489e-02 -1.33216538e-03 9.97935903e-01 -4.76512167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.06, Y:-575.05, Z:-47.65 [[ 8.62768538e-01 5.02463458e-01 5.62220887e-02 1.04306214e+03] [-5.01506269e-01 8.64597277e-01 -3.10324199e-02 -5.75045602e+02] [-6.42021218e-02 -1.42193438e-03 9.97935903e-01 -4.76535059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.12, Y:-575.08, Z:-47.66 [[ 8.62693660e-01 5.02592976e-01 5.62134242e-02 1.04311758e+03] [-5.01635040e-01 8.64522008e-01 -3.10481072e-02 -5.75075260e+02] [-6.42023029e-02 -1.41361807e-03 9.97935903e-01 -4.76572926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.17, Y:-575.11, Z:-47.66 [[ 8.62512210e-01 5.02905263e-01 5.62048446e-02 1.04317300e+03] [-5.01946977e-01 8.64340374e-01 -3.10636307e-02 -5.75105092e+02] [-6.42021798e-02 -1.41909107e-03 9.97935903e-01 -4.76611376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.23, Y:-575.13, Z:-47.67 [[ 8.62277399e-01 5.03308733e-01 5.61961440e-02 1.04322650e+03] [-5.02350278e-01 8.64105475e-01 -3.10793627e-02 -5.75133801e+02] [-6.42019103e-02 -1.43111653e-03 9.97935903e-01 -4.76670195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.28, Y:-575.16, Z:-47.67 [[ 8.62122134e-01 5.03575417e-01 5.61891903e-02 1.04328025e+03] [-5.02616709e-01 8.63950077e-01 -3.10919294e-02 -5.75163998e+02] [-6.42017866e-02 -1.43658536e-03 9.97935903e-01 -4.76723733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.33, Y:-575.20, Z:-47.68 [[ 8.63638953e-01 5.00970423e-01 5.61818055e-02 1.04333404e+03] [-5.00005333e-01 8.65463534e-01 -3.11052677e-02 -5.75196566e+02] [-6.42061230e-02 -1.22748155e-03 9.97935903e-01 -4.76751768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.39, Y:-575.23, Z:-47.68 [[ 8.67624755e-01 4.94036306e-01 5.61730656e-02 1.04338606e+03] [-4.93055611e-01 8.69440996e-01 -3.11210430e-02 -5.75230387e+02] [-6.42140913e-02 -6.95057889e-04 9.97935903e-01 -4.76761927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.44, Y:-575.26, Z:-47.68 [[ 8.69166711e-01 4.91319314e-01 5.61654726e-02 1.04343972e+03] [-4.90332056e-01 8.70979393e-01 -3.11347406e-02 -5.75262347e+02] [-6.42160686e-02 -4.78451558e-04 9.97935904e-01 -4.76788196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.49, Y:-575.30, Z:-47.68 [[ 8.72869702e-01 4.84711172e-01 5.61565981e-02 1.04349257e+03] [-4.83709161e-01 8.74674271e-01 -3.11507389e-02 -5.75295749e+02] [-6.42178426e-02 2.70752877e-05 9.97935904e-01 -4.76812728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.55, Y:-575.33, Z:-47.68 [[ 8.78615871e-01 4.74216805e-01 5.61477811e-02 1.04354503e+03] [-4.73192227e-01 8.80407723e-01 -3.11666230e-02 -5.75330017e+02] [-6.42126765e-02 8.14796024e-04 9.97935904e-01 -4.76841524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.60, Y:-575.36, Z:-47.69 [[ 8.81940716e-01 4.68005196e-01 5.61401021e-02 1.04359790e+03] [-4.66967120e-01 8.83724781e-01 -3.11804490e-02 -5.75362434e+02] [-6.42050116e-02 1.28372572e-03 9.97935904e-01 -4.76883108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1043.65, Y:-575.39, Z:-47.69 [[ 8.85395292e-01 4.61437232e-01 5.61325013e-02 1.04365053e+03] [-4.60385058e-01 8.87171080e-01 -3.11941264e-02 -5.75394353e+02] [-6.41932631e-02 1.77656771e-03 9.97935904e-01 -4.76934147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.71, Y:-575.43, Z:-47.70 [[ 8.86301441e-01 4.59695276e-01 5.61249490e-02 1.04370506e+03] [-4.58638753e-01 8.88074644e-01 -3.12077088e-02 -5.75425772e+02] [-6.41891804e-02 1.91836065e-03 9.97935904e-01 -4.76959813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.76, Y:-575.46, Z:-47.70 [[ 8.85600754e-01 4.61044751e-01 5.61163190e-02 1.04376092e+03] [-4.59989949e-01 8.87374981e-01 -3.12232191e-02 -5.75455867e+02] [-6.41915188e-02 1.83836367e-03 9.97935904e-01 -4.76971276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.81, Y:-575.48, Z:-47.70 [[ 8.84181932e-01 4.63760998e-01 5.61074674e-02 1.04381436e+03] [-4.62710639e-01 8.85958793e-01 -3.12391171e-02 -5.75484133e+02] [-6.41963883e-02 1.65954082e-03 9.97935905e-01 -4.77013164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.87, Y:-575.51, Z:-47.70 [[ 8.83062061e-01 4.65890571e-01 5.61014403e-02 1.04386970e+03] [-4.64843810e-01 8.84841044e-01 -3.12499373e-02 -5.75513976e+02] [-6.41999082e-02 1.51722681e-03 9.97935905e-01 -4.77037743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.93, Y:-575.54, Z:-47.71 [[ 8.79968758e-01 4.71708152e-01 5.60928276e-02 1.04392554e+03] [-4.70672169e-01 8.81754039e-01 -3.12653892e-02 -5.75540851e+02] [-6.42082163e-02 1.11123288e-03 9.97935905e-01 -4.77061647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1043.98, Y:-575.57, Z:-47.71 [[ 8.78540983e-01 4.74362911e-01 5.60853743e-02 1.04398073e+03] [-4.73331470e-01 8.80328892e-01 -3.12787537e-02 -5.75570041e+02] [-6.42110561e-02 9.32694294e-04 9.97935905e-01 -4.77085706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.04, Y:-575.60, Z:-47.71 [[ 8.74279047e-01 4.82173807e-01 5.60764445e-02 1.04403695e+03] [-4.81157315e-01 8.76075497e-01 -3.12947549e-02 -5.75595741e+02] [-6.42167101e-02 3.78757023e-04 9.97935905e-01 -4.77131868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.09, Y:-575.62, Z:-47.72 [[ 8.71426418e-01 4.87311354e-01 5.60681909e-02 1.04409386e+03] [-4.86304502e-01 8.73228289e-01 -3.13095352e-02 -5.75622661e+02] [-6.42178224e-02 1.77424267e-05 9.97935905e-01 -4.77182132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.15, Y:-575.65, Z:-47.72 [[ 8.68883461e-01 4.91832158e-01 5.60594332e-02 1.04415037e+03] [-4.90833670e-01 8.70689979e-01 -3.13252080e-02 -5.75649551e+02] [-6.42171313e-02 -2.97902249e-04 9.97935905e-01 -4.77230124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.21, Y:-575.68, Z:-47.73 [[ 8.65973281e-01 4.96939238e-01 5.60506026e-02 1.04420716e+03] [-4.95950381e-01 8.67785089e-01 -3.13410007e-02 -5.75675420e+02] [-6.42144502e-02 -6.57848526e-04 9.97935906e-01 -4.77285817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1044.27, Y:-575.69, Z:-47.75 [[ 8.68505926e-01 4.92500459e-01 5.60424354e-02 1.04426616e+03] [-4.91501400e-01 8.70312128e-01 -3.13555981e-02 -5.75694362e+02] [-6.42170577e-02 -3.12412643e-04 9.97935906e-01 -4.77460094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.32, Y:-575.72, Z:-47.75 [[ 8.66379960e-01 4.96231230e-01 5.60386677e-02 1.04432219e+03] [-4.95239513e-01 8.68190203e-01 -3.13623303e-02 -5.75723011e+02] [-6.42151900e-02 -5.80868062e-04 9.97935906e-01 -4.77480483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.38, Y:-575.75, Z:-47.75 [[ 8.64994091e-01 4.98644087e-01 5.60294354e-02 1.04437727e+03] [-4.97656352e-01 8.66806510e-01 -3.13788153e-02 -5.75754153e+02] [-6.42135401e-02 -7.40914598e-04 9.97935906e-01 -4.77509372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.43, Y:-575.79, Z:-47.76 [[ 8.62727150e-01 5.02557061e-01 5.60202183e-02 1.04443178e+03] [-5.01576478e-01 8.64543449e-01 -3.13952619e-02 -5.75786293e+02] [-6.42098233e-02 -1.01287897e-03 9.97935906e-01 -4.77551815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.48, Y:-575.82, Z:-47.75 [[ 8.60345587e-01 5.06623813e-01 5.60159194e-02 1.04448384e+03] [-5.05651315e-01 8.62166228e-01 -3.14029301e-02 -5.75819585e+02] [-6.42045061e-02 -1.30715094e-03 9.97935906e-01 -4.77512943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.54, Y:-575.85, Z:-47.76 [[ 8.60140152e-01 5.06973398e-01 5.60079680e-02 1.04453867e+03] [-5.06000718e-01 8.61960695e-01 -3.14171053e-02 -5.75850674e+02] [-6.42043037e-02 -1.31695825e-03 9.97935906e-01 -4.77551865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.59, Y:-575.88, Z:-47.77 [[ 8.63398085e-01 5.01405878e-01 5.59990418e-02 1.04459262e+03] [-5.00420425e-01 8.65211745e-01 -3.14330077e-02 -5.75880447e+02] [-6.42117235e-02 -8.83865661e-04 9.97935906e-01 -4.77661963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1044.64, Y:-575.92, Z:-47.76 [[ 8.64797121e-01 4.98989369e-01 5.59959751e-02 1.04464392e+03] [-4.97998494e-01 8.66607825e-01 -3.14384700e-02 -5.75915160e+02] [-6.42140125e-02 -6.98012933e-04 9.97935906e-01 -4.77625476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.70, Y:-575.95, Z:-47.77 [[ 8.68170252e-01 4.93098121e-01 5.59880110e-02 1.04469689e+03] [-4.92094044e-01 8.69973668e-01 -3.14526466e-02 -5.75947807e+02] [-6.42173362e-02 -2.45114568e-04 9.97935907e-01 -4.77657742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.75, Y:-575.98, Z:-47.77 [[ 8.75224204e-01 4.80467287e-01 5.59801579e-02 1.04475040e+03] [-4.79436292e-01 8.77012368e-01 -3.14666175e-02 -5.75977111e+02] [-6.42139712e-02 7.01425920e-04 9.97935907e-01 -4.77742432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.80, Y:-576.01, Z:-47.76 [[ 8.73272302e-01 4.84006726e-01 5.59729888e-02 1.04480136e+03] [-4.82982162e-01 8.75064158e-01 -3.14793648e-02 -5.76013245e+02] [-6.42161806e-02 4.56102181e-04 9.97935907e-01 -4.77628139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.85, Y:-576.04, Z:-47.78 [[ 8.80795115e-01 4.70178451e-01 5.59659719e-02 1.04485464e+03] [-4.69124972e-01 8.82570125e-01 -3.14918350e-02 -5.76043308e+02] [-6.42006770e-02 1.48281944e-03 9.97935907e-01 -4.77799769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.91, Y:-576.08, Z:-47.78 [[ 8.82267943e-01 4.67409888e-01 5.59577824e-02 1.04490688e+03] [-4.66349917e-01 8.84039085e-01 -3.15063801e-02 -5.76077319e+02] [-6.41952604e-02 1.70116199e-03 9.97935907e-01 -4.77842885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1044.96, Y:-576.11, Z:-47.79 [[ 8.83712446e-01 4.64674084e-01 5.59491709e-02 1.04496285e+03] [-4.63607664e-01 8.85479711e-01 -3.15216651e-02 -5.76105974e+02] [-6.41891566e-02 1.91762334e-03 9.97935907e-01 -4.77901791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.01, Y:-576.14, Z:-47.79 [[ 8.81582660e-01 4.68703268e-01 5.59397986e-02 1.04501473e+03] [-4.67643873e-01 8.83354145e-01 -3.15382889e-02 -5.76138823e+02] [-6.41967520e-02 1.64370452e-03 9.97935907e-01 -4.77909553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.07, Y:-576.17, Z:-47.80 [[ 8.79736447e-01 4.72160313e-01 5.59323099e-02 1.04507013e+03] [-4.71107036e-01 8.81511577e-01 -3.15515643e-02 -5.76167281e+02] [-6.42023752e-02 1.40695632e-03 9.97935908e-01 -4.77978179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.13, Y:-576.20, Z:-47.80 [[ 8.77620391e-01 4.76082924e-01 5.59240464e-02 1.04512585e+03] [-4.75036650e-01 8.79399657e-01 -3.15662043e-02 -5.76197166e+02] [-6.42077181e-02 1.13717285e-03 9.97935908e-01 -4.78029092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.18, Y:-576.23, Z:-47.81 [[ 8.73656157e-01 4.83320253e-01 5.59146910e-02 1.04517941e+03] [-4.82287660e-01 8.75443397e-01 -3.15827674e-02 -5.76228415e+02] [-6.42147381e-02 6.25513686e-04 9.97935908e-01 -4.78059429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.24, Y:-576.26, Z:-47.81 [[ 8.69736176e-01 4.90340185e-01 5.59060508e-02 1.04523624e+03] [-4.89321036e-01 8.71531116e-01 -3.15980544e-02 -5.76255863e+02] [-6.42176587e-02 1.25964317e-04 9.97935908e-01 -4.78122288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.29, Y:-576.29, Z:-47.81 [[ 8.65389687e-01 4.97972139e-01 5.58966835e-02 1.04529036e+03] [-4.96967749e-01 8.67192927e-01 -3.16146165e-02 -5.76287115e+02] [-6.42164067e-02 -4.19885917e-04 9.97935908e-01 -4.78141705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.34, Y:-576.32, Z:-47.82 [[ 8.60923067e-01 5.05656092e-01 5.58872847e-02 1.04534441e+03] [-5.04666717e-01 8.62734589e-01 -3.16312226e-02 -5.76317592e+02] [-6.42104140e-02 -9.72403253e-04 9.97935908e-01 -4.78188296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1045.40, Y:-576.35, Z:-47.82 [[ 8.56867093e-01 5.12500116e-01 5.58785929e-02 1.04539698e+03] [-5.11524206e-01 8.58685904e-01 -3.16465698e-02 -5.76351403e+02] [-6.42010307e-02 -1.46634856e-03 9.97935909e-01 -4.78232928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.45, Y:-576.38, Z:-47.83 [[ 8.57056571e-01 5.12184160e-01 5.58696718e-02 1.04545108e+03] [-5.11206554e-01 8.58874471e-01 -3.16623116e-02 -5.76382481e+02] [-6.42019692e-02 -1.42455018e-03 9.97935909e-01 -4.78290663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.50, Y:-576.42, Z:-47.83 [[ 8.55663470e-01 5.14509146e-01 5.58602345e-02 1.04550179e+03] [-5.13535394e-01 8.57483436e-01 -3.16789525e-02 -5.76417779e+02] [-6.41983366e-02 -1.57968508e-03 9.97935909e-01 -4.78311642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.55, Y:-576.45, Z:-47.84 [[ 8.56431668e-01 5.13230360e-01 5.58515517e-02 1.04555357e+03] [-5.12252893e-01 8.58249642e-01 -3.16942533e-02 -5.76453744e+02] [-6.42010273e-02 -1.46615671e-03 9.97935909e-01 -4.78364519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.61, Y:-576.48, Z:-47.84 [[ 8.58263618e-01 5.10161888e-01 5.58427313e-02 1.04560826e+03] [-5.09176911e-01 8.60077533e-01 -3.17097866e-02 -5.76483217e+02] [-6.42062032e-02 -1.21847330e-03 9.97935909e-01 -4.78449753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.66, Y:-576.52, Z:-47.85 [[ 8.56470058e-01 5.13168277e-01 5.58333140e-02 1.04565658e+03] [-5.12188587e-01 8.58286834e-01 -3.17263595e-02 -5.76522712e+02] [-6.42019596e-02 -1.42450923e-03 9.97935909e-01 -4.78474546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1045.71, Y:-576.56, Z:-47.85 [[ 8.56458655e-01 5.13188188e-01 5.58252352e-02 1.04570873e+03] [-5.12207614e-01 8.58274954e-01 -3.17405685e-02 -5.76556891e+02] [-6.42022860e-02 -1.40962596e-03 9.97935910e-01 -4.78529679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.76, Y:-576.59, Z:-47.86 [[ 8.56491174e-01 5.13134727e-01 5.58177465e-02 1.04576053e+03] [-5.12153182e-01 8.58306949e-01 -3.17537324e-02 -5.76592177e+02] [-6.42027025e-02 -1.39044489e-03 9.97935910e-01 -4.78560137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.81, Y:-576.63, Z:-47.86 [[ 8.56794998e-01 5.12628114e-01 5.58099317e-02 1.04581117e+03] [-5.11644602e-01 8.58609708e-01 -3.17674618e-02 -5.76628175e+02] [-6.42038431e-02 -1.33664793e-03 9.97935910e-01 -4.78589173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.87, Y:-576.66, Z:-47.86 [[ 8.56879091e-01 5.12488436e-01 5.58016662e-02 1.04586564e+03] [-5.11503683e-01 8.58693128e-01 -3.17819739e-02 -5.76660159e+02] [-6.42044015e-02 -1.30944884e-03 9.97935910e-01 -4.78611817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1045.92, Y:-576.69, Z:-47.87 [[ 8.57387233e-01 5.11638826e-01 5.57928660e-02 1.04592037e+03] [-5.10651271e-01 8.59199746e-01 -3.17974152e-02 -5.76689114e+02] [-6.42060085e-02 -1.22800012e-03 9.97935910e-01 -4.78653236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1045.98, Y:-576.72, Z:-47.87 [[ 8.58763821e-01 5.09325794e-01 5.57847289e-02 1.04597595e+03] [-5.08332430e-01 8.60573156e-01 -3.18116844e-02 -5.76716803e+02] [-6.42093516e-02 -1.03846319e-03 9.97935910e-01 -4.78710524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.03, Y:-576.75, Z:-47.88 [[ 8.61159251e-01 5.05265915e-01 5.57772410e-02 1.04603118e+03] [-5.04263170e-01 8.62963404e-01 -3.18248079e-02 -5.76745037e+02] [-6.42137084e-02 -7.20180692e-04 9.97935910e-01 -4.78811018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.08, Y:-576.78, Z:-47.88 [[ 8.59632608e-01 5.07859247e-01 5.57742371e-02 1.04608152e+03] [-5.06861604e-01 8.61439587e-01 -3.18300715e-02 -5.76781337e+02] [-6.42113319e-02 -9.07651934e-04 9.97935910e-01 -4.78766263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.14, Y:-576.81, Z:-47.88 [[ 8.59618646e-01 5.07883735e-01 5.57664326e-02 1.04613540e+03] [-5.06885256e-01 8.61425164e-01 -3.18437392e-02 -5.76813242e+02] [-6.42115255e-02 -8.93710480e-04 9.97935910e-01 -4.78808914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1046.19, Y:-576.84, Z:-47.89 [[ 8.59989286e-01 5.07256857e-01 5.57575941e-02 1.04618941e+03] [-5.06256059e-01 8.61794520e-01 -3.18592077e-02 -5.76843012e+02] [-6.42123906e-02 -8.29042497e-04 9.97935911e-01 -4.78866045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.24, Y:-576.87, Z:-47.89 [[ 8.61208580e-01 5.05184897e-01 5.57494430e-02 1.04624254e+03] [-5.04178833e-01 8.63010884e-01 -3.18734647e-02 -5.76874952e+02] [-6.42143691e-02 -6.57987881e-04 9.97935911e-01 -4.78909700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.30, Y:-576.90, Z:-47.90 [[ 8.63683861e-01 5.00942195e-01 5.57414239e-02 1.04629764e+03] [-4.99926372e-01 8.65480682e-01 -3.18874826e-02 -5.76903201e+02] [-6.42169111e-02 -3.25903664e-04 9.97935911e-01 -4.78984067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.35, Y:-576.94, Z:-47.90 [[ 8.61734209e-01 5.04289537e-01 5.57334406e-02 1.04634868e+03] [-5.03279791e-01 8.63534452e-01 -3.19014298e-02 -5.76938069e+02] [-6.42153034e-02 -5.58960942e-04 9.97935911e-01 -4.78961168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.40, Y:-576.97, Z:-47.90 [[ 8.60807200e-01 5.05871094e-01 5.57261304e-02 1.04640262e+03] [-5.04863830e-01 8.62608833e-01 -3.19141944e-02 -5.76967054e+02] [-6.42143207e-02 -6.62139332e-04 9.97935911e-01 -4.79018710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.46, Y:-577.00, Z:-47.91 [[ 8.60122972e-01 5.07034447e-01 5.57184228e-02 1.04645631e+03] [-5.06028748e-01 8.61925479e-01 -3.19276452e-02 -5.76997672e+02] [-6.42135442e-02 -7.33422648e-04 9.97935911e-01 -4.79067647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.51, Y:-577.03, Z:-47.91 [[ 8.59784021e-01 5.07609831e-01 5.57108347e-02 1.04650957e+03] [-5.06604480e-01 8.61586723e-01 -3.19408803e-02 -5.77028137e+02] [-6.42132204e-02 -7.61099962e-04 9.97935911e-01 -4.79116510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.56, Y:-577.06, Z:-47.91 [[ 8.59346919e-01 5.08350224e-01 5.57038875e-02 1.04656485e+03] [-5.07345642e-01 8.61150048e-01 -3.19529915e-02 -5.77058653e+02] [-6.42127158e-02 -8.02419849e-04 9.97935911e-01 -4.79143334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.62, Y:-577.09, Z:-47.92 [[ 8.58908995e-01 5.09090725e-01 5.56953571e-02 1.04661954e+03] [-5.08086733e-01 8.60712454e-01 -3.19678533e-02 -5.77088754e+02] [-6.42122251e-02 -8.40595301e-04 9.97935912e-01 -4.79174315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.67, Y:-577.12, Z:-47.92 [[ 8.58598318e-01 5.09615441e-01 5.56869020e-02 1.04667407e+03] [-5.08611597e-01 8.60401859e-01 -3.19825751e-02 -5.77119466e+02] [-6.42119281e-02 -8.62819038e-04 9.97935912e-01 -4.79215671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.73, Y:-577.15, Z:-47.93 [[ 8.58649074e-01 5.09530847e-01 5.56784002e-02 1.04672712e+03] [-5.08525866e-01 8.60451981e-01 -3.19973691e-02 -5.77150146e+02] [-6.42122363e-02 -8.39395356e-04 9.97935912e-01 -4.79275894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1046.78, Y:-577.18, Z:-47.93 [[ 8.59460644e-01 5.08161464e-01 5.56716054e-02 1.04678230e+03] [-5.07152846e-01 8.61261518e-01 -3.20091869e-02 -5.77179729e+02] [-6.42136467e-02 -7.23376723e-04 9.97935912e-01 -4.79326465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.83, Y:-577.21, Z:-47.94 [[ 8.58407914e-01 5.09938214e-01 5.56674946e-02 1.04683485e+03] [-5.08932860e-01 8.60210613e-01 -3.20163344e-02 -5.77211441e+02] [-6.42121221e-02 -8.47942379e-04 9.97935912e-01 -4.79377131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.89, Y:-577.24, Z:-47.94 [[ 8.58170438e-01 5.10338653e-01 5.56593117e-02 1.04688905e+03] [-5.09333218e-01 8.59973091e-01 -3.20305537e-02 -5.77243088e+02] [-6.42119400e-02 -8.61462039e-04 9.97935912e-01 -4.79396788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1046.94, Y:-577.27, Z:-47.94 [[ 8.58515234e-01 5.09759392e-01 5.56503000e-02 1.04694194e+03] [-5.08751726e-01 8.60316641e-01 -3.20462032e-02 -5.77273976e+02] [-6.42127322e-02 -8.00032544e-04 9.97935912e-01 -4.79447966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.00, Y:-577.31, Z:-47.95 [[ 8.59328265e-01 5.08388535e-01 5.56419783e-02 1.04699597e+03] [-5.07377060e-01 8.61127536e-01 -3.20606457e-02 -5.77306404e+02] [-6.42141044e-02 -6.80844366e-04 9.97935912e-01 -4.79472131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.05, Y:-577.34, Z:-47.95 [[ 8.61246285e-01 5.05133454e-01 5.56330031e-02 1.04704858e+03] [-5.04114173e-01 8.63041145e-01 -3.20762124e-02 -5.77338324e+02] [-6.42163386e-02 -4.19866552e-04 9.97935913e-01 -4.79517159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.10, Y:-577.37, Z:-47.96 [[ 8.61922725e-01 5.03979272e-01 5.56247230e-02 1.04710306e+03] [-5.02956661e-01 8.63715690e-01 -3.20905648e-02 -5.77368946e+02] [-6.42169255e-02 -3.17237975e-04 9.97935913e-01 -4.79551768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters Centerline goodness : 0.996637 with order 1 Centerline is valid? [True, True] Translation: X:1047.16, Y:-577.40, Z:-47.96 [[ 8.62490717e-01 5.03007589e-01 5.56159041e-02 1.04715650e+03] [-5.01981973e-01 8.64281965e-01 -3.21058415e-02 -5.77400657e+02] [-6.42173048e-02 -2.27190983e-04 9.97935913e-01 -4.79615778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.21, Y:-577.43, Z:-47.96 [[ 8.64115252e-01 5.00212763e-01 5.56059645e-02 1.04720933e+03] [-4.99180246e-01 8.65902530e-01 -3.21230474e-02 -5.77431595e+02] [-6.42177036e-02 6.16190565e-07 9.97935913e-01 -4.79617522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.27, Y:-577.46, Z:-47.97 [[ 8.63823963e-01 5.00716652e-01 5.55967271e-02 1.04726517e+03] [-4.99684149e-01 8.65611249e-01 -3.21390270e-02 -5.77460386e+02] [-6.42176984e-02 -1.83415702e-05 9.97935913e-01 -4.79665433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.32, Y:-577.49, Z:-47.97 [[ 8.63444133e-01 5.01372346e-01 5.55877657e-02 1.04732044e+03] [-5.00340203e-01 8.65231627e-01 -3.21545191e-02 -5.77490885e+02] [-6.42176797e-02 -4.91630947e-05 9.97935913e-01 -4.79717117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1047.38, Y:-577.52, Z:-47.98 [[ 8.62607934e-01 5.02810647e-01 5.55788292e-02 1.04737517e+03] [-5.01780489e-01 8.64396573e-01 -3.21699585e-02 -5.77520481e+02] [-6.42175471e-02 -1.38310667e-04 9.97935914e-01 -4.79768349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.43, Y:-577.55, Z:-47.99 [[ 8.61917518e-01 5.03994120e-01 5.55708496e-02 1.04743038e+03] [-5.02965530e-01 8.63707059e-01 -3.21837367e-02 -5.77547898e+02] [-6.42173491e-02 -2.10495350e-04 9.97935914e-01 -4.79850389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.48, Y:-577.58, Z:-47.99 [[ 8.59654764e-01 5.07844926e-01 5.55627332e-02 1.04748344e+03] [-5.06823447e-01 8.61448373e-01 -3.21977429e-02 -5.77578365e+02] [-6.42158865e-02 -4.81552839e-04 9.97935914e-01 -4.79866134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.54, Y:-577.61, Z:-47.99 [[ 8.58222872e-01 5.10261497e-01 5.55581406e-02 1.04753889e+03] [-5.09244555e-01 8.60019057e-01 -3.22056656e-02 -5.77607390e+02] [-6.42143708e-02 -6.53041791e-04 9.97935914e-01 -4.79896249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1047.59, Y:-577.64, Z:-47.99 [[ 8.57314511e-01 5.11787203e-01 5.55489814e-02 1.04759329e+03] [-5.10772434e-01 8.59111924e-01 -3.22214558e-02 -5.77636359e+02] [-6.42133211e-02 -7.48966876e-04 9.97935914e-01 -4.79923027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.65, Y:-577.67, Z:-48.00 [[ 8.57813584e-01 5.10951120e-01 5.55410533e-02 1.04764670e+03] [-5.09933715e-01 8.59609507e-01 -3.22351159e-02 -5.77667411e+02] [-6.42141860e-02 -6.70535336e-04 9.97935914e-01 -4.79956731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.70, Y:-577.70, Z:-48.00 [[ 8.58896087e-01 5.09130271e-01 5.55326774e-02 1.04770133e+03] [-5.08108126e-01 8.60689316e-01 -3.22495391e-02 -5.77697519e+02] [-6.42155987e-02 -5.17601692e-04 9.97935914e-01 -4.79988808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.76, Y:-577.73, Z:-48.00 [[ 8.60142549e-01 5.07022613e-01 5.55235597e-02 1.04775588e+03] [-5.05995061e-01 8.61932685e-01 -3.22652293e-02 -5.77726781e+02] [-6.42167717e-02 -3.41950428e-04 9.97935914e-01 -4.80042799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.81, Y:-577.76, Z:-48.01 [[ 8.60975318e-01 5.05608121e-01 5.55151386e-02 1.04781031e+03] [-5.04576694e-01 8.62763224e-01 -3.22797119e-02 -5.77758630e+02] [-6.42173045e-02 -2.19609881e-04 9.97935915e-01 -4.80086126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1047.86, Y:-577.79, Z:-48.01 [[ 8.61959925e-01 5.03928682e-01 5.55065031e-02 1.04786354e+03] [-5.02892816e-01 8.63745262e-01 -3.22945543e-02 -5.77789700e+02] [-6.42176313e-02 -7.72100880e-05 9.97935915e-01 -4.80136148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.92, Y:-577.82, Z:-48.02 [[ 8.62923863e-01 5.02277098e-01 5.54988576e-02 1.04791598e+03] [-5.01236970e-01 8.64706721e-01 -3.23076880e-02 -5.77820903e+02] [-6.42176469e-02 6.09957541e-05 9.97935915e-01 -4.80191637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1047.97, Y:-577.85, Z:-48.02 [[ 8.63306595e-01 5.01619454e-01 5.54945717e-02 1.04796902e+03] [-5.00577494e-01 8.65088383e-01 -3.23150481e-02 -5.77853032e+02] [-6.42175661e-02 1.18460519e-04 9.97935915e-01 -4.80240651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.02, Y:-577.89, Z:-48.03 [[ 8.63920957e-01 5.00561500e-01 5.54866210e-02 1.04802254e+03] [-4.99516482e-01 8.65700953e-01 -3.23286942e-02 -5.77886136e+02] [-6.42173203e-02 2.12954681e-04 9.97935915e-01 -4.80260713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.08, Y:-577.92, Z:-48.03 [[ 8.65546201e-01 4.97746928e-01 5.54776545e-02 1.04807569e+03] [-4.96695137e-01 8.67322202e-01 -3.23440739e-02 -5.77919873e+02] [-6.42161649e-02 4.39809098e-04 9.97935915e-01 -4.80284770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.13, Y:-577.95, Z:-48.03 [[ 8.66696496e-01 4.95742304e-01 5.54684831e-02 1.04812933e+03] [-4.94685399e-01 8.68469458e-01 -3.23597948e-02 -5.77953162e+02] [-6.42148027e-02 6.06672041e-04 9.97935915e-01 -4.80320974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.18, Y:-577.99, Z:-48.04 [[ 8.67676041e-01 4.94026863e-01 5.54594219e-02 1.04818298e+03] [-4.92965461e-01 8.69446314e-01 -3.23753167e-02 -5.77986798e+02] [-6.42132661e-02 7.51707139e-04 9.97935916e-01 -4.80357352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.24, Y:-578.02, Z:-48.04 [[ 8.68072672e-01 4.93330612e-01 5.54503761e-02 1.04823552e+03] [-4.92266800e-01 8.69841499e-01 -3.23908024e-02 -5.78020652e+02] [-6.42124126e-02 8.21191136e-04 9.97935916e-01 -4.80391380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.29, Y:-578.05, Z:-48.04 [[ 8.67323654e-01 4.94647285e-01 5.54413500e-02 1.04828943e+03] [-4.93585172e-01 8.69093501e-01 -3.24062444e-02 -5.78052264e+02] [-6.42133778e-02 7.41674057e-04 9.97935916e-01 -4.80439343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.34, Y:-578.08, Z:-48.05 [[ 8.64775719e-01 4.99089375e-01 5.54323975e-02 1.04834301e+03] [-4.98035373e-01 8.66550409e-01 -3.24215509e-02 -5.78082990e+02] [-6.42162183e-02 4.30075286e-04 9.97935916e-01 -4.80487953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.40, Y:-578.11, Z:-48.05 [[ 8.62578421e-01 5.02878332e-01 5.54242788e-02 1.04839656e+03] [-5.01831234e-01 8.64357193e-01 -3.24354239e-02 -5.78114162e+02] [-6.42174459e-02 1.64462564e-04 9.97935916e-01 -4.80543096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.45, Y:-578.15, Z:-48.06 [[ 8.60507461e-01 5.06414859e-01 5.54156995e-02 1.04845115e+03] [-5.05374127e-01 8.62289965e-01 -3.24500749e-02 -5.78145682e+02] [-6.42176017e-02 -8.21292211e-05 9.97935916e-01 -4.80574029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1048.51, Y:-578.18, Z:-48.06 [[ 8.58724495e-01 5.09433380e-01 5.54064355e-02 1.04850565e+03] [-5.08397894e-01 8.60510051e-01 -3.24658849e-02 -5.78177520e+02] [-6.42170001e-02 -2.89264508e-04 9.97935916e-01 -4.80609345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.56, Y:-578.21, Z:-48.06 [[ 8.57265646e-01 5.11885495e-01 5.53972194e-02 1.04855930e+03] [-5.10854101e-01 8.59053568e-01 -3.24816029e-02 -5.78208298e+02] [-6.42160404e-02 -4.54534429e-04 9.97935917e-01 -4.80639292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.61, Y:-578.24, Z:-48.07 [[ 8.57010038e-01 5.12314190e-01 5.53892256e-02 1.04861406e+03] [-5.11282809e-01 8.58797968e-01 -3.24952287e-02 -5.78239579e+02] [-6.42159211e-02 -4.70821627e-04 9.97935917e-01 -4.80679318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.67, Y:-578.27, Z:-48.07 [[ 8.57402650e-01 5.11657832e-01 5.53801287e-02 1.04866800e+03] [-5.10624082e-01 8.59189211e-01 -3.25107247e-02 -5.78271334e+02] [-6.42163760e-02 -4.03645873e-04 9.97935917e-01 -4.80722008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.72, Y:-578.30, Z:-48.08 [[ 8.59411245e-01 5.08277824e-01 5.53711666e-02 1.04872216e+03] [-5.07236064e-01 8.61193147e-01 -3.25259815e-02 -5.78303411e+02] [-6.42175043e-02 -1.33058393e-04 9.97935917e-01 -4.80760841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.78, Y:-578.34, Z:-48.08 [[ 8.60632038e-01 5.06208974e-01 5.53621745e-02 1.04877665e+03] [-5.05161947e-01 8.62410849e-01 -3.25412797e-02 -5.78335269e+02] [-6.42176278e-02 3.92039764e-05 9.97935917e-01 -4.80797898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.83, Y:-578.37, Z:-48.08 [[ 8.61622700e-01 5.04521919e-01 5.53530069e-02 1.04883090e+03] [-5.03470407e-01 8.63398865e-01 -3.25568664e-02 -5.78366181e+02] [-6.42173761e-02 1.83134206e-04 9.97935917e-01 -4.80846080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.88, Y:-578.40, Z:-48.09 [[ 8.62163574e-01 5.03598095e-01 5.53437525e-02 1.04888359e+03] [-5.02543671e-01 8.63938010e-01 -3.25725905e-02 -5.78396509e+02] [-6.42170660e-02 2.70248480e-04 9.97935918e-01 -4.80909688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.94, Y:-578.43, Z:-48.10 [[ 8.61912078e-01 5.04029223e-01 5.53363597e-02 1.04893702e+03] [-5.02974879e-01 8.63686563e-01 -3.25851451e-02 -5.78427364e+02] [-6.42171356e-02 2.52731242e-04 9.97935918e-01 -4.80950204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1048.99, Y:-578.46, Z:-48.10 [[ 8.60939913e-01 5.05688869e-01 5.53284219e-02 1.04899152e+03] [-5.04637081e-01 8.62715913e-01 -3.25986176e-02 -5.78458626e+02] [-6.42174681e-02 1.44677679e-04 9.97935918e-01 -4.80993790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.05, Y:-578.49, Z:-48.10 [[ 8.59688693e-01 5.07814066e-01 5.53193083e-02 1.04904512e+03] [-5.06765673e-01 8.61466700e-01 -3.26140759e-02 -5.78489474e+02] [-6.42176284e-02 4.02583283e-06 9.97935918e-01 -4.81039039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1049.10, Y:-578.52, Z:-48.11 [[ 8.58803094e-01 5.09311205e-01 5.53113140e-02 1.04909865e+03] [-5.08265039e-01 8.60582412e-01 -3.26276281e-02 -5.78520550e+02] [-6.42175606e-02 -9.20991764e-05 9.97935918e-01 -4.81089343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters Centerline goodness : 0.997549 with order 1 Centerline is valid? [True, True] Translation: X:1049.15, Y:-578.55, Z:-48.12 [[ 8.56170069e-01 5.13726003e-01 5.53028657e-02 1.04915234e+03] [-5.12688088e-01 8.57954211e-01 -3.26419415e-02 -5.78550708e+02] [-6.42163407e-02 -4.06067114e-04 9.97935918e-01 -4.81185227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.21, Y:-578.58, Z:-48.12 [[ 8.55013468e-01 5.15649743e-01 5.52929687e-02 1.04920637e+03] [-5.14614757e-01 8.56799312e-01 -3.26586977e-02 -5.78581028e+02] [-6.42154266e-02 -5.30951296e-04 9.97935918e-01 -4.81205564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.26, Y:-578.61, Z:-48.12 [[ 8.52576784e-01 5.19669732e-01 5.52828806e-02 1.04925916e+03] [-5.18642060e-01 8.54366846e-01 -3.26757653e-02 -5.78614619e+02] [-6.42124666e-02 -8.13428220e-04 9.97935919e-01 -4.81158602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.31, Y:-578.65, Z:-48.12 [[ 8.51034840e-01 5.22192016e-01 5.52738665e-02 1.04931099e+03] [-5.21168659e-01 8.52827372e-01 -3.26910064e-02 -5.78646006e+02] [-6.42100488e-02 -9.85821454e-04 9.97935919e-01 -4.81192277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.36, Y:-578.68, Z:-48.12 [[ 8.50273114e-01 5.23432197e-01 5.52663263e-02 1.04936452e+03] [-5.22410627e-01 8.52066665e-01 -3.27037486e-02 -5.78678785e+02] [-6.42087893e-02 -1.06459804e-03 9.97935919e-01 -4.81224590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.42, Y:-578.71, Z:-48.13 [[ 8.49645636e-01 5.24451097e-01 5.52570382e-02 1.04941710e+03] [-5.23430658e-01 8.51439830e-01 -3.27194346e-02 -5.78710347e+02] [-6.42077866e-02 -1.12330307e-03 9.97935919e-01 -4.81271535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.47, Y:-578.74, Z:-48.13 [[ 8.49139083e-01 5.25271764e-01 5.52484551e-02 1.04946998e+03] [-5.24252117e-01 8.50933727e-01 -3.27339211e-02 -5.78742009e+02] [-6.42069783e-02 -1.16846778e-03 9.97935919e-01 -4.81318638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.52, Y:-578.77, Z:-48.14 [[ 8.48836369e-01 5.25761666e-01 5.52402823e-02 1.04952199e+03] [-5.24742158e-01 8.50631093e-01 -3.27477073e-02 -5.78773642e+02] [-6.42065909e-02 -1.18945993e-03 9.97935919e-01 -4.81380945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.57, Y:-578.81, Z:-48.14 [[ 8.49636601e-01 5.24468286e-01 5.52328085e-02 1.04957392e+03] [-5.23445226e-01 8.51429303e-01 -3.27603081e-02 -5.78807013e+02] [-6.42085742e-02 -1.07699312e-03 9.97935919e-01 -4.81423006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.63, Y:-578.84, Z:-48.15 [[ 8.51317645e-01 5.21736019e-01 5.52249411e-02 1.04962612e+03] [-5.20706346e-01 8.53106556e-01 -3.27735650e-02 -5.78839910e+02] [-6.42119086e-02 -8.55263120e-04 9.97935919e-01 -4.81450738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.68, Y:-578.87, Z:-48.15 [[ 8.53721819e-01 5.17793533e-01 5.52169557e-02 1.04967821e+03] [-5.16754729e-01 8.55505443e-01 -3.27870133e-02 -5.78873758e+02] [-6.42153096e-02 -5.42634274e-04 9.97935920e-01 -4.81497617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.73, Y:-578.91, Z:-48.15 [[ 8.59561384e-01 5.08041581e-01 5.52085125e-02 1.04973089e+03] [-5.06981627e-01 8.61332520e-01 -3.28012243e-02 -5.78907178e+02] [-6.42172730e-02 2.04964268e-04 9.97935920e-01 -4.81539294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.78, Y:-578.94, Z:-48.15 [[ 8.62615133e-01 5.02839937e-01 5.52008165e-02 1.04978274e+03] [-5.01768474e-01 8.64379331e-01 -3.28141707e-02 -5.78941764e+02] [-6.42147203e-02 6.07970774e-04 9.97935920e-01 -4.81536014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.83, Y:-578.97, Z:-48.16 [[ 8.63918353e-01 5.00598531e-01 5.51923114e-02 1.04983381e+03] [-4.99521578e-01 8.65679204e-01 -3.28284697e-02 -5.78973898e+02] [-6.42127199e-02 7.91366931e-04 9.97935920e-01 -4.81595222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.89, Y:-579.00, Z:-48.16 [[ 8.65538467e-01 4.97792827e-01 5.51857240e-02 1.04988761e+03] [-4.96709461e-01 8.67295380e-01 -3.28395396e-02 -5.79004692e+02] [-6.42096107e-02 1.01261354e-03 9.97935920e-01 -4.81641938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1049.94, Y:-579.04, Z:-48.17 [[ 8.66206409e-01 4.96630519e-01 5.51777458e-02 1.04994070e+03] [-4.95543943e-01 8.67961339e-01 -3.28529393e-02 -5.79035975e+02] [-6.42079224e-02 1.11442887e-03 9.97935920e-01 -4.81693499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1050.00, Y:-579.07, Z:-48.17 [[ 8.66058608e-01 4.96889029e-01 5.51704656e-02 1.04999568e+03] [-4.95802198e-01 8.67813379e-01 -3.28651606e-02 -5.79066425e+02] [-6.42080059e-02 1.10951711e-03 9.97935920e-01 -4.81722056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1050.05, Y:-579.09, Z:-48.18 [[ 8.65705618e-01 4.97504774e-01 5.51614252e-02 1.05005173e+03] [-4.96418225e-01 8.67460564e-01 -3.28803271e-02 -5.79094431e+02] [-6.42084807e-02 1.08154706e-03 9.97935920e-01 -4.81762103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.11, Y:-579.12, Z:-48.18 [[ 8.64508888e-01 4.99581745e-01 5.51585223e-02 1.05010627e+03] [-4.98499102e-01 8.66266246e-01 -3.28851962e-02 -5.79123806e+02] [-6.42108098e-02 9.33070564e-04 9.97935920e-01 -4.81796225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.16, Y:-579.15, Z:-48.18 [[ 8.60864962e-01 5.05835917e-01 5.51501871e-02 1.05016040e+03] [-5.04765147e-01 8.62629579e-01 -3.28991688e-02 -5.79152842e+02] [-6.42157639e-02 4.83849407e-04 9.97935921e-01 -4.81823683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.22, Y:-579.18, Z:-48.19 [[ 8.57854477e-01 5.10925690e-01 5.51419627e-02 1.05021598e+03] [-5.09864505e-01 8.59624874e-01 -3.29129479e-02 -5.79182089e+02] [-6.42174734e-02 1.19590212e-04 9.97935921e-01 -4.81863911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.27, Y:-579.21, Z:-48.19 [[ 8.54484825e-01 5.16542407e-01 5.51328078e-02 1.05027155e+03] [-5.15491869e-01 8.56261561e-01 -3.29282762e-02 -5.79210489e+02] [-6.42169552e-02 -2.83801799e-04 9.97935921e-01 -4.81913219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.33, Y:-579.24, Z:-48.20 [[ 8.50337617e-01 5.23342464e-01 5.51235211e-02 1.05032810e+03] [-5.22305127e-01 8.52122092e-01 -3.29438154e-02 -5.79238578e+02] [-6.42128676e-02 -7.77932180e-04 9.97935921e-01 -4.81959114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.38, Y:-579.27, Z:-48.20 [[ 8.48472374e-01 5.26362093e-01 5.51142299e-02 1.05038209e+03] [-5.25330096e-01 8.50259943e-01 -3.29593519e-02 -5.79268255e+02] [-6.42099755e-02 -9.88064151e-04 9.97935921e-01 -4.81986619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.44, Y:-579.30, Z:-48.20 [[ 8.47506222e-01 5.27917089e-01 5.51067310e-02 1.05043739e+03] [-5.26887557e-01 8.49295212e-01 -3.29718851e-02 -5.79298672e+02] [-6.42083044e-02 -1.09117307e-03 9.97935921e-01 -4.82018226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.49, Y:-579.33, Z:-48.21 [[ 8.47076216e-01 5.28607757e-01 5.50973966e-02 1.05049251e+03] [-5.27578671e-01 8.48865462e-01 -3.29874759e-02 -5.79329393e+02] [-6.42077127e-02 -1.12530495e-03 9.97935921e-01 -4.82062083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.55, Y:-579.36, Z:-48.21 [[ 8.46721443e-01 5.29176829e-01 5.50879478e-02 1.05054604e+03] [-5.28147919e-01 8.48510791e-01 -3.30032476e-02 -5.79360149e+02] [-6.42072720e-02 -1.15002751e-03 9.97935922e-01 -4.82106459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.60, Y:-579.39, Z:-48.21 [[ 8.46441927e-01 5.29624720e-01 5.50792225e-02 1.05059995e+03] [-5.28595810e-01 8.48231274e-01 -3.30178028e-02 -5.79392037e+02] [-6.42069637e-02 -1.16699364e-03 9.97935922e-01 -4.82147192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.65, Y:-579.42, Z:-48.22 [[ 8.46532062e-01 5.29481612e-01 5.50698672e-02 1.05065353e+03] [-5.28451386e-01 8.48320651e-01 -3.30333991e-02 -5.79422575e+02] [-6.42074830e-02 -1.13791614e-03 9.97935922e-01 -4.82209813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.71, Y:-579.45, Z:-48.23 [[ 8.46803197e-01 5.29048737e-01 5.50615953e-02 1.05070524e+03] [-5.28016701e-01 8.48590742e-01 -3.30471813e-02 -5.79454657e+02] [-6.42083296e-02 -1.08898311e-03 9.97935922e-01 -4.82266039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.76, Y:-579.49, Z:-48.23 [[ 8.47180505e-01 5.28445121e-01 5.50540329e-02 1.05075824e+03] [-5.27410992e-01 8.48966841e-01 -3.30597749e-02 -5.79487085e+02] [-6.42093251e-02 -1.02850528e-03 9.97935922e-01 -4.82314220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1050.81, Y:-579.52, Z:-48.24 [[ 8.48854348e-01 5.25753052e-01 5.50456473e-02 1.05081124e+03] [-5.24712353e-01 8.50636864e-01 -3.30737312e-02 -5.79520675e+02] [-6.42124720e-02 -8.08350585e-04 9.97935922e-01 -4.82359950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.86, Y:-579.55, Z:-48.24 [[ 8.51651974e-01 5.21209995e-01 5.50368717e-02 1.05086456e+03] [-5.20158843e-01 8.53428345e-01 -3.30883280e-02 -5.79554978e+02] [-6.42159936e-02 -4.48175689e-04 9.97935922e-01 -4.82377061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1050.92, Y:-579.59, Z:-48.24 [[ 8.57645315e-01 5.11289051e-01 5.50274513e-02 1.05091582e+03] [-5.10216345e-01 8.59408754e-01 -3.31039873e-02 -5.79590461e+02] [-6.42167796e-02 3.15574540e-04 9.97935923e-01 -4.82405655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1050.97, Y:-579.63, Z:-48.24 [[ 8.62005858e-01 5.03903541e-01 5.50192897e-02 1.05096686e+03] [-5.02814863e-01 8.63759481e-01 -3.31175464e-02 -5.79625998e+02] [-6.42114820e-02 8.83002392e-04 9.97935923e-01 -4.82430696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.02, Y:-579.66, Z:-48.25 [[ 8.65833662e-01 4.97298539e-01 5.50112008e-02 1.05101926e+03] [-4.96195633e-01 8.67578372e-01 -3.31309773e-02 -5.79660986e+02] [-6.42025147e-02 1.38959780e-03 9.97935923e-01 -4.82461374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.07, Y:-579.70, Z:-48.25 [[ 8.69817242e-01 4.90298649e-01 5.50018261e-02 1.05107041e+03] [-4.89180724e-01 8.71552366e-01 -3.31465334e-02 -5.79696193e+02] [-6.41886722e-02 1.92559314e-03 9.97935923e-01 -4.82504566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1051.12, Y:-579.73, Z:-48.26 [[ 8.70634902e-01 4.88845886e-01 5.49960562e-02 1.05112252e+03] [-4.87724462e-01 8.72367767e-01 -3.31561039e-02 -5.79729125e+02] [-6.41850117e-02 2.04393939e-03 9.97935923e-01 -4.82550648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1051.17, Y:-579.76, Z:-48.26 [[ 8.69005230e-01 4.91737975e-01 5.49879471e-02 1.05117482e+03] [-4.90621469e-01 8.70741268e-01 -3.31695471e-02 -5.79761842e+02] [-6.41910006e-02 1.84624251e-03 9.97935923e-01 -4.82613442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1051.23, Y:-579.79, Z:-48.27 [[ 8.66352774e-01 4.96397095e-01 5.49799449e-02 1.05122862e+03] [-4.95289086e-01 8.68094248e-01 -3.31828058e-02 -5.79793795e+02] [-6.41996223e-02 1.51704917e-03 9.97935923e-01 -4.82665204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.28, Y:-579.83, Z:-48.27 [[ 8.63197292e-01 5.01865175e-01 5.49707372e-02 1.05128255e+03] [-5.00767229e-01 8.64945127e-01 -3.31980523e-02 -5.79825969e+02] [-6.42076175e-02 1.12892513e-03 9.97935924e-01 -4.82709149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.34, Y:-579.86, Z:-48.27 [[ 8.58679944e-01 5.09556668e-01 5.49613949e-02 1.05133604e+03] [-5.08473391e-01 8.60436908e-01 -3.32135117e-02 -5.79857992e+02] [-6.42149791e-02 5.73369544e-04 9.97935924e-01 -4.82747296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.39, Y:-579.89, Z:-48.28 [[ 8.54405361e-01 5.16692713e-01 5.49556057e-02 1.05138893e+03] [-5.15623495e-01 8.56170916e-01 -3.32230880e-02 -5.79890212e+02] [-6.42175187e-02 4.95829889e-05 9.97935924e-01 -4.82762025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.44, Y:-579.92, Z:-48.28 [[ 8.53007766e-01 5.18997617e-01 5.49474694e-02 1.05144291e+03] [-5.17932303e-01 8.54775679e-01 -3.32365391e-02 -5.79922374e+02] [-6.42174451e-02 -1.08043387e-04 9.97935924e-01 -4.82797803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.50, Y:-579.95, Z:-48.28 [[ 8.49882233e-01 5.24101114e-01 5.49382666e-02 1.05149589e+03] [-5.23045433e-01 8.51655914e-01 -3.32517438e-02 -5.79953047e+02] [-6.42157757e-02 -4.75143181e-04 9.97935924e-01 -4.82835107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.55, Y:-579.99, Z:-48.29 [[ 8.48262671e-01 5.26719125e-01 5.49309044e-02 1.05155011e+03] [-5.25668131e-01 8.50039134e-01 -3.32639016e-02 -5.79985122e+02] [-6.42141516e-02 -6.58899857e-04 9.97935924e-01 -4.82878262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.60, Y:-580.02, Z:-48.30 [[ 8.46862696e-01 5.28968049e-01 5.49215482e-02 1.05160323e+03] [-5.27920771e-01 8.48641352e-01 -3.32793423e-02 -5.80015911e+02] [-6.42124057e-02 -8.11192559e-04 9.97935924e-01 -4.82968874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.66, Y:-580.05, Z:-48.30 [[ 8.45197338e-01 5.31625278e-01 5.49183472e-02 1.05165519e+03] [-5.30583248e-01 8.46979074e-01 -3.32846239e-02 -5.80048646e+02] [-6.42096382e-02 -1.00667952e-03 9.97935924e-01 -4.82984127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1051.71, Y:-580.08, Z:-48.30 [[ 8.44910306e-01 5.32082195e-01 5.49100307e-02 1.05170723e+03] [-5.31040238e-01 8.46692085e-01 -3.32983380e-02 -5.80081519e+02] [-6.42093412e-02 -1.02532685e-03 9.97935924e-01 -4.83048231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.76, Y:-580.11, Z:-48.31 [[ 8.44996496e-01 5.31946153e-01 5.49018506e-02 1.05175911e+03] [-5.30903033e-01 8.46777593e-01 -3.33118199e-02 -5.80114839e+02] [-6.42097513e-02 -9.99187935e-04 9.97935925e-01 -4.83094009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.81, Y:-580.15, Z:-48.31 [[ 8.45344614e-01 5.31393607e-01 5.48937017e-02 1.05181156e+03] [-5.30348451e-01 8.47124518e-01 -3.33252429e-02 -5.80148718e+02] [-6.42106216e-02 -9.41475049e-04 9.97935925e-01 -4.83134760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1051.87, Y:-580.18, Z:-48.32 [[ 8.49612088e-01 5.24544586e-01 5.48842161e-02 1.05186502e+03] [-5.23484071e-01 8.51382884e-01 -3.33408576e-02 -5.80179812e+02] [-6.42162485e-02 -4.04217259e-04 9.97935925e-01 -4.83239811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.91, Y:-580.22, Z:-48.32 [[ 8.48910929e-01 5.25678823e-01 5.48817758e-02 1.05191322e+03] [-5.24620415e-01 8.50682984e-01 -3.33448740e-02 -5.80219172e+02] [-6.42156870e-02 -4.85272051e-04 9.97935925e-01 -4.83191768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1051.97, Y:-580.25, Z:-48.33 [[ 8.52757842e-01 5.19415932e-01 5.48739705e-02 1.05196649e+03] [-5.18343683e-01 8.54521556e-01 -3.33577140e-02 -5.80250239e+02] [-6.42175187e-02 2.47623283e-06 9.97935925e-01 -4.83258016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.02, Y:-580.29, Z:-48.32 [[ 8.53571015e-01 5.18079444e-01 5.48654092e-02 1.05201557e+03] [-5.17003528e-01 8.55332494e-01 -3.33717892e-02 -5.80288110e+02] [-6.42174053e-02 1.19581857e-04 9.97935925e-01 -4.83236005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.07, Y:-580.32, Z:-48.33 [[ 8.55410160e-01 5.15037967e-01 5.48575528e-02 1.05206840e+03] [-5.13954960e-01 8.57167289e-01 -3.33846990e-02 -5.80322049e+02] [-6.42164872e-02 3.63299313e-04 9.97935925e-01 -4.83278613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1052.12, Y:-580.36, Z:-48.33 [[ 8.57427165e-01 5.11674041e-01 5.48482745e-02 1.05212111e+03] [-5.10583166e-01 8.59179419e-01 -3.33999354e-02 -5.80355993e+02] [-6.42143886e-02 6.33406223e-04 9.97935925e-01 -4.83318886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.18, Y:-580.38, Z:-48.34 [[ 8.62736318e-01 5.02671582e-01 5.48390840e-02 1.05217561e+03] [-5.01561469e-01 8.64476448e-01 -3.34150185e-02 -5.80384849e+02] [-6.42038768e-02 1.32317854e-03 9.97935926e-01 -4.83403875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1052.23, Y:-580.42, Z:-48.35 [[ 8.65120640e-01 4.98557808e-01 5.48305636e-02 1.05222884e+03] [-4.97438536e-01 8.66854893e-01 -3.34289937e-02 -5.80415544e+02] [-6.41964282e-02 1.64527711e-03 9.97935926e-01 -4.83478742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.28, Y:-580.45, Z:-48.34 [[ 8.64924124e-01 4.98899642e-01 5.48215890e-02 1.05227998e+03] [-4.97780124e-01 8.66658218e-01 -3.34437051e-02 -5.80451361e+02] [-6.41966331e-02 1.63716993e-03 9.97935926e-01 -4.83444171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.34, Y:-580.48, Z:-48.35 [[ 8.65849586e-01 4.97292644e-01 5.48135154e-02 1.05233511e+03] [-4.96169071e-01 8.67581055e-01 -3.34569323e-02 -5.80482433e+02] [-6.41930538e-02 1.77189999e-03 9.97935926e-01 -4.83467940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1052.39, Y:-580.51, Z:-48.35 [[ 8.65671639e-01 4.97603392e-01 5.48039877e-02 1.05238860e+03] [-4.96479454e-01 8.67402871e-01 -3.34725319e-02 -5.80513294e+02] [-6.41931817e-02 1.76716769e-03 9.97935926e-01 -4.83511693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.45, Y:-580.54, Z:-48.35 [[ 8.63430808e-01 5.01482529e-01 5.47952031e-02 1.05244569e+03] [-5.00365458e-01 8.65166479e-01 -3.34869064e-02 -5.80541085e+02] [-6.42000713e-02 1.49599972e-03 9.97935926e-01 -4.83540941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1052.50, Y:-580.57, Z:-48.36 [[ 8.60868376e-01 5.05869714e-01 5.47856821e-02 1.05250159e+03] [-5.04760500e-01 8.62609078e-01 -3.35024757e-02 -5.80569817e+02] [-6.42065146e-02 1.18757360e-03 9.97935926e-01 -4.83574867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.56, Y:-580.60, Z:-48.36 [[ 8.57800198e-01 5.11056157e-01 5.47761356e-02 1.05255666e+03] [-5.09956473e-01 8.59546936e-01 -3.35180769e-02 -5.80597585e+02] [-6.42122791e-02 8.18368117e-04 9.97935927e-01 -4.83613115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.61, Y:-580.62, Z:-48.37 [[ 8.53500020e-01 5.18206460e-01 5.47702542e-02 1.05261414e+03] [-5.17120794e-01 8.55255505e-01 -3.35276847e-02 -5.80623520e+02] [-6.42168242e-02 2.93042207e-04 9.97935927e-01 -4.83651096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1052.67, Y:-580.65, Z:-48.37 [[ 8.51457814e-01 5.21556169e-01 5.47608810e-02 1.05267036e+03] [-5.20476425e-01 8.53216947e-01 -3.35429870e-02 -5.80651956e+02] [-6.42174635e-02 5.86907669e-05 9.97935927e-01 -4.83699065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.73, Y:-580.68, Z:-48.37 [[ 8.50164473e-01 5.23662710e-01 5.47515734e-02 1.05272537e+03] [-5.22586347e-01 8.51925677e-01 -3.35581727e-02 -5.80681378e+02] [-6.42174349e-02 -8.24584987e-05 9.97935927e-01 -4.83724385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.78, Y:-580.71, Z:-48.38 [[ 8.49759567e-01 5.24319827e-01 5.47484949e-02 1.05278209e+03] [-5.23244502e-01 8.51521405e-01 -3.35631944e-02 -5.80708444e+02] [-6.42173636e-02 -1.26203377e-04 9.97935927e-01 -4.83769771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1052.84, Y:-580.74, Z:-48.38 [[ 8.49789867e-01 5.24271748e-01 5.47386089e-02 1.05283631e+03] [-5.23195285e-01 8.51551010e-01 -3.35793099e-02 -5.80737922e+02] [-6.42174012e-02 -1.03624845e-04 9.97935927e-01 -4.83812176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.89, Y:-580.77, Z:-48.39 [[ 8.49713431e-01 5.24396242e-01 5.47326771e-02 1.05289149e+03] [-5.23319415e-01 8.51474351e-01 -3.35889757e-02 -5.80767130e+02] [-6.42174033e-02 -1.01668807e-04 9.97935927e-01 -4.83857040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1052.94, Y:-580.80, Z:-48.38 [[ 8.48802988e-01 5.25869496e-01 5.47244164e-02 1.05294416e+03] [-5.24794858e-01 8.50565244e-01 -3.36024290e-02 -5.80798729e+02] [-6.42171790e-02 -1.97250210e-04 9.97935927e-01 -4.83848900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.00, Y:-580.83, Z:-48.39 [[ 8.47593154e-01 5.27817481e-01 5.47225077e-02 1.05299796e+03] [-5.26746692e-01 8.49357752e-01 -3.36055370e-02 -5.80829620e+02] [-6.42165760e-02 -3.41076784e-04 9.97935927e-01 -4.83860748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.05, Y:-580.86, Z:-48.39 [[ 8.46142552e-01 5.30140756e-01 5.47134371e-02 1.05305129e+03] [-5.29073857e-01 8.47909505e-01 -3.36202985e-02 -5.80859924e+02] [-6.42155338e-02 -4.99883964e-04 9.97935928e-01 -4.83883606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.10, Y:-580.89, Z:-48.39 [[ 8.45445217e-01 5.31252293e-01 5.47118558e-02 1.05310420e+03] [-5.30187551e-01 8.47213470e-01 -3.36228715e-02 -5.80891664e+02] [-6.42148488e-02 -5.81248926e-04 9.97935928e-01 -4.83935306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1053.16, Y:-580.92, Z:-48.41 [[ 8.46881841e-01 5.28959451e-01 5.47087493e-02 1.05315718e+03] [-5.27889595e-01 8.48647005e-01 -3.36279255e-02 -5.80919481e+02] [-6.42162252e-02 -4.01300067e-04 9.97935928e-01 -4.84080945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.21, Y:-580.95, Z:-48.41 [[ 8.46495813e-01 5.29577044e-01 5.47082593e-02 1.05321074e+03] [-5.28508424e-01 8.48261726e-01 -3.36287227e-02 -5.80953180e+02] [-6.42159220e-02 -4.47202978e-04 9.97935928e-01 -4.84109356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1053.26, Y:-580.99, Z:-48.41 [[ 8.46471409e-01 5.29617026e-01 5.46988075e-02 1.05326341e+03] [-5.28547496e-01 8.48236771e-01 -3.36440894e-02 -5.80986280e+02] [-6.42160224e-02 -4.32157974e-04 9.97935928e-01 -4.84138021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.31, Y:-581.02, Z:-48.42 [[ 8.46888709e-01 5.28950342e-01 5.46904999e-02 1.05331392e+03] [-5.27878551e-01 8.48652698e-01 -3.36575886e-02 -5.81019898e+02] [-6.42164333e-02 -3.65710031e-04 9.97935928e-01 -4.84170518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.37, Y:-581.05, Z:-48.42 [[ 8.47214916e-01 5.28428487e-01 5.46829029e-02 1.05336620e+03] [-5.27354814e-01 8.48977760e-01 -3.36699267e-02 -5.81054633e+02] [-6.42167169e-02 -3.11627942e-04 9.97935928e-01 -4.84190173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.42, Y:-581.09, Z:-48.42 [[ 8.47598309e-01 5.27814298e-01 5.46733347e-02 1.05341851e+03] [-5.26738345e-01 8.49359763e-01 -3.36854565e-02 -5.81089138e+02] [-6.42169962e-02 -2.46805853e-04 9.97935928e-01 -4.84232092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.47, Y:-581.12, Z:-48.43 [[ 8.47605413e-01 5.27803874e-01 5.46638322e-02 1.05347078e+03] [-5.26726905e-01 8.49366246e-01 -3.37008698e-02 -5.81123490e+02] [-6.42170636e-02 -2.27871446e-04 9.97935928e-01 -4.84273997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.52, Y:-581.16, Z:-48.43 [[ 8.47092167e-01 5.28628191e-01 5.46543452e-02 1.05352392e+03] [-5.27551943e-01 8.48853440e-01 -3.37162485e-02 -5.81157445e+02] [-6.42168883e-02 -2.72236006e-04 9.97935928e-01 -4.84319117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.58, Y:-581.19, Z:-48.44 [[ 8.46271948e-01 5.29941238e-01 5.46449850e-02 1.05357604e+03] [-5.28866744e-01 8.48034291e-01 -3.37314121e-02 -5.81190439e+02] [-6.42164874e-02 -3.53967525e-04 9.97935929e-01 -4.84363310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.63, Y:-581.22, Z:-48.44 [[ 8.45380195e-01 5.31363502e-01 5.46365614e-02 1.05362849e+03] [-5.30291092e-01 8.47143807e-01 -3.37450507e-02 -5.81223834e+02] [-6.42159129e-02 -4.45884260e-04 9.97935929e-01 -4.84416754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.68, Y:-581.26, Z:-48.44 [[ 8.42694684e-01 5.35613130e-01 5.46282493e-02 1.05367754e+03] [-5.34548740e-01 8.44463148e-01 -3.37585013e-02 -5.81262084e+02] [-6.42130399e-02 -7.53352269e-04 9.97935929e-01 -4.84376037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.73, Y:-581.30, Z:-48.44 [[ 8.40939119e-01 5.38365504e-01 5.46258381e-02 1.05372777e+03] [-5.37306649e-01 8.42710902e-01 -3.37624026e-02 -5.81299334e+02] [-6.42103022e-02 -9.58700907e-04 9.97935929e-01 -4.84402316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.78, Y:-581.33, Z:-48.44 [[ 8.39903205e-01 5.39980522e-01 5.46227274e-02 1.05377948e+03] [-5.38924747e-01 8.41676825e-01 -3.37674344e-02 -5.81333263e+02] [-6.42084407e-02 -1.07616318e-03 9.97935929e-01 -4.84442181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.83, Y:-581.37, Z:-48.45 [[ 8.38038097e-01 5.42871507e-01 5.46138629e-02 1.05383087e+03] [-5.41820917e-01 8.39814793e-01 -3.37817655e-02 -5.81368329e+02] [-6.42046879e-02 -1.28052674e-03 9.97935929e-01 -4.84479548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.88, Y:-581.40, Z:-48.46 [[ 8.36843878e-01 5.44711506e-01 5.46049435e-02 1.05388248e+03] [-5.43663881e-01 8.38622324e-01 -3.37961766e-02 -5.81401909e+02] [-6.42020909e-02 -1.40461205e-03 9.97935929e-01 -4.84574922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.93, Y:-581.43, Z:-48.46 [[ 8.36615551e-01 5.45062461e-01 5.46015889e-02 1.05393488e+03] [-5.44015229e-01 8.38394229e-01 -3.38015955e-02 -5.81434044e+02] [-6.42016379e-02 -1.42515547e-03 9.97935929e-01 -4.84641072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1053.99, Y:-581.47, Z:-48.47 [[ 8.34755848e-01 5.47907285e-01 5.45919481e-02 1.05398627e+03] [-5.46865097e-01 8.36537486e-01 -3.38171589e-02 -5.81468464e+02] [-6.41968788e-02 -1.62535984e-03 9.97935929e-01 -4.84678464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.04, Y:-581.50, Z:-48.47 [[ 8.33667586e-01 5.49562660e-01 5.45824051e-02 1.05403756e+03] [-5.48523003e-01 8.35450701e-01 -3.38325547e-02 -5.81503788e+02] [-6.41940174e-02 -1.73460054e-03 9.97935929e-01 -4.84739815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1054.09, Y:-581.54, Z:-48.48 [[ 8.33531729e-01 5.49769141e-01 5.45779198e-02 1.05408934e+03] [-5.48729452e-01 8.35314825e-01 -3.38397888e-02 -5.81535883e+02] [-6.41938172e-02 -1.74197435e-03 9.97935930e-01 -4.84783553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1054.14, Y:-581.57, Z:-48.48 [[ 8.34035517e-01 5.49005385e-01 5.45696228e-02 1.05414041e+03] [-5.47963189e-01 8.35817149e-01 -3.38531632e-02 -5.81572963e+02] [-6.41957955e-02 -1.66740403e-03 9.97935930e-01 -4.84820382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:1054.19, Y:-581.61, Z:-48.49 [[ 8.34664582e-01 5.48049488e-01 5.45600001e-02 1.05419065e+03] [-5.47004239e-01 8.36444425e-01 -3.38686646e-02 -5.81609655e+02] [-6.41981123e-02 -1.57557653e-03 9.97935930e-01 -4.84886762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.24, Y:-581.65, Z:-48.49 [[ 8.35942865e-01 5.46098100e-01 5.45563160e-02 1.05424156e+03] [-5.45048309e-01 8.37720032e-01 -3.38745982e-02 -5.81645046e+02] [-6.42017725e-02 -1.41859911e-03 9.97935930e-01 -4.84906318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1054.29, Y:-581.68, Z:-48.49 [[ 8.36979450e-01 5.44509150e-01 5.45452575e-02 1.05429269e+03] [-5.43454826e-01 8.38753932e-01 -3.38923953e-02 -5.81680880e+02] [-6.42047685e-02 -1.27564503e-03 9.97935930e-01 -4.84932808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.34, Y:-581.72, Z:-48.50 [[ 8.38214116e-01 5.42607442e-01 5.45367707e-02 1.05434252e+03] [-5.41548204e-01 8.39985668e-01 -3.39060461e-02 -5.81716015e+02] [-6.42077787e-02 -1.11376373e-03 9.97935930e-01 -4.84988247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.40, Y:-581.75, Z:-48.50 [[ 8.37872515e-01 5.43135554e-01 5.45290532e-02 1.05439677e+03] [-5.42076625e-01 8.39644253e-01 -3.39184531e-02 -5.81747368e+02] [-6.42073240e-02 -1.13958556e-03 9.97935930e-01 -4.85040050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1054.45, Y:-581.78, Z:-48.51 [[ 8.37334765e-01 5.43965223e-01 5.45190601e-02 1.05445109e+03] [-5.42907004e-01 8.39106926e-01 -3.39345080e-02 -5.81776247e+02] [-6.42065132e-02 -1.18423632e-03 9.97935930e-01 -4.85092228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.51, Y:-581.81, Z:-48.51 [[ 8.37621242e-01 5.43524852e-01 5.45104670e-02 1.05450520e+03] [-5.42464804e-01 8.39392309e-01 -3.39483058e-02 -5.81807354e+02] [-6.42074147e-02 -1.13418776e-03 9.97935931e-01 -4.85127944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.56, Y:-581.84, Z:-48.52 [[ 8.37574815e-01 5.43597425e-01 5.45001789e-02 1.05455696e+03] [-5.42536457e-01 8.39345331e-01 -3.39648142e-02 -5.81841429e+02] [-6.42076563e-02 -1.12026100e-03 9.97935931e-01 -4.85173197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1054.61, Y:-581.88, Z:-48.52 [[ 8.37637050e-01 5.43502471e-01 5.44906983e-02 1.05460903e+03] [-5.42440313e-01 8.39406853e-01 -3.39800174e-02 -5.81875583e+02] [-6.42080890e-02 -1.09502993e-03 9.97935931e-01 -4.85206294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1054.66, Y:-581.91, Z:-48.53 [[ 8.37983428e-01 5.42969072e-01 5.44826729e-02 1.05466236e+03] [-5.41904952e-01 8.39752051e-01 -3.39928803e-02 -5.81908837e+02] [-6.42090190e-02 -1.03895986e-03 9.97935931e-01 -4.85250114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters Centerline goodness : 0.997496 with order 1 Centerline is valid? [True, True] Translation: X:1054.71, Y:-581.94, Z:-48.54 [[ 8.38945100e-01 5.41482955e-01 5.44731950e-02 1.05471300e+03] [-5.40414716e-01 8.40711238e-01 -3.40080618e-02 -5.81941474e+02] [-6.42110130e-02 -9.07219454e-04 9.97935931e-01 -4.85363234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.19, Y:-581.36, Z:-47.53 [[ 8.90681547e-01 4.51353551e-01 5.44642502e-02 1.05519230e+03] [-4.50106667e-01 8.92326435e-01 -3.40223809e-02 -5.81358202e+02] [-6.39560127e-02 5.78838473e-03 9.97935931e-01 -4.75288905e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.25, Y:-581.39, Z:-47.53 [[ 8.91004152e-01 4.50357241e-01 5.73581510e-02 1.05524734e+03] [-4.49478859e-01 8.92848158e-01 -2.81233413e-02 -5.81389870e+02] [-6.38776699e-02 -7.23262377e-04 9.97957474e-01 -4.75315109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.30, Y:-581.42, Z:-47.53 [[ 8.90344598e-01 4.51660243e-01 5.73543588e-02 1.05530301e+03] [-4.50784062e-01 8.92189650e-01 -2.81310729e-02 -5.81416423e+02] [-6.38766526e-02 -8.08082094e-04 9.97957474e-01 -4.75326661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.36, Y:-581.44, Z:-47.54 [[ 8.89467293e-01 4.53386046e-01 5.73500417e-02 1.05536011e+03] [-4.52512878e-01 8.91313773e-01 -2.81398714e-02 -5.81442492e+02] [-6.38751071e-02 -9.22137171e-04 9.97957474e-01 -4.75383600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters Centerline goodness : 0.998208 with order 1 Centerline is valid? [True, True] Translation: X:1055.42, Y:-581.47, Z:-47.54 [[ 8.88881194e-01 4.54535090e-01 5.73417364e-02 1.05541608e+03] [-4.53663218e-01 8.90728286e-01 -2.81567853e-02 -5.81470931e+02] [-6.38741535e-02 -9.85799762e-04 9.97957474e-01 -4.75444661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.47, Y:-581.50, Z:-47.55 [[ 8.89145779e-01 4.54018568e-01 5.73317049e-02 1.05547149e+03] [-4.53144307e-01 8.90991741e-01 -2.81771962e-02 -5.81497795e+02] [-6.38750459e-02 -9.25900626e-04 9.97957475e-01 -4.75469276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.53, Y:-581.53, Z:-47.55 [[ 8.89487129e-01 4.53350641e-01 5.73222893e-02 1.05552743e+03] [-4.52473760e-01 8.91331848e-01 -2.81963379e-02 -5.81525403e+02] [-6.38760099e-02 -8.56552163e-04 9.97957475e-01 -4.75504894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.58, Y:-581.55, Z:-47.56 [[ 8.89907088e-01 4.52526721e-01 5.73144164e-02 1.05558386e+03] [-4.51647102e-01 8.91750503e-01 -2.82123321e-02 -5.81553063e+02] [-6.38769938e-02 -7.79535783e-04 9.97957475e-01 -4.75552633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.64, Y:-581.58, Z:-47.56 [[ 8.90331008e-01 4.51693109e-01 5.73064756e-02 1.05563961e+03] [-4.50810727e-01 8.92173101e-01 -2.82284527e-02 -5.81581050e+02] [-6.38778936e-02 -7.01707180e-04 9.97957475e-01 -4.75608238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1055.69, Y:-581.61, Z:-47.57 [[ 8.90628468e-01 4.51107304e-01 5.72986297e-02 1.05569462e+03] [-4.50222686e-01 8.92469489e-01 -2.82443695e-02 -5.81608564e+02] [-6.38785201e-02 -6.41903480e-04 9.97957475e-01 -4.75674245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1055.75, Y:-581.64, Z:-47.57 [[ 8.90358555e-01 4.51640722e-01 5.72913843e-02 1.05575087e+03] [-4.50756262e-01 8.92199651e-01 -2.82590586e-02 -5.81636349e+02] [-6.38782947e-02 -6.63755668e-04 9.97957476e-01 -4.75710552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.81, Y:-581.66, Z:-47.58 [[ 8.89896659e-01 4.52551146e-01 5.72834795e-02 1.05580751e+03] [-4.51667539e-01 8.91738165e-01 -2.82750732e-02 -5.81663973e+02] [-6.38777816e-02 -7.11195010e-04 9.97957476e-01 -4.75751159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.86, Y:-581.69, Z:-47.58 [[ 8.90075495e-01 4.52200302e-01 5.72756452e-02 1.05586379e+03] [-4.51314949e-01 8.91916162e-01 -2.82909339e-02 -5.81691770e+02] [-6.38782425e-02 -6.68287842e-04 9.97957476e-01 -4.75793040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.92, Y:-581.72, Z:-47.58 [[ 8.91368833e-01 4.49646532e-01 5.72677904e-02 1.05591937e+03] [-4.48754884e-01 8.93206459e-01 -2.83068250e-02 -5.81721213e+02] [-6.38800260e-02 -4.67379112e-04 9.97957476e-01 -4.75836606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1055.97, Y:-581.75, Z:-47.59 [[ 8.92375878e-01 4.47645116e-01 5.72637915e-02 1.05597495e+03] [-4.46748828e-01 8.94211245e-01 -2.83149124e-02 -5.81747564e+02] [-6.38809585e-02 -3.14986929e-04 9.97957476e-01 -4.75867325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.03, Y:-581.77, Z:-47.59 [[ 8.93738936e-01 4.44918590e-01 5.72552445e-02 1.05603016e+03] [-4.44015596e-01 8.95571012e-01 -2.83321847e-02 -5.81774965e+02] [-6.38816529e-02 -1.00644861e-04 9.97957476e-01 -4.75897758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.09, Y:-581.80, Z:-47.60 [[ 8.93665880e-01 4.45066247e-01 5.72479725e-02 1.05608600e+03] [-4.44162615e-01 8.95497642e-01 -2.83468709e-02 -5.81802253e+02] [-6.38816598e-02 -9.47778254e-05 9.97957476e-01 -4.75955390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.14, Y:-581.83, Z:-47.60 [[ 8.93782862e-01 4.44832269e-01 5.72402707e-02 1.05614222e+03] [-4.43927161e-01 8.95613895e-01 -2.83624144e-02 -5.81829714e+02] [-6.38816990e-02 -6.06710012e-05 9.97957477e-01 -4.75980747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1056.20, Y:-581.86, Z:-47.60 [[ 8.92821440e-01 4.46759305e-01 5.72363493e-02 1.05619838e+03] [-4.45857642e-01 8.94654172e-01 -2.83703259e-02 -5.81856398e+02] [-6.38814457e-02 -1.89628528e-04 9.97957477e-01 -4.76038903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.25, Y:-581.88, Z:-47.61 [[ 8.92287003e-01 4.47826731e-01 5.72287026e-02 1.05625481e+03] [-4.46926272e-01 8.94120326e-01 -2.83857423e-02 -5.81883988e+02] [-6.38812404e-02 -2.48781820e-04 9.97957477e-01 -4.76080950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.31, Y:-581.91, Z:-47.61 [[ 8.90557110e-01 4.51258057e-01 5.72206204e-02 1.05631102e+03] [-4.50363616e-01 8.92393377e-01 -2.84020253e-02 -5.81910185e+02] [-6.38799454e-02 -4.76459892e-04 9.97957477e-01 -4.76129340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1056.37, Y:-581.94, Z:-47.62 [[ 8.89046359e-01 4.54228105e-01 5.72136364e-02 1.05636605e+03] [-4.53338893e-01 8.90885163e-01 -2.84160872e-02 -5.81936259e+02] [-6.38781652e-02 -6.73947746e-04 9.97957477e-01 -4.76192557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.42, Y:-581.96, Z:-47.63 [[ 8.88515235e-01 4.55266965e-01 5.72072462e-02 1.05642226e+03] [-4.54379074e-01 8.90354678e-01 -2.84289461e-02 -5.81961165e+02] [-6.38774992e-02 -7.34223816e-04 9.97957477e-01 -4.76268534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.48, Y:-581.99, Z:-47.63 [[ 8.88348870e-01 4.55591858e-01 5.72044122e-02 1.05647873e+03] [-4.54704273e-01 8.90188460e-01 -2.84346475e-02 -5.81986550e+02] [-6.38773015e-02 -7.51203700e-04 9.97957477e-01 -4.76303661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.53, Y:-582.02, Z:-47.63 [[ 8.85342641e-01 4.61407617e-01 5.71963119e-02 1.05653187e+03] [-4.60531064e-01 8.87187513e-01 -2.84509319e-02 -5.82018774e+02] [-6.38713304e-02 -1.15185512e-03 9.97957477e-01 -4.76278775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.59, Y:-582.05, Z:-47.63 [[ 8.83383661e-01 4.65148051e-01 5.71891381e-02 1.05658828e+03] [-4.64278376e-01 8.85231786e-01 -2.84653446e-02 -5.82046386e+02] [-6.38662424e-02 -1.40585984e-03 9.97957477e-01 -4.76320504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.64, Y:-582.07, Z:-47.64 [[ 8.82293804e-01 4.67212988e-01 5.71810152e-02 1.05664434e+03] [-4.66346581e-01 8.84143462e-01 -2.84816525e-02 -5.82074067e+02] [-6.38632187e-02 -1.53698544e-03 9.97957478e-01 -4.76372386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.70, Y:-582.10, Z:-47.64 [[ 8.80979958e-01 4.69686666e-01 5.71729840e-02 1.05670004e+03] [-4.68824408e-01 8.82831554e-01 -2.84977651e-02 -5.82103050e+02] [-6.38591345e-02 -1.69813046e-03 9.97957478e-01 -4.76410652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.76, Y:-582.13, Z:-47.64 [[ 8.80539673e-01 4.70512552e-01 5.71648649e-02 1.05675551e+03] [-4.69650975e-01 8.82391586e-01 -2.85140422e-02 -5.82132353e+02] [-6.38580106e-02 -1.73978909e-03 9.97957478e-01 -4.76443986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.81, Y:-582.16, Z:-47.65 [[ 8.80514741e-01 4.70560190e-01 5.71567919e-02 1.05681121e+03] [-4.69697663e-01 8.82366212e-01 -2.85302154e-02 -5.82162274e+02] [-6.38584056e-02 -1.72513640e-03 9.97957478e-01 -4.76477581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.87, Y:-582.19, Z:-47.65 [[ 8.81170732e-01 4.69331607e-01 5.71487900e-02 1.05686559e+03] [-4.68465461e-01 8.83020512e-01 -2.85462351e-02 -5.82191819e+02] [-6.38612042e-02 -1.61812740e-03 9.97957478e-01 -4.76517644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.92, Y:-582.22, Z:-47.66 [[ 8.83200700e-01 4.65501217e-01 5.71413997e-02 1.05692211e+03] [-4.64626092e-01 8.85046249e-01 -2.85610206e-02 -5.82216370e+02] [-6.38679714e-02 -1.32427184e-03 9.97957478e-01 -4.76561475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1056.97, Y:-582.25, Z:-47.66 [[ 8.82590008e-01 4.66658954e-01 5.71340485e-02 1.05697461e+03] [-4.65785298e-01 8.84436252e-01 -2.85757186e-02 -5.82248813e+02] [-6.38665387e-02 -1.39155613e-03 9.97957479e-01 -4.76597978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.03, Y:-582.28, Z:-47.66 [[ 8.83354629e-01 4.65210833e-01 5.71268729e-02 1.05703026e+03] [-4.64333224e-01 8.85198998e-01 -2.85900565e-02 -5.82277706e+02] [-6.38690547e-02 -1.27074628e-03 9.97957479e-01 -4.76640810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.09, Y:-582.30, Z:-47.67 [[ 8.85340203e-01 4.61421906e-01 5.71187386e-02 1.05708588e+03] [-4.60535355e-01 8.87180290e-01 -2.86062985e-02 -5.82304714e+02] [-6.38741918e-02 -9.78892450e-04 9.97957479e-01 -4.76675367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.14, Y:-582.34, Z:-47.67 [[ 8.84378772e-01 4.63262827e-01 5.71116474e-02 1.05714008e+03] [-4.62379193e-01 8.86220262e-01 -2.86204489e-02 -5.82335825e+02] [-6.38722891e-02 -1.09591996e-03 9.97957479e-01 -4.76693233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.20, Y:-582.36, Z:-47.67 [[ 8.84144266e-01 4.63711163e-01 5.71040702e-02 1.05719573e+03] [-4.62827487e-01 8.85985735e-01 -2.86355591e-02 -5.82364208e+02] [-6.38720200e-02 -1.11136791e-03 9.97957479e-01 -4.76728630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1057.25, Y:-582.39, Z:-47.68 [[ 8.83739333e-01 4.64483392e-01 5.70961512e-02 1.05725278e+03] [-4.63600306e-01 8.85581085e-01 -2.86513399e-02 -5.82391311e+02] [-6.38713431e-02 -1.14947712e-03 9.97957479e-01 -4.76775910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.31, Y:-582.42, Z:-47.68 [[ 8.83523081e-01 4.64895616e-01 5.70879244e-02 1.05730946e+03] [-4.64012331e-01 8.85364737e-01 -2.86677226e-02 -5.82419309e+02] [-6.38711338e-02 -1.16090628e-03 9.97957479e-01 -4.76814975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.37, Y:-582.44, Z:-47.69 [[ 8.84999088e-01 4.62080639e-01 5.70797438e-02 1.05736596e+03] [-4.61190446e-01 8.86837415e-01 -2.86840016e-02 -5.82443561e+02] [-6.38747742e-02 -9.39317201e-04 9.97957480e-01 -4.76885008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1057.42, Y:-582.47, Z:-47.68 [[ 8.84003165e-01 4.63984000e-01 5.70723367e-02 1.05741955e+03] [-4.63096814e-01 8.85842945e-01 -2.86987319e-02 -5.82474465e+02] [-6.38728793e-02 -1.06024747e-03 9.97957480e-01 -4.76844415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1057.47, Y:-582.50, Z:-47.69 [[ 8.85007633e-01 4.62066025e-01 5.70655519e-02 1.05747492e+03] [-4.61173983e-01 8.86845063e-01 -2.87122168e-02 -5.82501630e+02] [-6.38752428e-02 -9.06616820e-04 9.97957480e-01 -4.76873790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.53, Y:-582.53, Z:-47.69 [[ 8.85995363e-01 4.60170184e-01 5.70580261e-02 1.05753170e+03] [-4.59273247e-01 8.87830409e-01 -2.87271645e-02 -5.82529440e+02] [-6.38772352e-02 -7.53090370e-04 9.97957480e-01 -4.76918217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.59, Y:-582.56, Z:-47.70 [[ 8.87881227e-01 4.56521879e-01 5.70499924e-02 1.05758800e+03] [-4.55616376e-01 8.89712061e-01 -2.87431100e-02 -5.82557656e+02] [-6.38799249e-02 -4.72443016e-04 9.97957480e-01 -4.76966232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.64, Y:-582.59, Z:-47.70 [[ 8.88830619e-01 4.54671717e-01 5.70417546e-02 1.05764448e+03] [-4.53761355e-01 8.90659041e-01 -2.87594489e-02 -5.82585128e+02] [-6.38808625e-02 -3.21065090e-04 9.97957480e-01 -4.77018870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:1057.70, Y:-582.61, Z:-47.71 [[ 8.90004926e-01 4.52369763e-01 5.70335882e-02 1.05770094e+03] [-4.51453634e-01 8.91830465e-01 -2.87756349e-02 -5.82611304e+02] [-6.38815186e-02 -1.37563900e-04 9.97957480e-01 -4.77127949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1057.76, Y:-582.64, Z:-47.71 [[ 8.89949863e-01 4.52479315e-01 5.70237757e-02 1.05775526e+03] [-4.51562166e-01 8.91774890e-01 -2.87950670e-02 -5.82639761e+02] [-6.38815434e-02 -1.23613744e-04 9.97957481e-01 -4.77129191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.81, Y:-582.67, Z:-47.72 [[ 8.90431136e-01 4.51532490e-01 5.70158101e-02 1.05781132e+03] [-4.50612391e-01 8.92254677e-01 -2.88108307e-02 -5.82667528e+02] [-6.38816493e-02 -3.79698608e-05 9.97957481e-01 -4.77172490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.87, Y:-582.69, Z:-47.72 [[ 8.91047297e-01 4.50316373e-01 5.70077039e-02 1.05786749e+03] [-4.49392760e-01 8.92869061e-01 -2.88268615e-02 -5.82694777e+02] [-6.38816227e-02 6.72476197e-05 9.97957481e-01 -4.77205688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.92, Y:-582.72, Z:-47.73 [[ 8.92558013e-01 4.47315608e-01 5.69994738e-02 1.05792371e+03] [-4.46384831e-01 8.94376127e-01 -2.88431257e-02 -5.82720768e+02] [-6.38809489e-02 3.00462513e-04 9.97957481e-01 -4.77302685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1057.98, Y:-582.75, Z:-47.73 [[ 8.91779988e-01 4.48865617e-01 5.69921945e-02 1.05797722e+03] [-4.47937082e-01 8.93599248e-01 -2.88575019e-02 -5.82750337e+02] [-6.38813225e-02 2.05625446e-04 9.97957481e-01 -4.77264627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.03, Y:-582.78, Z:-47.73 [[ 8.94064423e-01 4.44298838e-01 5.69855216e-02 1.05803256e+03] [-4.43360171e-01 8.95878476e-01 -2.88706730e-02 -5.82776760e+02] [-6.38793087e-02 5.47131020e-04 9.97957481e-01 -4.77340334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.09, Y:-582.81, Z:-47.73 [[ 8.93915093e-01 4.44600157e-01 5.69781356e-02 1.05808694e+03] [-4.43661172e-01 8.95728981e-01 -2.88852425e-02 -5.82805603e+02] [-6.38793507e-02 5.41967769e-04 9.97957482e-01 -4.77331402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1058.14, Y:-582.83, Z:-47.74 [[ 8.94309001e-01 4.43808149e-01 5.69713787e-02 1.05814233e+03] [-4.42866709e-01 8.96121616e-01 -2.88985631e-02 -5.82833229e+02] [-6.38787018e-02 6.13518112e-04 9.97957482e-01 -4.77433563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.20, Y:-582.86, Z:-47.74 [[ 8.94797471e-01 4.42823705e-01 5.69618495e-02 1.05819821e+03] [-4.41879077e-01 8.96608426e-01 -2.89173341e-02 -5.82858315e+02] [-6.38777552e-02 7.04907893e-04 9.97957482e-01 -4.77428465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.25, Y:-582.88, Z:-47.75 [[ 8.95349471e-01 4.41707544e-01 5.69541118e-02 1.05825493e+03] [-4.40759689e-01 8.97158739e-01 -2.89325658e-02 -5.82884378e+02] [-6.38766117e-02 8.01680898e-04 9.97957482e-01 -4.77463975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1058.31, Y:-582.91, Z:-47.75 [[ 8.95657292e-01 4.41084047e-01 5.69462762e-02 1.05831164e+03] [-4.40133953e-01 8.97465385e-01 -2.89479799e-02 -5.82911582e+02] [-6.38758039e-02 8.63479596e-04 9.97957482e-01 -4.77500069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.37, Y:-582.94, Z:-47.75 [[ 8.95027666e-01 4.42361255e-01 5.69385416e-02 1.05836879e+03] [-4.41412774e-01 8.96836605e-01 -2.89631854e-02 -5.82936963e+02] [-6.38767594e-02 7.89452646e-04 9.97957482e-01 -4.77527925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.43, Y:-582.96, Z:-47.76 [[ 8.93713529e-01 4.45011306e-01 5.69303567e-02 1.05842617e+03] [-4.44067165e-01 8.95524737e-01 -2.89792649e-02 -5.82962915e+02] [-6.38786432e-02 6.18258995e-04 9.97957482e-01 -4.77573003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.48, Y:-582.99, Z:-47.76 [[ 8.91946456e-01 4.48543617e-01 5.69222574e-02 1.05848418e+03] [-4.47605634e-01 8.93760861e-01 -2.89951651e-02 -5.82988425e+02] [-6.38804820e-02 3.83411677e-04 9.97957483e-01 -4.77613226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:1058.54, Y:-583.01, Z:-47.77 [[ 8.90074229e-01 4.52248449e-01 5.69140302e-02 1.05854151e+03] [-4.51316986e-01 8.91891990e-01 -2.90113052e-02 -5.83011320e+02] [-6.38814854e-02 1.35946507e-04 9.97957483e-01 -4.77718837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1058.60, Y:-583.04, Z:-47.77 [[ 8.88287171e-01 4.55749054e-01 5.69095999e-02 1.05859755e+03] [-4.54824198e-01 8.90108302e-01 -2.90199931e-02 -5.83036861e+02] [-6.38815417e-02 -1.05775607e-04 9.97957483e-01 -4.77707348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.66, Y:-583.06, Z:-47.78 [[ 8.87566958e-01 4.57150667e-01 5.69048542e-02 1.05865549e+03] [-4.56228091e-01 8.89389245e-01 -2.90292960e-02 -5.83059357e+02] [-6.38813273e-02 -1.96149073e-04 9.97957483e-01 -4.77769295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.71, Y:-583.08, Z:-47.78 [[ 8.87295439e-01 4.57678367e-01 5.68974172e-02 1.05871256e+03] [-4.56755940e-01 8.89117802e-01 -2.90438651e-02 -5.83083353e+02] [-6.38812553e-02 -2.17744278e-04 9.97957483e-01 -4.77839977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.77, Y:-583.11, Z:-47.78 [[ 8.84208581e-01 4.63614844e-01 5.68899085e-02 1.05876564e+03] [-4.62703706e-01 8.86036613e-01 -2.90585655e-02 -5.83114223e+02] [-6.38785242e-02 -6.29338560e-04 9.97957483e-01 -4.77827218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.82, Y:-583.14, Z:-47.79 [[ 8.82879170e-01 4.66142344e-01 5.68830939e-02 1.05882202e+03] [-4.65235580e-01 8.84709376e-01 -2.90718992e-02 -5.83141881e+02] [-6.38766497e-02 -7.97064904e-04 9.97957483e-01 -4.77855813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.88, Y:-583.17, Z:-47.79 [[ 8.82120211e-01 4.67578005e-01 5.68748031e-02 1.05887860e+03] [-4.66673174e-01 8.83951373e-01 -2.90881099e-02 -5.83169291e+02] [-6.38755207e-02 -8.82735248e-04 9.97957483e-01 -4.77911430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.93, Y:-583.20, Z:-47.80 [[ 8.81293712e-01 4.69134928e-01 5.68666160e-02 1.05893416e+03] [-4.68232301e-01 8.83125961e-01 -2.91041068e-02 -5.83197621e+02] [-6.38741379e-02 -9.77520129e-04 9.97957484e-01 -4.77971621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1058.99, Y:-583.23, Z:-47.80 [[ 8.81422558e-01 4.68893789e-01 5.68584946e-02 1.05898943e+03] [-4.67989638e-01 8.83254056e-01 -2.91199643e-02 -5.83226871e+02] [-6.38746663e-02 -9.42192897e-04 9.97957484e-01 -4.78016587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.04, Y:-583.26, Z:-47.81 [[ 8.82315589e-01 4.67212204e-01 5.68503204e-02 1.05904490e+03] [-4.66303534e-01 8.84144848e-01 -2.91359138e-02 -5.83256480e+02] [-6.38765724e-02 -8.02434427e-04 9.97957484e-01 -4.78062995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.10, Y:-583.29, Z:-47.81 [[ 8.85001557e-01 4.62105217e-01 5.68420063e-02 1.05909977e+03] [-4.61184949e-01 8.86825009e-01 -2.91521250e-02 -5.83286611e+02] [-6.38802618e-02 -4.15001760e-04 9.97957484e-01 -4.78117327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1059.15, Y:-583.31, Z:-47.82 [[ 8.88471342e-01 4.55399382e-01 5.68337751e-02 1.05915498e+03] [-4.54464325e-01 8.90287255e-01 -2.91681635e-02 -5.83314049e+02] [-6.38815492e-02 8.61541685e-05 9.97957484e-01 -4.78195707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1059.21, Y:-583.35, Z:-47.82 [[ 8.90914556e-01 4.50601271e-01 5.68308820e-02 1.05920744e+03] [-4.49656075e-01 8.92725212e-01 -2.91737993e-02 -5.83346597e+02] [-6.38801122e-02 4.37011115e-04 9.97957484e-01 -4.78182963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1059.26, Y:-583.37, Z:-47.83 [[ 8.94538738e-01 4.43363904e-01 5.68233686e-02 1.05926265e+03] [-4.42403131e-01 8.96341177e-01 -2.91884261e-02 -5.83373736e+02] [-6.38742197e-02 9.71341669e-04 9.97957484e-01 -4.78250945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.32, Y:-583.41, Z:-47.83 [[ 8.96628646e-01 4.39122411e-01 5.68205884e-02 1.05931515e+03] [-4.38152770e-01 8.98426330e-01 -2.91938375e-02 -5.83406428e+02] [-6.38687809e-02 1.27993279e-03 9.97957484e-01 -4.78266320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.37, Y:-583.44, Z:-47.83 [[ 8.96724995e-01 4.38926632e-01 5.68128146e-02 1.05936839e+03] [-4.37955641e-01 8.98521949e-01 -2.92089577e-02 -5.83436772e+02] [-6.38681504e-02 1.31090981e-03 9.97957485e-01 -4.78281415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.42, Y:-583.47, Z:-47.83 [[ 8.96172744e-01 4.40053957e-01 5.68060577e-02 1.05942392e+03] [-4.39084395e-01 8.97970469e-01 -2.92220928e-02 -5.83466473e+02] [-6.38694599e-02 1.24538965e-03 9.97957485e-01 -4.78325050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.48, Y:-583.49, Z:-47.84 [[ 8.94863389e-01 4.42711557e-01 5.67978309e-02 1.05947909e+03] [-4.41746319e-01 8.96663440e-01 -2.92380743e-02 -5.83494895e+02] [-6.38725718e-02 1.07384951e-03 9.97957485e-01 -4.78367778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.53, Y:-583.52, Z:-47.85 [[ 8.93867791e-01 4.44719285e-01 5.67902316e-02 1.05953424e+03] [-4.43757154e-01 8.95669504e-01 -2.92528271e-02 -5.83522094e+02] [-6.38745750e-02 9.47088411e-04 9.97957485e-01 -4.78450832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.59, Y:-583.55, Z:-47.85 [[ 8.91136755e-01 4.50167147e-01 5.67875292e-02 1.05959006e+03] [-4.49215697e-01 8.92944132e-01 -2.92580724e-02 -5.83550967e+02] [-6.38791139e-02 5.63094261e-04 9.97957485e-01 -4.78478306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1059.64, Y:-583.58, Z:-47.85 [[ 8.89035685e-01 4.54303563e-01 5.67787183e-02 1.05964468e+03] [-4.53359431e-01 8.90846895e-01 -2.92751609e-02 -5.83579307e+02] [-6.38809549e-02 2.85495246e-04 9.97957485e-01 -4.78498963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.70, Y:-583.61, Z:-47.86 [[ 8.88469497e-01 4.55410700e-01 5.67718841e-02 1.05970003e+03] [-4.54467978e-01 8.90281442e-01 -2.92884083e-02 -5.83606739e+02] [-6.38812093e-02 2.20853999e-04 9.97957485e-01 -4.78551938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.75, Y:-583.64, Z:-47.86 [[ 8.86860582e-01 4.58536932e-01 5.67643387e-02 1.05975413e+03] [-4.57599662e-01 8.88675353e-01 -2.93030249e-02 -5.83635314e+02] [-6.38815878e-02 1.23555110e-05 9.97957485e-01 -4.78560258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.81, Y:-583.66, Z:-47.86 [[ 8.85785937e-01 4.60610316e-01 5.67574762e-02 1.05980948e+03] [-4.59676442e-01 8.87602457e-01 -2.93163109e-02 -5.83663524e+02] [-6.38814706e-02 -1.22098812e-04 9.97957486e-01 -4.78600773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.87, Y:-583.69, Z:-47.86 [[ 8.83890767e-01 4.64237606e-01 5.67499623e-02 1.05986539e+03] [-4.63310253e-01 8.85710625e-01 -2.93308489e-02 -5.83692224e+02] [-6.38805276e-02 -3.67572931e-04 9.97957486e-01 -4.78639881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.92, Y:-583.72, Z:-47.87 [[ 8.82755370e-01 4.66393982e-01 5.67416153e-02 1.05992051e+03] [-4.65470038e-01 8.84576960e-01 -2.93469876e-02 -5.83721176e+02] [-6.38795840e-02 -5.05310962e-04 9.97957486e-01 -4.78688264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1059.97, Y:-583.75, Z:-47.88 [[ 8.81568523e-01 4.68634467e-01 5.67333714e-02 1.05997434e+03] [-4.67714127e-01 8.83391937e-01 -2.93629160e-02 -5.83750440e+02] [-6.38782774e-02 -6.49576787e-04 9.97957486e-01 -4.78751521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.03, Y:-583.78, Z:-47.88 [[ 8.79518293e-01 4.72471536e-01 5.67293532e-02 1.06002905e+03] [-4.71558651e-01 8.81345450e-01 -2.93706772e-02 -5.83781042e+02] [-6.38749663e-02 -9.19169344e-04 9.97957486e-01 -4.78826488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.08, Y:-583.81, Z:-47.89 [[ 8.77991062e-01 4.75304044e-01 5.67253135e-02 1.06008350e+03] [-4.74396549e-01 8.79820902e-01 -2.93784773e-02 -5.83810533e+02] [-6.38718256e-02 -1.11625248e-03 9.97957486e-01 -4.78873357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.14, Y:-583.84, Z:-47.89 [[ 8.76383036e-01 4.78263465e-01 5.67171287e-02 1.06013908e+03] [-4.77361127e-01 8.78215424e-01 -2.93942702e-02 -5.83840899e+02] [-6.38680627e-02 -1.31391272e-03 9.97957486e-01 -4.78898268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.19, Y:-583.87, Z:-47.89 [[ 8.75697144e-01 4.79519283e-01 5.67077521e-02 1.06019254e+03] [-4.78618402e-01 8.77530250e-01 -2.94123484e-02 -5.83873300e+02] [-6.38665561e-02 -1.38506420e-03 9.97957486e-01 -4.78912838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.25, Y:-583.90, Z:-47.90 [[ 8.76051606e-01 4.78872371e-01 5.66995300e-02 1.06024560e+03] [-4.77969112e-01 8.77883540e-01 -2.94281900e-02 -5.83904745e+02] [-6.38679313e-02 -1.32001088e-03 9.97957487e-01 -4.78960591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.30, Y:-583.94, Z:-47.90 [[ 8.76467191e-01 4.78112236e-01 5.66917478e-02 1.06029989e+03] [-4.77206419e-01 8.78297862e-01 -2.94431745e-02 -5.83936252e+02] [-6.38693828e-02 -1.24768945e-03 9.97957487e-01 -4.78997225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.35, Y:-583.97, Z:-47.90 [[ 8.76021647e-01 4.78929042e-01 5.66837381e-02 1.06035333e+03] [-4.78023935e-01 8.77852669e-01 -2.94585866e-02 -5.83967066e+02] [-6.38685435e-02 -1.28982399e-03 9.97957487e-01 -4.79040810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.41, Y:-584.00, Z:-47.91 [[ 8.75494517e-01 4.79892840e-01 5.66763861e-02 1.06040766e+03] [-4.78988834e-01 8.77326083e-01 -2.94727245e-02 -5.83997924e+02] [-6.38674213e-02 -1.34414741e-03 9.97957487e-01 -4.79090307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.46, Y:-584.03, Z:-47.91 [[ 8.73995772e-01 4.82618027e-01 5.66677188e-02 1.06045921e+03] [-4.81718652e-01 8.75829616e-01 -2.94893799e-02 -5.84029814e+02] [-6.38633728e-02 -1.52430378e-03 9.97957487e-01 -4.79140587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.51, Y:-584.06, Z:-47.92 [[ 8.74204938e-01 4.82239855e-01 5.66608113e-02 1.06051330e+03] [-4.81338828e-01 8.76037971e-01 -2.95026461e-02 -5.84058566e+02] [-6.38643739e-02 -1.48168956e-03 9.97957487e-01 -4.79189004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.57, Y:-584.09, Z:-47.92 [[ 8.75973278e-01 4.79021101e-01 5.66533390e-02 1.06056936e+03] [-4.78112411e-01 8.77802524e-01 -2.95169880e-02 -5.84087629e+02] [-6.38697041e-02 -1.23057175e-03 9.97957487e-01 -4.79219071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.62, Y:-584.12, Z:-47.93 [[ 8.76903555e-01 4.77316986e-01 5.66449505e-02 1.06062326e+03] [-4.76403702e-01 8.78730511e-01 -2.95330774e-02 -5.84115209e+02] [-6.38722858e-02 -1.08820350e-03 9.97957488e-01 -4.79257683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.68, Y:-584.14, Z:-47.93 [[ 8.76991000e-01 4.77157095e-01 5.66382562e-02 1.06067907e+03] [-4.76242649e-01 8.78817375e-01 -2.95459100e-02 -5.84143913e+02] [-6.38727243e-02 -1.06205598e-03 9.97957488e-01 -4.79279763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1060.74, Y:-584.17, Z:-47.93 [[ 8.75225550e-01 4.80388695e-01 5.66298460e-02 1.06073506e+03] [-4.79479950e-01 8.77054767e-01 -2.95620210e-02 -5.84170418e+02] [-6.38687370e-02 -1.27943964e-03 9.97957488e-01 -4.79329655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.79, Y:-584.20, Z:-47.94 [[ 8.72592141e-01 4.85156570e-01 5.66220683e-02 1.06079163e+03] [-4.84256853e-01 8.74425816e-01 -2.95769105e-02 -5.84198417e+02] [-6.38612307e-02 -1.61104493e-03 9.97957488e-01 -4.79369851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.85, Y:-584.23, Z:-47.94 [[ 8.71456061e-01 4.87195230e-01 5.66139784e-02 1.06084785e+03] [-4.86298797e-01 8.73291344e-01 -2.95923875e-02 -5.84227394e+02] [-6.38577673e-02 -1.74284415e-03 9.97957488e-01 -4.79402216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.90, Y:-584.26, Z:-47.94 [[ 8.70845462e-01 4.88286793e-01 5.66055549e-02 1.06090312e+03] [-4.87391615e-01 8.72681357e-01 -2.96084916e-02 -5.84255963e+02] [-6.38560479e-02 -1.80465230e-03 9.97957488e-01 -4.79439833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1060.96, Y:-584.28, Z:-47.95 [[ 8.70320875e-01 4.89222102e-01 5.65977859e-02 1.06095849e+03] [-4.88327932e-01 8.72157261e-01 -2.96233351e-02 -5.84283665e+02] [-6.38545602e-02 -1.85647284e-03 9.97957488e-01 -4.79466805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.01, Y:-584.31, Z:-47.95 [[ 8.70166868e-01 4.89496819e-01 5.65905082e-02 1.06101364e+03] [-4.88602327e-01 8.72003097e-01 -2.96372313e-02 -5.84312215e+02] [-6.38544289e-02 -1.86091722e-03 9.97957489e-01 -4.79497982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.07, Y:-584.34, Z:-47.95 [[ 8.69767496e-01 4.90206929e-01 5.65832979e-02 1.06106918e+03] [-4.89313041e-01 8.71604020e-01 -2.96509909e-02 -5.84341240e+02] [-6.38533510e-02 -1.89747745e-03 9.97957489e-01 -4.79534333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.12, Y:-584.37, Z:-47.96 [[ 8.69900111e-01 4.89972527e-01 5.65749074e-02 1.06112456e+03] [-4.89077105e-01 8.71735886e-01 -2.96669915e-02 -5.84369968e+02] [-6.38543878e-02 -1.86217274e-03 9.97957489e-01 -4.79590374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.18, Y:-584.40, Z:-47.96 [[ 8.70768998e-01 4.88426990e-01 5.65723209e-02 1.06117918e+03] [-4.87527989e-01 8.72603024e-01 -2.96719230e-02 -5.84398518e+02] [-6.38577463e-02 -1.74319915e-03 9.97957489e-01 -4.79638226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters Centerline goodness : 0.997604 with order 1 Centerline is valid? [True, True] Translation: X:1061.23, Y:-584.43, Z:-47.97 [[ 8.73843795e-01 4.82905191e-01 5.65649921e-02 1.06123407e+03] [-4.81993695e-01 8.75671643e-01 -2.96858877e-02 -5.84428991e+02] [-6.38678288e-02 -1.32314077e-03 9.97957489e-01 -4.79705746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.29, Y:-584.46, Z:-47.97 [[ 8.76107159e-01 4.78787181e-01 5.65604130e-02 1.06128772e+03] [-4.77866530e-01 8.77930413e-01 -2.96946096e-02 -5.84459770e+02] [-6.38735052e-02 -1.01266829e-03 9.97957489e-01 -4.79716319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:1061.34, Y:-584.49, Z:-47.98 [[ 8.80823319e-01 4.70055643e-01 5.65506267e-02 1.06134215e+03] [-4.69115720e-01 8.82636712e-01 -2.97132351e-02 -5.84491705e+02] [-6.38805330e-02 -3.56677547e-04 9.97957489e-01 -4.79763512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.40, Y:-584.52, Z:-47.98 [[ 8.82527917e-01 4.66847953e-01 5.65461294e-02 1.06139620e+03] [-4.65900891e-01 8.84337591e-01 -2.97217911e-02 -5.84522292e+02] [-6.38814253e-02 -1.14581652e-04 9.97957489e-01 -4.79790834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1061.45, Y:-584.55, Z:-47.98 [[ 8.83326904e-01 4.65335581e-01 5.65365220e-02 1.06145165e+03] [-4.64384251e-01 8.85134338e-01 -2.97400551e-02 -5.84551931e+02] [-6.38815228e-02 1.55203395e-05 9.97957490e-01 -4.79818461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.51, Y:-584.58, Z:-47.99 [[ 8.82221861e-01 4.67428245e-01 5.65280815e-02 1.06150693e+03] [-4.66480174e-01 8.84031008e-01 -2.97560896e-02 -5.84579719e+02] [-6.38814136e-02 -1.17756558e-04 9.97957490e-01 -4.79871877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.56, Y:-584.61, Z:-47.99 [[ 8.80721838e-01 4.70249342e-01 5.65207989e-02 1.06156113e+03] [-4.69306179e-01 8.82533548e-01 -2.97699163e-02 -5.84607875e+02] [-6.38807848e-02 -3.06544715e-04 9.97957490e-01 -4.79929472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.62, Y:-584.64, Z:-48.00 [[ 8.78262739e-01 4.74827037e-01 5.65141295e-02 1.06161739e+03] [-4.73892502e-01 8.80078914e-01 -2.97825721e-02 -5.84636138e+02] [-6.38784641e-02 -6.24698915e-04 9.97957490e-01 -4.79964783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.67, Y:-584.66, Z:-48.00 [[ 8.77350125e-01 4.76512182e-01 5.65057388e-02 1.06167432e+03] [-4.75580110e-01 8.79167566e-01 -2.97984830e-02 -5.84663602e+02] [-6.38773530e-02 -7.29302652e-04 9.97957490e-01 -4.80006119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.73, Y:-584.69, Z:-48.00 [[ 8.77815852e-01 4.75654682e-01 5.64973793e-02 1.06173068e+03] [-4.74719816e-01 8.79631856e-01 -2.98143240e-02 -5.84689141e+02] [-6.38782174e-02 -6.48939278e-04 9.97957490e-01 -4.80031727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.78, Y:-584.72, Z:-48.00 [[ 8.77773197e-01 4.75734336e-01 5.64894367e-02 1.06178491e+03] [-4.74798666e-01 8.79588788e-01 -2.98293654e-02 -5.84718235e+02] [-6.38783285e-02 -6.37691723e-04 9.97957490e-01 -4.80044403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.84, Y:-584.75, Z:-48.01 [[ 8.78255056e-01 4.74845182e-01 5.64810546e-02 1.06184067e+03] [-4.73906655e-01 8.80069171e-01 -2.98452282e-02 -5.84746820e+02] [-6.38790977e-02 -5.55025050e-04 9.97957491e-01 -4.80076943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.90, Y:-584.77, Z:-48.01 [[ 8.78345283e-01 4.74679311e-01 5.64722509e-02 1.06189682e+03] [-4.73739371e-01 8.80158666e-01 -2.98618770e-02 -5.84774473e+02] [-6.38793562e-02 -5.24089788e-04 9.97957491e-01 -4.80123422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1061.95, Y:-584.80, Z:-48.02 [[ 8.78303649e-01 4.74757387e-01 5.64634725e-02 1.06195321e+03] [-4.73816541e-01 8.80116562e-01 -2.98784662e-02 -5.84800616e+02] [-6.38794598e-02 -5.10961436e-04 9.97957491e-01 -4.80183607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.01, Y:-584.83, Z:-48.02 [[ 8.78454658e-01 4.74478812e-01 5.64559183e-02 1.06200977e+03] [-4.73536475e-01 8.80266796e-01 -2.98927332e-02 -5.84828781e+02] [-6.38797389e-02 -4.74525876e-04 9.97957491e-01 -4.80230967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.06, Y:-584.86, Z:-48.03 [[ 8.78525196e-01 4.74349242e-01 5.64471186e-02 1.06206335e+03] [-4.73405570e-01 8.80336639e-01 -2.99093407e-02 -5.84857100e+02] [-6.38799398e-02 -4.46270913e-04 9.97957491e-01 -4.80289726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1062.12, Y:-584.88, Z:-48.04 [[ 8.80113833e-01 4.71395637e-01 5.64428415e-02 1.06212021e+03] [-4.70445368e-01 8.81921824e-01 -2.99174099e-02 -5.84883753e+02] [-6.38811103e-02 -2.22547088e-04 9.97957491e-01 -4.80357605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.18, Y:-584.91, Z:-48.04 [[ 8.80891951e-01 4.69940994e-01 5.64343298e-02 1.06217559e+03] [-4.68986711e-01 8.82697827e-01 -2.99334573e-02 -5.84912394e+02] [-6.38814189e-02 -9.88091951e-05 9.97957491e-01 -4.80412851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.23, Y:-584.94, Z:-48.04 [[ 8.81047065e-01 4.69651171e-01 5.64255939e-02 1.06222831e+03] [-4.68695240e-01 8.82852068e-01 -2.99499158e-02 -5.84943685e+02] [-6.38814653e-02 -5.91218849e-05 9.97957492e-01 -4.80409530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.28, Y:-584.97, Z:-48.04 [[ 8.80710305e-01 4.70283213e-01 5.64186022e-02 1.06228294e+03] [-4.69327734e-01 8.82515548e-01 -2.99630808e-02 -5.84972974e+02] [-6.38814275e-02 -9.00207000e-05 9.97957492e-01 -4.80427388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.34, Y:-585.00, Z:-48.05 [[ 8.78032655e-01 4.75264587e-01 5.64112477e-02 1.06233712e+03] [-4.74318461e-01 8.79842817e-01 -2.99769206e-02 -5.85001714e+02] [-6.38799999e-02 -4.36180961e-04 9.97957492e-01 -4.80479975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.39, Y:-585.03, Z:-48.05 [[ 8.77905145e-01 4.75501003e-01 5.64034789e-02 1.06239296e+03] [-4.74554425e-01 8.79715071e-01 -2.99915311e-02 -5.85031504e+02] [-6.38799935e-02 -4.36801049e-04 9.97957492e-01 -4.80520547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1062.45, Y:-585.06, Z:-48.06 [[ 8.76632131e-01 4.77844812e-01 5.63954142e-02 1.06244781e+03] [-4.76902098e-01 8.78444072e-01 -3.00066880e-02 -5.85062286e+02] [-6.38787575e-02 -5.90264538e-04 9.97957492e-01 -4.80552835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.50, Y:-585.09, Z:-48.06 [[ 8.75282381e-01 4.80313713e-01 5.63869646e-02 1.06250282e+03] [-4.79375088e-01 8.77096443e-01 -3.00225577e-02 -5.85092760e+02] [-6.38770523e-02 -7.52290288e-04 9.97957492e-01 -4.80594272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.56, Y:-585.12, Z:-48.06 [[ 8.73805976e-01 4.82995413e-01 5.63786134e-02 1.06255708e+03] [-4.82061344e-01 8.75622387e-01 -3.00382321e-02 -5.85123711e+02] [-6.38747044e-02 -9.30363456e-04 9.97957492e-01 -4.80620591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1062.61, Y:-585.15, Z:-48.07 [[ 8.73457112e-01 4.83626876e-01 5.63712536e-02 1.06261198e+03] [-4.82693229e-01 8.75273741e-01 -3.00520376e-02 -5.85154755e+02] [-6.38742510e-02 -9.60856467e-04 9.97957493e-01 -4.80665058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.66, Y:-585.19, Z:-48.07 [[ 8.74101055e-01 4.82463022e-01 5.63629102e-02 1.06266496e+03] [-4.81525948e-01 8.75915918e-01 -3.00676775e-02 -5.85187910e+02] [-6.38757128e-02 -8.58015146e-04 9.97957493e-01 -4.80702947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1062.72, Y:-585.22, Z:-48.07 [[ 8.75103076e-01 4.80644125e-01 5.63545131e-02 1.06271830e+03] [-4.79702266e-01 8.76915460e-01 -3.00834077e-02 -5.85219434e+02] [-6.38775569e-02 -7.07305057e-04 9.97957493e-01 -4.80746361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1062.77, Y:-585.25, Z:-48.08 [[ 8.77914703e-01 4.75490082e-01 5.63467438e-02 1.06277181e+03] [-4.74536649e-01 8.79721025e-01 -3.00979527e-02 -5.85249266e+02] [-6.38806932e-02 -3.15159794e-04 9.97957493e-01 -4.80825228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.83, Y:-585.28, Z:-48.08 [[ 8.77591672e-01 4.76086976e-01 5.63386925e-02 1.06282503e+03] [-4.75133804e-01 8.79398132e-01 -3.01130158e-02 -5.85282325e+02] [-6.38805556e-02 -3.41485353e-04 9.97957493e-01 -4.80824981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.88, Y:-585.31, Z:-48.08 [[ 8.76914005e-01 4.77335003e-01 5.63304858e-02 1.06287826e+03] [-4.76383416e-01 8.78721300e-01 -3.01283599e-02 -5.85312258e+02] [-6.38801184e-02 -4.14928523e-04 9.97957493e-01 -4.80846013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.93, Y:-585.34, Z:-48.09 [[ 8.76048315e-01 4.78922774e-01 5.63234122e-02 1.06293255e+03] [-4.77973612e-01 8.77856885e-01 -3.01415778e-02 -5.85339620e+02] [-6.38793832e-02 -5.15626346e-04 9.97957493e-01 -4.80921544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1062.99, Y:-585.37, Z:-48.10 [[ 8.76084916e-01 4.78856618e-01 5.63165996e-02 1.06298831e+03] [-4.77906503e-01 8.77892985e-01 -3.01543011e-02 -5.85366318e+02] [-6.38795344e-02 -4.96340855e-04 9.97957493e-01 -4.81026906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.04, Y:-585.40, Z:-48.10 [[ 8.74536037e-01 4.81679869e-01 5.63136178e-02 1.06304157e+03] [-4.80735232e-01 8.76346974e-01 -3.01598687e-02 -5.85396684e+02] [-6.38776702e-02 -6.96048008e-04 9.97957494e-01 -4.81016637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.10, Y:-585.43, Z:-48.11 [[ 8.74546316e-01 4.81662112e-01 5.63058740e-02 1.06309586e+03] [-4.80716508e-01 8.76356748e-01 -3.01743187e-02 -5.85425143e+02] [-6.38778587e-02 -6.78323893e-04 9.97957494e-01 -4.81061420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.15, Y:-585.45, Z:-48.11 [[ 8.75011182e-01 4.80817640e-01 5.63012287e-02 1.06315119e+03] [-4.79869731e-01 8.76820409e-01 -3.01829838e-02 -5.85454532e+02] [-6.38785774e-02 -6.06807120e-04 9.97957494e-01 -4.81091535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.21, Y:-585.48, Z:-48.11 [[ 8.76129274e-01 4.78778218e-01 5.62930965e-02 1.06320611e+03] [-4.77825124e-01 8.77935774e-01 -3.01981433e-02 -5.85484725e+02] [-6.38799365e-02 -4.40778382e-04 9.97957494e-01 -4.81107014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.26, Y:-585.51, Z:-48.11 [[ 8.76530531e-01 4.78044225e-01 5.62845313e-02 1.06326083e+03] [-4.77088593e-01 8.78335689e-01 -3.02140991e-02 -5.85514506e+02] [-6.38803881e-02 -3.69127518e-04 9.97957494e-01 -4.81149157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.32, Y:-585.54, Z:-48.12 [[ 8.77696125e-01 4.75901416e-01 5.62792577e-02 1.06331654e+03] [-4.74940747e-01 8.79498608e-01 -3.02239188e-02 -5.85544124e+02] [-6.38811346e-02 -2.01896320e-04 9.97957494e-01 -4.81186332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.37, Y:-585.57, Z:-48.12 [[ 8.78246382e-01 4.74886207e-01 5.62706216e-02 1.06337172e+03] [-4.73922425e-01 8.80047202e-01 -3.02399889e-02 -5.85573399e+02] [-6.38813568e-02 -1.09748609e-04 9.97957494e-01 -4.81229995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.43, Y:-585.60, Z:-48.13 [[ 8.78341730e-01 4.74710844e-01 5.62620719e-02 1.06342672e+03] [-4.73745684e-01 8.80141812e-01 -3.02558875e-02 -5.85603796e+02] [-6.38813998e-02 -7.89052029e-05 9.97957494e-01 -4.81259294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.48, Y:-585.63, Z:-48.13 [[ 8.77773258e-01 4.75762181e-01 5.62534925e-02 1.06348205e+03] [-4.74798155e-01 8.79573947e-01 -3.02718305e-02 -5.85632940e+02] [-6.38812985e-02 -1.37251231e-04 9.97957495e-01 -4.81303788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.54, Y:-585.66, Z:-48.14 [[ 8.76838343e-01 4.77484056e-01 5.62449755e-02 1.06353653e+03] [-4.76522551e-01 8.78640380e-01 -3.02876468e-02 -5.85662243e+02] [-6.38809750e-02 -2.44629181e-04 9.97957495e-01 -4.81351657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1063.59, Y:-585.69, Z:-48.14 [[ 8.75615392e-01 4.79723897e-01 5.62376005e-02 1.06359161e+03] [-4.78766123e-01 8.77419415e-01 -3.03013343e-02 -5.85691192e+02] [-6.38802367e-02 -3.92343199e-04 9.97957495e-01 -4.81403904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.65, Y:-585.72, Z:-48.15 [[ 8.74822691e-01 4.81168800e-01 5.62302821e-02 1.06364651e+03] [-4.80213133e-01 8.76627830e-01 -3.03149091e-02 -5.85720092e+02] [-6.38796186e-02 -4.82349560e-04 9.97957495e-01 -4.81451126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.70, Y:-585.75, Z:-48.15 [[ 8.74556841e-01 4.81652735e-01 5.62225480e-02 1.06370269e+03] [-4.80697145e-01 8.76362021e-01 -3.03292462e-02 -5.85749110e+02] [-6.38794701e-02 -5.01368582e-04 9.97957495e-01 -4.81495822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters Centerline goodness : 0.998362 with order 1 Centerline is valid? [True, True] Translation: X:1063.76, Y:-585.78, Z:-48.16 [[ 8.75132675e-01 4.80606672e-01 5.62141247e-02 1.06375563e+03] [-4.79647922e-01 8.76936179e-01 -3.03448503e-02 -5.85779964e+02] [-6.38801372e-02 -4.07218061e-04 9.97957495e-01 -4.81564691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.81, Y:-585.81, Z:-48.16 [[ 8.76921895e-01 4.77335294e-01 5.62050366e-02 1.06381118e+03] [-4.76368738e-01 8.78721227e-01 -3.03616742e-02 -5.85809490e+02] [-6.38812574e-02 -1.49505458e-04 9.97957495e-01 -4.81578062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.86, Y:-585.84, Z:-48.16 [[ 8.79363455e-01 4.72823591e-01 5.61940058e-02 1.06386489e+03] [-4.71846499e-01 8.81157087e-01 -3.03820764e-02 -5.85839229e+02] [-6.38811089e-02 2.01942794e-04 9.97957496e-01 -4.81607033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.92, Y:-585.87, Z:-48.16 [[ 8.80697875e-01 4.70334330e-01 5.61860474e-02 1.06391983e+03] [-4.69351230e-01 8.82488220e-01 -3.03967869e-02 -5.85869039e+02] [-6.38801774e-02 3.99395144e-04 9.97957496e-01 -4.81623664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1063.98, Y:-585.90, Z:-48.17 [[ 8.81749589e-01 4.68360698e-01 5.61775718e-02 1.06397544e+03] [-4.67372593e-01 8.83537177e-01 -3.04124430e-02 -5.85899166e+02] [-6.38789662e-02 5.60301724e-04 9.97957496e-01 -4.81660538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.03, Y:-585.93, Z:-48.17 [[ 8.80854833e-01 4.70042344e-01 5.61690153e-02 1.06403077e+03] [-4.69056645e-01 8.82643748e-01 -3.04282380e-02 -5.85929203e+02] [-6.38797905e-02 4.56410661e-04 9.97957496e-01 -4.81690769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.09, Y:-585.96, Z:-48.17 [[ 8.79030153e-01 4.73446926e-01 5.61604793e-02 1.06408692e+03] [-4.72467149e-01 8.80822319e-01 -3.04439845e-02 -5.85957711e+02] [-6.38810144e-02 2.27198825e-04 9.97957496e-01 -4.81736866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.14, Y:-585.99, Z:-48.18 [[ 8.75699233e-01 4.79580870e-01 5.61519595e-02 1.06414325e+03] [-4.78612640e-01 8.77497663e-01 -3.04596905e-02 -5.85985758e+02] [-6.38810981e-02 -2.01509965e-04 9.97957496e-01 -4.81770774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.20, Y:-586.01, Z:-48.18 [[ 8.73616979e-01 4.83364586e-01 5.61431360e-02 1.06419842e+03] [-4.82403099e-01 8.75419023e-01 -3.04759454e-02 -5.86014429e+02] [-6.38797620e-02 -4.59319437e-04 9.97957497e-01 -4.81814560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.25, Y:-586.04, Z:-48.19 [[ 8.72161552e-01 4.85986718e-01 5.61350002e-02 1.06425384e+03] [-4.85029685e-01 8.73965965e-01 -3.04909236e-02 -5.86043794e+02] [-6.38782636e-02 -6.34130246e-04 9.97957497e-01 -4.81858017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.31, Y:-586.07, Z:-48.19 [[ 8.71185619e-01 4.87734991e-01 5.61266038e-02 1.06430861e+03] [-4.86780585e-01 8.72991423e-01 -3.05063717e-02 -5.86073706e+02] [-6.38770686e-02 -7.44628714e-04 9.97957497e-01 -4.81888204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.36, Y:-586.10, Z:-48.19 [[ 8.70736519e-01 4.88537285e-01 5.61180522e-02 1.06436328e+03] [-4.87583529e-01 8.72542666e-01 -3.05220948e-02 -5.86104154e+02] [-6.38765762e-02 -7.85535389e-04 9.97957497e-01 -4.81917460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.42, Y:-586.13, Z:-48.20 [[ 8.70366181e-01 4.89197758e-01 5.61094037e-02 1.06441854e+03] [-4.88244349e-01 8.72172510e-01 -3.05379851e-02 -5.86133878e+02] [-6.38761934e-02 -8.15869810e-04 9.97957497e-01 -4.81960214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.47, Y:-586.16, Z:-48.20 [[ 8.69948769e-01 4.89940650e-01 5.61007930e-02 1.06447344e+03] [-4.88987764e-01 8.71755374e-01 -3.05537955e-02 -5.86163294e+02] [-6.38757143e-02 -8.52364520e-04 9.97957497e-01 -4.82015864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.53, Y:-586.19, Z:-48.21 [[ 8.70211794e-01 4.89474182e-01 5.60933070e-02 1.06452819e+03] [-4.88519442e-01 8.72017420e-01 -3.05675329e-02 -5.86194155e+02] [-6.38763590e-02 -8.02443354e-04 9.97957498e-01 -4.82059995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.58, Y:-586.23, Z:-48.21 [[ 8.71264994e-01 4.87598013e-01 5.60846552e-02 1.06458174e+03] [-4.86638363e-01 8.73068016e-01 -3.05833988e-02 -5.86226395e+02] [-6.38781231e-02 -6.46700012e-04 9.97957498e-01 -4.82098909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.64, Y:-586.26, Z:-48.21 [[ 8.71985645e-01 4.86309074e-01 5.60760222e-02 1.06463644e+03] [-4.85345741e-01 8.73786701e-01 -3.05992196e-02 -5.86258066e+02] [-6.38791606e-02 -5.34178382e-04 9.97957498e-01 -4.82135405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1064.69, Y:-586.29, Z:-48.22 [[ 8.72512118e-01 4.85364862e-01 5.60674080e-02 1.06469077e+03] [-4.84398566e-01 8.74311587e-01 -3.06149955e-02 -5.86289531e+02] [-6.38798275e-02 -4.47017454e-04 9.97957498e-01 -4.82170727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.74, Y:-586.32, Z:-48.22 [[ 8.73938196e-01 4.82793372e-01 5.60588102e-02 1.06474494e+03] [-4.81820772e-01 8.75734264e-01 -3.06307307e-02 -5.86320954e+02] [-6.38809347e-02 -2.40933757e-04 9.97957498e-01 -4.82209513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.80, Y:-586.35, Z:-48.23 [[ 8.74221079e-01 4.82281996e-01 5.60498186e-02 1.06479731e+03] [-4.81307291e-01 8.76016006e-01 -3.06471752e-02 -5.86352976e+02] [-6.38811191e-02 -1.84779784e-04 9.97957498e-01 -4.82270886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.85, Y:-586.38, Z:-48.23 [[ 8.73971386e-01 4.82735302e-01 5.60414556e-02 1.06484968e+03] [-4.81760548e-01 8.75766286e-01 -3.06624602e-02 -5.86383354e+02] [-6.38810695e-02 -2.00449565e-04 9.97957499e-01 -4.82325012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1064.90, Y:-586.41, Z:-48.24 [[ 8.73308390e-01 4.83934458e-01 5.60347734e-02 1.06490379e+03] [-4.82961385e-01 8.75104202e-01 -3.06746669e-02 -5.86413656e+02] [-6.38807940e-02 -2.74187856e-04 9.97957499e-01 -4.82374797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1064.96, Y:-586.44, Z:-48.24 [[ 8.71339625e-01 4.87471235e-01 5.60272545e-02 1.06495908e+03] [-4.86504569e-01 8.73138893e-01 -3.06883941e-02 -5.86444016e+02] [-6.38792844e-02 -5.17501466e-04 9.97957499e-01 -4.82389436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.01, Y:-586.47, Z:-48.24 [[ 8.70459501e-01 4.89042096e-01 5.60186203e-02 1.06501302e+03] [-4.88077662e-01 8.72259968e-01 -3.07041468e-02 -5.86473244e+02] [-6.38784203e-02 -6.14720972e-04 9.97957499e-01 -4.82437592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1065.07, Y:-586.50, Z:-48.25 [[ 8.68272070e-01 4.92916238e-01 5.60106613e-02 1.06506757e+03] [-4.91958902e-01 8.70076320e-01 -3.07186588e-02 -5.86503408e+02] [-6.38752759e-02 -8.82789924e-04 9.97957499e-01 -4.82476548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.12, Y:-586.53, Z:-48.25 [[ 8.67063217e-01 4.95040543e-01 5.60021259e-02 1.06512230e+03] [-4.94086623e-01 8.68869275e-01 -3.07342117e-02 -5.86534445e+02] [-6.38732074e-02 -1.02139679e-03 9.97957499e-01 -4.82519249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1065.18, Y:-586.56, Z:-48.26 [[ 8.66054980e-01 4.96803274e-01 5.59935655e-02 1.06517707e+03] [-4.95852022e-01 8.67862444e-01 -3.07497996e-02 -5.86564843e+02] [-6.38713137e-02 -1.13350559e-03 9.97957499e-01 -4.82556490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1065.23, Y:-586.59, Z:-48.26 [[ 8.64815811e-01 4.98958221e-01 5.59848856e-02 1.06523101e+03] [-4.98010451e-01 8.66625103e-01 -3.07655947e-02 -5.86593334e+02] [-6.38686536e-02 -1.27448542e-03 9.97957500e-01 -4.82591522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.29, Y:-586.62, Z:-48.26 [[ 8.64648730e-01 4.99248478e-01 5.59779490e-02 1.06528540e+03] [-4.98300499e-01 8.66457913e-01 -3.07782106e-02 -5.86623686e+02] [-6.38685117e-02 -1.28149922e-03 9.97957500e-01 -4.82605415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.34, Y:-586.65, Z:-48.27 [[ 8.65630691e-01 4.97544788e-01 5.59704497e-02 1.06534026e+03] [-4.96592366e-01 8.67437539e-01 -3.07918422e-02 -5.86654809e+02] [-6.38711897e-02 -1.14013442e-03 9.97957500e-01 -4.82656186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.39, Y:-586.68, Z:-48.27 [[ 8.66784712e-01 4.95532584e-01 5.59617812e-02 1.06539411e+03] [-4.94574951e-01 8.68588804e-01 -3.08075884e-02 -5.86684883e+02] [-6.38739405e-02 -9.73748578e-04 9.97957500e-01 -4.82712821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.45, Y:-586.72, Z:-48.27 [[ 8.68143921e-01 4.93148363e-01 5.59537831e-02 1.06544891e+03] [-4.92184839e-01 8.69944873e-01 -3.08221081e-02 -5.86715517e+02] [-6.38765788e-02 -7.81577922e-04 9.97957500e-01 -4.82741882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.50, Y:-586.75, Z:-48.28 [[ 8.70192340e-01 4.89525738e-01 5.59450076e-02 1.06550361e+03] [-4.88553693e-01 8.71988707e-01 -3.08380282e-02 -5.86746171e+02] [-6.38794233e-02 -4.97124154e-04 9.97957500e-01 -4.82777963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.56, Y:-586.78, Z:-48.28 [[ 8.71401083e-01 4.87371821e-01 5.59362254e-02 1.06555830e+03] [-4.86394314e-01 8.73194483e-01 -3.08539497e-02 -5.86777655e+02] [-6.38805491e-02 -3.20896790e-04 9.97957500e-01 -4.82815899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.61, Y:-586.81, Z:-48.29 [[ 8.73078969e-01 4.84360636e-01 5.59275183e-02 1.06561337e+03] [-4.83375933e-01 8.74868429e-01 -3.08697247e-02 -5.86806471e+02] [-6.38812995e-02 -8.23088934e-05 9.97957501e-01 -4.82881216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.67, Y:-586.84, Z:-48.29 [[ 8.74511511e-01 4.81770263e-01 5.59198560e-02 1.06566841e+03] [-4.80779373e-01 8.76297551e-01 -3.08835986e-02 -5.86835545e+02] [-6.38812323e-02 1.22949170e-04 9.97957501e-01 -4.82926093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1065.72, Y:-586.86, Z:-48.30 [[ 8.75860990e-01 4.79313469e-01 5.59117544e-02 1.06572325e+03] [-4.78316633e-01 8.77643718e-01 -3.08982587e-02 -5.86864635e+02] [-6.38805517e-02 3.19057354e-04 9.97957501e-01 -4.82950009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.78, Y:-586.89, Z:-48.30 [[ 8.77838005e-01 4.75683864e-01 5.59043648e-02 1.06577849e+03] [-4.74678806e-01 8.79616111e-01 -3.09116231e-02 -5.86894587e+02] [-6.38785403e-02 5.98780447e-04 9.97957501e-01 -4.82972277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.83, Y:-586.92, Z:-48.30 [[ 8.80902295e-01 4.69985943e-01 5.58959878e-02 1.06583253e+03] [-4.68968424e-01 8.82673299e-01 -3.09267635e-02 -5.86923655e+02] [-6.38730400e-02 1.03000362e-03 9.97957501e-01 -4.82997519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.89, Y:-586.95, Z:-48.30 [[ 8.82296985e-01 4.67363261e-01 5.58892823e-02 1.06588859e+03] [-4.66339711e-01 8.84064511e-01 -3.09388766e-02 -5.86952732e+02] [-6.38694252e-02 1.23388579e-03 9.97957501e-01 -4.83029205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1065.95, Y:-586.98, Z:-48.31 [[ 8.82618656e-01 4.66756472e-01 5.58811672e-02 1.06594510e+03] [-4.65730780e-01 8.84384939e-01 -3.09535269e-02 -5.86981091e+02] [-6.38682217e-02 1.29458075e-03 9.97957501e-01 -4.83063207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.00, Y:-587.01, Z:-48.31 [[ 8.81042922e-01 4.69725057e-01 5.58725301e-02 1.06600244e+03] [-4.68704329e-01 8.82812079e-01 -3.09691094e-02 -5.87006668e+02] [-6.38719112e-02 1.09741791e-03 9.97957501e-01 -4.83112017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.06, Y:-587.03, Z:-48.31 [[ 8.77875587e-01 4.75619265e-01 5.58638467e-02 1.06605882e+03] [-4.74609420e-01 8.79650978e-01 -3.09847651e-02 -5.87031586e+02] [-6.38776386e-02 6.87260919e-04 9.97957502e-01 -4.83144659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.12, Y:-587.06, Z:-48.32 [[ 8.73149187e-01 4.84242321e-01 5.58558219e-02 1.06611690e+03] [-4.83249086e-01 8.74933923e-01 -3.09992246e-02 -5.87055609e+02] [-6.38812898e-02 7.46728932e-05 9.97957502e-01 -4.83172799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.18, Y:-587.08, Z:-48.32 [[ 8.67383729e-01 4.94496263e-01 5.58472241e-02 1.06617610e+03] [-4.93523128e-01 8.69179504e-01 -3.10147064e-02 -5.87078748e+02] [-6.38779190e-02 -6.60245020e-04 9.97957502e-01 -4.83223483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.23, Y:-587.10, Z:-48.33 [[ 8.64001201e-01 5.00383829e-01 5.58385878e-02 1.06623344e+03] [-4.99421926e-01 8.65803017e-01 -3.10302475e-02 -5.87104326e+02] [-6.38722518e-02 -1.07684394e-03 9.97957502e-01 -4.83269673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.29, Y:-587.13, Z:-48.33 [[ 8.61214495e-01 5.05165938e-01 5.58298104e-02 1.06629056e+03] [-5.04213016e-01 8.63021077e-01 -3.10460317e-02 -5.87128660e+02] [-6.38657008e-02 -1.41282461e-03 9.97957502e-01 -4.83317649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.35, Y:-587.16, Z:-48.34 [[ 8.60840408e-01 5.05803746e-01 5.58243918e-02 1.06634681e+03] [-5.04851531e-01 8.62647362e-01 -3.10557720e-02 -5.87156833e+02] [-6.38648901e-02 -1.44896619e-03 9.97957502e-01 -4.83354123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.40, Y:-587.18, Z:-48.34 [[ 8.62414062e-01 5.03116868e-01 5.58157897e-02 1.06640366e+03] [-5.02158023e-01 8.64217507e-01 -3.10712247e-02 -5.87183137e+02] [-6.38694399e-02 -1.23208548e-03 9.97957502e-01 -4.83383745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.46, Y:-587.21, Z:-48.34 [[ 8.63543421e-01 5.01176968e-01 5.58068774e-02 1.06646008e+03] [-5.00213038e-01 8.65344152e-01 -3.10872237e-02 -5.87211243e+02] [-6.38723556e-02 -1.07016017e-03 9.97957503e-01 -4.83432826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.52, Y:-587.24, Z:-48.35 [[ 8.63908105e-01 5.00549062e-01 5.57980549e-02 1.06651548e+03] [-4.99582801e-01 8.65707587e-01 -3.11030512e-02 -5.87240534e+02] [-6.38734025e-02 -1.00557052e-03 9.97957503e-01 -4.83482753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.57, Y:-587.27, Z:-48.35 [[ 8.65212551e-01 4.98291887e-01 5.57892213e-02 1.06657040e+03] [-4.97319910e-01 8.67008951e-01 -3.11188879e-02 -5.87268171e+02] [-6.38760436e-02 -8.20638118e-04 9.97957503e-01 -4.83547235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.63, Y:-587.30, Z:-48.36 [[ 8.67004824e-01 4.95167712e-01 5.57814640e-02 1.06662510e+03] [-4.94188367e-01 8.68797219e-01 -3.11327869e-02 -5.87298205e+02] [-6.38787316e-02 -5.74274169e-04 9.97957503e-01 -4.83606276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1066.68, Y:-587.33, Z:-48.37 [[ 8.68739157e-01 4.92118900e-01 5.57787241e-02 1.06667909e+03] [-4.91132950e-01 8.70527926e-01 -3.11376949e-02 -5.87328659e+02] [-6.38803852e-02 -3.44234518e-04 9.97957503e-01 -4.83657672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1066.73, Y:-587.36, Z:-48.37 [[ 8.68602841e-01 4.92360316e-01 5.57711657e-02 1.06673432e+03] [-4.91373994e-01 8.70391406e-01 -3.11512271e-02 -5.87359590e+02] [-6.38803713e-02 -3.46456100e-04 9.97957503e-01 -4.83698239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1066.79, Y:-587.39, Z:-48.37 [[ 8.69332436e-01 4.91071948e-01 5.57625174e-02 1.06678915e+03] [-4.90081983e-01 8.71118986e-01 -3.11667004e-02 -5.87391048e+02] [-6.38808798e-02 -2.33981499e-04 9.97957503e-01 -4.83739892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.84, Y:-587.42, Z:-48.38 [[ 8.69253553e-01 4.91212534e-01 5.57539849e-02 1.06684316e+03] [-4.90221879e-01 8.71039721e-01 -3.11819566e-02 -5.87421373e+02] [-6.38809034e-02 -2.26796729e-04 9.97957504e-01 -4.83765684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.90, Y:-587.45, Z:-48.38 [[ 8.68724047e-01 4.92149239e-01 5.57463637e-02 1.06689746e+03] [-4.91159636e-01 8.70510797e-01 -3.11955757e-02 -5.87452726e+02] [-6.38806904e-02 -2.80016957e-04 9.97957504e-01 -4.83799092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1066.95, Y:-587.48, Z:-48.38 [[ 8.67611332e-01 4.94109186e-01 5.57376770e-02 1.06695209e+03] [-4.93122623e-01 8.69399763e-01 -3.12110886e-02 -5.87483911e+02] [-6.38800088e-02 -4.06415301e-04 9.97957504e-01 -4.83833512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.01, Y:-587.51, Z:-48.39 [[ 8.66000540e-01 4.96927924e-01 5.57288411e-02 1.06700575e+03] [-4.95946166e-01 8.67791613e-01 -3.12268577e-02 -5.87514552e+02] [-6.38785184e-02 -5.96029420e-04 9.97957504e-01 -4.83878404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.06, Y:-587.55, Z:-48.39 [[ 8.64315179e-01 4.99854456e-01 5.57206783e-02 1.06706019e+03] [-4.98877825e-01 8.66109052e-01 -3.12414164e-02 -5.87545605e+02] [-6.38763451e-02 -7.95380440e-04 9.97957504e-01 -4.83912202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.11, Y:-587.57, Z:-48.40 [[ 8.64795093e-01 4.99024660e-01 5.57120754e-02 1.06711492e+03] [-4.98045320e-01 8.66587489e-01 -3.12567503e-02 -5.87574817e+02] [-6.38772767e-02 -7.16454076e-04 9.97957504e-01 -4.83996687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.17, Y:-587.61, Z:-48.40 [[ 8.62852512e-01 5.02376953e-01 5.57040383e-02 1.06716709e+03] [-5.01403651e-01 8.64648194e-01 -3.12710671e-02 -5.87607656e+02] [-6.38742595e-02 -9.47889410e-04 9.97957504e-01 -4.83982148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:1067.22, Y:-587.64, Z:-48.40 [[ 8.62681013e-01 5.02672208e-01 5.56966934e-02 1.06721950e+03] [-5.01698677e-01 8.64476570e-01 -3.12841435e-02 -5.87638898e+02] [-6.38741560e-02 -9.54720871e-04 9.97957505e-01 -4.84042650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.27, Y:-587.67, Z:-48.41 [[ 8.62828840e-01 5.02418897e-01 5.56924109e-02 1.06727220e+03] [-5.01444347e-01 8.64623845e-01 -3.12917654e-02 -5.87671236e+02] [-6.38745607e-02 -9.27206906e-04 9.97957505e-01 -4.84082616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1067.33, Y:-587.70, Z:-48.41 [[ 8.63066941e-01 5.02010619e-01 5.56847747e-02 1.06732600e+03] [-5.01034344e-01 8.64861007e-01 -3.13053485e-02 -5.87704285e+02] [-6.38752077e-02 -8.81373197e-04 9.97957505e-01 -4.84119434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.38, Y:-587.74, Z:-48.41 [[ 8.62990862e-01 5.02142353e-01 5.56761128e-02 1.06737919e+03] [-5.01165359e-01 8.64784536e-01 -3.13207459e-02 -5.87737373e+02] [-6.38753145e-02 -8.73421572e-04 9.97957505e-01 -4.84136155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1067.43, Y:-587.77, Z:-48.42 [[ 8.62618777e-01 5.02782113e-01 5.56686010e-02 1.06743313e+03] [-5.01805587e-01 8.64412707e-01 -3.13340916e-02 -5.87770488e+02] [-6.38748668e-02 -9.05439287e-04 9.97957505e-01 -4.84172976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.49, Y:-587.80, Z:-48.42 [[ 8.62556292e-01 5.02890255e-01 5.56599859e-02 1.06748679e+03] [-5.01912968e-01 8.64349807e-01 -3.13493874e-02 -5.87803718e+02] [-6.38749995e-02 -8.95857333e-04 9.97957505e-01 -4.84198546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.54, Y:-587.84, Z:-48.42 [[ 8.62670662e-01 5.02695031e-01 5.56510117e-02 1.06753937e+03] [-5.01716311e-01 8.64463395e-01 -3.13653102e-02 -5.87837271e+02] [-6.38754481e-02 -8.63087356e-04 9.97957505e-01 -4.84234027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.59, Y:-587.87, Z:-48.43 [[ 8.62734126e-01 5.02587021e-01 5.56427378e-02 1.06759276e+03] [-5.01607131e-01 8.64526219e-01 -3.13799815e-02 -5.87871440e+02] [-6.38757771e-02 -8.38213155e-04 9.97957505e-01 -4.84268339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.65, Y:-587.90, Z:-48.43 [[ 8.62955295e-01 5.02208202e-01 5.56334580e-02 1.06764740e+03] [-5.01226465e-01 8.64746377e-01 -3.13964250e-02 -5.87903067e+02] [-6.38763734e-02 -7.91250316e-04 9.97957506e-01 -4.84323327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.70, Y:-587.94, Z:-48.44 [[ 8.62655577e-01 5.02723882e-01 5.56242210e-02 1.06770109e+03] [-5.01742160e-01 8.64446668e-01 -3.14127815e-02 -5.87936244e+02] [-6.38761279e-02 -8.10605683e-04 9.97957506e-01 -4.84372640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1067.75, Y:-587.97, Z:-48.44 [[ 8.61644911e-01 5.04455156e-01 5.56151363e-02 1.06775305e+03] [-5.03475996e-01 8.63437403e-01 -3.14288573e-02 -5.87970323e+02] [-6.38746380e-02 -9.20371242e-04 9.97957506e-01 -4.84443478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.81, Y:-588.00, Z:-48.45 [[ 8.62975359e-01 5.02176682e-01 5.56067424e-02 1.06780694e+03] [-5.01191833e-01 8.64764731e-01 -3.14437016e-02 -5.87999597e+02] [-6.38770434e-02 -7.34505511e-04 9.97957506e-01 -4.84512991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.86, Y:-588.04, Z:-48.45 [[ 8.61596514e-01 5.04539628e-01 5.55986535e-02 1.06785685e+03] [-5.03558764e-01 8.63388074e-01 -3.14579980e-02 -5.88035712e+02] [-6.38750209e-02 -8.93087805e-04 9.97957506e-01 -4.84529440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.91, Y:-588.07, Z:-48.46 [[ 8.63089389e-01 5.01982388e-01 5.55912765e-02 1.06791139e+03] [-5.00995375e-01 8.64877568e-01 -3.14710289e-02 -5.88065069e+02] [-6.38775502e-02 -6.88661329e-04 9.97957506e-01 -4.84580823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1067.96, Y:-588.10, Z:-48.46 [[ 8.60649360e-01 5.06155275e-01 5.55834262e-02 1.06796240e+03] [-5.05176037e-01 8.62441809e-01 -3.14848879e-02 -5.88101273e+02] [-6.38737127e-02 -9.81966368e-04 9.97957506e-01 -4.84596235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.02, Y:-588.13, Z:-48.47 [[ 8.60692243e-01 5.06083212e-01 5.55755777e-02 1.06801714e+03] [-5.05102930e-01 8.62484121e-01 -3.14987355e-02 -5.88131230e+02] [-6.38740345e-02 -9.60669820e-04 9.97957507e-01 -4.84660838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.07, Y:-588.17, Z:-48.47 [[ 8.58194594e-01 5.10308165e-01 5.55663232e-02 1.06806897e+03] [-5.09335647e-01 8.59990698e-01 -3.15150527e-02 -5.88166880e+02] [-6.38689098e-02 -1.25586138e-03 9.97957507e-01 -4.84685939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.12, Y:-588.20, Z:-48.48 [[ 8.56938855e-01 5.12414388e-01 5.55634225e-02 1.06811982e+03] [-5.11445954e-01 8.58737163e-01 -3.15201661e-02 -5.88199819e+02] [-6.38657624e-02 -1.40683263e-03 9.97957507e-01 -4.84761977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1068.17, Y:-588.23, Z:-48.48 [[ 8.56849965e-01 5.12563814e-01 5.55560395e-02 1.06817131e+03] [-5.11594850e-01 8.58647988e-01 -3.15331736e-02 -5.88234387e+02] [-6.38658453e-02 -1.40298501e-03 9.97957507e-01 -4.84798640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.22, Y:-588.27, Z:-48.48 [[ 8.57555510e-01 5.11383409e-01 5.55477748e-02 1.06822260e+03] [-5.10411028e-01 8.59351688e-01 -3.15477257e-02 -5.88269976e+02] [-6.38680576e-02 -1.29827083e-03 9.97957507e-01 -4.84818203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.28, Y:-588.30, Z:-48.49 [[ 8.58186207e-01 5.10325127e-01 5.55400574e-02 1.06827537e+03] [-5.09349653e-01 8.59980706e-01 -3.15613065e-02 -5.88303538e+02] [-6.38699056e-02 -1.20383099e-03 9.97957507e-01 -4.84853211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.33, Y:-588.34, Z:-48.49 [[ 8.58971257e-01 5.09003610e-01 5.55311223e-02 1.06832796e+03] [-5.08024359e-01 8.60763698e-01 -3.15770197e-02 -5.88335574e+02] [-6.38719912e-02 -1.08741050e-03 9.97957507e-01 -4.84903817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.38, Y:-588.37, Z:-48.49 [[ 8.59525616e-01 5.08067835e-01 5.55228791e-02 1.06838324e+03] [-5.07085697e-01 8.61316476e-01 -3.15915074e-02 -5.88366048e+02] [-6.38733994e-02 -1.00114796e-03 9.97957507e-01 -4.84947175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.44, Y:-588.40, Z:-48.50 [[ 8.59580003e-01 5.07976785e-01 5.55139932e-02 1.06843723e+03] [-5.06993450e-01 8.61370206e-01 -3.16071144e-02 -5.88395499e+02] [-6.38737801e-02 -9.76387457e-04 9.97957508e-01 -4.85002866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters Centerline goodness : 0.997593 with order 1 Centerline is valid? [True, True] Translation: X:1068.49, Y:-588.42, Z:-48.51 [[ 8.59228309e-01 5.08572331e-01 5.55058237e-02 1.06849268e+03] [-5.07589310e-01 8.61018685e-01 -3.16214545e-02 -5.88422078e+02] [-6.38733482e-02 -1.00411383e-03 9.97957508e-01 -4.85078787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.55, Y:-588.45, Z:-48.51 [[ 8.58098889e-01 5.10476227e-01 5.55006243e-02 1.06854651e+03] [-5.09496588e-01 8.59891117e-01 -3.16305777e-02 -5.88451155e+02] [-6.38711518e-02 -1.13521510e-03 9.97957508e-01 -4.85097537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.60, Y:-588.48, Z:-48.51 [[ 8.56481750e-01 5.13185446e-01 5.54951336e-02 1.06860133e+03] [-5.12210853e-01 8.58276727e-01 -3.16402080e-02 -5.88480920e+02] [-6.38674759e-02 -1.32594902e-03 9.97957508e-01 -4.85133581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.66, Y:-588.51, Z:-48.52 [[ 8.56480996e-01 5.13187647e-01 5.54864209e-02 1.06865623e+03] [-5.12212069e-01 8.58275438e-01 -3.16554798e-02 -5.88510776e+02] [-6.38678334e-02 -1.30849756e-03 9.97957508e-01 -4.85192196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.71, Y:-588.54, Z:-48.52 [[ 8.58446930e-01 5.09892700e-01 5.54824625e-02 1.06870922e+03] [-5.08909786e-01 8.60237364e-01 -3.16624162e-02 -5.88541554e+02] [-6.38725222e-02 -1.05506417e-03 9.97957508e-01 -4.85210216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1068.76, Y:-588.57, Z:-48.52 [[ 8.62615008e-01 5.02809961e-01 5.54751399e-02 1.06876358e+03] [-5.01811519e-01 8.64396830e-01 -3.16752408e-02 -5.88574599e+02] [-6.38791616e-02 -5.14526065e-04 9.97957508e-01 -4.85196753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1068.82, Y:-588.61, Z:-48.53 [[ 8.66412099e-01 4.96239480e-01 5.54657788e-02 1.06881724e+03] [-4.95226476e-01 8.68185682e-01 -3.16916244e-02 -5.88605230e+02] [-6.38812302e-02 -1.01153986e-05 9.97957508e-01 -4.85298525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.87, Y:-588.64, Z:-48.53 [[ 8.65829753e-01 4.97255192e-01 5.54627174e-02 1.06886827e+03] [-4.96243925e-01 8.67604327e-01 -3.16969812e-02 -5.88639383e+02] [-6.38811821e-02 -7.88471687e-05 9.97957508e-01 -4.85316112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters Centerline goodness : 0.997311 with order 1 Centerline is valid? [True, True] Translation: X:1068.92, Y:-588.67, Z:-48.54 [[ 8.65970854e-01 4.97010311e-01 5.54547689e-02 1.06892180e+03] [-4.95997652e-01 8.67744633e-01 -3.17108812e-02 -5.88669664e+02] [-6.38812130e-02 -4.47363180e-05 9.97957508e-01 -4.85396863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1068.98, Y:-588.70, Z:-48.54 [[ 8.65132671e-01 4.98468915e-01 5.54454888e-02 1.06897545e+03] [-4.97458207e-01 8.66907563e-01 -3.17270988e-02 -5.88700511e+02] [-6.38810862e-02 -1.33663705e-04 9.97957509e-01 -4.85379280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.03, Y:-588.73, Z:-48.54 [[ 8.64629162e-01 4.99342821e-01 5.54360816e-02 1.06902954e+03] [-4.98332854e-01 8.66404475e-01 -3.17435274e-02 -5.88730236e+02] [-6.38809717e-02 -1.79241270e-04 9.97957509e-01 -4.85406535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.08, Y:-588.76, Z:-48.54 [[ 8.64232989e-01 5.00029045e-01 5.54282904e-02 1.06908392e+03] [-4.99019615e-01 8.66008608e-01 -3.17571261e-02 -5.88760412e+02] [-6.38808620e-02 -2.14248130e-04 9.97957509e-01 -4.85449774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.14, Y:-588.79, Z:-48.55 [[ 8.62834445e-01 5.02439389e-01 5.54200496e-02 1.06913956e+03] [-5.01433996e-01 8.64612352e-01 -3.17715007e-02 -5.88790389e+02] [-6.38801129e-02 -3.75951746e-04 9.97957509e-01 -4.85499953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.19, Y:-588.82, Z:-48.56 [[ 8.61832517e-01 5.04157027e-01 5.54112335e-02 1.06919455e+03] [-5.03154189e-01 8.63611867e-01 -3.17868691e-02 -5.88820277e+02] [-6.38793722e-02 -4.85436824e-04 9.97957509e-01 -4.85552354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1069.25, Y:-588.85, Z:-48.56 [[ 8.60715317e-01 5.06062947e-01 5.54025033e-02 1.06924791e+03] [-5.05063071e-01 8.62496332e-01 -3.18020780e-02 -5.88849171e+02] [-6.38783092e-02 -6.09222820e-04 9.97957509e-01 -4.85604949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.30, Y:-588.88, Z:-48.56 [[ 8.58886157e-01 5.09161669e-01 5.53982389e-02 1.06930059e+03] [-5.08167739e-01 8.60670497e-01 -3.18095047e-02 -5.88880417e+02] [-6.38758104e-02 -8.30854538e-04 9.97957509e-01 -4.85588360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.35, Y:-588.91, Z:-48.57 [[ 8.60154616e-01 5.07016604e-01 5.53913280e-02 1.06935434e+03] [-5.06017450e-01 8.61936036e-01 -3.18215345e-02 -5.88908078e+02] [-6.38778281e-02 -6.57538680e-04 9.97957510e-01 -4.85676154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.41, Y:-588.94, Z:-48.57 [[ 8.61002846e-01 5.05575631e-01 5.53839354e-02 1.06940828e+03] [-5.04572668e-01 8.62782124e-01 -3.18343958e-02 -5.88940391e+02] [-6.38789642e-02 -5.35714617e-04 9.97957510e-01 -4.85698780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.46, Y:-588.97, Z:-48.57 [[ 8.62151349e-01 5.03615579e-01 5.53750762e-02 1.06946230e+03] [-5.02607581e-01 8.63927780e-01 -3.18497987e-02 -5.88971215e+02] [-6.38801215e-02 -3.72586239e-04 9.97957510e-01 -4.85721021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.51, Y:-589.01, Z:-48.57 [[ 8.61041222e-01 5.05512108e-01 5.53671530e-02 1.06951298e+03] [-5.04507138e-01 8.62819368e-01 -3.18635663e-02 -5.89006034e+02] [-6.38792705e-02 -4.97279816e-04 9.97957510e-01 -4.85716091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.57, Y:-589.03, Z:-48.58 [[ 8.62811831e-01 5.02484247e-01 5.53653847e-02 1.06956819e+03] [-5.01472839e-01 8.64586323e-01 -3.18666385e-02 -5.89031889e+02] [-6.38806382e-02 -2.69323940e-04 9.97957510e-01 -4.85806993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.62, Y:-589.06, Z:-48.59 [[ 8.62268799e-01 5.03416366e-01 5.53577455e-02 1.06962175e+03] [-5.02406025e-01 8.64043898e-01 -3.18799037e-02 -5.89062966e+02] [-6.38803875e-02 -3.23018586e-04 9.97957510e-01 -4.85857131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.68, Y:-589.09, Z:-48.59 [[ 8.61859670e-01 5.04117350e-01 5.53498646e-02 1.06967602e+03] [-5.03107574e-01 8.63635090e-01 -3.18935807e-02 -5.89093841e+02] [-6.38801926e-02 -3.59145163e-04 9.97957510e-01 -4.85911965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.73, Y:-589.12, Z:-48.60 [[ 8.61538865e-01 5.04665716e-01 5.53470714e-02 1.06972941e+03] [-5.03656759e-01 8.63314751e-01 -3.18984272e-02 -5.89124660e+02] [-6.38799857e-02 -3.94191807e-04 9.97957510e-01 -4.85956915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.78, Y:-589.16, Z:-48.60 [[ 8.61368307e-01 5.04957679e-01 5.53388010e-02 1.06978190e+03] [-5.03948402e-01 8.63144011e-01 -3.19127685e-02 -5.89157047e+02] [-6.38799522e-02 -3.99253015e-04 9.97957510e-01 -4.85968447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.84, Y:-589.19, Z:-48.60 [[ 8.62016312e-01 5.03851452e-01 5.53316532e-02 1.06983516e+03] [-5.02839101e-01 8.63790265e-01 -3.19251569e-02 -5.89189100e+02] [-6.38804801e-02 -3.02912810e-04 9.97957510e-01 -4.86002642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.89, Y:-589.22, Z:-48.60 [[ 8.63242966e-01 5.01747836e-01 5.53235085e-02 1.06988852e+03] [-5.00730258e-01 8.65013926e-01 -3.19392646e-02 -5.89221933e+02] [-6.38810622e-02 -1.30809137e-04 9.97957511e-01 -4.86028537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1069.94, Y:-589.25, Z:-48.61 [[ 8.63501600e-01 5.01303591e-01 5.53145315e-02 1.06994181e+03] [-5.00284106e-01 8.65271462e-01 -3.19548041e-02 -5.89254443e+02] [-6.38811436e-02 -7.99565256e-05 9.97957511e-01 -4.86064278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.00, Y:-589.29, Z:-48.61 [[ 8.63398928e-01 5.01481382e-01 5.53056550e-02 1.06999546e+03] [-5.00461278e-01 8.65168433e-01 -3.19701598e-02 -5.89285657e+02] [-6.38811468e-02 -7.53371170e-05 9.97957511e-01 -4.86108988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.05, Y:-589.32, Z:-48.61 [[ 8.63037951e-01 5.02103263e-01 5.52974544e-02 1.07005006e+03] [-5.01083526e-01 8.64807668e-01 -3.19843377e-02 -5.89317199e+02] [-6.38811029e-02 -1.04946187e-04 9.97957511e-01 -4.86147391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.10, Y:-589.35, Z:-48.62 [[ 8.62192893e-01 5.03553948e-01 5.52886649e-02 1.07010446e+03] [-5.02536215e-01 8.63963763e-01 -3.19995242e-02 -5.89348349e+02] [-6.38808897e-02 -1.94794037e-04 9.97957511e-01 -4.86184897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1070.16, Y:-589.38, Z:-48.62 [[ 8.61980283e-01 5.03918774e-01 5.52798365e-02 1.07015789e+03] [-5.02900813e-01 8.63751022e-01 -3.20147682e-02 -5.89379117e+02] [-6.38808580e-02 -2.04175751e-04 9.97957511e-01 -4.86233125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.21, Y:-589.41, Z:-48.62 [[ 8.61281260e-01 5.05113188e-01 5.52743937e-02 1.07021322e+03] [-5.04097079e-01 8.63053062e-01 -3.20241626e-02 -5.89409807e+02] [-6.38805616e-02 -2.81849245e-04 9.97957511e-01 -4.86246373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.27, Y:-589.44, Z:-48.63 [[ 8.61009910e-01 5.05576583e-01 5.52653054e-02 1.07026700e+03] [-5.04560421e-01 8.62781682e-01 -3.20398390e-02 -5.89440731e+02] [-6.38804854e-02 -2.98066891e-04 9.97957512e-01 -4.86284226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.32, Y:-589.47, Z:-48.63 [[ 8.62626669e-01 5.02813931e-01 5.52574098e-02 1.07032266e+03] [-5.01791223e-01 8.64394669e-01 -3.20534503e-02 -5.89468332e+02] [-6.38811319e-02 -7.75222126e-05 9.97957512e-01 -4.86340031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.37, Y:-589.50, Z:-48.64 [[ 8.60339781e-01 5.06717857e-01 5.52492082e-02 1.07037393e+03] [-5.05702264e-01 8.62111878e-01 -3.20675810e-02 -5.89502513e+02] [-6.38802145e-02 -3.50634033e-04 9.97957512e-01 -4.86355354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.43, Y:-589.53, Z:-48.64 [[ 8.59167318e-01 5.08703795e-01 5.52446363e-02 1.07042765e+03] [-5.07691791e-01 8.60941467e-01 -3.20754552e-02 -5.89532566e+02] [-6.38793040e-02 -4.89065610e-04 9.97957512e-01 -4.86409634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1070.48, Y:-589.56, Z:-48.65 [[ 8.57964184e-01 5.10731244e-01 5.52363657e-02 1.07048273e+03] [-5.09722516e-01 8.59740198e-01 -3.20896916e-02 -5.89563150e+02] [-6.38781321e-02 -6.23413234e-04 9.97957512e-01 -4.86457695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.54, Y:-589.59, Z:-48.65 [[ 8.56765322e-01 5.12740747e-01 5.52278030e-02 1.07053770e+03] [-5.11735236e-01 8.58543158e-01 -3.21044215e-02 -5.89591068e+02] [-6.38766975e-02 -7.56057757e-04 9.97957512e-01 -4.86492073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.59, Y:-589.62, Z:-48.65 [[ 8.54795872e-01 5.16018173e-01 5.52201251e-02 1.07059249e+03] [-5.15018625e-01 8.56577069e-01 -3.21176223e-02 -5.89621847e+02] [-6.38735696e-02 -9.85381875e-04 9.97957512e-01 -4.86523309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1070.65, Y:-589.65, Z:-48.66 [[ 8.51658665e-01 5.21180678e-01 5.52106781e-02 1.07064583e+03] [-5.20190874e-01 8.53445294e-01 -3.21338536e-02 -5.89652524e+02] [-6.38668370e-02 -1.35301600e-03 9.97957512e-01 -4.86554755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.70, Y:-589.68, Z:-48.66 [[ 8.50581566e-01 5.22937611e-01 5.52019439e-02 1.07070009e+03] [-5.21950524e-01 8.52369698e-01 -3.21488508e-02 -5.89682524e+02] [-6.38643075e-02 -1.46746369e-03 9.97957513e-01 -4.86611786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.76, Y:-589.71, Z:-48.67 [[ 8.51039835e-01 5.22192370e-01 5.51935462e-02 1.07075568e+03] [-5.21202783e-01 8.52826584e-01 -3.21632617e-02 -5.89710755e+02] [-6.38659334e-02 -1.39481298e-03 9.97957513e-01 -4.86668971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.81, Y:-589.74, Z:-48.67 [[ 8.50258216e-01 5.23465079e-01 5.51840276e-02 1.07080757e+03] [-5.22477108e-01 8.52045859e-01 -3.21795850e-02 -5.89743323e+02] [-6.38642112e-02 -1.47143459e-03 9.97957513e-01 -4.86714523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.86, Y:-589.77, Z:-48.68 [[ 8.52396770e-01 5.19976256e-01 5.51764430e-02 1.07086339e+03] [-5.18980126e-01 8.54179880e-01 -3.21925847e-02 -5.89772123e+02] [-6.38699870e-02 -1.19462214e-03 9.97957513e-01 -4.86753312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.92, Y:-589.80, Z:-48.68 [[ 8.54017875e-01 5.17310429e-01 5.51669231e-02 1.07091793e+03] [-5.16307680e-01 8.55797270e-01 -3.22088903e-02 -5.89804021e+02] [-6.38736970e-02 -9.76138047e-04 9.97957513e-01 -4.86792720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1070.97, Y:-589.84, Z:-48.68 [[ 8.54050152e-01 5.17258147e-01 5.51574685e-02 1.07096954e+03] [-5.16254244e-01 8.55828897e-01 -3.22250730e-02 -5.89839107e+02] [-6.38740370e-02 -9.53448695e-04 9.97957513e-01 -4.86830304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.02, Y:-589.87, Z:-48.69 [[ 8.55490854e-01 5.14872815e-01 5.51487358e-02 1.07102241e+03] [-5.13862989e-01 8.57266243e-01 -3.22400109e-02 -5.89870322e+02] [-6.38766547e-02 -7.57859733e-04 9.97957513e-01 -4.86875987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.08, Y:-589.90, Z:-48.69 [[ 8.58786901e-01 5.09357039e-01 5.51404118e-02 1.07107794e+03] [-5.08334896e-01 8.60555226e-01 -3.22542412e-02 -5.89897250e+02] [-6.38802944e-02 -3.30275633e-04 9.97957514e-01 -4.86932929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.13, Y:-589.93, Z:-48.70 [[ 8.58753492e-01 5.09414263e-01 5.51321087e-02 1.07113212e+03] [-5.08391327e-01 8.60521358e-01 -3.22684275e-02 -5.89928693e+02] [-6.38803543e-02 -3.18061054e-04 9.97957514e-01 -4.86979350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.18, Y:-589.96, Z:-48.70 [[ 8.57143379e-01 5.12119832e-01 5.51226391e-02 1.07118366e+03] [-5.11101436e-01 8.58913865e-01 -3.22845959e-02 -5.89961941e+02] [-6.38791808e-02 -5.00732322e-04 9.97957514e-01 -4.87029911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.24, Y:-589.99, Z:-48.71 [[ 8.56655845e-01 5.12935451e-01 5.51179319e-02 1.07123789e+03] [-5.11918223e-01 8.58427003e-01 -3.22926303e-02 -5.89991386e+02] [-6.38787559e-02 -5.52203267e-04 9.97957514e-01 -4.87086664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1071.29, Y:-590.02, Z:-48.71 [[ 8.56871067e-01 5.12576638e-01 5.51104776e-02 1.07129191e+03] [-5.11557851e-01 8.58641328e-01 -3.23053468e-02 -5.90023116e+02] [-6.38790997e-02 -5.10680467e-04 9.97957514e-01 -4.87113501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1071.35, Y:-590.06, Z:-48.71 [[ 8.57654957e-01 5.11264906e-01 5.51014613e-02 1.07134643e+03] [-5.10242424e-01 8.59423085e-01 -3.23207180e-02 -5.90055207e+02] [-6.38799168e-02 -3.95079204e-04 9.97957514e-01 -4.87143832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.40, Y:-590.08, Z:-48.72 [[ 8.59889057e-01 5.07499394e-01 5.50924234e-02 1.07140117e+03] [-5.06468183e-01 8.61652108e-01 -3.23361164e-02 -5.90084139e+02] [-6.38810622e-02 -9.70869245e-05 9.97957514e-01 -4.87179895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.45, Y:-590.12, Z:-48.72 [[ 8.60060908e-01 5.07208994e-01 5.50842143e-02 1.07145346e+03] [-5.06176292e-01 8.61823087e-01 -3.23500945e-02 -5.90117343e+02] [-6.38811065e-02 -5.92716793e-05 9.97957515e-01 -4.87198122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1071.51, Y:-590.15, Z:-48.72 [[ 8.62078560e-01 5.03773002e-01 5.50755689e-02 1.07150754e+03] [-5.02732336e-01 8.63836048e-01 -3.23648065e-02 -5.90148629e+02] [-6.38807775e-02 2.12736340e-04 9.97957515e-01 -4.87225264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.56, Y:-590.18, Z:-48.73 [[ 8.62825200e-01 5.02494013e-01 5.50676057e-02 1.07156169e+03] [-5.01449878e-01 8.64580628e-01 -3.23783499e-02 -5.90179764e+02] [-6.38803121e-02 3.23212036e-04 9.97957515e-01 -4.87262096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.62, Y:-590.21, Z:-48.73 [[ 8.62367466e-01 5.03280144e-01 5.50586170e-02 1.07161541e+03] [-5.02236633e-01 8.64123265e-01 -3.23936279e-02 -5.90209871e+02] [-6.38805015e-02 2.82756364e-04 9.97957515e-01 -4.87313880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.67, Y:-590.24, Z:-48.74 [[ 8.61195429e-01 5.05283975e-01 5.50503168e-02 1.07167066e+03] [-5.04243649e-01 8.62953117e-01 -3.24077272e-02 -5.90240550e+02] [-6.38809477e-02 1.50613948e-04 9.97957515e-01 -4.87356246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1071.72, Y:-590.27, Z:-48.74 [[ 8.59259567e-01 5.08570029e-01 5.50410879e-02 1.07172471e+03] [-5.07535421e-01 8.61020627e-01 -3.24233940e-02 -5.90271414e+02] [-6.38810784e-02 -7.51902724e-05 9.97957515e-01 -4.87370260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.78, Y:-590.30, Z:-48.75 [[ 8.56675151e-01 5.12912349e-01 5.50327935e-02 1.07177807e+03] [-5.11885763e-01 8.58440899e-01 -3.24374660e-02 -5.90299394e+02] [-6.38799776e-02 -3.82132415e-04 9.97957515e-01 -4.87470755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.83, Y:-590.33, Z:-48.75 [[ 8.55740843e-01 5.14470443e-01 5.50252095e-02 1.07183219e+03] [-5.13446245e-01 8.57507976e-01 -3.24503262e-02 -5.90331076e+02] [-6.38792897e-02 -4.83417754e-04 9.97957516e-01 -4.87498785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1071.88, Y:-590.36, Z:-48.75 [[ 8.53976326e-01 5.17395095e-01 5.50159077e-02 1.07188401e+03] [-5.16375934e-01 8.55746369e-01 -3.24660887e-02 -5.90364831e+02] [-6.38774583e-02 -6.83619525e-04 9.97957516e-01 -4.87477509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.94, Y:-590.39, Z:-48.76 [[ 8.55785171e-01 5.14397959e-01 5.50134609e-02 1.07193725e+03] [-5.13372332e-01 8.57551475e-01 -3.24702341e-02 -5.90393010e+02] [-6.38794967e-02 -4.54843874e-04 9.97957516e-01 -4.87567783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1071.99, Y:-590.42, Z:-48.76 [[ 8.56928343e-01 5.12492069e-01 5.50063195e-02 1.07199096e+03] [-5.11461737e-01 8.58691906e-01 -3.24823277e-02 -5.90424666e+02] [-6.38804166e-02 -2.98600486e-04 9.97957516e-01 -4.87596760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.04, Y:-590.46, Z:-48.76 [[ 8.58313168e-01 5.10170250e-01 5.49983683e-02 1.07204427e+03] [-5.09134285e-01 8.60073429e-01 -3.24957849e-02 -5.90456277e+02] [-6.38810179e-02 -1.09994801e-04 9.97957516e-01 -4.87633415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.10, Y:-590.49, Z:-48.77 [[ 8.58785585e-01 5.09375523e-01 5.49899562e-02 1.07209867e+03] [-5.08337018e-01 8.60544348e-01 -3.25100138e-02 -5.90488724e+02] [-6.38811013e-02 -3.42991766e-05 9.97957516e-01 -4.87665182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.15, Y:-590.52, Z:-48.77 [[ 8.59003034e-01 5.09009712e-01 5.49809157e-02 1.07215181e+03] [-5.07969479e-01 8.60760776e-01 -3.25252958e-02 -5.90520977e+02] [-6.38811071e-02 1.07006592e-05 9.97957516e-01 -4.87717385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1072.20, Y:-590.55, Z:-48.78 [[ 8.58910079e-01 5.09167418e-01 5.49728826e-02 1.07220483e+03] [-5.08126639e-01 8.60667497e-01 -3.25388674e-02 -5.90552625e+02] [-6.38811044e-02 1.47751060e-05 9.97957516e-01 -4.87775832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.26, Y:-590.59, Z:-48.78 [[ 8.57803199e-01 5.11030851e-01 5.49649104e-02 1.07225568e+03] [-5.09993028e-01 8.59562364e-01 -3.25523285e-02 -5.90588366e+02] [-6.38810125e-02 -1.08229601e-04 9.97957516e-01 -4.87794598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.31, Y:-590.62, Z:-48.79 [[ 8.58491991e-01 5.09873155e-01 5.49624102e-02 1.07230745e+03] [-5.08832689e-01 8.60249595e-01 -3.25565494e-02 -5.90620052e+02] [-6.38811017e-02 -1.71340709e-05 9.97957516e-01 -4.87859184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1072.36, Y:-590.65, Z:-48.79 [[ 8.58036137e-01 5.10640787e-01 5.49542977e-02 1.07236027e+03] [-5.09601017e-01 8.59794152e-01 -3.25702373e-02 -5.90654420e+02] [-6.38810754e-02 -5.83254183e-05 9.97957517e-01 -4.87884237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.41, Y:-590.69, Z:-48.79 [[ 8.57286065e-01 5.11900031e-01 5.49450749e-02 1.07241216e+03] [-5.10861847e-01 8.59045016e-01 -3.25857884e-02 -5.90688007e+02] [-6.38809589e-02 -1.34000099e-04 9.97957517e-01 -4.87932553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1072.46, Y:-590.72, Z:-48.80 [[ 8.55557294e-01 5.14785092e-01 5.49365612e-02 1.07246398e+03] [-5.13751917e-01 8.57319193e-01 -3.26001356e-02 -5.90723800e+02] [-6.38802321e-02 -3.32479852e-04 9.97957517e-01 -4.87961703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.52, Y:-590.76, Z:-48.80 [[ 8.53504219e-01 5.18182925e-01 5.49272672e-02 1.07251507e+03] [-5.17155757e-01 8.55269626e-01 -3.26157872e-02 -5.90759864e+02] [-6.38785673e-02 -5.68240457e-04 9.97957517e-01 -4.87970855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.57, Y:-590.79, Z:-48.80 [[ 8.51591505e-01 5.21320684e-01 5.49240757e-02 1.07256776e+03] [-5.20299674e-01 8.53360480e-01 -3.26211608e-02 -5.90792609e+02] [-6.38761215e-02 -7.97075235e-04 9.97957517e-01 -4.87991273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1072.62, Y:-590.82, Z:-48.81 [[ 8.50336960e-01 5.23365457e-01 5.49149673e-02 1.07262035e+03] [-5.22347711e-01 8.52107815e-01 -3.26364868e-02 -5.90822940e+02] [-6.38742826e-02 -9.32696520e-04 9.97957517e-01 -4.88053632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.67, Y:-590.86, Z:-48.81 [[ 8.48804131e-01 5.25848612e-01 5.49070511e-02 1.07267368e+03] [-5.24835186e-01 8.50577462e-01 -3.26497994e-02 -5.90855648e+02] [-6.38715519e-02 -1.10386774e-03 9.97957517e-01 -4.88089323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:1072.73, Y:-590.89, Z:-48.82 [[ 8.47808853e-01 5.27452705e-01 5.48980316e-02 1.07272561e+03] [-5.26441652e-01 8.49583538e-01 -3.26649581e-02 -5.90888432e+02] [-6.38696844e-02 -1.20696985e-03 9.97957518e-01 -4.88169220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.78, Y:-590.92, Z:-48.82 [[ 8.47565432e-01 5.27844141e-01 5.48944684e-02 1.07277929e+03] [-5.26833520e-01 8.49340363e-01 -3.26709450e-02 -5.90919110e+02] [-6.38692546e-02 -1.22948238e-03 9.97957518e-01 -4.88193500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.83, Y:-590.95, Z:-48.82 [[ 8.47314430e-01 5.28248075e-01 5.48837705e-02 1.07283354e+03] [-5.27237137e-01 8.49089181e-01 -3.26889066e-02 -5.90951011e+02] [-6.38690677e-02 -1.23897977e-03 9.97957518e-01 -4.88232033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.89, Y:-590.98, Z:-48.83 [[ 8.47149192e-01 5.28513975e-01 5.48746319e-02 1.07288820e+03] [-5.27502602e-01 8.48923694e-01 -3.27042403e-02 -5.90981276e+02] [-6.38690232e-02 -1.24114030e-03 9.97957518e-01 -4.88271551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1072.94, Y:-591.01, Z:-48.83 [[ 8.47458440e-01 5.28018899e-01 5.48656026e-02 1.07294174e+03] [-5.27005510e-01 8.49231791e-01 -3.27193810e-02 -5.91013351e+02] [-6.38700655e-02 -1.18615926e-03 9.97957518e-01 -4.88307074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.00, Y:-591.05, Z:-48.83 [[ 8.48697053e-01 5.26026741e-01 5.48559947e-02 1.07299621e+03] [-5.25008148e-01 8.50467420e-01 -3.27354814e-02 -5.91045223e+02] [-6.38729749e-02 -1.01733764e-03 9.97957518e-01 -4.88341519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.05, Y:-591.08, Z:-48.84 [[ 8.52012666e-01 5.20640267e-01 5.48464125e-02 1.07304980e+03] [-5.19609448e-01 8.53775942e-01 -3.27515280e-02 -5.91076609e+02] [-6.38783118e-02 -5.93997454e-04 9.97957518e-01 -4.88374200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.10, Y:-591.11, Z:-48.84 [[ 8.55384565e-01 5.15082602e-01 5.48375695e-02 1.07310431e+03] [-5.14039377e-01 8.57140529e-01 -3.27663276e-02 -5.91108741e+02] [-6.38808686e-02 -1.60859172e-04 9.97957519e-01 -4.88410598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.16, Y:-591.14, Z:-48.84 [[ 8.60832255e-01 5.05926560e-01 5.48283264e-02 1.07315762e+03] [-5.04863674e-01 8.62576388e-01 -3.27817870e-02 -5.91141089e+02] [-6.38787964e-02 5.38789322e-04 9.97957519e-01 -4.88430319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1073.21, Y:-591.17, Z:-48.85 [[ 8.63734131e-01 5.00956913e-01 5.48226352e-02 1.07321124e+03] [-4.99883389e-01 8.65471737e-01 -3.27913019e-02 -5.91172998e+02] [-6.38744707e-02 9.18042025e-04 9.97957519e-01 -4.88459961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.27, Y:-591.20, Z:-48.85 [[ 8.65495224e-01 4.97909117e-01 5.48135722e-02 1.07326589e+03] [-4.96828516e-01 8.67228438e-01 -3.28064445e-02 -5.91204754e+02] [-6.38705164e-02 1.16087534e-03 9.97957519e-01 -4.88492108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.32, Y:-591.23, Z:-48.85 [[ 8.66167372e-01 4.96739952e-01 5.48042368e-02 1.07332009e+03] [-4.95656025e-01 8.67898507e-01 -3.28220322e-02 -5.91234692e+02] [-6.38685300e-02 1.26532322e-03 9.97957519e-01 -4.88546149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.37, Y:-591.27, Z:-48.86 [[ 8.65344658e-01 4.98172658e-01 5.47962132e-02 1.07337449e+03] [-4.97090750e-01 8.67077056e-01 -3.28354222e-02 -5.91265892e+02] [-6.38702487e-02 1.17526649e-03 9.97957519e-01 -4.88588039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1073.43, Y:-591.30, Z:-48.86 [[ 8.62715812e-01 5.02712447e-01 5.47870756e-02 1.07342871e+03] [-5.01638688e-01 8.64453273e-01 -3.28506614e-02 -5.91296398e+02] [-6.38753032e-02 8.57468317e-04 9.97957519e-01 -4.88623763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.48, Y:-591.33, Z:-48.87 [[ 8.59835193e-01 5.07624562e-01 5.47790610e-02 1.07348241e+03] [-5.06559879e-01 8.61578230e-01 -3.28640206e-02 -5.91326781e+02] [-6.38790304e-02 5.08766986e-04 9.97957519e-01 -4.88657313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.54, Y:-591.36, Z:-48.87 [[ 8.58086921e-01 5.10575138e-01 5.47710182e-02 1.07353700e+03] [-5.09515594e-01 8.59833086e-01 -3.28774192e-02 -5.91358305e+02] [-6.38803264e-02 3.04995612e-04 9.97957520e-01 -4.88695738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.59, Y:-591.39, Z:-48.87 [[ 8.54713867e-01 5.16202809e-01 5.47618998e-02 1.07359195e+03] [-5.15153789e-01 8.56466374e-01 -3.28926002e-02 -5.91387212e+02] [-6.38809784e-02 -9.70386708e-05 9.97957520e-01 -4.88729733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.65, Y:-591.42, Z:-48.87 [[ 8.49975324e-01 5.23969434e-01 5.47538230e-02 1.07364675e+03] [-5.22935560e-01 8.51736809e-01 -3.29060395e-02 -5.91416043e+02] [-6.38776054e-02 -6.63399564e-04 9.97957520e-01 -4.88748553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.70, Y:-591.45, Z:-48.87 [[ 8.46021492e-01 5.30330604e-01 5.47456501e-02 1.07369917e+03] [-5.29309094e-01 8.47790175e-01 -3.29196311e-02 -5.91450422e+02] [-6.38711121e-02 -1.12665503e-03 9.97957520e-01 -4.88725980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.75, Y:-591.48, Z:-48.88 [[ 8.44161504e-01 5.33287160e-01 5.47371935e-02 1.07375325e+03] [-5.32270933e-01 8.45933228e-01 -3.29336863e-02 -5.91481285e+02] [-6.38671229e-02 -1.33366693e-03 9.97957520e-01 -4.88753766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.81, Y:-591.51, Z:-48.88 [[ 8.41937291e-01 5.36792665e-01 5.47287156e-02 1.07380739e+03] [-5.35782899e-01 8.43712706e-01 -3.29477688e-02 -5.91511949e+02] [-6.38614333e-02 -1.58275471e-03 9.97957520e-01 -4.88796009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.86, Y:-591.54, Z:-48.89 [[ 8.42993755e-01 5.35132349e-01 5.47256689e-02 1.07386261e+03] [-5.34118758e-01 8.44766988e-01 -3.29528286e-02 -5.91537631e+02] [-6.38645630e-02 -1.45097758e-03 9.97957520e-01 -4.88913213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.92, Y:-591.57, Z:-48.89 [[ 8.42540183e-01 5.35846999e-01 5.47177566e-02 1.07391507e+03] [-5.34834060e-01 8.44313789e-01 -3.29659617e-02 -5.91571064e+02] [-6.38636680e-02 -1.48977248e-03 9.97957520e-01 -4.88943553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1073.97, Y:-591.60, Z:-48.90 [[ 8.43784758e-01 5.33885367e-01 5.47146821e-02 1.07396776e+03] [-5.32867973e-01 8.45555813e-01 -3.29710636e-02 -5.91604611e+02] [-6.38670859e-02 -1.33522085e-03 9.97957520e-01 -4.88971705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.02, Y:-591.64, Z:-48.90 [[ 8.45397124e-01 5.31328853e-01 5.47115521e-02 1.07401992e+03] [-5.30305767e-01 8.47164896e-01 -3.29762567e-02 -5.91637815e+02] [-6.38709430e-02 -1.13581907e-03 9.97957520e-01 -4.89016027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.07, Y:-591.67, Z:-48.91 [[ 8.49050160e-01 5.25472542e-01 5.47031341e-02 1.07407209e+03] [-5.24436362e-01 8.50810289e-01 -3.29902152e-02 -5.91668947e+02] [-6.38774416e-02 -6.77965125e-04 9.97957521e-01 -4.89102385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.12, Y:-591.70, Z:-48.91 [[ 8.50717414e-01 5.22769828e-01 5.46954119e-02 1.07412396e+03] [-5.21727233e-01 8.52473751e-01 -3.30030131e-02 -5.91703690e+02] [-6.38793824e-02 -4.59847910e-04 9.97957521e-01 -4.89137077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.18, Y:-591.74, Z:-48.92 [[ 8.51936299e-01 5.20782025e-01 5.46866077e-02 1.07417541e+03] [-5.19734396e-01 8.53689637e-01 -3.30175953e-02 -5.91737608e+02] [-6.38803604e-02 -2.93623060e-04 9.97957521e-01 -4.89165605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.23, Y:-591.77, Z:-48.92 [[ 8.52951129e-01 5.19118986e-01 5.46795123e-02 1.07422768e+03] [-5.18067185e-01 8.54701968e-01 -3.30293417e-02 -5.91771683e+02] [-6.38808451e-02 -1.55246699e-04 9.97957521e-01 -4.89183106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.28, Y:-591.80, Z:-48.92 [[ 8.53160330e-01 5.18775916e-01 5.46717431e-02 1.07427971e+03] [-5.17722588e-01 8.54910250e-01 -3.30421966e-02 -5.91804704e+02] [-6.38809294e-02 -1.14504913e-04 9.97957521e-01 -4.89244829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.33, Y:-591.84, Z:-48.92 [[ 8.52696081e-01 5.19538965e-01 5.46686140e-02 1.07433168e+03] [-5.18486871e-01 8.54446743e-01 -3.30473730e-02 -5.91838464e+02] [-6.38808171e-02 -1.65593180e-04 9.97957521e-01 -4.89238098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1074.38, Y:-591.87, Z:-48.93 [[ 8.52066845e-01 5.20571230e-01 5.46597333e-02 1.07438463e+03] [-5.19520314e-01 8.53818215e-01 -3.30620549e-02 -5.91872488e+02] [-6.38806305e-02 -2.25760996e-04 9.97957521e-01 -4.89280055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.44, Y:-591.91, Z:-48.93 [[ 8.50408452e-01 5.23276974e-01 5.46504713e-02 1.07443660e+03] [-5.22230647e-01 8.52162567e-01 -3.30773576e-02 -5.91906255e+02] [-6.38797055e-02 -4.10886532e-04 9.97957521e-01 -4.89308166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1074.49, Y:-591.94, Z:-48.94 [[ 8.49170719e-01 5.25284032e-01 5.46422559e-02 1.07448845e+03] [-5.24240978e-01 8.50926782e-01 -3.30909236e-02 -5.91938900e+02] [-6.38786927e-02 -5.45866287e-04 9.97957522e-01 -4.89359250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.54, Y:-591.97, Z:-48.94 [[ 8.49510483e-01 5.24735156e-01 5.46347441e-02 1.07454190e+03] [-5.23690170e-01 8.51265397e-01 -3.31033213e-02 -5.91969857e+02] [-6.38791436e-02 -4.90060003e-04 9.97957522e-01 -4.89446956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1074.59, Y:-592.01, Z:-48.94 [[ 8.48037681e-01 5.27112287e-01 5.46326695e-02 1.07459074e+03] [-5.26072000e-01 8.49795384e-01 -3.31067448e-02 -5.92005609e+02] [-6.38775623e-02 -6.64950635e-04 9.97957522e-01 -4.89420053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1074.64, Y:-592.04, Z:-48.94 [[ 8.48121843e-01 5.26977226e-01 5.46291414e-02 1.07464288e+03] [-5.25936284e-01 8.49879158e-01 -3.31125655e-02 -5.92039451e+02] [-6.38777366e-02 -6.47957503e-04 9.97957522e-01 -4.89447448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.70, Y:-592.07, Z:-48.95 [[ 8.48228327e-01 5.26806658e-01 5.46209743e-02 1.07469578e+03] [-5.25764495e-01 8.49984918e-01 -3.31260322e-02 -5.92072336e+02] [-6.38780186e-02 -6.19330149e-04 9.97957522e-01 -4.89479953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.75, Y:-592.11, Z:-48.95 [[ 8.48370394e-01 5.26578676e-01 5.46129370e-02 1.07474975e+03] [-5.25535189e-01 8.50126199e-01 -3.31392775e-02 -5.92105043e+02] [-6.38783254e-02 -5.86638241e-04 9.97957522e-01 -4.89530445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.80, Y:-592.14, Z:-48.96 [[ 8.48668257e-01 5.26099428e-01 5.46038637e-02 1.07480221e+03] [-5.25053987e-01 8.50422900e-01 -3.31542209e-02 -5.92137807e+02] [-6.38787927e-02 -5.33041533e-04 9.97957522e-01 -4.89583506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1074.85, Y:-592.17, Z:-48.96 [[ 8.50145622e-01 5.23709609e-01 5.45954799e-02 1.07485480e+03] [-5.22658350e-01 8.51896785e-01 -3.31680209e-02 -5.92171070e+02] [-6.38801250e-02 -3.37135623e-04 9.97957522e-01 -4.89646705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1074.91, Y:-592.20, Z:-48.97 [[ 8.50597431e-01 5.22975814e-01 5.45922031e-02 1.07490744e+03] [-5.21922698e-01 8.52347477e-01 -3.31734134e-02 -5.92204733e+02] [-6.38804194e-02 -2.75689708e-04 9.97957522e-01 -4.89675450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1074.96, Y:-592.24, Z:-48.97 [[ 8.51736541e-01 5.21118915e-01 5.45888448e-02 1.07496079e+03] [-5.20061630e-01 8.53484071e-01 -3.31789387e-02 -5.92235477e+02] [-6.38808820e-02 -1.29849110e-04 9.97957522e-01 -4.89694762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.01, Y:-592.27, Z:-48.97 [[ 8.52501872e-01 5.19867019e-01 5.45787587e-02 1.07501392e+03] [-5.18806105e-01 8.54247202e-01 -3.31955219e-02 -5.92268454e+02] [-6.38810089e-02 -1.65486777e-05 9.97957522e-01 -4.89728037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.07, Y:-592.30, Z:-48.98 [[ 8.51911574e-01 5.20834769e-01 5.45693509e-02 1.07506678e+03] [-5.19774847e-01 8.53657507e-01 -3.32109799e-02 -5.92300678e+02] [-6.38809691e-02 -7.09578618e-05 9.97957523e-01 -4.89780745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.12, Y:-592.33, Z:-48.98 [[ 8.51353452e-01 5.21747579e-01 5.45597309e-02 1.07512067e+03] [-5.20688517e-01 8.53099906e-01 -3.32267764e-02 -5.92331962e+02] [-6.38808915e-02 -1.20894572e-04 9.97957523e-01 -4.89837977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.17, Y:-592.36, Z:-48.99 [[ 8.49744841e-01 5.24364260e-01 5.45511475e-02 1.07517417e+03] [-5.23309672e-01 8.51494000e-01 -3.32408626e-02 -5.92363389e+02] [-6.38802951e-02 -3.00891554e-04 9.97957523e-01 -4.89892743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.23, Y:-592.40, Z:-48.99 [[ 8.48460960e-01 5.26440034e-01 5.45425500e-02 1.07522832e+03] [-5.25388819e-01 8.50212148e-01 -3.32549636e-02 -5.92396034e+02] [-6.38794828e-02 -4.40507559e-04 9.97957523e-01 -4.89930738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.28, Y:-592.43, Z:-49.00 [[ 8.45268193e-01 5.31552243e-01 5.45334266e-02 1.07528263e+03] [-5.30510653e-01 8.47025123e-01 -3.32699179e-02 -5.92427740e+02] [-6.38758819e-02 -8.08560351e-04 9.97957523e-01 -4.89978038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.34, Y:-592.46, Z:-49.00 [[ 8.42892952e-01 5.35311649e-01 5.45243958e-02 1.07533534e+03] [-5.34276939e-01 8.44653942e-01 -3.32847116e-02 -5.92461236e+02] [-6.38719397e-02 -1.07567847e-03 9.97957523e-01 -4.90017454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1075.39, Y:-592.49, Z:-49.01 [[ 8.41245572e-01 5.37897293e-01 5.45196324e-02 1.07538924e+03] [-5.36867489e-01 8.43009435e-01 -3.32925121e-02 -5.92491716e+02] [-6.38685167e-02 -1.26263975e-03 9.97957523e-01 -4.90064390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.44, Y:-592.52, Z:-49.01 [[ 8.38427865e-01 5.42279849e-01 5.45094488e-02 1.07544322e+03] [-5.41258181e-01 8.40196454e-01 -3.33091772e-02 -5.92523278e+02] [-6.38615412e-02 -1.57634280e-03 9.97957524e-01 -4.90105448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.50, Y:-592.55, Z:-49.02 [[ 8.37099112e-01 5.44329682e-01 5.45002207e-02 1.07549723e+03] [-5.43311362e-01 8.38869630e-01 -3.33242693e-02 -5.92554705e+02] [-6.38579689e-02 -1.71487292e-03 9.97957524e-01 -4.90160894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.55, Y:-592.59, Z:-49.02 [[ 8.36985259e-01 5.44505651e-01 5.44910271e-02 1.07555063e+03] [-5.43486726e-01 8.38755429e-01 -3.33392958e-02 -5.92587607e+02] [-6.38580798e-02 -1.71065081e-03 9.97957524e-01 -4.90205249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.60, Y:-592.62, Z:-49.03 [[ 8.37679506e-01 5.43437965e-01 5.44814098e-02 1.07560254e+03] [-5.42415763e-01 8.39447785e-01 -3.33550046e-02 -5.92620909e+02] [-6.38606746e-02 -1.61077171e-03 9.97957524e-01 -4.90253100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.65, Y:-592.66, Z:-49.03 [[ 8.39545684e-01 5.40551373e-01 5.44725322e-02 1.07565360e+03] [-5.39522151e-01 8.41309887e-01 -3.33694964e-02 -5.92655546e+02] [-6.38662070e-02 -1.37392101e-03 9.97957524e-01 -4.90269698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.71, Y:-592.69, Z:-49.03 [[ 8.40849945e-01 5.38520757e-01 5.44680065e-02 1.07570626e+03] [-5.37486796e-01 8.42611374e-01 -3.33768819e-02 -5.92689056e+02] [-6.38695055e-02 -1.21088499e-03 9.97957524e-01 -4.90316951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.76, Y:-592.72, Z:-49.04 [[ 8.42179573e-01 5.36439965e-01 5.44585322e-02 1.07575806e+03] [-5.35400653e-01 8.43937849e-01 -3.33923332e-02 -5.92722750e+02] [-6.38725986e-02 -1.03479278e-03 9.97957524e-01 -4.90371537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.81, Y:-592.76, Z:-49.04 [[ 8.43756946e-01 5.33956400e-01 5.44497867e-02 1.07580997e+03] [-5.32910992e-01 8.45511605e-01 -3.34065877e-02 -5.92757460e+02] [-6.38755878e-02 -8.29849372e-04 9.97957525e-01 -4.90415953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.86, Y:-592.79, Z:-49.05 [[ 8.45881530e-01 5.30584570e-01 5.44467765e-02 1.07586203e+03] [-5.29531852e-01 8.47631813e-01 -3.34114930e-02 -5.92791843e+02] [-6.38784425e-02 -5.69137627e-04 9.97957525e-01 -4.90450707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.91, Y:-592.83, Z:-49.05 [[ 8.45042925e-01 5.31920157e-01 5.44371384e-02 1.07591421e+03] [-5.30869194e-01 8.46794262e-01 -3.34271890e-02 -5.92825414e+02] [-6.38776520e-02 -6.51590234e-04 9.97957525e-01 -4.90456370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1075.97, Y:-592.86, Z:-49.05 [[ 8.45538733e-01 5.31132163e-01 5.44323136e-02 1.07596732e+03] [-5.30079062e-01 8.47288786e-01 -3.34350437e-02 -5.92855335e+02] [-6.38783160e-02 -5.82805217e-04 9.97957525e-01 -4.90518134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.02, Y:-592.89, Z:-49.06 [[ 8.45071684e-01 5.31875439e-01 5.44276218e-02 1.07601888e+03] [-5.30823386e-01 8.46822366e-01 -3.34426796e-02 -5.92887144e+02] [-6.38778674e-02 -6.29992876e-04 9.97957525e-01 -4.90561122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.07, Y:-592.92, Z:-49.06 [[ 8.44913317e-01 5.32127448e-01 5.44230308e-02 1.07607307e+03] [-5.31075436e-01 8.46664024e-01 -3.34501492e-02 -5.92918667e+02] [-6.38777647e-02 -6.40258323e-04 9.97957525e-01 -4.90615983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1076.13, Y:-592.95, Z:-49.07 [[ 8.44026313e-01 5.33534174e-01 5.44138659e-02 1.07612718e+03] [-5.32484119e-01 8.45778194e-01 -3.34650512e-02 -5.92949988e+02] [-6.38768097e-02 -7.29135661e-04 9.97957525e-01 -4.90655923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.18, Y:-592.98, Z:-49.07 [[ 8.42940468e-01 5.35249020e-01 5.44045477e-02 1.07617992e+03] [-5.34201552e-01 8.44693897e-01 -3.34801931e-02 -5.92981399e+02] [-6.38754299e-02 -8.41184123e-04 9.97957525e-01 -4.90695361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.23, Y:-593.01, Z:-49.07 [[ 8.41973645e-01 5.36769469e-01 5.43959395e-02 1.07623385e+03] [-5.35724264e-01 8.43728424e-01 -3.34941731e-02 -5.93013066e+02] [-6.38740499e-02 -9.40013640e-04 9.97957525e-01 -4.90725095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.29, Y:-593.05, Z:-49.08 [[ 8.41498892e-01 5.37514337e-01 5.43870609e-02 1.07628832e+03] [-5.36469754e-01 8.43254041e-01 -3.35085839e-02 -5.93045352e+02] [-6.38734531e-02 -9.79576966e-04 9.97957525e-01 -4.90751607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.34, Y:-593.08, Z:-49.08 [[ 8.42408163e-01 5.36089109e-01 5.43778866e-02 1.07634190e+03] [-5.35040596e-01 8.44160967e-01 -3.35234654e-02 -5.93075678e+02] [-6.38752540e-02 -8.53935975e-04 9.97957526e-01 -4.90787216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.40, Y:-593.11, Z:-49.08 [[ 8.44169202e-01 5.33312201e-01 5.43732985e-02 1.07639504e+03] [-5.32257442e-01 8.45918255e-01 -3.35309053e-02 -5.93106859e+02] [-6.38778067e-02 -6.34835238e-04 9.97957526e-01 -4.90836256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.45, Y:-593.14, Z:-49.09 [[ 8.48552312e-01 5.26311191e-01 5.43645516e-02 1.07644863e+03] [-5.25241093e-01 8.50292022e-01 -3.35450809e-02 -5.93140584e+02] [-6.38808960e-02 -8.97405424e-05 9.97957526e-01 -4.90862149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.50, Y:-593.18, Z:-49.08 [[ 8.51160888e-01 5.22082965e-01 5.43554951e-02 1.07649993e+03] [-5.21003288e-01 8.52894669e-01 -3.35597494e-02 -5.93175583e+02] [-6.38804856e-02 2.45354423e-04 9.97957526e-01 -4.90846574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.55, Y:-593.21, Z:-49.09 [[ 8.56647380e-01 5.13031856e-01 5.43468582e-02 1.07655225e+03] [-5.11932976e-01 8.58369054e-01 -3.35737304e-02 -5.93208744e+02] [-6.38740545e-02 9.38899375e-04 9.97957526e-01 -4.90884784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1076.61, Y:-593.24, Z:-49.10 [[ 8.61713163e-01 5.04477734e-01 5.43382176e-02 1.07660608e+03] [-5.03360886e-01 8.63423236e-01 -3.35877092e-02 -5.93237294e+02] [-6.38611310e-02 1.59123775e-03 9.97957526e-01 -4.91009581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.66, Y:-593.27, Z:-49.11 [[ 8.64820932e-01 4.99132216e-01 5.43303431e-02 1.07665895e+03] [-4.98004002e-01 8.66523528e-01 -3.36004418e-02 -5.93269898e+02] [-6.38495836e-02 2.00163711e-03 9.97957526e-01 -4.91068304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.71, Y:-593.30, Z:-49.11 [[ 8.66446927e-01 4.96305171e-01 5.43221872e-02 1.07671072e+03] [-4.95170578e-01 8.68145278e-01 -3.36136224e-02 -5.93304208e+02] [-6.38421649e-02 2.22567105e-03 9.97957526e-01 -4.91104373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.76, Y:-593.33, Z:-49.12 [[ 8.66874400e-01 4.95558494e-01 5.43189965e-02 1.07676370e+03] [-4.94422115e-01 8.68571557e-01 -3.36187777e-02 -5.93333973e+02] [-6.38400062e-02 2.28674455e-03 9.97957526e-01 -4.91154417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.82, Y:-593.37, Z:-49.12 [[ 8.64888569e-01 4.99017144e-01 5.43107126e-02 1.07681820e+03] [-4.97886715e-01 8.66589694e-01 -3.36321549e-02 -5.93365257e+02] [-6.38481257e-02 2.04748407e-03 9.97957527e-01 -4.91192394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.87, Y:-593.40, Z:-49.12 [[ 8.62302677e-01 5.03473394e-01 5.43013354e-02 1.07687253e+03] [-5.02350806e-01 8.64008986e-01 -3.36472882e-02 -5.93396270e+02] [-6.38573562e-02 1.73582707e-03 9.97957527e-01 -4.91227612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1076.93, Y:-593.43, Z:-49.13 [[ 8.59581652e-01 5.08106079e-01 5.42917763e-02 1.07692648e+03] [-5.06991715e-01 8.61293344e-01 -3.36627054e-02 -5.93426932e+02] [-6.38653708e-02 1.41036317e-03 9.97957527e-01 -4.91270086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1076.98, Y:-593.46, Z:-49.13 [[ 8.57174239e-01 5.12157561e-01 5.42858775e-02 1.07698147e+03] [-5.11050686e-01 8.58890784e-01 -3.36722153e-02 -5.93457541e+02] [-6.38711195e-02 1.12012055e-03 9.97957527e-01 -4.91305025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.04, Y:-593.49, Z:-49.13 [[ 8.55193163e-01 5.15459704e-01 5.42765935e-02 1.07703551e+03] [-5.14358509e-01 8.56913356e-01 -3.36871738e-02 -5.93487705e+02] [-6.38747184e-02 8.91412999e-04 9.97957527e-01 -4.91326347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1077.09, Y:-593.52, Z:-49.14 [[ 8.53063867e-01 5.18976866e-01 5.42683254e-02 1.07709063e+03] [-5.17881917e-01 8.54788043e-01 -3.37004879e-02 -5.93517852e+02] [-6.38776893e-02 6.44084120e-04 9.97957527e-01 -4.91354048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.14, Y:-593.55, Z:-49.14 [[ 8.52006107e-01 5.20712567e-01 5.42587875e-02 1.07714452e+03] [-5.19620153e-01 8.53731890e-01 -3.37158372e-02 -5.93549457e+02] [-6.38787174e-02 5.32139751e-04 9.97957527e-01 -4.91377994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.20, Y:-593.58, Z:-49.14 [[ 8.50211256e-01 5.23638367e-01 5.42556986e-02 1.07719890e+03] [-5.22551575e-01 8.51940584e-01 -3.37208072e-02 -5.93578863e+02] [-6.38801400e-02 3.18409087e-04 9.97957527e-01 -4.91421784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.25, Y:-593.61, Z:-49.15 [[ 8.49187173e-01 5.25298397e-01 5.42470242e-02 1.07725248e+03] [-5.24214094e-01 8.50918063e-01 -3.37347560e-02 -5.93609788e+02] [-6.38805860e-02 2.10067416e-04 9.97957528e-01 -4.91466264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters Centerline goodness : 0.999703 with order 1 Centerline is valid? [True, True] Translation: X:1077.30, Y:-593.64, Z:-49.15 [[ 8.48066322e-01 5.27106943e-01 5.42382104e-02 1.07730477e+03] [-5.26025425e-01 8.49798954e-01 -3.37489207e-02 -5.93642861e+02] [-6.38808649e-02 9.06453719e-05 9.97957528e-01 -4.91502919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.36, Y:-593.67, Z:-49.16 [[ 8.47644880e-01 5.27784761e-01 5.42347112e-02 1.07735765e+03] [-5.26704269e-01 8.49378151e-01 -3.37545430e-02 -5.93672695e+02] [-6.38809122e-02 4.62116422e-05 9.97957528e-01 -4.91578599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.41, Y:-593.71, Z:-49.16 [[ 8.47114933e-01 5.28635860e-01 5.42256230e-02 1.07740995e+03] [-5.27556175e-01 8.48848707e-01 -3.37691367e-02 -5.93705871e+02] [-6.38809266e-02 -7.22358119e-07 9.97957528e-01 -4.91608853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.46, Y:-593.74, Z:-49.17 [[ 8.46796170e-01 5.29146655e-01 5.42223528e-02 1.07746266e+03] [-5.28067680e-01 8.48530386e-01 -3.37743867e-02 -5.93737887e+02] [-6.38809178e-02 -3.30507223e-05 9.97957528e-01 -4.91662568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.51, Y:-593.77, Z:-49.17 [[ 8.47016351e-01 5.28795143e-01 5.42125356e-02 1.07751376e+03] [-5.27714440e-01 8.48749490e-01 -3.37901374e-02 -5.93771412e+02] [-6.38809225e-02 1.20610397e-05 9.97957528e-01 -4.91720946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.57, Y:-593.81, Z:-49.18 [[ 8.47618433e-01 5.27830299e-01 5.42048684e-02 1.07756616e+03] [-5.26746837e-01 8.49349849e-01 -3.38024325e-02 -5.93805071e+02] [-6.38808448e-02 9.93218828e-05 9.97957528e-01 -4.91764744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.62, Y:-593.84, Z:-49.18 [[ 8.48569777e-01 5.26300344e-01 5.41966941e-02 1.07761852e+03] [-5.25212923e-01 8.50298709e-01 -3.38155336e-02 -5.93839310e+02] [-6.38805060e-02 2.30035664e-04 9.97957528e-01 -4.91810146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.67, Y:-593.88, Z:-49.18 [[ 8.49702475e-01 5.24470625e-01 5.41873336e-02 1.07767042e+03] [-5.23378525e-01 8.51428456e-01 -3.38305265e-02 -5.93875728e+02] [-6.38797551e-02 3.85395393e-04 9.97957528e-01 -4.91844305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.72, Y:-593.91, Z:-49.19 [[ 8.49482220e-01 5.24828254e-01 5.41780569e-02 1.07772160e+03] [-5.23735934e-01 8.51208061e-01 -3.38453763e-02 -5.93910456e+02] [-6.38798084e-02 3.76050149e-04 9.97957529e-01 -4.91882096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.77, Y:-593.95, Z:-49.19 [[ 8.47137819e-01 5.28604938e-01 5.41694945e-02 1.07777355e+03] [-5.27519436e-01 8.48867956e-01 -3.38590748e-02 -5.93945638e+02] [-6.38808223e-02 1.07841597e-04 9.97957529e-01 -4.91918383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.82, Y:-593.98, Z:-49.19 [[ 8.41721867e-01 5.37188052e-01 5.41599117e-02 1.07782193e+03] [-5.36119205e-01 8.43462343e-01 -3.38743962e-02 -5.93984244e+02] [-6.38787669e-02 -5.23348834e-04 9.97957529e-01 -4.91891947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.87, Y:-594.01, Z:-49.20 [[ 8.41625364e-01 5.37339427e-01 5.41579913e-02 1.07787458e+03] [-5.36270696e-01 8.43365910e-01 -3.38774663e-02 -5.94014105e+02] [-6.38787019e-02 -5.31208729e-04 9.97957529e-01 -4.92002842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.92, Y:-594.05, Z:-49.20 [[ 8.36672011e-01 5.45020877e-01 5.41496953e-02 1.07792303e+03] [-5.43967266e-01 8.38421751e-01 -3.38907214e-02 -5.94053632e+02] [-6.38714331e-02 -1.10024361e-03 9.97957529e-01 -4.92023850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1077.97, Y:-594.09, Z:-49.21 [[ 8.35906083e-01 5.46195197e-01 5.41463425e-02 1.07797478e+03] [-5.45143697e-01 8.37657093e-01 -3.38960773e-02 -5.94085173e+02] [-6.38699425e-02 -1.18360007e-03 9.97957529e-01 -4.92133365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.03, Y:-594.12, Z:-49.21 [[ 8.35331058e-01 5.47075077e-01 5.41376380e-02 1.07802586e+03] [-5.46024521e-01 8.37082634e-01 -3.39099741e-02 -5.94121155e+02] [-6.38689783e-02 -1.23442334e-03 9.97957529e-01 -4.92137977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.08, Y:-594.16, Z:-49.22 [[ 8.34177591e-01 5.48833184e-01 5.41283972e-02 1.07807639e+03] [-5.47785363e-01 8.35930804e-01 -3.39247183e-02 -5.94158191e+02] [-6.38666057e-02 -1.35150393e-03 9.97957529e-01 -4.92165263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.13, Y:-594.19, Z:-49.22 [[ 8.33692101e-01 5.49571203e-01 5.41199922e-02 1.07812780e+03] [-5.48524064e-01 8.35445722e-01 -3.39381213e-02 -5.94192725e+02] [-6.38657302e-02 -1.39217439e-03 9.97957529e-01 -4.92212544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.18, Y:-594.23, Z:-49.23 [[ 8.33251504e-01 5.50239876e-01 5.41110899e-02 1.07817980e+03] [-5.49193223e-01 8.35005416e-01 -3.39523094e-02 -5.94228869e+02] [-6.38649676e-02 -1.42663100e-03 9.97957530e-01 -4.92257030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.23, Y:-594.26, Z:-49.24 [[ 8.34623582e-01 5.48157383e-01 5.41013867e-02 1.07823320e+03] [-5.47105353e-01 8.36374273e-01 -3.39677639e-02 -5.94260338e+02] [-6.38686885e-02 -1.24886154e-03 9.97957530e-01 -4.92362832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.28, Y:-594.30, Z:-49.24 [[ 8.32389698e-01 5.51544524e-01 5.40927874e-02 1.07828357e+03] [-5.50498728e-01 8.34144119e-01 -3.39814525e-02 -5.94295014e+02] [-6.38634646e-02 -1.49219969e-03 9.97957530e-01 -4.92365508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:1078.34, Y:-594.32, Z:-49.25 [[ 8.30662872e-01 5.54142655e-01 5.40843036e-02 1.07833756e+03] [-5.53101467e-01 8.32420032e-01 -3.39949499e-02 -5.94323979e+02] [-6.38589095e-02 -1.67576493e-03 9.97957530e-01 -4.92456179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.39, Y:-594.35, Z:-49.25 [[ 8.31241920e-01 5.53274593e-01 5.40749095e-02 1.07839111e+03] [-5.52230600e-01 8.32997415e-01 -3.40098864e-02 -5.94354311e+02] [-6.38610658e-02 -1.59137647e-03 9.97957530e-01 -4.92503188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1078.44, Y:-594.39, Z:-49.25 [[ 8.32187903e-01 5.51851649e-01 5.40652521e-02 1.07844296e+03] [-5.50803658e-01 8.33941014e-01 -3.40252318e-02 -5.94390579e+02] [-6.38641114e-02 -1.46395234e-03 9.97957530e-01 -4.92484183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.49, Y:-594.42, Z:-49.25 [[ 8.33569815e-01 5.49762988e-01 5.40557181e-02 1.07849448e+03] [-5.48709622e-01 8.35319701e-01 -3.40403716e-02 -5.94424324e+02] [-6.38679427e-02 -1.28586641e-03 9.97957530e-01 -4.92528323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1078.55, Y:-594.46, Z:-49.26 [[ 8.34884636e-01 5.47765071e-01 5.40469316e-02 1.07854679e+03] [-5.46706615e-01 8.36631448e-01 -3.40543166e-02 -5.94458821e+02] [-6.38711278e-02 -1.11638935e-03 9.97957531e-01 -4.92564969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1078.60, Y:-594.49, Z:-49.26 [[ 8.35434833e-01 5.46926477e-01 5.40376618e-02 1.07859978e+03] [-5.45865316e-01 8.37180004e-01 -3.40690196e-02 -5.94492720e+02] [-6.38724987e-02 -1.03483961e-03 9.97957531e-01 -4.92600686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.65, Y:-594.53, Z:-49.26 [[ 8.35930064e-01 5.46170209e-01 5.40280538e-02 1.07865228e+03] [-5.45106486e-01 8.37673673e-01 -3.40842496e-02 -5.94526109e+02] [-6.38736800e-02 -9.58993552e-04 9.97957531e-01 -4.92648884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1078.71, Y:-594.56, Z:-49.27 [[ 8.35091668e-01 5.47452131e-01 5.40191744e-02 1.07870602e+03] [-5.46390174e-01 8.36836354e-01 -3.40983166e-02 -5.94558942e+02] [-6.38724049e-02 -1.04032604e-03 9.97957531e-01 -4.92698144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.76, Y:-594.59, Z:-49.27 [[ 8.33613022e-01 5.49701970e-01 5.40099427e-02 1.07875961e+03] [-5.48643776e-01 8.35359992e-01 -3.41129328e-02 -5.94592563e+02] [-6.38696916e-02 -1.19523386e-03 9.97957531e-01 -4.92739794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.81, Y:-594.62, Z:-49.28 [[ 8.31464827e-01 5.52946832e-01 5.40003841e-02 1.07881254e+03] [-5.51894473e-01 8.33215318e-01 -3.41280572e-02 -5.94624592e+02] [-6.38649484e-02 -1.42623439e-03 9.97957531e-01 -4.92790668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.87, Y:-594.66, Z:-49.29 [[ 8.31469499e-01 5.52940383e-01 5.39944905e-02 1.07886631e+03] [-5.51887405e-01 8.33219618e-01 -3.41373790e-02 -5.94656258e+02] [-6.38652042e-02 -1.41468979e-03 9.97957531e-01 -4.92850110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.92, Y:-594.69, Z:-49.29 [[ 8.31161501e-01 5.53404225e-01 5.39844754e-02 1.07891856e+03] [-5.52351196e-01 8.32911589e-01 -3.41532095e-02 -5.94689708e+02] [-6.38648256e-02 -1.43155669e-03 9.97957532e-01 -4.92865110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1078.97, Y:-594.72, Z:-49.29 [[ 8.33344476e-01 5.50112406e-01 5.39752332e-02 1.07897135e+03] [-5.49051518e-01 8.35089810e-01 -3.41678095e-02 -5.94724640e+02] [-6.38703032e-02 -1.16162848e-03 9.97957532e-01 -4.92879140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.02, Y:-594.76, Z:-49.29 [[ 8.34816790e-01 5.47876475e-01 5.39656898e-02 1.07902331e+03] [-5.46809939e-01 8.36558678e-01 -3.41828760e-02 -5.94759147e+02] [-6.38734598e-02 -9.72536722e-04 9.97957532e-01 -4.92909392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.08, Y:-594.79, Z:-49.30 [[ 8.35710807e-01 5.46512740e-01 5.39562175e-02 1.07907613e+03] [-5.45442396e-01 8.37450358e-01 -3.41978211e-02 -5.94793846e+02] [-6.38751986e-02 -8.50519867e-04 9.97957532e-01 -4.92950286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.13, Y:-594.83, Z:-49.30 [[ 8.35642291e-01 5.46618457e-01 5.39464972e-02 1.07912882e+03] [-5.45547344e-01 8.37381368e-01 -3.42131479e-02 -5.94826854e+02] [-6.38753298e-02 -8.40414996e-04 9.97957532e-01 -4.92995772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.18, Y:-594.86, Z:-49.30 [[ 8.35266277e-01 5.47193447e-01 5.39405021e-02 1.07918225e+03] [-5.46122921e-01 8.37005716e-01 -3.42225972e-02 -5.94859959e+02] [-6.38748895e-02 -8.73163128e-04 9.97957532e-01 -4.93042722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.24, Y:-594.89, Z:-49.31 [[ 8.34965287e-01 5.47653578e-01 5.39307699e-02 1.07923629e+03] [-5.46583020e-01 8.36704707e-01 -3.42379272e-02 -5.94892855e+02] [-6.38746523e-02 -8.90162375e-04 9.97957532e-01 -4.93086239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.29, Y:-594.93, Z:-49.31 [[ 8.34718735e-01 5.48030248e-01 5.39210621e-02 1.07928833e+03] [-5.46959488e-01 8.36458030e-01 -3.42532091e-02 -5.94925618e+02] [-6.38745000e-02 -9.00841146e-04 9.97957533e-01 -4.93116654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.34, Y:-594.96, Z:-49.31 [[ 8.34911560e-01 5.47737321e-01 5.39120968e-02 1.07934163e+03] [-5.46665041e-01 8.36649917e-01 -3.42673139e-02 -5.94959036e+02] [-6.38750381e-02 -8.61682089e-04 9.97957533e-01 -4.93149516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.39, Y:-594.99, Z:-49.32 [[ 8.35001908e-01 5.47600534e-01 5.39023938e-02 1.07939500e+03] [-5.46526985e-01 8.36739482e-01 -3.42825700e-02 -5.94992417e+02] [-6.38754147e-02 -8.33101380e-04 9.97957533e-01 -4.93188180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.45, Y:-595.03, Z:-49.32 [[ 8.35340851e-01 5.47084298e-01 5.38928006e-02 1.07944760e+03] [-5.46008702e-01 8.37077159e-01 -3.42976441e-02 -5.95025979e+02] [-6.38761349e-02 -7.75714866e-04 9.97957533e-01 -4.93227365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.50, Y:-595.06, Z:-49.33 [[ 8.35817140e-01 5.46357090e-01 5.38854154e-02 1.07950052e+03] [-5.45279236e-01 8.37552047e-01 -3.43092432e-02 -5.95058806e+02] [-6.38769382e-02 -7.06344629e-04 9.97957533e-01 -4.93272533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.55, Y:-595.09, Z:-49.33 [[ 8.36254343e-01 5.45688335e-01 5.38787141e-02 1.07955390e+03] [-5.44608415e-01 8.37987964e-01 -3.43197636e-02 -5.95091752e+02] [-6.38776086e-02 -6.42749676e-04 9.97957533e-01 -4.93321829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.61, Y:-595.13, Z:-49.34 [[ 8.36973642e-01 5.44585420e-01 5.38687543e-02 1.07960526e+03] [-5.43502210e-01 8.38705210e-01 -3.43353895e-02 -5.95125324e+02] [-6.38785574e-02 -5.39970952e-04 9.97957533e-01 -4.93370480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.66, Y:-595.16, Z:-49.34 [[ 8.38417343e-01 5.42360619e-01 5.38638862e-02 1.07965791e+03] [-5.41272323e-01 8.40145719e-01 -3.43430247e-02 -5.95160009e+02] [-6.38798175e-02 -3.61243234e-04 9.97957533e-01 -4.93411837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.71, Y:-595.20, Z:-49.34 [[ 8.42223851e-01 5.36431464e-01 5.38541534e-02 1.07970949e+03] [-5.35330025e-01 8.43943880e-01 -3.43582802e-02 -5.95195507e+02] [-6.38807457e-02 1.07617735e-04 9.97957534e-01 -4.93446190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.76, Y:-595.23, Z:-49.35 [[ 8.45063589e-01 5.31947643e-01 5.38445518e-02 1.07976221e+03] [-5.30836119e-01 8.46777119e-01 -3.43733207e-02 -5.95230225e+02] [-6.38791414e-02 4.65008859e-04 9.97957534e-01 -4.93482763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1079.82, Y:-595.26, Z:-49.35 [[ 8.47307607e-01 5.28366943e-01 5.38348686e-02 1.07981538e+03] [-5.27247216e-01 8.49015787e-01 -3.43884797e-02 -5.95264352e+02] [-6.38763892e-02 7.53335812e-04 9.97957534e-01 -4.93519776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.87, Y:-595.30, Z:-49.36 [[ 8.48802533e-01 5.25963034e-01 5.38251493e-02 1.07986844e+03] [-5.24837505e-01 8.50506896e-01 -3.44036858e-02 -5.95297846e+02] [-6.38737276e-02 9.52478663e-04 9.97957534e-01 -4.93566597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1079.92, Y:-595.33, Z:-49.36 [[ 8.48708894e-01 5.26115101e-01 5.38155524e-02 1.07992089e+03] [-5.24988927e-01 8.50412830e-01 -3.44186910e-02 -5.95330172e+02] [-6.38736293e-02 9.58880066e-04 9.97957534e-01 -4.93618706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1079.97, Y:-595.36, Z:-49.37 [[ 8.48277220e-01 5.26811729e-01 5.38066971e-02 1.07997447e+03] [-5.25686076e-01 8.49981500e-01 -3.44325290e-02 -5.95361948e+02] [-6.38741573e-02 9.22898525e-04 9.97957534e-01 -4.93665930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.03, Y:-595.39, Z:-49.38 [[ 8.48057138e-01 5.27166888e-01 5.37974250e-02 1.08002838e+03] [-5.26041030e-01 8.49761283e-01 -3.44470097e-02 -5.95391294e+02] [-6.38742918e-02 9.13379594e-04 9.97957535e-01 -4.93752447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.08, Y:-595.42, Z:-49.38 [[ 8.45467813e-01 5.31310599e-01 5.37887084e-02 1.08008097e+03] [-5.30192229e-01 8.47176880e-01 -3.44606152e-02 -5.95422953e+02] [-6.38778403e-02 6.16985738e-04 9.97957535e-01 -4.93818291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1080.13, Y:-595.45, Z:-49.39 [[ 8.44643970e-01 5.32619851e-01 5.37834356e-02 1.08013472e+03] [-5.31503606e-01 8.46354427e-01 -3.44688427e-02 -5.95454553e+02] [-6.38786386e-02 5.27810201e-04 9.97957535e-01 -4.93867210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.19, Y:-595.49, Z:-49.38 [[ 8.43178620e-01 5.34937733e-01 5.37720824e-02 1.08018682e+03] [-5.33825061e-01 8.44891403e-01 -3.44865448e-02 -5.95487535e+02] [-6.38797242e-02 3.73432154e-04 9.97957535e-01 -4.93844218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1080.24, Y:-595.52, Z:-49.39 [[ 8.42651103e-01 5.35769185e-01 5.37633618e-02 1.08023973e+03] [-5.34657336e-01 8.44364420e-01 -3.45001346e-02 -5.95520768e+02] [-6.38799788e-02 3.26600717e-04 9.97957535e-01 -4.93872842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.29, Y:-595.55, Z:-49.39 [[ 8.41056616e-01 5.38269737e-01 5.37536866e-02 1.08029236e+03] [-5.37162019e-01 8.42772607e-01 -3.45152026e-02 -5.95551915e+02] [-6.38806236e-02 1.54800689e-04 9.97957535e-01 -4.93890279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.35, Y:-595.58, Z:-49.39 [[ 8.39708259e-01 5.40371551e-01 5.37459562e-02 1.08034589e+03] [-5.39267357e-01 8.41426519e-01 -3.45272360e-02 -5.95583771e+02] [-6.38808089e-02 9.36539093e-06 9.97957535e-01 -4.93917564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.40, Y:-595.62, Z:-49.40 [[ 8.38514032e-01 5.42223657e-01 5.37375496e-02 1.08039970e+03] [-5.41122421e-01 8.40234189e-01 -3.45403150e-02 -5.95616968e+02] [-6.38807023e-02 -1.16054137e-04 9.97957535e-01 -4.93953226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.45, Y:-595.65, Z:-49.40 [[ 8.36884340e-01 5.44736571e-01 5.37277477e-02 1.08045278e+03] [-5.43639521e-01 8.38607170e-01 -3.45555552e-02 -5.95648372e+02] [-6.38801490e-02 -2.89524007e-04 9.97957536e-01 -4.94004150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.51, Y:-595.68, Z:-49.40 [[ 8.35643618e-01 5.46638861e-01 5.37187034e-02 1.08050641e+03] [-5.45544830e-01 8.37368366e-01 -3.45696094e-02 -5.95681324e+02] [-6.38794348e-02 -4.18087357e-04 9.97957536e-01 -4.94048477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.56, Y:-595.72, Z:-49.41 [[ 8.35024663e-01 5.47584802e-01 5.37093660e-02 1.08055974e+03] [-5.46491792e-01 8.36750059e-01 -3.45841104e-02 -5.95715045e+02] [-6.38790484e-02 -4.73142572e-04 9.97957536e-01 -4.94083586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.61, Y:-595.75, Z:-49.41 [[ 8.34768805e-01 5.47975717e-01 5.36996850e-02 1.08061095e+03] [-5.46882548e-01 8.36494099e-01 -3.45991358e-02 -5.95747858e+02] [-6.38789559e-02 -4.85141341e-04 9.97957536e-01 -4.94134209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.66, Y:-595.78, Z:-49.42 [[ 8.35573424e-01 5.46748780e-01 5.36919460e-02 1.08066230e+03] [-5.45652306e-01 8.37296620e-01 -3.46111413e-02 -5.95781481e+02] [-6.38796842e-02 -3.76984297e-04 9.97957536e-01 -4.94186128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.71, Y:-595.82, Z:-49.42 [[ 8.36565388e-01 5.45230659e-01 5.36831487e-02 1.08071447e+03] [-5.44130183e-01 8.38286030e-01 -3.46247809e-02 -5.95816525e+02] [-6.38803257e-02 -2.44728287e-04 9.97957536e-01 -4.94222437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1080.77, Y:-595.85, Z:-49.43 [[ 8.38282444e-01 5.42587920e-01 5.36739430e-02 1.08076630e+03] [-5.41481106e-01 8.39999017e-01 -3.46390453e-02 -5.95852952e+02] [-6.38807869e-02 -2.61224859e-05 9.97957536e-01 -4.94250493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.82, Y:-595.89, Z:-49.43 [[ 8.38814936e-01 5.41765326e-01 5.36640816e-02 1.08081684e+03] [-5.40655852e-01 8.40529790e-01 -3.46543163e-02 -5.95888221e+02] [-6.38807662e-02 5.47583686e-05 9.97957537e-01 -4.94309927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.87, Y:-595.92, Z:-49.43 [[ 8.37894662e-01 5.43187852e-01 5.36609071e-02 1.08086842e+03] [-5.42080974e-01 8.39611193e-01 -3.46592313e-02 -5.95923251e+02] [-6.38807716e-02 -4.77719399e-05 9.97957537e-01 -4.94327925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.92, Y:-595.96, Z:-49.44 [[ 8.35505276e-01 5.46856847e-01 5.36518647e-02 1.08091983e+03] [-5.45756608e-01 8.37226070e-01 -3.46732230e-02 -5.95958009e+02] [-6.38800292e-02 -3.11198992e-04 9.97957537e-01 -4.94380318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1080.97, Y:-595.99, Z:-49.44 [[ 8.33239107e-01 5.50304202e-01 5.36458373e-02 1.08097204e+03] [-5.49210482e-01 8.34964052e-01 -3.46825460e-02 -5.95993041e+02] [-6.38782965e-02 -5.64002491e-04 9.97957537e-01 -4.94420949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1081.02, Y:-596.03, Z:-49.45 [[ 8.30892386e-01 5.53842060e-01 5.36359610e-02 1.08102340e+03] [-5.52754699e-01 8.32621345e-01 -3.46978128e-02 -5.96028032e+02] [-6.38755541e-02 -8.17381048e-04 9.97957537e-01 -4.94472209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.07, Y:-596.07, Z:-49.45 [[ 8.27930922e-01 5.58260290e-01 5.36268373e-02 1.08107466e+03] [-5.57181242e-01 8.29665081e-01 -3.47119081e-02 -5.96065287e+02] [-6.38705943e-02 -1.14080572e-03 9.97957537e-01 -4.94502093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.13, Y:-596.10, Z:-49.46 [[ 8.27091811e-01 5.59503654e-01 5.36171441e-02 1.08112561e+03] [-5.58426243e-01 8.28826988e-01 -3.47268742e-02 -5.96100801e+02] [-6.38691490e-02 -1.21890705e-03 9.97957537e-01 -4.94576379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.17, Y:-596.14, Z:-49.46 [[ 8.24915350e-01 5.62707965e-01 5.36135453e-02 1.08117452e+03] [-5.61636932e-01 8.26654471e-01 -3.47324294e-02 -5.96137056e+02] [-6.38640916e-02 -1.46003291e-03 9.97957537e-01 -4.94590228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.23, Y:-596.17, Z:-49.46 [[ 8.23486335e-01 5.64798059e-01 5.36041962e-02 1.08122506e+03] [-5.63730502e-01 8.25227592e-01 -3.47468523e-02 -5.96171600e+02] [-6.38606164e-02 -1.60476241e-03 9.97957537e-01 -4.94615933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.28, Y:-596.21, Z:-49.47 [[ 8.23379180e-01 5.64954745e-01 5.35990761e-02 1.08127603e+03] [-5.63887006e-01 8.25120326e-01 -3.47547485e-02 -5.96208128e+02] [-6.38605472e-02 -1.60748621e-03 9.97957537e-01 -4.94655730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.33, Y:-596.24, Z:-49.47 [[ 8.24426317e-01 5.63426494e-01 5.35894960e-02 1.08132810e+03] [-5.62354568e-01 8.26164887e-01 -3.47695141e-02 -5.96242681e+02] [-6.38638254e-02 -1.47139547e-03 9.97957538e-01 -4.94700375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1081.38, Y:-596.28, Z:-49.47 [[ 8.24852554e-01 5.62803210e-01 5.35799574e-02 1.08138049e+03] [-5.61729016e-01 8.26589724e-01 -3.47842069e-02 -5.96277464e+02] [-6.38653055e-02 -1.40557486e-03 9.97957538e-01 -4.94742836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.43, Y:-596.31, Z:-49.48 [[ 8.23990850e-01 5.64064995e-01 5.35701478e-02 1.08143371e+03] [-5.62992480e-01 8.25729057e-01 -3.47993079e-02 -5.96310562e+02] [-6.38634991e-02 -1.48527914e-03 9.97957538e-01 -4.94789991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.49, Y:-596.34, Z:-49.48 [[ 8.22673596e-01 5.65985387e-01 5.35602163e-02 1.08148712e+03] [-5.64915935e-01 8.24413689e-01 -3.48145869e-02 -5.96343874e+02] [-6.38603230e-02 -1.61597826e-03 9.97957538e-01 -4.94842874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1081.54, Y:-596.38, Z:-49.49 [[ 8.21505283e-01 5.67680749e-01 5.35503293e-02 1.08153929e+03] [-5.66613898e-01 8.23246972e-01 -3.48297881e-02 -5.96376086e+02] [-6.38573466e-02 -1.72950590e-03 9.97957538e-01 -4.94909787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.59, Y:-596.41, Z:-49.50 [[ 8.21936298e-01 5.67057312e-01 5.35418283e-02 1.08159097e+03] [-5.65988291e-01 8.23676654e-01 -3.48428513e-02 -5.96410106e+02] [-6.38590476e-02 -1.66544371e-03 9.97957538e-01 -4.94959943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.64, Y:-596.44, Z:-49.50 [[ 8.23367787e-01 5.64977558e-01 5.35336065e-02 1.08164209e+03] [-5.63903319e-01 8.25104928e-01 -3.48554790e-02 -5.96444248e+02] [-6.38634060e-02 -1.48889979e-03 9.97957539e-01 -4.95001935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.69, Y:-596.48, Z:-49.50 [[ 8.26047812e-01 5.61052669e-01 5.35249065e-02 1.08169372e+03] [-5.59969310e-01 8.27779280e-01 -3.48688339e-02 -5.96478835e+02] [-6.38700608e-02 -1.16898103e-03 9.97957539e-01 -4.95014680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.75, Y:-596.51, Z:-49.50 [[ 8.27691278e-01 5.58626125e-01 5.35163600e-02 1.08174595e+03] [-5.57536842e-01 8.29419026e-01 -3.48819460e-02 -5.96513979e+02] [-6.38734535e-02 -9.65859906e-04 9.97957539e-01 -4.95042156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.80, Y:-596.55, Z:-49.51 [[ 8.29412934e-01 5.56067649e-01 5.35065862e-02 1.08179691e+03] [-5.54972069e-01 8.31136696e-01 -3.48969320e-02 -5.96549005e+02] [-6.38763421e-02 -7.50694055e-04 9.97957539e-01 -4.95077871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1081.85, Y:-596.58, Z:-49.51 [[ 8.31016268e-01 5.53669262e-01 5.35005677e-02 1.08184867e+03] [-5.52568114e-01 8.32736477e-01 -3.49061565e-02 -5.96584154e+02] [-6.38783402e-02 -5.55123923e-04 9.97957539e-01 -4.95123695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1081.90, Y:-596.62, Z:-49.52 [[ 8.31114960e-01 5.53522049e-01 5.34907966e-02 1.08190080e+03] [-5.52419633e-01 8.32834356e-01 -3.49211234e-02 -5.96618387e+02] [-6.38785850e-02 -5.25898125e-04 9.97957539e-01 -4.95166469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1081.95, Y:-596.65, Z:-49.52 [[ 8.30534182e-01 5.54394054e-01 5.34808952e-02 1.08195407e+03] [-5.53292467e-01 8.32254109e-01 -3.49362806e-02 -5.96652202e+02] [-6.38781611e-02 -5.74801207e-04 9.97957539e-01 -4.95214680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.01, Y:-596.69, Z:-49.53 [[ 8.29726350e-01 5.55603298e-01 5.34711157e-02 1.08200716e+03] [-5.54503253e-01 8.31447264e-01 -3.49512421e-02 -5.96685989e+02] [-6.38774383e-02 -6.49941086e-04 9.97957539e-01 -4.95253089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.06, Y:-596.72, Z:-49.53 [[ 8.29330214e-01 5.56195357e-01 5.34614026e-02 1.08205920e+03] [-5.55095584e-01 8.31051301e-01 -3.49660930e-02 -5.96719012e+02] [-6.38771468e-02 -6.77751154e-04 9.97957540e-01 -4.95297742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.11, Y:-596.75, Z:-49.53 [[ 8.30253519e-01 5.54817026e-01 5.34524300e-02 1.08211195e+03] [-5.53713513e-01 8.31972211e-01 -3.49798040e-02 -5.96752191e+02] [-6.38783272e-02 -5.55227370e-04 9.97957540e-01 -4.95338200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.17, Y:-596.78, Z:-49.54 [[ 8.33950989e-01 5.49244494e-01 5.34437481e-02 1.08216547e+03] [-5.48128645e-01 8.35661698e-01 -3.49930635e-02 -5.96781241e+02] [-6.38806408e-02 -1.11549305e-04 9.97957540e-01 -4.95446988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.22, Y:-596.82, Z:-49.54 [[ 8.34095899e-01 5.49025177e-01 5.34358154e-02 1.08221519e+03] [-5.47908103e-01 8.35805808e-01 -3.50051730e-02 -5.96818663e+02] [-6.38806862e-02 -8.02449777e-05 9.97957540e-01 -4.95422733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1082.27, Y:-596.85, Z:-49.55 [[ 8.37047150e-01 5.44515912e-01 5.34274368e-02 1.08226798e+03] [-5.43388811e-01 8.38750466e-01 -3.50179563e-02 -5.96852113e+02] [-6.38801219e-02 2.79809192e-04 9.97957540e-01 -4.95451291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.32, Y:-596.89, Z:-49.55 [[ 8.38353666e-01 5.42503188e-01 5.34174343e-02 1.08232082e+03] [-5.41371026e-01 8.40053622e-01 -3.50332078e-02 -5.96885345e+02] [-6.38791361e-02 4.51566990e-04 9.97957540e-01 -4.95490515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.37, Y:-596.92, Z:-49.56 [[ 8.38553818e-01 5.42194731e-01 5.34075702e-02 1.08237311e+03] [-5.41060986e-01 8.40252718e-01 -3.50482390e-02 -5.96918034e+02] [-6.38788266e-02 4.93082016e-04 9.97957540e-01 -4.95551207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.43, Y:-596.95, Z:-49.56 [[ 8.38041590e-01 5.42986969e-01 5.33989298e-02 1.08242539e+03] [-5.41853991e-01 8.39741002e-01 -3.50613985e-02 -5.96951072e+02] [-6.38791533e-02 4.48486885e-04 9.97957541e-01 -4.95607678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1082.48, Y:-596.98, Z:-49.57 [[ 8.37316391e-01 5.44105439e-01 5.33903837e-02 1.08247838e+03] [-5.42973902e-01 8.39016763e-01 -3.50744074e-02 -5.96983805e+02] [-6.38796027e-02 3.78791306e-04 9.97957541e-01 -4.95665001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.53, Y:-597.02, Z:-49.57 [[ 8.36491454e-01 5.45373653e-01 5.33819001e-02 1.08253189e+03] [-5.44243870e-01 8.38192991e-01 -3.50873144e-02 -5.97015942e+02] [-6.38800313e-02 2.97466705e-04 9.97957541e-01 -4.95712207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.58, Y:-597.05, Z:-49.57 [[ 8.35789724e-01 5.46449392e-01 5.33722664e-02 1.08258473e+03] [-5.45320864e-01 8.37492094e-01 -3.51019624e-02 -5.97050348e+02] [-6.38802972e-02 2.32849055e-04 9.97957541e-01 -4.95738398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.64, Y:-597.08, Z:-49.58 [[ 8.34813986e-01 5.47939834e-01 5.33624178e-02 1.08263610e+03] [-5.46813388e-01 8.36517735e-01 -3.51169280e-02 -5.97084471e+02] [-6.38805725e-02 1.36818217e-04 9.97957541e-01 -4.95761080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.69, Y:-597.12, Z:-49.58 [[ 8.33404122e-01 5.50082670e-01 5.33537817e-02 1.08268928e+03] [-5.48959765e-01 8.35110206e-01 -3.51300441e-02 -5.97115413e+02] [-6.38807161e-02 -1.15559008e-05 9.97957541e-01 -4.95828734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.74, Y:-597.15, Z:-49.58 [[ 8.29404334e-01 5.56096014e-01 5.33448555e-02 1.08273963e+03] [-5.54984607e-01 8.31117930e-01 -3.51435933e-02 -5.97149709e+02] [-6.38790780e-02 -4.57324981e-04 9.97957541e-01 -4.95830676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.79, Y:-597.18, Z:-49.59 [[ 8.28272289e-01 5.57781211e-01 5.33398156e-02 1.08279322e+03] [-5.56672798e-01 8.29987823e-01 -3.51512410e-02 -5.97179993e+02] [-6.38780992e-02 -5.78025505e-04 9.97957541e-01 -4.95917195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.84, Y:-597.22, Z:-49.59 [[ 8.22886990e-01 5.65696760e-01 5.33308343e-02 1.08284358e+03] [-5.64603963e-01 8.24612513e-01 -3.51648621e-02 -5.97215685e+02] [-6.38699218e-02 -1.17409290e-03 9.97957542e-01 -4.95933900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.90, Y:-597.25, Z:-49.60 [[ 8.20740494e-01 5.68807356e-01 5.33219849e-02 1.08289560e+03] [-5.67720227e-01 8.22469594e-01 -3.51782756e-02 -5.97249947e+02] [-6.38653732e-02 -1.39973407e-03 9.97957542e-01 -4.95976732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1082.95, Y:-597.29, Z:-49.60 [[ 8.20697117e-01 5.68870745e-01 5.33133913e-02 1.08294715e+03] [-5.67782904e-01 8.22425770e-01 -3.51912946e-02 -5.97285162e+02] [-6.38656049e-02 -1.38903810e-03 9.97957542e-01 -4.96007433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.00, Y:-597.32, Z:-49.60 [[ 8.21896304e-01 5.67137716e-01 5.33036316e-02 1.08299821e+03] [-5.66045273e-01 8.23622050e-01 -3.52060713e-02 -5.97321001e+02] [-6.38687372e-02 -1.23652880e-03 9.97957542e-01 -4.96036399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.05, Y:-597.36, Z:-49.61 [[ 8.27075582e-01 5.59558400e-01 5.32952013e-02 1.08304991e+03] [-5.58449316e-01 8.28790683e-01 -3.52188286e-02 -5.97355235e+02] [-6.38775576e-02 -6.34035559e-04 9.97957542e-01 -4.96087076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.10, Y:-597.39, Z:-49.61 [[ 8.28357158e-01 5.57660277e-01 5.32863404e-02 1.08309749e+03] [-5.56546401e-01 8.30069150e-01 -3.52322301e-02 -5.97394106e+02] [-6.38789624e-02 -4.71450944e-04 9.97957542e-01 -4.96086379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1083.15, Y:-597.43, Z:-49.61 [[ 8.30457978e-01 5.54527705e-01 5.32782366e-02 1.08314863e+03] [-5.53406586e-01 8.32165235e-01 -3.52444805e-02 -5.97430781e+02] [-6.38803371e-02 -2.15467009e-04 9.97957542e-01 -4.96124291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.20, Y:-597.47, Z:-49.62 [[ 8.31115140e-01 5.53543236e-01 5.32682839e-02 1.08319977e+03] [-5.52419130e-01 8.32820432e-01 -3.52595165e-02 -5.97467404e+02] [-6.38805820e-02 -1.21701054e-04 9.97957542e-01 -4.96163908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.25, Y:-597.50, Z:-49.62 [[ 8.30141216e-01 5.55003701e-01 5.32583670e-02 1.08325227e+03] [-5.53881634e-01 8.31847850e-01 -3.52744893e-02 -5.97501924e+02] [-6.38803302e-02 -2.16023899e-04 9.97957543e-01 -4.96205989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.31, Y:-597.54, Z:-49.62 [[ 8.28987880e-01 5.56725859e-01 5.32485876e-02 1.08330505e+03] [-5.55606390e-01 8.30696219e-01 -3.52892455e-02 -5.97536433e+02] [-6.38798360e-02 -3.30898719e-04 9.97957543e-01 -4.96246008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.36, Y:-597.57, Z:-49.63 [[ 8.27813315e-01 5.58471823e-01 5.32385114e-02 1.08335619e+03] [-5.57354980e-01 8.29523371e-01 -3.53044404e-02 -5.97570573e+02] [-6.38791246e-02 -4.47263608e-04 9.97957543e-01 -4.96292273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1083.41, Y:-597.61, Z:-49.63 [[ 8.27727563e-01 5.58599747e-01 5.32297411e-02 1.08340742e+03] [-5.57482318e-01 8.29437236e-01 -3.53176587e-02 -5.97605589e+02] [-6.38791645e-02 -4.41239925e-04 9.97957543e-01 -4.96340091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.46, Y:-597.64, Z:-49.64 [[ 8.28184289e-01 5.57923261e-01 5.32204669e-02 1.08345843e+03] [-5.56803538e-01 8.29892461e-01 -3.53316285e-02 -5.97640388e+02] [-6.38796017e-02 -3.72244624e-04 9.97957543e-01 -4.96369613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.51, Y:-597.68, Z:-49.64 [[ 8.28815960e-01 5.56985291e-01 5.32117586e-02 1.08351048e+03] [-5.55862793e-01 8.30522309e-01 -3.53447390e-02 -5.97675458e+02] [-6.38800523e-02 -2.84152947e-04 9.97957543e-01 -4.96400317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.56, Y:-597.71, Z:-49.65 [[ 8.31224938e-01 5.53384658e-01 5.32026613e-02 1.08356307e+03] [-5.52253892e-01 8.32925819e-01 -3.53584275e-02 -5.97708191e+02] [-6.38806815e-02 9.42992963e-06 9.97957543e-01 -4.96458599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.61, Y:-597.74, Z:-49.64 [[ 8.31450681e-01 5.53046296e-01 5.31936082e-02 1.08361263e+03] [-5.51913967e-01 8.33150522e-01 -3.53720418e-02 -5.97744171e+02] [-6.38806591e-02 5.18129453e-05 9.97957544e-01 -4.96446135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.66, Y:-597.78, Z:-49.65 [[ 8.32711606e-01 5.51146716e-01 5.31853287e-02 1.08366429e+03] [-5.50009714e-01 8.34408325e-01 -3.53844864e-02 -5.97778868e+02] [-6.38803245e-02 2.12625034e-04 9.97957544e-01 -4.96491564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.72, Y:-597.81, Z:-49.65 [[ 8.34288750e-01 5.48757309e-01 5.31761065e-02 1.08371671e+03] [-5.47614565e-01 8.35981606e-01 -3.53983402e-02 -5.97811623e+02] [-6.38793448e-02 4.12426502e-04 9.97957544e-01 -4.96536130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.77, Y:-597.85, Z:-49.65 [[ 8.32931917e-01 5.50815472e-01 5.31670768e-02 1.08376733e+03] [-5.49676046e-01 8.34627008e-01 -3.54118974e-02 -5.97845435e+02] [-6.38800992e-02 2.71031030e-04 9.97957544e-01 -4.96545144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.82, Y:-597.88, Z:-49.66 [[ 8.32006262e-01 5.52213164e-01 5.31620283e-02 1.08381962e+03] [-5.51076101e-01 8.33702940e-01 -3.54194747e-02 -5.97877912e+02] [-6.38804395e-02 1.72901520e-04 9.97957544e-01 -4.96594824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.87, Y:-597.91, Z:-49.66 [[ 8.30309816e-01 5.54761502e-01 5.31534159e-02 1.08387304e+03] [-5.53628820e-01 8.32009420e-01 -3.54323945e-02 -5.97909589e+02] [-6.38806712e-02 -7.39797106e-06 9.97957544e-01 -4.96649220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.93, Y:-597.94, Z:-49.67 [[ 8.30455282e-01 5.54544558e-01 5.31446985e-02 1.08392731e+03] [-5.53410595e-01 8.32154032e-01 -3.54454650e-02 -5.97939045e+02] [-6.38806648e-02 2.50344269e-05 9.97957544e-01 -4.96739627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1083.98, Y:-597.97, Z:-49.67 [[ 8.27412902e-01 5.59074661e-01 5.31357969e-02 1.08397835e+03] [-5.57949142e-01 8.29117259e-01 -3.54588042e-02 -5.97973076e+02] [-6.38799252e-02 -3.08000141e-04 9.97957544e-01 -4.96735985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.03, Y:-598.01, Z:-49.68 [[ 8.25603516e-01 5.61743674e-01 5.31307736e-02 1.08403066e+03] [-5.60623180e-01 8.27311181e-01 -3.54663294e-02 -5.98005647e+02] [-6.38786692e-02 -5.05216966e-04 9.97957544e-01 -4.96785992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.08, Y:-598.04, Z:-49.69 [[ 8.26115433e-01 5.60991380e-01 5.31221517e-02 1.08408354e+03] [-5.59868501e-01 8.27821530e-01 -3.54792387e-02 -5.98037354e+02] [-6.38792080e-02 -4.31472781e-04 9.97957545e-01 -4.96872628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.13, Y:-598.07, Z:-49.69 [[ 8.24001413e-01 5.64092239e-01 5.31189030e-02 1.08413407e+03] [-5.62975467e-01 8.25711513e-01 -3.54841019e-02 -5.98072761e+02] [-6.38771963e-02 -6.65689105e-04 9.97957545e-01 -4.96855748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.19, Y:-598.11, Z:-49.69 [[ 8.23040107e-01 5.65494705e-01 5.31104664e-02 1.08418716e+03] [-5.64380032e-01 8.24751576e-01 -3.54967249e-02 -5.98105449e+02] [-6.38761508e-02 -7.59258474e-04 9.97957545e-01 -4.96887803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1084.24, Y:-598.14, Z:-49.69 [[ 8.22722492e-01 5.65957519e-01 5.31016801e-02 1.08423891e+03] [-5.64842961e-01 8.24434036e-01 -3.55098640e-02 -5.98139484e+02] [-6.38759070e-02 -7.79346392e-04 9.97957545e-01 -4.96917371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.29, Y:-598.18, Z:-49.69 [[ 8.22559662e-01 5.66194964e-01 5.30929939e-02 1.08429100e+03] [-5.65080062e-01 8.24270982e-01 -3.55228465e-02 -5.98175063e+02] [-6.38758710e-02 -7.82131716e-04 9.97957545e-01 -4.96945220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1084.34, Y:-598.21, Z:-49.70 [[ 8.22669670e-01 5.66036048e-01 5.30830140e-02 1.08434395e+03] [-5.64919854e-01 8.24380147e-01 -3.55377537e-02 -5.98209567e+02] [-6.38762325e-02 -7.51816406e-04 9.97957545e-01 -4.96996125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.40, Y:-598.24, Z:-49.70 [[ 8.22684784e-01 5.66015030e-01 5.30728968e-02 1.08439603e+03] [-5.64897818e-01 8.24394596e-01 -3.55528564e-02 -5.98244114e+02] [-6.38764604e-02 -7.31969623e-04 9.97957545e-01 -4.97041973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.45, Y:-598.28, Z:-49.71 [[ 8.23570720e-01 5.64726129e-01 5.30628841e-02 1.08444773e+03] [-5.63605278e-01 8.25278149e-01 -3.55677943e-02 -5.98279551e+02] [-6.38777015e-02 -6.13927579e-04 9.97957545e-01 -4.97087330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.50, Y:-598.32, Z:-49.71 [[ 8.24481932e-01 5.63395898e-01 5.30528586e-02 1.08449829e+03] [-5.62271331e-01 8.26186915e-01 -3.55827421e-02 -5.98315396e+02] [-6.38787485e-02 -4.92773464e-04 9.97957546e-01 -4.97134579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.55, Y:-598.35, Z:-49.72 [[ 8.26067886e-01 5.61068822e-01 5.30436135e-02 1.08454955e+03] [-5.59938567e-01 8.27769104e-01 -3.55965184e-02 -5.98350905e+02] [-6.38799611e-02 -2.96024179e-04 9.97957546e-01 -4.97169647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.60, Y:-598.39, Z:-49.72 [[ 8.29059186e-01 5.56640173e-01 5.30338015e-02 1.08460060e+03] [-5.55499895e-01 8.30753703e-01 -3.56111309e-02 -5.98387646e+02] [-6.38806130e-02 6.34640288e-05 9.97957546e-01 -4.97207659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.65, Y:-598.42, Z:-49.72 [[ 8.30812141e-01 5.54021364e-01 5.30237182e-02 1.08465131e+03] [-5.52874787e-01 8.32502401e-01 -3.56261383e-02 -5.98424477e+02] [-6.38800145e-02 2.83151264e-04 9.97957546e-01 -4.97240332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.70, Y:-598.46, Z:-49.73 [[ 8.32484531e-01 5.51506172e-01 5.30136493e-02 1.08470313e+03] [-5.50353535e-01 8.34170664e-01 -3.56411152e-02 -5.98460872e+02] [-6.38787261e-02 4.94427801e-04 9.97957546e-01 -4.97272585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.76, Y:-598.50, Z:-49.73 [[ 8.32623463e-01 5.51297373e-01 5.30035377e-02 1.08475521e+03] [-5.50143356e-01 8.34308652e-01 -3.56561463e-02 -5.98495603e+02] [-6.38784499e-02 5.28599848e-04 9.97957546e-01 -4.97310928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.81, Y:-598.53, Z:-49.74 [[ 8.31091073e-01 5.53605764e-01 5.29932781e-02 1.08480698e+03] [-5.52455456e-01 8.32778795e-01 -3.56713879e-02 -5.98531063e+02] [-6.38795642e-02 3.69746466e-04 9.97957547e-01 -4.97354348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.86, Y:-598.56, Z:-49.74 [[ 8.29147601e-01 5.56513296e-01 5.29830814e-02 1.08485812e+03] [-5.55367939e-01 8.30838687e-01 -3.56865267e-02 -5.98564951e+02] [-6.38804204e-02 1.64293291e-04 9.97957547e-01 -4.97406571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.91, Y:-598.60, Z:-49.74 [[ 8.26283257e-01 5.60758212e-01 5.29736474e-02 1.08491055e+03] [-5.59620645e-01 8.27979593e-01 -3.57005252e-02 -5.98599603e+02] [-6.38804617e-02 -1.46400511e-04 9.97957547e-01 -4.97448177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1084.96, Y:-598.63, Z:-49.75 [[ 8.21184216e-01 5.68200081e-01 5.29636783e-02 1.08496297e+03] [-5.67076932e-01 8.22890132e-01 -3.57153089e-02 -5.98633359e+02] [-6.38767296e-02 -7.05632281e-04 9.97957547e-01 -4.97472089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1085.02, Y:-598.67, Z:-49.75 [[ 8.18259741e-01 5.72404374e-01 5.29549748e-02 1.08501586e+03] [-5.71289154e-01 8.19970852e-01 -3.57282089e-02 -5.98667909e+02] [-6.38725188e-02 -1.01764782e-03 9.97957547e-01 -4.97510233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.07, Y:-598.70, Z:-49.76 [[ 8.16134183e-01 5.75431875e-01 5.29448085e-02 1.08506709e+03] [-5.74322025e-01 8.17848782e-01 -3.57432677e-02 -5.98703046e+02] [-6.38686627e-02 -1.23606708e-03 9.97957547e-01 -4.97555402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.12, Y:-598.74, Z:-49.76 [[ 8.14694315e-01 5.77469494e-01 5.29354101e-02 1.08511866e+03] [-5.76363029e-01 8.16411099e-01 -3.57571813e-02 -5.98738295e+02] [-6.38657377e-02 -1.37884098e-03 9.97957547e-01 -4.97602263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.17, Y:-598.77, Z:-49.77 [[ 8.14226106e-01 5.78129766e-01 5.29322490e-02 1.08516957e+03] [-5.77024389e-01 8.15943591e-01 -3.57618601e-02 -5.98772550e+02] [-6.38647251e-02 -1.42495855e-03 9.97957547e-01 -4.97654437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.22, Y:-598.81, Z:-49.77 [[ 8.13480784e-01 5.79178887e-01 5.29228832e-02 1.08522077e+03] [-5.78074825e-01 8.15199114e-01 -3.57757149e-02 -5.98807776e+02] [-6.38632262e-02 -1.49052985e-03 9.97957548e-01 -4.97704865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1085.27, Y:-598.84, Z:-49.77 [[ 8.14068800e-01 5.78352898e-01 5.29142110e-02 1.08527154e+03] [-5.77246259e-01 8.15785472e-01 -3.57885369e-02 -5.98843984e+02] [-6.38650487e-02 -1.41019906e-03 9.97957548e-01 -4.97741945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.32, Y:-598.88, Z:-49.78 [[ 8.15299827e-01 5.76617133e-01 5.29043767e-02 1.08532168e+03] [-5.75505897e-01 8.17013527e-01 -3.58030686e-02 -5.98881301e+02] [-6.38682542e-02 -1.25654516e-03 9.97957548e-01 -4.97762093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1085.37, Y:-598.92, Z:-49.78 [[ 8.18285059e-01 5.72373675e-01 5.28955385e-02 1.08537201e+03] [-5.71252707e-01 8.19992408e-01 -3.58161215e-02 -5.98919802e+02] [-6.38741451e-02 -9.08922444e-04 9.97957548e-01 -4.97795980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.42, Y:-598.96, Z:-49.78 [[ 8.20155471e-01 5.69691272e-01 5.28853359e-02 1.08542258e+03] [-5.68563749e-01 8.21858498e-01 -3.58311801e-02 -5.98957086e+02] [-6.38769733e-02 -6.81546441e-04 9.97957548e-01 -4.97838414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.47, Y:-598.99, Z:-49.79 [[ 8.21700535e-01 5.67461408e-01 5.28751491e-02 1.08547354e+03] [-5.66328296e-01 8.23399849e-01 -3.58462062e-02 -5.98994357e+02] [-6.38787284e-02 -4.89846237e-04 9.97957548e-01 -4.97887776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1085.52, Y:-599.03, Z:-49.79 [[ 8.22896123e-01 5.65727193e-01 5.28650513e-02 1.08552317e+03] [-5.64589544e-01 8.24592402e-01 -3.58610921e-02 -5.99032127e+02] [-6.38797146e-02 -3.37101555e-04 9.97957548e-01 -4.97944889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.57, Y:-599.07, Z:-49.80 [[ 8.23125966e-01 5.65393554e-01 5.28561608e-02 1.08557268e+03] [-5.64254376e-01 8.24821218e-01 -3.58741910e-02 -5.99067727e+02] [-6.38799193e-02 -2.95341912e-04 9.97957549e-01 -4.98003523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.62, Y:-599.10, Z:-49.81 [[ 8.23832124e-01 5.64364879e-01 5.28480392e-02 1.08562413e+03] [-5.63222817e-01 8.25525434e-01 -3.58861514e-02 -5.99103303e+02] [-6.38802840e-02 -2.01057187e-04 9.97957549e-01 -4.98063209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.67, Y:-599.14, Z:-49.81 [[ 8.22885364e-01 5.65745111e-01 5.28407754e-02 1.08567323e+03] [-5.64605202e-01 8.24580125e-01 -3.58968440e-02 -5.99139063e+02] [-6.38799171e-02 -2.95189162e-04 9.97957549e-01 -4.98074918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.72, Y:-599.17, Z:-49.81 [[ 8.22398506e-01 5.66453089e-01 5.28355532e-02 1.08572477e+03] [-5.65314146e-01 8.24093915e-01 -3.59045286e-02 -5.99174307e+02] [-6.38796891e-02 -3.40854938e-04 9.97957549e-01 -4.98099438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.78, Y:-599.21, Z:-49.81 [[ 8.21303363e-01 5.68040589e-01 5.28268479e-02 1.08577555e+03] [-5.66904099e-01 8.23000418e-01 -3.59173323e-02 -5.99207974e+02] [-6.38790205e-02 -4.48730837e-04 9.97957549e-01 -4.98131766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.83, Y:-599.24, Z:-49.82 [[ 8.20294483e-01 5.69497259e-01 5.28188785e-02 1.08582693e+03] [-5.68363028e-01 8.21993049e-01 -3.59290480e-02 -5.99242366e+02] [-6.38782454e-02 -5.47897897e-04 9.97957549e-01 -4.98182426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.88, Y:-599.28, Z:-49.82 [[ 8.18045666e-01 5.72723645e-01 5.28101738e-02 1.08587852e+03] [-5.71595287e-01 8.19748139e-01 -3.59418381e-02 -5.99276630e+02] [-6.38757822e-02 -7.83981551e-04 9.97957549e-01 -4.98231039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1085.93, Y:-599.31, Z:-49.83 [[ 8.16027818e-01 5.75595837e-01 5.28018339e-02 1.08593066e+03] [-5.74472678e-01 8.17733725e-01 -3.59540861e-02 -5.99310862e+02] [-6.38728626e-02 -9.93676560e-04 9.97957549e-01 -4.98265546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1085.98, Y:-599.34, Z:-49.83 [[ 8.15222721e-01 5.76736341e-01 5.27930625e-02 1.08598325e+03] [-5.75614736e-01 8.16929650e-01 -3.59669609e-02 -5.99342921e+02] [-6.38716715e-02 -1.06738105e-03 9.97957549e-01 -4.98338524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.03, Y:-599.38, Z:-49.84 [[ 8.13060476e-01 5.79781444e-01 5.27838942e-02 1.08603391e+03] [-5.78665359e-01 8.14771019e-01 -3.59804110e-02 -5.99377801e+02] [-6.38675619e-02 -1.28996097e-03 9.97957550e-01 -4.98356699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.09, Y:-599.41, Z:-49.84 [[ 8.13588962e-01 5.79040424e-01 5.27748768e-02 1.08608520e+03] [-5.77921923e-01 8.15297927e-01 -3.59936326e-02 -5.99413301e+02] [-6.38690159e-02 -1.21573614e-03 9.97957550e-01 -4.98378238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.14, Y:-599.45, Z:-49.84 [[ 8.14782944e-01 5.77359944e-01 5.27659775e-02 1.08613639e+03] [-5.76237074e-01 8.16489041e-01 -3.60066740e-02 -5.99449267e+02] [-6.38716537e-02 -1.06808868e-03 9.97957550e-01 -4.98411650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.19, Y:-599.49, Z:-49.85 [[ 8.16745443e-01 5.74581327e-01 5.27558531e-02 1.08618803e+03] [-5.73451694e-01 8.18447070e-01 -3.60215019e-02 -5.99485463e+02] [-6.38751557e-02 -8.32535857e-04 9.97957550e-01 -4.98452884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.24, Y:-599.52, Z:-49.85 [[ 8.17933267e-01 5.72890098e-01 5.27456750e-02 1.08623923e+03] [-5.71755987e-01 8.19631911e-01 -3.60363994e-02 -5.99521133e+02] [-6.38769348e-02 -6.82285543e-04 9.97957550e-01 -4.98498105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.29, Y:-599.56, Z:-49.85 [[ 8.18808768e-01 5.71639018e-01 5.27355175e-02 1.08629108e+03] [-5.70501354e-01 8.20505035e-01 -3.60512578e-02 -5.99557060e+02] [-6.38780632e-02 -5.66598160e-04 9.97957550e-01 -4.98545087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.34, Y:-599.59, Z:-49.86 [[ 8.20203341e-01 5.69637176e-01 5.27253891e-02 1.08634076e+03] [-5.68494420e-01 8.21896182e-01 -3.60660645e-02 -5.99592520e+02] [-6.38793671e-02 -3.92582908e-04 9.97957550e-01 -4.98596805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.39, Y:-599.63, Z:-49.86 [[ 8.21227303e-01 5.68160719e-01 5.27173099e-02 1.08639139e+03] [-5.67014161e-01 8.22917571e-01 -3.60778700e-02 -5.99627839e+02] [-6.38800291e-02 -2.63329375e-04 9.97957551e-01 -4.98642139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.44, Y:-599.66, Z:-49.87 [[ 8.23553903e-01 5.64783837e-01 5.27085025e-02 1.08644207e+03] [-5.63629525e-01 8.25238885e-01 -3.60907327e-02 -5.99663502e+02] [-6.38805683e-02 1.45954999e-05 9.97957551e-01 -4.98685821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.49, Y:-599.70, Z:-49.87 [[ 8.25532040e-01 5.61889318e-01 5.26995793e-02 1.08649250e+03] [-5.60728267e-01 8.27212385e-01 -3.61037577e-02 -5.99698951e+02] [-6.38800604e-02 2.54664913e-04 9.97957551e-01 -4.98726043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.54, Y:-599.73, Z:-49.87 [[ 8.28309219e-01 5.57787823e-01 5.26932950e-02 1.08654334e+03] [-5.56617868e-01 8.29983377e-01 -3.61129273e-02 -5.99734038e+02] [-6.38779100e-02 5.82641089e-04 9.97957551e-01 -4.98748845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.60, Y:-599.77, Z:-49.88 [[ 8.28594633e-01 5.57364613e-01 5.26841655e-02 1.08659542e+03] [-5.56192957e-01 8.30267601e-01 -3.61262412e-02 -5.99768920e+02] [-6.38774441e-02 6.31447753e-04 9.97957551e-01 -4.98777576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.65, Y:-599.80, Z:-49.88 [[ 8.27536416e-01 5.58935560e-01 5.26737107e-02 1.08664767e+03] [-5.57766110e-01 8.29210926e-01 -3.61414783e-02 -5.99802084e+02] [-6.38783738e-02 5.28778671e-04 9.97957551e-01 -4.98804075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.70, Y:-599.84, Z:-49.88 [[ 8.25929098e-01 5.61308850e-01 5.26640327e-02 1.08670068e+03] [-5.60143312e-01 8.27606334e-01 -3.61555753e-02 -5.99835041e+02] [-6.38795314e-02 3.62535952e-04 9.97957551e-01 -4.98837937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.75, Y:-599.87, Z:-49.89 [[ 8.24463390e-01 5.63460463e-01 5.26538167e-02 1.08675416e+03] [-5.62298354e-01 8.26143002e-01 -3.61704468e-02 -5.99868639e+02] [-6.38801989e-02 2.14054798e-04 9.97957551e-01 -4.98894483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.81, Y:-599.90, Z:-49.89 [[ 8.23153398e-01 5.65373476e-01 5.26432937e-02 1.08680588e+03] [-5.64214291e-01 8.24835029e-01 -3.61857557e-02 -5.99902886e+02] [-6.38804992e-02 8.43291088e-05 9.97957552e-01 -4.98936060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.86, Y:-599.93, Z:-49.90 [[ 8.19541284e-01 5.70597693e-01 5.26341835e-02 1.08686025e+03] [-5.69448376e-01 8.21229675e-01 -3.61990022e-02 -5.99934478e+02] [-6.38798206e-02 -3.05873553e-04 9.97957552e-01 -4.98973557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.91, Y:-599.97, Z:-49.90 [[ 8.16191431e-01 5.75380145e-01 5.26235314e-02 1.08691213e+03] [-5.74239723e-01 8.17885843e-01 -3.62144809e-02 -5.99968033e+02] [-6.38771346e-02 -6.60573130e-04 9.97957552e-01 -4.98992989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1086.97, Y:-600.00, Z:-49.90 [[ 8.13270667e-01 5.79502041e-01 5.26137406e-02 1.08696502e+03] [-5.78369286e-01 8.14970214e-01 -3.62286998e-02 -6.00000922e+02] [-6.38732369e-02 -9.66432706e-04 9.97957552e-01 -4.99040913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.02, Y:-600.04, Z:-49.91 [[ 8.11832532e-01 5.81515881e-01 5.26043751e-02 1.08701770e+03] [-5.80386461e-01 8.13534297e-01 -3.62422935e-02 -6.00035387e+02] [-6.38709325e-02 -1.10819420e-03 9.97957552e-01 -4.99052291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.07, Y:-600.07, Z:-49.91 [[ 8.10596412e-01 5.83238648e-01 5.25940715e-02 1.08707005e+03] [-5.82111875e-01 8.12299931e-01 -3.62572397e-02 -6.00069252e+02] [-6.38687841e-02 -1.22564512e-03 9.97957552e-01 -4.99074589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.12, Y:-600.10, Z:-49.91 [[ 8.09918331e-01 5.84180718e-01 5.25850238e-02 1.08712254e+03] [-5.83055076e-01 8.11622597e-01 -3.62703571e-02 -6.00102852e+02] [-6.38676369e-02 -1.28393795e-03 9.97957552e-01 -4.99101689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1087.17, Y:-600.14, Z:-49.92 [[ 8.09416607e-01 5.84875993e-01 5.25816350e-02 1.08717390e+03] [-5.83751496e-01 8.11121629e-01 -3.62752692e-02 -6.00137280e+02] [-6.38666355e-02 -1.33280271e-03 9.97957553e-01 -4.99154880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.23, Y:-600.17, Z:-49.92 [[ 8.09284294e-01 5.85060057e-01 5.25705493e-02 1.08722728e+03] [-5.83934904e-01 8.10988882e-01 -3.62913276e-02 -6.00171150e+02] [-6.38667373e-02 -1.32777724e-03 9.97957553e-01 -4.99200750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.28, Y:-600.21, Z:-49.93 [[ 8.09492546e-01 5.84772858e-01 5.25597113e-02 1.08727900e+03] [-5.83646082e-01 8.11196062e-01 -3.63070173e-02 -6.00205088e+02] [-6.38675891e-02 -1.28600970e-03 9.97957553e-01 -4.99250803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1087.33, Y:-600.24, Z:-49.93 [[ 8.10174455e-01 5.83828527e-01 5.25509681e-02 1.08732962e+03] [-5.82698946e-01 8.11876111e-01 -3.63196679e-02 -6.00240496e+02] [-6.38693338e-02 -1.19612663e-03 9.97957553e-01 -4.99290238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.38, Y:-600.28, Z:-49.93 [[ 8.11992076e-01 5.81298706e-01 5.25422123e-02 1.08737926e+03] [-5.80163003e-01 8.13689653e-01 -3.63323301e-02 -6.00276331e+02] [-6.38729910e-02 -9.81483540e-04 9.97957553e-01 -4.99337757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.43, Y:-600.31, Z:-49.94 [[ 8.15961184e-01 5.75714497e-01 5.25372657e-02 1.08743209e+03] [-5.74566715e-01 8.17650617e-01 -3.63394817e-02 -6.00307794e+02] [-6.38782941e-02 -5.34557673e-04 9.97957553e-01 -4.99404685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.48, Y:-600.35, Z:-49.94 [[ 8.16697153e-01 5.74670246e-01 5.25344504e-02 1.08747873e+03] [-5.73520042e-01 8.18384938e-01 -3.63435511e-02 -6.00348332e+02] [-6.38789604e-02 -4.47885535e-04 9.97957553e-01 -4.99382734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.53, Y:-600.38, Z:-49.94 [[ 8.18331855e-01 5.72340864e-01 5.25253240e-02 1.08752979e+03] [-5.71185010e-01 8.20015776e-01 -3.63567362e-02 -6.00384442e+02] [-6.38800401e-02 -2.49802280e-04 9.97957553e-01 -4.99383041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.58, Y:-600.42, Z:-49.94 [[ 8.19374591e-01 5.70847882e-01 5.25164289e-02 1.08758102e+03] [-5.69688136e-01 8.21055833e-01 -3.63695805e-02 -6.00420363e+02] [-6.38804183e-02 -1.17676297e-04 9.97957553e-01 -4.99408894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.64, Y:-600.45, Z:-49.95 [[ 8.20451276e-01 5.69300268e-01 5.25062755e-02 1.08763507e+03] [-5.68136412e-01 8.22129677e-01 -3.63842330e-02 -6.00450893e+02] [-6.38805208e-02 2.07634180e-05 9.97957554e-01 -4.99489929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.68, Y:-600.49, Z:-49.95 [[ 8.17496212e-01 5.73535900e-01 5.25025232e-02 1.08768494e+03] [-5.72380393e-01 8.19180371e-01 -3.63896467e-02 -6.00487074e+02] [-6.38798052e-02 -3.03016502e-04 9.97957554e-01 -4.99471505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.74, Y:-600.52, Z:-49.95 [[ 8.15674392e-01 5.76124808e-01 5.24927827e-02 1.08773808e+03] [-5.74973742e-01 8.17361589e-01 -3.64036922e-02 -6.00520122e+02] [-6.38786544e-02 -4.88412253e-04 9.97957554e-01 -4.99519997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.79, Y:-600.55, Z:-49.96 [[ 8.12704037e-01 5.80308305e-01 5.24825579e-02 1.08779193e+03] [-5.79164972e-01 8.14396484e-01 -3.64184271e-02 -6.00551138e+02] [-6.38755263e-02 -7.98656445e-04 9.97957554e-01 -4.99575357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1087.84, Y:-600.58, Z:-49.96 [[ 8.11293460e-01 5.82279524e-01 5.24736039e-02 1.08784411e+03] [-5.81139469e-01 8.12988116e-01 -3.64313240e-02 -6.00583371e+02] [-6.38736303e-02 -9.37987440e-04 9.97957554e-01 -4.99634588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:1087.90, Y:-600.62, Z:-49.97 [[ 8.10523438e-01 5.83351356e-01 5.24685791e-02 1.08789625e+03] [-5.82213074e-01 8.12219286e-01 -3.64385593e-02 -6.00616249e+02] [-6.38724748e-02 -1.01358637e-03 9.97957554e-01 -4.99663091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1087.95, Y:-600.65, Z:-49.97 [[ 8.10420746e-01 5.83494455e-01 5.24636648e-02 1.08794765e+03] [-5.82356015e-01 8.12116487e-01 -3.64456335e-02 -6.00650454e+02] [-6.38724322e-02 -1.01623328e-03 9.97957554e-01 -4.99689880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.00, Y:-600.68, Z:-49.98 [[ 8.13463504e-01 5.79245726e-01 5.24548959e-02 1.08800137e+03] [-5.78097614e-01 8.15152712e-01 -3.64582498e-02 -6.00680046e+02] [-6.38770361e-02 -6.66594510e-04 9.97957554e-01 -4.99802324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.05, Y:-600.72, Z:-49.97 [[ 8.12046099e-01 5.81231522e-01 5.24504691e-02 1.08805058e+03] [-5.80087130e-01 8.13737829e-01 -3.64646174e-02 -6.00717096e+02] [-6.38753159e-02 -8.14891761e-04 9.97957554e-01 -4.99739056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.10, Y:-600.75, Z:-49.98 [[ 8.13242581e-01 5.79557032e-01 5.24418851e-02 1.08810252e+03] [-5.78408360e-01 8.14931408e-01 -3.64769584e-02 -6.00752750e+02] [-6.38770170e-02 -6.68208987e-04 9.97957554e-01 -4.99784594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.15, Y:-600.79, Z:-49.98 [[ 8.14816299e-01 5.77343323e-01 5.24317323e-02 1.08815187e+03] [-5.76189124e-01 8.16501354e-01 -3.64915460e-02 -6.00787667e+02] [-6.38787308e-02 -4.76687469e-04 9.97957555e-01 -4.99834136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.20, Y:-600.82, Z:-49.99 [[ 8.14579363e-01 5.77678306e-01 5.24236234e-02 1.08820275e+03] [-5.76524051e-01 8.16264379e-01 -3.65031916e-02 -6.00822914e+02] [-6.38786382e-02 -4.88733217e-04 9.97957555e-01 -4.99871629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1088.25, Y:-600.86, Z:-49.99 [[ 8.13253282e-01 5.79544494e-01 5.24144979e-02 1.08825396e+03] [-5.78393261e-01 8.14940364e-01 -3.65162901e-02 -6.00858200e+02] [-6.38775048e-02 -6.19199652e-04 9.97957555e-01 -4.99934374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.30, Y:-600.90, Z:-50.00 [[ 8.12081163e-01 5.81186604e-01 5.24053087e-02 1.08830382e+03] [-5.80037932e-01 8.13769989e-01 -3.65294730e-02 -6.00895191e+02] [-6.38763078e-02 -7.32169965e-04 9.97957555e-01 -4.99985669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.35, Y:-600.93, Z:-50.00 [[ 8.11286341e-01 5.82296466e-01 5.23955998e-02 1.08835444e+03] [-5.81149206e-01 8.12976126e-01 -3.65433935e-02 -6.00932163e+02] [-6.38754606e-02 -8.02505206e-04 9.97957555e-01 -5.00013942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.40, Y:-600.97, Z:-50.01 [[ 8.10964625e-01 5.82745366e-01 5.23852641e-02 1.08840252e+03] [-5.81598084e-01 8.12654395e-01 -3.65582039e-02 -6.00969389e+02] [-6.38752390e-02 -8.19759152e-04 9.97957555e-01 -5.00055346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.45, Y:-601.01, Z:-50.01 [[ 8.11117951e-01 5.82532677e-01 5.23770003e-02 1.08845236e+03] [-5.81384188e-01 8.12806901e-01 -3.65700395e-02 -6.01005998e+02] [-6.38756303e-02 -7.88544286e-04 9.97957555e-01 -5.00126322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.50, Y:-601.04, Z:-50.01 [[ 8.10844330e-01 5.82913769e-01 5.23737502e-02 1.08850053e+03] [-5.81765773e-01 8.12533616e-01 -3.65746936e-02 -6.01044889e+02] [-6.38753251e-02 -8.12872392e-04 9.97957555e-01 -5.00111059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.55, Y:-601.08, Z:-50.01 [[ 8.10317889e-01 5.83646120e-01 5.23653115e-02 1.08854968e+03] [-5.82498870e-01 8.12007681e-01 -3.65867716e-02 -6.01082420e+02] [-6.38747625e-02 -8.55819238e-04 9.97957555e-01 -5.00140359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.60, Y:-601.12, Z:-50.02 [[ 8.08985058e-01 5.85492925e-01 5.23565792e-02 1.08859945e+03] [-5.84348724e-01 8.10676916e-01 -3.65992635e-02 -6.01119577e+02] [-6.38728800e-02 -9.86242999e-04 9.97957556e-01 -5.00176180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.65, Y:-601.16, Z:-50.02 [[ 8.06855026e-01 5.88425631e-01 5.23473464e-02 1.08864826e+03] [-5.87286723e-01 8.08550451e-01 -3.66124643e-02 -6.01156580e+02] [-6.38691829e-02 -1.20195070e-03 9.97957556e-01 -5.00229798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.70, Y:-601.19, Z:-50.03 [[ 8.06046073e-01 5.89533974e-01 5.23394788e-02 1.08869647e+03] [-5.88396668e-01 8.07742574e-01 -3.66237080e-02 -6.01194522e+02] [-6.38677454e-02 -1.27597888e-03 9.97957556e-01 -5.00334150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.75, Y:-601.23, Z:-50.03 [[ 8.06337005e-01 5.89136276e-01 5.23362371e-02 1.08874589e+03] [-5.87997833e-01 8.08032743e-01 -3.66283399e-02 -6.01233057e+02] [-6.38684770e-02 -1.23880806e-03 9.97957556e-01 -5.00315216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.79, Y:-601.27, Z:-50.04 [[ 8.08335896e-01 5.86391471e-01 5.23270699e-02 1.08879424e+03] [-5.85246422e-01 8.10027179e-01 -3.66414314e-02 -6.01272018e+02] [-6.38725717e-02 -1.00564612e-03 9.97957556e-01 -5.00355679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.84, Y:-601.31, Z:-50.04 [[ 8.13549779e-01 5.79136961e-01 5.23176495e-02 1.08884155e+03] [-5.77975964e-01 8.15230155e-01 -3.66548773e-02 -6.01313993e+02] [-6.38791197e-02 -4.17776528e-04 9.97957556e-01 -5.00385783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1088.89, Y:-601.35, Z:-50.04 [[ 8.17655066e-01 5.73327214e-01 5.23077365e-02 1.08888953e+03] [-5.72153371e-01 8.19326494e-01 -3.66690180e-02 -6.01353627e+02] [-6.38804602e-02 5.45605786e-05 9.97957556e-01 -5.00407008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.94, Y:-601.39, Z:-50.05 [[ 8.23099206e-01 5.65484341e-01 5.22987410e-02 1.08893508e+03] [-5.64293758e-01 8.24758751e-01 -3.66818432e-02 -6.01393969e+02] [-6.38768522e-02 6.80942901e-04 9.97957556e-01 -5.00453233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1088.98, Y:-601.43, Z:-50.05 [[ 8.25534244e-01 5.61924295e-01 5.22905222e-02 1.08898435e+03] [-5.60725815e-01 8.27188095e-01 -3.66935555e-02 -6.01433528e+02] [-6.38730977e-02 9.71140919e-04 9.97957556e-01 -5.00475632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.04, Y:-601.47, Z:-50.05 [[ 8.23845034e-01 5.64398909e-01 5.22803142e-02 1.08903518e+03] [-5.63204474e-01 8.25501809e-01 -3.67080939e-02 -6.01468659e+02] [-6.38755021e-02 7.97274029e-04 9.97957557e-01 -5.00511551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1089.09, Y:-601.50, Z:-50.06 [[ 8.21455820e-01 5.67871494e-01 5.22714298e-02 1.08908603e+03] [-5.66683258e-01 8.23117046e-01 -3.67207408e-02 -6.01503122e+02] [-6.38781668e-02 5.43122062e-04 9.97957557e-01 -5.00611258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.14, Y:-601.54, Z:-50.06 [[ 8.17037417e-01 5.74211219e-01 5.22621870e-02 1.08913681e+03] [-5.73035033e-01 8.18707196e-01 -3.67338907e-02 -6.01539452e+02] [-6.38804407e-02 6.48990568e-05 9.97957557e-01 -5.00594684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.19, Y:-601.57, Z:-50.07 [[ 8.12463891e-01 5.80665178e-01 5.22530039e-02 1.08918788e+03] [-5.79501416e-01 8.14142353e-01 -3.67469488e-02 -6.01572519e+02] [-6.38790571e-02 -4.25120723e-04 9.97957557e-01 -5.00651084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.24, Y:-601.61, Z:-50.07 [[ 8.10501135e-01 5.83402443e-01 5.22446214e-02 1.08923868e+03] [-5.82243581e-01 8.12182983e-01 -3.67588627e-02 -6.01606099e+02] [-6.38774028e-02 -6.25995600e-04 9.97957557e-01 -5.00689578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.29, Y:-601.64, Z:-50.07 [[ 8.09690842e-01 5.84527245e-01 5.22363888e-02 1.08928869e+03] [-5.83369965e-01 8.11373779e-01 -3.67705580e-02 -6.01642111e+02] [-6.38766291e-02 -7.00356218e-04 9.97957557e-01 -5.00732687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.34, Y:-601.68, Z:-50.08 [[ 8.09735919e-01 5.84465638e-01 5.22270048e-02 1.08933996e+03] [-5.83307371e-01 8.11418176e-01 -3.67838817e-02 -6.01678837e+02] [-6.38768559e-02 -6.79166667e-04 9.97957557e-01 -5.00768318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.39, Y:-601.71, Z:-50.08 [[ 8.09669626e-01 5.84558149e-01 5.22194142e-02 1.08938992e+03] [-5.83399379e-01 8.11351538e-01 -3.67946544e-02 -6.01714121e+02] [-6.38769171e-02 -6.73259819e-04 9.97957557e-01 -5.00775550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1089.44, Y:-601.75, Z:-50.08 [[ 8.10157345e-01 5.83882505e-01 5.22139536e-02 1.08943953e+03] [-5.82721834e-01 8.11837944e-01 -3.68024018e-02 -6.01749627e+02] [-6.38775473e-02 -6.10474665e-04 9.97957557e-01 -5.00801506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.49, Y:-601.79, Z:-50.08 [[ 8.09804947e-01 5.84371895e-01 5.22057128e-02 1.08949122e+03] [-5.83211486e-01 8.11485727e-01 -3.68140879e-02 -6.01786197e+02] [-6.38773091e-02 -6.34740837e-04 9.97957558e-01 -5.00836652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.54, Y:-601.82, Z:-50.09 [[ 8.09013445e-01 5.85468100e-01 5.21953006e-02 1.08954204e+03] [-5.84309016e-01 8.10695140e-01 -3.68288446e-02 -6.01821169e+02] [-6.38765901e-02 -7.03154316e-04 9.97957558e-01 -5.00893658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.59, Y:-601.85, Z:-50.10 [[ 8.10167886e-01 5.83870406e-01 5.21856789e-02 1.08959388e+03] [-5.82707129e-01 8.11846682e-01 -3.68424732e-02 -6.01854061e+02] [-6.38780001e-02 -5.60378440e-04 9.97957558e-01 -5.01028682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.64, Y:-601.89, Z:-50.10 [[ 8.06767629e-01 5.88560644e-01 5.21762548e-02 1.08964156e+03] [-5.87406262e-01 8.08452554e-01 -3.68558149e-02 -6.01893874e+02] [-6.38739086e-02 -9.14580428e-04 9.97957558e-01 -5.01013174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.69, Y:-601.93, Z:-50.10 [[ 8.06028440e-01 5.89573373e-01 5.21669610e-02 1.08969232e+03] [-5.88420257e-01 8.07714232e-01 -3.68689648e-02 -6.01931491e+02] [-6.38729568e-02 -9.78662399e-04 9.97957558e-01 -5.01044750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.74, Y:-601.97, Z:-50.11 [[ 8.05975896e-01 5.89646103e-01 5.21567718e-02 1.08974241e+03] [-5.88492208e-01 8.07661153e-01 -3.68833735e-02 -6.01966844e+02] [-6.38731359e-02 -9.66743806e-04 9.97957558e-01 -5.01148800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.79, Y:-602.00, Z:-50.11 [[ 8.05217191e-01 5.90682693e-01 5.21462474e-02 1.08979126e+03] [-5.89530004e-01 8.06903274e-01 -3.68982470e-02 -6.02004261e+02] [-6.38721337e-02 -1.03067463e-03 9.97957558e-01 -5.01127569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.84, Y:-602.04, Z:-50.12 [[ 8.05966875e-01 5.89660229e-01 5.21364677e-02 1.08984116e+03] [-5.88504508e-01 8.07650880e-01 -3.69120604e-02 -6.02042405e+02] [-6.38736380e-02 -9.32648370e-04 9.97957559e-01 -5.01151472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.89, Y:-602.08, Z:-50.12 [[ 8.06623246e-01 5.88762957e-01 5.21259880e-02 1.08989192e+03] [-5.87604407e-01 8.08305307e-01 -3.69268535e-02 -6.02078903e+02] [-6.38748762e-02 -8.43401794e-04 9.97957559e-01 -5.01191769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1089.94, Y:-602.11, Z:-50.12 [[ 8.06783244e-01 5.88544610e-01 5.21156441e-02 1.08994265e+03] [-5.87384661e-01 8.08464340e-01 -3.69414464e-02 -6.02114869e+02] [-6.38753290e-02 -8.08189958e-04 9.97957559e-01 -5.01238235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1089.99, Y:-602.15, Z:-50.13 [[ 8.07261000e-01 5.87889431e-01 5.21123309e-02 1.08999271e+03] [-5.86727816e-01 8.08940946e-01 -3.69461196e-02 -6.02150288e+02] [-6.38760315e-02 -7.50592608e-04 9.97957559e-01 -5.01261411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.04, Y:-602.19, Z:-50.13 [[ 8.07125291e-01 5.88076497e-01 5.21037268e-02 1.09004406e+03] [-5.86914489e-01 8.08804965e-01 -3.69582497e-02 -6.02186922e+02] [-6.38760309e-02 -7.50494132e-04 9.97957559e-01 -5.01299686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.09, Y:-602.22, Z:-50.13 [[ 8.07165834e-01 5.88021754e-01 5.20934969e-02 1.09009447e+03] [-5.86858702e-01 8.08844785e-01 -3.69726633e-02 -6.02222910e+02] [-6.38762837e-02 -7.28451367e-04 9.97957559e-01 -5.01349189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.15, Y:-602.26, Z:-50.14 [[ 8.07579056e-01 5.87454951e-01 5.20840621e-02 1.09014574e+03] [-5.86289864e-01 8.09256594e-01 -3.69859495e-02 -6.02258654e+02] [-6.38769499e-02 -6.67279476e-04 9.97957559e-01 -5.01378994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1090.20, Y:-602.30, Z:-50.14 [[ 8.08410930e-01 5.86310569e-01 5.20738491e-02 1.09019700e+03] [-5.85142181e-01 8.10086171e-01 -3.70003233e-02 -6.02295618e+02] [-6.38779856e-02 -5.59139870e-04 9.97957559e-01 -5.01411331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1090.25, Y:-602.33, Z:-50.14 [[ 8.10519047e-01 5.83393751e-01 5.20634758e-02 1.09024640e+03] [-5.82218397e-01 8.12189408e-01 -3.70149139e-02 -6.02331843e+02] [-6.38796731e-02 -3.11020639e-04 9.97957560e-01 -5.01440359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.30, Y:-602.37, Z:-50.15 [[ 8.13727116e-01 5.78911424e-01 5.20552042e-02 1.09029757e+03] [-5.77726124e-01 8.15390434e-01 -3.70265429e-02 -6.02367439e+02] [-6.38804042e-02 5.58506383e-05 9.97957560e-01 -5.01487014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.35, Y:-602.40, Z:-50.15 [[ 8.15980569e-01 5.75731670e-01 5.20456977e-02 1.09034883e+03] [-5.74539037e-01 8.17638637e-01 -3.70399007e-02 -6.02402366e+02] [-6.38796172e-02 3.21554191e-04 9.97957560e-01 -5.01499766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.40, Y:-602.44, Z:-50.15 [[ 8.16659176e-01 5.74769590e-01 5.20356472e-02 1.09040051e+03] [-5.73574104e-01 8.18315188e-01 -3.70540148e-02 -6.02438515e+02] [-6.38790813e-02 4.14201496e-04 9.97957560e-01 -5.01540004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.45, Y:-602.47, Z:-50.16 [[ 8.17457696e-01 5.73634283e-01 5.20252310e-02 1.09045169e+03] [-5.72435567e-01 8.19111371e-01 -3.70686338e-02 -6.02474526e+02] [-6.38782975e-02 5.20947357e-04 9.97957560e-01 -5.01597174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.50, Y:-602.51, Z:-50.16 [[ 8.17832316e-01 5.73101047e-01 5.20143565e-02 1.09050350e+03] [-5.71900283e-01 8.19484504e-01 -3.70838865e-02 -6.02507574e+02] [-6.38777733e-02 5.81375622e-04 9.97957560e-01 -5.01629169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.56, Y:-602.54, Z:-50.17 [[ 8.16121285e-01 5.75535921e-01 5.20043331e-02 1.09055671e+03] [-5.74339191e-01 8.17776398e-01 -3.70979374e-02 -6.02541125e+02] [-6.38791118e-02 4.08289737e-04 9.97957560e-01 -5.01683357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.61, Y:-602.57, Z:-50.17 [[ 8.14267743e-01 5.78156027e-01 5.19966476e-02 1.09060891e+03] [-5.76963935e-01 8.15926199e-01 -3.71087064e-02 -6.02574333e+02] [-6.38800493e-02 2.16232239e-04 9.97957561e-01 -5.01709055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.66, Y:-602.61, Z:-50.18 [[ 8.10397429e-01 5.83569259e-01 5.19896793e-02 1.09066110e+03] [-5.82387619e-01 8.12063348e-01 -3.71184665e-02 -6.02607752e+02] [-6.38801090e-02 -1.97435685e-04 9.97957561e-01 -5.01754749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.71, Y:-602.64, Z:-50.18 [[ 8.07600440e-01 5.87434715e-01 5.19806200e-02 1.09071376e+03] [-5.86260232e-01 8.09271412e-01 -3.71311488e-02 -6.02641481e+02] [-6.38785556e-02 -4.87038280e-04 9.97957561e-01 -5.01801952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.77, Y:-602.68, Z:-50.18 [[ 8.05092567e-01 5.90867429e-01 5.19773021e-02 1.09076696e+03] [-5.89699770e-01 8.06768315e-01 -3.71357928e-02 -6.02675179e+02] [-6.38759708e-02 -7.53252370e-04 9.97957561e-01 -5.01847615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.82, Y:-602.71, Z:-50.19 [[ 8.03852367e-01 5.92554499e-01 5.19667015e-02 1.09081947e+03] [-5.91389399e-01 8.05529894e-01 -3.71506209e-02 -6.02707212e+02] [-6.38744992e-02 -8.68941801e-04 9.97957561e-01 -5.01924551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.87, Y:-602.74, Z:-50.19 [[ 8.02520655e-01 5.94357683e-01 5.19571320e-02 1.09086876e+03] [-5.93195486e-01 8.04200195e-01 -3.71639997e-02 -6.02742874e+02] [-6.38726444e-02 -9.95858748e-04 9.97957561e-01 -5.01926338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1090.92, Y:-602.78, Z:-50.20 [[ 8.03937042e-01 5.92441219e-01 5.19483815e-02 1.09092074e+03] [-5.91274228e-01 8.05613255e-01 -3.71762272e-02 -6.02775760e+02] [-6.38750341e-02 -8.28393060e-04 9.97957561e-01 -5.02007588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1090.97, Y:-602.81, Z:-50.20 [[ 8.02663215e-01 5.94166749e-01 5.19387875e-02 1.09097092e+03] [-5.93002494e-01 8.04341329e-01 -3.71896262e-02 -6.02811091e+02] [-6.38733526e-02 -9.49085550e-04 9.97957561e-01 -5.01999509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.02, Y:-602.85, Z:-50.21 [[ 8.02206038e-01 5.94784628e-01 5.19299436e-02 1.09102067e+03] [-5.93620866e-01 8.03884495e-01 -3.72019712e-02 -6.02847217e+02] [-6.38728371e-02 -9.83052153e-04 9.97957561e-01 -5.02067019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.07, Y:-602.88, Z:-50.21 [[ 8.01589532e-01 5.95615555e-01 5.19262314e-02 1.09107117e+03] [-5.94453198e-01 8.03268961e-01 -3.72071520e-02 -6.02881208e+02] [-6.38718884e-02 -1.04285076e-03 9.97957561e-01 -5.02081781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.12, Y:-602.92, Z:-50.21 [[ 8.00897876e-01 5.96546109e-01 5.19165923e-02 1.09112264e+03] [-5.95384832e-01 8.02578052e-01 -3.72205969e-02 -6.02917760e+02] [-6.38709198e-02 -1.10045459e-03 9.97957562e-01 -5.02128635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.17, Y:-602.95, Z:-50.22 [[ 7.99866020e-01 5.97929856e-01 5.19060368e-02 1.09117220e+03] [-5.96770532e-01 8.01547543e-01 -3.72353115e-02 -6.02954033e+02] [-6.38692607e-02 -1.19273276e-03 9.97957562e-01 -5.02179176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.22, Y:-602.99, Z:-50.22 [[ 7.99559097e-01 5.98340780e-01 5.18995209e-02 1.09122272e+03] [-5.97181731e-01 8.01240810e-01 -3.72443911e-02 -6.02992203e+02] [-6.38688523e-02 -1.21435398e-03 9.97957562e-01 -5.02208316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.27, Y:-603.03, Z:-50.22 [[ 7.99651277e-01 5.98218491e-01 5.18890372e-02 1.09127124e+03] [-5.97058238e-01 8.01332159e-01 -3.72589914e-02 -6.03028888e+02] [-6.38693718e-02 -1.18657708e-03 9.97957562e-01 -5.02235421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.32, Y:-603.07, Z:-50.23 [[ 7.99838027e-01 5.97969503e-01 5.18806689e-02 1.09132190e+03] [-5.96807971e-01 8.01518026e-01 -3.72706401e-02 -6.03066916e+02] [-6.38699975e-02 -1.15232153e-03 9.97957562e-01 -5.02267499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.37, Y:-603.11, Z:-50.23 [[ 8.00359884e-01 5.97271749e-01 5.18701637e-02 1.09137097e+03] [-5.96107805e-01 8.02038212e-01 -3.72852546e-02 -6.03105121e+02] [-6.38712826e-02 -1.07858743e-03 9.97957562e-01 -5.02307551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.42, Y:-603.14, Z:-50.23 [[ 8.00375473e-01 5.97251701e-01 5.18604699e-02 1.09142129e+03] [-5.96086842e-01 8.02053166e-01 -3.72987330e-02 -6.03143219e+02] [-6.38715858e-02 -1.06035260e-03 9.97957562e-01 -5.02346512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.47, Y:-603.18, Z:-50.24 [[ 7.99993794e-01 5.97763727e-01 5.18503174e-02 1.09147178e+03] [-5.96599028e-01 8.01671598e-01 -3.73128410e-02 -6.03181114e+02] [-6.38711898e-02 -1.08380777e-03 9.97957563e-01 -5.02388976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.52, Y:-603.22, Z:-50.24 [[ 7.98908532e-01 5.99214315e-01 5.18397746e-02 1.09152173e+03] [-5.98051713e-01 8.00587789e-01 -3.73274827e-02 -6.03219040e+02] [-6.38694525e-02 -1.18162166e-03 9.97957563e-01 -5.02435232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.57, Y:-603.26, Z:-50.25 [[ 7.98583233e-01 5.99648677e-01 5.18293715e-02 1.09157141e+03] [-5.98486051e-01 8.00262474e-01 -3.73419219e-02 -6.03256953e+02] [-6.38691351e-02 -1.19852319e-03 9.97957563e-01 -5.02475771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.62, Y:-603.30, Z:-50.25 [[ 7.99242955e-01 5.98769976e-01 5.18190627e-02 1.09162070e+03] [-5.97604577e-01 8.00920272e-01 -3.73562218e-02 -6.03296657e+02] [-6.38707219e-02 -1.11061196e-03 9.97957563e-01 -5.02506203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.67, Y:-603.34, Z:-50.25 [[ 7.97287084e-01 6.01372752e-01 5.18084713e-02 1.09166677e+03] [-6.00211875e-01 7.98967534e-01 -3.73709051e-02 -6.03338682e+02] [-6.38671306e-02 -1.30071978e-03 9.97957563e-01 -5.02492302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.72, Y:-603.37, Z:-50.26 [[ 8.01678753e-01 5.95506560e-01 5.17987839e-02 1.09171776e+03] [-5.94332517e-01 8.03350031e-01 -3.73843277e-02 -6.03371128e+02] [-6.38751670e-02 -8.15480407e-04 9.97957563e-01 -5.02583328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.77, Y:-603.41, Z:-50.26 [[ 8.05274561e-01 5.90635479e-01 5.17939415e-02 1.09176630e+03] [-5.89450893e-01 8.06938384e-01 -3.73910354e-02 -6.03411120e+02] [-6.38789915e-02 -4.19935408e-04 9.97957563e-01 -5.02618965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.81, Y:-603.45, Z:-50.26 [[ 8.06136042e-01 5.89460031e-01 5.17837266e-02 1.09181288e+03] [-5.88272111e-01 8.07797485e-01 -3.74051769e-02 -6.03452117e+02] [-6.38796208e-02 -3.09260925e-04 9.97957563e-01 -5.02621460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.86, Y:-603.49, Z:-50.27 [[ 8.09141549e-01 5.85328457e-01 5.17740463e-02 1.09186328e+03] [-5.84131196e-01 8.10796273e-01 -3.74185711e-02 -6.03486083e+02] [-6.38803582e-02 3.40849576e-05 9.97957564e-01 -5.02700350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.91, Y:-603.53, Z:-50.27 [[ 8.10141258e-01 5.83944782e-01 5.17651851e-02 1.09191157e+03] [-5.82743912e-01 8.11793364e-01 -3.74308257e-02 -6.03526669e+02] [-6.38801691e-02 1.58409702e-04 9.97957564e-01 -5.02746531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1091.96, Y:-603.56, Z:-50.28 [[ 8.11354690e-01 5.82258591e-01 5.17542406e-02 1.09196221e+03] [-5.81053322e-01 8.13003590e-01 -3.74459522e-02 -6.03562302e+02] [-6.38796108e-02 3.09975450e-04 9.97957564e-01 -5.02792955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.01, Y:-603.60, Z:-50.29 [[ 8.10097514e-01 5.84007333e-01 5.17441104e-02 1.09201071e+03] [-5.82804730e-01 8.11748359e-01 -3.74599452e-02 -6.03599979e+02] [-6.38800794e-02 1.89496212e-04 9.97957564e-01 -5.02854108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.06, Y:-603.64, Z:-50.29 [[ 8.07736382e-01 5.87269538e-01 5.17341945e-02 1.09206140e+03] [-5.86072725e-01 8.09391431e-01 -3.74736346e-02 -6.03637378e+02] [-6.38803378e-02 -5.11823644e-05 9.97957564e-01 -5.02900903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.11, Y:-603.67, Z:-50.29 [[ 8.04602389e-01 5.91556971e-01 5.17237368e-02 1.09211215e+03] [-5.90368050e-01 8.06263115e-01 -3.74880635e-02 -6.03674543e+02] [-6.38792665e-02 -3.73056187e-04 9.97957564e-01 -5.02948533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.16, Y:-603.71, Z:-50.30 [[ 7.99718120e-01 5.98144352e-01 5.17132751e-02 1.09216121e+03] [-5.96968176e-01 8.01387897e-01 -3.75024895e-02 -6.03709867e+02] [-6.38742950e-02 -8.79759064e-04 9.97957565e-01 -5.03002654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.21, Y:-603.75, Z:-50.30 [[ 7.97689507e-01 6.00847497e-01 5.17081868e-02 1.09221139e+03] [-5.99676524e-01 7.99362936e-01 -3.75095039e-02 -6.03745488e+02] [-6.38710995e-02 -1.08724812e-03 9.97957565e-01 -5.03044111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.26, Y:-603.78, Z:-50.31 [[ 7.99236646e-01 5.98788791e-01 5.16988128e-02 1.09226338e+03] [-5.97612672e-01 8.00906463e-01 -3.75224195e-02 -6.03780000e+02] [-6.38739175e-02 -9.06572953e-04 9.97957565e-01 -5.03078803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.31, Y:-603.82, Z:-50.31 [[ 8.00711459e-01 5.96816124e-01 5.16882315e-02 1.09231313e+03] [-5.95634951e-01 8.02377704e-01 -3.75369899e-02 -6.03816763e+02] [-6.38761654e-02 -7.31019280e-04 9.97957565e-01 -5.03128192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.36, Y:-603.85, Z:-50.32 [[ 8.02382886e-01 5.94567901e-01 5.16789613e-02 1.09236293e+03] [-5.93381237e-01 8.04045225e-01 -3.75497483e-02 -6.03854909e+02] [-6.38780971e-02 -5.36050524e-04 9.97957565e-01 -5.03151993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.41, Y:-603.89, Z:-50.32 [[ 8.02830874e-01 5.93963775e-01 5.16683917e-02 1.09241258e+03] [-5.92774924e-01 8.04491649e-01 -3.75642865e-02 -6.03890546e+02] [-6.38786150e-02 -4.69958010e-04 9.97957565e-01 -5.03174204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1092.46, Y:-603.93, Z:-50.32 [[ 8.03710501e-01 5.92773716e-01 5.16599694e-02 1.09246355e+03] [-5.91581662e-01 8.05368979e-01 -3.75758657e-02 -6.03926646e+02] [-6.38793223e-02 -3.60972682e-04 9.97957565e-01 -5.03239085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.51, Y:-603.96, Z:-50.33 [[ 8.05670272e-01 5.90108213e-01 5.16498796e-02 1.09251354e+03] [-5.88909784e-01 8.07324148e-01 -3.75897294e-02 -6.03963180e+02] [-6.38802031e-02 -1.32191899e-04 9.97957565e-01 -5.03290656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.56, Y:-604.00, Z:-50.34 [[ 8.07282260e-01 5.87901868e-01 5.16405546e-02 1.09256244e+03] [-5.86698099e-01 8.08932253e-01 -3.76025358e-02 -6.04002414e+02] [-6.38803112e-02 5.84448908e-05 9.97957565e-01 -5.03374519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.61, Y:-604.04, Z:-50.34 [[ 8.09365947e-01 5.85030340e-01 5.16358845e-02 1.09261322e+03] [-5.83820308e-01 8.11011353e-01 -3.76089476e-02 -6.04035737e+02] [-6.38796640e-02 2.93323440e-04 9.97957566e-01 -5.03401095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.66, Y:-604.07, Z:-50.34 [[ 8.09029844e-01 5.85495806e-01 5.16272460e-02 1.09266188e+03] [-5.84285964e-01 8.10675390e-01 -3.76208023e-02 -6.04073656e+02] [-6.38797597e-02 2.71276672e-04 9.97957566e-01 -5.03442654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1092.71, Y:-604.11, Z:-50.35 [[ 8.13318974e-01 5.79523300e-01 5.16235521e-02 1.09271448e+03] [-5.78301053e-01 8.14955328e-01 -3.76258704e-02 -6.04105227e+02] [-6.38759574e-02 7.47879818e-04 9.97957566e-01 -5.03465968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1092.76, Y:-604.14, Z:-50.35 [[ 8.15185587e-01 5.76895535e-01 5.16139626e-02 1.09276487e+03] [-5.75667181e-01 8.16817361e-01 -3.76390204e-02 -6.04140779e+02] [-6.38729635e-02 9.70322577e-04 9.97957566e-01 -5.03539250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1092.82, Y:-604.18, Z:-50.36 [[ 8.15059303e-01 5.77074907e-01 5.16031443e-02 1.09281550e+03] [-5.75845975e-01 8.16690640e-01 -3.76538465e-02 -6.04178062e+02] [-6.38728949e-02 9.74655004e-04 9.97957566e-01 -5.03555247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.87, Y:-604.21, Z:-50.36 [[ 8.14124606e-01 5.78393934e-01 5.15905249e-02 1.09286904e+03] [-5.77166550e-01 8.15757109e-01 -3.76711287e-02 -6.04210549e+02] [-6.38740898e-02 8.92667584e-04 9.97957566e-01 -5.03578884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.92, Y:-604.24, Z:-50.36 [[ 8.11756237e-01 5.81714252e-01 5.15784987e-02 1.09292107e+03] [-5.80492500e-01 8.13392958e-01 -3.76875876e-02 -6.04244399e+02] [-6.38769944e-02 6.52202680e-04 9.97957566e-01 -5.03603571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1092.97, Y:-604.28, Z:-50.37 [[ 8.06568445e-01 5.88886834e-01 5.15717043e-02 1.09297328e+03] [-5.87679043e-01 8.08215496e-01 -3.76968827e-02 -6.04279274e+02] [-6.38802485e-02 9.75062184e-05 9.97957566e-01 -5.03667775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1093.03, Y:-604.31, Z:-50.37 [[ 8.02922106e-01 5.93849792e-01 5.15607981e-02 1.09302574e+03] [-5.92651224e-01 8.04575880e-01 -3.77117941e-02 -6.04312860e+02] [-6.38797156e-02 -2.77936921e-04 9.97957567e-01 -5.03695180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.08, Y:-604.35, Z:-50.38 [[ 8.00171533e-01 5.97551418e-01 5.15540642e-02 1.09307760e+03] [-5.96359907e-01 8.01830399e-01 -3.77209975e-02 -6.04348357e+02] [-6.38778514e-02 -5.61508488e-04 9.97957567e-01 -5.03756034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.13, Y:-604.39, Z:-50.38 [[ 7.96618893e-01 6.02280385e-01 5.15429645e-02 1.09312886e+03] [-6.01097740e-01 7.98284091e-01 -3.77361583e-02 -6.04385541e+02] [-6.38736765e-02 -9.21022824e-04 9.97957567e-01 -5.03773923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.18, Y:-604.42, Z:-50.38 [[ 7.95549009e-01 6.03693842e-01 5.15317315e-02 1.09318037e+03] [-6.02513162e-01 7.97215601e-01 -3.77514917e-02 -6.04419340e+02] [-6.38722433e-02 -1.01538470e-03 9.97957567e-01 -5.03809745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.23, Y:-604.46, Z:-50.39 [[ 7.94798881e-01 6.04681982e-01 5.15212595e-02 1.09323098e+03] [-6.03502448e-01 7.96466284e-01 -3.77657780e-02 -6.04455374e+02] [-6.38712315e-02 -1.07700819e-03 9.97957567e-01 -5.03852700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.28, Y:-604.49, Z:-50.39 [[ 7.93102268e-01 6.06906394e-01 5.15113669e-02 1.09328330e+03] [-6.05730661e-01 7.94772353e-01 -3.77792664e-02 -6.04489675e+02] [-6.38682886e-02 -1.23919248e-03 9.97957567e-01 -5.03929817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1093.33, Y:-604.53, Z:-50.40 [[ 7.91282644e-01 6.09277847e-01 5.15003121e-02 1.09333438e+03] [-6.08106139e-01 7.92955555e-01 -3.77943301e-02 -6.04525152e+02] [-6.38647067e-02 -1.41165844e-03 9.97957568e-01 -5.03972730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.39, Y:-604.56, Z:-50.40 [[ 7.91841775e-01 6.08551866e-01 5.14900968e-02 1.09338574e+03] [-6.07377720e-01 7.93512976e-01 -3.78082421e-02 -6.04561300e+02] [-6.38663362e-02 -1.33579207e-03 9.97957568e-01 -5.04045594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.43, Y:-604.60, Z:-50.41 [[ 7.92304470e-01 6.07950285e-01 5.14789087e-02 1.09343492e+03] [-6.06773881e-01 7.93974082e-01 -3.78234694e-02 -6.04599506e+02] [-6.38677083e-02 -1.26835337e-03 9.97957568e-01 -5.04095193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.48, Y:-604.64, Z:-50.41 [[ 7.94515483e-01 6.05058213e-01 5.14753045e-02 1.09348306e+03] [-6.03875413e-01 7.96180570e-01 -3.78283739e-02 -6.04637217e+02] [-6.38720056e-02 -1.02944205e-03 9.97957568e-01 -5.04136819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1093.53, Y:-604.67, Z:-50.42 [[ 7.97016701e-01 6.01760446e-01 5.14659454e-02 1.09353305e+03] [-6.00569935e-01 7.98676283e-01 -3.78411028e-02 -6.04673596e+02] [-6.38759089e-02 -7.48908571e-04 9.97957568e-01 -5.04189075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.58, Y:-604.71, Z:-50.42 [[ 7.99000825e-01 5.99124310e-01 5.14562299e-02 1.09357980e+03] [-5.97927472e-01 8.00655850e-01 -3.78543093e-02 -6.04712532e+02] [-6.38781684e-02 -5.21469124e-04 9.97957568e-01 -5.04207924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.63, Y:-604.75, Z:-50.42 [[ 8.00815651e-01 5.96697129e-01 5.14473454e-02 1.09362834e+03] [-5.95494499e-01 8.02466472e-01 -3.78663803e-02 -6.04751347e+02] [-6.38795302e-02 -3.12621177e-04 9.97957568e-01 -5.04247984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.68, Y:-604.79, Z:-50.43 [[ 8.02481135e-01 5.94455943e-01 5.14408492e-02 1.09367638e+03] [-5.93248137e-01 8.04128172e-01 -3.78752032e-02 -6.04790669e+02] [-6.38801757e-02 -1.23051898e-04 9.97957568e-01 -5.04296279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.73, Y:-604.83, Z:-50.43 [[ 8.02536294e-01 5.94382282e-01 5.14315102e-02 1.09372655e+03] [-5.93173512e-01 8.04182624e-01 -3.78878806e-02 -6.04828589e+02] [-6.38802118e-02 -1.01410246e-04 9.97957568e-01 -5.04327267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.78, Y:-604.87, Z:-50.44 [[ 8.01689009e-01 5.95525502e-01 5.14209113e-02 1.09377698e+03] [-5.94318158e-01 8.03336384e-01 -3.79022598e-02 -6.04866713e+02] [-6.38800513e-02 -1.74556193e-04 9.97957569e-01 -5.04358415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.83, Y:-604.90, Z:-50.44 [[ 8.00085738e-01 5.97678714e-01 5.14097981e-02 1.09382671e+03] [-5.96474835e-01 8.01735647e-01 -3.79173276e-02 -6.04903670e+02] [-6.38794473e-02 -3.27537816e-04 9.97957569e-01 -5.04408604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.88, Y:-604.94, Z:-50.44 [[ 7.97689308e-01 6.00874242e-01 5.13995380e-02 1.09387517e+03] [-5.99676077e-01 7.99343371e-01 -3.79312308e-02 -6.04942196e+02] [-6.38777795e-02 -5.65736004e-04 9.97957569e-01 -5.04446019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.92, Y:-604.98, Z:-50.45 [[ 7.95421332e-01 6.03874129e-01 5.13900942e-02 1.09392360e+03] [-6.02681375e-01 7.97079301e-01 -3.79440211e-02 -6.04979937e+02] [-6.38753931e-02 -7.90368850e-04 9.97957569e-01 -5.04489947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1093.97, Y:-605.02, Z:-50.45 [[ 7.94364903e-01 6.05263978e-01 5.13801261e-02 1.09397339e+03] [-6.04073252e-01 7.96024329e-01 -3.79575142e-02 -6.05018746e+02] [-6.38741465e-02 -8.85242772e-04 9.97957569e-01 -5.04525249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1094.02, Y:-605.06, Z:-50.46 [[ 7.93795162e-01 6.06011892e-01 5.13695193e-02 1.09402288e+03] [-6.04821801e-01 7.95455044e-01 -3.79718634e-02 -6.05057579e+02] [-6.38735440e-02 -9.27523752e-04 9.97957569e-01 -5.04563143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.07, Y:-605.10, Z:-50.46 [[ 7.93895600e-01 6.05881205e-01 5.13589508e-02 1.09407198e+03] [-6.04689917e-01 7.95554622e-01 -3.79861526e-02 -6.05096260e+02] [-6.38739466e-02 -8.99200291e-04 9.97957569e-01 -5.04597097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.12, Y:-605.13, Z:-50.46 [[ 7.93959410e-01 6.05798469e-01 5.13485191e-02 1.09412224e+03] [-6.04606097e-01 7.95617653e-01 -3.80002486e-02 -6.05133883e+02] [-6.38742806e-02 -8.74972776e-04 9.97957570e-01 -5.04632178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.17, Y:-605.17, Z:-50.47 [[ 7.93882079e-01 6.05900705e-01 5.13379030e-02 1.09417103e+03] [-6.04707619e-01 7.95539809e-01 -3.80145854e-02 -6.05170897e+02] [-6.38744096e-02 -8.65322955e-04 9.97957570e-01 -5.04689221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.22, Y:-605.21, Z:-50.47 [[ 7.93842100e-01 6.05953803e-01 5.13294192e-02 1.09422025e+03] [-6.04760087e-01 7.95499376e-01 -3.80260373e-02 -6.05210094e+02] [-6.38745428e-02 -8.55314716e-04 9.97957570e-01 -5.04742824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.27, Y:-605.25, Z:-50.48 [[ 7.94218310e-01 6.05461036e-01 5.13245632e-02 1.09427058e+03] [-6.04265869e-01 7.95874539e-01 -3.80325904e-02 -6.05246552e+02] [-6.38751647e-02 -8.07502141e-04 9.97957570e-01 -5.04765381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.32, Y:-605.28, Z:-50.48 [[ 7.94920466e-01 6.04539704e-01 5.13147067e-02 1.09432014e+03] [-6.03341760e-01 7.96574687e-01 -3.80458845e-02 -6.05284110e+02] [-6.38762442e-02 -7.16853219e-04 9.97957570e-01 -5.04810945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.37, Y:-605.32, Z:-50.49 [[ 7.96086338e-01 6.03004455e-01 5.13046716e-02 1.09436909e+03] [-6.01802448e-01 7.97737610e-01 -3.80594119e-02 -6.05321987e+02] [-6.38776611e-02 -5.76699086e-04 9.97957570e-01 -5.04854478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.42, Y:-605.36, Z:-50.49 [[ 7.96993735e-01 6.01805428e-01 5.12953622e-02 1.09441802e+03] [-6.00600129e-01 7.98642605e-01 -3.80719548e-02 -6.05360004e+02] [-6.38785707e-02 -4.64891714e-04 9.97957570e-01 -5.04901830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.47, Y:-605.40, Z:-50.49 [[ 7.97716132e-01 6.00848331e-01 5.12860268e-02 1.09446736e+03] [-5.99640246e-01 7.99362962e-01 -3.80845261e-02 -6.05397680e+02] [-6.38791743e-02 -3.72524905e-04 9.97957570e-01 -5.04947923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.52, Y:-605.43, Z:-50.50 [[ 7.98292224e-01 6.00083506e-01 5.12768034e-02 1.09451681e+03] [-5.98873046e-01 7.99937309e-01 -3.80969404e-02 -6.05434295e+02] [-6.38795737e-02 -2.95804153e-04 9.97957571e-01 -5.04984391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.57, Y:-605.47, Z:-50.50 [[ 7.98273234e-01 6.00109559e-01 5.12675362e-02 1.09456661e+03] [-5.98898352e-01 7.99917769e-01 -3.81094073e-02 -6.05471523e+02] [-6.38796328e-02 -2.82323139e-04 9.97957571e-01 -5.05008425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.62, Y:-605.51, Z:-50.50 [[ 7.98374717e-01 5.99975331e-01 5.12582987e-02 1.09461666e+03] [-5.98763050e-01 8.00018460e-01 -3.81218281e-02 -6.05508688e+02] [-6.38797416e-02 -2.56071509e-04 9.97957571e-01 -5.05022658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.67, Y:-605.55, Z:-50.51 [[ 7.98160388e-01 6.00261210e-01 5.12491447e-02 1.09466793e+03] [-5.99048727e-01 7.99803983e-01 -3.81341303e-02 -6.05545460e+02] [-6.38797092e-02 -2.63582632e-04 9.97957571e-01 -5.05055122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.72, Y:-605.58, Z:-50.51 [[ 7.97713936e-01 6.00855310e-01 5.12383936e-02 1.09471955e+03] [-5.99643124e-01 7.99357749e-01 -3.81485704e-02 -6.05581853e+02] [-6.38795781e-02 -2.93104206e-04 9.97957571e-01 -5.05105176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.77, Y:-605.62, Z:-50.52 [[ 7.97139029e-01 6.01618720e-01 5.12277670e-02 1.09477056e+03] [-6.00407191e-01 7.98783327e-01 -3.81628350e-02 -6.05616578e+02] [-6.38793621e-02 -3.36434400e-04 9.97957571e-01 -5.05160620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.82, Y:-605.65, Z:-50.52 [[ 7.96944147e-01 6.01877685e-01 5.12179577e-02 1.09482140e+03] [-6.00665845e-01 7.98588215e-01 -3.81759954e-02 -6.05653921e+02] [-6.38793372e-02 -3.40741748e-04 9.97957571e-01 -5.05199022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.87, Y:-605.69, Z:-50.52 [[ 7.96969538e-01 6.01844961e-01 5.12074126e-02 1.09487205e+03] [-6.00632145e-01 7.98612885e-01 -3.81901350e-02 -6.05690842e+02] [-6.38794398e-02 -3.20443812e-04 9.97957572e-01 -5.05236831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.92, Y:-605.73, Z:-50.53 [[ 7.99192130e-01 5.98891342e-01 5.11966798e-02 1.09492243e+03] [-5.97671531e-01 8.00830292e-01 -3.82045176e-02 -6.05725797e+02] [-6.38802069e-02 -6.60482394e-05 9.97957572e-01 -5.05329291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1094.97, Y:-605.76, Z:-50.53 [[ 8.00768691e-01 5.96782032e-01 5.11928654e-02 1.09497092e+03] [-5.95557579e-01 8.02403386e-01 -3.82096282e-02 -6.05763051e+02] [-6.38801481e-02 1.08774969e-04 9.97957572e-01 -5.05320377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.02, Y:-605.80, Z:-50.53 [[ 8.05397339e-01 5.90521322e-01 5.11829563e-02 1.09502013e+03] [-5.89283320e-01 8.07021796e-01 -3.82228970e-02 -6.05801389e+02] [-6.38771970e-02 6.23357112e-04 9.97957572e-01 -5.05347678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1095.07, Y:-605.84, Z:-50.54 [[ 8.08109038e-01 5.86805808e-01 5.11734935e-02 1.09506844e+03] [-5.85559535e-01 8.09727159e-01 -3.82355619e-02 -6.05838508e+02] [-6.38734173e-02 9.33376081e-04 9.97957572e-01 -5.05377180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.12, Y:-605.87, Z:-50.54 [[ 8.10340797e-01 5.83720779e-01 5.11648701e-02 1.09511948e+03] [-5.82467619e-01 8.11953590e-01 -3.82470978e-02 -6.05874731e+02] [-6.38691257e-02 1.19130368e-03 9.97957572e-01 -5.05392738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.17, Y:-605.91, Z:-50.54 [[ 8.09893414e-01 5.84342179e-01 5.11554161e-02 1.09517019e+03] [-5.83089458e-01 8.11506548e-01 -3.82597383e-02 -6.05910424e+02] [-6.38697340e-02 1.15812625e-03 9.97957572e-01 -5.05436551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.22, Y:-605.94, Z:-50.55 [[ 8.09220944e-01 5.85273960e-01 5.11454317e-02 1.09522287e+03] [-5.84022254e-01 8.10834865e-01 -3.82730807e-02 -6.05943825e+02] [-6.38707368e-02 1.10130821e-03 9.97957572e-01 -5.05511948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.27, Y:-605.98, Z:-50.56 [[ 8.02915901e-01 5.93894937e-01 5.11357006e-02 1.09527301e+03] [-5.92659735e-01 8.04542488e-01 -3.82860778e-02 -6.05979006e+02] [-6.38787516e-02 4.34429828e-04 9.97957572e-01 -5.05558037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:1095.33, Y:-606.01, Z:-50.57 [[ 8.01784284e-01 5.95422549e-01 5.11268108e-02 1.09532661e+03] [-5.94189689e-01 8.03412647e-01 -3.82979455e-02 -6.06009069e+02] [-6.38793867e-02 3.27667003e-04 9.97957573e-01 -5.05687289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.38, Y:-606.05, Z:-50.57 [[ 7.98038730e-01 6.00434262e-01 5.11163540e-02 1.09537576e+03] [-5.99210735e-01 7.99674117e-01 -3.83118971e-02 -6.06045003e+02] [-6.38802010e-02 -5.50903415e-05 9.97957573e-01 -5.05709904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1095.42, Y:-606.08, Z:-50.57 [[ 7.92647506e-01 6.07534460e-01 5.11058935e-02 1.09542305e+03] [-6.06324681e-01 7.94293089e-01 -3.83258459e-02 -6.06083985e+02] [-6.38773300e-02 -6.07878408e-04 9.97957573e-01 -5.05684652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:1095.47, Y:-606.12, Z:-50.57 [[ 7.91931440e-01 6.08468380e-01 5.10962268e-02 1.09547358e+03] [-6.07259711e-01 7.93577838e-01 -3.83387292e-02 -6.06119353e+02] [-6.38767377e-02 -6.67034912e-04 9.97957573e-01 -5.05748844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.52, Y:-606.16, Z:-50.57 [[ 7.88889553e-01 6.12408043e-01 5.10848514e-02 1.09552207e+03] [-6.11206614e-01 7.90541242e-01 -3.83538805e-02 -6.06156537e+02] [-6.38729068e-02 -9.66423337e-04 9.97957573e-01 -5.05725407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.57, Y:-606.19, Z:-50.57 [[ 7.87901933e-01 6.13678696e-01 5.10783816e-02 1.09557238e+03] [-6.12479373e-01 7.89555151e-01 -3.83624949e-02 -6.06194283e+02] [-6.38714451e-02 -1.05857118e-03 9.97957573e-01 -5.05744987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.62, Y:-606.23, Z:-50.58 [[ 7.87745168e-01 6.13880833e-01 5.10673409e-02 1.09562397e+03] [-6.12680981e-01 7.89398003e-01 -3.83771863e-02 -6.06227974e+02] [-6.38714760e-02 -1.05654546e-03 9.97957573e-01 -5.05811452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.68, Y:-606.26, Z:-50.59 [[ 7.85969114e-01 6.16153953e-01 5.10574115e-02 1.09567531e+03] [-6.14958023e-01 7.87624789e-01 -3.83903920e-02 -6.06264489e+02] [-6.38684747e-02 -1.22450245e-03 9.97957574e-01 -5.05851124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.72, Y:-606.30, Z:-50.59 [[ 7.83891439e-01 6.18796016e-01 5.10460803e-02 1.09572500e+03] [-6.17604687e-01 7.85550426e-01 -3.84054528e-02 -6.06300163e+02] [-6.38644113e-02 -1.42059282e-03 9.97957574e-01 -5.05904838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.77, Y:-606.34, Z:-50.60 [[ 7.83834518e-01 6.18868863e-01 5.10370377e-02 1.09577433e+03] [-6.17676906e-01 7.85493054e-01 -3.84174657e-02 -6.06335806e+02] [-6.38646120e-02 -1.41146385e-03 9.97957574e-01 -5.05977313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.82, Y:-606.37, Z:-50.60 [[ 7.85534644e-01 6.16710173e-01 5.10282843e-02 1.09582485e+03] [-6.15512904e-01 7.87189349e-01 -3.84290890e-02 -6.06373729e+02] [-6.38685320e-02 -1.22118668e-03 9.97957574e-01 -5.06012969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.87, Y:-606.41, Z:-50.60 [[ 7.88392302e-01 6.13053649e-01 5.10176616e-02 1.09587486e+03] [-6.11847792e-01 7.90040759e-01 -3.84431864e-02 -6.06412519e+02] [-6.38737678e-02 -9.06731376e-04 9.97957574e-01 -5.06045916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.92, Y:-606.45, Z:-50.61 [[ 7.94178138e-01 6.05540553e-01 5.10071045e-02 1.09592357e+03] [-6.04318199e-01 7.95814400e-01 -3.84571886e-02 -6.06452297e+02] [-6.38795755e-02 -2.82663060e-04 9.97957574e-01 -5.06063219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1095.97, Y:-606.49, Z:-50.61 [[ 7.98261804e-01 6.00147879e-01 5.09962313e-02 1.09597233e+03] [-5.98913550e-01 7.99889052e-01 -3.84716016e-02 -6.06490639e+02] [-6.38799772e-02 1.68076128e-04 9.97957574e-01 -5.06104283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.02, Y:-606.53, Z:-50.62 [[ 8.02058577e-01 5.95064792e-01 5.09895261e-02 1.09602091e+03] [-5.93819587e-01 8.03677517e-01 -3.84804865e-02 -6.06528091e+02] [-6.38775184e-02 5.85024924e-04 9.97957574e-01 -5.06157441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.07, Y:-606.57, Z:-50.62 [[ 8.06860245e-01 5.88538545e-01 5.09796650e-02 1.09607020e+03] [-5.87279422e-01 8.08468384e-01 -3.84935463e-02 -6.06565814e+02] [-6.38703831e-02 1.11960396e-03 9.97957575e-01 -5.06210244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.12, Y:-606.60, Z:-50.62 [[ 8.09632169e-01 5.84720222e-01 5.09707031e-02 1.09612034e+03] [-5.83452769e-01 8.11233751e-01 -3.85054094e-02 -6.06602970e+02] [-6.38640462e-02 1.43622029e-03 9.97957575e-01 -5.06222770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.17, Y:-606.64, Z:-50.63 [[ 8.11302916e-01 5.82400141e-01 5.09671887e-02 1.09617028e+03] [-5.81127817e-01 8.12900631e-01 -3.85100607e-02 -6.06640566e+02] [-6.38595246e-02 1.62487345e-03 9.97957575e-01 -5.06258408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.22, Y:-606.68, Z:-50.63 [[ 8.12731955e-01 5.80405258e-01 5.09559173e-02 1.09621951e+03] [-5.79128079e-01 8.14325791e-01 -3.85249690e-02 -6.06675449e+02] [-6.38548123e-02 1.80047088e-03 9.97957575e-01 -5.06330481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.27, Y:-606.71, Z:-50.64 [[ 8.13707701e-01 5.79037274e-01 5.09471475e-02 1.09627108e+03] [-5.77756691e-01 8.15298804e-01 -3.85365632e-02 -6.06709607e+02] [-6.38512549e-02 1.92244289e-03 9.97957575e-01 -5.06377610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.32, Y:-606.75, Z:-50.64 [[ 8.11387917e-01 5.82284319e-01 5.09374168e-02 1.09631967e+03] [-5.81009298e-01 8.12983480e-01 -3.85494208e-02 -6.06746421e+02] [-6.38580016e-02 1.68342152e-03 9.97957575e-01 -5.06409675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.37, Y:-606.78, Z:-50.65 [[ 8.09791275e-01 5.84503528e-01 5.09285467e-02 1.09637261e+03] [-5.83232143e-01 8.11389737e-01 -3.85611358e-02 -6.06778459e+02] [-6.38620200e-02 1.52330592e-03 9.97957575e-01 -5.06474113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.42, Y:-606.82, Z:-50.65 [[ 8.08023482e-01 5.86945753e-01 5.09189092e-02 1.09642271e+03] [-5.85678400e-01 8.09625141e-01 -3.85738577e-02 -6.06815904e+02] [-6.38659910e-02 1.34647759e-03 9.97957575e-01 -5.06500693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.47, Y:-606.85, Z:-50.65 [[ 8.03633553e-01 5.92943094e-01 5.09077619e-02 1.09647161e+03] [-5.91686764e-01 8.05243874e-01 -3.85885637e-02 -6.06852558e+02] [-6.38739857e-02 8.89615642e-04 9.97957576e-01 -5.06508697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.52, Y:-606.89, Z:-50.66 [[ 7.99854452e-01 5.98031619e-01 5.09022432e-02 1.09652390e+03] [-5.96785072e-01 8.01472357e-01 -3.85958420e-02 -6.06886882e+02] [-6.38782747e-02 4.93357195e-04 9.97957576e-01 -5.06550016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.58, Y:-606.92, Z:-50.66 [[ 7.95775197e-01 6.03449990e-01 5.08915011e-02 1.09657618e+03] [-6.02213554e-01 7.97400842e-01 -3.86100012e-02 -6.06921132e+02] [-6.38801306e-02 7.73295666e-05 9.97957576e-01 -5.06584265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.63, Y:-606.96, Z:-50.65 [[ 7.89244473e-01 6.11967514e-01 5.08814676e-02 1.09662808e+03] [-6.10747768e-01 7.90882679e-01 -3.86232191e-02 -6.06955331e+02] [-6.38774267e-02 -5.92580585e-04 9.97957576e-01 -5.06534368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1096.68, Y:-606.99, Z:-50.66 [[ 7.88524105e-01 6.12895553e-01 5.08800371e-02 1.09668010e+03] [-6.11677613e-01 7.90163653e-01 -3.86251034e-02 -6.06987127e+02] [-6.38767101e-02 -6.65354541e-04 9.97957576e-01 -5.06647933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.73, Y:-607.02, Z:-50.67 [[ 7.86753792e-01 6.15167145e-01 5.08709592e-02 1.09673162e+03] [-6.13953167e-01 7.88396275e-01 -3.86370557e-02 -6.07023199e+02] [-6.38747220e-02 -8.34536458e-04 9.97957576e-01 -5.06694163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.78, Y:-607.06, Z:-50.68 [[ 7.84759855e-01 6.17709648e-01 5.08602018e-02 1.09678384e+03] [-6.16500073e-01 7.86405585e-01 -3.86512111e-02 -6.07057350e+02] [-6.38719728e-02 -1.02339930e-03 9.97957576e-01 -5.06754294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.83, Y:-607.09, Z:-50.68 [[ 7.83670483e-01 6.19091892e-01 5.08507978e-02 1.09683428e+03] [-6.17884417e-01 7.85317754e-01 -3.86635794e-02 -6.07093333e+02] [-6.38703428e-02 -1.12040960e-03 9.97957576e-01 -5.06807836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.88, Y:-607.13, Z:-50.69 [[ 7.82703872e-01 6.20314265e-01 5.08415239e-02 1.09688396e+03] [-6.19108572e-01 7.84352447e-01 -3.86757705e-02 -6.07130477e+02] [-6.38688058e-02 -1.20474794e-03 9.97957576e-01 -5.06860699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.93, Y:-607.17, Z:-50.69 [[ 7.82332482e-01 6.20783396e-01 5.08317150e-02 1.09693331e+03] [-6.19577854e-01 7.83981167e-01 -3.86886581e-02 -6.07167955e+02] [-6.38683838e-02 -1.22681100e-03 9.97957577e-01 -5.06910642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1096.98, Y:-607.21, Z:-50.69 [[ 7.82322872e-01 6.20796264e-01 5.08224713e-02 1.09698257e+03] [-6.19589961e-01 7.83971000e-01 -3.87007971e-02 -6.07207700e+02] [-6.38686539e-02 -1.21257434e-03 9.97957577e-01 -5.06948422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.03, Y:-607.25, Z:-50.70 [[ 7.82678888e-01 6.20348229e-01 5.08117473e-02 1.09703140e+03] [-6.19140069e-01 7.84325655e-01 -3.87148720e-02 -6.07247503e+02] [-6.38696592e-02 -1.15827577e-03 9.97957577e-01 -5.06974901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.08, Y:-607.29, Z:-50.69 [[ 7.83196707e-01 6.19695235e-01 5.08009251e-02 1.09707790e+03] [-6.18484782e-01 7.84841789e-01 -3.87290674e-02 -6.07289595e+02] [-6.38709075e-02 -1.08712109e-03 9.97957577e-01 -5.06935944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.13, Y:-607.33, Z:-50.70 [[ 7.84055103e-01 6.18609630e-01 5.07909586e-02 1.09712538e+03] [-6.17396053e-01 7.85697882e-01 -3.87421336e-02 -6.07327085e+02] [-6.38726055e-02 -9.82169763e-04 9.97957577e-01 -5.07028301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.17, Y:-607.37, Z:-50.70 [[ 7.84536687e-01 6.17999505e-01 5.07818724e-02 1.09717303e+03] [-6.16783880e-01 7.86177951e-01 -3.87540397e-02 -6.07366732e+02] [-6.38735658e-02 -9.17474392e-04 9.97957577e-01 -5.07031999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.22, Y:-607.41, Z:-50.71 [[ 7.84608037e-01 6.17909734e-01 5.07719319e-02 1.09721892e+03] [-6.16693078e-01 7.86248537e-01 -3.87670585e-02 -6.07405927e+02] [-6.38739000e-02 -8.93753284e-04 9.97957577e-01 -5.07115431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.27, Y:-607.45, Z:-50.72 [[ 7.86159386e-01 6.15935509e-01 5.07628687e-02 1.09726631e+03] [-6.14713968e-01 7.87796251e-01 -3.87789225e-02 -6.07445707e+02] [-6.38761131e-02 -7.18230583e-04 9.97957577e-01 -5.07161322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.31, Y:-607.49, Z:-50.72 [[ 7.88536911e-01 6.12889602e-01 5.07530992e-02 1.09731187e+03] [-6.11660915e-01 7.90168418e-01 -3.87917044e-02 -6.07487441e+02] [-6.38785284e-02 -4.54996324e-04 9.97957578e-01 -5.07213132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.36, Y:-607.53, Z:-50.73 [[ 7.89192241e-01 6.12046353e-01 5.07431606e-02 1.09735942e+03] [-6.10815087e-01 7.90821803e-01 -3.88047007e-02 -6.07528119e+02] [-6.38790734e-02 -3.70319368e-04 9.97957578e-01 -5.07258686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1097.40, Y:-607.57, Z:-50.73 [[ 7.87586428e-01 6.14112292e-01 5.07317671e-02 1.09740373e+03] [-6.12884341e-01 7.89218489e-01 -3.88195906e-02 -6.07570968e+02] [-6.38780363e-02 -5.18922980e-04 9.97957578e-01 -5.07261178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.45, Y:-607.61, Z:-50.73 [[ 7.87747897e-01 6.13905619e-01 5.07261386e-02 1.09745013e+03] [-6.12676767e-01 7.89379280e-01 -3.88269439e-02 -6.07612633e+02] [-6.38782418e-02 -4.92883200e-04 9.97957578e-01 -5.07317051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.50, Y:-607.65, Z:-50.74 [[ 7.90517582e-01 6.10335835e-01 5.07160840e-02 1.09749588e+03] [-6.09098774e-01 7.92142748e-01 -3.88400729e-02 -6.07653717e+02] [-6.38798665e-02 -1.87344080e-04 9.97957578e-01 -5.07398013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.54, Y:-607.70, Z:-50.74 [[ 7.89372023e-01 6.11817500e-01 5.07065714e-02 1.09753904e+03] [-6.10582691e-01 7.90998902e-01 -3.88524879e-02 -6.07697493e+02] [-6.38794743e-02 -2.91487770e-04 9.97957578e-01 -5.07392875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.59, Y:-607.74, Z:-50.75 [[ 7.90238024e-01 6.10699320e-01 5.06972057e-02 1.09758792e+03] [-6.09461425e-01 7.91862555e-01 -3.88647050e-02 -6.07735661e+02] [-6.38798678e-02 -1.85623569e-04 9.97957578e-01 -5.07454577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.63, Y:-607.78, Z:-50.75 [[ 7.88138363e-01 6.13407466e-01 5.06872969e-02 1.09763344e+03] [-6.12174322e-01 7.89766504e-01 -3.88776238e-02 -6.07777000e+02] [-6.38789539e-02 -3.88514776e-04 9.97957578e-01 -5.07458326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.68, Y:-607.82, Z:-50.75 [[ 7.87619293e-01 6.14074560e-01 5.06782451e-02 1.09768130e+03] [-6.12842036e-01 7.89247903e-01 -3.88894195e-02 -6.07817479e+02] [-6.38787018e-02 -4.27701786e-04 9.97957579e-01 -5.07477159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.73, Y:-607.86, Z:-50.75 [[ 7.87339495e-01 6.14434172e-01 5.06672341e-02 1.09772977e+03] [-6.13201469e-01 7.88967969e-01 -3.89037600e-02 -6.07857384e+02] [-6.38786243e-02 -4.38755667e-04 9.97957579e-01 -5.07510692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.78, Y:-607.90, Z:-50.75 [[ 7.86895672e-01 6.15003362e-01 5.06563592e-02 1.09777811e+03] [-6.13770926e-01 7.88524348e-01 -3.89179150e-02 -6.07897599e+02] [-6.38784212e-02 -4.67061634e-04 9.97957579e-01 -5.07546956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.83, Y:-607.94, Z:-50.76 [[ 7.86192493e-01 6.15902906e-01 5.06455730e-02 1.09782758e+03] [-6.14671429e-01 7.87821895e-01 -3.89319465e-02 -6.07936525e+02] [-6.38779903e-02 -5.22382705e-04 9.97957579e-01 -5.07580046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.88, Y:-607.97, Z:-50.77 [[ 7.86110643e-01 6.16008296e-01 5.06343350e-02 1.09787709e+03] [-6.14776097e-01 7.87739498e-01 -3.89465571e-02 -6.07972620e+02] [-6.38780679e-02 -5.12475804e-04 9.97957579e-01 -5.07658463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1097.93, Y:-608.01, Z:-50.77 [[ 7.84472097e-01 6.18094354e-01 5.06250756e-02 1.09792775e+03] [-6.16865709e-01 7.86103635e-01 -3.89585893e-02 -6.08010458e+02] [-6.38766400e-02 -6.66946882e-04 9.97957579e-01 -5.07699699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1097.98, Y:-608.05, Z:-50.77 [[ 7.81854169e-01 6.21403505e-01 5.06136600e-02 1.09797563e+03] [-6.20180806e-01 7.83490167e-01 -3.89734144e-02 -6.08049340e+02] [-6.38735212e-02 -9.18093889e-04 9.97957580e-01 -5.07702486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.03, Y:-608.09, Z:-50.77 [[ 7.80986953e-01 6.22493880e-01 5.06038415e-02 1.09802630e+03] [-6.21272639e-01 7.82624039e-01 -3.89861587e-02 -6.08086656e+02] [-6.38724281e-02 -9.91100847e-04 9.97957580e-01 -5.07746258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.08, Y:-608.12, Z:-50.78 [[ 7.79964091e-01 6.23775902e-01 5.05928945e-02 1.09807683e+03] [-6.22556431e-01 7.81602496e-01 -3.90003597e-02 -6.08123359e+02] [-6.38710172e-02 -1.07805172e-03 9.97957580e-01 -5.07784478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.13, Y:-608.16, Z:-50.78 [[ 7.79305766e-01 6.24599068e-01 5.05818846e-02 1.09812552e+03] [-6.23380402e-01 7.80944769e-01 -3.90146339e-02 -6.08159744e+02] [-6.38701622e-02 -1.12742637e-03 9.97957580e-01 -5.07833895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1098.18, Y:-608.20, Z:-50.79 [[ 7.78598322e-01 6.25481149e-01 5.05765269e-02 1.09817565e+03] [-6.24263889e-01 7.80238370e-01 -3.90215780e-02 -6.08197830e+02] [-6.38690084e-02 -1.19096418e-03 9.97957580e-01 -5.07871605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.23, Y:-608.23, Z:-50.80 [[ 7.80190154e-01 6.23495338e-01 5.05656769e-02 1.09822700e+03] [-6.22272993e-01 7.81826414e-01 -3.90356329e-02 -6.08231378e+02] [-6.38721170e-02 -1.01043871e-03 9.97957580e-01 -5.07952703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.27, Y:-608.27, Z:-50.79 [[ 7.77958520e-01 6.26278369e-01 5.05563614e-02 1.09827361e+03] [-6.25061093e-01 7.79598556e-01 -3.90476940e-02 -6.08271074e+02] [-6.38683924e-02 -1.22332824e-03 9.97957580e-01 -5.07943878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.32, Y:-608.31, Z:-50.80 [[ 7.78339971e-01 6.25804977e-01 5.05472036e-02 1.09832335e+03] [-6.24585934e-01 7.79978694e-01 -3.90595451e-02 -6.08309786e+02] [-6.38693996e-02 -1.16946721e-03 9.97957580e-01 -5.07993952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.37, Y:-608.35, Z:-50.81 [[ 7.80280820e-01 6.23384250e-01 5.05363036e-02 1.09837312e+03] [-6.22159210e-01 7.81915065e-01 -3.90736428e-02 -6.08346771e+02] [-6.38729906e-02 -9.53212668e-04 9.97957581e-01 -5.08087268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.42, Y:-608.38, Z:-50.81 [[ 7.81219236e-01 6.22208137e-01 5.05325711e-02 1.09842347e+03] [-6.20980324e-01 7.82851398e-01 -3.90784693e-02 -6.08384523e+02] [-6.38744355e-02 -8.50880472e-04 9.97957581e-01 -5.08130990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.47, Y:-608.42, Z:-50.81 [[ 7.79919331e-01 6.23837739e-01 5.05204170e-02 1.09846976e+03] [-6.22612319e-01 7.81553290e-01 -3.90941758e-02 -6.08424465e+02] [-6.38728204e-02 -9.64330565e-04 9.97957581e-01 -5.08130617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.52, Y:-608.46, Z:-50.82 [[ 7.80719356e-01 6.22836981e-01 5.05112163e-02 1.09851857e+03] [-6.21608698e-01 7.82351163e-01 -3.91060599e-02 -6.08462601e+02] [-6.38742091e-02 -8.67353476e-04 9.97957581e-01 -5.08158847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.57, Y:-608.50, Z:-50.82 [[ 7.81057912e-01 6.22413146e-01 5.05016275e-02 1.09856767e+03] [-6.21183177e-01 7.82688449e-01 -3.91184389e-02 -6.08501607e+02] [-6.38748711e-02 -8.16995197e-04 9.97957581e-01 -5.08197026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.62, Y:-608.54, Z:-50.82 [[ 7.81076999e-01 6.22390075e-01 5.04907506e-02 1.09861587e+03] [-6.21159151e-01 7.82706815e-01 -3.91324729e-02 -6.08539695e+02] [-6.38751173e-02 -7.97317264e-04 9.97957581e-01 -5.08247853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.66, Y:-608.58, Z:-50.83 [[ 7.81657516e-01 6.21661667e-01 5.04806877e-02 1.09866412e+03] [-6.20428386e-01 7.83285549e-01 -3.91454496e-02 -6.08578305e+02] [-6.38760187e-02 -7.21316706e-04 9.97957581e-01 -5.08302635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.71, Y:-608.62, Z:-50.83 [[ 7.81635453e-01 6.21689712e-01 5.04769320e-02 1.09871209e+03] [-6.20456177e-01 7.83263294e-01 -3.91502920e-02 -6.08618573e+02] [-6.38760617e-02 -7.17468052e-04 9.97957581e-01 -5.08345509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.76, Y:-608.66, Z:-50.84 [[ 7.81968720e-01 6.21271462e-01 5.04647555e-02 1.09876028e+03] [-6.20036044e-01 7.83595132e-01 -3.91659812e-02 -6.08657019e+02] [-6.38766431e-02 -6.63395206e-04 9.97957581e-01 -5.08355576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.81, Y:-608.70, Z:-50.84 [[ 7.81651746e-01 6.21670705e-01 5.04587277e-02 1.09880915e+03] [-6.20435616e-01 7.83278408e-01 -3.91737455e-02 -6.08696553e+02] [-6.38764018e-02 -6.86165262e-04 9.97957582e-01 -5.08403736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.86, Y:-608.73, Z:-50.85 [[ 7.81857449e-01 6.21412870e-01 5.04477427e-02 1.09885647e+03] [-6.20176332e-01 7.83483010e-01 -3.91878868e-02 -6.08734335e+02] [-6.38768065e-02 -6.47154892e-04 9.97957582e-01 -5.08460711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.91, Y:-608.77, Z:-50.85 [[ 7.82603164e-01 6.20474171e-01 5.04389761e-02 1.09890558e+03] [-6.19234957e-01 7.84226685e-01 -3.91991672e-02 -6.08773876e+02] [-6.38776618e-02 -5.56184878e-04 9.97957582e-01 -5.08479550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1098.95, Y:-608.81, Z:-50.85 [[ 7.83254966e-01 6.19652080e-01 5.04277619e-02 1.09895377e+03] [-6.18410233e-01 7.84876474e-01 -3.92135883e-02 -6.08810412e+02] [-6.38783455e-02 -4.70806255e-04 9.97957582e-01 -5.08521041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.00, Y:-608.85, Z:-50.85 [[ 7.83822466e-01 6.18934463e-01 5.04229408e-02 1.09900336e+03] [-6.17690733e-01 7.85442530e-01 -3.92197866e-02 -6.08849428e+02] [-6.38787997e-02 -4.04433378e-04 9.97957582e-01 -5.08545424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1099.05, Y:-608.89, Z:-50.86 [[ 7.85367793e-01 6.16973323e-01 5.04117923e-02 1.09905191e+03] [-6.15724628e-01 7.86984033e-01 -3.92341113e-02 -6.08887594e+02] [-6.38796756e-02 -2.26574658e-04 9.97957582e-01 -5.08572607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.10, Y:-608.93, Z:-50.86 [[ 7.86934024e-01 6.14975172e-01 5.04021807e-02 1.09910201e+03] [-6.13721582e-01 7.88546470e-01 -3.92464549e-02 -6.08926260e+02] [-6.38800571e-02 -4.85353690e-05 9.97957582e-01 -5.08606842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.15, Y:-608.96, Z:-50.87 [[ 7.90478599e-01 6.10413228e-01 5.03912366e-02 1.09915270e+03] [-6.09149437e-01 7.92083062e-01 -3.92605019e-02 -6.08960966e+02] [-6.38791746e-02 3.38793138e-04 9.97957582e-01 -5.08670880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.20, Y:-609.00, Z:-50.87 [[ 7.90799741e-01 6.09997897e-01 5.03819026e-02 1.09919864e+03] [-6.08732500e-01 7.92402938e-01 -3.92724763e-02 -6.09000707e+02] [-6.38788956e-02 3.87562583e-04 9.97957583e-01 -5.08693070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.25, Y:-609.04, Z:-50.87 [[ 7.93982874e-01 6.05849637e-01 5.03727464e-02 1.09924842e+03] [-6.04575121e-01 7.95578830e-01 -3.92842170e-02 -6.09039530e+02] [-6.38758192e-02 7.36886237e-04 9.97957583e-01 -5.08728237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1099.30, Y:-609.08, Z:-50.87 [[ 7.96773703e-01 6.02175515e-01 5.03618417e-02 1.09929993e+03] [-6.00892757e-01 7.98363042e-01 -3.92981917e-02 -6.09076459e+02] [-6.38714420e-02 1.04969980e-03 9.97957583e-01 -5.08749837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.35, Y:-609.11, Z:-50.88 [[ 7.96743267e-01 6.02216742e-01 5.03503994e-02 1.09934855e+03] [-6.00933140e-01 7.98331925e-01 -3.93128466e-02 -6.09114889e+02] [-6.38711856e-02 1.06502227e-03 9.97957583e-01 -5.08814717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.40, Y:-609.15, Z:-50.88 [[ 7.97483309e-01 6.01237297e-01 5.03396908e-02 1.09939867e+03] [-5.99950879e-01 7.99069687e-01 -3.93265541e-02 -6.09152231e+02] [-6.38695120e-02 1.16092874e-03 9.97957583e-01 -5.08842927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.45, Y:-609.19, Z:-50.89 [[ 7.96854788e-01 6.02070972e-01 5.03288344e-02 1.09944928e+03] [-6.00785336e-01 7.98441801e-01 -3.93404428e-02 -6.09189936e+02] [-6.38703838e-02 1.11179453e-03 9.97957583e-01 -5.08879353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.50, Y:-609.23, Z:-50.89 [[ 7.96005004e-01 6.03194939e-01 5.03179937e-02 1.09949935e+03] [-6.01910669e-01 7.97593121e-01 -3.93543036e-02 -6.09227843e+02] [-6.38716024e-02 1.03928539e-03 9.97957583e-01 -5.08918396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.55, Y:-609.26, Z:-50.90 [[ 7.91811607e-01 6.08690059e-01 5.03069675e-02 1.09955121e+03] [-6.07415917e-01 7.93407861e-01 -3.93683936e-02 -6.09263155e+02] [-6.38770932e-02 6.15098190e-04 9.97957584e-01 -5.08963284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.60, Y:-609.30, Z:-50.90 [[ 7.87670146e-01 6.14040774e-01 5.02958265e-02 1.09960136e+03] [-6.12776567e-01 7.89274279e-01 -3.93826218e-02 -6.09298504e+02] [-6.38797378e-02 2.00411577e-04 9.97957584e-01 -5.09013233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.65, Y:-609.33, Z:-50.90 [[ 7.83109224e-01 6.19847533e-01 5.02889534e-02 1.09965146e+03] [-6.18594657e-01 7.84722223e-01 -3.93913963e-02 -6.09334858e+02] [-6.38795191e-02 -2.60712064e-04 9.97957584e-01 -5.09022188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters Centerline goodness : 0.996796 with order 1 Centerline is valid? [True, True] Translation: X:1099.70, Y:-609.37, Z:-50.91 [[ 7.78417672e-01 6.25729933e-01 5.02790160e-02 1.09970284e+03] [-6.24488426e-01 7.80039438e-01 -3.94040763e-02 -6.09369610e+02] [-6.38759254e-02 -7.25834281e-04 9.97957584e-01 -5.09100665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.75, Y:-609.41, Z:-50.91 [[ 7.77144547e-01 6.27310959e-01 5.02723893e-02 1.09975355e+03] [-6.26072205e-01 7.78768416e-01 -3.94125290e-02 -6.09406192e+02] [-6.38744603e-02 -8.44913623e-04 9.97957584e-01 -5.09126258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.80, Y:-609.44, Z:-50.91 [[ 7.74988388e-01 6.29973773e-01 5.02597675e-02 1.09980077e+03] [-6.28739555e-01 7.76615707e-01 -3.94286180e-02 -6.09444374e+02] [-6.38715201e-02 -1.04358276e-03 9.97957584e-01 -5.09146137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.85, Y:-609.48, Z:-50.92 [[ 7.74625442e-01 6.30420763e-01 5.02502382e-02 1.09985033e+03] [-6.29186696e-01 7.76252876e-01 -3.94407590e-02 -6.09483164e+02] [-6.38711653e-02 -1.06496597e-03 9.97957584e-01 -5.09190122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.90, Y:-609.52, Z:-50.92 [[ 7.75051662e-01 6.29897560e-01 5.02392809e-02 1.09989889e+03] [-6.28661491e-01 7.76677575e-01 -3.94547114e-02 -6.09522115e+02] [-6.38721493e-02 -1.00406158e-03 9.97957585e-01 -5.09226731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.95, Y:-609.56, Z:-50.93 [[ 7.75784108e-01 6.28996066e-01 5.02291466e-02 1.09994737e+03] [-6.27757272e-01 7.77407946e-01 -3.94676090e-02 -6.09561445e+02] [-6.38735085e-02 -9.13368178e-04 9.97957585e-01 -5.09283012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1099.99, Y:-609.60, Z:-50.93 [[ 7.76189616e-01 6.28495881e-01 5.02255628e-02 1.09999374e+03] [-6.27255746e-01 7.77812431e-01 -3.94721691e-02 -6.09603791e+02] [-6.38741628e-02 -8.66385027e-04 9.97957585e-01 -5.09302930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.04, Y:-609.64, Z:-50.94 [[ 7.77546028e-01 6.26817302e-01 5.02219416e-02 1.10004148e+03] [-6.25573366e-01 7.79165931e-01 -3.94767760e-02 -6.09643996e+02] [-6.38759521e-02 -7.22498611e-04 9.97957585e-01 -5.09358561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.09, Y:-609.69, Z:-50.94 [[ 7.77790427e-01 6.26514310e-01 5.02182423e-02 1.10008715e+03] [-6.25269439e-01 7.79409611e-01 -3.94814813e-02 -6.09687104e+02] [-6.38762937e-02 -6.91613971e-04 9.97957585e-01 -5.09356238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.13, Y:-609.73, Z:-50.94 [[ 7.78188676e-01 6.26020413e-01 5.02078442e-02 1.10013425e+03] [-6.24773662e-01 7.79806412e-01 -3.94947000e-02 -6.09727672e+02] [-6.38768872e-02 -6.34210367e-04 9.97957585e-01 -5.09391746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.18, Y:-609.77, Z:-50.94 [[ 7.78422481e-01 6.25730480e-01 5.01976949e-02 1.10018139e+03] [-6.24482294e-01 7.80039111e-01 -3.95075955e-02 -6.09768901e+02] [-6.38772720e-02 -5.93971139e-04 9.97957585e-01 -5.09423170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.23, Y:-609.81, Z:-50.95 [[ 7.79949982e-01 6.23825763e-01 5.01940653e-02 1.10022860e+03] [-6.22573333e-01 7.81563325e-01 -3.95122063e-02 -6.09806084e+02] [-6.38785728e-02 -4.31941930e-04 9.97957585e-01 -5.09513210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.27, Y:-609.85, Z:-50.96 [[ 7.79951172e-01 6.23824633e-01 5.01896067e-02 1.10027405e+03] [-6.22571836e-01 7.81564231e-01 -3.95178690e-02 -6.09848794e+02] [-6.38786215e-02 -4.24627431e-04 9.97957585e-01 -5.09551387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.32, Y:-609.89, Z:-50.96 [[ 7.79381810e-01 6.24536580e-01 5.01802240e-02 1.10032207e+03] [-6.23284490e-01 7.80995417e-01 -3.95297796e-02 -6.09889146e+02] [-6.38783184e-02 -4.67764162e-04 9.97957585e-01 -5.09581291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1100.37, Y:-609.93, Z:-50.96 [[ 7.78077156e-01 6.26162118e-01 5.01691190e-02 1.10036964e+03] [-6.24912491e-01 7.79692671e-01 -3.95438685e-02 -6.09930167e+02] [-6.38773669e-02 -5.83128358e-04 9.97957585e-01 -5.09612463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.42, Y:-609.97, Z:-50.96 [[ 7.76975447e-01 6.27529553e-01 5.01578981e-02 1.10041636e+03] [-6.26281850e-01 7.78592449e-01 -3.95580961e-02 -6.09968776e+02] [-6.38764351e-02 -6.77311817e-04 9.97957585e-01 -5.09648138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.47, Y:-610.01, Z:-50.97 [[ 7.75728122e-01 6.29071221e-01 5.01525655e-02 1.10046501e+03] [-6.27826294e-01 7.77347263e-01 -3.95648558e-02 -6.10008468e+02] [-6.38750716e-02 -7.95528069e-04 9.97957586e-01 -5.09680536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.51, Y:-610.05, Z:-50.97 [[ 7.74148819e-01 6.31014621e-01 5.01413359e-02 1.10051305e+03] [-6.29772838e-01 7.75770371e-01 -3.95790822e-02 -6.10046861e+02] [-6.38731423e-02 -9.37551664e-04 9.97957586e-01 -5.09728722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.56, Y:-610.09, Z:-50.98 [[ 7.73162602e-01 6.32223440e-01 5.01309523e-02 1.10056231e+03] [-6.30983340e-01 7.74785441e-01 -3.95922297e-02 -6.10085743e+02] [-6.38718677e-02 -1.02056442e-03 9.97957586e-01 -5.09770602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.61, Y:-610.12, Z:-50.98 [[ 7.72349779e-01 6.33217050e-01 5.01197301e-02 1.10061211e+03] [-6.31978116e-01 7.73973508e-01 -3.96064308e-02 -6.10123617e+02] [-6.38708106e-02 -1.08455458e-03 9.97957586e-01 -5.09820925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1100.66, Y:-610.16, Z:-50.99 [[ 7.71551201e-01 6.34190718e-01 5.01086628e-02 1.10066255e+03] [-6.32952924e-01 7.73175800e-01 -3.96204278e-02 -6.10160814e+02] [-6.38697130e-02 -1.14723602e-03 9.97957586e-01 -5.09858672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.71, Y:-610.20, Z:-50.99 [[ 7.71690758e-01 6.34021779e-01 5.00974902e-02 1.10071135e+03] [-6.32782713e-01 7.73314387e-01 -3.96345498e-02 -6.10198213e+02] [-6.38702777e-02 -1.11521003e-03 9.97957586e-01 -5.09899887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.76, Y:-610.24, Z:-50.99 [[ 7.73591160e-01 6.31702456e-01 5.00871658e-02 1.10076000e+03] [-6.30457678e-01 7.75210413e-01 -3.96475928e-02 -6.10237102e+02] [-6.38735742e-02 -9.06810946e-04 9.97957586e-01 -5.09922355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1100.81, Y:-610.28, Z:-51.00 [[ 7.75490411e-01 6.29370224e-01 5.00773790e-02 1.10080918e+03] [-6.28119778e-01 7.77105291e-01 -3.96599503e-02 -6.10276907e+02] [-6.38761880e-02 -6.98680984e-04 9.97957587e-01 -5.09959178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.86, Y:-610.31, Z:-51.01 [[ 7.78528514e-01 6.25609085e-01 5.00662185e-02 1.10085826e+03] [-6.24349931e-01 7.80136613e-01 -3.96740342e-02 -6.10314754e+02] [-6.38789263e-02 -3.71473169e-04 9.97957587e-01 -5.10055126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.91, Y:-610.35, Z:-51.01 [[ 7.79598627e-01 6.24275385e-01 5.00622004e-02 1.10090553e+03] [-6.23013155e-01 7.81204313e-01 -3.96791037e-02 -6.10353539e+02] [-6.38794946e-02 -2.55634584e-04 9.97957587e-01 -5.10062941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1100.95, Y:-610.39, Z:-51.01 [[ 7.80053152e-01 6.23708186e-01 5.00517652e-02 1.10095393e+03] [-6.22443943e-01 7.81657253e-01 -3.96922625e-02 -6.10391672e+02] [-6.38797143e-02 -1.92343614e-04 9.97957587e-01 -5.10103541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.00, Y:-610.43, Z:-51.02 [[ 7.79873266e-01 6.23933868e-01 5.00421589e-02 1.10100204e+03] [-6.22669313e-01 7.81477121e-01 -3.97043700e-02 -6.10429255e+02] [-6.38797034e-02 -1.95340016e-04 9.97957587e-01 -5.10155079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1101.05, Y:-610.47, Z:-51.02 [[ 7.79519427e-01 6.24376589e-01 5.00333672e-02 1.10105145e+03] [-6.23112234e-01 7.81123439e-01 -3.97154457e-02 -6.10467457e+02] [-6.38796304e-02 -2.17441735e-04 9.97957587e-01 -5.10196348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.10, Y:-610.50, Z:-51.03 [[ 7.77882906e-01 6.26415164e-01 5.00222628e-02 1.10110152e+03] [-6.25154113e-01 7.79489518e-01 -3.97294270e-02 -6.10504300e+02] [-6.38789450e-02 -3.66781228e-04 9.97957587e-01 -5.10258854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1101.15, Y:-610.54, Z:-51.03 [[ 7.76573446e-01 6.28038600e-01 5.00120040e-02 1.10115079e+03] [-6.26780076e-01 7.78182037e-01 -3.97423367e-02 -6.10543396e+02] [-6.38781647e-02 -4.83684284e-04 9.97957587e-01 -5.10284418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.20, Y:-610.58, Z:-51.03 [[ 7.75489722e-01 6.29377177e-01 5.00006035e-02 1.10119832e+03] [-6.28120505e-01 7.77099761e-01 -3.97566748e-02 -6.10582182e+02] [-6.38774007e-02 -5.75511669e-04 9.97957588e-01 -5.10331196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.25, Y:-610.62, Z:-51.03 [[ 7.73627768e-01 6.31665314e-01 4.99900751e-02 1.10124724e+03] [-6.30412549e-01 7.75240848e-01 -3.97699088e-02 -6.10621261e+02] [-6.38756202e-02 -7.47264915e-04 9.97957588e-01 -5.10340643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.30, Y:-610.66, Z:-51.04 [[ 7.72164568e-01 6.33453919e-01 4.99801198e-02 1.10129619e+03] [-6.32204081e-01 7.73779917e-01 -3.97824160e-02 -6.10659157e+02] [-6.38739403e-02 -8.79063656e-04 9.97957588e-01 -5.10384323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1101.34, Y:-610.70, Z:-51.05 [[ 7.71049420e-01 6.34811374e-01 4.99731023e-02 1.10134458e+03] [-6.33563808e-01 7.72666525e-01 -3.97912292e-02 -6.10697736e+02] [-6.38724682e-02 -9.80144831e-04 9.97957588e-01 -5.10455237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.39, Y:-610.74, Z:-51.05 [[ 7.70120957e-01 6.35937719e-01 4.99692923e-02 1.10139177e+03] [-6.34692208e-01 7.71739644e-01 -3.97960131e-02 -6.10737297e+02] [-6.38710697e-02 -1.06737678e-03 9.97957588e-01 -5.10460635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.44, Y:-610.78, Z:-51.05 [[ 7.70463160e-01 6.35523861e-01 4.99594014e-02 1.10144013e+03] [-6.34276676e-01 7.72080558e-01 -3.98084262e-02 -6.10777525e+02] [-6.38718872e-02 -1.01715717e-03 9.97957588e-01 -5.10510389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.49, Y:-610.82, Z:-51.06 [[ 7.70719150e-01 6.35214265e-01 4.99482683e-02 1.10148905e+03] [-6.33965525e-01 7.72335348e-01 -3.98223902e-02 -6.10816827e+02] [-6.38725635e-02 -9.73601410e-04 9.97957588e-01 -5.10554793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.54, Y:-610.86, Z:-51.06 [[ 7.70870260e-01 6.35031752e-01 4.99371286e-02 1.10153767e+03] [-6.33781725e-01 7.72485463e-01 -3.98363545e-02 -6.10857123e+02] [-6.38730558e-02 -9.40578575e-04 9.97957588e-01 -5.10587079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.59, Y:-610.90, Z:-51.06 [[ 7.71460349e-01 6.34315648e-01 4.99258400e-02 1.10158610e+03] [-6.33063207e-01 7.73073680e-01 -3.98504971e-02 -6.10897342e+02] [-6.38741468e-02 -8.63133983e-04 9.97957589e-01 -5.10624043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.63, Y:-610.94, Z:-51.07 [[ 7.71742151e-01 6.33973656e-01 4.99144934e-02 1.10163426e+03] [-6.32719581e-01 7.73354212e-01 -3.98647042e-02 -6.10936769e+02] [-6.38747560e-02 -8.16604814e-04 9.97957589e-01 -5.10671493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.68, Y:-610.97, Z:-51.07 [[ 7.70703407e-01 6.35236846e-01 4.99039905e-02 1.10168445e+03] [-6.33984562e-01 7.72316860e-01 -3.98778478e-02 -6.10973937e+02] [-6.38735715e-02 -9.04366411e-04 9.97957589e-01 -5.10704186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.73, Y:-611.01, Z:-51.08 [[ 7.69988641e-01 6.36103916e-01 4.98928918e-02 1.10173372e+03] [-6.34852550e-01 7.71602805e-01 -3.98917291e-02 -6.11012804e+02] [-6.38727803e-02 -9.58451312e-04 9.97957589e-01 -5.10750797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.78, Y:-611.05, Z:-51.08 [[ 7.69351678e-01 6.36875038e-01 4.98816661e-02 1.10178260e+03] [-6.35624381e-01 7.70966391e-01 -3.99057610e-02 -6.11052079e+02] [-6.38720712e-02 -1.00443890e-03 9.97957589e-01 -5.10809048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:1101.83, Y:-611.09, Z:-51.09 [[ 7.68230442e-01 6.38228001e-01 4.98699000e-02 1.10182951e+03] [-6.36979234e-01 7.69846616e-01 -3.99204596e-02 -6.11092258e+02] [-6.38705289e-02 -1.09797838e-03 9.97957589e-01 -5.10851839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.88, Y:-611.13, Z:-51.09 [[ 7.68397195e-01 6.38028157e-01 4.98580171e-02 1.10187898e+03] [-6.36778007e-01 7.70012300e-01 -3.99352950e-02 -6.11127370e+02] [-6.38711292e-02 -1.06232008e-03 9.97957589e-01 -5.10878783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1101.93, Y:-611.17, Z:-51.09 [[ 7.68167931e-01 6.38304631e-01 4.98520627e-02 1.10192800e+03] [-6.37054580e-01 7.69783113e-01 -3.99427267e-02 -6.11166112e+02] [-6.38709034e-02 -1.07576314e-03 9.97957590e-01 -5.10923199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1101.98, Y:-611.21, Z:-51.10 [[ 7.68842256e-01 6.37492517e-01 4.98485321e-02 1.10197736e+03] [-6.36240474e-01 7.70455895e-01 -3.99471325e-02 -6.11205129e+02] [-6.38720934e-02 -1.00261021e-03 9.97957590e-01 -5.10955289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.02, Y:-611.25, Z:-51.09 [[ 7.66661263e-01 6.40114650e-01 4.98371535e-02 1.10202297e+03] [-6.38867204e-01 7.68278458e-01 -3.99613231e-02 -6.11247068e+02] [-6.38686398e-02 -1.20252443e-03 9.97957590e-01 -5.10916337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.07, Y:-611.29, Z:-51.10 [[ 7.66461219e-01 6.40354346e-01 4.98348426e-02 1.10207226e+03] [-6.39107218e-01 7.68078659e-01 -3.99642047e-02 -6.11286727e+02] [-6.38683313e-02 -1.21879460e-03 9.97957590e-01 -5.10956848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.12, Y:-611.32, Z:-51.11 [[ 7.68832056e-01 6.37506867e-01 4.98223254e-02 1.10212249e+03] [-6.36252737e-01 7.70444073e-01 -3.99798035e-02 -6.11319813e+02] [-6.38727146e-02 -9.61836329e-04 9.97957590e-01 -5.11064813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.17, Y:-611.36, Z:-51.11 [[ 7.68322547e-01 6.38121232e-01 4.98172388e-02 1.10217184e+03] [-6.36867981e-01 7.69935246e-01 -3.99861407e-02 -6.11358750e+02] [-6.38720534e-02 -1.00475081e-03 9.97957590e-01 -5.11109540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.22, Y:-611.40, Z:-51.12 [[ 7.68342364e-01 6.38098243e-01 4.98060588e-02 1.10222085e+03] [-6.36844042e-01 7.69954324e-01 -4.00000616e-02 -6.11397805e+02] [-6.38723594e-02 -9.84949911e-04 9.97957590e-01 -5.11159755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.27, Y:-611.44, Z:-51.12 [[ 7.69055236e-01 6.37239750e-01 4.97950338e-02 1.10226929e+03] [-6.35982860e-01 7.70665101e-01 -4.00137816e-02 -6.11437526e+02] [-6.38736669e-02 -8.95979725e-04 9.97957590e-01 -5.11204647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.32, Y:-611.48, Z:-51.12 [[ 7.70176026e-01 6.35885567e-01 4.97838851e-02 1.10231709e+03] [-6.34624951e-01 7.71782975e-01 -4.00276476e-02 -6.11477892e+02] [-6.38753583e-02 -7.65761064e-04 9.97957590e-01 -5.11246727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.36, Y:-611.52, Z:-51.12 [[ 7.69164870e-01 6.37109146e-01 4.97728696e-02 1.10236106e+03] [-6.35850200e-01 7.70773128e-01 -4.00413403e-02 -6.11521575e+02] [-6.38742945e-02 -8.49696783e-04 9.97957591e-01 -5.11215714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:1102.90, Y:-611.01, Z:-50.12 [[ 8.29345875e-01 5.56514913e-01 4.97651639e-02 1.10290147e+03] [-5.55100023e-01 8.30818806e-01 -4.00509151e-02 -6.11009123e+02] [-6.36347655e-02 5.59141758e-03 9.97957591e-01 -5.01165729e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1102.95, Y:-611.04, Z:-50.12 [[ 8.29363797e-01 5.56173247e-01 5.31696449e-02 1.10295213e+03] [-5.55079976e-01 8.31066157e-01 -3.48606109e-02 -6.11043978e+02] [-6.35760317e-02 -6.01276615e-04 9.97976817e-01 -5.01175142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1103.00, Y:-611.08, Z:-50.12 [[ 8.28661591e-01 5.57219861e-01 5.31600757e-02 1.10300470e+03] [-5.56127805e-01 8.30364730e-01 -3.48751973e-02 -6.11078139e+02] [-6.35754045e-02 -6.64059697e-04 9.97976817e-01 -5.01211596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.06, Y:-611.11, Z:-50.12 [[ 8.28387241e-01 5.57628577e-01 5.31502514e-02 1.10305759e+03] [-5.56536401e-01 8.30090303e-01 -3.48901632e-02 -6.11112816e+02] [-6.35752604e-02 -6.77483645e-04 9.97976817e-01 -5.01245842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.11, Y:-611.15, Z:-50.13 [[ 8.28535994e-01 5.57408482e-01 5.31403078e-02 1.10310942e+03] [-5.56314882e-01 8.30238142e-01 -3.49053016e-02 -6.11146900e+02] [-6.35756215e-02 -6.42445316e-04 9.97976817e-01 -5.01289029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.16, Y:-611.18, Z:-50.13 [[ 8.28927927e-01 5.56826341e-01 5.31311377e-02 1.10316215e+03] [-5.55730652e-01 8.30628730e-01 -3.49192542e-02 -6.11181466e+02] [-6.35762100e-02 -5.81056772e-04 9.97976817e-01 -5.01328202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.21, Y:-611.22, Z:-50.14 [[ 8.30429813e-01 5.54584929e-01 5.31213974e-02 1.10321445e+03] [-5.53483702e-01 8.32127035e-01 -3.49340656e-02 -6.11215236e+02] [-6.35776572e-02 -3.91538120e-04 9.97976818e-01 -5.01381153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.27, Y:-611.25, Z:-50.14 [[ 8.30934011e-01 5.53830060e-01 5.31124717e-02 1.10326502e+03] [-5.52726423e-01 8.32629668e-01 -3.49476306e-02 -6.11249512e+02] [-6.35780680e-02 -3.17491683e-04 9.97976818e-01 -5.01434674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.32, Y:-611.28, Z:-50.15 [[ 8.32002317e-01 5.52224658e-01 5.31043424e-02 1.10331689e+03] [-5.51116962e-01 8.33695325e-01 -3.49599791e-02 -6.11284409e+02] [-6.35786045e-02 -1.79920195e-04 9.97976818e-01 -5.01479175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.37, Y:-611.32, Z:-50.15 [[ 8.33271686e-01 5.50308331e-01 5.30946189e-02 1.10336888e+03] [-5.49195800e-01 8.34961521e-01 -3.49747401e-02 -6.11320122e+02] [-6.35788546e-02 -1.58810077e-05 9.97976818e-01 -5.01515378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.42, Y:-611.35, Z:-50.15 [[ 8.33748870e-01 5.49585815e-01 5.30872384e-02 1.10342135e+03] [-5.48471107e-01 8.35437268e-01 -3.49859392e-02 -6.11354184e+02] [-6.35788334e-02 5.26708896e-05 9.97976818e-01 -5.01516284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.47, Y:-611.39, Z:-50.16 [[ 8.31848581e-01 5.52458774e-01 5.30777000e-02 1.10347193e+03] [-5.51348974e-01 8.33540210e-01 -3.50004041e-02 -6.11388081e+02] [-6.35786775e-02 -1.49298975e-04 9.97976818e-01 -5.01577439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.52, Y:-611.42, Z:-50.16 [[ 8.30077036e-01 5.55117432e-01 5.30730658e-02 1.10352391e+03] [-5.54012601e-01 8.31771915e-01 -3.50074299e-02 -6.11422274e+02] [-6.35779201e-02 -3.44283600e-04 9.97976818e-01 -5.01606603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.58, Y:-611.45, Z:-50.17 [[ 8.27242740e-01 5.59332852e-01 5.30679701e-02 1.10357672e+03] [-5.58236162e-01 8.28942897e-01 -3.50151527e-02 -6.11452027e+02] [-6.35754421e-02 -6.58429103e-04 9.97976818e-01 -5.01666834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.63, Y:-611.48, Z:-50.17 [[ 8.26415090e-01 5.60555470e-01 5.30628275e-02 1.10363188e+03] [-5.59460795e-01 8.28116545e-01 -3.50229442e-02 -6.11482889e+02] [-6.35745084e-02 -7.43082096e-04 9.97976818e-01 -5.01720884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1103.68, Y:-611.52, Z:-50.18 [[ 8.22562492e-01 5.66194643e-01 5.30525582e-02 1.10368187e+03] [-5.65110628e-01 8.24270758e-01 -3.50384931e-02 -6.11517850e+02] [-6.35682795e-02 -1.15921426e-03 9.97976818e-01 -5.01758547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.74, Y:-611.55, Z:-50.18 [[ 8.22017514e-01 5.66986335e-01 5.30443405e-02 1.10373501e+03] [-5.65903163e-01 8.23726315e-01 -3.50509295e-02 -6.11552066e+02] [-6.35674172e-02 -1.20548215e-03 9.97976819e-01 -5.01796138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.79, Y:-611.59, Z:-50.18 [[ 8.22830534e-01 5.65806751e-01 5.30342577e-02 1.10378731e+03] [-5.64720147e-01 8.24537155e-01 -3.50661788e-02 -6.11586099e+02] [-6.35693966e-02 -1.09599115e-03 9.97976819e-01 -5.01848051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.84, Y:-611.62, Z:-50.19 [[ 8.23603696e-01 5.64681670e-01 5.30241818e-02 1.10383722e+03] [-5.63591753e-01 8.25308203e-01 -3.50814082e-02 -6.11621133e+02] [-6.35711203e-02 -9.90814118e-04 9.97976819e-01 -5.01890982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.89, Y:-611.66, Z:-50.19 [[ 8.25725395e-01 5.61575032e-01 5.30193890e-02 1.10388738e+03] [-5.60478237e-01 8.27425485e-01 -3.50886502e-02 -6.11657631e+02] [-6.35745034e-02 -7.42624150e-04 9.97976819e-01 -5.01912564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1103.94, Y:-611.69, Z:-50.20 [[ 8.27334626e-01 5.59202321e-01 5.30111341e-02 1.10393770e+03] [-5.58099852e-01 8.29031041e-01 -3.51011170e-02 -6.11691873e+02] [-6.35765018e-02 -5.45136546e-04 9.97976819e-01 -5.01954984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1103.99, Y:-611.73, Z:-50.20 [[ 8.28433084e-01 5.57574135e-01 5.30066846e-02 1.10398933e+03] [-5.56467902e-01 8.30127047e-01 -3.51078350e-02 -6.11728170e+02] [-6.35775033e-02 -4.12026504e-04 9.97976819e-01 -5.01981779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.04, Y:-611.76, Z:-50.20 [[ 8.30336137e-01 5.54737088e-01 5.29968237e-02 1.10404070e+03] [-5.53624117e-01 8.32025680e-01 -3.51227141e-02 -6.11762032e+02] [-6.35785904e-02 -1.76660992e-04 9.97976819e-01 -5.02034452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.09, Y:-611.80, Z:-50.20 [[ 8.28350645e-01 5.57697864e-01 5.29934140e-02 1.10409034e+03] [-5.56590603e-01 8.30043935e-01 -3.51278580e-02 -6.11798560e+02] [-6.35775933e-02 -3.97452485e-04 9.97976819e-01 -5.02049435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.14, Y:-611.83, Z:-50.21 [[ 8.26227565e-01 5.60839235e-01 5.29845578e-02 1.10414316e+03] [-5.59737556e-01 8.27924492e-01 -3.51412110e-02 -6.11830428e+02] [-6.35757830e-02 -6.22809675e-04 9.97976819e-01 -5.02093636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.20, Y:-611.86, Z:-50.21 [[ 8.24519043e-01 5.63348849e-01 5.29756740e-02 1.10419640e+03] [-5.62251474e-01 8.26218757e-01 -3.51545984e-02 -6.11864022e+02] [-6.35737980e-02 -8.00014994e-04 9.97976820e-01 -5.02123020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.25, Y:-611.90, Z:-50.22 [[ 8.23008774e-01 5.65553884e-01 5.29656686e-02 1.10424833e+03] [-5.64460093e-01 8.24710797e-01 -3.51696666e-02 -6.11896868e+02] [-6.35717003e-02 -9.52062003e-04 9.97976820e-01 -5.02173136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1104.30, Y:-611.93, Z:-50.22 [[ 8.22604695e-01 5.66142039e-01 5.29594978e-02 1.10430084e+03] [-5.65048867e-01 8.24307115e-01 -3.51789563e-02 -6.11931904e+02] [-6.35711768e-02 -9.86329585e-04 9.97976820e-01 -5.02221398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:1104.35, Y:-611.97, Z:-50.23 [[ 8.22326097e-01 5.66547539e-01 5.29497603e-02 1.10435206e+03] [-5.65454264e-01 8.24028450e-01 -3.51936066e-02 -6.11966993e+02] [-6.35709601e-02 -1.00004663e-03 9.97976820e-01 -5.02273799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:1104.40, Y:-612.00, Z:-50.23 [[ 8.24127674e-01 5.63924509e-01 5.29407647e-02 1.10440422e+03] [-5.62824946e-01 8.25825973e-01 -3.52071332e-02 -6.11999943e+02] [-6.35740239e-02 -7.81210247e-04 9.97976820e-01 -5.02346156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:1104.45, Y:-612.04, Z:-50.23 [[ 8.22924679e-01 5.65678890e-01 5.29373883e-02 1.10445336e+03] [-5.64582621e-01 8.24625106e-01 -3.52122092e-02 -6.12036398e+02] [-6.35723029e-02 -9.10533485e-04 9.97976820e-01 -5.02335008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters Centerline goodness : 0.998063 with order 1 Centerline is valid? [True, True] Translation: X:1104.51, Y:-612.07, Z:-50.24 [[ 8.22888111e-01 5.65732903e-01 5.29286167e-02 1.10450585e+03] [-5.64635898e-01 8.24588063e-01 -3.52253893e-02 -6.12071244e+02] [-6.35724673e-02 -8.98842931e-04 9.97976820e-01 -5.02360018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters Centerline goodness : 0.998112 with order 1 Centerline is valid? [True, True] Translation: X:1104.56, Y:-612.10, Z:-50.24 [[ 8.21677598e-01 5.67490565e-01 5.29186586e-02 1.10455858e+03] [-5.66396233e-01 8.23379272e-01 -3.52403428e-02 -6.12103788e+02] [-6.35706886e-02 -1.01672872e-03 9.97976820e-01 -5.02402215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:1104.61, Y:-612.13, Z:-50.25 [[ 8.22193842e-01 5.66743217e-01 5.29094763e-02 1.10461420e+03] [-5.65646452e-01 8.23893948e-01 -3.52541237e-02 -6.12131736e+02] [-6.35718328e-02 -9.42334201e-04 9.97976820e-01 -5.02534772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters Centerline goodness : 0.998265 with order 1 Centerline is valid? [True, True] Translation: X:1104.66, Y:-612.17, Z:-50.25 [[ 8.18309232e-01 5.72338671e-01 5.29003397e-02 1.10466424e+03] [-5.71252644e-01 8.20016218e-01 -3.52678283e-02 -6.12169062e+02] [-6.35642784e-02 -1.35946943e-03 9.97976821e-01 -5.02500023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:1104.72, Y:-612.20, Z:-50.26 [[ 8.17620068e-01 5.73323643e-01 5.28906901e-02 1.10471714e+03] [-5.72238737e-01 8.19327766e-01 -3.52822937e-02 -6.12201911e+02] [-6.35629841e-02 -1.41859034e-03 9.97976821e-01 -5.02552476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:1104.77, Y:-612.24, Z:-50.26 [[ 8.17954151e-01 5.72847727e-01 5.28818357e-02 1.10476867e+03] [-5.71760970e-01 8.19660672e-01 -3.52955599e-02 -6.12235929e+02] [-6.35641422e-02 -1.36561996e-03 9.97976821e-01 -5.02599322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:1104.82, Y:-612.27, Z:-50.26 [[ 8.20823400e-01 5.68729390e-01 5.28755843e-02 1.10482028e+03] [-5.67633466e-01 8.22524048e-01 -3.53049226e-02 -6.12270714e+02] [-6.35703867e-02 -1.03484463e-03 9.97976821e-01 -5.02635591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters Centerline goodness : 0.998693 with order 1 Centerline is valid? [True, True] Translation: X:1104.87, Y:-612.31, Z:-50.27 [[ 8.23672966e-01 5.64595398e-01 5.28666416e-02 1.10487117e+03] [-5.63490079e-01 8.25367523e-01 -3.53183086e-02 -6.12306119e+02] [-6.35749635e-02 -6.99092037e-04 9.97976821e-01 -5.02670573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:1104.92, Y:-612.34, Z:-50.27 [[ 8.28691025e-01 5.57204833e-01 5.28579148e-02 1.10492224e+03] [-5.56083568e-01 8.30375072e-01 -3.53313643e-02 -6.12342923e+02] [-6.35787018e-02 -1.14633343e-04 9.97976821e-01 -5.02684676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:1104.97, Y:-612.38, Z:-50.28 [[ 8.32852405e-01 5.50966350e-01 5.28483966e-02 1.10497412e+03] [-5.49831567e-01 8.34527374e-01 -3.53455959e-02 -6.12375292e+02] [-6.35776676e-02 3.79947877e-04 9.97976821e-01 -5.02778487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:1105.03, Y:-612.41, Z:-50.28 [[ 8.34976589e-01 5.47742667e-01 5.28400084e-02 1.10502631e+03] [-5.46600625e-01 8.36646616e-01 -3.53581315e-02 -6.12410391e+02] [-6.35755714e-02 6.40830401e-04 9.97976821e-01 -5.02828906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:1105.08, Y:-612.45, Z:-50.28 [[ 8.34570966e-01 5.48361514e-01 5.28294763e-02 1.10507603e+03] [-5.47219714e-01 8.36241158e-01 -3.53738607e-02 -6.12445914e+02] [-6.35758463e-02 6.12666165e-04 9.97976822e-01 -5.02811380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:1105.13, Y:-612.48, Z:-50.29 [[ 8.34875665e-01 5.47898311e-01 5.28210679e-02 1.10512804e+03] [-5.46754790e-01 8.36544680e-01 -3.53864119e-02 -6.12478318e+02] [-6.35753386e-02 6.63082300e-04 9.97976822e-01 -5.02914408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:1105.18, Y:-612.51, Z:-50.29 [[ 8.32644572e-01 5.51283343e-01 5.28175348e-02 1.10517942e+03] [-5.50146273e-01 8.34317989e-01 -3.53916846e-02 -6.12511658e+02] [-6.35774656e-02 4.11324150e-04 9.97976822e-01 -5.02915395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:1105.23, Y:-612.55, Z:-50.30 [[ 8.31240160e-01 5.53399561e-01 5.28083564e-02 1.10523193e+03] [-5.52265882e-01 8.32915875e-01 -3.54053746e-02 -6.12545549e+02] [-6.35782371e-02 2.66115692e-04 9.97976822e-01 -5.02957035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:1105.28, Y:-612.58, Z:-50.30 [[ 8.29352658e-01 5.56224723e-01 5.28036619e-02 1.10528429e+03] [-5.55096307e-01 8.31031921e-01 -3.54123745e-02 -6.12579348e+02] [-6.35787668e-02 5.82292089e-05 9.97976822e-01 -5.02974150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:1105.34, Y:-612.61, Z:-50.30 [[ 8.28095759e-01 5.58095074e-01 5.27949124e-02 1.10533522e+03] [-5.56969619e-01 8.29777008e-01 -3.54254140e-02 -6.12613109e+02] [-6.35787535e-02 -6.95271756e-05 9.97976822e-01 -5.03002658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:1105.39, Y:-612.65, Z:-50.30 [[ 8.25089967e-01 5.62530077e-01 5.27869170e-02 1.10538752e+03] [-5.61412897e-01 8.26776727e-01 -3.54373238e-02 -6.12647068e+02] [-6.35775550e-02 -3.96275635e-04 9.97976822e-01 -5.03011845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1105.44, Y:-612.68, Z:-50.31 [[ 8.22578073e-01 5.66197637e-01 5.27783081e-02 1.10544012e+03] [-5.65087154e-01 8.24269250e-01 -3.54501409e-02 -6.12680537e+02] [-6.35753224e-02 -6.63835311e-04 9.97976822e-01 -5.03050415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:1105.49, Y:-612.71, Z:-50.31 [[ 8.18263233e-01 5.72416614e-01 5.27683886e-02 1.10549353e+03] [-5.71318031e-01 8.19962163e-01 -3.54649002e-02 -6.12712563e+02] [-6.35687801e-02 -1.12790797e-03 9.97976822e-01 -5.03105097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1105.55, Y:-612.75, Z:-50.32 [[ 8.15851278e-01 5.75850000e-01 5.27586026e-02 1.10554571e+03] [-5.74757625e-01 8.17554207e-01 -3.54794522e-02 -6.12746119e+02] [-6.35638600e-02 -1.37745275e-03 9.97976823e-01 -5.03185176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:1105.60, Y:-612.78, Z:-50.32 [[ 8.14680819e-01 5.77505185e-01 5.27534418e-02 1.10559806e+03] [-5.76415774e-01 8.16385644e-01 -3.54871239e-02 -6.12779592e+02] [-6.35611506e-02 -1.49723677e-03 9.97976823e-01 -5.03219357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1105.65, Y:-612.81, Z:-50.34 [[ 8.15027898e-01 5.77016160e-01 5.27435062e-02 1.10565034e+03] [-5.75924771e-01 8.16731458e-01 -3.55018848e-02 -6.12812389e+02] [-6.35624419e-02 -1.44126520e-03 9.97976823e-01 -5.03351284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1105.70, Y:-612.85, Z:-50.33 [[ 8.17603971e-01 5.73360948e-01 5.27348930e-02 1.10570044e+03] [-5.72261118e-01 8.19302094e-01 -3.55146744e-02 -6.12851009e+02] [-6.35685356e-02 -1.14118998e-03 9.97976823e-01 -5.03342959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1105.75, Y:-612.89, Z:-50.33 [[ 8.20007729e-01 5.69918824e-01 5.27243713e-02 1.10574921e+03] [-5.68810861e-01 8.21700556e-01 -3.55302878e-02 -6.12888027e+02] [-6.35730250e-02 -8.55084419e-04 9.97976823e-01 -5.03333970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1105.80, Y:-612.93, Z:-50.34 [[ 8.23277539e-01 5.65185617e-01 5.27191791e-02 1.10579835e+03] [-5.64067428e-01 8.24963629e-01 -3.55379902e-02 -6.12925807e+02] [-6.35769662e-02 -4.79542588e-04 9.97976823e-01 -5.03354163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.85, Y:-612.97, Z:-50.34 [[ 8.27732399e-01 5.58641825e-01 5.27104143e-02 1.10584742e+03] [-5.57509478e-01 8.29409012e-01 -3.55509856e-02 -6.12965930e+02] [-6.35787601e-02 4.01470317e-05 9.97976823e-01 -5.03385070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1105.90, Y:-613.00, Z:-50.34 [[ 8.29935171e-01 5.55364991e-01 5.27004675e-02 1.10589703e+03] [-5.54225088e-01 8.31606657e-01 -3.55657245e-02 -6.13002555e+02] [-6.35780179e-02 3.09324363e-04 9.97976823e-01 -5.03442606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1105.95, Y:-613.04, Z:-50.35 [[ 8.29780653e-01 5.55596703e-01 5.26912856e-02 1.10594835e+03] [-5.54456403e-01 8.31451868e-01 -3.55793225e-02 -6.13037185e+02] [-6.35780221e-02 3.08012741e-04 9.97976824e-01 -5.03490966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.00, Y:-613.07, Z:-50.35 [[ 8.27895850e-01 5.58402191e-01 5.26825808e-02 1.10600057e+03] [-5.57266735e-01 8.29570359e-01 -3.55922071e-02 -6.13070182e+02] [-6.35786739e-02 1.08390836e-04 9.97976824e-01 -5.03549728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.05, Y:-613.10, Z:-50.36 [[ 8.26948630e-01 5.59804815e-01 5.26738261e-02 1.10605311e+03] [-5.58671374e-01 8.28624504e-01 -3.56051587e-02 -6.13103910e+02] [-6.35787623e-02 1.62783897e-05 9.97976824e-01 -5.03599438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.11, Y:-613.14, Z:-50.37 [[ 8.26568066e-01 5.60367511e-01 5.26638838e-02 1.10610574e+03] [-5.59234274e-01 8.28244078e-01 -3.56198584e-02 -6.13138118e+02] [-6.35787613e-02 -9.21130799e-06 9.97976824e-01 -5.03664250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.16, Y:-613.17, Z:-50.37 [[ 8.26318617e-01 5.60735722e-01 5.26592203e-02 1.10615727e+03] [-5.59602792e-01 8.27994837e-01 -3.56267514e-02 -6.13170684e+02] [-6.35787547e-02 -2.91988104e-05 9.97976824e-01 -5.03676195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.21, Y:-613.21, Z:-50.37 [[ 8.26429164e-01 5.60573593e-01 5.26505955e-02 1.10621014e+03] [-5.59439522e-01 8.28104611e-01 -3.56394930e-02 -6.13205466e+02] [-6.35787595e-02 -1.30764914e-06 9.97976824e-01 -5.03698781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.26, Y:-613.25, Z:-50.37 [[ 8.23833423e-01 5.64382352e-01 5.26407872e-02 1.10625875e+03] [-5.63255102e-01 8.25513467e-01 -3.56539743e-02 -6.13245292e+02] [-6.35781526e-02 -2.77256235e-04 9.97976824e-01 -5.03653476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.31, Y:-613.27, Z:-50.37 [[ 8.25642864e-01 5.61732289e-01 5.26374127e-02 1.10631239e+03] [-5.60599329e-01 8.27319063e-01 -3.56589555e-02 -6.13274463e+02] [-6.35787216e-02 -6.69361225e-05 9.97976824e-01 -5.03742236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.36, Y:-613.31, Z:-50.38 [[ 8.25289596e-01 5.62251997e-01 5.26286519e-02 1.10636401e+03] [-5.61119268e-01 8.26965951e-01 -3.56718809e-02 -6.13309172e+02] [-6.35786894e-02 -9.13184802e-05 9.97976824e-01 -5.03788729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1106.41, Y:-613.34, Z:-50.38 [[ 8.23092199e-01 5.65464796e-01 5.26193550e-02 1.10641473e+03] [-5.64337735e-01 8.24772369e-01 -3.56855893e-02 -6.13344882e+02] [-6.35779346e-02 -3.22557429e-04 9.97976825e-01 -5.03831355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.47, Y:-613.38, Z:-50.39 [[ 8.22772965e-01 5.65929518e-01 5.26158544e-02 1.10646782e+03] [-5.64803075e-01 8.24453550e-01 -3.56907500e-02 -6.13376829e+02] [-6.35777769e-02 -3.52212162e-04 9.97976825e-01 -5.03870527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.52, Y:-613.41, Z:-50.39 [[ 8.22248660e-01 5.66691997e-01 5.26053437e-02 1.10651940e+03] [-5.65566122e-01 8.23929625e-01 -3.57062353e-02 -6.13410438e+02] [-6.35775388e-02 -3.92396120e-04 9.97976825e-01 -5.03912498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.57, Y:-613.45, Z:-50.40 [[ 8.22479958e-01 5.66357080e-01 5.25963592e-02 1.10657156e+03] [-5.65229675e-01 8.24159896e-01 -3.57194647e-02 -6.13445271e+02] [-6.35777817e-02 -3.50479179e-04 9.97976825e-01 -5.03954328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.62, Y:-613.48, Z:-50.40 [[ 8.22849391e-01 5.65821076e-01 5.25869678e-02 1.10662235e+03] [-5.64691693e-01 8.24528001e-01 -3.57332857e-02 -6.13481388e+02] [-6.35780736e-02 -2.92311495e-04 9.97976825e-01 -5.03974025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.67, Y:-613.51, Z:-50.41 [[ 8.25471499e-01 5.61989631e-01 5.25781192e-02 1.10667398e+03] [-5.60851627e-01 8.27144277e-01 -3.57463008e-02 -6.13514121e+02] [-6.35787408e-02 1.90288589e-05 9.97976825e-01 -5.04064690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.73, Y:-613.55, Z:-50.41 [[ 8.26824299e-01 5.59998426e-01 5.25674962e-02 1.10672511e+03] [-5.58855401e-01 8.28493649e-01 -3.57619159e-02 -6.13549019e+02] [-6.35784534e-02 1.91191865e-04 9.97976825e-01 -5.04104387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.78, Y:-613.58, Z:-50.41 [[ 8.27711209e-01 5.58687545e-01 5.25583673e-02 1.10677730e+03] [-5.57541024e-01 8.29378160e-01 -3.57753274e-02 -6.13584492e+02] [-6.35779918e-02 3.08193622e-04 9.97976825e-01 -5.04131637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.83, Y:-613.62, Z:-50.42 [[ 8.29252952e-01 5.56397504e-01 5.25486490e-02 1.10682841e+03] [-5.55245476e-01 8.30916101e-01 -3.57895964e-02 -6.13619495e+02] [-6.35767607e-02 5.01228854e-04 9.97976826e-01 -5.04197643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.88, Y:-613.65, Z:-50.42 [[ 8.29546073e-01 5.55960715e-01 5.25451884e-02 1.10687865e+03] [-5.54807489e-01 8.31208392e-01 -3.57946765e-02 -6.13653967e+02] [-6.35764355e-02 5.40869304e-04 9.97976826e-01 -5.04219006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1106.93, Y:-613.69, Z:-50.43 [[ 8.30265116e-01 5.54887183e-01 5.25362020e-02 1.10693078e+03] [-5.53730974e-01 8.31925361e-01 -3.58078611e-02 -6.13689519e+02] [-6.35755220e-02 6.39095720e-04 9.97976826e-01 -5.04261383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1106.98, Y:-613.72, Z:-50.43 [[ 8.30637782e-01 5.54330055e-01 5.25268055e-02 1.10698353e+03] [-5.53171861e-01 8.32296643e-01 -3.58216396e-02 -6.13723918e+02] [-6.35748953e-02 6.98456448e-04 9.97976826e-01 -5.04290435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1107.04, Y:-613.76, Z:-50.43 [[ 8.30290684e-01 5.54850691e-01 5.25175288e-02 1.10703560e+03] [-5.53692677e-01 8.31949671e-01 -3.58352348e-02 -6.13758463e+02] [-6.35751456e-02 6.75090515e-04 9.97976826e-01 -5.04307196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.09, Y:-613.79, Z:-50.43 [[ 8.29128336e-01 5.56587070e-01 5.25074846e-02 1.10708913e+03] [-5.55431599e-01 8.30789095e-01 -3.58499460e-02 -6.13791333e+02] [-6.35762620e-02 5.59889924e-04 9.97976826e-01 -5.04349901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.14, Y:-613.83, Z:-50.44 [[ 8.27915708e-01 5.58390193e-01 5.24973638e-02 1.10714220e+03] [-5.57237399e-01 8.29578327e-01 -3.58647605e-02 -6.13825231e+02] [-6.35772057e-02 4.39504100e-04 9.97976826e-01 -5.04393270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.20, Y:-613.86, Z:-50.44 [[ 8.25572076e-01 5.61850354e-01 5.24873972e-02 1.10719559e+03] [-5.60703603e-01 8.27238867e-01 -3.58793405e-02 -6.13857863e+02] [-6.35784352e-02 1.91108885e-04 9.97976826e-01 -5.04423866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.25, Y:-613.89, Z:-50.45 [[ 8.23311803e-01 5.65158092e-01 5.24786190e-02 1.10724840e+03] [-5.64017219e-01 8.24982623e-01 -3.58921753e-02 -6.13891479e+02] [-6.35787021e-02 -4.83931845e-05 9.97976827e-01 -5.04467610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.30, Y:-613.92, Z:-50.45 [[ 8.18870669e-01 5.71574922e-01 5.24684227e-02 1.10730116e+03] [-5.70446186e-01 8.20549712e-01 -3.59070744e-02 -6.13923653e+02] [-6.35765324e-02 -5.27161555e-04 9.97976827e-01 -5.04529994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.35, Y:-613.96, Z:-50.46 [[ 8.15661723e-01 5.76145769e-01 5.24595709e-02 1.10735238e+03] [-5.75025610e-01 8.17346500e-01 -3.59200022e-02 -6.13956399e+02] [-6.35728039e-02 -8.67025831e-04 9.97976827e-01 -5.04592262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.40, Y:-613.99, Z:-50.46 [[ 8.12799773e-01 5.80177019e-01 5.24514622e-02 1.10740333e+03] [-5.79064452e-01 8.14489573e-01 -3.59318387e-02 -6.13990928e+02] [-6.35679961e-02 -1.16738686e-03 9.97976827e-01 -5.04637679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.45, Y:-614.03, Z:-50.47 [[ 8.12769746e-01 5.80219908e-01 5.24423317e-02 1.10745447e+03] [-5.79106571e-01 8.14459038e-01 -3.59451598e-02 -6.14027452e+02] [-6.35682284e-02 -1.15456050e-03 9.97976827e-01 -5.04674362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.51, Y:-614.06, Z:-50.47 [[ 8.13708707e-01 5.78903231e-01 5.24327067e-02 1.10750546e+03] [-5.77786256e-01 8.15395597e-01 -3.59591942e-02 -6.14064235e+02] [-6.35702919e-02 -1.03458787e-03 9.97976827e-01 -5.04716778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.55, Y:-614.10, Z:-50.47 [[ 8.14693759e-01 5.77517008e-01 5.24231390e-02 1.10755273e+03] [-5.76396265e-01 8.16378147e-01 -3.59731371e-02 -6.14104490e+02] [-6.35722036e-02 -9.09411214e-04 9.97976827e-01 -5.04739021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.60, Y:-614.14, Z:-50.48 [[ 8.17233567e-01 5.73917662e-01 5.24195959e-02 1.10760285e+03] [-5.72789169e-01 8.18912773e-01 -3.59782993e-02 -6.14138579e+02] [-6.35756580e-02 -6.22702865e-04 9.97976827e-01 -5.04798092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.65, Y:-614.18, Z:-50.48 [[ 8.18442179e-01 5.72193631e-01 5.24103914e-02 1.10765259e+03] [-5.71060743e-01 8.20118422e-01 -3.59917027e-02 -6.14176459e+02] [-6.35769505e-02 -4.72389416e-04 9.97976828e-01 -5.04846057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.70, Y:-614.21, Z:-50.49 [[ 8.17907373e-01 5.72958240e-01 5.24059605e-02 1.10770318e+03] [-5.71826505e-01 8.19584396e-01 -3.59981532e-02 -6.14214502e+02] [-6.35765459e-02 -5.23962258e-04 9.97976828e-01 -5.04860075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.75, Y:-614.25, Z:-50.49 [[ 8.15945996e-01 5.75748904e-01 5.23958975e-02 1.10775351e+03] [-5.74621965e-01 8.17626245e-01 -3.60127941e-02 -6.14250219e+02] [-6.35745877e-02 -7.23338479e-04 9.97976828e-01 -5.04896852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.80, Y:-614.29, Z:-50.49 [[ 8.13396670e-01 5.79345753e-01 5.23866082e-02 1.10780344e+03] [-5.78225373e-01 8.15081299e-01 -3.60263019e-02 -6.14286232e+02] [-6.35710296e-02 -9.87592051e-04 9.97976828e-01 -5.04931518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.85, Y:-614.32, Z:-50.50 [[ 8.12731838e-01 5.80278863e-01 5.23774773e-02 1.10785411e+03] [-5.79159563e-01 8.14417184e-01 -3.60395722e-02 -6.14323451e+02] [-6.35701195e-02 -1.04440908e-03 9.97976828e-01 -5.04959318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.90, Y:-614.36, Z:-50.50 [[ 8.13411809e-01 5.79326245e-01 5.23672667e-02 1.10790421e+03] [-5.78204016e-01 8.15095207e-01 -3.60544025e-02 -6.14360228e+02] [-6.35715697e-02 -9.51887181e-04 9.97976828e-01 -5.05023748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1107.95, Y:-614.40, Z:-50.50 [[ 8.16941732e-01 5.74338632e-01 5.23578431e-02 1.10795438e+03] [-5.73205247e-01 8.18617638e-01 -3.60680822e-02 -6.14398504e+02] [-6.35763469e-02 -5.46268847e-04 9.97976828e-01 -5.05036034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.00, Y:-614.43, Z:-50.51 [[ 8.18554052e-01 5.72039317e-01 5.23477162e-02 1.10800338e+03] [-5.70900286e-01 8.20226126e-01 -3.60827740e-02 -6.14434155e+02] [-6.35777299e-02 -3.49625245e-04 9.97976828e-01 -5.05076412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.05, Y:-614.47, Z:-50.51 [[ 8.23882585e-01 5.64338595e-01 5.23396367e-02 1.10805158e+03] [-5.63183190e-01 8.25543386e-01 -3.60944899e-02 -6.14471784e+02] [-6.35781546e-02 2.60818110e-04 9.97976829e-01 -5.05084654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.10, Y:-614.51, Z:-50.51 [[ 8.26769270e-01 5.60101726e-01 5.23319343e-02 1.10810140e+03] [-5.58937104e-01 8.28423621e-01 -3.61056539e-02 -6.14508771e+02] [-6.35758496e-02 6.00785380e-04 9.97976829e-01 -5.05104096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.15, Y:-614.55, Z:-50.51 [[ 8.28474816e-01 5.57576666e-01 5.23234220e-02 1.10815182e+03] [-5.56406224e-01 8.30125054e-01 -3.61179854e-02 -6.14545478e+02] [-6.35735295e-02 8.09763666e-04 9.97976829e-01 -5.05136393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.20, Y:-614.58, Z:-50.52 [[ 8.27548796e-01 5.58951024e-01 5.23138954e-02 1.10820266e+03] [-5.57782450e-01 8.29200357e-01 -3.61317787e-02 -6.14580723e+02] [-6.35745955e-02 7.21037191e-04 9.97976829e-01 -5.05188577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.25, Y:-614.62, Z:-50.52 [[ 8.25313856e-01 5.62246634e-01 5.23045204e-02 1.10825492e+03] [-5.61083795e-01 8.26969461e-01 -3.61453450e-02 -6.14615770e+02] [-6.35768395e-02 4.84035217e-04 9.97976829e-01 -5.05239576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.31, Y:-614.65, Z:-50.53 [[ 8.21206104e-01 5.68230411e-01 5.22946947e-02 1.10830804e+03] [-5.67078732e-01 8.22869491e-01 -3.61595551e-02 -6.14650030e+02] [-6.35786676e-02 3.92382462e-05 9.97976829e-01 -5.05275861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.36, Y:-614.68, Z:-50.53 [[ 8.18668139e-01 5.71881788e-01 5.22847929e-02 1.10836054e+03] [-5.70736614e-01 8.20336010e-01 -3.61738670e-02 -6.14684589e+02] [-6.35782741e-02 -2.26453281e-04 9.97976829e-01 -5.05304241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.41, Y:-614.72, Z:-50.54 [[ 8.17299097e-01 5.73837561e-01 5.22746574e-02 1.10841166e+03] [-5.72695441e-01 8.18969062e-01 -3.61885077e-02 -6.14718927e+02] [-6.35776521e-02 -3.60623332e-04 9.97976829e-01 -5.05368968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.47, Y:-614.75, Z:-50.55 [[ 8.18933240e-01 5.71503358e-01 5.22710281e-02 1.10846592e+03] [-5.70356144e-01 8.20599709e-01 -3.61937491e-02 -6.14748876e+02] [-6.35784396e-02 -1.72837787e-04 9.97976830e-01 -5.05466664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.51, Y:-614.79, Z:-50.54 [[ 8.16879091e-01 5.74436568e-01 5.22606954e-02 1.10851480e+03] [-5.73294383e-01 8.18549011e-01 -3.62086627e-02 -6.14786926e+02] [-6.35775204e-02 -3.82663656e-04 9.97976830e-01 -5.05416428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.57, Y:-614.82, Z:-50.54 [[ 8.16979383e-01 5.74294379e-01 5.22556626e-02 1.10856588e+03] [-5.73151439e-01 8.18648786e-01 -3.62159245e-02 -6.14821896e+02] [-6.35776366e-02 -3.62744571e-04 9.97976830e-01 -5.05449117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1108.62, Y:-614.86, Z:-50.55 [[ 8.16059468e-01 5.75601678e-01 5.22460822e-02 1.10861892e+03] [-5.74460528e-01 8.17730095e-01 -3.62297401e-02 -6.14855644e+02] [-6.35770929e-02 -4.47689528e-04 9.97976830e-01 -5.05515416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.67, Y:-614.89, Z:-50.56 [[ 8.14765870e-01 5.77432232e-01 5.22359582e-02 1.10867056e+03] [-5.76293900e-01 8.16438418e-01 -3.62443311e-02 -6.14889109e+02] [-6.35760880e-02 -5.72620102e-04 9.97976830e-01 -5.05585140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.72, Y:-614.92, Z:-50.57 [[ 8.13115738e-01 5.79754357e-01 5.22272150e-02 1.10872201e+03] [-5.78619992e-01 8.14790979e-01 -3.62569254e-02 -6.14922414e+02] [-6.35743741e-02 -7.38634065e-04 9.97976830e-01 -5.05656905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.77, Y:-614.96, Z:-50.57 [[ 8.12763162e-01 5.80249308e-01 5.22186045e-02 1.10877311e+03] [-5.79115167e-01 8.14438555e-01 -3.62693223e-02 -6.14957156e+02] [-6.35740940e-02 -7.62216789e-04 9.97976830e-01 -5.05701500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.82, Y:-614.99, Z:-50.57 [[ 8.12511623e-01 5.80602299e-01 5.22094997e-02 1.10882439e+03] [-5.79468045e-01 8.14186939e-01 -3.62824239e-02 -6.14993491e+02] [-6.35739515e-02 -7.73845538e-04 9.97976830e-01 -5.05729640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.87, Y:-615.03, Z:-50.58 [[ 8.12999450e-01 5.79919942e-01 5.21991849e-02 1.10887425e+03] [-5.78783328e-01 8.14673166e-01 -3.62972576e-02 -6.15030643e+02] [-6.35747788e-02 -7.02367471e-04 9.97976831e-01 -5.05753065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1108.92, Y:-615.07, Z:-50.58 [[ 8.13090274e-01 5.79793450e-01 5.21896751e-02 1.10892475e+03] [-5.78655699e-01 8.14763216e-01 -3.63109261e-02 -6.15066580e+02] [-6.35750647e-02 -6.75792085e-04 9.97976831e-01 -5.05788696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1108.97, Y:-615.11, Z:-50.58 [[ 8.11746313e-01 5.81674425e-01 5.21803212e-02 1.10897312e+03] [-5.80539687e-01 8.13421301e-01 -3.63243632e-02 -6.15105538e+02] [-6.35735378e-02 -8.06579415e-04 9.97976831e-01 -5.05792990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.02, Y:-615.14, Z:-50.59 [[ 8.13162969e-01 5.79692632e-01 5.21769980e-02 1.10902474e+03] [-5.78553505e-01 8.14834975e-01 -3.63291360e-02 -6.15137556e+02] [-6.35753753e-02 -6.45677009e-04 9.97976831e-01 -5.05887462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.08, Y:-615.17, Z:-50.59 [[ 8.13540510e-01 5.79163449e-01 5.21683645e-02 1.10907586e+03] [-5.78022440e-01 8.15211232e-01 -3.63415294e-02 -6.15173578e+02] [-6.35759222e-02 -5.89178964e-04 9.97976831e-01 -5.05925436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1109.13, Y:-615.21, Z:-50.60 [[ 8.14910599e-01 5.77234991e-01 5.21582362e-02 1.10912678e+03] [-5.76089098e-01 8.16577975e-01 -3.63560600e-02 -6.15211072e+02] [-6.35772568e-02 -4.20852636e-04 9.97976831e-01 -5.05967617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.18, Y:-615.25, Z:-50.60 [[ 8.16072682e-01 5.75591831e-01 5.21480868e-02 1.10917644e+03] [-5.74441650e-01 8.17737103e-01 -3.63706122e-02 -6.15248510e+02] [-6.35780527e-02 -2.74970040e-04 9.97976831e-01 -5.06006167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.23, Y:-615.29, Z:-50.60 [[ 8.17532087e-01 5.73517953e-01 5.21387074e-02 1.10922717e+03] [-5.72362693e-01 8.19192986e-01 -3.63840530e-02 -6.15286148e+02] [-6.35785710e-02 -9.71201185e-05 9.97976831e-01 -5.06042091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.28, Y:-615.32, Z:-50.61 [[ 8.19288955e-01 5.71006275e-01 5.21290975e-02 1.10927755e+03] [-5.69845047e-01 8.20945687e-01 -3.63978163e-02 -6.15323982e+02] [-6.35785393e-02 1.14820840e-04 9.97976832e-01 -5.06078081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1109.33, Y:-615.36, Z:-50.61 [[ 8.18953522e-01 5.71488173e-01 5.21190675e-02 1.10932588e+03] [-5.70327007e-01 8.20610297e-01 -3.64121730e-02 -6.15364101e+02] [-6.35785696e-02 9.49655530e-05 9.97976832e-01 -5.06085733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.38, Y:-615.40, Z:-50.62 [[ 8.21339337e-01 5.68054814e-01 5.21097079e-02 1.10937749e+03] [-5.66885873e-01 8.22990635e-01 -3.64255626e-02 -6.15396239e+02] [-6.35775178e-02 3.77490163e-04 9.97976832e-01 -5.06158197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.43, Y:-615.43, Z:-50.62 [[ 8.21970751e-01 5.67141566e-01 5.21011352e-02 1.10942854e+03] [-5.65970013e-01 8.23620197e-01 -3.64378205e-02 -6.15433083e+02] [-6.35769498e-02 4.63142526e-04 9.97976832e-01 -5.06198732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.48, Y:-615.47, Z:-50.62 [[ 8.21568261e-01 5.67725389e-01 5.20910277e-02 1.10948041e+03] [-5.66554093e-01 8.23217889e-01 -3.64522643e-02 -6.15469402e+02] [-6.35771418e-02 4.35638420e-04 9.97976832e-01 -5.06233558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.53, Y:-615.50, Z:-50.63 [[ 8.19815192e-01 5.70254883e-01 5.20808955e-02 1.10953137e+03] [-5.69087757e-01 8.21467773e-01 -3.64667348e-02 -6.15504979e+02] [-6.35781109e-02 2.57383219e-04 9.97976832e-01 -5.06259929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.58, Y:-615.54, Z:-50.63 [[ 8.17434072e-01 5.73663746e-01 5.20715403e-02 1.10958351e+03] [-5.72502661e-01 8.19090903e-01 -3.64800884e-02 -6.15539907e+02] [-6.35786291e-02 8.97180620e-06 9.97976832e-01 -5.06301021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.63, Y:-615.58, Z:-50.64 [[ 8.16015910e-01 5.75680132e-01 5.20617025e-02 1.10963429e+03] [-5.74522245e-01 8.17674977e-01 -3.64941229e-02 -6.15576091e+02] [-6.35784929e-02 -1.30821338e-04 9.97976833e-01 -5.06358509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.69, Y:-615.61, Z:-50.64 [[ 8.12755565e-01 5.80274943e-01 5.20517174e-02 1.10968638e+03] [-5.79125524e-01 8.14420510e-01 -3.65083591e-02 -6.15611386e+02] [-6.35768722e-02 -4.72106022e-04 9.97976833e-01 -5.06387205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.74, Y:-615.64, Z:-50.65 [[ 8.08303338e-01 5.86461768e-01 5.20414108e-02 1.10973918e+03] [-5.85324145e-01 8.09976365e-01 -3.65230450e-02 -6.15644942e+02] [-6.35716823e-02 -9.39395109e-04 9.97976833e-01 -5.06500436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.79, Y:-615.68, Z:-50.65 [[ 8.03396802e-01 5.93166375e-01 5.20310582e-02 1.10979016e+03] [-5.92041756e-01 8.05078598e-01 -3.65377873e-02 -6.15681536e+02] [-6.35620783e-02 -1.45021762e-03 9.97976833e-01 -5.06494267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.84, Y:-615.72, Z:-50.66 [[ 8.02296968e-01 5.94654022e-01 5.20208507e-02 1.10984312e+03] [-5.93531581e-01 8.03980218e-01 -3.65523146e-02 -6.15715025e+02] [-6.35597158e-02 -1.55020654e-03 9.97976833e-01 -5.06599688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.89, Y:-615.75, Z:-50.66 [[ 8.00255532e-01 5.97399439e-01 5.20095565e-02 1.10989456e+03] [-5.96281729e-01 8.01941927e-01 -3.65683779e-02 -6.15749130e+02] [-6.35545724e-02 -1.74830158e-03 9.97976833e-01 -5.06629847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1109.95, Y:-615.78, Z:-50.67 [[ 8.00938816e-01 5.96483950e-01 5.19991335e-02 1.10994636e+03] [-5.95363351e-01 8.02623293e-01 -3.65831931e-02 -6.15784758e+02] [-6.35570033e-02 -1.65747896e-03 9.97976834e-01 -5.06680912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.00, Y:-615.82, Z:-50.67 [[ 8.01918298e-01 5.95167427e-01 5.19882493e-02 1.10999689e+03] [-5.94043061e-01 8.03600262e-01 -3.65986540e-02 -6.15822284e+02] [-6.35600975e-02 -1.53412843e-03 9.97976834e-01 -5.06689511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.05, Y:-615.86, Z:-50.67 [[ 8.03330095e-01 5.93261434e-01 5.19771982e-02 1.11004591e+03] [-5.92132063e-01 8.05008702e-01 -3.66143420e-02 -6.15859713e+02] [-6.35639739e-02 -1.36396271e-03 9.97976834e-01 -5.06694964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.10, Y:-615.90, Z:-50.67 [[ 8.05556442e-01 5.90235757e-01 5.19670130e-02 1.11009549e+03] [-5.89099148e-01 8.07230156e-01 -3.66287924e-02 -6.15896821e+02] [-6.35689630e-02 -1.10716344e-03 9.97976834e-01 -5.06722942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.15, Y:-615.93, Z:-50.68 [[ 8.08236974e-01 5.86560688e-01 5.19572250e-02 1.11014556e+03] [-5.85415575e-01 8.09904883e-01 -3.66426711e-02 -6.15933457e+02] [-6.35735606e-02 -8.00607155e-04 9.97976834e-01 -5.06777097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1110.20, Y:-615.97, Z:-50.68 [[ 8.09419982e-01 5.84927694e-01 5.19508045e-02 1.11019707e+03] [-5.83778632e-01 8.11085172e-01 -3.66517717e-02 -6.15969382e+02] [-6.35751635e-02 -6.61093142e-04 9.97976834e-01 -5.06844694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.25, Y:-616.00, Z:-50.69 [[ 8.10104577e-01 5.83980103e-01 5.19404801e-02 1.11024639e+03] [-5.82828157e-01 8.11767772e-01 -3.66663969e-02 -6.16004535e+02] [-6.35760541e-02 -5.68758265e-04 9.97976834e-01 -5.06913193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.30, Y:-616.04, Z:-50.70 [[ 8.11238115e-01 5.82405154e-01 5.19322358e-02 1.11029791e+03] [-5.81249231e-01 8.12898549e-01 -3.66780700e-02 -6.16039659e+02] [-6.35771361e-02 -4.30923759e-04 9.97976834e-01 -5.06981980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.35, Y:-616.07, Z:-50.70 [[ 8.11729755e-01 5.81720016e-01 5.19290580e-02 1.11034996e+03] [-5.80562404e-01 8.13389012e-01 -3.66825686e-02 -6.16074752e+02] [-6.35775096e-02 -3.71726281e-04 9.97976835e-01 -5.07014867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.40, Y:-616.11, Z:-50.70 [[ 8.11976086e-01 5.81377036e-01 5.19189652e-02 1.11040119e+03] [-5.80217809e-01 8.13634215e-01 -3.66968480e-02 -6.16110003e+02] [-6.35777512e-02 -3.27345237e-04 9.97976835e-01 -5.07035094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.45, Y:-616.15, Z:-50.70 [[ 8.12000867e-01 5.81343231e-01 5.19099228e-02 1.11045237e+03] [-5.80183118e-01 8.13658375e-01 -3.67096345e-02 -6.16146429e+02] [-6.35778410e-02 -3.09005856e-04 9.97976835e-01 -5.07023873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1110.50, Y:-616.18, Z:-50.71 [[ 8.12424233e-01 5.80751734e-01 5.19065441e-02 1.11050378e+03] [-5.79590109e-01 8.14080682e-01 -3.67144113e-02 -6.16178598e+02] [-6.35780729e-02 -2.56842186e-04 9.97976835e-01 -5.07097907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1110.56, Y:-616.21, Z:-50.71 [[ 8.11629945e-01 5.81861705e-01 5.19017247e-02 1.11055567e+03] [-5.80701910e-01 8.13287676e-01 -3.67212231e-02 -6.16213743e+02] [-6.35777065e-02 -3.35386348e-04 9.97976835e-01 -5.07125349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.61, Y:-616.25, Z:-50.72 [[ 8.09621308e-01 5.84654313e-01 5.18909577e-02 1.11060712e+03] [-5.83499261e-01 8.11282348e-01 -3.67364316e-02 -6.16247287e+02] [-6.35763312e-02 -5.35737642e-04 9.97976835e-01 -5.07188888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.66, Y:-616.28, Z:-50.73 [[ 8.09429714e-01 5.84920420e-01 5.18810285e-02 1.11066164e+03] [-5.83765015e-01 8.11090508e-01 -3.67504489e-02 -6.16278773e+02] [-6.35762977e-02 -5.39424030e-04 9.97976835e-01 -5.07283749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.71, Y:-616.32, Z:-50.73 [[ 8.03295001e-01 5.93318315e-01 5.18702021e-02 1.11070996e+03] [-5.92179284e-01 8.04967066e-01 -3.67657232e-02 -6.16316006e+02] [-6.35675813e-02 -1.18273747e-03 9.97976835e-01 -5.07277597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.76, Y:-616.35, Z:-50.73 [[ 8.02242686e-01 5.94741162e-01 5.18615712e-02 1.11076183e+03] [-5.93604310e-01 8.03916233e-01 -3.67778937e-02 -6.16351020e+02] [-6.35656863e-02 -1.28045593e-03 9.97976835e-01 -5.07319705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.81, Y:-616.39, Z:-50.74 [[ 8.02621956e-01 5.94230123e-01 5.18513041e-02 1.11081309e+03] [-5.93091270e-01 8.04294142e-01 -3.67923631e-02 -6.16385722e+02] [-6.35668307e-02 -1.22219740e-03 9.97976836e-01 -5.07365146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.86, Y:-616.42, Z:-50.74 [[ 8.06397617e-01 5.89097029e-01 5.18418182e-02 1.11086397e+03] [-5.87946671e-01 8.08061910e-01 -3.68057244e-02 -6.16423305e+02] [-6.35735415e-02 -8.00175998e-04 9.97976836e-01 -5.07405298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.91, Y:-616.46, Z:-50.74 [[ 8.09440605e-01 5.84909787e-01 5.18309602e-02 1.11091310e+03] [-5.83749840e-01 8.11098229e-01 -3.68210085e-02 -6.16460720e+02] [-6.35769683e-02 -4.51895358e-04 9.97976836e-01 -5.07430036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1110.96, Y:-616.50, Z:-50.75 [[ 8.12730384e-01 5.80330865e-01 5.18209441e-02 1.11096325e+03] [-5.79160680e-01 8.14380797e-01 -3.68350996e-02 -6.16497992e+02] [-6.35785269e-02 -7.56486116e-05 9.97976836e-01 -5.07474369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.02, Y:-616.53, Z:-50.76 [[ 8.17162367e-01 5.74074298e-01 5.18108754e-02 1.11101521e+03] [-5.72890580e-01 8.18803100e-01 -3.68492565e-02 -6.16532727e+02] [-6.35771164e-02 4.29863206e-04 9.97976836e-01 -5.07595218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.06, Y:-616.57, Z:-50.76 [[ 8.17570755e-01 5.73493536e-01 5.17998496e-02 1.11106431e+03] [-5.72307671e-01 8.19209936e-01 -3.68647491e-02 -6.16569893e+02] [-6.35766469e-02 4.94089481e-04 9.97976836e-01 -5.07641252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.11, Y:-616.61, Z:-50.77 [[ 8.18092446e-01 5.72750015e-01 5.17896760e-02 1.11111332e+03] [-5.71561755e-01 8.19729892e-01 -3.68790360e-02 -6.16607473e+02] [-6.35760140e-02 5.69462663e-04 9.97976837e-01 -5.07697549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.16, Y:-616.64, Z:-50.77 [[ 8.18784515e-01 5.71760526e-01 5.17862707e-02 1.11116440e+03] [-5.70569986e-01 8.20420304e-01 -3.68838172e-02 -6.16641846e+02] [-6.35752187e-02 6.52206638e-04 9.97976837e-01 -5.07731619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.22, Y:-616.68, Z:-50.78 [[ 8.18833754e-01 5.71690871e-01 5.17767523e-02 1.11121562e+03] [-5.70499347e-01 8.20468826e-01 -3.68971742e-02 -6.16678443e+02] [-6.35749888e-02 6.74048301e-04 9.97976837e-01 -5.07777204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1111.27, Y:-616.72, Z:-50.78 [[ 8.18557477e-01 5.72087305e-01 5.17665150e-02 1.11126678e+03] [-5.70895665e-01 8.20192464e-01 -3.69115315e-02 -6.16715684e+02] [-6.35751241e-02 6.60931034e-04 9.97976837e-01 -5.07817624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.32, Y:-616.75, Z:-50.78 [[ 8.18249977e-01 5.72527948e-01 5.17563834e-02 1.11131659e+03] [-5.71336291e-01 8.19884951e-01 -3.69257323e-02 -6.16751687e+02] [-6.35752936e-02 6.44179533e-04 9.97976837e-01 -5.07834868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.37, Y:-616.79, Z:-50.79 [[ 8.16619606e-01 5.74851750e-01 5.17482838e-02 1.11136772e+03] [-5.73664026e-01 8.18257440e-01 -3.69370798e-02 -6.16786737e+02] [-6.35767631e-02 4.77414775e-04 9.97976837e-01 -5.07857252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.42, Y:-616.82, Z:-50.79 [[ 8.14725142e-01 5.77534379e-01 5.17395849e-02 1.11141972e+03] [-5.76351274e-01 8.16366315e-01 -3.69492606e-02 -6.16822777e+02] [-6.35779226e-02 2.83315878e-04 9.97976837e-01 -5.07893671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.47, Y:-616.86, Z:-50.80 [[ 8.12001494e-01 5.81358421e-01 5.17296819e-02 1.11147145e+03] [-5.80182163e-01 8.13647581e-01 -3.69631198e-02 -6.16856268e+02] [-6.35785516e-02 1.46977051e-06 9.97976837e-01 -5.07990659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.52, Y:-616.89, Z:-50.80 [[ 8.09185347e-01 5.85272138e-01 5.17261883e-02 1.11152308e+03] [-5.84103528e-01 8.10836873e-01 -3.69680082e-02 -6.16889970e+02] [-6.35778460e-02 -2.99478530e-04 9.97976837e-01 -5.07967772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.57, Y:-616.92, Z:-50.80 [[ 8.06571603e-01 5.88869756e-01 5.17171121e-02 1.11157443e+03] [-5.87707698e-01 8.08227746e-01 -3.69807012e-02 -6.16924684e+02] [-6.35760214e-02 -5.66961378e-04 9.97976837e-01 -5.08010364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1111.63, Y:-616.96, Z:-50.81 [[ 8.03857950e-01 5.92569329e-01 5.17106062e-02 1.11162581e+03] [-5.91414307e-01 8.05519008e-01 -3.69897962e-02 -6.16958633e+02] [-6.35728949e-02 -8.47850576e-04 9.97976838e-01 -5.08127964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.68, Y:-616.99, Z:-50.81 [[ 8.02200080e-01 5.94812090e-01 5.17069651e-02 1.11167645e+03] [-5.93661384e-01 8.03864130e-01 -3.69948853e-02 -6.16992806e+02] [-6.35703796e-02 -1.01912852e-03 9.97976838e-01 -5.08101928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.73, Y:-617.03, Z:-50.82 [[ 8.00921402e-01 5.96533550e-01 5.16975105e-02 1.11172529e+03] [-5.95385569e-01 8.02587332e-01 -3.70080927e-02 -6.17030891e+02] [-6.35683360e-02 -1.13937815e-03 9.97976838e-01 -5.08178317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.78, Y:-617.06, Z:-50.82 [[ 8.01894873e-01 5.95224640e-01 5.16937314e-02 1.11177588e+03] [-5.94073599e-01 8.03558691e-01 -3.70133706e-02 -6.17064928e+02] [-6.35702174e-02 -1.02904894e-03 9.97976838e-01 -5.08189403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:1111.83, Y:-617.10, Z:-50.83 [[ 8.02704649e-01 5.94132997e-01 5.16839191e-02 1.11182525e+03] [-5.92978812e-01 8.04366288e-01 -3.70270671e-02 -6.17103425e+02] [-6.35718045e-02 -9.25670033e-04 9.97976838e-01 -5.08271151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.88, Y:-617.14, Z:-50.83 [[ 8.04868099e-01 5.91199370e-01 5.16783247e-02 1.11187536e+03] [-5.90038627e-01 8.06525162e-01 -3.70348735e-02 -6.17139080e+02] [-6.35748631e-02 -6.84019474e-04 9.97976838e-01 -5.08322098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1111.92, Y:-617.18, Z:-50.83 [[ 8.06932352e-01 5.88379780e-01 5.16663747e-02 1.11192362e+03] [-5.87212180e-01 8.08584590e-01 -3.70515372e-02 -6.17178731e+02] [-6.35770097e-02 -4.41040422e-04 9.97976838e-01 -5.08308180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1111.97, Y:-617.22, Z:-50.84 [[ 8.09553672e-01 5.84768673e-01 5.16570574e-02 1.11197203e+03] [-5.83592874e-01 8.11200086e-01 -3.70645227e-02 -6.17216978e+02] [-6.35783812e-02 -1.40970115e-04 9.97976838e-01 -5.08371913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.02, Y:-617.25, Z:-50.84 [[ 8.12584911e-01 5.80549467e-01 5.16534576e-02 1.11202107e+03] [-5.79364799e-01 8.14224956e-01 -3.70695388e-02 -6.17254593e+02] [-6.35782352e-02 1.95952782e-04 9.97976838e-01 -5.08378024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.07, Y:-617.29, Z:-50.84 [[ 8.16852749e-01 5.74529914e-01 5.16426515e-02 1.11206959e+03] [-5.73332211e-01 8.18483298e-01 -3.70845870e-02 -6.17293809e+02] [-6.35748523e-02 6.84251282e-04 9.97976838e-01 -5.08422891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.12, Y:-617.33, Z:-50.85 [[ 8.16768908e-01 5.74650068e-01 5.16318834e-02 1.11212131e+03] [-5.73451657e-01 8.18398936e-01 -3.70995731e-02 -6.17328377e+02] [-6.35747507e-02 6.93388672e-04 9.97976839e-01 -5.08451468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.17, Y:-617.36, Z:-50.85 [[ 8.15773890e-01 5.76062321e-01 5.16252135e-02 1.11217148e+03] [-5.74866145e-01 8.17405559e-01 -3.71088521e-02 -6.17362748e+02] [-6.35757480e-02 5.94845145e-04 9.97976839e-01 -5.08502326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.22, Y:-617.40, Z:-50.85 [[ 8.14432306e-01 5.77958239e-01 5.16167938e-02 1.11222216e+03] [-5.76765119e-01 8.16066211e-01 -3.71205599e-02 -6.17397808e+02] [-6.35768548e-02 4.61416952e-04 9.97976839e-01 -5.08536915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1112.27, Y:-617.43, Z:-50.86 [[ 8.12602476e-01 5.80528950e-01 5.16076980e-02 1.11227486e+03] [-5.79340197e-01 8.14239560e-01 -3.71332013e-02 -6.17431504e+02] [-6.35779277e-02 2.76117423e-04 9.97976839e-01 -5.08583355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.33, Y:-617.46, Z:-50.86 [[ 8.09933196e-01 5.84248214e-01 5.15969225e-02 1.11232665e+03] [-5.83066025e-01 8.11575027e-01 -3.71481679e-02 -6.17464924e+02] [-6.35785245e-02 3.12186865e-06 9.97976839e-01 -5.08617832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.38, Y:-617.50, Z:-50.86 [[ 8.08316067e-01 5.86484375e-01 5.15869529e-02 1.11237826e+03] [-5.85305845e-01 8.09960526e-01 -3.71620074e-02 -6.17500007e+02] [-6.35783322e-02 -1.55497357e-04 9.97976839e-01 -5.08641893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.43, Y:-617.54, Z:-50.86 [[ 8.05769433e-01 5.89979099e-01 5.15779450e-02 1.11242799e+03] [-5.88806900e-01 8.07418411e-01 -3.71745054e-02 -6.17538519e+02] [-6.35771636e-02 -4.15369769e-04 9.97976839e-01 -5.08623253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.48, Y:-617.57, Z:-50.87 [[ 8.05623428e-01 5.90178768e-01 5.15743558e-02 1.11247943e+03] [-5.89006659e-01 8.07272470e-01 -3.71794843e-02 -6.17570978e+02] [-6.35770998e-02 -4.24975406e-04 9.97976839e-01 -5.08662974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.53, Y:-617.60, Z:-50.87 [[ 8.05223559e-01 5.90725035e-01 5.15650356e-02 1.11253273e+03] [-5.89553218e-01 8.06872808e-01 -3.71924062e-02 -6.17603610e+02] [-6.35769105e-02 -4.52130992e-04 9.97976839e-01 -5.08695334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.58, Y:-617.64, Z:-50.87 [[ 8.06205797e-01 5.89384647e-01 5.15553063e-02 1.11258453e+03] [-5.88209226e-01 8.07852480e-01 -3.72058879e-02 -6.17638492e+02] [-6.35776611e-02 -3.29704295e-04 9.97976840e-01 -5.08734160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.64, Y:-617.67, Z:-50.88 [[ 8.08131519e-01 5.86742346e-01 5.15448081e-02 1.11263625e+03] [-5.85560613e-01 8.09773678e-01 -3.72204264e-02 -6.17674792e+02] [-6.35784291e-02 -1.03609662e-04 9.97976840e-01 -5.08781956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.69, Y:-617.71, Z:-50.88 [[ 8.12835729e-01 5.80208841e-01 5.15342528e-02 1.11268923e+03] [-5.79012982e-01 8.14467629e-01 -3.72350352e-02 -6.17708075e+02] [-6.35770773e-02 4.26965617e-04 9.97976840e-01 -5.08830831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.74, Y:-617.74, Z:-50.89 [[ 8.14463987e-01 5.77921272e-01 5.15307303e-02 1.11274085e+03] [-5.76720522e-01 8.16092292e-01 -3.72399095e-02 -6.17742753e+02] [-6.35755676e-02 6.11735490e-04 9.97976840e-01 -5.08884767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.79, Y:-617.78, Z:-50.89 [[ 8.14764615e-01 5.77498289e-01 5.15203634e-02 1.11279084e+03] [-5.76295787e-01 8.16391626e-01 -3.72542462e-02 -6.17779356e+02] [-6.35750567e-02 6.62473233e-04 9.97976840e-01 -5.08894808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.84, Y:-617.81, Z:-50.90 [[ 8.15662078e-01 5.76230860e-01 5.15108783e-02 1.11284183e+03] [-5.75025001e-01 8.17286603e-01 -3.72673565e-02 -6.17812182e+02] [-6.35737517e-02 7.77526622e-04 9.97976840e-01 -5.08987905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.89, Y:-617.85, Z:-50.90 [[ 8.14923391e-01 5.77275837e-01 5.15021896e-02 1.11289318e+03] [-5.76071303e-01 8.16548898e-01 -3.72793602e-02 -6.17848228e+02] [-6.35745300e-02 7.10889116e-04 9.97976840e-01 -5.09031413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1112.95, Y:-617.88, Z:-50.91 [[ 8.12474919e-01 5.80717747e-01 5.14917914e-02 1.11294524e+03] [-5.79519190e-01 8.14104838e-01 -3.72937171e-02 -6.17882645e+02] [-6.35768399e-02 4.59728599e-04 9.97976841e-01 -5.09069866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.00, Y:-617.91, Z:-50.92 [[ 8.07790527e-01 5.87217297e-01 5.14811631e-02 1.11299921e+03] [-5.86030920e-01 8.09429333e-01 -3.73083829e-02 -6.17913215e+02] [-6.35784913e-02 -3.21950894e-05 9.97976841e-01 -5.09156666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.05, Y:-617.95, Z:-50.92 [[ 8.01633154e-01 5.95596272e-01 5.14720029e-02 1.11304779e+03] [-5.94426212e-01 8.03283649e-01 -3.73210164e-02 -6.17950378e+02] [-6.35748765e-02 -6.78543564e-04 9.97976841e-01 -5.09168290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.10, Y:-617.99, Z:-50.92 [[ 7.97948083e-01 6.00525065e-01 5.14636080e-02 1.11309894e+03] [-5.99364453e-01 7.99605234e-01 -3.73325888e-02 -6.17986244e+02] [-6.35697257e-02 -1.05598956e-03 9.97976841e-01 -5.09205867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.15, Y:-618.02, Z:-50.92 [[ 7.95340179e-01 6.03975638e-01 5.14531647e-02 1.11314931e+03] [-6.02821284e-01 7.97001696e-01 -3.73469768e-02 -6.18023315e+02] [-6.35649236e-02 -1.31351159e-03 9.97976841e-01 -5.09245360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.20, Y:-618.06, Z:-50.93 [[ 7.97299582e-01 6.01387575e-01 5.14427915e-02 1.11320133e+03] [-6.00226906e-01 7.98956693e-01 -3.73612597e-02 -6.18057237e+02] [-6.35691599e-02 -1.08923083e-03 9.97976841e-01 -5.09339675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.25, Y:-618.10, Z:-50.93 [[ 7.95584103e-01 6.03655946e-01 5.14337849e-02 1.11324771e+03] [-6.02499200e-01 7.97243955e-01 -3.73736546e-02 -6.18100114e+02] [-6.35661029e-02 -1.25492877e-03 9.97976841e-01 -5.09323004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.30, Y:-618.14, Z:-50.94 [[ 7.95969117e-01 6.03148956e-01 5.14247277e-02 1.11329541e+03] [-6.01990348e-01 7.97627670e-01 -3.73861127e-02 -6.18139956e+02] [-6.35671806e-02 -1.19899865e-03 9.97976841e-01 -5.09371405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.34, Y:-618.18, Z:-50.94 [[ 7.95996387e-01 6.03113783e-01 5.14151471e-02 1.11334432e+03] [-6.01954252e-01 7.97654294e-01 -3.73992838e-02 -6.18179609e+02] [-6.35675364e-02 -1.17987167e-03 9.97976842e-01 -5.09404514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1113.39, Y:-618.22, Z:-50.94 [[ 7.96536637e-01 6.02400947e-01 5.14051050e-02 1.11339055e+03] [-6.01239042e-01 7.98192882e-01 -3.74130816e-02 -6.18220898e+02] [-6.35688647e-02 -1.10586588e-03 9.97976842e-01 -5.09433726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.44, Y:-618.26, Z:-50.95 [[ 7.97682367e-01 6.00883738e-01 5.13962563e-02 1.11343851e+03] [-5.99717900e-01 7.99335845e-01 -3.74252335e-02 -6.18261522e+02] [-6.35710842e-02 -9.69806095e-04 9.97976842e-01 -5.09466414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:1113.49, Y:-618.30, Z:-50.96 [[ 7.99894636e-01 5.97936514e-01 5.13857591e-02 1.11348584e+03] [-5.96763657e-01 8.01543144e-01 -3.74396410e-02 -6.18301495e+02] [-6.35744313e-02 -7.17385503e-04 9.97976842e-01 -5.09560755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.53, Y:-618.34, Z:-50.96 [[ 8.04367869e-01 5.91906210e-01 5.13747981e-02 1.11353128e+03] [-5.90720033e-01 8.06006818e-01 -3.74546756e-02 -6.18343395e+02] [-6.35780926e-02 -2.20784858e-04 9.97976842e-01 -5.09557585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:1113.58, Y:-618.38, Z:-50.96 [[ 8.08158211e-01 5.86721385e-01 5.13646131e-02 1.11357802e+03] [-5.85523805e-01 8.09788846e-01 -3.74686380e-02 -6.18383998e+02] [-6.35781419e-02 2.05383762e-04 9.97976842e-01 -5.09647787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.63, Y:-618.42, Z:-50.96 [[ 8.10838479e-01 5.83012037e-01 5.13607364e-02 1.11362715e+03] [-5.81806662e-01 8.12463360e-01 -3.74739513e-02 -6.18420995e+02] [-6.35764811e-02 5.03303093e-04 9.97976842e-01 -5.09627942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.68, Y:-618.46, Z:-50.97 [[ 8.10797471e-01 5.83069953e-01 5.13506659e-02 1.11367713e+03] [-5.81863820e-01 8.12421789e-01 -3.74877458e-02 -6.18457032e+02] [-6.35763781e-02 5.15874805e-04 9.97976842e-01 -5.09683891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1113.73, Y:-618.49, Z:-50.97 [[ 8.10255313e-01 5.83823922e-01 5.13415712e-02 1.11372702e+03] [-5.82618511e-01 8.11880167e-01 -3.75001975e-02 -6.18493851e+02] [-6.35767157e-02 4.72184438e-04 9.97976843e-01 -5.09729383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.78, Y:-618.53, Z:-50.98 [[ 8.08909929e-01 5.85687387e-01 5.13323618e-02 1.11377717e+03] [-5.84484920e-01 8.10536963e-01 -3.75127995e-02 -6.18530888e+02] [-6.35775502e-02 3.41484580e-04 9.97976843e-01 -5.09764502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.83, Y:-618.57, Z:-50.98 [[ 8.07900206e-01 5.87080343e-01 5.13218170e-02 1.11382909e+03] [-5.85879765e-01 8.09528634e-01 -3.75272205e-02 -6.18565782e+02] [-6.35779739e-02 2.49835073e-04 9.97976843e-01 -5.09804309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.88, Y:-618.60, Z:-50.99 [[ 8.06138612e-01 5.89497199e-01 5.13185248e-02 1.11387819e+03] [-5.88301217e-01 8.07770418e-01 -3.75317221e-02 -6.18603253e+02] [-6.35784313e-02 6.50197627e-05 9.97976843e-01 -5.09866576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1113.93, Y:-618.64, Z:-50.99 [[ 8.02537563e-01 5.94390647e-01 5.13149064e-02 1.11392933e+03] [-5.93204298e-01 8.04176386e-01 -3.75366686e-02 -6.18639118e+02] [-6.35776807e-02 -3.15636458e-04 9.97976843e-01 -5.09880586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1113.98, Y:-618.67, Z:-50.99 [[ 7.99510817e-01 5.98456222e-01 5.13089210e-02 1.11398183e+03] [-5.97277681e-01 8.01155264e-01 -3.75448483e-02 -6.18672489e+02] [-6.35753602e-02 -6.28160962e-04 9.97976843e-01 -5.09874166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.03, Y:-618.71, Z:-50.99 [[ 7.95850141e-01 6.03316474e-01 5.13009209e-02 1.11403215e+03] [-6.02147271e-01 7.97501240e-01 -3.75557763e-02 -6.18708426e+02] [-6.35705666e-02 -1.00193964e-03 9.97976843e-01 -5.09941172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.08, Y:-618.74, Z:-51.00 [[ 7.92592929e-01 6.07589536e-01 5.12972203e-02 1.11408255e+03] [-6.06428906e-01 7.94250066e-01 -3.75608304e-02 -6.18742664e+02] [-6.35643881e-02 -1.33766861e-03 9.97976843e-01 -5.09966645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.13, Y:-618.78, Z:-51.00 [[ 7.91946780e-01 6.08432313e-01 5.12876089e-02 1.11413237e+03] [-6.07272597e-01 7.93604556e-01 -3.75739497e-02 -6.18780412e+02] [-6.35632852e-02 -1.38899102e-03 9.97976843e-01 -5.10004514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.18, Y:-618.82, Z:-51.00 [[ 7.92162124e-01 6.08152797e-01 5.12771337e-02 1.11418203e+03] [-6.06991572e-01 7.93818843e-01 -3.75882398e-02 -6.18818042e+02] [-6.35641481e-02 -1.34880808e-03 9.97976843e-01 -5.10047108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.23, Y:-618.86, Z:-51.01 [[ 7.92741162e-01 6.07398698e-01 5.12666721e-02 1.11423156e+03] [-6.06234974e-01 7.94396128e-01 -3.76025030e-02 -6.18856226e+02] [-6.35657571e-02 -1.27059764e-03 9.97976844e-01 -5.10113077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.28, Y:-618.89, Z:-51.01 [[ 7.92253930e-01 6.08034756e-01 5.12586251e-02 1.11428019e+03] [-6.06871652e-01 7.93909330e-01 -3.76134692e-02 -6.18892615e+02] [-6.35649973e-02 -1.30798770e-03 9.97976844e-01 -5.10144246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1114.33, Y:-618.93, Z:-51.02 [[ 7.91796217e-01 6.08631167e-01 5.12528406e-02 1.11432940e+03] [-6.07468800e-01 7.93452135e-01 -3.76213496e-02 -6.18929265e+02] [-6.35642017e-02 -1.34605934e-03 9.97976844e-01 -5.10208258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.38, Y:-618.97, Z:-51.03 [[ 7.91951883e-01 6.08429352e-01 5.12439101e-02 1.11437916e+03] [-6.07265777e-01 7.93606953e-01 -3.76335099e-02 -6.18966421e+02] [-6.35648554e-02 -1.31474387e-03 9.97976844e-01 -5.10263828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.43, Y:-619.00, Z:-51.03 [[ 7.92041276e-01 6.08313749e-01 5.12347558e-02 1.11442760e+03] [-6.07149127e-01 7.93695609e-01 -3.76459686e-02 -6.19002517e+02] [-6.35653610e-02 -1.28997625e-03 9.97976844e-01 -5.10316197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.48, Y:-619.04, Z:-51.04 [[ 7.93400052e-01 6.06541189e-01 5.12263890e-02 1.11447798e+03] [-6.05372136e-01 7.95051257e-01 -3.76573502e-02 -6.19039077e+02] [-6.35683389e-02 -1.13368486e-03 9.97976844e-01 -5.10386632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1114.53, Y:-619.07, Z:-51.05 [[ 7.94826983e-01 6.04670367e-01 5.12231756e-02 1.11452913e+03] [-6.03497146e-01 7.96475228e-01 -3.76617207e-02 -6.19074021e+02] [-6.35709170e-02 -9.78488501e-04 9.97976844e-01 -5.10471029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.58, Y:-619.11, Z:-51.05 [[ 7.97423078e-01 6.01243479e-01 5.12124407e-02 1.11457808e+03] [-6.00062237e-01 7.99065584e-01 -3.76763124e-02 -6.19110226e+02] [-6.35747360e-02 -6.86690753e-04 9.97976844e-01 -5.10462103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.63, Y:-619.15, Z:-51.05 [[ 8.00783813e-01 5.96760917e-01 5.12024658e-02 1.11462720e+03] [-5.95569614e-01 8.02419036e-01 -3.76898635e-02 -6.19148010e+02] [-6.35776708e-02 -3.13200176e-04 9.97976844e-01 -5.10516044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1114.68, Y:-619.19, Z:-51.05 [[ 8.05274968e-01 5.90687331e-01 5.11928096e-02 1.11467648e+03] [-5.89482860e-01 8.06900516e-01 -3.77029746e-02 -6.19185558e+02] [-6.35781740e-02 1.83977817e-04 9.97976844e-01 -5.10532002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.73, Y:-619.22, Z:-51.05 [[ 8.10288314e-01 5.83791493e-01 5.11892665e-02 1.11472604e+03] [-5.82572886e-01 8.11903292e-01 -3.77077845e-02 -6.19222800e+02] [-6.35742178e-02 7.32698456e-04 9.97976844e-01 -5.10548863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1114.78, Y:-619.26, Z:-51.06 [[ 8.12766665e-01 5.80337054e-01 5.11786268e-02 1.11477608e+03] [-5.79110675e-01 8.14375749e-01 -3.77222197e-02 -6.19259066e+02] [-6.35702344e-02 1.02127358e-03 9.97976845e-01 -5.10584974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.83, Y:-619.29, Z:-51.06 [[ 8.13535791e-01 5.79259201e-01 5.11692733e-02 1.11482743e+03] [-5.78029892e-01 8.15142638e-01 -3.77349032e-02 -6.19294565e+02] [-6.35685463e-02 1.12132475e-03 9.97976845e-01 -5.10600704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.88, Y:-619.33, Z:-51.06 [[ 8.10842247e-01 5.83024452e-01 5.11599335e-02 1.11487850e+03] [-5.81801807e-01 8.12454171e-01 -3.77475616e-02 -6.19330503e+02] [-6.35728528e-02 8.42375954e-04 9.97976845e-01 -5.10615291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1114.93, Y:-619.37, Z:-51.06 [[ 8.06703147e-01 5.88739072e-01 5.11501487e-02 1.11492845e+03] [-5.87527007e-01 8.08323040e-01 -3.77608159e-02 -6.19366163e+02] [-6.35771114e-02 4.09675212e-04 9.97976845e-01 -5.10643542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:1114.98, Y:-619.40, Z:-51.07 [[ 8.02689536e-01 5.94200383e-01 5.11411248e-02 1.11497909e+03] [-5.92998560e-01 8.04317043e-01 -3.77730334e-02 -6.19402847e+02] [-6.35784292e-02 -6.59476040e-06 9.97976845e-01 -5.10712828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.03, Y:-619.44, Z:-51.07 [[ 7.98788210e-01 5.99435790e-01 5.11285535e-02 1.11502954e+03] [-5.98243546e-01 8.00422746e-01 -3.77900420e-02 -6.19437020e+02] [-6.35771609e-02 -4.01087173e-04 9.97976845e-01 -5.10747250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.08, Y:-619.47, Z:-51.08 [[ 7.97206767e-01 6.01538265e-01 5.11183499e-02 1.11508048e+03] [-6.00349447e-01 7.98843797e-01 -3.78038393e-02 -6.19474704e+02] [-6.35760326e-02 -5.51396623e-04 9.97976845e-01 -5.10772667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.13, Y:-619.51, Z:-51.08 [[ 7.95984406e-01 6.03155700e-01 5.11080031e-02 1.11513181e+03] [-6.01969310e-01 7.97623196e-01 -3.78178223e-02 -6.19511693e+02] [-6.35749638e-02 -6.63052534e-04 9.97976846e-01 -5.10812592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.18, Y:-619.55, Z:-51.09 [[ 7.95705418e-01 6.03524586e-01 5.10975696e-02 1.11518175e+03] [-6.02338051e-01 7.97344103e-01 -3.78319143e-02 -6.19548830e+02] [-6.35748362e-02 -6.74951350e-04 9.97976846e-01 -5.10864663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.23, Y:-619.59, Z:-51.09 [[ 7.95408821e-01 6.03916310e-01 5.10871608e-02 1.11523138e+03] [-6.02729680e-01 7.97047437e-01 -3.78459649e-02 -6.19586355e+02] [-6.35746860e-02 -6.88733737e-04 9.97976846e-01 -5.10914275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1115.28, Y:-619.62, Z:-51.10 [[ 7.95555546e-01 6.03723555e-01 5.10807437e-02 1.11528133e+03] [-6.02535972e-01 7.97193471e-01 -3.78546240e-02 -6.19624101e+02] [-6.35749636e-02 -6.62529560e-04 9.97976846e-01 -5.10961566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.33, Y:-619.66, Z:-51.10 [[ 7.96105629e-01 6.02998883e-01 5.10702912e-02 1.11533116e+03] [-6.01808904e-01 7.97741815e-01 -3.78687204e-02 -6.19662687e+02] [-6.35757029e-02 -5.87054481e-04 9.97976846e-01 -5.11007475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1115.38, Y:-619.70, Z:-51.11 [[ 7.98465183e-01 5.99871867e-01 5.10597120e-02 1.11538064e+03] [-5.98674569e-01 8.00096020e-01 -3.78829793e-02 -6.19700524e+02] [-6.35776059e-02 -3.19911072e-04 9.97976846e-01 -5.11076329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.43, Y:-619.74, Z:-51.12 [[ 8.01854873e-01 5.95334185e-01 5.10487123e-02 1.11542615e+03] [-5.94126714e-01 8.03478192e-01 -3.78977961e-02 -6.19742369e+02] [-6.35783806e-02 5.91288089e-05 9.97976846e-01 -5.11155095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.47, Y:-619.78, Z:-51.12 [[ 8.05814486e-01 5.89963912e-01 5.10450441e-02 1.11547387e+03] [-5.88745310e-01 8.07429466e-01 -3.79027363e-02 -6.19780054e+02] [-6.35765192e-02 4.90043647e-04 9.97976847e-01 -5.11155748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.52, Y:-619.82, Z:-51.12 [[ 8.09897153e-01 5.84347480e-01 5.10355169e-02 1.11552186e+03] [-5.83116872e-01 8.11503003e-01 -3.79155602e-02 -6.19818858e+02] [-6.35713372e-02 9.48033288e-04 9.97976847e-01 -5.11178226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.57, Y:-619.86, Z:-51.12 [[ 8.13896917e-01 5.78764315e-01 5.10262325e-02 1.11557109e+03] [-5.77521910e-01 8.15493658e-01 -3.79280509e-02 -6.19857338e+02] [-6.35629713e-02 1.40075646e-03 9.97976847e-01 -5.11187261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.62, Y:-619.90, Z:-51.12 [[ 8.14602808e-01 5.77771192e-01 5.10168110e-02 1.11562090e+03] [-5.76526049e-01 8.16197413e-01 -3.79407194e-02 -6.19895244e+02] [-6.35608439e-02 1.49409607e-03 9.97976847e-01 -5.11217841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.67, Y:-619.93, Z:-51.13 [[ 8.13610827e-01 5.79168208e-01 5.10059744e-02 1.11567090e+03] [-5.77924891e-01 8.15206856e-01 -3.79552821e-02 -6.19931152e+02] [-6.35629128e-02 1.40320623e-03 9.97976847e-01 -5.11264131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.72, Y:-619.96, Z:-51.13 [[ 8.09628013e-01 5.84723717e-01 5.09966222e-02 1.11572231e+03] [-5.83490562e-01 8.11231907e-01 -3.79678436e-02 -6.19964315e+02] [-6.35707857e-02 9.83782028e-04 9.97976847e-01 -5.11327358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.77, Y:-620.00, Z:-51.14 [[ 8.05320434e-01 5.90643052e-01 5.09880706e-02 1.11577468e+03] [-5.89420961e-01 8.06932774e-01 -3.79793243e-02 -6.19997701e+02] [-6.35761693e-02 5.32088306e-04 9.97976847e-01 -5.11372448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.83, Y:-620.03, Z:-51.14 [[ 8.00412647e-01 5.97277819e-01 5.09784530e-02 1.11582804e+03] [-5.96068271e-01 8.02034418e-01 -3.79922293e-02 -6.20031617e+02] [-6.35783897e-02 2.28224291e-05 9.97976847e-01 -5.11401880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.88, Y:-620.06, Z:-51.14 [[ 7.93846044e-01 6.05979156e-01 5.09678472e-02 1.11587956e+03] [-6.04786470e-01 7.95480255e-01 -3.80064521e-02 -6.20064123e+02] [-6.35750338e-02 -6.53392711e-04 9.97976848e-01 -5.11433111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.93, Y:-620.10, Z:-51.15 [[ 7.90882732e-01 6.09842025e-01 5.09628163e-02 1.11593096e+03] [-6.08656885e-01 7.92522424e-01 -3.80131968e-02 -6.20099497e+02] [-6.35712196e-02 -9.54888116e-04 9.97976848e-01 -5.11467073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1115.98, Y:-620.14, Z:-51.15 [[ 7.89557983e-01 6.11556951e-01 5.09537792e-02 1.11598289e+03] [-6.10374591e-01 7.91199681e-01 -3.80253065e-02 -6.20135245e+02] [-6.35692543e-02 -1.07770789e-03 9.97976848e-01 -5.11498324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.03, Y:-620.17, Z:-51.15 [[ 7.88097309e-01 6.13439057e-01 5.09426714e-02 1.11603235e+03] [-6.12259656e-01 7.89741134e-01 -3.80401818e-02 -6.20171528e+02] [-6.35668563e-02 -1.21077756e-03 9.97976848e-01 -5.11540909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.08, Y:-620.21, Z:-51.16 [[ 7.87752912e-01 6.13882104e-01 5.09324230e-02 1.11608312e+03] [-6.12702742e-01 7.89396764e-01 -3.80538986e-02 -6.20208043e+02] [-6.35664973e-02 -1.22936585e-03 9.97976848e-01 -5.11582108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.13, Y:-620.24, Z:-51.16 [[ 7.88632514e-01 6.12752545e-01 5.09222549e-02 1.11613367e+03] [-6.11569950e-01 7.90274042e-01 -3.80675004e-02 -6.20244256e+02] [-6.35684939e-02 -1.12125237e-03 9.97976848e-01 -5.11634566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.18, Y:-620.28, Z:-51.17 [[ 7.88867348e-01 6.12451027e-01 5.09121592e-02 1.11618241e+03] [-6.11266934e-01 7.90507795e-01 -3.80809977e-02 -6.20282733e+02] [-6.35692049e-02 -1.08006378e-03 9.97976848e-01 -5.11668817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.23, Y:-620.32, Z:-51.17 [[ 7.89625750e-01 6.11473805e-01 5.09014855e-02 1.11623134e+03] [-6.10286763e-01 7.91264064e-01 -3.80952596e-02 -6.20321815e+02] [-6.35707696e-02 -9.83504832e-04 9.97976848e-01 -5.11700314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.28, Y:-620.36, Z:-51.17 [[ 7.90347585e-01 6.10541461e-01 5.08902689e-02 1.11627915e+03] [-6.09351521e-01 7.91983796e-01 -3.81102376e-02 -6.20361483e+02] [-6.35721485e-02 -8.89728511e-04 9.97976849e-01 -5.11721257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.33, Y:-620.40, Z:-51.18 [[ 7.92393031e-01 6.07885283e-01 5.08799284e-02 1.11632643e+03] [-6.06688973e-01 7.94024589e-01 -3.81240380e-02 -6.20402377e+02] [-6.35749558e-02 -6.59069500e-04 9.97976849e-01 -5.11764659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.37, Y:-620.44, Z:-51.18 [[ 7.93490599e-01 6.06452802e-01 5.08691277e-02 1.11637470e+03] [-6.05252623e-01 7.95119313e-01 -3.81384440e-02 -6.20442366e+02] [-6.35761921e-02 -5.26176169e-04 9.97976849e-01 -5.11808627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1116.42, Y:-620.48, Z:-51.19 [[ 7.94357137e-01 6.05318248e-01 5.08582171e-02 1.11642291e+03] [-6.04114811e-01 7.95983445e-01 -3.81529879e-02 -6.20482142e+02] [-6.35769986e-02 -4.17103965e-04 9.97976849e-01 -5.11863155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.47, Y:-620.53, Z:-51.19 [[ 7.92579996e-01 6.07643592e-01 5.08548429e-02 1.11646635e+03] [-6.06444637e-01 7.94209612e-01 -3.81574849e-02 -6.20527676e+02] [-6.35755562e-02 -5.97787529e-04 9.97976849e-01 -5.11860924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.51, Y:-620.57, Z:-51.19 [[ 7.92092761e-01 6.08278765e-01 5.08527511e-02 1.11651416e+03] [-6.07080939e-01 7.93723206e-01 -3.81602725e-02 -6.20567796e+02] [-6.35750920e-02 -6.45260292e-04 9.97976849e-01 -5.11894535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.56, Y:-620.61, Z:-51.19 [[ 7.91713206e-01 6.08773512e-01 5.08430016e-02 1.11656283e+03] [-6.07575871e-01 7.93343787e-01 -3.81732578e-02 -6.20606286e+02] [-6.35748477e-02 -6.68708637e-04 9.97976849e-01 -5.11930276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.61, Y:-620.64, Z:-51.20 [[ 7.93787601e-01 6.06067013e-01 5.08332623e-02 1.11661328e+03] [-6.04862982e-01 7.95413469e-01 -3.81862227e-02 -6.20639949e+02] [-6.35768714e-02 -4.35408533e-04 9.97976849e-01 -5.12010049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:1116.66, Y:-620.68, Z:-51.20 [[ 7.92299702e-01 6.08011529e-01 5.08248224e-02 1.11665955e+03] [-6.06810767e-01 7.93927986e-01 -3.81974528e-02 -6.20681887e+02] [-6.35757405e-02 -5.77218979e-04 9.97976849e-01 -5.12019951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.71, Y:-620.72, Z:-51.21 [[ 7.92798903e-01 6.07361401e-01 5.08136634e-02 1.11670928e+03] [-6.06158353e-01 7.94425498e-01 -3.82122917e-02 -6.20717571e+02] [-6.35763409e-02 -5.06463579e-04 9.97976850e-01 -5.12061461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.76, Y:-620.76, Z:-51.21 [[ 7.91107054e-01 6.09564316e-01 5.08032941e-02 1.11675797e+03] [-6.08364912e-01 7.92736338e-01 -3.82260727e-02 -6.20757344e+02] [-6.35748672e-02 -6.66025752e-04 9.97976850e-01 -5.12106765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.81, Y:-620.80, Z:-51.22 [[ 7.89374678e-01 6.11806948e-01 5.07924856e-02 1.11680720e+03] [-6.10611249e-01 7.91006683e-01 -3.82404290e-02 -6.20795303e+02] [-6.35729557e-02 -8.28436827e-04 9.97976850e-01 -5.12152267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.86, Y:-620.83, Z:-51.22 [[ 7.87884556e-01 6.13725561e-01 5.07824933e-02 1.11685776e+03] [-6.12532982e-01 7.89518842e-01 -3.82536940e-02 -6.20832205e+02] [-6.35710051e-02 -9.66457277e-04 9.97976850e-01 -5.12194534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.91, Y:-620.87, Z:-51.23 [[ 7.87333916e-01 6.14432691e-01 5.07717717e-02 1.11690905e+03] [-6.13240663e-01 7.88968603e-01 -3.82679189e-02 -6.20866288e+02] [-6.35703942e-02 -1.00568443e-03 9.97976850e-01 -5.12254877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1116.96, Y:-620.90, Z:-51.22 [[ 7.86649495e-01 6.15309477e-01 5.07623823e-02 1.11695759e+03] [-6.14118467e-01 7.88284924e-01 -3.82803699e-02 -6.20904432e+02] [-6.35694950e-02 -1.06088274e-03 9.97976850e-01 -5.12237666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.01, Y:-620.94, Z:-51.23 [[ 7.89359211e-01 6.11830100e-01 5.07539742e-02 1.11700778e+03] [-6.10631164e-01 7.90988838e-01 -3.82915144e-02 -6.20937933e+02] [-6.35737282e-02 -7.66198735e-04 9.97976850e-01 -5.12331315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.06, Y:-620.98, Z:-51.23 [[ 7.90769000e-01 6.10007346e-01 5.07486579e-02 1.11705561e+03] [-6.08804201e-01 7.92395523e-01 -3.82985590e-02 -6.20979609e+02] [-6.35754117e-02 -6.10682956e-04 9.97976851e-01 -5.12328485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.11, Y:-621.01, Z:-51.24 [[ 7.93516937e-01 6.06429120e-01 5.07404453e-02 1.11710591e+03] [-6.05217945e-01 7.95137489e-01 -3.83094365e-02 -6.21014284e+02] [-6.35775881e-02 -3.09841292e-04 9.97976851e-01 -5.12373781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1117.16, Y:-621.05, Z:-51.24 [[ 7.94789162e-01 6.04761253e-01 5.07347530e-02 1.11715685e+03] [-6.03546196e-01 7.96406805e-01 -3.83169735e-02 -6.21051336e+02] [-6.35781235e-02 -1.66851933e-04 9.97976851e-01 -5.12424122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.21, Y:-621.09, Z:-51.25 [[ 7.94892520e-01 6.04626280e-01 5.07241806e-02 1.11720743e+03] [-6.03410055e-01 7.96509286e-01 -3.83309644e-02 -6.21088508e+02] [-6.35781892e-02 -1.38483738e-04 9.97976851e-01 -5.12477990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.26, Y:-621.12, Z:-51.25 [[ 7.93711704e-01 6.06176448e-01 5.07133597e-02 1.11725700e+03] [-6.04962466e-01 7.95330154e-01 -3.83452754e-02 -6.21124226e+02] [-6.35778671e-02 -2.44585302e-04 9.97976851e-01 -5.12548571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.31, Y:-621.16, Z:-51.26 [[ 7.91816618e-01 6.08650535e-01 5.07047285e-02 1.11730716e+03] [-6.07440880e-01 7.93438304e-01 -3.83566852e-02 -6.21159907e+02] [-6.35768908e-02 -4.28664105e-04 9.97976851e-01 -5.12614045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.36, Y:-621.20, Z:-51.26 [[ 7.89454485e-01 6.11711995e-01 5.06956626e-02 1.11735736e+03] [-6.10507859e-01 7.91080274e-01 -3.83686638e-02 -6.21196496e+02] [-6.35749106e-02 -6.59786676e-04 9.97976851e-01 -5.12648809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.41, Y:-621.23, Z:-51.27 [[ 7.88063212e-01 6.13504127e-01 5.06859006e-02 1.11740648e+03] [-6.12302859e-01 7.89691120e-01 -3.83815553e-02 -6.21233971e+02] [-6.35734482e-02 -7.88030143e-04 9.97976851e-01 -5.12670118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.46, Y:-621.27, Z:-51.27 [[ 7.90561279e-01 6.10282553e-01 5.06761309e-02 1.11745641e+03] [-6.09073824e-01 7.92183655e-01 -3.83944502e-02 -6.21269015e+02] [-6.35762657e-02 -5.12339179e-04 9.97976851e-01 -5.12734073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.50, Y:-621.31, Z:-51.27 [[ 7.92043298e-01 6.08358317e-01 5.06712246e-02 1.11750406e+03] [-6.07145232e-01 7.93662419e-01 -3.84009242e-02 -6.21310336e+02] [-6.35773684e-02 -3.49597796e-04 9.97976851e-01 -5.12714791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.55, Y:-621.35, Z:-51.27 [[ 7.95360945e-01 6.04014693e-01 5.06677134e-02 1.11755269e+03] [-6.02792471e-01 7.96973180e-01 -3.84055565e-02 -6.21349465e+02] [-6.35783291e-02 4.16350442e-06 9.97976852e-01 -5.12738697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.60, Y:-621.39, Z:-51.28 [[ 7.96620091e-01 6.02353889e-01 5.06579127e-02 1.11760235e+03] [-6.01127483e-01 7.98229146e-01 -3.84184796e-02 -6.21386887e+02] [-6.35781429e-02 1.53069131e-04 9.97976852e-01 -5.12788792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1117.65, Y:-621.43, Z:-51.28 [[ 7.97347707e-01 6.01391222e-01 5.06481358e-02 1.11765162e+03] [-6.00162055e-01 7.98954653e-01 -3.84313644e-02 -6.21426551e+02] [-6.35778490e-02 2.46070991e-04 9.97976852e-01 -5.12819896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.70, Y:-621.46, Z:-51.29 [[ 7.97911021e-01 6.00644576e-01 5.06368992e-02 1.11770318e+03] [-5.99412967e-01 7.99516096e-01 -3.84461640e-02 -6.21460684e+02] [-6.35774958e-02 3.24204027e-04 9.97976852e-01 -5.12913802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.75, Y:-621.50, Z:-51.30 [[ 7.95267849e-01 6.04140664e-01 5.06271333e-02 1.11775411e+03] [-6.02915292e-01 7.96877691e-01 -3.84590198e-02 -6.21496810e+02] [-6.35782908e-02 6.13490733e-05 9.97976852e-01 -5.12974677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.81, Y:-621.53, Z:-51.31 [[ 7.91906848e-01 6.08540523e-01 5.06159705e-02 1.11780572e+03] [-6.07323156e-01 7.93522752e-01 -3.84737055e-02 -6.21531581e+02] [-6.35777331e-02 -2.72660092e-04 9.97976852e-01 -5.13065150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1117.85, Y:-621.57, Z:-51.31 [[ 7.88687594e-01 6.12707950e-01 5.06048245e-02 1.11785330e+03] [-6.11498181e-01 7.90309193e-01 -3.84883604e-02 -6.21570676e+02] [-6.35755824e-02 -5.89465793e-04 9.97976852e-01 -5.13063729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.90, Y:-621.61, Z:-51.31 [[ 7.90006590e-01 6.11007071e-01 5.05959224e-02 1.11790341e+03] [-6.09793061e-01 7.91625017e-01 -3.85000593e-02 -6.21606246e+02] [-6.35768064e-02 -4.37741834e-04 9.97976853e-01 -5.13121701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1117.95, Y:-621.65, Z:-51.31 [[ 7.90169096e-01 6.10797649e-01 5.05868808e-02 1.11795171e+03] [-6.09582450e-01 7.91786630e-01 -3.85119358e-02 -6.21645420e+02] [-6.35770157e-02 -4.05933215e-04 9.97976853e-01 -5.13101056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.00, Y:-621.68, Z:-51.31 [[ 7.90665743e-01 6.10155428e-01 5.05770370e-02 1.11800013e+03] [-6.08938089e-01 7.92281667e-01 -3.85248592e-02 -6.21682242e+02] [-6.35774111e-02 -3.37997786e-04 9.97976853e-01 -5.13145130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.05, Y:-621.72, Z:-51.32 [[ 7.91656054e-01 6.08870726e-01 5.05680760e-02 1.11805063e+03] [-6.07650013e-01 7.93269431e-01 -3.85366180e-02 -6.21718069e+02] [-6.35779274e-02 -2.19945092e-04 9.97976853e-01 -5.13207733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1118.10, Y:-621.75, Z:-51.33 [[ 7.90773595e-01 6.10016674e-01 5.05645946e-02 1.11810101e+03] [-6.08798007e-01 7.92388518e-01 -3.85411854e-02 -6.21753337e+02] [-6.35775699e-02 -3.06272636e-04 9.97976853e-01 -5.13279956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.15, Y:-621.79, Z:-51.33 [[ 7.89702643e-01 6.11403316e-01 5.05541465e-02 1.11815171e+03] [-6.10186607e-01 7.91319041e-01 -3.85548852e-02 -6.21790478e+02] [-6.35770434e-02 -4.00568468e-04 9.97976853e-01 -5.13331620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.20, Y:-621.83, Z:-51.34 [[ 7.87866346e-01 6.13768779e-01 5.05421311e-02 1.11819924e+03] [-6.12555914e-01 7.89485629e-01 -3.85706300e-02 -6.21828005e+02] [-6.35757347e-02 -5.71380014e-04 9.97976853e-01 -5.13381187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.25, Y:-621.87, Z:-51.34 [[ 7.87428465e-01 6.14331249e-01 5.05324481e-02 1.11824832e+03] [-6.13118727e-01 7.89048006e-01 -3.85833117e-02 -6.21865178e+02] [-6.35754615e-02 -6.00792318e-04 9.97976853e-01 -5.13427048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1118.30, Y:-621.90, Z:-51.35 [[ 7.89816799e-01 6.11258410e-01 5.05230629e-02 1.11829688e+03] [-6.10038801e-01 7.91431009e-01 -3.85955974e-02 -6.21904904e+02] [-6.35774021e-02 -3.37577524e-04 9.97976853e-01 -5.13464412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.35, Y:-621.94, Z:-51.35 [[ 7.94593053e-01 6.05037487e-01 5.05125715e-02 1.11834688e+03] [-6.03804367e-01 7.96196965e-01 -3.86093232e-02 -6.21942096e+02] [-6.35780441e-02 1.78988768e-04 9.97976854e-01 -5.13515065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.39, Y:-621.98, Z:-51.35 [[ 7.98670749e-01 5.99645316e-01 5.05027778e-02 1.11839196e+03] [-5.98400557e-01 8.00265646e-01 -3.86221297e-02 -6.21983382e+02] [-6.35752172e-02 6.25474889e-04 9.97976854e-01 -5.13522614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.44, Y:-622.02, Z:-51.35 [[ 7.99994448e-01 5.97878672e-01 5.04972998e-02 1.11844196e+03] [-5.96629940e-01 8.01586236e-01 -3.86292907e-02 -6.22019305e+02] [-6.35735694e-02 7.75017169e-04 9.97976854e-01 -5.13544409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.49, Y:-622.06, Z:-51.36 [[ 8.01076907e-01 5.96427972e-01 5.04922130e-02 1.11849231e+03] [-5.95175938e-01 8.02666100e-01 -3.86359384e-02 -6.22056097e+02] [-6.35719421e-02 8.98607846e-04 9.97976854e-01 -5.13583606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.54, Y:-622.09, Z:-51.37 [[ 8.01995409e-01 5.95193271e-01 5.04810298e-02 1.11854402e+03] [-5.93937872e-01 8.03581943e-01 -3.86505447e-02 -6.22091812e+02] [-6.35701882e-02 1.01496395e-03 9.97976854e-01 -5.13683208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.59, Y:-622.13, Z:-51.37 [[ 7.99251798e-01 5.98873401e-01 5.04699122e-02 1.11859334e+03] [-5.97624392e-01 8.00843368e-01 -3.86650567e-02 -6.22129598e+02] [-6.35739685e-02 7.41065483e-04 9.97976854e-01 -5.13709411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.64, Y:-622.16, Z:-51.38 [[ 7.97089387e-01 6.01749350e-01 5.04601694e-02 1.11864452e+03] [-6.00505279e-01 7.98684819e-01 -3.86777675e-02 -6.22163023e+02] [-6.35760927e-02 5.28039886e-04 9.97976854e-01 -5.13798698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.70, Y:-622.20, Z:-51.38 [[ 7.95232440e-01 6.04201982e-01 5.04512736e-02 1.11869661e+03] [-6.02962095e-01 7.96831127e-01 -3.86893676e-02 -6.22197200e+02] [-6.35773378e-02 3.46834523e-04 9.97976854e-01 -5.13835649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.75, Y:-622.23, Z:-51.39 [[ 7.95316868e-01 6.04091627e-01 5.04419061e-02 1.11874693e+03] [-6.02850744e-01 7.96914781e-01 -3.87015769e-02 -6.22233439e+02] [-6.35771991e-02 3.71076291e-04 9.97976855e-01 -5.13850634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.80, Y:-622.27, Z:-51.39 [[ 7.95789560e-01 6.03469597e-01 5.04323507e-02 1.11879619e+03] [-6.02226676e-01 7.97385888e-01 -3.87140245e-02 -6.22270442e+02] [-6.35767816e-02 4.36509543e-04 9.97976855e-01 -5.13863366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.85, Y:-622.31, Z:-51.39 [[ 7.96119822e-01 6.03034575e-01 5.04235045e-02 1.11884626e+03] [-6.01790052e-01 7.97714902e-01 -3.87255430e-02 -6.22306852e+02] [-6.35764223e-02 4.85808994e-04 9.97976855e-01 -5.13896000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.89, Y:-622.34, Z:-51.39 [[ 7.93508797e-01 6.06467022e-01 5.04136881e-02 1.11889496e+03] [-6.05228588e-01 7.95108609e-01 -3.87383180e-02 -6.22344042e+02] [-6.35778697e-02 2.27390886e-04 9.97976855e-01 -5.13904523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1118.95, Y:-622.38, Z:-51.39 [[ 7.90808599e-01 6.09984530e-01 5.04047038e-02 1.11894585e+03] [-6.08752466e-01 7.92413321e-01 -3.87500044e-02 -6.22380450e+02] [-6.35782620e-02 -4.01511042e-05 9.97976855e-01 -5.13948755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.00, Y:-622.42, Z:-51.40 [[ 7.86253572e-01 6.15845566e-01 5.03940323e-02 1.11899678e+03] [-6.14624575e-01 7.87866736e-01 -3.87638777e-02 -6.22416276e+02] [-6.35763439e-02 -4.95173356e-04 9.97976855e-01 -5.14005975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.05, Y:-622.45, Z:-51.41 [[ 7.83726896e-01 6.19058685e-01 5.03835088e-02 1.11904650e+03] [-6.17843428e-01 7.85344383e-01 -3.87775508e-02 -6.22453877e+02] [-6.35739853e-02 -7.38110278e-04 9.97976855e-01 -5.14053005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.10, Y:-622.49, Z:-51.41 [[ 7.82408252e-01 6.20725201e-01 5.03741240e-02 1.11909594e+03] [-6.19512605e-01 7.84027734e-01 -3.87897384e-02 -6.22492115e+02] [-6.35724785e-02 -8.57993449e-04 9.97976855e-01 -5.14100705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1119.14, Y:-622.53, Z:-51.41 [[ 7.81891370e-01 6.21377076e-01 5.03628299e-02 1.11914445e+03] [-6.20164886e-01 7.83511157e-01 -3.88043966e-02 -6.22528881e+02] [-6.35720016e-02 -8.92435817e-04 9.97976856e-01 -5.14133841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.19, Y:-622.57, Z:-51.42 [[ 7.82822208e-01 6.20204712e-01 5.03538181e-02 1.11919411e+03] [-6.18989344e-01 7.84439611e-01 -3.88160871e-02 -6.22566803e+02] [-6.35734496e-02 -7.82381770e-04 9.97976856e-01 -5.14175153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.24, Y:-622.61, Z:-51.42 [[ 7.84679058e-01 6.17854639e-01 5.03430292e-02 1.11924324e+03] [-6.16633530e-01 7.86292131e-01 -3.88300749e-02 -6.22606425e+02] [-6.35756696e-02 -5.74053201e-04 9.97976856e-01 -5.14210780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.29, Y:-622.65, Z:-51.42 [[ 7.89317026e-01 6.11919370e-01 5.03320730e-02 1.11929087e+03] [-6.10685225e-01 7.90920147e-01 -3.88442713e-02 -6.22646882e+02] [-6.35782126e-02 -7.66085649e-05 9.97976856e-01 -5.14244046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.34, Y:-622.69, Z:-51.43 [[ 7.92583224e-01 6.07683822e-01 5.03210331e-02 1.11933881e+03] [-6.06440202e-01 7.94179006e-01 -3.88585678e-02 -6.22687466e+02] [-6.35776310e-02 2.81951479e-04 9.97976856e-01 -5.14282341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1119.39, Y:-622.73, Z:-51.43 [[ 7.95361809e-01 6.04043448e-01 5.03101021e-02 1.11938705e+03] [-6.02791629e-01 7.96951168e-01 -3.88727149e-02 -6.22728453e+02] [-6.35755034e-02 5.91364456e-04 9.97976856e-01 -5.14319462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1119.43, Y:-622.77, Z:-51.44 [[ 7.97487422e-01 6.01235233e-01 5.02991698e-02 1.11943383e+03] [-5.99976926e-01 7.99071649e-01 -3.88868555e-02 -6.22767408e+02] [-6.35727882e-02 8.33436862e-04 9.97976856e-01 -5.14374427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.48, Y:-622.81, Z:-51.44 [[ 7.97783703e-01 6.00842771e-01 5.02904398e-02 1.11948257e+03] [-5.99582974e-01 7.99366745e-01 -3.88981424e-02 -6.22805632e+02] [-6.35721728e-02 8.79012587e-04 9.97976857e-01 -5.14424691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.53, Y:-622.84, Z:-51.45 [[ 7.97627428e-01 6.01050987e-01 5.02811785e-02 1.11953081e+03] [-5.99790849e-01 7.99210198e-01 -3.89101103e-02 -6.22844510e+02] [-6.35721908e-02 8.77580413e-04 9.97976857e-01 -5.14464779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.58, Y:-622.88, Z:-51.45 [[ 7.97206780e-01 6.01609593e-01 5.02717430e-02 1.11958030e+03] [-6.00349796e-01 7.98789821e-01 -3.89222971e-02 -6.22883572e+02] [-6.35725839e-02 8.48488449e-04 9.97976857e-01 -5.14493638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.63, Y:-622.92, Z:-51.45 [[ 7.95957528e-01 6.03262334e-01 5.02610266e-02 1.11962794e+03] [-6.02004950e-01 7.97542487e-01 -3.89361304e-02 -6.22922836e+02] [-6.35740050e-02 7.34119310e-04 9.97976857e-01 -5.14520024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1119.68, Y:-622.96, Z:-51.46 [[ 7.94519204e-01 6.05156226e-01 5.02511432e-02 1.11967683e+03] [-6.03901814e-01 7.96106515e-01 -3.89488819e-02 -6.22961323e+02] [-6.35754208e-02 5.98878047e-04 9.97976857e-01 -5.14550605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.73, Y:-623.00, Z:-51.46 [[ 7.92613232e-01 6.07650760e-01 5.02475654e-02 1.11972674e+03] [-6.06401051e-01 7.94204250e-01 -3.89534970e-02 -6.22997300e+02] [-6.35769520e-02 4.04880645e-04 9.97976857e-01 -5.14564466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.78, Y:-623.03, Z:-51.46 [[ 7.90846325e-01 6.09949467e-01 5.02368281e-02 1.11977574e+03] [-6.08703503e-01 7.92440276e-01 -3.89673395e-02 -6.23034443e+02] [-6.35777939e-02 2.37843944e-04 9.97976857e-01 -5.14600906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1119.83, Y:-623.07, Z:-51.46 [[ 7.88908682e-01 6.12454109e-01 5.02300277e-02 1.11982561e+03] [-6.11212648e-01 7.90506143e-01 -3.89761036e-02 -6.23072114e+02] [-6.35782202e-02 4.73582729e-05 9.97976857e-01 -5.14631010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.88, Y:-623.11, Z:-51.47 [[ 7.86392671e-01 6.15682210e-01 5.02193506e-02 1.11987525e+03] [-6.14446429e-01 7.87994529e-01 -3.89898557e-02 -6.23107669e+02] [-6.35779341e-02 -1.95763902e-04 9.97976857e-01 -5.14663761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.93, Y:-623.15, Z:-51.47 [[ 7.84812944e-01 6.17695329e-01 5.02107858e-02 1.11992523e+03] [-6.16462951e-01 7.86417422e-01 -3.90008824e-02 -6.23145789e+02] [-6.35772996e-02 -3.44691850e-04 9.97976858e-01 -5.14701812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1119.97, Y:-623.18, Z:-51.48 [[ 7.83493520e-01 6.19368940e-01 5.01998001e-02 1.11997451e+03] [-6.18139083e-01 7.85099931e-01 -3.90150174e-02 -6.23184126e+02] [-6.35765496e-02 -4.62445034e-04 9.97976858e-01 -5.14751578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.02, Y:-623.22, Z:-51.48 [[ 7.82415678e-01 6.20730842e-01 5.01889342e-02 1.12002398e+03] [-6.19502885e-01 7.84023541e-01 -3.90289903e-02 -6.23222889e+02] [-6.35758039e-02 -5.55295655e-04 9.97976858e-01 -5.14790539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.07, Y:-623.26, Z:-51.48 [[ 7.81287144e-01 6.22151560e-01 5.01780364e-02 1.12007180e+03] [-6.20925627e-01 7.82896551e-01 -3.90429961e-02 -6.23262471e+02] [-6.35748726e-02 -6.53037796e-04 9.97976858e-01 -5.14834822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.12, Y:-623.30, Z:-51.49 [[ 7.81318758e-01 6.22112656e-01 5.01681418e-02 1.12012166e+03] [-6.20885827e-01 7.82927482e-01 -3.90557060e-02 -6.23299926e+02] [-6.35750660e-02 -6.33732528e-04 9.97976858e-01 -5.14888315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.17, Y:-623.34, Z:-51.49 [[ 7.79782918e-01 6.24037451e-01 5.01583677e-02 1.12016993e+03] [-6.22813785e-01 7.81394049e-01 -3.90682547e-02 -6.23339890e+02] [-6.35735041e-02 -7.74565200e-04 9.97976858e-01 -5.14902454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.22, Y:-623.38, Z:-51.50 [[ 7.78735236e-01 6.25345274e-01 5.01469838e-02 1.12021957e+03] [-6.24123374e-01 7.80347707e-01 -3.90828613e-02 -6.23378832e+02] [-6.35723665e-02 -8.62703494e-04 9.97976858e-01 -5.14967839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.27, Y:-623.42, Z:-51.50 [[ 7.77988013e-01 6.26275065e-01 5.01417476e-02 1.12026906e+03] [-6.25054660e-01 7.79601615e-01 -3.90895780e-02 -6.23416755e+02] [-6.35714154e-02 -9.30109920e-04 9.97976859e-01 -5.15002690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.32, Y:-623.46, Z:-51.50 [[ 7.76484963e-01 6.28138634e-01 5.01294226e-02 1.12031848e+03] [-6.26921081e-01 7.78100718e-01 -3.91053776e-02 -6.23455667e+02] [-6.35693382e-02 -1.06245415e-03 9.97976859e-01 -5.15045725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1120.37, Y:-623.49, Z:-51.51 [[ 7.74490714e-01 6.30596795e-01 5.01180279e-02 1.12036667e+03] [-6.29383425e-01 7.76109613e-01 -3.91199757e-02 -6.23493899e+02] [-6.35660145e-02 -1.24539814e-03 9.97976859e-01 -5.15076867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.42, Y:-623.53, Z:-51.51 [[ 7.74074052e-01 6.31108966e-01 5.01082355e-02 1.12041572e+03] [-6.29895857e-01 7.75693146e-01 -3.91325147e-02 -6.23533233e+02] [-6.35654957e-02 -1.27150568e-03 9.97976859e-01 -5.15127170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.46, Y:-623.57, Z:-51.52 [[ 7.74695642e-01 6.30346681e-01 5.00971465e-02 1.12046419e+03] [-6.29131061e-01 7.76312852e-01 -3.91467056e-02 -6.23572884e+02] [-6.35670546e-02 -1.19088865e-03 9.97976859e-01 -5.15166954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.51, Y:-623.61, Z:-51.52 [[ 7.78124361e-01 6.26110107e-01 5.00860562e-02 1.12051228e+03] [-6.24884768e-01 7.79734219e-01 -3.91608899e-02 -6.23613431e+02] [-6.35728409e-02 -8.25971180e-04 9.97976859e-01 -5.15193093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.56, Y:-623.65, Z:-51.52 [[ 7.81183948e-01 6.22289435e-01 5.00749330e-02 1.12056024e+03] [-6.21055310e-01 7.82787080e-01 -3.91751080e-02 -6.23653395e+02] [-6.35762664e-02 -4.96337507e-04 9.97976860e-01 -5.15222877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.61, Y:-623.69, Z:-51.53 [[ 7.84007329e-01 6.18729447e-01 5.00637593e-02 1.12060811e+03] [-6.17487130e-01 7.85604122e-01 -3.91893822e-02 -6.23692834e+02] [-6.35779204e-02 -1.88964140e-04 9.97976860e-01 -5.15259470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.66, Y:-623.73, Z:-51.53 [[ 7.86297158e-01 6.15817693e-01 5.00534668e-02 1.12065618e+03] [-6.14568626e-01 7.87888676e-01 -3.92025236e-02 -6.23731521e+02] [-6.35781673e-02 6.35425625e-05 9.97976860e-01 -5.15314827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.71, Y:-623.77, Z:-51.54 [[ 7.85974024e-01 6.16230829e-01 5.00439604e-02 1.12070560e+03] [-6.14981827e-01 7.87565593e-01 -3.92146552e-02 -6.23770038e+02] [-6.35781809e-02 4.55741475e-05 9.97976860e-01 -5.15354908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.75, Y:-623.81, Z:-51.54 [[ 7.85320993e-01 6.17063714e-01 5.00331040e-02 1.12075404e+03] [-6.15815517e-01 7.86913193e-01 -3.92285018e-02 -6.23807841e+02] [-6.35781946e-02 -4.19580759e-06 9.97976860e-01 -5.15413266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.80, Y:-623.85, Z:-51.55 [[ 7.83789690e-01 6.19008355e-01 5.00237781e-02 1.12080293e+03] [-6.17763350e-01 7.85384387e-01 -3.92403905e-02 -6.23845862e+02] [-6.35780239e-02 -1.46643283e-04 9.97976860e-01 -5.15458093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.85, Y:-623.88, Z:-51.55 [[ 7.81285876e-01 6.22166353e-01 5.00141028e-02 1.12085252e+03] [-6.20927004e-01 7.82884972e-01 -3.92527183e-02 -6.23882631e+02] [-6.35770101e-02 -3.87512647e-04 9.97976860e-01 -5.15499027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.90, Y:-623.92, Z:-51.55 [[ 7.79813792e-01 6.24011267e-01 5.00038780e-02 1.12090238e+03] [-6.22774867e-01 7.81415169e-01 -3.92657394e-02 -6.23920343e+02] [-6.35760526e-02 -5.21193343e-04 9.97976860e-01 -5.15530055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1120.95, Y:-623.96, Z:-51.56 [[ 7.78737205e-01 6.25355043e-01 4.99943521e-02 1.12095157e+03] [-6.24120628e-01 7.80340113e-01 -3.92778643e-02 -6.23959320e+02] [-6.35752089e-02 -6.15372118e-04 9.97976861e-01 -5.15554511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.00, Y:-624.00, Z:-51.56 [[ 7.77979028e-01 6.26298893e-01 4.99832763e-02 1.12100033e+03] [-6.25065518e-01 7.79582735e-01 -3.92919539e-02 -6.23998031e+02] [-6.35746065e-02 -6.74506358e-04 9.97976861e-01 -5.15585551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.05, Y:-624.04, Z:-51.56 [[ 7.77808064e-01 6.26511970e-01 4.99736721e-02 1.12105020e+03] [-6.25278249e-01 7.79411505e-01 -3.93041652e-02 -6.24036960e+02] [-6.35745850e-02 -6.76353605e-04 9.97976861e-01 -5.15616711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.10, Y:-624.07, Z:-51.57 [[ 7.77346708e-01 6.27085190e-01 4.99625916e-02 1.12109939e+03] [-6.25851746e-01 7.78950363e-01 -3.93182454e-02 -6.24074684e+02] [-6.35742683e-02 -7.05266594e-04 9.97976861e-01 -5.15656717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.15, Y:-624.11, Z:-51.57 [[ 7.75970880e-01 6.28787687e-01 4.99523633e-02 1.12114879e+03] [-6.27556925e-01 7.77576594e-01 -3.93312359e-02 -6.24112532e+02] [-6.35727853e-02 -8.28057817e-04 9.97976861e-01 -5.15706883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.20, Y:-624.15, Z:-51.58 [[ 7.74705235e-01 6.30347150e-01 4.99426743e-02 1.12119763e+03] [-6.29118828e-01 7.76312815e-01 -3.93435351e-02 -6.24150462e+02] [-6.35712233e-02 -9.40234161e-04 9.97976861e-01 -5.15767126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.25, Y:-624.19, Z:-51.58 [[ 7.73951808e-01 6.31272755e-01 4.99330276e-02 1.12124615e+03] [-6.30045566e-01 7.75560254e-01 -3.93557745e-02 -6.24188759e+02] [-6.35702997e-02 -1.00060982e-03 9.97976861e-01 -5.15820727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1121.30, Y:-624.23, Z:-51.59 [[ 7.74996374e-01 6.29990695e-01 4.99233843e-02 1.12129536e+03] [-6.28760058e-01 7.76602183e-01 -3.93680033e-02 -6.24228248e+02] [-6.35720850e-02 -8.79770177e-04 9.97976862e-01 -5.15861779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.34, Y:-624.27, Z:-51.59 [[ 7.76570138e-01 6.28050611e-01 4.99124448e-02 1.12134311e+03] [-6.26815070e-01 7.78172177e-01 -3.93818680e-02 -6.24267313e+02] [-6.35742821e-02 -7.03089898e-04 9.97976862e-01 -5.15901995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.39, Y:-624.31, Z:-51.59 [[ 7.77656648e-01 6.26705589e-01 4.99023448e-02 1.12139162e+03] [-6.25466456e-01 7.79255910e-01 -3.93946620e-02 -6.24307687e+02] [-6.35755519e-02 -5.76722018e-04 9.97976862e-01 -5.15933013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.44, Y:-624.35, Z:-51.60 [[ 7.78182534e-01 6.26053332e-01 4.98915806e-02 1.12143999e+03] [-6.24811985e-01 7.79780078e-01 -3.94082897e-02 -6.24348159e+02] [-6.35761517e-02 -5.06014801e-04 9.97976862e-01 -5.15977673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.49, Y:-624.39, Z:-51.60 [[ 7.77208429e-01 6.27263064e-01 4.98809262e-02 1.12148879e+03] [-6.26023339e-01 7.78807231e-01 -3.94217709e-02 -6.24388147e+02] [-6.35754468e-02 -5.87691322e-04 9.97976862e-01 -5.16018016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.54, Y:-624.43, Z:-51.61 [[ 7.75962127e-01 6.28805037e-01 4.98698665e-02 1.12153604e+03] [-6.27567590e-01 7.77562693e-01 -3.94357568e-02 -6.24426164e+02] [-6.35743502e-02 -6.96058240e-04 9.97976862e-01 -5.16071939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.58, Y:-624.47, Z:-51.61 [[ 7.74163359e-01 6.31018995e-01 4.98610196e-02 1.12158427e+03] [-6.29785405e-01 7.75766900e-01 -3.94469394e-02 -6.24465541e+02] [-6.35722966e-02 -8.63367314e-04 9.97976862e-01 -5.16122337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.63, Y:-624.50, Z:-51.62 [[ 7.73930918e-01 6.31304807e-01 4.98515292e-02 1.12163227e+03] [-6.30071038e-01 7.75534319e-01 -3.94589293e-02 -6.24504140e+02] [-6.35721835e-02 -8.71519338e-04 9.97976862e-01 -5.16165101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.68, Y:-624.54, Z:-51.62 [[ 7.74875783e-01 6.30145461e-01 4.98419374e-02 1.12167911e+03] [-6.28908513e-01 7.76476735e-01 -3.94710413e-02 -6.24543013e+02] [-6.35736023e-02 -7.60864733e-04 9.97976863e-01 -5.16207372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.73, Y:-624.58, Z:-51.62 [[ 7.77604208e-01 6.26776158e-01 4.98331520e-02 1.12172686e+03] [-6.25531562e-01 7.79199221e-01 -3.94821301e-02 -6.24583291e+02] [-6.35764110e-02 -4.70738925e-04 9.97976863e-01 -5.16242853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.77, Y:-624.62, Z:-51.63 [[ 7.79415020e-01 6.24523664e-01 4.98238858e-02 1.12177495e+03] [-6.23273711e-01 7.81005838e-01 -3.94938199e-02 -6.24624335e+02] [-6.35775708e-02 -2.71841720e-04 9.97976863e-01 -5.16263759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.82, Y:-624.66, Z:-51.63 [[ 7.80787200e-01 6.22808167e-01 4.98130121e-02 1.12182289e+03] [-6.21553844e-01 7.82374574e-01 -3.95075300e-02 -6.24664563e+02] [-6.35780465e-02 -1.14495428e-04 9.97976863e-01 -5.16291214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.87, Y:-624.70, Z:-51.63 [[ 7.80585411e-01 6.23061937e-01 4.98019901e-02 1.12187257e+03] [-6.21807244e-01 7.82172493e-01 -3.95214192e-02 -6.24703872e+02] [-6.35780387e-02 -1.17394938e-04 9.97976863e-01 -5.16319458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.92, Y:-624.74, Z:-51.64 [[ 7.78232539e-01 6.25999187e-01 4.97908837e-02 1.12192247e+03] [-6.24749589e-01 7.79823635e-01 -3.95354066e-02 -6.24740333e+02] [-6.35772403e-02 -3.39094268e-04 9.97976863e-01 -5.16371203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1121.97, Y:-624.78, Z:-51.64 [[ 7.75567551e-01 6.29298707e-01 4.97806260e-02 1.12197316e+03] [-6.28055049e-01 7.77163294e-01 -3.95483182e-02 -6.24776191e+02] [-6.35753808e-02 -5.92581168e-04 9.97976863e-01 -5.16406705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1122.02, Y:-624.81, Z:-51.65 [[ 7.73283259e-01 6.32104301e-01 4.97710168e-02 1.12202201e+03] [-6.30865654e-01 7.74882895e-01 -3.95604076e-02 -6.24811946e+02] [-6.35730134e-02 -8.07424066e-04 9.97976864e-01 -5.16473900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.07, Y:-624.85, Z:-51.65 [[ 7.72793379e-01 6.32703873e-01 4.97614552e-02 1.12207166e+03] [-6.31465694e-01 7.74393376e-01 -3.95724311e-02 -6.24849931e+02] [-6.35725717e-02 -8.41339074e-04 9.97976864e-01 -5.16499531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.12, Y:-624.89, Z:-51.65 [[ 7.74548152e-01 6.30555349e-01 4.97504933e-02 1.12212144e+03] [-6.29311846e-01 7.76144015e-01 -3.95862077e-02 -6.24887605e+02] [-6.35748426e-02 -6.47150737e-04 9.97976864e-01 -5.16502236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.17, Y:-624.92, Z:-51.65 [[ 7.75961491e-01 6.28816050e-01 4.97407306e-02 1.12216899e+03] [-6.27568183e-01 7.77553945e-01 -3.95984709e-02 -6.24924952e+02] [-6.35762553e-02 -4.88811417e-04 9.97976864e-01 -5.16545141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.22, Y:-624.96, Z:-51.66 [[ 7.77042693e-01 6.27480094e-01 4.97331301e-02 1.12221785e+03] [-6.26228879e-01 7.78632517e-01 -3.96080143e-02 -6.24964576e+02] [-6.35770728e-02 -3.67204193e-04 9.97976864e-01 -5.16555006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.27, Y:-625.00, Z:-51.66 [[ 7.77444897e-01 6.26982587e-01 4.97219092e-02 1.12226700e+03] [-6.25729453e-01 7.79033209e-01 -3.96220955e-02 -6.25004240e+02] [-6.35773824e-02 -3.08467153e-04 9.97976864e-01 -5.16590257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.32, Y:-625.04, Z:-51.66 [[ 7.77750229e-01 6.26604678e-01 4.97107541e-02 1.12231525e+03] [-6.25349879e-01 7.79337225e-01 -3.96360859e-02 -6.25042162e+02] [-6.35775980e-02 -2.59639129e-04 9.97976864e-01 -5.16645231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.36, Y:-625.08, Z:-51.67 [[ 7.76802752e-01 6.27779427e-01 4.97038827e-02 1.12236384e+03] [-6.26526476e-01 7.78391208e-01 -3.96447009e-02 -6.25080099e+02] [-6.35771929e-02 -3.44685674e-04 9.97976864e-01 -5.16693270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.41, Y:-625.12, Z:-51.68 [[ 7.75459312e-01 6.29438900e-01 4.96943343e-02 1.12241291e+03] [-6.28188582e-01 7.77049841e-01 -3.96566661e-02 -6.25117968e+02] [-6.35764228e-02 -4.65282341e-04 9.97976864e-01 -5.16753157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.46, Y:-625.16, Z:-51.68 [[ 7.73242180e-01 6.32161324e-01 4.96849229e-02 1.12246059e+03] [-6.30915848e-01 7.74836503e-01 -3.96684540e-02 -6.25155634e+02] [-6.35745543e-02 -6.73683457e-04 9.97976865e-01 -5.16806432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.51, Y:-625.19, Z:-51.68 [[ 7.71620226e-01 6.34140750e-01 4.96763106e-02 1.12250954e+03] [-6.32898670e-01 7.73217196e-01 -3.96792361e-02 -6.25194000e+02] [-6.35727981e-02 -8.22769745e-04 9.97976865e-01 -5.16847621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.56, Y:-625.23, Z:-51.69 [[ 7.70745960e-01 6.35203767e-01 4.96672865e-02 1.12255954e+03] [-6.33963162e-01 7.72344076e-01 -3.96905285e-02 -6.25232469e+02] [-6.35718078e-02 -8.95915504e-04 9.97976865e-01 -5.16853813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.61, Y:-625.27, Z:-51.69 [[ 7.71706513e-01 6.34037313e-01 4.96562601e-02 1.12260896e+03] [-6.32793404e-01 7.73302059e-01 -3.97043187e-02 -6.25271981e+02] [-6.35733077e-02 -7.82072537e-04 9.97976865e-01 -5.16878577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.66, Y:-625.31, Z:-51.69 [[ 7.75234898e-01 6.29719162e-01 4.96450395e-02 1.12265615e+03] [-6.28465468e-01 7.76822766e-01 -3.97183437e-02 -6.25312549e+02] [-6.35767990e-02 -4.09146832e-04 9.97976865e-01 -5.16887501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.70, Y:-625.35, Z:-51.69 [[ 7.77552281e-01 6.26856269e-01 4.96353634e-02 1.12270347e+03] [-6.25595956e-01 7.79134900e-01 -3.97304322e-02 -6.25352294e+02] [-6.35779143e-02 -1.59194443e-04 9.97976865e-01 -5.16911757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.75, Y:-625.39, Z:-51.70 [[ 7.81481070e-01 6.21952281e-01 4.96255739e-02 1.12275316e+03] [-6.20681261e-01 7.83055103e-01 -3.97426560e-02 -6.25388659e+02] [-6.35775944e-02 2.56469514e-04 9.97976865e-01 -5.16984541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.80, Y:-625.43, Z:-51.70 [[ 7.81167784e-01 6.22346548e-01 4.96151867e-02 1.12279865e+03] [-6.21075499e-01 7.82741794e-01 -3.97556192e-02 -6.25429196e+02] [-6.35776527e-02 2.41032154e-04 9.97976866e-01 -5.16997304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.85, Y:-625.47, Z:-51.70 [[ 7.80857836e-01 6.22736150e-01 4.96057221e-02 1.12284690e+03] [-6.21465136e-01 7.82431874e-01 -3.97674255e-02 -6.25467547e+02] [-6.35777115e-02 2.24478980e-04 9.97976866e-01 -5.17049062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.89, Y:-625.51, Z:-51.71 [[ 7.79792067e-01 6.24070939e-01 4.95963168e-02 1.12289425e+03] [-6.22801873e-01 7.81367676e-01 -3.97791518e-02 -6.25505260e+02] [-6.35779715e-02 1.30787995e-04 9.97976866e-01 -5.17094440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.94, Y:-625.54, Z:-51.71 [[ 7.77746856e-01 6.26618614e-01 4.95877100e-02 1.12294383e+03] [-6.25354026e-01 7.79326060e-01 -3.97898780e-02 -6.25543791e+02] [-6.35780729e-02 -6.34215206e-05 9.97976866e-01 -5.17143700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1122.99, Y:-625.58, Z:-51.71 [[ 7.75010110e-01 6.30000686e-01 4.95829093e-02 1.12299435e+03] [-6.28742606e-01 7.76594505e-01 -3.97958593e-02 -6.25579727e+02] [-6.35772336e-02 -3.32694362e-04 9.97976866e-01 -5.17118563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.04, Y:-625.62, Z:-51.72 [[ 7.72409730e-01 6.33186942e-01 4.95732324e-02 1.12304362e+03] [-6.31934624e-01 7.73998683e-01 -3.98079101e-02 -6.25616862e+02] [-6.35754655e-02 -5.79024930e-04 9.97976866e-01 -5.17152448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.09, Y:-625.65, Z:-51.72 [[ 7.68356093e-01 6.38100649e-01 4.95628558e-02 1.12309409e+03] [-6.36857658e-01 7.69952353e-01 -3.98208253e-02 -6.25654853e+02] [-6.35707319e-02 -9.67910604e-04 9.97976866e-01 -5.17183574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.14, Y:-625.69, Z:-51.72 [[ 7.65929534e-01 6.41012167e-01 4.95515013e-02 1.12314395e+03] [-6.39774330e-01 7.67529793e-01 -3.98349494e-02 -6.25692684e+02] [-6.35669408e-02 -1.19101434e-03 9.97976866e-01 -5.17225187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.19, Y:-625.73, Z:-51.73 [[ 7.64272955e-01 6.42987258e-01 4.95402506e-02 1.12319283e+03] [-6.41752651e-01 7.65875707e-01 -3.98489363e-02 -6.25730012e+02] [-6.35640327e-02 -1.33712284e-03 9.97976866e-01 -5.17269765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.24, Y:-625.77, Z:-51.73 [[ 7.62774392e-01 6.44765092e-01 4.95298292e-02 1.12324195e+03] [-6.43533379e-01 7.64379369e-01 -3.98618853e-02 -6.25767335e+02] [-6.35611317e-02 -1.46847298e-03 9.97976867e-01 -5.17306309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.29, Y:-625.80, Z:-51.74 [[ 7.61985132e-01 6.45698398e-01 4.95200663e-02 1.12329017e+03] [-6.44467864e-01 7.63591013e-01 -3.98740100e-02 -6.25804858e+02] [-6.35596620e-02 -1.53068854e-03 9.97976867e-01 -5.17350019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.34, Y:-625.84, Z:-51.74 [[ 7.61741089e-01 6.45986966e-01 4.95111346e-02 1.12333997e+03] [-6.44756320e-01 7.63346885e-01 -3.98850973e-02 -6.25843102e+02] [-6.35594234e-02 -1.54049954e-03 9.97976867e-01 -5.17389810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.39, Y:-625.88, Z:-51.74 [[ 7.62446666e-01 6.45154884e-01 4.95000808e-02 1.12338993e+03] [-6.43921596e-01 7.64050433e-01 -3.98988111e-02 -6.25880771e+02] [-6.35614710e-02 -1.45345549e-03 9.97976867e-01 -5.17436488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.44, Y:-625.92, Z:-51.75 [[ 7.63815735e-01 6.43534282e-01 4.94888983e-02 1.12343825e+03] [-6.42296694e-01 7.65416185e-01 -3.99126766e-02 -6.25920528e+02] [-6.35647795e-02 -1.30062538e-03 9.97976867e-01 -5.17466344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.49, Y:-625.96, Z:-51.75 [[ 7.65088131e-01 6.42021893e-01 4.94776793e-02 1.12348703e+03] [-6.40780242e-01 7.66685431e-01 -3.99265794e-02 -6.25960038e+02] [-6.35675540e-02 -1.15696728e-03 9.97976867e-01 -5.17506266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.53, Y:-626.00, Z:-51.76 [[ 7.66958666e-01 6.39787045e-01 4.94665700e-02 1.12353456e+03] [-6.38539851e-01 7.68551643e-01 -3.99403385e-02 -6.25999021e+02] [-6.35709247e-02 -9.53787475e-04 9.97976867e-01 -5.17561944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.58, Y:-626.04, Z:-51.76 [[ 7.67757157e-01 6.38829364e-01 4.94569651e-02 1.12358326e+03] [-6.37579418e-01 7.69347974e-01 -3.99522284e-02 -6.26038926e+02] [-6.35722726e-02 -8.59133716e-04 9.97976868e-01 -5.17612456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.63, Y:-626.08, Z:-51.77 [[ 7.69057920e-01 6.37263684e-01 4.94460590e-02 1.12363118e+03] [-6.36009632e-01 7.70645502e-01 -3.99657216e-02 -6.26078301e+02] [-6.35740859e-02 -7.12215055e-04 9.97976868e-01 -5.17659930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.68, Y:-626.12, Z:-51.77 [[ 7.69358687e-01 6.36901270e-01 4.94366473e-02 1.12367957e+03] [-6.35645722e-01 7.70945087e-01 -3.99773603e-02 -6.26118411e+02] [-6.35745719e-02 -6.67263960e-04 9.97976868e-01 -5.17709884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.73, Y:-626.16, Z:-51.78 [[ 7.69306243e-01 6.36965446e-01 4.94259569e-02 1.12372567e+03] [-6.35709181e-01 7.70892075e-01 -3.99905730e-02 -6.26159365e+02] [-6.35746916e-02 -6.55537081e-04 9.97976868e-01 -5.17811271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.77, Y:-626.20, Z:-51.78 [[ 7.69575402e-01 6.36640498e-01 4.94224377e-02 1.12377404e+03] [-6.35383284e-01 7.71160482e-01 -3.99949217e-02 -6.26198802e+02] [-6.35750177e-02 -6.23082867e-04 9.97976868e-01 -5.17802209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.82, Y:-626.24, Z:-51.78 [[ 7.69159331e-01 6.37143963e-01 4.94114694e-02 1.12382055e+03] [-6.35886917e-01 7.70744543e-01 -4.00084678e-02 -6.26238297e+02] [-6.35747742e-02 -6.47220634e-04 9.97976868e-01 -5.17847228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.87, Y:-626.28, Z:-51.78 [[ 7.69331022e-01 6.36937355e-01 4.94022697e-02 1.12386669e+03] [-6.35679154e-01 7.70915318e-01 -4.00198244e-02 -6.26279964e+02] [-6.35750875e-02 -6.15500617e-04 9.97976868e-01 -5.17836077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.91, Y:-626.32, Z:-51.79 [[ 7.69789800e-01 6.36383559e-01 4.93926120e-02 1.12391137e+03] [-6.35123453e-01 7.71372581e-01 -4.00317404e-02 -6.26321353e+02] [-6.35756480e-02 -5.54380836e-04 9.97976868e-01 -5.17887643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1123.96, Y:-626.36, Z:-51.79 [[ 7.69685853e-01 6.36509680e-01 4.93873923e-02 1.12395820e+03] [-6.35249421e-01 7.71268512e-01 -4.00381789e-02 -6.26363048e+02] [-6.35756290e-02 -5.56492481e-04 9.97976868e-01 -5.17883161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.01, Y:-626.40, Z:-51.79 [[ 7.69408828e-01 6.36845258e-01 4.93778555e-02 1.12400587e+03] [-6.35584934e-01 7.70991436e-01 -4.00499369e-02 -6.26404636e+02] [-6.35755161e-02 -5.69046023e-04 9.97976868e-01 -5.17910131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.05, Y:-626.44, Z:-51.80 [[ 7.68951373e-01 6.37398383e-01 4.93668603e-02 1.12405344e+03] [-6.36138328e-01 7.70534194e-01 -4.00634854e-02 -6.26444197e+02] [-6.35752548e-02 -5.97279859e-04 9.97976869e-01 -5.17969722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.10, Y:-626.48, Z:-51.80 [[ 7.67581459e-01 6.39048214e-01 4.93567049e-02 1.12409991e+03] [-6.37790757e-01 7.69166344e-01 -4.00759926e-02 -6.26483572e+02] [-6.35740078e-02 -7.17661401e-04 9.97976869e-01 -5.17983633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.15, Y:-626.52, Z:-51.80 [[ 7.66676718e-01 6.40134081e-01 4.93474145e-02 1.12414576e+03] [-6.38878133e-01 7.68262800e-01 -4.00874290e-02 -6.26524889e+02] [-6.35731124e-02 -7.92885514e-04 9.97976869e-01 -5.18017951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.19, Y:-626.57, Z:-51.80 [[ 7.66834182e-01 6.39946305e-01 4.93362362e-02 1.12419375e+03] [-6.38689084e-01 7.68419254e-01 -4.01011816e-02 -6.26565091e+02] [-6.35735168e-02 -7.59558703e-04 9.97976869e-01 -5.18033202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.24, Y:-626.61, Z:-51.81 [[ 7.65380546e-01 6.41685063e-01 4.93244369e-02 1.12424235e+03] [-6.40430507e-01 7.66967729e-01 -4.01156896e-02 -6.26605548e+02] [-6.35718901e-02 -8.85105711e-04 9.97976869e-01 -5.18067922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.29, Y:-626.65, Z:-51.81 [[ 7.62659121e-01 6.44918049e-01 4.93130358e-02 1.12428892e+03] [-6.43669316e-01 7.64250888e-01 -4.01296997e-02 -6.26645670e+02] [-6.35678990e-02 -1.13600657e-03 9.97976869e-01 -5.18105270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.34, Y:-626.69, Z:-51.81 [[ 7.61080929e-01 6.46780554e-01 4.93024941e-02 1.12433591e+03] [-6.45534877e-01 7.62675089e-01 -4.01426469e-02 -6.26686729e+02] [-6.35652674e-02 -1.27467645e-03 9.97976870e-01 -5.18140710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.38, Y:-626.73, Z:-51.82 [[ 7.59524570e-01 6.48608334e-01 4.92915398e-02 1.12438374e+03] [-6.47365622e-01 7.61121042e-01 -4.01560932e-02 -6.26727227e+02] [-6.35624049e-02 -1.41010887e-03 9.97976870e-01 -5.18175712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.43, Y:-626.77, Z:-51.82 [[ 7.56787406e-01 6.51800793e-01 4.92802976e-02 1.12443006e+03] [-6.50563917e-01 7.58388404e-01 -4.01698852e-02 -6.26767907e+02] [-6.35563692e-02 -1.65992018e-03 9.97976870e-01 -5.18226400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.48, Y:-626.81, Z:-51.83 [[ 7.55085951e-01 6.53771838e-01 4.92705760e-02 1.12447748e+03] [-6.52538364e-01 7.56689571e-01 -4.01818057e-02 -6.26808945e+02] [-6.35522640e-02 -1.81022403e-03 9.97976870e-01 -5.18264800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.52, Y:-626.85, Z:-51.83 [[ 7.54334831e-01 6.54639183e-01 4.92595499e-02 1.12452407e+03] [-6.53406671e-01 7.55939190e-01 -4.01953183e-02 -6.26851939e+02] [-6.35506546e-02 -1.86578987e-03 9.97976870e-01 -5.18289379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.57, Y:-626.89, Z:-51.83 [[ 7.54786319e-01 6.54119402e-01 4.92485632e-02 1.12457106e+03] [-6.52884908e-01 7.56389154e-01 -4.02087750e-02 -6.26892933e+02] [-6.35524189e-02 -1.80461033e-03 9.97976870e-01 -5.18311333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.62, Y:-626.93, Z:-51.83 [[ 7.55823983e-01 6.52920850e-01 4.92389023e-02 1.12461826e+03] [-6.51683045e-01 7.57424262e-01 -4.02206022e-02 -6.26933790e+02] [-6.35556090e-02 -1.68846201e-03 9.97976870e-01 -5.18337612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.67, Y:-626.97, Z:-51.84 [[ 7.57434214e-01 6.51053029e-01 4.92276936e-02 1.12466579e+03] [-6.49810386e-01 7.59030739e-01 -4.02343163e-02 -6.26973939e+02] [-6.35600061e-02 -1.51381879e-03 9.97976871e-01 -5.18395520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.71, Y:-627.01, Z:-51.84 [[ 7.58092549e-01 6.50287069e-01 4.92180328e-02 1.12471328e+03] [-6.49042046e-01 7.59687219e-01 -4.02461307e-02 -6.27013705e+02] [-6.35618488e-02 -1.43428084e-03 9.97976871e-01 -5.18447557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.76, Y:-627.05, Z:-51.85 [[ 7.57969112e-01 6.50431674e-01 4.92083565e-02 1.12476209e+03] [-6.49186189e-01 7.59563420e-01 -4.02579583e-02 -6.27052435e+02] [-6.35619188e-02 -1.43109649e-03 9.97976871e-01 -5.18494971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.81, Y:-627.09, Z:-51.86 [[ 7.55795915e-01 6.52956393e-01 4.91984149e-02 1.12481224e+03] [-6.51715443e-01 7.57393755e-01 -4.02701041e-02 -6.27088985e+02] [-6.35571941e-02 -1.62738656e-03 9.97976871e-01 -5.18559299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.86, Y:-627.13, Z:-51.86 [[ 7.53161949e-01 6.55993577e-01 4.91884747e-02 1.12486081e+03] [-6.54758277e-01 7.54764162e-01 -4.02822420e-02 -6.27125745e+02] [-6.35505899e-02 -1.86750904e-03 9.97976871e-01 -5.18608177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.91, Y:-627.17, Z:-51.86 [[ 7.52765390e-01 6.56449278e-01 4.91793901e-02 1.12490870e+03] [-6.55214225e-01 7.54367793e-01 -4.02933301e-02 -6.27166030e+02] [-6.35498754e-02 -1.89161165e-03 9.97976871e-01 -5.18634523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1124.96, Y:-627.21, Z:-51.87 [[ 7.54241688e-01 6.54753367e-01 4.91681313e-02 1.12495611e+03] [-6.53513816e-01 7.55840614e-01 -4.03070641e-02 -6.27206493e+02] [-6.35544564e-02 -1.73078504e-03 9.97976871e-01 -5.18656402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.00, Y:-627.25, Z:-51.87 [[ 7.55050146e-01 6.53821632e-01 4.91584277e-02 1.12500193e+03] [-6.52579338e-01 7.56646942e-01 -4.03188951e-02 -6.27247436e+02] [-6.35569398e-02 -1.63698653e-03 9.97976871e-01 -5.18703505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.05, Y:-627.29, Z:-51.87 [[ 7.57977523e-01 6.50426500e-01 4.91471631e-02 1.12505054e+03] [-6.49176163e-01 7.59568028e-01 -4.03326215e-02 -6.27285159e+02] [-6.35640196e-02 -1.33394623e-03 9.97976872e-01 -5.18714874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.10, Y:-627.33, Z:-51.87 [[ 7.60905395e-01 6.46999344e-01 4.91408982e-02 1.12509843e+03] [-6.45741350e-01 7.62489851e-01 -4.03402532e-02 -6.27326510e+02] [-6.35695535e-02 -1.03719359e-03 9.97976872e-01 -5.18740114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.15, Y:-627.37, Z:-51.88 [[ 7.62096196e-01 6.45597117e-01 4.91299328e-02 1.12514524e+03] [-6.44335347e-01 7.63677646e-01 -4.03536034e-02 -6.27367002e+02] [-6.35716015e-02 -9.02824676e-04 9.97976872e-01 -5.18798500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.19, Y:-627.41, Z:-51.88 [[ 7.63664773e-01 6.43741699e-01 4.91196400e-02 1.12519240e+03] [-6.42475281e-01 7.65242503e-01 -4.03661283e-02 -6.27405813e+02] [-6.35737963e-02 -7.31964256e-04 9.97976872e-01 -5.18830996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1125.24, Y:-627.45, Z:-51.89 [[ 7.64422756e-01 6.42842159e-01 4.91101774e-02 1.12524028e+03] [-6.41573145e-01 7.65998398e-01 -4.03776374e-02 -6.27445794e+02] [-6.35747648e-02 -6.42186116e-04 9.97976872e-01 -5.18862899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.29, Y:-627.48, Z:-51.89 [[ 7.64539398e-01 6.42704291e-01 4.90989162e-02 1.12528833e+03] [-6.41434114e-01 7.66114103e-01 -4.03913263e-02 -6.27484944e+02] [-6.35750509e-02 -6.12959476e-04 9.97976872e-01 -5.18924779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.34, Y:-627.52, Z:-51.90 [[ 7.64347250e-01 6.42933591e-01 4.90884844e-02 1.12533634e+03] [-6.41663072e-01 7.65921679e-01 -4.04040004e-02 -6.27524706e+02] [-6.35750234e-02 -6.15581103e-04 9.97976872e-01 -5.18965741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.38, Y:-627.56, Z:-51.90 [[ 7.64350708e-01 6.42930199e-01 4.90790681e-02 1.12538413e+03] [-6.41658939e-01 7.65924538e-01 -4.04154351e-02 -6.27564342e+02] [-6.35751664e-02 -6.00456326e-04 9.97976872e-01 -5.18967740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.43, Y:-627.60, Z:-51.90 [[ 7.64349775e-01 6.42932067e-01 4.90691277e-02 1.12543183e+03] [-6.41660036e-01 7.65922983e-01 -4.04275004e-02 -6.27604244e+02] [-6.35753090e-02 -5.84947472e-04 9.97976872e-01 -5.18994467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.48, Y:-627.64, Z:-51.91 [[ 7.64549585e-01 6.42695202e-01 4.90592527e-02 1.12547973e+03] [-6.41421915e-01 7.66121776e-01 -4.04394803e-02 -6.27642559e+02] [-6.35756217e-02 -5.49691964e-04 9.97976873e-01 -5.19068796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.53, Y:-627.68, Z:-51.91 [[ 7.63640994e-01 6.43774924e-01 4.90538437e-02 1.12552788e+03] [-6.42503439e-01 7.65214643e-01 -4.04460405e-02 -6.27680871e+02] [-6.35748661e-02 -6.31008662e-04 9.97976873e-01 -5.19076227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.58, Y:-627.72, Z:-51.91 [[ 7.62408062e-01 6.45235312e-01 4.90442528e-02 1.12557650e+03] [-6.43966094e-01 7.63983539e-01 -4.04576669e-02 -6.27719707e+02] [-6.35737171e-02 -7.37584476e-04 9.97976873e-01 -5.19131922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.62, Y:-627.76, Z:-51.92 [[ 7.60963003e-01 6.46939749e-01 4.90333404e-02 1.12562487e+03] [-6.45673207e-01 7.62540633e-01 -4.04708881e-02 -6.27758402e+02] [-6.35721406e-02 -8.62665585e-04 9.97976873e-01 -5.19177421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1125.67, Y:-627.80, Z:-51.92 [[ 7.59472585e-01 6.48689526e-01 4.90233730e-02 1.12567309e+03] [-6.47425840e-01 7.61052503e-01 -4.04829582e-02 -6.27797714e+02] [-6.35702317e-02 -9.93301484e-04 9.97976873e-01 -5.19229135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.72, Y:-627.84, Z:-51.93 [[ 7.57700916e-01 6.50758787e-01 4.90135085e-02 1.12572174e+03] [-6.49498643e-01 7.59283660e-01 -4.04948978e-02 -6.27837764e+02] [-6.35675667e-02 -1.15118608e-03 9.97976873e-01 -5.19271752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.77, Y:-627.88, Z:-51.93 [[ 7.57063238e-01 6.51501383e-01 4.90020674e-02 1.12576882e+03] [-6.50241896e-01 7.58646505e-01 -4.05087378e-02 -6.27877355e+02] [-6.35667458e-02 -1.19552107e-03 9.97976873e-01 -5.19312142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1125.82, Y:-627.92, Z:-51.94 [[ 7.56843871e-01 6.51757001e-01 4.89915016e-02 1.12581549e+03] [-6.50497222e-01 7.58426906e-01 -4.05215121e-02 -6.27917662e+02] [-6.35666522e-02 -1.20037760e-03 9.97976873e-01 -5.19371039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1125.86, Y:-627.95, Z:-51.94 [[ 7.57151983e-01 6.51399322e-01 4.89877458e-02 1.12586371e+03] [-6.50138502e-01 7.58734188e-01 -4.05260521e-02 -6.27954561e+02] [-6.35673204e-02 -1.16443894e-03 9.97976873e-01 -5.19404643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.91, Y:-627.99, Z:-51.94 [[ 7.56925949e-01 6.51662692e-01 4.89779909e-02 1.12591194e+03] [-6.50401661e-01 7.58507985e-01 -4.05378380e-02 -6.27994698e+02] [-6.35671939e-02 -1.17122517e-03 9.97976874e-01 -5.19442787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1125.96, Y:-628.03, Z:-51.95 [[ 7.56693724e-01 6.51933166e-01 4.89668817e-02 1.12596074e+03] [-6.50671832e-01 7.58275519e-01 -4.05512527e-02 -6.28034908e+02] [-6.35670942e-02 -1.17649223e-03 9.97976874e-01 -5.19489457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.01, Y:-628.07, Z:-51.95 [[ 7.56672673e-01 6.51958429e-01 4.89558266e-02 1.12600819e+03] [-6.50696285e-01 7.58253822e-01 -4.05645947e-02 -6.28073727e+02] [-6.35673721e-02 -1.16125419e-03 9.97976874e-01 -5.19538903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.06, Y:-628.11, Z:-51.96 [[ 7.56609431e-01 6.52032589e-01 4.89456119e-02 1.12605658e+03] [-6.50769803e-01 7.58190067e-01 -4.05769162e-02 -6.28113779e+02] [-6.35675484e-02 -1.15144873e-03 9.97976874e-01 -5.19578782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.10, Y:-628.15, Z:-51.96 [[ 7.57279885e-01 6.51254597e-01 4.89349062e-02 1.12610388e+03] [-6.49989354e-01 7.58858555e-01 -4.05898228e-02 -6.28152932e+02] [-6.35689810e-02 -1.06931170e-03 9.97976874e-01 -5.19647764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.15, Y:-628.19, Z:-51.97 [[ 7.56683719e-01 6.51947565e-01 4.89297710e-02 1.12615158e+03] [-6.50683367e-01 7.58263226e-01 -4.05960122e-02 -6.28192678e+02] [-6.35681173e-02 -1.11944666e-03 9.97976874e-01 -5.19666471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.20, Y:-628.23, Z:-51.97 [[ 7.56898593e-01 6.51698849e-01 4.89196392e-02 1.12619984e+03] [-6.50433343e-01 7.58477052e-01 -4.06082178e-02 -6.28233673e+02] [-6.35687525e-02 -1.08266164e-03 9.97976874e-01 -5.19702924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.25, Y:-628.27, Z:-51.97 [[ 7.58295359e-01 6.50073925e-01 4.89084882e-02 1.12624811e+03] [-6.48804171e-01 7.59870403e-01 -4.06216436e-02 -6.28274091e+02] [-6.35711840e-02 -9.28827273e-04 9.97976874e-01 -5.19747194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.30, Y:-628.31, Z:-51.98 [[ 7.59032320e-01 6.49214120e-01 4.88974917e-02 1.12629695e+03] [-6.47941730e-01 7.60605234e-01 -4.06348761e-02 -6.28314196e+02] [-6.35724235e-02 -8.39541107e-04 9.97976875e-01 -5.19784620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.35, Y:-628.35, Z:-51.98 [[ 7.59093704e-01 6.49143181e-01 4.88863888e-02 1.12634553e+03] [-6.47869784e-01 7.60665804e-01 -4.06482293e-02 -6.28354218e+02] [-6.35727251e-02 -8.16199218e-04 9.97976875e-01 -5.19817633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.39, Y:-628.39, Z:-51.98 [[ 7.58888994e-01 6.49383354e-01 4.88748833e-02 1.12639229e+03] [-6.48109564e-01 7.60460775e-01 -4.06620587e-02 -6.28393505e+02] [-6.35726957e-02 -8.18290429e-04 9.97976875e-01 -5.19847339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.44, Y:-628.43, Z:-51.99 [[ 7.59379282e-01 6.48810643e-01 4.88656944e-02 1.12644048e+03] [-6.47534958e-01 7.60949524e-01 -4.06730984e-02 -6.28433248e+02] [-6.35734661e-02 -7.55937103e-04 9.97976875e-01 -5.19860600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.49, Y:-628.47, Z:-51.99 [[ 7.59840410e-01 6.48271291e-01 4.88557484e-02 1.12648864e+03] [-6.46993723e-01 7.61409121e-01 -4.06850419e-02 -6.28473980e+02] [-6.35741571e-02 -6.95223606e-04 9.97976875e-01 -5.19891083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.54, Y:-628.51, Z:-51.99 [[ 7.61006564e-01 6.46902809e-01 4.88442970e-02 1.12653665e+03] [-6.45621538e-01 7.62572252e-01 -4.06987852e-02 -6.28514740e+02] [-6.35754640e-02 -5.62887537e-04 9.97976875e-01 -5.19942385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.59, Y:-628.55, Z:-52.00 [[ 7.62333224e-01 6.45339764e-01 4.88328334e-02 1.12658512e+03] [-6.44054401e-01 7.63895554e-01 -4.07125353e-02 -6.28554595e+02] [-6.35766022e-02 -4.14482971e-04 9.97976875e-01 -5.20000378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.63, Y:-628.59, Z:-52.01 [[ 7.65353763e-01 6.41755481e-01 4.88213223e-02 1.12663213e+03] [-6.40461921e-01 7.66909313e-01 -4.07263344e-02 -6.28594114e+02] [-6.35778750e-02 -9.81446015e-05 9.97976876e-01 -5.20054462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.68, Y:-628.63, Z:-52.01 [[ 7.67404761e-01 6.39302271e-01 4.88112628e-02 1.12668058e+03] [-6.38002972e-01 7.68955520e-01 -4.07383873e-02 -6.28634734e+02] [-6.35778335e-02 1.21101615e-04 9.97976876e-01 -5.20099322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1126.73, Y:-628.68, Z:-52.01 [[ 7.69317692e-01 6.36999898e-01 4.87997839e-02 1.12672820e+03] [-6.35695086e-01 7.70863815e-01 -4.07521331e-02 -6.28675009e+02] [-6.35770922e-02 3.29554177e-04 9.97976876e-01 -5.20135927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.78, Y:-628.71, Z:-52.02 [[ 7.71093089e-01 6.34850486e-01 4.87884148e-02 1.12677748e+03] [-6.33540503e-01 7.72634833e-01 -4.07657396e-02 -6.28714659e+02] [-6.35757784e-02 5.24743221e-04 9.97976876e-01 -5.20178681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.83, Y:-628.75, Z:-52.02 [[ 7.71193541e-01 6.34729318e-01 4.87771939e-02 1.12682651e+03] [-6.33418245e-01 7.72734358e-01 -4.07791614e-02 -6.28754400e+02] [-6.35755429e-02 5.52261334e-04 9.97976876e-01 -5.20223590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.88, Y:-628.79, Z:-52.03 [[ 7.70727116e-01 6.35296454e-01 4.87660569e-02 1.12687680e+03] [-6.33985671e-01 7.72268181e-01 -4.07924753e-02 -6.28792040e+02] [-6.35757889e-02 5.22885572e-04 9.97976876e-01 -5.20269014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.93, Y:-628.83, Z:-52.03 [[ 7.69919972e-01 6.36275272e-01 4.87546366e-02 1.12692675e+03] [-6.34965585e-01 7.71461967e-01 -4.08061202e-02 -6.28829640e+02] [-6.35762730e-02 4.59930597e-04 9.97976877e-01 -5.20308529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1126.98, Y:-628.87, Z:-52.03 [[ 7.68466710e-01 6.38030571e-01 4.87432703e-02 1.12697669e+03] [-6.36723545e-01 7.70010961e-01 -4.08196927e-02 -6.28868430e+02] [-6.35770643e-02 3.32587083e-04 9.97976877e-01 -5.20342820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.03, Y:-628.91, Z:-52.04 [[ 7.65483491e-01 6.41607539e-01 4.87318215e-02 1.12702561e+03] [-6.40306859e-01 7.67033091e-01 -4.08333561e-02 -6.28906563e+02] [-6.35779088e-02 5.39404303e-05 9.97976877e-01 -5.20387509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.07, Y:-628.95, Z:-52.04 [[ 7.63037397e-01 6.44515455e-01 4.87212527e-02 1.12707476e+03] [-6.43219875e-01 7.64591263e-01 -4.08459627e-02 -6.28946340e+02] [-6.35776983e-02 -1.71481070e-04 9.97976877e-01 -5.20438057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.12, Y:-628.98, Z:-52.05 [[ 7.59076057e-01 6.49177071e-01 4.87100630e-02 1.12712330e+03] [-6.47890178e-01 7.60637124e-01 -4.08593024e-02 -6.28984654e+02] [-6.35756045e-02 -5.43453257e-04 9.97976877e-01 -5.20495646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1127.17, Y:-629.02, Z:-52.05 [[ 7.56177812e-01 6.52551457e-01 4.87002351e-02 1.12717110e+03] [-6.51270775e-01 7.57743980e-01 -4.08710129e-02 -6.29024830e+02] [-6.35727490e-02 -8.11286724e-04 9.97976877e-01 -5.20527025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.22, Y:-629.07, Z:-52.06 [[ 7.55196603e-01 6.53687602e-01 4.86889164e-02 1.12721876e+03] [-6.52408407e-01 7.56763985e-01 -4.08844923e-02 -6.29066216e+02] [-6.35717041e-02 -8.89228740e-04 9.97976877e-01 -5.20560511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.27, Y:-629.11, Z:-52.06 [[ 7.54749731e-01 6.54204352e-01 4.86776007e-02 1.12726611e+03] [-6.52925362e-01 7.56317280e-01 -4.08979605e-02 -6.29107977e+02] [-6.35713343e-02 -9.15115376e-04 9.97976878e-01 -5.20593418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.31, Y:-629.15, Z:-52.06 [[ 7.53889401e-01 6.55196445e-01 4.86661020e-02 1.12731218e+03] [-6.53918635e-01 7.55457912e-01 -4.09116386e-02 -6.29149668e+02] [-6.35703520e-02 -9.80820252e-04 9.97976878e-01 -5.20643803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.36, Y:-629.19, Z:-52.07 [[ 7.53167329e-01 6.56027147e-01 4.86554826e-02 1.12735955e+03] [-6.54750252e-01 7.54736584e-01 -4.09242643e-02 -6.29191280e+02] [-6.35695011e-02 -1.03437067e-03 9.97976878e-01 -5.20692341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.41, Y:-629.23, Z:-52.07 [[ 7.52816075e-01 6.56431032e-01 4.86441978e-02 1.12740551e+03] [-6.55154113e-01 7.54385310e-01 -4.09376734e-02 -6.29231909e+02] [-6.35692274e-02 -1.05090761e-03 9.97976878e-01 -5.20744600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.45, Y:-629.27, Z:-52.08 [[ 7.52725926e-01 6.56535176e-01 4.86337690e-02 1.12744972e+03] [-6.55257674e-01 7.54294686e-01 -4.09500590e-02 -6.29274795e+02] [-6.35693478e-02 -1.04347926e-03 9.97976878e-01 -5.20811634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.49, Y:-629.32, Z:-52.09 [[ 7.52357305e-01 6.56958279e-01 4.86241256e-02 1.12749466e+03] [-6.55680919e-01 7.53926182e-01 -4.09615064e-02 -6.29317588e+02] [-6.35690021e-02 -1.06422282e-03 9.97976878e-01 -5.20862842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1127.54, Y:-629.36, Z:-52.09 [[ 7.50987553e-01 6.58524391e-01 4.86140058e-02 1.12754280e+03] [-6.57249526e-01 7.52558457e-01 -4.09735133e-02 -6.29357808e+02] [-6.35669391e-02 -1.18093382e-03 9.97976878e-01 -5.20918508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.59, Y:-629.40, Z:-52.10 [[ 7.50799241e-01 6.58739931e-01 4.86025082e-02 1.12759153e+03] [-6.57464634e-01 7.52369795e-01 -4.09871472e-02 -6.29397261e+02] [-6.35669296e-02 -1.18131129e-03 9.97976879e-01 -5.20968611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.64, Y:-629.44, Z:-52.10 [[ 7.52685807e-01 6.56584335e-01 4.85910181e-02 1.12763947e+03] [-6.55303662e-01 7.54251979e-01 -4.10007644e-02 -6.29436465e+02] [-6.35703312e-02 -9.81178659e-04 9.97976879e-01 -5.20996491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.69, Y:-629.48, Z:-52.10 [[ 7.56031570e-01 6.52729765e-01 4.85810496e-02 1.12768673e+03] [-6.51440348e-01 7.57590551e-01 -4.10125725e-02 -6.29476901e+02] [-6.35746710e-02 -6.40856191e-04 9.97976879e-01 -5.21007490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1127.73, Y:-629.52, Z:-52.10 [[ 7.62071446e-01 6.45668634e-01 4.85708393e-02 1.12773285e+03] [-6.44363999e-01 7.63617715e-01 -4.10246609e-02 -6.29516383e+02] [-6.35778901e-02 -3.35775674e-05 9.97976879e-01 -5.21032764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.78, Y:-629.56, Z:-52.11 [[ 7.68435305e-01 6.38082254e-01 4.85615009e-02 1.12778195e+03] [-6.36761656e-01 7.69967963e-01 -4.10357119e-02 -6.29555848e+02] [-6.35749595e-02 6.11188074e-04 9.97976879e-01 -5.21092258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.83, Y:-629.60, Z:-52.11 [[ 7.72057285e-01 6.33695853e-01 4.85501366e-02 1.12783037e+03] [-6.32365703e-01 7.73581660e-01 -4.10491529e-02 -6.29595384e+02] [-6.35701732e-02 9.90856215e-04 9.97976879e-01 -5.21139770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.88, Y:-629.64, Z:-52.12 [[ 7.75086060e-01 6.29988587e-01 4.85384388e-02 1.12787881e+03] [-6.28650282e-01 7.76603280e-01 -4.10629803e-02 -6.29635213e+02] [-6.35643197e-02 1.31364039e-03 9.97976879e-01 -5.21197480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.93, Y:-629.67, Z:-52.12 [[ 7.75355692e-01 6.29657611e-01 4.85267369e-02 1.12792612e+03] [-6.28317794e-01 7.76871576e-01 -4.10768045e-02 -6.29674723e+02] [-6.35633652e-02 1.35892184e-03 9.97976880e-01 -5.21232501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1127.98, Y:-629.71, Z:-52.13 [[ 7.75431103e-01 6.29565572e-01 4.85159296e-02 1.12797579e+03] [-6.28224777e-01 7.76946123e-01 -4.10895651e-02 -6.29711983e+02] [-6.35628389e-02 1.38321782e-03 9.97976880e-01 -5.21294048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1128.02, Y:-629.75, Z:-52.13 [[ 7.73028951e-01 6.32513088e-01 4.85122022e-02 1.12802323e+03] [-6.31177795e-01 7.74548822e-01 -4.10939654e-02 -6.29752002e+02] [-6.35675400e-02 1.14700019e-03 9.97976880e-01 -5.21280040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1128.07, Y:-629.79, Z:-52.13 [[ 7.71186493e-01 6.34758989e-01 4.85017351e-02 1.12806988e+03] [-6.33427346e-01 7.72709563e-01 -4.11063156e-02 -6.29793234e+02] [-6.35703579e-02 9.78310053e-04 9.97976880e-01 -5.21264265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1128.12, Y:-629.83, Z:-52.13 [[ 7.69306604e-01 6.37036346e-01 4.84978722e-02 1.12811846e+03] [-6.35708924e-01 7.70833354e-01 -4.11108726e-02 -6.29832856e+02] [-6.35728976e-02 7.96335649e-04 9.97976880e-01 -5.21271528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1128.17, Y:-629.86, Z:-52.13 [[ 7.66440401e-01 6.40482841e-01 4.84854871e-02 1.12817116e+03] [-6.39161362e-01 7.67972297e-01 -4.11254743e-02 -6.29864853e+02] [-6.35756715e-02 5.30175047e-04 9.97976880e-01 -5.21347023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters Centerline goodness : 0.995853 with order 1 Centerline is valid? [True, True] Translation: X:1128.68, Y:-629.43, Z:-51.10 [[ 8.07086945e-01 5.88439276e-01 4.84755697e-02 1.12867672e+03] [-5.87018767e-01 8.08527489e-01 -4.11371608e-02 -6.29425588e+02] [-6.34005518e-02 4.74519632e-03 9.97976880e-01 -5.11043846e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.14, Y:-628.96, Z:-50.07 [[ 8.50425428e-01 5.23602699e-01 5.11547157e-02 1.12914491e+03] [-5.22284892e-01 8.51946951e-01 -3.74817957e-02 -6.28958417e+02] [-6.32066734e-02 5.15813702e-03 9.97987129e-01 -5.00690196e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.20, Y:-628.99, Z:-50.07 [[ 8.47836272e-01 5.27506249e-01 5.39519536e-02 1.12920022e+03] [-5.26479792e-01 8.49550995e-01 -3.28958407e-02 -6.28987059e+02] [-6.31876974e-02 -5.14326377e-04 9.98001528e-01 -5.00723574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.26, Y:-629.02, Z:-50.08 [[ 8.47008285e-01 5.28835580e-01 5.39434346e-02 1.12925532e+03] [-5.27810924e-01 8.48724085e-01 -3.29098046e-02 -6.29018198e+02] [-6.31869678e-02 -5.97056928e-04 9.98001528e-01 -5.00758299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.31, Y:-629.05, Z:-50.08 [[ 8.45652311e-01 5.31002123e-01 5.39343491e-02 1.12931060e+03] [-5.29980914e-01 8.47370165e-01 -3.29246876e-02 -6.29048333e+02] [-6.31854373e-02 -7.41337475e-04 9.98001529e-01 -5.00776103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.37, Y:-629.08, Z:-50.08 [[ 8.44590707e-01 5.32689962e-01 5.39253372e-02 1.12936640e+03] [-5.31671244e-01 8.46310039e-01 -3.29394411e-02 -6.29078157e+02] [-6.31840638e-02 -8.50205262e-04 9.98001529e-01 -5.00799142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.42, Y:-629.11, Z:-50.08 [[ 8.44253431e-01 5.33225313e-01 5.39157723e-02 1.12941983e+03] [-5.32206686e-01 8.45972816e-01 -3.29550897e-02 -6.29108483e+02] [-6.31837657e-02 -8.71886934e-04 9.98001529e-01 -5.00837355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.48, Y:-629.14, Z:-50.09 [[ 8.44467129e-01 5.32887709e-01 5.39069354e-02 1.12947500e+03] [-5.31867473e-01 8.46185559e-01 -3.29695384e-02 -6.29138535e+02] [-6.31843321e-02 -8.29654087e-04 9.98001529e-01 -5.00885341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.53, Y:-629.17, Z:-50.09 [[ 8.44253518e-01 5.33227013e-01 5.38975898e-02 1.12952952e+03] [-5.32206493e-01 8.45971779e-01 -3.29848093e-02 -6.29169684e+02] [-6.31842313e-02 -8.37106011e-04 9.98001529e-01 -5.00930333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.58, Y:-629.20, Z:-50.10 [[ 8.43620661e-01 5.34228632e-01 5.38883128e-02 1.12958327e+03] [-5.33209184e-01 8.45339559e-01 -3.29999585e-02 -6.29199936e+02] [-6.31834452e-02 -8.94296486e-04 9.98001529e-01 -5.01000901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.64, Y:-629.23, Z:-50.10 [[ 8.43485050e-01 5.34443537e-01 5.38802101e-02 1.12963536e+03] [-5.33423682e-01 8.45203706e-01 -3.30131828e-02 -6.29233015e+02] [-6.31834354e-02 -8.94853991e-04 9.98001529e-01 -5.01024414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.69, Y:-629.26, Z:-50.11 [[ 8.46148887e-01 5.30216834e-01 5.38718005e-02 1.12968806e+03] [-5.29187520e-01 8.47861895e-01 -3.30269000e-02 -6.29263596e+02] [-6.31872653e-02 -5.62609836e-04 9.98001530e-01 -5.01094212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:1129.74, Y:-629.30, Z:-50.11 [[ 8.49007692e-01 5.25627810e-01 5.38641196e-02 1.12973988e+03] [-5.24588442e-01 8.50714619e-01 -3.30394223e-02 -6.29296949e+02] [-6.31894332e-02 -2.05770954e-04 9.98001530e-01 -5.01138691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.79, Y:-629.33, Z:-50.12 [[ 8.54132312e-01 5.17259106e-01 5.38610328e-02 1.12979122e+03] [-5.16202697e-01 8.55828744e-01 -3.30444537e-02 -6.29332114e+02] [-6.31883646e-02 4.21125265e-04 9.98001530e-01 -5.01154932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.84, Y:-629.37, Z:-50.12 [[ 8.57415949e-01 5.11798670e-01 5.38517679e-02 1.12984259e+03] [-5.10730510e-01 8.59105007e-01 -3.30595456e-02 -6.29367854e+02] [-6.31841549e-02 8.42040784e-04 9.98001530e-01 -5.01169773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.89, Y:-629.40, Z:-50.12 [[ 8.60481634e-01 5.06628317e-01 5.38433446e-02 1.12989364e+03] [-5.05549152e-01 8.62163682e-01 -3.30732588e-02 -6.29400680e+02] [-6.31776256e-02 1.23847457e-03 9.98001530e-01 -5.01202821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1129.95, Y:-629.43, Z:-50.12 [[ 8.62812584e-01 5.02649156e-01 5.38355894e-02 1.12994639e+03] [-5.01561447e-01 8.64489120e-01 -3.30858776e-02 -6.29434678e+02] [-6.31708698e-02 1.54505544e-03 9.98001530e-01 -5.01235926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.00, Y:-629.47, Z:-50.13 [[ 8.62648367e-01 5.02931929e-01 5.38263010e-02 1.12999957e+03] [-5.01843828e-01 8.64324648e-01 -3.31009818e-02 -6.29467621e+02] [-6.31709392e-02 1.54211093e-03 9.98001530e-01 -5.01269498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.05, Y:-629.50, Z:-50.13 [[ 8.60633319e-01 5.06373398e-01 5.38170207e-02 1.13005330e+03] [-5.05291059e-01 8.62313326e-01 -3.31160632e-02 -6.29498166e+02] [-6.31762275e-02 1.30752795e-03 9.98001530e-01 -5.01318685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.11, Y:-629.53, Z:-50.14 [[ 8.58168737e-01 5.10539923e-01 5.38089809e-02 1.13010716e+03] [-5.09464923e-01 8.59853449e-01 -3.31291215e-02 -6.29529660e+02] [-6.31815770e-02 1.01658809e-03 9.98001531e-01 -5.01360342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.16, Y:-629.56, Z:-50.14 [[ 8.54063014e-01 5.17379768e-01 5.38009750e-02 1.13016160e+03] [-5.16317443e-01 8.55755747e-01 -3.31421179e-02 -6.29559763e+02] [-6.31875548e-02 5.27075245e-04 9.98001531e-01 -5.01388503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.22, Y:-629.59, Z:-50.14 [[ 8.51377172e-01 5.21788491e-01 5.37929501e-02 1.13021618e+03] [-5.20734110e-01 8.53074864e-01 -3.31551379e-02 -6.29590085e+02] [-6.31893830e-02 2.15703576e-04 9.98001531e-01 -5.01425951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.27, Y:-629.62, Z:-50.15 [[ 8.49190555e-01 5.25340555e-01 5.37838471e-02 1.13027013e+03] [-5.24292340e-01 8.50892061e-01 -3.31698983e-02 -6.29621372e+02] [-6.31897413e-02 -3.08947400e-05 9.98001531e-01 -5.01466831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.32, Y:-629.65, Z:-50.15 [[ 8.47382454e-01 5.28253010e-01 5.37748386e-02 1.13032262e+03] [-5.27209717e-01 8.49086983e-01 -3.31844964e-02 -6.29653866e+02] [-6.31893255e-02 -2.30657417e-04 9.98001531e-01 -5.01485983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.38, Y:-629.69, Z:-50.15 [[ 8.45585632e-01 5.31125273e-01 5.37669320e-02 1.13037637e+03] [-5.30086955e-01 8.47293196e-01 -3.31973020e-02 -6.29685055e+02] [-6.31882817e-02 -4.29987706e-04 9.98001531e-01 -5.01544875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.43, Y:-629.72, Z:-50.16 [[ 8.43204619e-01 5.34898150e-01 5.37581676e-02 1.13042791e+03] [-5.33866567e-01 8.44916260e-01 -3.32114887e-02 -6.29717069e+02] [-6.31859137e-02 -6.95607739e-04 9.98001531e-01 -5.01562647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.48, Y:-629.75, Z:-50.16 [[ 8.40868685e-01 5.38563315e-01 5.37532388e-02 1.13048091e+03] [-5.37538683e-01 8.42584495e-01 -3.32194641e-02 -6.29751763e+02] [-6.31824303e-02 -9.61238048e-04 9.98001531e-01 -5.01597960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.53, Y:-629.79, Z:-50.16 [[ 8.37441803e-01 5.43877596e-01 5.37437147e-02 1.13053239e+03] [-5.42862863e-01 8.39163486e-01 -3.32348654e-02 -6.29786375e+02] [-6.31754617e-02 -1.34320122e-03 9.98001532e-01 -5.01645699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.58, Y:-629.82, Z:-50.17 [[ 8.36092511e-01 5.45950432e-01 5.37349011e-02 1.13058483e+03] [-5.44939052e-01 8.37816165e-01 -3.32491093e-02 -6.29819356e+02] [-6.31723344e-02 -1.48291475e-03 9.98001532e-01 -5.01746977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.64, Y:-629.86, Z:-50.18 [[ 8.34119016e-01 5.48961162e-01 5.37318380e-02 1.13063554e+03] [-5.47955684e-01 8.35846120e-01 -3.32540588e-02 -6.29856040e+02] [-6.31667350e-02 -1.70482324e-03 9.98001532e-01 -5.01789972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.69, Y:-629.89, Z:-50.18 [[ 8.32898690e-01 5.50811899e-01 5.37217263e-02 1.13068511e+03] [-5.49809206e-01 8.34627413e-01 -3.32703861e-02 -6.29893100e+02] [-6.31633500e-02 -1.82583873e-03 9.98001532e-01 -5.01788460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1130.74, Y:-629.93, Z:-50.18 [[ 8.33091454e-01 5.50521075e-01 5.37138306e-02 1.13073657e+03] [-5.49516958e-01 8.34819349e-01 -3.32831286e-02 -6.29930096e+02] [-6.31644088e-02 -1.78877081e-03 9.98001532e-01 -5.01834457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.79, Y:-629.97, Z:-50.19 [[ 8.33820373e-01 5.49417344e-01 5.37044445e-02 1.13078607e+03] [-5.48409965e-01 8.35546369e-01 -3.32982667e-02 -6.29968451e+02] [-6.31671989e-02 -1.68727938e-03 9.98001532e-01 -5.01879701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.84, Y:-630.00, Z:-50.20 [[ 8.36723037e-01 5.44987516e-01 5.36951237e-02 1.13083831e+03] [-5.43970034e-01 8.38443097e-01 -3.33132902e-02 -6.30001745e+02] [-6.31756331e-02 -1.33454094e-03 9.98001532e-01 -5.01987556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.88, Y:-630.04, Z:-50.20 [[ 8.36784381e-01 5.44894172e-01 5.36865062e-02 1.13088495e+03] [-5.43875608e-01 8.38503800e-01 -3.33271721e-02 -6.30044117e+02] [-6.31761213e-02 -1.31112420e-03 9.98001532e-01 -5.01960071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.94, Y:-630.08, Z:-50.20 [[ 8.37490622e-01 5.43808910e-01 5.36780010e-02 1.13093669e+03] [-5.42787241e-01 8.39208197e-01 -3.33408653e-02 -6.30079738e+02] [-6.31780781e-02 -1.21307210e-03 9.98001533e-01 -5.01999077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1130.99, Y:-630.12, Z:-50.20 [[ 8.39139982e-01 5.41261285e-01 5.36685328e-02 1.13098730e+03] [-5.40233427e-01 8.40853861e-01 -3.33560993e-02 -6.30117560e+02] [-6.31817582e-02 -1.00309879e-03 9.98001533e-01 -5.02040854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1131.04, Y:-630.16, Z:-50.21 [[ 8.41553725e-01 5.37501652e-01 5.36591238e-02 1.13103557e+03] [-5.36465172e-01 8.43262403e-01 -3.33712284e-02 -6.30156566e+02] [-6.31858121e-02 -7.02569548e-04 9.98001533e-01 -5.02093145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.08, Y:-630.20, Z:-50.21 [[ 8.42638428e-01 5.35800439e-01 5.36504400e-02 1.13108465e+03] [-5.34759621e-01 8.44344466e-01 -3.33851834e-02 -6.30195312e+02] [-6.31872481e-02 -5.58450501e-04 9.98001533e-01 -5.02134669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.14, Y:-630.23, Z:-50.22 [[ 8.41563794e-01 5.37487563e-01 5.36423296e-02 1.13113696e+03] [-5.36449335e-01 8.43271410e-01 -3.33982100e-02 -6.30230419e+02] [-6.31861654e-02 -6.69667679e-04 9.98001533e-01 -5.02176591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.19, Y:-630.26, Z:-50.22 [[ 8.39093837e-01 5.41336331e-01 5.36331071e-02 1.13119043e+03] [-5.40304989e-01 8.40805620e-01 -3.34130135e-02 -6.30263287e+02] [-6.31826960e-02 -9.41581653e-04 9.98001533e-01 -5.02212180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.24, Y:-630.29, Z:-50.22 [[ 8.37806170e-01 5.43327983e-01 5.36239136e-02 1.13124276e+03] [-5.42299766e-01 8.39519832e-01 -3.34277614e-02 -6.30294554e+02] [-6.31805772e-02 -1.07425103e-03 9.98001533e-01 -5.02246472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.29, Y:-630.33, Z:-50.23 [[ 8.38299689e-01 5.42566652e-01 5.36195857e-02 1.13129467e+03] [-5.41536434e-01 8.40012149e-01 -3.34347022e-02 -6.30328391e+02] [-6.31816578e-02 -1.00865874e-03 9.98001533e-01 -5.02264311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.35, Y:-630.36, Z:-50.23 [[ 8.39619067e-01 5.40523458e-01 5.36116912e-02 1.13134704e+03] [-5.39488266e-01 8.41328524e-01 -3.34473560e-02 -6.30362451e+02] [-6.31841256e-02 -8.39840497e-04 9.98001534e-01 -5.02277327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.40, Y:-630.39, Z:-50.24 [[ 8.41711356e-01 5.37260310e-01 5.36036596e-02 1.13140160e+03] [-5.36217670e-01 8.43416282e-01 -3.34602228e-02 -6.30392561e+02] [-6.31870489e-02 -5.79379881e-04 9.98001534e-01 -5.02408738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.45, Y:-630.43, Z:-50.24 [[ 8.39456524e-01 5.40777081e-01 5.35993807e-02 1.13145321e+03] [-5.39741146e-01 8.41165531e-01 -3.34670756e-02 -6.30428101e+02] [-6.31841790e-02 -8.35636215e-04 9.98001534e-01 -5.02356607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1131.51, Y:-630.46, Z:-50.25 [[ 8.40514558e-01 5.39132047e-01 5.35902343e-02 1.13150778e+03] [-5.38091834e-01 8.42220965e-01 -3.34817152e-02 -6.30457513e+02] [-6.31858845e-02 -6.94598442e-04 9.98001534e-01 -5.02483768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.56, Y:-630.49, Z:-50.25 [[ 8.39163664e-01 5.41233001e-01 5.35834312e-02 1.13155798e+03] [-5.40196364e-01 8.40872246e-01 -3.34925992e-02 -6.30491713e+02] [-6.31841201e-02 -8.39802493e-04 9.98001534e-01 -5.02504138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.61, Y:-630.52, Z:-50.25 [[ 8.37606129e-01 5.43640782e-01 5.35786590e-02 1.13160980e+03] [-5.42608569e-01 8.39317387e-01 -3.35002316e-02 -6.30523685e+02] [-6.31815922e-02 -1.01224014e-03 9.98001534e-01 -5.02502637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.66, Y:-630.56, Z:-50.26 [[ 8.37087019e-01 5.44440543e-01 5.35706754e-02 1.13166294e+03] [-5.43409149e-01 8.38798770e-01 -3.35129935e-02 -6.30557011e+02] [-6.31808490e-02 -1.05750331e-03 9.98001534e-01 -5.02554059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.72, Y:-630.59, Z:-50.26 [[ 8.37318483e-01 5.44085374e-01 5.35617748e-02 1.13171624e+03] [-5.43052344e-01 8.39029247e-01 -3.35272128e-02 -6.30590497e+02] [-6.31815617e-02 -1.01389244e-03 9.98001534e-01 -5.02611438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.77, Y:-630.62, Z:-50.27 [[ 8.38007991e-01 5.43023650e-01 5.35529907e-02 1.13176921e+03] [-5.41987556e-01 8.39716901e-01 -3.35412378e-02 -6.30623650e+02] [-6.31830368e-02 -9.17229243e-04 9.98001534e-01 -5.02658539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.82, Y:-630.66, Z:-50.27 [[ 8.39176170e-01 5.41217491e-01 5.35442138e-02 1.13182160e+03] [-5.40176826e-01 8.40882300e-01 -3.35552431e-02 -6.30656103e+02] [-6.31850662e-02 -7.64583107e-04 9.98001535e-01 -5.02704169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.87, Y:-630.69, Z:-50.27 [[ 8.40997719e-01 5.38383434e-01 5.35361043e-02 1.13187474e+03] [-5.37336195e-01 8.42699823e-01 -3.35681766e-02 -6.30689484e+02] [-6.31874157e-02 -5.36126668e-04 9.98001535e-01 -5.02724343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.93, Y:-630.72, Z:-50.28 [[ 8.41572102e-01 5.37486090e-01 5.35266252e-02 1.13192798e+03] [-5.36436076e-01 8.43272494e-01 -3.35832848e-02 -6.30723410e+02] [-6.31880792e-02 -4.50857155e-04 9.98001535e-01 -5.02772698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1131.98, Y:-630.76, Z:-50.28 [[ 8.42554376e-01 5.35945935e-01 5.35170905e-02 1.13198073e+03] [-5.34891848e-01 8.44252246e-01 -3.35984721e-02 -6.30755778e+02] [-6.31888884e-02 -3.17315681e-04 9.98001535e-01 -5.02846100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.03, Y:-630.79, Z:-50.29 [[ 8.42889388e-01 5.35419725e-01 5.35088519e-02 1.13203222e+03] [-5.34363745e-01 8.44586082e-01 -3.36115877e-02 -6.30790258e+02] [-6.31891386e-02 -2.62339862e-04 9.98001535e-01 -5.02911778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.09, Y:-630.82, Z:-50.29 [[ 8.44771470e-01 5.32445597e-01 5.35056100e-02 1.13208602e+03] [-5.31383316e-01 8.46464226e-01 -3.36167477e-02 -6.30820964e+02] [-6.31896740e-02 -3.35191219e-05 9.98001535e-01 -5.02943227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.14, Y:-630.85, Z:-50.30 [[ 8.45287142e-01 5.31627537e-01 5.34958797e-02 1.13213858e+03] [-5.30562639e-01 8.46978252e-01 -3.36322249e-02 -6.30852590e+02] [-6.31896636e-02 4.59721459e-05 9.98001535e-01 -5.02981415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.19, Y:-630.88, Z:-50.30 [[ 8.44445469e-01 5.32964322e-01 5.34872083e-02 1.13219289e+03] [-5.31901228e-01 8.46137713e-01 -3.36460099e-02 -6.30884912e+02] [-6.31896670e-02 -3.76911718e-05 9.98001535e-01 -5.02991675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters Centerline goodness : 0.995977 with order 1 Centerline is valid? [True, True] Translation: X:1132.25, Y:-630.92, Z:-50.31 [[ 8.43289895e-01 5.34791826e-01 5.34776241e-02 1.13224610e+03] [-5.33731433e-01 8.44983834e-01 -3.36612363e-02 -6.30918323e+02] [-6.31894818e-02 -1.56508520e-04 9.98001536e-01 -5.03055586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.30, Y:-630.95, Z:-50.31 [[ 8.42324786e-01 5.36311829e-01 5.34656617e-02 1.13230176e+03] [-5.35253288e-01 8.44019881e-01 -3.36802260e-02 -6.30948455e+02] [-6.31891851e-02 -2.47982066e-04 9.98001536e-01 -5.03060381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.35, Y:-630.98, Z:-50.31 [[ 8.40216359e-01 5.39610250e-01 5.34532294e-02 1.13235460e+03] [-5.38557108e-01 8.41914815e-01 -3.36999456e-02 -6.30981094e+02] [-6.31879018e-02 -4.72371056e-04 9.98001536e-01 -5.03098984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.41, Y:-631.01, Z:-50.31 [[ 8.38286812e-01 5.42603864e-01 5.34440576e-02 1.13240879e+03] [-5.41555860e-01 8.39988443e-01 -3.37144847e-02 -6.31013583e+02] [-6.31860004e-02 -6.80534728e-04 9.98001536e-01 -5.03132376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.46, Y:-631.04, Z:-50.32 [[ 8.34515246e-01 5.48387682e-01 5.34345905e-02 1.13246167e+03] [-5.47350510e-01 8.36223499e-01 -3.37294826e-02 -6.31044095e+02] [-6.31800930e-02 -1.09968292e-03 9.98001536e-01 -5.03194660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.51, Y:-631.07, Z:-50.33 [[ 8.32641513e-01 5.51229231e-01 5.34270149e-02 1.13251462e+03] [-5.50197119e-01 8.34352829e-01 -3.37414779e-02 -6.31074932e+02] [-6.31762700e-02 -1.30083446e-03 9.98001536e-01 -5.03258431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.57, Y:-631.11, Z:-50.33 [[ 8.31875118e-01 5.52385854e-01 5.34196297e-02 1.13256848e+03] [-5.51355372e-01 8.33587415e-01 -3.37531662e-02 -6.31107921e+02] [-6.31747026e-02 -1.37478068e-03 9.98001537e-01 -5.03307138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1132.62, Y:-631.14, Z:-50.34 [[ 8.34014252e-01 5.49151645e-01 5.34106633e-02 1.13262340e+03] [-5.48113614e-01 8.35721983e-01 -3.37673487e-02 -6.31135984e+02] [-6.31798605e-02 -1.11266164e-03 9.98001537e-01 -5.03404112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.67, Y:-631.17, Z:-50.34 [[ 8.32962412e-01 5.50746621e-01 5.34020558e-02 1.13267269e+03] [-5.49710988e-01 8.34671598e-01 -3.37809557e-02 -6.31172599e+02] [-6.31779265e-02 -1.21743049e-03 9.98001537e-01 -5.03393496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.73, Y:-631.21, Z:-50.34 [[ 8.34734873e-01 5.48057256e-01 5.33941564e-02 1.13272502e+03] [-5.47015317e-01 8.36440223e-01 -3.37934368e-02 -6.31207298e+02] [-6.31817583e-02 -9.98861295e-04 9.98001537e-01 -5.03419640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.77, Y:-631.24, Z:-50.35 [[ 8.37676601e-01 5.43551273e-01 5.33846902e-02 1.13277490e+03] [-5.42499207e-01 8.39375722e-01 -3.38083844e-02 -6.31243311e+02] [-6.31864032e-02 -6.40659608e-04 9.98001537e-01 -5.03474477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.83, Y:-631.27, Z:-50.36 [[ 8.43096122e-01 5.35107362e-01 5.33763947e-02 1.13282983e+03] [-5.34037449e-01 8.44784062e-01 -3.38214762e-02 -6.31271609e+02] [-6.31896484e-02 9.76174704e-06 9.98001537e-01 -5.03623360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.88, Y:-631.31, Z:-50.36 [[ 8.43662402e-01 5.34214937e-01 5.33680911e-02 1.13287928e+03] [-5.33142410e-01 8.45348681e-01 -3.38345737e-02 -6.31310022e+02] [-6.31895800e-02 9.21650292e-05 9.98001537e-01 -5.03642178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.93, Y:-631.35, Z:-50.36 [[ 8.40663608e-01 5.38922500e-01 5.33595121e-02 1.13292668e+03] [-5.37858557e-01 8.42355316e-01 -3.38480979e-02 -6.31349621e+02] [-6.31891702e-02 -2.45006045e-04 9.98001537e-01 -5.03606023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1132.98, Y:-631.38, Z:-50.36 [[ 8.40062272e-01 5.39860159e-01 5.33515534e-02 1.13297926e+03] [-5.38797308e-01 8.41754667e-01 -3.38606378e-02 -6.31384473e+02] [-6.31889284e-02 -3.00629018e-04 9.98001538e-01 -5.03640570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1133.03, Y:-631.42, Z:-50.37 [[ 8.38328689e-01 5.42549204e-01 5.33420117e-02 1.13303050e+03] [-5.41490825e-01 8.40023884e-01 -3.38756627e-02 -6.31419292e+02] [-6.31877776e-02 -4.85270041e-04 9.98001538e-01 -5.03663862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.08, Y:-631.45, Z:-50.37 [[ 8.35530457e-01 5.46849500e-01 5.33336718e-02 1.13308226e+03] [-5.45799008e-01 8.37230550e-01 -3.38887879e-02 -6.31451669e+02] [-6.31846460e-02 -7.94350720e-04 9.98001538e-01 -5.03681343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.14, Y:-631.48, Z:-50.37 [[ 8.34583465e-01 5.48294423e-01 5.33260419e-02 1.13313570e+03] [-5.47246107e-01 8.36284901e-01 -3.39007897e-02 -6.31484967e+02] [-6.31833776e-02 -8.89430261e-04 9.98001538e-01 -5.03715328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.19, Y:-631.52, Z:-50.38 [[ 8.33940394e-01 5.49272935e-01 5.33166187e-02 1.13318906e+03] [-5.48225669e-01 8.35642476e-01 -3.39156033e-02 -6.31517778e+02] [-6.31825543e-02 -9.45947399e-04 9.98001538e-01 -5.03751990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.24, Y:-631.55, Z:-50.38 [[ 8.36710083e-01 5.45045473e-01 5.33073092e-02 1.13324176e+03] [-5.43988675e-01 8.38406263e-01 -3.39302293e-02 -6.31550931e+02] [-6.31866998e-02 -6.08807517e-04 9.98001538e-01 -5.03791741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.29, Y:-631.59, Z:-50.38 [[ 8.38861805e-01 5.41728772e-01 5.32992565e-02 1.13329370e+03] [-5.40664463e-01 8.40553282e-01 -3.39428743e-02 -6.31585652e+02] [-6.31886966e-02 -3.43633054e-04 9.98001538e-01 -5.03830232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.35, Y:-631.62, Z:-50.39 [[ 8.40491460e-01 5.39197799e-01 5.32901422e-02 1.13334560e+03] [-5.38127489e-01 8.42179147e-01 -3.39571777e-02 -6.31620361e+02] [-6.31894819e-02 -1.36172519e-04 9.98001539e-01 -5.03853893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.40, Y:-631.65, Z:-50.39 [[ 8.41556563e-01 5.37534856e-01 5.32806806e-02 1.13339854e+03] [-5.36460272e-01 8.43241531e-01 -3.39720170e-02 -6.31654329e+02] [-6.31896259e-02 6.40545384e-06 9.98001539e-01 -5.03882422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.45, Y:-631.69, Z:-50.39 [[ 8.41673703e-01 5.37352367e-01 5.32711179e-02 1.13345224e+03] [-5.36276469e-01 8.43357832e-01 -3.39870055e-02 -6.31687254e+02] [-6.31896123e-02 3.79216642e-05 9.98001539e-01 -5.03915432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.51, Y:-631.72, Z:-50.39 [[ 8.40353361e-01 5.39415837e-01 5.32614604e-02 1.13350525e+03] [-5.38343115e-01 8.42039515e-01 -3.40021332e-02 -6.31720436e+02] [-6.31895434e-02 -9.91336153e-05 9.98001539e-01 -5.03939522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1133.56, Y:-631.75, Z:-50.40 [[ 8.38624108e-01 5.42101316e-01 5.32519381e-02 1.13355782e+03] [-5.41033047e-01 8.40313087e-01 -3.40170400e-02 -6.31752791e+02] [-6.31889825e-02 -2.83548494e-04 9.98001539e-01 -5.03978493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.61, Y:-631.78, Z:-50.40 [[ 8.35919852e-01 5.46262913e-01 5.32431308e-02 1.13361229e+03] [-5.45202175e-01 8.37613570e-01 -3.40308194e-02 -6.31783345e+02] [-6.31869434e-02 -5.81233252e-04 9.98001539e-01 -5.04038331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.67, Y:-631.82, Z:-50.41 [[ 8.34947019e-01 5.47749613e-01 5.32337975e-02 1.13366582e+03] [-5.46690960e-01 8.36642041e-01 -3.40454131e-02 -6.31815687e+02] [-6.31859948e-02 -6.76319652e-04 9.98001539e-01 -5.04085859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.72, Y:-631.85, Z:-50.41 [[ 8.35223396e-01 5.47329020e-01 5.32242734e-02 1.13371840e+03] [-5.46268565e-01 8.36917291e-01 -3.40602960e-02 -6.31849450e+02] [-6.31865031e-02 -6.26791386e-04 9.98001540e-01 -5.04129767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.77, Y:-631.88, Z:-50.42 [[ 8.39991347e-01 5.39983357e-01 5.32213403e-02 1.13377214e+03] [-5.38907798e-01 8.41675691e-01 -3.40648785e-02 -6.31879317e+02] [-6.31895758e-02 -6.71921605e-05 9.98001540e-01 -5.04226127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.82, Y:-631.92, Z:-50.42 [[ 8.40535831e-01 5.39136284e-01 5.32126328e-02 1.13382136e+03] [-5.38058166e-01 8.42218539e-01 -3.40784750e-02 -6.31916705e+02] [-6.31896082e-02 1.26876640e-05 9.98001540e-01 -5.04185054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.87, Y:-631.95, Z:-50.42 [[ 8.43343063e-01 5.34734900e-01 5.32077530e-02 1.13387386e+03] [-5.33647520e-01 8.45019800e-01 -3.40860922e-02 -6.31952134e+02] [-6.31886280e-02 3.52083946e-04 9.98001540e-01 -5.04208242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.93, Y:-631.99, Z:-50.43 [[ 8.46460225e-01 5.29787718e-01 5.31983126e-02 1.13392560e+03] [-5.28689614e-01 8.48129959e-01 -3.41008196e-02 -6.31985224e+02] [-6.31852781e-02 7.39592135e-04 9.98001540e-01 -5.04270590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1133.98, Y:-632.02, Z:-50.43 [[ 8.46856545e-01 5.29154811e-01 5.31900119e-02 1.13397829e+03] [-5.28054646e-01 8.48524921e-01 -3.41137620e-02 -6.32017353e+02] [-6.31845120e-02 8.02229717e-04 9.98001540e-01 -5.04319758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.03, Y:-632.05, Z:-50.44 [[ 8.46330256e-01 5.29997003e-01 5.31815320e-02 1.13403257e+03] [-5.28897668e-01 8.47999179e-01 -3.41269767e-02 -6.32048758e+02] [-6.31850908e-02 7.55104666e-04 9.98001540e-01 -5.04367488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.09, Y:-632.08, Z:-50.44 [[ 8.43961183e-01 5.33762376e-01 5.31718609e-02 1.13408634e+03] [-5.32669538e-01 8.45634368e-01 -3.41420382e-02 -6.32080456e+02] [-6.31876884e-02 4.91524352e-04 9.98001540e-01 -5.04357129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.14, Y:-632.11, Z:-50.44 [[ 8.41439068e-01 5.37730375e-01 5.31633219e-02 1.13414125e+03] [-5.36644588e-01 8.43116836e-01 -3.41553292e-02 -6.32109899e+02] [-6.31892498e-02 2.09819407e-04 9.98001540e-01 -5.04388071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.19, Y:-632.14, Z:-50.44 [[ 8.40026716e-01 5.39934521e-01 5.31585375e-02 1.13419488e+03] [-5.38852665e-01 8.41707022e-01 -3.41627740e-02 -6.32138937e+02] [-6.31895753e-02 5.30232667e-05 9.98001541e-01 -5.04439103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.25, Y:-632.17, Z:-50.45 [[ 8.38853927e-01 5.41755274e-01 5.31536668e-02 1.13424839e+03] [-5.40676585e-01 8.40536268e-01 -3.41703506e-02 -6.32171553e+02] [-6.31895524e-02 -7.50102321e-05 9.98001541e-01 -5.04476999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.30, Y:-632.20, Z:-50.45 [[ 8.35416164e-01 5.47042534e-01 5.31441459e-02 1.13430286e+03] [-5.45973550e-01 8.37104688e-01 -3.41851518e-02 -6.32200105e+02] [-6.31879457e-02 -4.56469590e-04 9.98001541e-01 -5.04532127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.36, Y:-632.23, Z:-50.46 [[ 8.33546406e-01 5.49888193e-01 5.31353435e-02 1.13435786e+03] [-5.48824102e-01 8.35238017e-01 -3.41988282e-02 -6.32230700e+02] [-6.31861908e-02 -6.55646834e-04 9.98001541e-01 -5.04577643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.41, Y:-632.26, Z:-50.46 [[ 8.32510551e-01 5.51456064e-01 5.31261797e-02 1.13441235e+03] [-5.50394251e-01 8.34203593e-01 -3.42130579e-02 -6.32262556e+02] [-6.31850482e-02 -7.57612178e-04 9.98001541e-01 -5.04620602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.47, Y:-632.29, Z:-50.47 [[ 8.32317411e-01 5.51748402e-01 5.31171110e-02 1.13446638e+03] [-5.50686286e-01 8.34010263e-01 -3.42271315e-02 -6.32293170e+02] [-6.31849809e-02 -7.63027049e-04 9.98001541e-01 -5.04670938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.52, Y:-632.33, Z:-50.47 [[ 8.32682525e-01 5.51198026e-01 5.31088436e-02 1.13451950e+03] [-5.50133972e-01 8.34374160e-01 -3.42399550e-02 -6.32325509e+02] [-6.31856423e-02 -7.05966890e-04 9.98001541e-01 -5.04724892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.57, Y:-632.36, Z:-50.47 [[ 8.34611933e-01 5.48272965e-01 5.31006396e-02 1.13457358e+03] [-5.47202173e-01 8.36299310e-01 -3.42526734e-02 -6.32357416e+02] [-6.31878430e-02 -4.69095457e-04 9.98001541e-01 -5.04747817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1134.63, Y:-632.39, Z:-50.48 [[ 8.35978849e-01 5.46187467e-01 5.30906306e-02 1.13462616e+03] [-5.45111481e-01 8.37662918e-01 -3.42681800e-02 -6.32390253e+02] [-6.31889030e-02 -2.92838590e-04 9.98001542e-01 -5.04783914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.68, Y:-632.42, Z:-50.48 [[ 8.37831929e-01 5.43341484e-01 5.30819197e-02 1.13467909e+03] [-5.42258923e-01 8.39511779e-01 -3.42816681e-02 -6.32421765e+02] [-6.31895493e-02 -6.18684840e-05 9.98001542e-01 -5.04820800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.73, Y:-632.46, Z:-50.48 [[ 8.36850584e-01 5.44852584e-01 5.30731750e-02 1.13473001e+03] [-5.43772197e-01 8.38531834e-01 -3.42952008e-02 -6.32456349e+02] [-6.31893755e-02 -1.59758216e-04 9.98001542e-01 -5.04849294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.78, Y:-632.49, Z:-50.49 [[ 8.36413915e-01 5.45523522e-01 5.30645802e-02 1.13478320e+03] [-5.44443640e-01 8.38095490e-01 -3.43084943e-02 -6.32488950e+02] [-6.31892760e-02 -1.94571141e-04 9.98001542e-01 -5.04893979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.84, Y:-632.52, Z:-50.50 [[ 8.34575812e-01 5.48332377e-01 5.30548684e-02 1.13483529e+03] [-5.47257201e-01 8.36260398e-01 -3.43235061e-02 -6.32519609e+02] [-6.31883751e-02 -3.89090802e-04 9.98001542e-01 -5.04957912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1134.89, Y:-632.55, Z:-50.50 [[ 8.32866110e-01 5.50926245e-01 5.30501252e-02 1.13488848e+03] [-5.49855848e-01 8.34553737e-01 -3.43308356e-02 -6.32551820e+02] [-6.31869386e-02 -5.76932079e-04 9.98001542e-01 -5.05011857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1134.94, Y:-632.58, Z:-50.51 [[ 8.31716549e-01 5.52660966e-01 5.30418545e-02 1.13494327e+03] [-5.51593275e-01 8.33405889e-01 -3.43436093e-02 -6.32583212e+02] [-6.31857662e-02 -6.93381968e-04 9.98001542e-01 -5.05079899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.00, Y:-632.62, Z:-50.51 [[ 8.31037109e-01 5.53683076e-01 5.30318405e-02 1.13499642e+03] [-5.52616476e-01 8.32727137e-01 -3.43590655e-02 -6.32616942e+02] [-6.31850858e-02 -7.52610380e-04 9.98001542e-01 -5.05119336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1135.05, Y:-632.65, Z:-50.52 [[ 8.30290254e-01 5.54803400e-01 5.30215276e-02 1.13504772e+03] [-5.53738065e-01 8.31981080e-01 -3.43749726e-02 -6.32652230e+02] [-6.31842595e-02 -8.18833329e-04 9.98001543e-01 -5.05154050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.10, Y:-632.69, Z:-50.52 [[ 8.29086367e-01 5.56601763e-01 5.30120190e-02 1.13509718e+03] [-5.55539158e-01 8.30778910e-01 -3.43896303e-02 -6.32689441e+02] [-6.31825962e-02 -9.38278701e-04 9.98001543e-01 -5.05166621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.15, Y:-632.72, Z:-50.52 [[ 8.30061078e-01 5.55148010e-01 5.30027851e-02 1.13514853e+03] [-5.54081532e-01 8.31751183e-01 -3.44038561e-02 -6.32724746e+02] [-6.31843614e-02 -8.10562536e-04 9.98001543e-01 -5.05181891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.20, Y:-632.76, Z:-50.52 [[ 8.32478295e-01 5.51517429e-01 5.29944641e-02 1.13519989e+03] [-5.50442765e-01 8.34163207e-01 -3.44166688e-02 -6.32759775e+02] [-6.31874248e-02 -5.19289552e-04 9.98001543e-01 -5.05210050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.25, Y:-632.80, Z:-50.53 [[ 8.33203559e-01 5.50421976e-01 5.29856462e-02 1.13525152e+03] [-5.49344233e-01 8.34886503e-01 -3.44302388e-02 -6.32796101e+02] [-6.31881609e-02 -4.19961688e-04 9.98001543e-01 -5.05251888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1135.30, Y:-632.83, Z:-50.53 [[ 8.31926863e-01 5.52350688e-01 5.29755739e-02 1.13530189e+03] [-5.51275861e-01 8.33611671e-01 -3.44457295e-02 -6.32832767e+02] [-6.31871790e-02 -5.47827437e-04 9.98001543e-01 -5.05292252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.35, Y:-632.87, Z:-50.53 [[ 8.30194541e-01 5.54951888e-01 5.29662695e-02 1.13535196e+03] [-5.53881427e-01 8.31882126e-01 -3.44600307e-02 -6.32868541e+02] [-6.31853520e-02 -7.28503565e-04 9.98001543e-01 -5.05341311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.40, Y:-632.90, Z:-50.54 [[ 8.29063766e-01 5.56640601e-01 5.29576530e-02 1.13540354e+03] [-5.55572731e-01 8.30752992e-01 -3.44732673e-02 -6.32904716e+02] [-6.31839489e-02 -8.41291076e-04 9.98001544e-01 -5.05392182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.45, Y:-632.94, Z:-50.54 [[ 8.28742497e-01 5.57119734e-01 5.29478574e-02 1.13545450e+03] [-5.56051880e-01 8.30431733e-01 -3.44883060e-02 -6.32941138e+02] [-6.31836968e-02 -8.59830809e-04 9.98001544e-01 -5.05437288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.51, Y:-632.98, Z:-50.55 [[ 8.28896301e-01 5.56891813e-01 5.29379907e-02 1.13550566e+03] [-5.55822529e-01 8.30584631e-01 -3.45034443e-02 -6.32975931e+02] [-6.31841671e-02 -8.24350533e-04 9.98001544e-01 -5.05488691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.56, Y:-633.02, Z:-50.55 [[ 8.30147987e-01 5.55025093e-01 5.29288756e-02 1.13555551e+03] [-5.53951121e-01 8.31833339e-01 -3.45174214e-02 -6.33015003e+02] [-6.31860383e-02 -6.65442076e-04 9.98001544e-01 -5.05529097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.60, Y:-633.05, Z:-50.56 [[ 8.32194633e-01 5.51952589e-01 5.29191023e-02 1.13560397e+03] [-5.50871442e-01 8.33875391e-01 -3.45323985e-02 -6.33053727e+02] [-6.31881839e-02 -4.13945478e-04 9.98001544e-01 -5.05551925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1135.65, Y:-633.09, Z:-50.56 [[ 8.33212490e-01 5.50415666e-01 5.29106854e-02 1.13565443e+03] [-5.49330600e-01 8.34890720e-01 -3.45452900e-02 -6.33091823e+02] [-6.31889091e-02 -2.81891520e-04 9.98001544e-01 -5.05577965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.71, Y:-633.13, Z:-50.57 [[ 8.35626096e-01 5.46745381e-01 5.29009958e-02 1.13570549e+03] [-5.45652005e-01 8.37298924e-01 -3.45601219e-02 -6.33126158e+02] [-6.31895339e-02 1.38053593e-05 9.98001544e-01 -5.05654745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1135.75, Y:-633.16, Z:-50.57 [[ 8.35352459e-01 5.47164222e-01 5.28921904e-02 1.13575294e+03] [-5.46070831e-01 8.37025277e-01 -3.45735928e-02 -6.33164883e+02] [-6.31895333e-02 -1.74652510e-06 9.98001545e-01 -5.05660218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.80, Y:-633.20, Z:-50.57 [[ 8.36174404e-01 5.45908083e-01 5.28841313e-02 1.13580304e+03] [-5.44811400e-01 8.37845065e-01 -3.45859156e-02 -6.33200858e+02] [-6.31894394e-02 1.07979799e-04 9.98001545e-01 -5.05704190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1135.85, Y:-633.24, Z:-50.58 [[ 8.37901188e-01 5.43254797e-01 5.28755534e-02 1.13585459e+03] [-5.42151997e-01 8.39567818e-01 -3.45990247e-02 -6.33235812e+02] [-6.31886992e-02 3.23977046e-04 9.98001545e-01 -5.05767937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.90, Y:-633.27, Z:-50.58 [[ 8.37194749e-01 5.44343682e-01 5.28668904e-02 1.13590490e+03] [-5.43242213e-01 8.38862259e-01 -3.46122567e-02 -6.33270520e+02] [-6.31890024e-02 2.57672971e-04 9.98001545e-01 -5.05820504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1135.96, Y:-633.31, Z:-50.59 [[ 8.38671566e-01 5.42066353e-01 5.28589951e-02 1.13595543e+03] [-5.40959596e-01 8.40335571e-01 -3.46243101e-02 -6.33305670e+02] [-6.31879673e-02 4.43843725e-04 9.98001545e-01 -5.05862543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.00, Y:-633.34, Z:-50.59 [[ 8.37695902e-01 5.43573750e-01 5.28503000e-02 1.13600321e+03] [-5.42469151e-01 8.39361340e-01 -3.46375770e-02 -6.33343298e+02] [-6.31885763e-02 3.46098954e-04 9.98001545e-01 -5.05932097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.05, Y:-633.38, Z:-50.59 [[ 8.36857739e-01 5.44864035e-01 5.28423084e-02 1.13605274e+03] [-5.43761234e-01 8.38524367e-01 -3.46497646e-02 -6.33380841e+02] [-6.31889738e-02 2.63324840e-04 9.98001545e-01 -5.05935751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.11, Y:-633.41, Z:-50.60 [[ 8.35761544e-01 5.46544793e-01 5.28339881e-02 1.13610734e+03] [-5.45444542e-01 8.37429858e-01 -3.46624467e-02 -6.33411114e+02] [-6.31893389e-02 1.51529517e-04 9.98001545e-01 -5.05970541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.16, Y:-633.45, Z:-50.60 [[ 8.28540946e-01 5.57430544e-01 5.28307680e-02 1.13615741e+03] [-5.56351897e-01 8.30223308e-01 -3.46673539e-02 -6.33445455e+02] [-6.31859770e-02 -6.69175799e-04 9.98001545e-01 -5.05981271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.21, Y:-633.48, Z:-50.60 [[ 8.24750395e-01 5.63024492e-01 5.28224075e-02 1.13620942e+03] [-5.61956439e-01 8.26439503e-01 -3.46800881e-02 -6.33479233e+02] [-6.31802632e-02 -1.08147565e-03 9.98001546e-01 -5.06024120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.26, Y:-633.51, Z:-50.61 [[ 8.21216397e-01 5.68167556e-01 5.28134190e-02 1.13626122e+03] [-5.67109200e-01 8.22911597e-01 -3.46937712e-02 -6.33513189e+02] [-6.31726502e-02 -1.45988203e-03 9.98001546e-01 -5.06063753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.31, Y:-633.55, Z:-50.61 [[ 8.19850466e-01 5.70137582e-01 5.28048395e-02 1.13631465e+03] [-5.69082460e-01 8.21547680e-01 -3.47068245e-02 -6.33546603e+02] [-6.31693584e-02 -1.59590166e-03 9.98001546e-01 -5.06116396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1136.37, Y:-633.58, Z:-50.62 [[ 8.18939669e-01 5.71445969e-01 5.27951045e-02 1.13636830e+03] [-5.70392604e-01 8.20637975e-01 -3.47216268e-02 -6.33579604e+02] [-6.31672013e-02 -1.67901960e-03 9.98001546e-01 -5.06167527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.42, Y:-633.61, Z:-50.63 [[ 8.21349342e-01 5.67977951e-01 5.27854708e-02 1.13642151e+03] [-5.66916475e-01 8.23042589e-01 -3.47362663e-02 -6.33610572e+02] [-6.31741239e-02 -1.39434356e-03 9.98001546e-01 -5.06255088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1136.47, Y:-633.65, Z:-50.63 [[ 8.20992223e-01 5.68494848e-01 5.27766775e-02 1.13646875e+03] [-5.67433579e-01 8.22685600e-01 -3.47496213e-02 -6.33649580e+02] [-6.31735933e-02 -1.41809014e-03 9.98001546e-01 -5.06257613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.52, Y:-633.69, Z:-50.63 [[ 8.24269281e-01 5.63733645e-01 5.27686491e-02 1.13652015e+03] [-5.62661813e-01 8.25955992e-01 -3.47618084e-02 -6.33686671e+02] [-6.31809829e-02 -1.03781300e-03 9.98001546e-01 -5.06287217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.57, Y:-633.72, Z:-50.64 [[ 8.27961777e-01 5.58297233e-01 5.27588387e-02 1.13657257e+03] [-5.57213377e-01 8.29640786e-01 -3.47766916e-02 -6.33719090e+02] [-6.31866151e-02 -6.04159236e-04 9.98001546e-01 -5.06356488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1136.62, Y:-633.76, Z:-50.64 [[ 8.30972894e-01 5.53806364e-01 5.27499883e-02 1.13662194e+03] [-5.52712582e-01 8.32645453e-01 -3.47901108e-02 -6.33756757e+02] [-6.31890227e-02 -2.45943172e-04 9.98001547e-01 -5.06352080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.67, Y:-633.79, Z:-50.64 [[ 8.32138962e-01 5.52053544e-01 5.27411753e-02 1.13667124e+03] [-5.50955392e-01 8.33808656e-01 -3.48034661e-02 -6.33792046e+02] [-6.31894253e-02 -9.67147220e-05 9.98001547e-01 -5.06386001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.72, Y:-633.82, Z:-50.64 [[ 8.32624685e-01 5.51321458e-01 5.27331454e-02 1.13672300e+03] [-5.50221067e-01 8.34292904e-01 -3.48156285e-02 -6.33824597e+02] [-6.31894921e-02 -2.65358274e-05 9.98001547e-01 -5.06443373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.77, Y:-633.86, Z:-50.65 [[ 8.33083979e-01 5.50627939e-01 5.27252862e-02 1.13677482e+03] [-5.49525407e-01 8.34750784e-01 -3.48275266e-02 -6.33856440e+02] [-6.31894832e-02 4.03700734e-05 9.98001547e-01 -5.06520145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.83, Y:-633.89, Z:-50.65 [[ 8.34576220e-01 5.48364267e-01 5.27177695e-02 1.13682787e+03] [-5.47256495e-01 8.36239547e-01 -3.48389007e-02 -6.33888937e+02] [-6.31890920e-02 2.25576256e-04 9.98001547e-01 -5.06536619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.88, Y:-633.92, Z:-50.66 [[ 8.34748361e-01 5.48103034e-01 5.27089986e-02 1.13687902e+03] [-5.46993903e-01 8.36410782e-01 -3.48521655e-02 -6.33921804e+02] [-6.31889524e-02 2.61287101e-04 9.98001547e-01 -5.06583632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.93, Y:-633.95, Z:-50.66 [[ 8.34587788e-01 5.48348273e-01 5.27010042e-02 1.13693153e+03] [-5.47238868e-01 8.36250025e-01 -3.48642500e-02 -6.33954940e+02] [-6.31889673e-02 2.57239386e-04 9.98001547e-01 -5.06573640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1136.98, Y:-633.99, Z:-50.66 [[ 8.34242031e-01 5.48875000e-01 5.26922007e-02 1.13698459e+03] [-5.47765805e-01 8.35904408e-01 -3.48775500e-02 -6.33985049e+02] [-6.31890581e-02 2.33332425e-04 9.98001547e-01 -5.06635255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.04, Y:-634.02, Z:-50.67 [[ 8.32994425e-01 5.50767312e-01 5.26844937e-02 1.13703824e+03] [-5.49661157e-01 8.34658827e-01 -3.48891880e-02 -6.34018424e+02] [-6.31894020e-02 1.03879378e-04 9.98001547e-01 -5.06671862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.09, Y:-634.05, Z:-50.67 [[ 8.30536027e-01 5.54468470e-01 5.26746945e-02 1.13709058e+03] [-5.53368794e-01 8.32204717e-01 -3.49039763e-02 -6.34051509e+02] [-6.31892836e-02 -1.59522386e-04 9.98001548e-01 -5.06715284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1137.14, Y:-634.08, Z:-50.67 [[ 8.26149963e-01 5.60983573e-01 5.26656459e-02 1.13714414e+03] [-5.59896185e-01 8.27826686e-01 -3.49176242e-02 -6.34082981e+02] [-6.31862407e-02 -6.40100304e-04 9.98001548e-01 -5.06732783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.19, Y:-634.12, Z:-50.67 [[ 8.21680699e-01 5.67510406e-01 5.26570784e-02 1.13719486e+03] [-5.66435507e-01 8.23365456e-01 -3.49305396e-02 -6.34119183e+02] [-6.31794640e-02 -1.12508871e-03 9.98001548e-01 -5.06686790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.25, Y:-634.15, Z:-50.68 [[ 8.20935386e-01 5.68588291e-01 5.26540286e-02 1.13724746e+03] [-5.67515310e-01 8.22621365e-01 -3.49351362e-02 -6.34149045e+02] [-6.31780382e-02 -1.20247780e-03 9.98001548e-01 -5.06793028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1137.30, Y:-634.18, Z:-50.68 [[ 8.19000198e-01 5.71372922e-01 5.26465633e-02 1.13729929e+03] [-5.70304950e-01 8.20689353e-01 -3.49463827e-02 -6.34183467e+02] [-6.31738907e-02 -1.40350134e-03 9.98001548e-01 -5.06844932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.35, Y:-634.22, Z:-50.69 [[ 8.19135622e-01 5.71179680e-01 5.26365425e-02 1.13735016e+03] [-5.70110341e-01 8.20823912e-01 -3.49614696e-02 -6.34216709e+02] [-6.31746137e-02 -1.37045208e-03 9.98001548e-01 -5.06890729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.40, Y:-634.25, Z:-50.70 [[ 8.24171962e-01 5.63889131e-01 5.26272307e-02 1.13740249e+03] [-5.62803960e-01 8.25850119e-01 -3.49754810e-02 -6.34249715e+02] [-6.31844983e-02 -7.93003034e-04 9.98001548e-01 -5.06957074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.45, Y:-634.29, Z:-50.70 [[ 8.24510613e-01 5.63394678e-01 5.26183009e-02 1.13744935e+03] [-5.62307643e-01 8.26187564e-01 -3.49889101e-02 -6.34289963e+02] [-6.31851516e-02 -7.38945049e-04 9.98001548e-01 -5.06970029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.50, Y:-634.33, Z:-50.70 [[ 8.25736661e-01 5.61596663e-01 5.26132697e-02 1.13750060e+03] [-5.60505494e-01 8.27410925e-01 -3.49964739e-02 -6.34326046e+02] [-6.31866971e-02 -5.92155213e-04 9.98001548e-01 -5.07004064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.55, Y:-634.36, Z:-50.70 [[ 8.29671709e-01 5.55767698e-01 5.26034380e-02 1.13755138e+03] [-5.54663829e-01 8.31337627e-01 -3.50112458e-02 -6.34363746e+02] [-6.31893368e-02 -1.29384201e-04 9.98001549e-01 -5.07045281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1137.60, Y:-634.40, Z:-50.71 [[ 8.31614956e-01 5.52856645e-01 5.25936723e-02 1.13760139e+03] [-5.51746017e-01 8.33276376e-01 -3.50259096e-02 -6.34400007e+02] [-6.31893715e-02 1.09721058e-04 9.98001549e-01 -5.07092172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.65, Y:-634.44, Z:-50.71 [[ 8.33983791e-01 5.49277551e-01 5.25852471e-02 1.13765119e+03] [-5.48158996e-01 8.35639884e-01 -3.50385540e-02 -6.34437573e+02] [-6.31882209e-02 3.96509860e-04 9.98001549e-01 -5.07133939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.70, Y:-634.47, Z:-50.72 [[ 8.34707170e-01 5.48178474e-01 5.25766250e-02 1.13770171e+03] [-5.47056924e-01 8.36361235e-01 -3.50514871e-02 -6.34473090e+02] [-6.31875217e-02 4.95320826e-04 9.98001549e-01 -5.07180870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.76, Y:-634.51, Z:-50.72 [[ 8.35681040e-01 5.46693512e-01 5.25680817e-02 1.13775613e+03] [-5.45568217e-01 8.37332560e-01 -3.50642951e-02 -6.34505392e+02] [-6.31863891e-02 6.23091961e-04 9.98001549e-01 -5.07205990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.81, Y:-634.54, Z:-50.72 [[ 8.32593117e-01 5.51385854e-01 5.25579790e-02 1.13780819e+03] [-5.50268912e-01 8.34250297e-01 -3.50794316e-02 -6.34541182e+02] [-6.31888119e-02 2.85871467e-04 9.98001549e-01 -5.07208427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.86, Y:-634.58, Z:-50.72 [[ 8.29788175e-01 5.55599044e-01 5.25479569e-02 1.13786057e+03] [-5.54489565e-01 8.31450361e-01 -3.50944380e-02 -6.34576041e+02] [-6.31894539e-02 -1.63441749e-05 9.98001549e-01 -5.07227157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.91, Y:-634.61, Z:-50.72 [[ 8.25370955e-01 5.62141040e-01 5.25379689e-02 1.13791366e+03] [-5.61043784e-01 8.27041234e-01 -3.51093841e-02 -6.34610022e+02] [-6.31874924e-02 -4.97834990e-04 9.98001550e-01 -5.07220485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1137.97, Y:-634.64, Z:-50.72 [[ 8.23047352e-01 5.65538585e-01 5.25277576e-02 1.13796596e+03] [-5.64447249e-01 8.24721505e-01 -3.51246548e-02 -6.34643964e+02] [-6.31851189e-02 -7.39894128e-04 9.98001550e-01 -5.07241239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.02, Y:-634.68, Z:-50.73 [[ 8.21446331e-01 5.67862395e-01 5.25188064e-02 1.13801781e+03] [-5.66774940e-01 8.23123008e-01 -3.51380337e-02 -6.34675359e+02] [-6.31830059e-02 -9.02334422e-04 9.98001550e-01 -5.07317515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.07, Y:-634.71, Z:-50.74 [[ 8.21521277e-01 5.67754363e-01 5.25145286e-02 1.13807217e+03] [-5.66666279e-01 8.23197545e-01 -3.51444258e-02 -6.34707371e+02] [-6.31832321e-02 -8.86318903e-04 9.98001550e-01 -5.07350051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.12, Y:-634.74, Z:-50.74 [[ 8.19933139e-01 5.70046456e-01 5.25041607e-02 1.13812401e+03] [-5.68962066e-01 8.21611799e-01 -3.51599081e-02 -6.34741001e+02] [-6.31808190e-02 -1.04410195e-03 9.98001550e-01 -5.07398518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.18, Y:-634.77, Z:-50.75 [[ 8.19449905e-01 5.70741771e-01 5.24946097e-02 1.13817748e+03] [-5.69657892e-01 8.21128896e-01 -3.51741623e-02 -6.34771646e+02] [-6.31802046e-02 -1.08050476e-03 9.98001550e-01 -5.07462752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1138.23, Y:-634.80, Z:-50.75 [[ 8.21630401e-01 5.67599074e-01 5.24859464e-02 1.13823122e+03] [-5.66507948e-01 8.23304691e-01 -3.51870846e-02 -6.34801480e+02] [-6.31840826e-02 -8.22927367e-04 9.98001550e-01 -5.07548084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1138.28, Y:-634.83, Z:-50.76 [[ 8.24557860e-01 5.63338710e-01 5.24769710e-02 1.13828315e+03] [-5.62238081e-01 8.26225918e-01 -3.52004653e-02 -6.34833918e+02] [-6.31876182e-02 -4.79731122e-04 9.98001551e-01 -5.07611262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.33, Y:-634.87, Z:-50.77 [[ 8.27772461e-01 5.58605331e-01 5.24674982e-02 1.13833262e+03] [-5.57494268e-01 8.29433587e-01 -3.52145791e-02 -6.34869422e+02] [-6.31893568e-02 -1.00670675e-04 9.98001551e-01 -5.07663658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.38, Y:-634.91, Z:-50.77 [[ 8.29190676e-01 5.56498723e-01 5.24594548e-02 1.13838254e+03] [-5.55382682e-01 8.30848462e-01 -3.52265574e-02 -6.34906938e+02] [-6.31893915e-02 7.44603008e-05 9.98001551e-01 -5.07667395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.43, Y:-634.94, Z:-50.77 [[ 8.29302787e-01 5.56332478e-01 5.24505558e-02 1.13843204e+03] [-5.55215267e-01 8.30959784e-01 -3.52398026e-02 -6.34944241e+02] [-6.31893492e-02 1.03117187e-04 9.98001551e-01 -5.07705781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.48, Y:-634.98, Z:-50.77 [[ 8.28324225e-01 5.57789300e-01 5.24411624e-02 1.13848360e+03] [-5.56674119e-01 8.29982588e-01 -3.52537756e-02 -6.34980237e+02] [-6.31894305e-02 8.91850009e-06 9.98001551e-01 -5.07732445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.53, Y:-635.02, Z:-50.78 [[ 8.26498266e-01 5.60492255e-01 5.24313681e-02 1.13853493e+03] [-5.59381573e-01 8.28159647e-01 -3.52683362e-02 -6.35015629e+02] [-6.31891726e-02 -1.79922478e-04 9.98001551e-01 -5.07778872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.59, Y:-635.05, Z:-50.78 [[ 8.24891586e-01 5.62855106e-01 5.24213848e-02 1.13858555e+03] [-5.61748241e-01 8.26555510e-01 -3.52831688e-02 -6.35051533e+02] [-6.31884962e-02 -3.42831692e-04 9.98001551e-01 -5.07818193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.64, Y:-635.09, Z:-50.78 [[ 8.22294286e-01 5.66643668e-01 5.24124098e-02 1.13863642e+03] [-5.65543619e-01 8.23962725e-01 -3.52964959e-02 -6.35087714e+02] [-6.31864079e-02 -6.17397009e-04 9.98001551e-01 -5.07840066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.69, Y:-635.12, Z:-50.79 [[ 8.19501299e-01 5.70676112e-01 5.24060728e-02 1.13868816e+03] [-5.69583671e-01 8.21174729e-01 -3.53059022e-02 -6.35124131e+02] [-6.31827776e-02 -9.16410603e-04 9.98001552e-01 -5.07878752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.74, Y:-635.16, Z:-50.79 [[ 8.18418009e-01 5.72229497e-01 5.23962380e-02 1.13873887e+03] [-5.71139298e-01 8.20092900e-01 -3.53204916e-02 -6.35159359e+02] [-6.31812100e-02 -1.01862420e-03 9.98001552e-01 -5.07921863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.79, Y:-635.20, Z:-50.80 [[ 8.18328462e-01 5.72358103e-01 5.23901708e-02 1.13879059e+03] [-5.71267591e-01 8.20003150e-01 -3.53294887e-02 -6.35195919e+02] [-6.31812243e-02 -1.01768050e-03 9.98001552e-01 -5.07950519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.84, Y:-635.23, Z:-50.80 [[ 8.19122576e-01 5.71221947e-01 5.23802686e-02 1.13884150e+03] [-5.70128174e-01 8.20795136e-01 -3.53441639e-02 -6.35233131e+02] [-6.31828318e-02 -9.12264302e-04 9.98001552e-01 -5.07983903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.89, Y:-635.27, Z:-50.80 [[ 8.21545154e-01 5.67733119e-01 5.23704599e-02 1.13889099e+03] [-5.66631317e-01 8.23212436e-01 -3.53586918e-02 -6.35270818e+02] [-6.31863142e-02 -6.25980691e-04 9.98001552e-01 -5.07998964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.94, Y:-635.31, Z:-50.80 [[ 8.23016556e-01 5.65598782e-01 5.23618778e-02 1.13894169e+03] [-5.64491848e-01 8.24680434e-01 -3.53713962e-02 -6.35307808e+02] [-6.31878348e-02 -4.46608455e-04 9.98001552e-01 -5.08031141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1138.99, Y:-635.34, Z:-50.81 [[ 8.24490207e-01 5.63449337e-01 5.23521179e-02 1.13899270e+03] [-5.62337147e-01 8.26150577e-01 -3.53858357e-02 -6.35343952e+02] [-6.31888580e-02 -2.64265645e-04 9.98001552e-01 -5.08083173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.04, Y:-635.38, Z:-50.82 [[ 8.23999118e-01 5.64168171e-01 5.23424154e-02 1.13904303e+03] [-5.63056519e-01 8.25659848e-01 -3.54001817e-02 -6.35378155e+02] [-6.31886865e-02 -3.02019730e-04 9.98001552e-01 -5.08152294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.10, Y:-635.41, Z:-50.82 [[ 8.22536784e-01 5.66298792e-01 5.23346605e-02 1.13909566e+03] [-5.65190713e-01 8.24199899e-01 -3.54116427e-02 -6.35412428e+02] [-6.31877924e-02 -4.51685365e-04 9.98001553e-01 -5.08195003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.15, Y:-635.45, Z:-50.82 [[ 8.20543181e-01 5.69184503e-01 5.23248402e-02 1.13914808e+03] [-5.68081347e-01 8.22209566e-01 -3.54261474e-02 -6.35446637e+02] [-6.31859983e-02 -6.56082004e-04 9.98001553e-01 -5.08225215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.20, Y:-635.48, Z:-50.83 [[ 8.19710624e-01 5.70383141e-01 5.23217546e-02 1.13919910e+03] [-5.69282131e-01 8.21378427e-01 -3.54307040e-02 -6.35480025e+02] [-6.31850367e-02 -7.42915453e-04 9.98001553e-01 -5.08256979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.25, Y:-635.51, Z:-50.83 [[ 8.19207225e-01 5.71106630e-01 5.23138595e-02 1.13925080e+03] [-5.70006349e-01 8.20875509e-01 -3.54423574e-02 -6.35513891e+02] [-6.31845314e-02 -7.84596834e-04 9.98001553e-01 -5.08275354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.30, Y:-635.55, Z:-50.83 [[ 8.18350434e-01 5.72334468e-01 5.23051068e-02 1.13930323e+03] [-5.71235865e-01 8.20019823e-01 -3.54552698e-02 -6.35547993e+02] [-6.31834974e-02 -8.63717468e-04 9.98001553e-01 -5.08297929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.36, Y:-635.58, Z:-50.83 [[ 8.17862660e-01 5.73032076e-01 5.22963547e-02 1.13935575e+03] [-5.71934072e-01 8.19532444e-01 -3.54681744e-02 -6.35581888e+02] [-6.31829610e-02 -9.01971647e-04 9.98001553e-01 -5.08335643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.41, Y:-635.62, Z:-50.84 [[ 8.17461669e-01 5.73604877e-01 5.22863712e-02 1.13940773e+03] [-5.72507102e-01 8.19131603e-01 -3.54828857e-02 -6.35615202e+02] [-6.31825754e-02 -9.28419823e-04 9.98001553e-01 -5.08398285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.46, Y:-635.65, Z:-50.85 [[ 8.17966488e-01 5.72885613e-01 5.22771462e-02 1.13945850e+03] [-5.71785501e-01 8.19634883e-01 -3.54964719e-02 -6.35649851e+02] [-6.31835906e-02 -8.56389762e-04 9.98001553e-01 -5.08450254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.51, Y:-635.69, Z:-50.85 [[ 8.18857632e-01 5.71611912e-01 5.22685439e-02 1.13950957e+03] [-5.70508397e-01 8.20523778e-01 -3.55091341e-02 -6.35685472e+02] [-6.31850272e-02 -7.42717745e-04 9.98001554e-01 -5.08500532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.56, Y:-635.72, Z:-50.85 [[ 8.20050542e-01 5.69899992e-01 5.22600044e-02 1.13956036e+03] [-5.68792198e-01 8.21713846e-01 -3.55216976e-02 -6.35720531e+02] [-6.31865844e-02 -5.95495400e-04 9.98001554e-01 -5.08545086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.61, Y:-635.76, Z:-50.86 [[ 8.20280384e-01 5.69569919e-01 5.22513004e-02 1.13961118e+03] [-5.68460641e-01 8.21942698e-01 -3.55344964e-02 -6.35755269e+02] [-6.31869551e-02 -5.54557378e-04 9.98001554e-01 -5.08589498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.66, Y:-635.79, Z:-50.86 [[ 8.20287092e-01 5.69561068e-01 5.22424794e-02 1.13966260e+03] [-5.68450946e-01 8.21948843e-01 -3.55474602e-02 -6.35790870e+02] [-6.31870949e-02 -5.38164115e-04 9.98001554e-01 -5.08634398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.71, Y:-635.83, Z:-50.87 [[ 8.21120901e-01 5.68359250e-01 5.22324467e-02 1.13971426e+03] [-5.67245758e-01 8.22780396e-01 -3.55621959e-02 -6.35825345e+02] [-6.31879362e-02 -4.27771472e-04 9.98001554e-01 -5.08709445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.76, Y:-635.86, Z:-50.87 [[ 8.20315333e-01 5.69521627e-01 5.22290248e-02 1.13976470e+03] [-5.68410167e-01 8.21976189e-01 -3.55672208e-02 -6.35861477e+02] [-6.31873162e-02 -5.11172107e-04 9.98001554e-01 -5.08675261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1139.82, Y:-635.90, Z:-50.87 [[ 8.19807723e-01 5.70252959e-01 5.22193403e-02 1.13981583e+03] [-5.69142075e-01 8.21468965e-01 -3.55814338e-02 -6.35896245e+02] [-6.31869853e-02 -5.50289478e-04 9.98001554e-01 -5.08717048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1139.87, Y:-635.93, Z:-50.88 [[ 8.18999990e-01 5.71413283e-01 5.22099279e-02 1.13986737e+03] [-5.70303873e-01 8.20662215e-01 -3.55952396e-02 -6.35930600e+02] [-6.31863078e-02 -6.23023273e-04 9.98001554e-01 -5.08794949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1139.92, Y:-635.97, Z:-50.88 [[ 8.18519167e-01 5.72102609e-01 5.22013226e-02 1.13991963e+03] [-5.70993794e-01 8.20181790e-01 -3.56078550e-02 -6.35966052e+02] [-6.31859210e-02 -6.60919427e-04 9.98001554e-01 -5.08839703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1139.97, Y:-636.00, Z:-50.89 [[ 8.16794892e-01 5.74562580e-01 5.21914325e-02 1.13997096e+03] [-5.73457847e-01 8.18460229e-01 -3.56223454e-02 -6.35999364e+02] [-6.31838785e-02 -8.33436731e-04 9.98001555e-01 -5.08909826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.02, Y:-636.03, Z:-50.90 [[ 8.15106181e-01 5.76956491e-01 5.21835376e-02 1.14002242e+03] [-5.75855908e-01 8.16774264e-01 -3.56339069e-02 -6.36032685e+02] [-6.31813844e-02 -1.00478064e-03 9.98001555e-01 -5.08961266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.07, Y:-636.07, Z:-50.90 [[ 8.15010761e-01 5.77091971e-01 5.21758124e-02 1.14007392e+03] [-5.75990942e-01 8.16678550e-01 -3.56452147e-02 -6.36068324e+02] [-6.31814340e-02 -1.00156173e-03 9.98001555e-01 -5.08968406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.12, Y:-636.10, Z:-50.90 [[ 8.16448490e-01 5.75056913e-01 5.21671302e-02 1.14012454e+03] [-5.73950915e-01 8.18112987e-01 -3.56579167e-02 -6.36104034e+02] [-6.31839382e-02 -8.28519914e-04 9.98001555e-01 -5.08970583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.18, Y:-636.14, Z:-50.90 [[ 8.17835754e-01 5.73083066e-01 5.21582083e-02 1.14017521e+03] [-5.71972219e-01 8.19497019e-01 -3.56709624e-02 -6.36140207e+02] [-6.31859207e-02 -6.60057628e-04 9.98001555e-01 -5.08999538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.22, Y:-636.18, Z:-50.90 [[ 8.19710543e-01 5.70399046e-01 5.21493475e-02 1.14022472e+03] [-5.69281935e-01 8.21367602e-01 -3.56839118e-02 -6.36176281e+02] [-6.31878537e-02 -4.37202675e-04 9.98001555e-01 -5.09018683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.28, Y:-636.21, Z:-50.91 [[ 8.19857424e-01 5.70188345e-01 5.21445702e-02 1.14027651e+03] [-5.69070364e-01 8.21513896e-01 -3.56908914e-02 -6.36211524e+02] [-6.31880193e-02 -4.12487301e-04 9.98001555e-01 -5.09068309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.33, Y:-636.25, Z:-50.91 [[ 8.19050291e-01 5.71348053e-01 5.21346653e-02 1.14032785e+03] [-5.70231497e-01 8.20707724e-01 -3.57053539e-02 -6.36246655e+02] [-6.31875069e-02 -4.84347731e-04 9.98001555e-01 -5.09121676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.38, Y:-636.28, Z:-50.92 [[ 8.17532362e-01 5.73518724e-01 5.21259046e-02 1.14037845e+03] [-5.72405754e-01 8.19192204e-01 -3.57181390e-02 -6.36281994e+02] [-6.31861562e-02 -6.36433184e-04 9.98001555e-01 -5.09202271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.43, Y:-636.32, Z:-50.92 [[ 8.17289811e-01 5.73864800e-01 5.21205829e-02 1.14043065e+03] [-5.72752037e-01 8.18949793e-01 -3.57259029e-02 -6.36315364e+02] [-6.31859787e-02 -6.53753556e-04 9.98001556e-01 -5.09227419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:1140.48, Y:-636.35, Z:-50.93 [[ 8.17952703e-01 5.72920200e-01 5.21135318e-02 1.14048192e+03] [-5.71804865e-01 8.19610957e-01 -3.57361854e-02 -6.36349696e+02] [-6.31868042e-02 -5.68261540e-04 9.98001556e-01 -5.09288848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.53, Y:-636.39, Z:-50.93 [[ 8.17860000e-01 5.73053400e-01 5.21039505e-02 1.14053303e+03] [-5.71937445e-01 8.19517837e-01 -3.57501497e-02 -6.36386171e+02] [-6.31868616e-02 -5.61582876e-04 9.98001556e-01 -5.09282756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.58, Y:-636.42, Z:-50.93 [[ 8.17534865e-01 5.73518243e-01 5.20919379e-02 1.14058420e+03] [-5.72402116e-01 8.19192586e-01 -3.57676447e-02 -6.36422020e+02] [-6.31867261e-02 -5.76238901e-04 9.98001556e-01 -5.09327594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.63, Y:-636.46, Z:-50.94 [[ 8.15995130e-01 5.75707762e-01 5.20818628e-02 1.14063362e+03] [-5.74595147e-01 8.17655211e-01 -3.57823094e-02 -6.36458936e+02] [-6.31851597e-02 -7.27795385e-04 9.98001556e-01 -5.09360135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.68, Y:-636.49, Z:-50.94 [[ 8.13315353e-01 5.79487688e-01 5.20783684e-02 1.14068442e+03] [-5.78382462e-01 8.14980362e-01 -3.57873944e-02 -6.36493457e+02] [-6.31812020e-02 -1.01477761e-03 9.98001556e-01 -5.09414034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.74, Y:-636.53, Z:-50.95 [[ 8.12503118e-01 5.80626867e-01 5.20684600e-02 1.14073688e+03] [-5.79523053e-01 8.14169062e-01 -3.58018048e-02 -6.36525269e+02] [-6.31800190e-02 -1.08579482e-03 9.98001556e-01 -5.09466738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.79, Y:-636.56, Z:-50.95 [[ 8.10870054e-01 5.82906277e-01 5.20579299e-02 1.14078807e+03] [-5.81806163e-01 8.12538444e-01 -3.58171097e-02 -6.36559388e+02] [-6.31770874e-02 -1.24460281e-03 9.98001556e-01 -5.09510353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.84, Y:-636.59, Z:-50.96 [[ 8.09663329e-01 5.84582060e-01 5.20491064e-02 1.14083893e+03] [-5.83484576e-01 8.11333449e-01 -3.58299273e-02 -6.36594281e+02] [-6.31747137e-02 -1.35967258e-03 9.98001557e-01 -5.09554021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.89, Y:-636.63, Z:-50.95 [[ 8.08880114e-01 5.85666136e-01 5.20397708e-02 1.14088794e+03] [-5.84570019e-01 8.10551132e-01 -3.58434813e-02 -6.36632832e+02] [-6.31732084e-02 -1.42781055e-03 9.98001557e-01 -5.09548888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.94, Y:-636.67, Z:-50.96 [[ 8.11343270e-01 5.82249347e-01 5.20364783e-02 1.14093905e+03] [-5.81145885e-01 8.13009448e-01 -3.58482606e-02 -6.36666229e+02] [-6.31787748e-02 -1.15554027e-03 9.98001557e-01 -5.09603734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1140.99, Y:-636.70, Z:-50.96 [[ 8.11627378e-01 5.81854015e-01 5.20279299e-02 1.14099029e+03] [-5.80748946e-01 8.13292490e-01 -3.58606630e-02 -6.36702136e+02] [-6.31795954e-02 -1.10966963e-03 9.98001557e-01 -5.09642272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.04, Y:-636.74, Z:-50.97 [[ 8.12437880e-01 5.80722697e-01 5.20176874e-02 1.14104013e+03] [-5.79614359e-01 8.14100818e-01 -3.58755141e-02 -6.36739125e+02] [-6.31813672e-02 -1.00357186e-03 9.98001557e-01 -5.09688145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.09, Y:-636.78, Z:-50.97 [[ 8.10275057e-01 5.83737508e-01 5.20082144e-02 1.14108632e+03] [-5.82634476e-01 8.11941519e-01 -3.58892417e-02 -6.36781114e+02] [-6.31775251e-02 -1.22162142e-03 9.98001557e-01 -5.09711155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1141.14, Y:-636.81, Z:-50.98 [[ 8.12990103e-01 5.79950453e-01 5.20054349e-02 1.14114024e+03] [-5.78839400e-01 8.14651228e-01 -3.58932689e-02 -6.36810116e+02] [-6.31826089e-02 -9.21922360e-04 9.98001557e-01 -5.09795190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.19, Y:-636.85, Z:-50.98 [[ 8.08814226e-01 5.85760975e-01 5.19964148e-02 1.14118805e+03] [-5.84661015e-01 8.10482716e-01 -3.59063310e-02 -6.36848743e+02] [-6.31747230e-02 -1.35872534e-03 9.98001557e-01 -5.09831245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.24, Y:-636.88, Z:-50.99 [[ 8.10642099e-01 5.83228927e-01 5.19942886e-02 1.14124227e+03] [-5.82123556e-01 8.12307011e-01 -3.59094097e-02 -6.36877581e+02] [-6.31787316e-02 -1.15742090e-03 9.98001557e-01 -5.09875115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.29, Y:-636.91, Z:-50.99 [[ 8.11189871e-01 5.82467631e-01 5.19851093e-02 1.14129254e+03] [-5.81359847e-01 8.12853178e-01 -3.59226933e-02 -6.36912273e+02] [-6.31800674e-02 -1.08193023e-03 9.98001557e-01 -5.09906332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.34, Y:-636.95, Z:-50.99 [[ 8.12515095e-01 5.80618293e-01 5.19770942e-02 1.14134411e+03] [-5.79505981e-01 8.14175377e-01 -3.59342868e-02 -6.36947662e+02] [-6.31825745e-02 -9.23886495e-04 9.98001558e-01 -5.09931836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.39, Y:-636.98, Z:-51.00 [[ 8.15838443e-01 5.75940024e-01 5.19684975e-02 1.14139368e+03] [-5.74817399e-01 8.17491768e-01 -3.59467151e-02 -6.36984656e+02] [-6.31869709e-02 -5.45684485e-04 9.98001558e-01 -5.09951283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.44, Y:-637.02, Z:-51.00 [[ 8.18382828e-01 5.72319581e-01 5.19600176e-02 1.14144411e+03] [-5.71188864e-01 8.20030630e-01 -3.59589685e-02 -6.37021499e+02] [-6.31888277e-02 -2.50781083e-04 9.98001558e-01 -5.09971715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.49, Y:-637.06, Z:-51.00 [[ 8.20665667e-01 5.69042194e-01 5.19504042e-02 1.14149459e+03] [-5.67904017e-01 8.22308325e-01 -3.59728516e-02 -6.37057591e+02] [-6.31893203e-02 1.88410563e-05 9.98001558e-01 -5.09990551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.55, Y:-637.09, Z:-51.00 [[ 8.21670576e-01 5.67590478e-01 5.19472246e-02 1.14154507e+03] [-5.66449109e-01 8.23311017e-01 -3.59774427e-02 -6.37093907e+02] [-6.31891762e-02 1.36147000e-04 9.98001558e-01 -5.10038223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1141.60, Y:-637.13, Z:-51.01 [[ 8.22348862e-01 5.66608120e-01 5.19382998e-02 1.14159663e+03] [-5.65463978e-01 8.23987370e-01 -3.59903223e-02 -6.37127427e+02] [-6.31889119e-02 2.27362990e-04 9.98001558e-01 -5.10072207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.65, Y:-637.16, Z:-51.01 [[ 8.23501635e-01 5.64932124e-01 5.19302728e-02 1.14164809e+03] [-5.63783916e-01 8.25137297e-01 -3.60019007e-02 -6.37162920e+02] [-6.31882351e-02 3.70171463e-04 9.98001558e-01 -5.10093786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.70, Y:-637.20, Z:-51.01 [[ 8.23695080e-01 5.64650850e-01 5.19214137e-02 1.14169943e+03] [-5.63501280e-01 8.25329783e-01 -3.60146725e-02 -6.37198625e+02] [-6.31880046e-02 4.07325489e-04 9.98001558e-01 -5.10127956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.75, Y:-637.23, Z:-51.02 [[ 8.23160487e-01 5.65430839e-01 5.19112554e-02 1.14175148e+03] [-5.64281894e-01 8.24795631e-01 -3.60293088e-02 -6.37234173e+02] [-6.31882589e-02 3.65321880e-04 9.98001558e-01 -5.10159868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1141.80, Y:-637.27, Z:-51.01 [[ 8.18060693e-01 5.72785304e-01 5.19008514e-02 1.14180028e+03] [-5.71650109e-01 8.19705412e-01 -3.60442897e-02 -6.37271726e+02] [-6.31890482e-02 -1.82710759e-04 9.98001559e-01 -5.10144652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.85, Y:-637.31, Z:-51.02 [[ 8.15932308e-01 5.75813396e-01 5.18979843e-02 1.14185294e+03] [-5.74684043e-01 8.17581044e-01 -3.60484175e-02 -6.37306085e+02] [-6.31879698e-02 -4.11874921e-04 9.98001559e-01 -5.10191742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.91, Y:-637.34, Z:-51.03 [[ 8.16100578e-01 5.75575863e-01 5.18871208e-02 1.14190630e+03] [-5.74445035e-01 8.17748303e-01 -3.60640472e-02 -6.37337322e+02] [-6.31882001e-02 -3.74409166e-04 9.98001559e-01 -5.10313875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1141.96, Y:-637.37, Z:-51.03 [[ 8.13854228e-01 5.78748126e-01 5.18835420e-02 1.14195576e+03] [-5.77623392e-01 8.15506119e-01 -3.60691952e-02 -6.37374436e+02] [-6.31863251e-02 -6.14080537e-04 9.98001559e-01 -5.10332322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.01, Y:-637.41, Z:-51.04 [[ 8.15075251e-01 5.77028153e-01 5.18733663e-02 1.14200817e+03] [-5.75899002e-01 8.16724125e-01 -3.60838236e-02 -6.37407834e+02] [-6.31876118e-02 -4.62788272e-04 9.98001559e-01 -5.10383752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.06, Y:-637.44, Z:-51.04 [[ 8.17124872e-01 5.74122924e-01 5.18633908e-02 1.14205956e+03] [-5.72987002e-01 8.18769088e-01 -3.60981557e-02 -6.37442996e+02] [-6.31889199e-02 -2.20347962e-04 9.98001559e-01 -5.10447752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1142.11, Y:-637.48, Z:-51.05 [[ 8.17227317e-01 5.73977413e-01 5.18598302e-02 1.14211061e+03] [-5.72840872e-01 8.18871106e-01 -3.61032703e-02 -6.37476838e+02] [-6.31889782e-02 -2.02851595e-04 9.98001559e-01 -5.10477838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.16, Y:-637.51, Z:-51.05 [[ 8.16919767e-01 5.74415888e-01 5.18505801e-02 1.14216070e+03] [-5.73279387e-01 8.18563583e-01 -3.61165501e-02 -6.37513775e+02] [-6.31889168e-02 -2.20545069e-04 9.98001559e-01 -5.10545666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.21, Y:-637.55, Z:-51.06 [[ 8.17055165e-01 5.74224324e-01 5.18390120e-02 1.14221210e+03] [-5.73086384e-01 8.18697986e-01 -3.61331465e-02 -6.37547510e+02] [-6.31890263e-02 -1.85457924e-04 9.98001559e-01 -5.10564814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.26, Y:-637.58, Z:-51.06 [[ 8.17012076e-01 5.74286609e-01 5.18281573e-02 1.14226292e+03] [-5.73147808e-01 8.18654299e-01 -3.61487094e-02 -6.37584956e+02] [-6.31890636e-02 -1.71262614e-04 9.98001560e-01 -5.10607989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.31, Y:-637.62, Z:-51.07 [[ 8.17260090e-01 5.73934563e-01 5.18175946e-02 1.14231197e+03] [-5.72794095e-01 8.18901155e-01 -3.61638442e-02 -6.37620303e+02] [-6.31891682e-02 -1.25545620e-04 9.98001560e-01 -5.10655448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.36, Y:-637.66, Z:-51.07 [[ 8.18336801e-01 5.72399067e-01 5.18091518e-02 1.14236307e+03] [-5.71254754e-01 8.19975187e-01 -3.61759357e-02 -6.37656097e+02] [-6.31892908e-02 7.87519542e-06 9.98001560e-01 -5.10696297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.41, Y:-637.69, Z:-51.07 [[ 8.18090528e-01 5.72751943e-01 5.17986477e-02 1.14241312e+03] [-5.71607384e-01 8.19728743e-01 -3.61909698e-02 -6.37692821e+02] [-6.31892886e-02 -9.99918181e-07 9.98001560e-01 -5.10710824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters Centerline goodness : 0.997248 with order 1 Centerline is valid? [True, True] Translation: X:1142.46, Y:-637.73, Z:-51.08 [[ 8.19219248e-01 5.71137220e-01 5.17889916e-02 1.14246157e+03] [-5.69988559e-01 8.20854589e-01 -3.62047823e-02 -6.37729553e+02] [-6.31891301e-02 1.40521925e-04 9.98001560e-01 -5.10810303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1142.95, Y:-637.20, Z:-50.04 [[ 8.58734190e-01 5.09798655e-01 5.17776217e-02 1.14295175e+03] [-5.08532686e-01 8.60280503e-01 -3.62210354e-02 -6.37200371e+02] [-6.30087136e-02 4.77362850e-03 9.98001560e-01 -5.00432961e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.00, Y:-637.24, Z:-50.05 [[ 8.58077045e-01 5.10658946e-01 5.41407954e-02 1.14300473e+03] [-5.09639216e-01 8.59783364e-01 -3.22558018e-02 -6.37235013e+02] [-6.30210690e-02 8.56905755e-05 9.98012193e-01 -5.00460488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.06, Y:-637.27, Z:-50.05 [[ 8.57004015e-01 5.12458639e-01 5.41318969e-02 1.14305809e+03] [-5.11441549e-01 8.58711909e-01 -3.22707284e-02 -6.37266813e+02] [-6.30211181e-02 -2.91574016e-05 9.98012193e-01 -5.00480858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1143.11, Y:-637.30, Z:-50.05 [[ 8.55870137e-01 5.14350988e-01 5.41236575e-02 1.14311094e+03] [-5.13336801e-01 8.57579756e-01 -3.22845415e-02 -6.37299092e+02] [-6.30209388e-02 -1.52290205e-04 9.98012193e-01 -5.00531689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.16, Y:-637.33, Z:-50.06 [[ 8.53449354e-01 5.18358729e-01 5.41149592e-02 1.14316498e+03] [-5.17351645e-01 8.55163167e-01 -3.22991148e-02 -6.37331023e+02] [-6.30196481e-02 -4.30804521e-04 9.98012194e-01 -5.00565037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.22, Y:-637.36, Z:-50.06 [[ 8.51723799e-01 5.21190081e-01 5.41060933e-02 1.14321948e+03] [-5.20187751e-01 8.53440397e-01 -3.23139599e-02 -6.37363178e+02] [-6.30180411e-02 -6.22758300e-04 9.98012194e-01 -5.00598173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.27, Y:-637.39, Z:-50.06 [[ 8.49689427e-01 5.24501128e-01 5.40966290e-02 1.14327242e+03] [-5.23504479e-01 8.51409329e-01 -3.23297962e-02 -6.37394142e+02] [-6.30153892e-02 -8.49541583e-04 9.98012194e-01 -5.00639660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.33, Y:-637.43, Z:-50.07 [[ 8.48065417e-01 5.27123547e-01 5.40908086e-02 1.14332556e+03] [-5.26131595e-01 8.49788032e-01 -3.23395314e-02 -6.37425058e+02] [-6.30126503e-02 -1.03284520e-03 9.98012194e-01 -5.00702013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.38, Y:-637.46, Z:-50.07 [[ 8.47749103e-01 5.27632926e-01 5.40828432e-02 1.14337887e+03] [-5.26641160e-01 8.49471826e-01 -3.23528468e-02 -6.37457668e+02] [-6.30122788e-02 -1.05515443e-03 9.98012194e-01 -5.00743635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.43, Y:-637.49, Z:-50.08 [[ 8.48311606e-01 5.26729013e-01 5.40737195e-02 1.14343202e+03] [-5.25734440e-01 8.50032709e-01 -3.23680888e-02 -6.37490210e+02] [-6.30136417e-02 -9.70191214e-04 9.98012194e-01 -5.00771303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.49, Y:-637.52, Z:-50.08 [[ 8.51112447e-01 5.22192018e-01 5.40656951e-02 1.14348561e+03] [-5.21187418e-01 8.52827717e-01 -3.23814868e-02 -6.37521297e+02] [-6.30180772e-02 -6.18073553e-04 9.98012194e-01 -5.00832582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.54, Y:-637.56, Z:-50.08 [[ 8.52240205e-01 5.20350312e-01 5.40572432e-02 1.14353612e+03] [-5.19341111e-01 8.53952772e-01 -3.23955901e-02 -6.37555663e+02] [-6.30193881e-02 -4.65324390e-04 9.98012194e-01 -5.00825544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.59, Y:-637.59, Z:-50.09 [[ 8.53936265e-01 5.17562734e-01 5.40524909e-02 1.14358933e+03] [-5.16547441e-01 8.55645227e-01 -3.24035175e-02 -6.37586888e+02] [-6.30206089e-02 -2.50137152e-04 9.98012195e-01 -5.00885081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.64, Y:-637.62, Z:-50.09 [[ 8.53527895e-01 5.18236754e-01 5.40444214e-02 1.14364301e+03] [-5.17221958e-01 8.55237152e-01 -3.24169707e-02 -6.37618451e+02] [-6.30204627e-02 -2.84172731e-04 9.98012195e-01 -5.00935303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.70, Y:-637.65, Z:-50.10 [[ 8.50076988e-01 5.23878598e-01 5.40400616e-02 1.14369569e+03] [-5.22874684e-01 8.51792659e-01 -3.24242370e-02 -6.37649274e+02] [-6.30172916e-02 -6.93082416e-04 9.98012195e-01 -5.00951412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.75, Y:-637.68, Z:-50.10 [[ 8.47755037e-01 5.27628601e-01 5.40320025e-02 1.14374844e+03] [-5.26631420e-01 8.49474629e-01 -3.24376612e-02 -6.37682064e+02] [-6.30138531e-02 -9.55759524e-04 9.98012195e-01 -5.01026966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.80, Y:-637.71, Z:-50.11 [[ 8.46376913e-01 5.29836776e-01 5.40288095e-02 1.14380202e+03] [-5.28843742e-01 8.48098903e-01 -3.24429786e-02 -6.37710386e+02] [-6.30112573e-02 -1.11380967e-03 9.98012195e-01 -5.01074514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.86, Y:-637.74, Z:-50.11 [[ 8.45935021e-01 5.30542858e-01 5.40205179e-02 1.14385605e+03] [-5.29550380e-01 8.47657332e-01 -3.24567790e-02 -6.37742201e+02] [-6.30106004e-02 -1.15025972e-03 9.98012195e-01 -5.01110326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.91, Y:-637.77, Z:-50.11 [[ 8.46524576e-01 5.29602597e-01 5.40114038e-02 1.14390929e+03] [-5.28607239e-01 8.48245224e-01 -3.24719387e-02 -6.37773797e+02] [-6.30121384e-02 -1.06252495e-03 9.98012195e-01 -5.01130261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1143.96, Y:-637.81, Z:-50.11 [[ 8.47802562e-01 5.27554657e-01 5.40083378e-02 1.14396321e+03] [-5.26554817e-01 8.49520610e-01 -3.24770375e-02 -6.37805170e+02] [-6.30146084e-02 -9.04234831e-04 9.98012195e-01 -5.01130263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.02, Y:-637.84, Z:-50.12 [[ 8.48441423e-01 5.26527475e-01 5.39997222e-02 1.14401734e+03] [-5.25524644e-01 8.50157727e-01 -3.24913563e-02 -6.37837018e+02] [-6.30158729e-02 -8.11172179e-04 9.98012195e-01 -5.01158904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1144.07, Y:-637.87, Z:-50.12 [[ 8.47897815e-01 5.27403417e-01 5.39901010e-02 1.14407027e+03] [-5.26401342e-01 8.49614560e-01 -3.25073357e-02 -6.37867800e+02] [-6.30152559e-02 -8.57562678e-04 9.98012195e-01 -5.01210346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.12, Y:-637.90, Z:-50.13 [[ 8.47996277e-01 5.27245995e-01 5.39812458e-02 1.14412303e+03] [-5.26242666e-01 8.49712289e-01 -3.25220340e-02 -6.37899751e+02] [-6.30156401e-02 -8.28670922e-04 9.98012196e-01 -5.01253064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.18, Y:-637.93, Z:-50.13 [[ 8.48725411e-01 5.26071805e-01 5.39780807e-02 1.14417631e+03] [-5.25065768e-01 8.50439836e-01 -3.25272864e-02 -6.37930827e+02] [-6.30167984e-02 -7.35307855e-04 9.98012196e-01 -5.01294610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.23, Y:-637.96, Z:-50.14 [[ 8.48709382e-01 5.26098586e-01 5.39690880e-02 1.14422784e+03] [-5.25091654e-01 8.50423283e-01 -3.25422002e-02 -6.37962123e+02] [-6.30169745e-02 -7.19847065e-04 9.98012196e-01 -5.01374199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.28, Y:-637.99, Z:-50.14 [[ 8.49431184e-01 5.24933173e-01 5.39613601e-02 1.14428042e+03] [-5.23923076e-01 8.51143220e-01 -3.25550096e-02 -6.37993624e+02] [-6.30180503e-02 -6.18361423e-04 9.98012196e-01 -5.01436292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.33, Y:-638.02, Z:-50.15 [[ 8.52525938e-01 5.19892805e-01 5.39536519e-02 1.14433454e+03] [-5.18871777e-01 8.54231478e-01 -3.25677795e-02 -6.38024851e+02] [-6.30206620e-02 -2.30150481e-04 9.98012196e-01 -5.01481218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.39, Y:-638.06, Z:-50.15 [[ 8.54269916e-01 5.17022470e-01 5.39506947e-02 1.14438608e+03] [-5.15995402e-01 8.55971825e-01 -3.25726775e-02 -6.38059115e+02] [-6.30210808e-02 -1.24518939e-05 9.98012196e-01 -5.01524817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1144.44, Y:-638.09, Z:-50.15 [[ 8.57381503e-01 5.11846872e-01 5.39419883e-02 1.14443854e+03] [-5.10808624e-01 8.59076615e-01 -3.25870894e-02 -6.38092964e+02] [-6.30199005e-02 3.85534805e-04 9.98012196e-01 -5.01537115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.49, Y:-638.13, Z:-50.16 [[ 8.60144870e-01 5.07190246e-01 5.39338214e-02 1.14449053e+03] [-5.06141975e-01 8.61833802e-01 -3.26006005e-02 -6.38125492e+02] [-6.30166970e-02 7.43068446e-04 9.98012196e-01 -5.01558098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.54, Y:-638.16, Z:-50.16 [[ 8.61910524e-01 5.04184685e-01 5.39263633e-02 1.14454447e+03] [-5.03129753e-01 8.63595304e-01 -3.26129327e-02 -6.38158389e+02] [-6.30134953e-02 9.77472073e-04 9.98012196e-01 -5.01591686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.60, Y:-638.19, Z:-50.16 [[ 8.62293647e-01 5.03530137e-01 5.39172299e-02 1.14459864e+03] [-5.02472983e-01 8.63977033e-01 -3.26280256e-02 -6.38190961e+02] [-6.30124425e-02 1.04298781e-03 9.98012197e-01 -5.01634609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1144.65, Y:-638.22, Z:-50.17 [[ 8.60786643e-01 5.06103021e-01 5.39081385e-02 1.14465231e+03] [-5.05049959e-01 8.62472591e-01 -3.26430394e-02 -6.38221324e+02] [-6.30150328e-02 8.72389168e-04 9.98012197e-01 -5.01699711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.71, Y:-638.25, Z:-50.18 [[ 8.58293502e-01 5.10320526e-01 5.39001325e-02 1.14470714e+03] [-5.09274919e-01 8.59984085e-01 -3.26562537e-02 -6.38251362e+02] [-6.30184127e-02 5.78664769e-04 9.98012197e-01 -5.01752864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.76, Y:-638.28, Z:-50.18 [[ 8.57173053e-01 5.12200586e-01 5.38972805e-02 1.14476072e+03] [-5.11158391e-01 8.58865741e-01 -3.26609600e-02 -6.38282283e+02] [-6.30194906e-02 4.46047574e-04 9.98012197e-01 -5.01764072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.81, Y:-638.31, Z:-50.18 [[ 8.56231495e-01 5.13773896e-01 5.38888831e-02 1.14481427e+03] [-5.12733940e-01 8.57925558e-01 -3.26748094e-02 -6.38313111e+02] [-6.30201143e-02 3.46541545e-04 9.98012197e-01 -5.01798987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1144.87, Y:-638.34, Z:-50.18 [[ 8.54536565e-01 5.16589009e-01 5.38800004e-02 1.14486660e+03] [-5.15553711e-01 8.56233479e-01 -3.26894502e-02 -6.38343470e+02] [-6.30208709e-02 1.56296352e-04 9.98012197e-01 -5.01847409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.92, Y:-638.37, Z:-50.19 [[ 8.53674390e-01 5.18012954e-01 5.38759269e-02 1.14492117e+03] [-5.16980062e-01 8.55372770e-01 -3.26961625e-02 -6.38373076e+02] [-6.30210366e-02 5.90965835e-05 9.98012197e-01 -5.01861929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1144.97, Y:-638.40, Z:-50.19 [[ 8.50987758e-01 5.22415635e-01 5.38678047e-02 1.14497404e+03] [-5.21390684e-01 8.52690941e-01 -3.27095385e-02 -6.38404960e+02] [-6.30205635e-02 -2.50754714e-04 9.98012197e-01 -5.01869954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.03, Y:-638.43, Z:-50.19 [[ 8.50496347e-01 5.23216096e-01 5.38598144e-02 1.14502819e+03] [-5.22191915e-01 8.52199994e-01 -3.27226902e-02 -6.38434689e+02] [-6.30203717e-02 -2.94631101e-04 9.98012197e-01 -5.01948726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1145.08, Y:-638.47, Z:-50.19 [[ 8.48514437e-01 5.26424370e-01 5.38575282e-02 1.14508086e+03] [-5.25406391e-01 8.50221797e-01 -3.27264526e-02 -6.38467514e+02] [-6.30188466e-02 -5.28222065e-04 9.98012197e-01 -5.01943056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.14, Y:-638.50, Z:-50.20 [[ 8.48970627e-01 5.25688607e-01 5.38550099e-02 1.14513503e+03] [-5.24668886e-01 8.50676947e-01 -3.27305961e-02 -6.38495436e+02] [-6.30193169e-02 -4.68733345e-04 9.98012197e-01 -5.02043880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.19, Y:-638.53, Z:-50.21 [[ 8.48825668e-01 5.25923476e-01 5.38468408e-02 1.14518894e+03] [-5.24903375e-01 8.50531761e-01 -3.27440301e-02 -6.38525772e+02] [-6.30193025e-02 -4.70415245e-04 9.98012197e-01 -5.02063011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.24, Y:-638.56, Z:-50.21 [[ 8.49027320e-01 5.25598708e-01 5.38387288e-02 1.14524246e+03] [-5.24577108e-01 8.50732515e-01 -3.27573628e-02 -6.38557095e+02] [-6.30195847e-02 -4.30668750e-04 9.98012198e-01 -5.02111784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.30, Y:-638.59, Z:-50.22 [[ 8.49521886e-01 5.24799848e-01 5.38301574e-02 1.14529691e+03] [-5.23775752e-01 8.51225583e-01 -3.27714421e-02 -6.38587317e+02] [-6.30200549e-02 -3.54873882e-04 9.98012198e-01 -5.02161180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.35, Y:-638.62, Z:-50.22 [[ 8.49519703e-01 5.24804191e-01 5.38222553e-02 1.14535161e+03] [-5.23779282e-01 8.51222912e-01 -3.27844150e-02 -6.38619117e+02] [-6.30201352e-02 -3.39975759e-04 9.98012198e-01 -5.02184179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.41, Y:-638.65, Z:-50.22 [[ 8.49277591e-01 5.25196861e-01 5.38129244e-02 1.14540560e+03] [-5.24171770e-01 8.50980689e-01 -3.27997237e-02 -6.38648599e+02] [-6.30200715e-02 -3.51145536e-04 9.98012198e-01 -5.02219099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.46, Y:-638.68, Z:-50.22 [[ 8.48563718e-01 5.26350253e-01 5.38054608e-02 1.14546060e+03] [-5.25326701e-01 8.50267742e-01 -3.28119626e-02 -6.38678026e+02] [-6.30196325e-02 -4.22404261e-04 9.98012198e-01 -5.02227790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1145.51, Y:-638.71, Z:-50.23 [[ 8.49123398e-01 5.25447734e-01 5.37971640e-02 1.14551451e+03] [-5.24421508e-01 8.50825813e-01 -3.28255600e-02 -6.38706241e+02] [-6.30201320e-02 -3.39438844e-04 9.98012198e-01 -5.02307157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.57, Y:-638.74, Z:-50.23 [[ 8.49406557e-01 5.24990649e-01 5.37895801e-02 1.14556918e+03] [-5.23962722e-01 8.51107945e-01 -3.28379828e-02 -6.38737513e+02] [-6.30203729e-02 -2.90936920e-04 9.98012198e-01 -5.02337003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.62, Y:-638.77, Z:-50.24 [[ 8.49810997e-01 5.24336679e-01 5.37802513e-02 1.14562400e+03] [-5.23306476e-01 8.51511008e-01 -3.28532539e-02 -6.38769336e+02] [-6.30206420e-02 -2.24497323e-04 9.98012199e-01 -5.02357416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.68, Y:-638.80, Z:-50.24 [[ 8.50536182e-01 5.23160234e-01 5.37733552e-02 1.14567906e+03] [-5.22126965e-01 8.52234331e-01 -3.28645375e-02 -6.38800611e+02] [-6.30209184e-02 -1.24040547e-04 9.98012199e-01 -5.02389793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.73, Y:-638.83, Z:-50.24 [[ 8.50228064e-01 5.23661878e-01 5.37631551e-02 1.14573266e+03] [-5.22628557e-01 8.51926181e-01 -3.28812153e-02 -6.38832626e+02] [-6.30208784e-02 -1.41628103e-04 9.98012199e-01 -5.02428570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1145.79, Y:-638.86, Z:-50.25 [[ 8.51559526e-01 5.21494311e-01 5.37592566e-02 1.14578832e+03] [-5.20456265e-01 8.53254759e-01 -3.28875880e-02 -6.38858011e+02] [-6.30210315e-02 2.63969410e-05 9.98012199e-01 -5.02495939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.84, Y:-638.89, Z:-50.25 [[ 8.50008574e-01 5.24019346e-01 5.37508135e-02 1.14584153e+03] [-5.22985463e-01 8.51706349e-01 -3.29013815e-02 -6.38890308e+02] [-6.30208695e-02 -1.44437762e-04 9.98012199e-01 -5.02465404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1145.90, Y:-638.92, Z:-50.25 [[ 8.49943600e-01 5.24124912e-01 5.37489877e-02 1.14589631e+03] [-5.23091052e-01 8.51641388e-01 -3.29043638e-02 -6.38916307e+02] [-6.30208593e-02 -1.48761084e-04 9.98012199e-01 -5.02537361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1145.95, Y:-638.95, Z:-50.26 [[ 8.49436002e-01 5.24947505e-01 5.37456547e-02 1.14594928e+03] [-5.23914944e-01 8.51134582e-01 -3.29098070e-02 -6.38946784e+02] [-6.30207064e-02 -2.03376791e-04 9.98012199e-01 -5.02578808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:1146.00, Y:-638.98, Z:-50.26 [[ 8.49244142e-01 5.25258608e-01 5.37380939e-02 1.14600353e+03] [-5.24225888e-01 8.50942625e-01 -3.29221483e-02 -6.38976387e+02] [-6.30206765e-02 -2.11958391e-04 9.98012199e-01 -5.02605816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.06, Y:-639.01, Z:-50.26 [[ 8.47583816e-01 5.27934445e-01 5.37298431e-02 1.14605870e+03] [-5.26906235e-01 8.49285032e-01 -3.29356084e-02 -6.39005522e+02] [-6.30197937e-02 -3.94900625e-04 9.98012199e-01 -5.02625748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.11, Y:-639.03, Z:-50.27 [[ 8.45990838e-01 5.30484203e-01 5.37216207e-02 1.14611234e+03] [-5.29460268e-01 8.47694631e-01 -3.29490146e-02 -6.39034838e+02] [-6.30184612e-02 -5.68899198e-04 9.98012199e-01 -5.02666000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.17, Y:-639.06, Z:-50.27 [[ 8.44053478e-01 5.33561797e-01 5.37171813e-02 1.14616774e+03] [-5.32543614e-01 8.45760714e-01 -3.29562507e-02 -6.39063753e+02] [-6.30160779e-02 -7.89903823e-04 9.98012199e-01 -5.02708740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.22, Y:-639.10, Z:-50.28 [[ 8.43495493e-01 5.34444274e-01 5.37091307e-02 1.14622111e+03] [-5.33427042e-01 8.45203296e-01 -3.29693656e-02 -6.39095395e+02] [-6.30154230e-02 -8.40391428e-04 9.98012199e-01 -5.02754660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.27, Y:-639.13, Z:-50.28 [[ 8.41974357e-01 5.36838315e-01 5.37010823e-02 1.14627371e+03] [-5.35825103e-01 8.43684547e-01 -3.29824698e-02 -6.39125611e+02] [-6.30130268e-02 -1.00399420e-03 9.98012200e-01 -5.02805873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.33, Y:-639.16, Z:-50.28 [[ 8.40751678e-01 5.38751892e-01 5.36937163e-02 1.14632819e+03] [-5.37741807e-01 8.42463717e-01 -3.29944569e-02 -6.39156932e+02] [-6.30108339e-02 -1.13321105e-03 9.98012200e-01 -5.02828094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.38, Y:-639.19, Z:-50.29 [[ 8.39825379e-01 5.40195647e-01 5.36842251e-02 1.14638207e+03] [-5.39187519e-01 8.41538571e-01 -3.30098925e-02 -6.39188184e+02] [-6.30091463e-02 -1.22331863e-03 9.98012200e-01 -5.02861567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.44, Y:-639.22, Z:-50.29 [[ 8.39297651e-01 5.41016026e-01 5.36760065e-02 1.14643551e+03] [-5.40008718e-01 8.41011325e-01 -3.30232510e-02 -6.39220442e+02] [-6.30082374e-02 -1.26917448e-03 9.98012200e-01 -5.02883455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.49, Y:-639.25, Z:-50.29 [[ 8.38908965e-01 5.41619358e-01 5.36676849e-02 1.14648713e+03] [-5.40612418e-01 8.40622856e-01 -3.30367693e-02 -6.39253268e+02] [-6.30076363e-02 -1.29857499e-03 9.98012200e-01 -5.02923761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.54, Y:-639.29, Z:-50.30 [[ 8.38251067e-01 5.42637461e-01 5.36631539e-02 1.14654070e+03] [-5.41632133e-01 8.39965903e-01 -3.30441276e-02 -6.39286281e+02] [-6.30062011e-02 -1.36641321e-03 9.98012200e-01 -5.02970973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.59, Y:-639.32, Z:-50.30 [[ 8.37148501e-01 5.44337789e-01 5.36540673e-02 1.14659414e+03] [-5.43334999e-01 8.38864822e-01 -3.30588750e-02 -6.39319343e+02] [-6.30037046e-02 -1.47694493e-03 9.98012200e-01 -5.03004342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.65, Y:-639.35, Z:-50.30 [[ 8.35584653e-01 5.46736249e-01 5.36447719e-02 1.14664774e+03] [-5.45737418e-01 8.37303281e-01 -3.30739519e-02 -6.39352542e+02] [-6.29996719e-02 -1.63987262e-03 9.98012200e-01 -5.03047442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.70, Y:-639.39, Z:-50.31 [[ 8.35401627e-01 5.47016777e-01 5.36355016e-02 1.14670022e+03] [-5.46017559e-01 8.37120030e-01 -3.30889786e-02 -6.39386576e+02] [-6.29995791e-02 -1.64333905e-03 9.98012201e-01 -5.03095083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.75, Y:-639.42, Z:-50.31 [[ 8.36307184e-01 5.45632220e-01 5.36262450e-02 1.14675136e+03] [-5.44629196e-01 8.38023368e-01 -3.31039737e-02 -6.39421487e+02] [-6.30026411e-02 -1.52132768e-03 9.98012201e-01 -5.03144424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.80, Y:-639.46, Z:-50.32 [[ 8.36780035e-01 5.44907622e-01 5.36176986e-02 1.14680385e+03] [-5.43902226e-01 8.38494830e-01 -3.31178103e-02 -6.39455634e+02] [-6.30043103e-02 -1.45046316e-03 9.98012201e-01 -5.03192066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.86, Y:-639.49, Z:-50.32 [[ 8.37761739e-01 5.43397997e-01 5.36086296e-02 1.14685559e+03] [-5.42388572e-01 8.39474166e-01 -3.31324840e-02 -6.39489141e+02] [-6.30071851e-02 -1.31958066e-03 9.98012201e-01 -5.03242941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.91, Y:-639.52, Z:-50.33 [[ 8.38282755e-01 5.42594725e-01 5.36002588e-02 1.14690791e+03] [-5.41582794e-01 8.39993702e-01 -3.31460204e-02 -6.39523977e+02] [-6.30087356e-02 -1.24324060e-03 9.98012201e-01 -5.03273485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1146.96, Y:-639.56, Z:-50.33 [[ 8.38689458e-01 5.41966777e-01 5.35910940e-02 1.14695965e+03] [-5.40952619e-01 8.40399086e-01 -3.31608317e-02 -6.39559176e+02] [-6.30099755e-02 -1.17860271e-03 9.98012201e-01 -5.03310450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.01, Y:-639.59, Z:-50.33 [[ 8.38533620e-01 5.42208768e-01 5.35818976e-02 1.14701060e+03] [-5.41194154e-01 8.40242978e-01 -3.31756847e-02 -6.39593557e+02] [-6.30099603e-02 -1.17928279e-03 9.98012201e-01 -5.03349051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.06, Y:-639.63, Z:-50.34 [[ 8.37795197e-01 5.43349885e-01 5.35734068e-02 1.14706305e+03] [-5.42336723e-01 8.39505416e-01 -3.31893903e-02 -6.39627363e+02] [-6.30086166e-02 -1.24891412e-03 9.98012202e-01 -5.03384061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.12, Y:-639.66, Z:-50.34 [[ 8.37489326e-01 5.43822133e-01 5.35641368e-02 1.14711522e+03] [-5.42808980e-01 8.39199549e-01 -3.32043444e-02 -6.39662104e+02] [-6.30082569e-02 -1.26681044e-03 9.98012202e-01 -5.03426443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.17, Y:-639.70, Z:-50.35 [[ 8.39002659e-01 5.41485385e-01 5.35547982e-02 1.14716538e+03] [-5.40466507e-01 8.40709478e-01 -3.32193997e-02 -6.39698504e+02] [-6.30118459e-02 -1.07341002e-03 9.98012202e-01 -5.03476528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.22, Y:-639.73, Z:-50.35 [[ 8.41179851e-01 5.38097766e-01 5.35467317e-02 1.14721736e+03] [-5.37071187e-01 8.42882048e-01 -3.32323972e-02 -6.39732977e+02] [-6.30158576e-02 -8.03983871e-04 9.98012202e-01 -5.03511701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.27, Y:-639.77, Z:-50.35 [[ 8.43049311e-01 5.35165011e-01 5.35375666e-02 1.14726857e+03] [-5.34131573e-01 8.44747353e-01 -3.32471556e-02 -6.39768831e+02] [-6.30184320e-02 -5.67113055e-04 9.98012202e-01 -5.03548074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1147.32, Y:-639.81, Z:-50.36 [[ 8.45951159e-01 5.30567063e-01 5.35278317e-02 1.14731929e+03] [-5.29523404e-01 8.47642937e-01 -3.32628214e-02 -6.39805995e+02] [-6.30206460e-02 -2.05517365e-04 9.98012202e-01 -5.03595170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.37, Y:-639.84, Z:-50.36 [[ 8.46759144e-01 5.29277052e-01 5.35234031e-02 1.14737001e+03] [-5.28230365e-01 8.48449051e-01 -3.32699460e-02 -6.39842402e+02] [-6.30208995e-02 -1.01055711e-04 9.98012202e-01 -5.03619981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.42, Y:-639.87, Z:-50.37 [[ 8.49215702e-01 5.25327470e-01 5.35139337e-02 1.14742219e+03] [-5.24271964e-01 8.50900115e-01 -3.32851703e-02 -6.39874952e+02] [-6.30206266e-02 2.10434082e-04 9.98012203e-01 -5.03680865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.47, Y:-639.91, Z:-50.37 [[ 8.50482385e-01 5.23275149e-01 5.35054275e-02 1.14747031e+03] [-5.22214719e-01 8.52163702e-01 -3.32988383e-02 -6.39912518e+02] [-6.30198378e-02 3.78753654e-04 9.98012203e-01 -5.03695629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1147.52, Y:-639.95, Z:-50.37 [[ 8.52257812e-01 5.20379310e-01 5.34976286e-02 1.14752212e+03] [-5.19312381e-01 8.53935012e-01 -3.33113632e-02 -6.39948408e+02] [-6.30180424e-02 6.07888656e-04 9.98012203e-01 -5.03724452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.57, Y:-639.98, Z:-50.38 [[ 8.53960821e-01 5.17580790e-01 5.34887067e-02 1.14757395e+03] [-5.16507468e-01 8.55633937e-01 -3.33256832e-02 -6.39984648e+02] [-6.30154862e-02 8.31511243e-04 9.98012203e-01 -5.03752886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.63, Y:-640.02, Z:-50.38 [[ 8.54235880e-01 5.17127673e-01 5.34792523e-02 1.14762503e+03] [-5.16052515e-01 8.55907816e-01 -3.33408483e-02 -6.40017511e+02] [-6.30147853e-02 8.82846277e-04 9.98012203e-01 -5.03805600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.68, Y:-640.05, Z:-50.39 [[ 8.53149641e-01 5.18918250e-01 5.34746712e-02 1.14767684e+03] [-5.17846140e-01 8.54823533e-01 -3.33481942e-02 -6.40051986e+02] [-6.30163939e-02 7.59347793e-04 9.98012203e-01 -5.03859355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.73, Y:-640.09, Z:-50.39 [[ 8.51488110e-01 5.21641000e-01 5.34664923e-02 1.14773027e+03] [-5.20573419e-01 8.53164895e-01 -3.33613021e-02 -6.40085552e+02] [-6.30183573e-02 5.73517397e-04 9.98012203e-01 -5.03897731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.78, Y:-640.12, Z:-50.39 [[ 8.49239134e-01 5.25295368e-01 5.34571765e-02 1.14778351e+03] [-5.24234064e-01 8.50919899e-01 -3.33762227e-02 -6.40119272e+02] [-6.30201504e-02 3.20321620e-04 9.98012203e-01 -5.03925744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.84, Y:-640.15, Z:-50.40 [[ 8.44687578e-01 5.32584477e-01 5.34478318e-02 1.14783679e+03] [-5.31536731e-01 8.46376827e-01 -3.33911805e-02 -6.40152086e+02] [-6.30206307e-02 -2.04370360e-04 9.98012204e-01 -5.03950644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1147.89, Y:-640.18, Z:-50.40 [[ 8.42789239e-01 5.35584390e-01 5.34383715e-02 1.14788997e+03] [-5.34541697e-01 8.44481612e-01 -3.34063136e-02 -6.40184994e+02] [-6.30196222e-02 -4.10556159e-04 9.98012204e-01 -5.03992349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.94, Y:-640.22, Z:-50.40 [[ 8.38829385e-01 5.41766187e-01 5.34290364e-02 1.14794308e+03] [-5.40735014e-01 8.40528801e-01 -3.34212373e-02 -6.40217588e+02] [-6.30151402e-02 -8.56234833e-04 9.98012204e-01 -5.04042912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1147.99, Y:-640.25, Z:-50.41 [[ 8.33717721e-01 5.49600851e-01 5.34197118e-02 1.14799433e+03] [-5.48584690e-01 8.35426156e-01 -3.34361349e-02 -6.40250366e+02] [-6.30047527e-02 -1.42893784e-03 9.98012204e-01 -5.04113083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.05, Y:-640.29, Z:-50.42 [[ 8.31476388e-01 5.52986571e-01 5.34122543e-02 1.14804643e+03] [-5.51976602e-01 8.33188490e-01 -3.34480436e-02 -6.40285602e+02] [-6.29987944e-02 -1.67105617e-03 9.98012204e-01 -5.04155187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.10, Y:-640.32, Z:-50.42 [[ 8.29507012e-01 5.55937271e-01 5.34028849e-02 1.14809754e+03] [-5.54932430e-01 8.31222128e-01 -3.34629961e-02 -6.40322280e+02] [-6.29929863e-02 -1.87720276e-03 9.98012204e-01 -5.04190526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.15, Y:-640.36, Z:-50.43 [[ 8.29681557e-01 5.55677665e-01 5.33933221e-02 1.14814911e+03] [-5.54671306e-01 8.31395784e-01 -3.34782475e-02 -6.40356232e+02] [-6.29940972e-02 -1.83945919e-03 9.98012204e-01 -5.04257345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.20, Y:-640.39, Z:-50.43 [[ 8.28351796e-01 5.57658832e-01 5.33847407e-02 1.14819778e+03] [-5.56655692e-01 8.30067908e-01 -3.34919259e-02 -6.40393666e+02] [-6.29900283e-02 -1.97382282e-03 9.98012205e-01 -5.04279619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.25, Y:-640.43, Z:-50.43 [[ 8.28608776e-01 5.57277384e-01 5.33798915e-02 1.14824919e+03] [-5.56272958e-01 8.30324136e-01 -3.34996528e-02 -6.40430128e+02] [-6.29912111e-02 -1.93568379e-03 9.98012205e-01 -5.04323261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.30, Y:-640.47, Z:-50.44 [[ 8.31631650e-01 5.52757084e-01 5.33704549e-02 1.14829601e+03] [-5.51742368e-01 8.33340942e-01 -3.35146801e-02 -6.40469867e+02] [-6.30012620e-02 -1.57487244e-03 9.98012205e-01 -5.04370540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.35, Y:-640.51, Z:-50.44 [[ 8.34502944e-01 5.48413091e-01 5.33658928e-02 1.14834594e+03] [-5.47389012e-01 8.36206643e-01 -3.35219429e-02 -6.40509529e+02] [-6.30087863e-02 -1.23774329e-03 9.98012205e-01 -5.04388595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.39, Y:-640.55, Z:-50.45 [[ 8.39988871e-01 5.39973886e-01 5.33563498e-02 1.14839461e+03] [-5.38931721e-01 8.41681568e-01 -3.35371255e-02 -6.40548647e+02] [-6.30182281e-02 -5.84617266e-04 9.98012205e-01 -5.04451795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.44, Y:-640.59, Z:-50.45 [[ 8.40343369e-01 5.39422479e-01 5.33517694e-02 1.14844276e+03] [-5.38378742e-01 8.42035096e-01 -3.35444105e-02 -6.40586654e+02] [-6.30186713e-02 -5.34635531e-04 9.98012205e-01 -5.04454729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.50, Y:-640.62, Z:-50.45 [[ 8.39513326e-01 5.40713871e-01 5.33468377e-02 1.14849622e+03] [-5.39672238e-01 8.41206350e-01 -3.35522516e-02 -6.40620195e+02] [-6.30178665e-02 -6.22244909e-04 9.98012205e-01 -5.04493342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.55, Y:-640.65, Z:-50.45 [[ 8.37999647e-01 5.43057739e-01 5.33374516e-02 1.14854935e+03] [-5.42019892e-01 8.39694994e-01 -3.35671659e-02 -6.40651428e+02] [-6.30161004e-02 -7.80686554e-04 9.98012205e-01 -5.04533538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.60, Y:-640.68, Z:-50.46 [[ 8.38365682e-01 5.42493310e-01 5.33290925e-02 1.14860227e+03] [-5.41453477e-01 8.40059811e-01 -3.35804411e-02 -6.40684160e+02] [-6.30167920e-02 -7.22533174e-04 9.98012205e-01 -5.04580140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1148.65, Y:-640.72, Z:-50.46 [[ 8.39813978e-01 5.40249416e-01 5.33202630e-02 1.14865454e+03] [-5.39204167e-01 8.41504771e-01 -3.35944551e-02 -6.40717111e+02] [-6.30186404e-02 -5.37415032e-04 9.98012205e-01 -5.04591801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.71, Y:-640.75, Z:-50.46 [[ 8.44240188e-01 5.33307000e-01 5.33118111e-02 1.14870635e+03] [-5.32246999e-01 8.45921772e-01 -3.36078623e-02 -6.40750136e+02] [-6.30209299e-02 -1.94351620e-06 9.98012206e-01 -5.04608131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1148.76, Y:-640.78, Z:-50.46 [[ 8.48765336e-01 5.26076117e-01 5.33040780e-02 1.14875924e+03] [-5.25001020e-01 8.50437309e-01 -3.36201230e-02 -6.40783528e+02] [-6.30185204e-02 5.50899678e-04 9.98012206e-01 -5.04639508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.81, Y:-640.82, Z:-50.47 [[ 8.50692720e-01 5.22954657e-01 5.32946775e-02 1.14881300e+03] [-5.21872493e-01 8.52360128e-01 -3.36350181e-02 -6.40816303e+02] [-6.30158474e-02 8.00038859e-04 9.98012206e-01 -5.04677168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.87, Y:-640.85, Z:-50.47 [[ 8.51098533e-01 5.22294901e-01 5.32853057e-02 1.14886837e+03] [-5.21210516e-01 8.52764496e-01 -3.36498585e-02 -6.40846938e+02] [-6.30149664e-02 8.66483493e-04 9.98012206e-01 -5.04711913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.92, Y:-640.88, Z:-50.48 [[ 8.49703187e-01 5.24562836e-01 5.32759298e-02 1.14892314e+03] [-5.23481967e-01 8.51371434e-01 -3.36646963e-02 -6.40878616e+02] [-6.30168533e-02 7.16011180e-04 9.98012206e-01 -5.04753843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1148.98, Y:-640.91, Z:-50.48 [[ 8.47306868e-01 5.28425718e-01 5.32666139e-02 1.14897682e+03] [-5.27351529e-01 8.48979423e-01 -3.36794301e-02 -6.40909230e+02] [-6.30193362e-02 4.46582116e-04 9.98012206e-01 -5.04805342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.03, Y:-640.94, Z:-50.48 [[ 8.45367295e-01 5.31523961e-01 5.32580114e-02 1.14903125e+03] [-5.30455045e-01 8.47043225e-01 -3.36930281e-02 -6.40940672e+02] [-6.30204894e-02 2.32003170e-04 9.98012206e-01 -5.04835399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.09, Y:-640.97, Z:-50.49 [[ 8.43096068e-01 5.35120188e-01 5.32485169e-02 1.14908581e+03] [-5.34057473e-01 8.44775937e-01 -3.37080264e-02 -6.40971389e+02] [-6.30209112e-02 -1.86638369e-05 9.98012207e-01 -5.04875776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.14, Y:-641.00, Z:-50.49 [[ 8.40370526e-01 5.39391328e-01 5.32388398e-02 1.14913878e+03] [-5.38336184e-01 8.42055160e-01 -3.37233037e-02 -6.41002251e+02] [-6.30200973e-02 -3.20323383e-04 9.98012207e-01 -5.04930342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.19, Y:-641.03, Z:-50.49 [[ 8.35920015e-01 5.46263953e-01 5.32299011e-02 1.14919353e+03] [-5.45221759e-01 8.37612692e-01 -3.37374070e-02 -6.41034089e+02] [-6.30155700e-02 -8.20326510e-04 9.98012207e-01 -5.04944407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.25, Y:-641.07, Z:-50.50 [[ 8.33813253e-01 5.49475249e-01 5.32203975e-02 1.14924705e+03] [-5.48438617e-01 8.35509341e-01 -3.37523921e-02 -6.41066214e+02] [-6.30122433e-02 -1.04492942e-03 9.98012207e-01 -5.04972823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.30, Y:-641.10, Z:-50.50 [[ 8.32082975e-01 5.52092521e-01 5.32143959e-02 1.14929978e+03] [-5.51060619e-01 8.33781945e-01 -3.37618517e-02 -6.41097953e+02] [-6.30088683e-02 -1.23169595e-03 9.98012207e-01 -5.05020850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.35, Y:-641.13, Z:-50.51 [[ 8.30756794e-01 5.54086925e-01 5.32055403e-02 1.14935311e+03] [-5.53058209e-01 8.32457694e-01 -3.37758015e-02 -6.41130198e+02] [-6.30060914e-02 -1.36628425e-03 9.98012207e-01 -5.05071957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.41, Y:-641.16, Z:-50.51 [[ 8.30079031e-01 5.55102671e-01 5.31961168e-02 1.14940517e+03] [-5.54075086e-01 8.31780615e-01 -3.37906368e-02 -6.41163302e+02] [-6.30047715e-02 -1.42574397e-03 9.98012207e-01 -5.05127393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.46, Y:-641.20, Z:-50.52 [[ 8.30299558e-01 5.54773567e-01 5.31877116e-02 1.14945678e+03] [-5.53744461e-01 8.32000223e-01 -3.38038618e-02 -6.41196027e+02] [-6.30056769e-02 -1.38506921e-03 9.98012208e-01 -5.05196724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.51, Y:-641.23, Z:-50.52 [[ 8.31658079e-01 5.52735672e-01 5.31800386e-02 1.14950806e+03] [-5.51701627e-01 8.33355745e-01 -3.38159287e-02 -6.41231438e+02] [-6.30091607e-02 -1.21622352e-03 9.98012208e-01 -5.05243744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.56, Y:-641.27, Z:-50.53 [[ 8.32551668e-01 5.51389598e-01 5.31717191e-02 1.14956016e+03] [-5.50351974e-01 8.34247148e-01 -3.38290051e-02 -6.41266384e+02] [-6.30113165e-02 -1.09876594e-03 9.98012208e-01 -5.05273927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.61, Y:-641.30, Z:-50.53 [[ 8.34964369e-01 5.47730122e-01 5.31621607e-02 1.14960997e+03] [-5.46684110e-01 8.36654687e-01 -3.38440194e-02 -6.41302111e+02] [-6.30157598e-02 -8.04358180e-04 9.98012208e-01 -5.05312345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.66, Y:-641.34, Z:-50.53 [[ 8.39110084e-01 5.41358348e-01 5.31545409e-02 1.14966071e+03] [-5.40298742e-01 8.40791914e-01 -3.38559825e-02 -6.41339633e+02] [-6.30201270e-02 -3.10435218e-04 9.98012208e-01 -5.05322231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.71, Y:-641.37, Z:-50.54 [[ 8.43091989e-01 5.35136898e-01 5.31450619e-02 1.14971326e+03] [-5.34063943e-01 8.44765334e-01 -3.38708556e-02 -6.41372847e+02] [-6.30206506e-02 1.73385718e-04 9.98012208e-01 -5.05397561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.76, Y:-641.41, Z:-50.54 [[ 8.44104402e-01 5.33538990e-01 5.31404317e-02 1.14976270e+03] [-5.32462409e-01 8.45775417e-01 -3.38781185e-02 -6.41410147e+02] [-6.30201679e-02 3.01386620e-04 9.98012208e-01 -5.05380205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.82, Y:-641.44, Z:-50.55 [[ 8.48730025e-01 5.26150140e-01 5.31354440e-02 1.14981524e+03] [-5.25058524e-01 8.50391257e-01 -3.38859395e-02 -6.41442330e+02] [-6.30150088e-02 8.60796438e-04 9.98012208e-01 -5.05479484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.86, Y:-641.48, Z:-50.55 [[ 8.47588180e-01 5.27988462e-01 5.31268343e-02 1.14986388e+03] [-5.26899604e-01 8.49251221e-01 -3.38994326e-02 -6.41479893e+02] [-6.30165382e-02 7.40250431e-04 9.98012208e-01 -5.05473782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.91, Y:-641.51, Z:-50.55 [[ 8.47107908e-01 5.28759459e-01 5.31189861e-02 1.14991454e+03] [-5.27671344e-01 8.48771434e-01 -3.39117260e-02 -6.41513160e+02] [-6.30170239e-02 6.97524532e-04 9.98012208e-01 -5.05529707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1149.97, Y:-641.55, Z:-50.56 [[ 8.44801871e-01 5.32436830e-01 5.31113912e-02 1.14996772e+03] [-5.31355209e-01 8.46469627e-01 -3.39236166e-02 -6.41547378e+02] [-6.30193624e-02 4.37720454e-04 9.98012209e-01 -5.05554506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.02, Y:-641.58, Z:-50.56 [[ 8.42813050e-01 5.35580395e-01 5.31018190e-02 1.15002065e+03] [-5.34504051e-01 8.44484216e-01 -3.39385938e-02 -6.41581301e+02] [-6.30204935e-02 2.20752384e-04 9.98012209e-01 -5.05588762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.07, Y:-641.61, Z:-50.56 [[ 8.38731065e-01 5.41951493e-01 5.30921884e-02 1.15007241e+03] [-5.40886889e-01 8.40409735e-01 -3.39536529e-02 -6.41613191e+02] [-6.30204248e-02 -2.38885173e-04 9.98012209e-01 -5.05621649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.12, Y:-641.65, Z:-50.56 [[ 8.34946971e-01 5.47764176e-01 5.30844947e-02 1.15012500e+03] [-5.46710494e-01 8.36632517e-01 -3.39656772e-02 -6.41646507e+02] [-6.30173956e-02 -6.62311064e-04 9.98012209e-01 -5.05643224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.18, Y:-641.68, Z:-50.57 [[ 8.29441861e-01 5.56065754e-01 5.30761440e-02 1.15017858e+03] [-5.55028103e-01 8.31137324e-01 -3.39787214e-02 -6.41678505e+02] [-6.30079676e-02 -1.27537764e-03 9.98012209e-01 -5.05684529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.23, Y:-641.71, Z:-50.57 [[ 8.26953728e-01 5.59760185e-01 5.30666306e-02 1.15023146e+03] [-5.58729156e-01 8.28653225e-01 -3.39935725e-02 -6.41712344e+02] [-6.30020830e-02 -1.53876222e-03 9.98012209e-01 -5.05728459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.28, Y:-641.75, Z:-50.58 [[ 8.25878542e-01 5.61346230e-01 5.30569903e-02 1.15028367e+03] [-5.60317499e-01 8.27579431e-01 -3.40086124e-02 -6.41746190e+02] [-6.29994802e-02 -1.64177685e-03 9.98012209e-01 -5.05776990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.34, Y:-641.78, Z:-50.58 [[ 8.26446122e-01 5.60511114e-01 5.30480819e-02 1.15033566e+03] [-5.59479773e-01 8.28145430e-01 -3.40225025e-02 -6.41781467e+02] [-6.30015173e-02 -1.56156358e-03 9.98012210e-01 -5.05819041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.39, Y:-641.82, Z:-50.58 [[ 8.27948845e-01 5.58289893e-01 5.30387209e-02 1.15038757e+03] [-5.57253060e-01 8.29644806e-01 -3.40370893e-02 -6.41816838e+02] [-6.30058623e-02 -1.37502075e-03 9.98012210e-01 -5.05849407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.44, Y:-641.85, Z:-50.59 [[ 8.29810757e-01 5.55519592e-01 5.30291425e-02 1.15043889e+03] [-5.54476143e-01 8.31502657e-01 -3.40520059e-02 -6.41853229e+02] [-6.30104293e-02 -1.14667358e-03 9.98012210e-01 -5.05883209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.49, Y:-641.89, Z:-50.59 [[ 8.32704991e-01 5.51172688e-01 5.30194880e-02 1.15048877e+03] [-5.50119449e-01 8.34390813e-01 -3.40670315e-02 -6.41891209e+02] [-6.30157910e-02 -7.99264359e-04 9.98012210e-01 -5.05919335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.54, Y:-641.93, Z:-50.60 [[ 8.33972029e-01 5.49254586e-01 5.30099452e-02 1.15053982e+03] [-5.48196527e-01 8.35654830e-01 -3.40818740e-02 -6.41927587e+02] [-6.30176424e-02 -6.36538235e-04 9.98012210e-01 -5.05955349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.59, Y:-641.96, Z:-50.60 [[ 8.34437320e-01 5.48548383e-01 5.30002870e-02 1.15058923e+03] [-5.47487945e-01 8.36118624e-01 -3.40968867e-02 -6.41963017e+02] [-6.30183191e-02 -5.65303417e-04 9.98012210e-01 -5.06008134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.64, Y:-642.00, Z:-50.61 [[ 8.33795519e-01 5.49524176e-01 5.29925799e-02 1.15064005e+03] [-5.48464945e-01 8.35477582e-01 -3.41088608e-02 -6.41995981e+02] [-6.30177561e-02 -6.24757089e-04 9.98012210e-01 -5.06062865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.69, Y:-642.03, Z:-50.61 [[ 8.32073617e-01 5.52128673e-01 5.29851364e-02 1.15069301e+03] [-5.51073971e-01 8.33758524e-01 -3.41204196e-02 -6.42027659e+02] [-6.30156712e-02 -8.08028550e-04 9.98012211e-01 -5.06090491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1150.75, Y:-642.06, Z:-50.61 [[ 8.31057496e-01 5.53657752e-01 5.29767006e-02 1.15074610e+03] [-5.52605316e-01 8.32743819e-01 -3.41335124e-02 -6.42060152e+02] [-6.30143038e-02 -9.08295014e-04 9.98012211e-01 -5.06134230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.80, Y:-642.09, Z:-50.62 [[ 8.30508317e-01 5.54482057e-01 5.29677595e-02 1.15079827e+03] [-5.53430410e-01 8.32195132e-01 -3.41473814e-02 -6.42093024e+02] [-6.30136219e-02 -9.54284578e-04 9.98012211e-01 -5.06163125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.85, Y:-642.13, Z:-50.62 [[ 8.30113778e-01 5.55073358e-01 5.29592612e-02 1.15085089e+03] [-5.54022072e-01 8.31800818e-01 -3.41605564e-02 -6.42127577e+02] [-6.30131715e-02 -9.83451057e-04 9.98012211e-01 -5.06183705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.90, Y:-642.16, Z:-50.62 [[ 8.30036123e-01 5.55190319e-01 5.29503929e-02 1.15090423e+03] [-5.54138394e-01 8.31722765e-01 -3.41742972e-02 -6.42161464e+02] [-6.30132861e-02 -9.75944571e-04 9.98012211e-01 -5.06210966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1150.96, Y:-642.20, Z:-50.62 [[ 8.30176069e-01 5.54981954e-01 5.29407711e-02 1.15095674e+03] [-5.53928656e-01 8.31861853e-01 -3.41891962e-02 -6.42196231e+02] [-6.30137949e-02 -9.42357733e-04 9.98012211e-01 -5.06238991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.01, Y:-642.23, Z:-50.63 [[ 8.30225627e-01 5.54908746e-01 5.29310094e-02 1.15100945e+03] [-5.53854336e-01 8.31910716e-01 -3.42043025e-02 -6.42230560e+02] [-6.30141405e-02 -9.18780604e-04 9.98012211e-01 -5.06276702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1151.06, Y:-642.26, Z:-50.63 [[ 8.29654864e-01 5.55762661e-01 5.29213768e-02 1.15106217e+03] [-5.54709036e-01 8.31340443e-01 -3.42191997e-02 -6.42264700e+02] [-6.30134343e-02 -9.65840441e-04 9.98012212e-01 -5.06311945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.11, Y:-642.30, Z:-50.64 [[ 8.28772523e-01 5.57078503e-01 5.29116928e-02 1.15111491e+03] [-5.56026599e-01 8.30459176e-01 -3.42341671e-02 -6.42298894e+02] [-6.30121194e-02 -1.04797150e-03 9.98012212e-01 -5.06351138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.17, Y:-642.33, Z:-50.64 [[ 8.28329218e-01 5.57738361e-01 5.29020541e-02 1.15116659e+03] [-5.56686850e-01 8.30016116e-01 -3.42490552e-02 -6.42332105e+02] [-6.30115695e-02 -1.08038473e-03 9.98012212e-01 -5.06394723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.22, Y:-642.37, Z:-50.64 [[ 8.28065595e-01 5.58130528e-01 5.28931401e-02 1.15121894e+03] [-5.57078937e-01 8.29752443e-01 -3.42628163e-02 -6.42366315e+02] [-6.30113360e-02 -1.09379488e-03 9.98012212e-01 -5.06435894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.27, Y:-642.40, Z:-50.65 [[ 8.28477684e-01 5.57519555e-01 5.28835855e-02 1.15127147e+03] [-5.56465779e-01 8.30163168e-01 -3.42775572e-02 -6.42400009e+02] [-6.30124133e-02 -1.02971434e-03 9.98012212e-01 -5.06481509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.32, Y:-642.43, Z:-50.65 [[ 8.29235083e-01 5.56393320e-01 5.28739193e-02 1.15132441e+03] [-5.55336305e-01 8.30918538e-01 -3.42924611e-02 -6.42433689e+02] [-6.30140159e-02 -9.26295120e-04 9.98012212e-01 -5.06531466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.38, Y:-642.47, Z:-50.66 [[ 8.30493248e-01 5.54514500e-01 5.28643053e-02 1.15137626e+03] [-5.53452733e-01 8.32173710e-01 -3.43072753e-02 -6.42467238e+02] [-6.30161667e-02 -7.65933731e-04 9.98012212e-01 -5.06576907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.43, Y:-642.50, Z:-50.66 [[ 8.31839402e-01 5.52493854e-01 5.28559434e-02 1.15142899e+03] [-5.51427187e-01 8.33516757e-01 -3.43201533e-02 -6.42501881e+02] [-6.30179884e-02 -5.97348352e-04 9.98012213e-01 -5.06604369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.48, Y:-642.54, Z:-50.66 [[ 8.35078093e-01 5.47587300e-01 5.28462653e-02 1.15148194e+03] [-5.46509834e-01 8.36748532e-01 -3.43350494e-02 -6.42536437e+02] [-6.30204719e-02 -2.08556061e-04 9.98012213e-01 -5.06640251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1151.53, Y:-642.57, Z:-50.67 [[ 8.37578611e-01 5.43755800e-01 5.28365461e-02 1.15153447e+03] [-5.42669750e-01 8.39243481e-01 -3.43499993e-02 -6.42571294e+02] [-6.30207382e-02 9.80294570e-05 9.98012213e-01 -5.06677740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.59, Y:-642.60, Z:-50.67 [[ 8.39249673e-01 5.41174008e-01 5.28268796e-02 1.15158712e+03] [-5.40081900e-01 8.40910576e-01 -3.43648589e-02 -6.42604671e+02] [-6.30200502e-02 3.09855125e-04 9.98012213e-01 -5.06713639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.64, Y:-642.64, Z:-50.68 [[ 8.40846067e-01 5.38691172e-01 5.28177339e-02 1.15163986e+03] [-5.37593278e-01 8.42503150e-01 -3.43789098e-02 -6.42636854e+02] [-6.30187225e-02 5.12912374e-04 9.98012213e-01 -5.06764742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.69, Y:-642.67, Z:-50.68 [[ 8.41039879e-01 5.38389366e-01 5.28092171e-02 1.15169255e+03] [-5.37290056e-01 8.42696023e-01 -3.43919875e-02 -6.42669282e+02] [-6.30183976e-02 5.51165824e-04 9.98012213e-01 -5.06821023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1151.75, Y:-642.70, Z:-50.69 [[ 8.40977174e-01 5.38488129e-01 5.28008364e-02 1.15174542e+03] [-5.37388206e-01 8.42632911e-01 -3.44048493e-02 -6.42701640e+02] [-6.30183254e-02 5.59146148e-04 9.98012213e-01 -5.06875085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.80, Y:-642.73, Z:-50.69 [[ 8.40005897e-01 5.40002821e-01 5.27924785e-02 1.15179974e+03] [-5.38905079e-01 8.41663080e-01 -3.44176693e-02 -6.42732323e+02] [-6.30191186e-02 4.60910453e-04 9.98012214e-01 -5.06923363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.85, Y:-642.76, Z:-50.69 [[ 8.40044574e-01 5.39943471e-01 5.27841008e-02 1.15185336e+03] [-5.38844804e-01 8.41701145e-01 -3.44305128e-02 -6.42763138e+02] [-6.30189687e-02 4.80726973e-04 9.98012214e-01 -5.06949053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.91, Y:-642.80, Z:-50.70 [[ 8.40402200e-01 5.39387481e-01 5.27758243e-02 1.15190619e+03] [-5.38286922e-01 8.42057514e-01 -3.44431946e-02 -6.42795332e+02] [-6.30185074e-02 5.37600556e-04 9.98012214e-01 -5.06965326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1151.96, Y:-642.83, Z:-50.70 [[ 8.39982505e-01 5.40041660e-01 5.27673901e-02 1.15195875e+03] [-5.38941578e-01 8.41638136e-01 -3.44561111e-02 -6.42828385e+02] [-6.30187833e-02 5.03990006e-04 9.98012214e-01 -5.06980642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.01, Y:-642.86, Z:-50.70 [[ 8.37142988e-01 5.44433757e-01 5.27588999e-02 1.15201201e+03] [-5.43341543e-01 8.38803820e-01 -3.44691063e-02 -6.42858045e+02] [-6.30205118e-02 1.89468537e-04 9.98012214e-01 -5.07008552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.07, Y:-642.89, Z:-50.70 [[ 8.33728627e-01 5.49648884e-01 5.27511277e-02 1.15206664e+03] [-5.48566306e-01 8.35395756e-01 -3.44809967e-02 -6.42889129e+02] [-6.30205095e-02 -1.89697213e-04 9.98012214e-01 -5.07046868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.12, Y:-642.92, Z:-50.71 [[ 8.28282231e-01 5.57823347e-01 5.27414326e-02 1.15212259e+03] [-5.56756277e-01 8.29959328e-01 -3.44958198e-02 -6.42917968e+02] [-6.30158176e-02 -7.91849099e-04 9.98012214e-01 -5.07103233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.18, Y:-642.95, Z:-50.72 [[ 8.25315978e-01 5.62203630e-01 5.27315430e-02 1.15217625e+03] [-5.61144495e-01 8.26998096e-01 -3.45109308e-02 -6.42948960e+02] [-6.30110562e-02 -1.10759249e-03 9.98012214e-01 -5.07164189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.23, Y:-642.98, Z:-50.72 [[ 8.23490212e-01 5.64875400e-01 5.27224159e-02 1.15222964e+03] [-5.63820830e-01 8.25175197e-01 -3.45248686e-02 -6.42981227e+02] [-6.30074789e-02 -1.29510490e-03 9.98012215e-01 -5.07213443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.28, Y:-643.02, Z:-50.73 [[ 8.23787400e-01 5.64442806e-01 5.27127859e-02 1.15228262e+03] [-5.63386411e-01 8.25471241e-01 -3.45395655e-02 -6.43015176e+02] [-6.30084981e-02 -1.24440841e-03 9.98012215e-01 -5.07269557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1152.33, Y:-643.05, Z:-50.73 [[ 8.25476799e-01 5.61970133e-01 5.27031670e-02 1.15233445e+03] [-5.60907757e-01 8.27156873e-01 -3.45542367e-02 -6.43050095e+02] [-6.30122358e-02 -1.03789450e-03 9.98012215e-01 -5.07310298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.39, Y:-643.09, Z:-50.74 [[ 8.27897314e-01 5.58399009e-01 5.26932975e-02 1.15238595e+03] [-5.57328429e-01 8.29572171e-01 -3.45692806e-02 -6.43086571e+02] [-6.30163452e-02 -7.47658152e-04 9.98012215e-01 -5.07350909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.44, Y:-643.12, Z:-50.74 [[ 8.28910830e-01 5.56894323e-01 5.26834807e-02 1.15243696e+03] [-5.55819752e-01 8.30583129e-01 -3.45842349e-02 -6.43123267e+02] [-6.30177743e-02 -6.15272359e-04 9.98012215e-01 -5.07439784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.49, Y:-643.16, Z:-50.75 [[ 8.30994840e-01 5.53780845e-01 5.26721226e-02 1.15248892e+03] [-5.52698911e-01 8.32662385e-01 -3.46015247e-02 -6.43158275e+02] [-6.30197568e-02 -3.58136396e-04 9.98012215e-01 -5.07494926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.54, Y:-643.20, Z:-50.75 [[ 8.31793219e-01 5.52582035e-01 5.26605666e-02 1.15253664e+03] [-5.51496586e-01 8.33458478e-01 -3.46191031e-02 -6.43196812e+02] [-6.30202901e-02 -2.46187475e-04 9.98012216e-01 -5.07487003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1152.59, Y:-643.23, Z:-50.75 [[ 8.33455564e-01 5.50072304e-01 5.26524749e-02 1.15258649e+03] [-5.48981063e-01 8.35117033e-01 -3.46314054e-02 -6.43234254e+02] [-6.30207556e-02 -4.14740999e-05 9.98012216e-01 -5.07548946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.64, Y:-643.27, Z:-50.76 [[ 8.34281244e-01 5.48820139e-01 5.26427742e-02 1.15263602e+03] [-5.47725474e-01 8.35940459e-01 -3.46461451e-02 -6.43271491e+02] [-6.30207270e-02 7.08406092e-05 9.98012216e-01 -5.07595359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.68, Y:-643.31, Z:-50.76 [[ 8.35136839e-01 5.47517613e-01 5.26395644e-02 1.15268479e+03] [-5.46420052e-01 8.36794140e-01 -3.46510213e-02 -6.43308332e+02] [-6.30205234e-02 1.75030859e-04 9.98012216e-01 -5.07604111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.73, Y:-643.35, Z:-50.76 [[ 8.36109735e-01 5.46031560e-01 5.26312252e-02 1.15273397e+03] [-5.44930257e-01 8.37764552e-01 -3.46636830e-02 -6.43347849e+02] [-6.30200397e-02 3.02295783e-04 9.98012216e-01 -5.07627024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1152.79, Y:-643.38, Z:-50.77 [[ 8.34657485e-01 5.48249811e-01 5.26215483e-02 1.15278534e+03] [-5.47151980e-01 8.36314607e-01 -3.46783668e-02 -6.43379916e+02] [-6.30205776e-02 1.52574064e-04 9.98012216e-01 -5.07665387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.84, Y:-643.41, Z:-50.77 [[ 8.31933597e-01 5.52374783e-01 5.26173807e-02 1.15283973e+03] [-5.51284769e-01 8.33595871e-01 -3.46846893e-02 -6.43412189e+02] [-6.30205790e-02 -1.51802245e-04 9.98012216e-01 -5.07695659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.89, Y:-643.45, Z:-50.77 [[ 8.31275542e-01 5.53365468e-01 5.26082941e-02 1.15289220e+03] [-5.52276563e-01 8.32938542e-01 -3.46984659e-02 -6.43447245e+02] [-6.30204086e-02 -2.10341800e-04 9.98012216e-01 -5.07726470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1152.94, Y:-643.48, Z:-50.78 [[ 8.31481687e-01 5.53056559e-01 5.25989194e-02 1.15294260e+03] [-5.51966138e-01 8.33143693e-01 -3.47126711e-02 -6.43482620e+02] [-6.30205284e-02 -1.69872009e-04 9.98012216e-01 -5.07804067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1153.00, Y:-643.51, Z:-50.78 [[ 8.31192510e-01 5.53491362e-01 5.25958467e-02 1.15299548e+03] [-5.52401515e-01 8.32854893e-01 -3.47173262e-02 -6.43514882e+02] [-6.30204484e-02 -1.97243850e-04 9.98012217e-01 -5.07799864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.05, Y:-643.55, Z:-50.78 [[ 8.30580600e-01 5.54410060e-01 5.25866197e-02 1.15304945e+03] [-5.53321167e-01 8.32243608e-01 -3.47312967e-02 -6.43547166e+02] [-6.30202584e-02 -2.50148504e-04 9.98012217e-01 -5.07847887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.10, Y:-643.58, Z:-50.79 [[ 8.29973859e-01 5.55318810e-01 5.25776877e-02 1.15310345e+03] [-5.54230882e-01 8.31637498e-01 -3.47448132e-02 -6.43579186e+02] [-6.30200249e-02 -3.02891597e-04 9.98012217e-01 -5.07897416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.16, Y:-643.61, Z:-50.79 [[ 8.30272736e-01 5.54872690e-01 5.25688321e-02 1.15315631e+03] [-5.53783020e-01 8.31935234e-01 -3.47582065e-02 -6.43613368e+02] [-6.30202432e-02 -2.52935491e-04 9.98012217e-01 -5.07944294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1153.21, Y:-643.65, Z:-50.80 [[ 8.30942644e-01 5.53869815e-01 5.25599752e-02 1.15320786e+03] [-5.52777292e-01 8.32603268e-01 -3.47715945e-02 -6.43647143e+02] [-6.30205437e-02 -1.60760067e-04 9.98012217e-01 -5.07989443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.26, Y:-643.68, Z:-50.80 [[ 8.31661397e-01 5.52790767e-01 5.25517815e-02 1.15326079e+03] [-5.51695306e-01 8.33320085e-01 -3.47839735e-02 -6.43679860e+02] [-6.30207144e-02 -6.40832530e-05 9.98012217e-01 -5.08033164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.31, Y:-643.71, Z:-50.81 [[ 8.31061842e-01 5.53692490e-01 5.25437185e-02 1.15331366e+03] [-5.52598059e-01 8.32721210e-01 -3.47961490e-02 -6.43713101e+02] [-6.30206352e-02 -1.17805186e-04 9.98012217e-01 -5.08082645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.37, Y:-643.75, Z:-50.81 [[ 8.29574317e-01 5.55919499e-01 5.25353480e-02 1.15336573e+03] [-5.54828723e-01 8.31236090e-01 -3.48087822e-02 -6.43746519e+02] [-6.30201580e-02 -2.71648364e-04 9.98012217e-01 -5.08114788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.42, Y:-643.78, Z:-50.81 [[ 8.28211466e-01 5.57948581e-01 5.25275988e-02 1.15341824e+03] [-5.56861135e-01 8.29875419e-01 -3.48204721e-02 -6.43780968e+02] [-6.30193961e-02 -4.11864070e-04 9.98012217e-01 -5.08132416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.47, Y:-643.81, Z:-50.82 [[ 8.25929931e-01 5.61321341e-01 5.25176348e-02 1.15347130e+03] [-5.60239734e-01 8.27597686e-01 -3.48354938e-02 -6.43813984e+02] [-6.30173791e-02 -6.50788803e-04 9.98012218e-01 -5.08169217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.52, Y:-643.85, Z:-50.82 [[ 8.24456765e-01 5.63483780e-01 5.25078318e-02 1.15352442e+03] [-5.62405607e-01 8.26126741e-01 -3.48502637e-02 -6.43847802e+02] [-6.30156823e-02 -7.98163373e-04 9.98012218e-01 -5.08227347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.58, Y:-643.88, Z:-50.84 [[ 8.25281136e-01 5.62276639e-01 5.24978864e-02 1.15357743e+03] [-5.61195070e-01 8.26948915e-01 -3.48652389e-02 -6.43879968e+02] [-6.30169795e-02 -6.87931091e-04 9.98012218e-01 -5.08364419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.63, Y:-643.92, Z:-50.84 [[ 8.24258908e-01 5.63775046e-01 5.24876298e-02 1.15362651e+03] [-5.62695526e-01 8.25928013e-01 -3.48806727e-02 -6.43917702e+02] [-6.30158567e-02 -7.83849298e-04 9.98012218e-01 -5.08351649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.68, Y:-643.96, Z:-50.84 [[ 8.26236757e-01 5.60873304e-01 5.24781609e-02 1.15367702e+03] [-5.59787018e-01 8.27901467e-01 -3.48949129e-02 -6.43955900e+02] [-6.30183716e-02 -5.45133514e-04 9.98012218e-01 -5.08387650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.73, Y:-643.99, Z:-50.84 [[ 8.27608974e-01 5.58847433e-01 5.24683995e-02 1.15372791e+03] [-5.57756141e-01 8.29270407e-01 -3.49095842e-02 -6.43992472e+02] [-6.30196225e-02 -3.73086834e-04 9.98012218e-01 -5.08421498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1153.78, Y:-644.03, Z:-50.85 [[ 8.28931508e-01 5.56884797e-01 5.24583363e-02 1.15377791e+03] [-5.55788616e-01 8.30589718e-01 -3.49246995e-02 -6.44028040e+02] [-6.30203890e-02 -2.05562258e-04 9.98012219e-01 -5.08513603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1153.83, Y:-644.06, Z:-50.85 [[ 8.27586672e-01 5.58881726e-01 5.24548986e-02 1.15382821e+03] [-5.57789219e-01 8.29247305e-01 -3.49298621e-02 -6.44062947e+02] [-6.30197449e-02 -3.51288600e-04 9.98012219e-01 -5.08518033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:1153.88, Y:-644.10, Z:-50.86 [[ 8.25517124e-01 5.61934959e-01 5.24459718e-02 1.15387929e+03] [-5.60847742e-01 8.27181225e-01 -3.49432602e-02 -6.44098399e+02] [-6.30181627e-02 -5.67945169e-04 9.98012219e-01 -5.08603375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1153.93, Y:-644.13, Z:-50.86 [[ 8.22589431e-01 5.66213072e-01 5.24345803e-02 1.15393145e+03] [-5.65133419e-01 8.24258450e-01 -3.49603456e-02 -6.44130913e+02] [-6.30146505e-02 -8.74522871e-04 9.98012219e-01 -5.08622457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1153.98, Y:-644.17, Z:-50.87 [[ 8.21037272e-01 5.68461969e-01 5.24288867e-02 1.15398388e+03] [-5.67386343e-01 8.22708889e-01 -3.49688820e-02 -6.44165991e+02] [-6.30121906e-02 -1.03667879e-03 9.98012219e-01 -5.08661173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.04, Y:-644.20, Z:-50.87 [[ 8.20068239e-01 5.69859934e-01 5.24188827e-02 1.15403560e+03] [-5.68786200e-01 8.21741071e-01 -3.49838717e-02 -6.44200675e+02] [-6.30106556e-02 -1.12597506e-03 9.98012219e-01 -5.08726807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.09, Y:-644.23, Z:-50.88 [[ 8.19543984e-01 5.70613937e-01 5.24155861e-02 1.15408670e+03] [-5.69541426e-01 8.21217600e-01 -3.49888103e-02 -6.44233606e+02] [-6.30097046e-02 -1.17797870e-03 9.98012219e-01 -5.08751378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1154.14, Y:-644.27, Z:-50.88 [[ 8.21710192e-01 5.67490849e-01 5.24070271e-02 1.15413840e+03] [-5.66411160e-01 8.23379186e-01 -3.50016254e-02 -6.44267222e+02] [-6.30139575e-02 -9.22732697e-04 9.98012219e-01 -5.08829813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.19, Y:-644.30, Z:-50.88 [[ 8.21351643e-01 5.68010493e-01 5.23980784e-02 1.15418861e+03] [-5.66931005e-01 8.23020768e-01 -3.50150167e-02 -6.44303028e+02] [-6.30136036e-02 -9.46453747e-04 9.98012219e-01 -5.08838473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.24, Y:-644.34, Z:-50.89 [[ 8.22524104e-01 5.66312168e-01 5.23891839e-02 1.15424150e+03] [-5.65228386e-01 8.24190444e-01 -3.50283194e-02 -6.44336178e+02] [-6.30156283e-02 -8.00216823e-04 9.98012220e-01 -5.08872502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.29, Y:-644.37, Z:-50.89 [[ 8.23343848e-01 5.65120634e-01 5.23791741e-02 1.15429411e+03] [-5.64033489e-01 8.25007995e-01 -3.50432811e-02 -6.44369092e+02] [-6.30169187e-02 -6.90938411e-04 9.98012220e-01 -5.08922386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.35, Y:-644.40, Z:-50.90 [[ 8.24317013e-01 5.63701031e-01 5.23699355e-02 1.15434622e+03] [-5.62610144e-01 8.25978709e-01 -3.50570822e-02 -6.44404421e+02] [-6.30181651e-02 -5.65707673e-04 9.98012220e-01 -5.08963970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.40, Y:-644.44, Z:-50.90 [[ 8.26203704e-01 5.60933030e-01 5.23600629e-02 1.15439646e+03] [-5.59835641e-01 8.27861113e-01 -3.50718214e-02 -6.44440731e+02] [-6.30198030e-02 -3.36560605e-04 9.98012220e-01 -5.08999555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1154.45, Y:-644.48, Z:-50.90 [[ 8.27025635e-01 5.59721339e-01 5.23509511e-02 1.15444821e+03] [-5.58620661e-01 8.28680862e-01 -3.50854172e-02 -6.44475934e+02] [-6.30202880e-02 -2.27783509e-04 9.98012220e-01 -5.09034924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.50, Y:-644.51, Z:-50.91 [[ 8.27135021e-01 5.59560566e-01 5.23414751e-02 1.15450062e+03] [-5.58458672e-01 8.28789439e-01 -3.50995480e-02 -6.44510372e+02] [-6.30203848e-02 -1.98485282e-04 9.98012220e-01 -5.09071516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.55, Y:-644.54, Z:-50.91 [[ 8.26879978e-01 5.59938273e-01 5.23319463e-02 1.15455205e+03] [-5.58836236e-01 8.28534300e-01 -3.51137494e-02 -6.44543739e+02] [-6.30203447e-02 -2.10131553e-04 9.98012220e-01 -5.09117008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.60, Y:-644.58, Z:-50.92 [[ 8.27693521e-01 5.58735498e-01 5.23266529e-02 1.15460470e+03] [-5.57630558e-01 8.29345906e-01 -3.51216358e-02 -6.44575169e+02] [-6.30206000e-02 -1.08990280e-04 9.98012220e-01 -5.09204239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.66, Y:-644.61, Z:-50.93 [[ 8.25609585e-01 5.61811065e-01 5.23176881e-02 1.15465802e+03] [-5.60711434e-01 8.27265508e-01 -3.51349849e-02 -6.44608303e+02] [-6.30198421e-02 -3.27345578e-04 9.98012221e-01 -5.09280265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.71, Y:-644.64, Z:-50.93 [[ 8.23244592e-01 5.65271860e-01 5.23074268e-02 1.15470927e+03] [-5.64178220e-01 8.24904477e-01 -3.51502549e-02 -6.44642370e+02] [-6.30180805e-02 -5.73453674e-04 9.98012221e-01 -5.09335086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.76, Y:-644.68, Z:-50.94 [[ 8.24474778e-01 5.63477002e-01 5.22973047e-02 1.15476049e+03] [-5.62378794e-01 8.26131644e-01 -3.51653083e-02 -6.44677280e+02] [-6.30193008e-02 -4.17985421e-04 9.98012221e-01 -5.09378583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.81, Y:-644.71, Z:-50.94 [[ 8.28085159e-01 5.58157978e-01 5.22937943e-02 1.15481388e+03] [-5.57048797e-01 8.29734700e-01 -3.51705278e-02 -6.44708657e+02] [-6.30206864e-02 -6.00300891e-06 9.98012221e-01 -5.09435637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.86, Y:-644.75, Z:-50.93 [[ 8.26857075e-01 5.59976592e-01 5.22837926e-02 1.15485961e+03] [-5.58870099e-01 8.28508419e-01 -3.51853898e-02 -6.44750775e+02] [-6.30205570e-02 -1.26559919e-04 9.98012221e-01 -5.09336490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.91, Y:-644.79, Z:-50.94 [[ 8.27975102e-01 5.58322641e-01 5.22786722e-02 1.15491131e+03] [-5.57212370e-01 8.29623908e-01 -3.51929962e-02 -6.44785181e+02] [-6.30206829e-02 8.60177701e-06 9.98012221e-01 -5.09361473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1154.96, Y:-644.82, Z:-50.94 [[ 8.27975245e-01 5.58323276e-01 5.22696301e-02 1.15496302e+03] [-5.57212158e-01 8.29623480e-01 -3.52064206e-02 -6.44819905e+02] [-6.30206765e-02 2.47713321e-05 9.98012221e-01 -5.09394302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.02, Y:-644.85, Z:-50.94 [[ 8.26414517e-01 5.60631387e-01 5.22636991e-02 1.15501601e+03] [-5.59524316e-01 8.28065474e-01 -3.52152230e-02 -6.44854112e+02] [-6.30205240e-02 -1.40438931e-04 9.98012221e-01 -5.09424196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.07, Y:-644.89, Z:-50.95 [[ 8.25516204e-01 5.61954173e-01 5.22542412e-02 1.15506889e+03] [-5.60848859e-01 8.27168337e-01 -3.52292515e-02 -6.44885438e+02] [-6.30202787e-02 -2.24413573e-04 9.98012221e-01 -5.09503425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.12, Y:-644.92, Z:-50.95 [[ 8.21582949e-01 5.67689435e-01 5.22509559e-02 1.15512079e+03] [-5.66595344e-01 8.23242536e-01 -3.52341234e-02 -6.44920031e+02] [-6.30172491e-02 -6.57393310e-04 9.98012221e-01 -5.09515012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.17, Y:-644.95, Z:-50.96 [[ 8.20736810e-01 5.68912961e-01 5.22410942e-02 1.15517314e+03] [-5.67820413e-01 8.22397413e-01 -3.52487393e-02 -6.44953967e+02] [-6.30164053e-02 -7.33621814e-04 9.98012222e-01 -5.09603747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1155.22, Y:-644.99, Z:-50.96 [[ 8.20248061e-01 5.69617852e-01 5.22362032e-02 1.15522336e+03] [-5.68526270e-01 8.21909299e-01 -3.52559859e-02 -6.44988346e+02] [-6.30158601e-02 -7.78999612e-04 9.98012222e-01 -5.09623522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.28, Y:-645.02, Z:-50.97 [[ 8.23661808e-01 5.64671187e-01 5.22271639e-02 1.15527574e+03] [-5.63568778e-01 8.25315881e-01 -3.52693714e-02 -6.45021841e+02] [-6.30195056e-02 -3.83564741e-04 9.98012222e-01 -5.09697183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.32, Y:-645.06, Z:-50.97 [[ 8.25307595e-01 5.62263315e-01 5.22239242e-02 1.15532448e+03] [-5.61155777e-01 8.26958238e-01 -3.52741679e-02 -6.45058625e+02] [-6.30203748e-02 -1.93718088e-04 9.98012222e-01 -5.09692753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.38, Y:-645.10, Z:-50.97 [[ 8.27681230e-01 5.58764103e-01 5.22155127e-02 1.15537564e+03] [-5.57648801e-01 8.29326637e-01 -3.52866148e-02 -6.45095528e+02] [-6.30206091e-02 8.81507291e-05 9.98012222e-01 -5.09727551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.43, Y:-645.13, Z:-50.98 [[ 8.30854452e-01 5.54035609e-01 5.22055961e-02 1.15542609e+03] [-5.52910021e-01 8.32492840e-01 -3.53012801e-02 -6.45130739e+02] [-6.30189511e-02 4.65228446e-04 9.98012222e-01 -5.09803891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters Centerline goodness : 0.997306 with order 1 Centerline is valid? [True, True] Translation: X:1155.48, Y:-645.17, Z:-50.98 [[ 8.30963152e-01 5.53873412e-01 5.21965875e-02 1.15547700e+03] [-5.52746669e-01 8.32600745e-01 -3.53145952e-02 -6.45167323e+02] [-6.30187329e-02 4.93637514e-04 9.98012222e-01 -5.09846074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1155.95, Y:-644.64, Z:-49.94 [[ 8.62949838e-01 5.02587683e-01 5.21842714e-02 1.15595422e+03] [-5.01362841e-01 8.64515411e-01 -3.53327853e-02 -6.44643177e+02] [-6.28719295e-02 4.32716683e-03 9.98012222e-01 -4.99421872e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.01, Y:-644.68, Z:-49.94 [[ 8.61933925e-01 5.04126871e-01 5.40925762e-02 1.15600551e+03] [-5.03102809e-01 8.63629478e-01 -3.21199023e-02 -6.44676727e+02] [-6.29084492e-02 4.71106468e-04 9.98019191e-01 -4.99426288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.06, Y:-644.71, Z:-49.95 [[ 8.61894058e-01 5.04195834e-01 5.40850652e-02 1.15605913e+03] [-5.03171114e-01 8.63589213e-01 -3.21325446e-02 -6.44707478e+02] [-6.29083741e-02 4.80806748e-04 9.98019191e-01 -4.99526818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.11, Y:-644.74, Z:-49.95 [[ 8.59921075e-01 5.07553987e-01 5.40804502e-02 1.15611142e+03] [-5.06535398e-01 8.61619923e-01 -3.21403100e-02 -6.44739841e+02] [-6.29097358e-02 2.44467553e-04 9.98019191e-01 -4.99507816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.17, Y:-644.77, Z:-49.95 [[ 8.59653090e-01 5.08008276e-01 5.40754813e-02 1.15616555e+03] [-5.06990059e-01 8.61352160e-01 -3.21486680e-02 -6.44772392e+02] [-6.29098220e-02 2.20970297e-04 9.98019191e-01 -4.99540800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.22, Y:-644.80, Z:-49.96 [[ 8.59791754e-01 5.07774519e-01 5.40664196e-02 1.15621803e+03] [-5.06754883e-01 8.61489972e-01 -3.21639004e-02 -6.44804614e+02] [-6.29096874e-02 2.55834195e-04 9.98019191e-01 -4.99554936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.27, Y:-644.84, Z:-49.96 [[ 8.59451372e-01 5.08351203e-01 5.40591751e-02 1.15627168e+03] [-5.07331940e-01 8.61149815e-01 -3.21760720e-02 -6.44837097e+02] [-6.29097935e-02 2.27823041e-04 9.98019191e-01 -4.99579498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1156.33, Y:-644.87, Z:-49.96 [[ 8.57905115e-01 5.10957327e-01 5.40501910e-02 1.15632584e+03] [-5.09942274e-01 8.59606076e-01 -3.21911565e-02 -6.44868672e+02] [-6.29101799e-02 5.44805420e-05 9.98019191e-01 -4.99616444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1156.38, Y:-644.90, Z:-49.97 [[ 8.56186389e-01 5.13833059e-01 5.40412279e-02 1.15637939e+03] [-5.12822770e-01 8.57890184e-01 -3.22061964e-02 -6.44900212e+02] [-6.29100474e-02 -1.39065186e-04 9.98019192e-01 -4.99668324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.43, Y:-644.93, Z:-49.97 [[ 8.54296282e-01 5.16970312e-01 5.40329421e-02 1.15643324e+03] [-5.15965400e-01 8.56003254e-01 -3.22200918e-02 -6.44931724e+02] [-6.29092052e-02 -3.53623981e-04 9.98019192e-01 -4.99708418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.49, Y:-644.96, Z:-49.98 [[ 8.52066541e-01 5.20638086e-01 5.40240065e-02 1.15648735e+03] [-5.19639572e-01 8.53777263e-01 -3.22350672e-02 -6.44962575e+02] [-6.29072721e-02 -6.06589422e-04 9.98019192e-01 -4.99766548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.54, Y:-644.99, Z:-49.98 [[ 8.50941771e-01 5.22475209e-01 5.40162878e-02 1.15654127e+03] [-5.21479568e-01 8.52654166e-01 -3.22479963e-02 -6.44994016e+02] [-6.29059914e-02 -7.27223350e-04 9.98019192e-01 -4.99815680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1156.60, Y:-645.03, Z:-49.99 [[ 8.50413908e-01 5.23334861e-01 5.40074799e-02 1.15659502e+03] [-5.22340015e-01 8.52126765e-01 -3.22627406e-02 -6.45025891e+02] [-6.29054361e-02 -7.73584569e-04 9.98019192e-01 -4.99851173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1156.65, Y:-645.06, Z:-49.99 [[ 8.50210730e-01 5.23665813e-01 5.39984325e-02 1.15664907e+03] [-5.22670673e-01 8.51923416e-01 -3.22778763e-02 -6.45058321e+02] [-6.29053494e-02 -7.80400302e-04 9.98019192e-01 -4.99892339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.70, Y:-645.09, Z:-50.00 [[ 8.51167820e-01 5.22109660e-01 5.39893077e-02 1.15670183e+03] [-5.21110420e-01 8.52878118e-01 -3.22931316e-02 -6.45089550e+02] [-6.29068551e-02 -6.47516345e-04 9.98019192e-01 -5.00011708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.75, Y:-645.12, Z:-50.00 [[ 8.51707652e-01 5.21228917e-01 5.39860438e-02 1.15675277e+03] [-5.20227562e-01 8.53416712e-01 -3.22985872e-02 -6.45124640e+02] [-6.29075496e-02 -5.76074140e-04 9.98019192e-01 -4.99968407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.81, Y:-645.16, Z:-50.00 [[ 8.52804968e-01 5.19432488e-01 5.39775643e-02 1.15680609e+03] [-5.18426637e-01 8.54511386e-01 -3.23127519e-02 -6.45158840e+02] [-6.29087364e-02 -4.26931745e-04 9.98019193e-01 -4.99997787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1156.86, Y:-645.19, Z:-50.01 [[ 8.54778635e-01 5.16179122e-01 5.39685028e-02 1.15685789e+03] [-5.15165821e-01 8.56480639e-01 -3.23278792e-02 -6.45192714e+02] [-6.29099541e-02 -1.69547608e-04 9.98019193e-01 -5.00074457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1156.91, Y:-645.23, Z:-50.01 [[ 8.54595440e-01 5.16482716e-01 5.39651565e-02 1.15690984e+03] [-5.15469667e-01 8.56297594e-01 -3.23334644e-02 -6.45226065e+02] [-6.29099092e-02 -1.85370004e-04 9.98019193e-01 -5.00067799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1156.96, Y:-645.26, Z:-50.01 [[ 8.54441265e-01 5.16738712e-01 5.39558019e-02 1.15696420e+03] [-5.15725187e-01 8.56143136e-01 -3.23490672e-02 -6.45258325e+02] [-6.29099047e-02 -1.85988106e-04 9.98019193e-01 -5.00115136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.02, Y:-645.29, Z:-50.02 [[ 8.52463891e-01 5.19995236e-01 5.39469011e-02 1.15701866e+03] [-5.18987274e-01 8.54169062e-01 -3.23639037e-02 -6.45286762e+02] [-6.29088497e-02 -4.08695853e-04 9.98019193e-01 -5.00178143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.07, Y:-645.32, Z:-50.02 [[ 8.51104205e-01 5.22218528e-01 5.39392464e-02 1.15707401e+03] [-5.21214211e-01 8.52811526e-01 -3.23766564e-02 -6.45315980e+02] [-6.29077009e-02 -5.57993430e-04 9.98019193e-01 -5.00225835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.13, Y:-645.35, Z:-50.03 [[ 8.50175960e-01 5.23729239e-01 5.39307056e-02 1.15712885e+03] [-5.22727054e-01 8.51884533e-01 -3.23908768e-02 -6.45346655e+02] [-6.29067832e-02 -6.53094113e-04 9.98019193e-01 -5.00251304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.18, Y:-645.38, Z:-50.03 [[ 8.50451703e-01 5.23282292e-01 5.39216421e-02 1.15718290e+03] [-5.22278253e-01 8.52159187e-01 -3.24059580e-02 -6.45377555e+02] [-6.29072867e-02 -6.02398853e-04 9.98019193e-01 -5.00263619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.24, Y:-645.41, Z:-50.03 [[ 8.52421673e-01 5.20067891e-01 5.39136462e-02 1.15723690e+03] [-5.19056572e-01 8.54124855e-01 -3.24192554e-02 -6.45406525e+02] [-6.29091989e-02 -3.49356466e-04 9.98019194e-01 -5.00345776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.29, Y:-645.44, Z:-50.04 [[ 8.54171710e-01 5.17189490e-01 5.39047415e-02 1.15728968e+03] [-5.16171497e-01 8.55870912e-01 -3.24340548e-02 -6.45438255e+02] [-6.29100525e-02 -1.19839068e-04 9.98019194e-01 -5.00369429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.34, Y:-645.47, Z:-50.04 [[ 8.55609259e-01 5.14808805e-01 5.38951729e-02 1.15734285e+03] [-5.13785084e-01 8.57305015e-01 -3.24499470e-02 -6.45471177e+02] [-6.29101204e-02 7.39391864e-05 9.98019194e-01 -5.00407513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.40, Y:-645.50, Z:-50.04 [[ 8.57372179e-01 5.11868506e-01 5.38848701e-02 1.15739585e+03] [-5.10837894e-01 8.59063756e-01 -3.24670463e-02 -6.45502811e+02] [-6.29093974e-02 3.09908657e-04 9.98019194e-01 -5.00413667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.45, Y:-645.53, Z:-50.05 [[ 8.59425357e-01 5.08414702e-01 5.38752893e-02 1.15744995e+03] [-5.07376297e-01 8.61112160e-01 -3.24829368e-02 -6.45534909e+02] [-6.29074694e-02 5.81614762e-04 9.98019194e-01 -5.00458875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.50, Y:-645.57, Z:-50.05 [[ 8.59738848e-01 5.07885347e-01 5.38663804e-02 1.15750427e+03] [-5.06844978e-01 8.61424441e-01 -3.24977037e-02 -6.45566869e+02] [-6.29069242e-02 6.37633996e-04 9.98019194e-01 -5.00510976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.56, Y:-645.60, Z:-50.06 [[ 8.59093174e-01 5.08977702e-01 5.38573798e-02 1.15755774e+03] [-5.07938542e-01 8.60779512e-01 -3.25126133e-02 -6.45597642e+02] [-6.29075243e-02 5.75125223e-04 9.98019195e-01 -5.00614929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.61, Y:-645.63, Z:-50.06 [[ 8.57795398e-01 5.11162191e-01 5.38541534e-02 1.15761147e+03] [-5.10126990e-01 8.59484169e-01 -3.25179567e-02 -6.45627501e+02] [-6.29087423e-02 4.21296486e-04 9.98019195e-01 -5.00619642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.67, Y:-645.66, Z:-50.06 [[ 8.56980255e-01 5.12528511e-01 5.38457712e-02 1.15766581e+03] [-5.11495131e-01 8.58670141e-01 -3.25318307e-02 -6.45659468e+02] [-6.29092467e-02 3.37286765e-04 9.98019195e-01 -5.00645611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1157.72, Y:-645.69, Z:-50.07 [[ 8.58408501e-01 5.10133771e-01 5.38366194e-02 1.15771968e+03] [-5.09094726e-01 8.60094910e-01 -3.25469688e-02 -6.45688741e+02] [-6.29079103e-02 5.30655681e-04 9.98019195e-01 -5.00729514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.77, Y:-645.72, Z:-50.07 [[ 8.57736404e-01 5.11263897e-01 5.38283249e-02 1.15777135e+03] [-5.10226215e-01 8.59423651e-01 -3.25606811e-02 -6.45721850e+02] [-6.29084362e-02 4.63859049e-04 9.98019195e-01 -5.00718028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.83, Y:-645.75, Z:-50.08 [[ 8.58040598e-01 5.10754011e-01 5.38207405e-02 1.15782535e+03] [-5.09714539e-01 8.59726744e-01 -3.25732127e-02 -6.45753793e+02] [-6.29080291e-02 5.15924993e-04 9.98019195e-01 -5.00766945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.88, Y:-645.78, Z:-50.09 [[ 8.60222885e-01 5.07070921e-01 5.38114193e-02 1.15788075e+03] [-5.06023268e-01 8.61903959e-01 -3.25886044e-02 -6.45780747e+02] [-6.29050090e-02 8.03633052e-04 9.98019195e-01 -5.00868013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1157.93, Y:-645.82, Z:-50.08 [[ 8.58060703e-01 5.10722091e-01 5.38031333e-02 1.15793145e+03] [-5.09680734e-01 8.59745684e-01 -3.26022786e-02 -6.45815893e+02] [-6.29077155e-02 5.52313593e-04 9.98019195e-01 -5.00840132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1157.99, Y:-645.85, Z:-50.09 [[ 8.58211626e-01 5.10469242e-01 5.37955185e-02 1.15798605e+03] [-5.09426601e-01 8.59895814e-01 -3.26148387e-02 -6.45846028e+02] [-6.29074131e-02 5.85565598e-04 9.98019196e-01 -5.00872712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.04, Y:-645.88, Z:-50.09 [[ 8.57526377e-01 5.11619863e-01 5.37924609e-02 1.15803866e+03] [-5.10579166e-01 8.59211766e-01 -3.26198808e-02 -6.45877485e+02] [-6.29080943e-02 5.07098343e-04 9.98019196e-01 -5.00926007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.09, Y:-645.91, Z:-50.10 [[ 8.56845697e-01 5.12759994e-01 5.37832805e-02 1.15809311e+03] [-5.11720589e-01 8.58531883e-01 -3.26350103e-02 -6.45909249e+02] [-6.29085888e-02 4.41156120e-04 9.98019196e-01 -5.00972749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.15, Y:-645.94, Z:-50.10 [[ 8.55608785e-01 5.14822242e-01 5.37742136e-02 1.15814764e+03] [-5.13785964e-01 8.57296894e-01 -3.26499435e-02 -6.45940137e+02] [-6.29093834e-02 3.07142316e-04 9.98019196e-01 -5.01016083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.20, Y:-645.97, Z:-50.11 [[ 8.54057940e-01 5.17391896e-01 5.37648750e-02 1.15820108e+03] [-5.16359729e-01 8.55748566e-01 -3.26653141e-02 -6.45970665e+02] [-6.29099835e-02 1.36054567e-04 9.98019196e-01 -5.01071965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.26, Y:-646.00, Z:-50.11 [[ 8.52775354e-01 5.19504141e-01 5.37554065e-02 1.15825533e+03] [-5.18475180e-01 8.54467933e-01 -3.26808886e-02 -6.46001661e+02] [-6.29101280e-02 -1.38768745e-06 9.98019196e-01 -5.01107967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.31, Y:-646.03, Z:-50.11 [[ 8.51350882e-01 5.21836234e-01 5.37458832e-02 1.15830921e+03] [-5.20810921e-01 8.53045673e-01 -3.26965428e-02 -6.46032625e+02] [-6.29099339e-02 -1.55212403e-04 9.98019196e-01 -5.01132552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.36, Y:-646.06, Z:-50.12 [[ 8.50495039e-01 5.23230796e-01 5.37375371e-02 1.15836129e+03] [-5.22207396e-01 8.52190985e-01 -3.27102541e-02 -6.46063190e+02] [-6.29096570e-02 -2.42230453e-04 9.98019196e-01 -5.01201332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.41, Y:-646.10, Z:-50.12 [[ 8.50810054e-01 5.22719185e-01 5.37299315e-02 1.15841367e+03] [-5.21693976e-01 8.52504908e-01 -3.27227423e-02 -6.46095815e+02] [-6.29098355e-02 -1.89743477e-04 9.98019197e-01 -5.01249495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.47, Y:-646.13, Z:-50.13 [[ 8.51866080e-01 5.20997298e-01 5.37214705e-02 1.15846662e+03] [-5.19967788e-01 8.53558324e-01 -3.27366270e-02 -6.46128778e+02] [-6.29101026e-02 -4.62120846e-05 9.98019197e-01 -5.01291895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.52, Y:-646.16, Z:-50.13 [[ 8.53031869e-01 5.19087290e-01 5.37123413e-02 1.15851978e+03] [-5.18053048e-01 8.54721225e-01 -3.27515988e-02 -6.46161242e+02] [-6.29100168e-02 1.12315413e-04 9.98019197e-01 -5.01341020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.57, Y:-646.19, Z:-50.14 [[ 8.52507011e-01 5.19949687e-01 5.37040062e-02 1.15857261e+03] [-5.18916293e-01 8.54196885e-01 -3.27652604e-02 -6.46194290e+02] [-6.29100818e-02 6.47303959e-05 9.98019197e-01 -5.01388524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.63, Y:-646.23, Z:-50.15 [[ 8.52456073e-01 5.20034052e-01 5.36957003e-02 1.15862580e+03] [-5.18999967e-01 8.54145526e-01 -3.27788665e-02 -6.46226469e+02] [-6.29100690e-02 7.44771162e-05 9.98019197e-01 -5.01462024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.68, Y:-646.26, Z:-50.15 [[ 8.50806461e-01 5.22729401e-01 5.36874195e-02 1.15867710e+03] [-5.21699814e-01 8.52498658e-01 -3.27924238e-02 -6.46262448e+02] [-6.29100171e-02 -1.08710735e-04 9.98019197e-01 -5.01484366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.73, Y:-646.30, Z:-50.15 [[ 8.49592584e-01 5.24700325e-01 5.36843571e-02 1.15872705e+03] [-5.23674347e-01 8.51286971e-01 -3.27974365e-02 -6.46296877e+02] [-6.29096193e-02 -2.48661866e-04 9.98019197e-01 -5.01540956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.78, Y:-646.33, Z:-50.16 [[ 8.48975660e-01 5.25698426e-01 5.36795560e-02 1.15877879e+03] [-5.24673943e-01 8.50670951e-01 -3.28052926e-02 -6.46331788e+02] [-6.29093296e-02 -3.13369367e-04 9.98019197e-01 -5.01577597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.83, Y:-646.37, Z:-50.16 [[ 8.47591918e-01 5.27927396e-01 5.36712609e-02 1.15882812e+03] [-5.26906512e-01 8.49289380e-01 -3.28188582e-02 -6.46369262e+02] [-6.29084062e-02 -4.62737949e-04 9.98019197e-01 -5.01641394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.88, Y:-646.40, Z:-50.17 [[ 8.45321265e-01 5.31556484e-01 5.36625008e-02 1.15887969e+03] [-5.30541978e-01 8.47022545e-01 -3.28331758e-02 -6.46403153e+02] [-6.29060355e-02 -7.15627653e-04 9.98019198e-01 -5.01675586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.93, Y:-646.44, Z:-50.17 [[ 8.43349684e-01 5.34679321e-01 5.36594258e-02 1.15893184e+03] [-5.33670795e-01 8.45054516e-01 -3.28382004e-02 -6.46438252e+02] [-6.29030468e-02 -9.42382495e-04 9.98019198e-01 -5.01694004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1158.98, Y:-646.47, Z:-50.17 [[ 8.41525946e-01 5.37546112e-01 5.36494117e-02 1.15898475e+03] [-5.36542351e-01 8.43233588e-01 -3.28545528e-02 -6.46471592e+02] [-6.28998231e-02 -1.13722289e-03 9.98019198e-01 -5.01727901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.04, Y:-646.50, Z:-50.18 [[ 8.38431735e-01 5.42360572e-01 5.36398776e-02 1.15903802e+03] [-5.41365620e-01 8.40144524e-01 -3.28701113e-02 -6.46503537e+02] [-6.28927018e-02 -1.47944115e-03 9.98019198e-01 -5.01770156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1159.09, Y:-646.53, Z:-50.18 [[ 8.36710544e-01 5.45013003e-01 5.36310778e-02 1.15909151e+03] [-5.44022562e-01 8.38425945e-01 -3.28844629e-02 -6.46534792e+02] [-6.28881470e-02 -1.66173952e-03 9.98019198e-01 -5.01820982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.14, Y:-646.57, Z:-50.19 [[ 8.35624048e-01 5.46678227e-01 5.36224503e-02 1.15914463e+03] [-5.45690301e-01 8.37340900e-01 -3.28985252e-02 -6.46568053e+02] [-6.28851782e-02 -1.77045226e-03 9.98019198e-01 -5.01852300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.20, Y:-646.60, Z:-50.19 [[ 8.36110715e-01 5.45934510e-01 5.36132715e-02 1.15919726e+03] [-5.44944100e-01 8.37826134e-01 -3.29134767e-02 -6.46600879e+02] [-6.28872028e-02 -1.69692545e-03 9.98019198e-01 -5.01876552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.25, Y:-646.63, Z:-50.19 [[ 8.37804744e-01 5.43332027e-01 5.36052297e-02 1.15924972e+03] [-5.42335450e-01 8.39516588e-01 -3.29265690e-02 -6.46634873e+02] [-6.28925390e-02 -1.48598065e-03 9.98019198e-01 -5.01891490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.30, Y:-646.66, Z:-50.20 [[ 8.41709827e-01 5.37263351e-01 5.35971918e-02 1.15930401e+03] [-5.36253597e-01 8.43413931e-01 -3.29396478e-02 -6.46664240e+02] [-6.29018837e-02 -1.01606166e-03 9.98019199e-01 -5.01992045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.35, Y:-646.70, Z:-50.20 [[ 8.40792525e-01 5.38698592e-01 5.35887777e-02 1.15935322e+03] [-5.37690875e-01 8.42497835e-01 -3.29533307e-02 -6.46702577e+02] [-6.29003420e-02 -1.10728268e-03 9.98019199e-01 -5.01956438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.40, Y:-646.74, Z:-50.20 [[ 8.43320892e-01 5.34732647e-01 5.35804947e-02 1.15940477e+03] [-5.33716054e-01 8.45020925e-01 -3.29667930e-02 -6.46737914e+02] [-6.29050597e-02 -7.95184924e-04 9.98019199e-01 -5.02005583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.46, Y:-646.77, Z:-50.21 [[ 8.44725886e-01 5.32510672e-01 5.35776218e-02 1.15945705e+03] [-5.31489311e-01 8.46423059e-01 -3.29714613e-02 -6.46771245e+02] [-6.29069896e-02 -6.24086469e-04 9.98019199e-01 -5.02062531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1159.51, Y:-646.80, Z:-50.21 [[ 8.44847883e-01 5.32317952e-01 5.35691392e-02 1.15951077e+03] [-5.31295331e-01 8.46544296e-01 -3.29852374e-02 -6.46804708e+02] [-6.29072833e-02 -5.93525555e-04 9.98019199e-01 -5.02091562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.57, Y:-646.83, Z:-50.22 [[ 8.46802098e-01 5.29204590e-01 5.35603292e-02 1.15956642e+03] [-5.28174827e-01 8.48494185e-01 -3.29995366e-02 -6.46831362e+02] [-6.29091342e-02 -3.45140853e-04 9.98019199e-01 -5.02190598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.62, Y:-646.87, Z:-50.22 [[ 8.44706434e-01 5.32543569e-01 5.35573271e-02 1.15961969e+03] [-5.31520185e-01 8.46402388e-01 -3.30044082e-02 -6.46865036e+02] [-6.29073349e-02 -5.87764446e-04 9.98019199e-01 -5.02177105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.67, Y:-646.90, Z:-50.22 [[ 8.43358521e-01 5.34676613e-01 5.35474143e-02 1.15967181e+03] [-5.33656498e-01 8.45056442e-01 -3.30204832e-02 -6.46898363e+02] [-6.29058676e-02 -7.27819731e-04 9.98019199e-01 -5.02159294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.73, Y:-646.93, Z:-50.22 [[ 8.43927196e-01 5.33779411e-01 5.35390360e-02 1.15972595e+03] [-5.32756630e-01 8.45623512e-01 -3.30340621e-02 -6.46931178e+02] [-6.29067699e-02 -6.44932957e-04 9.98019199e-01 -5.02189462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.78, Y:-646.96, Z:-50.22 [[ 8.46383190e-01 5.29877405e-01 5.35297306e-02 1.15977868e+03] [-5.28845849e-01 8.48074185e-01 -3.30491342e-02 -6.46963726e+02] [-6.29091721e-02 -3.36744175e-04 9.98019200e-01 -5.02199215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.83, Y:-647.00, Z:-50.22 [[ 8.48737674e-01 5.26098663e-01 5.35215669e-02 1.15983220e+03] [-5.25058746e-01 8.50423539e-01 -3.30623497e-02 -6.46997231e+02] [-6.29100583e-02 -4.07050414e-05 9.98019200e-01 -5.02241167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.88, Y:-647.03, Z:-50.23 [[ 8.52605994e-01 5.19807124e-01 5.35123614e-02 1.15988433e+03] [-5.18753832e-01 8.54283535e-01 -3.30772423e-02 -6.47031424e+02] [-6.29085155e-02 4.42112567e-04 9.98019200e-01 -5.02300127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1159.94, Y:-647.06, Z:-50.23 [[ 8.53525546e-01 5.18296665e-01 5.35042938e-02 1.15993775e+03] [-5.17239586e-01 8.55200704e-01 -3.30902869e-02 -6.47064562e+02] [-6.29074951e-02 5.68866392e-04 9.98019200e-01 -5.02340564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:1159.99, Y:-647.10, Z:-50.25 [[ 8.55525950e-01 5.14988990e-01 5.34947645e-02 1.15999008e+03] [-5.13924472e-01 8.57196390e-01 -3.31056852e-02 -6.47096606e+02] [-6.29045824e-02 8.30504188e-04 9.98019200e-01 -5.02453932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.05, Y:-647.13, Z:-50.25 [[ 8.57739750e-01 5.11293648e-01 5.34913751e-02 1.16004547e+03] [-5.10221593e-01 8.59405362e-01 -3.31111609e-02 -6.47125791e+02] [-6.29003008e-02 1.10830422e-03 9.98019200e-01 -5.02506404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.10, Y:-647.16, Z:-50.25 [[ 8.55839179e-01 5.14469792e-01 5.34802099e-02 1.16009740e+03] [-5.13402793e-01 8.57508035e-01 -3.31291848e-02 -6.47160967e+02] [-6.29036745e-02 8.96365225e-04 9.98019200e-01 -5.02450583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.15, Y:-647.19, Z:-50.25 [[ 8.54725610e-01 5.16318599e-01 5.34718349e-02 1.16015048e+03] [-5.15254364e-01 8.56396230e-01 -3.31426969e-02 -6.47193196e+02] [-6.29052686e-02 7.76315534e-04 9.98019201e-01 -5.02494191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.20, Y:-647.22, Z:-50.26 [[ 8.50644178e-01 5.23016431e-01 5.34630361e-02 1.16020386e+03] [-5.21964460e-01 8.52322547e-01 -3.31568843e-02 -6.47223442e+02] [-6.29093464e-02 2.98905816e-04 9.98019201e-01 -5.02580372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.26, Y:-647.25, Z:-50.26 [[ 8.47156186e-01 5.28647758e-01 5.34597442e-02 1.16026019e+03] [-5.27606609e-01 8.48841290e-01 -3.31621910e-02 -6.47251212e+02] [-6.29099562e-02 -1.12159092e-04 9.98019201e-01 -5.02597172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.31, Y:-647.28, Z:-50.26 [[ 8.41685592e-01 5.37315932e-01 5.34504855e-02 1.16031370e+03] [-5.36291188e-01 8.43380721e-01 -3.31771074e-02 -6.47279947e+02] [-6.29056974e-02 -7.40331129e-04 9.98019201e-01 -5.02649482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.37, Y:-647.31, Z:-50.27 [[ 8.38764816e-01 5.41864488e-01 5.34458726e-02 1.16036733e+03] [-5.40848462e-01 8.40465185e-01 -3.31845368e-02 -6.47311556e+02] [-6.29009173e-02 -1.07209614e-03 9.98019201e-01 -5.02672304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.42, Y:-647.34, Z:-50.27 [[ 8.36116206e-01 5.45943317e-01 5.34376792e-02 1.16042102e+03] [-5.44934743e-01 8.37821006e-01 -3.31977256e-02 -6.47343145e+02] [-6.28952865e-02 -1.36289156e-03 9.98019201e-01 -5.02698582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.48, Y:-647.38, Z:-50.27 [[ 8.35695206e-01 5.46588333e-01 5.34295462e-02 1.16047518e+03] [-5.45580239e-01 8.37400290e-01 -3.32108099e-02 -6.47375789e+02] [-6.28945587e-02 -1.39598998e-03 9.98019201e-01 -5.02742710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.53, Y:-647.41, Z:-50.28 [[ 8.36513608e-01 5.45335946e-01 5.34199462e-02 1.16052716e+03] [-5.44324313e-01 8.38216594e-01 -3.32262445e-02 -6.47409170e+02] [-6.28969508e-02 -1.28356988e-03 9.98019201e-01 -5.02776061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.58, Y:-647.44, Z:-50.28 [[ 8.36993149e-01 5.44600518e-01 5.34110894e-02 1.16058016e+03] [-5.43586481e-01 8.38694705e-01 -3.32404757e-02 -6.47442072e+02] [-6.28983781e-02 -1.21149569e-03 9.98019201e-01 -5.02809986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.63, Y:-647.48, Z:-50.29 [[ 8.37320156e-01 5.44098521e-01 5.34018253e-02 1.16063366e+03] [-5.43082516e-01 8.39020537e-01 -3.32553521e-02 -6.47475289e+02] [-6.28994161e-02 -1.15622105e-03 9.98019202e-01 -5.02852154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.68, Y:-647.51, Z:-50.29 [[ 8.38767586e-01 5.41865458e-01 5.33925370e-02 1.16068444e+03] [-5.40843977e-01 8.40464683e-01 -3.32702582e-02 -6.47508172e+02] [-6.29025453e-02 -9.71017861e-04 9.98019202e-01 -5.02912269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.74, Y:-647.54, Z:-50.30 [[ 8.40400924e-01 5.39329508e-01 5.33851068e-02 1.16073555e+03] [-5.38302148e-01 8.42094469e-01 -3.32821763e-02 -6.47541877e+02] [-6.29053629e-02 -7.66945970e-04 9.98019202e-01 -5.02959946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.79, Y:-647.58, Z:-50.30 [[ 8.42119450e-01 5.36642636e-01 5.33808410e-02 1.16078835e+03] [-5.35609439e-01 8.43809440e-01 -3.32890167e-02 -6.47576179e+02] [-6.29075632e-02 -5.57953846e-04 9.98019202e-01 -5.02991532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.84, Y:-647.61, Z:-50.31 [[ 8.45457219e-01 5.31369529e-01 5.33714730e-02 1.16083984e+03] [-5.30324844e-01 8.47140131e-01 -3.33040295e-02 -6.47611032e+02] [-6.29098631e-02 -1.47085922e-04 9.98019202e-01 -5.03071173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.89, Y:-647.65, Z:-50.31 [[ 8.47980439e-01 5.27333978e-01 5.33671376e-02 1.16089230e+03] [-5.26280846e-01 8.49658078e-01 -3.33109752e-02 -6.47645928e+02] [-6.29098286e-02 1.60953054e-04 9.98019202e-01 -5.03123869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.94, Y:-647.68, Z:-50.31 [[ 8.49165890e-01 5.25423933e-01 5.33571158e-02 1.16094120e+03] [-5.24366020e-01 8.50840518e-01 -3.33270202e-02 -6.47682588e+02] [-6.29092101e-02 3.21510365e-04 9.98019202e-01 -5.03145473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1160.99, Y:-647.72, Z:-50.32 [[ 8.48876498e-01 5.25892140e-01 5.33493137e-02 1.16099245e+03] [-5.24834365e-01 8.50551213e-01 -3.33395050e-02 -6.47718149e+02] [-6.29093072e-02 3.01569080e-04 9.98019202e-01 -5.03171360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.04, Y:-647.75, Z:-50.32 [[ 8.48027123e-01 5.27261017e-01 5.33462135e-02 1.16104448e+03] [-5.26205634e-01 8.49703347e-01 -3.33444649e-02 -6.47751767e+02] [-6.29096926e-02 2.05932596e-04 9.98019202e-01 -5.03181996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.10, Y:-647.79, Z:-50.32 [[ 8.44671975e-01 5.32620297e-01 5.33373637e-02 1.16109676e+03] [-5.31574656e-01 8.46354292e-01 -3.33586149e-02 -6.47787274e+02] [-6.29097821e-02 -1.75703600e-04 9.98019202e-01 -5.03218473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.15, Y:-647.82, Z:-50.33 [[ 8.41257739e-01 5.37997709e-01 5.33280612e-02 1.16115005e+03] [-5.36961878e-01 8.42946115e-01 -3.33734797e-02 -6.47821379e+02] [-6.29075376e-02 -5.59437844e-04 9.98019203e-01 -5.03251088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.20, Y:-647.85, Z:-50.33 [[ 8.36002777e-01 5.46128620e-01 5.33187251e-02 1.16120349e+03] [-5.45108257e-01 8.37700545e-01 -3.33883886e-02 -6.47854310e+02] [-6.28994797e-02 -1.15169169e-03 9.98019203e-01 -5.03293813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.26, Y:-647.89, Z:-50.33 [[ 8.33252970e-01 5.50315909e-01 5.33093622e-02 1.16125708e+03] [-5.49303121e-01 8.34955268e-01 -3.34033311e-02 -6.47886976e+02] [-6.28933174e-02 -1.44957415e-03 9.98019203e-01 -5.03332987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.31, Y:-647.92, Z:-50.34 [[ 8.32455583e-01 5.51522278e-01 5.32999044e-02 1.16131109e+03] [-5.50510992e-01 8.34158772e-01 -3.34184157e-02 -6.47917641e+02] [-6.28915836e-02 -1.52283648e-03 9.98019203e-01 -5.03411659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.36, Y:-647.95, Z:-50.34 [[ 8.33135111e-01 5.50496055e-01 5.32914718e-02 1.16136359e+03] [-5.49481811e-01 8.34836541e-01 -3.34318576e-02 -6.47951532e+02] [-6.28937737e-02 -1.42944002e-03 9.98019203e-01 -5.03441506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1161.41, Y:-647.99, Z:-50.34 [[ 8.32721199e-01 5.51122950e-01 5.32813264e-02 1.16141352e+03] [-5.50108953e-01 8.34422776e-01 -3.34480188e-02 -6.47987641e+02] [-6.28931231e-02 -1.45766039e-03 9.98019203e-01 -5.03425024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.47, Y:-648.02, Z:-50.35 [[ 8.37250247e-01 5.44218695e-01 5.32732309e-02 1.16146746e+03] [-5.43189843e-01 8.38942884e-01 -3.34609077e-02 -6.48018059e+02] [-6.29032495e-02 -9.22324765e-04 9.98019204e-01 -5.03538453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.52, Y:-648.05, Z:-50.36 [[ 8.39221012e-01 5.41175511e-01 5.32649896e-02 1.16151879e+03] [-5.40139689e-01 8.40909392e-01 -3.34740216e-02 -6.48053545e+02] [-6.29063508e-02 -6.78432670e-04 9.98019204e-01 -5.03580566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.57, Y:-648.09, Z:-50.36 [[ 8.40559124e-01 5.39095761e-01 5.32552193e-02 1.16156820e+03] [-5.38054778e-01 8.42244327e-01 -3.34895584e-02 -6.48089829e+02] [-6.29079853e-02 -5.04271321e-04 9.98019204e-01 -5.03587880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.62, Y:-648.12, Z:-50.36 [[ 8.41101580e-01 5.38249799e-01 5.32474130e-02 1.16162162e+03] [-5.37206335e-01 8.42785247e-01 -3.35019656e-02 -6.48123665e+02] [-6.29085603e-02 -4.26291370e-04 9.98019204e-01 -5.03628539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.68, Y:-648.16, Z:-50.37 [[ 8.41921760e-01 5.36966913e-01 5.32379977e-02 1.16167510e+03] [-5.35919938e-01 8.43603246e-01 -3.35169207e-02 -6.48155930e+02] [-6.29092251e-02 -3.12679504e-04 9.98019204e-01 -5.03666246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1161.73, Y:-648.18, Z:-50.37 [[ 8.44310037e-01 5.33204731e-01 5.32285379e-02 1.16173090e+03] [-5.32149316e-01 8.45986238e-01 -3.35319372e-02 -6.48182928e+02] [-6.29099981e-02 -1.41788684e-05 9.98019204e-01 -5.03748134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.78, Y:-648.22, Z:-50.38 [[ 8.42439821e-01 5.36155555e-01 5.32200004e-02 1.16178192e+03] [-5.35105156e-01 8.44119170e-01 -3.35454820e-02 -6.48217085e+02] [-6.29096191e-02 -2.18246770e-04 9.98019204e-01 -5.03763472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.84, Y:-648.25, Z:-50.38 [[ 8.41999312e-01 5.36847563e-01 5.32151635e-02 1.16183509e+03] [-5.35798058e-01 8.43679220e-01 -3.35531533e-02 -6.48248853e+02] [-6.29094562e-02 -2.60849357e-04 9.98019204e-01 -5.03812473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.89, Y:-648.28, Z:-50.39 [[ 8.41747896e-01 5.37242501e-01 5.32068995e-02 1.16188815e+03] [-5.36192957e-01 8.43427780e-01 -3.35662528e-02 -6.48282608e+02] [-6.29093947e-02 -2.74842050e-04 9.98019205e-01 -5.03872028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1161.94, Y:-648.31, Z:-50.39 [[ 8.42188866e-01 5.36551421e-01 5.32023290e-02 1.16194252e+03] [-5.35500041e-01 8.43867600e-01 -3.35734954e-02 -6.48313276e+02] [-6.29096284e-02 -2.14625338e-04 9.98019205e-01 -5.03891761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.00, Y:-648.34, Z:-50.39 [[ 8.42165723e-01 5.36588713e-01 5.31925590e-02 1.16199694e+03] [-5.35536430e-01 8.43843892e-01 -3.35889677e-02 -6.48344486e+02] [-6.29096769e-02 -1.99075880e-04 9.98019205e-01 -5.03920030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1162.05, Y:-648.38, Z:-50.39 [[ 8.42294443e-01 5.36387562e-01 5.31832171e-02 1.16204985e+03] [-5.35333945e-01 8.43971774e-01 -3.36037527e-02 -6.48377669e+02] [-6.29097691e-02 -1.66527196e-04 9.98019205e-01 -5.03938938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.10, Y:-648.41, Z:-50.40 [[ 8.42837695e-01 5.35534360e-01 5.31748959e-02 1.16210217e+03] [-5.34478214e-01 8.44513435e-01 -3.36169150e-02 -6.48411819e+02] [-6.29099271e-02 -8.72202132e-05 9.98019205e-01 -5.03960742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.16, Y:-648.44, Z:-50.40 [[ 8.43742670e-01 5.34108245e-01 5.31666291e-02 1.16215554e+03] [-5.33048443e-01 8.45416100e-01 -3.36299843e-02 -6.48444026e+02] [-6.29099761e-02 3.46638666e-05 9.98019205e-01 -5.04001512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.21, Y:-648.48, Z:-50.40 [[ 8.43857440e-01 5.33927829e-01 5.31572611e-02 1.16220887e+03] [-5.32866737e-01 8.45530052e-01 -3.36447853e-02 -6.48477153e+02] [-6.29099489e-02 6.56661185e-05 9.98019205e-01 -5.04047802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.26, Y:-648.51, Z:-50.41 [[ 8.43366243e-01 5.34704304e-01 5.31477931e-02 1.16226020e+03] [-5.33643810e-01 8.45039234e-01 -3.36597351e-02 -6.48509940e+02] [-6.29099756e-02 2.54935886e-05 9.98019205e-01 -5.04103458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.31, Y:-648.54, Z:-50.42 [[ 8.42066959e-01 5.36748873e-01 5.31402248e-02 1.16231257e+03] [-5.35691687e-01 8.43742042e-01 -3.36716792e-02 -6.48542226e+02] [-6.29098777e-02 -1.12968210e-04 9.98019206e-01 -5.04151850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.37, Y:-648.57, Z:-50.42 [[ 8.40513336e-01 5.39179271e-01 5.31323355e-02 1.16236596e+03] [-5.38126142e-01 8.42190973e-01 -3.36841236e-02 -6.48574105e+02] [-6.29093546e-02 -2.79943657e-04 9.98019206e-01 -5.04193237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.42, Y:-648.60, Z:-50.42 [[ 8.37916165e-01 5.43207426e-01 5.31243223e-02 1.16242037e+03] [-5.42161560e-01 8.39598339e-01 -3.36967568e-02 -6.48604813e+02] [-6.29074213e-02 -5.66908233e-04 9.98019206e-01 -5.04237899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1162.47, Y:-648.64, Z:-50.43 [[ 8.36849611e-01 5.44849902e-01 5.31160414e-02 1.16247334e+03] [-5.43806510e-01 8.38533320e-01 -3.37098048e-02 -6.48638117e+02] [-6.29063544e-02 -6.74812051e-04 9.98019206e-01 -5.04279900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.53, Y:-648.67, Z:-50.43 [[ 8.37635648e-01 5.43641624e-01 5.31065585e-02 1.16252581e+03] [-5.42594856e-01 8.39317261e-01 -3.37247377e-02 -6.48671767e+02] [-6.29074224e-02 -5.66302939e-04 9.98019206e-01 -5.04321615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.58, Y:-648.71, Z:-50.44 [[ 8.38316886e-01 5.42591115e-01 5.31006650e-02 1.16257806e+03] [-5.41541652e-01 8.39996819e-01 -3.37340146e-02 -6.48706269e+02] [-6.29081663e-02 -4.76427786e-04 9.98019206e-01 -5.04361445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.63, Y:-648.74, Z:-50.45 [[ 8.40820691e-01 5.38703881e-01 5.30913790e-02 1.16263078e+03] [-5.37645730e-01 8.42495163e-01 -3.37486228e-02 -6.48737970e+02] [-6.29097441e-02 -1.67812848e-04 9.98019206e-01 -5.04455874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.68, Y:-648.77, Z:-50.45 [[ 8.41674936e-01 5.37369069e-01 5.30828220e-02 1.16268405e+03] [-5.36307413e-01 8.43347189e-01 -3.37620767e-02 -6.48771861e+02] [-6.29099445e-02 -5.20172162e-05 9.98019206e-01 -5.04515919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.73, Y:-648.81, Z:-50.46 [[ 8.42515833e-01 5.36050671e-01 5.30730517e-02 1.16273482e+03] [-5.34985431e-01 8.44185805e-01 -3.37774284e-02 -6.48806715e+02] [-6.29099301e-02 6.47087779e-05 9.98019207e-01 -5.04557761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.78, Y:-648.84, Z:-50.45 [[ 8.41567157e-01 5.37539648e-01 5.30645461e-02 1.16278416e+03] [-5.36476521e-01 8.43238475e-01 -3.37907855e-02 -6.48842994e+02] [-6.29099539e-02 -3.06678269e-05 9.98019207e-01 -5.04538643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.84, Y:-648.88, Z:-50.46 [[ 8.43068715e-01 5.35182322e-01 5.30568040e-02 1.16283702e+03] [-5.34113756e-01 8.44736561e-01 -3.38029375e-02 -6.48875439e+02] [-6.29097567e-02 1.59830260e-04 9.98019207e-01 -5.04607713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1162.89, Y:-648.91, Z:-50.46 [[ 8.41525430e-01 5.37605977e-01 5.30543553e-02 1.16288751e+03] [-5.36541973e-01 8.43196189e-01 -3.38067803e-02 -6.48910077e+02] [-6.29099573e-02 -1.66231399e-05 9.98019207e-01 -5.04596336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.94, Y:-648.94, Z:-50.46 [[ 8.40703216e-01 5.38891316e-01 5.30495206e-02 1.16293888e+03] [-5.37829387e-01 8.42375296e-01 -3.38143652e-02 -6.48944115e+02] [-6.29098734e-02 -1.03745601e-04 9.98019207e-01 -5.04648021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1162.99, Y:-648.98, Z:-50.47 [[ 8.38979642e-01 5.41571638e-01 5.30407585e-02 1.16299119e+03] [-5.40514183e-01 8.40654553e-01 -3.38281037e-02 -6.48977881e+02] [-6.29092967e-02 -2.88191914e-04 9.98019207e-01 -5.04660821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.04, Y:-649.01, Z:-50.47 [[ 8.37697618e-01 5.43553362e-01 5.30324805e-02 1.16304283e+03] [-5.42499048e-01 8.39374508e-01 -3.38410763e-02 -6.49011196e+02] [-6.29085430e-02 -4.21481167e-04 9.98019207e-01 -5.04699455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.10, Y:-649.04, Z:-50.48 [[ 8.39497055e-01 5.40770627e-01 5.30266368e-02 1.16309780e+03] [-5.39710176e-01 8.41170071e-01 -3.38502305e-02 -6.49039792e+02] [-6.29096302e-02 -2.01846659e-04 9.98019207e-01 -5.04812683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.15, Y:-649.08, Z:-50.48 [[ 8.35860547e-01 5.46375543e-01 5.30180362e-02 1.16314507e+03] [-5.45325455e-01 8.37540088e-01 -3.38636959e-02 -6.49077992e+02] [-6.29070259e-02 -6.06757338e-04 9.98019207e-01 -5.04799813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.20, Y:-649.11, Z:-50.49 [[ 8.35397838e-01 5.47083016e-01 5.30153363e-02 1.16319689e+03] [-5.46034082e-01 8.37078100e-01 -3.38679221e-02 -6.49112153e+02] [-6.29065419e-02 -6.54991635e-04 9.98019207e-01 -5.04850362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.25, Y:-649.15, Z:-50.49 [[ 8.34575702e-01 5.48337124e-01 5.30074994e-02 1.16324843e+03] [-5.47289937e-01 8.36257053e-01 -3.38801834e-02 -6.49146894e+02] [-6.29056576e-02 -7.34893159e-04 9.98019207e-01 -5.04885763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1163.30, Y:-649.18, Z:-50.49 [[ 8.34349893e-01 5.48681424e-01 5.29995376e-02 1.16330118e+03] [-5.47634140e-01 8.36031183e-01 -3.38926337e-02 -6.49180664e+02] [-6.29055246e-02 -7.46040843e-04 9.98019207e-01 -5.04914300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.35, Y:-649.21, Z:-50.49 [[ 8.33944640e-01 5.49298078e-01 5.29901688e-02 1.16335342e+03] [-5.48251107e-01 8.35626125e-01 -3.39072752e-02 -6.49214425e+02] [-6.29051705e-02 -7.75128278e-04 9.98019208e-01 -5.04932637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.41, Y:-649.25, Z:-50.50 [[ 8.33810234e-01 5.49502900e-01 5.29816616e-02 1.16340513e+03] [-5.48455497e-01 8.35491450e-01 -3.39205629e-02 -6.49248951e+02] [-6.29051730e-02 -7.74771063e-04 9.98019208e-01 -5.04953517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.46, Y:-649.28, Z:-50.49 [[ 8.34091340e-01 5.49076929e-01 5.29732279e-02 1.16345569e+03] [-5.48027832e-01 8.35771498e-01 -3.39337285e-02 -6.49283864e+02] [-6.29057415e-02 -7.26974147e-04 9.98019208e-01 -5.04923066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.51, Y:-649.32, Z:-50.50 [[ 8.35255398e-01 5.47305161e-01 5.29667944e-02 1.16350601e+03] [-5.46251863e-01 8.36932926e-01 -3.39437676e-02 -6.49316515e+02] [-6.29072534e-02 -5.81494963e-04 9.98019208e-01 -5.05034563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.56, Y:-649.35, Z:-50.51 [[ 8.36911996e-01 5.44769020e-01 5.29624946e-02 1.16355832e+03] [-5.43710214e-01 8.38586053e-01 -3.39504753e-02 -6.49351217e+02] [-6.29087765e-02 -3.82689196e-04 9.98019208e-01 -5.05075613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.61, Y:-649.38, Z:-50.51 [[ 8.40284459e-01 5.39553537e-01 5.29528890e-02 1.16361049e+03] [-5.38483397e-01 8.41951293e-01 -3.39654506e-02 -6.49384305e+02] [-6.29099324e-02 2.63887804e-05 9.98019208e-01 -5.05076532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.66, Y:-649.42, Z:-50.51 [[ 8.41356923e-01 5.37880501e-01 5.29442730e-02 1.16366384e+03] [-5.36806201e-01 8.43021079e-01 -3.39788756e-02 -6.49415838e+02] [-6.29097128e-02 1.67548181e-04 9.98019208e-01 -5.05136565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.71, Y:-649.45, Z:-50.52 [[ 8.41111864e-01 5.38264474e-01 5.29357070e-02 1.16371493e+03] [-5.37190094e-01 8.42775968e-01 -3.39922155e-02 -6.49448236e+02] [-6.29097437e-02 1.54718365e-04 9.98019208e-01 -5.05191373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.77, Y:-649.48, Z:-50.52 [[ 8.41763615e-01 5.37245137e-01 5.29308955e-02 1.16376828e+03] [-5.36168271e-01 8.43426111e-01 -3.39997059e-02 -6.49481836e+02] [-6.29094761e-02 2.39848617e-04 9.98019208e-01 -5.05232112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.82, Y:-649.51, Z:-50.53 [[ 8.42317416e-01 5.36377391e-01 5.29213077e-02 1.16382220e+03] [-5.35297875e-01 8.43978193e-01 -3.40146230e-02 -6.49514251e+02] [-6.29091045e-02 3.22445796e-04 9.98019209e-01 -5.05271163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.88, Y:-649.54, Z:-50.53 [[ 8.42004687e-01 5.36869114e-01 5.29118304e-02 1.16387693e+03] [-5.35789642e-01 8.43665492e-01 -3.40293593e-02 -6.49543059e+02] [-6.29091974e-02 3.03269417e-04 9.98019209e-01 -5.05296984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.93, Y:-649.57, Z:-50.54 [[ 8.42875734e-01 5.35501315e-01 5.29040577e-02 1.16393316e+03] [-5.34418390e-01 8.44534289e-01 -3.40414389e-02 -6.49570081e+02] [-6.29085261e-02 4.19801500e-04 9.98019209e-01 -5.05368847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1163.99, Y:-649.60, Z:-50.54 [[ 8.37683096e-01 5.43589141e-01 5.28949661e-02 1.16398563e+03] [-5.42521337e-01 8.39351427e-01 -3.40555599e-02 -6.49601741e+02] [-6.29096978e-02 -1.68880850e-04 9.98019209e-01 -5.05381449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.04, Y:-649.63, Z:-50.54 [[ 8.34489828e-01 5.48479159e-01 5.28898853e-02 1.16404084e+03] [-5.47420631e-01 8.36164059e-01 -3.40634489e-02 -6.49631548e+02] [-6.29077130e-02 -5.27412791e-04 9.98019209e-01 -5.05414689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.10, Y:-649.66, Z:-50.54 [[ 8.29925311e-01 5.55362679e-01 5.28797964e-02 1.16409669e+03] [-5.54317038e-01 8.31607621e-01 -3.40791036e-02 -6.49659789e+02] [-6.29015040e-02 -1.02906144e-03 9.98019209e-01 -5.05433489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1164.15, Y:-649.69, Z:-50.55 [[ 8.26683586e-01 5.60177561e-01 5.28710652e-02 1.16415152e+03] [-5.59140852e-01 8.28371414e-01 -3.40926441e-02 -6.49689433e+02] [-6.28948132e-02 -1.37854317e-03 9.98019209e-01 -5.05458440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.20, Y:-649.72, Z:-50.55 [[ 8.26050323e-01 5.61111836e-01 5.28618168e-02 1.16420372e+03] [-5.60076119e-01 8.27738760e-01 -3.41069779e-02 -6.49721869e+02] [-6.28936037e-02 -1.43256112e-03 9.98019209e-01 -5.05502509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.26, Y:-649.75, Z:-50.55 [[ 8.26772189e-01 5.60048228e-01 5.28557433e-02 1.16425851e+03] [-5.59009737e-01 8.28458922e-01 -3.41163875e-02 -6.49752769e+02] [-6.28956345e-02 -1.34039480e-03 9.98019210e-01 -5.05535129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.31, Y:-649.78, Z:-50.56 [[ 8.32636804e-01 5.51292353e-01 5.28459565e-02 1.16431351e+03] [-5.50235158e-01 8.34311877e-01 -3.41315405e-02 -6.49780742e+02] [-6.29064664e-02 -6.58526458e-04 9.98019210e-01 -5.05627295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.36, Y:-649.82, Z:-50.56 [[ 8.34316528e-01 5.48747795e-01 5.28373774e-02 1.16436315e+03] [-5.47684651e-01 8.35987832e-01 -3.41448161e-02 -6.49816307e+02] [-6.29082972e-02 -4.50636157e-04 9.98019210e-01 -5.05615024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.42, Y:-649.85, Z:-50.57 [[ 8.38624081e-01 5.42142683e-01 5.28295542e-02 1.16441671e+03] [-5.41065613e-01 8.40286444e-01 -3.41569161e-02 -6.49846421e+02] [-6.29098804e-02 6.05573099e-05 9.98019210e-01 -5.05684995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.47, Y:-649.88, Z:-50.57 [[ 8.41166201e-01 5.38190811e-01 5.28211542e-02 1.16446834e+03] [-5.37105115e-01 8.42822943e-01 -3.41699012e-02 -6.49878911e+02] [-6.29088074e-02 3.72053810e-04 9.98019210e-01 -5.05721572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.52, Y:-649.91, Z:-50.58 [[ 8.42622988e-01 5.35907919e-01 5.28129075e-02 1.16452014e+03] [-5.34816937e-01 8.44276253e-01 -3.41826425e-02 -6.49910783e+02] [-6.29074325e-02 5.57842925e-04 9.98019210e-01 -5.05773960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.57, Y:-649.94, Z:-50.58 [[ 8.45112761e-01 5.31973738e-01 5.28049615e-02 1.16457271e+03] [-5.30874293e-01 8.46760411e-01 -3.41949131e-02 -6.49942988e+02] [-6.29039466e-02 8.65760842e-04 9.98019210e-01 -5.05827679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.62, Y:-649.98, Z:-50.59 [[ 8.46766603e-01 5.29338114e-01 5.27965992e-02 1.16462443e+03] [-5.28232737e-01 8.48410279e-01 -3.42078194e-02 -6.49976437e+02] [-6.29006801e-02 1.07714695e-03 9.98019210e-01 -5.05867496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.67, Y:-650.01, Z:-50.59 [[ 8.47996228e-01 5.27366844e-01 5.27883438e-02 1.16467494e+03] [-5.26256854e-01 8.49636791e-01 -3.42205542e-02 -6.50010463e+02] [-6.28977047e-02 1.23867310e-03 9.98019211e-01 -5.05903822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.73, Y:-650.04, Z:-50.59 [[ 8.47376900e-01 5.28361839e-01 5.27840594e-02 1.16472685e+03] [-5.27253363e-01 8.49018488e-01 -3.42271615e-02 -6.50044353e+02] [-6.28989682e-02 1.17273313e-03 9.98019211e-01 -5.05933000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.78, Y:-650.08, Z:-50.60 [[ 8.46263434e-01 5.30144215e-01 5.27760519e-02 1.16477888e+03] [-5.29038428e-01 8.47906834e-01 -3.42395041e-02 -6.50077526e+02] [-6.29010501e-02 1.05508078e-03 9.98019211e-01 -5.05952572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1164.83, Y:-650.11, Z:-50.60 [[ 8.44412898e-01 5.33087629e-01 5.27677816e-02 1.16483053e+03] [-5.31986775e-01 8.46059605e-01 -3.42522449e-02 -6.50110774e+02] [-6.29041365e-02 8.51275437e-04 9.98019211e-01 -5.05981841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.88, Y:-650.14, Z:-50.60 [[ 8.41828668e-01 5.37159989e-01 5.27602086e-02 1.16488316e+03] [-5.36066371e-01 8.43480190e-01 -3.42639061e-02 -6.50143135e+02] [-6.29073902e-02 5.61364929e-04 9.98019211e-01 -5.05986074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1164.94, Y:-650.18, Z:-50.60 [[ 8.41131926e-01 5.38251183e-01 5.27517582e-02 1.16493635e+03] [-5.37158891e-01 8.42784325e-01 -3.42769111e-02 -6.50176942e+02] [-6.29079429e-02 4.95328276e-04 9.98019211e-01 -5.06022410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1164.99, Y:-650.21, Z:-50.61 [[ 8.40136893e-01 5.39803912e-01 5.27421720e-02 1.16498980e+03] [-5.38713749e-01 8.41790698e-01 -3.42916552e-02 -6.50209856e+02] [-6.29086394e-02 3.96751507e-04 9.98019211e-01 -5.06064212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.04, Y:-650.24, Z:-50.62 [[ 8.41116953e-01 5.38276448e-01 5.27326930e-02 1.16504407e+03] [-5.37182368e-01 8.42768169e-01 -3.43062256e-02 -6.50239061e+02] [-6.29076683e-02 5.28475074e-04 9.98019211e-01 -5.06187548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.09, Y:-650.28, Z:-50.62 [[ 8.38322748e-01 5.42618806e-01 5.27238252e-02 1.16509366e+03] [-5.41532423e-01 8.39979037e-01 -3.43198486e-02 -6.50276057e+02] [-6.29095033e-02 2.19448982e-04 9.98019211e-01 -5.06182750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.15, Y:-650.31, Z:-50.62 [[ 8.36297683e-01 5.45735572e-01 5.27149913e-02 1.16514688e+03] [-5.44654507e-01 8.37957448e-01 -3.43334121e-02 -6.50309561e+02] [-6.29098839e-02 1.49545216e-06 9.98019212e-01 -5.06229510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:1165.20, Y:-650.34, Z:-50.63 [[ 8.34762139e-01 5.48082400e-01 5.27053531e-02 1.16519927e+03] [-5.47005067e-01 8.36424329e-01 -3.43482015e-02 -6.50344289e+02] [-6.29096843e-02 -1.57517012e-04 9.98019212e-01 -5.06267092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.25, Y:-650.38, Z:-50.63 [[ 8.32865161e-01 5.50961698e-01 5.26956434e-02 1.16525031e+03] [-5.49889169e-01 8.34530455e-01 -3.43630913e-02 -6.50379756e+02] [-6.29088664e-02 -3.56941925e-04 9.98019212e-01 -5.06329588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.30, Y:-650.41, Z:-50.64 [[ 8.32127046e-01 5.52076689e-01 5.26868964e-02 1.16530217e+03] [-5.51005543e-01 8.33793229e-01 -3.43764973e-02 -6.50414582e+02] [-6.29084403e-02 -4.25158799e-04 9.98019212e-01 -5.06377350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.35, Y:-650.45, Z:-50.64 [[ 8.31644207e-01 5.52804064e-01 5.26837733e-02 1.16535166e+03] [-5.51734071e-01 8.33311132e-01 -3.43812829e-02 -6.50450409e+02] [-6.29080877e-02 -4.74438030e-04 9.98019212e-01 -5.06399377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.40, Y:-650.49, Z:-50.64 [[ 8.31582324e-01 5.52897910e-01 5.26757978e-02 1.16540298e+03] [-5.51827332e-01 8.33248873e-01 -3.43934979e-02 -6.50486902e+02] [-6.29081422e-02 -4.66920033e-04 9.98019212e-01 -5.06434157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.45, Y:-650.52, Z:-50.65 [[ 8.31883791e-01 5.52445115e-01 5.26664408e-02 1.16545342e+03] [-5.51372723e-01 8.33549172e-01 -3.44078202e-02 -6.50524629e+02] [-6.29085003e-02 -4.15531017e-04 9.98019212e-01 -5.06456104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.50, Y:-650.56, Z:-50.65 [[ 8.32892276e-01 5.50924429e-01 5.26567143e-02 1.16550210e+03] [-5.49848056e-01 8.34555087e-01 -3.44226990e-02 -6.50562339e+02] [-6.29092346e-02 -2.82791849e-04 9.98019212e-01 -5.06503221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.55, Y:-650.60, Z:-50.65 [[ 8.33385048e-01 5.50179588e-01 5.26477313e-02 1.16555161e+03] [-5.49100860e-01 8.35046333e-01 -3.44364325e-02 -6.50599795e+02] [-6.29095172e-02 -2.10106632e-04 9.98019213e-01 -5.06536006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1165.60, Y:-650.64, Z:-50.66 [[ 8.33405971e-01 5.50148693e-01 5.26393732e-02 1.16560078e+03] [-5.49069097e-01 8.35066691e-01 -3.44492040e-02 -6.50638878e+02] [-6.29095718e-02 -1.92480824e-04 9.98019213e-01 -5.06580413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.65, Y:-650.68, Z:-50.66 [[ 8.34406353e-01 5.48631163e-01 5.26297083e-02 1.16565068e+03] [-5.47547616e-01 8.36064497e-01 -3.44639632e-02 -6.50676066e+02] [-6.29098348e-02 -6.03214430e-05 9.98019213e-01 -5.06633530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.70, Y:-650.72, Z:-50.66 [[ 8.34359269e-01 5.48703600e-01 5.26209981e-02 1.16569729e+03] [-5.47619358e-01 8.36016960e-01 -3.44772573e-02 -6.50717088e+02] [-6.29098420e-02 -4.98580066e-05 9.98019213e-01 -5.06639562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.75, Y:-650.75, Z:-50.67 [[ 8.34869919e-01 5.47926788e-01 5.26160981e-02 1.16574728e+03] [-5.46840533e-01 8.36526291e-01 -3.44847335e-02 -6.50754062e+02] [-6.29098586e-02 1.76515826e-05 9.98019213e-01 -5.06688988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.79, Y:-650.79, Z:-50.67 [[ 8.32538764e-01 5.51463253e-01 5.26069038e-02 1.16579468e+03] [-5.50383148e-01 8.34199153e-01 -3.44987539e-02 -6.50793176e+02] [-6.29094296e-02 -2.32403381e-04 9.98019213e-01 -5.06723219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.84, Y:-650.83, Z:-50.68 [[ 8.31166289e-01 5.53530484e-01 5.25985147e-02 1.16584445e+03] [-5.52453699e-01 8.32828833e-01 -3.45115396e-02 -6.50829763e+02] [-6.29087488e-02 -3.73415753e-04 9.98019213e-01 -5.06784059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.89, Y:-650.87, Z:-50.68 [[ 8.29550406e-01 5.55950032e-01 5.25897844e-02 1.16589350e+03] [-5.54877253e-01 8.31215537e-01 -3.45248379e-02 -6.50866020e+02] [-6.29075307e-02 -5.40781776e-04 9.98019213e-01 -5.06808938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1165.94, Y:-650.91, Z:-50.68 [[ 8.28959322e-01 5.56831812e-01 5.25811421e-02 1.16594291e+03] [-5.55759970e-01 8.30625056e-01 -3.45379952e-02 -6.50906072e+02] [-6.29070685e-02 -5.91900870e-04 9.98019213e-01 -5.06835771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1165.99, Y:-650.94, Z:-50.69 [[ 8.26762378e-01 5.60089491e-01 5.25712158e-02 1.16599451e+03] [-5.59023252e-01 8.28431704e-01 -3.45530976e-02 -6.50939708e+02] [-6.29044887e-02 -8.21330866e-04 9.98019214e-01 -5.06921099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.04, Y:-650.97, Z:-50.69 [[ 8.23063833e-01 5.65511377e-01 5.25624448e-02 1.16604482e+03] [-5.64455281e-01 8.24739594e-01 -3.45664350e-02 -6.50974183e+02] [-6.28980416e-02 -1.21876712e-03 9.98019214e-01 -5.06910577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.10, Y:-651.01, Z:-50.70 [[ 8.20879787e-01 5.68677773e-01 5.25544045e-02 1.16609830e+03] [-5.67627359e-01 8.22559115e-01 -3.45786551e-02 -6.51007848e+02] [-6.28932171e-02 -1.44639878e-03 9.98019214e-01 -5.06954317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.15, Y:-651.04, Z:-50.70 [[ 8.20765245e-01 5.68843970e-01 5.25447549e-02 1.16615031e+03] [-5.67792958e-01 8.22444199e-01 -3.45933122e-02 -6.51041187e+02] [-6.28933259e-02 -1.44155347e-03 9.98019214e-01 -5.06985685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.20, Y:-651.07, Z:-50.70 [[ 8.21310640e-01 5.68057024e-01 5.25361870e-02 1.16620292e+03] [-5.67003571e-01 8.22988064e-01 -3.46063193e-02 -6.51074666e+02] [-6.28950175e-02 -1.36566740e-03 9.98019214e-01 -5.07017019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.25, Y:-651.11, Z:-50.70 [[ 8.22445270e-01 5.66413826e-01 5.25276732e-02 1.16625408e+03] [-5.65356197e-01 8.24120063e-01 -3.46192372e-02 -6.51109523e+02] [-6.28979239e-02 -1.22441768e-03 9.98019214e-01 -5.07041816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.30, Y:-651.14, Z:-50.71 [[ 8.23666033e-01 5.64637955e-01 5.25190171e-02 1.16630390e+03] [-5.63575878e-01 8.25338009e-01 -3.46323640e-02 -6.51144168e+02] [-6.29006881e-02 -1.07294932e-03 9.98019214e-01 -5.07099004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.36, Y:-651.18, Z:-50.71 [[ 8.24274212e-01 5.63750482e-01 5.25111124e-02 1.16635507e+03] [-5.62685842e-01 8.25944558e-01 -3.46443453e-02 -6.51179156e+02] [-6.29020338e-02 -9.90819091e-04 9.98019215e-01 -5.07145694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.41, Y:-651.21, Z:-50.72 [[ 8.25172767e-01 5.62435231e-01 5.25025299e-02 1.16640665e+03] [-5.61367102e-01 8.26840883e-01 -3.46573470e-02 -6.51213809e+02] [-6.29037511e-02 -8.74894124e-04 9.98019215e-01 -5.07198489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.46, Y:-651.25, Z:-50.72 [[ 8.27133598e-01 5.59548387e-01 5.24939441e-02 1.16645697e+03] [-5.58473610e-01 8.28797439e-01 -3.46703465e-02 -6.51250851e+02] [-6.29065829e-02 -6.39473997e-04 9.98019215e-01 -5.07236100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:1166.51, Y:-651.29, Z:-50.73 [[ 8.28212209e-01 5.57951556e-01 5.24842713e-02 1.16650732e+03] [-5.56872644e-01 8.29873370e-01 -3.46849832e-02 -6.51286258e+02] [-6.29078395e-02 -5.00528415e-04 9.98019215e-01 -5.07319890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.56, Y:-651.32, Z:-50.73 [[ 8.27177597e-01 5.59484582e-01 5.24807074e-02 1.16655884e+03] [-5.58408407e-01 8.28840533e-01 -3.46903748e-02 -6.51319428e+02] [-6.29068673e-02 -6.10567334e-04 9.98019215e-01 -5.07283383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.61, Y:-651.35, Z:-50.73 [[ 8.26101615e-01 5.61072962e-01 5.24714535e-02 1.16661191e+03] [-5.59999095e-01 8.27766042e-01 -3.47043663e-02 -6.51353565e+02] [-6.29057690e-02 -7.14633401e-04 9.98019215e-01 -5.07316798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.66, Y:-651.39, Z:-50.73 [[ 8.24374145e-01 5.63608948e-01 5.24616323e-02 1.16666417e+03] [-5.62539257e-01 8.26041259e-01 -3.47192064e-02 -6.51386094e+02] [-6.29035282e-02 -8.90111594e-04 9.98019215e-01 -5.07345106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.72, Y:-651.42, Z:-50.74 [[ 8.23169186e-01 5.65368112e-01 5.24536792e-02 1.16671570e+03] [-5.64301219e-01 8.24838092e-01 -3.47312178e-02 -6.51418460e+02] [-6.29017157e-02 -1.01000679e-03 9.98019215e-01 -5.07385193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.77, Y:-651.45, Z:-50.74 [[ 8.23115237e-01 5.65447380e-01 5.24458463e-02 1.16676847e+03] [-5.64379894e-01 8.24783763e-01 -3.47430418e-02 -6.51452263e+02] [-6.29018445e-02 -1.00185412e-03 9.98019215e-01 -5.07409654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.82, Y:-651.49, Z:-50.75 [[ 8.24056825e-01 5.64075184e-01 5.24360167e-02 1.16682031e+03] [-5.63003975e-01 8.25722965e-01 -3.47578709e-02 -6.51485611e+02] [-6.29036755e-02 -8.79225077e-04 9.98019216e-01 -5.07468097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.87, Y:-651.52, Z:-50.76 [[ 8.26120571e-01 5.61049164e-01 5.24274484e-02 1.16687269e+03] [-5.59971033e-01 8.27782239e-01 -3.47707902e-02 -6.51518764e+02] [-6.29066334e-02 -6.32987367e-04 9.98019216e-01 -5.07563334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.92, Y:-651.56, Z:-50.76 [[ 8.28728847e-01 5.57190204e-01 5.24173139e-02 1.16692207e+03] [-5.56103369e-01 8.30384835e-01 -3.47860613e-02 -6.51555690e+02] [-6.29089951e-02 -3.21232384e-04 9.98019216e-01 -5.07596084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1166.97, Y:-651.59, Z:-50.76 [[ 8.31241115e-01 5.53436136e-01 5.24085082e-02 1.16697142e+03] [-5.52340986e-01 8.32891615e-01 -3.47993229e-02 -6.51590884e+02] [-6.29098099e-02 -2.07390950e-05 9.98019216e-01 -5.07627773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.02, Y:-651.63, Z:-50.76 [[ 8.34640623e-01 5.48296643e-01 5.24005883e-02 1.16702274e+03] [-5.47190580e-01 8.36283831e-01 -3.48112446e-02 -6.51626223e+02] [-6.29086533e-02 3.81770609e-04 9.98019216e-01 -5.07623530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1167.07, Y:-651.66, Z:-50.77 [[ 8.36429532e-01 5.45564583e-01 5.23920260e-02 1.16707441e+03] [-5.44452347e-01 8.38068567e-01 -3.48241263e-02 -6.51659864e+02] [-6.29069201e-02 6.02966169e-04 9.98019216e-01 -5.07672294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.12, Y:-651.70, Z:-50.77 [[ 8.35821180e-01 5.46496987e-01 5.23831965e-02 1.16712397e+03] [-5.45385747e-01 8.37460890e-01 -3.48374029e-02 -6.51695176e+02] [-6.29074140e-02 5.48790436e-04 9.98019216e-01 -5.07683200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.18, Y:-651.73, Z:-50.77 [[ 8.33506697e-01 5.50021307e-01 5.23750727e-02 1.16717696e+03] [-5.48916233e-01 8.35150569e-01 -3.48496120e-02 -6.51729292e+02] [-6.29091009e-02 2.97857405e-04 9.98019216e-01 -5.07737395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.23, Y:-651.76, Z:-50.78 [[ 8.31322406e-01 5.53318080e-01 5.23656384e-02 1.16723052e+03] [-5.52218634e-01 8.32970046e-01 -3.48637824e-02 -6.51762037e+02] [-6.29097694e-02 6.57621994e-05 9.98019217e-01 -5.07785685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.28, Y:-651.79, Z:-50.78 [[ 8.28452629e-01 5.57606566e-01 5.23560746e-02 1.16728333e+03] [-5.56514741e-01 8.30105330e-01 -3.48781388e-02 -6.51794562e+02] [-6.29093358e-02 -2.42041500e-04 9.98019217e-01 -5.07840401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.33, Y:-651.83, Z:-50.79 [[ 8.27660383e-01 5.58782625e-01 5.23475737e-02 1.16733341e+03] [-5.57692341e-01 8.29314101e-01 -3.48908928e-02 -6.51829035e+02] [-6.29090057e-02 -3.16031228e-04 9.98019217e-01 -5.07880836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.38, Y:-651.86, Z:-50.79 [[ 8.28176373e-01 5.58018034e-01 5.23427993e-02 1.16738450e+03] [-5.56925771e-01 8.29828785e-01 -3.48980539e-02 -6.51863115e+02] [-6.29093050e-02 -2.49310162e-04 9.98019217e-01 -5.07931705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.43, Y:-651.90, Z:-50.80 [[ 8.31067154e-01 5.53704381e-01 5.23339660e-02 1.16743490e+03] [-5.52602707e-01 8.32713306e-01 -3.49112955e-02 -6.51897872e+02] [-6.29097271e-02 9.37397468e-05 9.98019217e-01 -5.07953508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.49, Y:-651.93, Z:-50.79 [[ 8.34157862e-01 5.49037888e-01 5.23264643e-02 1.16748540e+03] [-5.47926300e-01 8.35797336e-01 -3.49225357e-02 -6.51933723e+02] [-6.29081147e-02 4.59861754e-04 9.98019217e-01 -5.07936203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1167.54, Y:-651.97, Z:-50.80 [[ 8.34888493e-01 5.47926667e-01 5.23218210e-02 1.16753632e+03] [-5.46812461e-01 8.36526188e-01 -3.49294911e-02 -6.51968883e+02] [-6.29073731e-02 5.52006518e-04 9.98019217e-01 -5.07968452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.59, Y:-652.00, Z:-50.80 [[ 8.33170814e-01 5.50535906e-01 5.23126327e-02 1.16758913e+03] [-5.49425966e-01 8.34811403e-01 -3.49432466e-02 -6.52003187e+02] [-6.29086943e-02 3.71774471e-04 9.98019217e-01 -5.08012051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.64, Y:-652.04, Z:-50.81 [[ 8.29857230e-01 5.55519023e-01 5.23028991e-02 1.16764123e+03] [-5.54418016e-01 8.31503827e-01 -3.49578098e-02 -6.52035971e+02] [-6.29097892e-02 1.23215828e-05 9.98019217e-01 -5.08066140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.69, Y:-652.07, Z:-50.82 [[ 8.27055718e-01 5.59681941e-01 5.22968943e-02 1.16769391e+03] [-5.58588654e-01 8.28707451e-01 -3.49667907e-02 -6.52067273e+02] [-6.29091073e-02 -2.92967624e-04 9.98019218e-01 -5.08171385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.75, Y:-652.10, Z:-50.82 [[ 8.21714484e-01 5.67495097e-01 5.22936131e-02 1.16774575e+03] [-5.66417201e-01 8.23376302e-01 -3.49716972e-02 -6.52101984e+02] [-6.29035884e-02 -8.83251867e-04 9.98019218e-01 -5.08159504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.80, Y:-652.13, Z:-50.83 [[ 8.21836252e-01 5.67319586e-01 5.22844334e-02 1.16779842e+03] [-5.66240463e-01 8.23497273e-01 -3.49854158e-02 -6.52134162e+02] [-6.29040000e-02 -8.53278769e-04 9.98019218e-01 -5.08252712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.85, Y:-652.17, Z:-50.82 [[ 8.20441430e-01 5.69335180e-01 5.22810931e-02 1.16784804e+03] [-5.68259819e-01 8.22104889e-01 -3.49904068e-02 -6.52171014e+02] [-6.29018118e-02 -1.00166513e-03 9.98019218e-01 -5.08244944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1167.90, Y:-652.21, Z:-50.83 [[ 8.21067633e-01 5.68432526e-01 5.22724151e-02 1.16789955e+03] [-5.67354511e-01 8.22729374e-01 -3.50033661e-02 -6.52207076e+02] [-6.29031032e-02 -9.16859508e-04 9.98019218e-01 -5.08270642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1167.95, Y:-652.24, Z:-50.83 [[ 8.21593426e-01 5.67673218e-01 5.22624175e-02 1.16795147e+03] [-5.66592718e-01 8.23253552e-01 -3.50182869e-02 -6.52242611e+02] [-6.29041645e-02 -8.40710836e-04 9.98019218e-01 -5.08302064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.00, Y:-652.28, Z:-50.83 [[ 8.21358653e-01 5.68013770e-01 5.22524698e-02 1.16800257e+03] [-5.66933015e-01 8.23018613e-01 -3.50331241e-02 -6.52276700e+02] [-6.29040521e-02 -8.48890591e-04 9.98019218e-01 -5.08344601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.05, Y:-652.31, Z:-50.84 [[ 8.19928124e-01 5.70077636e-01 5.22432789e-02 1.16805477e+03] [-5.69000187e-01 8.21590231e-01 -3.50468248e-02 -6.52311484e+02] [-6.29019786e-02 -9.90558134e-04 9.98019218e-01 -5.08389749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.11, Y:-652.35, Z:-50.84 [[ 8.17831422e-01 5.73082400e-01 5.22334008e-02 1.16810749e+03] [-5.72010117e-01 8.19496867e-01 -3.50615407e-02 -6.52345993e+02] [-6.28982602e-02 -1.20360400e-03 9.98019218e-01 -5.08446102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1168.16, Y:-652.38, Z:-50.85 [[ 8.17388334e-01 5.73715108e-01 5.22234334e-02 1.16815968e+03] [-5.72643166e-01 8.19053998e-01 -3.50763807e-02 -6.52381723e+02] [-6.28976615e-02 -1.23436785e-03 9.98019219e-01 -5.08500974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.21, Y:-652.42, Z:-50.85 [[ 8.17589982e-01 5.73428104e-01 5.22190578e-02 1.16821164e+03] [-5.72355162e-01 8.19255002e-01 -3.50828936e-02 -6.52417740e+02] [-6.28982415e-02 -1.20442489e-03 9.98019219e-01 -5.08545602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.26, Y:-652.46, Z:-50.86 [[ 8.20391710e-01 5.69413427e-01 5.22091112e-02 1.16826027e+03] [-5.68331394e-01 8.22050837e-01 -3.50976895e-02 -6.52456187e+02] [-6.29036392e-02 -8.78223460e-04 9.98019219e-01 -5.08589751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.31, Y:-652.49, Z:-50.86 [[ 8.23605529e-01 5.64755507e-01 5.22029779e-02 1.16830936e+03] [-5.63663512e-01 8.25258115e-01 -3.51068095e-02 -6.52494722e+02] [-6.29076952e-02 -5.10751474e-04 9.98019219e-01 -5.08626376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.36, Y:-652.53, Z:-50.87 [[ 8.23637153e-01 5.64710216e-01 5.21939877e-02 1.16836120e+03] [-5.63617284e-01 8.25289120e-01 -3.51201704e-02 -6.52528741e+02] [-6.29078492e-02 -4.91156400e-04 9.98019219e-01 -5.08663806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.41, Y:-652.56, Z:-50.87 [[ 8.22673575e-01 5.66113856e-01 5.21851643e-02 1.16841428e+03] [-5.65022911e-01 8.24326854e-01 -3.51332762e-02 -6.52562579e+02] [-6.29070668e-02 -5.82595518e-04 9.98019219e-01 -5.08709679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.47, Y:-652.60, Z:-50.87 [[ 8.22460864e-01 5.66423710e-01 5.21757428e-02 1.16846648e+03] [-5.65332501e-01 8.24113969e-01 -3.51472624e-02 -6.52597768e+02] [-6.29070012e-02 -5.89395412e-04 9.98019219e-01 -5.08749799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.52, Y:-652.63, Z:-50.88 [[ 8.22434793e-01 5.66462426e-01 5.21663827e-02 1.16851872e+03] [-5.65370414e-01 8.24087367e-01 -3.51611493e-02 -6.52633140e+02] [-6.29071270e-02 -5.75576801e-04 9.98019219e-01 -5.08785142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.57, Y:-652.67, Z:-50.88 [[ 8.22230310e-01 5.66760095e-01 5.21566144e-02 1.16857194e+03] [-5.65667762e-01 8.23882672e-01 -3.51756333e-02 -6.52666471e+02] [-6.29070762e-02 -5.80843461e-04 9.98019220e-01 -5.08829709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1168.62, Y:-652.70, Z:-50.89 [[ 8.22030901e-01 5.67050186e-01 5.21467638e-02 1.16862490e+03] [-5.65957511e-01 8.23683036e-01 -3.51902305e-02 -6.52700538e+02] [-6.29070315e-02 -5.85395804e-04 9.98019220e-01 -5.08878858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.68, Y:-652.73, Z:-50.89 [[ 8.22308667e-01 5.66648205e-01 5.21370051e-02 1.16867618e+03] [-5.65553806e-01 8.23959661e-01 -3.52046829e-02 -6.52734282e+02] [-6.29074594e-02 -5.37165820e-04 9.98019220e-01 -5.08945457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.73, Y:-652.77, Z:-50.90 [[ 8.23268157e-01 5.65254091e-01 5.21282523e-02 1.16872656e+03] [-5.64156076e-01 8.24916747e-01 -3.52176385e-02 -6.52769323e+02] [-6.29083826e-02 -4.14909943e-04 9.98019220e-01 -5.09003836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.78, Y:-652.81, Z:-50.91 [[ 8.24631178e-01 5.63264560e-01 5.21196344e-02 1.16877694e+03] [-5.62161761e-01 8.26276573e-01 -3.52303878e-02 -6.52805616e+02] [-6.29092618e-02 -2.47589314e-04 9.98019220e-01 -5.09066029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.83, Y:-652.84, Z:-50.91 [[ 8.26611049e-01 5.60355893e-01 5.21099472e-02 1.16882843e+03] [-5.59246402e-01 8.28251938e-01 -3.52447106e-02 -6.52839745e+02] [-6.29097460e-02 -8.63320811e-06 9.98019220e-01 -5.09067624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.88, Y:-652.87, Z:-50.91 [[ 8.26821987e-01 5.60045411e-01 5.21012531e-02 1.16888090e+03] [-5.58934493e-01 8.28461910e-01 -3.52575581e-02 -6.52874729e+02] [-6.29097373e-02 3.05367279e-05 9.98019220e-01 -5.09093031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1168.93, Y:-652.91, Z:-50.91 [[ 8.25602366e-01 5.61842691e-01 5.20915015e-02 1.16893276e+03] [-5.60734434e-01 8.27244089e-01 -3.52719598e-02 -6.52908075e+02] [-6.29096795e-02 -8.88851196e-05 9.98019220e-01 -5.09129740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1168.99, Y:-652.94, Z:-50.92 [[ 8.23989478e-01 5.64206027e-01 5.20854900e-02 1.16898516e+03] [-5.63101919e-01 8.25633994e-01 -3.52808347e-02 -6.52943061e+02] [-6.29092107e-02 -2.58402716e-04 9.98019221e-01 -5.09165035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1169.04, Y:-652.98, Z:-50.92 [[ 8.22168930e-01 5.66856569e-01 5.20757248e-02 1.16903750e+03] [-5.65756849e-01 8.23816383e-01 -3.52952426e-02 -6.52977684e+02] [-6.29081754e-02 -4.43546193e-04 9.98019221e-01 -5.09207663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.09, Y:-653.01, Z:-50.93 [[ 8.19996016e-01 5.69996194e-01 5.20660451e-02 1.16909004e+03] [-5.68901875e-01 8.21647062e-01 -3.53095159e-02 -6.53011614e+02] [-6.29062027e-02 -6.66808257e-04 9.98019221e-01 -5.09288268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.14, Y:-653.05, Z:-50.93 [[ 8.18344852e-01 5.72364668e-01 5.20614179e-02 1.16914068e+03] [-5.71274693e-01 8.19998769e-01 -3.53163371e-02 -6.53046007e+02] [-6.29041221e-02 -8.40427839e-04 9.98019221e-01 -5.09332768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.19, Y:-653.08, Z:-50.94 [[ 8.18306298e-01 5.72420564e-01 5.20528583e-02 1.16919174e+03] [-5.71329901e-01 8.19959761e-01 -3.53289486e-02 -6.53080761e+02] [-6.29042660e-02 -8.29453163e-04 9.98019221e-01 -5.09379058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1169.24, Y:-653.12, Z:-50.94 [[ 8.19941693e-01 5.70076329e-01 5.20442035e-02 1.16924252e+03] [-5.68980130e-01 8.21591490e-01 -3.53416936e-02 -6.53116348e+02] [-6.29065377e-02 -6.33989544e-04 9.98019221e-01 -5.09438006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1169.29, Y:-653.15, Z:-50.95 [[ 8.23322148e-01 5.65183513e-01 5.20407175e-02 1.16929335e+03] [-5.64077184e-01 8.24965170e-01 -3.53468260e-02 -6.53151620e+02] [-6.29092227e-02 -2.53156645e-04 9.98019221e-01 -5.09454428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.34, Y:-653.19, Z:-50.95 [[ 8.26908468e-01 5.59924316e-01 5.20302486e-02 1.16934355e+03] [-5.58806568e-01 8.28543742e-01 -3.53622295e-02 -6.53190444e+02] [-6.29095091e-02 1.66482363e-04 9.98019221e-01 -5.09466446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.39, Y:-653.23, Z:-50.95 [[ 8.30912565e-01 5.53965859e-01 5.20205355e-02 1.16939316e+03] [-5.52835491e-01 8.32539142e-01 -3.53765125e-02 -6.53227755e+02] [-6.29065121e-02 6.35990467e-04 9.98019221e-01 -5.09490502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.45, Y:-653.26, Z:-50.95 [[ 8.31381982e-01 5.53261443e-01 5.20170669e-02 1.16944581e+03] [-5.52129378e-01 8.33007378e-01 -3.53816119e-02 -6.53260855e+02] [-6.29058822e-02 6.95483843e-04 9.98019221e-01 -5.09510833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.50, Y:-653.29, Z:-50.96 [[ 8.29528099e-01 5.56038165e-01 5.20066504e-02 1.16949594e+03] [-5.54910581e-01 8.31156607e-01 -3.53969163e-02 -6.53294589e+02] [-6.29077075e-02 5.03696053e-04 9.98019222e-01 -5.09572074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.55, Y:-653.33, Z:-50.96 [[ 8.27484724e-01 5.59075288e-01 5.19985929e-02 1.16954793e+03] [-5.57952938e-01 8.29116843e-01 -3.54087489e-02 -6.53327234e+02] [-6.29090657e-02 2.87431168e-04 9.98019222e-01 -5.09639600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.60, Y:-653.36, Z:-50.97 [[ 8.24849984e-01 5.62956089e-01 5.19898623e-02 1.16960147e+03] [-5.61840610e-01 8.26486807e-01 -3.54215632e-02 -6.53358137e+02] [-6.29097200e-02 7.45990120e-06 9.98019222e-01 -5.09716597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.65, Y:-653.39, Z:-50.97 [[ 8.23578590e-01 5.64815241e-01 5.19812501e-02 1.16965352e+03] [-5.63702659e-01 8.25217383e-01 -3.54341973e-02 -6.53392732e+02] [-6.29096058e-02 -1.19122652e-04 9.98019222e-01 -5.09749654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.70, Y:-653.43, Z:-50.98 [[ 8.22341683e-01 5.66615495e-01 5.19715114e-02 1.16970428e+03] [-5.65505599e-01 8.23982296e-01 -3.54484752e-02 -6.53427728e+02] [-6.29092606e-02 -2.39421904e-04 9.98019222e-01 -5.09758278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1169.75, Y:-653.46, Z:-50.98 [[ 8.21409619e-01 5.67966576e-01 5.19635202e-02 1.16975500e+03] [-5.66858637e-01 8.23051554e-01 -3.54601857e-02 -6.53461575e+02] [-6.29088563e-02 -3.28632623e-04 9.98019222e-01 -5.09785915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.81, Y:-653.50, Z:-50.98 [[ 8.19803753e-01 5.70282752e-01 5.19556479e-02 1.16980694e+03] [-5.69178721e-01 8.21448319e-01 -3.54717162e-02 -6.53495358e+02] [-6.29077876e-02 -4.92203191e-04 9.98019222e-01 -5.09806939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1169.86, Y:-653.53, Z:-50.98 [[ 8.19046169e-01 5.71371063e-01 5.19469077e-02 1.16985791e+03] [-5.70268406e-01 8.20691656e-01 -3.54845113e-02 -6.53530196e+02] [-6.29072167e-02 -5.60227238e-04 9.98019222e-01 -5.09846242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.91, Y:-653.57, Z:-50.99 [[ 8.17496627e-01 5.73586459e-01 5.19407316e-02 1.16990991e+03] [-5.72487687e-01 8.19144710e-01 -3.54935494e-02 -6.53566175e+02] [-6.29055948e-02 -7.19572402e-04 9.98019222e-01 -5.09879104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1169.96, Y:-653.60, Z:-50.99 [[ 8.15590086e-01 5.76295071e-01 5.19307521e-02 1.16996031e+03] [-5.75200843e-01 8.17241189e-01 -3.55081445e-02 -6.53599618e+02] [-6.29031182e-02 -9.10521787e-04 9.98019223e-01 -5.09933632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1170.01, Y:-653.63, Z:-51.00 [[ 8.13329589e-01 5.79481388e-01 5.19259113e-02 1.17001353e+03] [-5.78393176e-01 8.14984664e-01 -3.55152219e-02 -6.53632072e+02] [-6.28992315e-02 -1.14801193e-03 9.98019223e-01 -5.10030903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.06, Y:-653.67, Z:-51.01 [[ 8.11468886e-01 5.82084559e-01 5.19212237e-02 1.17006420e+03] [-5.81001218e-01 8.13127153e-01 -3.55220737e-02 -6.53666133e+02] [-6.28954074e-02 -1.34123665e-03 9.98019223e-01 -5.10061529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.12, Y:-653.70, Z:-51.01 [[ 8.11372350e-01 5.82219888e-01 5.19125527e-02 1.17011610e+03] [-5.81136013e-01 8.13030268e-01 -3.55347412e-02 -6.53701666e+02] [-6.28955096e-02 -1.33634744e-03 9.98019223e-01 -5.10099325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.17, Y:-653.74, Z:-51.01 [[ 8.14011628e-01 5.78524962e-01 5.19031610e-02 1.17016677e+03] [-5.77432687e-01 8.15664024e-01 -3.55484537e-02 -6.53738012e+02] [-6.29012090e-02 -1.03372702e-03 9.98019223e-01 -5.10114117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1170.22, Y:-653.77, Z:-51.02 [[ 8.18179113e-01 5.72616728e-01 5.18943308e-02 1.17021822e+03] [-5.71511702e-01 8.19823009e-01 -3.55613395e-02 -6.53772633e+02] [-6.29071843e-02 -5.62672033e-04 9.98019223e-01 -5.10196782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.27, Y:-653.81, Z:-51.02 [[ 8.19790688e-01 5.70307943e-01 5.18852454e-02 1.17026506e+03] [-5.69197448e-01 8.21430894e-01 -3.55745905e-02 -6.53812766e+02] [-6.29086151e-02 -3.69231187e-04 9.98019223e-01 -5.10190019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.32, Y:-653.84, Z:-51.03 [[ 8.22230717e-01 5.66785174e-01 5.18769156e-02 1.17031813e+03] [-5.65666885e-01 8.23865620e-01 -3.55867334e-02 -6.53844887e+02] [-6.29096401e-02 -8.45479833e-05 9.98019223e-01 -5.10304851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.37, Y:-653.88, Z:-51.03 [[ 8.17386475e-01 5.73750130e-01 5.18665487e-02 1.17036870e+03] [-5.72644813e-01 8.19030175e-01 -3.56018363e-02 -6.53879537e+02] [-6.29068267e-02 -6.00650615e-04 9.98019224e-01 -5.10325420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1170.42, Y:-653.91, Z:-51.04 [[ 8.16084843e-01 5.75600487e-01 5.18614435e-02 1.17042104e+03] [-5.74498424e-01 8.17730726e-01 -3.56092716e-02 -6.53913097e+02] [-6.29054100e-02 -7.34130731e-04 9.98019224e-01 -5.10390281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.47, Y:-653.95, Z:-51.04 [[ 8.16464152e-01 5.75063084e-01 5.18530487e-02 1.17047303e+03] [-5.73959162e-01 8.18108789e-01 -3.56214917e-02 -6.53948337e+02] [-6.29060397e-02 -6.77861347e-04 9.98019224e-01 -5.10428887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.53, Y:-653.98, Z:-51.05 [[ 8.18479722e-01 5.72191566e-01 5.18435788e-02 1.17052509e+03] [-5.71081001e-01 8.20119880e-01 -3.56352689e-02 -6.53982421e+02] [-6.29081500e-02 -4.40137946e-04 9.98019224e-01 -5.10452354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.58, Y:-654.02, Z:-51.05 [[ 8.23258907e-01 5.65294491e-01 5.18354239e-02 1.17057703e+03] [-5.64169438e-01 8.24889161e-01 -3.56471271e-02 -6.54016418e+02] [-6.29096039e-02 1.02852923e-04 9.98019224e-01 -5.10471621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.63, Y:-654.05, Z:-51.05 [[ 8.25141093e-01 5.62543854e-01 5.18323106e-02 1.17062810e+03] [-5.61413082e-01 8.26767386e-01 -3.56516535e-02 -6.54051110e+02] [-6.29088825e-02 3.18307132e-04 9.98019224e-01 -5.10478781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1170.68, Y:-654.09, Z:-51.05 [[ 8.25904585e-01 5.61423134e-01 5.18235554e-02 1.17067981e+03] [-5.60289357e-01 8.27528785e-01 -3.56643756e-02 -6.54086270e+02] [-6.29082893e-02 4.19184826e-04 9.98019224e-01 -5.10519612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.73, Y:-654.12, Z:-51.06 [[ 8.24765144e-01 5.63095997e-01 5.18204154e-02 1.17073148e+03] [-5.61965228e-01 8.26391438e-01 -3.56689374e-02 -6.54119111e+02] [-6.29089835e-02 2.97224722e-04 9.98019224e-01 -5.10580799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.78, Y:-654.15, Z:-51.06 [[ 8.23543137e-01 5.64882447e-01 5.18123867e-02 1.17078292e+03] [-5.63754472e-01 8.25171371e-01 -3.56805960e-02 -6.54154274e+02] [-6.29094405e-02 1.75045224e-04 9.98019224e-01 -5.10634962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.83, Y:-654.19, Z:-51.07 [[ 8.22093160e-01 5.66991517e-01 5.18020874e-02 1.17083444e+03] [-5.65866777e-01 8.23723630e-01 -3.56955426e-02 -6.54188014e+02] [-6.29096733e-02 3.19811646e-05 9.98019224e-01 -5.10652030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.89, Y:-654.22, Z:-51.07 [[ 8.21311148e-01 5.68124522e-01 5.17931072e-02 1.17088525e+03] [-5.67001210e-01 8.22942602e-01 -3.57085678e-02 -6.54223583e+02] [-6.29096674e-02 -3.89096770e-05 9.98019224e-01 -5.10694400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1170.94, Y:-654.26, Z:-51.07 [[ 8.20226117e-01 5.69690755e-01 5.17837868e-02 1.17093584e+03] [-5.68569705e-01 8.21859127e-01 -3.57220790e-02 -6.54258995e+02] [-6.29095159e-02 -1.42510183e-04 9.98019225e-01 -5.10699320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1170.99, Y:-654.29, Z:-51.07 [[ 8.19008946e-01 5.71440018e-01 5.17750202e-02 1.17098697e+03] [-5.70321653e-01 8.20643795e-01 -3.57347806e-02 -6.54293863e+02] [-6.29091327e-02 -2.61310064e-04 9.98019225e-01 -5.10720577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.04, Y:-654.33, Z:-51.07 [[ 8.16767866e-01 5.74639470e-01 5.17661277e-02 1.17103905e+03] [-5.73526693e-01 8.18406524e-01 -3.57476579e-02 -6.54328955e+02] [-6.29077518e-02 -4.91717696e-04 9.98019225e-01 -5.10748748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.09, Y:-654.36, Z:-51.08 [[ 8.14751771e-01 5.77495340e-01 5.17560115e-02 1.17109064e+03] [-5.76387376e-01 8.16393686e-01 -3.57622984e-02 -6.54362977e+02] [-6.29058416e-02 -6.94115750e-04 9.98019225e-01 -5.10806027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.14, Y:-654.40, Z:-51.09 [[ 8.12593202e-01 5.80529510e-01 5.17472311e-02 1.17114265e+03] [-5.79426868e-01 8.14238696e-01 -3.57749989e-02 -6.54397011e+02] [-6.29030405e-02 -9.13215140e-04 9.98019225e-01 -5.10868900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.19, Y:-654.43, Z:-51.09 [[ 8.10507755e-01 5.83438361e-01 5.17383606e-02 1.17119394e+03] [-5.82340806e-01 8.12156646e-01 -3.57878229e-02 -6.54430178e+02] [-6.28996422e-02 -1.12305059e-03 9.98019225e-01 -5.10940414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.25, Y:-654.47, Z:-51.10 [[ 8.10489344e-01 5.83464656e-01 5.17302466e-02 1.17124612e+03] [-5.82366406e-01 8.12137773e-01 -3.57995476e-02 -6.54465879e+02] [-6.28998580e-02 -1.11080597e-03 9.98019225e-01 -5.10979846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.30, Y:-654.50, Z:-51.10 [[ 8.12520516e-01 5.80633619e-01 5.17205120e-02 1.17129563e+03] [-5.79528731e-01 8.14164502e-01 -3.58136059e-02 -6.54502443e+02] [-6.29035885e-02 -8.74233073e-04 9.98019225e-01 -5.11036689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1171.35, Y:-654.54, Z:-51.11 [[ 8.15729975e-01 5.76116229e-01 5.17174930e-02 1.17134655e+03] [-5.75001959e-01 8.17367616e-01 -3.58179651e-02 -6.54538077e+02] [-6.29075150e-02 -5.19871993e-04 9.98019225e-01 -5.11077660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.39, Y:-654.58, Z:-51.11 [[ 8.17973462e-01 5.72926688e-01 5.17148469e-02 1.17139360e+03] [-5.71805791e-01 8.19606575e-01 -3.58217852e-02 -6.54577213e+02] [-6.29090853e-02 -2.69579325e-04 9.98019225e-01 -5.11066451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1171.44, Y:-654.61, Z:-51.11 [[ 8.18776187e-01 5.71779678e-01 5.17064282e-02 1.17144435e+03] [-5.70655726e-01 8.20407199e-01 -3.58339329e-02 -6.54613889e+02] [-6.29094406e-02 -1.66598309e-04 9.98019226e-01 -5.11102548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.49, Y:-654.65, Z:-51.11 [[ 8.20450010e-01 5.69376185e-01 5.16966264e-02 1.17149388e+03] [-5.68246564e-01 8.22077100e-01 -3.58480681e-02 -6.54652083e+02] [-6.29096490e-02 3.51175105e-05 9.98019226e-01 -5.11128983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.54, Y:-654.69, Z:-51.12 [[ 8.20249686e-01 5.69665518e-01 5.16880075e-02 1.17154396e+03] [-5.68535688e-01 8.21876631e-01 -3.58604912e-02 -6.54688558e+02] [-6.29096507e-02 2.80797770e-05 9.98019226e-01 -5.11168080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.59, Y:-654.72, Z:-51.12 [[ 8.19275940e-01 5.71065825e-01 5.16793724e-02 1.17159389e+03] [-5.69937991e-01 8.20904269e-01 -3.58729311e-02 -6.54723677e+02] [-6.29096224e-02 -6.42083111e-05 9.98019226e-01 -5.11231908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.65, Y:-654.76, Z:-51.13 [[ 8.17472389e-01 5.73645318e-01 5.16714922e-02 1.17164501e+03] [-5.72521905e-01 8.19103771e-01 -3.58842781e-02 -6.54758857e+02] [-6.29091623e-02 -2.48654599e-04 9.98019226e-01 -5.11265220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.70, Y:-654.79, Z:-51.13 [[ 8.17019259e-01 5.74291279e-01 5.16629337e-02 1.17169558e+03] [-5.73168376e-01 8.18650992e-01 -3.58965957e-02 -6.54794232e+02] [-6.29090138e-02 -2.83349785e-04 9.98019226e-01 -5.11311707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.75, Y:-654.83, Z:-51.13 [[ 8.18523655e-01 5.72145348e-01 5.16597202e-02 1.17174626e+03] [-5.71017876e-01 8.20152235e-01 -3.59012198e-02 -6.54830687e+02] [-6.29095508e-02 -1.12626047e-04 9.98019226e-01 -5.11309610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1171.80, Y:-654.87, Z:-51.14 [[ 8.19640483e-01 5.70545105e-01 5.16503856e-02 1.17179691e+03] [-5.69413607e-01 8.21266268e-01 -3.59146442e-02 -6.54866836e+02] [-6.29096439e-02 2.66638912e-05 9.98019226e-01 -5.11359640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:1171.85, Y:-654.90, Z:-51.14 [[ 8.21648391e-01 5.67650534e-01 5.16410033e-02 1.17184664e+03] [-5.66512461e-01 8.23269580e-01 -3.59281298e-02 -6.54902785e+02] [-6.29090892e-02 2.65018144e-04 9.98019226e-01 -5.11394905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:1171.90, Y:-654.94, Z:-51.14 [[ 8.22956108e-01 5.65753807e-01 5.16321114e-02 1.17189845e+03] [-5.64611196e-01 8.24574102e-01 -3.59409038e-02 -6.54937576e+02] [-6.29082050e-02 4.25718213e-04 9.98019227e-01 -5.11429407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:1171.95, Y:-654.98, Z:-51.15 [[ 8.22197965e-01 5.66855889e-01 5.16227443e-02 1.17194763e+03] [-5.65714602e-01 8.23816893e-01 -3.59543529e-02 -6.54975242e+02] [-6.29086255e-02 3.57855540e-04 9.98019227e-01 -5.11510817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:1172.00, Y:-655.01, Z:-51.15 [[ 8.23818853e-01 5.64497932e-01 5.16195873e-02 1.17200231e+03] [-5.63351728e-01 8.25434303e-01 -3.59588849e-02 -6.55006728e+02] [-6.29072942e-02 5.43623588e-04 9.98019227e-01 -5.11464203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:1172.05, Y:-655.04, Z:-51.15 [[ 8.23029457e-01 5.65649238e-01 5.16086410e-02 1.17205293e+03] [-5.64504309e-01 8.24645811e-01 -3.59745883e-02 -6.55041782e+02] [-6.29078481e-02 4.74845598e-04 9.98019227e-01 -5.11535184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1172.11, Y:-655.07, Z:-51.15 [[ 8.22365561e-01 5.66614320e-01 5.16051931e-02 1.17210731e+03] [-5.65470978e-01 8.23983038e-01 -3.59795335e-02 -6.55072232e+02] [-6.29083227e-02 4.07090279e-04 9.98019227e-01 -5.11541601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1172.16, Y:-655.11, Z:-51.16 [[ 8.21203757e-01 5.68297776e-01 5.15948431e-02 1.17215908e+03] [-5.67156817e-01 8.22822915e-01 -3.59943694e-02 -6.55105761e+02] [-6.29089393e-02 2.96344325e-04 9.98019227e-01 -5.11573779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:1172.21, Y:-655.14, Z:-51.16 [[ 8.18739116e-01 5.71843631e-01 5.15860704e-02 1.17221222e+03] [-5.70708893e-01 8.20362639e-01 -3.60069379e-02 -6.55140003e+02] [-6.29096230e-02 3.96593982e-05 9.98019227e-01 -5.11600234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:1172.27, Y:-655.17, Z:-51.16 [[ 8.14805697e-01 5.77435359e-01 5.15759822e-02 1.17226505e+03] [-5.76310848e-01 8.16436321e-01 -3.60213823e-02 -6.55170080e+02] [-6.29085250e-02 -3.73370482e-04 9.98019227e-01 -5.11636635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:1172.32, Y:-655.20, Z:-51.17 [[ 8.12796907e-01 5.80259771e-01 5.15731059e-02 1.17231860e+03] [-5.79140665e-01 8.14431246e-01 -3.60255000e-02 -6.55202721e+02] [-6.29068972e-02 -5.86667866e-04 9.98019227e-01 -5.11684834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:1172.37, Y:-655.24, Z:-51.17 [[ 8.12673183e-01 5.80433919e-01 5.15632048e-02 1.17237186e+03] [-5.79314264e-01 8.14307145e-01 -3.60396658e-02 -6.55236733e+02] [-6.29069305e-02 -5.82830180e-04 9.98019228e-01 -5.11734575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:1172.42, Y:-655.27, Z:-51.18 [[ 8.13776545e-01 5.78886861e-01 5.15532537e-02 1.17242375e+03] [-5.77763198e-01 8.15407753e-01 -3.60538949e-02 -6.55271415e+02] [-6.29080488e-02 -4.45758669e-04 9.98019228e-01 -5.11775560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:1172.48, Y:-655.31, Z:-51.18 [[ 8.15055236e-01 5.77085990e-01 5.15434150e-02 1.17247618e+03] [-5.75957834e-01 8.16683339e-01 -3.60679549e-02 -6.55305507e+02] [-6.29089598e-02 -2.89458158e-04 9.98019228e-01 -5.11813434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:1172.53, Y:-655.34, Z:-51.19 [[ 8.16307783e-01 5.75313729e-01 5.15336557e-02 1.17252940e+03] [-5.74181158e-01 8.17932818e-01 -3.60818936e-02 -6.55339138e+02] [-6.29094770e-02 -1.35723535e-04 9.98019228e-01 -5.11854918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1172.58, Y:-655.37, Z:-51.19 [[ 8.17148562e-01 5.74119805e-01 5.15235564e-02 1.17258108e+03] [-5.72983951e-01 8.18771304e-01 -3.60963093e-02 -6.55374206e+02] [-6.29096155e-02 -2.61236948e-05 9.98019228e-01 -5.11902090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:1172.63, Y:-655.41, Z:-51.19 [[ 8.18730690e-01 5.71862230e-01 5.15135681e-02 1.17263183e+03] [-5.70721005e-01 8.20349659e-01 -3.61105581e-02 -6.55409431e+02] [-6.29094023e-02 1.64946773e-04 9.98019228e-01 -5.11943175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1172.68, Y:-655.44, Z:-51.20 [[ 8.19527484e-01 5.70720603e-01 5.15043361e-02 1.17268238e+03] [-5.69576295e-01 8.21144275e-01 -3.61237209e-02 -6.55444785e+02] [-6.29090425e-02 2.68733175e-04 9.98019228e-01 -5.11981577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:1172.73, Y:-655.48, Z:-51.20 [[ 8.21213180e-01 5.68293204e-01 5.14951221e-02 1.17273340e+03] [-5.67143294e-01 8.22825992e-01 -3.61368510e-02 -6.55478200e+02] [-6.29078517e-02 4.70945186e-04 9.98019229e-01 -5.12044356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:1172.79, Y:-655.51, Z:-51.21 [[ 8.22302482e-01 5.66716323e-01 5.14901690e-02 1.17278556e+03] [-5.65562879e-01 8.23912768e-01 -3.61439070e-02 -6.55513660e+02] [-6.29067498e-02 6.00296224e-04 9.98019229e-01 -5.12080517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:1172.84, Y:-655.55, Z:-51.21 [[ 8.23164397e-01 5.65464572e-01 5.14800229e-02 1.17283678e+03] [-5.64307775e-01 8.24772277e-01 -3.61583525e-02 -6.55549740e+02] [-6.29055630e-02 7.13691314e-04 9.98019229e-01 -5.12102042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:1172.89, Y:-655.58, Z:-51.22 [[ 8.24497188e-01 5.63519769e-01 5.14767695e-02 1.17288781e+03] [-5.62358890e-01 8.26102123e-01 -3.61629836e-02 -6.55582985e+02] [-6.29036247e-02 8.67859255e-04 9.98019229e-01 -5.12153557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:1172.94, Y:-655.62, Z:-51.22 [[ 8.24872845e-01 5.62970193e-01 5.14718572e-02 1.17293981e+03] [-5.61807809e-01 8.26476690e-01 -3.61699741e-02 -6.55617365e+02] [-6.29029074e-02 9.18338111e-04 9.98019229e-01 -5.12194339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:1172.99, Y:-655.65, Z:-51.23 [[ 8.23230190e-01 5.65370484e-01 5.14613378e-02 1.17299232e+03] [-5.64211842e-01 8.24836740e-01 -3.61849345e-02 -6.55650676e+02] [-6.29050961e-02 7.53434316e-04 9.98019229e-01 -5.12257964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1173.04, Y:-655.69, Z:-51.23 [[ 8.22361729e-01 5.66633552e-01 5.14548681e-02 1.17304429e+03] [-5.65476802e-01 8.23969642e-01 -3.61941321e-02 -6.55685341e+02] [-6.29060589e-02 6.68134844e-04 9.98019229e-01 -5.12309418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1173.10, Y:-655.72, Z:-51.23 [[ 8.21946592e-01 5.67235852e-01 5.14518103e-02 1.17309565e+03] [-5.66080008e-01 8.23555156e-01 -3.61984784e-02 -6.55721036e+02] [-6.29064784e-02 6.27374748e-04 9.98019229e-01 -5.12342821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:1173.15, Y:-655.76, Z:-51.24 [[ 8.21335646e-01 5.68120405e-01 5.14486335e-02 1.17314762e+03] [-5.66966011e-01 8.22945251e-01 -3.62029930e-02 -6.55756691e+02] [-6.29070676e-02 5.65182163e-04 9.98019229e-01 -5.12374658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1173.20, Y:-655.79, Z:-51.24 [[ 8.20813190e-01 5.68875902e-01 5.14384632e-02 1.17319965e+03] [-5.67722084e-01 8.22423208e-01 -3.62174375e-02 -6.55791397e+02] [-6.29074133e-02 5.24998828e-04 9.98019229e-01 -5.12395309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:1173.25, Y:-655.83, Z:-51.24 [[ 8.20033734e-01 5.69999837e-01 5.14282091e-02 1.17325103e+03] [-5.68847313e-01 8.21644679e-01 -3.62319924e-02 -6.55825144e+02] [-6.29079441e-02 4.56657452e-04 9.98019229e-01 -5.12444368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:1173.30, Y:-655.86, Z:-51.24 [[ 8.19335148e-01 5.71004403e-01 5.14187449e-02 1.17330266e+03] [-5.69853012e-01 8.20946901e-01 -3.62454185e-02 -6.55860498e+02] [-6.29083529e-02 3.96018722e-04 9.98019229e-01 -5.12448375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:1173.35, Y:-655.90, Z:-51.25 [[ 8.17303649e-01 5.73909324e-01 5.14084889e-02 1.17335431e+03] [-5.72762747e-01 8.18918831e-01 -3.62599592e-02 -6.55897054e+02] [-6.29093083e-02 1.90529704e-04 9.98019230e-01 -5.12476570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:1173.41, Y:-655.93, Z:-51.25 [[ 8.13790789e-01 5.78880611e-01 5.13983484e-02 1.17340514e+03] [-5.77742993e-01 8.15412293e-01 -3.62743277e-02 -6.55932962e+02] [-6.29093501e-02 -1.75321890e-04 9.98019230e-01 -5.12515953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1173.46, Y:-655.97, Z:-51.26 [[ 8.10837377e-01 5.83011082e-01 5.13889739e-02 1.17345545e+03] [-5.81880882e-01 8.12464060e-01 -3.62876035e-02 -6.55967250e+02] [-6.29077694e-02 -4.78916303e-04 9.98019230e-01 -5.12569286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1173.51, Y:-656.00, Z:-51.26 [[ 8.07575383e-01 5.87521908e-01 5.13810114e-02 1.17350640e+03] [-5.86400077e-01 8.09207848e-01 -3.62988744e-02 -6.56003166e+02] [-6.29043017e-02 -8.15751646e-04 9.98019230e-01 -5.12607962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.56, Y:-656.04, Z:-51.27 [[ 8.03512381e-01 5.93067249e-01 5.13720974e-02 1.17355702e+03] [-5.91955876e-01 8.05151984e-01 -3.63114856e-02 -6.56039631e+02] [-6.28974990e-02 -1.23328663e-03 9.98019230e-01 -5.12668769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.61, Y:-656.08, Z:-51.27 [[ 8.01380105e-01 5.95945605e-01 5.13688922e-02 1.17360799e+03] [-5.94839830e-01 8.03023489e-01 -3.63160194e-02 -6.56076958e+02] [-6.28927992e-02 -1.45332764e-03 9.98019230e-01 -5.12718886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.66, Y:-656.12, Z:-51.28 [[ 7.99646424e-01 5.98270747e-01 5.13586378e-02 1.17365669e+03] [-5.97168819e-01 8.01292391e-01 -3.63305155e-02 -6.56115422e+02] [-6.28887703e-02 -1.61821029e-03 9.98019230e-01 -5.12762012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1173.71, Y:-656.15, Z:-51.28 [[ 7.99341387e-01 5.98679055e-01 5.13491617e-02 1.17370578e+03] [-5.97577109e-01 8.00987340e-01 -3.63439040e-02 -6.56154616e+02] [-6.28883626e-02 -1.63389699e-03 9.98019230e-01 -5.12790167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.75, Y:-656.19, Z:-51.28 [[ 7.99739550e-01 5.98147947e-01 5.13389295e-02 1.17375463e+03] [-5.97043981e-01 8.01384149e-01 -3.63583521e-02 -6.56194712e+02] [-6.28898781e-02 -1.57438672e-03 9.98019231e-01 -5.12829805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.80, Y:-656.24, Z:-51.29 [[ 8.01375093e-01 5.95955797e-01 5.13288239e-02 1.17380049e+03] [-5.94846419e-01 8.03016046e-01 -3.63726131e-02 -6.56237275e+02] [-6.28943389e-02 -1.38466085e-03 9.98019231e-01 -5.12877457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.85, Y:-656.28, Z:-51.29 [[ 8.02997390e-01 5.93768849e-01 5.13200232e-02 1.17384751e+03] [-5.92654209e-01 8.04634773e-01 -3.63850263e-02 -6.56277760e+02] [-6.28981704e-02 -1.19794659e-03 9.98019231e-01 -5.12931665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.90, Y:-656.32, Z:-51.30 [[ 8.04611134e-01 5.91581001e-01 5.13112272e-02 1.17389502e+03] [-5.90461118e-01 8.06244936e-01 -3.63974264e-02 -6.56319863e+02] [-6.29014430e-02 -1.01151005e-03 9.98019231e-01 -5.12964981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.94, Y:-656.36, Z:-51.30 [[ 8.06901166e-01 5.88454519e-01 5.13009437e-02 1.17394000e+03] [-5.87327384e-01 8.08529973e-01 -3.64119150e-02 -6.56364126e+02] [-6.29051065e-02 -7.49632373e-04 9.98019231e-01 -5.13021631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1173.99, Y:-656.40, Z:-51.31 [[ 8.07843001e-01 5.87161652e-01 5.12921044e-02 1.17398601e+03] [-5.86031119e-01 8.09469452e-01 -3.64243623e-02 -6.56404239e+02] [-6.29063804e-02 -6.33603146e-04 9.98019231e-01 -5.13069156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.04, Y:-656.44, Z:-51.31 [[ 8.06329382e-01 5.89239235e-01 5.12840287e-02 1.17403609e+03] [-5.88112170e-01 8.07958237e-01 -3.64357290e-02 -6.56440399e+02] [-6.29047145e-02 -7.81562576e-04 9.98019231e-01 -5.13089383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.09, Y:-656.48, Z:-51.31 [[ 8.04716566e-01 5.91440691e-01 5.12753199e-02 1.17408696e+03] [-5.90317301e-01 8.06347958e-01 -3.64479806e-02 -6.56476889e+02] [-6.29025683e-02 -9.38414670e-04 9.98019231e-01 -5.13122117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.14, Y:-656.51, Z:-51.31 [[ 8.04544405e-01 5.91675715e-01 5.12654633e-02 1.17413764e+03] [-5.90551920e-01 8.06175517e-01 -3.64618391e-02 -6.56513314e+02] [-6.29025461e-02 -9.39749039e-04 9.98019232e-01 -5.13148121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.19, Y:-656.55, Z:-51.32 [[ 8.06187760e-01 5.89435353e-01 5.12568064e-02 1.17418734e+03] [-5.88306250e-01 8.07815204e-01 -3.64740046e-02 -6.56550195e+02] [-6.29050953e-02 -7.49803516e-04 9.98019232e-01 -5.13183469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.24, Y:-656.59, Z:-51.32 [[ 8.07207482e-01 5.88038857e-01 5.12482663e-02 1.17423720e+03] [-5.86906177e-01 8.08832437e-01 -3.64860000e-02 -6.56586085e+02] [-6.29064459e-02 -6.26151925e-04 9.98019232e-01 -5.13236361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.29, Y:-656.62, Z:-51.33 [[ 8.07243653e-01 5.87989987e-01 5.12392364e-02 1.17428734e+03] [-5.86856405e-01 8.08867979e-01 -3.64986769e-02 -6.56621665e+02] [-6.29066341e-02 -6.06748773e-04 9.98019232e-01 -5.13277809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.34, Y:-656.65, Z:-51.34 [[ 8.07444560e-01 5.87714840e-01 5.12303505e-02 1.17433992e+03] [-5.86579913e-01 8.09067946e-01 -3.65111450e-02 -6.56652663e+02] [-6.29069762e-02 -5.69969179e-04 9.98019232e-01 -5.13393977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.39, Y:-656.69, Z:-51.34 [[ 8.05493696e-01 5.90386129e-01 5.12262069e-02 1.17438985e+03] [-5.89256216e-01 8.07120576e-01 -3.65169577e-02 -6.56690710e+02] [-6.29048309e-02 -7.71181556e-04 9.98019232e-01 -5.13356357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1174.44, Y:-656.73, Z:-51.34 [[ 8.05574034e-01 5.90277248e-01 5.12176367e-02 1.17444105e+03] [-5.89146351e-01 8.07200230e-01 -3.65289741e-02 -6.56726607e+02] [-6.29051104e-02 -7.47890718e-04 9.98019232e-01 -5.13398419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.49, Y:-656.76, Z:-51.34 [[ 8.06067102e-01 5.89604593e-01 5.12079280e-02 1.17449054e+03] [-5.88471474e-01 8.07691751e-01 -3.65425792e-02 -6.56762280e+02] [-6.29058935e-02 -6.78633998e-04 9.98019232e-01 -5.13426660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.54, Y:-656.80, Z:-51.35 [[ 8.05881953e-01 5.89858305e-01 5.12001706e-02 1.17454102e+03] [-5.88725008e-01 8.07506477e-01 -3.65534448e-02 -6.56797758e+02] [-6.29058224e-02 -6.85059395e-04 9.98019232e-01 -5.13452539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.59, Y:-656.83, Z:-51.35 [[ 8.05551387e-01 5.90310416e-01 5.11915607e-02 1.17459120e+03] [-5.89177264e-01 8.07176013e-01 -3.65654987e-02 -6.56833430e+02] [-6.29055946e-02 -7.05515535e-04 9.98019233e-01 -5.13497245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.64, Y:-656.87, Z:-51.35 [[ 8.04221085e-01 5.92122287e-01 5.11824538e-02 1.17464221e+03] [-5.90991985e-01 8.05847694e-01 -3.65782416e-02 -6.56869701e+02] [-6.29040545e-02 -8.31426805e-04 9.98019233e-01 -5.13522284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1174.69, Y:-656.91, Z:-51.36 [[ 8.03766592e-01 5.92739957e-01 5.11723431e-02 1.17469299e+03] [-5.91610005e-01 8.05393444e-01 -3.65923808e-02 -6.56906797e+02] [-6.29036359e-02 -8.62336928e-04 9.98019233e-01 -5.13567586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.74, Y:-656.94, Z:-51.36 [[ 8.03597177e-01 5.92970480e-01 5.11623648e-02 1.17474339e+03] [-5.91840107e-01 8.05223736e-01 -3.66063270e-02 -6.56944816e+02] [-6.29036218e-02 -8.63198444e-04 9.98019233e-01 -5.13612656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1174.79, Y:-656.98, Z:-51.37 [[ 8.04130182e-01 5.92248337e-01 5.11523125e-02 1.17479353e+03] [-5.91115610e-01 8.05755102e-01 -3.66203682e-02 -6.56982538e+02] [-6.29045890e-02 -7.89387087e-04 9.98019233e-01 -5.13662760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.84, Y:-657.02, Z:-51.37 [[ 8.04340390e-01 5.91963677e-01 5.11423806e-02 1.17484278e+03] [-5.90829493e-01 8.05964294e-01 -3.66342335e-02 -6.57019310e+02] [-6.29050682e-02 -7.50033115e-04 9.98019233e-01 -5.13708249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.89, Y:-657.05, Z:-51.38 [[ 8.03598045e-01 5.92971556e-01 5.11362563e-02 1.17489494e+03] [-5.91838865e-01 8.05222991e-01 -3.66427801e-02 -6.57054555e+02] [-6.29042156e-02 -8.18357434e-04 9.98019233e-01 -5.13755107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1174.95, Y:-657.09, Z:-51.38 [[ 8.02674307e-01 5.94222211e-01 5.11265128e-02 1.17494690e+03] [-5.93091187e-01 8.04300413e-01 -3.66563699e-02 -6.57089137e+02] [-6.29031046e-02 -8.99557908e-04 9.98019233e-01 -5.13800750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.00, Y:-657.12, Z:-51.38 [[ 8.02252869e-01 5.94791924e-01 5.11165559e-02 1.17499824e+03] [-5.93661170e-01 8.03879163e-01 -3.66702494e-02 -6.57124015e+02] [-6.29027023e-02 -9.27101596e-04 9.98019234e-01 -5.13844456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.05, Y:-657.16, Z:-51.39 [[ 8.03080857e-01 5.93674301e-01 5.11073550e-02 1.17504875e+03] [-5.92540468e-01 8.04705006e-01 -3.66830682e-02 -6.57159256e+02] [-6.29041393e-02 -8.23706252e-04 9.98019234e-01 -5.13887610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.10, Y:-657.20, Z:-51.39 [[ 8.04363717e-01 5.91935786e-01 5.10983031e-02 1.17509962e+03] [-5.90797642e-01 8.05984847e-01 -3.66956729e-02 -6.57196168e+02] [-6.29059400e-02 -6.72089114e-04 9.98019234e-01 -5.13914438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1175.15, Y:-657.23, Z:-51.40 [[ 8.05578242e-01 5.90282722e-01 5.10882023e-02 1.17515015e+03] [-5.89140360e-01 8.07196402e-01 -3.67097300e-02 -6.57233662e+02] [-6.29073324e-02 -5.25562179e-04 9.98019234e-01 -5.13968050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.20, Y:-657.27, Z:-51.40 [[ 8.07099349e-01 5.88202054e-01 5.10782179e-02 1.17519852e+03] [-5.87054642e-01 8.08713932e-01 -3.67236171e-02 -6.57269932e+02] [-6.29085735e-02 -3.46097527e-04 9.98019234e-01 -5.14035547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.25, Y:-657.31, Z:-51.41 [[ 8.07608681e-01 5.87503234e-01 5.10702451e-02 1.17524826e+03] [-5.86353723e-01 8.09221770e-01 -3.67347013e-02 -6.57306978e+02] [-6.29089099e-02 -2.77964655e-04 9.98019234e-01 -5.14076043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.30, Y:-657.34, Z:-51.41 [[ 8.07544570e-01 5.87592126e-01 5.10613451e-02 1.17529829e+03] [-5.86442011e-01 8.09157229e-01 -3.67470682e-02 -6.57343601e+02] [-6.29089444e-02 -2.69622494e-04 9.98019234e-01 -5.14105936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.35, Y:-657.38, Z:-51.41 [[ 8.07329749e-01 5.87888016e-01 5.10524947e-02 1.17534782e+03] [-5.86737715e-01 8.08942275e-01 -3.67593599e-02 -6.57379495e+02] [-6.29089083e-02 -2.77499238e-04 9.98019234e-01 -5.14135062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.40, Y:-657.42, Z:-51.42 [[ 8.07342499e-01 5.87871209e-01 5.10444007e-02 1.17539677e+03] [-5.86720164e-01 8.08954494e-01 -3.67705959e-02 -6.57417383e+02] [-6.29089720e-02 -2.62314331e-04 9.98019235e-01 -5.14173065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.45, Y:-657.45, Z:-51.42 [[ 8.08050957e-01 5.86897339e-01 5.10408226e-02 1.17544811e+03] [-5.85744037e-01 8.09661338e-01 -3.67755619e-02 -6.57451515e+02] [-6.29092601e-02 -1.80329506e-04 9.98019235e-01 -5.14185722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.50, Y:-657.49, Z:-51.42 [[ 8.08883429e-01 5.85750399e-01 5.10300840e-02 1.17549899e+03] [-5.84593874e-01 8.10491496e-01 -3.67904569e-02 -6.57487705e+02] [-6.29094739e-02 -7.26835973e-05 9.98019235e-01 -5.14233323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.55, Y:-657.52, Z:-51.43 [[ 8.10931459e-01 5.82912675e-01 5.10194259e-02 1.17555098e+03] [-5.81749593e-01 8.12534791e-01 -3.68052312e-02 -6.57521118e+02] [-6.29092943e-02 1.65989579e-04 9.98019235e-01 -5.14318729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.60, Y:-657.56, Z:-51.43 [[ 8.11016698e-01 5.82794878e-01 5.10102464e-02 1.17560032e+03] [-5.81630763e-01 8.12619280e-01 -3.68179491e-02 -6.57557933e+02] [-6.29092218e-02 1.90842929e-04 9.98019235e-01 -5.14317291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.65, Y:-657.59, Z:-51.44 [[ 8.11949720e-01 5.81495025e-01 5.10018544e-02 1.17565141e+03] [-5.80327614e-01 8.13549902e-01 -3.68295705e-02 -6.57592897e+02] [-6.29087656e-02 3.05974928e-04 9.98019235e-01 -5.14369578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.70, Y:-657.63, Z:-51.44 [[ 8.13379890e-01 5.79493661e-01 5.09926646e-02 1.17570126e+03] [-5.78321516e-01 8.14976607e-01 -3.68422898e-02 -6.57627597e+02] [-6.29077022e-02 4.76622471e-04 9.98019235e-01 -5.14425881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.75, Y:-657.67, Z:-51.45 [[ 8.14071610e-01 5.78521983e-01 5.09875348e-02 1.17575048e+03] [-5.77347488e-01 8.15666599e-01 -3.68493878e-02 -6.57665245e+02] [-6.29070100e-02 5.60515333e-04 9.98019235e-01 -5.14476762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.80, Y:-657.70, Z:-51.45 [[ 8.14140804e-01 5.78424920e-01 5.09839577e-02 1.17580150e+03] [-5.77249925e-01 8.15735424e-01 -3.68543364e-02 -6.57701392e+02] [-6.29068869e-02 5.74133322e-04 9.98019235e-01 -5.14477694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.85, Y:-657.74, Z:-51.45 [[ 8.12241687e-01 5.81089616e-01 5.09735126e-02 1.17585226e+03] [-5.79918947e-01 8.13839486e-01 -3.68687774e-02 -6.57737017e+02] [-6.29083210e-02 3.85852206e-04 9.98019235e-01 -5.14498649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.90, Y:-657.77, Z:-51.45 [[ 8.07528608e-01 5.87622569e-01 5.09633644e-02 1.17590253e+03] [-5.86463940e-01 8.09135159e-01 -3.68827999e-02 -6.57771499e+02] [-6.29094156e-02 -1.04259463e-04 9.98019236e-01 -5.14523184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1175.95, Y:-657.81, Z:-51.45 [[ 8.03868169e-01 5.92620620e-01 5.09584889e-02 1.17595352e+03] [-5.91471553e-01 8.05481573e-01 -3.68895348e-02 -6.57808509e+02] [-6.29076228e-02 -4.86173812e-04 9.98019236e-01 -5.14548624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.00, Y:-657.85, Z:-51.46 [[ 8.00802325e-01 5.96757816e-01 5.09484663e-02 1.17600389e+03] [-5.95616203e-01 8.02421012e-01 -3.69033720e-02 -6.57845475e+02] [-6.29044955e-02 -7.93425990e-04 9.98019236e-01 -5.14584558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.05, Y:-657.88, Z:-51.46 [[ 7.98129318e-01 6.00328958e-01 5.09385346e-02 1.17605454e+03] [-5.99193713e-01 7.99752477e-01 -3.69170758e-02 -6.57882864e+02] [-6.29006088e-02 -1.05744916e-03 9.98019236e-01 -5.14626718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.10, Y:-657.92, Z:-51.47 [[ 7.97550435e-01 6.01098710e-01 5.09278492e-02 1.17610400e+03] [-5.99964091e-01 7.99174031e-01 -3.69318107e-02 -6.57919049e+02] [-6.28998782e-02 -1.09989907e-03 9.98019236e-01 -5.14676891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.15, Y:-657.96, Z:-51.47 [[ 7.97930182e-01 6.00595357e-01 5.09179872e-02 1.17615261e+03] [-5.99458847e-01 7.99552455e-01 -3.69454024e-02 -6.57957628e+02] [-6.29008388e-02 -1.04338615e-03 9.98019236e-01 -5.14721040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1176.20, Y:-658.00, Z:-51.48 [[ 7.99678502e-01 5.98265825e-01 5.09146074e-02 1.17620110e+03] [-5.97124292e-01 8.01297244e-01 -3.69500596e-02 -6.57997001e+02] [-6.29036924e-02 -8.54180609e-04 9.98019236e-01 -5.14773029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.25, Y:-658.04, Z:-51.48 [[ 8.00113664e-01 5.97684658e-01 5.09035806e-02 1.17624860e+03] [-5.96540983e-01 8.01730894e-01 -3.69652442e-02 -6.58036393e+02] [-6.29045325e-02 -7.89675043e-04 9.98019236e-01 -5.14803688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1176.30, Y:-658.07, Z:-51.48 [[ 8.00261838e-01 5.97486706e-01 5.08981998e-02 1.17629746e+03] [-5.96342160e-01 8.01878451e-01 -3.69726517e-02 -6.58073112e+02] [-6.29048375e-02 -7.64940194e-04 9.98019236e-01 -5.14827683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.34, Y:-658.11, Z:-51.48 [[ 8.00795767e-01 5.96771380e-01 5.08926211e-02 1.17634460e+03] [-5.95624903e-01 8.02411011e-01 -3.69803291e-02 -6.58111978e+02] [-6.29056016e-02 -6.99221484e-04 9.98019237e-01 -5.14849909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.39, Y:-658.15, Z:-51.49 [[ 8.00577854e-01 5.97064385e-01 5.08843794e-02 1.17639360e+03] [-5.95917778e-01 8.02193006e-01 -3.69916661e-02 -6.58150784e+02] [-6.29054996e-02 -7.08197601e-04 9.98019237e-01 -5.14870212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.44, Y:-658.19, Z:-51.49 [[ 8.00600395e-01 5.97035026e-01 5.08742130e-02 1.17644345e+03] [-5.95887472e-01 8.02214874e-01 -3.70056426e-02 -6.58187245e+02] [-6.29057151e-02 -6.88574067e-04 9.98019237e-01 -5.14923441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1176.49, Y:-658.22, Z:-51.50 [[ 7.98546786e-01 5.99779294e-01 5.08707189e-02 1.17649338e+03] [-5.98636981e-01 8.00164978e-01 -3.70104452e-02 -6.58222646e+02] [-6.29030663e-02 -8.98521601e-04 9.98019237e-01 -5.14963231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.54, Y:-658.26, Z:-51.50 [[ 7.96533235e-01 6.02451573e-01 5.08616438e-02 1.17654408e+03] [-6.01313894e-01 7.98154688e-01 -3.70229125e-02 -6.58258572e+02] [-6.28999713e-02 -1.09383276e-03 9.98019237e-01 -5.15020616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.60, Y:-658.29, Z:-51.51 [[ 7.95144654e-01 6.04283858e-01 5.08527093e-02 1.17659541e+03] [-6.03149130e-01 7.96768174e-01 -3.70351803e-02 -6.58293534e+02] [-6.28975820e-02 -1.22344175e-03 9.98019237e-01 -5.15071258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.65, Y:-658.33, Z:-51.51 [[ 7.95340246e-01 6.04027176e-01 5.08435162e-02 1.17664603e+03] [-6.02891118e-01 7.96962835e-01 -3.70477967e-02 -6.58329378e+02] [-6.28982689e-02 -1.18750055e-03 9.98019237e-01 -5.15120095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.70, Y:-658.37, Z:-51.52 [[ 7.96878949e-01 6.01996565e-01 5.08338078e-02 1.17669719e+03] [-6.00855523e-01 7.98498036e-01 -3.70611131e-02 -6.58366714e+02] [-6.29013585e-02 -1.01055330e-03 9.98019237e-01 -5.15151114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.75, Y:-658.40, Z:-51.52 [[ 8.00357043e-01 5.97365525e-01 5.08235576e-02 1.17674616e+03] [-5.96214221e-01 8.01968849e-01 -3.70751643e-02 -6.58404466e+02] [-6.29063350e-02 -6.28358966e-04 9.98019237e-01 -5.15168126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.80, Y:-658.44, Z:-51.52 [[ 8.02461396e-01 5.94536441e-01 5.08146574e-02 1.17679603e+03] [-5.93378682e-01 8.04068572e-01 -3.70873588e-02 -6.58442061e+02] [-6.29082553e-02 -3.91160685e-04 9.98019238e-01 -5.15200080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.85, Y:-658.48, Z:-51.52 [[ 8.03991006e-01 5.92467185e-01 5.08045021e-02 1.17684626e+03] [-5.91304411e-01 8.05594557e-01 -3.71012649e-02 -6.58478950e+02] [-6.29091123e-02 -2.11842933e-04 9.98019238e-01 -5.15241171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1176.90, Y:-658.51, Z:-51.53 [[ 8.03614932e-01 5.92978064e-01 5.07942494e-02 1.17689560e+03] [-5.91815423e-01 8.05218579e-01 -3.71152962e-02 -6.58514498e+02] [-6.29090299e-02 -2.34413914e-04 9.98019238e-01 -5.15286862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1176.95, Y:-658.55, Z:-51.53 [[ 8.01731269e-01 5.95522813e-01 5.07892801e-02 1.17694566e+03] [-5.94364831e-01 8.03338284e-01 -3.71220952e-02 -6.58549737e+02] [-6.29080276e-02 -4.25417381e-04 9.98019238e-01 -5.15335144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.00, Y:-658.59, Z:-51.54 [[ 7.99412808e-01 5.98632131e-01 5.07812412e-02 1.17699690e+03] [-5.97479701e-01 8.01023808e-01 -3.71330887e-02 -6.58585397e+02] [-6.29060432e-02 -6.56094081e-04 9.98019238e-01 -5.15389756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.05, Y:-658.62, Z:-51.55 [[ 7.97818655e-01 6.00755462e-01 5.07766459e-02 1.17704784e+03] [-5.99606919e-01 7.99432430e-01 -3.71393713e-02 -6.58619570e+02] [-6.29041776e-02 -8.15544967e-04 9.98019238e-01 -5.15461307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1177.10, Y:-658.66, Z:-51.55 [[ 7.98370245e-01 6.00022946e-01 5.07682654e-02 1.17709802e+03] [-5.98872194e-01 7.99982445e-01 -3.71508237e-02 -6.58656287e+02] [-6.29050677e-02 -7.43590226e-04 9.98019238e-01 -5.15509831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.15, Y:-658.69, Z:-51.55 [[ 7.99993092e-01 5.97858243e-01 5.07599605e-02 1.17714703e+03] [-5.96702409e-01 8.01601652e-01 -3.71621674e-02 -6.58693297e+02] [-6.29069763e-02 -5.59113495e-04 9.98019238e-01 -5.15544208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.20, Y:-658.73, Z:-51.55 [[ 8.03340791e-01 5.93352728e-01 5.07554298e-02 1.17719684e+03] [-5.92187480e-01 8.04942546e-01 -3.71683543e-02 -6.58731577e+02] [-6.29091493e-02 -1.97874964e-04 9.98019238e-01 -5.15510398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.25, Y:-658.77, Z:-51.55 [[ 8.04958081e-01 5.91157588e-01 5.07463751e-02 1.17724656e+03] [-5.89987194e-01 8.06556078e-01 -3.71807128e-02 -6.58768291e+02] [-6.29094577e-02 -1.07962071e-05 9.98019238e-01 -5.15531457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.30, Y:-658.81, Z:-51.56 [[ 8.05390483e-01 5.90569130e-01 5.07373012e-02 1.17729698e+03] [-5.89396788e-01 8.06987051e-01 -3.71930909e-02 -6.58806038e+02] [-6.29094365e-02 5.05590742e-05 9.98019238e-01 -5.15557747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.35, Y:-658.84, Z:-51.56 [[ 8.03259780e-01 5.93464843e-01 5.07267736e-02 1.17734818e+03] [-5.92297350e-01 8.04859898e-01 -3.72074438e-02 -6.58842668e+02] [-6.29092556e-02 -1.58090517e-04 9.98019239e-01 -5.15609483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.40, Y:-658.88, Z:-51.57 [[ 8.00504837e-01 5.97176579e-01 5.07162703e-02 1.17739869e+03] [-5.96015599e-01 8.02109685e-01 -3.72217550e-02 -6.58878407e+02] [-6.29079720e-02 -4.31493297e-04 9.98019239e-01 -5.15669135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1177.45, Y:-658.91, Z:-51.57 [[ 7.97962782e-01 6.00569881e-01 5.07071724e-02 1.17744940e+03] [-5.99414937e-01 7.99571980e-01 -3.72341450e-02 -6.58914775e+02] [-6.29057403e-02 -6.83174619e-04 9.98019239e-01 -5.15730801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1177.50, Y:-658.95, Z:-51.58 [[ 7.95090003e-01 6.04368264e-01 5.07039291e-02 1.17749791e+03] [-6.03220726e-01 7.96704491e-01 -3.72385611e-02 -6.58950945e+02] [-6.29018525e-02 -9.77653194e-04 9.98019239e-01 -5.15787648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.55, Y:-658.99, Z:-51.59 [[ 7.95251497e-01 6.04156445e-01 5.06956298e-02 1.17754918e+03] [-6.03007757e-01 7.96865166e-01 -3.72498561e-02 -6.58985952e+02] [-6.29023221e-02 -9.46854212e-04 9.98019239e-01 -5.15855227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.60, Y:-659.02, Z:-51.58 [[ 7.94041246e-01 6.05746493e-01 5.06920685e-02 1.17759733e+03] [-6.04600727e-01 7.95656992e-01 -3.72547019e-02 -6.59023690e+02] [-6.29004038e-02 -1.06669158e-03 9.98019239e-01 -5.15839059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.65, Y:-659.06, Z:-51.59 [[ 7.95792690e-01 6.03444485e-01 5.06828230e-02 1.17764588e+03] [-6.02293244e-01 7.97404539e-01 -3.72672756e-02 -6.59061739e+02] [-6.29034451e-02 -8.68896354e-04 9.98019239e-01 -5.15853537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.69, Y:-659.10, Z:-51.59 [[ 7.97412296e-01 6.01303074e-01 5.06778520e-02 1.17769464e+03] [-6.00147074e-01 7.99020736e-01 -3.72740342e-02 -6.59099326e+02] [-6.29056459e-02 -6.91391419e-04 9.98019239e-01 -5.15889305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.74, Y:-659.14, Z:-51.59 [[ 7.98646821e-01 5.99663231e-01 5.06681812e-02 1.17774488e+03] [-5.98503096e-01 8.00252280e-01 -3.72871755e-02 -6.59137649e+02] [-6.29070757e-02 -5.45779129e-04 9.98019239e-01 -5.15927765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.80, Y:-659.18, Z:-51.60 [[ 7.98291356e-01 6.00137242e-01 5.06577003e-02 1.17779561e+03] [-5.98977156e-01 7.99896850e-01 -3.73014093e-02 -6.59175326e+02] [-6.29068998e-02 -5.65412639e-04 9.98019239e-01 -5.15975286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1177.85, Y:-659.21, Z:-51.60 [[ 7.97378092e-01 6.01351017e-01 5.06471446e-02 1.17784529e+03] [-6.00192465e-01 7.98984694e-01 -3.73157361e-02 -6.59211114e+02] [-6.29061492e-02 -6.43284156e-04 9.98019240e-01 -5.16029520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.90, Y:-659.25, Z:-51.61 [[ 7.95016967e-01 6.04469915e-01 5.06373790e-02 1.17789641e+03] [-6.03316822e-01 7.96627491e-01 -3.73289833e-02 -6.59246396e+02] [-6.29033756e-02 -8.73207432e-04 9.98019240e-01 -5.16081420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1177.95, Y:-659.28, Z:-51.62 [[ 7.93542328e-01 6.06405285e-01 5.06280900e-02 1.17794621e+03] [-6.05255316e-01 7.95155085e-01 -3.73415775e-02 -6.59281217e+02] [-6.29013131e-02 -1.01079823e-03 9.98019240e-01 -5.16151698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.00, Y:-659.32, Z:-51.62 [[ 7.94843235e-01 6.04699561e-01 5.06228540e-02 1.17799641e+03] [-6.03545679e-01 7.96453194e-01 -3.73486745e-02 -6.59318791e+02] [-6.29034608e-02 -8.66863546e-04 9.98019240e-01 -5.16176436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.04, Y:-659.36, Z:-51.62 [[ 7.97374062e-01 6.01359307e-01 5.06121498e-02 1.17804430e+03] [-6.00197760e-01 7.98978499e-01 -3.73631744e-02 -6.59356698e+02] [-6.29067121e-02 -5.84872759e-04 9.98019240e-01 -5.16216551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.09, Y:-659.40, Z:-51.62 [[ 8.02011848e-01 5.95160711e-01 5.06036010e-02 1.17809263e+03] [-5.93986033e-01 8.03606695e-01 -3.73747491e-02 -6.59395986e+02] [-6.29093748e-02 -8.28406567e-05 9.98019240e-01 -5.16218762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.14, Y:-659.43, Z:-51.63 [[ 8.04420199e-01 5.91902314e-01 5.05944085e-02 1.17814241e+03] [-5.90720393e-01 8.06009687e-01 -3.73871888e-02 -6.59434323e+02] [-6.29091469e-02 1.87860913e-04 9.98019240e-01 -5.16253101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.19, Y:-659.47, Z:-51.63 [[ 8.05570244e-01 5.90337054e-01 5.05840334e-02 1.17819257e+03] [-5.89151164e-01 8.07156772e-01 -3.74012209e-02 -6.59472415e+02] [-6.29085717e-02 3.27668492e-04 9.98019240e-01 -5.16291115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.24, Y:-659.51, Z:-51.63 [[ 8.04234814e-01 5.92155959e-01 5.05735511e-02 1.17824348e+03] [-5.90972765e-01 8.05823355e-01 -3.74153896e-02 -6.59507931e+02] [-6.29090945e-02 2.03167606e-04 9.98019241e-01 -5.16341593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.29, Y:-659.54, Z:-51.64 [[ 8.01153688e-01 5.96318759e-01 5.05638752e-02 1.17829475e+03] [-5.95142995e-01 8.02747735e-01 -3.74284612e-02 -6.59542233e+02] [-6.29093298e-02 -1.06786405e-04 9.98019241e-01 -5.16405863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.35, Y:-659.58, Z:-51.65 [[ 7.97551274e-01 6.01129072e-01 5.05549698e-02 1.17834624e+03] [-5.99962159e-01 7.99151811e-01 -3.74404860e-02 -6.59576491e+02] [-6.29076603e-02 -4.70361523e-04 9.98019241e-01 -5.16475879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.40, Y:-659.61, Z:-51.65 [[ 7.92975977e-01 6.07152521e-01 5.05461848e-02 1.17839806e+03] [-6.05997009e-01 7.94584764e-01 -3.74523423e-02 -6.59611067e+02] [-6.29025124e-02 -9.32029097e-04 9.98019241e-01 -5.16513005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.45, Y:-659.65, Z:-51.66 [[ 7.91891860e-01 6.08566605e-01 5.05368101e-02 1.17844838e+03] [-6.07413158e-01 7.93502130e-01 -3.74649880e-02 -6.59646595e+02] [-6.29010070e-02 -1.02850436e-03 9.98019241e-01 -5.16604289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.50, Y:-659.68, Z:-51.66 [[ 7.91304372e-01 6.09330621e-01 5.05330100e-02 1.17849807e+03] [-6.08178403e-01 7.92915520e-01 -3.74701128e-02 -6.59682757e+02] [-6.29000950e-02 -1.08282125e-03 9.98019241e-01 -5.16556832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.55, Y:-659.72, Z:-51.66 [[ 7.92688154e-01 6.07530166e-01 5.05231409e-02 1.17854702e+03] [-6.06373440e-01 7.94296069e-01 -3.74834152e-02 -6.59719301e+02] [-6.29026377e-02 -9.23231586e-04 9.98019241e-01 -5.16575807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.60, Y:-659.76, Z:-51.67 [[ 7.97129311e-01 6.01691888e-01 5.05146911e-02 1.17859733e+03] [-6.00522662e-01 7.98728160e-01 -3.74947991e-02 -6.59755892e+02] [-6.29078227e-02 -4.47013378e-04 9.98019241e-01 -5.16678991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.64, Y:-659.80, Z:-51.67 [[ 7.96967860e-01 6.01906675e-01 5.05033211e-02 1.17864474e+03] [-6.00736910e-01 7.98566313e-01 -3.75101077e-02 -6.59795173e+02] [-6.29078351e-02 -4.44858751e-04 9.98019242e-01 -5.16715696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.69, Y:-659.83, Z:-51.67 [[ 7.95327464e-01 6.04073530e-01 5.04915297e-02 1.17869251e+03] [-6.02907113e-01 7.96928362e-01 -3.75259731e-02 -6.59834855e+02] [-6.29065791e-02 -5.96265357e-04 9.98019242e-01 -5.16695632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.74, Y:-659.87, Z:-51.67 [[ 7.94237910e-01 6.05506272e-01 5.04806556e-02 1.17874170e+03] [-6.04341813e-01 7.95840233e-01 -3.75405955e-02 -6.59873641e+02] [-6.29056028e-02 -6.91406884e-04 9.98019242e-01 -5.16743256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.79, Y:-659.91, Z:-51.68 [[ 7.92976435e-01 6.07158215e-01 5.04705478e-02 1.17879138e+03] [-6.05996229e-01 7.94580552e-01 -3.75541798e-02 -6.59911230e+02] [-6.29042445e-02 -8.05382087e-04 9.98019242e-01 -5.16799558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1178.84, Y:-659.95, Z:-51.69 [[ 7.91965331e-01 6.08477212e-01 5.04618328e-02 1.17884144e+03] [-6.07317153e-01 7.93570841e-01 -3.75658866e-02 -6.59947884e+02] [-6.29030251e-02 -8.95456742e-04 9.98019242e-01 -5.16859144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.89, Y:-659.98, Z:-51.69 [[ 7.92475084e-01 6.07813927e-01 5.04526588e-02 1.17889028e+03] [-6.06651740e-01 7.94079055e-01 -3.75782036e-02 -6.59984636e+02] [-6.29039551e-02 -8.27403201e-04 9.98019242e-01 -5.16914913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.94, Y:-660.02, Z:-51.70 [[ 7.93985819e-01 6.05839827e-01 5.04442637e-02 1.17893958e+03] [-6.04672935e-01 7.95586371e-01 -3.75894697e-02 -6.60021827e+02] [-6.29059665e-02 -6.56775103e-04 9.98019242e-01 -5.16951053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1178.99, Y:-660.06, Z:-51.70 [[ 7.95768434e-01 6.03497244e-01 5.04348683e-02 1.17898899e+03] [-6.02324842e-01 7.97364954e-01 -3.76020716e-02 -6.60058662e+02] [-6.29077430e-02 -4.55632406e-04 9.98019242e-01 -5.16967325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.04, Y:-660.10, Z:-51.70 [[ 7.97247015e-01 6.01543323e-01 5.04264661e-02 1.17903950e+03] [-6.00366295e-01 7.98840127e-01 -3.76133360e-02 -6.60095851e+02] [-6.29087357e-02 -2.87230740e-04 9.98019243e-01 -5.17002257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.09, Y:-660.13, Z:-51.70 [[ 7.96865511e-01 6.02049475e-01 5.04161485e-02 1.17909004e+03] [-6.00872585e-01 7.98458724e-01 -3.76271604e-02 -6.60132886e+02] [-6.29086258e-02 -3.09895051e-04 9.98019243e-01 -5.17048262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.14, Y:-660.17, Z:-51.71 [[ 7.95916299e-01 6.03304664e-01 5.04056284e-02 1.17913942e+03] [-6.02129394e-01 7.97510708e-01 -3.76412480e-02 -6.60168024e+02] [-6.29081689e-02 -3.91427700e-04 9.98019243e-01 -5.17105677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.19, Y:-660.20, Z:-51.72 [[ 7.93496917e-01 6.06483935e-01 5.03972192e-02 1.17919037e+03] [-6.05314338e-01 7.95095492e-01 -3.76525036e-02 -6.60203326e+02] [-6.29062403e-02 -6.29013864e-04 9.98019243e-01 -5.17169353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.24, Y:-660.24, Z:-51.72 [[ 7.91544390e-01 6.09030821e-01 5.03878750e-02 1.17924048e+03] [-6.07865572e-01 7.93146137e-01 -3.76650042e-02 -6.60239072e+02] [-6.29040968e-02 -8.15531713e-04 9.98019243e-01 -5.17221657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.29, Y:-660.28, Z:-51.73 [[ 7.89838884e-01 6.11241794e-01 5.03786277e-02 1.17929097e+03] [-6.10080240e-01 7.91443312e-01 -3.76773688e-02 -6.60275461e+02] [-6.29018105e-02 -9.75954357e-04 9.98019243e-01 -5.17268640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.34, Y:-660.31, Z:-51.73 [[ 7.88246807e-01 6.13294343e-01 5.03688456e-02 1.17933946e+03] [-6.12136131e-01 7.89853650e-01 -3.76904415e-02 -6.60313460e+02] [-6.28993510e-02 -1.12322009e-03 9.98019243e-01 -5.17297035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.39, Y:-660.35, Z:-51.73 [[ 7.87274563e-01 6.14542647e-01 5.03596859e-02 1.17938767e+03] [-6.13386201e-01 7.88882676e-01 -3.77026761e-02 -6.60352094e+02] [-6.28977862e-02 -1.20757866e-03 9.98019243e-01 -5.17336616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.44, Y:-660.39, Z:-51.74 [[ 7.86658705e-01 6.15331585e-01 5.03500017e-02 1.17943614e+03] [-6.14175925e-01 7.88267383e-01 -3.77156044e-02 -6.60390217e+02] [-6.28968667e-02 -1.25445033e-03 9.98019244e-01 -5.17355723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.49, Y:-660.43, Z:-51.74 [[ 7.86302699e-01 6.15787204e-01 5.03406797e-02 1.17948586e+03] [-6.14631680e-01 7.87911475e-01 -3.77280429e-02 -6.60428640e+02] [-6.28964452e-02 -1.27531459e-03 9.98019244e-01 -5.17396438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.53, Y:-660.47, Z:-51.74 [[ 7.86234518e-01 6.15875115e-01 5.03301657e-02 1.17953479e+03] [-6.14718874e-01 7.87842778e-01 -3.77420636e-02 -6.60467333e+02] [-6.28966553e-02 -1.26478966e-03 9.98019244e-01 -5.17432343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.58, Y:-660.51, Z:-51.75 [[ 7.86084245e-01 6.16067796e-01 5.03192894e-02 1.17958136e+03] [-6.14911022e-01 7.87692121e-01 -3.77565587e-02 -6.60506247e+02] [-6.28967078e-02 -1.26204971e-03 9.98019244e-01 -5.17494318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.63, Y:-660.54, Z:-51.75 [[ 7.84727141e-01 6.17796210e-01 5.03106059e-02 1.17963133e+03] [-6.16642236e-01 7.86337028e-01 -3.77681260e-02 -6.60542510e+02] [-6.28940974e-02 -1.38597092e-03 9.98019244e-01 -5.17547208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.68, Y:-660.58, Z:-51.76 [[ 7.83417140e-01 6.19457307e-01 5.03013888e-02 1.17968173e+03] [-6.18305959e-01 7.85028906e-01 -3.77803978e-02 -6.60578526e+02] [-6.28913877e-02 -1.50383719e-03 9.98019244e-01 -5.17604233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.73, Y:-660.61, Z:-51.77 [[ 7.83288845e-01 6.19620268e-01 5.02922295e-02 1.17973455e+03] [-6.18468473e-01 7.84900292e-01 -3.77925864e-02 -6.60611491e+02] [-6.28914382e-02 -1.50164704e-03 9.98019244e-01 -5.17666430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.79, Y:-660.65, Z:-51.77 [[ 7.84675302e-01 6.17864290e-01 5.02831035e-02 1.17978622e+03] [-6.16708111e-01 7.86283606e-01 -3.78047248e-02 -6.60647470e+02] [-6.28949694e-02 -1.34556396e-03 9.98019245e-01 -5.17700956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.84, Y:-660.68, Z:-51.77 [[ 7.87725319e-01 6.13971916e-01 5.02723395e-02 1.17983562e+03] [-6.12806876e-01 7.89327216e-01 -3.78190332e-02 -6.60684104e+02] [-6.29011501e-02 -1.01622527e-03 9.98019245e-01 -5.17747612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.88, Y:-660.72, Z:-51.78 [[ 7.94360551e-01 6.05363258e-01 5.02657043e-02 1.17988384e+03] [-6.04180296e-01 7.95949259e-01 -3.78278501e-02 -6.60723473e+02] [-6.29085407e-02 -3.20596304e-04 9.98019245e-01 -5.17800971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.93, Y:-660.76, Z:-51.78 [[ 7.98607579e-01 5.99749902e-01 5.02592236e-02 1.17993301e+03] [-5.98555232e-01 8.00187501e-01 -3.78364585e-02 -6.60762900e+02] [-6.29092149e-02 1.33561287e-04 9.98019245e-01 -5.17832709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1179.98, Y:-660.80, Z:-51.79 [[ 8.00758856e-01 5.96875452e-01 5.02488769e-02 1.17998250e+03] [-5.95674248e-01 8.02333817e-01 -3.78501946e-02 -6.60801915e+02] [-6.29082252e-02 3.76916570e-04 9.98019245e-01 -5.17854531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.03, Y:-660.84, Z:-51.79 [[ 7.99312484e-01 5.98811887e-01 5.02382013e-02 1.18003176e+03] [-5.97613609e-01 8.00889671e-01 -3.78643589e-02 -6.60837310e+02] [-6.29088847e-02 2.42421939e-04 9.98019245e-01 -5.17888660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.08, Y:-660.88, Z:-51.79 [[ 7.97002448e-01 6.01883774e-01 5.02296770e-02 1.18008193e+03] [-6.00690862e-01 7.98583698e-01 -3.78756637e-02 -6.60875347e+02] [-6.29093486e-02 1.44887191e-05 9.98019245e-01 -5.17926569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.13, Y:-660.91, Z:-51.79 [[ 7.94501899e-01 6.05181591e-01 5.02192703e-02 1.18013227e+03] [-6.03994370e-01 7.96087426e-01 -3.78894569e-02 -6.60913318e+02] [-6.29089314e-02 -2.28911069e-04 9.98019245e-01 -5.17937845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.18, Y:-660.95, Z:-51.79 [[ 7.93640232e-01 6.06312054e-01 5.02083220e-02 1.18018236e+03] [-6.05126174e-01 7.95226762e-01 -3.79039592e-02 -6.60952275e+02] [-6.29086287e-02 -3.00262839e-04 9.98019246e-01 -5.17925552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.23, Y:-660.99, Z:-51.79 [[ 7.95246441e-01 6.04204741e-01 5.01969000e-02 1.18023185e+03] [-6.03013702e-01 7.96829102e-01 -3.79190795e-02 -6.60989116e+02] [-6.29092384e-02 -1.14405459e-04 9.98019246e-01 -5.17946395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.28, Y:-661.03, Z:-51.80 [[ 7.96580880e-01 6.02445082e-01 5.01879085e-02 1.18028000e+03] [-6.01249797e-01 7.98160336e-01 -3.79309765e-02 -6.61026985e+02] [-6.29093282e-02 3.96208276e-05 9.98019246e-01 -5.17980681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1180.33, Y:-661.06, Z:-51.80 [[ 7.97713593e-01 6.00944857e-01 5.01827004e-02 1.18033113e+03] [-5.99746169e-01 7.99290468e-01 -3.79378657e-02 -6.61064268e+02] [-6.29091193e-02 1.66668845e-04 9.98019246e-01 -5.18014359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.38, Y:-661.10, Z:-51.81 [[ 7.98157914e-01 6.00355491e-01 5.01719936e-02 1.18038260e+03] [-5.99154749e-01 7.99733225e-01 -3.79520199e-02 -6.61099260e+02] [-6.29089138e-02 2.30916798e-04 9.98019246e-01 -5.18076920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.43, Y:-661.14, Z:-51.81 [[ 7.98114967e-01 6.00413464e-01 5.01614555e-02 1.18043356e+03] [-5.99211962e-01 7.99689698e-01 -3.79659430e-02 -6.61135614e+02] [-6.29088626e-02 2.43843210e-04 9.98019246e-01 -5.18125130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.48, Y:-661.17, Z:-51.82 [[ 7.97826408e-01 6.00797744e-01 5.01507066e-02 1.18048345e+03] [-5.99596108e-01 7.99401036e-01 -3.79801364e-02 -6.61171664e+02] [-6.29089071e-02 2.31387278e-04 9.98019246e-01 -5.18169669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.53, Y:-661.21, Z:-51.82 [[ 7.97329439e-01 6.01457952e-01 5.01407850e-02 1.18053452e+03] [-6.00256796e-01 7.98904433e-01 -3.79932302e-02 -6.61208528e+02] [-6.29090259e-02 1.95773962e-04 9.98019246e-01 -5.18195947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.59, Y:-661.24, Z:-51.82 [[ 7.96358387e-01 6.02743999e-01 5.01297357e-02 1.18058551e+03] [-6.01544469e-01 7.97934621e-01 -3.80078035e-02 -6.61244331e+02] [-6.29092272e-02 1.12567841e-04 9.98019247e-01 -5.18232510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.64, Y:-661.28, Z:-51.83 [[ 7.95382825e-01 6.04031616e-01 5.01195499e-02 1.18063815e+03] [-6.02833791e-01 7.96960354e-01 -3.80212305e-02 -6.61278383e+02] [-6.29093195e-02 2.76754004e-05 9.98019247e-01 -5.18279110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.69, Y:-661.32, Z:-51.83 [[ 7.93229982e-01 6.06856936e-01 5.01084252e-02 1.18068786e+03] [-6.05663804e-01 7.94811064e-01 -3.80358862e-02 -6.61315126e+02] [-6.29090721e-02 -1.77654044e-04 9.98019247e-01 -5.18297870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.74, Y:-661.35, Z:-51.84 [[ 7.93096256e-01 6.07032541e-01 5.00981403e-02 1.18074039e+03] [-6.05838904e-01 7.94676956e-01 -3.80494280e-02 -6.61350005e+02] [-6.29090785e-02 -1.74543523e-04 9.98019247e-01 -5.18370196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1180.79, Y:-661.38, Z:-51.84 [[ 7.90398672e-01 6.10541725e-01 5.00873397e-02 1.18079212e+03] [-6.09354205e-01 7.91983973e-01 -3.80636403e-02 -6.61383850e+02] [-6.29078108e-02 -4.35480261e-04 9.98019247e-01 -5.18374097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1180.84, Y:-661.42, Z:-51.84 [[ 7.89386459e-01 6.11850587e-01 5.00787100e-02 1.18084422e+03] [-6.10664975e-01 7.90973188e-01 -3.80749907e-02 -6.61417279e+02] [-6.29071222e-02 -5.25432102e-04 9.98019247e-01 -5.18444007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1180.89, Y:-661.45, Z:-51.85 [[ 7.89593392e-01 6.11584271e-01 5.00695037e-02 1.18089461e+03] [-6.10397356e-01 7.91179146e-01 -3.80870933e-02 -6.61453872e+02] [-6.29074143e-02 -4.88975446e-04 9.98019247e-01 -5.18494782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1180.95, Y:-661.49, Z:-51.85 [[ 7.90761629e-01 6.10073773e-01 5.00603487e-02 1.18094549e+03] [-6.08883068e-01 7.92344538e-01 -3.80991226e-02 -6.61489292e+02] [-6.29083193e-02 -3.53574471e-04 9.98019248e-01 -5.18537105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.00, Y:-661.52, Z:-51.86 [[ 7.93750538e-01 6.06180634e-01 5.00512088e-02 1.18099754e+03] [-6.04981408e-01 7.95327001e-01 -3.81111260e-02 -6.61523425e+02] [-6.29093043e-02 -2.93239998e-05 9.98019248e-01 -5.18570410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.05, Y:-661.56, Z:-51.86 [[ 7.94646088e-01 6.05006919e-01 5.00422109e-02 1.18104759e+03] [-6.03804620e-01 7.96220210e-01 -3.81229370e-02 -6.61560912e+02] [-6.29092603e-02 7.85245996e-05 9.98019248e-01 -5.18603280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.10, Y:-661.60, Z:-51.86 [[ 7.95723201e-01 6.03590415e-01 5.00319775e-02 1.18109736e+03] [-6.02384470e-01 7.97294530e-01 -3.81363625e-02 -6.61598581e+02] [-6.29089649e-02 2.07502211e-04 9.98019248e-01 -5.18632646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.15, Y:-661.64, Z:-51.87 [[ 7.95403099e-01 6.04013014e-01 5.00218906e-02 1.18114685e+03] [-6.02807072e-01 7.96974430e-01 -3.81495886e-02 -6.61635162e+02] [-6.29090157e-02 1.90751557e-04 9.98019248e-01 -5.18659949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.20, Y:-661.67, Z:-51.87 [[ 7.93686565e-01 6.06267581e-01 5.00125684e-02 1.18119872e+03] [-6.05065333e-01 7.95260725e-01 -3.81618056e-02 -6.61671047e+02] [-6.29092970e-02 2.76410988e-05 9.98019248e-01 -5.18706736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.25, Y:-661.71, Z:-51.88 [[ 7.90726756e-01 6.10123701e-01 5.00026743e-02 1.18124828e+03] [-6.08928310e-01 7.92306128e-01 -3.81747653e-02 -6.61706914e+02] [-6.29087544e-02 -2.62235630e-04 9.98019248e-01 -5.18761453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.30, Y:-661.74, Z:-51.88 [[ 7.87494773e-01 6.14290247e-01 4.99947579e-02 1.18129754e+03] [-6.13102554e-01 7.89079942e-01 -3.81851300e-02 -6.61744050e+02] [-6.29066136e-02 -5.81323480e-04 9.98019248e-01 -5.18820425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.35, Y:-661.78, Z:-51.89 [[ 7.84707496e-01 6.17847479e-01 4.99863834e-02 1.18134715e+03] [-6.16666273e-01 7.86297505e-01 -3.81960896e-02 -6.61781448e+02] [-6.29035262e-02 -8.52158897e-04 9.98019248e-01 -5.18850060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.40, Y:-661.82, Z:-51.89 [[ 7.84620870e-01 6.17958245e-01 4.99769806e-02 1.18139623e+03] [-6.16776480e-01 7.86210463e-01 -3.82083885e-02 -6.61818990e+02] [-6.29036138e-02 -8.45527185e-04 9.98019249e-01 -5.18926259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.44, Y:-661.86, Z:-51.89 [[ 7.86740051e-01 6.15258797e-01 4.99670282e-02 1.18144387e+03] [-6.14070752e-01 7.88324956e-01 -3.82213994e-02 -6.61858089e+02] [-6.29063075e-02 -6.12984803e-04 9.98019249e-01 -5.18924389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.49, Y:-661.90, Z:-51.89 [[ 7.88584561e-01 6.12893492e-01 4.99595552e-02 1.18149235e+03] [-6.11700074e-01 7.90165424e-01 -3.82311649e-02 -6.61896725e+02] [-6.29079453e-02 -4.11757154e-04 9.98019249e-01 -5.18899563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1181.54, Y:-661.94, Z:-51.89 [[ 7.90113783e-01 6.10921593e-01 4.99501501e-02 1.18154146e+03] [-6.09723452e-01 7.91691070e-01 -3.82434490e-02 -6.61935190e+02] [-6.29088366e-02 -2.39101854e-04 9.98019249e-01 -5.18928965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.59, Y:-661.97, Z:-51.90 [[ 7.90915199e-01 6.09884464e-01 4.99408418e-02 1.18159096e+03] [-6.08683488e-01 7.92490328e-01 -3.82556005e-02 -6.61972365e+02] [-6.29091306e-02 -1.41229892e-04 9.98019249e-01 -5.18978204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.64, Y:-662.01, Z:-51.90 [[ 7.89739732e-01 6.11406617e-01 4.99309877e-02 1.18163997e+03] [-6.10207864e-01 7.91316553e-01 -3.82684578e-02 -6.62010143e+02] [-6.29088054e-02 -2.46159717e-04 9.98019249e-01 -5.19025724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.69, Y:-662.05, Z:-51.91 [[ 7.88228826e-01 6.13354029e-01 4.99214693e-02 1.18168811e+03] [-6.12158385e-01 7.89808006e-01 -3.82808706e-02 -6.62047564e+02] [-6.29081023e-02 -3.85760401e-04 9.98019249e-01 -5.19093615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.74, Y:-662.08, Z:-51.92 [[ 7.86237591e-01 6.15904890e-01 4.99161088e-02 1.18173639e+03] [-6.14713926e-01 7.87820303e-01 -3.82878591e-02 -6.62084707e+02] [-6.29066036e-02 -5.80773132e-04 9.98019249e-01 -5.19161374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.78, Y:-662.12, Z:-51.92 [[ 7.84177584e-01 6.18526248e-01 4.99078994e-02 1.18178362e+03] [-6.17339893e-01 7.85763754e-01 -3.82985570e-02 -6.62123533e+02] [-6.29044811e-02 -7.77267421e-04 9.98019249e-01 -5.19215354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.83, Y:-662.16, Z:-51.92 [[ 7.83743446e-01 6.19076659e-01 4.99029243e-02 1.18183226e+03] [-6.17891006e-01 7.85330140e-01 -3.83050384e-02 -6.62163148e+02] [-6.29040258e-02 -8.13245334e-04 9.98019249e-01 -5.19216168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.88, Y:-662.20, Z:-51.93 [[ 7.84621433e-01 6.17964398e-01 4.98919810e-02 1.18187844e+03] [-6.16775590e-01 7.86205764e-01 -3.83192867e-02 -6.62202774e+02] [-6.29053180e-02 -7.06022442e-04 9.98019250e-01 -5.19268256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.93, Y:-662.24, Z:-51.92 [[ 7.86044956e-01 6.16153381e-01 4.98832389e-02 1.18192634e+03] [-6.14960201e-01 7.87625998e-01 -3.83306637e-02 -6.62243473e+02] [-6.29069038e-02 -5.46581760e-04 9.98019250e-01 -5.19243760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1181.97, Y:-662.28, Z:-51.93 [[ 7.86573197e-01 6.15479664e-01 4.98737308e-02 1.18197407e+03] [-6.14284345e-01 7.88152622e-01 -3.83430310e-02 -6.62283899e+02] [-6.29074676e-02 -4.77051551e-04 9.98019250e-01 -5.19271473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.02, Y:-662.32, Z:-51.93 [[ 7.86183541e-01 6.15978070e-01 4.98643859e-02 1.18202115e+03] [-6.14782982e-01 7.87763141e-01 -3.83551801e-02 -6.62323477e+02] [-6.29072751e-02 -5.01564545e-04 9.98019250e-01 -5.19306130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.07, Y:-662.36, Z:-51.94 [[ 7.83272088e-01 6.19676825e-01 4.98544824e-02 1.18206989e+03] [-6.18488376e-01 7.84856688e-01 -3.83680484e-02 -6.62363515e+02] [-6.29044144e-02 -7.81796527e-04 9.98019250e-01 -5.19352166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.12, Y:-662.40, Z:-51.94 [[ 7.80494013e-01 6.23173061e-01 4.98440743e-02 1.18211965e+03] [-6.21990847e-01 7.82083270e-01 -3.83815649e-02 -6.62402028e+02] [-6.29005739e-02 -1.04597635e-03 9.98019250e-01 -5.19404704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.17, Y:-662.44, Z:-51.95 [[ 7.78102437e-01 6.26157509e-01 4.98334311e-02 1.18216844e+03] [-6.24980506e-01 7.79695558e-01 -3.83953788e-02 -6.62440422e+02] [-6.28964596e-02 -1.26938514e-03 9.98019250e-01 -5.19457960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.21, Y:-662.48, Z:-51.95 [[ 7.77760251e-01 6.26583250e-01 4.98239220e-02 1.18221447e+03] [-6.25406329e-01 7.79353432e-01 -3.84077144e-02 -6.62480228e+02] [-6.28960751e-02 -1.28820253e-03 9.98019251e-01 -5.19536322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.26, Y:-662.52, Z:-51.96 [[ 7.80394163e-01 6.23300404e-01 4.98152276e-02 1.18226174e+03] [-6.22116061e-01 7.81981834e-01 -3.84189877e-02 -6.62521883e+02] [-6.29011736e-02 -1.00889943e-03 9.98019251e-01 -5.19585446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.31, Y:-662.56, Z:-51.96 [[ 7.84793583e-01 6.17752814e-01 4.98045432e-02 1.18230834e+03] [-6.16556368e-01 7.86372153e-01 -3.84328335e-02 -6.62564279e+02] [-6.29068970e-02 -5.45467152e-04 9.98019251e-01 -5.19615551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.35, Y:-662.61, Z:-51.97 [[ 7.93118209e-01 6.07028904e-01 4.97937405e-02 1.18235157e+03] [-6.05810233e-01 7.94679686e-01 -3.84468245e-02 -6.62607462e+02] [-6.29084078e-02 3.27319113e-04 9.98019251e-01 -5.19683805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.40, Y:-662.65, Z:-51.97 [[ 7.95037935e-01 6.04513130e-01 4.97851157e-02 1.18239689e+03] [-6.03288820e-01 7.96594993e-01 -3.84579896e-02 -6.62650852e+02] [-6.29069336e-02 5.40756978e-04 9.98019251e-01 -5.19665063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.45, Y:-662.69, Z:-51.97 [[ 7.93857056e-01 6.06063812e-01 4.97757984e-02 1.18244536e+03] [-6.04841787e-01 7.95415909e-01 -3.84700451e-02 -6.62689125e+02] [-6.29077641e-02 4.33233910e-04 9.98019251e-01 -5.19692653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.49, Y:-662.73, Z:-51.97 [[ 7.87326630e-01 6.14524307e-01 4.97659816e-02 1.18249458e+03] [-6.13318232e-01 7.88897855e-01 -3.84827402e-02 -6.62725742e+02] [-6.29088554e-02 -2.23897628e-04 9.98019251e-01 -5.19749821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.54, Y:-662.76, Z:-51.98 [[ 7.82642266e-01 6.20479597e-01 4.97609681e-02 1.18254417e+03] [-6.19285064e-01 7.84222283e-01 -3.84892219e-02 -6.62763031e+02] [-6.29054370e-02 -6.92932489e-04 9.98019251e-01 -5.19804038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.59, Y:-662.80, Z:-51.99 [[ 7.80863107e-01 6.22717902e-01 4.97516042e-02 1.18259374e+03] [-6.21527127e-01 7.82445959e-01 -3.85013221e-02 -6.62800993e+02] [-6.29034042e-02 -8.57709612e-04 9.98019251e-01 -5.19856871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.64, Y:-662.84, Z:-51.99 [[ 7.77982189e-01 6.26313680e-01 4.97482460e-02 1.18264368e+03] [-6.25129942e-01 7.79570311e-01 -3.85056607e-02 -6.62837896e+02] [-6.28988777e-02 -1.14239993e-03 9.98019251e-01 -5.19930459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.69, Y:-662.88, Z:-52.00 [[ 7.78264325e-01 6.25963800e-01 4.97389377e-02 1.18269301e+03] [-6.24778580e-01 7.79851341e-01 -3.85176809e-02 -6.62876017e+02] [-6.28996511e-02 -1.09888596e-03 9.98019252e-01 -5.19974790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.74, Y:-662.91, Z:-52.00 [[ 7.79864726e-01 6.23969631e-01 4.97283547e-02 1.18274112e+03] [-6.22779483e-01 7.81448048e-01 -3.85313393e-02 -6.62913787e+02] [-6.29025112e-02 -9.20566642e-04 9.98019252e-01 -5.20012884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.79, Y:-662.95, Z:-52.01 [[ 7.82806516e-01 6.20275657e-01 4.97198908e-02 1.18278954e+03] [-6.19077343e-01 7.84383668e-01 -3.85422577e-02 -6.62952023e+02] [-6.29062945e-02 -6.09327433e-04 9.98019252e-01 -5.20058469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.84, Y:-662.99, Z:-52.01 [[ 7.84848152e-01 6.17691122e-01 4.97097199e-02 1.18283805e+03] [-6.16486784e-01 7.86420707e-01 -3.85553712e-02 -6.62990632e+02] [-6.29080636e-02 -3.85273510e-04 9.98019252e-01 -5.20059531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.89, Y:-663.03, Z:-52.01 [[ 7.86934921e-01 6.15031159e-01 4.97001475e-02 1.18288644e+03] [-6.13820725e-01 7.88502790e-01 -3.85677067e-02 -6.63030507e+02] [-6.29090462e-02 -1.56705402e-04 9.98019252e-01 -5.20089622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.94, Y:-663.07, Z:-52.02 [[ 7.90982679e-01 6.09817484e-01 4.96894243e-02 1.18293782e+03] [-6.08595848e-01 7.92541835e-01 -3.85815171e-02 -6.63065356e+02] [-6.29086312e-02 2.76534374e-04 9.98019252e-01 -5.20170215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1182.99, Y:-663.10, Z:-52.02 [[ 7.88412261e-01 6.13137868e-01 4.96795883e-02 1.18298506e+03] [-6.11922001e-01 7.89975920e-01 -3.85941783e-02 -6.63104348e+02] [-6.29092307e-02 2.80902927e-05 9.98019252e-01 -5.20161393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.03, Y:-663.14, Z:-52.02 [[ 7.87245520e-01 6.14635926e-01 4.96706031e-02 1.18303499e+03] [-6.13422305e-01 7.88810923e-01 -3.86057388e-02 -6.63140795e+02] [-6.29091883e-02 -7.68609849e-05 9.98019252e-01 -5.20223019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.08, Y:-663.18, Z:-52.03 [[ 7.85123837e-01 6.17344576e-01 4.96612129e-02 1.18308479e+03] [-6.16135591e-01 7.86692823e-01 -3.86178143e-02 -6.63177914e+02] [-6.29086180e-02 -2.78274220e-04 9.98019253e-01 -5.20299181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.14, Y:-663.21, Z:-52.04 [[ 7.83980663e-01 6.18796434e-01 4.96517276e-02 1.18313532e+03] [-6.17589583e-01 7.85551290e-01 -3.86300059e-02 -6.63214373e+02] [-6.29080886e-02 -3.79212097e-04 9.98019253e-01 -5.20354879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.19, Y:-663.25, Z:-52.04 [[ 7.83715347e-01 6.19133180e-01 4.96423314e-02 1.18318564e+03] [-6.17926239e-01 7.85285905e-01 -3.86420769e-02 -6.63251896e+02] [-6.29080151e-02 -3.90910466e-04 9.98019253e-01 -5.20395460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.24, Y:-663.29, Z:-52.04 [[ 7.84625581e-01 6.17980110e-01 4.96314553e-02 1.18323501e+03] [-6.16769978e-01 7.86193682e-01 -3.86560411e-02 -6.63287387e+02] [-6.29086011e-02 -2.80672922e-04 9.98019253e-01 -5.20432014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.28, Y:-663.33, Z:-52.05 [[ 7.85015665e-01 6.17485212e-01 4.96227643e-02 1.18328475e+03] [-6.16273387e-01 7.86582457e-01 -3.86671945e-02 -6.63325421e+02] [-6.29088167e-02 -2.26835617e-04 9.98019253e-01 -5.20454537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1183.33, Y:-663.36, Z:-52.05 [[ 7.86650027e-01 6.15402616e-01 4.96120457e-02 1.18333476e+03] [-6.14185776e-01 7.88212927e-01 -3.86809421e-02 -6.63361806e+02] [-6.29092088e-02 -4.26486103e-05 9.98019253e-01 -5.20535574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.38, Y:-663.40, Z:-52.05 [[ 7.83391827e-01 6.19545188e-01 4.96085170e-02 1.18338146e+03] [-6.18336325e-01 7.84960906e-01 -3.86854672e-02 -6.63401468e+02] [-6.29081415e-02 -3.68869305e-04 9.98019253e-01 -5.20524946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.43, Y:-663.44, Z:-52.06 [[ 7.80745815e-01 6.22877096e-01 4.95993498e-02 1.18343181e+03] [-6.21674182e-01 7.82319460e-01 -3.86972171e-02 -6.63437827e+02] [-6.29061467e-02 -6.21944955e-04 9.98019253e-01 -5.20585519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.48, Y:-663.48, Z:-52.07 [[ 7.77148007e-01 6.27360993e-01 4.95899228e-02 1.18348194e+03] [-6.26166387e-01 7.78727967e-01 -3.87092939e-02 -6.63475349e+02] [-6.29017608e-02 -9.68692142e-04 9.98019253e-01 -5.20674103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.53, Y:-663.52, Z:-52.07 [[ 7.74670894e-01 6.30417809e-01 4.95821771e-02 1.18353013e+03] [-6.29228802e-01 7.76255072e-01 -3.87192127e-02 -6.63515472e+02] [-6.28976977e-02 -1.20388683e-03 9.98019254e-01 -5.20683126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.58, Y:-663.55, Z:-52.08 [[ 7.72372820e-01 6.33231553e-01 4.95784932e-02 1.18357740e+03] [-6.32048015e-01 7.73961087e-01 -3.87239293e-02 -6.63552720e+02] [-6.28930384e-02 -1.42667774e-03 9.98019254e-01 -5.20771249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.63, Y:-663.59, Z:-52.08 [[ 7.71721743e-01 6.34025539e-01 4.95698217e-02 1.18362680e+03] [-6.32842922e-01 7.73310697e-01 -3.87350263e-02 -6.63589715e+02] [-6.28918693e-02 -1.47724877e-03 9.98019254e-01 -5.20760376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.68, Y:-663.63, Z:-52.08 [[ 7.71367475e-01 6.34456981e-01 4.95636758e-02 1.18367627e+03] [-6.33274748e-01 7.72956714e-01 -3.87428887e-02 -6.63628106e+02] [-6.28912722e-02 -1.50242003e-03 9.98019254e-01 -5.20793986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.73, Y:-663.67, Z:-52.08 [[ 7.72228234e-01 6.33409849e-01 4.95531882e-02 1.18372574e+03] [-6.32224601e-01 7.73815226e-01 -3.87562981e-02 -6.63666929e+02] [-6.28936324e-02 -1.40003698e-03 9.98019254e-01 -5.20827169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1183.77, Y:-663.71, Z:-52.09 [[ 7.73220275e-01 6.32199306e-01 4.95423473e-02 1.18377238e+03] [-6.31010686e-01 7.74804743e-01 -3.87701511e-02 -6.63706800e+02] [-6.28961082e-02 -1.28388367e-03 9.98019254e-01 -5.20894272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.82, Y:-663.75, Z:-52.09 [[ 7.74862253e-01 6.30186535e-01 4.95320086e-02 1.18382035e+03] [-6.28992955e-01 7.76442988e-01 -3.87833551e-02 -6.63746891e+02] [-6.28995289e-02 -1.10352653e-03 9.98019254e-01 -5.20914803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1183.87, Y:-663.78, Z:-52.09 [[ 7.76149403e-01 6.28601563e-01 4.95194881e-02 1.18386870e+03] [-6.27403736e-01 7.77726921e-01 -3.87993350e-02 -6.63783532e+02] [-6.29019616e-02 -9.54631179e-04 9.98019254e-01 -5.20941928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.92, Y:-663.82, Z:-52.10 [[ 7.77419468e-01 6.27030618e-01 4.95133821e-02 1.18391700e+03] [-6.25829107e-01 7.78994182e-01 -3.88071256e-02 -6.63823242e+02] [-6.29038925e-02 -8.17500761e-04 9.98019254e-01 -5.20970801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1183.96, Y:-663.86, Z:-52.10 [[ 7.78979037e-01 6.25092829e-01 4.95036838e-02 1.18396397e+03] [-6.23886615e-01 7.80550151e-01 -3.88194931e-02 -6.63861880e+02] [-6.29058947e-02 -6.45114368e-04 9.98019255e-01 -5.20990064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.01, Y:-663.90, Z:-52.10 [[ 7.79439477e-01 6.24519307e-01 4.94948239e-02 1.18401268e+03] [-6.23311220e-01 7.81009151e-01 -3.88307862e-02 -6.63900648e+02] [-6.29064861e-02 -5.84431418e-04 9.98019255e-01 -5.21007871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.06, Y:-663.94, Z:-52.10 [[ 7.79590371e-01 6.24331682e-01 4.94853915e-02 1.18406269e+03] [-6.23122454e-01 7.81159167e-01 -3.88428031e-02 -6.63937142e+02] [-6.29067597e-02 -5.53983325e-04 9.98019255e-01 -5.21042215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.11, Y:-663.98, Z:-52.11 [[ 7.79305010e-01 6.24688582e-01 4.94760263e-02 1.18411236e+03] [-6.23479316e-01 7.80873775e-01 -3.88547283e-02 -6.63975883e+02] [-6.29066366e-02 -5.67594641e-04 9.98019255e-01 -5.21083663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.16, Y:-664.01, Z:-52.11 [[ 7.78972697e-01 6.25103759e-01 4.94654176e-02 1.18416090e+03] [-6.23894471e-01 7.80541447e-01 -3.88682294e-02 -6.64013760e+02] [-6.29064849e-02 -5.83911112e-04 9.98019255e-01 -5.21130132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.21, Y:-664.05, Z:-52.12 [[ 7.79150488e-01 6.24882916e-01 4.94556178e-02 1.18420984e+03] [-6.23672393e-01 7.80718284e-01 -3.88806946e-02 -6.64052895e+02] [-6.29067869e-02 -5.50191285e-04 9.98019255e-01 -5.21176500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.26, Y:-664.09, Z:-52.12 [[ 7.79574800e-01 6.24353889e-01 4.94504963e-02 1.18425747e+03] [-6.23141889e-01 7.81141454e-01 -3.88872073e-02 -6.64091078e+02] [-6.29072117e-02 -4.99188811e-04 9.98019255e-01 -5.21186807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.30, Y:-664.13, Z:-52.12 [[ 7.80256946e-01 6.23501951e-01 4.94410272e-02 1.18430496e+03] [-6.22287478e-01 7.81821683e-01 -3.88992426e-02 -6.64129603e+02] [-6.29078208e-02 -4.15127887e-04 9.98019255e-01 -5.21215596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.35, Y:-664.17, Z:-52.12 [[ 7.80592574e-01 6.23082408e-01 4.94322450e-02 1.18435425e+03] [-6.21866387e-01 7.82156109e-01 -3.89103996e-02 -6.64167965e+02] [-6.29081179e-02 -3.67082579e-04 9.98019255e-01 -5.21208285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.40, Y:-664.21, Z:-52.12 [[ 7.80582907e-01 6.23095275e-01 4.94227048e-02 1.18440334e+03] [-6.21878512e-01 7.82145865e-01 -3.89225134e-02 -6.64205634e+02] [-6.29081984e-02 -3.52669487e-04 9.98019255e-01 -5.21217437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1184.45, Y:-664.24, Z:-52.12 [[ 7.80045978e-01 6.23768074e-01 4.94131723e-02 1.18445410e+03] [-6.22551893e-01 7.81609389e-01 -3.89346114e-02 -6.64242008e+02] [-6.29079670e-02 -3.91476918e-04 9.98019256e-01 -5.21228755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.50, Y:-664.28, Z:-52.13 [[ 7.78949457e-01 6.25137616e-01 4.94034840e-02 1.18450462e+03] [-6.23923404e-01 7.80514397e-01 -3.89469010e-02 -6.64279396e+02] [-6.29073034e-02 -4.86322502e-04 9.98019256e-01 -5.21267542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.55, Y:-664.32, Z:-52.13 [[ 7.76598171e-01 6.28057055e-01 4.93924778e-02 1.18455429e+03] [-6.26847839e-01 7.78166974e-01 -3.89608540e-02 -6.64317553e+02] [-6.29052342e-02 -7.04639976e-04 9.98019256e-01 -5.21318303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.61, Y:-664.35, Z:-52.14 [[ 7.75441454e-01 6.29485070e-01 4.93872222e-02 1.18460570e+03] [-6.28278319e-01 7.77012154e-01 -3.89675150e-02 -6.64351341e+02] [-6.29039408e-02 -8.11894454e-04 9.98019256e-01 -5.21366845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.66, Y:-664.39, Z:-52.14 [[ 7.74222203e-01 6.30984938e-01 4.93759861e-02 1.18465779e+03] [-6.29780322e-01 7.75794541e-01 -3.89817471e-02 -6.64387021e+02] [-6.29025158e-02 -9.15490257e-04 9.98019256e-01 -5.21421007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.71, Y:-664.43, Z:-52.15 [[ 7.74038114e-01 6.31211592e-01 4.93652140e-02 1.18470744e+03] [-6.30006567e-01 7.75610138e-01 -3.89953838e-02 -6.64425062e+02] [-6.29024987e-02 -9.16495733e-04 9.98019256e-01 -5.21458591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.76, Y:-664.46, Z:-52.15 [[ 7.75098149e-01 6.29910314e-01 4.93543929e-02 1.18475766e+03] [-6.28701777e-01 7.76667475e-01 -3.90090748e-02 -6.64462764e+02] [-6.29041702e-02 -7.93332871e-04 9.98019256e-01 -5.21510502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.81, Y:-664.50, Z:-52.15 [[ 7.74610520e-01 6.30510763e-01 4.93428859e-02 1.18480648e+03] [-6.29302516e-01 7.76180069e-01 -3.90236246e-02 -6.64501332e+02] [-6.29037799e-02 -8.23492131e-04 9.98019257e-01 -5.21530988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.86, Y:-664.54, Z:-52.16 [[ 7.74858438e-01 6.30207002e-01 4.93308855e-02 1.18485676e+03] [-6.28997175e-01 7.76426769e-01 -3.90387888e-02 -6.64537746e+02] [-6.29043381e-02 -7.79452691e-04 9.98019257e-01 -5.21553392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:1184.91, Y:-664.58, Z:-52.16 [[ 7.74609808e-01 6.30513443e-01 4.93198150e-02 1.18490705e+03] [-6.29303346e-01 7.76177931e-01 -3.90527697e-02 -6.64575512e+02] [-6.29042482e-02 -7.86466166e-04 9.98019257e-01 -5.21609509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1184.96, Y:-664.61, Z:-52.17 [[ 7.74670006e-01 6.30440340e-01 4.93088180e-02 1.18495792e+03] [-6.29229212e-01 7.76237332e-01 -3.90666499e-02 -6.64611630e+02] [-6.29045374e-02 -7.62786733e-04 9.98019257e-01 -5.21665739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.01, Y:-664.65, Z:-52.17 [[ 7.75179652e-01 6.29814345e-01 4.92990681e-02 1.18500904e+03] [-6.28601169e-01 7.76745394e-01 -3.90789496e-02 -6.64648780e+02] [-6.29053071e-02 -6.96245274e-04 9.98019257e-01 -5.21709404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1185.06, Y:-664.69, Z:-52.17 [[ 7.76336830e-01 6.28388276e-01 4.92879443e-02 1.18505907e+03] [-6.27171334e-01 7.77899645e-01 -3.90929744e-02 -6.64687273e+02] [-6.29066412e-02 -5.62669917e-04 9.98019257e-01 -5.21749036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.11, Y:-664.72, Z:-52.18 [[ 7.79122725e-01 6.24931641e-01 4.92770027e-02 1.18511020e+03] [-6.23706893e-01 7.80679431e-01 -3.91067615e-02 -6.64723812e+02] [-6.29085951e-02 -2.65439627e-04 9.98019257e-01 -5.21789215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.16, Y:-664.76, Z:-52.18 [[ 7.81339109e-01 6.22159211e-01 4.92657418e-02 1.18515975e+03] [-6.20928044e-01 7.82890743e-01 -3.91209425e-02 -6.64761375e+02] [-6.29091480e-02 -2.37583793e-05 9.98019258e-01 -5.21829236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.21, Y:-664.80, Z:-52.19 [[ 7.83188093e-01 6.19830881e-01 4.92553569e-02 1.18520955e+03] [-6.18594279e-01 7.84735399e-01 -3.91340133e-02 -6.64799743e+02] [-6.29088921e-02 1.80211272e-04 9.98019258e-01 -5.21850319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.26, Y:-664.84, Z:-52.19 [[ 7.84486616e-01 6.18187463e-01 4.92443812e-02 1.18525964e+03] [-6.16946753e-01 7.86030630e-01 -3.91478198e-02 -6.64835435e+02] [-6.29082834e-02 3.29779623e-04 9.98019258e-01 -5.21889662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.31, Y:-664.87, Z:-52.19 [[ 7.83985937e-01 6.18822840e-01 4.92376215e-02 1.18531050e+03] [-6.17582848e-01 7.85530527e-01 -3.91563199e-02 -6.64871241e+02] [-6.29084798e-02 2.89693684e-04 9.98019258e-01 -5.21949978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.36, Y:-664.91, Z:-52.20 [[ 7.83149278e-01 6.19882094e-01 4.92280254e-02 1.18535949e+03] [-6.18643432e-01 7.84694935e-01 -3.91683806e-02 -6.64907497e+02] [-6.29087600e-02 2.20094386e-04 9.98019258e-01 -5.22022495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.41, Y:-664.95, Z:-52.21 [[ 7.83013676e-01 6.20054068e-01 4.92192539e-02 1.18540998e+03] [-6.18815054e-01 7.84559051e-01 -3.91793998e-02 -6.64945611e+02] [-6.29087574e-02 2.20390582e-04 9.98019258e-01 -5.22064172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:1185.46, Y:-664.98, Z:-52.21 [[ 7.83389247e-01 6.19580364e-01 4.92083319e-02 1.18546064e+03] [-6.18339553e-01 7.84933180e-01 -3.91931128e-02 -6.64982138e+02] [-6.29085355e-02 2.76005178e-04 9.98019258e-01 -5.22081569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.51, Y:-665.02, Z:-52.21 [[ 7.83700195e-01 6.19187782e-01 4.91985372e-02 1.18551019e+03] [-6.17945426e-01 7.85242884e-01 -3.92054041e-02 -6.65019859e+02] [-6.29083084e-02 3.23271800e-04 9.98019259e-01 -5.22098468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.56, Y:-665.06, Z:-52.21 [[ 7.84306584e-01 6.18420299e-01 4.91885767e-02 1.18555826e+03] [-6.17175650e-01 7.85847424e-01 -3.92178969e-02 -6.65058904e+02] [-6.29078598e-02 4.00862933e-04 9.98019259e-01 -5.22114475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.61, Y:-665.10, Z:-52.22 [[ 7.83283061e-01 6.19716948e-01 4.91787625e-02 1.18560801e+03] [-6.18474078e-01 7.84825335e-01 -3.92302000e-02 -6.65096839e+02] [-6.29083586e-02 3.12561375e-04 9.98019259e-01 -5.22160316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.66, Y:-665.13, Z:-52.22 [[ 7.78504039e-01 6.25710800e-01 4.91676286e-02 1.18565904e+03] [-6.24478923e-01 7.80055108e-01 -3.92441493e-02 -6.65132865e+02] [-6.29089479e-02 -1.52419044e-04 9.98019259e-01 -5.22227869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.71, Y:-665.17, Z:-52.23 [[ 7.76040622e-01 6.28763735e-01 4.91641965e-02 1.18570869e+03] [-6.27537687e-01 7.77596303e-01 -3.92484484e-02 -6.65170893e+02] [-6.29078985e-02 -3.93995858e-04 9.98019259e-01 -5.22273053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.76, Y:-665.21, Z:-52.23 [[ 7.69043484e-01 6.37303764e-01 4.91531417e-02 1.18575856e+03] [-6.36094104e-01 7.70611941e-01 -3.92622882e-02 -6.65207753e+02] [-6.29000020e-02 -1.07161672e-03 9.98019259e-01 -5.22330203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.81, Y:-665.25, Z:-52.24 [[ 7.65002974e-01 6.42149021e-01 4.91435196e-02 1.18580563e+03] [-6.40948519e-01 7.66578452e-01 -3.92743281e-02 -6.65245738e+02] [-6.28923346e-02 -1.45348832e-03 9.98019259e-01 -5.22388564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.85, Y:-665.29, Z:-52.24 [[ 7.62676256e-01 6.44911396e-01 4.91347111e-02 1.18585376e+03] [-6.43715891e-01 7.64255529e-01 -3.92853451e-02 -6.65285886e+02] [-6.28870414e-02 -1.66679441e-03 9.98019259e-01 -5.22414468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.90, Y:-665.33, Z:-52.24 [[ 7.63084766e-01 6.44428822e-01 4.91236477e-02 1.18589904e+03] [-6.43231429e-01 7.64662608e-01 -3.92991743e-02 -6.65327720e+02] [-6.28885371e-02 -1.60927292e-03 9.98019259e-01 -5.22430132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.95, Y:-665.37, Z:-52.25 [[ 7.63940432e-01 6.43414916e-01 4.91147870e-02 1.18594534e+03] [-6.42214718e-01 7.65516140e-01 -3.93102450e-02 -6.65370061e+02] [-6.28909602e-02 -1.51155355e-03 9.98019260e-01 -5.22464937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1185.99, Y:-665.41, Z:-52.25 [[ 7.63851401e-01 6.43521473e-01 4.91034774e-02 1.18598910e+03] [-6.42320588e-01 7.65426585e-01 -3.93243670e-02 -6.65413826e+02] [-6.28911816e-02 -1.50220163e-03 9.98019260e-01 -5.22515209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.04, Y:-665.46, Z:-52.26 [[ 7.62796197e-01 6.44772437e-01 4.90964942e-02 1.18603582e+03] [-6.43573574e-01 7.64372921e-01 -3.93330837e-02 -6.65456715e+02] [-6.28889189e-02 -1.59407958e-03 9.98019260e-01 -5.22553665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.08, Y:-665.50, Z:-52.26 [[ 7.59716878e-01 6.48398716e-01 4.90853434e-02 1.18608071e+03] [-6.47206480e-01 7.61298619e-01 -3.93469943e-02 -6.65498893e+02] [-6.28811447e-02 -1.87577667e-03 9.98019260e-01 -5.22613912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.13, Y:-665.54, Z:-52.27 [[ 7.58151509e-01 6.50229136e-01 4.90750513e-02 1.18612655e+03] [-6.49039889e-01 7.59735498e-01 -3.93598268e-02 -6.65541325e+02] [-6.28769647e-02 -2.01095371e-03 9.98019260e-01 -5.22661205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.17, Y:-665.59, Z:-52.27 [[ 7.58036499e-01 6.50364001e-01 4.90645700e-02 1.18617225e+03] [-6.49174192e-01 7.59620066e-01 -3.93728881e-02 -6.65585087e+02] [-6.28771409e-02 -2.00536633e-03 9.98019260e-01 -5.22690635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.22, Y:-665.63, Z:-52.27 [[ 7.59774256e-01 6.48333889e-01 4.90535246e-02 1.18621542e+03] [-6.47138961e-01 7.61353964e-01 -3.93866444e-02 -6.65631734e+02] [-6.28827918e-02 -1.81948844e-03 9.98019260e-01 -5.22732690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.26, Y:-665.68, Z:-52.28 [[ 7.62740635e-01 6.44842278e-01 4.90424309e-02 1.18625744e+03] [-6.43639230e-01 7.64314167e-01 -3.94004530e-02 -6.65677522e+02] [-6.28909026e-02 -1.51330584e-03 9.98019261e-01 -5.22787401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.30, Y:-665.72, Z:-52.29 [[ 7.66209593e-01 6.40717336e-01 4.90321866e-02 1.18630283e+03] [-6.39504999e-01 7.67775980e-01 -3.94131975e-02 -6.65719046e+02] [-6.28984540e-02 -1.15755850e-03 9.98019261e-01 -5.22858872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.35, Y:-665.76, Z:-52.29 [[ 7.66400150e-01 6.40489812e-01 4.90266292e-02 1.18634654e+03] [-6.39276569e-01 7.67965835e-01 -3.94201092e-02 -6.65764859e+02] [-6.28989546e-02 -1.12999774e-03 9.98019261e-01 -5.22858566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.39, Y:-665.81, Z:-52.29 [[ 7.70067409e-01 6.36076351e-01 4.90210386e-02 1.18639041e+03] [-6.34853690e-01 7.71625750e-01 -3.94270602e-02 -6.65808915e+02] [-6.29045163e-02 -7.59693125e-04 9.98019261e-01 -5.22900250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.44, Y:-665.85, Z:-52.29 [[ 7.72034482e-01 6.33688191e-01 4.90105749e-02 1.18643751e+03] [-6.32459884e-01 7.73588377e-01 -3.94400631e-02 -6.65849666e+02] [-6.29067133e-02 -5.48133865e-04 9.98019261e-01 -5.22945667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.49, Y:-665.89, Z:-52.30 [[ 7.71468707e-01 6.34377646e-01 4.90003757e-02 1.18648886e+03] [-6.33149923e-01 7.73023064e-01 -3.94527305e-02 -6.65886563e+02] [-6.29063508e-02 -5.88037164e-04 9.98019261e-01 -5.22985451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.54, Y:-665.92, Z:-52.30 [[ 7.71212698e-01 6.34689709e-01 4.89892634e-02 1.18653753e+03] [-6.33461740e-01 7.72766859e-01 -3.94665241e-02 -6.65924127e+02] [-6.29062759e-02 -5.95739487e-04 9.98019261e-01 -5.23033749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1186.59, Y:-665.96, Z:-52.31 [[ 7.72679435e-01 6.32904008e-01 4.89796554e-02 1.18658581e+03] [-6.31671691e-01 7.74230151e-01 -3.94784444e-02 -6.65964035e+02] [-6.29075917e-02 -4.34879641e-04 9.98019261e-01 -5.23074250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.64, Y:-666.00, Z:-52.31 [[ 7.74647539e-01 6.30494465e-01 4.89685507e-02 1.18663529e+03] [-6.29256454e-01 7.76193713e-01 -3.94922137e-02 -6.66003197e+02] [-6.29087034e-02 -2.21230406e-04 9.98019261e-01 -5.23107668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.69, Y:-666.04, Z:-52.31 [[ 7.76737376e-01 6.27918966e-01 4.89573369e-02 1.18668543e+03] [-6.26674951e-01 7.78278724e-01 -3.95061102e-02 -6.66041802e+02] [-6.29090896e-02 5.53566053e-06 9.98019262e-01 -5.23148169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1186.73, Y:-666.08, Z:-52.32 [[ 7.79730296e-01 6.24199432e-01 4.89462354e-02 1.18673493e+03] [-6.22947202e-01 7.81264977e-01 -3.95198598e-02 -6.66080378e+02] [-6.29082535e-02 3.23911587e-04 9.98019262e-01 -5.23172921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1186.78, Y:-666.12, Z:-52.32 [[ 7.81988345e-01 6.21369122e-01 4.89350835e-02 1.18678253e+03] [-6.20110474e-01 7.83517766e-01 -3.95336637e-02 -6.66118469e+02] [-6.29065052e-02 5.69706380e-04 9.98019262e-01 -5.23205964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.83, Y:-666.16, Z:-52.32 [[ 7.81836655e-01 6.21560391e-01 4.89297975e-02 1.18683213e+03] [-6.20301708e-01 7.83366047e-01 -3.95402049e-02 -6.66157796e+02] [-6.29065673e-02 5.62744575e-04 9.98019262e-01 -5.23226405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.88, Y:-666.20, Z:-52.33 [[ 7.80260997e-01 6.23538063e-01 4.89189195e-02 1.18688194e+03] [-6.22282413e-01 7.81792880e-01 -3.95536586e-02 -6.66195293e+02] [-6.29076746e-02 4.20793846e-04 9.98019262e-01 -5.23285343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.93, Y:-666.23, Z:-52.34 [[ 7.79123931e-01 6.24959159e-01 4.89075739e-02 1.18693005e+03] [-6.23705422e-01 7.80657380e-01 -3.95676823e-02 -6.66232740e+02] [-6.29082439e-02 3.24209149e-04 9.98019262e-01 -5.23355781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1186.98, Y:-666.27, Z:-52.34 [[ 7.77837019e-01 6.26560858e-01 4.88985126e-02 1.18697729e+03] [-6.25309575e-01 7.79372471e-01 -3.95788773e-02 -6.66270811e+02] [-6.29087299e-02 2.09207840e-04 9.98019262e-01 -5.23413551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.03, Y:-666.31, Z:-52.35 [[ 7.75288996e-01 6.29711626e-01 4.88900916e-02 1.18702742e+03] [-6.28465927e-01 7.76828982e-01 -3.95892766e-02 -6.66308679e+02] [-6.29090679e-02 -3.26262705e-05 9.98019262e-01 -5.23472196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.08, Y:-666.35, Z:-52.35 [[ 7.72964087e-01 6.32564050e-01 4.88798827e-02 1.18707654e+03] [-6.31323238e-01 7.74508012e-01 -3.96018773e-02 -6.66347980e+02] [-6.29085847e-02 -2.48176871e-04 9.98019263e-01 -5.23492729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.13, Y:-666.39, Z:-52.35 [[ 7.70287439e-01 6.35821594e-01 4.88688229e-02 1.18712629e+03] [-6.34586445e-01 7.71835899e-01 -3.96155205e-02 -6.66386838e+02] [-6.29071152e-02 -4.96154723e-04 9.98019263e-01 -5.23539498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.17, Y:-666.43, Z:-52.36 [[ 7.69035545e-01 6.37336055e-01 4.88577859e-02 1.18717432e+03] [-6.36103091e-01 7.70585745e-01 -3.96291277e-02 -6.66426438e+02] [-6.29061853e-02 -6.02380799e-04 9.98019263e-01 -5.23596098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.22, Y:-666.47, Z:-52.37 [[ 7.67894694e-01 6.38710877e-01 4.88482833e-02 1.18722168e+03] [-6.37479943e-01 7.69446507e-01 -3.96408376e-02 -6.66465706e+02] [-6.29051750e-02 -6.99811983e-04 9.98019263e-01 -5.23652567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1187.27, Y:-666.50, Z:-52.38 [[ 7.67957887e-01 6.38635638e-01 4.88385771e-02 1.18726984e+03] [-6.37403792e-01 7.69508975e-01 -3.96527922e-02 -6.66503585e+02] [-6.29054096e-02 -6.78219692e-04 9.98019263e-01 -5.23755095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.31, Y:-666.55, Z:-52.38 [[ 7.64154109e-01 6.43182933e-01 4.88284069e-02 1.18731496e+03] [-6.41959516e-01 7.65711854e-01 -3.96653119e-02 -6.66545386e+02] [-6.29005416e-02 -1.03544938e-03 9.98019263e-01 -5.23770199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.36, Y:-666.59, Z:-52.38 [[ 7.61418493e-01 6.46419817e-01 4.88190446e-02 1.18736179e+03] [-6.45202283e-01 7.62980840e-01 -3.96768314e-02 -6.66585530e+02] [-6.28958858e-02 -1.28748584e-03 9.98019263e-01 -5.23805759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.41, Y:-666.63, Z:-52.38 [[ 7.60729011e-01 6.47231813e-01 4.88093404e-02 1.18740914e+03] [-6.46015182e-01 7.62292061e-01 -3.96887657e-02 -6.66626995e+02] [-6.28948045e-02 -1.33917946e-03 9.98019263e-01 -5.23829930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.46, Y:-666.67, Z:-52.39 [[ 7.62275624e-01 6.45410418e-01 4.87982119e-02 1.18745602e+03] [-6.44189176e-01 7.63835075e-01 -3.97024437e-02 -6.66666609e+02] [-6.28981566e-02 -1.17107484e-03 9.98019264e-01 -5.23862853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.50, Y:-666.71, Z:-52.39 [[ 7.66024454e-01 6.40957258e-01 4.87886304e-02 1.18750423e+03] [-6.39726199e-01 7.67576166e-01 -3.97142145e-02 -6.66705520e+02] [-6.29041039e-02 -7.89305584e-04 9.98019264e-01 -5.23932677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.55, Y:-666.74, Z:-52.39 [[ 7.71994232e-01 6.33754627e-01 4.87850244e-02 1.18755211e+03] [-6.32508810e-01 7.73534120e-01 -3.97186436e-02 -6.66744754e+02] [-6.29087551e-02 -1.94393978e-04 9.98019264e-01 -5.23932776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.60, Y:-666.79, Z:-52.39 [[ 7.74406994e-01 6.30804949e-01 4.87742184e-02 1.18759752e+03] [-6.29552431e-01 7.75941436e-01 -3.97319089e-02 -6.66785910e+02] [-6.29090219e-02 6.27403519e-05 9.98019264e-01 -5.23916117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.65, Y:-666.83, Z:-52.40 [[ 7.78315354e-01 6.25976999e-01 4.87648034e-02 1.18764671e+03] [-6.24714239e-01 7.79841379e-01 -3.97434611e-02 -6.66825272e+02] [-6.29073040e-02 4.68878950e-04 9.98019264e-01 -5.23951072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.70, Y:-666.86, Z:-52.40 [[ 7.78277483e-01 6.26024960e-01 4.87535515e-02 1.18769538e+03] [-6.24761430e-01 7.79802870e-01 -3.97572590e-02 -6.66861654e+02] [-6.29071959e-02 4.82840933e-04 9.98019264e-01 -5.24013830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.75, Y:-666.90, Z:-52.41 [[ 7.75352854e-01 6.29644279e-01 4.87445757e-02 1.18774702e+03] [-6.28387178e-01 7.76883543e-01 -3.97682608e-02 -6.66896972e+02] [-6.29087166e-02 2.03968155e-04 9.98019264e-01 -5.24073869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.80, Y:-666.93, Z:-52.41 [[ 7.73030746e-01 6.32493297e-01 4.87411010e-02 1.18779579e+03] [-6.31241569e-01 7.74565833e-01 -3.97725190e-02 -6.66933315e+02] [-6.29090432e-02 -2.20290032e-05 9.98019264e-01 -5.24121848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.85, Y:-666.97, Z:-52.42 [[ 7.71029464e-01 6.34932073e-01 4.87322195e-02 1.18784735e+03] [-6.33684512e-01 7.72567939e-01 -3.97833984e-02 -6.66968700e+02] [-6.29087060e-02 -2.06680403e-04 9.98019264e-01 -5.24171654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.90, Y:-667.01, Z:-52.42 [[ 7.70995074e-01 6.34974561e-01 4.87227150e-02 1.18789565e+03] [-6.33726350e-01 7.72533021e-01 -3.97950351e-02 -6.67007746e+02] [-6.29087412e-02 -1.95092302e-04 9.98019265e-01 -5.24186980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.94, Y:-667.05, Z:-52.42 [[ 7.72019440e-01 6.33729454e-01 4.87130867e-02 1.18794323e+03] [-6.32478018e-01 7.73554765e-01 -3.98068177e-02 -6.67047947e+02] [-6.29089931e-02 -7.83194458e-05 9.98019265e-01 -5.24170371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1187.99, Y:-667.09, Z:-52.42 [[ 7.72353626e-01 6.33322880e-01 4.87032525e-02 1.18799112e+03] [-6.32069878e-01 7.73887672e-01 -3.98188461e-02 -6.67087412e+02] [-6.29090330e-02 -2.96286948e-05 9.98019265e-01 -5.24175026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.04, Y:-667.13, Z:-52.41 [[ 7.69931873e-01 6.36265561e-01 4.86934087e-02 1.18803794e+03] [-6.35017661e-01 7.71470072e-01 -3.98308802e-02 -6.67129595e+02] [-6.29085248e-02 -2.54110290e-04 9.98019265e-01 -5.24136250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.09, Y:-667.17, Z:-52.42 [[ 7.69416576e-01 6.36888894e-01 4.86895325e-02 1.18808715e+03] [-6.35641940e-01 7.70955542e-01 -3.98356180e-02 -6.67165585e+02] [-6.29083275e-02 -2.98924104e-04 9.98019265e-01 -5.24207796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:1188.14, Y:-667.20, Z:-52.42 [[ 7.65524009e-01 6.41563171e-01 4.86794630e-02 1.18813637e+03] [-6.40324831e-01 7.67069915e-01 -3.98479191e-02 -6.67203904e+02] [-6.29055089e-02 -6.66130191e-04 9.98019265e-01 -5.24247660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.18, Y:-667.24, Z:-52.43 [[ 7.63813128e-01 6.43599929e-01 4.86686460e-02 1.18818440e+03] [-6.42364870e-01 7.65361656e-01 -3.98611262e-02 -6.67244143e+02] [-6.29037335e-02 -8.16576933e-04 9.98019265e-01 -5.24293233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.23, Y:-667.28, Z:-52.44 [[ 7.65228021e-01 6.41917867e-01 4.86572434e-02 1.18823094e+03] [-6.40678520e-01 7.66773119e-01 -3.98750402e-02 -6.67283854e+02] [-6.29055670e-02 -6.60152595e-04 9.98019265e-01 -5.24351277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.28, Y:-667.32, Z:-52.44 [[ 7.67599840e-01 6.39080469e-01 4.86481202e-02 1.18827817e+03] [-6.37834704e-01 7.69139769e-01 -3.98861675e-02 -6.67323249e+02] [-6.29076746e-02 -4.12843519e-04 9.98019265e-01 -5.24401962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.32, Y:-667.36, Z:-52.44 [[ 7.72446042e-01 6.33215129e-01 4.86385995e-02 1.18832417e+03] [-6.31956939e-01 7.73975836e-01 -3.98977741e-02 -6.67364484e+02] [-6.29089748e-02 8.13771834e-05 9.98019266e-01 -5.24441403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.37, Y:-667.41, Z:-52.45 [[ 7.75665289e-01 6.29268313e-01 4.86286984e-02 1.18837173e+03] [-6.28001584e-01 7.77188018e-01 -3.99098382e-02 -6.67405115e+02] [-6.29076383e-02 4.17776552e-04 9.98019266e-01 -5.24482685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.42, Y:-667.45, Z:-52.45 [[ 7.76371891e-01 6.28397217e-01 4.86171270e-02 1.18841910e+03] [-6.27127897e-01 7.77892461e-01 -3.99239291e-02 -6.67445331e+02] [-6.29069826e-02 5.06659697e-04 9.98019266e-01 -5.24513175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1188.47, Y:-667.48, Z:-52.45 [[ 7.75109091e-01 6.29955005e-01 4.86064571e-02 1.18846770e+03] [-6.28687927e-01 7.76631530e-01 -3.99369154e-02 -6.67484832e+02] [-6.29077669e-02 3.97173441e-04 9.98019266e-01 -5.24543095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.52, Y:-667.52, Z:-52.46 [[ 7.70711099e-01 6.35328975e-01 4.85952195e-02 1.18851643e+03] [-6.34071651e-01 7.72241603e-01 -3.99505846e-02 -6.67523380e+02] [-6.29090142e-02 -2.24920771e-05 9.98019266e-01 -5.24587263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.56, Y:-667.56, Z:-52.46 [[ 7.66338114e-01 6.40597650e-01 4.85854571e-02 1.18856467e+03] [-6.39350094e-01 7.67876591e-01 -3.99624536e-02 -6.67560818e+02] [-6.29074890e-02 -4.38365279e-04 9.98019266e-01 -5.24640002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.61, Y:-667.60, Z:-52.47 [[ 7.62617868e-01 6.45022720e-01 4.85765196e-02 1.18861379e+03] [-6.43783399e-01 7.64162986e-01 -3.99733146e-02 -6.67597763e+02] [-6.29040744e-02 -7.88392955e-04 9.98019266e-01 -5.24716310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.66, Y:-667.63, Z:-52.48 [[ 7.59249752e-01 6.48984370e-01 4.85705829e-02 1.18866203e+03] [-6.47752649e-01 7.60800936e-01 -3.99805268e-02 -6.67634989e+02] [-6.28992819e-02 -1.10651862e-03 9.98019266e-01 -5.24780709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.71, Y:-667.68, Z:-52.48 [[ 7.59518779e-01 6.48669968e-01 4.85643551e-02 1.18870819e+03] [-6.47437122e-01 7.61069068e-01 -3.99880903e-02 -6.67676244e+02] [-6.28999017e-02 -1.07066075e-03 9.98019266e-01 -5.24781595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.75, Y:-667.72, Z:-52.48 [[ 7.59518760e-01 6.48670799e-01 4.85535612e-02 1.18875500e+03] [-6.47437117e-01 7.61068384e-01 -4.00011920e-02 -6.67717345e+02] [-6.29001855e-02 -1.05372191e-03 9.98019267e-01 -5.24809962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1188.80, Y:-667.76, Z:-52.48 [[ 7.61920644e-01 6.45848684e-01 4.85428706e-02 1.18880129e+03] [-6.44608435e-01 7.63465017e-01 -4.00141612e-02 -6.67759064e+02] [-6.29038769e-02 -8.03528388e-04 9.98019267e-01 -5.24824052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.85, Y:-667.80, Z:-52.49 [[ 7.66073491e-01 6.40918045e-01 4.85331552e-02 1.18884669e+03] [-6.39667109e-01 7.67609220e-01 -4.00259416e-02 -6.67799762e+02] [-6.29078456e-02 -3.82250233e-04 9.98019267e-01 -5.24858199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.89, Y:-667.84, Z:-52.49 [[ 7.67332415e-01 6.39410948e-01 4.85242698e-02 1.18889372e+03] [-6.38156314e-01 7.68865125e-01 -4.00367106e-02 -6.67841396e+02] [-6.29085298e-02 -2.44603343e-04 9.98019267e-01 -5.24887429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.94, Y:-667.88, Z:-52.49 [[ 7.66552496e-01 6.40346582e-01 4.85131625e-02 1.18894102e+03] [-6.39092968e-01 7.68086039e-01 -4.00501650e-02 -6.67882540e+02] [-6.29082691e-02 -3.03867096e-04 9.98019267e-01 -5.24941683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1188.99, Y:-667.92, Z:-52.50 [[ 7.64645398e-01 6.42623495e-01 4.85021587e-02 1.18898774e+03] [-6.41373602e-01 7.66181975e-01 -4.00634866e-02 -6.67920834e+02] [-6.29072175e-02 -4.73643579e-04 9.98019267e-01 -5.25008652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.04, Y:-667.96, Z:-52.51 [[ 7.61345092e-01 6.46530521e-01 4.84967785e-02 1.18903640e+03] [-6.45288098e-01 7.62887715e-01 -4.00699982e-02 -6.67958456e+02] [-6.29040734e-02 -7.87297463e-04 9.98019267e-01 -5.25077208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.09, Y:-668.00, Z:-52.51 [[ 7.59786016e-01 6.48362703e-01 4.84872818e-02 1.18908572e+03] [-6.47123267e-01 7.61331040e-01 -4.00814866e-02 -6.67997217e+02] [-6.29022137e-02 -9.23895189e-04 9.98019267e-01 -5.25119799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.13, Y:-668.04, Z:-52.52 [[ 7.59620794e-01 6.48557102e-01 4.84761353e-02 1.18913474e+03] [-6.47317201e-01 7.61165445e-01 -4.00949631e-02 -6.68035965e+02] [-6.29022322e-02 -9.22468590e-04 9.98019268e-01 -5.25159168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.18, Y:-668.07, Z:-52.52 [[ 7.62288820e-01 6.45419936e-01 4.84650466e-02 1.18918264e+03] [-6.44172827e-01 7.63827657e-01 -4.01083622e-02 -6.68074935e+02] [-6.29056795e-02 -6.45709967e-04 9.98019268e-01 -5.25189517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.23, Y:-668.12, Z:-52.52 [[ 7.65305447e-01 6.41840834e-01 4.84553126e-02 1.18922943e+03] [-6.40585782e-01 7.66837813e-01 -4.01201185e-02 -6.68115092e+02] [-6.29080962e-02 -3.35639055e-04 9.98019268e-01 -5.25209895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1189.28, Y:-668.15, Z:-52.52 [[ 7.69027010e-01 6.37377847e-01 4.84452015e-02 1.18927582e+03] [-6.36113134e-01 7.70551412e-01 -4.01323240e-02 -6.68154958e+02] [-6.29089727e-02 4.62122680e-05 9.98019268e-01 -5.25241305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.32, Y:-668.19, Z:-52.53 [[ 7.69799359e-01 6.36445524e-01 4.84359612e-02 1.18932479e+03] [-6.35178262e-01 7.71321643e-01 -4.01434730e-02 -6.68194641e+02] [-6.29088389e-02 1.36950112e-04 9.98019268e-01 -5.25281244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1189.37, Y:-668.23, Z:-52.53 [[ 7.69227967e-01 6.37136857e-01 4.84247773e-02 1.18937340e+03] [-6.35870115e-01 7.70750683e-01 -4.01569596e-02 -6.68232741e+02] [-6.29089092e-02 9.79877219e-05 9.98019268e-01 -5.25327947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.42, Y:-668.27, Z:-52.54 [[ 7.68066165e-01 6.38537686e-01 4.84147759e-02 1.18942012e+03] [-6.37272961e-01 7.69590556e-01 -4.01690141e-02 -6.68271679e+02] [-6.29089836e-02 -9.67014310e-07 9.98019268e-01 -5.25376749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.47, Y:-668.31, Z:-52.55 [[ 7.68688789e-01 6.37788712e-01 4.84056261e-02 1.18947020e+03] [-6.36521807e-01 7.70211369e-01 -4.01800370e-02 -6.68307598e+02] [-6.29089376e-02 7.47073963e-05 9.98019268e-01 -5.25478021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.52, Y:-668.35, Z:-52.55 [[ 7.65541365e-01 6.41563459e-01 4.84019334e-02 1.18951699e+03] [-6.40303781e-01 7.67069929e-01 -4.01844848e-02 -6.68346837e+02] [-6.29085647e-02 -2.29055609e-04 9.98019268e-01 -5.25458122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.57, Y:-668.38, Z:-52.55 [[ 7.66212047e-01 6.40763045e-01 4.83923424e-02 1.18956574e+03] [-6.39501041e-01 7.67738691e-01 -4.01960315e-02 -6.68384094e+02] [-6.29088052e-02 -1.48269784e-04 9.98019269e-01 -5.25548707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.61, Y:-668.43, Z:-52.55 [[ 7.63512683e-01 6.43977567e-01 4.83867337e-02 1.18960999e+03] [-6.42721562e-01 7.65044267e-01 -4.02027820e-02 -6.68426801e+02] [-6.29076829e-02 -4.03863042e-04 9.98019269e-01 -5.25524106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.66, Y:-668.47, Z:-52.56 [[ 7.62468234e-01 6.45214307e-01 4.83806793e-02 1.18965784e+03] [-6.43960324e-01 7.64001474e-01 -4.02100667e-02 -6.68467634e+02] [-6.29070206e-02 -4.96339344e-04 9.98019269e-01 -5.25551049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1189.71, Y:-668.51, Z:-52.56 [[ 7.60783857e-01 6.47200360e-01 4.83695826e-02 1.18970582e+03] [-6.45949532e-01 7.62319671e-01 -4.02234107e-02 -6.68506996e+02] [-6.29056902e-02 -6.42987702e-04 9.98019269e-01 -5.25592775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.75, Y:-668.55, Z:-52.56 [[ 7.57514873e-01 6.51024246e-01 4.83595737e-02 1.18975280e+03] [-6.49780402e-01 7.59056348e-01 -4.02354406e-02 -6.68547566e+02] [-6.29018888e-02 -9.44158563e-04 9.98019269e-01 -5.25631734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.80, Y:-668.59, Z:-52.57 [[ 7.55371863e-01 6.53510271e-01 4.83495164e-02 1.18980011e+03] [-6.52270725e-01 7.56916797e-01 -4.02475225e-02 -6.68586464e+02] [-6.28987304e-02 -1.13512809e-03 9.98019269e-01 -5.25686408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.85, Y:-668.63, Z:-52.57 [[ 7.53641302e-01 6.55505913e-01 4.83403184e-02 1.18984962e+03] [-6.54269751e-01 7.55188944e-01 -4.02585669e-02 -6.68625437e+02] [-6.28958027e-02 -1.28708929e-03 9.98019269e-01 -5.25730104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.90, Y:-668.66, Z:-52.58 [[ 7.52088518e-01 6.57287724e-01 4.83291844e-02 1.18990104e+03] [-6.56054369e-01 7.53638399e-01 -4.02719285e-02 -6.68662500e+02] [-6.28929734e-02 -1.41851761e-03 9.98019269e-01 -5.25766347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.95, Y:-668.71, Z:-52.58 [[ 7.52253373e-01 6.57099873e-01 4.83178980e-02 1.18994571e+03] [-6.55865263e-01 7.53802254e-01 -4.02854653e-02 -6.68705915e+02] [-6.28937146e-02 -1.38515373e-03 9.98019269e-01 -5.25777050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1189.99, Y:-668.74, Z:-52.58 [[ 7.57830689e-01 6.50659950e-01 4.83143564e-02 1.18999361e+03] [-6.49411903e-01 7.59368764e-01 -4.02897123e-02 -6.68742587e+02] [-6.29033153e-02 -8.43137734e-04 9.98019269e-01 -5.25839280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.04, Y:-668.79, Z:-52.59 [[ 7.60773924e-01 6.47216531e-01 4.83093978e-02 1.19003997e+03] [-6.45961145e-01 7.62306014e-01 -4.02956571e-02 -6.68785075e+02] [-6.29065599e-02 -5.50108714e-04 9.98019269e-01 -5.25880908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.09, Y:-668.82, Z:-52.59 [[ 7.62628773e-01 6.45030706e-01 4.82984670e-02 1.19008949e+03] [-6.43770099e-01 7.64156570e-01 -4.03087545e-02 -6.68823257e+02] [-6.29079753e-02 -3.52492895e-04 9.98019270e-01 -5.25917663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.13, Y:-668.87, Z:-52.59 [[ 7.61841959e-01 6.45960669e-01 4.82871068e-02 1.19013350e+03] [-6.44701064e-01 7.63370582e-01 -4.03223586e-02 -6.68866693e+02] [-6.29076146e-02 -4.11484461e-04 9.98019270e-01 -5.25941854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.18, Y:-668.90, Z:-52.60 [[ 7.67570285e-01 6.39143499e-01 4.82850461e-02 1.19018350e+03] [-6.37870162e-01 7.69087488e-01 -4.03248261e-02 -6.68900696e+02] [-6.29087753e-02 1.52548055e-04 9.98019270e-01 -5.26023652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.23, Y:-668.94, Z:-52.61 [[ 7.68537070e-01 6.37981056e-01 4.82798522e-02 1.19023058e+03] [-6.36705034e-01 7.70052016e-01 -4.03310437e-02 -6.68940880e+02] [-6.29084393e-02 2.55877205e-04 9.98019270e-01 -5.26087103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.28, Y:-668.98, Z:-52.61 [[ 7.71172296e-01 6.34793688e-01 4.82727954e-02 1.19027984e+03] [-6.33510876e-01 7.72681497e-01 -4.03394884e-02 -6.68979424e+02] [-6.29067484e-02 5.27354965e-04 9.98019270e-01 -5.26078046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1190.33, Y:-669.02, Z:-52.61 [[ 7.72295559e-01 6.33427385e-01 4.82629945e-02 1.19032850e+03] [-6.32141171e-01 7.73801861e-01 -4.03512110e-02 -6.69017751e+02] [-6.29055570e-02 6.54035209e-04 9.98019270e-01 -5.26102163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.38, Y:-669.05, Z:-52.61 [[ 7.71922812e-01 6.33882330e-01 4.82531211e-02 1.19037717e+03] [-6.32596266e-01 7.73429242e-01 -4.03630144e-02 -6.69053800e+02] [-6.29057765e-02 6.32387430e-04 9.98019270e-01 -5.26144116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.43, Y:-669.09, Z:-52.62 [[ 7.70178613e-01 6.36001009e-01 4.82454316e-02 1.19042548e+03] [-6.34718513e-01 7.71688081e-01 -4.03722035e-02 -6.69093627e+02] [-6.29071867e-02 4.71539083e-04 9.98019270e-01 -5.26176683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.47, Y:-669.13, Z:-52.62 [[ 7.66748273e-01 6.40133213e-01 4.82343918e-02 1.19047405e+03] [-6.38858023e-01 7.68263918e-01 -4.03853889e-02 -6.69131447e+02] [-6.29087715e-02 1.50498981e-04 9.98019270e-01 -5.26245435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.52, Y:-669.17, Z:-52.63 [[ 7.63771578e-01 6.43682186e-01 4.82309036e-02 1.19052226e+03] [-6.42413775e-01 7.65292902e-01 -4.03895543e-02 -6.69171462e+02] [-6.29088048e-02 -1.35803285e-04 9.98019270e-01 -5.26266902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1190.57, Y:-669.21, Z:-52.63 [[ 7.61446855e-01 6.46431422e-01 4.82193184e-02 1.19057104e+03] [-6.45167629e-01 7.62972016e-01 -4.04033806e-02 -6.69210816e+02] [-6.29080054e-02 -3.44516213e-04 9.98019270e-01 -5.26305308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.62, Y:-669.25, Z:-52.63 [[ 7.59798720e-01 6.48368635e-01 4.82080743e-02 1.19061866e+03] [-6.47107879e-01 7.61326393e-01 -4.04167923e-02 -6.69249632e+02] [-6.29070598e-02 -4.87197587e-04 9.98019271e-01 -5.26327067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.67, Y:-669.29, Z:-52.63 [[ 7.60697076e-01 6.47315077e-01 4.81990670e-02 1.19066602e+03] [-6.46051524e-01 7.62222436e-01 -4.04275311e-02 -6.69289851e+02] [-6.29077607e-02 -3.85976049e-04 9.98019271e-01 -5.26344616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1190.71, Y:-669.33, Z:-52.64 [[ 7.62251094e-01 6.45485117e-01 4.81895593e-02 1.19071374e+03] [-6.44217186e-01 7.63772817e-01 -4.04388612e-02 -6.69330982e+02] [-6.29085584e-02 -2.19976109e-04 9.98019271e-01 -5.26384804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.76, Y:-669.37, Z:-52.64 [[ 7.64259757e-01 6.43106386e-01 4.81788342e-02 1.19076098e+03] [-6.41832914e-01 7.65776845e-01 -4.04516350e-02 -6.69371668e+02] [-6.29089404e-02 -7.20477626e-06 9.98019271e-01 -5.26430683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.81, Y:-669.41, Z:-52.65 [[ 7.67007756e-01 6.39827309e-01 4.81676024e-02 1.19080710e+03] [-6.38546511e-01 7.68518664e-01 -4.04650048e-02 -6.69412264e+02] [-6.29083166e-02 2.79718007e-04 9.98019271e-01 -5.26490644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.85, Y:-669.45, Z:-52.65 [[ 7.67762364e-01 6.38922399e-01 4.81572408e-02 1.19085301e+03] [-6.37639047e-01 7.69271104e-01 -4.04773323e-02 -6.69452494e+02] [-6.29078481e-02 3.70035172e-04 9.98019271e-01 -5.26544212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1190.90, Y:-669.49, Z:-52.66 [[ 7.67391016e-01 6.39369027e-01 4.81484834e-02 1.19090015e+03] [-6.38085900e-01 7.68899946e-01 -4.04877468e-02 -6.69494371e+02] [-6.29079775e-02 3.47064769e-04 9.98019271e-01 -5.26593884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.95, Y:-669.53, Z:-52.67 [[ 7.66472924e-01 6.40470184e-01 4.81373128e-02 1.19094716e+03] [-6.39188390e-01 7.67982987e-01 -4.05010235e-02 -6.69534427e+02] [-6.29083353e-02 2.74126394e-04 9.98019272e-01 -5.26656533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1190.99, Y:-669.58, Z:-52.67 [[ 7.64895484e-01 6.42353982e-01 4.81275460e-02 1.19099280e+03] [-6.41075178e-01 7.66408079e-01 -4.05126262e-02 -6.69576593e+02] [-6.29087868e-02 1.34549758e-04 9.98019272e-01 -5.26714295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.04, Y:-669.62, Z:-52.68 [[ 7.64180358e-01 6.43205310e-01 4.81176726e-02 1.19103991e+03] [-6.41927452e-01 7.65693753e-01 -4.05243497e-02 -6.69618086e+02] [-6.29088782e-02 7.98570879e-05 9.98019272e-01 -5.26759399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1191.09, Y:-669.66, Z:-52.68 [[ 7.62286395e-01 6.45449622e-01 4.81065158e-02 1.19108740e+03] [-6.44175385e-01 7.63802840e-01 -4.05375895e-02 -6.69658906e+02] [-6.29088652e-02 -8.77803706e-05 9.98019272e-01 -5.26806384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.14, Y:-669.70, Z:-52.68 [[ 7.60398789e-01 6.47673147e-01 4.80954884e-02 1.19113516e+03] [-6.46402517e-01 7.61918257e-01 -4.05506688e-02 -6.69700126e+02] [-6.29084099e-02 -2.54365308e-04 9.98019272e-01 -5.26833658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.18, Y:-669.74, Z:-52.69 [[ 7.58077489e-01 6.50389463e-01 4.80839643e-02 1.19118214e+03] [-6.49123410e-01 7.59600772e-01 -4.05643291e-02 -6.69740679e+02] [-6.29072287e-02 -4.61522195e-04 9.98019272e-01 -5.26878402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.23, Y:-669.78, Z:-52.69 [[ 7.57042358e-01 6.51594831e-01 4.80733207e-02 1.19123061e+03] [-6.50330403e-01 7.58566991e-01 -4.05769391e-02 -6.69781242e+02] [-6.29065580e-02 -5.45080345e-04 9.98019272e-01 -5.26931657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.28, Y:-669.82, Z:-52.70 [[ 7.55818242e-01 6.53015157e-01 4.80623510e-02 1.19127806e+03] [-6.51752768e-01 7.57344563e-01 -4.05899283e-02 -6.69823078e+02] [-6.29055986e-02 -6.46162127e-04 9.98019272e-01 -5.26960767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.33, Y:-669.86, Z:-52.70 [[ 7.54932945e-01 6.54039254e-01 4.80510483e-02 1.19132551e+03] [-6.52778084e-01 7.56460273e-01 -4.06033043e-02 -6.69863860e+02] [-6.29048639e-02 -7.13899172e-04 9.98019273e-01 -5.26997205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1191.37, Y:-669.90, Z:-52.70 [[ 7.54261185e-01 6.54814655e-01 4.80399137e-02 1.19137282e+03] [-6.53554216e-01 7.55789116e-01 -4.06164739e-02 -6.69903892e+02] [-6.29043063e-02 -7.61258368e-04 9.98019273e-01 -5.27031008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.42, Y:-669.95, Z:-52.71 [[ 7.54179308e-01 6.54909709e-01 4.80296215e-02 1.19141949e+03] [-6.53648689e-01 7.55706759e-01 -4.06286409e-02 -6.69945422e+02] [-6.29044010e-02 -7.53218854e-04 9.98019273e-01 -5.27053948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.47, Y:-669.98, Z:-52.71 [[ 7.57092798e-01 6.51540280e-01 4.80183237e-02 1.19146785e+03] [-6.50271615e-01 7.58613905e-01 -4.06419893e-02 -6.69984094e+02] [-6.29072611e-02 -4.55195529e-04 9.98019273e-01 -5.27113630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.51, Y:-670.03, Z:-52.71 [[ 7.56207282e-01 6.52568591e-01 4.80081255e-02 1.19151176e+03] [-6.51301229e-01 7.57729476e-01 -4.06540323e-02 -6.70026629e+02] [-6.29067163e-02 -5.24875841e-04 9.98019273e-01 -5.27122264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.56, Y:-670.07, Z:-52.72 [[ 7.57908970e-01 6.50592120e-01 4.79988280e-02 1.19155958e+03] [-6.49320093e-01 7.59427267e-01 -4.06650066e-02 -6.70066228e+02] [-6.29079516e-02 -3.46230178e-04 9.98019273e-01 -5.27165623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.61, Y:-670.11, Z:-52.72 [[ 7.60635058e-01 6.47403613e-01 4.79882310e-02 1.19160801e+03] [-6.46124433e-01 7.62147334e-01 -4.06775080e-02 -6.70105925e+02] [-6.29088680e-02 -6.56298505e-05 9.98019273e-01 -5.27195446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.66, Y:-670.15, Z:-52.72 [[ 7.63098953e-01 6.44498433e-01 4.79766425e-02 1.19165679e+03] [-6.43212637e-01 7.64605606e-01 -4.06911715e-02 -6.70145160e+02] [-6.29086061e-02 1.92207641e-04 9.98019274e-01 -5.27238828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.71, Y:-670.18, Z:-52.73 [[ 7.67650437e-01 6.39071345e-01 4.79648120e-02 1.19170758e+03] [-6.37774026e-01 7.69147181e-01 -4.07051119e-02 -6.70180359e+02] [-6.29054705e-02 6.56585624e-04 9.98019274e-01 -5.27339886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.75, Y:-670.22, Z:-52.73 [[ 7.65411723e-01 6.41751718e-01 4.79544301e-02 1.19175274e+03] [-6.40458875e-01 7.66912334e-01 -4.07173392e-02 -6.70223222e+02] [-6.29072662e-02 4.52688356e-04 9.98019274e-01 -5.27326660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.80, Y:-670.26, Z:-52.74 [[ 7.65423550e-01 6.41738428e-01 4.79435036e-02 1.19180102e+03] [-6.40444754e-01 7.66923443e-01 -4.07302007e-02 -6.70261158e+02] [-6.29071319e-02 4.70689371e-04 9.98019274e-01 -5.27381321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.85, Y:-670.30, Z:-52.74 [[ 7.65658162e-01 6.41459290e-01 4.79328524e-02 1.19184951e+03] [-6.40164284e-01 7.67156906e-01 -4.07427316e-02 -6.70299960e+02] [-6.29068225e-02 5.10104889e-04 9.98019274e-01 -5.27449147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.90, Y:-670.34, Z:-52.74 [[ 7.66028384e-01 6.41017421e-01 4.79289171e-02 1.19189554e+03] [-6.39721261e-01 7.67526131e-01 -4.07473605e-02 -6.70342449e+02] [-6.29064642e-02 5.52487478e-04 9.98019274e-01 -5.27436420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.94, Y:-670.38, Z:-52.75 [[ 7.66614644e-01 6.40317061e-01 4.79171071e-02 1.19194407e+03] [-6.39018665e-01 7.68110452e-01 -4.07612439e-02 -6.70382926e+02] [-6.29057506e-02 6.28240679e-04 9.98019274e-01 -5.27466320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1191.99, Y:-670.42, Z:-52.75 [[ 7.67135066e-01 6.39694325e-01 4.79057539e-02 1.19199332e+03] [-6.38393882e-01 7.68629094e-01 -4.07745827e-02 -6.70421815e+02] [-6.29050254e-02 6.96871966e-04 9.98019274e-01 -5.27483344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.04, Y:-670.46, Z:-52.75 [[ 7.67458294e-01 6.39307362e-01 4.78942904e-02 1.19204258e+03] [-6.38005326e-01 7.68950935e-01 -4.07880433e-02 -6.70460800e+02] [-6.29044558e-02 7.46309796e-04 9.98019275e-01 -5.27520454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.09, Y:-670.50, Z:-52.76 [[ 7.68084919e-01 6.38555244e-01 4.78827487e-02 1.19208954e+03] [-6.37250902e-01 7.69575544e-01 -4.08015881e-02 -6.70501456e+02] [-6.29034605e-02 8.25759669e-04 9.98019275e-01 -5.27552894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.14, Y:-670.54, Z:-52.76 [[ 7.68708721e-01 6.37804451e-01 4.78788611e-02 1.19213867e+03] [-6.36498369e-01 7.70197822e-01 -4.08061496e-02 -6.70539909e+02] [-6.29025383e-02 8.93226111e-04 9.98019275e-01 -5.27576243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.19, Y:-670.58, Z:-52.76 [[ 7.68056853e-01 6.38590167e-01 4.78671917e-02 1.19218784e+03] [-6.37284756e-01 7.69546542e-01 -4.08198336e-02 -6.70576874e+02] [-6.29031763e-02 8.46921333e-04 9.98019275e-01 -5.27639325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.24, Y:-670.62, Z:-52.77 [[ 7.66147397e-01 6.40880575e-01 4.78566155e-02 1.19223693e+03] [-6.39578843e-01 7.67640302e-01 -4.08322293e-02 -6.70616511e+02] [-6.29052493e-02 6.75427458e-04 9.98019275e-01 -5.27701943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.28, Y:-670.65, Z:-52.78 [[ 7.62562882e-01 6.45142368e-01 4.78453378e-02 1.19228491e+03] [-6.43848151e-01 7.64062307e-01 -4.08454397e-02 -6.70653548e+02] [-6.29079429e-02 3.42083985e-04 9.98019275e-01 -5.27781800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.33, Y:-670.69, Z:-52.78 [[ 7.60303163e-01 6.47804589e-01 4.78363311e-02 1.19233459e+03] [-6.46514960e-01 7.61806534e-01 -4.08559853e-02 -6.70692650e+02] [-6.29087244e-02 1.36031190e-04 9.98019275e-01 -5.27832231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.38, Y:-670.74, Z:-52.79 [[ 7.57828340e-01 6.50698807e-01 4.78254063e-02 1.19238147e+03] [-6.49414112e-01 7.59335930e-01 -4.08687696e-02 -6.70735272e+02] [-6.29088091e-02 -8.69819166e-05 9.98019276e-01 -5.27864328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.43, Y:-670.77, Z:-52.79 [[ 7.57257272e-01 6.51363913e-01 4.78171244e-02 1.19242933e+03] [-6.50079930e-01 7.58765468e-01 -4.08784574e-02 -6.70774225e+02] [-6.29087347e-02 -1.29443769e-04 9.98019276e-01 -5.27881142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.48, Y:-670.81, Z:-52.79 [[ 7.57007988e-01 6.51654162e-01 4.78096109e-02 1.19247696e+03] [-6.50370203e-01 7.58516205e-01 -4.08872429e-02 -6.70814423e+02] [-6.29087066e-02 -1.41976855e-04 9.98019276e-01 -5.27919506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.52, Y:-670.85, Z:-52.80 [[ 7.57977279e-01 6.50527275e-01 4.77986307e-02 1.19252401e+03] [-6.49240264e-01 7.59482892e-01 -4.09000751e-02 -6.70854369e+02] [-6.29088567e-02 -3.14679727e-05 9.98019276e-01 -5.27966406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.57, Y:-670.89, Z:-52.80 [[ 7.60508291e-01 6.47567295e-01 4.77884811e-02 1.19257163e+03] [-6.46273679e-01 7.62008232e-01 -4.09119307e-02 -6.70894682e+02] [-6.29084443e-02 2.29424992e-04 9.98019276e-01 -5.28045580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.62, Y:-670.94, Z:-52.81 [[ 7.62011056e-01 6.45799156e-01 4.77765805e-02 1.19261863e+03] [-6.44501188e-01 7.63507234e-01 -4.09258234e-02 -6.70935902e+02] [-6.29076270e-02 3.93867035e-04 9.98019276e-01 -5.28090612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.66, Y:-670.98, Z:-52.81 [[ 7.62023425e-01 6.45785449e-01 4.77645653e-02 1.19266437e+03] [-6.44486576e-01 7.63518816e-01 -4.09398415e-02 -6.70978529e+02] [-6.29074983e-02 4.13497120e-04 9.98019276e-01 -5.28112476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.71, Y:-671.02, Z:-52.81 [[ 7.61503216e-01 6.46399669e-01 4.77526999e-02 1.19270854e+03] [-6.45101134e-01 7.62998901e-01 -4.09536768e-02 -6.71020707e+02] [-6.29077007e-02 3.81035732e-04 9.98019276e-01 -5.28148010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.75, Y:-671.06, Z:-52.82 [[ 7.62700613e-01 6.44986826e-01 4.77469310e-02 1.19275331e+03] [-6.43685100e-01 7.64193521e-01 -4.09604016e-02 -6.71063884e+02] [-6.29068147e-02 5.06535392e-04 9.98019276e-01 -5.28227643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.80, Y:-671.11, Z:-52.83 [[ 7.61520974e-01 6.46379448e-01 4.77432237e-02 1.19279655e+03] [-6.45080181e-01 7.63016023e-01 -4.09647223e-02 -6.71107487e+02] [-6.29075993e-02 3.97287849e-04 9.98019276e-01 -5.28266378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.84, Y:-671.15, Z:-52.83 [[ 7.60773370e-01 6.47259904e-01 4.77335949e-02 1.19284135e+03] [-6.45961664e-01 7.62269310e-01 -4.09759391e-02 -6.71151315e+02] [-6.29079369e-02 3.39330894e-04 9.98019277e-01 -5.28297196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.89, Y:-671.20, Z:-52.83 [[ 7.59532719e-01 6.48716099e-01 4.77228606e-02 1.19288643e+03] [-6.47419942e-01 7.61030464e-01 -4.09884371e-02 -6.71195868e+02] [-6.29084098e-02 2.35327427e-04 9.98019277e-01 -5.28327110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.93, Y:-671.24, Z:-52.84 [[ 7.58100538e-01 6.50390027e-01 4.77114990e-02 1.19293225e+03] [-6.49096344e-01 7.59600421e-01 -4.10016581e-02 -6.71239245e+02] [-6.29087442e-02 1.14019484e-04 9.98019277e-01 -5.28364853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1192.98, Y:-671.28, Z:-52.84 [[ 7.54257196e-01 6.54844103e-01 4.76999309e-02 1.19297622e+03] [-6.53558426e-01 7.55763948e-01 -4.10151115e-02 -6.71284279e+02] [-6.29083920e-02 -2.38748732e-04 9.98019277e-01 -5.28403891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.02, Y:-671.32, Z:-52.84 [[ 7.52996359e-01 6.56294164e-01 4.76912304e-02 1.19302243e+03] [-6.55010748e-01 7.54505037e-01 -4.10252257e-02 -6.71324580e+02] [-6.29078898e-02 -3.46422916e-04 9.98019277e-01 -5.28432001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.07, Y:-671.37, Z:-52.85 [[ 7.51102829e-01 6.58460831e-01 4.76851603e-02 1.19306846e+03] [-6.57181320e-01 7.52614818e-01 -4.10322800e-02 -6.71366145e+02] [-6.29067075e-02 -5.18335052e-04 9.98019277e-01 -5.28477212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1193.12, Y:-671.41, Z:-52.85 [[ 7.48079430e-01 6.61894476e-01 4.76746262e-02 1.19311522e+03] [-6.60621124e-01 7.49596611e-01 -4.10445158e-02 -6.71408045e+02] [-6.29038765e-02 -7.90307113e-04 9.98019277e-01 -5.28514325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.16, Y:-671.45, Z:-52.85 [[ 7.47521114e-01 6.62525750e-01 4.76635496e-02 1.19316266e+03] [-6.61252860e-01 7.49038682e-01 -4.10573746e-02 -6.71449559e+02] [-6.29034103e-02 -8.26404101e-04 9.98019277e-01 -5.28548075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.21, Y:-671.49, Z:-52.86 [[ 7.49249467e-01 6.60571359e-01 4.76520278e-02 1.19321102e+03] [-6.59293660e-01 7.50762988e-01 -4.10707427e-02 -6.71489406e+02] [-6.29055351e-02 -6.44447755e-04 9.98019278e-01 -5.28594441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1193.26, Y:-671.53, Z:-52.86 [[ 7.50034478e-01 6.59680764e-01 4.76400342e-02 1.19325898e+03] [-6.58400384e-01 7.51545731e-01 -4.10846500e-02 -6.71530455e+02] [-6.29064176e-02 -5.51312809e-04 9.98019278e-01 -5.28631827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.31, Y:-671.57, Z:-52.87 [[ 7.53513012e-01 6.55705504e-01 4.76280637e-02 1.19330697e+03] [-6.54416274e-01 7.55016723e-01 -4.10985223e-02 -6.71571523e+02] [-6.29085119e-02 -2.00308672e-04 9.98019278e-01 -5.28667058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1193.35, Y:-671.61, Z:-52.87 [[ 7.54453181e-01 6.54624396e-01 4.76161480e-02 1.19335258e+03] [-6.53332140e-01 7.55954292e-01 -4.11123231e-02 -6.71613001e+02] [-6.29087611e-02 -9.18368703e-05 9.98019278e-01 -5.28702179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.40, Y:-671.65, Z:-52.88 [[ 7.56258499e-01 6.52538760e-01 4.76051554e-02 1.19339954e+03] [-6.51241563e-01 7.57755342e-01 -4.11250479e-02 -6.71653684e+02] [-6.29087485e-02 9.87111906e-05 9.98019278e-01 -5.28751889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.45, Y:-671.69, Z:-52.88 [[ 7.58484655e-01 6.49950346e-01 4.75980637e-02 1.19344861e+03] [-6.48647526e-01 7.59976607e-01 -4.11332541e-02 -6.71692243e+02] [-6.29079877e-02 3.24575825e-04 9.98019278e-01 -5.28807699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.50, Y:-671.73, Z:-52.89 [[ 7.56532372e-01 6.52222605e-01 4.75861781e-02 1.19349608e+03] [-6.50923401e-01 7.58027473e-01 -4.11469997e-02 -6.71733188e+02] [-6.29086337e-02 1.54080411e-04 9.98019278e-01 -5.28856083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.54, Y:-671.77, Z:-52.89 [[ 7.52617841e-01 6.56736684e-01 4.75742855e-02 1.19354216e+03] [-6.55445579e-01 7.54119941e-01 -4.11607454e-02 -6.71774136e+02] [-6.29084889e-02 -2.04043772e-04 9.98019279e-01 -5.28891228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.59, Y:-671.81, Z:-52.89 [[ 7.49970363e-01 6.59759192e-01 4.75632650e-02 1.19359022e+03] [-6.58473332e-01 7.51476956e-01 -4.11734762e-02 -6.71812706e+02] [-6.29072770e-02 -4.40254681e-04 9.98019279e-01 -5.28945388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1193.64, Y:-671.85, Z:-52.90 [[ 7.48050721e-01 6.61935696e-01 4.75526457e-02 1.19363844e+03] [-6.60653441e-01 7.49560382e-01 -4.11857372e-02 -6.71852591e+02] [-6.29058889e-02 -6.06798661e-04 9.98019279e-01 -5.28988528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.68, Y:-671.89, Z:-52.90 [[ 7.48475219e-01 6.61456500e-01 4.75409986e-02 1.19368412e+03] [-6.60172424e-01 7.49983332e-01 -4.11991771e-02 -6.71893628e+02] [-6.29064200e-02 -5.48693230e-04 9.98019279e-01 -5.29029755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.73, Y:-671.94, Z:-52.91 [[ 7.51428663e-01 6.58100176e-01 4.75302341e-02 1.19373043e+03] [-6.56808579e-01 7.52930339e-01 -4.12115921e-02 -6.71935595e+02] [-6.29083113e-02 -2.50693948e-04 9.98019279e-01 -5.29057289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.77, Y:-671.98, Z:-52.91 [[ 7.51708810e-01 6.57780917e-01 4.75197931e-02 1.19377475e+03] [-6.56487921e-01 7.53209282e-01 -4.12236278e-02 -6.71977089e+02] [-6.29084649e-02 -2.08006024e-04 9.98019279e-01 -5.29104228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.82, Y:-672.02, Z:-52.91 [[ 7.51145954e-01 6.58424287e-01 4.75101454e-02 1.19382201e+03] [-6.57131873e-01 7.52646927e-01 -4.12347437e-02 -6.72018216e+02] [-6.29083217e-02 -2.47119912e-04 9.98019279e-01 -5.29137878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1193.87, Y:-672.06, Z:-52.92 [[ 7.49969447e-01 6.59764874e-01 4.74988377e-02 1.19386943e+03] [-6.58474318e-01 7.51472018e-01 -4.12477651e-02 -6.72058532e+02] [-6.29078740e-02 -3.42201226e-04 9.98019280e-01 -5.29189317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.92, Y:-672.10, Z:-52.92 [[ 7.47747577e-01 6.62282802e-01 4.74873891e-02 1.19391675e+03] [-6.60996469e-01 7.49253764e-01 -4.12609413e-02 -6.72098496e+02] [-6.29065169e-02 -5.36227598e-04 9.98019280e-01 -5.29245089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1193.97, Y:-672.14, Z:-52.93 [[ 7.45860247e-01 6.64408299e-01 4.74774041e-02 1.19396509e+03] [-6.63125527e-01 7.47369468e-01 -4.12724276e-02 -6.72138269e+02] [-6.29049056e-02 -7.00015571e-04 9.98019280e-01 -5.29294487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.01, Y:-672.18, Z:-52.93 [[ 7.44087396e-01 6.66393980e-01 4.74658808e-02 1.19401356e+03] [-6.65114391e-01 7.45599316e-01 -4.12856758e-02 -6.72176492e+02] [-6.29030541e-02 -8.50089336e-04 9.98019280e-01 -5.29346769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.06, Y:-672.21, Z:-52.94 [[ 7.42466285e-01 6.68200431e-01 4.74552375e-02 1.19406276e+03] [-6.66923738e-01 7.43980652e-01 -4.12979060e-02 -6.72214046e+02] [-6.29010571e-02 -9.86721495e-04 9.98019280e-01 -5.29393811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1194.11, Y:-672.25, Z:-52.94 [[ 7.43504473e-01 6.67045759e-01 4.74452654e-02 1.19410927e+03] [-6.65765984e-01 7.45016236e-01 -4.13093593e-02 -6.72254745e+02] [-6.29027260e-02 -8.73750410e-04 9.98019280e-01 -5.29416136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1194.16, Y:-672.30, Z:-52.95 [[ 7.48138837e-01 6.61844526e-01 4.74352621e-02 1.19415622e+03] [-6.60553511e-01 7.49641012e-01 -4.13208428e-02 -6.72295397e+02] [-6.29073916e-02 -4.19801666e-04 9.98019280e-01 -5.29459844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.20, Y:-672.34, Z:-52.95 [[ 7.48330943e-01 6.61628068e-01 4.74246717e-02 1.19419983e+03] [-6.60335848e-01 7.49832082e-01 -4.13329941e-02 -6.72339061e+02] [-6.29076094e-02 -3.85452376e-04 9.98019280e-01 -5.29493556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.25, Y:-672.38, Z:-52.96 [[ 7.49408285e-01 6.60408079e-01 4.74172107e-02 1.19424910e+03] [-6.59112874e-01 7.50906848e-01 -4.13415516e-02 -6.72378380e+02] [-6.29082029e-02 -2.71592793e-04 9.98019281e-01 -5.29557255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.29, Y:-672.42, Z:-52.96 [[ 7.44845177e-01 6.65551200e-01 4.74052948e-02 1.19429412e+03] [-6.64265473e-01 7.46351880e-01 -4.13552108e-02 -6.72419335e+02] [-6.29050411e-02 -6.86471207e-04 9.98019281e-01 -5.29609201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.34, Y:-672.46, Z:-52.97 [[ 7.43019565e-01 6.67589369e-01 4.73957988e-02 1.19434138e+03] [-6.66307080e-01 7.44529195e-01 -4.13660910e-02 -6.72459245e+02] [-6.29031185e-02 -8.44341331e-04 9.98019281e-01 -5.29669882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.39, Y:-672.50, Z:-52.97 [[ 7.42757458e-01 6.67881674e-01 4.73859442e-02 1.19439027e+03] [-6.66599259e-01 7.44266982e-01 -4.13773766e-02 -6.72498330e+02] [-6.29029852e-02 -8.54080168e-04 9.98019281e-01 -5.29714822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.44, Y:-672.54, Z:-52.97 [[ 7.43791119e-01 6.66731161e-01 4.73743551e-02 1.19443777e+03] [-6.65445567e-01 7.45297935e-01 -4.13906411e-02 -6.72538961e+02] [-6.29044393e-02 -7.39063298e-04 9.98019281e-01 -5.29741204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.49, Y:-672.58, Z:-52.98 [[ 7.45800759e-01 6.64483244e-01 4.73629300e-02 1.19448569e+03] [-6.63192277e-01 7.47302975e-01 -4.14037106e-02 -6.72579925e+02] [-6.29065304e-02 -5.31810675e-04 9.98019281e-01 -5.29775382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1194.53, Y:-672.62, Z:-52.98 [[ 7.49213882e-01 6.60633325e-01 4.73515463e-02 1.19453177e+03] [-6.59333816e-01 7.50708715e-01 -4.14167255e-02 -6.72620369e+02] [-6.29084876e-02 -1.90489983e-04 9.98019281e-01 -5.29822735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.58, Y:-672.66, Z:-52.98 [[ 7.50309756e-01 6.59388819e-01 4.73461281e-02 1.19457808e+03] [-6.58086440e-01 7.51802088e-01 -4.14229185e-02 -6.72663152e+02] [-6.29087273e-02 -7.78250970e-05 9.98019281e-01 -5.29844550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.62, Y:-672.70, Z:-52.99 [[ 7.50263714e-01 6.59442046e-01 4.73344327e-02 1.19462434e+03] [-6.58138930e-01 7.51755402e-01 -4.14362787e-02 -6.72703617e+02] [-6.29087399e-02 -6.44965052e-05 9.98019282e-01 -5.29897142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.67, Y:-672.74, Z:-52.99 [[ 7.49534206e-01 6.60271821e-01 4.73243809e-02 1.19467148e+03] [-6.58969631e-01 7.51026703e-01 -4.14477557e-02 -6.72743860e+02] [-6.29086589e-02 -1.18819211e-04 9.98019282e-01 -5.29946308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.72, Y:-672.78, Z:-53.00 [[ 7.48575560e-01 6.61359198e-01 4.73142931e-02 1.19471866e+03] [-6.60058449e-01 7.50069312e-01 -4.14592681e-02 -6.72784568e+02] [-6.29084676e-02 -1.94804073e-04 9.98019282e-01 -5.29994968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.77, Y:-672.83, Z:-53.00 [[ 7.48121294e-01 6.61873734e-01 4.73042159e-02 1.19476578e+03] [-6.60573286e-01 7.49615308e-01 -4.14707629e-02 -6.72826599e+02] [-6.29083731e-02 -2.22740461e-04 9.98019282e-01 -5.30034105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.81, Y:-672.87, Z:-53.01 [[ 7.49600938e-01 6.60198329e-01 4.72927082e-02 1.19481105e+03] [-6.58893714e-01 7.51091314e-01 -4.14838820e-02 -6.72866907e+02] [-6.29087319e-02 -6.45112666e-05 9.98019282e-01 -5.30073735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.86, Y:-672.91, Z:-53.01 [[ 7.51884000e-01 6.57597431e-01 4.72870888e-02 1.19485786e+03] [-6.56287257e-01 7.53369492e-01 -4.14902864e-02 -6.72908752e+02] [-6.29085559e-02 1.61968668e-04 9.98019282e-01 -5.30096512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.90, Y:-672.95, Z:-53.01 [[ 7.54898195e-01 6.54135891e-01 4.72752659e-02 1.19490394e+03] [-6.52818062e-01 7.56376901e-01 -4.15037535e-02 -6.72949399e+02] [-6.29070139e-02 4.68961091e-04 9.98019282e-01 -5.30125560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1194.95, Y:-672.99, Z:-53.01 [[ 7.59250950e-01 6.49079299e-01 4.72658316e-02 1.19494996e+03] [-6.47750955e-01 7.60720216e-01 -4.15144948e-02 -6.72991481e+02] [-6.29022728e-02 9.03432079e-04 9.98019282e-01 -5.30140843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.00, Y:-673.03, Z:-53.02 [[ 7.60626642e-01 6.47467380e-01 4.72557298e-02 1.19499657e+03] [-6.46135208e-01 7.62092439e-01 -4.15259905e-02 -6.73033479e+02] [-6.28999586e-02 1.05218392e-03 9.98019282e-01 -5.30173414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.04, Y:-673.07, Z:-53.02 [[ 7.60179779e-01 6.47992831e-01 4.72439981e-02 1.19504363e+03] [-6.46660843e-01 7.61645743e-01 -4.15393333e-02 -6.73074526e+02] [-6.29003802e-02 1.02651757e-03 9.98019283e-01 -5.30223413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1195.09, Y:-673.12, Z:-53.03 [[ 7.58752882e-01 6.49663893e-01 4.72322941e-02 1.19509107e+03] [-6.48334307e-01 7.60221024e-01 -4.15526370e-02 -6.73116125e+02] [-6.29022310e-02 9.05866428e-04 9.98019283e-01 -5.30267070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.14, Y:-673.16, Z:-53.03 [[ 7.56441175e-01 6.52354938e-01 4.72205840e-02 1.19513747e+03] [-6.51029744e-01 7.57913283e-01 -4.15659403e-02 -6.73155494e+02] [-6.29048542e-02 7.00183999e-04 9.98019283e-01 -5.30327785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.18, Y:-673.20, Z:-53.04 [[ 7.51331329e-01 6.58234255e-01 4.72112352e-02 1.19518350e+03] [-6.56919915e-01 7.52813135e-01 -4.15765560e-02 -6.73195068e+02] [-6.29083514e-02 2.23768453e-04 9.98019283e-01 -5.30383180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.23, Y:-673.24, Z:-53.04 [[ 7.47793261e-01 6.62251609e-01 4.72021711e-02 1.19523129e+03] [-6.60944580e-01 7.49281520e-01 -4.15868441e-02 -6.73235196e+02] [-6.29086689e-02 -9.96573360e-05 9.98019283e-01 -5.30409767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1195.28, Y:-673.27, Z:-53.05 [[ 7.44805946e-01 6.65610361e-01 4.71905698e-02 1.19527925e+03] [-6.64309210e-01 7.46299346e-01 -4.16000044e-02 -6.73274285e+02] [-6.29076854e-02 -3.65199494e-04 9.98019283e-01 -5.30457872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.33, Y:-673.31, Z:-53.05 [[ 7.42042087e-01 6.68690963e-01 4.71798455e-02 1.19532619e+03] [-6.67395237e-01 7.43540197e-01 -4.16121636e-02 -6.73314664e+02] [-6.29057894e-02 -6.09627437e-04 9.98019283e-01 -5.30475983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.37, Y:-673.36, Z:-53.05 [[ 7.41697574e-01 6.69073762e-01 4.71700153e-02 1.19537312e+03] [-6.67778101e-01 7.43195740e-01 -4.16233039e-02 -6.73355383e+02] [-6.29056149e-02 -6.27199714e-04 9.98019284e-01 -5.30504148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.42, Y:-673.40, Z:-53.05 [[ 7.42655517e-01 6.68010996e-01 4.71602866e-02 1.19541887e+03] [-6.66712492e-01 7.44151219e-01 -4.16343238e-02 -6.73397017e+02] [-6.29065709e-02 -5.22391963e-04 9.98019284e-01 -5.30539524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.46, Y:-673.44, Z:-53.06 [[ 7.45595944e-01 6.64728190e-01 4.71499984e-02 1.19546435e+03] [-6.63422363e-01 7.47085257e-01 -4.16459717e-02 -6.73439728e+02] [-6.29083201e-02 -2.29295783e-04 9.98019284e-01 -5.30585122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.51, Y:-673.48, Z:-53.06 [[ 7.46390179e-01 6.63837025e-01 4.71392196e-02 1.19550934e+03] [-6.62528650e-01 7.47877253e-01 -4.16581687e-02 -6.73481945e+02] [-6.29085849e-02 -1.37835564e-04 9.98019284e-01 -5.30608609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.56, Y:-673.52, Z:-53.07 [[ 7.46391529e-01 6.63836232e-01 4.71290016e-02 1.19555507e+03] [-6.62527125e-01 7.47877960e-01 -4.16697254e-02 -6.73522529e+02] [-6.29086151e-02 -1.22311899e-04 9.98019284e-01 -5.30677107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.60, Y:-673.56, Z:-53.07 [[ 7.47131013e-01 6.63004260e-01 4.71232511e-02 1.19560066e+03] [-6.61693088e-01 7.48615622e-01 -4.16762275e-02 -6.73564493e+02] [-6.29087183e-02 -4.35275339e-05 9.98019284e-01 -5.30713596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.65, Y:-673.61, Z:-53.07 [[ 7.48695805e-01 6.61237451e-01 4.71128949e-02 1.19564579e+03] [-6.59922039e-01 7.50176659e-01 -4.16879314e-02 -6.73609002e+02] [-6.29086156e-02 1.20741664e-04 9.98019284e-01 -5.30748366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1195.69, Y:-673.65, Z:-53.08 [[ 7.51156479e-01 6.58441662e-01 4.71011934e-02 1.19569086e+03] [-6.57119909e-01 7.52631676e-01 -4.17011482e-02 -6.73651424e+02] [-6.29076234e-02 3.72955693e-04 9.98019284e-01 -5.30817919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.74, Y:-673.69, Z:-53.08 [[ 7.51395283e-01 6.58169346e-01 4.70982095e-02 1.19573512e+03] [-6.56846847e-01 7.52869811e-01 -4.17045180e-02 -6.73694329e+02] [-6.29074554e-02 4.00267719e-04 9.98019284e-01 -5.30785281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.78, Y:-673.74, Z:-53.08 [[ 7.51064328e-01 6.58547676e-01 4.70885774e-02 1.19578115e+03] [-6.57225239e-01 7.52538911e-01 -4.17153908e-02 -6.73736079e+02] [-6.29075604e-02 3.83140441e-04 9.98019284e-01 -5.30794274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.83, Y:-673.78, Z:-53.08 [[ 7.50106132e-01 6.59639593e-01 4.70786418e-02 1.19582635e+03] [-6.58318599e-01 7.51582007e-01 -4.17266008e-02 -6.73776804e+02] [-6.29079781e-02 3.06633655e-04 9.98019285e-01 -5.30810695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.87, Y:-673.82, Z:-53.08 [[ 7.47455831e-01 6.62641863e-01 4.70695449e-02 1.19587423e+03] [-6.61326151e-01 7.48936417e-01 -4.17368600e-02 -6.73817862e+02] [-6.29086870e-02 6.81384729e-05 9.98019285e-01 -5.30834768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.92, Y:-673.86, Z:-53.09 [[ 7.45081156e-01 6.65311685e-01 4.70577508e-02 1.19592250e+03] [-6.64000439e-01 7.46565699e-01 -4.17501535e-02 -6.73858299e+02] [-6.29085676e-02 -1.39114492e-04 9.98019285e-01 -5.30886969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1195.97, Y:-673.90, Z:-53.09 [[ 7.43272042e-01 6.67333009e-01 4.70460132e-02 1.19596985e+03] [-6.66024962e-01 7.44759404e-01 -4.17633758e-02 -6.73898454e+02] [-6.29080400e-02 -2.92269608e-04 9.98019285e-01 -5.30931567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.02, Y:-673.94, Z:-53.10 [[ 7.43356222e-01 6.67239972e-01 4.70355907e-02 1.19601608e+03] [-6.65930997e-01 7.44842767e-01 -4.17751107e-02 -6.73938371e+02] [-6.29081432e-02 -2.68669350e-04 9.98019285e-01 -5.30985064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.06, Y:-673.98, Z:-53.10 [[ 7.44814533e-01 6.65612137e-01 4.70297254e-02 1.19606364e+03] [-6.64299496e-01 7.46297842e-01 -4.17817127e-02 -6.73979749e+02] [-6.29085977e-02 -1.22196015e-04 9.98019285e-01 -5.31022914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.11, Y:-674.02, Z:-53.10 [[ 7.47651223e-01 6.62425033e-01 4.70183422e-02 1.19611074e+03] [-6.61105264e-01 7.49128192e-01 -4.17945187e-02 -6.74019964e+02] [-6.29085012e-02 1.63649488e-04 9.98019285e-01 -5.31039094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.16, Y:-674.06, Z:-53.11 [[ 7.49321192e-01 6.60536129e-01 4.70082303e-02 1.19615830e+03] [-6.59211923e-01 7.50794185e-01 -4.18058889e-02 -6.74060622e+02] [-6.29078060e-02 3.37652631e-04 9.98019285e-01 -5.31051264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1196.21, Y:-674.10, Z:-53.11 [[ 7.49774789e-01 6.60021934e-01 4.69979989e-02 1.19620571e+03] [-6.58695997e-01 7.51246224e-01 -4.18173879e-02 -6.74101560e+02] [-6.29074625e-02 3.96229482e-04 9.98019286e-01 -5.31085016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.25, Y:-674.14, Z:-53.11 [[ 7.49902981e-01 6.59877106e-01 4.69864188e-02 1.19625387e+03] [-6.58550070e-01 7.51373425e-01 -4.18303954e-02 -6.74142281e+02] [-6.29072667e-02 4.25828839e-04 9.98019286e-01 -5.31115122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.30, Y:-674.18, Z:-53.12 [[ 7.47143380e-01 6.63000864e-01 4.69747243e-02 1.19630157e+03] [-6.61679150e-01 7.48618609e-01 -4.18435240e-02 -6.74181165e+02] [-6.29084453e-02 1.80916366e-04 9.98019286e-01 -5.31169269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.35, Y:-674.22, Z:-53.12 [[ 7.43900497e-01 6.66638126e-01 4.69644562e-02 1.19634982e+03] [-6.65322897e-01 7.45381511e-01 -4.18550455e-02 -6.74218672e+02] [-6.29086065e-02 -1.10538940e-04 9.98019286e-01 -5.31218306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.40, Y:-674.26, Z:-53.13 [[ 7.39367068e-01 6.71663279e-01 4.69550568e-02 1.19640076e+03] [-6.70357447e-01 7.40856373e-01 -4.18655876e-02 -6.74255054e+02] [-6.29065310e-02 -5.22635226e-04 9.98019286e-01 -5.31264638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.45, Y:-674.29, Z:-53.13 [[ 7.38438006e-01 6.72685298e-01 4.69446630e-02 1.19644908e+03] [-6.71380786e-01 7.39928468e-01 -4.18772392e-02 -6.74294241e+02] [-6.29058957e-02 -5.93999708e-04 9.98019286e-01 -5.31310130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1196.50, Y:-674.33, Z:-53.13 [[ 7.39508323e-01 6.71509248e-01 4.69336802e-02 1.19649701e+03] [-6.70201585e-01 7.40996020e-01 -4.18895445e-02 -6.74333458e+02] [-6.29068868e-02 -4.77360033e-04 9.98019286e-01 -5.31336341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:1196.55, Y:-674.37, Z:-53.14 [[ 7.43096126e-01 6.67537498e-01 4.69237203e-02 1.19654588e+03] [-6.66221179e-01 7.44576170e-01 -4.19006984e-02 -6.74372303e+02] [-6.29085713e-02 -1.25329608e-04 9.98019286e-01 -5.31351422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.59, Y:-674.41, Z:-53.14 [[ 7.45700845e-01 6.64627258e-01 4.69133013e-02 1.19659360e+03] [-6.63304428e-01 7.47175073e-01 -4.19123605e-02 -6.74412395e+02] [-6.29085466e-02 1.36282157e-04 9.98019287e-01 -5.31386756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.64, Y:-674.45, Z:-53.14 [[ 7.47795033e-01 6.62270914e-01 4.69022972e-02 1.19664206e+03] [-6.60942667e-01 7.49264381e-01 -4.19246712e-02 -6.74452285e+02] [-6.29077110e-02 3.51331459e-04 9.98019287e-01 -5.31423025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.69, Y:-674.49, Z:-53.15 [[ 7.49480324e-01 6.60363926e-01 4.68906075e-02 1.19669150e+03] [-6.59031123e-01 7.50945541e-01 -4.19377415e-02 -6.74490719e+02] [-6.29064642e-02 5.29142369e-04 9.98019287e-01 -5.31472011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.74, Y:-674.53, Z:-53.15 [[ 7.48910465e-01 6.61010971e-01 4.68786865e-02 1.19673990e+03] [-6.59678600e-01 7.50376075e-01 -4.19510627e-02 -6.74529160e+02] [-6.29067575e-02 4.92723589e-04 9.98019287e-01 -5.31533312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.79, Y:-674.57, Z:-53.16 [[ 7.47608510e-01 6.62483861e-01 4.68684332e-02 1.19678780e+03] [-6.61153659e-01 7.49076089e-01 -4.19625147e-02 -6.74566883e+02] [-6.29075114e-02 3.84296971e-04 9.98019287e-01 -5.31633266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.84, Y:-674.60, Z:-53.17 [[ 7.45345697e-01 6.65029457e-01 4.68573670e-02 1.19683831e+03] [-6.63703491e-01 7.46817104e-01 -4.19748682e-02 -6.74604559e+02] [-6.29084069e-02 1.86389372e-04 9.98019287e-01 -5.31656563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.89, Y:-674.64, Z:-53.17 [[ 7.44512349e-01 6.65963199e-01 4.68442089e-02 1.19688615e+03] [-6.64638154e-01 7.45984585e-01 -4.19895476e-02 -6.74643059e+02] [-6.29085512e-02 1.27288185e-04 9.98019287e-01 -5.31708364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.94, Y:-674.68, Z:-53.17 [[ 7.43721578e-01 6.66846948e-01 4.68333390e-02 1.19693515e+03] [-6.65522890e-01 7.45194701e-01 -4.20016679e-02 -6.74681644e+02] [-6.29086401e-02 6.88876364e-05 9.98019288e-01 -5.31719133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1196.98, Y:-674.72, Z:-53.17 [[ 7.42713508e-01 6.67970253e-01 4.68229231e-02 1.19698307e+03] [-6.66647690e-01 7.44187975e-01 -4.20132762e-02 -6.74720849e+02] [-6.29086750e-02 -1.05658024e-05 9.98019288e-01 -5.31745479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:1197.03, Y:-674.76, Z:-53.18 [[ 7.41081765e-01 6.69780860e-01 4.68125720e-02 1.19703018e+03] [-6.68461172e-01 7.42558804e-01 -4.20248066e-02 -6.74760676e+02] [-6.29084986e-02 -1.48568854e-04 9.98019288e-01 -5.31789153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.08, Y:-674.80, Z:-53.18 [[ 7.37787335e-01 6.73408833e-01 4.68016235e-02 1.19707690e+03] [-6.72095634e-01 7.39270147e-01 -4.20369961e-02 -6.74800789e+02] [-6.29071275e-02 -4.40803458e-04 9.98019288e-01 -5.31846381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.12, Y:-674.84, Z:-53.19 [[ 7.34325220e-01 6.77183192e-01 4.67909759e-02 1.19712437e+03] [-6.75876859e-01 7.35814084e-01 -4.20488445e-02 -6.74842299e+02] [-6.29042298e-02 -7.47410842e-04 9.98019288e-01 -5.31885312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:1197.17, Y:-674.88, Z:-53.19 [[ 7.30014622e-01 6.81828716e-01 4.67787724e-02 1.19717198e+03] [-6.80530987e-01 7.31510990e-01 -4.20624163e-02 -6.74883383e+02] [-6.28985495e-02 -1.12822519e-03 9.98019288e-01 -5.31941941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:1197.22, Y:-674.92, Z:-53.20 [[ 7.23241896e-01 6.89009019e-01 4.67731975e-02 1.19721825e+03] [-6.87725739e-01 7.24750674e-01 -4.20686147e-02 -6.74923498e+02] [-6.28845614e-02 -1.74134717e-03 9.98019288e-01 -5.31960625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.27, Y:-674.97, Z:-53.20 [[ 7.20909464e-01 6.91449765e-01 4.67628929e-02 1.19726528e+03] [-6.90170851e-01 7.22421944e-01 -4.20800660e-02 -6.74965363e+02] [-6.28787918e-02 -1.93846780e-03 9.98019288e-01 -5.32000220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.31, Y:-675.01, Z:-53.20 [[ 7.20447363e-01 6.91932028e-01 4.67511129e-02 1.19731005e+03] [-6.90653278e-01 7.21959982e-01 -4.20931496e-02 -6.75009261e+02] [-6.28780310e-02 -1.96291082e-03 9.98019289e-01 -5.32046701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.35, Y:-675.06, Z:-53.21 [[ 7.23003091e-01 6.89261891e-01 4.67394565e-02 1.19735144e+03] [-6.87976718e-01 7.24510257e-01 -4.21060887e-02 -6.75055687e+02] [-6.28853379e-02 -1.71282565e-03 9.98019289e-01 -5.32085990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.39, Y:-675.10, Z:-53.21 [[ 7.26825248e-01 6.85230976e-01 4.67286816e-02 1.19739121e+03] [-6.83936675e-01 7.28324581e-01 -4.21180431e-02 -6.75102488e+02] [-6.28942353e-02 -1.34700197e-03 9.98019289e-01 -5.32108384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.43, Y:-675.15, Z:-53.22 [[ 7.27855465e-01 6.84137196e-01 4.67195809e-02 1.19743274e+03] [-6.82839995e-01 7.29352289e-01 -4.21281357e-02 -6.75148412e+02] [-6.28964579e-02 -1.23880458e-03 9.98019289e-01 -5.32150090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.48, Y:-675.20, Z:-53.22 [[ 7.26822839e-01 6.85234857e-01 4.67092246e-02 1.19747581e+03] [-6.83939179e-01 7.28320982e-01 -4.21396151e-02 -6.75195045e+02] [-6.28948414e-02 -1.31823405e-03 9.98019289e-01 -5.32195459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.52, Y:-675.24, Z:-53.23 [[ 7.24531082e-01 6.87658391e-01 4.66974064e-02 1.19751788e+03] [-6.86366880e-01 7.26032820e-01 -4.21527075e-02 -6.75242131e+02] [-6.28905126e-02 -1.51060634e-03 9.98019289e-01 -5.32290907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.56, Y:-675.29, Z:-53.24 [[ 7.22210082e-01 6.90096434e-01 4.66852233e-02 1.19756170e+03] [-6.88809121e-01 7.23715419e-01 -4.21661963e-02 -6.75287589e+02] [-6.28855576e-02 -1.70435553e-03 9.98019289e-01 -5.32356042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.60, Y:-675.33, Z:-53.24 [[ 7.20073635e-01 6.92326225e-01 4.66728928e-02 1.19760352e+03] [-6.91042690e-01 7.21582194e-01 -4.21798402e-02 -6.75334118e+02] [-6.28805379e-02 -1.88037049e-03 9.98019290e-01 -5.32402422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.64, Y:-675.38, Z:-53.24 [[ 7.18622044e-01 6.93833562e-01 4.66620445e-02 1.19764335e+03] [-6.92552413e-01 7.20132630e-01 -4.21918380e-02 -6.75381726e+02] [-6.28769740e-02 -1.99592668e-03 9.98019290e-01 -5.32392136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.68, Y:-675.43, Z:-53.24 [[ 7.19441250e-01 6.92984755e-01 4.66520819e-02 1.19768457e+03] [-6.91701110e-01 7.20949716e-01 -4.22028509e-02 -6.75428079e+02] [-6.28797375e-02 -1.90682503e-03 9.98019290e-01 -5.32414045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.73, Y:-675.47, Z:-53.24 [[ 7.20556331e-01 6.91825923e-01 4.66418959e-02 1.19772952e+03] [-6.90539124e-01 7.22062108e-01 -4.22141053e-02 -6.75471140e+02] [-6.28831580e-02 -1.79041310e-03 9.98019290e-01 -5.32439144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.78, Y:-675.51, Z:-53.25 [[ 7.22780404e-01 6.89502690e-01 4.66318415e-02 1.19777602e+03] [-6.88210335e-01 7.24281414e-01 -4.22252089e-02 -6.75511282e+02] [-6.28889712e-02 -1.57296168e-03 9.98019290e-01 -5.32519847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.82, Y:-675.55, Z:-53.25 [[ 7.25218533e-01 6.86938085e-01 4.66277528e-02 1.19782413e+03] [-6.85640131e-01 7.26714704e-01 -4.22297234e-02 -6.75549536e+02] [-6.28942789e-02 -1.34408049e-03 9.98019290e-01 -5.32545520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1197.87, Y:-675.59, Z:-53.26 [[ 7.26057616e-01 6.86051879e-01 4.66171367e-02 1.19787114e+03] [-6.84751348e-01 7.27551547e-01 -4.22414393e-02 -6.75590266e+02] [-6.28961887e-02 -1.25142843e-03 9.98019290e-01 -5.32592495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.92, Y:-675.63, Z:-53.26 [[ 7.26148658e-01 6.85956268e-01 4.66060584e-02 1.19791783e+03] [-6.84654756e-01 7.27641735e-01 -4.22536588e-02 -6.75631075e+02] [-6.28966752e-02 -1.22662189e-03 9.98019290e-01 -5.32613955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1197.96, Y:-675.67, Z:-53.26 [[ 7.27032051e-01 6.85020587e-01 4.65960573e-02 1.19796484e+03] [-6.83716447e-01 7.28522832e-01 -4.22646848e-02 -6.75673403e+02] [-6.28984708e-02 -1.13071030e-03 9.98019290e-01 -5.32641187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.01, Y:-675.72, Z:-53.27 [[ 7.28661627e-01 6.83287743e-01 4.65842642e-02 1.19800960e+03] [-6.81979227e-01 7.30148568e-01 -4.22776792e-02 -6.75716532e+02] [-6.29012538e-02 -9.63377996e-04 9.98019291e-01 -5.32686158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.05, Y:-675.76, Z:-53.28 [[ 7.31657406e-01 6.80079639e-01 4.65738642e-02 1.19805300e+03] [-6.78763873e-01 7.33137937e-01 -4.22891329e-02 -6.75758785e+02] [-6.29050449e-02 -6.71499150e-04 9.98019291e-01 -5.32786482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.10, Y:-675.80, Z:-53.28 [[ 7.32877564e-01 6.78765290e-01 4.65634892e-02 1.19809858e+03] [-6.77446143e-01 7.34355082e-01 -4.23005535e-02 -6.75801697e+02] [-6.29062824e-02 -5.43129564e-04 9.98019291e-01 -5.32760871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.15, Y:-675.84, Z:-53.28 [[ 7.36221392e-01 6.75137670e-01 4.65530673e-02 1.19814511e+03] [-6.73810518e-01 7.37691724e-01 -4.23120200e-02 -6.75842769e+02] [-6.29082511e-02 -2.16932099e-04 9.98019291e-01 -5.32793849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.19, Y:-675.89, Z:-53.28 [[ 7.36804699e-01 6.74501759e-01 4.65425910e-02 1.19818916e+03] [-6.73172610e-01 7.38273225e-01 -4.23235406e-02 -6.75887234e+02] [-6.29084514e-02 -1.47013845e-04 9.98019291e-01 -5.32807785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1198.23, Y:-675.93, Z:-53.28 [[ 7.37419487e-01 6.73830293e-01 4.65321024e-02 1.19823339e+03] [-6.72499079e-01 7.38886142e-01 -4.23350691e-02 -6.75929276e+02] [-6.29085776e-02 -7.40910729e-05 9.98019291e-01 -5.32849345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.28, Y:-675.97, Z:-53.29 [[ 7.36860974e-01 6.74441398e-01 4.65263910e-02 1.19827950e+03] [-6.73111004e-01 7.38328373e-01 -4.23413450e-02 -6.75971328e+02] [-6.29085105e-02 -1.17741113e-04 9.98019291e-01 -5.32899827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.33, Y:-676.01, Z:-53.29 [[ 7.34953201e-01 6.76520618e-01 4.65150087e-02 1.19832699e+03] [-6.75193584e-01 7.36423639e-01 -4.23538456e-02 -6.76012507e+02] [-6.29080018e-02 -2.78541004e-04 9.98019291e-01 -5.32936141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.37, Y:-676.05, Z:-53.30 [[ 7.32449076e-01 6.79231743e-01 4.65036639e-02 1.19837487e+03] [-6.77909360e-01 7.33923699e-01 -4.23662984e-02 -6.76052617e+02] [-6.29066757e-02 -4.94112939e-04 9.98019291e-01 -5.32962900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.42, Y:-676.09, Z:-53.30 [[ 7.29347509e-01 6.82561761e-01 4.64935863e-02 1.19842133e+03] [-6.81245406e-01 7.30827515e-01 -4.23773548e-02 -6.76093401e+02] [-6.29039540e-02 -7.65723959e-04 9.98019292e-01 -5.32992385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.47, Y:-676.14, Z:-53.30 [[ 7.28221631e-01 6.83763551e-01 4.64829271e-02 1.19846762e+03] [-6.82448893e-01 7.29703144e-01 -4.23890434e-02 -6.76136505e+02] [-6.29028209e-02 -8.53603837e-04 9.98019292e-01 -5.33033586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.51, Y:-676.18, Z:-53.31 [[ 7.26037215e-01 6.86083364e-01 4.64712851e-02 1.19851088e+03] [-6.84772623e-01 7.27522194e-01 -4.24018028e-02 -6.76180475e+02] [-6.29000628e-02 -1.03697699e-03 9.98019292e-01 -5.33089829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.56, Y:-676.22, Z:-53.32 [[ 7.25269780e-01 6.86894851e-01 4.64673142e-02 1.19855733e+03] [-6.85585492e-01 7.26755978e-01 -4.24061540e-02 -6.76219650e+02] [-6.28989672e-02 -1.10141456e-03 9.98019292e-01 -5.33202868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1198.60, Y:-676.26, Z:-53.32 [[ 7.25606347e-01 6.86540110e-01 4.64554313e-02 1.19860389e+03] [-6.85229192e-01 7.27091169e-01 -4.24191676e-02 -6.76262714e+02] [-6.28997939e-02 -1.05300042e-03 9.98019292e-01 -5.33213743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.65, Y:-676.30, Z:-53.33 [[ 7.28266097e-01 6.83718964e-01 4.64421267e-02 1.19865155e+03] [-6.82401365e-01 7.29744994e-01 -4.24337290e-02 -6.76302416e+02] [-6.29036547e-02 -7.89124485e-04 9.98019292e-01 -5.33314263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.70, Y:-676.35, Z:-53.33 [[ 7.27379293e-01 6.84662708e-01 4.64364111e-02 1.19869513e+03] [-6.83346629e-01 7.28859543e-01 -4.24399828e-02 -6.76345656e+02] [-6.29026949e-02 -8.62200306e-04 9.98019292e-01 -5.33338848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.74, Y:-676.39, Z:-53.34 [[ 7.27053566e-01 6.85009344e-01 4.64253330e-02 1.19874109e+03] [-6.83693197e-01 7.28533755e-01 -4.24520977e-02 -6.76387339e+02] [-6.29025058e-02 -8.75735328e-04 9.98019292e-01 -5.33352362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.79, Y:-676.43, Z:-53.34 [[ 7.27534824e-01 6.84498929e-01 4.64143943e-02 1.19878900e+03] [-6.83180981e-01 7.29013410e-01 -4.24640541e-02 -6.76426975e+02] [-6.29033154e-02 -8.15353309e-04 9.98019293e-01 -5.33424101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.83, Y:-676.47, Z:-53.35 [[ 7.27395608e-01 6.84647139e-01 4.64103965e-02 1.19883438e+03] [-6.83329213e-01 7.28874214e-01 -4.24684230e-02 -6.76467302e+02] [-6.29032255e-02 -8.22235379e-04 9.98019293e-01 -5.33479250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.88, Y:-676.51, Z:-53.35 [[ 7.27319701e-01 6.84728480e-01 4.64000136e-02 1.19887949e+03] [-6.83409997e-01 7.28797809e-01 -4.24797641e-02 -6.76508377e+02] [-6.29033325e-02 -8.13863842e-04 9.98019293e-01 -5.33506445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.93, Y:-676.55, Z:-53.36 [[ 7.27773855e-01 6.84246418e-01 4.63902595e-02 1.19892559e+03] [-6.82926277e-01 7.29250482e-01 -4.24904134e-02 -6.76550412e+02] [-6.29040323e-02 -7.57715250e-04 9.98019293e-01 -5.33611805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1198.97, Y:-676.59, Z:-53.36 [[ 7.25787674e-01 6.86353437e-01 4.63811488e-02 1.19897165e+03] [-6.85036947e-01 7.27267558e-01 -4.25003560e-02 -6.76589637e+02] [-6.29017703e-02 -9.26566066e-04 9.98019293e-01 -5.33632185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.02, Y:-676.63, Z:-53.37 [[ 7.23677156e-01 6.88578696e-01 4.63762122e-02 1.19901866e+03] [-6.87266411e-01 7.25160770e-01 -4.25057422e-02 -6.76631813e+02] [-6.28987583e-02 -1.11237829e-03 9.98019293e-01 -5.33668812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.06, Y:-676.67, Z:-53.37 [[ 7.21909418e-01 6.90432576e-01 4.63643131e-02 1.19906337e+03] [-6.89123268e-01 7.23395659e-01 -4.25187175e-02 -6.76673451e+02] [-6.28960505e-02 -1.25606438e-03 9.98019293e-01 -5.33693281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.11, Y:-676.72, Z:-53.37 [[ 7.20333845e-01 6.92076863e-01 4.63548042e-02 1.19910805e+03] [-6.90770281e-01 7.21822483e-01 -4.25290818e-02 -6.76717239e+02] [-6.28933334e-02 -1.38538411e-03 9.98019293e-01 -5.33689190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.15, Y:-676.76, Z:-53.37 [[ 7.20271726e-01 6.92142201e-01 4.63445147e-02 1.19915379e+03] [-6.90835034e-01 7.21759849e-01 -4.25402915e-02 -6.76759709e+02] [-6.28935409e-02 -1.37584519e-03 9.98019293e-01 -5.33721576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.20, Y:-676.80, Z:-53.38 [[ 7.20220886e-01 6.92195900e-01 4.63326088e-02 1.19919896e+03] [-6.90888010e-01 7.21708375e-01 -4.25532547e-02 -6.76803559e+02] [-6.28938203e-02 -1.36290106e-03 9.98019293e-01 -5.33766475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.24, Y:-676.85, Z:-53.38 [[ 7.19965643e-01 6.92462172e-01 4.63207597e-02 1.19924293e+03] [-6.91154003e-01 7.21452886e-01 -4.25661491e-02 -6.76848241e+02] [-6.28936938e-02 -1.36861353e-03 9.98019294e-01 -5.33795391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1199.29, Y:-676.89, Z:-53.38 [[ 7.18888262e-01 6.93581401e-01 4.63088277e-02 1.19928605e+03] [-6.92274712e-01 7.20376805e-01 -4.25791262e-02 -6.76894247e+02] [-6.28918954e-02 -1.44879632e-03 9.98019294e-01 -5.33820465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.33, Y:-676.94, Z:-53.38 [[ 7.17754943e-01 6.94754957e-01 4.62967898e-02 1.19933106e+03] [-6.93449858e-01 7.19244880e-01 -4.25922112e-02 -6.76937686e+02] [-6.28898789e-02 -1.53373222e-03 9.98019294e-01 -5.33845190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.38, Y:-676.98, Z:-53.39 [[ 7.16888841e-01 6.95649411e-01 4.62848447e-02 1.19937995e+03] [-6.94345335e-01 7.18379673e-01 -4.26051879e-02 -6.76976611e+02] [-6.28883655e-02 -1.59448221e-03 9.98019294e-01 -5.33904000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.42, Y:-677.02, Z:-53.39 [[ 7.14888274e-01 6.97705526e-01 4.62790902e-02 1.19942379e+03] [-6.96405333e-01 7.16382494e-01 -4.26114378e-02 -6.77019969e+02] [-6.28837657e-02 -1.76658795e-03 9.98019294e-01 -5.33921418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.47, Y:-677.06, Z:-53.39 [[ 7.16166310e-01 6.96394327e-01 4.62683319e-02 1.19946758e+03] [-6.95090644e-01 7.17657486e-01 -4.26231162e-02 -6.77064702e+02] [-6.28873110e-02 -1.63544475e-03 9.98019294e-01 -5.33929384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.51, Y:-677.11, Z:-53.39 [[ 7.20815080e-01 6.91582112e-01 4.62580037e-02 1.19950952e+03] [-6.90267752e-01 7.22296854e-01 -4.26343222e-02 -6.77109960e+02] [-6.28971451e-02 -1.19894591e-03 9.98019294e-01 -5.33940995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.55, Y:-677.15, Z:-53.40 [[ 7.23747574e-01 6.88513267e-01 4.62485642e-02 1.19955483e+03] [-6.87191969e-01 7.25223165e-01 -4.26445595e-02 -6.77153412e+02] [-6.29018751e-02 -9.17745460e-04 9.98019294e-01 -5.33978141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.60, Y:-677.19, Z:-53.40 [[ 7.24072100e-01 6.88172784e-01 4.62364945e-02 1.19960121e+03] [-6.86849957e-01 7.25546320e-01 -4.26576418e-02 -6.77192982e+02] [-6.29025465e-02 -8.70325993e-04 9.98019295e-01 -5.34028789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.65, Y:-677.24, Z:-53.41 [[ 7.24617831e-01 6.87598777e-01 4.62268514e-02 1.19964624e+03] [-6.86274116e-01 7.26090402e-01 -4.26680892e-02 -6.77235636e+02] [-6.29033991e-02 -8.06233357e-04 9.98019295e-01 -5.34069066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.69, Y:-677.28, Z:-53.41 [[ 7.26046074e-01 6.86091212e-01 4.62163154e-02 1.19969080e+03] [-6.84762767e-01 7.27515233e-01 -4.26794983e-02 -6.77277754e+02] [-6.29051022e-02 -6.59929849e-04 9.98019295e-01 -5.34124185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.74, Y:-677.32, Z:-53.41 [[ 7.29175156e-01 6.82765357e-01 4.62066968e-02 1.19973705e+03] [-6.81429551e-01 7.30637625e-01 -4.26899092e-02 -6.77320377e+02] [-6.29075424e-02 -3.58187447e-04 9.98019295e-01 -5.34141644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.78, Y:-677.36, Z:-53.42 [[ 7.31197402e-01 6.80600020e-01 4.61949345e-02 1.19978460e+03] [-6.79259079e-01 7.32655164e-01 -4.27026335e-02 -6.77360940e+02] [-6.29083706e-02 -1.54273968e-04 9.98019295e-01 -5.34164677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.83, Y:-677.40, Z:-53.42 [[ 7.34381427e-01 6.77163979e-01 4.61829513e-02 1.19983122e+03] [-6.75815402e-01 7.35832128e-01 -4.27155895e-02 -6.77402916e+02] [-6.29083579e-02 1.58385802e-04 9.98019295e-01 -5.34192425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.88, Y:-677.44, Z:-53.42 [[ 7.36825446e-01 6.74504623e-01 4.61711537e-02 1.19987705e+03] [-6.73150012e-01 7.38270513e-01 -4.27283376e-02 -6.77444128e+02] [-6.29072627e-02 4.03213739e-04 9.98019295e-01 -5.34232379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1199.92, Y:-677.48, Z:-53.43 [[ 7.39266392e-01 6.71829133e-01 4.61607727e-02 1.19992264e+03] [-6.70468592e-01 7.40705878e-01 -4.27395497e-02 -6.77484466e+02] [-6.29052303e-02 6.46564371e-04 9.98019295e-01 -5.34296744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1199.97, Y:-677.53, Z:-53.43 [[ 7.41226130e-01 6.69666739e-01 4.61549948e-02 1.19996950e+03] [-6.68301610e-01 7.42661266e-01 -4.27457884e-02 -6.77525427e+02] [-6.29029596e-02 8.38837879e-04 9.98019295e-01 -5.34339471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.02, Y:-677.57, Z:-53.44 [[ 7.40693512e-01 6.70256490e-01 4.61449764e-02 1.20001512e+03] [-6.68891831e-01 7.42129093e-01 -4.27566008e-02 -6.77567295e+02] [-6.29034187e-02 8.03539022e-04 9.98019296e-01 -5.34350403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.06, Y:-677.61, Z:-53.44 [[ 7.38562245e-01 6.72604945e-01 4.61345747e-02 1.20006145e+03] [-6.71244150e-01 7.40001490e-01 -4.27678213e-02 -6.77608143e+02] [-6.29055021e-02 6.19134675e-04 9.98019296e-01 -5.34383687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.11, Y:-677.65, Z:-53.44 [[ 7.32512932e-01 6.79188796e-01 4.61235665e-02 1.20011087e+03] [-6.77840191e-01 7.33963605e-01 -4.27796900e-02 -6.77646136e+02] [-6.29085053e-02 7.22690169e-05 9.98019296e-01 -5.34414274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1200.16, Y:-677.69, Z:-53.45 [[ 7.27690682e-01 6.84353578e-01 4.61134757e-02 1.20015808e+03] [-6.83014579e-01 7.29150226e-01 -4.27905644e-02 -6.77685709e+02] [-6.29075271e-02 -3.57881204e-04 9.98019296e-01 -5.34451862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.20, Y:-677.73, Z:-53.45 [[ 7.24274957e-01 6.87968211e-01 4.61034382e-02 1.20020466e+03] [-6.86635808e-01 7.25740525e-01 -4.28013763e-02 -6.77726121e+02] [-6.29051197e-02 -6.56306536e-04 9.98019296e-01 -5.34493064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.25, Y:-677.77, Z:-53.45 [[ 7.22702393e-01 6.89620696e-01 4.60927972e-02 1.20025189e+03] [-6.88290913e-01 7.24170339e-01 -4.28128325e-02 -6.77767202e+02] [-6.29036519e-02 -7.84316954e-04 9.98019296e-01 -5.34516357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.30, Y:-677.81, Z:-53.46 [[ 7.23072231e-01 6.89233723e-01 4.60806246e-02 1.20029890e+03] [-6.87902320e-01 7.24538707e-01 -4.28259302e-02 -6.77808176e+02] [-6.29042715e-02 -7.32727681e-04 9.98019296e-01 -5.34574692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.34, Y:-677.85, Z:-53.46 [[ 7.24246468e-01 6.88000433e-01 4.60701437e-02 1.20034394e+03] [-6.86665816e-01 7.25710019e-01 -4.28372022e-02 -6.77850644e+02] [-6.29055785e-02 -6.10100428e-04 9.98019296e-01 -5.34628233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.39, Y:-677.89, Z:-53.47 [[ 7.25270211e-01 6.86921855e-01 4.60596038e-02 1.20038901e+03] [-6.85584341e-01 7.26731116e-01 -4.28485319e-02 -6.77893506e+02] [-6.29065403e-02 -5.00979339e-04 9.98019297e-01 -5.34675652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.43, Y:-677.94, Z:-53.47 [[ 7.26445809e-01 6.85679198e-01 4.60491591e-02 1.20043448e+03] [-6.84338474e-01 7.27903768e-01 -4.28597539e-02 -6.77935804e+02] [-6.29073980e-02 -3.77922649e-04 9.98019297e-01 -5.34727310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.48, Y:-677.98, Z:-53.48 [[ 7.28809647e-01 6.83166846e-01 4.60386582e-02 1.20047899e+03] [-6.81820384e-01 7.30262308e-01 -4.28710307e-02 -6.77979097e+02] [-6.29083636e-02 -1.45274822e-04 9.98019297e-01 -5.34779096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.52, Y:-678.02, Z:-53.48 [[ 7.30849058e-01 6.80985353e-01 4.60282859e-02 1.20052385e+03] [-6.79633854e-01 7.32297033e-01 -4.28821639e-02 -6.78023830e+02] [-6.29085028e-02 5.80077264e-05 9.98019297e-01 -5.34801056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.57, Y:-678.07, Z:-53.48 [[ 7.33790992e-01 6.77815087e-01 4.60161757e-02 1.20056713e+03] [-6.76456516e-01 7.35232335e-01 -4.28951553e-02 -6.78068380e+02] [-6.29075637e-02 3.48136612e-04 9.98019297e-01 -5.34848522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.61, Y:-678.11, Z:-53.49 [[ 7.36775620e-01 6.74570400e-01 4.60050153e-02 1.20061098e+03] [-6.73204735e-01 7.38210244e-01 -4.29071214e-02 -6.78113509e+02] [-6.29052476e-02 6.42126846e-04 9.98019297e-01 -5.34868004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.65, Y:-678.16, Z:-53.49 [[ 7.38908150e-01 6.72234628e-01 4.59929365e-02 1.20065419e+03] [-6.70863624e-01 7.40337671e-01 -4.29200650e-02 -6.78159250e+02] [-6.29026575e-02 8.58997818e-04 9.98019297e-01 -5.34894466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.70, Y:-678.20, Z:-53.49 [[ 7.38273940e-01 6.72931905e-01 4.59808703e-02 1.20069918e+03] [-6.71561446e-01 7.39703983e-01 -4.29329879e-02 -6.78203796e+02] [-6.29032103e-02 8.17326432e-04 9.98019298e-01 -5.34932612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.74, Y:-678.25, Z:-53.50 [[ 7.36249615e-01 6.75146919e-01 4.59689342e-02 1.20074292e+03] [-6.73779965e-01 7.37683008e-01 -4.29457643e-02 -6.78245901e+02] [-6.29052021e-02 6.45855579e-04 9.98019298e-01 -5.34987509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.79, Y:-678.29, Z:-53.50 [[ 7.31792243e-01 6.79976358e-01 4.59593943e-02 1.20078759e+03] [-6.78618223e-01 7.33233995e-01 -4.29559712e-02 -6.78289270e+02] [-6.29080351e-02 2.45963968e-04 9.98019298e-01 -5.35010189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.83, Y:-678.33, Z:-53.51 [[ 7.31126639e-01 6.80692697e-01 4.59487682e-02 1.20083367e+03] [-6.79335261e-01 7.32569049e-01 -4.29673346e-02 -6.78329358e+02] [-6.29081963e-02 1.99944473e-04 9.98019298e-01 -5.35090526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1200.88, Y:-678.37, Z:-53.51 [[ 7.26774327e-01 6.85337855e-01 4.59467334e-02 1.20087616e+03] [-6.83989500e-01 7.28225230e-01 -4.29695104e-02 -6.78374329e+02] [-6.29082026e-02 -1.97946142e-04 9.98019298e-01 -5.35056343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters Centerline goodness : 0.995928 with order 1 Centerline is valid? [True, True] Translation: X:1201.40, Y:-677.96, Z:-52.44 [[ 7.82490362e-01 6.20965894e-01 4.59368227e-02 1.20140119e+03] [-6.19498281e-01 7.83820509e-01 -4.29801029e-02 -6.77964858e+02] [-6.26954018e-02 5.17373360e-03 9.98019298e-01 -5.24356505e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.89, Y:-677.51, Z:-51.37 [[ 8.34255099e-01 5.49170375e-01 4.92983717e-02 1.20189073e+03] [-5.47830553e-01 8.35693749e-01 -3.86993977e-02 -6.77505923e+02] [-6.24509039e-02 5.27801559e-03 9.98034081e-01 -5.13682521e+01] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.94, Y:-677.54, Z:-51.37 [[ 8.33345389e-01 5.50264948e-01 5.23827302e-02 1.20194134e+03] [-5.49217403e-01 8.34989971e-01 -3.39410103e-02 -6.77543741e+02] [-6.24156026e-02 -4.84922627e-04 9.98050128e-01 -5.13729939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1201.99, Y:-677.58, Z:-51.38 [[ 8.31159099e-01 5.53562155e-01 5.23783634e-02 1.20199229e+03] [-5.52520710e-01 8.32807550e-01 -3.39477478e-02 -6.77578449e+02] [-6.24132850e-02 -7.24151088e-04 9.98050128e-01 -5.13760537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.04, Y:-677.61, Z:-51.38 [[ 8.30466154e-01 5.54602027e-01 5.23694442e-02 1.20204500e+03] [-5.53561779e-01 8.32115361e-01 -3.39615015e-02 -6.77611863e+02] [-6.24125365e-02 -7.85845185e-04 9.98050128e-01 -5.13829297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.10, Y:-677.65, Z:-51.39 [[ 8.28036715e-01 5.58223653e-01 5.23598417e-02 1.20209690e+03] [-5.57189681e-01 8.29689864e-01 -3.39762996e-02 -6.77645893e+02] [-6.24088040e-02 -1.04073999e-03 9.98050128e-01 -5.13864961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1202.15, Y:-677.68, Z:-51.39 [[ 8.26985530e-01 5.59780548e-01 5.23514154e-02 1.20214793e+03] [-5.58748868e-01 8.28640110e-01 -3.39892781e-02 -6.77680507e+02] [-6.24070193e-02 -1.14265293e-03 9.98050128e-01 -5.13923011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.20, Y:-677.72, Z:-51.40 [[ 8.27584989e-01 5.58894473e-01 5.23455308e-02 1.20219822e+03] [-5.57860448e-01 8.29238104e-01 -3.39983383e-02 -6.77715842e+02] [-6.24083921e-02 -1.06498690e-03 9.98050128e-01 -5.13985989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1202.25, Y:-677.75, Z:-51.40 [[ 8.27875496e-01 5.58464345e-01 5.23425133e-02 1.20225036e+03] [-5.57429167e-01 8.29527891e-01 -3.40029833e-02 -6.77749453e+02] [-6.24090284e-02 -1.02700691e-03 9.98050128e-01 -5.13987688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.30, Y:-677.78, Z:-51.40 [[ 8.27191353e-01 5.59478097e-01 5.23328289e-02 1.20230011e+03] [-5.58444002e-01 8.28844425e-01 -3.40178817e-02 -6.77784840e+02] [-6.24080332e-02 -1.08565682e-03 9.98050128e-01 -5.14040164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.35, Y:-677.82, Z:-51.41 [[ 8.28256261e-01 5.57901163e-01 5.23245489e-02 1.20235212e+03] [-5.56863117e-01 8.29906854e-01 -3.40306129e-02 -6.77818528e+02] [-6.24102203e-02 -9.51543165e-04 9.98050129e-01 -5.14082153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.40, Y:-677.85, Z:-51.42 [[ 8.28839189e-01 5.57035579e-01 5.23159818e-02 1.20240259e+03] [-5.55994978e-01 8.30488173e-01 -3.40437781e-02 -6.77852948e+02] [-6.24113998e-02 -8.70605688e-04 9.98050129e-01 -5.14153313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.46, Y:-677.89, Z:-51.42 [[ 8.30796501e-01 5.54112832e-01 5.23081642e-02 1.20245514e+03] [-5.53065673e-01 8.32441328e-01 -3.40557856e-02 -6.77886695e+02] [-6.24142255e-02 -6.36422539e-04 9.98050129e-01 -5.14160615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.51, Y:-677.92, Z:-51.42 [[ 8.31531881e-01 5.53009500e-01 5.22993759e-02 1.20250596e+03] [-5.51959310e-01 8.33174774e-01 -3.40692764e-02 -6.77920172e+02] [-6.24151542e-02 -5.37437962e-04 9.98050129e-01 -5.14177656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.56, Y:-677.95, Z:-51.42 [[ 8.33240325e-01 5.50432716e-01 5.22913564e-02 1.20255877e+03] [-5.49376674e-01 8.34879462e-01 -3.40815808e-02 -6.77953677e+02] [-6.24165966e-02 -3.29503934e-04 9.98050129e-01 -5.14213867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.61, Y:-677.99, Z:-51.42 [[ 8.37518885e-01 5.43900775e-01 5.22882861e-02 1.20261016e+03] [-5.42831654e-01 8.39149522e-01 -3.40862907e-02 -6.77988890e+02] [-6.24172502e-02 1.64175367e-04 9.98050129e-01 -5.14245517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1202.66, Y:-678.02, Z:-51.43 [[ 8.40188133e-01 5.39769175e-01 5.22794297e-02 1.20266400e+03] [-5.38691191e-01 8.41812925e-01 -3.40998686e-02 -6.78022023e+02] [-6.24155576e-02 4.87836675e-04 9.98050129e-01 -5.14299792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.72, Y:-678.05, Z:-51.44 [[ 8.43821904e-01 5.34071620e-01 5.22694848e-02 1.20271745e+03] [-5.32981722e-01 8.45438728e-01 -3.41151057e-02 -6.78052129e+02] [-6.24105565e-02 9.28393383e-04 9.98050129e-01 -5.14370597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.77, Y:-678.09, Z:-51.44 [[ 8.43061454e-01 5.35272039e-01 5.22611656e-02 1.20276878e+03] [-5.34183654e-01 8.44679296e-01 -3.41278453e-02 -6.78086183e+02] [-6.24116059e-02 8.54810471e-04 9.98050129e-01 -5.14371161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.82, Y:-678.12, Z:-51.44 [[ 8.40946649e-01 5.38589288e-01 5.22523834e-02 1.20282176e+03] [-5.37506451e-01 8.42568210e-01 -3.41412862e-02 -6.78117726e+02] [-6.24143282e-02 6.25007107e-04 9.98050130e-01 -5.14393989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.88, Y:-678.15, Z:-51.44 [[ 8.38084078e-01 5.43033701e-01 5.22444129e-02 1.20287602e+03] [-5.41958703e-01 8.39710846e-01 -3.41534786e-02 -6.78147852e+02] [-6.24166900e-02 3.09172353e-04 9.98050130e-01 -5.14419232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.93, Y:-678.18, Z:-51.44 [[ 8.34441513e-01 5.48615332e-01 5.22358071e-02 1.20293034e+03] [-5.47550392e-01 8.36074883e-01 -3.41666357e-02 -6.78180152e+02] [-6.24173865e-02 -9.16774273e-05 9.98050130e-01 -5.14444906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1202.98, Y:-678.21, Z:-51.45 [[ 8.29351564e-01 5.56280896e-01 5.22259362e-02 1.20298236e+03] [-5.55230102e-01 8.30994070e-01 -3.41817173e-02 -6.78212784e+02] [-6.24140796e-02 -6.48751190e-04 9.98050130e-01 -5.14451707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.04, Y:-678.25, Z:-51.45 [[ 8.27015486e-01 5.59748750e-01 5.22180304e-02 1.20303550e+03] [-5.58704081e-01 8.28661894e-01 -3.41937904e-02 -6.78245509e+02] [-6.24110234e-02 -8.95632502e-04 9.98050130e-01 -5.14491567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.09, Y:-678.28, Z:-51.45 [[ 8.26076173e-01 5.61134947e-01 5.22085081e-02 1.20308756e+03] [-5.60092122e-01 8.27723749e-01 -3.42083233e-02 -6.78278520e+02] [-6.24097078e-02 -9.82893348e-04 9.98050130e-01 -5.14540838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.14, Y:-678.31, Z:-51.46 [[ 8.25149050e-01 5.62498210e-01 5.21997098e-02 1.20314012e+03] [-5.61457259e-01 8.26797810e-01 -3.42217437e-02 -6.78311260e+02] [-6.24082754e-02 -1.06986665e-03 9.98050130e-01 -5.14595456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1203.19, Y:-678.35, Z:-51.46 [[ 8.25270099e-01 5.62321343e-01 5.21916869e-02 1.20319197e+03] [-5.61279265e-01 8.26918147e-01 -3.42339752e-02 -6.78345463e+02] [-6.24087479e-02 -1.04183555e-03 9.98050130e-01 -5.14632602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.24, Y:-678.38, Z:-51.47 [[ 8.27326269e-01 5.59292522e-01 5.21835185e-02 1.20324372e+03] [-5.58243625e-01 8.28969986e-01 -3.42464219e-02 -6.78378838e+02] [-6.24123383e-02 -7.98152097e-04 9.98050131e-01 -5.14689857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.29, Y:-678.42, Z:-51.47 [[ 8.29518862e-01 5.56036147e-01 5.21752919e-02 1.20329493e+03] [-5.54980009e-01 8.31157936e-01 -3.42589507e-02 -6.78416289e+02] [-6.24151229e-02 -5.37798173e-04 9.98050131e-01 -5.14696926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.34, Y:-678.45, Z:-51.47 [[ 8.34500204e-01 5.48532714e-01 5.21658098e-02 1.20334478e+03] [-5.47460935e-01 8.36129093e-01 -3.42733830e-02 -6.78453733e+02] [-6.24174230e-02 4.24020931e-05 9.98050131e-01 -5.14727930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.40, Y:-678.49, Z:-51.48 [[ 8.37684792e-01 5.43657800e-01 5.21573213e-02 1.20339599e+03] [-5.42575738e-01 8.39306868e-01 -3.42862959e-02 -6.78490857e+02] [-6.24160102e-02 4.21811542e-04 9.98050131e-01 -5.14762519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.45, Y:-678.53, Z:-51.48 [[ 8.39831582e-01 5.40336506e-01 5.21476271e-02 1.20344619e+03] [-5.39247114e-01 8.41448744e-01 -3.43010341e-02 -6.78525130e+02] [-6.24136562e-02 6.86634279e-04 9.98050131e-01 -5.14824965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.50, Y:-678.56, Z:-51.49 [[ 8.40737032e-01 5.38927401e-01 5.21392374e-02 1.20349684e+03] [-5.37834509e-01 8.42351830e-01 -3.43137821e-02 -6.78561364e+02] [-6.24122194e-02 8.06586196e-04 9.98050131e-01 -5.14870625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.55, Y:-678.60, Z:-51.49 [[ 8.39671544e-01 5.40586791e-01 5.21307996e-02 1.20354829e+03] [-5.39496294e-01 8.41287961e-01 -3.43265963e-02 -6.78595642e+02] [-6.24135186e-02 6.98692982e-04 9.98050131e-01 -5.14935170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.60, Y:-678.63, Z:-51.50 [[ 8.37423524e-01 5.44063004e-01 5.21276271e-02 1.20359997e+03] [-5.42978918e-01 8.39044247e-01 -3.43314134e-02 -6.78629690e+02] [-6.24158375e-02 4.45730637e-04 9.98050131e-01 -5.14957192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.65, Y:-678.66, Z:-51.50 [[ 8.34589877e-01 5.48400741e-01 5.21187552e-02 1.20365248e+03] [-5.47324238e-01 8.36215647e-01 -3.43448765e-02 -6.78662575e+02] [-6.24172743e-02 1.38028276e-04 9.98050131e-01 -5.15008153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.71, Y:-678.70, Z:-51.50 [[ 8.32232710e-01 5.51972179e-01 5.21097789e-02 1.20370538e+03] [-5.50901801e-01 8.33862519e-01 -3.43584904e-02 -6.78697139e+02] [-6.24173223e-02 -1.13111411e-04 9.98050132e-01 -5.15032395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.76, Y:-678.73, Z:-51.51 [[ 8.29942052e-01 5.55411341e-01 5.21002165e-02 1.20375742e+03] [-5.54346806e-01 8.31575683e-01 -3.43729845e-02 -6.78732103e+02] [-6.24164185e-02 -3.54003306e-04 9.98050132e-01 -5.15057865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.81, Y:-678.77, Z:-51.51 [[ 8.27416024e-01 5.59168399e-01 5.20905395e-02 1.20380911e+03] [-5.58110358e-01 8.29053869e-01 -3.43876432e-02 -6.78766313e+02] [-6.24143467e-02 -6.19382642e-04 9.98050132e-01 -5.15081424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1203.86, Y:-678.80, Z:-51.51 [[ 8.25752157e-01 5.61623386e-01 5.20821286e-02 1.20386038e+03] [-5.60569411e-01 8.27392621e-01 -3.44003773e-02 -6.78801293e+02] [-6.24124253e-02 -7.89462438e-04 9.98050132e-01 -5.15076590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1203.91, Y:-678.84, Z:-51.51 [[ 8.24280942e-01 5.63781271e-01 5.20730992e-02 1.20391123e+03] [-5.62730728e-01 8.25923605e-01 -3.44140401e-02 -6.78837008e+02] [-6.24103931e-02 -9.36295629e-04 9.98050132e-01 -5.15110461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1203.96, Y:-678.87, Z:-51.52 [[ 8.24038346e-01 5.64136674e-01 5.20635890e-02 1.20396269e+03] [-5.63085930e-01 8.25680882e-01 -3.44284217e-02 -6.78871151e+02] [-6.24102454e-02 -9.45934781e-04 9.98050132e-01 -5.15155221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.01, Y:-678.91, Z:-51.52 [[ 8.23940328e-01 5.64280045e-01 5.20611911e-02 1.20401462e+03] [-5.63229358e-01 8.25582900e-01 -3.44320472e-02 -6.78906814e+02] [-6.24101463e-02 -9.52438998e-04 9.98050132e-01 -5.15189861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.07, Y:-678.94, Z:-51.52 [[ 8.23973592e-01 5.64232375e-01 5.20513812e-02 1.20406600e+03] [-5.63180657e-01 8.25615504e-01 -3.44468707e-02 -6.78942155e+02] [-6.24104670e-02 -9.31019305e-04 9.98050132e-01 -5.15230602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.12, Y:-678.98, Z:-51.53 [[ 8.25970730e-01 5.61305634e-01 5.20416938e-02 1.20411549e+03] [-5.60247177e-01 8.27608305e-01 -3.44615001e-02 -6.78979258e+02] [-6.24135721e-02 -6.92021604e-04 9.98050133e-01 -5.15275981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.17, Y:-679.02, Z:-51.53 [[ 8.28867292e-01 5.57020292e-01 5.20327526e-02 1.20416618e+03] [-5.55952520e-01 8.30498808e-01 -3.44749949e-02 -6.79016957e+02] [-6.24164107e-02 -3.52544324e-04 9.98050133e-01 -5.15313494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.22, Y:-679.05, Z:-51.54 [[ 8.32863609e-01 5.51027925e-01 5.20234124e-02 1.20421754e+03] [-5.49947534e-01 8.34486796e-01 -3.44890837e-02 -6.79051037e+02] [-6.24172990e-02 1.14555401e-04 9.98050133e-01 -5.15358995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.27, Y:-679.09, Z:-51.54 [[ 8.32695149e-01 5.51283291e-01 5.20146337e-02 1.20426553e+03] [-5.50202571e-01 8.34318117e-01 -3.45023183e-02 -6.79090190e+02] [-6.24173028e-02 1.11327855e-04 9.98050133e-01 -5.15360052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.32, Y:-679.13, Z:-51.54 [[ 8.33480182e-01 5.50096452e-01 5.20065346e-02 1.20431569e+03] [-5.49012660e-01 8.35101100e-01 -3.45145220e-02 -6.79128700e+02] [-6.24170303e-02 2.14924146e-04 9.98050133e-01 -5.15391287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.37, Y:-679.16, Z:-51.54 [[ 8.32409334e-01 5.51716437e-01 5.19968670e-02 1.20436680e+03] [-5.50634890e-01 8.34031751e-01 -3.45290803e-02 -6.79163681e+02] [-6.24172992e-02 1.11039551e-04 9.98050133e-01 -5.15439372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.42, Y:-679.20, Z:-51.55 [[ 8.30294183e-01 5.54895326e-01 5.19879416e-02 1.20441928e+03] [-5.53819150e-01 8.31920167e-01 -3.45425134e-02 -6.79198383e+02] [-6.24172963e-02 -1.11469656e-04 9.98050133e-01 -5.15486354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.47, Y:-679.23, Z:-51.55 [[ 8.26520578e-01 5.60501537e-01 5.19784662e-02 1.20447231e+03] [-5.59435492e-01 8.28153223e-01 -3.45567658e-02 -6.79231441e+02] [-6.24152546e-02 -5.16720818e-04 9.98050134e-01 -5.15526355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.53, Y:-679.26, Z:-51.56 [[ 8.24289066e-01 5.63778986e-01 5.19691356e-02 1.20452524e+03] [-5.62718548e-01 8.25925357e-01 -3.45707922e-02 -6.79264478e+02] [-6.24129131e-02 -7.47670509e-04 9.98050134e-01 -5.15565934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.58, Y:-679.30, Z:-51.56 [[ 8.23871230e-01 5.64390269e-01 5.19597913e-02 1.20457827e+03] [-5.63330160e-01 8.25507735e-01 -3.45848310e-02 -6.79296694e+02] [-6.24125517e-02 -7.77070326e-04 9.98050134e-01 -5.15634378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.63, Y:-679.33, Z:-51.56 [[ 8.22923967e-01 5.65771315e-01 5.19515482e-02 1.20463073e+03] [-5.64713171e-01 8.24561743e-01 -3.45972089e-02 -6.79332599e+02] [-6.24113675e-02 -8.66851101e-04 9.98050134e-01 -5.15613453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.68, Y:-679.36, Z:-51.57 [[ 8.26380761e-01 5.60711017e-01 5.19422164e-02 1.20468486e+03] [-5.59641962e-01 8.28011436e-01 -3.46112134e-02 -6.79364526e+02] [-6.24156379e-02 -4.67003039e-04 9.98050134e-01 -5.15707780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.74, Y:-679.40, Z:-51.57 [[ 8.26183592e-01 5.61002441e-01 5.19320064e-02 1.20473597e+03] [-5.59932999e-01 8.27814013e-01 -3.46265262e-02 -6.79399978e+02] [-6.24156083e-02 -4.70576269e-04 9.98050134e-01 -5.15684629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.79, Y:-679.43, Z:-51.58 [[ 8.31783805e-01 5.52666041e-01 5.19225284e-02 1.20478978e+03] [-5.51579371e-01 8.33402794e-01 -3.46407327e-02 -6.79430746e+02] [-6.24171368e-02 1.74204920e-04 9.98050134e-01 -5.15803868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.84, Y:-679.47, Z:-51.58 [[ 8.32401810e-01 5.51735090e-01 5.19193300e-02 1.20484044e+03] [-5.50646311e-01 8.34019381e-01 -3.46455258e-02 -6.79466038e+02] [-6.24168798e-02 2.49810915e-04 9.98050134e-01 -5.15750557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.89, Y:-679.50, Z:-51.58 [[ 8.33508260e-01 5.50062929e-01 5.19110240e-02 1.20489333e+03] [-5.48970130e-01 8.35123118e-01 -3.46579666e-02 -6.79499632e+02] [-6.24161588e-02 3.90099844e-04 9.98050135e-01 -5.15786516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1204.95, Y:-679.53, Z:-51.58 [[ 8.32820443e-01 5.51104693e-01 5.19011289e-02 1.20494560e+03] [-5.50012991e-01 8.34436042e-01 -3.46727784e-02 -6.79532525e+02] [-6.24165035e-02 3.29903544e-04 9.98050135e-01 -5.15820993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.00, Y:-679.56, Z:-51.59 [[ 8.29170016e-01 5.56582703e-01 5.18919941e-02 1.20500071e+03] [-5.55500819e-01 8.30792207e-01 -3.46864443e-02 -6.79562927e+02] [-6.24173393e-02 -6.50856351e-05 9.98050135e-01 -5.15876353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.05, Y:-679.60, Z:-51.60 [[ 8.25178920e-01 5.62483771e-01 5.18821445e-02 1.20505295e+03] [-5.61412561e-01 8.26808179e-01 -3.47011706e-02 -6.79597085e+02] [-6.24154267e-02 -4.92613158e-04 9.98050135e-01 -5.15962259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.11, Y:-679.63, Z:-51.60 [[ 8.23552979e-01 5.64862389e-01 5.18745913e-02 1.20510795e+03] [-5.63795174e-01 8.25184857e-01 -3.47124582e-02 -6.79626434e+02] [-6.24138893e-02 -6.59095905e-04 9.98050135e-01 -5.15969701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1205.16, Y:-679.66, Z:-51.60 [[ 8.22887521e-01 5.65832011e-01 5.18677405e-02 1.20516018e+03] [-5.64766074e-01 8.24520234e-01 -3.47226917e-02 -6.79661701e+02] [-6.24132121e-02 -7.20270485e-04 9.98050135e-01 -5.16026995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.21, Y:-679.69, Z:-51.61 [[ 8.22959771e-01 5.65727344e-01 5.18631622e-02 1.20521348e+03] [-5.64660769e-01 8.24592067e-01 -3.47295287e-02 -6.79694657e+02] [-6.24133962e-02 -7.04088047e-04 9.98050135e-01 -5.16069914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1205.27, Y:-679.73, Z:-51.61 [[ 8.22886279e-01 5.65835210e-01 5.18525624e-02 1.20526604e+03] [-5.64767851e-01 8.24518062e-01 -3.47453475e-02 -6.79727013e+02] [-6.24135153e-02 -6.93190509e-04 9.98050135e-01 -5.16102945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1205.32, Y:-679.76, Z:-51.62 [[ 8.24565088e-01 5.63386533e-01 5.18462205e-02 1.20531719e+03] [-5.62313734e-01 8.26193299e-01 -3.47548082e-02 -6.79760800e+02] [-6.24153909e-02 -4.96240327e-04 9.98050135e-01 -5.16179765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.37, Y:-679.80, Z:-51.62 [[ 8.26516309e-01 5.60521008e-01 5.18361911e-02 1.20536926e+03] [-5.59441626e-01 8.28140164e-01 -3.47697605e-02 -6.79795610e+02] [-6.24168130e-02 -2.61548946e-04 9.98050136e-01 -5.16191184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.42, Y:-679.83, Z:-51.62 [[ 8.29623930e-01 5.55912075e-01 5.18256680e-02 1.20542068e+03] [-5.54822692e-01 8.31241093e-01 -3.47854385e-02 -6.79831361e+02] [-6.24172702e-02 1.04775548e-04 9.98050136e-01 -5.16231660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.47, Y:-679.87, Z:-51.63 [[ 8.35149124e-01 5.47577435e-01 5.18159553e-02 1.20547155e+03] [-5.46471017e-01 8.36754680e-01 -3.47999004e-02 -6.79867491e+02] [-6.24128833e-02 7.47188588e-04 9.98050136e-01 -5.16271359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.52, Y:-679.90, Z:-51.63 [[ 8.37938298e-01 5.43300600e-01 5.18060540e-02 1.20552167e+03] [-5.42185078e-01 8.39537541e-01 -3.48146340e-02 -6.79902893e+02] [-6.24079388e-02 1.08404572e-03 9.98050136e-01 -5.16322415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.57, Y:-679.94, Z:-51.64 [[ 8.39280186e-01 5.41226246e-01 5.17969186e-02 1.20557250e+03] [-5.40105933e-01 8.40876077e-01 -3.48282203e-02 -6.79939247e+02] [-6.24047366e-02 1.25481219e-03 9.98050136e-01 -5.16368605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.63, Y:-679.97, Z:-51.64 [[ 8.38703296e-01 5.42120693e-01 5.17874045e-02 1.20562525e+03] [-5.41001210e-01 8.40299769e-01 -3.48423615e-02 -6.79973729e+02] [-6.24057092e-02 1.20535494e-03 9.98050136e-01 -5.16405628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.68, Y:-680.01, Z:-51.64 [[ 8.37605800e-01 5.43815787e-01 5.17775447e-02 1.20567831e+03] [-5.42698629e-01 8.39203901e-01 -3.48570075e-02 -6.80008215e+02] [-6.24077085e-02 1.09682916e-03 9.98050137e-01 -5.16444352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.73, Y:-680.04, Z:-51.65 [[ 8.37945712e-01 5.43292815e-01 5.17677623e-02 1.20572966e+03] [-5.42173763e-01 8.39542487e-01 -3.48715298e-02 -6.80041365e+02] [-6.24066875e-02 1.15332637e-03 9.98050137e-01 -5.16540038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.78, Y:-680.08, Z:-51.65 [[ 8.35923838e-01 5.46399380e-01 5.17595844e-02 1.20578012e+03] [-5.45285511e-01 8.37524233e-01 -3.48836640e-02 -6.80077180e+02] [-6.24103186e-02 9.36334915e-04 9.98050137e-01 -5.16505841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.83, Y:-680.11, Z:-51.66 [[ 8.35671313e-01 5.46786283e-01 5.17514961e-02 1.20583380e+03] [-5.45672412e-01 8.37271707e-01 -3.48956593e-02 -6.80109210e+02] [-6.24105313e-02 9.21937733e-04 9.98050137e-01 -5.16625293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.89, Y:-680.14, Z:-51.66 [[ 8.32480640e-01 5.51632851e-01 5.17414923e-02 1.20588561e+03] [-5.50527378e-01 8.34086845e-01 -3.49104860e-02 -6.80143660e+02] [-6.24146690e-02 5.77195659e-04 9.98050137e-01 -5.16641740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.94, Y:-680.18, Z:-51.67 [[ 8.27453470e-01 5.59146264e-01 5.17321064e-02 1.20593817e+03] [-5.58054507e-01 8.29069029e-01 -3.49243890e-02 -6.80176796e+02] [-6.24173289e-02 2.89717469e-05 9.98050137e-01 -5.16654223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1205.99, Y:-680.21, Z:-51.66 [[ 8.24330463e-01 5.63741171e-01 5.17221428e-02 1.20598987e+03] [-5.62657494e-01 8.25951452e-01 -3.49391387e-02 -6.80211210e+02] [-6.24166099e-02 -3.00454840e-04 9.98050137e-01 -5.16637985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.04, Y:-680.25, Z:-51.67 [[ 8.22160214e-01 5.66902393e-01 5.17132434e-02 1.20604152e+03] [-5.65824119e-01 8.23784804e-01 -3.49523057e-02 -6.80245374e+02] [-6.24151298e-02 -5.24205220e-04 9.98050137e-01 -5.16679171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.09, Y:-680.28, Z:-51.67 [[ 8.20122049e-01 5.69847509e-01 5.17072632e-02 1.20609231e+03] [-5.68774512e-01 8.21750128e-01 -3.49611504e-02 -6.80282617e+02] [-6.24129746e-02 -7.37363083e-04 9.98050138e-01 -5.16744419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.14, Y:-680.32, Z:-51.68 [[ 8.21586678e-01 5.67734517e-01 5.16996008e-02 1.20614451e+03] [-5.66656619e-01 8.23211517e-01 -3.49724776e-02 -6.80315621e+02] [-6.24147895e-02 -5.62999263e-04 9.98050138e-01 -5.16787090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.20, Y:-680.35, Z:-51.68 [[ 8.22580932e-01 5.66293635e-01 5.16926464e-02 1.20619560e+03] [-5.65212246e-01 8.24203448e-01 -3.49827539e-02 -6.80352714e+02] [-6.24157683e-02 -4.41170448e-04 9.98050138e-01 -5.16833838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.25, Y:-680.39, Z:-51.69 [[ 8.24269162e-01 5.63834399e-01 5.16828810e-02 1.20624577e+03] [-5.62747264e-01 8.25887834e-01 -3.49971753e-02 -6.80390221e+02] [-6.24168739e-02 -2.37307542e-04 9.98050138e-01 -5.16890404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.30, Y:-680.43, Z:-51.69 [[ 8.24756368e-01 5.63122383e-01 5.16731609e-02 1.20629635e+03] [-5.62032952e-01 8.26373496e-01 -3.50115210e-02 -6.80426795e+02] [-6.24171018e-02 -1.66044243e-04 9.98050138e-01 -5.16937131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.35, Y:-680.47, Z:-51.70 [[ 8.24645936e-01 5.63284996e-01 5.16632726e-02 1.20634598e+03] [-5.62194971e-01 8.26262662e-01 -3.50261063e-02 -6.80465418e+02] [-6.24171133e-02 -1.60695817e-04 9.98050138e-01 -5.16977021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.40, Y:-680.50, Z:-51.70 [[ 8.25055928e-01 5.62685199e-01 5.16534903e-02 1.20639805e+03] [-5.61593094e-01 8.26671251e-01 -3.50405264e-02 -6.80500496e+02] [-6.24172410e-02 -9.78494053e-05 9.98050138e-01 -5.17000985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1206.45, Y:-680.54, Z:-51.70 [[ 8.25265887e-01 5.62378108e-01 5.16437734e-02 1.20644920e+03] [-5.61284507e-01 8.26880197e-01 -3.50548417e-02 -6.80537532e+02] [-6.24172890e-02 -5.72848768e-05 9.98050138e-01 -5.17043585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.50, Y:-680.57, Z:-51.71 [[ 8.25171868e-01 5.62516927e-01 5.16342538e-02 1.20649944e+03] [-5.61422720e-01 8.26785767e-01 -3.50688580e-02 -6.80574156e+02] [-6.24172923e-02 -5.08081855e-05 9.98050139e-01 -5.17091132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.55, Y:-680.61, Z:-51.72 [[ 8.24264951e-01 5.63845815e-01 5.16254568e-02 1.20654915e+03] [-5.62753399e-01 8.25880063e-01 -3.50818034e-02 -6.80611359e+02] [-6.24171636e-02 -1.35700330e-04 9.98050139e-01 -5.17161880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.60, Y:-680.65, Z:-51.72 [[ 8.22421465e-01 5.66531856e-01 5.16196805e-02 1.20660042e+03] [-5.65444182e-01 8.24039774e-01 -3.50903006e-02 -6.80647606e+02] [-6.24164430e-02 -3.29031597e-04 9.98050139e-01 -5.17219785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.65, Y:-680.68, Z:-51.73 [[ 8.20122941e-01 5.69854985e-01 5.16106365e-02 1.20665326e+03] [-5.68773031e-01 8.21745080e-01 -3.51035975e-02 -6.80681901e+02] [-6.24147467e-02 -5.65472519e-04 9.98050139e-01 -5.17275366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.71, Y:-680.71, Z:-51.73 [[ 8.16353620e-01 5.75242584e-01 5.16017096e-02 1.20670779e+03] [-5.74170506e-01 8.17982302e-01 -3.51167150e-02 -6.80712954e+02] [-6.24099151e-02 -9.60522301e-04 9.98050139e-01 -5.17322704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1206.76, Y:-680.75, Z:-51.74 [[ 8.14976164e-01 5.77193268e-01 5.15924795e-02 1.20676172e+03] [-5.76124230e-01 8.16606843e-01 -3.51302705e-02 -6.80745429e+02] [-6.24077274e-02 -1.09334441e-03 9.98050139e-01 -5.17372558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.81, Y:-680.78, Z:-51.74 [[ 8.14932071e-01 5.77256341e-01 5.15833011e-02 1.20681417e+03] [-5.76186576e-01 8.16562274e-01 -3.51437423e-02 -6.80780575e+02] [-6.24079257e-02 -1.08184294e-03 9.98050139e-01 -5.17408160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.86, Y:-680.82, Z:-51.74 [[ 8.17791778e-01 5.73198664e-01 5.15742118e-02 1.20686497e+03] [-5.72119969e-01 8.19416085e-01 -3.51570760e-02 -6.80818073e+02] [-6.24127277e-02 -7.55468850e-04 9.98050139e-01 -5.17429973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.92, Y:-680.85, Z:-51.75 [[ 8.19786459e-01 5.70343116e-01 5.15644368e-02 1.20691566e+03] [-5.69257862e-01 8.21406391e-01 -3.51714070e-02 -6.80854558e+02] [-6.24151278e-02 -5.20417781e-04 9.98050140e-01 -5.17471825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1206.97, Y:-680.89, Z:-51.75 [[ 8.21085419e-01 5.68472372e-01 5.15548039e-02 1.20696697e+03] [-5.67382540e-01 8.22702274e-01 -3.51855214e-02 -6.80890968e+02] [-6.24162513e-02 -3.60977023e-04 9.98050140e-01 -5.17518718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.02, Y:-680.93, Z:-51.76 [[ 8.21267445e-01 5.68210241e-01 5.15451798e-02 1.20701825e+03] [-5.67119009e-01 8.22883356e-01 -3.51996148e-02 -6.80927585e+02] [-6.24164521e-02 -3.23953540e-04 9.98050140e-01 -5.17557612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.07, Y:-680.96, Z:-51.76 [[ 8.21012618e-01 5.68579269e-01 5.15353751e-02 1.20706989e+03] [-5.67487863e-01 8.22628411e-01 -3.52139638e-02 -6.80962581e+02] [-6.24163935e-02 -3.34591307e-04 9.98050140e-01 -5.17604587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1207.12, Y:-681.00, Z:-51.77 [[ 8.21474581e-01 5.67912523e-01 5.15255190e-02 1.20712259e+03] [-5.66818901e-01 8.23088874e-01 -3.52283795e-02 -6.80996365e+02] [-6.24167193e-02 -2.66419760e-04 9.98050140e-01 -5.17662172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.17, Y:-681.03, Z:-51.77 [[ 8.22088012e-01 5.67025078e-01 5.15156408e-02 1.20717399e+03] [-5.65928808e-01 8.23700509e-01 -3.52428188e-02 -6.81029838e+02] [-6.24170216e-02 -1.81486354e-04 9.98050140e-01 -5.17716747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.23, Y:-681.07, Z:-51.78 [[ 8.22911981e-01 5.65829436e-01 5.15065211e-02 1.20722624e+03] [-5.64729989e-01 8.24522313e-01 -3.52561420e-02 -6.81065282e+02] [-6.24172388e-02 -7.45754521e-05 9.98050140e-01 -5.17754427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.28, Y:-681.10, Z:-51.78 [[ 8.23392812e-01 5.65130411e-01 5.14965638e-02 1.20727919e+03] [-5.64028688e-01 8.25001587e-01 -3.52706801e-02 -6.81099872e+02] [-6.24172808e-02 -3.91478782e-06 9.98050141e-01 -5.17791003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.33, Y:-681.14, Z:-51.78 [[ 8.22686976e-01 5.66158338e-01 5.14866521e-02 1.20733053e+03] [-5.65057720e-01 8.24296507e-01 -3.52851429e-02 -6.81135526e+02] [-6.24172453e-02 -6.43027342e-05 9.98050141e-01 -5.17836672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.38, Y:-681.17, Z:-51.79 [[ 8.23048500e-01 5.65633083e-01 5.14818577e-02 1.20738437e+03] [-5.64531000e-01 8.24657029e-01 -3.52921366e-02 -6.81165744e+02] [-6.24172758e-02 -1.59645133e-05 9.98050141e-01 -5.17888228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.44, Y:-681.20, Z:-51.79 [[ 8.23110808e-01 5.65543341e-01 5.14716132e-02 1.20743629e+03] [-5.64440149e-01 8.24718576e-01 -3.53070714e-02 -6.81199077e+02] [-6.24172746e-02 8.98707251e-06 9.98050141e-01 -5.17930545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.49, Y:-681.23, Z:-51.80 [[ 8.23784118e-01 5.64562734e-01 5.14650032e-02 1.20748805e+03] [-5.63457026e-01 8.25390157e-01 -3.53167038e-02 -6.81232151e+02] [-6.24172019e-02 9.50220556e-05 9.98050141e-01 -5.17984755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.54, Y:-681.27, Z:-51.80 [[ 8.24228632e-01 5.63914376e-01 5.14561890e-02 1.20753985e+03] [-5.62806603e-01 8.25833247e-01 -3.53295413e-02 -6.81265908e+02] [-6.24170679e-02 1.59736558e-04 9.98050141e-01 -5.18041667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1207.59, Y:-681.30, Z:-51.81 [[ 8.25789053e-01 5.61627163e-01 5.14526001e-02 1.20759299e+03] [-5.60514620e-01 8.27390364e-01 -3.53347673e-02 -6.81298478e+02] [-6.24163506e-02 3.39129394e-04 9.98050141e-01 -5.18074270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.64, Y:-681.33, Z:-51.81 [[ 8.27518035e-01 5.59077490e-01 5.14418240e-02 1.20764442e+03] [-5.57959039e-01 8.29115225e-01 -3.53504486e-02 -6.81333373e+02] [-6.24148396e-02 5.50703026e-04 9.98050141e-01 -5.18105163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.70, Y:-681.37, Z:-51.81 [[ 8.29149701e-01 5.56655601e-01 5.14326339e-02 1.20769652e+03] [-5.55531656e-01 8.30743029e-01 -3.53638146e-02 -6.81368138e+02] [-6.24127675e-02 7.49439974e-04 9.98050141e-01 -5.18136835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.75, Y:-681.40, Z:-51.82 [[ 8.28478629e-01 5.57654791e-01 5.14227153e-02 1.20774923e+03] [-5.56531873e-01 8.30072681e-01 -3.53782314e-02 -6.81402646e+02] [-6.24134314e-02 6.91728520e-04 9.98050142e-01 -5.18179360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.80, Y:-681.44, Z:-51.82 [[ 8.25723474e-01 5.61727212e-01 5.14128717e-02 1.20780264e+03] [-5.60611266e-01 8.27322415e-01 -3.53925307e-02 -6.81436383e+02] [-6.24159688e-02 4.01808363e-04 9.98050142e-01 -5.18236376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.86, Y:-681.47, Z:-51.83 [[ 8.24459048e-01 5.63582309e-01 5.14029125e-02 1.20785608e+03] [-5.62469059e-01 8.26059866e-01 -3.54069893e-02 -6.81470081e+02] [-6.24166358e-02 2.79064886e-04 9.98050142e-01 -5.18299508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1207.91, Y:-681.51, Z:-51.84 [[ 8.25086648e-01 5.62664001e-01 5.13930501e-02 1.20790771e+03] [-5.61548077e-01 8.26685604e-01 -3.54212987e-02 -6.81506204e+02] [-6.24161843e-02 3.65972095e-04 9.98050142e-01 -5.18357557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1207.96, Y:-681.54, Z:-51.84 [[ 8.27994647e-01 5.58376797e-01 5.13830511e-02 1.20795959e+03] [-5.57251695e-01 8.29587158e-01 -3.54357976e-02 -6.81541604e+02] [-6.24132465e-02 7.07358447e-04 9.98050142e-01 -5.18402910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.01, Y:-681.58, Z:-51.84 [[ 8.28487194e-01 5.57646650e-01 5.13729913e-02 1.20800956e+03] [-5.56519241e-01 8.30078072e-01 -3.54503758e-02 -6.81579322e+02] [-6.24123768e-02 7.80124216e-04 9.98050142e-01 -5.18411379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.06, Y:-681.61, Z:-51.85 [[ 8.29643943e-01 5.55925064e-01 5.13639114e-02 1.20806079e+03] [-5.54793540e-01 8.31231897e-01 -3.54635268e-02 -6.81611653e+02] [-6.24103849e-02 9.25733939e-04 9.98050143e-01 -5.18470598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.11, Y:-681.65, Z:-51.85 [[ 8.30043672e-01 5.55328825e-01 5.13556210e-02 1.20811354e+03] [-5.54195418e-01 8.31630282e-01 -3.54755282e-02 -6.81645528e+02] [-6.24094730e-02 9.85187809e-04 9.98050143e-01 -5.18520028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.17, Y:-681.68, Z:-51.86 [[ 8.28455002e-01 5.57696994e-01 5.13456251e-02 1.20816532e+03] [-5.56567226e-01 8.30044206e-01 -3.54899900e-02 -6.81680376e+02] [-6.24117993e-02 8.24567626e-04 9.98050143e-01 -5.18567480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.22, Y:-681.71, Z:-51.86 [[ 8.25031453e-01 5.62750171e-01 5.13356250e-02 1.20821831e+03] [-5.61629239e-01 8.26626900e-01 -3.55044490e-02 -6.81714980e+02] [-6.24155434e-02 4.60699184e-04 9.98050143e-01 -5.18612470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.27, Y:-681.75, Z:-51.86 [[ 8.19020257e-01 5.71464355e-01 5.13255209e-02 1.20827074e+03] [-5.70359483e-01 8.20626869e-01 -3.55190496e-02 -6.81748206e+02] [-6.24169723e-02 -1.83176478e-04 9.98050143e-01 -5.18642867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.32, Y:-681.78, Z:-51.87 [[ 8.17547311e-01 5.73570417e-01 5.13163895e-02 1.20832115e+03] [-5.72468856e-01 8.19156193e-01 -3.55322374e-02 -6.81781390e+02] [-6.24163785e-02 -3.27749683e-04 9.98050143e-01 -5.18718037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.37, Y:-681.82, Z:-51.88 [[ 8.17183365e-01 5.74089265e-01 5.13114369e-02 1.20837139e+03] [-5.72988277e-01 8.18792640e-01 -3.55393880e-02 -6.81819295e+02] [-6.24162080e-02 -3.58655141e-04 9.98050143e-01 -5.18752717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.42, Y:-681.86, Z:-51.88 [[ 8.19936261e-01 5.70151463e-01 5.13014265e-02 1.20842210e+03] [-5.69041842e-01 8.21539596e-01 -3.55538322e-02 -6.81856856e+02] [-6.24172226e-02 -4.07820093e-05 9.98050143e-01 -5.18795851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.47, Y:-681.89, Z:-51.88 [[ 8.23057112e-01 5.65637854e-01 5.12914170e-02 1.20847280e+03] [-5.64518540e-01 8.24653695e-01 -3.55682665e-02 -6.81894615e+02] [-6.24164144e-02 3.19758816e-04 9.98050144e-01 -5.18835198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.52, Y:-681.93, Z:-51.89 [[ 8.25643867e-01 5.61856215e-01 5.12815621e-02 1.20852288e+03] [-5.60728707e-01 8.27234674e-01 -3.55824694e-02 -6.81933539e+02] [-6.24141178e-02 6.23403677e-04 9.98050144e-01 -5.18852235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.57, Y:-681.97, Z:-51.89 [[ 8.27335802e-01 5.59362745e-01 5.12717292e-02 1.20857277e+03] [-5.58229565e-01 8.28922573e-01 -3.55966322e-02 -6.81972928e+02] [-6.24117236e-02 8.28973184e-04 9.98050144e-01 -5.18859634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.62, Y:-682.01, Z:-51.89 [[ 8.26606855e-01 5.60440293e-01 5.12619335e-02 1.20862306e+03] [-5.59308307e-01 8.28194478e-01 -3.56107333e-02 -6.82008618e+02] [-6.24125400e-02 7.64851005e-04 9.98050144e-01 -5.18882000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.68, Y:-682.04, Z:-51.89 [[ 8.23346302e-01 5.65220319e-01 5.12528908e-02 1.20867504e+03] [-5.64096741e-01 8.24939886e-01 -3.56237432e-02 -6.82043848e+02] [-6.24158174e-02 4.19088534e-04 9.98050144e-01 -5.18912517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.73, Y:-682.08, Z:-51.90 [[ 8.20740073e-01 5.68999022e-01 5.12430099e-02 1.20872647e+03] [-5.67881894e-01 8.22338185e-01 -3.56379508e-02 -6.82079153e+02] [-6.24170429e-02 1.49516839e-04 9.98050144e-01 -5.18972628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.78, Y:-682.12, Z:-51.90 [[ 8.19562753e-01 5.70694371e-01 5.12330857e-02 1.20877691e+03] [-5.69579658e-01 8.21162550e-01 -3.56522122e-02 -6.82116851e+02] [-6.24172081e-02 3.79017627e-05 9.98050144e-01 -5.19027124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.82, Y:-682.16, Z:-51.91 [[ 8.19956658e-01 5.70129174e-01 5.12230863e-02 1.20882415e+03] [-5.69012460e-01 8.21555060e-01 -3.56665730e-02 -6.82159661e+02] [-6.24171394e-02 9.84696518e-05 9.98050145e-01 -5.19053314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.88, Y:-682.20, Z:-51.91 [[ 8.21923768e-01 5.67290263e-01 5.12159853e-02 1.20887529e+03] [-5.66167393e-01 8.23517851e-01 -3.56767668e-02 -6.82195048e+02] [-6.24163606e-02 3.26761670e-04 9.98050145e-01 -5.19092857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.92, Y:-682.23, Z:-51.91 [[ 8.22166334e-01 5.66939240e-01 5.12095452e-02 1.20892377e+03] [-5.65815114e-01 8.23759532e-01 -3.56860084e-02 -6.82232758e+02] [-6.24161494e-02 3.64700104e-04 9.98050145e-01 -5.19138125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1208.97, Y:-682.27, Z:-51.92 [[ 8.21745941e-01 5.67549229e-01 5.12003951e-02 1.20897407e+03] [-5.66425469e-01 8.23339396e-01 -3.56991316e-02 -6.82270636e+02] [-6.24163170e-02 3.34408729e-04 9.98050145e-01 -5.19169552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.02, Y:-682.31, Z:-51.92 [[ 8.21251297e-01 5.68265646e-01 5.11904622e-02 1.20902393e+03] [-5.67142388e-01 8.22845105e-01 -3.57133692e-02 -6.82306578e+02] [-6.24165021e-02 2.97369746e-04 9.98050145e-01 -5.19199872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.08, Y:-682.34, Z:-51.92 [[ 8.22120483e-01 5.67008278e-01 5.11812869e-02 1.20907572e+03] [-5.65881764e-01 8.23711992e-01 -3.57265136e-02 -6.82341719e+02] [-6.24158687e-02 4.08941693e-04 9.98050145e-01 -5.19238766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.13, Y:-682.38, Z:-51.93 [[ 8.24102691e-01 5.64124308e-01 5.11714869e-02 1.20912649e+03] [-5.62991353e-01 8.25689621e-01 -3.57405447e-02 -6.82378806e+02] [-6.24138757e-02 6.44774339e-04 9.98050145e-01 -5.19276746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.18, Y:-682.41, Z:-51.93 [[ 8.24726601e-01 5.63212674e-01 5.11616727e-02 1.20917758e+03] [-5.62077094e-01 8.26311654e-01 -3.57545880e-02 -6.82414913e+02] [-6.24129235e-02 7.30955563e-04 9.98050145e-01 -5.19322426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.23, Y:-682.45, Z:-51.94 [[ 8.23418305e-01 5.65124568e-01 5.11519103e-02 1.20922919e+03] [-5.63991802e-01 8.25005369e-01 -3.57685490e-02 -6.82448215e+02] [-6.24142865e-02 6.03219921e-04 9.98050146e-01 -5.19405430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.28, Y:-682.48, Z:-51.95 [[ 8.21474959e-01 5.67946562e-01 5.11428859e-02 1.20928014e+03] [-5.66818445e-01 8.23065331e-01 -3.57814478e-02 -6.82481365e+02] [-6.24158865e-02 4.04832324e-04 9.98050146e-01 -5.19471436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.33, Y:-682.51, Z:-51.95 [[ 8.19355851e-01 5.70999890e-01 5.11382038e-02 1.20933398e+03] [-5.69877282e-01 8.20950116e-01 -3.57881381e-02 -6.82514774e+02] [-6.24169373e-02 1.80719810e-04 9.98050146e-01 -5.19508174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.39, Y:-682.55, Z:-51.95 [[ 8.18741024e-01 5.71881961e-01 5.11288367e-02 1.20938575e+03] [-5.70760235e-01 8.20335910e-01 -3.58015154e-02 -6.82550490e+02] [-6.24170617e-02 1.29862540e-04 9.98050146e-01 -5.19540783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1209.43, Y:-682.59, Z:-51.95 [[ 8.20653155e-01 5.69135242e-01 5.11221612e-02 1.20943498e+03] [-5.68007585e-01 8.22243853e-01 -3.58110451e-02 -6.82586600e+02] [-6.24162106e-02 3.50671870e-04 9.98050146e-01 -5.19546119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.49, Y:-682.62, Z:-51.96 [[ 8.21612621e-01 5.67749684e-01 5.11174821e-02 1.20948550e+03] [-5.66618929e-01 8.23201118e-01 -3.58177228e-02 -6.82624228e+02] [-6.24154693e-02 4.64160172e-04 9.98050146e-01 -5.19562726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.54, Y:-682.66, Z:-51.96 [[ 8.22420782e-01 5.66579283e-01 5.11074764e-02 1.20953549e+03] [-5.65445380e-01 8.24007033e-01 -3.58319940e-02 -6.82661616e+02] [-6.24145855e-02 5.70490114e-04 9.98050146e-01 -5.19590236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.59, Y:-682.70, Z:-51.96 [[ 8.22363822e-01 5.66662875e-01 5.10972705e-02 1.20958516e+03] [-5.65528229e-01 8.23949542e-01 -3.58465421e-02 -6.82698221e+02] [-6.24144772e-02 5.81950516e-04 9.98050146e-01 -5.19636127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.64, Y:-682.74, Z:-51.97 [[ 8.22077769e-01 5.67078348e-01 5.10909814e-02 1.20963623e+03] [-5.65943947e-01 8.23663664e-01 -3.58555035e-02 -6.82735305e+02] [-6.24146647e-02 5.61380605e-04 9.98050146e-01 -5.19674649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.69, Y:-682.77, Z:-51.97 [[ 8.21293419e-01 5.68214624e-01 5.10809165e-02 1.20968754e+03] [-5.67081526e-01 8.22880245e-01 -3.58698365e-02 -6.82771252e+02] [-6.24152428e-02 4.92616620e-04 9.98050146e-01 -5.19721417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.74, Y:-682.81, Z:-51.98 [[ 8.20325097e-01 5.69612578e-01 5.10709888e-02 1.20974003e+03] [-5.68481304e-01 8.21913224e-01 -3.58839659e-02 -6.82805683e+02] [-6.24158794e-02 4.03615487e-04 9.98050147e-01 -5.19775164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.79, Y:-682.84, Z:-51.99 [[ 8.19005464e-01 5.71509238e-01 5.10611504e-02 1.20979315e+03] [-5.70380769e-01 8.20595586e-01 -3.58979601e-02 -6.82838723e+02] [-6.24165704e-02 2.76327198e-04 9.98050147e-01 -5.19854565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.84, Y:-682.87, Z:-51.99 [[ 8.18373108e-01 5.72415293e-01 5.10508454e-02 1.20984470e+03] [-5.71287671e-01 8.19963830e-01 -3.59126089e-02 -6.82873686e+02] [-6.24167733e-02 2.25194767e-04 9.98050147e-01 -5.19889505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.90, Y:-682.91, Z:-51.99 [[ 8.18624895e-01 5.72055997e-01 5.10413377e-02 1.20989698e+03] [-5.70926835e-01 8.20214523e-01 -3.59261168e-02 -6.82909210e+02] [-6.24165971e-02 2.69144183e-04 9.98050147e-01 -5.19944522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1209.95, Y:-682.95, Z:-52.00 [[ 8.19244659e-01 5.71168970e-01 5.10313285e-02 1.20994754e+03] [-5.70037201e-01 8.20832433e-01 -3.59403289e-02 -6.82945110e+02] [-6.24161701e-02 3.54166861e-04 9.98050147e-01 -5.19970174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.00, Y:-682.98, Z:-52.00 [[ 8.19885289e-01 5.70249548e-01 5.10251551e-02 1.20999794e+03] [-5.69115454e-01 8.21471402e-01 -3.59490912e-02 -6.82982034e+02] [-6.24156587e-02 4.34926695e-04 9.98050147e-01 -5.20011401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.05, Y:-683.02, Z:-52.01 [[ 8.20041112e-01 5.70026313e-01 5.10154680e-02 1.21004722e+03] [-5.68890931e-01 8.21626304e-01 -3.59628329e-02 -6.83019269e+02] [-6.24154115e-02 4.68764319e-04 9.98050147e-01 -5.20056085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.10, Y:-683.06, Z:-52.01 [[ 8.19090301e-01 5.71392522e-01 5.10065208e-02 1.21009796e+03] [-5.70258995e-01 8.20676819e-01 -3.59755184e-02 -6.83055302e+02] [-6.24160114e-02 3.80270916e-04 9.98050148e-01 -5.20111345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.15, Y:-683.09, Z:-52.02 [[ 8.17849031e-01 5.73168610e-01 5.09971218e-02 1.21014966e+03] [-5.72037698e-01 8.19437414e-01 -3.59888371e-02 -6.83089192e+02] [-6.24166214e-02 2.61159459e-04 9.98050148e-01 -5.20152100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.20, Y:-683.12, Z:-52.02 [[ 8.17318515e-01 5.73925370e-01 5.09913200e-02 1.21020201e+03] [-5.72795416e-01 8.18907580e-01 -3.59970555e-02 -6.83123728e+02] [-6.24168019e-02 2.13465632e-04 9.98050148e-01 -5.20190645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.26, Y:-683.16, Z:-52.02 [[ 8.17751951e-01 5.73308437e-01 5.09821812e-02 1.21025602e+03] [-5.72176477e-01 8.19339587e-01 -3.60099941e-02 -6.83156945e+02] [-6.24165527e-02 2.76438082e-04 9.98050148e-01 -5.20203107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.31, Y:-683.19, Z:-52.02 [[ 8.18965835e-01 5.71573889e-01 5.09730371e-02 1.21030660e+03] [-5.70437761e-01 8.20550492e-01 -3.60229332e-02 -6.83193521e+02] [-6.24157186e-02 4.24606413e-04 9.98050148e-01 -5.20217238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.36, Y:-683.23, Z:-52.03 [[ 8.18932449e-01 5.71622471e-01 5.09646478e-02 1.21035559e+03] [-5.70485698e-01 8.20516643e-01 -3.60347983e-02 -6.83231868e+02] [-6.24156422e-02 4.35462892e-04 9.98050148e-01 -5.20258842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1210.41, Y:-683.27, Z:-52.03 [[ 8.17525631e-01 5.73633459e-01 5.09558385e-02 1.21040812e+03] [-5.72499807e-01 8.19112060e-01 -3.60472509e-02 -6.83266628e+02] [-6.24164511e-02 2.97343837e-04 9.98050148e-01 -5.20332603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.46, Y:-683.30, Z:-52.04 [[ 8.15755815e-01 5.76148506e-01 5.09445747e-02 1.21045888e+03] [-5.75018751e-01 8.17345021e-01 -3.60631629e-02 -6.83303667e+02] [-6.24170319e-02 1.24649111e-04 9.98050148e-01 -5.20379202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1210.51, Y:-683.34, Z:-52.04 [[ 8.16245269e-01 5.75455316e-01 5.09395755e-02 1.21050956e+03] [-5.74323771e-01 8.17833201e-01 -3.60702228e-02 -6.83338334e+02] [-6.24168776e-02 1.86339626e-04 9.98050148e-01 -5.20432468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.56, Y:-683.38, Z:-52.05 [[ 8.15580676e-01 5.76397788e-01 5.09288901e-02 1.21056001e+03] [-5.75267136e-01 8.17169244e-01 -3.60853037e-02 -6.83375500e+02] [-6.24170118e-02 1.32759641e-04 9.98050149e-01 -5.20458205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.61, Y:-683.41, Z:-52.05 [[ 8.15138404e-01 5.77023974e-01 5.09187285e-02 1.21061246e+03] [-5.75893647e-01 8.16727203e-01 -3.60996367e-02 -6.83410038e+02] [-6.24170665e-02 1.02427914e-04 9.98050149e-01 -5.20495376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.67, Y:-683.44, Z:-52.05 [[ 8.14938495e-01 5.77307162e-01 5.09086417e-02 1.21066573e+03] [-5.76176499e-01 8.16527055e-01 -3.61138558e-02 -6.83443805e+02] [-6.24170709e-02 9.82083566e-05 9.98050149e-01 -5.20543603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.72, Y:-683.48, Z:-52.06 [[ 8.15537206e-01 5.76461969e-01 5.08985582e-02 1.21071681e+03] [-5.75328773e-01 8.17123960e-01 -3.61280617e-02 -6.83479761e+02] [-6.24168851e-02 1.80373448e-04 9.98050149e-01 -5.20589286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.77, Y:-683.52, Z:-52.06 [[ 8.16354958e-01 5.75304237e-01 5.08882794e-02 1.21076736e+03] [-5.74167889e-01 8.17939455e-01 -3.61425343e-02 -6.83517740e+02] [-6.24164846e-02 2.86721132e-04 9.98050149e-01 -5.20626666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.82, Y:-683.55, Z:-52.07 [[ 8.16506986e-01 5.75089361e-01 5.08779850e-02 1.21081799e+03] [-5.73951693e-01 8.18090535e-01 -3.61570200e-02 -6.83554317e+02] [-6.24163155e-02 3.20953740e-04 9.98050149e-01 -5.20675285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.87, Y:-683.59, Z:-52.07 [[ 8.15113834e-01 5.77063179e-01 5.08677319e-02 1.21087025e+03] [-5.75928446e-01 8.16699487e-01 -3.61714388e-02 -6.83589604e+02] [-6.24168560e-02 1.87666370e-04 9.98050150e-01 -5.20742641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1210.92, Y:-683.62, Z:-52.08 [[ 8.11942371e-01 5.81517925e-01 5.08575350e-02 1.21092130e+03] [-5.80390994e-01 8.13533579e-01 -3.61857702e-02 -6.83624380e+02] [-6.24169864e-02 -1.36495180e-04 9.98050150e-01 -5.20819982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1210.97, Y:-683.66, Z:-52.09 [[ 8.10235181e-01 5.83895042e-01 5.08481300e-02 1.21097366e+03] [-5.82771950e-01 8.11829101e-01 -3.61989813e-02 -6.83659790e+02] [-6.24163973e-02 -3.03175704e-04 9.98050150e-01 -5.20874961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.03, Y:-683.70, Z:-52.09 [[ 8.09008496e-01 5.85594336e-01 5.08382440e-02 1.21102578e+03] [-5.84473719e-01 8.10604158e-01 -3.62128599e-02 -6.83695062e+02] [-6.24157376e-02 -4.17106199e-04 9.98050150e-01 -5.20919840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.08, Y:-683.73, Z:-52.10 [[ 8.09188483e-01 5.85346466e-01 5.08282812e-02 1.21107612e+03] [-5.84224483e-01 8.10783183e-01 -3.62268383e-02 -6.83731133e+02] [-6.24159674e-02 -3.80785952e-04 9.98050150e-01 -5.20953196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.13, Y:-683.77, Z:-52.10 [[ 8.08770487e-01 5.85924671e-01 5.08190744e-02 1.21112571e+03] [-5.84803017e-01 8.10365419e-01 -3.62397490e-02 -6.83769675e+02] [-6.24157835e-02 -4.09508603e-04 9.98050150e-01 -5.20957482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.18, Y:-683.80, Z:-52.10 [[ 8.11985499e-01 5.81461505e-01 5.08140459e-02 1.21117716e+03] [-5.80330643e-01 8.13573915e-01 -3.62467984e-02 -6.83801410e+02] [-6.24171002e-02 -5.70732799e-05 9.98050150e-01 -5.21024860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.23, Y:-683.84, Z:-52.11 [[ 8.14679841e-01 5.77681085e-01 5.08067089e-02 1.21122814e+03] [-5.76542210e-01 8.16262522e-01 -3.62570797e-02 -6.83838818e+02] [-6.24166415e-02 2.45699618e-04 9.98050150e-01 -5.21074995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.28, Y:-683.87, Z:-52.11 [[ 8.15245805e-01 5.76882990e-01 5.07965855e-02 1.21127831e+03] [-5.75741683e-01 8.16826732e-01 -3.62712571e-02 -6.83874740e+02] [-6.24162802e-02 3.24278569e-04 9.98050151e-01 -5.21119494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.33, Y:-683.91, Z:-52.12 [[ 8.14784110e-01 5.77535449e-01 5.07903554e-02 1.21132793e+03] [-5.76394864e-01 8.16365558e-01 -3.62799791e-02 -6.83912481e+02] [-6.24164708e-02 2.85050488e-04 9.98050151e-01 -5.21153265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.38, Y:-683.94, Z:-52.12 [[ 8.17345220e-01 5.73905963e-01 5.07812722e-02 1.21138049e+03] [-5.72757566e-01 8.18921004e-01 -3.62926884e-02 -6.83943920e+02] [-6.24144407e-02 5.78297545e-04 9.98050151e-01 -5.21244353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.43, Y:-683.98, Z:-52.13 [[ 8.20956012e-01 5.68729586e-01 5.07728802e-02 1.21143147e+03] [-5.67570528e-01 8.22523972e-01 -3.63044250e-02 -6.83978277e+02] [-6.24093116e-02 9.87145494e-04 9.98050151e-01 -5.21305168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.48, Y:-684.01, Z:-52.14 [[ 8.22869366e-01 5.65958500e-01 5.07639889e-02 1.21148060e+03] [-5.64793397e-01 8.24432839e-01 -3.63168533e-02 -6.84013513e+02] [-6.24053313e-02 1.21286036e-03 9.98050151e-01 -5.21366225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1211.53, Y:-684.05, Z:-52.14 [[ 8.21928866e-01 5.67324230e-01 5.07558683e-02 1.21153198e+03] [-5.66161024e-01 8.23493750e-01 -3.63281989e-02 -6.84048399e+02] [-6.24070078e-02 1.12320096e-03 9.98050151e-01 -5.21413079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.58, Y:-684.09, Z:-52.15 [[ 8.17842748e-01 5.73199748e-01 5.07473007e-02 1.21158088e+03] [-5.72047044e-01 8.19415384e-01 -3.63401632e-02 -6.84086427e+02] [-6.24132913e-02 6.90695577e-04 9.98050151e-01 -5.21457682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.63, Y:-684.12, Z:-52.15 [[ 8.17003850e-01 5.74395140e-01 5.07437959e-02 1.21163480e+03] [-5.73244433e-01 8.18577948e-01 -3.63450565e-02 -6.84115415e+02] [-6.24141761e-02 6.05452613e-04 9.98050151e-01 -5.21519106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.68, Y:-684.15, Z:-52.15 [[ 8.15910369e-01 5.75948141e-01 5.07346968e-02 1.21168368e+03] [-5.74799641e-01 8.17486078e-01 -3.63577536e-02 -6.84153459e+02] [-6.24150889e-02 5.02382679e-04 9.98050151e-01 -5.21535881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.73, Y:-684.19, Z:-52.16 [[ 8.13862877e-01 5.78838584e-01 5.07258358e-02 1.21173165e+03] [-5.77694910e-01 8.15442092e-01 -3.63701122e-02 -6.84192719e+02] [-6.24164059e-02 2.96226968e-04 9.98050151e-01 -5.21558740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.78, Y:-684.23, Z:-52.16 [[ 8.11632898e-01 5.81962093e-01 5.07164717e-02 1.21178195e+03] [-5.80823681e-01 8.13215910e-01 -3.63831654e-02 -6.84228848e+02] [-6.24170648e-02 7.24461514e-05 9.98050151e-01 -5.21600070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.83, Y:-684.27, Z:-52.16 [[ 8.08715285e-01 5.86010548e-01 5.07072491e-02 1.21183266e+03] [-5.84879255e-01 8.10303393e-01 -3.63960144e-02 -6.84265606e+02] [-6.24167043e-02 -2.23604849e-04 9.98050152e-01 -5.21635584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.88, Y:-684.30, Z:-52.17 [[ 8.08341384e-01 5.86527063e-01 5.06972418e-02 1.21188252e+03] [-5.85395911e-01 8.09929592e-01 -3.64099485e-02 -6.84304200e+02] [-6.24166166e-02 -2.46289828e-04 9.98050152e-01 -5.21668292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.93, Y:-684.34, Z:-52.17 [[ 8.09390799e-01 5.85078909e-01 5.06873369e-02 1.21193250e+03] [-5.83944051e-01 8.10976360e-01 -3.64237322e-02 -6.84341870e+02] [-6.24169895e-02 -1.17535176e-04 9.98050152e-01 -5.21716947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1211.98, Y:-684.38, Z:-52.18 [[ 8.08833132e-01 5.85850462e-01 5.06774307e-02 1.21198357e+03] [-5.84716253e-01 8.10419158e-01 -3.64375099e-02 -6.84375358e+02] [-6.24168927e-02 -1.60052131e-04 9.98050152e-01 -5.21777408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.04, Y:-684.41, Z:-52.18 [[ 8.07408691e-01 5.87812731e-01 5.06695170e-02 1.21203777e+03] [-5.86681686e-01 8.08996975e-01 -3.64485112e-02 -6.84407113e+02] [-6.24163849e-02 -2.98032989e-04 9.98050152e-01 -5.21816681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.09, Y:-684.44, Z:-52.19 [[ 8.07823097e-01 5.87243963e-01 5.06593697e-02 1.21208966e+03] [-5.86110917e-01 8.09409953e-01 -3.64626094e-02 -6.84441963e+02] [-6.24166453e-02 -2.36671538e-04 9.98050152e-01 -5.21850636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.14, Y:-684.48, Z:-52.19 [[ 8.10922915e-01 5.82956854e-01 5.06491045e-02 1.21213780e+03] [-5.81814528e-01 8.12503104e-01 -3.64768630e-02 -6.84479563e+02] [-6.24169919e-02 1.11539244e-04 9.98050152e-01 -5.21902757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.18, Y:-684.52, Z:-52.19 [[ 8.10877045e-01 5.83021369e-01 5.06409035e-02 1.21218329e+03] [-5.81878458e-01 8.12456810e-01 -3.64882449e-02 -6.84521377e+02] [-6.24169734e-02 1.20629400e-04 9.98050153e-01 -5.21864392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.23, Y:-684.56, Z:-52.19 [[ 8.10928668e-01 5.82949707e-01 5.06392549e-02 1.21223167e+03] [-5.81806513e-01 8.12508229e-01 -3.64905326e-02 -6.84558183e+02] [-6.24169567e-02 1.28970672e-04 9.98050153e-01 -5.21896272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.29, Y:-684.58, Z:-52.20 [[ 8.11517538e-01 5.82130421e-01 5.06306143e-02 1.21228665e+03] [-5.80984884e-01 8.13095401e-01 -3.65025175e-02 -6.84584036e+02] [-6.24167455e-02 2.06811553e-04 9.98050153e-01 -5.22034005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.34, Y:-684.62, Z:-52.20 [[ 8.08018125e-01 5.86978213e-01 5.06289270e-02 1.21233571e+03] [-5.85841996e-01 8.09602712e-01 -3.65048577e-02 -6.84622449e+02] [-6.24168727e-02 -1.63965021e-04 9.98050153e-01 -5.21979686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.39, Y:-684.66, Z:-52.20 [[ 8.08820950e-01 5.85871646e-01 5.06269184e-02 1.21238547e+03] [-5.84733087e-01 8.10403855e-01 -3.65076431e-02 -6.84658094e+02] [-6.24170428e-02 -7.50876821e-05 9.98050153e-01 -5.22010101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.44, Y:-684.69, Z:-52.20 [[ 8.11117563e-01 5.82688665e-01 5.06183724e-02 1.21243578e+03] [-5.81543155e-01 8.12695445e-01 -3.65194885e-02 -6.84694990e+02] [-6.24168126e-02 1.84830510e-04 9.98050153e-01 -5.22049993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.49, Y:-684.73, Z:-52.21 [[ 8.13964850e-01 5.78705522e-01 5.06077316e-02 1.21248550e+03] [-5.77551374e-01 8.15536425e-01 -3.65342282e-02 -6.84730545e+02] [-6.24150081e-02 5.09012617e-04 9.98050153e-01 -5.22137689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.53, Y:-684.77, Z:-52.22 [[ 8.12014469e-01 5.81439775e-01 5.05993066e-02 1.21253361e+03] [-5.80290193e-01 8.13589387e-01 -3.65458930e-02 -6.84768685e+02] [-6.24162946e-02 3.13512468e-04 9.98050153e-01 -5.22174558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.58, Y:-684.81, Z:-52.22 [[ 8.08194584e-01 5.86738550e-01 5.05904049e-02 1.21258398e+03] [-5.85598522e-01 8.09776431e-01 -3.65582115e-02 -6.84806083e+02] [-6.24170295e-02 -7.95177979e-05 9.98050153e-01 -5.22162964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.63, Y:-684.84, Z:-52.22 [[ 8.02889892e-01 5.93977080e-01 5.05870484e-02 1.21263399e+03] [-5.92851020e-01 8.04481713e-01 -3.65628555e-02 -6.84840816e+02] [-6.24138534e-02 -6.34636115e-04 9.98050153e-01 -5.22185275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1212.68, Y:-684.88, Z:-52.22 [[ 8.01141672e-01 5.96333677e-01 5.05783320e-02 1.21268232e+03] [-5.95211538e-01 8.02736259e-01 -3.65749091e-02 -6.84877758e+02] [-6.24119110e-02 -8.03122967e-04 9.98050153e-01 -5.22203068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.73, Y:-684.92, Z:-52.22 [[ 8.02248022e-01 5.94845167e-01 5.05701322e-02 1.21273155e+03] [-5.93719355e-01 8.03840018e-01 -3.65862429e-02 -6.84916614e+02] [-6.24134458e-02 -6.73225269e-04 9.98050153e-01 -5.22202742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.78, Y:-684.95, Z:-52.22 [[ 8.05180390e-01 5.90870638e-01 5.05611360e-02 1.21278278e+03] [-5.89736187e-01 8.06766241e-01 -3.65986713e-02 -6.84953273e+02] [-6.24160979e-02 -3.49199070e-04 9.98050154e-01 -5.22229314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.83, Y:-684.99, Z:-52.22 [[ 8.08829141e-01 5.85866910e-01 5.05508136e-02 1.21283444e+03] [-5.84721757e-01 8.10407281e-01 -3.66129233e-02 -6.84989038e+02] [-6.24170476e-02 5.54387864e-05 9.98050154e-01 -5.22241512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.89, Y:-685.03, Z:-52.23 [[ 8.10447528e-01 5.83627001e-01 5.05403659e-02 1.21288569e+03] [-5.82476588e-01 8.12021837e-01 -3.66273396e-02 -6.85025134e+02] [-6.24165851e-02 2.45956968e-04 9.98050154e-01 -5.22282185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.94, Y:-685.06, Z:-52.23 [[ 8.12642109e-01 5.80568280e-01 5.05299399e-02 1.21293678e+03] [-5.79411047e-01 8.14211412e-01 -3.66417174e-02 -6.85060156e+02] [-6.24150725e-02 4.98997181e-04 9.98050154e-01 -5.22298750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1212.99, Y:-685.09, Z:-52.23 [[ 8.11447512e-01 5.82237610e-01 5.05202996e-02 1.21298959e+03] [-5.81082778e-01 8.13018583e-01 -3.66550043e-02 -6.85094310e+02] [-6.24158644e-02 3.87136037e-04 9.98050154e-01 -5.22336679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1213.04, Y:-685.13, Z:-52.24 [[ 8.09350110e-01 5.85150514e-01 5.05101437e-02 1.21304248e+03] [-5.84000464e-01 8.10924684e-01 -3.66689936e-02 -6.85128036e+02] [-6.24168028e-02 1.80106639e-04 9.98050154e-01 -5.22400293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.09, Y:-685.16, Z:-52.25 [[ 8.07074469e-01 5.88286123e-01 5.04998917e-02 1.21309452e+03] [-5.87141307e-01 8.08652853e-01 -3.66831070e-02 -6.85163016e+02] [-6.24170443e-02 -4.45732945e-05 9.98050154e-01 -5.22456703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1213.15, Y:-685.20, Z:-52.26 [[ 8.07629301e-01 5.87525069e-01 5.04896556e-02 1.21314663e+03] [-5.86377885e-01 8.09205964e-01 -3.66971904e-02 -6.85196980e+02] [-6.24170497e-02 3.17087927e-05 9.98050155e-01 -5.22554595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.19, Y:-685.24, Z:-52.26 [[ 8.08067132e-01 5.86923652e-01 5.04790886e-02 1.21319440e+03] [-5.85774386e-01 8.09642278e-01 -3.67117202e-02 -6.85235396e+02] [-6.24169811e-02 9.61773203e-05 9.98050155e-01 -5.22556904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.24, Y:-685.27, Z:-52.26 [[ 8.10888755e-01 5.83019847e-01 5.04706420e-02 1.21324495e+03] [-5.81862276e-01 8.12457807e-01 -3.67233288e-02 -6.85272656e+02] [-6.24156966e-02 4.11571712e-04 9.98050155e-01 -5.22592767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.30, Y:-685.31, Z:-52.27 [[ 8.12551326e-01 5.80701370e-01 5.04604965e-02 1.21329640e+03] [-5.79538457e-01 8.14116423e-01 -3.67372642e-02 -6.85307555e+02] [-6.24140985e-02 6.07114440e-04 9.98050155e-01 -5.22678573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.34, Y:-685.34, Z:-52.27 [[ 8.11461035e-01 5.82224245e-01 5.04570853e-02 1.21334473e+03] [-5.81063978e-01 8.13028095e-01 -3.67419486e-02 -6.85344840e+02] [-6.24150812e-02 4.95864980e-04 9.98050155e-01 -5.22670123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.39, Y:-685.38, Z:-52.27 [[ 8.10418476e-01 5.83675313e-01 5.04482272e-02 1.21339482e+03] [-5.82517095e-01 8.11987050e-01 -3.67541072e-02 -6.85381727e+02] [-6.24157722e-02 3.99252819e-04 9.98050155e-01 -5.22746494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.45, Y:-685.42, Z:-52.28 [[ 8.07815842e-01 5.87272900e-01 5.04391389e-02 1.21344577e+03] [-5.86120890e-01 8.09388980e-01 -3.67665752e-02 -6.85415910e+02] [-6.24168965e-02 1.37188888e-04 9.98050155e-01 -5.22766895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.50, Y:-685.45, Z:-52.28 [[ 8.05593998e-01 5.90317480e-01 5.04339560e-02 1.21349774e+03] [-5.89170969e-01 8.07171150e-01 -3.67736834e-02 -6.85451813e+02] [-6.24169824e-02 -8.95641111e-05 9.98050155e-01 -5.22812456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.55, Y:-685.49, Z:-52.28 [[ 8.04239111e-01 5.92162888e-01 5.04238606e-02 1.21354874e+03] [-5.91019129e-01 8.05818260e-01 -3.67875209e-02 -6.85488857e+02] [-6.24166723e-02 -2.15503037e-04 9.98050155e-01 -5.22846066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.60, Y:-685.53, Z:-52.29 [[ 8.06142809e-01 5.89569513e-01 5.04139000e-02 1.21359888e+03] [-5.88419820e-01 8.07717642e-01 -3.68011660e-02 -6.85527174e+02] [-6.24170420e-02 2.45737959e-06 9.98050156e-01 -5.22881575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.65, Y:-685.56, Z:-52.29 [[ 8.10926659e-01 5.82972885e-01 5.04040626e-02 1.21364809e+03] [-5.81809545e-01 8.12491438e-01 -3.68146347e-02 -6.85563889e+02] [-6.24148031e-02 5.28403960e-04 9.98050156e-01 -5.22935747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.70, Y:-685.60, Z:-52.30 [[ 8.13244604e-01 5.79735758e-01 5.03950874e-02 1.21369564e+03] [-5.78565429e-01 8.14804162e-01 -3.68269167e-02 -6.85602320e+02] [-6.24120074e-02 7.92435885e-04 9.98050156e-01 -5.22952715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.74, Y:-685.64, Z:-52.30 [[ 8.15258836e-01 5.76900557e-01 5.03862816e-02 1.21374369e+03] [-5.75724061e-01 8.16813747e-01 -3.68389608e-02 -6.85642057e+02] [-6.24086245e-02 1.02469367e-03 9.98050156e-01 -5.22982698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.79, Y:-685.68, Z:-52.30 [[ 8.14881210e-01 5.77434634e-01 5.03771436e-02 1.21379422e+03] [-5.76258385e-01 8.16436308e-01 -3.68514527e-02 -6.85679753e+02] [-6.24090342e-02 9.99304936e-04 9.98050156e-01 -5.23008333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.85, Y:-685.72, Z:-52.30 [[ 8.12886207e-01 5.80240630e-01 5.03669113e-02 1.21384506e+03] [-5.79068882e-01 8.14444700e-01 -3.68654324e-02 -6.85716403e+02] [-6.24118857e-02 8.01490491e-04 9.98050156e-01 -5.23033150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.90, Y:-685.75, Z:-52.31 [[ 8.11185844e-01 5.82616274e-01 5.03567667e-02 1.21389638e+03] [-5.81448231e-01 8.12747115e-01 -3.68792845e-02 -6.85753089e+02] [-6.24137881e-02 6.36100601e-04 9.98050156e-01 -5.23075448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1213.95, Y:-685.79, Z:-52.31 [[ 8.08840950e-01 5.85868189e-01 5.03466266e-02 1.21394694e+03] [-5.84705562e-01 8.10406258e-01 -3.68931222e-02 -6.85790345e+02] [-6.24157280e-02 4.02715414e-04 9.98050156e-01 -5.23120695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.00, Y:-685.83, Z:-52.32 [[ 8.07242169e-01 5.88070010e-01 5.03363070e-02 1.21399802e+03] [-5.86910775e-01 8.08809990e-01 -3.69071968e-02 -6.85825927e+02] [-6.24165236e-02 2.50124666e-04 9.98050157e-01 -5.23171080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.05, Y:-685.86, Z:-52.32 [[ 8.05003028e-01 5.91132253e-01 5.03267694e-02 1.21405064e+03] [-5.89978170e-01 8.06574645e-01 -3.69201977e-02 -6.85860573e+02] [-6.24170158e-02 2.91757010e-05 9.98050157e-01 -5.23222168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.10, Y:-685.90, Z:-52.33 [[ 8.02836149e-01 5.94072680e-01 5.03166889e-02 1.21410013e+03] [-5.92923492e-01 8.04411349e-01 -3.69339307e-02 -6.85897359e+02] [-6.24167548e-02 -1.82052201e-04 9.98050157e-01 -5.23265656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.15, Y:-685.93, Z:-52.33 [[ 8.02964564e-01 5.93899384e-01 5.03133291e-02 1.21415270e+03] [-5.92749569e-01 8.04539306e-01 -3.69385072e-02 -6.85931197e+02] [-6.24168075e-02 -1.62891842e-04 9.98050157e-01 -5.23320593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.20, Y:-685.97, Z:-52.34 [[ 8.03142333e-01 5.93659875e-01 5.03025418e-02 1.21420168e+03] [-5.92508671e-01 8.04716060e-01 -3.69531913e-02 -6.85969056e+02] [-6.24168902e-02 -1.26019918e-04 9.98050157e-01 -5.23384733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.25, Y:-686.01, Z:-52.34 [[ 8.03847545e-01 5.92705388e-01 5.02936050e-02 1.21424950e+03] [-5.91551554e-01 8.05419345e-01 -3.69653504e-02 -6.86006443e+02] [-6.24170048e-02 -3.67540201e-05 9.98050157e-01 -5.23441044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.30, Y:-686.04, Z:-52.35 [[ 8.06198876e-01 5.89503815e-01 5.02854327e-02 1.21429807e+03] [-5.88343046e-01 8.07765561e-01 -3.69764643e-02 -6.86044937e+02] [-6.24166075e-02 2.25299284e-04 9.98050157e-01 -5.23489288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.35, Y:-686.09, Z:-52.35 [[ 8.06722176e-01 5.88788244e-01 5.02765757e-02 1.21434508e+03] [-5.87625335e-01 8.08287273e-01 -3.69885030e-02 -6.86085236e+02] [-6.24163121e-02 2.95656003e-04 9.98050157e-01 -5.23511817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.39, Y:-686.12, Z:-52.36 [[ 8.06984489e-01 5.88429452e-01 5.02674378e-02 1.21439282e+03] [-5.87265074e-01 8.08548493e-01 -3.70009174e-02 -6.86122379e+02] [-6.24160906e-02 3.38855810e-04 9.98050158e-01 -5.23564269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.44, Y:-686.16, Z:-52.36 [[ 8.04307879e-01 5.92083490e-01 5.02590953e-02 1.21444167e+03] [-5.90925509e-01 8.05876626e-01 -3.70122457e-02 -6.86158742e+02] [-6.24169697e-02 6.98593617e-05 9.98050158e-01 -5.23594804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.49, Y:-686.20, Z:-52.36 [[ 8.02279274e-01 5.94830068e-01 5.02509427e-02 1.21449023e+03] [-5.93676765e-01 8.03851462e-01 -3.70233111e-02 -6.86196869e+02] [-6.24168724e-02 -1.29781930e-04 9.98050158e-01 -5.23609467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.54, Y:-686.23, Z:-52.37 [[ 8.01506773e-01 5.95871323e-01 5.02420144e-02 1.21454121e+03] [-5.94719303e-01 8.03079902e-01 -3.70354232e-02 -6.86229809e+02] [-6.24166986e-02 -1.95753241e-04 9.98050158e-01 -5.23672369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.59, Y:-686.27, Z:-52.37 [[ 8.00409065e-01 5.97345705e-01 5.02338355e-02 1.21459160e+03] [-5.96195886e-01 8.01983803e-01 -3.70465135e-02 -6.86267769e+02] [-6.24162981e-02 -2.96840872e-04 9.98050158e-01 -5.23707754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.64, Y:-686.31, Z:-52.38 [[ 7.99542590e-01 5.98505798e-01 5.02240717e-02 1.21464038e+03] [-5.97357433e-01 8.01118388e-01 -3.70597456e-02 -6.86306727e+02] [-6.24159000e-02 -3.70877572e-04 9.98050158e-01 -5.23752784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.69, Y:-686.35, Z:-52.38 [[ 8.00429615e-01 5.97319247e-01 5.02210029e-02 1.21469012e+03] [-5.96168286e-01 8.02003518e-01 -3.70639037e-02 -6.86345732e+02] [-6.24164041e-02 -2.73123074e-04 9.98050158e-01 -5.23770398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.74, Y:-686.38, Z:-52.38 [[ 8.02248055e-01 5.94875628e-01 5.02100178e-02 1.21473916e+03] [-5.93718941e-01 8.03817755e-01 -3.70787791e-02 -6.86382449e+02] [-6.24169658e-02 -6.42602128e-05 9.98050158e-01 -5.23827940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1214.79, Y:-686.42, Z:-52.39 [[ 8.02441460e-01 5.94615167e-01 5.02046391e-02 1.21478868e+03] [-5.93457515e-01 8.04010449e-01 -3.70860604e-02 -6.86419502e+02] [-6.24169885e-02 -3.49279256e-05 9.98050158e-01 -5.23898149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1214.84, Y:-686.46, Z:-52.39 [[ 8.03064269e-01 5.93774445e-01 5.01964928e-02 1.21483794e+03] [-5.92614462e-01 8.04631534e-01 -3.70970833e-02 -6.86456486e+02] [-6.24169811e-02 4.41745272e-05 9.98050158e-01 -5.23933638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1214.89, Y:-686.50, Z:-52.40 [[ 8.04008979e-01 5.92495367e-01 5.01876798e-02 1.21488619e+03] [-5.91332146e-01 8.05573842e-01 -3.71090024e-02 -6.86496010e+02] [-6.24167940e-02 1.58382719e-04 9.98050158e-01 -5.23967817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.94, Y:-686.53, Z:-52.40 [[ 8.03480235e-01 5.93212946e-01 5.01788124e-02 1.21493668e+03] [-5.92050374e-01 8.05045581e-01 -3.71209891e-02 -6.86533123e+02] [-6.24168824e-02 1.17596372e-04 9.98050159e-01 -5.23987582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1214.99, Y:-686.57, Z:-52.40 [[ 8.02235756e-01 5.94895730e-01 5.01683390e-02 1.21498787e+03] [-5.93735556e-01 8.03802881e-01 -3.71351383e-02 -6.86567112e+02] [-6.24169906e-02 4.40912946e-06 9.98050159e-01 -5.24048217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.04, Y:-686.60, Z:-52.41 [[ 8.00196921e-01 5.97636174e-01 5.01586640e-02 1.21504112e+03] [-5.96480549e-01 8.01767402e-01 -3.71482017e-02 -6.86601007e+02] [-6.24166909e-02 -1.92790802e-04 9.98050159e-01 -5.24081993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.09, Y:-686.64, Z:-52.41 [[ 7.99734044e-01 5.98256290e-01 5.01484817e-02 1.21509113e+03] [-5.97101021e-01 8.01304787e-01 -3.71619425e-02 -6.86639189e+02] [-6.24165842e-02 -2.24039056e-04 9.98050159e-01 -5.24120249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1215.14, Y:-686.68, Z:-52.41 [[ 8.02168700e-01 5.94988671e-01 5.01383961e-02 1.21514110e+03] [-5.93826153e-01 8.03734085e-01 -3.71755448e-02 -6.86676726e+02] [-6.24169659e-02 4.75675802e-05 9.98050159e-01 -5.24142842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1215.19, Y:-686.71, Z:-52.42 [[ 8.04543816e-01 5.91773854e-01 5.01293698e-02 1.21519280e+03] [-5.90604323e-01 8.06103968e-01 -3.71877123e-02 -6.86712760e+02] [-6.24161998e-02 3.12521399e-04 9.98050159e-01 -5.24192001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.24, Y:-686.75, Z:-52.42 [[ 8.08885855e-01 5.85825691e-01 5.01191875e-02 1.21524293e+03] [-5.84643839e-01 8.10436694e-01 -3.72014303e-02 -6.86750303e+02] [-6.24119823e-02 7.89836623e-04 9.98050159e-01 -5.24217741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1215.29, Y:-686.79, Z:-52.43 [[ 8.11480603e-01 5.82227038e-01 5.01089455e-02 1.21529329e+03] [-5.81037458e-01 8.13025522e-01 -3.72152208e-02 -6.86787992e+02] [-6.24075594e-02 1.08425556e-03 9.98050160e-01 -5.24251205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.34, Y:-686.83, Z:-52.43 [[ 8.13567946e-01 5.79307628e-01 5.00985935e-02 1.21534319e+03] [-5.78111647e-01 8.15107916e-01 -3.72291513e-02 -6.86826697e+02] [-6.24028915e-02 1.32586377e-03 9.98050160e-01 -5.24294475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.39, Y:-686.86, Z:-52.43 [[ 8.12429939e-01 5.80903389e-01 5.00883914e-02 1.21539371e+03] [-5.79709587e-01 8.13971598e-01 -3.72428723e-02 -6.86862807e+02] [-6.24050387e-02 1.22050373e-03 9.98050160e-01 -5.24348095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.45, Y:-686.90, Z:-52.44 [[ 8.06897919e-01 5.88564170e-01 5.00796082e-02 1.21544543e+03] [-5.87384275e-01 8.08450247e-01 -3.72546791e-02 -6.86897043e+02] [-6.24136409e-02 6.44748655e-04 9.98050160e-01 -5.24405365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.50, Y:-686.93, Z:-52.44 [[ 8.02974009e-01 5.93907130e-01 5.00705647e-02 1.21549616e+03] [-5.92736807e-01 8.04533567e-01 -3.72668296e-02 -6.86932755e+02] [-6.24164859e-02 2.45628916e-04 9.98050160e-01 -5.24440113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.55, Y:-686.97, Z:-52.45 [[ 8.00743745e-01 5.96911461e-01 5.00615876e-02 1.21554503e+03] [-5.95746237e-01 8.02307115e-01 -3.72788850e-02 -6.86969116e+02] [-6.24169616e-02 2.68316077e-05 9.98050160e-01 -5.24458754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.59, Y:-687.01, Z:-52.45 [[ 8.00682015e-01 5.96994950e-01 5.00533689e-02 1.21559324e+03] [-5.95829199e-01 8.02244993e-01 -3.72899168e-02 -6.87009037e+02] [-6.24169566e-02 3.41070190e-05 9.98050160e-01 -5.24450479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.64, Y:-687.05, Z:-52.45 [[ 8.01292039e-01 5.96176694e-01 5.00441627e-02 1.21564189e+03] [-5.95008575e-01 8.02853247e-01 -3.73022677e-02 -6.87049413e+02] [-6.24168612e-02 1.13304189e-04 9.98050160e-01 -5.24482706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.69, Y:-687.09, Z:-52.45 [[ 8.01367694e-01 5.96075399e-01 5.00393709e-02 1.21569053e+03] [-5.94906681e-01 8.02928454e-01 -3.73086946e-02 -6.87086779e+02] [-6.24168297e-02 1.29226476e-04 9.98050160e-01 -5.24500395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.74, Y:-687.12, Z:-52.45 [[ 8.00122142e-01 5.97747026e-01 5.00305120e-02 1.21573975e+03] [-5.96580826e-01 8.01684784e-01 -3.73205704e-02 -6.87124560e+02] [-6.24169602e-02 1.37705265e-05 9.98050161e-01 -5.24545014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.79, Y:-687.16, Z:-52.46 [[ 8.01425260e-01 5.95999495e-01 5.00215494e-02 1.21578994e+03] [-5.94829138e-01 8.02984791e-01 -3.73325795e-02 -6.87161490e+02] [-6.24167419e-02 1.64997092e-04 9.98050161e-01 -5.24589631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.84, Y:-687.20, Z:-52.46 [[ 8.01578939e-01 5.95793649e-01 5.00113116e-02 1.21583927e+03] [-5.94622037e-01 8.03137527e-01 -3.73462891e-02 -6.87200536e+02] [-6.24166430e-02 1.98170887e-04 9.98050161e-01 -5.24622972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.89, Y:-687.24, Z:-52.47 [[ 8.01827850e-01 5.95459476e-01 5.00011149e-02 1.21588864e+03] [-5.94286363e-01 8.03385309e-01 -3.73599360e-02 -6.87239014e+02] [-6.24164890e-02 2.41256467e-04 9.98050161e-01 -5.24652934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1215.94, Y:-687.28, Z:-52.47 [[ 8.02982331e-01 5.93902585e-01 4.99909493e-02 1.21593998e+03] [-5.92725606e-01 8.04536870e-01 -3.73735335e-02 -6.87275693e+02] [-6.24158001e-02 3.79371383e-04 9.98050161e-01 -5.24685845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1215.99, Y:-687.31, Z:-52.47 [[ 8.03048941e-01 5.93813388e-01 4.99805783e-02 1.21598854e+03] [-5.92635373e-01 8.04602695e-01 -3.73873978e-02 -6.87314095e+02] [-6.24156454e-02 4.03651566e-04 9.98050161e-01 -5.24720490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1216.04, Y:-687.35, Z:-52.48 [[ 8.02362656e-01 5.94741162e-01 4.99711688e-02 1.21603770e+03] [-5.93564161e-01 8.03917178e-01 -3.73999701e-02 -6.87351892e+02] [-6.24159827e-02 3.47244495e-04 9.98050161e-01 -5.24779164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.09, Y:-687.39, Z:-52.48 [[ 8.01253211e-01 5.96235840e-01 4.99611462e-02 1.21608788e+03] [-5.95060903e-01 8.02809294e-01 -3.74133542e-02 -6.87389725e+02] [-6.24164551e-02 2.47645402e-04 9.98050162e-01 -5.24819593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.14, Y:-687.43, Z:-52.49 [[ 8.00089967e-01 5.97796775e-01 4.99505825e-02 1.21613803e+03] [-5.96623994e-01 8.01647675e-01 -3.74274524e-02 -6.87426828e+02] [-6.24167787e-02 1.43613118e-04 9.98050162e-01 -5.24862657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.19, Y:-687.46, Z:-52.49 [[ 7.99015640e-01 5.99232841e-01 4.99400625e-02 1.21618716e+03] [-5.98061983e-01 8.00574794e-01 -3.74414842e-02 -6.87463783e+02] [-6.24169222e-02 4.90786140e-05 9.98050162e-01 -5.24911169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.24, Y:-687.50, Z:-52.49 [[ 7.97621695e-01 6.01087841e-01 4.99303419e-02 1.21623562e+03] [-5.99919798e-01 7.99182959e-01 -3.74544427e-02 -6.87503776e+02] [-6.24168885e-02 -7.97245771e-05 9.98050162e-01 -5.24939417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.29, Y:-687.54, Z:-52.50 [[ 7.96767808e-01 6.02220118e-01 4.99198259e-02 1.21628584e+03] [-6.01053416e-01 7.98330074e-01 -3.74684534e-02 -6.87541312e+02] [-6.24167547e-02 -1.50824397e-04 9.98050162e-01 -5.24976438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.34, Y:-687.58, Z:-52.50 [[ 7.95141271e-01 6.04366963e-01 4.99092493e-02 1.21633517e+03] [-6.03203594e-01 7.96706021e-01 -3.74825365e-02 -6.87577811e+02] [-6.24162061e-02 -3.01526850e-04 9.98050162e-01 -5.25021308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.38, Y:-687.62, Z:-52.50 [[ 7.94902331e-01 6.04682004e-01 4.98994839e-02 1.21638405e+03] [-6.03518439e-01 7.96466935e-01 -3.74955324e-02 -6.87616674e+02] [-6.24161627e-02 -3.09972523e-04 9.98050162e-01 -5.25045422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.43, Y:-687.66, Z:-52.51 [[ 7.97808024e-01 6.00843928e-01 4.98891990e-02 1.21643206e+03] [-5.99671981e-01 7.99366358e-01 -3.75092119e-02 -6.87656956e+02] [-6.24169295e-02 7.99543386e-06 9.98050163e-01 -5.25066744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.48, Y:-687.70, Z:-52.51 [[ 8.00702715e-01 5.96981808e-01 4.98786982e-02 1.21648099e+03] [-5.95801475e-01 8.02254707e-01 -3.75231703e-02 -6.87696783e+02] [-6.24160705e-02 3.27102346e-04 9.98050163e-01 -5.25092697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.53, Y:-687.74, Z:-52.51 [[ 8.03762765e-01 5.92856283e-01 4.98682770e-02 1.21653055e+03] [-5.91667126e-01 8.05308006e-01 -3.75370150e-02 -6.87735449e+02] [-6.24133779e-02 6.65434856e-04 9.98050163e-01 -5.25125067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.58, Y:-687.77, Z:-52.52 [[ 8.04900501e-01 5.91311580e-01 4.98577799e-02 1.21658062e+03] [-5.90118594e-01 8.06442788e-01 -3.75509524e-02 -6.87773513e+02] [-6.24117601e-02 8.02777432e-04 9.98050163e-01 -5.25160710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.63, Y:-687.81, Z:-52.52 [[ 8.04676769e-01 5.91616899e-01 4.98471969e-02 1.21663027e+03] [-5.90423628e-01 8.06218835e-01 -3.75649956e-02 -6.87811269e+02] [-6.24118353e-02 7.96716453e-04 9.98050163e-01 -5.25190671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.68, Y:-687.85, Z:-52.52 [[ 8.03183995e-01 5.93642804e-01 4.98366498e-02 1.21667937e+03] [-5.92452555e-01 8.04728395e-01 -3.75789830e-02 -6.87850196e+02] [-6.24134601e-02 6.56987152e-04 9.98050163e-01 -5.25209820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.73, Y:-687.89, Z:-52.52 [[ 8.02337870e-01 5.94786762e-01 4.98261967e-02 1.21672858e+03] [-5.93597855e-01 8.03883303e-01 -3.75928377e-02 -6.87886891e+02] [-6.24141699e-02 5.85433886e-04 9.98050163e-01 -5.25240179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.78, Y:-687.93, Z:-52.53 [[ 8.01104316e-01 5.96447975e-01 4.98165388e-02 1.21677742e+03] [-5.95261477e-01 8.02651599e-01 -3.76056317e-02 -6.87926728e+02] [-6.24151274e-02 4.72167354e-04 9.98050164e-01 -5.25287506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.83, Y:-687.96, Z:-52.53 [[ 8.02611997e-01 5.94418020e-01 4.98116459e-02 1.21682911e+03] [-5.93227207e-01 8.04155962e-01 -3.76121117e-02 -6.87963150e+02] [-6.24136489e-02 6.38308519e-04 9.98050164e-01 -5.25303491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.88, Y:-688.00, Z:-52.54 [[ 8.03550403e-01 5.93149784e-01 4.98004380e-02 1.21687955e+03] [-5.91955615e-01 8.05091773e-01 -3.76269457e-02 -6.87999183e+02] [-6.24123376e-02 7.55498482e-04 9.98050164e-01 -5.25356827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.93, Y:-688.04, Z:-52.54 [[ 8.05319018e-01 5.90747081e-01 4.97912189e-02 1.21693091e+03] [-5.89547560e-01 8.06856226e-01 -3.76391412e-02 -6.88035370e+02] [-6.24095678e-02 9.57224642e-04 9.98050164e-01 -5.25421244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1216.98, Y:-688.07, Z:-52.54 [[ 8.04789873e-01 5.91468663e-01 4.97803250e-02 1.21698029e+03] [-5.90269629e-01 8.06327462e-01 -3.76535437e-02 -6.88072954e+02] [-6.24101342e-02 9.19376629e-04 9.98050164e-01 -5.25416924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.03, Y:-688.11, Z:-52.55 [[ 8.03110864e-01 5.93747304e-01 4.97702731e-02 1.21703185e+03] [-5.92551810e-01 8.04651206e-01 -3.76668255e-02 -6.88109051e+02] [-6.24122864e-02 7.59171355e-04 9.98050164e-01 -5.25477909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.08, Y:-688.14, Z:-52.55 [[ 8.00409832e-01 5.97384372e-01 4.97595541e-02 1.21708301e+03] [-5.96194998e-01 8.01954904e-01 -3.76809806e-02 -6.88144914e+02] [-6.24149473e-02 4.93830099e-04 9.98050164e-01 -5.25539524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.13, Y:-688.18, Z:-52.56 [[ 7.96605666e-01 6.02448236e-01 4.97547626e-02 1.21713405e+03] [-6.01268289e-01 7.98157949e-01 -3.76873063e-02 -6.88180246e+02] [-6.24168105e-02 1.05960720e-04 9.98050164e-01 -5.25628168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.18, Y:-688.22, Z:-52.57 [[ 7.96836569e-01 6.02143103e-01 4.97510325e-02 1.21718442e+03] [-6.00962254e-01 7.98388167e-01 -3.76922298e-02 -6.88215303e+02] [-6.24167518e-02 1.36054442e-04 9.98050164e-01 -5.25662810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.23, Y:-688.25, Z:-52.57 [[ 7.98861697e-01 5.99454576e-01 4.97413447e-02 1.21723153e+03] [-5.98267710e-01 8.00408696e-01 -3.77050101e-02 -6.88253785e+02] [-6.24158457e-02 3.62448023e-04 9.98050165e-01 -5.25716763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.28, Y:-688.29, Z:-52.57 [[ 8.00222518e-01 5.97637463e-01 4.97331261e-02 1.21728013e+03] [-5.96446411e-01 8.01766297e-01 -3.77158474e-02 -6.88294129e+02] [-6.24147477e-02 5.17925824e-04 9.98050165e-01 -5.25741760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.33, Y:-688.33, Z:-52.58 [[ 8.00600610e-01 5.97131763e-01 4.97224419e-02 1.21732881e+03] [-5.95938861e-01 8.02142959e-01 -3.77299276e-02 -6.88333141e+02] [-6.24142449e-02 5.75067740e-04 9.98050165e-01 -5.25780369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.38, Y:-688.37, Z:-52.58 [[ 7.99409998e-01 5.98725643e-01 4.97117654e-02 1.21737717e+03] [-5.97534942e-01 8.00954047e-01 -3.77439894e-02 -6.88371816e+02] [-6.24151340e-02 4.68405605e-04 9.98050165e-01 -5.25815566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.43, Y:-688.41, Z:-52.59 [[ 7.97966296e-01 6.00649185e-01 4.97025850e-02 1.21742639e+03] [-5.99461453e-01 7.99512630e-01 -3.77560746e-02 -6.88411516e+02] [-6.24159999e-02 3.33291227e-04 9.98050165e-01 -5.25852411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.47, Y:-688.45, Z:-52.59 [[ 7.96111028e-01 6.03106900e-01 4.96920433e-02 1.21747380e+03] [-6.01923076e-01 7.97660355e-01 -3.77699438e-02 -6.88452775e+02] [-6.24166866e-02 1.58281233e-04 9.98050165e-01 -5.25893344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.52, Y:-688.50, Z:-52.59 [[ 7.95150165e-01 6.04374033e-01 4.96814219e-02 1.21752056e+03] [-6.03191805e-01 7.96700711e-01 -3.77839097e-02 -6.88495089e+02] [-6.24168380e-02 7.64554970e-05 9.98050165e-01 -5.25934074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.57, Y:-688.53, Z:-52.60 [[ 7.90686122e-01 6.10203459e-01 4.96708699e-02 1.21756919e+03] [-6.09031791e-01 7.92244663e-01 -3.77977764e-02 -6.88533653e+02] [-6.24158154e-02 -3.64961617e-04 9.98050166e-01 -5.25970689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.62, Y:-688.57, Z:-52.60 [[ 7.89651914e-01 6.11541745e-01 4.96643606e-02 1.21761943e+03] [-6.10372180e-01 7.91212034e-01 -3.78063273e-02 -6.88571402e+02] [-6.24151871e-02 -4.59905288e-04 9.98050166e-01 -5.26017552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.67, Y:-688.61, Z:-52.61 [[ 7.90469128e-01 6.10485918e-01 4.96538278e-02 1.21767082e+03] [-6.09313401e-01 7.92027030e-01 -3.78201558e-02 -6.88606355e+02] [-6.24158462e-02 -3.59077078e-04 9.98050166e-01 -5.26088681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.72, Y:-688.65, Z:-52.61 [[ 7.93726728e-01 6.06245242e-01 4.96446248e-02 1.21772017e+03] [-6.05063646e-01 7.95277754e-01 -3.78322323e-02 -6.88645987e+02] [-6.24168765e-02 -9.70375641e-06 9.98050166e-01 -5.26119257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1217.77, Y:-688.68, Z:-52.62 [[ 7.95691420e-01 6.03665152e-01 4.96341455e-02 1.21776987e+03] [-6.02477669e-01 7.97237945e-01 -3.78459756e-02 -6.88683656e+02] [-6.24165208e-02 2.10253783e-04 9.98050166e-01 -5.26151503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.82, Y:-688.72, Z:-52.62 [[ 7.96839490e-01 6.02149627e-01 4.96251372e-02 1.21782052e+03] [-6.00958467e-01 7.98383184e-01 -3.78577840e-02 -6.88720999e+02] [-6.24159256e-02 3.43930867e-04 9.98050166e-01 -5.26187105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1217.87, Y:-688.76, Z:-52.63 [[ 7.96914857e-01 6.02050766e-01 4.96143692e-02 1.21786960e+03] [-6.00858537e-01 7.98457725e-01 -3.78718907e-02 -6.88757507e+02] [-6.24157772e-02 3.69455119e-04 9.98050166e-01 -5.26256527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1217.92, Y:-688.80, Z:-52.63 [[ 7.96396997e-01 6.02736059e-01 4.96091347e-02 1.21791882e+03] [-6.01544730e-01 7.97940561e-01 -3.78787462e-02 -6.88795201e+02] [-6.24160270e-02 3.24406205e-04 9.98050166e-01 -5.26293587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1217.97, Y:-688.83, Z:-52.63 [[ 7.96089009e-01 6.03143082e-01 4.96055753e-02 1.21796640e+03] [-6.01952252e-01 7.97632957e-01 -3.78834070e-02 -6.88833002e+02] [-6.24161566e-02 2.98376153e-04 9.98050166e-01 -5.26316259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.02, Y:-688.87, Z:-52.64 [[ 7.96975746e-01 6.01971648e-01 4.95963285e-02 1.21801673e+03] [-6.00777796e-01 7.98517358e-01 -3.78955089e-02 -6.88871364e+02] [-6.24155512e-02 4.05428577e-04 9.98050166e-01 -5.26357244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.07, Y:-688.91, Z:-52.64 [[ 7.95961029e-01 6.03313582e-01 4.95859030e-02 1.21806670e+03] [-6.02121479e-01 7.97503994e-01 -3.79091457e-02 -6.88909099e+02] [-6.24160582e-02 3.17465315e-04 9.98050167e-01 -5.26398328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1218.12, Y:-688.95, Z:-52.64 [[ 7.94896232e-01 6.04716678e-01 4.95754087e-02 1.21811585e+03] [-6.03526443e-01 7.96440638e-01 -3.79228646e-02 -6.88947553e+02] [-6.24164588e-02 2.24672089e-04 9.98050167e-01 -5.26434201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1218.17, Y:-688.99, Z:-52.65 [[ 7.94900032e-01 6.04712542e-01 4.95649069e-02 1.21816531e+03] [-6.03521444e-01 7.96443772e-01 -3.79365854e-02 -6.88986677e+02] [-6.24163904e-02 2.42308830e-04 9.98050167e-01 -5.26463032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1218.21, Y:-689.03, Z:-52.65 [[ 7.94953210e-01 6.04643527e-01 4.95540021e-02 1.21821243e+03] [-6.03451407e-01 7.96496161e-01 -3.79508242e-02 -6.89025440e+02] [-6.24162927e-02 2.65697265e-04 9.98050167e-01 -5.26528236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.26, Y:-689.06, Z:-52.65 [[ 7.94366010e-01 6.05415481e-01 4.95452977e-02 1.21826310e+03] [-6.04224152e-01 7.95909572e-01 -3.79621846e-02 -6.89062376e+02] [-6.24164710e-02 2.19403608e-04 9.98050167e-01 -5.26539843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1218.31, Y:-689.10, Z:-52.66 [[ 7.90066604e-01 6.11016480e-01 4.95340553e-02 1.21831229e+03] [-6.09835173e-01 7.91617850e-01 -3.79768484e-02 -6.89098729e+02] [-6.24165225e-02 -2.03369571e-04 9.98050167e-01 -5.26605846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.36, Y:-689.14, Z:-52.66 [[ 7.89014796e-01 6.12374818e-01 4.95250898e-02 1.21836303e+03] [-6.11195449e-01 7.90567514e-01 -3.79885366e-02 -6.89136180e+02] [-6.24161503e-02 -2.95991994e-04 9.98050167e-01 -5.26627227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.41, Y:-689.18, Z:-52.66 [[ 7.91336983e-01 6.09371878e-01 4.95145873e-02 1.21841148e+03] [-6.08185760e-01 7.92884552e-01 -3.80022207e-02 -6.89175545e+02] [-6.24168360e-02 -4.15042460e-05 9.98050168e-01 -5.26630339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.46, Y:-689.21, Z:-52.67 [[ 7.92998688e-01 6.07208168e-01 4.95108243e-02 1.21846006e+03] [-6.06017521e-01 7.94542776e-01 -3.80071227e-02 -6.89212884e+02] [-6.24167031e-02 1.35171460e-04 9.98050168e-01 -5.26687639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1218.51, Y:-689.25, Z:-52.68 [[ 7.92919382e-01 6.07312522e-01 4.95010533e-02 1.21850969e+03] [-6.06121285e-01 7.94463014e-01 -3.80198443e-02 -6.89251807e+02] [-6.24166835e-02 1.43029411e-04 9.98050168e-01 -5.26750938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.56, Y:-689.29, Z:-52.68 [[ 7.90628103e-01 6.10293289e-01 4.94904521e-02 1.21856187e+03] [-6.09107007e-01 7.92175546e-01 -3.80336388e-02 -6.89287706e+02] [-6.24168005e-02 -7.45174580e-05 9.98050168e-01 -5.26793278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1218.61, Y:-689.32, Z:-52.69 [[ 7.90009836e-01 6.11094282e-01 4.94796726e-02 1.21861024e+03] [-6.09908691e-01 7.91557808e-01 -3.80476573e-02 -6.89323756e+02] [-6.24167270e-02 -1.20058877e-04 9.98050168e-01 -5.26875398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.66, Y:-689.36, Z:-52.69 [[ 7.89106576e-01 6.12260913e-01 4.94710636e-02 1.21865958e+03] [-6.11076909e-01 7.90655763e-01 -3.80588478e-02 -6.89362072e+02] [-6.24165264e-02 -1.98137580e-04 9.98050168e-01 -5.26894611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1218.71, Y:-689.40, Z:-52.69 [[ 7.88336184e-01 6.13253300e-01 4.94616189e-02 1.21870981e+03] [-6.12070476e-01 7.89886272e-01 -3.80711182e-02 -6.89398466e+02] [-6.24162926e-02 -2.61156632e-04 9.98050168e-01 -5.26940761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1218.76, Y:-689.43, Z:-52.70 [[ 7.88132875e-01 6.13515371e-01 4.94516051e-02 1.21876194e+03] [-6.12332247e-01 7.89682733e-01 -3.80841210e-02 -6.89432942e+02] [-6.24162723e-02 -2.65464779e-04 9.98050168e-01 -5.27006606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:1218.81, Y:-689.47, Z:-52.70 [[ 7.88745309e-01 6.12728086e-01 4.94482705e-02 1.21881167e+03] [-6.11543143e-01 7.90293777e-01 -3.80884501e-02 -6.89471752e+02] [-6.24165236e-02 -1.97664431e-04 9.98050168e-01 -5.27049204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1218.86, Y:-689.51, Z:-52.71 [[ 7.89316472e-01 6.11993011e-01 4.94374609e-02 1.21886013e+03] [-6.10805748e-01 7.90863161e-01 -3.81024755e-02 -6.89511012e+02] [-6.24167153e-02 -1.21773694e-04 9.98050169e-01 -5.27088042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1218.91, Y:-689.55, Z:-52.71 [[ 7.89108367e-01 6.12262085e-01 4.94279734e-02 1.21890729e+03] [-6.11074578e-01 7.90654870e-01 -3.81147791e-02 -6.89549207e+02] [-6.24167020e-02 -1.27486876e-04 9.98050169e-01 -5.27138255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1218.96, Y:-689.59, Z:-52.72 [[ 7.89490663e-01 6.11769749e-01 4.94193014e-02 1.21895580e+03] [-6.10580575e-01 7.91035883e-01 -3.81260198e-02 -6.89587810e+02] [-6.24167863e-02 -7.43287634e-05 9.98050169e-01 -5.27185157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1219.01, Y:-689.63, Z:-52.72 [[ 7.90248362e-01 6.10791429e-01 4.94100952e-02 1.21900504e+03] [-6.09599595e-01 7.91791532e-01 -3.81379470e-02 -6.89625881e+02] [-6.24168261e-02 1.80761662e-05 9.98050169e-01 -5.27206842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1219.06, Y:-689.66, Z:-52.72 [[ 7.91328643e-01 6.09391929e-01 4.94009622e-02 1.21905513e+03] [-6.08196628e-01 7.92869129e-01 -3.81497736e-02 -6.89663889e+02] [-6.24166620e-02 1.43509961e-04 9.98050169e-01 -5.27235787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1219.10, Y:-689.70, Z:-52.72 [[ 7.90923022e-01 6.09919136e-01 4.93904979e-02 1.21910435e+03] [-6.08724016e-01 7.92463648e-01 -3.81633163e-02 -6.89701314e+02] [-6.24167111e-02 1.19063260e-04 9.98050169e-01 -5.27235501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:1219.15, Y:-689.74, Z:-52.73 [[ 7.90868795e-01 6.09990205e-01 4.93811578e-02 1.21915287e+03] [-6.08794469e-01 7.92408943e-01 -3.81753980e-02 -6.89737703e+02] [-6.24166900e-02 1.28755272e-04 9.98050169e-01 -5.27338435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1219.20, Y:-689.78, Z:-52.74 [[ 7.90581274e-01 6.10363494e-01 4.93726072e-02 1.21920303e+03] [-6.09167795e-01 7.92121450e-01 -3.81864535e-02 -6.89776357e+02] [-6.24167184e-02 1.13292731e-04 9.98050169e-01 -5.27366755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1219.25, Y:-689.82, Z:-52.74 [[ 7.89743481e-01 6.11447966e-01 4.93621267e-02 1.21924993e+03] [-6.10253535e-01 7.91284641e-01 -3.81999964e-02 -6.89816648e+02] [-6.24168028e-02 4.47858093e-05 9.98050170e-01 -5.27366173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1219.30, Y:-689.85, Z:-52.74 [[ 7.87868478e-01 6.13862765e-01 4.93535008e-02 1.21929895e+03] [-6.12672360e-01 7.89412749e-01 -3.82111376e-02 -6.89853806e+02] [-6.24166773e-02 -1.32175033e-04 9.98050170e-01 -5.27418996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1219.35, Y:-689.89, Z:-52.74 [[ 7.85570395e-01 6.16801672e-01 4.93442110e-02 1.21934830e+03] [-6.15616291e-01 7.87118526e-01 -3.82231303e-02 -6.89891748e+02] [-6.24158333e-02 -3.50140560e-04 9.98050170e-01 -5.27436269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1219.40, Y:-689.93, Z:-52.75 [[ 7.84289781e-01 6.18429952e-01 4.93349141e-02 1.21939837e+03] [-6.17247030e-01 7.85839792e-01 -3.82351262e-02 -6.89928887e+02] [-6.24150859e-02 -4.64410472e-04 9.98050170e-01 -5.27478867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1219.45, Y:-689.97, Z:-52.75 [[ 7.85310102e-01 6.17134528e-01 4.93256266e-02 1.21944661e+03] [-6.15948297e-01 7.86857582e-01 -3.82471039e-02 -6.89968630e+02] [-6.24158517e-02 -3.46198619e-04 9.98050170e-01 -5.27527416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1219.49, Y:-690.01, Z:-52.75 [[ 7.86611077e-01 6.15476283e-01 4.93148934e-02 1.21949390e+03] [-6.14285922e-01 7.88155382e-01 -3.82609380e-02 -6.90008350e+02] [-6.24164985e-02 -1.96967073e-04 9.98050170e-01 -5.27531270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1219.54, Y:-690.05, Z:-52.76 [[ 7.86303548e-01 6.15869816e-01 4.93061899e-02 1.21954382e+03] [-6.14679525e-01 7.87847907e-01 -3.82721507e-02 -6.90046898e+02] [-6.24164409e-02 -2.13977497e-04 9.98050170e-01 -5.27580594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1219.59, Y:-690.08, Z:-52.77 [[ 7.83947446e-01 6.18866992e-01 4.92955106e-02 1.21959368e+03] [-6.17681741e-01 7.85495676e-01 -3.82859010e-02 -6.90083959e+02] [-6.24152908e-02 -4.34802469e-04 9.98050170e-01 -5.27662082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1219.64, Y:-690.12, Z:-52.77 [[ 7.81773189e-01 6.21612053e-01 4.92862699e-02 1.21964350e+03] [-6.20431488e-01 7.83324995e-01 -3.82977931e-02 -6.90120487e+02] [-6.24135369e-02 -6.38565878e-04 9.98050170e-01 -5.27713776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1219.69, Y:-690.16, Z:-52.78 [[ 7.81138428e-01 6.22410266e-01 4.92769487e-02 1.21969244e+03] [-6.21230530e-01 7.82690864e-01 -3.83097828e-02 -6.90156875e+02] [-6.24130196e-02 -6.87101431e-04 9.98050171e-01 -5.27774872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters Centerline goodness : 0.997319 with order 1 Centerline is valid? [True, True] Translation: X:1219.74, Y:-690.20, Z:-52.79 [[ 7.84059737e-01 6.18726880e-01 4.92684222e-02 1.21973993e+03] [-6.17539162e-01 7.85606074e-01 -3.83207451e-02 -6.90195843e+02] [-6.24156468e-02 -3.79426848e-04 9.98050171e-01 -5.27850401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1219.79, Y:-690.24, Z:-52.79 [[ 7.87566229e-01 6.14257641e-01 4.92644476e-02 1.21978740e+03] [-6.13060828e-01 7.89105538e-01 -3.83258542e-02 -6.90235478e+02] [-6.24167972e-02 -1.79546266e-05 9.98050171e-01 -5.27897257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1219.84, Y:-690.27, Z:-52.79 [[ 7.86235701e-01 6.15960689e-01 4.92529346e-02 1.21983667e+03] [-6.14766284e-01 7.87776879e-01 -3.83406439e-02 -6.90271876e+02] [-6.24166526e-02 -1.34260528e-04 9.98050171e-01 -5.27906642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1219.89, Y:-690.31, Z:-52.80 [[ 7.83051562e-01 6.20004248e-01 4.92441372e-02 1.21988927e+03] [-6.18817090e-01 7.84598329e-01 -3.83519399e-02 -6.90306949e+02] [-6.24152334e-02 -4.41567231e-04 9.98050171e-01 -5.27953763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1219.94, Y:-690.34, Z:-52.80 [[ 7.79728976e-01 6.24178480e-01 4.92336175e-02 1.21993996e+03] [-6.22998750e-01 7.81281416e-01 -3.83654396e-02 -6.90342535e+02] [-6.24121922e-02 -7.57837193e-04 9.98050171e-01 -5.27952235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1219.99, Y:-690.38, Z:-52.80 [[ 7.78633517e-01 6.25545227e-01 4.92241331e-02 1.21998793e+03] [-6.24367453e-01 7.80187441e-01 -3.83776045e-02 -6.90381097e+02] [-6.24109778e-02 -8.51857447e-04 9.98050171e-01 -5.28006846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1220.04, Y:-690.42, Z:-52.80 [[ 7.80331400e-01 6.23426722e-01 4.92141058e-02 1.22003618e+03] [-6.22243918e-01 7.81881499e-01 -3.83904590e-02 -6.90421231e+02] [-6.24132368e-02 -6.65897414e-04 9.98050171e-01 -5.28048857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.08, Y:-690.46, Z:-52.81 [[ 7.84423441e-01 6.18270880e-01 4.92035063e-02 1.22008299e+03] [-6.17077035e-01 7.85965052e-01 -3.84040392e-02 -6.90463162e+02] [-6.24163354e-02 -2.37325225e-04 9.98050172e-01 -5.28072783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1220.13, Y:-690.50, Z:-52.81 [[ 7.86172356e-01 6.16046329e-01 4.91929661e-02 1.22013169e+03] [-6.14847277e-01 7.87709920e-01 -3.84175357e-02 -6.90502588e+02] [-6.24167692e-02 -4.33567423e-05 9.98050172e-01 -5.28128533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1220.18, Y:-690.54, Z:-52.81 [[ 7.85330342e-01 6.17120212e-01 4.91822888e-02 1.22018093e+03] [-6.15922407e-01 7.86868878e-01 -3.84311999e-02 -6.90540656e+02] [-6.24166827e-02 -1.11286399e-04 9.98050172e-01 -5.28108529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1220.23, Y:-690.58, Z:-52.82 [[ 7.83651532e-01 6.19251412e-01 4.91728159e-02 1.22023146e+03] [-6.18057031e-01 7.85192727e-01 -3.84433168e-02 -6.90577213e+02] [-6.24162156e-02 -2.65440485e-04 9.98050172e-01 -5.28157275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.28, Y:-690.61, Z:-52.82 [[ 7.82431550e-01 6.20793012e-01 4.91620420e-02 1.22028111e+03] [-6.19600801e-01 7.83974425e-01 -3.84570896e-02 -6.90613935e+02] [-6.24156761e-02 -3.70800382e-04 9.98050172e-01 -5.28175819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.33, Y:-690.65, Z:-52.82 [[ 7.81825110e-01 6.21557333e-01 4.91526175e-02 1.22032891e+03] [-6.20365874e-01 7.83368565e-01 -3.84691315e-02 -6.90654353e+02] [-6.24153862e-02 -4.16473586e-04 9.98050172e-01 -5.28194770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1220.38, Y:-690.70, Z:-52.82 [[ 7.82157265e-01 6.21140057e-01 4.91430798e-02 1.22037698e+03] [-6.19947009e-01 7.83699492e-01 -3.84813118e-02 -6.90695420e+02] [-6.24156909e-02 -3.67667700e-04 9.98050172e-01 -5.28231282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1220.43, Y:-690.73, Z:-52.83 [[ 7.80559083e-01 6.23148085e-01 4.91322953e-02 1.22042850e+03] [-6.21958138e-01 7.82103704e-01 -3.84950764e-02 -6.90731590e+02] [-6.24146832e-02 -5.10549358e-04 9.98050172e-01 -5.28280128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.48, Y:-690.77, Z:-52.83 [[ 7.79478266e-01 6.24500387e-01 4.91212781e-02 1.22047766e+03] [-6.23312234e-01 7.81024267e-01 -3.85091296e-02 -6.90767422e+02] [-6.24138766e-02 -6.00864087e-04 9.98050173e-01 -5.28334611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1220.53, Y:-690.80, Z:-52.84 [[ 7.79787935e-01 6.24114095e-01 4.91159113e-02 1.22052805e+03] [-6.22924745e-01 7.81333016e-01 -3.85159734e-02 -6.90803062e+02] [-6.24142450e-02 -5.61225111e-04 9.98050173e-01 -5.28412565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.58, Y:-690.84, Z:-52.85 [[ 7.82714056e-01 6.20441182e-01 4.91064870e-02 1.22057822e+03] [-6.19243828e-01 7.84252942e-01 -3.85279853e-02 -6.90840331e+02] [-6.24162556e-02 -2.52493363e-04 9.98050173e-01 -5.28454037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.63, Y:-690.88, Z:-52.85 [[ 7.85424866e-01 6.17006804e-01 4.90956499e-02 1.22062629e+03] [-6.15801858e-01 7.86957815e-01 -3.85417899e-02 -6.90878631e+02] [-6.24167520e-02 3.84877329e-05 9.98050173e-01 -5.28507453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.68, Y:-690.91, Z:-52.86 [[ 7.86390371e-01 6.15776569e-01 4.90856616e-02 1.22067786e+03] [-6.14568431e-01 7.87920805e-01 -3.85545065e-02 -6.90912930e+02] [-6.24165757e-02 1.52394667e-04 9.98050173e-01 -5.28561011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.73, Y:-690.95, Z:-52.86 [[ 7.86128318e-01 6.16111835e-01 4.90762006e-02 1.22072983e+03] [-6.14903598e-01 7.87658674e-01 -3.85665457e-02 -6.90947909e+02] [-6.24166004e-02 1.41121365e-04 9.98050173e-01 -5.28632926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1220.78, Y:-690.99, Z:-52.87 [[ 7.85823745e-01 6.16501112e-01 4.90654782e-02 1.22078004e+03] [-6.15292782e-01 7.87354026e-01 -3.85801823e-02 -6.90985909e+02] [-6.24166271e-02 1.27588740e-04 9.98050173e-01 -5.28686890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1220.83, Y:-691.03, Z:-52.88 [[ 7.85527970e-01 6.16878780e-01 4.90548594e-02 1.22082834e+03] [-6.15670342e-01 7.87058167e-01 -3.85936794e-02 -6.91025069e+02] [-6.24166496e-02 1.14792588e-04 9.98050173e-01 -5.28751030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.88, Y:-691.07, Z:-52.88 [[ 7.85002538e-01 6.17548026e-01 4.90454035e-02 1.22087704e+03] [-6.16340142e-01 7.86533172e-01 -3.86056923e-02 -6.91065144e+02] [-6.24167059e-02 7.69154953e-05 9.98050174e-01 -5.28816544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1220.93, Y:-691.10, Z:-52.89 [[ 7.84228933e-01 6.18530987e-01 4.90346766e-02 1.22092507e+03] [-6.17324170e-01 7.85760408e-01 -3.86193122e-02 -6.91103834e+02] [-6.24167488e-02 1.60909733e-05 9.98050174e-01 -5.28881122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1220.97, Y:-691.14, Z:-52.90 [[ 7.82315728e-01 6.20949788e-01 4.90251188e-02 1.22097363e+03] [-6.19746946e-01 7.83850327e-01 -3.86314416e-02 -6.91142776e+02] [-6.24165409e-02 -1.61183347e-04 9.98050174e-01 -5.28952897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.02, Y:-691.18, Z:-52.90 [[ 7.79486318e-01 6.24498742e-01 4.90142988e-02 1.22102203e+03] [-6.23302024e-01 7.81025696e-01 -3.86451648e-02 -6.91182258e+02] [-6.24152837e-02 -4.27334453e-04 9.98050174e-01 -5.28995081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1221.07, Y:-691.22, Z:-52.90 [[ 7.78407068e-01 6.25844206e-01 4.90047668e-02 1.22107019e+03] [-6.24649388e-01 7.79947921e-01 -3.86572483e-02 -6.91219329e+02] [-6.24145809e-02 -5.19722221e-04 9.98050174e-01 -5.29023073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.12, Y:-691.26, Z:-52.90 [[ 7.76431736e-01 6.28293559e-01 4.89996326e-02 1.22111945e+03] [-6.27103190e-01 7.77976030e-01 -3.86637550e-02 -6.91256920e+02] [-6.24127278e-02 -7.08059523e-04 9.98050174e-01 -5.29047266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.17, Y:-691.30, Z:-52.91 [[ 7.75968708e-01 6.28866058e-01 4.89902534e-02 1.22116757e+03] [-6.27676079e-01 7.77513302e-01 -3.86756356e-02 -6.91296971e+02] [-6.24123682e-02 -7.38927208e-04 9.98050174e-01 -5.29097190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.21, Y:-691.34, Z:-52.92 [[ 7.78141279e-01 6.26176616e-01 4.89795381e-02 1.22121354e+03] [-6.24980444e-01 7.79681082e-01 -3.86892009e-02 -6.91339982e+02] [-6.24146922e-02 -5.05589159e-04 9.98050174e-01 -5.29155052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1221.26, Y:-691.38, Z:-52.92 [[ 7.81376632e-01 6.22135518e-01 4.89689361e-02 1.22125838e+03] [-6.20930541e-01 7.82909555e-01 -3.87026152e-02 -6.91384277e+02] [-6.24165195e-02 -1.64988841e-04 9.98050175e-01 -5.29197687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.31, Y:-691.43, Z:-52.92 [[ 7.82747586e-01 6.20410598e-01 4.89582159e-02 1.22130542e+03] [-6.19201396e-01 7.84277176e-01 -3.87161714e-02 -6.91426307e+02] [-6.24167344e-02 -1.00059016e-05 9.98050175e-01 -5.29236856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.35, Y:-691.47, Z:-52.93 [[ 7.83006839e-01 6.20084221e-01 4.89474127e-02 1.22135301e+03] [-6.18873528e-01 7.84535249e-01 -3.87298246e-02 -6.91465263e+02] [-6.24167238e-02 3.34595424e-05 9.98050175e-01 -5.29263145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.40, Y:-691.50, Z:-52.93 [[ 7.82321226e-01 6.20949777e-01 4.89374522e-02 1.22140467e+03] [-6.19739987e-01 7.83850352e-01 -3.87424063e-02 -6.91499614e+02] [-6.24167277e-02 -1.94891727e-05 9.98050175e-01 -5.29255966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.45, Y:-691.54, Z:-52.93 [[ 7.82880870e-01 6.20244783e-01 4.89280332e-02 1.22145324e+03] [-6.19032873e-01 7.84408316e-01 -3.87542979e-02 -6.91538253e+02] [-6.24167073e-02 5.19375168e-05 9.98050175e-01 -5.29257047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1221.50, Y:-691.58, Z:-52.93 [[ 7.84072273e-01 6.18738800e-01 4.89179671e-02 1.22150166e+03] [-6.17523164e-01 7.85596755e-01 -3.87669998e-02 -6.91577222e+02] [-6.24164432e-02 1.88151839e-04 9.98050175e-01 -5.29309349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.55, Y:-691.62, Z:-52.93 [[ 7.83928292e-01 6.18922051e-01 4.89073269e-02 1.22154935e+03] [-6.17705934e-01 7.85452391e-01 -3.87804186e-02 -6.91617180e+02] [-6.24164331e-02 1.90721324e-04 9.98050175e-01 -5.29312107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.60, Y:-691.65, Z:-52.94 [[ 7.85187205e-01 6.17324990e-01 4.88969295e-02 1.22159932e+03] [-6.16104957e-01 7.86708170e-01 -3.87935239e-02 -6.91653330e+02] [-6.24158257e-02 3.34537962e-04 9.98050176e-01 -5.29368448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.65, Y:-691.69, Z:-52.94 [[ 7.86676794e-01 6.15426404e-01 4.88872503e-02 1.22164707e+03] [-6.14201943e-01 7.88194196e-01 -3.88057177e-02 -6.91691816e+02] [-6.24147102e-02 5.00913429e-04 9.98050176e-01 -5.29420841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.69, Y:-691.73, Z:-52.95 [[ 7.87614371e-01 6.14226638e-01 4.88798445e-02 1.22169451e+03] [-6.12999286e-01 7.89129437e-01 -3.88150439e-02 -6.91730295e+02] [-6.24137580e-02 6.07976618e-04 9.98050176e-01 -5.29461986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.74, Y:-691.77, Z:-52.95 [[ 7.88060201e-01 6.13654981e-01 4.88741702e-02 1.22174322e+03] [-6.12426087e-01 7.89574015e-01 -3.88221873e-02 -6.91767844e+02] [-6.24132035e-02 6.62403865e-04 9.98050176e-01 -5.29511914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.79, Y:-691.80, Z:-52.96 [[ 7.86487426e-01 6.15669596e-01 4.88720490e-02 1.22179338e+03] [-6.14444414e-01 7.88004247e-01 -3.88248575e-02 -6.91802241e+02] [-6.24146665e-02 5.06104786e-04 9.98050176e-01 -5.29570182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.84, Y:-691.84, Z:-52.96 [[ 7.86034423e-01 6.16248560e-01 4.88630557e-02 1.22184436e+03] [-6.15023792e-01 7.87551577e-01 -3.88361727e-02 -6.91837451e+02] [-6.24149121e-02 4.74626747e-04 9.98050176e-01 -5.29632212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.89, Y:-691.87, Z:-52.97 [[ 7.85463409e-01 6.16976419e-01 4.88603303e-02 1.22189053e+03] [-6.15752844e-01 7.86981525e-01 -3.88396013e-02 -6.91874693e+02] [-6.24152954e-02 4.21198216e-04 9.98050176e-01 -5.29730238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.94, Y:-691.91, Z:-52.98 [[ 7.88720821e-01 6.12807035e-01 4.88569805e-02 1.22193965e+03] [-6.11575174e-01 7.90232222e-01 -3.88438146e-02 -6.91913246e+02] [-6.24121231e-02 7.57208965e-04 9.98050176e-01 -5.29781358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1221.98, Y:-691.96, Z:-52.98 [[ 7.85251319e-01 6.17246873e-01 4.88534957e-02 1.22198200e+03] [-6.16023286e-01 7.86769426e-01 -3.88481970e-02 -6.91958502e+02] [-6.24153648e-02 4.10707007e-04 9.98050176e-01 -5.29825360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.03, Y:-692.00, Z:-52.98 [[ 7.84264059e-01 6.18501217e-01 4.88480298e-02 1.22203222e+03] [-6.17279630e-01 7.85783776e-01 -3.88550686e-02 -6.91995282e+02] [-6.24158965e-02 3.19740018e-04 9.98050176e-01 -5.29828652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.08, Y:-692.03, Z:-52.99 [[ 7.80621195e-01 6.23093379e-01 4.88384223e-02 1.22208056e+03] [-6.21879976e-01 7.82147455e-01 -3.88671408e-02 -6.92032818e+02] [-6.24167058e-02 -3.11230114e-05 9.98050176e-01 -5.29853421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.13, Y:-692.07, Z:-52.99 [[ 7.79986864e-01 6.23887641e-01 4.88334209e-02 1.22212920e+03] [-6.22675399e-01 7.81514046e-01 -3.88734237e-02 -6.92070740e+02] [-6.24166530e-02 -8.66100546e-05 9.98050176e-01 -5.29878409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.18, Y:-692.11, Z:-52.99 [[ 7.79951775e-01 6.23932291e-01 4.88234149e-02 1.22217585e+03] [-6.22719350e-01 7.81478401e-01 -3.88859867e-02 -6.92111550e+02] [-6.24166670e-02 -7.40908571e-05 9.98050176e-01 -5.29891779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1222.22, Y:-692.15, Z:-52.99 [[ 7.79602778e-01 6.24369052e-01 4.88138896e-02 1.22222282e+03] [-6.23156218e-01 7.81129489e-01 -3.88979403e-02 -6.92151477e+02] [-6.24166387e-02 -9.37365428e-05 9.98050176e-01 -5.29934700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.27, Y:-692.19, Z:-53.00 [[ 7.79225910e-01 6.24840078e-01 4.88042866e-02 1.22227191e+03] [-6.23627413e-01 7.80752754e-01 -3.89099852e-02 -6.92189063e+02] [-6.24165994e-02 -1.16022385e-04 9.98050176e-01 -5.29985624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.32, Y:-692.23, Z:-53.00 [[ 7.78802780e-01 6.25368140e-01 4.87946634e-02 1.22231917e+03] [-6.24155754e-01 7.80329846e-01 -3.89220493e-02 -6.92230875e+02] [-6.24165418e-02 -1.42869726e-04 9.98050177e-01 -5.30009469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1222.37, Y:-692.27, Z:-53.00 [[ 7.79136644e-01 6.24952988e-01 4.87837356e-02 1.22236603e+03] [-6.23738930e-01 7.80662382e-01 -3.89357412e-02 -6.92272442e+02] [-6.24166350e-02 -9.20522670e-05 9.98050177e-01 -5.30031653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1222.41, Y:-692.31, Z:-53.01 [[ 7.83925618e-01 6.18936051e-01 4.87728449e-02 1.22241462e+03] [-6.17709435e-01 7.85441277e-01 -3.89493786e-02 -6.92311103e+02] [-6.24153802e-02 4.05969262e-04 9.98050177e-01 -5.30090371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.46, Y:-692.35, Z:-53.01 [[ 7.84865453e-01 6.17744585e-01 4.87631881e-02 1.22245997e+03] [-6.16514917e-01 7.86378637e-01 -3.89614649e-02 -6.92353395e+02] [-6.24145633e-02 5.16274892e-04 9.98050177e-01 -5.30089252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.51, Y:-692.39, Z:-53.01 [[ 7.90207957e-01 6.10896450e-01 4.87535931e-02 1.22250726e+03] [-6.09652930e-01 7.91709779e-01 -3.89734677e-02 -6.92393943e+02] [-6.24074494e-02 1.07437338e-03 9.98050177e-01 -5.30109931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.56, Y:-692.43, Z:-53.02 [[ 7.95127512e-01 6.04480153e-01 4.87440844e-02 1.22255965e+03] [-6.03223789e-01 7.96618605e-01 -3.89853566e-02 -6.92427431e+02] [-6.23963188e-02 1.59473824e-03 9.98050177e-01 -5.30170735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.61, Y:-692.47, Z:-53.02 [[ 7.92395495e-01 6.08057286e-01 4.87413241e-02 1.22260621e+03] [-6.06807443e-01 7.93892058e-01 -3.89888073e-02 -6.92467188e+02] [-6.24027785e-02 1.31795706e-03 9.98050177e-01 -5.30154034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.66, Y:-692.50, Z:-53.02 [[ 7.91311249e-01 6.09468067e-01 4.87358531e-02 1.22265626e+03] [-6.08220471e-01 7.92809686e-01 -3.89956448e-02 -6.92503594e+02] [-6.24048567e-02 1.21554880e-03 9.98050177e-01 -5.30167102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.71, Y:-692.54, Z:-53.02 [[ 7.90628078e-01 6.10354798e-01 4.87264019e-02 1.22270747e+03] [-6.09108156e-01 7.92127309e-01 -3.90074510e-02 -6.92540913e+02] [-6.24058984e-02 1.16073720e-03 9.98050177e-01 -5.30198877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.76, Y:-692.58, Z:-53.02 [[ 7.90490341e-01 6.10534029e-01 4.87157190e-02 1.22275853e+03] [-6.09286905e-01 7.91989170e-01 -3.90207881e-02 -6.92576058e+02] [-6.24058408e-02 1.16370640e-03 9.98050178e-01 -5.30236376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.81, Y:-692.61, Z:-53.03 [[ 7.90499300e-01 6.10523194e-01 4.87061265e-02 1.22280988e+03] [-6.09275313e-01 7.91997498e-01 -3.90327578e-02 -6.92610962e+02] [-6.24055343e-02 1.17992725e-03 9.98050178e-01 -5.30262932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.86, Y:-692.65, Z:-53.04 [[ 7.90056762e-01 6.11096515e-01 4.86966412e-02 1.22285838e+03] [-6.09848992e-01 7.91555259e-01 -3.90445880e-02 -6.92648732e+02] [-6.24060940e-02 1.14984321e-03 9.98050178e-01 -5.30350117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1222.92, Y:-692.68, Z:-53.03 [[ 7.91187516e-01 6.09632112e-01 4.86929409e-02 1.22291553e+03] [-6.08381532e-01 7.92683462e-01 -3.90492022e-02 -6.92677824e+02] [-6.24037365e-02 1.27135531e-03 9.98050178e-01 -5.30289437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1222.97, Y:-692.71, Z:-53.03 [[ 7.91043717e-01 6.09819529e-01 4.86824392e-02 1.22297029e+03] [-6.08568498e-01 7.92539287e-01 -3.90622902e-02 -6.92708024e+02] [-6.24036930e-02 1.27338032e-03 9.98050178e-01 -5.30308270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.03, Y:-692.74, Z:-53.03 [[ 7.90287922e-01 6.10799381e-01 4.86735835e-02 1.22302665e+03] [-6.09549525e-01 7.91784473e-01 -3.90733217e-02 -6.92737081e+02] [-6.24049484e-02 1.21021451e-03 9.98050178e-01 -5.30340811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.08, Y:-692.77, Z:-53.04 [[ 7.90021488e-01 6.11144709e-01 4.86640862e-02 1.22307943e+03] [-6.09894779e-01 7.91517978e-01 -3.90851466e-02 -6.92769967e+02] [-6.24051796e-02 1.19813354e-03 9.98050178e-01 -5.30363174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.14, Y:-692.80, Z:-53.04 [[ 7.90964278e-01 6.09924827e-01 4.86540451e-02 1.22313651e+03] [-6.08671822e-01 7.92458193e-01 -3.90976419e-02 -6.92796852e+02] [-6.24029192e-02 1.31049182e-03 9.98050178e-01 -5.30371901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.19, Y:-692.82, Z:-53.04 [[ 7.92374818e-01 6.08091902e-01 4.86455156e-02 1.22319451e+03] [-6.06834791e-01 7.93865279e-01 -3.91082515e-02 -6.92824712e+02] [-6.23993969e-02 1.46860240e-03 9.98050178e-01 -5.30370010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.25, Y:-692.85, Z:-53.04 [[ 7.94942980e-01 6.04731527e-01 4.86357910e-02 1.22325263e+03] [-6.03467377e-01 7.96427476e-01 -3.91203415e-02 -6.92851729e+02] [-6.23921841e-02 1.74832763e-03 9.98050179e-01 -5.30393012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.31, Y:-692.88, Z:-53.04 [[ 7.96688917e-01 6.02430351e-01 4.86255199e-02 1.22330934e+03] [-6.01161136e-01 7.98169085e-01 -3.91331041e-02 -6.92882058e+02] [-6.23863564e-02 1.94513752e-03 9.98050179e-01 -5.30424011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.37, Y:-692.91, Z:-53.04 [[ 7.97738511e-01 6.01040677e-01 4.86145355e-02 1.22336913e+03] [-5.99768054e-01 7.99215749e-01 -3.91467451e-02 -6.92905326e+02] [-6.23822886e-02 2.07142079e-03 9.98050179e-01 -5.30441996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.42, Y:-692.94, Z:-53.06 [[ 7.94058226e-01 6.05894932e-01 4.86093103e-02 1.22342095e+03] [-6.04630945e-01 7.95542862e-01 -3.91532324e-02 -6.92939454e+02] [-6.23935348e-02 1.69925303e-03 9.98050179e-01 -5.30601469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1223.48, Y:-692.96, Z:-53.06 [[ 7.91572041e-01 6.09140328e-01 4.85979841e-02 1.22348250e+03] [-6.07881568e-01 7.93061109e-01 -3.91672856e-02 -6.92962455e+02] [-6.23995444e-02 1.46190944e-03 9.98050179e-01 -5.30623179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.54, Y:-692.98, Z:-53.06 [[ 7.88001770e-01 6.13752503e-01 4.85909044e-02 1.22353853e+03] [-6.12501919e-01 7.89497711e-01 -3.91760668e-02 -6.92984564e+02] [-6.24068168e-02 1.10878778e-03 9.98050179e-01 -5.30639016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1223.60, Y:-693.00, Z:-53.06 [[ 7.94204246e-01 6.05704721e-01 4.85943124e-02 1.22360455e+03] [-6.04439242e-01 7.95687608e-01 -3.91718389e-02 -6.92995298e+02] [-6.23924600e-02 1.73813145e-03 9.98050179e-01 -5.30618926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.66, Y:-693.02, Z:-53.07 [[ 7.96294637e-01 6.02953670e-01 4.85975594e-02 1.22365850e+03] [-6.01683312e-01 7.97773824e-01 -3.91678103e-02 -6.93019032e+02] [-6.23862357e-02 1.94877675e-03 9.98050179e-01 -5.30673062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:1223.70, Y:-693.05, Z:-53.08 [[ 7.94844231e-01 6.04864031e-01 4.86019742e-02 1.22370467e+03] [-6.03597564e-01 7.96326750e-01 -3.91623313e-02 -6.93053660e+02] [-6.23909378e-02 1.79191992e-03 9.98050179e-01 -5.30805391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.78, Y:-693.06, Z:-53.08 [[ 8.03417347e-01 5.93428586e-01 4.86115261e-02 1.22377683e+03] [-5.92141750e-01 8.04882220e-01 -3.91504711e-02 -6.93058848e+02] [-6.23595618e-02 2.66925345e-03 9.98050179e-01 -5.30769053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.83, Y:-693.09, Z:-53.09 [[ 7.92741561e-01 6.07615709e-01 4.86206514e-02 1.22382989e+03] [-6.06355809e-01 7.94229665e-01 -3.91391352e-02 -6.93086290e+02] [-6.23975171e-02 1.54580468e-03 9.98050179e-01 -5.30875256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.88, Y:-693.11, Z:-53.09 [[ 7.90369920e-01 6.10696689e-01 4.86306796e-02 1.22388449e+03] [-6.09443358e-01 7.91863560e-01 -3.91266712e-02 -6.93108480e+02] [-6.24033916e-02 1.28689935e-03 9.98050179e-01 -5.30947928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1223.95, Y:-693.13, Z:-53.10 [[ 7.86563800e-01 6.15590519e-01 4.86384860e-02 1.22394570e+03] [-6.14347082e-01 7.88065687e-01 -3.91169646e-02 -6.93125444e+02] [-6.24103544e-02 8.87076403e-04 9.98050180e-01 -5.30980233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.00, Y:-693.16, Z:-53.10 [[ 7.86192491e-01 6.16063899e-01 4.86481250e-02 1.22399605e+03] [-6.14822108e-01 7.87695739e-01 -3.91049732e-02 -6.93155748e+02] [-6.24110831e-02 8.34093541e-04 9.98050180e-01 -5.31022085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.05, Y:-693.18, Z:-53.10 [[ 7.84621461e-01 6.18062774e-01 4.86576884e-02 1.22405181e+03] [-6.16825551e-01 7.86128470e-01 -3.90930701e-02 -6.93180531e+02] [-6.24131655e-02 6.59956322e-04 9.98050180e-01 -5.31016132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.11, Y:-693.20, Z:-53.10 [[ 7.87696869e-01 6.14137683e-01 4.86677515e-02 1.22410776e+03] [-6.12893725e-01 7.89198324e-01 -3.90805383e-02 -6.93202810e+02] [-6.24093392e-02 9.55458153e-04 9.98050180e-01 -5.31039610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.17, Y:-693.22, Z:-53.10 [[ 7.90680256e-01 6.10291462e-01 4.86730358e-02 1.22416702e+03] [-6.09040606e-01 7.92175969e-01 -3.90739558e-02 -6.93223091e+02] [-6.24041110e-02 1.25115015e-03 9.98050180e-01 -5.31041666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.23, Y:-693.24, Z:-53.10 [[ 7.96128047e-01 6.03166751e-01 4.86826794e-02 1.22423044e+03] [-6.01903249e-01 7.97613092e-01 -3.90619372e-02 -6.93237582e+02] [-6.23908042e-02 1.79604086e-03 9.98050180e-01 -5.30984929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1224.27, Y:-693.28, Z:-53.11 [[ 7.89829679e-01 6.11390827e-01 4.86860803e-02 1.22427296e+03] [-6.10143055e-01 7.91327966e-01 -3.90576979e-02 -6.93276504e+02] [-6.24061751e-02 1.14345521e-03 9.98050180e-01 -5.31142588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:1224.34, Y:-693.29, Z:-53.11 [[ 7.92418609e-01 6.08031323e-01 4.86894131e-02 1.22434113e+03] [-6.06777455e-01 7.93911797e-01 -3.90535427e-02 -6.93287013e+02] [-6.24008767e-02 1.40311585e-03 9.98050180e-01 -5.31061996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:1224.40, Y:-693.31, Z:-53.11 [[ 7.91091894e-01 6.09755707e-01 4.86990043e-02 1.22439539e+03] [-6.08505829e-01 7.92588425e-01 -3.90415790e-02 -6.93312513e+02] [-6.24040927e-02 1.25184871e-03 9.98050180e-01 -5.31094311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:1224.45, Y:-693.34, Z:-53.11 [[ 7.91557176e-01 6.09150815e-01 4.87085458e-02 1.22445122e+03] [-6.07900526e-01 7.93053362e-01 -3.90296713e-02 -6.93337168e+02] [-6.24034321e-02 1.28426579e-03 9.98050180e-01 -5.31116733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:1224.50, Y:-693.36, Z:-53.11 [[ 7.91650014e-01 6.09029403e-01 4.87179736e-02 1.22450327e+03] [-6.07779609e-01 7.93146614e-01 -3.90178998e-02 -6.93364364e+02] [-6.24035440e-02 1.27873001e-03 9.98050180e-01 -5.31144219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:1224.56, Y:-693.39, Z:-53.12 [[ 7.89907447e-01 6.11286952e-01 4.87287152e-02 1.22455872e+03] [-6.10042262e-01 7.91408295e-01 -3.90044802e-02 -6.93386867e+02] [-6.24072392e-02 1.08335371e-03 9.98050181e-01 -5.31165622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:1224.61, Y:-693.41, Z:-53.12 [[ 7.89734769e-01 6.11509760e-01 4.87320134e-02 1.22461436e+03] [-6.10265748e-01 7.91236178e-01 -3.90003590e-02 -6.93409381e+02] [-6.24076322e-02 1.06046087e-03 9.98050181e-01 -5.31207898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:1224.67, Y:-693.44, Z:-53.12 [[ 7.90940163e-01 6.09949046e-01 4.87423888e-02 1.22466688e+03] [-6.08702870e-01 7.92439777e-01 -3.89873876e-02 -6.93435698e+02] [-6.24057276e-02 1.16705876e-03 9.98050181e-01 -5.31238644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:1224.72, Y:-693.46, Z:-53.13 [[ 7.94560540e-01 6.05224527e-01 4.87526356e-02 1.22472295e+03] [-6.03970222e-01 7.96053361e-01 -3.89745701e-02 -6.93456532e+02] [-6.23980652e-02 1.52251533e-03 9.98050181e-01 -5.31262476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:1224.78, Y:-693.48, Z:-53.13 [[ 7.97744195e-01 6.01021589e-01 4.87570465e-02 1.22477900e+03] [-5.99759758e-01 7.99230659e-01 -3.89690513e-02 -6.93479065e+02] [-6.23893675e-02 1.84482003e-03 9.98050181e-01 -5.31286113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:1224.83, Y:-693.50, Z:-53.13 [[ 8.00519982e-01 5.97319055e-01 4.87617126e-02 1.22483181e+03] [-5.96050705e-01 8.02000888e-01 -3.89632118e-02 -6.93504948e+02] [-6.23804056e-02 2.12637643e-03 9.98050181e-01 -5.31310859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:1224.89, Y:-693.52, Z:-53.13 [[ 8.03356882e-01 5.93497311e-01 4.87715208e-02 1.22488986e+03] [-5.92222662e-01 8.04832370e-01 -3.89509307e-02 -6.93523303e+02] [-6.23701713e-02 2.40789837e-03 9.98050181e-01 -5.31337265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1224.94, Y:-693.55, Z:-53.15 [[ 7.99250939e-01 5.99014945e-01 4.87753293e-02 1.22494005e+03] [-5.97750777e-01 8.00735416e-01 -3.89461609e-02 -6.93554239e+02] [-6.23854661e-02 1.97226472e-03 9.98050181e-01 -5.31455362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:1224.98, Y:-693.59, Z:-53.15 [[ 7.96184217e-01 6.03084441e-01 4.87837048e-02 1.22498491e+03] [-6.01828504e-01 7.97675665e-01 -3.89356671e-02 -6.93588402e+02] [-6.23950691e-02 1.64053957e-03 9.98050181e-01 -5.31544380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:1225.03, Y:-693.62, Z:-53.16 [[ 7.97766182e-01 6.00989905e-01 4.87878395e-02 1.22503023e+03] [-5.99730369e-01 7.99254591e-01 -3.89304854e-02 -6.93624281e+02] [-6.23907335e-02 1.79787564e-03 9.98050181e-01 -5.31609332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1225.07, Y:-693.66, Z:-53.17 [[ 8.03714894e-01 5.93010290e-01 4.87971888e-02 1.22507202e+03] [-5.91736695e-01 8.05191291e-01 -3.89187631e-02 -6.93664666e+02] [-6.23702984e-02 2.40450231e-03 9.98050181e-01 -5.31687961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1225.12, Y:-693.70, Z:-53.18 [[ 8.04801387e-01 5.91534583e-01 4.88012850e-02 1.22511638e+03] [-5.90258591e-01 8.06275713e-01 -3.89136261e-02 -6.93702006e+02] [-6.23660464e-02 2.51236251e-03 9.98050181e-01 -5.31757369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:1225.16, Y:-693.74, Z:-53.18 [[ 8.03333549e-01 5.93525699e-01 4.88103978e-02 1.22516390e+03] [-5.92254055e-01 8.04811627e-01 -3.89021923e-02 -6.93735331e+02] [-6.23726265e-02 2.34328015e-03 9.98050181e-01 -5.31787407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:1225.21, Y:-693.77, Z:-53.18 [[ 8.02637664e-01 5.94465678e-01 4.88194375e-02 1.22521062e+03] [-5.93196454e-01 8.04117820e-01 -3.88908448e-02 -6.93771688e+02] [-6.23758521e-02 2.25573963e-03 9.98050182e-01 -5.31790406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:1225.26, Y:-693.81, Z:-53.18 [[ 8.00792286e-01 5.96948585e-01 4.88272576e-02 1.22525604e+03] [-5.95684549e-01 8.02276875e-01 -3.88810243e-02 -6.93808945e+02] [-6.23829521e-02 2.04998138e-03 9.98050182e-01 -5.31756207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:1225.30, Y:-693.84, Z:-53.18 [[ 7.98613764e-01 5.99859318e-01 4.88349785e-02 1.22530172e+03] [-5.98601286e-01 8.00103444e-01 -3.88713244e-02 -6.93844062e+02] [-6.23903606e-02 1.81049373e-03 9.98050182e-01 -5.31760333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:1225.35, Y:-693.88, Z:-53.18 [[ 7.98553599e-01 5.99938535e-01 4.88457056e-02 1.22534554e+03] [-5.98681474e-01 8.00044099e-01 -3.88578400e-02 -6.93881486e+02] [-6.23910341e-02 1.78704890e-03 9.98050182e-01 -5.31806930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:1225.39, Y:-693.92, Z:-53.18 [[ 7.99959425e-01 5.98061856e-01 4.88562708e-02 1.22538986e+03] [-5.96802110e-01 8.01447655e-01 -3.88445518e-02 -6.93918299e+02] [-6.23871884e-02 1.91653981e-03 9.98050182e-01 -5.31830984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:1225.43, Y:-693.96, Z:-53.18 [[ 8.01906589e-01 5.95447602e-01 4.88669176e-02 1.22543474e+03] [-5.94183819e-01 8.03391393e-01 -3.88311533e-02 -6.93955161e+02] [-6.23811781e-02 2.10302595e-03 9.98050182e-01 -5.31846768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:1225.48, Y:-693.99, Z:-53.19 [[ 8.03224883e-01 5.93667830e-01 4.88701898e-02 1.22548074e+03] [-5.92401007e-01 8.04707095e-01 -3.88270347e-02 -6.93991786e+02] [-6.23765499e-02 2.23609073e-03 9.98050182e-01 -5.31901469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:1225.52, Y:-694.03, Z:-53.20 [[ 8.04500211e-01 5.91937677e-01 4.88794148e-02 1.22552485e+03] [-5.90668372e-01 8.05980296e-01 -3.88154178e-02 -6.94029712e+02] [-6.23721535e-02 2.35548746e-03 9.98050182e-01 -5.31960373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:1225.57, Y:-694.07, Z:-53.20 [[ 8.04438716e-01 5.92020350e-01 4.88902572e-02 1.22556991e+03] [-5.90752025e-01 8.05919642e-01 -3.88017565e-02 -6.94065161e+02] [-6.23730480e-02 2.33161679e-03 9.98050182e-01 -5.31990880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:1225.62, Y:-694.10, Z:-53.20 [[ 8.04776121e-01 5.91561225e-01 4.88949228e-02 1.22561519e+03] [-5.90292411e-01 8.06256628e-01 -3.87958763e-02 -6.94100982e+02] [-6.23719917e-02 2.35969295e-03 9.98050182e-01 -5.32022260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:1225.66, Y:-694.14, Z:-53.20 [[ 8.06425460e-01 5.89309966e-01 4.89054377e-02 1.22565993e+03] [-5.88037823e-01 8.07903106e-01 -3.87826169e-02 -6.94137705e+02] [-6.23658377e-02 2.51704252e-03 9.98050183e-01 -5.32047283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:1225.70, Y:-694.17, Z:-53.21 [[ 8.08681668e-01 5.86209143e-01 4.89162630e-02 1.22570410e+03] [-5.84932158e-01 8.10155132e-01 -3.87689583e-02 -6.94174539e+02] [-6.23564793e-02 2.73905057e-03 9.98050183e-01 -5.32067030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:1225.73, Y:-694.23, Z:-53.21 [[ 7.99746745e-01 5.98340447e-01 4.89270233e-02 1.22573367e+03] [-5.97086662e-01 8.01240001e-01 -3.87553738e-02 -6.94231037e+02] [-6.23911959e-02 1.78081104e-03 9.98050183e-01 -5.32126716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:1225.80, Y:-694.25, Z:-53.22 [[ 8.09080210e-01 5.85657263e-01 4.89365222e-02 1.22579514e+03] [-5.84380816e-01 8.10554140e-01 -3.87433758e-02 -6.94245776e+02] [-6.23560401e-02 2.74893387e-03 9.98050183e-01 -5.32153313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:1225.84, Y:-694.28, Z:-53.22 [[ 8.09825381e-01 5.84626160e-01 4.89398055e-02 1.22584021e+03] [-5.83348086e-01 8.11297900e-01 -3.87392280e-02 -6.94281767e+02] [-6.23527276e-02 2.82306819e-03 9.98050183e-01 -5.32199568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:1225.88, Y:-694.32, Z:-53.23 [[ 8.14641549e-01 5.77895326e-01 4.89503795e-02 1.22588468e+03] [-5.76605892e-01 8.16104131e-01 -3.87258622e-02 -6.94319010e+02] [-6.23281017e-02 3.32261911e-03 9.98050183e-01 -5.32266253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters Centerline goodness : 0.998532 with order 1 Centerline is valid? [True, True] Translation: X:1225.93, Y:-694.36, Z:-53.24 [[ 8.19232160e-01 5.71368093e-01 4.89609001e-02 1.22592779e+03] [-5.70067805e-01 8.20685101e-01 -3.87125565e-02 -6.94356695e+02] [-6.23006009e-02 3.80353842e-03 9.98050183e-01 -5.32352528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters Centerline goodness : 0.998412 with order 1 Centerline is valid? [True, True] Translation: X:1225.97, Y:-694.39, Z:-53.24 [[ 8.25970565e-01 5.61582709e-01 4.89641348e-02 1.22597171e+03] [-5.60265471e-01 8.27408156e-01 -3.87084648e-02 -6.94393535e+02] [-6.22513291e-02 4.53913851e-03 9.98050183e-01 -5.32429182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters Centerline goodness : 0.998319 with order 1 Centerline is valid? [True, True] Translation: X:1226.02, Y:-694.43, Z:-53.25 [[ 8.29220655e-01 5.56772224e-01 4.89672954e-02 1.22601831e+03] [-5.55446886e-01 8.30650782e-01 -3.87044661e-02 -6.94429059e+02] [-6.22242939e-02 4.89581100e-03 9.98050183e-01 -5.32477443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:1226.05, Y:-694.48, Z:-53.26 [[ 8.26481607e-01 5.60829287e-01 4.89761587e-02 1.22605082e+03] [-5.59511632e-01 8.27918816e-01 -3.86932474e-02 -6.94480367e+02] [-6.22485897e-02 4.57652680e-03 9.98050183e-01 -5.32592344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:1226.09, Y:-694.52, Z:-53.26 [[ 8.23681081e-01 5.64934074e-01 4.89792766e-02 1.22609352e+03] [-5.63623818e-01 8.25125039e-01 -3.86893003e-02 -6.94519664e+02] [-6.22709315e-02 4.26175780e-03 9.98050183e-01 -5.32641971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:1226.14, Y:-694.55, Z:-53.27 [[ 8.17696583e-01 5.73561132e-01 4.89890414e-02 1.22613942e+03] [-5.72266864e-01 8.19154888e-01 -3.86769320e-02 -6.94553683e+02] [-6.23131976e-02 3.59119004e-03 9.98050184e-01 -5.32681888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:1226.19, Y:-694.59, Z:-53.27 [[ 8.12911380e-01 5.80322772e-01 4.89955960e-02 1.22618584e+03] [-5.79041141e-01 8.14380804e-01 -3.86686269e-02 -6.94587488e+02] [-6.23413576e-02 3.06370103e-03 9.98050184e-01 -5.32691573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:1226.23, Y:-694.62, Z:-53.27 [[ 8.11546218e-01 5.82229905e-01 4.90007445e-02 1.22623107e+03] [-5.80952121e-01 8.13018988e-01 -3.86621016e-02 -6.94623740e+02] [-6.23487675e-02 2.90899593e-03 9.98050184e-01 -5.32731404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:1226.28, Y:-694.65, Z:-53.28 [[ 8.10043231e-01 5.84318927e-01 4.90036314e-02 1.22627904e+03] [-5.83045163e-01 8.11519478e-01 -3.86584421e-02 -6.94653795e+02] [-6.23562609e-02 2.74367910e-03 9.98050184e-01 -5.32794276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:1226.32, Y:-694.69, Z:-53.28 [[ 8.07011526e-01 5.88498641e-01 4.90076138e-02 1.22632401e+03] [-5.87232831e-01 8.08494600e-01 -3.86533930e-02 -6.94690531e+02] [-6.23698604e-02 2.41485389e-03 9.98050184e-01 -5.32833600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:1226.37, Y:-694.72, Z:-53.29 [[ 8.06348216e-01 5.89406933e-01 4.90104308e-02 1.22637198e+03] [-5.88143010e-01 8.07832898e-01 -3.86498209e-02 -6.94723371e+02] [-6.23727107e-02 2.34007186e-03 9.98050184e-01 -5.32906479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:1226.42, Y:-694.75, Z:-53.29 [[ 8.07562938e-01 5.87740861e-01 4.90181797e-02 1.22641907e+03] [-5.86474470e-01 8.09045516e-01 -3.86399907e-02 -6.94754822e+02] [-6.23682399e-02 2.45631342e-03 9.98050184e-01 -5.32933444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:1226.47, Y:-694.79, Z:-53.29 [[ 8.02422770e-01 5.94739054e-01 4.90220008e-02 1.22646577e+03] [-5.93485895e-01 8.03916549e-01 -3.86351424e-02 -6.94789567e+02] [-6.23874257e-02 1.90785194e-03 9.98050184e-01 -5.32930604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:1226.51, Y:-694.83, Z:-53.30 [[ 8.10238104e-01 5.84046266e-01 4.90323758e-02 1.22651021e+03] [-5.82774204e-01 8.11715819e-01 -3.86219708e-02 -6.94825371e+02] [-6.23573729e-02 2.71818858e-03 9.98050184e-01 -5.33004304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:1226.56, Y:-694.86, Z:-53.30 [[ 8.11773543e-01 5.81909388e-01 4.90426139e-02 1.22655800e+03] [-5.80634220e-01 8.13248578e-01 -3.86089660e-02 -6.94858370e+02] [-6.23507558e-02 2.86591719e-03 9.98050184e-01 -5.33015394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:1226.61, Y:-694.89, Z:-53.30 [[ 8.04085563e-01 5.92486627e-01 4.90510320e-02 1.22660962e+03] [-5.91231529e-01 8.05577713e-01 -3.85982682e-02 -6.94886729e+02] [-6.23833760e-02 2.03579353e-03 9.98050184e-01 -5.33005157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:1226.66, Y:-694.92, Z:-53.30 [[ 8.04856779e-01 5.91437673e-01 4.90616365e-02 1.22665778e+03] [-5.90181451e-01 8.06347983e-01 -3.85847843e-02 -6.94921349e+02] [-6.23812467e-02 2.09995740e-03 9.98050184e-01 -5.33011510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:1226.71, Y:-694.96, Z:-53.31 [[ 8.04521763e-01 5.91892519e-01 4.90711614e-02 1.22670557e+03] [-5.90637878e-01 8.06014297e-01 -3.85726670e-02 -6.94955599e+02] [-6.23829307e-02 2.04926342e-03 9.98050184e-01 -5.33050626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:1226.75, Y:-694.99, Z:-53.31 [[ 8.03594237e-01 5.93150401e-01 4.90805924e-02 1.22675006e+03] [-5.91898829e-01 8.05089344e-01 -3.85606631e-02 -6.94992660e+02] [-6.23865347e-02 1.93638147e-03 9.98050185e-01 -5.33120074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:1226.80, Y:-695.03, Z:-53.32 [[ 8.02766826e-01 5.94269462e-01 4.90839117e-02 1.22679549e+03] [-5.93020231e-01 8.04263891e-01 -3.85564375e-02 -6.95029663e+02] [-6.23893312e-02 1.84407628e-03 9.98050185e-01 -5.33185770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:1226.85, Y:-695.06, Z:-53.32 [[ 7.94937695e-01 6.04701523e-01 4.90930744e-02 1.22684673e+03] [-6.03472668e-01 7.96451530e-01 -3.85447673e-02 -6.95058766e+02] [-6.24083337e-02 1.01435991e-03 9.98050185e-01 -5.33193732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:1226.89, Y:-695.10, Z:-53.32 [[ 7.94787014e-01 6.04899295e-01 4.90962922e-02 1.22689020e+03] [-6.03671070e-01 7.96301360e-01 -3.85406682e-02 -6.95095133e+02] [-6.24086673e-02 9.93611332e-04 9.98050185e-01 -5.33242475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:1226.93, Y:-695.13, Z:-53.33 [[ 7.95101491e-01 6.04485517e-01 4.91007084e-02 1.22693376e+03] [-6.03256851e-01 7.96615479e-01 -3.85350411e-02 -6.95130856e+02] [-6.24082586e-02 1.01892986e-03 9.98050185e-01 -5.33300441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1226.98, Y:-695.17, Z:-53.34 [[ 7.95076444e-01 6.04518110e-01 4.91050185e-02 1.22697890e+03] [-6.03289846e-01 7.96590758e-01 -3.85295480e-02 -6.95166255e+02] [-6.24084135e-02 1.00937701e-03 9.98050185e-01 -5.33356788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:1227.02, Y:-695.20, Z:-53.34 [[ 7.92772196e-01 6.07535931e-01 4.91155565e-02 1.22702439e+03] [-6.06314264e-01 7.94291837e-01 -3.85161101e-02 -6.95199475e+02] [-6.24120064e-02 7.55038670e-04 9.98050185e-01 -5.33406994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1227.07, Y:-695.23, Z:-53.34 [[ 7.92217327e-01 6.08258930e-01 4.91200656e-02 1.22706982e+03] [-6.07039007e-01 7.93738368e-01 -3.85103587e-02 -6.95234934e+02] [-6.24127503e-02 6.90777604e-04 9.98050185e-01 -5.33445697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:1227.11, Y:-695.27, Z:-53.35 [[ 7.92993662e-01 6.07245633e-01 4.91303676e-02 1.22711469e+03] [-6.06024581e-01 7.94513796e-01 -3.84972113e-02 -6.95270579e+02] [-6.24120183e-02 7.53834122e-04 9.98050185e-01 -5.33472914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:1227.16, Y:-695.31, Z:-53.35 [[ 7.95537563e-01 6.03908733e-01 4.91347975e-02 1.22715956e+03] [-6.02681654e-01 7.97052837e-01 -3.84915564e-02 -6.95305693e+02] [-6.24084168e-02 1.00883791e-03 9.98050185e-01 -5.33494817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:1227.21, Y:-695.34, Z:-53.35 [[ 7.95686101e-01 6.03712462e-01 4.91415516e-02 1.22720610e+03] [-6.02485541e-01 7.97201503e-01 -3.84829317e-02 -6.95341365e+02] [-6.24083442e-02 1.01325957e-03 9.98050185e-01 -5.33520860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:1227.25, Y:-695.38, Z:-53.36 [[ 7.94303492e-01 6.05529683e-01 4.91504399e-02 1.22725369e+03] [-6.04306932e-01 7.95822260e-01 -3.84715762e-02 -6.95376295e+02] [-6.24106955e-02 8.56155798e-04 9.98050185e-01 -5.33552384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:1227.30, Y:-695.41, Z:-53.36 [[ 7.91261343e-01 6.09498829e-01 4.91595863e-02 1.22730040e+03] [-6.08284423e-01 7.92786792e-01 -3.84598851e-02 -6.95409928e+02] [-6.24143257e-02 5.28809718e-04 9.98050185e-01 -5.33581185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:1227.35, Y:-695.44, Z:-53.36 [[ 7.90825648e-01 6.10063181e-01 4.91702224e-02 1.22734540e+03] [-6.08850709e-01 7.92352635e-01 -3.84462823e-02 -6.95444659e+02] [-6.24148166e-02 4.66981373e-04 9.98050185e-01 -5.33603718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:1227.39, Y:-695.48, Z:-53.36 [[ 7.89633077e-01 6.11605628e-01 4.91747914e-02 1.22739013e+03] [-6.10396503e-01 7.91162715e-01 -3.84404374e-02 -6.95481075e+02] [-6.24156494e-02 3.37720146e-04 9.98050186e-01 -5.33645159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:1227.44, Y:-695.52, Z:-53.37 [[ 7.87234038e-01 6.14689677e-01 4.91850699e-02 1.22743509e+03] [-6.13487367e-01 7.88769038e-01 -3.84272815e-02 -6.95517542e+02] [-6.24165135e-02 7.68449313e-05 9.98050186e-01 -5.33688471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:1227.48, Y:-695.55, Z:-53.37 [[ 7.81215846e-01 6.22319545e-01 4.91953891e-02 1.22748317e+03] [-6.21133058e-01 7.82763109e-01 -3.84140661e-02 -6.95550513e+02] [-6.24141599e-02 -5.47205350e-04 9.98050186e-01 -5.33698093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1227.53, Y:-695.59, Z:-53.37 [[ 7.78586563e-01 6.25605680e-01 4.91985533e-02 1.22752869e+03] [-6.24425978e-01 7.80139006e-01 -3.84100132e-02 -6.95586138e+02] [-6.24112329e-02 -8.15334601e-04 9.98050186e-01 -5.33726928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:1227.57, Y:-695.62, Z:-53.37 [[ 7.76155961e-01 6.28617885e-01 4.92085256e-02 1.22757384e+03] [-6.27445018e-01 7.77713574e-01 -3.83972330e-02 -6.95622740e+02] [-6.24073257e-02 -1.07340295e-03 9.98050186e-01 -5.33747247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:1227.62, Y:-695.66, Z:-53.38 [[ 7.76036777e-01 6.28764230e-01 4.92185295e-02 1.22761877e+03] [-6.27592469e-01 7.77595223e-01 -3.83844055e-02 -6.95659651e+02] [-6.24068346e-02 -1.10146811e-03 9.98050186e-01 -5.33764328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:1227.66, Y:-695.70, Z:-53.38 [[ 7.79202675e-01 6.24835766e-01 4.92286200e-02 1.22766230e+03] [-6.23656965e-01 7.80755801e-01 -3.83714599e-02 -6.95698194e+02] [-6.24113912e-02 -8.02627601e-04 9.98050186e-01 -5.33764775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:1227.71, Y:-695.74, Z:-53.38 [[ 7.82034422e-01 6.21287695e-01 4.92317196e-02 1.22770613e+03] [-6.20102097e-01 7.83582367e-01 -3.83674827e-02 -6.95736953e+02] [-6.24143522e-02 -5.24000433e-04 9.98050186e-01 -5.33813795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:1227.75, Y:-695.78, Z:-53.38 [[ 7.85479841e-01 6.16925247e-01 4.92408334e-02 1.22774957e+03] [-6.15731785e-01 7.87021730e-01 -3.83557824e-02 -6.95776717e+02] [-6.24162564e-02 -1.91452383e-04 9.98050186e-01 -5.33839712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:1227.78, Y:-695.83, Z:-53.38 [[ 7.80790206e-01 6.22849186e-01 4.92498281e-02 1.22778060e+03] [-6.21668150e-01 7.82341633e-01 -3.83442295e-02 -6.95831526e+02] [-6.24128631e-02 -6.78250673e-04 9.98050186e-01 -5.33814842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:1227.84, Y:-695.85, Z:-53.39 [[ 7.91621796e-01 6.09023050e-01 4.92529917e-02 1.22783727e+03] [-6.07815168e-01 7.93152415e-01 -3.83401655e-02 -6.95852761e+02] [-6.24151738e-02 4.14195214e-04 9.98050186e-01 -5.33894533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:1227.88, Y:-695.89, Z:-53.39 [[ 7.94363251e-01 6.05442254e-01 4.92615753e-02 1.22788274e+03] [-6.04228157e-01 7.95888944e-01 -3.83291337e-02 -6.95889810e+02] [-6.24128202e-02 6.82024362e-04 9.98050187e-01 -5.33943810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:1227.93, Y:-695.93, Z:-53.40 [[ 7.97347900e-01 6.01505360e-01 4.92709676e-02 1.22792768e+03] [-6.00284476e-01 7.98868169e-01 -3.83170563e-02 -6.95927664e+02] [-6.24089224e-02 9.75427394e-04 9.98050187e-01 -5.33987096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:1227.96, Y:-695.98, Z:-53.40 [[ 7.90014516e-01 6.11104331e-01 4.92804370e-02 1.22796369e+03] [-6.09902683e-01 7.91550033e-01 -3.83048737e-02 -6.95976282e+02] [-6.24162057e-02 2.05135508e-04 9.98050187e-01 -5.34003795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:1228.01, Y:-696.00, Z:-53.41 [[ 7.85252768e-01 6.17210225e-01 4.92912602e-02 1.22801401e+03] [-6.16021391e-01 7.86798227e-01 -3.82909411e-02 -6.96003508e+02] [-6.24158365e-02 -2.96403202e-04 9.98050187e-01 -5.34084029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:1228.06, Y:-696.04, Z:-53.41 [[ 7.83012975e-01 6.20048664e-01 4.92984310e-02 1.22806348e+03] [-6.18866013e-01 7.84563171e-01 -3.82817067e-02 -6.96035111e+02] [-6.24142545e-02 -5.34050367e-04 9.98050187e-01 -5.34123741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:1228.11, Y:-696.07, Z:-53.41 [[ 7.83284802e-01 6.19704525e-01 4.93074083e-02 1.22811185e+03] [-6.18521921e-01 7.84835034e-01 -3.82701403e-02 -6.96066775e+02] [-6.24143606e-02 -5.21293639e-04 9.98050187e-01 -5.34145129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:1228.16, Y:-696.10, Z:-53.42 [[ 7.83974639e-01 6.18830791e-01 4.93175148e-02 1.22816054e+03] [-6.17647279e-01 7.85524177e-01 -3.82571120e-02 -6.96098416e+02] [-6.24147791e-02 -4.68223276e-04 9.98050187e-01 -5.34167880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1228.21, Y:-696.13, Z:-53.42 [[ 7.88374341e-01 6.13215033e-01 4.93276971e-02 1.22820721e+03] [-6.12021304e-01 7.89916022e-01 -3.82439787e-02 -6.96133021e+02] [-6.24165209e-02 -3.90299889e-05 9.98050187e-01 -5.34194205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:1228.26, Y:-696.16, Z:-53.42 [[ 7.86356300e-01 6.15800486e-01 4.93308351e-02 1.22825541e+03] [-6.14612079e-01 7.87902088e-01 -3.82399306e-02 -6.96163221e+02] [-6.24160358e-02 -2.49116815e-04 9.98050187e-01 -5.34211526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:1228.30, Y:-696.20, Z:-53.42 [[ 7.86240600e-01 6.15947864e-01 4.93350638e-02 1.22830185e+03] [-6.14760089e-01 7.87786873e-01 -3.82344742e-02 -6.96197144e+02] [-6.24159583e-02 -2.67732345e-04 9.98050187e-01 -5.34226341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:1228.35, Y:-696.23, Z:-53.43 [[ 7.86338048e-01 6.15822633e-01 4.93453026e-02 1.22834774e+03] [-6.14635442e-01 7.87884769e-01 -3.82212554e-02 -6.96230788e+02] [-6.24159265e-02 -2.74544484e-04 9.98050188e-01 -5.34276472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:1228.41, Y:-696.25, Z:-53.42 [[ 7.90000390e-01 6.11117002e-01 4.93497119e-02 1.22840721e+03] [-6.09920953e-01 7.91540272e-01 -3.82155615e-02 -6.96251665e+02] [-6.24164637e-02 9.08852051e-05 9.98050188e-01 -5.34223960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:1228.44, Y:-696.30, Z:-53.43 [[ 7.82180416e-01 6.21093846e-01 4.93581970e-02 1.22844490e+03] [-6.19918128e-01 7.83735876e-01 -3.82045993e-02 -6.96295890e+02] [-6.24124312e-02 -7.15151723e-04 9.98050188e-01 -5.34290384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:1228.50, Y:-696.32, Z:-53.43 [[ 7.80111028e-01 6.23690620e-01 4.93639051e-02 1.22849765e+03] [-6.22520546e-01 7.81670738e-01 -3.81972225e-02 -6.96324331e+02] [-6.24095695e-02 -9.31970635e-04 9.98050188e-01 -5.34288995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:1228.54, Y:-696.36, Z:-53.43 [[ 7.75592698e-01 6.29299825e-01 4.93730493e-02 1.22854018e+03] [-6.28141780e-01 7.77161360e-01 -3.81853992e-02 -6.96363886e+02] [-6.24008911e-02 -1.39695831e-03 9.98050188e-01 -5.34282914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:1228.59, Y:-696.39, Z:-53.42 [[ 7.76540601e-01 6.28128847e-01 4.93846857e-02 1.22859390e+03] [-6.26969394e-01 7.78108221e-01 -3.81703440e-02 -6.96389810e+02] [-6.24025241e-02 -1.32186462e-03 9.98050188e-01 -5.34239649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:1228.63, Y:-696.43, Z:-53.43 [[ 7.74125392e-01 6.31102209e-01 4.93951315e-02 1.22863422e+03] [-6.29949638e-01 7.75698080e-01 -3.81568216e-02 -6.96432033e+02] [-6.23965631e-02 -1.57828068e-03 9.98050188e-01 -5.34308146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:1228.68, Y:-696.47, Z:-53.44 [[ 7.75924208e-01 6.28888469e-01 4.94056385e-02 1.22867933e+03] [-6.27732276e-01 7.77494235e-01 -3.81432123e-02 -6.96467359e+02] [-6.24004255e-02 -1.41727209e-03 9.98050188e-01 -5.34361103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:1228.73, Y:-696.50, Z:-53.44 [[ 7.75967663e-01 6.28834043e-01 4.94159184e-02 1.22872578e+03] [-6.27678587e-01 7.77538232e-01 -3.81298896e-02 -6.96501905e+02] [-6.24001385e-02 -1.42975251e-03 9.98050188e-01 -5.34426680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:1228.77, Y:-696.54, Z:-53.45 [[ 7.73508942e-01 6.31855736e-01 4.94190735e-02 1.22876910e+03] [-6.30706676e-01 7.75084197e-01 -3.81258000e-02 -6.96539830e+02] [-6.23939483e-02 -1.67829237e-03 9.98050188e-01 -5.34479152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:1228.82, Y:-696.57, Z:-53.45 [[ 7.77745058e-01 6.26633339e-01 4.94295756e-02 1.22882151e+03] [-6.25474564e-01 7.79313180e-01 -3.81121793e-02 -6.96566772e+02] [-6.24034819e-02 -1.27538312e-03 9.98050189e-01 -5.34458501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:1228.87, Y:-696.60, Z:-53.45 [[ 7.74831743e-01 6.30231271e-01 4.94400266e-02 1.22886652e+03] [-6.29080640e-01 7.76405850e-01 -3.80986172e-02 -6.96602277e+02] [-6.23964658e-02 -1.58174559e-03 9.98050189e-01 -5.34505094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:1228.91, Y:-696.64, Z:-53.45 [[ 7.73421393e-01 6.31960445e-01 4.94504356e-02 1.22891211e+03] [-6.30814196e-01 7.74998694e-01 -3.80851021e-02 -6.96637350e+02] [-6.23923010e-02 -1.73820408e-03 9.98050189e-01 -5.34531552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:1228.96, Y:-696.67, Z:-53.45 [[ 7.70689824e-01 6.35287985e-01 4.94608089e-02 1.22895772e+03] [-6.34149409e-01 7.72272671e-01 -3.80716256e-02 -6.96673718e+02] [-6.23836773e-02 -2.02412829e-03 9.98050189e-01 -5.34540904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:1229.00, Y:-696.71, Z:-53.46 [[ 7.69525976e-01 6.36696465e-01 4.94710373e-02 1.22900458e+03] [-6.35561638e-01 7.71111514e-01 -3.80583299e-02 -6.96707664e+02] [-6.23792906e-02 -2.15502007e-03 9.98050189e-01 -5.34569472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:1229.05, Y:-696.74, Z:-53.46 [[ 7.70277496e-01 6.35786276e-01 4.94812159e-02 1.22905064e+03] [-6.34650425e-01 7.71862299e-01 -3.80450916e-02 -6.96743134e+02] [-6.23812323e-02 -2.09799680e-03 9.98050189e-01 -5.34610596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:1229.10, Y:-696.78, Z:-53.46 [[ 7.72996577e-01 6.32476876e-01 4.94903357e-02 1.22909705e+03] [-6.31334997e-01 7.74577043e-01 -3.80332246e-02 -6.96777628e+02] [-6.23892130e-02 -1.84542849e-03 9.98050189e-01 -5.34608985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:1229.14, Y:-696.81, Z:-53.46 [[ 7.74688963e-01 6.30402570e-01 4.94935410e-02 1.22914428e+03] [-6.29256725e-01 7.76266556e-01 -3.80290531e-02 -6.96812215e+02] [-6.23937934e-02 -1.68345583e-03 9.98050189e-01 -5.34641443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:1229.19, Y:-696.85, Z:-53.47 [[ 7.76559461e-01 6.28096252e-01 4.95025492e-02 1.22919113e+03] [-6.26946468e-01 7.78134185e-01 -3.80173235e-02 -6.96846757e+02] [-6.23981642e-02 -1.51273611e-03 9.98050190e-01 -5.34662138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:1229.24, Y:-696.88, Z:-53.47 [[ 7.78234814e-01 6.26018419e-01 4.95127534e-02 1.22923604e+03] [-6.24865275e-01 7.79807080e-01 -3.80040291e-02 -6.96882620e+02] [-6.24016179e-02 -1.36274175e-03 9.98050190e-01 -5.34688353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:1229.28, Y:-696.92, Z:-53.48 [[ 7.76970284e-01 6.27586808e-01 4.95174371e-02 1.22928006e+03] [-6.26437226e-01 7.78545156e-01 -3.79979255e-02 -6.96919315e+02] [-6.23985576e-02 -1.49630698e-03 9.98050190e-01 -5.34765058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:1229.33, Y:-696.96, Z:-53.48 [[ 7.74492741e-01 6.30640937e-01 4.95277952e-02 1.22932630e+03] [-6.29498427e-01 7.76072751e-01 -3.79844197e-02 -6.96955315e+02] [-6.23917023e-02 -1.75901187e-03 9.98050190e-01 -5.34778070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:1229.37, Y:-696.99, Z:-53.48 [[ 7.71873631e-01 6.33843206e-01 4.95367485e-02 1.22937252e+03] [-6.32707997e-01 7.73458894e-01 -3.79727398e-02 -6.96991054e+02] [-6.23834018e-02 -2.03214039e-03 9.98050190e-01 -5.34803303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:1229.41, Y:-697.03, Z:-53.48 [[ 7.67543471e-01 6.39079206e-01 4.95458311e-02 1.22941351e+03] [-6.37955571e-01 7.69136959e-01 -3.79608853e-02 -6.97033582e+02] [-6.23675423e-02 -2.47140935e-03 9.98050190e-01 -5.34780821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:1229.46, Y:-697.07, Z:-53.49 [[ 7.70817288e-01 6.35126422e-01 4.95493330e-02 1.22946212e+03] [-6.33994907e-01 7.72405189e-01 -3.79563139e-02 -6.97065063e+02] [-6.23792198e-02 -2.15664178e-03 9.98050190e-01 -5.34917097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:1229.51, Y:-697.10, Z:-53.50 [[ 7.70844715e-01 6.35092935e-01 4.95518883e-02 1.22950645e+03] [-6.33961565e-01 7.72432719e-01 -3.79529776e-02 -6.97102991e+02] [-6.23791678e-02 -2.15814046e-03 9.98050190e-01 -5.34983106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:1229.55, Y:-697.14, Z:-53.50 [[ 7.69332692e-01 6.36923016e-01 4.95608765e-02 1.22955069e+03] [-6.35796177e-01 7.70923915e-01 -3.79412367e-02 -6.97139531e+02] [-6.23733119e-02 -2.32118206e-03 9.98050190e-01 -5.35024590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:1229.59, Y:-697.18, Z:-53.51 [[ 7.69608788e-01 6.36589130e-01 4.95640332e-02 1.22959495e+03] [-6.35461866e-01 7.71199710e-01 -3.79371126e-02 -6.97176743e+02] [-6.23741215e-02 -2.29931774e-03 9.98050190e-01 -5.35061666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:1229.64, Y:-697.21, Z:-53.51 [[ 7.71771223e-01 6.33964963e-01 4.95742420e-02 1.22963944e+03] [-6.32833144e-01 7.73358908e-01 -3.79237676e-02 -6.97213750e+02] [-6.23810216e-02 -2.10375094e-03 9.98050190e-01 -5.35080016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:1229.68, Y:-697.25, Z:-53.51 [[ 7.73844330e-01 6.31431981e-01 4.95843379e-02 1.22968305e+03] [-6.30295809e-01 7.75428902e-01 -3.79105629e-02 -6.97249965e+02] [-6.23870705e-02 -1.91592621e-03 9.98050191e-01 -5.35100180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:1229.73, Y:-697.29, Z:-53.51 [[ 7.78296304e-01 6.25935765e-01 4.95911481e-02 1.22972676e+03] [-6.24788967e-01 7.79873202e-01 -3.79016524e-02 -6.97288663e+02] [-6.23988072e-02 -1.48528623e-03 9.98050191e-01 -5.35140265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:1229.77, Y:-697.33, Z:-53.52 [[ 7.82690938e-01 6.20431015e-01 4.96009136e-02 1.22977123e+03] [-6.19273934e-01 7.84260307e-01 -3.78888681e-02 -6.97325113e+02] [-6.24074567e-02 -1.06127915e-03 9.98050191e-01 -5.35177486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:1229.82, Y:-697.36, Z:-53.52 [[ 7.90251001e-01 6.10771760e-01 4.96106120e-02 1.22981590e+03] [-6.09596289e-01 7.91806644e-01 -3.78761651e-02 -6.97362336e+02] [-6.24157042e-02 -3.10767577e-04 9.98050191e-01 -5.35232205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:1229.85, Y:-697.42, Z:-53.52 [[ 7.89220914e-01 6.12101535e-01 4.96191436e-02 1.22984859e+03] [-6.10929388e-01 7.90779063e-01 -3.78649850e-02 -6.97415338e+02] [-6.24149954e-02 -4.29954942e-04 9.98050191e-01 -5.35231106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:1229.89, Y:-697.45, Z:-53.53 [[ 7.89456735e-01 6.11797112e-01 4.96221490e-02 1.22989424e+03] [-6.10624612e-01 7.91014617e-01 -3.78610461e-02 -6.97452047e+02] [-6.24151239e-02 -4.10847680e-04 9.98050191e-01 -5.35321611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:1229.95, Y:-697.47, Z:-53.54 [[ 7.99144604e-01 5.99086481e-01 4.96315521e-02 1.22995204e+03] [-5.97889968e-01 8.00684120e-01 -3.78487157e-02 -6.97470962e+02] [-6.24138495e-02 5.72389814e-04 9.98050191e-01 -5.35409581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:1230.00, Y:-697.51, Z:-53.55 [[ 7.99149856e-01 5.99078703e-01 4.96408660e-02 1.22999644e+03] [-5.97882934e-01 8.00689951e-01 -3.78364960e-02 -6.97507179e+02] [-6.24139815e-02 5.57603758e-04 9.98050191e-01 -5.35452240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:1230.04, Y:-697.54, Z:-53.55 [[ 7.97973443e-01 6.00643939e-01 4.96512008e-02 1.23004287e+03] [-5.99452036e-01 7.99516531e-01 -3.78229292e-02 -6.97542308e+02] [-6.24150691e-02 4.18179671e-04 9.98050191e-01 -5.35470972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:1230.09, Y:-697.57, Z:-53.55 [[ 7.94492465e-01 6.05240006e-01 4.96614338e-02 1.23009283e+03] [-6.04057869e-01 7.96043048e-01 -3.78094885e-02 -6.97573502e+02] [-6.24164542e-02 4.09738820e-05 9.98050191e-01 -5.35508494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:1230.14, Y:-697.61, Z:-53.56 [[ 7.86476893e-01 6.15619164e-01 4.96703307e-02 1.23013765e+03] [-6.14458225e-01 7.88043410e-01 -3.77977972e-02 -6.97608692e+02] [-6.24114250e-02 -7.93249154e-04 9.98050192e-01 -5.35598052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters Centerline goodness : 0.999428 with order 1 Centerline is valid? [True, True] Translation: X:1230.18, Y:-697.64, Z:-53.57 [[ 7.81975070e-01 6.21326654e-01 4.96807611e-02 1.23018291e+03] [-6.20178018e-01 7.83550630e-01 -3.77840827e-02 -6.97643971e+02] [-6.24036493e-02 -1.26470523e-03 9.98050192e-01 -5.35668175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:1230.22, Y:-697.69, Z:-53.56 [[ 7.71308373e-01 6.34519423e-01 4.96839535e-02 1.23021981e+03] [-6.33397985e-01 7.72903405e-01 -3.77798843e-02 -6.97691272e+02] [-6.23729673e-02 -2.32977494e-03 9.98050192e-01 -5.35635574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:1230.27, Y:-697.72, Z:-53.57 [[ 7.70448955e-01 6.35561838e-01 4.96946553e-02 1.23026869e+03] [-6.34443463e-01 7.72046136e-01 -3.77658023e-02 -6.97722583e+02] [-6.23690693e-02 -2.43182632e-03 9.98050192e-01 -5.35655803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:1230.32, Y:-697.76, Z:-53.57 [[ 7.67465527e-01 6.39160436e-01 4.97051546e-02 1.23031603e+03] [-6.38050441e-01 7.69068543e-01 -3.77519786e-02 -6.97757047e+02] [-6.23562419e-02 -2.74105370e-03 9.98050192e-01 -5.35691608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:1230.37, Y:-697.79, Z:-53.57 [[ 7.68936954e-01 6.37388770e-01 4.97143522e-02 1.23036585e+03] [-6.36275861e-01 7.70537949e-01 -3.77398627e-02 -6.97788849e+02] [-6.23617597e-02 -2.61246722e-03 9.98050192e-01 -5.35702298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:1230.41, Y:-697.82, Z:-53.57 [[ 7.70378871e-01 6.35644530e-01 4.97234943e-02 1.23041320e+03] [-6.34528772e-01 7.71977881e-01 -3.77278139e-02 -6.97821846e+02] [-6.23669163e-02 -2.48627714e-03 9.98050192e-01 -5.35734668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:1230.47, Y:-697.84, Z:-53.58 [[ 7.77504606e-01 6.26908162e-01 4.97267066e-02 1.23047006e+03] [-6.25774696e-01 7.79091113e-01 -3.77235795e-02 -6.97843019e+02] [-6.23908550e-02 -1.78745783e-03 9.98050192e-01 -5.35761570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:1230.52, Y:-697.88, Z:-53.58 [[ 7.78158642e-01 6.26095333e-01 4.97369234e-02 1.23051707e+03] [-6.24961070e-01 7.79744580e-01 -3.77101042e-02 -6.97876215e+02] [-6.23922167e-02 -1.73919737e-03 9.98050192e-01 -5.35780845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:1230.57, Y:-697.91, Z:-53.58 [[ 7.80175656e-01 6.23579312e-01 4.97472322e-02 1.23056542e+03] [-6.22440800e-01 7.81758546e-01 -3.76965000e-02 -6.97906898e+02] [-6.23970814e-02 -1.55481542e-03 9.98050193e-01 -5.35780059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:1230.60, Y:-697.95, Z:-53.58 [[ 7.77716212e-01 6.26643451e-01 4.97541769e-02 1.23060317e+03] [-6.25511761e-01 7.79303986e-01 -3.76873317e-02 -6.97952156e+02] [-6.23901480e-02 -1.81177390e-03 9.98050193e-01 -5.35821437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:1230.66, Y:-697.97, Z:-53.58 [[ 7.84830374e-01 6.17709297e-01 4.97645384e-02 1.23065816e+03] [-6.16560391e-01 7.86405735e-01 -3.76736448e-02 -6.97974925e+02] [-6.24064791e-02 -1.11542253e-03 9.98050193e-01 -5.35813920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:1230.70, Y:-698.01, Z:-53.58 [[ 7.87591987e-01 6.14183472e-01 4.97747382e-02 1.23070380e+03] [-6.13028365e-01 7.89162807e-01 -3.76601639e-02 -6.98008543e+02] [-6.24106224e-02 -8.52483086e-04 9.98050193e-01 -5.35833876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:1230.75, Y:-698.05, Z:-53.59 [[ 7.90239624e-01 6.10772559e-01 4.97817005e-02 1.23074847e+03] [-6.09611251e-01 7.91805865e-01 -3.76509585e-02 -6.98045320e+02] [-6.24136147e-02 -5.94205414e-04 9.98050193e-01 -5.35900248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:1230.79, Y:-698.08, Z:-53.60 [[ 7.89180413e-01 6.12139731e-01 4.97918288e-02 1.23079240e+03] [-6.10981981e-01 7.90749286e-01 -3.76375594e-02 -6.98083117e+02] [-6.24122986e-02 -7.19085529e-04 9.98050193e-01 -5.35984593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:1230.84, Y:-698.12, Z:-53.60 [[ 7.87183035e-01 6.14705295e-01 4.98023140e-02 1.23083873e+03] [-6.13553536e-01 7.88756311e-01 -3.76236802e-02 -6.98117014e+02] [-6.24093649e-02 -9.39663068e-04 9.98050193e-01 -5.36012368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:1230.89, Y:-698.15, Z:-53.60 [[ 7.82201637e-01 6.21030834e-01 4.98126777e-02 1.23088546e+03] [-6.19892668e-01 7.83784774e-01 -3.76099540e-02 -6.98151380e+02] [-6.23993595e-02 -1.45994610e-03 9.98050193e-01 -5.36038768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:1230.93, Y:-698.19, Z:-53.61 [[ 7.79600721e-01 6.24291912e-01 4.98229373e-02 1.23093138e+03] [-6.23161234e-01 7.81189215e-01 -3.75963580e-02 -6.98186349e+02] [-6.23922435e-02 -1.73757532e-03 9.98050194e-01 -5.36075744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:1230.98, Y:-698.22, Z:-53.61 [[ 7.77817793e-01 6.26511068e-01 4.98333507e-02 1.23097755e+03] [-6.25385805e-01 7.79410127e-01 -3.75825502e-02 -6.98220503e+02] [-6.23865018e-02 -1.93269387e-03 9.98050194e-01 -5.36105883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:1231.02, Y:-698.26, Z:-53.62 [[ 7.76799909e-01 6.27771857e-01 4.98437216e-02 1.23102341e+03] [-6.26650060e-01 7.78394687e-01 -3.75687907e-02 -6.98255855e+02] [-6.23827176e-02 -2.05113793e-03 9.98050194e-01 -5.36163432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:1231.07, Y:-698.29, Z:-53.62 [[ 7.78323629e-01 6.25880906e-01 4.98539942e-02 1.23106716e+03] [-6.24756106e-01 7.79916290e-01 -3.75551540e-02 -6.98293570e+02] [-6.23869960e-02 -1.91652353e-03 9.98050194e-01 -5.36238087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:1231.11, Y:-698.33, Z:-53.63 [[ 7.79040156e-01 6.24987993e-01 4.98642606e-02 1.23111144e+03] [-6.23862239e-01 7.80632142e-01 -3.75415177e-02 -6.98330151e+02] [-6.23886424e-02 -1.86207945e-03 9.98050194e-01 -5.36288715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:1231.16, Y:-698.36, Z:-53.63 [[ 7.77461669e-01 6.26949661e-01 4.98746017e-02 1.23115925e+03] [-6.25828804e-01 7.79057106e-01 -3.75277744e-02 -6.98361777e+02] [-6.23831883e-02 -2.03655620e-03 9.98050194e-01 -5.36317283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:1231.21, Y:-698.40, Z:-53.64 [[ 7.77287419e-01 6.27165328e-01 4.98790518e-02 1.23120500e+03] [-6.26045292e-01 7.78883433e-01 -3.75218587e-02 -6.98396523e+02] [-6.23823760e-02 -2.06127684e-03 9.98050194e-01 -5.36353427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:1231.25, Y:-698.43, Z:-53.64 [[ 7.77501284e-01 6.26899367e-01 4.98892452e-02 1.23125055e+03] [-6.25779653e-01 7.79097525e-01 -3.75083007e-02 -6.98431876e+02] [-6.23825174e-02 -2.05692256e-03 9.98050194e-01 -5.36417550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:1231.30, Y:-698.47, Z:-53.65 [[ 7.79798944e-01 6.24038192e-01 4.98993093e-02 1.23129667e+03] [-6.22913477e-01 7.81391664e-01 -3.74949071e-02 -6.98466838e+02] [-6.23891584e-02 -1.84446330e-03 9.98050195e-01 -5.36451250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:1231.34, Y:-698.50, Z:-53.65 [[ 7.81885720e-01 6.21420770e-01 4.99093885e-02 1.23134228e+03] [-6.20291577e-01 7.83475269e-01 -3.74814858e-02 -6.98500539e+02] [-6.23945454e-02 -1.65213478e-03 9.98050195e-01 -5.36476678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:1231.39, Y:-698.53, Z:-53.65 [[ 7.83607258e-01 6.19247963e-01 4.99161909e-02 1.23138991e+03] [-6.18114939e-01 7.85194078e-01 -3.74724245e-02 -6.98533426e+02] [-6.23986200e-02 -1.49027949e-03 9.98050195e-01 -5.36478392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:1231.44, Y:-698.57, Z:-53.65 [[ 7.85089341e-01 6.17367069e-01 4.99262232e-02 1.23143740e+03] [-6.16231093e-01 7.86674049e-01 -3.74590533e-02 -6.98567014e+02] [-6.24016501e-02 -1.35738760e-03 9.98050195e-01 -5.36499597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:1231.49, Y:-698.60, Z:-53.65 [[ 7.92302263e-01 6.08081793e-01 4.99365330e-02 1.23148703e+03] [-6.06928106e-01 7.93874123e-01 -3.74453044e-02 -6.98599647e+02] [-6.24131292e-02 -6.39885937e-04 9.98050195e-01 -5.36502779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:1231.53, Y:-698.64, Z:-53.66 [[ 7.95040151e-01 6.04496988e-01 4.99454758e-02 1.23152994e+03] [-6.03336962e-01 7.96607339e-01 -3.74333724e-02 -6.98638332e+02] [-6.24152934e-02 -3.72917647e-04 9.98050195e-01 -5.36608602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:1231.57, Y:-698.68, Z:-53.67 [[ 7.94773417e-01 6.04847378e-01 4.99486277e-02 1.23157327e+03] [-6.03688308e-01 7.96341312e-01 -3.74291662e-02 -6.98676724e+02] [-6.24150888e-02 -4.05696216e-04 9.98050195e-01 -5.36694630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:1231.62, Y:-698.71, Z:-53.67 [[ 7.92975600e-01 6.07201623e-01 4.99588512e-02 1.23162023e+03] [-6.06048067e-01 7.94547556e-01 -3.74155154e-02 -6.98711360e+02] [-6.24134448e-02 -6.07874502e-04 9.98050195e-01 -5.36717876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:1231.67, Y:-698.75, Z:-53.67 [[ 7.91209647e-01 6.09500115e-01 4.99690313e-02 1.23166759e+03] [-6.08351984e-01 7.92785570e-01 -3.74019148e-02 -6.98745463e+02] [-6.24111983e-02 -8.06003480e-04 9.98050196e-01 -5.36732430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:1231.71, Y:-698.78, Z:-53.68 [[ 7.90383986e-01 6.10569584e-01 4.99793846e-02 1.23171240e+03] [-6.09424460e-01 7.91962095e-01 -3.73880748e-02 -6.98781999e+02] [-6.24097994e-02 -9.07723880e-04 9.98050196e-01 -5.36778760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:1231.76, Y:-698.82, Z:-53.68 [[ 7.90258545e-01 6.10731073e-01 4.99898864e-02 1.23175804e+03] [-6.09587160e-01 7.91837532e-01 -3.73740280e-02 -6.98817761e+02] [-6.24093485e-02 -9.38047945e-04 9.98050196e-01 -5.36823740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:1231.80, Y:-698.85, Z:-53.68 [[ 7.90345700e-01 6.10617436e-01 5.00002109e-02 1.23180474e+03] [-6.09474170e-01 7.91925155e-01 -3.73602105e-02 -6.98853785e+02] [-6.24092207e-02 -9.46355369e-04 9.98050196e-01 -5.36824516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:1231.85, Y:-698.89, Z:-53.68 [[ 7.91310113e-01 6.09366387e-01 5.00091161e-02 1.23185271e+03] [-6.08221377e-01 7.92888304e-01 -3.73482865e-02 -6.98888700e+02] [-6.24104336e-02 -8.62536665e-04 9.98050196e-01 -5.36815368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:1231.90, Y:-698.92, Z:-53.68 [[ 7.92413864e-01 6.07929647e-01 5.00181158e-02 1.23189977e+03] [-6.06782536e-01 7.93990529e-01 -3.73362299e-02 -6.98924081e+02] [-6.24117113e-02 -7.64372987e-04 9.98050196e-01 -5.36815518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:1231.95, Y:-698.96, Z:-53.69 [[ 7.95055544e-01 6.04470000e-01 5.00270114e-02 1.23194519e+03] [-6.03316777e-01 7.96627744e-01 -3.73243068e-02 -6.98960891e+02] [-6.24143290e-02 -5.07238216e-04 9.98050196e-01 -5.36862031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:1231.99, Y:-699.00, Z:-53.69 [[ 7.97946056e-01 6.00648387e-01 5.00360567e-02 1.23199007e+03] [-5.99488395e-01 7.99513268e-01 -3.73121770e-02 -6.98995969e+02] [-6.24159901e-02 -2.22930901e-04 9.98050196e-01 -5.36898736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters Centerline goodness : 0.998519 with order 1 Centerline is valid? [True, True] Translation: X:1232.04, Y:-699.03, Z:-53.69 [[ 8.02359587e-01 5.94739473e-01 5.00405083e-02 1.23203622e+03] [-5.93568312e-01 8.03918470e-01 -3.73062059e-02 -6.99031347e+02] [-6.24159621e-02 2.30531998e-04 9.98050196e-01 -5.36940115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:1232.08, Y:-699.07, Z:-53.70 [[ 8.04186002e-01 5.92266674e-01 5.00505802e-02 1.23208166e+03] [-5.91091561e-01 8.05741908e-01 -3.72926884e-02 -6.99067496e+02] [-6.24150665e-02 4.05782416e-04 9.98050197e-01 -5.36984350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:1232.13, Y:-699.10, Z:-53.71 [[ 8.03339377e-01 5.93414252e-01 5.00536789e-02 1.23212667e+03] [-5.92241621e-01 8.04897154e-01 -3.72885289e-02 -6.99104502e+02] [-6.24156082e-02 3.11471650e-04 9.98050197e-01 -5.37053441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:1232.17, Y:-699.14, Z:-53.71 [[ 8.00036486e-01 5.97858990e-01 5.00624587e-02 1.23217355e+03] [-5.96695751e-01 8.01601289e-01 -3.72767377e-02 -6.99138495e+02] [-6.24163641e-02 -4.93061483e-05 9.98050197e-01 -5.37091951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:1232.23, Y:-699.16, Z:-53.71 [[ 7.86363799e-01 6.15731611e-01 5.00655420e-02 1.23222807e+03] [-6.14604185e-01 7.87954598e-01 -3.72725961e-02 -6.99161117e+02] [-6.23992897e-02 -1.46067133e-03 9.98050197e-01 -5.37145731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:1232.28, Y:-699.19, Z:-53.72 [[ 7.80097333e-01 6.23651577e-01 5.00685688e-02 1.23227639e+03] [-6.22540554e-01 7.81699632e-01 -3.72685297e-02 -6.99194855e+02] [-6.23811592e-02 -2.09663393e-03 9.98050197e-01 -5.37201025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:1232.31, Y:-699.25, Z:-53.72 [[ 7.70691273e-01 6.35237911e-01 5.00775238e-02 1.23230942e+03] [-6.34151733e-01 7.72310516e-01 -3.72564931e-02 -6.99248089e+02] [-6.23421351e-02 -3.04349447e-03 9.98050197e-01 -5.37224051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:1232.36, Y:-699.28, Z:-53.73 [[ 7.73894157e-01 6.31331725e-01 5.00807996e-02 1.23235791e+03] [-6.30237655e-01 7.75508079e-01 -3.72520891e-02 -6.99279079e+02] [-6.23564904e-02 -2.73363157e-03 9.98050197e-01 -5.37261225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:1232.41, Y:-699.31, Z:-53.73 [[ 7.73190452e-01 6.32192553e-01 5.00909279e-02 1.23240524e+03] [-6.31101160e-01 7.74806184e-01 -3.72384652e-02 -6.99313656e+02] [-6.23526411e-02 -2.82001702e-03 9.98050197e-01 -5.37284819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:1232.45, Y:-699.35, Z:-53.73 [[ 7.75050653e-01 6.29909913e-01 5.00997754e-02 1.23245107e+03] [-6.28814527e-01 7.76663681e-01 -3.72265583e-02 -6.99348951e+02] [-6.23600540e-02 -2.65099827e-03 9.98050197e-01 -5.37329423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:1232.50, Y:-699.38, Z:-53.74 [[ 7.71008160e-01 6.34851140e-01 5.01043700e-02 1.23250005e+03] [-6.33766488e-01 7.72628425e-01 -3.72203731e-02 -6.99380204e+02] [-6.23414568e-02 -3.05725921e-03 9.98050197e-01 -5.37395279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:1232.55, Y:-699.41, Z:-53.74 [[ 7.69869018e-01 6.36231279e-01 5.01144187e-02 1.23254684e+03] [-6.35150408e-01 7.71491808e-01 -3.72068384e-02 -6.99413471e+02] [-6.23350179e-02 -3.18580143e-03 9.98050197e-01 -5.37423219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:1232.59, Y:-699.45, Z:-53.75 [[ 7.71551781e-01 6.34188751e-01 5.01246105e-02 1.23259472e+03] [-6.33104473e-01 7.73172297e-01 -3.71931031e-02 -6.99446660e+02] [-6.23424078e-02 -3.03771009e-03 9.98050197e-01 -5.37462593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:1232.64, Y:-699.48, Z:-53.75 [[ 7.76115412e-01 6.28594864e-01 5.01334643e-02 1.23264263e+03] [-6.27499669e-01 7.77728569e-01 -3.71811650e-02 -6.99479818e+02] [-6.23621168e-02 -2.60185706e-03 9.98050198e-01 -5.37484502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:1232.69, Y:-699.51, Z:-53.75 [[ 7.74722589e-01 6.30309877e-01 5.01434919e-02 1.23268969e+03] [-6.29219124e-01 7.76338754e-01 -3.71676366e-02 -6.99513311e+02] [-6.23554645e-02 -2.75663641e-03 9.98050198e-01 -5.37540837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:1232.74, Y:-699.55, Z:-53.76 [[ 7.76625560e-01 6.27962868e-01 5.01535193e-02 1.23273601e+03] [-6.26868103e-01 7.78239009e-01 -3.71541009e-02 -6.99548357e+02] [-6.23628209e-02 -2.58481710e-03 9.98050198e-01 -5.37603037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:1232.78, Y:-699.59, Z:-53.77 [[ 7.77058780e-01 6.27426457e-01 5.01566925e-02 1.23278023e+03] [-6.26330853e-01 7.78671660e-01 -3.71498167e-02 -6.99585889e+02] [-6.23643729e-02 -2.54709279e-03 9.98050198e-01 -5.37700336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:1232.83, Y:-699.61, Z:-53.78 [[ 7.80218087e-01 6.23492691e-01 5.01657254e-02 1.23283113e+03] [-6.22389736e-01 7.81825949e-01 -3.71376150e-02 -6.99611566e+02] [-6.23758974e-02 -2.24719361e-03 9.98050198e-01 -5.37789225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:1232.88, Y:-699.65, Z:-53.78 [[ 7.77723168e-01 6.26601450e-01 5.01726801e-02 1.23287620e+03] [-6.25505525e-01 7.79335829e-01 -3.71282169e-02 -6.99648278e+02] [-6.23659618e-02 -2.50781415e-03 9.98050198e-01 -5.37834089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:1232.92, Y:-699.68, Z:-53.79 [[ 7.75483558e-01 6.29370262e-01 5.01829072e-02 1.23292359e+03] [-6.28280986e-01 7.77100718e-01 -3.71143887e-02 -6.99682252e+02] [-6.23558657e-02 -2.74736824e-03 9.98050198e-01 -5.37879239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:1232.97, Y:-699.72, Z:-53.79 [[ 7.64514446e-01 6.42649556e-01 5.01917328e-02 1.23296641e+03] [-6.41589108e-01 7.66150654e-01 -3.71024496e-02 -6.99722805e+02] [-6.22983016e-02 -3.83711042e-03 9.98050198e-01 -5.37897477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:1233.01, Y:-699.76, Z:-53.79 [[ 7.58581820e-01 6.49641063e-01 5.02007085e-02 1.23301326e+03] [-6.48596479e-01 7.60228201e-01 -3.70903011e-02 -6.99756634e+02] [-6.22593770e-02 -4.42397467e-03 9.98050198e-01 -5.37923059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:1233.06, Y:-699.79, Z:-53.80 [[ 7.51143691e-01 6.58226424e-01 5.02108586e-02 1.23306352e+03] [-6.57201540e-01 7.52802408e-01 -3.70765554e-02 -6.99785357e+02] [-6.22036237e-02 -5.14883290e-03 9.98050199e-01 -5.37960171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:1233.11, Y:-699.82, Z:-53.80 [[ 7.48823132e-01 6.60864943e-01 5.02139737e-02 1.23311073e+03] [-6.59846181e-01 7.50485615e-01 -3.70723361e-02 -6.99820964e+02] [-6.21846722e-02 -5.37287594e-03 9.98050199e-01 -5.37995731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:1233.15, Y:-699.86, Z:-53.80 [[ 7.47365202e-01 6.62512640e-01 5.02220750e-02 1.23315322e+03] [-6.61498271e-01 7.49030369e-01 -3.70613580e-02 -6.99861271e+02] [-6.21714775e-02 -5.52344641e-03 9.98050199e-01 -5.38036271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:1233.20, Y:-699.90, Z:-53.81 [[ 7.49771729e-01 6.59787683e-01 5.02251741e-02 1.23319987e+03] [-6.58767537e-01 7.51433363e-01 -3.70571576e-02 -6.99895149e+02] [-6.21907276e-02 -5.30230511e-03 9.98050199e-01 -5.38060629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:1233.25, Y:-699.93, Z:-53.81 [[ 7.52709224e-01 6.56433731e-01 5.02352625e-02 1.23324638e+03] [-6.55407081e-01 7.54366847e-01 -3.70434766e-02 -6.99930124e+02] [-6.22124041e-02 -5.04158019e-03 9.98050199e-01 -5.38119227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:1233.29, Y:-699.96, Z:-53.82 [[ 7.54763192e-01 6.54070388e-01 5.02439290e-02 1.23329356e+03] [-6.53039321e-01 7.56418071e-01 -3.70317181e-02 -6.99963984e+02] [-6.22267660e-02 -4.86108346e-03 9.98050199e-01 -5.38229751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:1233.34, Y:-700.00, Z:-53.83 [[ 7.55535226e-01 6.53177772e-01 5.02525689e-02 1.23334029e+03] [-6.52145523e-01 7.57189367e-01 -3.70199900e-02 -6.99997894e+02] [-6.22313454e-02 -4.80208131e-03 9.98050199e-01 -5.38268339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:1233.39, Y:-700.03, Z:-53.83 [[ 7.57604991e-01 6.50775192e-01 5.02625892e-02 1.23338830e+03] [-6.49738589e-01 7.59256408e-01 -3.70063801e-02 -7.00030821e+02] [-6.22450271e-02 -4.62132553e-03 9.98050199e-01 -5.38297658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:1233.44, Y:-700.07, Z:-53.83 [[ 7.61781101e-01 6.45880973e-01 5.02724840e-02 1.23343616e+03] [-6.44834634e-01 7.63426367e-01 -3.69929334e-02 -7.00066259e+02] [-6.22723716e-02 -4.23692135e-03 9.98050199e-01 -5.38255991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:1233.48, Y:-700.10, Z:-53.83 [[ 7.69755011e-01 6.36356105e-01 5.02805283e-02 1.23348146e+03] [-6.35290094e-01 7.71387599e-01 -3.69819964e-02 -7.00101178e+02] [-6.23194952e-02 -3.47564453e-03 9.98050199e-01 -5.38316850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:1233.53, Y:-700.13, Z:-53.84 [[ 7.74518449e-01 6.30549006e-01 5.02903984e-02 1.23352975e+03] [-6.29471616e-01 7.76143550e-01 -3.69685697e-02 -7.00134373e+02] [-6.23430631e-02 -3.02353911e-03 9.98050200e-01 -5.38406494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:1233.58, Y:-700.17, Z:-53.84 [[ 7.77915476e-01 6.26352543e-01 5.02991439e-02 1.23357596e+03] [-6.25267150e-01 7.79535243e-01 -3.69566667e-02 -7.00168846e+02] [-6.23578576e-02 -2.70123941e-03 9.98050200e-01 -5.38440042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:1233.62, Y:-700.20, Z:-53.84 [[ 7.78347685e-01 6.25814552e-01 5.03093129e-02 1.23362107e+03] [-6.24728933e-01 7.79967300e-01 -3.69428185e-02 -7.00204960e+02] [-6.23589723e-02 -2.67532608e-03 9.98050200e-01 -5.38422747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:1233.67, Y:-700.24, Z:-53.85 [[ 7.82537488e-01 6.20567271e-01 5.03124367e-02 1.23367044e+03] [-6.19471060e-01 7.84149953e-01 -3.69385636e-02 -7.00236223e+02] [-6.23753585e-02 -2.26128774e-03 9.98050200e-01 -5.38511961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:1233.71, Y:-700.28, Z:-53.85 [[ 7.80907726e-01 6.22616172e-01 5.03212300e-02 1.23371199e+03] [-6.21524961e-01 7.82523579e-01 -3.69265808e-02 -7.00277030e+02] [-6.23686353e-02 -2.43964826e-03 9.98050200e-01 -5.38526874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:1233.76, Y:-700.31, Z:-53.86 [[ 7.84261351e-01 6.18386162e-01 5.03258093e-02 1.23376108e+03] [-6.17286633e-01 7.85871555e-01 -3.69203387e-02 -7.00308818e+02] [-6.23806486e-02 -2.11025463e-03 9.98050200e-01 -5.38627388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:1233.81, Y:-700.34, Z:-53.87 [[ 7.83479515e-01 6.19375721e-01 5.03345416e-02 1.23380715e+03] [-6.18278989e-01 7.85091625e-01 -3.69084299e-02 -7.00344224e+02] [-6.23774124e-02 -2.20379071e-03 9.98050200e-01 -5.38671534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:1233.85, Y:-700.38, Z:-53.87 [[ 7.82297590e-01 6.20867061e-01 5.03445470e-02 1.23385344e+03] [-6.19774278e-01 7.83912380e-01 -3.68947771e-02 -7.00378488e+02] [-6.23724655e-02 -2.33956010e-03 9.98050200e-01 -5.38711939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:1233.90, Y:-700.41, Z:-53.88 [[ 7.82784683e-01 6.20251997e-01 5.03547415e-02 1.23389929e+03] [-6.19158839e-01 7.84399219e-01 -3.68808582e-02 -7.00414781e+02] [-6.23736458e-02 -2.30781238e-03 9.98050200e-01 -5.38775793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:1233.95, Y:-700.45, Z:-53.88 [[ 7.81771103e-01 6.21528319e-01 5.03635859e-02 1.23394505e+03] [-6.20438574e-01 7.83387943e-01 -3.68687766e-02 -7.00451655e+02] [-6.23692147e-02 -2.42456728e-03 9.98050200e-01 -5.38833388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:1233.99, Y:-700.49, Z:-53.89 [[ 7.79083758e-01 6.24892876e-01 5.03725248e-02 1.23399114e+03] [-6.23810899e-01 7.80705807e-01 -3.68565597e-02 -7.00487374e+02] [-6.23575242e-02 -2.70858293e-03 9.98050201e-01 -5.38869851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:1234.04, Y:-700.52, Z:-53.89 [[ 7.71130192e-01 6.34680974e-01 5.03814391e-02 1.23403683e+03] [-6.33620357e-01 7.72766288e-01 -3.68443702e-02 -7.00522484e+02] [-6.23174984e-02 -3.51089922e-03 9.98050201e-01 -5.38924409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:1234.08, Y:-700.56, Z:-53.89 [[ 7.66489249e-01 6.40277773e-01 5.03845642e-02 1.23408338e+03] [-6.39229375e-01 7.68133201e-01 -3.68400961e-02 -7.00556507e+02] [-6.22899512e-02 -3.96975590e-03 9.98050201e-01 -5.38941535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:1234.13, Y:-700.59, Z:-53.89 [[ 7.61448759e-01 6.46263781e-01 5.03876229e-02 1.23413303e+03] [-6.45228570e-01 7.63101047e-01 -3.68359120e-02 -7.00588423e+02] [-6.22565636e-02 -4.46287437e-03 9.98050201e-01 -5.38886372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:1234.18, Y:-700.62, Z:-53.89 [[ 7.60740549e-01 6.47096618e-01 5.03962702e-02 1.23418169e+03] [-6.46063993e-01 7.62394454e-01 -3.68240776e-02 -7.00621374e+02] [-6.22505730e-02 -4.54564656e-03 9.98050201e-01 -5.38870387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:1234.23, Y:-700.66, Z:-53.89 [[ 7.62224549e-01 6.45347263e-01 5.04048290e-02 1.23422996e+03] [-6.44311611e-01 7.63876560e-01 -3.68123586e-02 -7.00655577e+02] [-6.22598223e-02 -4.41713313e-03 9.98050201e-01 -5.38890114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:1234.28, Y:-700.69, Z:-53.89 [[ 7.67764688e-01 6.38745540e-01 5.04134874e-02 1.23427762e+03] [-6.37696444e-01 7.69408194e-01 -3.68004974e-02 -7.00687624e+02] [-6.22947039e-02 -3.89437921e-03 9.98050201e-01 -5.38917891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:1234.33, Y:-700.72, Z:-53.90 [[ 7.72207289e-01 6.33366715e-01 5.04232818e-02 1.23432505e+03] [-6.32307036e-01 7.73843992e-01 -3.67870725e-02 -7.00720544e+02] [-6.23194609e-02 -3.47575032e-03 9.98050201e-01 -5.38953444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:1234.37, Y:-700.75, Z:-53.90 [[ 7.74957365e-01 6.29998086e-01 5.04330726e-02 1.23437230e+03] [-6.28932160e-01 7.76590006e-01 -3.67736449e-02 -7.00752310e+02] [-6.23331460e-02 -3.22097430e-03 9.98050201e-01 -5.38979914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:1234.42, Y:-700.79, Z:-53.90 [[ 7.74242254e-01 6.30876385e-01 5.04372847e-02 1.23441933e+03] [-6.29812686e-01 7.75876347e-01 -3.67678669e-02 -7.00786055e+02] [-6.23290751e-02 -3.29880557e-03 9.98050201e-01 -5.39011226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:1234.47, Y:-700.82, Z:-53.90 [[ 7.70197128e-01 6.35807681e-01 5.04477640e-02 1.23446736e+03] [-6.34755375e-01 7.71838581e-01 -3.67534831e-02 -7.00818543e+02] [-6.23056774e-02 -3.71456224e-03 9.98050202e-01 -5.39031014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:1234.51, Y:-700.85, Z:-53.91 [[ 7.67139219e-01 6.39493642e-01 5.04509770e-02 1.23451342e+03] [-6.38449508e-01 7.68785881e-01 -3.67490721e-02 -7.00851605e+02] [-6.22867967e-02 -4.01874700e-03 9.98050202e-01 -5.39074857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:1234.56, Y:-700.89, Z:-53.91 [[ 7.64804080e-01 6.42284185e-01 5.04553882e-02 1.23455861e+03] [-6.41246453e-01 7.66454785e-01 -3.67430146e-02 -7.00888859e+02] [-6.22712309e-02 -4.25313125e-03 9.98050202e-01 -5.39147006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:1234.61, Y:-700.92, Z:-53.92 [[ 7.62159707e-01 6.45419188e-01 5.04643736e-02 1.23460581e+03] [-6.44389054e-01 7.63815164e-01 -3.67306695e-02 -7.00924322e+02] [-6.22521327e-02 -4.52405371e-03 9.98050202e-01 -5.39202931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:1234.65, Y:-700.96, Z:-53.92 [[ 7.57898152e-01 6.50417486e-01 5.04726097e-02 1.23465403e+03] [-6.49399008e-01 7.59560806e-01 -3.67193486e-02 -7.00958098e+02] [-6.22199225e-02 -4.94733623e-03 9.98050202e-01 -5.39241659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:1234.70, Y:-700.99, Z:-53.93 [[ 7.57223842e-01 6.51201713e-01 5.04815025e-02 1.23470089e+03] [-6.50185764e-01 7.58888042e-01 -3.67071187e-02 -7.00991278e+02] [-6.22135472e-02 -5.02684879e-03 9.98050202e-01 -5.39269504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:1234.75, Y:-701.03, Z:-53.93 [[ 7.57805089e-01 6.50524439e-01 5.04916076e-02 1.23474819e+03] [-6.49507920e-01 7.59468940e-01 -3.66932136e-02 -7.01026660e+02] [-6.22166399e-02 -4.98839501e-03 9.98050202e-01 -5.39319051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:1234.79, Y:-701.06, Z:-53.94 [[ 7.58002120e-01 6.50294469e-01 5.04964320e-02 1.23479426e+03] [-6.49277883e-01 7.59665930e-01 -3.66865733e-02 -7.01059653e+02] [-6.22174947e-02 -4.97771618e-03 9.98050202e-01 -5.39369997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:1234.84, Y:-701.09, Z:-53.93 [[ 7.57908152e-01 6.50403455e-01 5.05032539e-02 1.23484332e+03] [-6.49387728e-01 7.59572487e-01 -3.66771797e-02 -7.01091984e+02] [-6.22158466e-02 -4.99825982e-03 9.98050202e-01 -5.39347181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:1234.89, Y:-701.12, Z:-53.93 [[ 7.57106938e-01 6.51335272e-01 5.05118640e-02 1.23489190e+03] [-6.50322377e-01 7.58772997e-01 -3.66653181e-02 -7.01124872e+02] [-6.22084534e-02 -5.08942868e-03 9.98050202e-01 -5.39348339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12074.51 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%| | 0/46094 [00:00